Introduction
EC-A4310-P2-36H is a Planetary Hollow Series hollow joint motor with a 60mm outer diameter, integrating a planetary gear reducer and dual encoders with a hollow wiring structure. It supports multiple control modes, wide speed-control bandwidth and precise position control, with built-in over-temperature, over-voltage and overload protection.
1.2 Performance Parameters, Measured Data and Characteristic Curves
EC-A4310-P2-36H Performance Parameters
Item | Unit | Value |
Reduction Ratio |
| 36 |
Rated Voltage | V | 48 |
Rated Bus Current | A | 5.7 |
Rated Phase Current | A | 8.1 |
Rated Input Power | W | 273.6 |
Rated Speed | RPM | 150 |
Rated Torque | Nm | 12 |
Allows Continuous Torque | Nm | 9.5 |
Peak Speed | RPM | 170 |
Peak Phase Current | A | 17 |
Peak Torque | Nm | 36 |
Efficiency |
| 71% |
Torque Constant | Nm/A | 1.4 |
Weight | g | 414 |
Backlash | Arcmin | 18 |
Motor Size | mm | 60×59.5 |
Communication Mode |
| CAN (optional CANFD) |
Communication Baud Rate |
| 1M/5M |
Structural Parameters
Item | Unit | Value |
Double Encoder |
| Yes |
Axial And Radial Loads | KN | 1.89 |
Bending Moment Resistance | Nm | 28 |
The Rotor Inertia Of The Motor | kgmm² | 18 |
Peak Torque Density | Nm/kg | 87 |
Measured Data - Torque Characteristics
Voltage V | Bus Current A | Input Power W | Torque Nm | Phase Current A | Speed RPM | Efficiency | Torque/Phase Current |
48V | 0.02 | 0.96 | 1.6 | 1.23 | 0 | 0 | 1.30 |
| 0.03 | 1.44 | 3.2 | 2.06 | 0 | 0 | 1.55 |
| 0.03 | 1.44 | 3.7 | 2.32 | 0 | 0 | 1.59 |
| 0.03 | 1.44 | 4.6 | 2.78 | 0 | 0 | 1.65 |
| 0 | 0 | 5.9 | 3.51 | 0 | 0 | 1.68 |
| 0.05 | 2.4 | 7.8 | 4.6 | 0 | 0 | 1.70 |
| 0.01 | 0.48 | 8.3 | 4.94 | 0 | 0 | 1.68 |
| 0.02 | 0.96 | 9.1 | 5.41 | 0 | 0 | 1.68 |
| 0.05 | 2.4 | 10.4 | 6.2 | 0 | 0 | 1.68 |
| 0.09 | 4.32 | 11.1 | 6.57 | 0 | 0 | 1.69 |
| 0.15 | 7.2 | 12.5 | 7.29 | 0 | 0 | 1.71 |
| 0.2 | 9.6 | 13.4 | 7.76 | 0 | 0 | 1.73 |
| 0.19 | 9.12 | 14.1 | 8.11 | 0 | 0 | 1.74 |
| 0.37 | 17.76 | 16.1 | 9.23 | 0 | 0 | 1.74 |
| 0.45 | 21.6 | 16.8 | 9.64 | 0 | 0 | 1.74 |
| 0.44 | 21.12 | 18.3 | 10.47 | 0 | 0 | 1.75 |
| 0.54 | 25.92 | 19.7 | 11.37 | 0 | 0 | 1.73 |
| 0.66 | 31.68 | 21.5 | 12.61 | 0 | 0 | 1.70 |
| 0.82 | 39.36 | 22.9 | 13.47 | 0 | 0 | 1.70 |
| 1.14 | 54.72 | 23.5 | 13.8 | 0 | 0 | 1.70 |
| 1.44 | 69.12 | 24.1 | 14.13 | 0 | 0 | 1.71 |
| 1.73 | 83.04 | 25.5 | 15.12 | 0 | 0 | 1.69 |
| 2.01 | 96.48 | 27.3 | 16.42 | 0 | 0 | 1.66 |
| 2.78 | 133.44 | 30.7 | 18.64 | 0 | 0 | 1.65 |
