16.6 kg · VFD 3AC 15kW IP21

6.22 kg · Integrated Servo Motor

1.58 kg · Induction Motor

2.28 kg · Speed Control Motor

1.14 kg · Planetary gear i=180

1.26 kg · Planetary gear i=120

0.54 kg · Planetary gear i=60

0.54 kg · Planetary gear i=25

0.33 kg · Resolver Cable

17.7 kg · Wormgear i=10