Overview
EC-A10010-P2-24H belongs to the ENCOS EC-A hollow planetary joint module family, integrating a servo motor with a precision planetary reducer and featuring a hollow cable-through structure for collaborative robots, robotic arm joints and automation equipment. It uses a dual-encoder design (motor-side and output-side), supports position, speed and torque control modes with wide speed-control bandwidth and precise position control, and integrates over-temperature, over-voltage and over-load protection. Communication supports CAN (optional CANFD) at 1M/5M baud rate. Speeds shown refer to the output end unless otherwise noted.
1.2 Product Parameters
EC-A10010-P2-24H Performance Parameters
Parameter | Unit | Value |
Reduction Ratio | 24 |
|
Rated Voltage | 48 | V |
Rated Bus Current | 17.5 | A |
Rated Phase Current | 22 | A |
Rated Input Power | 840 | W |
Rated Speed | 157 | RPM |
0RPM | 38 | Nm |
50RPM | 25 | Nm |
Peak Speed | 159 | RPM |
Peak Phase Current | 100 | A |
Peak Torque | 150 | Nm |
Efficiency | 79% |
|
Torque Constant | 2 | Nm/A |
Weight | 1922 | g |
Backlash | 20 | Arcmin |
Motor Size (Outer Diameter × Thickness) | 124×76.5 | mm |
Communication Mode | CAN (CANFD optional) |
|
Communication Baud Rate | 1M/5M |
|
EC-A10010-P2-24H Structural Parameters
Parameter | Unit | Value |
Double Encoder | Yes |
|
Axial And Radial Loads | 6.76 | KN |
Bending Moment Resistance | 300 | Nm |
The Rotor Inertia Of The Motor | 291.925 | kgmm² |
Peak Torque Density | 78 | Nm/kg |
EC-A10010-P2-24H Measured Data - Torque Characteristics
Voltage (V) | Bus Current (A) | Input Power (W) | Torque (Nm) | Phase Current (A) | Speed (RPM) | Efficiency | Torque/Phase Current |
48V | 0.13 | 6.24 | 2.5 | 1.87 | 0 | 0 | 1.34 |
48V | 0.17 | 8.16 | 6.1 | 3.82 | 0 | 0 | 1.60 |
48V | 0.2 | 9.6 | 9.6 | 5.35 | 0 | 0 | 1.79 |
48V | 0.23 | 11.04 | 11.7 | 6.31 | 0 | 0 | 1.85 |
48V | 0.28 | 13.44 | 15.5 | 8.2 | 0 | 0 | 1.89 |
48V | 0.38 | 18.24 | 18.4 | 9.73 | 0 | 0 | 1.89 |
48V | 0.49 | 23.52 | 22.4 | 11.57 | 0 | 0 | 1.94 |
48V | 0.56 | 26.88 | 24.6 | 12.58 | 0 | 0 | 1.96 |
48V | 0.66 | 31.68 | 27.7 | 14.05 | 0 | 0 | 1.97 |
48V | 0.72 | 34.56 | 30.6 | 15.48 | 0 | 0 | 1.98 |
48V | 0.89 | 42.72 | 34.9 | 17.42 | 0 | 0 | 2.00 |
48V | 1.11 | 53.28 | 38.8 | 19.22 | 0 | 0 | 2.02 |
48V | 1.23 | 59.04 | 41 | 20.3 | 0 | 0 | 2.02 |
48V | 1.48 | 71.04 | 45.5 | 22.71 | 0 | 0 | 2.00 |
48V | 1.58 | 75.84 | 47.7 | 23.7 | 0 | 0 | 2.01 |
48V | 1.7 | 81.6 | 50.7 | 25.14 | 0 | 0 | 2.02 |
48V | 1.97 | 94.56 | 54.7 | 27.12 | 0 | 0 | 2.02 |
48V | 2.09 | 100.32 | 56.6 | 28.13 | 0 | 0 | 2.01 |
48V | 2.44 | 117.12 | 60.8 | 29.89 | 0 | 0 | 2.03 |
48V | 2.96 | 142.08 | 65.7 | 32.39 | 0 | 0 | 2.03 |
48V | 3.37 | 161.76 | 68.8 | 33.9 | 0 | 0 | 2.03 |
48V | 3.42 | 164.16 | 70.5 | 34.82 | 0 | 0 | 2.02 |
48V | 4.04 | 193.92 | 74.9 | 37.25 | 0 | 0 | 2.01 |
48V | 4.57 | 219.36 | 78.7 | 39.57 | 0 | 0 | 1.99 |
48V | 4.73 | 227.04 | 80.5 | 40.63 | 0 | 0 | 1.98 |
48V | 5.25 | 252 | 84.5 | 43.03 | 0 | 0 |
|
