Electric servo-actuator ACTILINK-JD Circulo 10

rotaryservo-motorplanetary gear

Overview
Lightweight, compact low-reduction actuator designed for high-dynamics, energy-efficient robotic applications such as humanoid and multi-legged robots. Integrates a precise single-stage planetary gearbox with a high torque-density motor to deliver high peak torque and favorable power-to-weight ratio.

Key product data

• Rated Torque: 20 Nm
• Peak Torque: 60 Nm
• Rated Output Power: 380 W
• No-Load Speed: 210 rpm
• Rated Load Speed: 180 rpm
• Weight:
  • 1050 g (variant S1-SS)
  • 1230 g (variant D2-SS)
  • 1255 g (variant D2-SM)
• Reduction Ratio: 9:1
• Outer Diameter: 98 mm
• Length: 73 mm / 86.5 mm (variants S1-xx / D2-xx)
• Communication: EtherCAT
• Safety: STO (Standard), Safe Motion/FSoE (option)
• Electronics: SOMANET Circulo 9

Features
Dynamics

• High-torque outrunner motor for excellent dynamic response
• High peak torque with superior power-to-weight ratio
• Strong acceleration and fast transient response

Planetary Gearbox

• High power transmission capability
• Low backdrivability with reduced backlash — quasi direct-drive behavior
• High mechanical efficiency
• Cost-effective solution for compact designs

BEARINGS

• Engineered for simplified mechanical integration
• Supports high bending, radial and axial loads
• Stiff and robust design suitable for cyclic loading

Specifications (table)
Functional Safety: Safety: STO, SBC via IO or Safety: Safe Fieldbus, Safe Motion
Encoder: Single Encoder or Dual Encoder (1x separate on Output Shaft)

Technical specifications

• Rated Torque: 20 Nm
• Peak Torque: 60 Nm
• Rated Output Power: 380 W
• No-Load Speed: 210 rpm
• Rated Load Speed: 180 rpm
• Weight: 1050 g (variant S1-SS); 1230 g (variant D2-SS); 1255 g (variant D2-SM)
• Reduction Ratio: 9:1
• Outer Diameter: 98 mm
• Length: 73 mm / 86.5 mm (variants S1-xx / D2-xx)
• Communication: EtherCAT
• Functional Safety options: STO, SBC via IO OR Safe Fieldbus, Safe Motion
• Encoder options: Single Encoder OR Dual Encoder (1x separate on Output Shaft)
• Electronics family: SOMANET Circulo 9