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EC-A7225-P2-22H

EC-A7225-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	20
Rated Input Power	W	1440
Rated Phase Current	A	28
Rated Torque (0 RPM)	Nm	44
Allowable Continuous Torque (50 RPM)	Nm	30
Peak Phase Current	A	100
Peak Speed	RPM	249
Peak Torque	Nm	200
Torque Constant	Nm/A	2.0
Average Motor Efficiency		75%
Communication		CAN/CANFD
Communication Baud Rate		1M/5M
Dual Encoder		Yes
Reduction Ratio		22
Motor Weight	g	1275 (Type A)/1240 (Type B)/1258 (Type C)
Gear Reducer Backlash	Arcmin	18
Motor Size (OD x Thickness)	mm	88×81 (w/ power interface)/88×72.8 (w/o) (Type A); 88×79/88×69 (Type B); 88×79/88×69 (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	76
Peak Torque Density	Nm/kg	156.9
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	0.02	1.44	5.4	4.06	0	0	1.33
	0.03	2.16	9.9	6.21	0	0	1.59
	0.03	2.16	13.3	7.62	0	0	1.75
	0.04	2.88	18	9.65	0	0	1.87
	0.04	2.88	23.6	12.23	0	0	1.93
	0.03	2.16	28.4	14.48	0	0	1.96
	0.05	3.6	33.1	16.57	0	0	2.00
	0.09	6.48	41.7	20.69	0	0	2.02
	0.1	7.2	44.6	22.12	0	0	2.02
	0.1	7.2	49.9	24.79	0	0	2.01
	0.17	12.24	54.4	26.9	0	0	2.02
	0.14	10.08	59.5	29.65	0	0	2.01
	0.2	14.4	63.4	31.75	0	0	2.00
	0.2	14.4	68.8	34.47	0	0	2.00
	0.49	35.28	73.3	36.9	0	0	1.99
	0.36	25.92	74.2	37.27	0	0	1.99
	0.53	38.16	79.9	40	0	0	2.00
	0.61	43.92	84.8	42.1	0	0	2.01
	0.74	53.28	90	44.84	0	0	2.01
	1.03	74.16	95.7	47.65	0	0	2.01
	0.97	69.84	99.6	49.62	0	0	2.01
	1.03	74.16	102.5	51.03	0	0	2.01
	1.05	75.6	108.5	53.77	0	0	2.02
	1.32	95.04	113	55.86	0	0	2.02
	1.32	95.04	116	57.26	0	0	2.03
	1.68	120.96	121.4	60.02	0	0
	1.71	123.12	124.1	61.44	0	0	2.02
	1.7	122.4	129.1	64.1	0	0	2.01
	1.76	126.72	134.5	67.63	0	0	1.99
	2.05	147.6	139.8	71.75	0	0	1.95
	2.56	184.32	145.5	76.57	0	0	1.90
	3.32	239.04	148.6	79.41	0	0	1.87
	3.53	254.16	150.5	80.7	0	0	1.86
	4.48	322.56	158.4	86.93	0	0	1.82
	4.99	359.28	163.6	91.74	0	0	1.78
	6.15	442.8	168.8	95.89	0	0	1.76
	7.51	540.72	175.5	99.27	0	0	1.77

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	5.63	223.50	8.7	245.34	6.01	55%	1.45
	5.79	347.01	13.6	243.67	6.27	83%	2.17
	9	465.20	18.4	241.45	12.45	72%	1.48
	9.71	559.51	22.3	239.61	8.88	80%	2.51
	12.87	669.06	26.9	237.53	15.62	72%	1.72
	16.99	798.33	32.4	235.31	25.38	65%	1.28
	15.84	891.13	36.4	233.8	17.21	78%	2.12
	20.55	983.75	40.6	231.4	35.39	66%	1.15
	20.61	1109.67	46.6	227.41	28.1	75%	1.66
	22.25	1217.49	51.6	225.33	31.78	76%	1.62
	26.43	1285.33	55	223.18	33.61	68%	1.64
	27.42	1368.34	59.1	221.11	43.66	69%	1.35
	27.63	1475.11	64.6	218.07	37.1	74%	1.74
	30.86	1555.28	69	215.26	44.49	70%	1.55
	33.18	1643.55	73.7	212.97	49.57	69%	1.49
	34.07	1742.38	79	210.63	45.67	71%	1.73
	34.89	1832.23	84.6	206.83	46.5	73%	1.82
	38.67	1921.74	89.7	204.6	57.81	69%
	38.58	2005.29	94.8	202.01	52.05	72%	1.82
	39.66	2067.79	98.9	199.67	55.17	72%	1.79
	42.39	2125.70	103.1	196.9	66.58	70%	1.55
	45.15	2191.10	107.6	194.47	78.18	67%	1.38
	44.81	2274.20	113.1	192.03	67.9	70%	1.67
	47.17	2335.29	118.2	188.68	71.83	69%	1.65
	50.46	2402.37	123.6	185.62	77.65	66%	1.59
	50.7	2456.35	128.7	182.27	80.66	67%	1.60
	51.18	2503.46	133	179.76	80.41	68%	1.65
	53.21	2546.66	137.7	176.62	79.95	66%	1.72
	56.01	2588.43	142.5	173.47	95.36	64%	1.49
	57.06	2630.70	147.1	170.79	93.15	64%	1.58
	59.32	2660.70	152.3	166.84	96.96	62%	1.57
	60.38	2686.56	157.2	163.21	92.14	62%	1.71
	60.24	2664.61	161.2	157.86	98.25	61%	1.64
	56.29	2547.71	165.2	147.28	98.63	63%	1.67
	49.66	2132.23	170.5	119.43	98.69	60%	1.73
	22.88	653.58	171.9	36.31	100.79	40%	1.71
	12.33	0.00	173.1	0	100.02	0%	1.73