Product family

ENCOS Gen 2 planetary joint modules

11 variants · Varies by model, torque, dimensions, mounting form

About this product family

Manufacturer-defined ENCOS Gen 2 planetary joint modules family, with size and configuration details recorded on each individual model.

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Values retain their source conditions and claim stage. A missing value means it has not been published in this catalogue.

Variant / model	Allowed continuous output torque	Average motor efficiency	Axial and radial load rating	Bending moment resistance	Communication baud-rate notation	Details & evidence
EC-A7225-P2-22H-A	30 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 41. Output speed 50 rpm, explicitly stated in source row.	75 %Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table.	2.63 kNConfiguration: Form A; Gen 2 Form A; datasheet PDF page 41. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred.	53 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 41.	1M / 5M (manufacturer notation)Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Allowed continuous output torque 30 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. Output speed 50 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 允许连续转矩(50RPM)(Allows Continuous Torque) Nm 30 Average motor efficiency 75 % Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机平均效率(Average Motor Efficiency) 75% Axial and radial load rating 2.63 kN Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 轴向载荷和径向载荷(Axial And Radial Loads) KN 2.63 Bending moment resistance 53 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 抗弯矩(Bending Moment Resistance) Nm 53 Communication baud-rate notation 1M / 5M (manufacturer notation) Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信波特率(Communication Baud Rate) 1M/5M Communication interface CAN / CAN FD Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. Manufacturer prints CAN/CANFD; no unsupported interface variant SKU is created. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信方式(Communication Mode) CAN/CANFD Cross-roller bearing model 6005 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 交叉滚子轴承型号(Cross Roller Bearing Type) 6005 Dimensions (outer diameter × thickness) 88 × 72.8 mm Manufacturer specification Configuration: Form A; without power connector; Gen 2 Form A; datasheet PDF page 41. Outer diameter × thickness; excludes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 88×81（带电源接口）/ 88×72.8（不带电源接口）（A 款） Dimensions (outer diameter × thickness) 88 × 81 mm Manufacturer specification Configuration: Form A; with power connector; Gen 2 Form A; datasheet PDF page 41. Outer diameter × thickness; includes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 88×81（带电源接口）/ 88×72.8（不带电源接口）（A 款） Dual encoder Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 是否具有双编码器(Double Encoder) 是 Hollow-bore diameter 5.2 mm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 中空孔直径(Hole Diameter) mm 5.2 Hollow structure Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·全系中空结构 Motor architecture Inner rotor Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·高性能内转子电机 Motor rotor inertia 76 kg·mm² Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机的转子惯量(The Rotor Inertia Of The Motor) Kgmm2 76 Peak output speed 249 rpm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. Output-shaft speed per datasheet note; peak value, not a continuous speed rating. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值转速(Peak Speed) RPM 249 Peak output torque 200 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. Peak value; permitted peak duration is not stated in the rating table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值扭矩(Peak Torque) Nm 200 Peak phase current 100 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值相电流(Peak Phase Current) A 100 Rated bus current 20 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定母线电流(Rated Bus Current) A 20 Rated input power 1,440 W Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定输入功率(Rated Input Power) W 1440 Rated output torque 44 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. Output speed 0 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定扭矩(0RPM)(Rated Torque) Nm 44 Rated phase current 28 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定相电流(Rated Phase Current) A 28 Rated voltage 72 V Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定电压(Rated Voltage) V 72 Reducer architecture Two-stage planetary Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·二级行星减速器 Reducer backlash 18 arcmin Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速器背隙(Reducer Backlash) Arcmin 18 Reduction ratio 22 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速比(Reduction Ratio) 22 Temperature-rise test duration 68 s Manufacturer specification Configuration: Form A; 50-rpm load; 70 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; constant output speed 50 rpm. Original duration 1min08s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 70 1min08s Temperature-rise test duration 28 s Manufacturer specification Configuration: Form A; 50-rpm load; 90 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; constant output speed 50 rpm. Original duration 28s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 90 28s Temperature-rise test duration 147 s Manufacturer specification Configuration: Form A; 50-rpm load; 60 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; constant output speed 50 rpm. Original duration 2min27s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 60 2min27s Temperature-rise test duration 2,067 s Manufacturer specification Configuration: Form A; 50-rpm load; 35 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; constant output speed 50 rpm. Original duration 34min27s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 35 34min27s Temperature-rise test duration 272 s Manufacturer specification Configuration: Form A; 50-rpm load; 50 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; constant output speed 50 rpm. Original duration 4min32s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 50 4min32s Temperature-rise test duration 390 s Manufacturer specification Configuration: Form A; 50-rpm load; 45 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; constant output speed 50 rpm. Original duration 6min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 45 6min30s Temperature-rise test duration 596 s Manufacturer specification Configuration: Form A; 50-rpm load; 40 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; constant output speed 50 rpm. Original duration 9min56s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 40 9min56s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; 50-rpm load; 30 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; constant output speed 50 rpm. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 30 可持续使用 Temperature-rise test duration 600 s Manufacturer specification Configuration: Form A; stall; 49 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; stalled output. Original duration 10min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 49 10min Temperature-rise test duration 18 s Manufacturer specification Configuration: Form A; stall; 99 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; stalled output. Original duration 18s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 99 18s Temperature-rise test duration 140 s Manufacturer specification Configuration: Form A; stall; 79 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; stalled output. Original duration 2min20s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 79 2min20s Temperature-rise test duration 250 s Manufacturer specification Configuration: Form A; stall; 64 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; stalled output. Original duration 4min10s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 64 4min10s Temperature-rise test duration 57 s Manufacturer specification Configuration: Form A; stall; 89 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; stalled output. Original duration 57s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 89 57s Temperature-rise test duration 330 s Manufacturer specification Configuration: Form A; stall; 59 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; stalled output. Original duration 5min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 59 5min30s Temperature-rise test duration 384 s Manufacturer specification Configuration: Form A; stall; 54 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; stalled output. Original duration 6min24s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 54 6min24s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; stall; 44 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; stalled output. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 44 可持续使用 Torque constant 2 N·m/A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 扭矩常数(Torque Constant) Nm/A 2.0 Weight 1,275 g Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. Exact Form A mass; B/C masses are not assigned to this product. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机重量(Weight) g 1275（A 款） 1240（B 款） 1258（C 款估算值）
EC-A10825-P2-24H-A	57 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 71. Output speed 50 rpm, explicitly stated in source row.	73 %Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table.	6.76 kNConfiguration: Form A; Gen 2 Form A; datasheet PDF page 71. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred.	201 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 71.	1M / 5M (manufacturer notation)Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Allowed continuous output torque 57 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. Output speed 50 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 允许连续转矩(50RPM)(Allows Continuous Torque) Nm 57 Average motor efficiency 73 % Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机平均效率(Average Motor Efficiency) 73% Axial and radial load rating 6.76 kN Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 轴向载荷和径向载荷(Axial And Radial Loads) KN 6.76 Bending moment resistance 201 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 抗弯矩(Bending Moment Resistance) Nm 201 Communication baud-rate notation 1M / 5M (manufacturer notation) Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信波特率(Communication Baud Rate) 1M/5M Communication interface CAN / CAN FD Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. Manufacturer prints CAN/CANFD; no unsupported interface variant SKU is created. