Overview
EC-A10015-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-A10015-P2-24H Performance Parameters
Parameter | Unit | Value |
Reduction Ratio | 24 |
|
Rated Voltage | 48 | V |
Rated Bus Current | 25.4 | A |
Rated Phase Current | 31.6 | A |
Rated Input Power | 1272 | W |
Rated Speed | 156 | RPM |
0RPM | 51 | Nm |
50RPM | 47.5 | Nm |
Peak Speed | 157 | RPM |
Peak Phase Current | 120 | A |
Peak Torque | 220 | Nm |
Efficiency | 71% |
|
Torque Constant | 2 | Nm/A |
Weight | 2068 | g |
Backlash | 20 | Arcmin |
Motor Size (Outer Diameter × Thickness) | 124×79.5 | mm |
Communication Mode | CAN (CANFD optional) |
|
Communication Baud Rate | 1M/5M |
|
EC-A10015-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 | 384.532 | kgmm² |
Peak Torque Density | 106 | Nm/kg |
EC-A10015-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 | 0.1 | 4.8 | 0.5 | 0.47 | 0 | 0 | 1.06 |
48V | 0.14 | 6.72 | 6.3 | 5.24 | 0 | 0 | 1.20 |
48V | 0.17 | 8.16 | 10.1 | 7.2 | 0 | 0 | 1.40 |
48V | 0.22 | 10.56 | 14.6 | 9.8 | 0 | 0 | 1.49 |
48V | 0.27 | 12.96 | 19.1 | 11.83 | 0 | 0 | 1.61 |
48V | 0.37 | 17.76 | 24.8 | 15.07 | 0 | 0 | 1.65 |
48V | 0.42 | 20.16 | 29.9 | 17.08 | 0 | 0 | 1.75 |
48V | 0.54 | 25.92 | 34.8 | 19.71 | 0 | 0 | 1.77 |
48V | 0.66 | 31.68 | 40 | 22.39 | 0 | 0 | 1.79 |
48V | 0.78 | 37.44 | 44.9 | 24.92 | 0 | 0 | 1.80 |
48V | 0.91 | 43.68 | 50.1 | 26.98 | 0 | 0 | 1.86 |
48V | 1.02 | 48.96 | 54.7 | 28.87 | 0 | 0 | 1.89 |
48V | 1.14 | 54.72 | 59.8 | 30.95 | 0 | 0 | 1.93 |
48V | 1.31 | 62.88 | 65.5 | 33.38 | 0 | 0 | 1.96 |
48V | 1.55 | 74.4 | 70.5 | 36.06 | 0 | 0 | 1.96 |
48V | 1.73 | 83.04 | 75.8 | 38.75 | 0 | 0 | 1.96 |
48V | 1.96 | 94.08 | 80.3 | 40.6 | 0 | 0 | 1.98 |
48V | 2.18 | 104.64 | 85.6 | 43.28 | 0 | 0 | 1.98 |
48V | 2.42 | 116.16 | 90.5 | 45.99 | 0 | 0 | 1.97 |
48V | 2.89 | 138.72 | 96.4 | 49.92 | 0 | 0 | 1.93 |
48V | 3.1 | 148.8 | 101.4 | 52.37 | 0 | 0 | 1.94 |
48V | 3.16 | 151.68 | 104.1 | 53.86 | 0 | 0 | 1.93 |
48V | 3.46 | 166.08 | 108.8 | 56.41 | 0 | 0 | 1.93 |
48V | 3.89 | 186.72 | 114.4 | 59.77 | 0 | 0 | 1.91 |
48V | 4.3 | 206.4 | 120.1 | 62.3 | 0 | 0 | 1.93 |
48V | 4.63 | 222.24 | 124.9 | 64.29 | 0 | 0 |
|
48V | 5.19 | 249.12 | 130 | 66.85 | 0 | 0 | 1.94 |
48V | 5.67 | 272.16 | 135.2 | 69.57 | 0 | 0 | 1.94 |
48V | 6.15 | 295.2 | 140.7 | 72.1 | 0 | 0 | 1.95 |
48V | 6.67 | 320.16 | 144.8 | 74 | 0 | 0 | 1.96 |
48V | 7.28 | 349.44 | 149.9 | 77.36 | 0 | 0 | 1.94 |
48V | 8.17 | 392.16 | 155.8 | 81.32 | 0 | 0 | 1.92 |
