en
N°1
INTEGRATED
MOTION
MOTION
DATASHEET
TWO-STAGE HIGH-TORQUE ACTUATORS FOR HUMANOID AND QUADRUPED ROBOTS
High-torque motor, low-backlash two-stage planetary gearbox, and integrated SOMANET™ Circulo 9 drive in a compact housing with a hollow shaft. For joints that require high output torque and rigidity.
TECHNICAL DATA
The ACTILINK-JD DUO series combines a high-torque motor with a low-backlash two-stage planetary gearbox and an integrated SOMANET™ Circulo 9 drive. The result is high torque density in a compact housing with a hollow shaft, designed for humanoid and quadruped robots where output torque and stiffness are critical.
Two-stage planetary gearbox: high torque density with backlash of less than 10 arcmin.
Hollow shaft, Ø 12.6 mm: for cable routing, with an integrated cross-roller bearing on the output end.
SOMANET™ Software: easy to use, EtherCAT, powerful motion control.
Functional Safety: STO and SBC included as standard; Safe Motion via FSoE available as an option.
2
MODEL SIZES: JD10 DUO AND JD12 DUO
215 Nm
MAX. ACCELERATION TORQUE (JD12 DUO)
86.5 Nm/kg
TORQUE-RESISTANT TIP (JD12 DUO)
< 10 arcmin
GEAR RATIO
Performance data at a 48 V supply voltage.
* Weight for the ECD1SS model. The ECD1SM (Safe Motion) weighs about 25 g more. The outer diameter and length are the same for all ECD1 models.
‡ The rated torque depends on the speed. The value listed is for the lowest rated speed; all speed-torque points can be found for the respective variant.
AJB-10-120-150
Dimensional Drawing ECD1: Dual Encoder (Motor and Output Shaft), Hollow Shaft. All dimensions in mm.
† ECD1SS model. The ECD1SM weighs 1,567 g.
* Length includes standard connectors. Custom connectors reduce the length by up to 7 mm.
AJB-12-200-120
Dimensional Drawing ECD1: Dual Encoder (Motor and Output Shaft), Hollow Shaft. All dimensions in mm.
† ECD1SS model. The ECD1SM weighs 2,510 g.
* Length includes standard connectors. Custom connectors reduce the length by up to 7 mm.
The manufacturer's part number (MPN) uniquely identifies each model. Example: AJB-12-200-120-ECD1SMN-00
PRODUCT FAMILY
AJB
Actilink Joint Dynamic Duo
OUTER DIAMETER, TORQUE, AND SPEED CLASS
12-200-120
10-120-150: approx. 100 mm, 120 Nm, 150 rpm
12-200-120: approx. 120 mm, 200 Nm, 120 rpm
FIELD BUS
EC
EC: EtherCAT
FEEDBACK ENCODER
D1
D1: Dual, motor and output, internal
D3: other combinations
SAFETY
SM
SS: STO / SBC via IO
SM: Safe Motion via FSoE
BRAKE
N
N: No brake
S: Spring-actuated friction brake
P: Permanent magnet friction brake
M: Synapticon Microcoil
VERSION
00
00: Standard Version
CUSTOMER-SPECIFIC
XXXX
blank: Default
Custom configurations, delivery times, and minimum order quantities are available upon request.
Beyond the mechanics, Synapticon provides drives, control systems, and sensors—all the way through to full-body safety: concepts, designs, feasibility studies, and integration across the entire robot system.
Brake: Friction brake or Synapticon Microcoil
Mechanical Design and Interfaces Suitable for Integration
Engine and Transmission Selection (Gear Ratio, Torque, and RPM Range)
Additional Sensors: Torque Measurement, IMU
Design of Bearing and Load-Bearing Structures
Balancing Thermal Performance, Emergency Stop, and Service Life
Upon request; NRE costs may apply. Subject to technical changes.