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信方式(Communication Mode) CAN/CANFD Cross-roller bearing model 9008 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 交叉滚子轴承型号(Cross Roller Bearing Type) 9008 Dimensions (outer diameter × thickness) 124 × 83.3 mm Manufacturer specification Configuration: Form A; without power connector; Gen 2 Form A; datasheet PDF page 71. Outer diameter × thickness; excludes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 124×93.5（带电源接口）/ 124×83.3（不带电源接口）（A 款） Dimensions (outer diameter × thickness) 124 × 93.5 mm Manufacturer specification Configuration: Form A; with power connector; Gen 2 Form A; datasheet PDF page 71. Outer diameter × thickness; includes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 124×93.5（带电源接口）/ 124×83.3（不带电源接口）（A 款） Dual encoder Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 是否具有双编码器(Double Encoder) 是 Hollow-bore diameter 10 mm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 中空孔直径(Hole Diameter) mm 10 Hollow structure Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·全系中空结构 Motor architecture Inner rotor Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·高性能内转子电机 Motor rotor inertia 401.9 kg·mm² Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机的转子惯量(The Rotor Inertia Of The Motor) Kgmm2 401.9 Peak output speed 230 rpm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. Output-shaft speed per datasheet note; peak value, not a continuous speed rating. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值转速(Peak Speed) RPM 230 Peak output torque 450 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. Peak value; permitted peak duration is not stated in the rating table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值扭矩(Peak Torque) Nm 450 Peak phase current 220 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值相电流(Peak Phase Current) A 220 Rated bus current 42.2 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定母线电流(Rated Bus Current) A 42.2 Rated input power 3,038.4 W Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定输入功率(Rated Input Power) W 3038.4 Rated output torque 100 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. Output speed 0 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定扭矩(0RPM)(Rated Torque) Nm 100 Rated phase current 56 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定相电流(Rated Phase Current) A 56 Rated voltage 72 V Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定电压(Rated Voltage) V 72 Reducer architecture Two-stage planetary Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·二级行星减速器 Reducer backlash 18 arcmin Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速器背隙(Reducer Backlash) Arcmin 18 Reduction ratio 24 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速比(Reduction Ratio) 24 Temperature-rise test duration 840 s Manufacturer specification Configuration: Form A; 50-rpm load; 90 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; constant output speed 50 rpm. Original duration 14min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 90 14min Temperature-rise test duration 930 s Manufacturer specification Configuration: Form A; 50-rpm load; 80 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; constant output speed 50 rpm. Original duration 15min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 80 15min30s Temperature-rise test duration 1,180 s Manufacturer specification Configuration: Form A; 50-rpm load; 70 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; constant output speed 50 rpm. Original duration 19min40s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 70 19min40s Temperature-rise test duration 150 s Manufacturer specification Configuration: Form A; 50-rpm load; 190 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; constant output speed 50 rpm. Original duration 2min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 190 2min30s Temperature-rise test duration 1,840 s Manufacturer specification Configuration: Form A; 50-rpm load; 60 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; constant output speed 50 rpm. Original duration 30min40s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 60 30min40s Temperature-rise test duration 180 s Manufacturer specification Configuration: Form A; 50-rpm load; 170 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; constant output speed 50 rpm. Original duration 3min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 170 3min Temperature-rise test duration 260 s Manufacturer specification Configuration: Form A; 50-rpm load; 130 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; constant output speed 50 rpm. Original duration 4min20s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 130 4min20s Temperature-rise test duration 330 s Manufacturer specification Configuration: Form A; 50-rpm load; 120 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; constant output speed 50 rpm. Original duration 5min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 120 5min30s Temperature-rise test duration 520 s Manufacturer specification Configuration: Form A; 50-rpm load; 100 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; constant output speed 50 rpm. Original duration 8min40s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 100 8min40s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; 50-rpm load; 57 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; constant output speed 50 rpm. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 57 可持续使用 Temperature-rise test duration 640 s Manufacturer specification Configuration: Form A; stall; 110 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; stalled output. Original duration 10min40s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 110 10min40s Temperature-rise test duration 85 s Manufacturer specification Configuration: Form A; stall; 180 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; stalled output. Original duration 1min25s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 180 1min25s Temperature-rise test duration 165 s Manufacturer specification Configuration: Form A; stall; 170 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; stalled output. Original duration 2min45s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 170 2min45s Temperature-rise test duration 220 s Manufacturer specification Configuration: Form A; stall; 160 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; stalled output. Original duration 3min40s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 160 3min40s Temperature-rise test duration 330 s Manufacturer specification Configuration: Form A; stall; 150 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; stalled output. Original duration 5min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 150 5min30s Temperature-rise test duration 390 s Manufacturer specification Configuration: Form A; stall; 130 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; stalled output. Original duration 6min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 130 6min30s Temperature-rise test duration 560 s Manufacturer specification Configuration: Form A; stall; 120 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; stalled output. Original duration 9min20s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 120 9min20s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; stall; 100 N·m; Gen 2 Form A; datasheet PDF page 71. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 75; stalled output. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 100 可持续使用 Torque constant 2 N·m/A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 扭矩常数(Torque Constant) Nm/A 2.0 Weight 2,917 g Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 71. Exact Form A mass; B/C masses are not assigned to this product. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机重量(Weight) g 2917（A 款） 2846（B 款）
EC-A5025-P2-17H-A	11 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 20. Output speed 50 rpm, explicitly stated in source row.	70 %Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table.	2.2 kNConfiguration: Form A; Gen 2 Form A; datasheet PDF page 20. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred.	17 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 20.	1M / 5M (manufacturer notation)Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Allowed continuous output torque 11 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. Output speed 50 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 允许连续转矩(50RPM)(Allows Continuous Torque) Nm 11 Average motor efficiency 70 % Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机平均效率(Average Motor Efficiency) 70% Axial and radial load rating 2.2 kN Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 轴向载荷和径向载荷(Axial And Radial Loads) KN 2.2 Bending moment resistance 17 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 抗弯矩(Bending Moment Resistance) Nm 17 Communication baud-rate notation 1M / 5M (manufacturer notation) Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信波特率(Communication Baud Rate) 1M/5M Communication interface CAN / CAN FD Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. Manufacturer prints CAN/CANFD; no unsupported interface variant SKU is created. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信方式(Communication Mode) CAN/CANFD Cross-roller bearing model 3505 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 交叉滚子轴承型号(Cross Roller Bearing Type) 3505 Dimensions (outer diameter × thickness) 60 × 68.8 mm Manufacturer specification Configuration: Form A; without power connector; Gen 2 Form A; datasheet PDF page 20. Outer diameter × thickness; excludes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 60×77（带电源接口）/ 60×68.8（不带电源接口）（A 款） Dimensions (outer diameter × thickness) 60 × 77 mm Manufacturer specification Configuration: Form A; with power connector; Gen 2 Form A; datasheet PDF page 20. Outer diameter × thickness; includes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 60×77（带电源接口）/ 60×68.8（不带电源接口）（A 款） Dual encoder Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 是否具有双编码器(Double Encoder) 是 Hollow-bore diameter 4 mm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 中空孔直径(Hole Diameter) mm 4 Hollow structure Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·全系中空结构 Motor architecture Inner rotor Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·高性能内转子电机 Motor rotor inertia 13 kg·mm² Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机的转子惯量(The Rotor Inertia Of The Motor) Kgmm2 13 Peak output speed 340 rpm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. Output-shaft speed per datasheet note; peak value, not a continuous speed rating. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值转速(Peak Speed) RPM 340 Peak output torque 50 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. Peak value; permitted peak duration is not stated in the rating table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值扭矩(Peak Torque) Nm 50 Peak phase current 40 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值相电流(Peak Phase Current) A 40 Rated bus current 7.1 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定母线电流(Rated Bus Current) A 7.1 Rated input power 511.2 W Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定输入功率(Rated Input Power) W 511.2 Rated output torque 12 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. Output speed 0 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定扭矩(0RPM)(Rated Torque) Nm 12 Rated phase current 9.6 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定相电流(Rated Phase Current) A 9.6 Rated voltage 72 V Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定电压(Rated Voltage) V 72 Reducer architecture Two-stage planetary Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·二级行星减速器 Reducer backlash 18 arcmin Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速器背隙(Reducer Backlash) Arcmin 18 Reduction ratio 17 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速比(Reduction Ratio) 17 Temperature-rise test duration 18 s Manufacturer specification Configuration: Form A; 50-rpm load; 23.5 N·m; Gen 2 Form A; datasheet PDF page 20. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 24; constant output speed 50 rpm. Original duration 18s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 23.5 18s Temperature-rise test duration 88 s Manufacturer specification Configuration: Form A; 50-rpm load; 17.8 N·m; Gen 2 Form A; datasheet PDF page 20. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 24; constant output speed 50 rpm. Original duration 1min28s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 17.8 1min28s Temperature-rise test duration 1,260 s Manufacturer specification Configuration: Form A; 50-rpm load; 12.3 N·m; Gen 2 Form A; datasheet PDF page 20. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 24; constant output speed 50 rpm. Original duration 21min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 12.3 21min Temperature-rise test duration 142 s Manufacturer specification Configuration: Form A; 50-rpm load; 16.2 N·m; Gen 2 Form A; datasheet PDF page 20. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 24; constant output speed 50 rpm. Original duration 2min22s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 16.2 2min22s Temperature-rise test duration 43 s Manufacturer specification Configuration: Form A; 50-rpm load; 20.1 N·m; Gen 2 Form A; datasheet PDF page 20. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 24; constant output speed 50 rpm. Original duration 43s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 20.1 43s Temperature-rise test duration 300 s Manufacturer specification Configuration: Form A; 50-rpm load; 14.1 N·m; Gen 2 Form A; datasheet PDF page 20. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 24; constant output speed 50 rpm. Original duration 5min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 14.1 5min Temperature-rise test duration 400 s Manufacturer specification Configuration: Form A; 50-rpm load; 13.5 N·m; Gen 2 Form A; datasheet PDF page 20. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 24; constant output speed 50 rpm. Original duration 6min40s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 13.5 6min40s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; 50-rpm load; 11.3 N·m; Gen 2 Form A; datasheet PDF page 20. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 24; constant output speed 50 rpm. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 11.3 可持续使用 Temperature-rise test duration 14 s Manufacturer specification Configuration: Form A; stall; 28 N·m; Gen 2 Form A; datasheet PDF page 20. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 24; stalled output. Original duration 14s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 28 14s Temperature-rise test duration 1,182 s Manufacturer specification Configuration: Form A; stall; 13 N·m; Gen 2 Form A; datasheet PDF page 20. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 24; stalled output. Original duration 19min42s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 13 19min42s Temperature-rise test duration 1 s Manufacturer specification Configuration: Form A; stall; 50 N·m; Gen 2 Form A; datasheet PDF page 20. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 24; stalled output. Original duration 1s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 50 1s Temperature-rise test duration 208 s Manufacturer specification Configuration: Form A; stall; 15 N·m; Gen 2 Form A; datasheet PDF page 20. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 24; stalled output. Original duration 3min28s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 15 3min28s Temperature-rise test duration 46 s Manufacturer specification Configuration: Form A; stall; 17 N·m; Gen 2 Form A; datasheet PDF page 20. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 24; stalled output. Original duration 46s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 17 46s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; stall; 12 N·m; Gen 2 Form A; datasheet PDF page 20. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 24; stalled output. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 12 可持续使用 Torque constant 1.4 N·m/A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 扭矩常数(Torque Constant) Nm/A 1.4 Weight 550 g Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 20. Exact Form A mass; B/C masses are not assigned to this product. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机重量(Weight) g 550（A 款） 546（B 款） 522（C 款估算值）
EC-A9025-P2-23.625H-A	50 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 59. Output speed 50 rpm, explicitly stated in source row.	76 %Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table.	2.81 kNConfiguration: Form A; Gen 2 Form A; datasheet PDF page 59. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred.	73 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 59.	1M / 5M (manufacturer notation)Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Allowed continuous output torque 50 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. Output speed 50 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 允许连续转矩(50RPM)(Allows Continuous Torque) Nm 50 Average motor efficiency 76 % Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机平均效率(Average Motor Efficiency) 76% Axial and radial load rating 2.81 kN Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 轴向载荷和径向载荷(Axial And Radial Loads) KN 2.81 Bending moment resistance 73 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 抗弯矩(Bending Moment Resistance) Nm 73 Communication baud-rate notation 1M / 5M (manufacturer notation) Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信波特率(Communication Baud Rate) 1M/5M Communication interface CAN / CAN FD Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. Manufacturer prints CAN/CANFD; no unsupported interface variant SKU is created. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信方式(Communication Mode) CAN/CANFD Cross-roller bearing model 7005 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 交叉滚子轴承型号(Cross Roller Bearing Type) 7005 Dimensions (outer diameter × thickness) 106 × 76.8 mm Manufacturer specification Configuration: Form A; without power connector; Gen 2 Form A; datasheet PDF page 59. Outer diameter × thickness; excludes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 106×87（带电源接口）/ 106×76.8（不带电源接口）（A 款） Dimensions (outer diameter × thickness) 106 × 87 mm Manufacturer specification Configuration: Form A; with power connector; Gen 2 Form A; datasheet PDF page 59. Outer diameter × thickness; includes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 106×87（带电源接口）/ 106×76.8（不带电源接口）（A 款） Dual encoder Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 是否具有双编码器(Double Encoder) 是 Hollow-bore diameter 7 mm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 中空孔直径(Hole Diameter) mm 7 Hollow structure Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·全系中空结构 Motor architecture Inner rotor Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·高性能内转子电机 Motor rotor inertia 182.5 kg·mm² Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机的转子惯量(The Rotor Inertia Of The Motor) Kgmm2 182.5 Peak output speed 226 rpm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. Output-shaft speed per datasheet note; peak value, not a continuous speed rating. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值转速(Peak Speed) RPM 226 Peak output torque 320 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. Peak value; permitted peak duration is not stated in the rating table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值扭矩(Peak Torque) Nm 320 Peak phase current 160 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值相电流(Peak Phase Current) A 160 Rated bus current 26.5 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定母线电流(Rated Bus Current) A 26.5 Rated input power 1,908 W Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定输入功率(Rated Input Power) W 1908 Rated output torque 72 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. Output speed 0 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定扭矩(0RPM)(Rated Torque) Nm 72 Rated phase current 29.5 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定相电流(Rated Phase Current) A 29.5 Rated voltage 72 V Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定电压(Rated Voltage) V 72 Reducer architecture Two-stage planetary Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·二级行星减速器 Reducer backlash 18 arcmin Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速器背隙(Reducer Backlash) Arcmin 18 Reduction ratio 23.625 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速比(Reduction Ratio) 23.625 Temperature-rise test duration 714 s Manufacturer specification Configuration: Form A; 50-rpm load; 70 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; constant output speed 50 rpm. Original duration 11min54s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 70 11min54s Temperature-rise test duration 80 s Manufacturer specification Configuration: Form A; 50-rpm load; 120 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; constant output speed 50 rpm. Original duration 1min20s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 120 1min20s Temperature-rise test duration 26 s Manufacturer specification Configuration: Form A; 50-rpm load; 170 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; constant output speed 50 rpm. Original duration 26s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 170 26s Temperature-rise test duration 1,634 s Manufacturer specification Configuration: Form A; 50-rpm load; 60 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; constant output speed 50 rpm. Original duration 27min14s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 60 27min14s Temperature-rise test duration 168 s Manufacturer specification Configuration: Form A; 50-rpm load; 100 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; constant output speed 50 rpm. Original duration 2min48s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 100 2min48s Temperature-rise test duration 45 s Manufacturer specification Configuration: Form A; 50-rpm load; 140 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; constant output speed 50 rpm. Original duration 45s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 140 45s Temperature-rise test duration 282 s Manufacturer specification Configuration: Form A; 50-rpm load; 90 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; constant output speed 50 rpm. Original duration 4min42s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 90 4min42s Temperature-rise test duration 476 s Manufacturer specification Configuration: Form A; 50-rpm load; 80 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; constant output speed 50 rpm. Original duration 7min56s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 80 7min56s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; 50-rpm load; 50 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; constant output speed 50 rpm. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 50 可持续使用 Temperature-rise test duration 788 s Manufacturer specification Configuration: Form A; stall; 90 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; stalled output. Original duration 13min08s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 90 13min08s Temperature-rise test duration 67 s Manufacturer specification Configuration: Form A; stall; 140 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; stalled output. Original duration 1min07s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 140 1min07s Temperature-rise test duration 103 s Manufacturer specification Configuration: Form A; stall; 130 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; stalled output. Original duration 1min43s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 130 1min43s Temperature-rise test duration 137 s Manufacturer specification Configuration: Form A; stall; 110 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; stalled output. Original duration 2min17s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 110 2min17s Temperature-rise test duration 2,418 s Manufacturer specification Configuration: Form A; stall; 80 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; stalled output. Original duration 40min18s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 80 40min18s Temperature-rise test duration 46 s Manufacturer specification Configuration: Form A; stall; 160 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; stalled output. Original duration 46s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 160 46s Temperature-rise test duration 373 s Manufacturer specification Configuration: Form A; stall; 100 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; stalled output. Original duration 6min13s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 100 6min13s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; stall; 72 N·m; Gen 2 Form A; datasheet PDF page 59. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 63; stalled output. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 72 可持续使用 Torque constant 2.1 N·m/A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 扭矩常数(Torque Constant) Nm/A 2.1 Weight 1,890 g Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 59. Exact Form A mass; B/C masses are not assigned to this product. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机重量(Weight) g 1890（A 款） 1843（B 款）
EC-A5016-P2-17H-A	8 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 6. Output speed 50 rpm, explicitly stated in source row.	68 %Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table.	2.2 kNConfiguration: Form A; Gen 2 Form A; datasheet PDF page 6. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred.	17 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 6.	1M / 5M (manufacturer notation)Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Allowed continuous output torque 8 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. Output speed 50 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 允许连续转矩(50RPM)(Allows Continuous Torque) Nm 8 Average motor efficiency 68 % Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机平均效率Average Motor Efficiency) 68% Axial and radial load rating 2.2 kN Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 轴向载荷和径向载荷(Axial And Radial Loads) KN 2.2 Bending moment resistance 17 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 抗弯矩(Bending Moment Resistance) Nm 17 Communication baud-rate notation 1M / 5M (manufacturer notation) Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信波特率(Communication Baud Rate) 1M/5M Communication interface CAN / CAN FD Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. Manufacturer prints CAN/CANFD; no unsupported interface variant SKU is created. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信方式(Communication Mode) CAN/CANFD Cross-roller bearing model 3505 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 交叉滚子轴承型号(Cross Roller Bearing Type) 3505 Dimensions (outer diameter × thickness) 60 × 59.8 mm Manufacturer specification Configuration: Form A; without power connector; Gen 2 Form A; datasheet PDF page 6. Outer diameter × thickness; excludes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 60×68（带电源接口）/ 60×59.8（不带电源接口）（A 款） Dimensions (outer diameter × thickness) 60 × 68 mm Manufacturer specification Configuration: Form A; with power connector; Gen 2 Form A; datasheet PDF page 6. Outer diameter × thickness; includes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 60×68（带电源接口）/ 60×59.8（不带电源接口）（A 款） Dual encoder Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 是否具有双编码器(Double Encoder) 是 Hollow-bore diameter 4 mm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 中空孔直径(Hole Diameter) mm 4 Hollow structure Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·全系中空结构 Motor architecture Inner rotor Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·高性能内转子电机 Motor rotor inertia 8 kg·mm² Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机的转子惯量(The Rotor Inertia Of The Motor) Kgmm2 8 Peak output speed 332 rpm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. Output-shaft speed per datasheet note; peak value, not a continuous speed rating. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值转速(Peak Speed) RPM 332 Peak output torque 36 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. Peak value; permitted peak duration is not stated in the rating table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值扭矩(Peak Torque) Nm 36 Peak phase current 40 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值相电流(Peak Phase Current) A 40 Rated bus current 4.4 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定母线电流(Rated Bus Current) A 4.4 Rated input power 316.8 W Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定输入功率(Rated Input Power) W 316.8 Rated output torque 8.5 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. Output speed 0 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定扭矩(0RPM)(Rated Torque) Nm 8.5 Rated phase current 5.9 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定相电流(Rated Phase Current) A 5.9 Rated voltage 72 V Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定电压(Rated Voltage) V 72 Reducer architecture Two-stage planetary Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·二级行星减速器 Reducer backlash 18 arcmin Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速器背隙(Reducer Backlash) Arcmin 18 Reduction ratio 17 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速比(Reduction Ratio) 17 Temperature-rise test duration 18 s Manufacturer specification Configuration: Form A; 50-rpm load; 16 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; constant output speed 50 rpm. Original duration 18s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 16 18s Temperature-rise test duration 60 s Manufacturer specification Configuration: Form A; 50-rpm load; 12 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; constant output speed 50 rpm. Original duration 1min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 12 1min Temperature-rise test duration 29 s Manufacturer specification Configuration: Form A; 50-rpm load; 14 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; constant output speed 50 rpm. Original duration 29s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 14 29s Temperature-rise test duration 170 s Manufacturer specification Configuration: Form A; 50-rpm load; 10 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; constant output speed 50 rpm. Original duration 2min50s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 10 2min50s Temperature-rise test duration 390 s Manufacturer specification Configuration: Form A; 50-rpm load; 9 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; constant output speed 50 rpm. Original duration 6min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 9 6min30s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; 50-rpm load; 8 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; constant output speed 50 rpm. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 8 可持续使用 Temperature-rise test duration 17 s Manufacturer specification Configuration: Form A; stall; 14.1 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; stalled output. Original duration 17s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 14.1 17s Temperature-rise test duration 85 s Manufacturer specification Configuration: Form A; stall; 11 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; stalled output. Original duration 1min25s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 11 1min25s Temperature-rise test duration 24 s Manufacturer specification Configuration: Form A; stall; 13.3 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; stalled output. Original duration 24s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 13.3 24s Temperature-rise test duration 41 s Manufacturer specification Configuration: Form A; stall; 12.5 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; stalled output. Original duration 41s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 12.5 41s Temperature-rise test duration 360 s Manufacturer specification Configuration: Form A; stall; 10 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; stalled output. Original duration 6min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 10 6min Temperature-rise test duration 480 s Manufacturer specification Configuration: Form A; stall; 9 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; stalled output. Original duration 8min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 9 8min Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; stall; 8.5 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; stalled output. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 8.5 可持续使用 Torque constant 1.4 N·m/A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 扭矩常数(Torque Constant) Nm/A 1.4 Weight 467 g Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. Exact Form A mass; B/C masses are not assigned to this product. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机重量(Weight) g 467（A 款） 460（B 款） 472（C 款估算值）
