3. EC-A6013-H20-100 Introduction
The EC-A6013-H20-100 harmonic joint module integrates a harmonic reducer with a DC brushless motor. Featuring dual-encoder closed-loop control, compact structure, and high torque density, it is suitable for collaborative robots, precision rotary stages, and automated equipment where space is constrained and high precision is required.
3.2 Performance Parameters, Measured Data and Characteristic Curves
EC-A6013-H20-100 Performance Parameters
Parameter | Unit | Value |
Reduction Ratio |
| 100 |
Rated Voltage | V | 48 |
Rated Bus Current | A | 6.9 |
Rated Phase Current | A | 10.2 |
Rated Input Power | W | 331.2 |
Rated Speed | RPM | 38 |
Rated Torque (0 RPM) | Nm | 40 |
Continuous Allowable Torque (20 RPM) | Nm | 20 |
Peak Speed | RPM | 47 |
Peak Phase Current | A | 25 |
Peak Torque | Nm | 130 |
Motor Average Efficiency |
| 45% |
Torque Constant | Nm/A | 5.6 |
Weight | g | 906 |
Gear Reducer Backlash | Arcsec | 18 |
Motor Size (Diameter x Thickness) | mm | 73×84 |
Communication Mode |
| CAN (optional CANFD) |
Communication Baud Rate |
| 1M/5M |
EC-A6013-H20-100 Structural Parameters
Parameter | Unit | Value |
Dual Encoder |
| Yes |
Axial and Radial Loads | KN | 2.14 |
Bending Moment Resistance | Nm | 40 |
Cross Roller Bearing Type |
| 4005 |
Rotor Inertia | kgmm² | 24 |
Peak Torque Density | Nm/kg | 143.5 |
EC-A6013-H20-100 Measured Data - Torque Characteristics
Note: Individual units may vary by up to 5%.
Bus Current (A) | Input Power (W) | Torque (Nm) | Phase Current (A) | Speed (RPM) | Efficiency | Torque / Phase Current |
0.06 | 2.88 | 1.2 | 0.74 | 0 | 0 | 1.62 |
0.05 | 2.4 | 7.6 | 1.54 | 0 | 0 | 4.94 |
0.04 | 1.92 | 10.6 | 1.95 | 0 | 0 | 5.44 |
0.04 | 1.92 | 13.2 | 2.35 | 0 | 0 | 5.62 |
0.05 | 2.4 | 15.9 | 2.78 | 0 | 0 | 5.72 |
0.02 | 0.96 | 19.2 | 3.37 | 0 | 0 | 5.70 |
0.05 | 2.4 | 22.1 | 3.91 | 0 | 0 | 5.65 |
0.05 | 2.4 | 25.2 | 4.44 | 0 | 0 | 5.68 |
0.07 | 3.36 | 30 | 5.19 | 0 | 0 | 5.78 |
0.11 | 5.28 | 33.9 | 5.9 | 0 | 0 | 5.75 |
0.08 | 3.84 | 35.1 | 6.09 | 0 | 0 | 5.76 |
0.1 | 4.8 | 38.3 | 6.72 | 0 | 0 | 5.70 |
0.15 | 7.2 | 41.1 | 7.31 | 0 | 0 | 5.62 |
0.21 | 10.08 | 42.1 | 7.51 | 0 | 0 | 5.61 |
0.31 | 14.88 | 43.3 | 7.78 | 0 | 0 | 5.57 |
0.37 | 17.76 | 49.1 | 8.97 | 0 | 0 | 5.47 |
0.39 | 18.72 | 51.4 | 9.42 | 0 | 0 | 5.46 |
0.29 | 13.92 | 52.4 | 9.61 | 0 | 0 | 5.45 |
0.4 | 19.2 | 57.2 | 10.57 | 0 | 0 | 5.41 |
0.53 | 25.44 | 60.3 | 11.27 | 0 | 0 | 5.35 |
0.64 | 30.72 | 62.8 | 11.82 | 0 | 0 | 5.31 |
0.65 | 31.2 | 63.9 | 12.01 | 0 | 0 | 5.32 |
0.92 | 44.16 | 69.1 | 13.04 | 0 | 0 | 5.30 |
0.89 | 42.72 | 70.5 | 13.31 | 0 | 0 | 5.30 |
1.1 | 52.8 | 75.2 | 14.15 | 0 | 0 | 5.31 |
1.1 | 52.8 | 76.8 | 14.43 | 0 | 0 | 5.32 |
1.27 | 60.96 | 81.8 | 15.31 | 0 | 0 | 5.34 |
1.73 | 83.04 | 85.2 | 15.99 | 0 | 0 | 5.33 |
1.94 | 93.12 | 89.3 | 16.85 | 0 | 0 | 5.30 |
1.92 | 92.16 | 90.2 | 17.02 | 0 | 0 | 5.30 |
2.73 | 131.04 | 94.5 | 17.96 | 0 | 0 | 5.26 |
2.29 | 109.92 | 96.1 | 18.36 | 0 | 0 | 5.23 |
2.75 | 132 | 101.4 | 19.92 | 0 | 0 | 5.09 |
4.07 | 195.36 | 105.9 | 21.32 | 0 | 0 | 4.97 |
3.82 | 183.36 | 107.3 | 21.82 | 0 | 0 | 4.92 |
3.64 | 174.72 | 107.9 | 22.08 | 0 | 0 | 4.89 |
EC-A6013-H20-100 Measured Data - Torque-Speed (T-N) Curve
Note: Individual units may vary by up to 5%.
