Product family

First-generation planetary joint modules

10 variants · Varies by model, rated torque, dimensions

About this product family

Manufacturer-defined First-generation planetary joint modules family, with size and configuration details recorded on each individual model.

Compare variants

Values retain their source conditions and claim stage. A missing value means it has not been published in this catalogue.

Variant / model	Mass	Mixed force/position protocol current range	Mixed force/position protocol kd range	Mixed force/position protocol kp range	Mixed force/position protocol position range	Details & evidence
EC-A10020-P1-12	1,373 gConfiguration: EC-A10020-P1-12; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred.	-70~70 AConfiguration: EC-A10020-P1-12; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Shared row is printed EC-A10020-P1-12/6; only common scalar/range cells are assigned to this explicitly listed -12 product, with no separate -6 product inferred. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current.	0~50Configuration: EC-A10020-P1-12; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Shared row is printed EC-A10020-P1-12/6; only common scalar/range cells are assigned to this explicitly listed -12 product, with no separate -6 product inferred. No KD physical unit is printed. The red-row note says factory-default KD changed to 0–50 for later red-marked motors from 2025-01-15; earlier firmware cohorts are not silently upgraded. This is a protocol-change date, not a product release date.	0~500Configuration: EC-A10020-P1-12; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Shared row is printed EC-A10020-P1-12/6; only common scalar/range cells are assigned to this explicitly listed -12 product, with no separate -6 product inferred. No KP physical unit is printed.	-12.5~12.5 radConfiguration: EC-A10020-P1-12; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Shared row is printed EC-A10020-P1-12/6; only common scalar/range cells are assigned to this explicitly listed -12 product, with no separate -6 product inferred. Encoding/command range, not a mechanical travel-stop specification.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Mass 1,373 g Manufacturer specification Configuration: EC-A10020-P1-12; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A10020-P1-12 official first-generation planetary joint page 重量：1373g Mixed force/position protocol current range -70~70 A Manufacturer specification Configuration: EC-A10020-P1-12; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Shared row is printed EC-A10020-P1-12/6; only common scalar/range cells are assigned to this explicitly listed -12 product, with no separate -6 product inferred. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -70~70 Mixed force/position protocol kd range 0~50 Manufacturer specification Configuration: EC-A10020-P1-12; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Shared row is printed EC-A10020-P1-12/6; only common scalar/range cells are assigned to this explicitly listed -12 product, with no separate -6 product inferred. No KD physical unit is printed. The red-row note says factory-default KD changed to 0–50 for later red-marked motors from 2025-01-15; earlier firmware cohorts are not silently upgraded. This is a protocol-change date, not a product release date. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~50 Mixed force/position protocol kp range 0~500 Manufacturer specification Configuration: EC-A10020-P1-12; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Shared row is printed EC-A10020-P1-12/6; only common scalar/range cells are assigned to this explicitly listed -12 product, with no separate -6 product inferred. No KP physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~500 Mixed force/position protocol position range -12.5~12.5 rad Manufacturer specification Configuration: EC-A10020-P1-12; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Shared row is printed EC-A10020-P1-12/6; only common scalar/range cells are assigned to this explicitly listed -12 product, with no separate -6 product inferred. Encoding/command range, not a mechanical travel-stop specification. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -12.5~12.5 Mixed force/position protocol speed range -18~18; -30~30 (72 V version) rad/s Manufacturer specification Configuration: EC-A10020-P1-12; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Shared row is printed EC-A10020-P1-12/6; only common scalar/range cells are assigned to this explicitly listed -12 product, with no separate -6 product inferred. The merged column separately qualifies the second range as the 72 V version. The current product page does not identify supply-voltage hardware variants, so neither range establishes a new SKU or a mechanical speed capability. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -18~18 -30~30(72V版本) Mixed force/position protocol torque range -150~150 N·m Manufacturer specification Configuration: EC-A10020-P1-12; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Shared row is printed EC-A10020-P1-12/6; only common scalar/range cells are assigned to this explicitly listed -12 product, with no separate -6 product inferred. Command range is separate from the product-page rated/peak torque. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -150~150 Motor rotor inertia 485 kg·mm² Manufacturer specification Configuration: EC-A10020-P1-12; debugging manual V1.20EAP table 9-1; Manufacturer rotor-inertia cell from table 9-1; units printed kgmm². This is motor rotor inertia, not an output-load inertia limit. Shared EC-A10020-P1-12/6 row prints one common inertia value. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 485 Outer diameter 124 mm Manufacturer specification Configuration: EC-A10020-P1-12; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A10020-P1-12 official first-generation planetary joint page 直径：124mm Peak speed 140 rpm Manufacturer specification Configuration: EC-A10020-P1-12; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A10020-P1-12 official first-generation planetary joint page 峰值转速：140rpm Peak torque 150 N·m Manufacturer specification Configuration: EC-A10020-P1-12; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A10020-P1-12 official first-generation planetary joint page 峰值扭矩：150Nm Rated torque 48 N·m Manufacturer specification Configuration: EC-A10020-P1-12; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A10020-P1-12 official first-generation planetary joint page 额定扭矩：48Nm Thickness 60 mm Manufacturer specification Configuration: EC-A10020-P1-12; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. The page does not state whether every connector or projection is included. EC-A10020-P1-12 official first-generation planetary joint page 厚度：60mm
