Overview
EC-A10020-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-A10020-P2-16H Performance Parameters
Parameter | Unit | Value |
Reduction Ratio | 16 |
|
Rated Voltage | 48 | V |
Rated Bus Current | 20.9 | A |
Rated Phase Current | 26 | A |
Rated Input Power | 1003.2 | W |
Rated Speed | 140 | RPM |
0RPM | 50 | Nm |
50RPM | 44 | Nm |
Peak Speed | 144 | RPM |
Peak Phase Current | 90 | A |
Peak Torque | 180 | Nm |
Efficiency | 73% |
|
Torque Constant | 2 | Nm/A |
Weight | 2358 | g |
Backlash | 18 | Arcmin |
Motor Size (Outer Diameter × Thickness) | 124×81.5 | mm |
Communication Mode | CAN (CANFD optional) |
|
Communication Baud Rate | 1M/5M |
|
EC-A10020-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 | 499.81 | kgmm² |
Peak Torque Density | 76 | Nm/kg |
EC-A10020-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 | 0.1 | 4.8 | 0.9 | 1.15 | 0 | 0 | 0.78 |
48V | 0.12 | 5.76 | 4.1 | 3.34 | 0 | 0 | 1.23 |
48V | 0.15 | 7.2 | 8.8 | 6.08 | 0 | 0 | 1.45 |
48V | 0.19 | 9.12 | 12.8 | 8.33 | 0 | 0 | 1.54 |
48V | 0.23 | 11.04 | 17.2 | 9.98 | 0 | 0 | 1.72 |
48V | 0.35 | 16.8 | 23.2 | 12.21 | 0 | 0 | 1.90 |
48V | 0.38 | 18.24 | 26.1 | 13.27 | 0 | 0 | 1.97 |
48V | 0.52 | 24.96 | 31.5 | 16.06 | 0 | 0 | 1.96 |
48V | 0.67 | 32.16 | 37.5 | 18.77 | 0 | 0 | 2.00 |
48V | 0.79 | 37.92 | 41.4 | 20.48 | 0 | 0 | 2.02 |
48V | 0.92 | 44.16 | 46.2 | 22.12 | 0 | 0 | 2.09 |
48V | 1.03 | 49.44 | 50.1 | 23.74 | 0 | 0 | 2.11 |
48V | 1.33 | 63.84 | 55.1 | 25.42 | 0 | 0 | 2.17 |
48V | 1.53 | 73.44 | 60.5 | 27.04 | 0 | 0 | 2.24 |
48V | 1.58 | 75.84 | 65.4 | 28.87 | 0 | 0 | 2.27 |
48V | 1.98 | 95.04 | 70.5 | 30.93 | 0 | 0 | 2.28 |
48V | 2.3 | 110.4 | 76.1 | 33.72 | 0 | 0 | 2.26 |
48V | 2.58 | 123.84 | 83.6 | 37.06 | 0 | 0 | 2.26 |
48V | 2.77 | 132.96 | 87 | 39.21 | 0 | 0 | 2.22 |
48V | 3.08 | 147.84 | 90.8 | 41.48 | 0 | 0 | 2.19 |
48V | 3.41 | 163.68 | 95.3 | 44.16 | 0 | 0 | 2.16 |
48V | 3.85 | 184.8 | 100.3 | 47.44 | 0 | 0 | 2.11 |
48V | 4.39 | 210.72 | 108.2 | 52.45 | 0 | 0 | 2.06 |
48V | 4.94 | 237.12 | 113.8 | 55.74 | 0 | 0 | 2.04 |
48V | 5.29 | 253.92 | 116.7 | 57.46 | 0 | 0 | 2.03 |
48V | 5.69 | 273.12 | 120.5 | 59.63 | 0 | 0 |
|
48V | 5.97 | 286.56 | 123.9 | 61.23 | 0 | 0 | 2.02 |
48V | 6.55 | 314.4 | 127.8 | 63.42 | 0 | 0 | 2.02 |
48V | 7.03 | 337.44 | 131.9 | 65.1 | 0 | 0 | 2.03 |
48V | 7.46 | 358.08 | 136.4 | 67.33 | 0 | 0 | 2.03 |
48V | 8.17 | 392.16 | 140 | 69 | 0 | 0 | 2.03 |
48V | 8.72 | 418.56 | 144.6 | 71.76 | 0 | 0 | 2.02 |
