EC-A6416-P2-25 Motor Introduction
EC-A6416-P2-25 is a planetary series integrated joint module integrating a servo motor, planetary gear reducer, dual encoders and drive control. Powered by 48V DC with integrated CAN (CANFD optional) communication, it features high torque density, compact structure and reliable operation, suitable for robot joints and precision automation transmission.
1.2 Performance Parameters, Measured Data and Characteristic Curves
EC-A6416-P2-25 Performance Parameters:
Parameter | Unit | Value |
Reduction Ratio |
| 25 |
Rated Voltage | V | 48 |
Rated Bus Current | A | 6.7 |
Rated Phase Current | A | 8.3 |
Rated Input Power | W | 321.6 |
Rated Speed | RPM | 107 |
Rated Torque | Nm | 20 |
Allows Continuous Torque (50 RPM) | Nm | 18.6 |
Peak Speed | RPM | 120 |
Peak Phase Current | A | 60 |
Peak Torque | Nm | 120 |
Efficiency |
| 73% |
Torque Constant | Nm/A | 2.74 |
Weight | g | 805 |
Backlash | Arcmin | 18 |
Motor Size | mm | 88×67.5 |
Communication Mode |
| CAN (CANFD optional) |
Communication Baud Rate |
| 1M/5M |
Structural Parameters:
Parameter | Unit | Value |
Double Encoder |
| Yes |
Axial And Radial Loads | KN | 2.14 |
Bending Moment Resistance | Nm | 40 |
Cross Roller Bearing Type |
| 4005 |
The Rotor Inertia Of The Motor | kgmm² | 104 |
Peak Torque Density | Nm/kg | 149.1 |
EC-A6416-P2-25 Measured Data - Torque Characteristics (48V):
Voltage V | Bus Current A | Input Power W | Torque Nm | Phase Current A | Speed RPM | Efficiency | Torque/Phase Current |
48V | 0.19 | 9.12 | 6.5 | 2.9 | 0 | 0 | 2.24 |
48V | 0.25 | 12 | 10.4 | 4.19 | 0 | 0 | 2.48 |
48V | 0.35 | 16.8 | 12.4 | 4.87 | 0 | 0 | 2.55 |
48V | 0.4 | 19.2 | 15.4 | 6.11 | 0 | 0 | 2.52 |
48V | 0.53 | 25.44 | 18.8 | 7.36 | 0 | 0 | 2.55 |
48V | 0.69 | 33.12 | 22.1 | 8.55 | 0 | 0 | 2.58 |
48V | 0.83 | 39.84 | 25.3 | 9.61 | 0 | 0 | 2.63 |
48V | 1.04 | 49.92 | 29.2 | 10.95 | 0 | 0 | 2.67 |
48V | 1.35 | 64.8 | 31.9 | 11.78 | 0 | 0 | 2.71 |
48V | 1.46 | 70.08 | 34.4 | 12.53 | 0 | 0 | 2.75 |
48V | 1.54 | 73.92 | 36.1 | 12.98 | 0 | 0 | 2.78 |
48V | 1.98 | 95.04 | 39.9 | 14.27 | 0 | 0 | 2.80 |
48V | 2.13 | 102.24 | 42.6 | 15.31 | 0 | 0 | 2.78 |
48V | 2.38 | 114.24 | 45.6 | 16.45 | 0 | 0 | 2.77 |
48V | 2.63 | 126.24 | 47.5 | 17.16 | 0 | 0 | 2.77 |
48V | 2.92 | 140.16 | 50.3 | 18.09 | 0 | 0 | 2.78 |
48V | 3.04 | 145.92 | 51.8 | 18.6 | 0 | 0 | 2.78 |
48V | 3.94 | 189.12 | 55.8 | 20.19 | 0 | 0 | 2.76 |
48V | 4.44 | 213.12 | 59.4 | 21.61 | 0 | 0 | 2.75 |
48V | 5.11 | 245.28 | 64.3 | 23.27 | 0 | 0 | 2.76 |
48V | 5.68 | 272.64 | 68.3 | 24.51 | 0 | 0 | 2.79 |
48V | 6.12 | 293.76 | 69.9 | 25.16 | 0 | 0 | 2.78 |
48V | 6.77 | 324.96 | 73.1 | 26.27 | 0 | 0 | 2.78 |
48V | 7.51 | 360.48 | 76.1 | 27.46 | 0 | 0 | 2.77 |
48V | 8.25 | 396 | 78.4 | 28.56 | 0 | 0 | 2.75 |
