Servo control method Analog, EtherCAT, MECHATROLINK II, Pulse train Drive supply voltage 400 V three phase Rated output 1.5 kW Rated speed 2000 r/min Rated torque 7.16 Nm Peak torque 21.5 Nm Encoder type Absolute with battery Encoder resolution 17 Bit Motor with brake Motor with oil seal Flange size square (LC) 130 mm Shaft diameter 22 mm Shaft with key Shaft with tap Product Weight (unpacked) 8200 g