Overview
EC-A10010-P2-16H belongs to the ENCOS EC-A hollow planetary joint module family, integrating a servo motor with a precision planetary reducer and featuring a hollow cable-through structure for collaborative robots, robotic arm joints and automation equipment. It uses a dual-encoder design (motor-side and output-side), supports position, speed and torque control modes with wide speed-control bandwidth and precise position control, and integrates over-temperature, over-voltage and over-load protection. Communication supports CAN (optional CANFD) at 1M/5M baud rate. Speeds shown refer to the output end unless otherwise noted.
1.2 Product Parameters
EC-A10010-P2-16H Performance Parameters
Parameter | Unit | Value |
Reduction Ratio | 16 |
|
Rated Voltage | 48 | V |
Rated Bus Current | 16.2 | A |
Rated Phase Current | 6 | A |
Rated Input Power | 777.6 | W |
Rated Speed | 156 | RPM |
0RPM | 25 | Nm |
50RPM | 25 | Nm |
Peak Speed | 162 | RPM |
Peak Phase Current | 90 | A |
Peak Torque | 120 | Nm |
Efficiency | 66% |
|
Torque Constant | 1.8 | Nm/A |
Weight | 2012 | g |
Backlash | 18 | Arcmin |
Motor Size (Outer Diameter × Thickness) | 124×71.5 | mm |
Communication Mode | CAN (CANFD optional) |
|
Communication Baud Rate | 1M/5M |
|
EC-A10010-P2-16H Structural Parameters
Parameter | Unit | Value |
Double Encoder | Yes |
|
Axial And Radial Loads | 6.76 | KN |
Bending Moment Resistance | 300 | Nm |
The Rotor Inertia Of The Motor | 313.699 | kgmm² |
Peak Torque Density | 59.6 | Nm/kg |
EC-A10010-P2-16H Measured Data - Torque Characteristics
Voltage (V) | Bus Current (A) | Input Power (W) | Torque (Nm) | Phase Current (A) | Speed (RPM) | Efficiency | Torque/Phase Current |
48V | 0.12 | 5.76 | 1.2 | 0.79 | 0 | 0 | 1.52 |
48V | 0.15 | 7.2 | 4.9 | 3.15 | 0 | 0 | 1.56 |
48V | 0.24 | 11.52 | 8.4 | 5.58 | 0 | 0 | 1.51 |
48V | 0.26 | 12.48 | 11.2 | 6.85 | 0 | 0 | 1.64 |
48V | 0.39 | 18.72 | 14.6 | 9.26 | 0 | 0 | 1.58 |
48V | 0.46 | 22.08 | 18 | 11.17 | 0 | 0 | 1.61 |
48V | 0.63 | 30.24 | 21.5 | 13.66 | 0 | 0 | 1.57 |
48V | 0.77 | 36.96 | 24 | 14.93 | 0 | 0 | 1.61 |
48V | 0.93 | 44.64 | 28.4 | 16.81 | 0 | 0 | 1.69 |
48V | 1.14 | 54.72 | 31.3 | 18.61 | 0 | 0 | 1.68 |
48V | 1.44 | 69.12 | 34.9 | 20.48 | 0 | 0 | 1.70 |
48V | 1.64 | 78.72 | 37.5 | 21.75 | 0 | 0 | 1.72 |
48V | 1.95 | 93.6 | 40.4 | 23.58 | 0 | 0 | 1.71 |
48V | 2.23 | 107.04 | 43.7 | 24.77 | 0 | 0 | 1.76 |
48V | 2.52 | 120.96 | 47.2 | 26.09 | 0 | 0 | 1.81 |
48V | 2.88 | 138.24 | 50.4 | 27.8 | 0 | 0 | 1.81 |
48V | 3.26 | 156.48 | 53.4 | 29.22 | 0 | 0 | 1.83 |
48V | 3.64 | 174.72 | 56.4 | 30.32 | 0 | 0 | 1.86 |
48V | 4.28 | 205.44 | 59.3 | 32.21 | 0 | 0 | 1.84 |
48V | 4.66 | 223.68 | 62 | 33.46 | 0 | 0 | 1.85 |
48V | 5.28 | 253.44 | 65.6 | 35.44 | 0 | 0 | 1.85 |
48V | 5.99 | 287.52 | 67.7 | 37.22 | 0 | 0 | 1.82 |
48V | 6.63 | 318.24 | 70.8 | 39.1 | 0 | 0 | 1.81 |
48V | 7.71 | 370.08 | 74 | 41.56 | 0 | 0 | 1.78 |
