Overview
EC-A10020-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-A10020-P2-24H Performance Parameters
Parameter | Unit | Value |
Reduction Ratio | 24 |
|
Rated Voltage | 48 | V |
Rated Bus Current | 21.2 | A |
Rated Phase Current | 27.8 | A |
Rated Input Power | 1017.6 | W |
Rated Speed | 122 | RPM |
0RPM | 65 | Nm |
50RPM | 38 | Nm |
Peak Speed | 123 | RPM |
Peak Phase Current | 120 | A |
Peak Torque | 330 | Nm |
Efficiency | 73% |
|
Torque Constant | 2.6 | Nm/A |
Weight | 2210 | g |
Backlash | 20 | Arcmin |
Motor Size (Outer Diameter × Thickness) | 124×84.5 | mm |
Communication Mode | CAN (CANFD optional) |
|
Communication Baud Rate | 1M/5M |
|
EC-A10020-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 | 477 | kgmm² |
Peak Torque Density | 140 | Nm/kg |
EC-A10020-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 | 3.33 | 159.84 | 0.7 | 2.71 | 0 | 0 | 0.26 |
48V | 5.97 | 286.56 | 9.9 | 6.28 | 0 | 0 | 1.58 |
48V | 6.81 | 326.88 | 11.6 | 6.78 | 0 | 0 | 1.71 |
48V | 11.76 | 564.48 | 24.9 | 11.64 | 0 | 0 | 2.14 |
48V | 15.87 | 761.76 | 33.6 | 15.73 | 0 | 0 | 2.14 |
48V | 17.55 | 842.4 | 40.1 | 17.62 | 0 | 0 | 2.28 |
48V | 20.07 | 963.36 | 45.9 | 20.21 | 0 | 0 | 2.27 |
48V | 23.34 | 1120.32 | 53.5 | 23.25 | 0 | 0 | 2.30 |
48V | 25.86 | 1241.28 | 60.3 | 25.98 | 0 | 0 | 2.32 |
48V | 28.29 | 1357.92 | 67.4 | 28.18 | 0 | 0 | 2.39 |
48V | 30.81 | 1478.88 | 74 | 30.57 | 0 | 0 | 2.42 |
48V | 33.24 | 1595.52 | 79.6 | 33.17 | 0 | 0 | 2.40 |
48V | 35.76 | 1716.48 | 87 | 35.61 | 0 | 0 | 2.44 |
48V | 39.03 | 1873.44 | 94 | 38.9 | 0 | 0 | 2.42 |
48V | 41.55 | 1994.4 | 101.8 | 41.49 | 0 | 0 | 2.45 |
48V | 43.23 | 2075.04 | 105.8 | 43.24 | 0 | 0 | 2.45 |
48V | 48.18 | 2312.64 | 116.5 | 48.16 | 0 | 0 | 2.42 |
48V | 51.45 | 2469.6 | 123.8 | 51.23 | 0 | 0 | 2.42 |
48V | 53.13 | 2550.24 | 129.6 | 53.03 | 0 | 0 | 2.44 |
48V | 54.81 | 2630.88 | 134.2 | 54.66 | 0 | 0 | 2.46 |
48V | 58.92 | 2828.16 | 147.1 | 59.09 | 0 | 0 | 2.49 |
48V | 60.6 | 2908.8 | 150.8 | 60.49 | 0 | 0 | 2.49 |
48V | 63.87 | 3065.76 | 158.3 | 63.75 | 0 | 0 | 2.48 |
48V | 68.07 | 3267.36 | 167.8 | 67.92 | 0 | 0 | 2.47 |
48V | 71.34 | 3424.32 | 176.4 | 71.28 | 0 | 0 | 2.47 |
48V | 73.86 | 3545.28 | 181.4 | 73.64 | 0 | 0 | 2.46 |
48V | 77.97 | 3742.56 | 189.7 | 77.81 | 0 | 0 | 2.44 |
48V | 84.6 | 4060.8 | 201.9 | 84.57 | 0 | 0 | 2.39 |
48V | 87.87 | 4217.76 | 207.8 | 87.63 | 0 | 0 | 2.37 |
48V | 90.39 | 4338.72 | 214 | 90.35 | 0 | 0 | 2.37 |
48V | 93.66 | 4495.68 | 220.5 | 93.47 | 0 | 0 | 2.36 |
