Product details

EC-A6416-H25-100B

Actuators & Joint Modules

ENCOS

EC-A6416-H25-100B

About this product

EC-A6416-H25-100B is an ENCOS first-generation hollow harmonic robot joint actuator. Its current manufacturer table specifies a 100 reduction ratio, 48 V rated supply, 74 N·m rated torque at 0 rpm and 41 N·m continuous torque at 20 rpm. The module has a 12 mm hollow bore, dual encoders and CAN communication with an optional CAN FD configuration.

Model
EC-A6416-H25-100B
Category
Actuators & Joint Modules, Components

Specifications & evidence

Source-backed claims. Configuration, workload and evidence type matter when comparing products.

Average motor efficiency

60 %

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified. Source calls this average motor efficiency; test point is not stated.

EC-A6416-H25-100B current embedded parameter table
电机平均效率(Efficiency) - 60%

Axial and radial loads (combined source label)

2.63 kN

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified. A single value is printed under a combined axial/radial-load label; separate axial and radial limits and simultaneous-load capability are not established.

EC-A6416-H25-100B current embedded parameter table
轴向载荷和径向载荷(Axial And Radial Loads) KN 2.63

Bending moment resistance

53.7 N·m

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified.

EC-A6416-H25-100B current embedded parameter table
抗弯矩(Bending Moment Resistance) Nm 53.7

Communication baud notation

1M/5M

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified. Literal 1M/5M or 1M notation; the unit column is a dash, so no bit-rate unit or option-to-rate mapping is inferred.

EC-A6416-H25-100B current embedded parameter table
通信波特率(Communication Baud Rate) - 1M/5M

Communication mode

CAN; optional CAN FD

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified.

EC-A6416-H25-100B current embedded parameter table
通信方式(Communication Mode) - CAN(可选CAN FD)

Continuous torque at 20 rpm

41 N·m

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified. Continuous torque is explicitly at 20 rpm; duration and thermal setup are unreported.

EC-A6416-H25-100B current embedded parameter table
允许连续转矩(20RPM)(Allows Continuous Torque) Nm 41

Cross roller bearing type

6005

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified. Bearing identifier, not a numeric measured quantity.

EC-A6416-H25-100B current embedded parameter table
交叉滚子轴承型号(Cross Roller Bearing Type) - 6005

Dual encoders

Yes

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified.

EC-A6416-H25-100B current embedded parameter table
是否具有双编码器(Double Encoder) - 是

Hollow bore diameter

12 mm

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified.

EC-A6416-H25-100B current embedded parameter table
中空孔直径 (Hole Diameter) mm 12

Mass

1,476 g

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified.

EC-A6416-H25-100B current embedded parameter table
电机重量(Weight) g 1476

Motor rotor inertia

107 kg·mm²

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified.

EC-A6416-H25-100B current embedded parameter table
电机的转子惯量(The Rotor Inertia Of The Motor) kgmm² 107

Motor size (outer diameter x thickness)

87x109 mm

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified. Dimensions are explicitly outer diameter x thickness, in mm; connector or projection inclusion is unstated.

EC-A6416-H25-100B current embedded parameter table
电机尺寸(外径×厚度)(Motor Size) mm 87x109

Peak phase current

25 A

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified. Peak value; no permissible peak duration is supplied.

EC-A6416-H25-100B current embedded parameter table
峰值相电流(Peak Phase Current) A 25

Peak speed

27 rpm

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified. Peak value; no permissible peak duration is supplied.

EC-A6416-H25-100B current embedded parameter table
峰值转速(Peak Speed) RPM 27

Peak torque

260 N·m

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified. Peak value; no permissible peak duration is supplied.

EC-A6416-H25-100B current embedded parameter table
峰值扭矩(Peak Torque) Nm 260

Peak torque density

176 N·m/kg

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified.

EC-A6416-H25-100B current embedded parameter table
峰值扭矩密度(Peak Torque Density) Nm/kg 176

Rated bus current

7.4 A

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified.

EC-A6416-H25-100B current embedded parameter table
额定母线电流(Rated Bus Current) A 7.4

Rated input power

355 W

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified. Literal 355 W retained; not recomputed from voltage and current.

EC-A6416-H25-100B current embedded parameter table
额定输入功率(Rated Input Power) W 355

Rated phase current

9.4 A

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified.

EC-A6416-H25-100B current embedded parameter table
额定相电流(Rated Phase Current) A 9.4

Rated speed

24 rpm

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified.

EC-A6416-H25-100B current embedded parameter table
额定转速(Rated Speed) RPM 24

Rated torque at 0 rpm

74 N·m

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified. Rated torque is explicitly at 0 rpm; it is not the 20 rpm continuous rating.

EC-A6416-H25-100B current embedded parameter table
额定扭矩(0RPM)(Rated Torque) Nm 74

Rated voltage

48 V

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified.

EC-A6416-H25-100B current embedded parameter table
额定电压(Rated Voltage) V 48

Reducer backlash

20 arcsec

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified. The source prints Arcsec, without an inequality; no conversion to arcminutes is made.

EC-A6416-H25-100B current embedded parameter table
减速器背隙(Backlash) Arcsec 20

Reduction ratio

100

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified.

EC-A6416-H25-100B current embedded parameter table
减速比(Reduction Ratio) - 100

Torque constant

10.3 N·m/A

Reported claim

Configuration: EC-A6416-H25-100B; current embedded parameter table; Current exact-model embedded parameter table. Manufacturer claim; mounting, cooling, ambient temperature, measurement uncertainty and peak duration are not specified.

EC-A6416-H25-100B current embedded parameter table
扭矩常数(Torque Constant) Nm/A 10.3

Related products

Contact Us

If you have any questions or would like to get in touch, please feel free to reach out to us at the email below.

info@robotuo.com

YOUR CHOICES

Privacy settings

Choose each optional purpose. All are off until you agree. Change or withdraw consent at any time; browsing still works if you reject all.

Privacy preference

Remembers the choice you make here.

Always active

Save comparisons and followed companies and products between visits. Turning this off deletes saved selections; you can still use them during this visit.

Allow Google Analytics through Firebase to measure general page visits and usage with cookies and device information. Advertising remains off.

Allow OneSignal to process browser and subscription information for Robotuo news and updates. Browser permission is a separate step.

Your shortlist

0 companies selectedUp to 10

Your shortlist is empty. Browse companies and add the ones you’d like to connect with.