EC-A8116-P1-18	961 gConfiguration: EC-A8116-P1-18; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred.	-70~70 AConfiguration: EC-A8116-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current.	0~5Configuration: EC-A8116-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed.	0~500Configuration: EC-A8116-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed.	-12.5~12.5 radConfiguration: EC-A8116-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Mass 961 g Manufacturer specification Configuration: EC-A8116-P1-18; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A8116-P1-18 official first-generation planetary joint page 重量：961g Mixed force/position protocol current range -70~70 A Manufacturer specification Configuration: EC-A8116-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -70~70 Mixed force/position protocol kd range 0~5 Manufacturer specification Configuration: EC-A8116-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~5 Mixed force/position protocol kp range 0~500 Manufacturer specification Configuration: EC-A8116-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~500 Mixed force/position protocol position range -12.5~12.5 rad Manufacturer specification Configuration: EC-A8116-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -12.5~12.5 Mixed force/position protocol speed range -18~18; -30~30 (72 V version) rad/s Manufacturer specification Configuration: EC-A8116-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The merged column separately qualifies the second range as the 72 V version. The current product page does not identify supply-voltage hardware variants, so neither range establishes a new SKU or a mechanical speed capability. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -18~18 -30~30(72V版本) Mixed force/position protocol torque range -150~150 N·m Manufacturer specification Configuration: EC-A8116-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Command range is separate from the product-page rated/peak torque. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -150~150 Motor rotor inertia 189 kg·mm² Manufacturer specification Configuration: EC-A8116-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer rotor-inertia cell from table 9-1; units printed kgmm². This is motor rotor inertia, not an output-load inertia limit. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 189 Outer diameter 105 mm Manufacturer specification Configuration: EC-A8116-P1-18; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A8116-P1-18 official first-generation planetary joint page 直径：105mm Peak speed 140 rpm Manufacturer specification Configuration: EC-A8116-P1-18; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A8116-P1-18 official first-generation planetary joint page 峰值转速：140rpm Peak torque 130 N·m Manufacturer specification Configuration: EC-A8116-P1-18; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A8116-P1-18 official first-generation planetary joint page 峰值扭矩：130Nm Protocol-table kt notation 2.35 Manufacturer specification Configuration: EC-A8116-P1-18; debugging manual V1.20EAP table 9-1; Literal kt column from the exact model row; this table prints no unit or shaft-reference definition, so no N·m/A unit is inferred. Firmware/physical applicability requires manufacturer confirmation. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 2.35 Rated torque 25 N·m Manufacturer specification Configuration: EC-A8116-P1-18; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A8116-P1-18 official first-generation planetary joint page 额定扭矩：25Nm Thickness 57 mm Manufacturer specification Configuration: EC-A8116-P1-18; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. The page does not state whether every connector or projection is included. EC-A8116-P1-18 official first-generation planetary joint page 厚度：57mm
EC-A13715-P1-12.67	2,695 gConfiguration: EC-A13715-P1-12.67; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred.	-220~220 AConfiguration: EC-A13715-P1-12.67; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The native row prints EC A13715-P1-12.67; the exact official page resolves the first-hyphen typography. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current.	0~50Configuration: EC-A13715-P1-12.67; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The native row prints EC A13715-P1-12.67; the exact official page resolves the first-hyphen typography. No KD physical unit is printed. The red-row note says factory-default KD changed to 0–50 for later red-marked motors from 2025-01-15; earlier firmware cohorts are not silently upgraded. This is a protocol-change date, not a product release date.	0~500Configuration: EC-A13715-P1-12.67; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The native row prints EC A13715-P1-12.67; the exact official page resolves the first-hyphen typography. No KP physical unit is printed.	-12.5~12.5 radConfiguration: EC-A13715-P1-12.67; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The native row prints EC A13715-P1-12.67; the exact official page resolves the first-hyphen typography. Encoding/command range, not a mechanical travel-stop specification.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Mass 2,695 g Manufacturer specification Configuration: EC-A13715-P1-12.67; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A13715-P1-12.67 official first-generation planetary joint page 重量：2695g Mixed force/position protocol current range -220~220 A Manufacturer specification Configuration: EC-A13715-P1-12.67; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The native row prints EC A13715-P1-12.67; the exact official page resolves the first-hyphen typography. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -220~220 Mixed force/position protocol kd range 0~50 Manufacturer specification Configuration: EC-A13715-P1-12.67; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The native row prints EC A13715-P1-12.67; the exact official page resolves the first-hyphen typography. No KD physical unit is printed. The red-row note says factory-default KD changed to 0–50 for later red-marked motors from 2025-01-15; earlier firmware cohorts are not silently upgraded. This is a protocol-change date, not a product release date. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~50 Mixed force/position protocol kp range 0~500 Manufacturer specification Configuration: EC-A13715-P1-12.67; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The native row prints EC A13715-P1-12.67; the exact official page resolves the first-hyphen typography. No KP physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~500 Mixed force/position protocol position range -12.5~12.5 rad Manufacturer specification Configuration: EC-A13715-P1-12.67; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The native row prints EC A13715-P1-12.67; the exact official page resolves the first-hyphen typography. Encoding/command range, not a mechanical travel-stop specification. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -12.5~12.5 Mixed force/position protocol speed range -18~18; -30~30 (72 V version) rad/s Manufacturer specification Configuration: EC-A13715-P1-12.67; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The native row prints EC A13715-P1-12.67; the exact official page resolves the first-hyphen typography. The merged column separately qualifies the second range as the 72 V version. The current product page does not identify supply-voltage hardware variants, so neither range establishes a new SKU or a mechanical speed capability. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -18~18 -30~30(72V版本) Mixed force/position protocol torque range -320~320 N·m Manufacturer specification Configuration: EC-A13715-P1-12.67; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The native row prints EC A13715-P1-12.67; the exact official page resolves the first-hyphen typography. Command range is separate from the product-page rated/peak torque. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -320~320 Motor rotor inertia 1,237 kg·mm² Manufacturer specification Configuration: EC-A13715-P1-12.67; debugging manual V1.20EAP table 9-1; Manufacturer rotor-inertia cell from table 9-1; units printed kgmm². This is motor rotor inertia, not an output-load inertia limit. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 1237 Outer diameter 170 mm Manufacturer specification Configuration: EC-A13715-P1-12.67; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A13715-P1-12.67 official first-generation planetary joint page 直径：170mm Peak speed 135 rpm Manufacturer specification Configuration: EC-A13715-P1-12.67; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A13715-P1-12.67 official first-generation planetary joint page 峰值转速：135rpm Peak torque 320 N·m Manufacturer specification Configuration: EC-A13715-P1-12.67; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A13715-P1-12.67 official first-generation planetary joint page 峰值扭矩：320Nm Protocol-table kt notation 2.5 Manufacturer specification Configuration: EC-A13715-P1-12.67; debugging manual V1.20EAP table 9-1; Literal kt column from the exact model row; this table prints no unit or shaft-reference definition, so no N·m/A unit is inferred. Firmware/physical applicability requires manufacturer confirmation. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 2.5 Rated torque 78 N·m Manufacturer specification Configuration: EC-A13715-P1-12.67; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A13715-P1-12.67 official first-generation planetary joint page 额定扭矩：78Nm Thickness 73 mm Manufacturer specification Configuration: EC-A13715-P1-12.67; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. The page does not state whether every connector or projection is included. EC-A13715-P1-12.67 official first-generation planetary joint page 厚度：73mm
EC-A8112-P1-18	868 gConfiguration: EC-A8112-P1-18; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred.	-60~60 AConfiguration: EC-A8112-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current.	0~5Configuration: EC-A8112-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed.	0~500Configuration: EC-A8112-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed.	-12.5~12.5 radConfiguration: EC-A8112-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Mass 868 g Manufacturer specification Configuration: EC-A8112-P1-18; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A8112-P1-18 official first-generation planetary joint page 重量：868g Mixed force/position protocol current range -60~60 A Manufacturer specification Configuration: EC-A8112-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -60~60 Mixed force/position protocol kd range 0~5 Manufacturer specification Configuration: EC-A8112-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~5 Mixed force/position protocol kp range 0~500 Manufacturer specification Configuration: EC-A8112-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~500 Mixed force/position protocol position range -12.5~12.5 rad Manufacturer specification Configuration: EC-A8112-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -12.5~12.5 Mixed force/position protocol speed range -18~18; -30~30 (72 V version) rad/s Manufacturer specification Configuration: EC-A8112-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The merged column separately qualifies the second range as the 72 V version. The current product page does not identify supply-voltage hardware variants, so neither range establishes a new SKU or a mechanical speed capability. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -18~18 -30~30(72V版本) Mixed force/position protocol torque range -90~90 N·m Manufacturer specification Configuration: EC-A8112-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Command range is separate from the product-page rated/peak torque. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -90~90 Motor rotor inertia 149 kg·mm² Manufacturer specification Configuration: EC-A8112-P1-18; debugging manual V1.20EAP table 9-1; Manufacturer rotor-inertia cell from table 9-1; units printed kgmm². This is motor rotor inertia, not an output-load inertia limit. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 149 Outer diameter 105 mm Manufacturer specification Configuration: EC-A8112-P1-18; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A8112-P1-18 official first-generation planetary joint page 直径：105mm Peak speed 150 rpm Manufacturer specification Configuration: EC-A8112-P1-18; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A8112-P1-18 official first-generation planetary joint page 峰值转速：150rpm Peak torque 90 N·m Manufacturer specification Configuration: EC-A8112-P1-18; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A8112-P1-18 official first-generation planetary joint page 峰值扭矩：90Nm Protocol-table kt notation 2.1 Manufacturer specification Configuration: EC-A8112-P1-18; debugging manual V1.20EAP table 9-1; Literal kt column from the exact model row; this table prints no unit or shaft-reference definition, so no N·m/A unit is inferred. Firmware/physical applicability requires manufacturer confirmation. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 2.1 Rated torque 19 N·m Manufacturer specification Configuration: EC-A8112-P1-18; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A8112-P1-18 official first-generation planetary joint page 额定扭矩：19Nm Thickness 53 mm Manufacturer specification Configuration: EC-A8112-P1-18; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. The page does not state whether every connector or projection is included. EC-A8112-P1-18 official first-generation planetary joint page 厚度：53mm
EC-A4310-P2-36	382 gConfiguration: EC-A4310-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred.	-30~30 AConfiguration: EC-A4310-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current.	0~5Configuration: EC-A4310-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed.	0~500Configuration: EC-A4310-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed.	-12.5~12.5 radConfiguration: EC-A4310-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Mass 382 g Manufacturer specification Configuration: EC-A4310-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A4310-P2-36 official first-generation planetary joint page 重量：382g Mixed force/position protocol current range -30~30 A Manufacturer specification Configuration: EC-A4310-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -30~30 Mixed force/position protocol kd range 0~5 Manufacturer specification Configuration: EC-A4310-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~5 Mixed force/position protocol kp range 0~500 Manufacturer specification Configuration: EC-A4310-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~500 Mixed force/position protocol position range -12.5~12.5 rad Manufacturer specification Configuration: EC-A4310-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -12.5~12.5 Mixed force/position protocol speed range -18~18; -30~30 (72 V version) rad/s Manufacturer specification Configuration: EC-A4310-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The merged column separately qualifies the second range as the 72 V version. The current product page does not identify supply-voltage hardware variants, so neither range establishes a new SKU or a mechanical speed capability. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -18~18 -30~30(72V版本) Mixed force/position protocol torque range -30~30 N·m Manufacturer specification Configuration: EC-A4310-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Command range is separate from the product-page rated/peak torque. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -30~30 Motor rotor inertia 19 kg·mm² Manufacturer specification Configuration: EC-A4310-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer rotor-inertia cell from table 9-1; units printed kgmm². This is motor rotor inertia, not an output-load inertia limit. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 19 Outer diameter 56 mm Manufacturer specification Configuration: EC-A4310-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A4310-P2-36 official first-generation planetary joint page 直径：56mm Peak speed 167 rpm Manufacturer specification Configuration: EC-A4310-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A4310-P2-36 official first-generation planetary joint page 峰值转速：167rpm Peak torque 36 N·m Manufacturer specification Configuration: EC-A4310-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A4310-P2-36 official first-generation planetary joint page 峰值扭矩：36Nm Protocol-table kt notation 1.4 Manufacturer specification Configuration: EC-A4310-P2-36; debugging manual V1.20EAP table 9-1; Literal kt column from the exact model row; this table prints no unit or shaft-reference definition, so no N·m/A unit is inferred. Firmware/physical applicability requires manufacturer confirmation. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 1.4 Rated torque 12 N·m Manufacturer specification Configuration: EC-A4310-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A4310-P2-36 official first-generation planetary joint page 额定扭矩：12Nm Thickness 60.5 mm Manufacturer specification Configuration: EC-A4310-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. The page does not state whether every connector or projection is included. EC-A4310-P2-36 official first-generation planetary joint page 厚度：60.5mm
EC-A4315-P2-36	485 gConfiguration: EC-A4315-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred.	-30~30 AConfiguration: EC-A4315-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current.	0~5Configuration: EC-A4315-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed.	0~500Configuration: EC-A4315-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed.	-12.5~12.5 radConfiguration: EC-A4315-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Mass 485 g Manufacturer specification Configuration: EC-A4315-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A4315-P2-36 official first-generation planetary joint page 重量：485g Mixed force/position protocol current range -30~30 A Manufacturer specification Configuration: EC-A4315-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -30~30 Mixed force/position protocol kd range 0~5 Manufacturer specification Configuration: EC-A4315-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~5 Mixed force/position protocol kp range 0~500 Manufacturer specification Configuration: EC-A4315-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~500 Mixed force/position protocol position range -12.5~12.5 rad Manufacturer specification Configuration: EC-A4315-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -12.5~12.5 Mixed force/position protocol speed range -18~18; -30~30 (72 V version) rad/s Manufacturer specification Configuration: EC-A4315-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The merged column separately qualifies the second range as the 72 V version. The current product page does not identify supply-voltage hardware variants, so neither range establishes a new SKU or a mechanical speed capability. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -18~18 -30~30(72V版本) Mixed force/position protocol torque range -70~70 N·m Manufacturer specification Configuration: EC-A4315-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Command range is separate from the product-page rated/peak torque. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -70~70 Motor rotor inertia 25 kg·mm² Manufacturer specification Configuration: EC-A4315-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer rotor-inertia cell from table 9-1; units printed kgmm². This is motor rotor inertia, not an output-load inertia limit. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 25 Outer diameter 56 mm Manufacturer specification Configuration: EC-A4315-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A4315-P2-36 official first-generation planetary joint page 直径：56mm Peak speed 117 rpm Manufacturer specification Configuration: EC-A4315-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A4315-P2-36 official first-generation planetary joint page 峰值转速：117rpm Peak torque 75 N·m Manufacturer specification Configuration: EC-A4315-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A4315-P2-36 official first-generation planetary joint page 峰值扭矩：75Nm Protocol-table kt notation 2.8 Manufacturer specification Configuration: EC-A4315-P2-36; debugging manual V1.20EAP table 9-1; Literal kt column from the exact model row; this table prints no unit or shaft-reference definition, so no N·m/A unit is inferred. Firmware/physical applicability requires manufacturer confirmation. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 2.8 Rated torque 20 N·m Manufacturer specification Configuration: EC-A4315-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A4315-P2-36 official first-generation planetary joint page 额定扭矩：20Nm Thickness 69.5 mm Manufacturer specification Configuration: EC-A4315-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. The page does not state whether every connector or projection is included. EC-A4315-P2-36 official first-generation planetary joint page 厚度：69.5mm
EC-A6416-P2-25	805 gConfiguration: EC-A6416-P2-25; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred.	-60~60 AConfiguration: EC-A6416-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current.	0~5Configuration: EC-A6416-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed.	0~500Configuration: EC-A6416-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed.	-12.5~12.5 radConfiguration: EC-A6416-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Mass 805 g Manufacturer specification Configuration: EC-A6416-P2-25; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A6416-P2-25 official first-generation planetary joint page 重量：805g Mixed force/position protocol current range -60~60 A Manufacturer specification Configuration: EC-A6416-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -60~60 Mixed force/position protocol kd range 0~5 Manufacturer specification Configuration: EC-A6416-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~5 Mixed force/position protocol kp range 0~500 Manufacturer specification Configuration: EC-A6416-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~500 Mixed force/position protocol position range -12.5~12.5 rad Manufacturer specification Configuration: EC-A6416-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -12.5~12.5 Mixed force/position protocol speed range -18~18; -30~30 (72 V version) rad/s Manufacturer specification Configuration: EC-A6416-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The merged column separately qualifies the second range as the 72 V version. The current product page does not identify supply-voltage hardware variants, so neither range establishes a new SKU or a mechanical speed capability. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -18~18 -30~30(72V版本) Mixed force/position protocol torque range -120~120 N·m Manufacturer specification Configuration: EC-A6416-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Command range is separate from the product-page rated/peak torque. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -120~120 Motor rotor inertia 104 kg·mm² Manufacturer specification Configuration: EC-A6416-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer rotor-inertia cell from table 9-1; units printed kgmm². This is motor rotor inertia, not an output-load inertia limit. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 104 Outer diameter 88 mm Manufacturer specification Configuration: EC-A6416-P2-25; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A6416-P2-25 official first-generation planetary joint page 直径：88mm Peak speed 120 rpm Manufacturer specification Configuration: EC-A6416-P2-25; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A6416-P2-25 official first-generation planetary joint page 峰值转速：120rpm Peak torque 120 N·m Manufacturer specification Configuration: EC-A6416-P2-25; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A6416-P2-25 official first-generation planetary joint page 峰值扭矩：120Nm Protocol-table kt notation 2.74 Manufacturer specification Configuration: EC-A6416-P2-25; debugging manual V1.20EAP table 9-1; Literal kt column from the exact model row; this table prints no unit or shaft-reference definition, so no N·m/A unit is inferred. Firmware/physical applicability requires manufacturer confirmation. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 2.74 Rated torque 20 N·m Manufacturer specification Configuration: EC-A6416-P2-25; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A6416-P2-25 official first-generation planetary joint page 额定扭矩：20Nm Thickness 67.5 mm Manufacturer specification Configuration: EC-A6416-P2-25; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. The page does not state whether every connector or projection is included. EC-A6416-P2-25 official first-generation planetary joint page 厚度：67.5mm
