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EC-A7220-P2-22H

EC-A7220-P2-22H is a second-generation planetary hollow joint motor that integrates a high-performance inner-rotor motor and a two-stage planetary gear reducer. The whole series adopts a hollow structure supporting internal wiring.

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Detail

Introduction

High-performance inner-rotor motor: specifically optimized for cogging torque and slot fill factor, with low torque ripple, high power density, and smooth, quiet operation.
Two-stage planetary gear reducer: the first and second stages are independently designed, with gear parameters refined through multiple rounds of simulation, delivering balanced load distribution, high load capacity, and low backlash.
Self-developed power and communication interfaces: available in horizontal and vertical form factors with multiple specifications; male-female connectors feature a locking mechanism to effectively prevent loosening.
Quick-release design: the output and fixed ends are optimized for quick release; the rear end uses a quick-release interface, the front end is available in quick-release or non-quick-release versions, and a quick-release electrical connector is optional.
Hollow structure across the whole series: internal motor wiring avoids exposed cables, suiting robot joint and automation integration scenarios.
Control and protection: supports CAN/CANFD communication (1M/5M baud rate), comes with dual encoders, and provides precise position control plus over-temperature, over-voltage and overload protection.

Performance Parameters

Parameter	Unit	Value
Rated Voltage	V	72
Rated Bus Current	A	18
Rated Input Power	W	1296
Rated Phase Current	A	20
Rated Torque (0 RPM)	Nm	38
Allowable Continuous Torque (50 RPM)	Nm	25
Peak Phase Current	A	100
Peak Speed	RPM	264
Peak Torque	Nm	160
Torque Constant	Nm/A	1.9
Average Motor Efficiency		70%
Communication		CAN/CANFD
Communication Baud Rate		1M/5M
Dual Encoder		Yes
Reduction Ratio		22
Motor Weight	g	1173 (Type A)/1145 (Type B)/1178 (Type C, est.)
Gear Reducer Backlash	Arcmin	18
Motor Size (OD x Thickness)	mm	88×76 (w/ power interface)/88×67.8 (w/o) (Type A); 88×74/88×64 (Type B); 88×74/88×64 (Type C)

Structural Parameters

Item	Unit	Value
Dual Encoder		Yes
Axial and Radial Load	KN	2.63
Bending Moment Resistance	Nm	53
Rotor Inertia	Kgmm²	62
Peak Torque Density	Nm/kg	136.4
Crossed Roller Bearing Model		6005
Hollow Bore Diameter	mm	5.2

Measured Data - Torque Characteristics Table (72V)

Voltage (V)	Bus Current (A)	Input Power (W)	Torque (Nm)	Phase Current (A)	Speed (RPM)	Efficiency	Torque / Phase Current
72V	0.05	3.6	0.6	2	0	0	0.30
	0.05	3.6	5.3	3.55	0	0	1.49
	0.07	5.04	9	4.93	0	0	1.83
	0.07	5.04	12.8	6.96	0	0	1.84
	0.08	5.76	17.1	9.05	0	0	1.89
	0.1	7.2	20.1	10.47	0	0	1.92
	0.13	9.36	25.3	13.18	0	0	1.92
	0.19	13.68	30.3	15.28	0	0	1.98
	0.24	17.28	34.7	17.33	0	0	2.00
	0.28	20.16	39.4	19.41	0	0	2.03
	0.31	22.32	42.2	20.83	0	0	2.03
	0.39	28.08	47.3	23.53	0	0	2.01
	0.4	28.8	51.5	25.64	0	0	2.01
	0.51	36.72	56.7	28.36	0	0	2.00
	0.51	36.72	59.1	29.78	0	0	1.98
	0.7	50.4	64.4	33.18	0	0	1.94
	0.74	53.28	68.8	35.97	0	0	1.91
	1.02	73.44	74.1	39.42	0	0	1.88
	1.12	80.64	78.1	42.14	0	0	1.85
	1.36	97.92	81.3	44.24	0	0	1.84
	1.6	115.2	86.3	47.69	0	0	1.81
	1.86	133.92	90.5	50.45	0	0	1.79
	2.14	154.08	96.2	53.91	0	0	1.78
	2.4	172.8	99.7	56.01	0	0	1.78
	2.8	201.6	104.6	59.39	0	0	1.76
	3.26	234.72	109.1	62.87	0	0
	3.77	271.44	115.8	66.99	0	0	1.73
	4.3	309.6	120.2	69.76	0	0	1.72
	4.74	341.28	122.6	71.18	0	0	1.72
	5.22	375.84	126.4	73.2	0	0	1.73
	5.67	408.24	130.1	75.3	0	0	1.73
	6.58	473.76	134.9	78.73	0	0	1.71
	7.64	550.08	140.2	82.85	0	0	1.69
	8.35	601.2	144.4	86.97	0	0	1.66
	9.21	663.12	149.6	90.47	0	0	1.65
	10.09	726.48	153.2	93.2	0	0	1.64
	10.23	736.56	157.2	95.99	0	0	1.64
	10.82	779.04	160.1	99.39	0	0	1.61

