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EC-A9016-P2-23.625H

EC-A9016-P2-23.625H is a second-generation planetary hollow joint motor that integrates a high-performance inner-rotor motor with a two-stage planetary gear reducer; the hollow structure supports internal cable routing.

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Detail

Product Introduction

High-performance inner-rotor motor: Cogging torque and slot fill factor are specially optimized for low torque ripple, high power density, and smooth, quiet operation.
Two-stage planetary gear reducer: The first and second stages are independently designed; gear parameters are optimized through multiple simulation rounds for balanced loading, high load capacity, and low backlash.
Self-developed full set of power supply and communication interfaces: Available in horizontal and vertical form factors with multiple specifications; male/female connectors feature a locking mechanism to prevent loosening.
Quick-release design: Optimized quick-release structure at the output and fixed ends; rear quick-release interface; front end offered in quick-release and non-quick-release versions, with optional quick-release electrical connectors.
Hollow structure across the whole series: Internal cable routing eliminates exposed wiring, ideal for robot joints and automated integration.
Control and protection: Supports CAN/CANFD communication (1M/5M baud rates) with dual encoders, providing precise position control and over-temperature, over-voltage, and overload protection.

Performance Parameters

Parameter	Unit	Value
Rated Voltage	V	72
Rated Bus Current	A	23.9
Rated Input Power	W	1728
Rated Phase Current	A	29.5
Rated Torque (0 RPM)	Nm	60
Allowable Continuous Torque (50 RPM)	Nm	40
Peak Phase Current	A	160
Peak Speed	RPM	240
Peak Torque	Nm	240
Torque Constant	Nm/A	1.95
Motor Average Efficiency		72%
Communication Interface		CAN/CANFD
Communication Baud Rate		1M/5M
Dual Encoder		Yes
Reduction Ratio		23.625
Weight	g	1572 (Version A)/1530 (Version B)
Gear Reducer Backlash	Arcmin	18
Motor Size (Outer Dia. × Thickness)	mm	106×77 (with power connector)/106×66.8 (without connector) (Version A); 106×74/106×62 (Version B)

Structural Parameters

Item	Unit	Value
Dual Encoder		Yes
Axial and Radial Load	KN	2.81
Overturning Moment Resistance	Nm	73
Rotor Inertia	Kgmm²	118.1
Peak Torque Density	Nm/kg	152.7
Crossed Roller Bearing Model		7005
Hollow Bore Diameter	mm	7

Measured Data - Torque Characteristics

Voltage (V)	Bus Current (A)	Input Power (W)	Torque (Nm)	Phase Current (A)	Speed (RPM)	Efficiency	Torque/Phase Current
72V	0.13	9.36	1.7	5.55	0	0	0.31
	0.14	10.08	6.6	6.67	0	0	0.99
	0.2	14.4	15	10.01	0	0	1.50
	0.25	18	21	12.27	0	0	1.71
	0.33	23.76	29.5	15.5	0	0	1.90
	0.39	28.08	34.4	17.77	0	0	1.94
	0.53	38.16	43.8	22.12	0	0	1.98
	0.61	43.92	49.1	24.36	0	0	2.02
	0.75	54	56.5	27.76	0	0	2.04
	0.9	64.8	62.6	30.99	0	0	2.02
	1.06	76.32	69.9	34.29	0	0	2.04
	1.32	95.04	79.1	38.67	0	0	2.05
	1.46	105.12	84.3	40.92	0	0	2.06
	1.7	122.4	91.1	44.25	0	0	2.06
	1.95	140.4	97.2	47.51	0	0	2.05
	2.11	151.92	101.3	49.74	0	0	2.04
	2.56	184.32	111.9	55.23	0	0	2.03
	2.75	198	116	57.47	0	0	2.02
	2.95	212.4	119.4	59.7	0	0	2.00
	3.58	257.76	130.4	66.33	0	0	1.97
	3.99	287.28	138.3	70.66	0	0	1.96
	4.32	311.04	144.3	74.04	0	0	1.95
	4.72	339.84	150.8	78.41	0	0	1.92
	4.96	357.12	154.2	80.64	0	0	1.91
	5.63	405.36	162.2	86.11	0	0	1.88
	6.37	458.64	169.8	91.71	0	0
	6.95	500.4	176.2	96.08	0	0	1.83
	7.85	565.2	184.6	101.59	0	0	1.82
	8.53	614.16	188.9	104.9	0	0	1.80
	9.63	693.36	196.1	110.39	0	0	1.78
	10.79	776.88	202.9	114.82	0	0	1.77
	11.84	852.48	209.1	119.22	0	0	1.75
	13.59	978.48	216.8	125.85	0	0	1.72
	14.8	1065.6	222	130.32	0	0	1.70
	17.78	1280.16	229.2	140.28	0	0	1.63
	22.11	1591.92	236.4	153.49	0	0
	24.13	1737.36	239.1	158.92	0	0	1.50

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
72V	7.2	255.51	10.4	234.63	7.25	49%	1.43
	8.4	425.67	17.4	233.63	10.36	70%	1.68
	11	548.77	22.6	231.89	11.44	69%	1.98
	14.41	691.75	28.9	228.59	14.16	67%	2.04
	17	857.01	36.2	226.09	15.85	70%	2.28
	18.84	976.14	41.6	224.09	19.13	72%	2.17
	21.61	1103.69	47.7	220.97	21.49	71%	2.22
	24.35	1227.94	53.8	217.97	25.08	70%	2.15
	25.57	1308.70	57.8	216.23	28.66	71%	2.02
	26.35	1381.45	61.6	214.17	28.63	73%	2.15
	27.96	1449.89	65.4	211.72	34.99	72%	1.87
	29.86	1548.27	71.1	207.96	35.65	72%	1.99
	33.17	1654.30	77.3	204.38	42.88	69%	1.80
	34.24	1722.54	81.3	202.34	44.68	70%	1.82
	34.67	1797.42	85.9	199.83	47.06	72%	1.83
	35.96	1878.09	90.8	197.53	45.28	73%	2.01
	38.96	1955.69	96	194.55	53.28	70%	1.80
	40.11	2026.02	100.7	192.14	60.59	70%	1.66
	41.54	2082.63	105	189.42	60.36	70%	1.74
	42.45	2133.80	109.2	186.61	65.66	70%	1.66
	44.35	2178.44	113.3	183.62	64.9	68%	1.75
	45.86	2223.74	118.1	179.82	67.08	67%	1.76
	48.29	2277.76	123.7	175.85	74.17	66%	1.67
	49.85	2345.54	130.3	171.91	82.47	65%	1.58
	52.35	2422.22	137.7	167.99	90.59	64%	1.52
	55.33	2494.66	145.9	163.29	89.84	63%	1.62
	58.05	2570.49	154.8	158.58	114.79	62%	1.35
	58.83	2616.10	164	152.34	110.1	62%	1.49
	69.16	2628.96	173.4	144.79	133.55	53%	1.30
	73.53	2642.79	182.4	138.37	153.16	50%	1.19
	76.38	2612.90	191.8	130.1	157.06	48%	1.22
	70.5	2463.02	201.8	116.56	162.14	49%	1.24
	60.6	2078.87	211.7	93.78	158.59	48%	1.33
	33.8	645.27	218.6	28.19	160.61	27%	1.36
	22.89	21.85	222	0.94	160.02	1%	1.39
	23.51	0.00	236.9	0	160.01	0%	1.48