48V | 8.78 | 421.44 | 78.6 | 44.11 | 0 | 0 | 1.78 |
48V | 9.89 | 474.72 | 82.2 | 46.58 | 0 | 0 |
|
48V | 11.68 | 560.64 | 86.3 | 49.64 | 0 | 0 | 1.74 |
48V | 12.96 | 622.08 | 89.7 | 52.11 | 0 | 0 | 1.72 |
48V | 14.85 | 712.8 | 93.8 | 55.82 | 0 | 0 | 1.68 |
48V | 15.78 | 757.44 | 96.5 | 57.76 | 0 | 0 | 1.67 |
48V | 17.8 | 854.4 | 100.3 | 61.48 | 0 | 0 | 1.63 |
48V | 20.99 | 1007.52 | 103.9 | 66.45 | 0 | 0 | 1.56 |
48V | 24.6 | 1180.8 | 107.1 | 71.41 | 0 | 0 | 1.50 |
48V | 29.56 | 1418.88 | 110.6 | 76.92 | 0 | 0 | 1.44 |
48V | 34.61 | 1661.28 | 113.8 | 81.94 | 0 | 0 | 1.39 |
48V | 38.92 | 1868.16 | 116.6 | 85.6 | 0 | 0 | 1.36 |
48V | 43.65 | 2095.2 | 120 | 89.44 | 0 | 0 | 1.34 |
EC-A10010-P2-16H Measured Data - Torque-Speed (T-N) Curve
Voltage (V) | Bus Current (A) | Output Power (W) | Torque (Nm) | Speed (RPM) | Phase Current (A) | Efficiency | Torque/Phase Current |
48V | 6.35 | 188.89 | 11.1 | 162.51 | 7.19 | 62% | 1.54 |
48V | 6.76 | 234.77 | 13.8 | 162.47 | 7.75 | 72% | 1.78 |
48V | 8.99 | 293.68 | 17.3 | 162.12 | 10.8 | 68% | 1.60 |
48V | 9.85 | 334.71 | 19.8 | 161.44 | 12.02 | 71% | 1.65 |
48V | 10.13 | 374.59 | 22.3 | 160.42 | 11.88 | 77% | 1.88 |
48V | 16.28 | 429.41 | 26.2 | 156.52 | 6.01 | 55% | 4.36 |
48V | 14.37 | 470.71 | 29.4 | 152.9 | 30.38 | 68% | 0.97 |
48V | 16.56 | 503.52 | 32.1 | 149.8 | 34.09 | 63% | 0.94 |
48V | 17.52 | 534.94 | 34.9 | 146.38 | 10.21 | 64% | 3.42 |
48V | 17.31 | 578.97 | 39.5 | 139.98 | 11.1 | 70% | 3.56 |
48V | 23.96 | 611.71 | 43.7 | 133.68 | 19.39 | 53% | 2.25 |
48V | 22.11 | 637.59 | 47.6 | 127.92 | 25.25 | 60% | 1.89 |
48V | 24.78 | 652.30 | 50.1 | 124.34 | 25.86 | 55% | 1.94 |
48V | 24.5 | 665.64 | 53.2 | 119.49 | 31.68 | 57% | 1.68 |
48V | 25.77 | 681.31 | 56.1 | 115.98 | 30.22 | 55% | 1.86 |
48V | 27.07 | 697.88 | 60.2 | 110.71 | 47.25 | 54% | 1.27 |
48V | 27.81 | 708.55 | 63.8 | 106.06 | 36.7 | 53% | 1.74 |
48V | 32.83 | 714.20 | 66.4 | 102.72 | 40.72 | 45% | 1.63 |
48V | 31.99 | 710.58 | 69.6 | 97.5 | 36.46 | 46% | 1.91 |
48V | 36.37 | 703.06 | 73.1 | 91.85 | 54.55 | 40% | 1.34 |
48V | 40.28 | 692.05 | 77.9 | 84.84 | 60.34 | 36% | 1.29 |
48V | 39.93 | 687.74 | 80.4 | 81.69 | 58.21 | 36% | 1.38 |
48V | 40.5 | 672.76 | 83.7 | 76.76 | 51.77 | 35% | 1.62 |
48V | 41.87 | 657.85 | 87.5 | 71.8 | 64.9 | 33% | 1.35 |
48V | 44.41 | 641.61 | 91.7 | 66.82 | 67.27 | 30% | 1.36 |
48V | 51.59 | 628.00 | 95.5 | 62.8 | 80.87 | 25% | 1.18 |
48V | 49.2 | 619.37 | 97.8 | 60.48 | 50.62 | 26% | 1.93 |
48V | 52.38 | 594.58 | 101 | 56.22 | 93.15 | 24% | 1.08 |
48V | 56.19 | 560.32 | 104.8 | 51.06 | 87.02 | 21% | 1.20 |
48V | 55.35 | 515.23 | 108.5 | 45.35 | 76.41 | 19% | 1.42 |
48V | 57.27 | 463.21 | 111.4 | 39.71 | 96.47 | 17% | 1.15 |
48V | 55.24 | 387.68 | 114.2 | 32.42 | 88.54 | 15% | 1.29 |
48V | 58.16 | 256.79 | 117.9 | 20.8 | 102.47 | 9% | 1.15 |
48V | 38.14 | 0.00 | 125.1 | 0 | 89.91 | 0% | 1.39 |
1.3 Stall Torque Curve
1.4 Load Speed Curve