Bus Current (A) | Output Power (W) | Torque (Nm) | Speed (RPM) | Phase Current (A) | Efficiency | Torque / Phase Current |
2.34 | 7.41 | 1.6 | 44.23 | 5.25 | 7% | 0.30 |
2.58 | 22.82 | 5 | 43.58 | 4.96 | 18% | 1.01 |
2.85 | 36.21 | 8 | 43.22 | 5.86 | 26% | 1.37 |
3.92 | 72.07 | 16.4 | 41.97 | 5.81 | 38% | 2.82 |
4.19 | 82.31 | 18.9 | 41.59 | 6.4 | 41% | 2.95 |
4.64 | 93.91 | 21.8 | 41.14 | 7.19 | 42% | 3.03 |
5.11 | 105.67 | 24.8 | 40.69 | 9.24 | 43% | 2.68 |
5.81 | 120.57 | 28.6 | 40.26 | 9.62 | 43% | 2.97 |
6.08 | 134.62 | 32.4 | 39.68 | 9.12 | 46% | 3.55 |
6.8 | 148.22 | 36.1 | 39.21 | 9.92 | 45% | 3.64 |
6.92 | 163.63 | 40.4 | 38.68 | 10.23 | 49% | 3.95 |
7.19 | 180.33 | 45.5 | 37.85 | 11.16 | 52% | 4.08 |
8 | 194.09 | 49.8 | 37.22 | 10.65 | 51% | 4.68 |
8.61 | 205.86 | 53.7 | 36.61 | 12.93 | 50% | 4.15 |
8.78 | 214.63 | 57 | 35.96 | 11.85 | 51% | 4.81 |
9.77 | 226.79 | 61.2 | 35.39 | 13.14 | 48% | 4.66 |
10.07 | 237.56 | 65.1 | 34.85 | 13.58 | 49% | 4.79 |
10.48 | 247.46 | 68.5 | 34.5 | 13.11 | 49% | 5.23 |
10.83 | 259.69 | 73.7 | 33.65 | 14.06 | 50% | 5.24 |
12.07 | 267.26 | 76.9 | 33.19 | 16.87 | 46% | 4.56 |
12.18 | 274.37 | 80.3 | 32.63 | 16.7 | 47% | 4.81 |
12.28 | 282.15 | 84.6 | 31.85 | 18.51 | 48% | 4.57 |
13.39 | 287.74 | 88.3 | 31.12 | 19.29 | 45% | 4.58 |
13.5 | 297.21 | 93.8 | 30.26 | 20.49 | 46% | 4.58 |
15.17 | 304.33 | 99.6 | 29.18 | 22.89 | 42% | 4.35 |
15.75 | 312.63 | 106.4 | 28.06 | 24.59 | 41% | 4.33 |
16.43 | 316.98 | 110 | 27.52 | 25.45 | 40% | 4.32 |
17.22 | 324.99 | 116.9 | 26.55 | 23.61 | 39% | 4.95 |
18.75 | 326.16 | 121.2 | 25.7 | 27.66 | 36% | 4.38 |
19.23 | 326.05 | 127.3 | 24.46 | 30.12 | 35% | 4.23 |
20.25 | 317.12 | 134.6 | 22.5 | 34.03 | 33% | 3.96 |
20.11 | 292.21 | 139.6 | 19.99 | 33.95 | 30% | 4.11 |
18.02 | 233.80 | 146.8 | 15.21 | 34.01 | 27% | 4.32 |
14.44 | 159.05 | 152.2 | 9.98 | 32.91 | 23% | 4.62 |
9.19 | 73.91 | 157.9 | 4.47 | 30.42 | 17% | 5.19 |
7.5 | 0.17 | 162.7 | 0.01 | 30.01 | 0% | 5.42 |
3.3 EC-A6013-H20-100 Stall Torque Curve
3.4 EC-A6013-H20-100 Load-Speed Curve
3.5 EC-A6013-H20-100 Stall Temperature Rise Time
Stall temperature rise time (30 C to 100 C)
Torque (Nm) | Time (S) |
40 | Continuous Use |
47 | 10min |
55 | 1min10s |
60 | 55s |
70 | 50s |
80 | 21s |
100 | 12s |
3.6 EC-A6013-H20-100 Constant Load Speed Temperature Rise Time
Load temperature rise time (30 C to 100 C)
Speed (RPM) | Torque (Nm) | Time (S) |
20 | 20 | Continuous Use |
20 | 25 | 9min28s |
20 | 30 | 7min13s |
20 | 40 | 2min05s |
20 | 50 | 58s |
20 | 60 | 27s |
20 | 65.6 | 20s |
20 | 80 | 10s |
