Overview
EC-A10015-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-A10015-P2-16H Performance Parameters
Parameter | Unit | Value |
Reduction Ratio | 16 |
|
Rated Voltage | 48 | V |
Rated Bus Current | 15.2 | A |
Rated Phase Current | 20.6 | A |
Rated Input Power | 729.6 | W |
Rated Speed | 149 | RPM |
0RPM | 33 | Nm |
50RPM | 31 | Nm |
Peak Speed | 154 | RPM |
Peak Phase Current | 90 | A |
Peak Torque | 150 | Nm |
Efficiency | 64% |
|
Torque Constant | 1.85 | Nm/A |
Weight | 2162 | g |
Backlash | 18 | Arcmin |
Motor Size (Outer Diameter × Thickness) | 124×76.5 | mm |
Communication Mode | CAN (CANFD optional) |
|
Communication Baud Rate | 1M/5M |
|
EC-A10015-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 | 407.08 | kgmm² |
Peak Torque Density | 69 | Nm/kg |
EC-A10015-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 | 1.1 | 1.01 | 0 | 0 | 1.09 |
48V | 0.15 | 7.2 | 7.8 | 4.91 | 0 | 0 | 1.59 |
48V | 0.24 | 11.52 | 10.9 | 6.17 | 0 | 0 | 1.77 |
48V | 0.3 | 14.4 | 13.9 | 7.5 | 0 | 0 | 1.85 |
48V | 0.36 | 17.28 | 18.2 | 9.31 | 0 | 0 | 1.95 |
48V | 0.47 | 22.56 | 22.1 | 11.24 | 0 | 0 | 1.97 |
48V | 0.64 | 30.72 | 26.9 | 13.7 | 0 | 0 | 1.96 |
48V | 0.79 | 37.92 | 31 | 15.59 | 0 | 0 | 1.99 |
48V | 0.96 | 46.08 | 35.5 | 18.03 | 0 | 0 | 1.97 |
48V | 1.12 | 53.76 | 39.3 | 19.92 | 0 | 0 | 1.97 |
48V | 1.37 | 65.76 | 43.9 | 22.4 | 0 | 0 | 1.96 |
48V | 1.7 | 81.6 | 48.1 | 24.28 | 0 | 0 | 1.98 |
48V | 1.93 | 92.64 | 52.3 | 26.12 | 0 | 0 | 2.00 |
48V | 2.23 | 107.04 | 56.8 | 28.02 | 0 | 0 | 2.03 |
48V | 2.51 | 120.48 | 59.9 | 29.28 | 0 | 0 | 2.05 |
48V | 2.92 | 140.16 | 65.2 | 31.69 | 0 | 0 | 2.06 |
48V | 3.27 | 156.96 | 69 | 33.6 | 0 | 0 | 2.05 |
48V | 3.91 | 187.68 | 74.6 | 36.03 | 0 | 0 | 2.07 |
48V | 4.16 | 199.68 | 77.8 | 37.33 | 0 | 0 | 2.08 |
48V | 4.68 | 224.64 | 82 | 39.14 | 0 | 0 | 2.10 |
48V | 4.98 | 239.04 | 84.9 | 40.32 | 0 | 0 | 2.11 |
48V | 5.53 | 265.44 | 88.6 | 42.22 | 0 | 0 | 2.10 |
48V | 6.23 | 299.04 | 93.6 | 44.72 | 0 | 0 | 2.09 |
48V | 6.95 | 333.6 | 97.4 | 47.2 | 0 | 0 | 2.06 |
48V | 7.82 | 375.36 | 101.9 | 50.35 | 0 | 0 | 2.02 |
48V | 9.04 | 433.92 | 106.2 | 54.11 | 0 | 0 |
|
48V | 10.12 | 485.76 | 110.8 | 57.7 | 0 | 0 | 1.92 |
48V | 11.03 | 529.44 | 115.1 | 60.33 | 0 | 0 | 1.91 |
48V | 12.25 | 588 | 119.8 | 64.03 | 0 | 0 | 1.87 |
48V | 13.98 | 671.04 | 124 | 67.69 | 0 | 0 | 1.83 |
48V | 15.6 | 748.8 | 128.3 | 71.45 | 0 | 0 | 1.80 |
48V | 17.21 | 826.08 | 132.3 | 75.13 | 0 | 0 | 1.76 |
48V | 19.56 | 938.88 | 136.8 | 79.45 | 0 | 0 | 1.72 |