EC-A6408-P2-25	625 gConfiguration: EC-A6408-P2-25; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred.	-60~60 AConfiguration: EC-A6408-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current.	0~5Configuration: EC-A6408-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed.	0~500Configuration: EC-A6408-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed.	-12.5~12.5 radConfiguration: EC-A6408-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Mass 625 g Manufacturer specification Configuration: EC-A6408-P2-25; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A6408-P2-25 official first-generation planetary joint page 重量：625g Mixed force/position protocol current range -60~60 A Manufacturer specification Configuration: EC-A6408-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -60~60 Mixed force/position protocol kd range 0~5 Manufacturer specification Configuration: EC-A6408-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~5 Mixed force/position protocol kp range 0~500 Manufacturer specification Configuration: EC-A6408-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~500 Mixed force/position protocol position range -12.5~12.5 rad Manufacturer specification Configuration: EC-A6408-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -12.5~12.5 Mixed force/position protocol speed range -18~18; -30~30 (72 V version) rad/s Manufacturer specification Configuration: EC-A6408-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The merged column separately qualifies the second range as the 72 V version. The current product page does not identify supply-voltage hardware variants, so neither range establishes a new SKU or a mechanical speed capability. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -18~18 -30~30(72V版本) Mixed force/position protocol torque range -60~60 N·m Manufacturer specification Configuration: EC-A6408-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Command range is separate from the product-page rated/peak torque. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -60~60 Motor rotor inertia 62 kg·mm² Manufacturer specification Configuration: EC-A6408-P2-25; debugging manual V1.20EAP table 9-1; Manufacturer rotor-inertia cell from table 9-1; units printed kgmm². This is motor rotor inertia, not an output-load inertia limit. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 62 Outer diameter 88 mm Manufacturer specification Configuration: EC-A6408-P2-25; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A6408-P2-25 official first-generation planetary joint page 直径：88mm Peak speed 149 rpm Manufacturer specification Configuration: EC-A6408-P2-25; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A6408-P2-25 official first-generation planetary joint page 峰值转速：149rpm Peak torque 60 N·m Manufacturer specification Configuration: EC-A6408-P2-25; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A6408-P2-25 official first-generation planetary joint page 峰值扭矩：60Nm Protocol-table kt notation 2.35 Manufacturer specification Configuration: EC-A6408-P2-25; debugging manual V1.20EAP table 9-1; Literal kt column from the exact model row; this table prints no unit or shaft-reference definition, so no N·m/A unit is inferred. Firmware/physical applicability requires manufacturer confirmation. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 2.35 Rated torque 12 N·m Manufacturer specification Configuration: EC-A6408-P2-25; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A6408-P2-25 official first-generation planetary joint page 额定扭矩：12Nm Thickness 59.5 mm Manufacturer specification Configuration: EC-A6408-P2-25; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. The page does not state whether every connector or projection is included. EC-A6408-P2-25 official first-generation planetary joint page 厚度：59.5mm
EC-A13720-P1-11.4	3,160 gConfiguration: EC-A13720-P1-11.4; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred.	-220~220 AConfiguration: EC-A13720-P1-11.4; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current.	0~50Configuration: EC-A13720-P1-11.4; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed. The red-row note says factory-default KD changed to 0–50 for later red-marked motors from 2025-01-15; earlier firmware cohorts are not silently upgraded. This is a protocol-change date, not a product release date.	0~500Configuration: EC-A13720-P1-11.4; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed.	-12.5~12.5 radConfiguration: EC-A13720-P1-11.4; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Mass 3,160 g Manufacturer specification Configuration: EC-A13720-P1-11.4; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A13720-P1-11.4 official first-generation planetary joint page 重量：3160g Mixed force/position protocol current range -220~220 A Manufacturer specification Configuration: EC-A13720-P1-11.4; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -220~220 Mixed force/position protocol kd range 0~50 Manufacturer specification Configuration: EC-A13720-P1-11.4; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed. The red-row note says factory-default KD changed to 0–50 for later red-marked motors from 2025-01-15; earlier firmware cohorts are not silently upgraded. This is a protocol-change date, not a product release date. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~50 Mixed force/position protocol kp range 0~500 Manufacturer specification Configuration: EC-A13720-P1-11.4; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~500 Mixed force/position protocol position range -12.5~12.5 rad Manufacturer specification Configuration: EC-A13720-P1-11.4; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -12.5~12.5 Mixed force/position protocol speed range -18~18; -30~30 (72 V version) rad/s Manufacturer specification Configuration: EC-A13720-P1-11.4; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The merged column separately qualifies the second range as the 72 V version. The current product page does not identify supply-voltage hardware variants, so neither range establishes a new SKU or a mechanical speed capability. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -18~18 -30~30(72V版本) Mixed force/position protocol torque range -400~400 N·m Manufacturer specification Configuration: EC-A13720-P1-11.4; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Command range is separate from the product-page rated/peak torque. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -400~400 Motor rotor inertia 1,514 kg·mm² Manufacturer specification Configuration: EC-A13720-P1-11.4; debugging manual V1.20EAP table 9-1; Manufacturer rotor-inertia cell from table 9-1; units printed kgmm². This is motor rotor inertia, not an output-load inertia limit. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 1514 Outer diameter 170 mm Manufacturer specification Configuration: EC-A13720-P1-11.4; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A13720-P1-11.4 official first-generation planetary joint page 直径：170mm Peak speed 139 rpm Manufacturer specification Configuration: EC-A13720-P1-11.4; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A13720-P1-11.4 official first-generation planetary joint page 峰值转速：139rpm Peak torque 400 N·m Manufacturer specification Configuration: EC-A13720-P1-11.4; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A13720-P1-11.4 official first-generation planetary joint page 峰值扭矩：400Nm Protocol-table kt notation 2.5 Manufacturer specification Configuration: EC-A13720-P1-11.4; debugging manual V1.20EAP table 9-1; Literal kt column from the exact model row; this table prints no unit or shaft-reference definition, so no N·m/A unit is inferred. Firmware/physical applicability requires manufacturer confirmation. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 2.5 Rated torque 90 N·m Manufacturer specification Configuration: EC-A13720-P1-11.4; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A13720-P1-11.4 official first-generation planetary joint page 额定扭矩：90Nm Thickness 84.5 mm Manufacturer specification Configuration: EC-A13720-P1-11.4; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. The page does not state whether every connector or projection is included. EC-A13720-P1-11.4 official first-generation planetary joint page 厚度：84.5mm
EC-A2806-P2-36	162 gConfiguration: EC-A2806-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred.	-10~10 AConfiguration: EC-A2806-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current.	0~5Configuration: EC-A2806-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed.	0~500Configuration: EC-A2806-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed.	-12.5~12.5 radConfiguration: EC-A2806-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Mass 162 g Manufacturer specification Configuration: EC-A2806-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A2806-P2-36 official first-generation planetary joint page 重量：162g Mixed force/position protocol current range -10~10 A Manufacturer specification Configuration: EC-A2806-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Protocol current range; the table does not label this as rated bus current or permissible continuous phase current. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -10~10 Mixed force/position protocol kd range 0~5 Manufacturer specification Configuration: EC-A2806-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KD physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~5 Mixed force/position protocol kp range 0~500 Manufacturer specification Configuration: EC-A2806-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. No KP physical unit is printed. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 0~500 Mixed force/position protocol position range -12.5~12.5 rad Manufacturer specification Configuration: EC-A2806-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Encoding/command range, not a mechanical travel-stop specification. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -12.5~12.5 Mixed force/position protocol speed range -18~18; -30~30 (72 V version) rad/s Manufacturer specification Configuration: EC-A2806-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. The merged column separately qualifies the second range as the 72 V version. The current product page does not identify supply-voltage hardware variants, so neither range establishes a new SKU or a mechanical speed capability. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -18~18 -30~30(72V版本) Mixed force/position protocol torque range -12~12 N·m Manufacturer specification Configuration: EC-A2806-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer protocol parsing range, not an achievable continuous/peak physical rating. Table 9-1, PDF page 31; applicable installed firmware should be confirmed. Command range is separate from the product-page rated/peak torque. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings -12~12 Motor rotor inertia 4.26 kg·mm² Manufacturer specification Configuration: EC-A2806-P2-36; debugging manual V1.20EAP table 9-1; Manufacturer rotor-inertia cell from table 9-1; units printed kgmm². This is motor rotor inertia, not an output-load inertia limit. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 4.26 Outer diameter 44 mm Manufacturer specification Configuration: EC-A2806-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A2806-P2-36 official first-generation planetary joint page 直径：44mm Peak speed 220 rpm Manufacturer specification Configuration: EC-A2806-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A2806-P2-36 official first-generation planetary joint page 峰值转速：220rpm Peak torque 12 N·m Manufacturer specification Configuration: EC-A2806-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. Peak value; allowed duration is not specified. EC-A2806-P2-36 official first-generation planetary joint page 峰值扭矩：12Nm Protocol-table kt notation 1.35 Manufacturer specification Configuration: EC-A2806-P2-36; debugging manual V1.20EAP table 9-1; Literal kt column from the exact model row; this table prints no unit or shaft-reference definition, so no N·m/A unit is inferred. Firmware/physical applicability requires manufacturer confirmation. ENCOS debugging technical manual V1.20EAP; protocol ranges, not mechanical performance ratings 1.35 Rated torque 3 N·m Manufacturer specification Configuration: EC-A2806-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. EC-A2806-P2-36 official first-generation planetary joint page 额定扭矩：3Nm Thickness 44 mm Manufacturer specification Configuration: EC-A2806-P2-36; current product page; Exact-model current manufacturer page. Supply voltage, cooling, test speed and duty cycle are not specified; no unlisted configuration is inferred. The page does not state whether every connector or projection is included. EC-A2806-P2-36 official first-generation planetary joint page 厚度：44mm

