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EC-A6416-P2-30.25H

EC-A6416-P2-30.25H is a high-torque-density hollow joint motor: with an 88 flange and 30.25:1 reduction ratio it reaches 132Nm peak torque (130.3Nm/kg), with a 7mm hollow bore, dual-encoder closed-loop and built-in protection.

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Detail

Introduction

1.2 Performance Parameters, Measured Data and Characteristic Curves

EC-A6416-P2-30.25H Performance Parameters

Item	Unit	Value
Reduction Ratio		30.25
Rated Voltage	V	48
Rated Bus Current	A	8.18
Rated Phase Current	A	9.7
Rated Input Power	W	392.64
Rated Speed	RPM	97
Rated Torque	Nm	25
Allows Continuous Torque	Nm	19
Peak Speed	RPM	119
Peak Phase Current	A	60
Peak Torque	Nm	132
Efficiency		75%
Torque Constant	Nm/A	2.65
Weight	g	1013
Backlash	Arcmin	18
Motor Size	mm	88×73.9
Hole Diameter	mm	7
Communication Mode		CAN (optional CANFD)
Communication Baud Rate		1M/5M

Structural Parameters

Item	Unit	Value
Double Encoder		Yes
Cross Roller Bearing Type		6005
Axial And Radial Loads	KN	2.63
Bending Moment Resistance	Nm	78
The Rotor Inertia Of The Motor	kgmm²	102.678
Peak Torque Density	Nm/kg	130.3

Measured Data - Torque Characteristics

Voltage V	Bus Current A	Input Power W	Torque Nm	Phase Current A	Speed RPM	Efficiency	Torque/Phase Current
48V	0.09	4.32	1.1	0.75	0	0	1.47
	0.1	4.80	4.2	2.16	0	0	1.94
	0.16	7.68	7.3	3.32	0	0	2.20
	0.32	15.36	13.1	5.34	0	0	2.45
	0.22	10.56	15.3	6.02	0	0	2.54
	0.33	15.84	20.2	7.72	0	0	2.62
	0.5	24.00	25.4	9.43	0	0	2.69
	0.54	25.92	26.8	9.93	0	0	2.70
	0.58	27.84	30.5	11.23	0	0	2.72
	0.86	41.28	34.1	12.41	0	0	2.75
	0.88	42.24	36.7	13.26	0	0	2.77
	1.16	55.68	41.1	14.8	0	0	2.78
	1.45	69.60	44.9	16.07	0	0	2.79
	1.63	78.24	46.5	16.58	0	0	2.80
	1.75	84.00	48.1	17.06	0	0	2.82
	2.1	100.80	53.2	18.76	0	0	2.84
	2.34	112.32	55.1	19.4	0	0	2.84
	2.76	132.48	58.1	20.51	0	0	2.83
	3.23	155.04	62.7	22.26	0	0	2.82
	3.59	172.32	66.9	23.81	0	0	2.81
	4.12	197.76	70.1	24.95	0	0	2.81
	4.25	204.00	72.5	25.74	0	0	2.82
	4.76	228.48	75.6	26.88	0	0	2.81
	4.81	230.88	76.8	27.31	0	0	2.81
	5.82	279.36	82.8	29.8	0	0	2.78
	7.86	377.28	90.2	32.69	0	0
	10.74	515.52	96.2	35.3	0	0	2.73
	11.09	532.32	100.0	36.9	0	0	2.71
	11.68	560.64	103.3	38.23	0	0	2.70
	12.79	613.92	105.1	38.91	0	0	2.70
	14.85	712.80	107.3	39.69	0	0	2.70
	15.09	724.32	108.7	40.22	0	0	2.70
	18.61	893.28	110.7	41.02	0	0	2.70
	17.56	842.88	112.8	41.96	0	0	2.69
	19.18	920.64	116.3	44.12	0	0	2.64
	25.91	1243.68	120.1	49.84	0	0	2.41

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	1.82	16.16	1.4	110.24	2.59	18%	0.54
	3.04	66.69	5.9	107.95	3.84	46%	1.54
	4.53	121.98	11.1	104.95	6.22	56%	1.78
	5.24	169.15	15.8	102.24	5.42	67%	2.92
	6.6	208.11	19.9	99.87	8.96	66%	2.22
	7.06	233.98	22.6	98.87	8.97	69%
	8.18	256.23	25.1	97.49	9.7	65%	2.59
	8.79	288.14	28.7	95.88	11.08	68%	2.59
	9.34	313.96	31.9	93.99	12.34	70%	2.59
	10.5	344.47	36	91.38	14.85	68%	2.42
	12.12	371.02	40	88.58	17.04	64%	2.35
	13.08	393.60	43.5	86.41	16.51	63%	2.63
	13.63	412.84	46.4	84.97	18.07	63%	2.57
	13.81	432.18	49.5	83.38	19.35	65%	2.56
	14.97	455.30	53.7	80.97	20.11	63%	2.67
	16.21	470.28	56.6	79.35	20.93	60%	2.70
	16.63	481.39	59	77.92	22.63	60%	2.61
	17.04	494.22	62.3	75.76	23.73	60%	2.63
	17.69	506.99	65.5	73.92	25.96	60%	2.52
	18.46	519.92	69.6	71.34	25.82	59%	2.70
	20	525.96	71.9	69.86	28.69	55%	2.51
	20.82	536.94	77.4	66.25	28.68	54%	2.70
	22.01	536.54	79.9	64.13	31.84	51%	2.51
	23.19	537.72	83	61.87	33.18	48%	2.50
	23.46	538.88	85.7	60.05	35.11	48%	2.44
	24.56	537.72	89.2	57.57	34.81	46%	2.56
	25.12	531.19	91.8	55.26	36.73	44%	2.50
	27.04	515.54	95.6	51.5	40.66	40%	2.35
	29.15	495.92	99.1	47.79	41.51	35%	2.39
	30.41	472.58	103.3	43.69	42.78	32%
	31.09	459.07	106	41.36	44.21	31%	2.40
	31.21	435.67	110.1	37.79	45	29%
	33.24	418.99	113	35.41	46.81	26%	2.41
	34.49	383.10	117.3	31.19	46.51	23%
	35.54	338.79	120.5	26.85	48.81	20%	2.47
	31.43	0.78	124.5	0.06	49.91	0%