Measured Data - Torque-Speed (T-N) Curve Table (72V)

Voltage (V)	Bus Current (A)	Output Power (W)	Torque (Nm)	Speed (RPM)	Phase Current (A)	Efficiency	Torque / Phase Current
72V	7.72	327.66	11.8	265.18	8.72	59%	1.35
	9.55	452.96	16.5	262.17	9.47	66%	1.74
	12.82	613.28	22.7	258.01	19.91	66%	1.14
	14.27	736.57	27.5	255.79	20.41	72%	1.35
	16.97	832.51	31.4	253.2	28.15	68%	1.12
	17.67	976.83	37.3	250.1	19.56	77%	1.91
	20.42	1066.49	41.1	247.81	22.46	73%	1.83
	22.22	1169.75	45.6	244.98	24.16	73%	1.89
	24.43	1258.02	49.6	242.22	29.37	72%	1.69
	26.71	1388.81	55.8	237.69	33.17	72%	1.68
	29.24	1482.42	60.1	235.56	35.91	70%	1.67
	31.4	1597.80	65.8	231.9	40.31	71%	1.63
	33.12	1679.87	69.9	229.51	50.14	70%	1.39
	34.09	1777.47	75.4	225.13	41.89	72%	1.80
	35.92	1845.16	79.4	221.93	47.8	71%	1.66
	38.31	1912.28	83.5	218.71	53.67	69%	1.56
	39.16	1963.05	86.7	216.23	59.76	70%	1.45
	41.29	2022.53	90.3	213.9	57.9	68%
	43.51	2106.90	95.7	210.25	57.41	67%	1.67
	44.01	2167.53	99.6	207.83	65.25	68%	1.53
	46.04	2241.79	105.5	202.93	63.55	68%	1.66
	48.41	2289.61	109.4	199.87	74.12	66%	1.48
	48.41	2325.60	113.1	196.37	72.97	67%	1.55
	53.12	2361.32	117	192.74	81.21	62%	1.44
	53.75	2390.05	121.5	187.86	84.87	62%	1.43
	54.54	2408.89	124.6	184.63	84.9	61%	1.47
	55.57	2434.25	129	180.21	89.38	61%	1.44
	58.35	2436.79	133.2	174.71	98.85	58%	1.35
	59.49	2441.28	136.5	170.8	101.24	57%	1.35
	59.66	2416.61	139.6	165.32	104.18	56%	1.34
	58.82	2330.04	143.2	155.39	95.86	55%	1.49
	47.72	1924.06	148.1	124.07	102.72	56%	1.44
	16.24	69.66	151.2	4.4	100.55	6%	1.50
	15.36	0.00	159.4	0	100	0%	1.59