PA60-10-39

Name: PA60-10-39
Brand: 泉智博科技 MOTOREVO

PA Planetary Gear Motor

PA60-10-39 is a Motorevo PA-series integrated planetary joint integrating a brushless motor, planetary reducer, dual encoders and an integrated drive. It delivers 25 Nm rated torque, 76 Nm peak torque and up to 100 rpm, with a total weight of 640 g. It is designed for humanoid robots, quadruped robots and collaborative arms. The standard version does not include a brake. CAN is standard; EtherCAT/CANFD is optional.

79 mm Diameter

62.5 mm Thickness

25 Nm Rated Torque

76 Nm Peak Torque

100 rpm Peak Speed

640 g Weight

Electrical Specifications
Operating Voltage	48 V
Rated Voltage	12-72 V
Rated Torque	25 Nm
Rated Speed	80 RPM
Rated Current	7.5 A(rms)
Peak Torque (>3s)	76 Nm
Peak Speed	100 RPM
Peak Current	25 A(rms)
Torque Constant	3.3 Nm/A
Back EMF Constant	- Vrms/Krpm
Speed Constant	81 rpm/V
Motor Constant	- Nm/√W
Mechanical Time Constant	- ms
Electrical Time Constant	- ms
Pole Pairs	14
Winding Connection	Delta (Δ)
Phase Resistance	0.7 Ω
Phase Inductance	0.64 mH
Mechanical Specifications
Diameter	79 mm
Thickness	62.5 mm
Weight	640 g
Gear Ratio	39
Backlash	10 Arcmin
Output Bearing	Crossed roller bearing
Backdrive Torque	1.2 Nm
Rotor Inertia	- g·cm²
Axial Load	6.2 kN
Radial Load	2.7 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