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EC-A9020-P2-23.625H

EC-A9020-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	26.8
Rated Input Power	W	1929.6
Rated Phase Current	A	29
Rated Torque (0 RPM)	Nm	66
Allowable Continuous Torque (50 RPM)	Nm	45
Peak Phase Current	A	160
Peak Speed	RPM	245
Peak Torque	Nm	280
Torque Constant	Nm/A	1.9
Motor Average Efficiency		71%
Communication Interface		CAN/CANFD
Communication Baud Rate		1M/5M
Dual Encoder		Yes
Reduction Ratio		23.625
Weight	g	1741 (Version A)/1698 (Version B)
Gear Reducer Backlash	Arcmin	18
Motor Size (Outer Dia. × Thickness)	mm	106×82 (with power connector)/106×71.8 (without connector) (Version A); 106×79/106×67 (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	150.9
Peak Torque Density	Nm/kg	160.8
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	0.11	7.92	1.1	6.58	0	0	0.17
	0.16	11.52	7.1	9.88	0	0	0.72
	0.21	15.12	15.8	13.23	0	0	1.19
	0.28	20.16	22.7	16.45	0	0	1.38
	0.36	25.92	30	19.83	0	0	1.51
	0.48	34.56	37.4	24.21	0	0	1.54
	0.59	42.48	44.7	27.57	0	0	1.62
	0.78	56.16	54.6	33.04	0	0	1.65
	0.91	65.52	61.9	36.44	0	0	1.70
	1.09	78.48	71.4	40.73	0	0	1.75
	1.26	90.72	79.5	44.1	0	0	1.80
	1.49	107.28	88.5	48.5	0	0	1.82
	1.68	120.96	95.7	51.89	0	0	1.84
	1.8	129.6	100.8	54.11	0	0	1.86
	2.09	150.48	110.2	58.44	0	0	1.89
	2.32	167.04	117.8	61.78	0	0	1.91
	2.63	189.36	126.8	66.15	0	0	1.92
	2.97	213.84	134.7	70.65	0	0	1.91
	3.32	239.04	143.4	74.99	0	0	1.91
	3.64	262.08	149.4	78.36	0	0	1.91
	4.25	306	158.8	83.84	0	0	1.89
	4.46	321.12	163.1	86.08	0	0	1.89
	4.78	344.16	169.5	89.29	0	0	1.90
	5.12	368.64	175	92.67	0	0	1.89
	5.85	421.2	184.5	99.3	0	0	1.86
	6.98	502.56	195.7	109.23	0	0
	7.9	568.8	205	116.91	0	0	1.75
	8.61	619.92	211.6	122.44	0	0	1.73
	9.06	652.32	216.3	125.8	0	0	1.72
	9.87	710.64	225	131.23	0	0	1.71
	10.41	749.52	230.2	134.67	0	0	1.71
	11.2	806.4	237.8	138.99	0	0	1.71
	11.73	844.56	243.3	142.32	0	0	1.71
	12.27	883.44	250.1	145.53	0	0	1.72
	12.72	915.84	254.2	147.82	0	0	1.72
	14.05	1011.6	266.1	154.41	0	0	1.72
	15.23	1096.56	274.2	159.91	0	0	1.71

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	256.40	9.9	247.34	7.15	51%	1.38
	8.07	452.56	17.7	244.18	12.01	78%	1.47
	10.96	627.95	24.9	240.84	16.88	80%	1.48
	14.68	815.57	32.8	237.46	17.35	77%	1.89
	17.67	997.85	40.7	234.14	19.69	78%	2.07
	20.57	1148.37	47.3	231.86	25.94	78%	1.82
	22.98	1301.08	54.2	229.25	26.47	79%	2.05
	25.37	1439.64	60.7	226.5	29.63	79%	2.05
	28.27	1608.29	68.9	222.92	33.99	79%	2.03
	31.06	1743.16	75.8	219.62	38.28	78%	1.98
	34	1887.12	83.3	216.35	43.72	77%	1.91
	36.74	2019.09	90.4	213.3	44.59	76%	2.03
	38.27	2132.07	97	209.91	49.76	77%	1.95
	42.01	2250.72	104.2	206.28	50.74	74%
	45.04	2384.98	112.2	203	57.78	74%	1.94
	47.7	2511.89	120.6	198.91	62.16	73%	1.94
	48.5	2595.50	126.4	196.1	72.05	74%	1.75
	51.6	2710.53	133.9	193.32	64.49	73%	2.08
	54.47	2803.68	141.1	189.76	66.96	71%	2.11
	54.69	2897.94	148.8	185.99	81.82	74%	1.82
	59.62	2990.02	155.9	183.16	84.43	70%	1.85
	61.03	3079.62	163.6	179.77	88.97	70%	1.84
	62.79	3169.20	171.1	176.89	86.76	70%	1.97
	63.81	3237.55	178	173.7	100.16	70%	1.78
	65.62	3309.03	184.9	170.91	106.78	70%	1.73
	68.41	3368.20	191.9	167.62	103.71	68%	1.85
	72.86	3412.59	199	163.77	107.63	65%	1.85
	75.95	3474.24	206.8	160.44	116.84	64%	1.77
	75.55	3519.87	212.9	157.89	119.59	65%	1.78
	77.87	3544.19	219.9	153.92	127.03	63%	1.73
	81.33	3571.84	228	149.61	140.23	61%	1.63
	83.68	3592.04	236.4	145.11	148.67	60%	1.59
	82.41	3573.10	244.4	139.62	154.63	60%	1.58
	80.26	3306.37	251.2	125.7	151.39	57%	1.66
	62.9	2564.10	259.7	94.29	154.94	57%	1.68
	41.31	1455.34	266	52.25	161.57	49%	1.65
	17.13	0.00	270	0	160	0%	1.69