48V | 97.86 | 4697.28 | 230.9 | 97.73 | 0 | 0 | 2.36 |
48V | 99.45 | 4773.6 | 235.5 | 99.35 | 0 | 0 | 2.37 |
48V | 101.97 | 4894.56 | 241.8 | 101.79 | 0 | 0 | 2.38 |
48V | 106.92 | 5132.16 | 252.5 | 106.62 | 0 | 0 | 2.37 |
48V | 111.03 | 5329.44 | 259.5 | 110.94 | 0 | 0 | 2.34 |
48V | 119.34 | 5728.32 | 268.5 | 119.2 | 0 | 0 | 2.25 |
EC-A10020-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 | 2.67 | 20.48 | 1.6 | 122.22 | 3.83 | 16% | 0.42 |
48V | 4.11 | 113.78 | 8.9 | 122.09 | 5.75 | 58% | 1.55 |
48V | 6.62 | 214.51 | 16.8 | 121.94 | 8.86 | 68% | 1.90 |
48V | 9.14 | 313.75 | 24.6 | 121.8 | 12.18 | 72% | 2.02 |
48V | 11.78 | 416.85 | 32.7 | 121.74 | 15.1 | 74% | 2.17 |
48V | 14.06 | 515.47 | 40.4 | 121.85 | 18.11 | 76% | 2.23 |
48V | 16.57 | 606.84 | 47.6 | 121.75 | 21.64 | 76% | 2.20 |
48V | 19.34 | 693.81 | 54.4 | 121.8 | 24.28 | 75% | 2.24 |
48V | 21.2 | 784.17 | 61.5 | 121.77 | 27.84 | 77% | 2.21 |
48V | 23.9 | 885.60 | 69.5 | 121.69 | 31.53 | 77% | 2.20 |
48V | 26.43 | 986.04 | 77.3 | 121.82 | 32.59 | 78% | 2.37 |
48V | 28.35 | 1057.41 | 82.8 | 121.96 | 37.19 | 78% | 2.23 |
48V | 30.93 | 1151.82 | 90.2 | 121.95 | 37.82 | 78% | 2.38 |
48V | 33.99 | 1253.16 | 98.2 | 121.87 | 43.86 | 77% | 2.24 |
48V | 37.12 | 1356.02 | 106.2 | 121.94 | 44.76 | 76% | 2.37 |
48V | 39.11 | 1414.06 | 110.8 | 121.88 | 47.61 | 75% | 2.33 |
48V | 40.19 | 1449.17 | 113.7 | 121.72 | 48.73 | 75% | 2.33 |
48V | 41.36 | 1497.56 | 117.4 | 121.82 | 51.4 | 75% | 2.28 |
48V | 42.92 | 1542.97 | 121 | 121.78 | 52.09 | 75% | 2.32 |
48V | 44.4 | 1590.38 | 124.8 | 121.7 | 55.45 | 75% |
|
48V | 46.22 | 1633.37 | 128.3 | 121.58 | 55.46 | 74% | 2.31 |
48V | 48.71 | 1663.42 | 130.8 | 121.45 | 58.82 | 71% | 2.22 |
48V | 50.45 | 1701.31 | 134 | 121.25 | 64.35 | 70% | 2.08 |
48V | 52.51 | 1749.93 | 138 | 121.1 | 63.8 | 69% | 2.16 |
48V | 54.78 | 1803.26 | 142.5 | 120.85 | 70.95 | 69% | 2.01 |
48V | 59.59 | 1930.91 | 153.4 | 120.21 | 73.57 | 68% | 2.09 |
48V | 61.77 | 2001.24 | 159 | 120.2 | 80 | 67% | 1.99 |
48V | 66.22 | 2058.01 | 164.4 | 119.55 | 81.13 | 65% | 2.03 |
48V | 72.27 | 2224.41 | 179.6 | 118.28 | 95.03 | 64% | 1.89 |
48V | 76.44 | 2314.02 | 188.3 | 117.36 | 94.2 | 63% | 2.00 |
48V | 72.1 | 2310.56 | 195.1 | 113.1 | 103.53 | 67% | 1.88 |
48V | 67.7 | 1718.28 | 227.5 | 72.13 | 124.13 | 53% |
|
48V | 61.52 | 1461.09 | 235.7 | 59.2 | 124.51 | 49% | 1.89 |
48V | 50.52 | 1060.75 | 244.1 | 41.5 | 128.62 | 44% | 1.90 |
48V | 40.05 | 667.07 | 251.8 | 25.3 | 123.73 | 35% | 2.04 |
1.3 Stall Torque Curve
1.4 Load Speed Curve
