Product details

EC-A8116-P1-18

Actuators & Joint Modules

ENCOS

EC-A8116-P1-18

About this product

EC-A8116-P1-18 is an ENCOS first-generation planetary robot joint actuator. The manufacturer lists an outer diameter of 105 mm, thickness of 57 mm, rated torque of 25 N·m and peak torque of 130 N·m. The separately sourced control-protocol ranges below describe encoded commands rather than guaranteed mechanical performance; voltage-version and firmware qualifications are preserved. Detailed rating-sheet availability remains unresolved.

Model
EC-A8116-P1-18
Category
Actuators & Joint Modules, Components

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

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