Product Introduction
This series of joint modules integrates a high-performance inner-rotor motor with a two-stage planetary gear reducer. The motor is specially optimized for cogging torque and slot fill factor, delivering low torque ripple and high power density. The reducer's first and second stages are independently designed, with gear parameters optimized through multiple simulation rounds for balanced loading and high load capacity. A self-developed full set of power supply and communication interfaces is available in horizontal/vertical form factors with multiple specifications; male/female connectors feature a locking mechanism to prevent loosening. A quick-release design is adopted, with optimized quick-release at the output and fixed ends, a rear quick-release interface, and front quick-release/non-quick-release versions, with optional quick-release electrical connectors. The whole series has a hollow structure with internal cable routing to avoid exposed wiring. Dual encoders and multiple control modes are supported, with over-temperature, over-voltage, and overload protection.
Model: EC-A9025-P2-23.625H; Rated Voltage 72V; Reduction Ratio 23.625; Rated Torque 72 Nm; Peak Torque 320 Nm.
1.2 Product Parameters
EC-A9025-P2-23.625H Performance Parameters
Parameter | Unit | Value |
Rated Voltage | V | 72 |
Rated Bus Current | A | 26.5 |
Rated Input Power | W | 1908 |
Rated Phase Current | A | 29.5 |
Rated Torque (0 RPM) | Nm | 72 |
Allowable Continuous Torque (50 RPM) | Nm | 50 |
Peak Phase Current | A | 160 |
Peak Speed | RPM | 226 |
Peak Torque | Nm | 320 |
Torque Constant | Nm/A | 2.1 |
Motor Average Efficiency |
| 76% |
Communication Interface |
| CAN/CANFD |
Communication Baud Rate |
| 1M/5M |
Dual Encoder |
| Yes |
Reduction Ratio |
| 23.625 |
Weight | g | 1890 (Version A)/1843 (Version B) |
Gear Reducer Backlash | Arcmin | 18 |
Motor Size (Outer Dia. × Thickness) | mm | 106×87 (with power connector)/106×76.8 (without power connector) (Version A); 106×84 (with power connector)/106×72 (without power connector) (Version B) |
Structural Parameters
Item | Value |
Dual Encoder | Yes |
Axial and Radial Load | 2.81 KN |
Overturning Moment Resistance | 73 Nm |
Rotor Inertia | 182.5 Kgmm2 |
Crossed Roller Bearing Model | 7005 |
Hollow Bore Diameter | 7 mm |
Measured Data - Torque Characteristics
Voltage (V) | Bus Current (A) | Input Power (W) | Torque (Nm) | Phase Current (A) | Speed (RPM) | Efficiency | Torque/Phase Current |
72V | 0.14 | 10.08 | 1.1 | 6.19 | 0 | 0 | 0.18 |
72V | 0.15 | 10.8 | 9.4 | 8.7 | 0 | 0 | 1.08 |
72V | 0.19 | 13.68 | 17.6 | 12.13 | 0 | 0 | 1.45 |
72V | 0.23 | 16.56 | 23.6 | 14.37 | 0 | 0 | 1.64 |
72V | 0.3 | 21.6 | 31.6 | 17.65 | 0 | 0 | 1.79 |
72V | 0.34 | 24.48 | 38.8 | 20.96 | 0 | 0 | 1.85 |
72V | 0.41 | 29.52 | 46.4 | 24.21 | 0 | 0 | 1.92 |
72V | 0.52 | 37.44 | 55.7 | 28.78 | 0 | 0 | 1.94 |
72V | 0.6 | 43.2 | 63 | 32.15 | 0 | 0 | 1.96 |
72V | 0.73 | 52.56 | 71.5 | 36.48 | 0 | 0 | 1.96 |
72V | 0.84 | 60.48 | 79.3 | 39.92 | 0 | 0 | 1.99 |
72V | 0.98 | 70.56 | 86.9 | 43.36 | 0 | 0 | 2.00 |
72V | 1.18 | 84.96 | 96.6 | 47.83 | 0 | 0 | 2.02 |
72V | 1.34 | 96.48 | 104.5 | 51.19 | 0 | 0 | 2.04 |
72V | 1.61 | 115.92 | 114.9 | 55.62 | 0 | 0 | 2.07 |
72V | 1.74 | 125.28 | 120.3 | 57.84 | 0 | 0 | 2.08 |
72V | 1.98 | 142.56 | 128.7 | 61.15 | 0 | 0 | 2.10 |
72V | 2.19 | 157.68 | 136.7 | 64.62 | 0 | 0 | 2.12 |
