For collaborative robot working in human environment, the most important and critical part is an actuator in each joint. Hollow type actuator consists of motor, reducer, controller, encoder, and brake. It is applied to the vertical multi joint robot and besides those are all in one. In this paper, the performance of UR10 model is investigated by reverse engineering. The improved model of SPMSM is suggested by using the pole-slot combination. In the conclusion, the performance maps of efficiency and output power are presented so as to estimate the analytic performance.