48V | 5.64 | 270.72 | 87.9 | 45.47 | 0 | 0 | 1.93 |
48V | 6.51 | 312.48 | 92.8 | 48.3 | 0 | 0 | 1.92 |
48V | 6.75 | 324 | 95.3 | 49.66 | 0 | 0 | 1.92 |
48V | 7.36 | 353.28 | 97.8 | 51.23 | 0 | 0 | 1.91 |
48V | 8.26 | 396.48 | 100.7 | 53.05 | 0 | 0 | 1.90 |
48V | 9.29 | 445.92 | 105.8 | 56.06 | 0 | 0 | 1.89 |
48V | 10.09 | 484.32 | 108.1 | 57.43 | 0 | 0 | 1.88 |
48V | 10.9 | 523.2 | 111.3 | 59.39 | 0 | 0 | 1.87 |
48V | 12.48 | 599.04 | 115.5 | 62.31 | 0 | 0 | 1.85 |
48V | 15.39 | 738.72 | 121.4 | 67.59 | 0 | 0 | 1.80 |
48V | 16.53 | 793.44 | 124.3 | 69.6 | 0 | 0 | 1.79 |
EC-A10010-P2-24H Measured Data - Torque-Speed (T-N) Curve
Voltage (V) | Bus Current (A) | Output Power (W) | Torque (Nm) | Speed (RPM) | Phase Current (A) | Efficiency | Torque/Phase Current |
48V | 3.58 | 36.63 | 2.2 | 159 | 4.91 | 21% | 0.45 |
48V | 3.43 | 90.40 | 5.4 | 159.87 | 5.11 | 55% | 1.06 |
48V | 5.5 | 148.86 | 8.9 | 159.73 | 7.47 | 56% | 1.19 |
48V | 6.12 | 203.95 | 12.2 | 159.65 | 8.3 | 69% | 1.47 |
48V | 7.84 | 262.31 | 15.7 | 159.56 | 10.54 | 70% | 1.49 |
48V | 9.11 | 307.35 | 18.4 | 159.52 | 11.96 | 70% | 1.54 |
48V | 11.13 | 360.69 | 21.6 | 159.47 | 14.18 | 68% | 1.52 |
48V | 11.77 | 411.11 | 24.7 | 158.95 | 15.37 | 73% | 1.61 |
48V | 12.87 | 460.40 | 27.7 | 158.73 | 16.32 | 75% | 1.70 |
48V | 14.36 | 514.44 | 31 | 158.48 | 18.82 | 75% |
|
48V | 16.27 | 561.82 | 33.9 | 158.27 | 20.91 | 72% | 1.62 |
48V | 17.55 | 612.79 | 37.1 | 157.74 | 21.95 | 73% | 1.69 |
48V | 18.55 | 663.87 | 40.2 | 157.71 | 24.3 | 75% | 1.65 |
48V | 21.51 | 751.30 | 45.5 | 157.69 | 26.16 | 73% | 1.74 |
48V | 23.7 | 807.34 | 48.9 | 157.67 | 29.88 | 71% | 1.64 |
48V | 24.98 | 861.22 | 52.2 | 157.56 | 31.73 | 72% | 1.65 |
48V | 27.12 | 912.13 | 55.3 | 157.52 | 34.56 | 70% | 1.60 |
48V | 29.88 | 969.12 | 58.8 | 157.4 | 35.33 | 68% | 1.66 |
48V | 31.44 | 1016.47 | 61.7 | 157.33 | 37.15 | 67% | 1.66 |
48V | 33.79 | 1078.00 | 65.9 | 156.22 | 40.31 | 66% | 1.63 |
48V | 34.83 | 1124.11 | 69.3 | 154.91 | 47.82 | 67% | 1.45 |
48V | 37.41 | 1161.58 | 73 | 151.96 | 49.49 | 65% | 1.48 |
48V | 39.14 | 1177.95 | 78.7 | 142.94 | 57.26 | 63% | 1.37 |
48V | 42.73 | 1176.11 | 82.2 | 136.64 | 63.43 | 57% | 1.30 |
48V | 45.09 | 1165.06 | 85.6 | 129.98 | 51.39 | 54% | 1.67 |
48V | 47.08 | 1151.83 | 89.3 | 123.18 | 72.57 | 51% | 1.23 |
48V | 43.81 | 1133.56 | 92.7 | 116.78 | 64.75 | 54% | 1.43 |
48V | 42.22 | 1117.30 | 95.8 | 111.38 | 75.46 | 55% | 1.27 |
48V | 44.47 | 1093.99 | 98.1 | 106.5 | 49.05 | 51% | 2.00 |
48V | 46.44 | 1055.36 | 101.6 | 99.2 | 79.11 | 47% | 1.28 |
48V | 44.75 | 1004.76 | 104.8 | 91.56 | 91.85 | 47% | 1.14 |
48V | 41.02 | 959.30 | 107 | 85.62 | 93.5 | 49% | 1.14 |
48V | 34.85 | 873.33 | 110.6 | 75.41 | 75.29 | 52% | 1.47 |
48V | 36.67 | 770.78 | 114.3 | 64.4 | 84.73 | 44% | 1.35 |
48V | 19.62 | 624.66 | 117.5 | 50.77 | 72.25 | 66% | 1.63 |
48V | 32.74 | 262.64 | 121.7 | 20.61 | 61.1 | 17% | 1.99 |
48V | 15.72 | 0.00 | 123.9 | 0 | 69.99 | 0% | 1.77 |
1.3 Stall Torque Curve
1.4 Load Speed Curve