48V | 9.64 | 462.72 | 149.6 | 74.05 | 0 | 0 | 2.02 |
48V | 10.87 | 521.76 | 155.3 | 76.14 | 0 | 0 | 2.04 |
48V | 11.65 | 559.2 | 159.8 | 77.29 | 0 | 0 | 2.07 |
48V | 12.7 | 609.6 | 167.8 | 79.5 | 0 | 0 | 2.11 |
EC-A10020-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 | 6.19 | 186.87 | 12.4 | 143.92 | 7.2 | 63% | 1.72 |
48V | 7.28 | 243.49 | 16.2 | 143.54 | 8.79 | 70% | 1.84 |
48V | 7.91 | 278.22 | 18.5 | 143.62 | 9.28 | 73% | 1.99 |
48V | 8.79 | 301.90 | 20.1 | 143.44 | 10.2 | 72% | 1.97 |
48V | 10.39 | 335.51 | 22.4 | 143.04 | 12.11 | 67% | 1.85 |
48V | 11.59 | 396.20 | 26.5 | 142.78 | 14.1 | 71% | 1.88 |
48V | 12.75 | 449.20 | 30.1 | 142.52 | 15.39 | 73% | 1.96 |
48V | 14.31 | 509.02 | 34.2 | 142.14 | 17.18 | 74% | 1.99 |
48V | 16.7 | 576.49 | 38.9 | 141.53 | 19.96 | 72% | 1.95 |
48V | 18.55 | 628.78 | 42.6 | 140.96 | 22.23 | 71% |
|
48V | 19.85 | 697.55 | 47.4 | 140.54 | 24.98 | 73% | 1.90 |
48V | 20.9 | 768.88 | 52.4 | 140.13 | 26.02 | 77% | 2.01 |
48V | 23.36 | 845.10 | 57.9 | 139.39 | 29.33 | 75% | 1.97 |
48V | 26.59 | 909.78 | 62.9 | 138.13 | 32.57 | 71% | 1.93 |
48V | 27.94 | 968.77 | 67.3 | 137.47 | 32.93 | 72% | 2.04 |
48V | 29.69 | 1045.62 | 73 | 136.79 | 37.69 | 73% | 1.94 |
48V | 31.82 | 1137.26 | 79.9 | 135.93 | 40.8 | 74% | 1.96 |
48V | 32.55 | 1156.53 | 81.5 | 135.52 | 41.85 | 74% | 1.95 |
48V | 34.59 | 1185.58 | 84.3 | 134.31 | 42.57 | 71% | 1.98 |
48V | 41.82 | 1268.78 | 93.9 | 129.04 | 49.54 | 63% | 1.90 |
48V | 44.28 | 1309.92 | 99.6 | 125.6 | 48.08 | 62% | 2.07 |
48V | 47.85 | 1333.43 | 105.6 | 120.59 | 42.72 | 58% | 2.47 |
48V | 40.79 | 1337.36 | 108.3 | 117.93 | 82.56 | 68% | 1.31 |
48V | 51.43 | 1333.73 | 111.7 | 114.03 | 80.71 | 54% | 1.38 |
48V | 49.39 | 1329.40 | 114.8 | 110.59 | 84.11 | 56% | 1.36 |
48V | 50.08 | 1330.73 | 115.9 | 109.65 | 75.67 | 55% | 1.53 |
48V | 51.22 | 1329.67 | 119.2 | 106.53 | 87.15 | 54% | 1.37 |
48V | 53.77 | 1334.53 | 122.9 | 103.70 | 108.04 | 52% | 1.14 |
48V | 52.76 | 1327.42 | 125.8 | 100.77 | 80.75 | 52% | 1.56 |
48V | 54.34 | 1312.93 | 130.5 | 96.08 | 135.32 | 50% | 0.96 |
48V | 52.57 | 1296.01 | 132.6 | 93.34 | 68.14 | 51% | 1.95 |
48V | 54.83 | 1168.21 | 138.9 | 80.32 | 82.58 | 44% | 1.68 |
48V | 55.01 | 1068.67 | 142.3 | 71.72 | 67.5 | 40% | 2.11 |
48V | 37.08 | 820.62 | 147.7 | 53.06 | 73.42 | 46% | 2.01 |
48V | 17.89 | 317.65 | 161.1 | 18.83 | 83.91 | 37% | 1.92 |
48V | 12.27 | 8.47 | 172.2 | 0.47 | 79.87 | 1% | 2.16 |
1.3 Stall Torque Curve
1.4 Load Speed Curve