48V | 9.28 | 445.44 | 82.7 | 30.5 | 0 | 0 | 2.71 |
48V | 11.19 | 537.12 | 88.9 | 33.52 | 0 | 0 | 2.65 |
48V | 11.27 | 540.96 | 89.8 | 34.1 | 0 | 0 | 2.63 |
48V | 11.49 | 551.52 | 90.8 | 34.57 | 0 | 0 | 2.63 |
48V | 12.41 | 595.68 | 93.2 | 35.88 | 0 | 0 | 2.60 |
48V | 13.56 | 650.88 | 96.1 | 37.16 | 0 | 0 | 2.59 |
48V | 14.62 | 701.76 | 98.7 | 38.3 | 0 | 0 | 2.58 |
48V | 15.67 | 752.16 | 99.7 | 38.72 | 0 | 0 | 2.57 |
48V | 19.83 | 951.84 | 106.2 | 41.62 | 0 | 0 | 2.55 |
48V | 21.5 | 1032 | 109 | 43.04 | 0 | 0 | 2.53 |
48V | 25.34 | 1216.32 | 113.2 | 45.76 | 0 | 0 | 2.47 |
EC-A6416-P2-25 Measured Data - Torque-Speed (T-N) Curve (48V):
Voltage V | Bus Current A | Output Power W | Torque Nm | Speed RPM | Phase Current A | Efficiency | Torque/Phase Current |
48V | 1.87 | 23.82 | 1.9 | 119.75 | 2.47 | 27% | 0.77 |
48V | 3.08 | 64.83 | 5.3 | 116.81 | 3.34 | 44% | 1.59 |
48V | 3.9 | 82.45 | 6.8 | 115.79 | 4.61 | 44% | 1.48 |
48V | 3.94 | 117.88 | 9.9 | 113.71 | 5.71 | 62% | 1.73 |
48V | 4.69 | 154.25 | 13.2 | 111.6 | 7.28 | 69% | 1.81 |
48V | 6.84 | 200.31 | 17.6 | 108.69 | 8.85 | 61% | 1.99 |
48V | 6.71 | 219.05 | 19.5 | 107.28 | 8.32 | 68% | 2.34 |
48V | 7.42 | 246.89 | 22.3 | 105.73 | 10.82 | 69% | 2.06 |
48V | 8.42 | 279.44 | 25.7 | 103.84 | 10.66 | 69% | 2.41 |
48V | 8.88 | 314.28 | 29.5 | 101.74 | 13.43 | 74% | 2.20 |
48V | 10.54 | 336.06 | 32.1 | 99.98 | 14.23 | 66% | 2.26 |
48V | 11.16 | 368.36 | 35.9 | 97.99 | 14.59 | 69% | 2.46 |
48V | 13.19 | 419.23 | 43.4 | 92.25 | 17.51 | 66% | 2.48 |
48V | 13.71 | 435.34 | 46 | 90.38 | 18.12 | 66% | 2.54 |
48V | 13.93 | 455.56 | 49.5 | 87.89 | 18.99 | 68% | 2.61 |
48V | 15.76 | 472.64 | 52.7 | 85.65 | 22.53 | 62% | 2.34 |
48V | 16.38 | 490.91 | 56.6 | 82.83 | 24.03 | 62% | 2.36 |
48V | 17.92 | 525.38 | 65 | 77.19 | 24.54 | 61% | 2.65 |
48V | 18.79 | 533.31 | 67.7 | 75.23 | 26.26 | 59% | 2.58 |
48V | 20.45 | 539.17 | 70.7 | 72.83 | 28.18 | 55% | 2.51 |
48V | 21.58 | 552.43 | 77.3 | 68.25 | 31.59 | 53% | 2.45 |
48V | 23.69 | 557.31 | 80.8 | 65.87 | 33.24 | 49% | 2.43 |
48V | 23.94 | 560.09 | 84.3 | 63.45 | 36.41 | 49% | 2.32 |
48V | 25.67 | 560.35 | 86.9 | 61.58 | 35.59 | 45% | 2.44 |
48V | 26.14 | 558.32 | 89.9 | 59.31 | 37.28 | 44% | 2.41 |
48V | 26.6 | 553.95 | 92.6 | 57.13 | 36.8 | 43% | 2.52 |
48V | 27.99 | 532.76 | 95.6 | 53.22 | 39.93 | 40% | 2.39 |
48V | 28.66 | 512.28 | 97.3 | 50.28 | 43.02 | 37% | 2.26 |
48V | 28.19 | 422.74 | 102.7 | 39.31 | 45.14 | 31% | 2.28 |
48V | 28.35 | 309.25 | 108.7 | 27.17 | 45.94 | 23% | 2.37 |
48V | 28.8 | 273.60 | 110.2 | 23.71 | 47.46 | 20% | 2.32 |
48V | 29.12 | 231.62 | 112 | 19.75 | 48.2 | 17% | 2.32 |
48V | 28.75 | 154.79 | 115.4 | 12.81 | 50.07 | 11% | 2.30 |
48V | 28 | 0.00 | 120 | 0 | 49.89 | 0% | 2.41 |
1.3 Motor Torque Curve - Stall
1.4 Motor Load-Speed Curve