72V | 2.34 | 168.48 | 141.5 | 66.84 | 0 | 0 | 2.12 |
72V | 2.58 | 185.76 | 149.4 | 70.09 | 0 | 0 | 2.13 |
72V | 2.81 | 202.32 | 156.4 | 73.54 | 0 | 0 | 2.13 |
72V | 3.06 | 220.32 | 162.4 | 76.84 | 0 | 0 | 2.11 |
72V | 3.41 | 245.52 | 173.3 | 82.47 | 0 | 0 | 2.10 |
72V | 3.65 | 262.8 | 179.1 | 85.89 | 0 | 0 | 2.09 |
72V | 4.24 | 305.28 | 190.6 | 92.49 | 0 | 0 | 2.06 |
72V | 4.8 | 345.6 | 201.3 | 98.16 | 0 | 0 |
|
72V | 5.43 | 390.96 | 212.1 | 103.86 | 0 | 0 | 2.04 |
72V | 5.8 | 417.6 | 216.2 | 105.97 | 0 | 0 | 2.04 |
72V | 6.21 | 447.12 | 223.1 | 109.36 | 0 | 0 | 2.04 |
72V | 6.63 | 477.36 | 230.7 | 112.67 | 0 | 0 | 2.05 |
72V | 7.32 | 527.04 | 241.4 | 118.35 | 0 | 0 | 2.04 |
72V | 7.7 | 554.4 | 248.7 | 121.73 | 0 | 0 | 2.04 |
72V | 8.27 | 595.44 | 259 | 127.32 | 0 | 0 | 2.03 |
72V | 8.66 | 623.52 | 265.4 | 130.65 | 0 | 0 | 2.03 |
72V | 9.75 | 702 | 278.3 | 139.61 | 0 | 0 | 1.99 |
72V | 10.42 | 750.24 | 287.2 | 145.22 | 0 | 0 | 1.98 |
72V | 11.42 | 822.24 | 295.6 | 151.9 | 0 | 0 | 1.95 |
72V | 12.68 | 912.96 | 303.9 | 159.73 | 0 | 0 |
|
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 | 7.38 | 295.63 | 12.5 | 225.86 | 10.55 | 56% | 1.18 |
72V | 9.41 | 487.26 | 20.8 | 223.72 | 18.05 | 72% | 1.15 |
72V | 12.58 | 686.33 | 29.7 | 220.69 | 15.31 | 76% | 1.94 |
72V | 15.62 | 879.59 | 38.6 | 217.62 | 23.68 | 78% | 1.63 |
72V | 20.33 | 1058.84 | 47.1 | 214.69 | 30.1 | 72% | 1.56 |
72V | 23.34 | 1245.76 | 56.2 | 211.69 | 31.05 | 74% | 1.81 |
72V | 25.6 | 1417.27 | 64.9 | 208.55 | 35.39 | 77% | 1.83 |
72V | 29.09 | 1585.59 | 73.7 | 205.46 | 32.52 | 76% | 2.27 |
72V | 33.77 | 1762.60 | 83.6 | 201.35 | 34 | 72% | 2.46 |
72V | 36.34 | 1931.67 | 93.4 | 197.51 | 48.02 | 74% |
|
72V | 40.1 | 2084.88 | 102.3 | 194.63 | 48.29 | 72% | 2.12 |
72V | 42.04 | 2237.16 | 111.2 | 192.13 | 61.99 | 74% | 1.79 |
72V | 44.69 | 2385.86 | 120.6 | 188.93 | 51.16 | 74% | 2.36 |
72V | 46.71 | 2503.53 | 128.5 | 186.06 | 61.72 | 74% | 2.08 |
72V | 50.37 | 2615.32 | 135.8 | 183.92 | 68.07 | 72% | 2.00 |
72V | 52.49 | 2733.09 | 144.5 | 180.63 | 62.93 | 72% | 2.30 |
72V | 53.61 | 2832.13 | 152 | 177.94 | 67.09 | 73% | 2.27 |
72V | 58.23 | 2947.14 | 160.6 | 175.25 | 77.41 | 70% | 2.07 |
72V | 58.48 | 3035.40 | 167.3 | 173.27 | 73.16 | 72% | 2.29 |
72V | 61.88 | 3125.21 | 174.7 | 170.84 | 75.21 | 70% | 2.32 |
72V | 62.2 | 3230.38 | 183 | 168.58 | 88.15 | 72% | 2.08 |
72V | 64.12 | 3315.13 | 191.1 | 165.67 | 94.08 | 72% | 2.03 |
72V | 67.21 | 3396.35 | 200.7 | 161.61 | 93.75 | 70% | 2.14 |
72V | 72.09 | 3470.65 | 209.3 | 158.36 | 114.72 | 67% | 1.82 |
72V | 75.5 | 3545.58 | 218.2 | 155.18 | 110.55 | 65% | 1.97 |
72V | 76.88 | 3602.26 | 225.2 | 152.76 | 105.56 | 65% | 2.13 |
72V | 77.05 | 3663.14 | 234 | 149.5 | 120.66 | 66% | 1.94 |
72V | 79.62 | 3722.27 | 242.2 | 146.77 | 121.37 | 65% | 2.00 |
72V | 83.81 | 3763.34 | 251.1 | 143.13 | 133.49 | 62% | 1.88 |
72V | 83.9 | 3780.38 | 258.8 | 139.5 | 127.89 | 63% | 2.02 |
72V | 85.8 | 3826.55 | 268.9 | 135.9 | 146.57 | 62% | 1.83 |
72V | 89.37 | 3809.11 | 276.4 | 131.61 | 158.83 | 59% | 1.74 |
72V | 87.73 | 3653.50 | 285.5 | 122.21 | 153.71 | 58% | 1.86 |
72V | 63.85 | 2722.97 | 294.3 | 88.36 | 160.06 | 59% | 1.84 |
72V | 32.9 | 1271.24 | 302.3 | 40.16 | 158.48 | 54% | 1.91 |
72V | 14.97 | 0.00 | 320.1 | 0 | 159.95 | 0% | 2.00 |
1.3 Motor Torque Characteristic Curve
1.4 Motor Load-Speed Curve
