Nominal ratio i_nom

4.3 … 35

Rated output torque M₂

4 … 587 Nm (3 ... 433 lb_f-ft)

Acceleration torque M_2max

24 … 1100 Nm (2.7 ... 811 lb_f-ft)

Torsional backlash

10 … 11 arcmin

Efficiency

94 … 96 %

Mechanical options

Solid shaft, hollow shaft with feather key, hollow shaft with tensioning element/shrink disk, flange, mounting feet, tapped hole group

Built-in encoder systems without DRIVE-CLiQ interface

Incremental encoder

IC2048S/R encoder

Incremental encoder sin/cos 1 V_pp 2048 S/R
with C and D tracks

Absolute encoder

AM2048S/R encoder

Absolute encoder 2048 S/R,
4096 revolutions, multi-turn

AM512S/R encoder

Absolute encoder 512 S/R,
4096 revolutions, multi-turn

AM32S/R encoder

Absolute encoder 32 S/R,
4096 revolutions, multi-turn

AM16S/R encoder

Absolute encoder 16 S/R,
4096 revolutions, multi-turn

Resolver

Multi-pole resolver

Multi-pole resolver
(number of pole pairs corresponds to number of pole pairs of the motor)

2-pole resolver

2-pole resolver

Built-in encoder systems with DRIVE-CLiQ interface

Incremental encoder

IC22DQ encoder

Incremental encoder 22 bit
+ commutation position 11 bit

Absolute encoder

AM22DQ encoder

Absolute encoder 22 bit
+ 12 bit multi-turn

AM20DQ encoder

Absolute encoder 20 bit
+ 12 bit multi-turn

AM16DQ encoder

Absolute encoder 16 bit
+ 12 bit multi-turn

AM15DQ encoder

Absolute encoder 15 bit
+ 12 bit multi-turn

Resolver

R15DQ resolver

Resolver 15 bit
(internal multi-pole)

R14DQ resolver

Resolver 14 bit
(internal 2-pole)