48V | 21.5 | 1032 | 140.4 | 82.61 | 0 | 0 | 1.70 |
48V | 24.09 | 1156.32 | 144.2 | 86.37 | 0 | 0 | 1.67 |
48V | 26.48 | 1271.04 | 148 | 89.36 | 0 | 0 | 1.66 |
EC-A10015-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 | 6.13 | 205.13 | 12.7 | 154.25 | 7.21 | 70% | 1.76 |
48V | 8.64 | 283.37 | 17.6 | 153.76 | 10.62 | 68% | 1.66 |
48V | 9.35 | 348.09 | 21.8 | 152.49 | 11.06 | 78% | 1.97 |
48V | 12.65 | 421.86 | 26.7 | 150.89 | 15.84 | 69% | 1.69 |
48V | 13.9 | 464.77 | 29.6 | 149.95 | 17.4 | 70% | 1.70 |
48V | 15.18 | 527.14 | 33.9 | 148.5 | 20.65 | 72% | 1.64 |
48V | 21.52 | 587.33 | 38.3 | 146.45 | 43 | 57% | 0.89 |
48V | 24.99 | 624.51 | 41.2 | 144.76 | 38.41 | 52% | 1.07 |
48V | 23.06 | 675.26 | 45.5 | 141.73 | 13.52 | 61% | 3.37 |
48V | 25.59 | 712.99 | 49 | 138.96 | 42.59 | 58% | 1.15 |
48V | 27.23 | 770.09 | 54.2 | 135.69 | 70.57 | 59% | 0.77 |
48V | 22.62 | 806.36 | 57.9 | 133 | 48.11 | 74% | 1.20 |
48V | 27.1 | 838.30 | 62.2 | 128.71 | 21.35 | 64% | 2.91 |
48V | 30.04 | 857.70 | 64.9 | 126.21 | 52.83 | 59% | 1.23 |
48V | 34.56 | 887.42 | 69.5 | 121.94 | 37.17 | 53% | 1.87 |
48V | 37.22 | 901.60 | 71.8 | 119.92 | 80.24 | 50% | 0.89 |
48V | 36.54 | 924.21 | 75.2 | 117.37 | 46.56 | 53% | 1.62 |
48V | 38.8 | 933.76 | 77.2 | 115.51 | 38.41 | 50% | 2.01 |
48V | 39.23 | 950.87 | 80 | 113.51 | 40.97 | 50% | 1.95 |
48V | 32.77 | 982.25 | 86.8 | 108.07 | 38.86 | 62% | 2.23 |
48V | 39.72 | 991.56 | 89.8 | 105.45 | 74.11 | 52% | 1.21 |
48V | 39.44 | 1002.03 | 92.7 | 103.23 | 42.73 | 53% | 2.17 |
48V | 41.74 | 1018.01 | 98.6 | 98.6 | 50.97 | 51% | 1.93 |
48V | 42.73 | 1020.57 | 101.6 | 95.93 | 55.42 | 50% | 1.83 |
48V | 42.69 | 1020.72 | 104 | 93.73 | 54.77 | 50% | 1.90 |
48V | 50.16 | 1015.84 | 108.6 | 89.33 | 65.31 | 42% | 1.66 |
48V | 48.3 | 1007.29 | 111.7 | 86.12 | 77.14 | 43% | 1.45 |
48V | 50.06 | 997.35 | 115.9 | 82.18 | 64.18 | 42% | 1.81 |
48V | 52.96 | 980.41 | 119.7 | 78.22 | 75.58 | 39% | 1.58 |
48V | 56.09 | 942.05 | 123.8 | 72.67 | 78.93 | 35% | 1.57 |
48V | 55.98 | 896.66 | 127.2 | 67.32 | 109.95 | 33% | 1.16 |
48V | 55.35 | 791.92 | 131.3 | 57.6 | 103.63 | 30% | 1.27 |
48V | 59.95 | 631.93 | 135.8 | 44.44 | 82.92 | 22% | 1.64 |
48V | 51.49 | 408.04 | 141.7 | 27.5 | 79.22 | 17% | 1.79 |
48V | 34.08 | 304.85 | 144.7 | 20.12 | 90.84 | 19% | 1.59 |
48V | 30.29 | 104.54 | 151.5 | 6.59 | 90.31 | 7% | 1.68 |
48V | 29.7 | 0.00 | 159.3 | 0 | 89.94 | 0% | 1.77 |
1.3 Stall Torque Curve
1.4 Load Speed Curve