48V | 9.06 | 434.88 | 161.4 | 85.15 | 0 | 0 | 1.90 |
48V | 9.33 | 447.84 | 165 | 87.21 | 0 | 0 | 1.89 |
48V | 10.11 | 485.28 | 170.3 | 90.48 | 0 | 0 | 1.88 |
48V | 11.13 | 534.24 | 175.7 | 94.4 | 0 | 0 | 1.86 |
EC-A10015-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 | 6.43 | 154.75 | 9.4 | 157.22 | 9.3 | 50% | 1.01 |
48V | 8.21 | 225.43 | 13.7 | 157.14 | 11.67 | 57% | 1.17 |
48V | 10.5 | 308.79 | 18.7 | 157.7 | 14.48 | 61% | 1.29 |
48V | 12.29 | 405.14 | 24.5 | 157.92 | 16.41 | 69% | 1.49 |
48V | 14.91 | 492.62 | 29.8 | 157.87 | 19.39 | 69% | 1.54 |
48V | 17.42 | 580.97 | 35.2 | 157.62 | 22.05 | 69% | 1.60 |
48V | 19.49 | 663.19 | 40.2 | 157.55 | 25.83 | 71% | 1.56 |
48V | 21.29 | 753.02 | 45.7 | 157.36 | 27.74 | 74% | 1.65 |
48V | 25.4 | 818.13 | 49.8 | 156.89 | 31.64 | 67% | 1.57 |
48V | 26.5 | 903.09 | 55 | 156.81 | 32.95 | 71% |
|
48V | 29.04 | 983.24 | 59.9 | 156.76 | 35.57 | 71% | 1.68 |
48V | 33.3 | 1079.67 | 65.8 | 156.7 | 41.85 | 68% | 1.57 |
48V | 35.47 | 1166.56 | 71.1 | 156.69 | 44.1 | 69% | 1.61 |
48V | 36.96 | 1252.64 | 76.4 | 156.58 | 44.89 | 71% | 1.70 |
48V | 38.91 | 1309.91 | 80 | 156.37 | 49.58 | 70% | 1.61 |
48V | 43.44 | 1378.81 | 84.3 | 156.2 | 51.96 | 66% | 1.62 |
48V | 45.93 | 1450.13 | 88.7 | 156.13 | 54.86 | 66% | 1.62 |
48V | 48.05 | 1567.44 | 95.9 | 156.09 | 60.95 | 68% | 1.57 |
48V | 49.06 | 1611.94 | 98.8 | 155.81 | 59.45 | 68% | 1.66 |
48V | 51.98 | 1688.19 | 103.5 | 155.77 | 63.51 | 68% | 1.63 |
48V | 56.88 | 1767.81 | 108.5 | 155.6 | 68.02 | 65% | 1.60 |
48V | 59.36 | 1835.89 | 112.7 | 155.57 | 73.12 | 64% | 1.54 |
48V | 60.82 | 1951.05 | 119.8 | 155.53 | 79.86 | 67% | 1.50 |
48V | 64.08 | 2036.74 | 126.6 | 153.64 | 78.93 | 66% | 1.60 |
48V | 65.05 | 2070.75 | 129.6 | 152.59 | 81.34 | 66% | 1.59 |
48V | 67.65 | 2103.59 | 134.8 | 149.03 | 83.94 | 65% | 1.61 |
48V | 71.54 | 2096.06 | 139.3 | 143.7 | 99.18 | 61% | 1.40 |
48V | 69.16 | 2078.68 | 144.5 | 137.38 | 88.16 | 63% | 1.64 |
48V | 65.94 | 2020.48 | 150.5 | 128.21 | 99.55 | 64% | 1.51 |
48V | 62.2 | 1908.83 | 155.7 | 117.08 | 92.65 | 64% | 1.68 |
48V | 55.92 | 1732.53 | 159.8 | 103.54 | 95.08 | 65% | 1.68 |
48V | 41.97 | 1169.26 | 165.6 | 67.43 | 102.22 | 58% | 1.62 |
48V | 30.15 | 737.16 | 169.8 | 41.46 | 95.87 | 51% | 1.77 |
48V | 15.05 | 120.18 | 176.3 | 6.51 | 97.69 | 17% | 1.80 |
48V | 11.5 | 0.00 | 181.8 | 0 | 94.87 | 0% | 1.92 |
1.3 Stall Torque Curve
1.4 Load Speed Curve
