Basic information Size B、C、D、E Reduction ratio 3 ～ 81 Backlash Standard backlash: 15 arc-min / LB: 5arc-min (10 arc-min) / PB: 3 arc-min Nominal output torque 3.06 ～ 119Nm Maximum output torque 8.23 ～ 274Nm Nominal input speed 3000rpm Maximum input speed 6000rpm Allowable radial load　＊1 392 ～ 3530N Allowable axial load　＊2 196 ～ 1765N Weight　＊3 0.55 ～ 10.8kg ＊1 The radial load applied to the output side shaft center. ＊2 The axial load applied to the output side bearing. ＊3 The weight may vary slightly model to model.