| 78 | | ||4-DOF||7-DOF |
| 79 | | ||Quiescent: 18W||Quiescent: 27W |
| 80 | | ||Typical: 28W||Typical: 45W |
| 81 | | ||Peak: 600W||Peak: 800W |
| 82 | | (Quiescent = powered up, no torques applied; Typical = operation with 2-kg payload) |
| | 78 | || Status || Control || 4-DOF || 7-DOF || |
| | 79 | || Powered on, no torques || External || 18 W || 27 W || |
| | 80 | || Active at home position || External || 30 W || 40 W || |
| | 81 | || Active at worst-case!** position, 4kg payload || External || 65 W || XXX || |
| | 82 | || Active at worst-case!** position, 3kg payload || External || XXX || 80 W || |
| | 83 | || Active at worst-case!** position, 3kg payload || Internal || XXX || 85 W || |
| | 84 | || Active at worst-case!** position with BH8-280, 2kg payload || Internal || XXX || 120 W || |
| | 85 | || Peak || External || 600 W || 800 W || |
| | 86 | !** The worst-case position is the arm fully extended, with the base rotated 90 degrees such that joints 2, 4 and 6 must exert a large torque to counteract gravity. |
