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Specifications

AG-X20 Actuator​

ParameterValue
Max Torque20 Nm
Max Speed180°/s
Position Resolution0.01°
CommunicationEtherCAT
Voltage24V DC
Weight500g
Dimensions80mm × 80mm × 60mm
Operating Temperature-10°C to 60°C
Protection RatingIP54

Typical Applications​

  • Humanoid robot arms (shoulder, elbow joints)
  • Gripper mechanisms
  • Pan-tilt camera systems
  • Small mobile manipulators

AG-X50 Actuator​

ParameterValue
Max Torque50 Nm
Max Speed120°/s
Position Resolution0.01°
CommunicationEtherCAT
Voltage24V DC
Weight800g
Dimensions100mm × 100mm × 75mm
Operating Temperature-10°C to 60°C
Protection RatingIP54

Typical Applications​

  • Humanoid robot legs (hip, knee joints)
  • Heavy-duty manipulators
  • Industrial automation
  • Legged robot joints

Performance Characteristics​

Position Accuracy​

  • Repeatability: ±0.03°
  • Absolute accuracy: ±0.1° (after calibration)
  • Hysteresis: <0.05°

Velocity Control​

  • Velocity range: 0.1°/s to max speed
  • Velocity accuracy: ±2%
  • Acceleration: Up to 500°/s²

Torque Control​

  • Torque range: 0.01 Nm to max torque
  • Torque accuracy: ±3%
  • Response time: <1ms

Communication Specifications​

EtherCAT​

  • Protocol: EtherCAT CoE (CAN over EtherCAT)
  • Update rate: 1 kHz
  • Latency: <1ms
  • Topology: Daisy-chain
  • Cable: CAT5e or better

Data Exchange​

  • Input data: Position, velocity, torque, temperature, status
  • Output data: Position command, velocity command, torque command, control mode
  • PDO mapping: Configurable

Electrical Specifications​

Power Requirements​

  • Voltage: 24V DC ±10%
  • Current (AG-X20): 3A continuous, 6A peak
  • Current (AG-X50): 5A continuous, 10A peak
  • Efficiency: >85% at rated load

Protection​

  • Overcurrent: Hardware-protected
  • Overvoltage: 32V absolute max
  • Undervoltage: 18V shutdown
  • Reverse polarity: Protected

Mechanical Specifications​

Gearbox​

  • Type: Harmonic drive
  • Gear ratio: 50:1 or 100:1 (configurable)
  • Backlash: <0.05°
  • Efficiency: >80%

Motor​

  • Type: Brushless DC
  • Phases: 3-phase
  • Encoder: Absolute magnetic encoder
  • Resolution: 14-bit (16384 counts/revolution)

Environmental​

Operating Conditions​

  • Temperature: -10°C to 60°C
  • Humidity: 20% to 80% RH (non-condensing)
  • Altitude: Up to 2000m
  • Vibration: 5G, 10-200Hz

Storage Conditions​

  • Temperature: -20°C to 70°C
  • Humidity: 10% to 90% RH (non-condensing)

Certifications​

  • CE marked
  • RoHS compliant
  • FCC Part 15 Class A