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About this product family

Compare variants

Specifications & evidence

Mass

Mixed force/position protocol current range

Mixed force/position protocol kd range

Mixed force/position protocol kp range

Mixed force/position protocol position range

Mixed force/position protocol speed range

Mixed force/position protocol torque range

Motor rotor inertia

Outer diameter

Peak speed

Peak torque

Rated torque

Thickness

Specifications & evidence

Mass

Mixed force/position protocol current range

Mixed force/position protocol kd range

Mixed force/position protocol kp range

Mixed force/position protocol position range

Mixed force/position protocol speed range

Mixed force/position protocol torque range

Motor rotor inertia

Outer diameter

Peak speed

Peak torque

Protocol-table kt notation

Rated torque

Thickness

Specifications & evidence

Mass

Mixed force/position protocol current range

Mixed force/position protocol kd range

Mixed force/position protocol kp range

Mixed force/position protocol position range

Mixed force/position protocol speed range

Mixed force/position protocol torque range

Motor rotor inertia

Outer diameter

Peak speed

Peak torque

Protocol-table kt notation

Rated torque

Thickness

Specifications & evidence

Mass

Mixed force/position protocol current range

Mixed force/position protocol kd range

Mixed force/position protocol kp range

Mixed force/position protocol position range

Mixed force/position protocol speed range

Mixed force/position protocol torque range

Motor rotor inertia

Outer diameter

Peak speed

Peak torque

Protocol-table kt notation

Rated torque

Thickness

Specifications & evidence

Mass

Mixed force/position protocol current range

Mixed force/position protocol kd range

Mixed force/position protocol kp range

Mixed force/position protocol position range

Mixed force/position protocol speed range

Mixed force/position protocol torque range

Motor rotor inertia

Outer diameter

Peak speed

Peak torque

Protocol-table kt notation

Rated torque

Thickness

Specifications & evidence

Mass

Mixed force/position protocol current range

Mixed force/position protocol kd range