This is a NEMA size 23 brushless servo motor with .43 Nm (61 Oz-In) continuous torque and 1.27 Nm (180 Oz-In) peak torque. It is fitted with an encoder with index pulse. Default resolution is 1000 cycles/rev (4000 quadrature counts/rev) but a number of other encoder resolutions can be had. The motor body (including encoder) is 130 mm (5.1") long, not counting the front shaft. The shaft is 1/4" diameter (6.35 mm).