| 3.31 | 158.88 | 32.4 | 19.99 | 0 | 0 | 1.62 |
| 3.38 | 162.24 | 32.9 | 20.38 | 0 | 0 |
|
| 4.76 | 228.48 | 35.1 | 22.74 | 0 | 0 | 1.54 |
| 6.26 | 300.48 | 37.4 | 24.99 | 0 | 0 | 1.50 |
| 6.7 | 321.6 | 38.8 | 26.22 | 0 | 0 | 1.48 |
| 7.95 | 381.6 | 40.1 | 27.44 | 0 | 0 | 1.46 |
| 11.61 | 557.28 | 42.9 | 29.56 | 0 | 0 | 1.45 |
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 | 1.89 | 34.04 | 1.9 | 171.11 | 2.31 | 38% | 0.82 |
| 2.29 | 61.70 | 3.5 | 168.34 | 3.1 | 56% | 1.13 |
| 3.08 | 96.09 | 5.6 | 163.87 | 4.38 | 65% | 1.28 |
| 4.17 | 121.93 | 7.3 | 159.51 | 5.08 | 61% | 1.44 |
| 4.56 | 150.95 | 9.3 | 155.01 | 6.3 | 69% | 1.48 |
| 5.79 | 173.56 | 11 | 150.68 | 8.14 | 62% | 1.35 |
| 6.58 | 207.39 | 13.6 | 145.63 | 9.92 | 66% | 1.37 |
| 7.35 | 233.84 | 15.9 | 140.45 | 10.64 | 66% | 1.49 |
| 8.27 | 251.62 | 17.6 | 136.53 | 12.01 | 63% | 1.47 |
| 9.21 | 274.15 | 19.8 | 132.23 | 13.48 | 62% | 1.47 |
| 9.75 | 290.84 | 21.8 | 127.41 | 14.46 | 62% | 1.51 |
| 10.56 | 299.83 | 22.9 | 125.04 | 15.69 | 59% |
|
| 11.31 | 318.15 | 25.4 | 119.62 | 17.61 | 59% | 1.44 |
| 12.35 | 332.20 | 27.8 | 114.12 | 18.98 | 56% | 1.46 |
| 13.66 | 336.29 | 29.3 | 109.61 | 21.84 | 51% | 1.34 |
| 14.36 | 337.87 | 30.4 | 106.14 | 22.63 | 49% | 1.34 |
| 13.21 | 341.04 | 32.7 | 99.6 | 25.28 | 54% | 1.29 |
| 17.47 | 342.32 | 35.3 | 92.61 | 28.24 | 41% | 1.25 |
| 18.47 | 341.91 | 36.8 | 88.73 | 30.25 | 39% | 1.22 |
| 19.58 | 337.34 | 38.8 | 83.03 | 32.15 | 36% | 1.21 |
| 21.04 | 323.96 | 40.8 | 75.83 | 35.15 | 32% | 1.16 |
| 24.66 | 301.06 | 42.4 | 67.81 | 39.87 | 25% | 1.06 |
| 24.34 | 217.63 | 45.3 | 45.88 | 40.36 | 19% | 1.12 |
| 18.89 | 0.00 | 47.6 | 0 | 40.08 | 0% | 1.19 |
1.3 Stall Torque Curve
1.4 Load Speed Curve
Stall Temperature Rise Time (30°C -> 100°C)
Torque (Nm) |
| Time (S) |
|
|
|
|
|
12 |
| Continuous use |
|
|
|
|
|
14 |
| 32min21s |
|
|
|
|
|
15 |
| 6min33s |
|
|
|
|
|
17.5 |
| 3min46s |
|
|
|
|
|
19.5 |
| 2min27s |
|
|
|
|
|
21 |
| 1min48s |
|
|
|
|
|
25 |
| 54s |
|
|
|
|
|
26.5 |
| 28s |
|
|
|
|
|
30 |
| 13s |
|
|
|
|
|
Constant Load Speed Temperature Rise Time (30°C -> 100°C)
Speed (RPM) |
| Torque (Nm) |
|
|
| Time (S) |
|
|
|
50 |
| 9.5 |
|
|
| Continuous use |
|
|
|
|
| 10 |
|
|
| 33min29s |
|
|
|
|
| 11.5 |
|
|
| 16min24s |
|
|
|
|
| 13.5 |
|
|
| 4min03s |
|
|
|
|
| 15 |
|
|
| 3min10s |
|
|
|
|
| 15.5 |
|
|
| 2min22s |
|
|
|
|
| 17.5 |
|
|
| 1min35s |
|
|
|
|
| 19.5 |
|
|
| 56s |
|
|
|
|
| 21.5 |
|
|
| 22s |
|
|
|
|
| 25 |
|
|
| 10s |
|
|
|
