PA100-20-10 is a Motorevo PA-series integrated planetary joint integrating a brushless motor, planetary reducer, dual encoders and an integrated drive. It delivers 40 Nm rated torque, 170 Nm peak torque and up to 192 rpm, with a total weight of 1350 g. It is designed for humanoid robots, quadruped robots and collaborative arms. A high-speed version (10:1) is also available: 23 Nm / 150 rpm rated, 100 Nm / 280 rpm peak, 1350 g. The standard version does not include a brake. CAN is standard; EtherCAT/CANFD is optional. Alternative KV versions are available on request.
124 mmDiameter
64 mmThickness
40 NmRated Torque
170 NmPeak Torque
192 rpmPeak Speed
1350 gWeight
Electrical Specifications
Operating Voltage
48 V
Rated Voltage
12-72 V
Rated Torque
40 Nm
Rated Speed
120 RPM
Rated Current
22 A(rms)
Peak Torque (>3s)
170 Nm
Peak Speed
192 RPM
Peak Current
100 A(rms)
Torque Constant
1.86 Nm/A
Back EMF Constant
- Vrms/Krpm
Speed Constant
40 rpm/V
Motor Constant
- Nm/√W
Mechanical Time Constant
- ms
Electrical Time Constant
- ms
Pole Pairs
21
Winding Connection
Star (Y)
Phase Resistance
0.208 Ω
Phase Inductance
0.34 mH
Mechanical Specifications
Diameter
124 mm
Thickness
64 mm
Weight
1350 g
Gear Ratio
10
Backlash
6 Arcmin
Output Bearing
Crossed roller bearing
Backdrive Torque
0.8 Nm
Rotor Inertia
- g·cm²
Axial Load
9.2 kN
Radial Load
4.1 kN
Control & Communication
Control Bandwidth
2000 Hz
Communication
CAN (EtherCAT/CANFD optional)
Encoder Type
Mechanical dual encoder
Encoder Resolution
14 bit
CAN Interface
XT30(2+2)PW-M
USB Interface
SH1.0-4P
Power Interface
XT30(2+2)PW-M
Control Modes
Servo Mode
✓
Velocity Mode
✓
Torque Mode
✓
Hybrid Force-Position Mode
✓
Protection
Overvoltage Protection
✓
Overcurrent Protection
✓
Overtemperature Protection
✓
Environment & Reliability
Duty Cycle
S2 (short-time duty)
Ingress Protection
IP40 (standard; IP54 optional on request)
Cooling Method
IC410 (self-cooled)
Operating Temperature
-20°C to 50°C
Insulation Class
F
Dielectric Strength
500V 1kHz 1A 1ms
Insulation Resistance
100 MΩ @ 20°C
Temperature Sensor
NTC MF52B 103F3950
Noise
60 dB / 0.5 m
Loading 3D teardown…
The 3D teardown is generated from this model’s diameter, thickness, gear ratio and hollow bore. Orbit, explode and inspect 15 components.
