Testing using the Brushless motor, Cycloidal gearbox, Position sensors, Controller and LiPo Battery

• 3kg of weights placed at 330mm distance from the center axis = 100kg/cm or 10Nm
• The laptop sends a command to move between 90 (vertically down) and 180 degrees (horizontal)
• 11.1V 3Cell LiPo (1500mAh 30C)
• Peak Current while moving is about 6A @ 12V = 60W
• Controller is set to 50% max PWM (I don't want to break anything yet)
• 90degrees transit time is about 1 second @ 10Nm load

My prototype actuator has a tested no load speed of 60deg in 0.2sec @ 12V, 4A @ 50 Max PWM

I have not tested the max stall torque but 10Nm is currently suitable for my needs.

The motor can handle 600W (22V @  27A) and the brushless controller can handle 4000W (40V @ 100A) (both dependent on cooling)

In comparison, the Dynamixel MX-106R is the servo I wanted as it had 100kg/cm (10Nm) stall torque but it's no load speed is 55RPM and it cost ~US$500