EC-A9020-P2-23.625H-A	45 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 53. Output speed 50 rpm, explicitly stated in source row.	71 %Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table.	2.81 kNConfiguration: Form A; Gen 2 Form A; datasheet PDF page 53. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred.	73 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 53.	1M / 5M (manufacturer notation)Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Allowed continuous output torque 45 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. Output speed 50 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 允许连续转矩(50RPM)(Allows Continuous Torque) Nm 45 Average motor efficiency 71 % Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机平均效率(Average Motor Efficiency) 71% Axial and radial load rating 2.81 kN Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 轴向载荷和径向载荷(Axial And Radial Loads) KN 2.81 Bending moment resistance 73 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 抗弯矩(Bending Moment Resistance) Nm 73 Communication baud-rate notation 1M / 5M (manufacturer notation) Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信波特率(Communication Baud Rate) 1M/5M Communication interface CAN / CAN FD Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. Manufacturer prints CAN/CANFD; no unsupported interface variant SKU is created. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信方式(Communication Mode) CAN/CANFD Cross-roller bearing model 7005 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 交叉滚子轴承型号(Cross Roller Bearing Type) 7005 Dimensions (outer diameter × thickness) 106 × 71.8 mm Manufacturer specification Configuration: Form A; without power connector; Gen 2 Form A; datasheet PDF page 53. Outer diameter × thickness; excludes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 106×82（带电源接口）/ 106×71.8（不带电源接口）（A 款） Dimensions (outer diameter × thickness) 106 × 82 mm Manufacturer specification Configuration: Form A; with power connector; Gen 2 Form A; datasheet PDF page 53. Outer diameter × thickness; includes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 106×82（带电源接口）/ 106×71.8（不带电源接口）（A 款） Dual encoder Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 是否具有双编码器(Double Encoder) 是 Hollow-bore diameter 7 mm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 中空孔直径(Hole Diameter) mm 7 Hollow structure Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·全系中空结构 Motor architecture Inner rotor Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·高性能内转子电机 Motor rotor inertia 150.9 kg·mm² Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机的转子惯量(The Rotor Inertia Of The Motor) Kgmm2 150.9 Peak output speed 245 rpm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. Output-shaft speed per datasheet note; peak value, not a continuous speed rating. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值转速(Peak Speed) RPM 245 Peak output torque 280 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. Peak value; permitted peak duration is not stated in the rating table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值扭矩(Peak Torque) Nm 280 Peak phase current 160 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值相电流(Peak Phase Current) A 160 Rated bus current 26.8 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定母线电流(Rated Bus Current) A 26.8 Rated input power 1,929.6 W Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定输入功率(Rated Input Power) W 1929.6 Rated output torque 66 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. Output speed 0 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定扭矩(0RPM)(Rated Torque) Nm 66 Rated phase current 29 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定相电流(Rated Phase Current) A 29 Rated voltage 72 V Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定电压(Rated Voltage) V 72 Reducer architecture Two-stage planetary Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·二级行星减速器 Reducer backlash 18 arcmin Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速器背隙(Reducer Backlash) Arcmin 18 Reduction ratio 23.625 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速比(Reduction Ratio) 23.625 Temperature-rise test duration 840 s Manufacturer specification Configuration: Form A; 50-rpm load; 65 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; constant output speed 50 rpm. Original duration 14min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 65 14min Temperature-rise test duration 68 s Manufacturer specification Configuration: Form A; 50-rpm load; 125 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; constant output speed 50 rpm. Original duration 1min08s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 125 1min08s Temperature-rise test duration 29 s Manufacturer specification Configuration: Form A; 50-rpm load; 147 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; constant output speed 50 rpm. Original duration 29s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 147 29s Temperature-rise test duration 123 s Manufacturer specification Configuration: Form A; 50-rpm load; 107 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; constant output speed 50 rpm. Original duration 2min03s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 107 2min03s Temperature-rise test duration 1,971 s Manufacturer specification Configuration: Form A; 50-rpm load; 53 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; constant output speed 50 rpm. Original duration 32min51s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 53 32min51s Temperature-rise test duration 193 s Manufacturer specification Configuration: Form A; 50-rpm load; 96 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; constant output speed 50 rpm. Original duration 3min13s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 96 3min13s Temperature-rise test duration 330 s Manufacturer specification Configuration: Form A; 50-rpm load; 86 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; constant output speed 50 rpm. Original duration 5min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 86 5min30s Temperature-rise test duration 455 s Manufacturer specification Configuration: Form A; 50-rpm load; 75 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; constant output speed 50 rpm. Original duration 7min35s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 75 7min35s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; 50-rpm load; 45 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; constant output speed 50 rpm. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 45 可持续使用 Temperature-rise test duration 1,149 s Manufacturer specification Configuration: Form A; stall; 75 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; stalled output. Original duration 19min09s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 75 19min09s Temperature-rise test duration 87 s Manufacturer specification Configuration: Form A; stall; 128 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; stalled output. Original duration 1min27s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 128 1min27s Temperature-rise test duration 165 s Manufacturer specification Configuration: Form A; stall; 107 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; stalled output. Original duration 2min45s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 107 2min45s Temperature-rise test duration 36 s Manufacturer specification Configuration: Form A; stall; 167 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; stalled output. Original duration 36s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 167 36s Temperature-rise test duration 55 s Manufacturer specification Configuration: Form A; stall; 146 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; stalled output. Original duration 55s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 146 55s Temperature-rise test duration 328 s Manufacturer specification Configuration: Form A; stall; 96 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; stalled output. Original duration 5min28s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 96 5min28s Temperature-rise test duration 492 s Manufacturer specification Configuration: Form A; stall; 86 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; stalled output. Original duration 8min12s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 86 8min12s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; stall; 66 N·m; Gen 2 Form A; datasheet PDF page 53. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 57; stalled output. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 66 可持续使用 Torque constant 1.9 N·m/A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 扭矩常数(Torque Constant) Nm/A 1.9 Weight 1,741 g Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 53. Exact Form A mass; B/C masses are not assigned to this product. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机重量(Weight) g 1741（A 款） 1698（B 款）
EC-A7216-P2-22H-A	20 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 27. Output speed 50 rpm, explicitly stated in source row.	73 %Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table.	2.63 kNConfiguration: Form A; Gen 2 Form A; datasheet PDF page 27. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred.	53 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 27.	1M / 5M (manufacturer notation)Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Allowed continuous output torque 20 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Output speed 50 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 允许连续转矩(50RPM)(Allows Continuous Torque) Nm 20 Average motor efficiency 73 % Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机平均效率(Average Motor Efficiency) 73% Axial and radial load rating 2.63 kN Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 轴向载荷和径向载荷(Axial And Radial Loads) KN 2.63 Bending moment resistance 53 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 抗弯矩(Bending Moment Resistance) Nm 53 Communication baud-rate notation 1M / 5M (manufacturer notation) Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信波特率(Communication Baud Rate) 1M/5M Communication interface CAN / CAN FD Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Manufacturer prints CAN/CANFD; no unsupported interface variant SKU is created. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信方式(Communication Mode) CAN/CANFD Cross-roller bearing model 6005 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 交叉滚子轴承型号(Cross Roller Bearing Type) 6005 Dimensions (outer diameter × thickness) 88 × 63.8 mm Manufacturer specification Configuration: Form A; without power connector; Gen 2 Form A; datasheet PDF page 27. Outer diameter × thickness; excludes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 88×72（带电源接口）/ 88×63.8（不带电源接口）（A 款） Dimensions (outer diameter × thickness) 88 × 72 mm Manufacturer specification Configuration: Form A; with power connector; Gen 2 Form A; datasheet PDF page 27. Outer diameter × thickness; includes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 88×72（带电源接口）/ 88×63.8（不带电源接口）（A 款） Dual encoder Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 是否具有双编码器(Double Encoder) 是 Hollow-bore diameter 5.2 mm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 中空孔直径(Hole Diameter) mm 5.2 Hollow structure Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·全系中空结构 Motor architecture Inner rotor Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·高性能内转子电机 Motor rotor inertia 50 kg·mm² Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机的转子惯量(The Rotor Inertia Of The Motor) Kgmm2 50 Peak output speed 260 rpm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Output-shaft speed per datasheet note; peak value, not a continuous speed rating. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值转速(Peak Speed) RPM 260 Peak output torque 140 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Peak value; permitted peak duration is not stated in the rating table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值扭矩(Peak Torque) Nm 140 Peak phase current 100 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值相电流(Peak Phase Current) A 100 Rated bus current 13.2 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定母线电流(Rated Bus Current) A 13.2 Rated input power 950.4 W Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定输入功率(Rated Input Power) W 950.4 Rated output torque 30 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Output speed 0 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定扭矩(0RPM)(Rated Torque) Nm 30 Rated phase current 16.5 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定相电流(Rated Phase Current) A 16.5 Rated voltage 72 V Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定电压(Rated Voltage) V 72 Reducer architecture Two-stage planetary Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·二级行星减速器 Reducer backlash ≤ 18 arcmin Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Upper limit as printed; inequality preserved. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速器背隙(Reducer Backlash) Arcmin ≤18 Reduction ratio 22 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速比(Reduction Ratio) 22 Temperature-rise test duration 1,038 s Manufacturer specification Configuration: Form A; 50-rpm load; 25 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; constant output speed 50 rpm. Original duration 17min18s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 25 17min18s Temperature-rise test duration 105 s Manufacturer specification Configuration: Form A; 50-rpm load; 42 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; constant output speed 50 rpm. Original duration 1min45s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 42 1min45s Temperature-rise test duration 130 s Manufacturer specification Configuration: Form A; 50-rpm load; 40 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; constant output speed 50 rpm. Original duration 2min10s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 40 2min10s Temperature-rise test duration 2,130 s Manufacturer specification Configuration: Form A; 50-rpm load; 22.5 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; constant output speed 50 rpm. Original duration 35min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 22.5 35min30s Temperature-rise test duration 190 s Manufacturer specification Configuration: Form A; 50-rpm load; 35 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; constant output speed 50 rpm. Original duration 3min10s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 35 3min10s Temperature-rise test duration 40 s Manufacturer specification Configuration: Form A; 50-rpm load; 50 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; constant output speed 50 rpm. Original duration 40s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 50 40s Temperature-rise test duration 350 s Manufacturer specification Configuration: Form A; 50-rpm load; 30 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; constant output speed 50 rpm. Original duration 5min50s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 30 5min50s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; 50-rpm load; 20 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; constant output speed 50 rpm. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 20 可持续使用 Temperature-rise test duration 610 s Manufacturer specification Configuration: Form A; stall; 37.5 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; stalled output. Original duration 10min10s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 37.5 10min10s Temperature-rise test duration 840 s Manufacturer specification Configuration: Form A; stall; 35.5 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; stalled output. Original duration 14min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 35.5 14min Temperature-rise test duration 80 s Manufacturer specification Configuration: Form A; stall; 55 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; stalled output. Original duration 1min20s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 55 1min20s Temperature-rise test duration 1,520 s Manufacturer specification Configuration: Form A; stall; 33 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; stalled output. Original duration 25min20s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 33 25min20s Temperature-rise test duration 38 s Manufacturer specification Configuration: Form A; stall; 67 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; stalled output. Original duration 38s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 67 38s Temperature-rise test duration 210 s Manufacturer specification Configuration: Form A; stall; 45 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; stalled output. Original duration 3min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 45 3min30s Temperature-rise test duration 2,560 s Manufacturer specification Configuration: Form A; stall; 31.5 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; stalled output. Original duration 42min40s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 31.5 42min40s Temperature-rise test duration 290 s Manufacturer specification Configuration: Form A; stall; 41 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; stalled output. Original duration 4min50s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 41 4min50s Temperature-rise test duration 380 s Manufacturer specification Configuration: Form A; stall; 39.5 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; stalled output. Original duration 6min20s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 39.5 6min20s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; stall; 30 N·m; Gen 2 Form A; datasheet PDF page 27. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 31; stalled output. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 30 可持续使用 Torque constant 1.9 N·m/A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 扭矩常数(Torque Constant) Nm/A 1.9 Weight 1,090 g Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 27. Exact Form A mass; B/C masses are not assigned to this product. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机重量(Weight) g 1090（A 款） 1060（B 款） 1118（C 款估算值）
EC-A7220-P2-22H-A	25 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 34. Output speed 50 rpm, explicitly stated in source row.	70 %Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table.	2.63 kNConfiguration: Form A; Gen 2 Form A; datasheet PDF page 34. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred.	53 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 34.	1M / 5M (manufacturer notation)Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Allowed continuous output torque 25 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. Output speed 50 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 允许连续转矩(50RPM)(Allows Continuous Torque) Nm 25 Average motor efficiency 70 % Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机平均效率(Average Motor Efficiency) 70% Axial and radial load rating 2.63 kN Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 轴向载荷和径向载荷(Axial And Radial Loads) KN 2.63 Bending moment resistance 53 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 抗弯矩(Bending Moment Resistance) Nm 53 Communication baud-rate notation 1M / 5M (manufacturer notation) Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信波特率(Communication Baud Rate) 1M/5M Communication interface CAN / CAN FD Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. Manufacturer prints CAN/CANFD; no unsupported interface variant SKU is created. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信方式(Communication Mode) CAN/CANFD Cross-roller bearing model 6005 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 交叉滚子轴承型号(Cross Roller Bearing Type) 6005 Dimensions (outer diameter × thickness) 88 × 67.8 mm Manufacturer specification Configuration: Form A; without power connector; Gen 2 Form A; datasheet PDF page 34. Outer diameter × thickness; excludes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 88×76（带电源接口）/ 88×67.8（不带电源接口）（A 款） Dimensions (outer diameter × thickness) 88 × 76 mm Manufacturer specification Configuration: Form A; with power connector; Gen 2 Form A; datasheet PDF page 34. Outer diameter × thickness; includes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 88×76（带电源接口）/ 88×67.8（不带电源接口）（A 款） Dual encoder Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 是否具有双编码器(Double Encoder) 是 Hollow-bore diameter 5.2 mm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 中空孔直径(Hole Diameter) mm 5.2 Hollow structure Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·全系中空结构 Motor architecture Inner rotor Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·高性能内转子电机 Motor rotor inertia 62 kg·mm² Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机的转子惯量(The Rotor Inertia Of The Motor) Kgmm2 62 Peak output speed 264 rpm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. Output-shaft speed per datasheet note; peak value, not a continuous speed rating. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值转速(Peak Speed) RPM 264 Peak output torque 160 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. Peak value; permitted peak duration is not stated in the rating table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值扭矩(Peak Torque) Nm 160 Peak phase current 100 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值相电流(Peak Phase Current) A 100 Rated bus current 18 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定母线电流(Rated Bus Current) A 18 Rated input power 1,296 W Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定输入功率(Rated Input Power) W 1296 Rated output torque 38 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. Output speed 0 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定扭矩(0RPM)(Rated Torque) Nm 38 Rated phase current 20 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定相电流(Rated Phase Current) A 20 Rated voltage 72 V Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定电压(Rated Voltage) V 72 Reducer architecture Two-stage planetary Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·二级行星减速器 Reducer backlash 18 arcmin Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速器背隙(Reducer Backlash) Arcmin 18 Reduction ratio 22 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速比(Reduction Ratio) 22 Temperature-rise test duration 1,249 s Manufacturer specification Configuration: Form A; 50-rpm load; 35 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; constant output speed 50 rpm. Original duration 20min49s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 35 20min49s Temperature-rise test duration 25 s Manufacturer specification Configuration: Form A; 50-rpm load; 80 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; constant output speed 50 rpm. Original duration 25s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 80 25s Temperature-rise test duration 137 s Manufacturer specification Configuration: Form A; 50-rpm load; 50 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; constant output speed 50 rpm. Original duration 2min17s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 50 2min17s Temperature-rise test duration 210 s Manufacturer specification Configuration: Form A; 50-rpm load; 45 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; constant output speed 50 rpm. Original duration 3min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 45 3min30s Temperature-rise test duration 46 s Manufacturer specification Configuration: Form A; 50-rpm load; 65 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; constant output speed 50 rpm. Original duration 46s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 65 46s Temperature-rise test duration 3,600 s Manufacturer specification Configuration: Form A; 50-rpm load; 30 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; constant output speed 50 rpm. Original duration 60min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 30 60min Temperature-rise test duration 372 s Manufacturer specification Configuration: Form A; 50-rpm load; 40 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; constant output speed 50 rpm. Original duration 6min12s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 40 6min12s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; 50-rpm load; 25 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; constant output speed 50 rpm. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 25 可持续使用 Temperature-rise test duration 1,106 s Manufacturer specification Configuration: Form A; stall; 44 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; stalled output. Original duration 18min26s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 44 18min26s Temperature-rise test duration 102 s Manufacturer specification Configuration: Form A; stall; 54 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; stalled output. Original duration 1min42s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 54 1min42s Temperature-rise test duration 60 s Manufacturer specification Configuration: Form A; stall; 59 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; stalled output. Original duration 1min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 59 1min Temperature-rise test duration 35 s Manufacturer specification Configuration: Form A; stall; 64 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; stalled output. Original duration 35s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 64 35s Temperature-rise test duration 297 s Manufacturer specification Configuration: Form A; stall; 49 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; stalled output. Original duration 4min57s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 49 4min57s Temperature-rise test duration 3,600 s Manufacturer specification Configuration: Form A; stall; 39 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; stalled output. Original duration 60min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 39 60min Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; stall; 38 N·m; Gen 2 Form A; datasheet PDF page 34. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 38; stalled output. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 38 可持续使用 Torque constant 1.9 N·m/A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 扭矩常数(Torque Constant) Nm/A 1.9 Weight 1,173 g Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 34. Exact Form A mass; B/C masses are not assigned to this product. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机重量(Weight) g 1173（A 款） 1145（B 款） 1178（C 款估算值）
EC-A10820-P2-24H-A	54 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 65. Output speed 50 rpm, explicitly stated in source row.	72 %Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table.	6.76 kNConfiguration: Form A; Gen 2 Form A; datasheet PDF page 65. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred.	201 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 65.	1M / 5M (manufacturer notation)Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Allowed continuous output torque 54 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. Output speed 50 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 允许连续转矩(50RPM)(Allows Continuous Torque) Nm 54 Average motor efficiency 72 % Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机平均效率(Average Motor Efficiency) 72% Axial and radial load rating 6.76 kN Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 轴向载荷和径向载荷(Axial And Radial Loads) KN 6.76 Bending moment resistance 201 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 抗弯矩(Bending Moment Resistance) Nm 201 Communication baud-rate notation 1M / 5M (manufacturer notation) Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信波特率(Communication Baud Rate) 1M/5M Communication interface CAN / CAN FD Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. Manufacturer prints CAN/CANFD; no unsupported interface variant SKU is created. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信方式(Communication Mode) CAN/CANFD Cross-roller bearing model 9008 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 交叉滚子轴承型号(Cross Roller Bearing Type) 9008 Dimensions (outer diameter × thickness) 124 × 78.3 mm Manufacturer specification Configuration: Form A; without power connector; Gen 2 Form A; datasheet PDF page 65. Outer diameter × thickness; excludes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 124×88.5（带电源接口）/ 124×78.3（不带电源接口）（A 款） Dimensions (outer diameter × thickness) 124 × 88.5 mm Manufacturer specification Configuration: Form A; with power connector; Gen 2 Form A; datasheet PDF page 65. Outer diameter × thickness; includes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 124×88.5（带电源接口）/ 124×78.3（不带电源接口）（A 款） Dual encoder Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 是否具有双编码器(Double Encoder) 是 Hollow-bore diameter 10 mm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 中空孔直径(Hole Diameter) mm 10 Hollow structure Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·全系中空结构 Motor architecture Inner rotor Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·高性能内转子电机 Motor rotor inertia 326.4 kg·mm² Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机的转子惯量(The Rotor Inertia Of The Motor) Kgmm2 326.4 Peak output speed 235 rpm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. Output-shaft speed per datasheet note; peak value, not a continuous speed rating. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值转速(Peak Speed) RPM 235 Peak output torque 400 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. Peak value; permitted peak duration is not stated in the rating table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值扭矩(Peak Torque) Nm 400 Peak phase current 220 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值相电流(Peak Phase Current) A 220 Rated bus current 35.4 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定母线电流(Rated Bus Current) A 35.4 Rated input power 2,548.8 W Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定输入功率(Rated Input Power) W 2548.8 Rated output torque 90 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. Output speed 0 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定扭矩(0RPM)(Rated Torque) Nm 90 Rated phase current 46 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定相电流(Rated Phase Current) A 46 Rated voltage 72 V Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定电压(Rated Voltage) V 72 Reducer architecture Two-stage planetary Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·二级行星减速器 Reducer backlash 18 arcmin Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速器背隙(Reducer Backlash) Arcmin 18 Reduction ratio 24 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速比(Reduction Ratio) 24 Temperature-rise test duration 630 s Manufacturer specification Configuration: Form A; 50-rpm load; 99 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; constant output speed 50 rpm. Original duration 10min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 99 10min30s Temperature-rise test duration 1,040 s Manufacturer specification Configuration: Form A; 50-rpm load; 83 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; constant output speed 50 rpm. Original duration 17min20s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 83 17min20s Temperature-rise test duration 19 s Manufacturer specification Configuration: Form A; 50-rpm load; 211 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; constant output speed 50 rpm. Original duration 19s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 211 19s Temperature-rise test duration 100 s Manufacturer specification Configuration: Form A; 50-rpm load; 149 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; constant output speed 50 rpm. Original duration 1min40s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 149 1min40s Temperature-rise test duration 60 s Manufacturer specification Configuration: Form A; 50-rpm load; 169 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; constant output speed 50 rpm. Original duration 1min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 169 1min Temperature-rise test duration 150 s Manufacturer specification Configuration: Form A; 50-rpm load; 132 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; constant output speed 50 rpm. Original duration 2min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 132 2min30s Temperature-rise test duration 30 s Manufacturer specification Configuration: Form A; 50-rpm load; 201 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; constant output speed 50 rpm. Original duration 30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 201 30s Temperature-rise test duration 237 s Manufacturer specification Configuration: Form A; 50-rpm load; 119 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; constant output speed 50 rpm. Original duration 3min57s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 119 3min57s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; 50-rpm load; 54 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; constant output speed 50 rpm. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 54 可持续使用 Temperature-rise test duration 990 s Manufacturer specification Configuration: Form A; stall; 111 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; stalled output. Original duration 16min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 111 16min30s Temperature-rise test duration 18 s Manufacturer specification Configuration: Form A; stall; 220 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; stalled output. Original duration 18s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 220 18s Temperature-rise test duration 90 s Manufacturer specification Configuration: Form A; stall; 165 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; stalled output. Original duration 1min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 165 1min30s Temperature-rise test duration 60 s Manufacturer specification Configuration: Form A; stall; 180 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; stalled output. Original duration 1min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 180 1min Temperature-rise test duration 30 s Manufacturer specification Configuration: Form A; stall; 209 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; stalled output. Original duration 30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 209 30s Temperature-rise test duration 185 s Manufacturer specification Configuration: Form A; stall; 142 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; stalled output. Original duration 3min05s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 142 3min05s Temperature-rise test duration 45 s Manufacturer specification Configuration: Form A; stall; 196 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; stalled output. Original duration 45s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 196 45s Temperature-rise test duration 490 s Manufacturer specification Configuration: Form A; stall; 120 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; stalled output. Original duration 8min10s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 120 8min10s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; stall; 90 N·m; Gen 2 Form A; datasheet PDF page 65. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 69; stalled output. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 90 可持续使用 Torque constant 2 N·m/A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 扭矩常数(Torque Constant) Nm/A 2.0 Weight 2,698 g Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 65. Exact Form A mass; B/C masses are not assigned to this product. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机重量(Weight) g 2698（A 款） 2610（B 款）
EC-A5020-P2-17H-A	9 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 13. Output speed 50 rpm, explicitly stated in source row.	71 %Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table.	2.2 kNConfiguration: Form A; Gen 2 Form A; datasheet PDF page 13. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred.	17 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 13.	1M / 5M (manufacturer notation)Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Allowed continuous output torque 9 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. Output speed 50 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 允许连续转矩(50RPM)(Allows Continuous Torque) Nm 9 Average motor efficiency 71 % Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机平均效率(Average Motor Efficiency) 71% Axial and radial load rating 2.2 kN Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 轴向载荷和径向载荷(Axial And Radial Loads) KN 2.2 Bending moment resistance 17 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 抗弯矩(Bending Moment Resistance) Nm 17 Communication baud-rate notation 1M / 5M (manufacturer notation) Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信波特率(Communication Baud Rate) 1M/5M Communication interface CAN / CAN FD Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. Manufacturer prints CAN/CANFD; no unsupported interface variant SKU is created. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信方式(Communication Mode) CAN/CANFD Cross-roller bearing model 3505 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 交叉滚子轴承型号(Cross Roller Bearing Type) 3505 Dimensions (outer diameter × thickness) 60 × 63.8 mm Manufacturer specification Configuration: Form A; without power connector; Gen 2 Form A; datasheet PDF page 13. Outer diameter × thickness; excludes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 60×72（带电源接口）/ 60×63.8（不带电源接口）（A 款） Dimensions (outer diameter × thickness) 60 × 72 mm Manufacturer specification Configuration: Form A; with power connector; Gen 2 Form A; datasheet PDF page 13. Outer diameter × thickness; includes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 60×72（带电源接口）/ 60×63.8（不带电源接口）（A 款） Dual encoder Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 是否具有双编码器(Double Encoder) 是 Hollow-bore diameter 4 mm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 中空孔直径(Hole Diameter) mm 4 Hollow structure Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·全系中空结构 Motor architecture Inner rotor Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·高性能内转子电机 Motor rotor inertia 11 kg·mm² Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机的转子惯量(The Rotor Inertia Of The Motor) Kgmm2 11 Peak output speed 359 rpm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. Output-shaft speed per datasheet note; peak value, not a continuous speed rating. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值转速(Peak Speed) RPM 359 Peak output torque 42 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. Peak value; permitted peak duration is not stated in the rating table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值扭矩(Peak Torque) Nm 42 Peak phase current 40 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值相电流(Peak Phase Current) A 40 Rated bus current 6.25 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定母线电流(Rated Bus Current) A 6.25 Rated input power 450 W Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定输入功率(Rated Input Power) W 450 Rated output torque 10 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. Output speed 0 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定扭矩(0RPM)(Rated Torque) Nm 10 Rated phase current 8.8 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定相电流(Rated Phase Current) A 8.8 Rated voltage 72 V Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定电压(Rated Voltage) V 72 Reducer architecture Two-stage planetary Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·二级行星减速器 Reducer backlash 18 arcmin Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速器背隙(Reducer Backlash) Arcmin 18 Reduction ratio 17 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速比(Reduction Ratio) 17 Temperature-rise test duration 930 s Manufacturer specification Configuration: Form A; 50-rpm load; 11 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; constant output speed 50 rpm. Original duration 15min30s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 11 15min30s Temperature-rise test duration 17 s Manufacturer specification Configuration: Form A; 50-rpm load; 21 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; constant output speed 50 rpm. Original duration 17s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 21 17s Temperature-rise test duration 1,200 s Manufacturer specification Configuration: Form A; 50-rpm load; 10.7 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; constant output speed 50 rpm. Original duration 20min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 10.7 20min Temperature-rise test duration 28 s Manufacturer specification Configuration: Form A; 50-rpm load; 19 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; constant output speed 50 rpm. Original duration 28s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 19 28s Temperature-rise test duration 127 s Manufacturer specification Configuration: Form A; 50-rpm load; 14 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; constant output speed 50 rpm. Original duration 2min7s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 14 2min7s Temperature-rise test duration 180 s Manufacturer specification Configuration: Form A; 50-rpm load; 13 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; constant output speed 50 rpm. Original duration 3min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 13 3min Temperature-rise test duration 60 s Manufacturer specification Configuration: Form A; 50-rpm load; 16 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; constant output speed 50 rpm. Original duration 60s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 16 60s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; 50-rpm load; 9 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; constant output speed 50 rpm. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 9 可持续使用 Temperature-rise test duration 14 s Manufacturer specification Configuration: Form A; stall; 20 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; stalled output. Original duration 14s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 20 14s Temperature-rise test duration 1 s Manufacturer specification Configuration: Form A; stall; 42 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; stalled output. Original duration 1s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 42 1s Temperature-rise test duration 137 s Manufacturer specification Configuration: Form A; stall; 13 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; stalled output. Original duration 2min17s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 13 2min17s Temperature-rise test duration 2,060 s Manufacturer specification Configuration: Form A; stall; 11 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; stalled output. Original duration 34min20s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 11 34min20s Temperature-rise test duration 40 s Manufacturer specification Configuration: Form A; stall; 16 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; stalled output. Original duration 40s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 16 40s Temperature-rise test duration 488 s Manufacturer specification Configuration: Form A; stall; 12 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; stalled output. Original duration 8min8s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 12 8min8s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; stall; 10 N·m; Gen 2 Form A; datasheet PDF page 13. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 17; stalled output. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 10 可持续使用 Torque constant 1.4 N·m/A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 扭矩常数(Torque Constant) Nm/A 1.4 Weight 505 g Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 13. Exact Form A mass; B/C masses are not assigned to this product. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机重量(Weight) g 505（A 款） 501（B 款） 492（C 款估算值）
EC-A9016-P2-23.625H-A	40 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 47. Output speed 50 rpm, explicitly stated in source row.	72 %Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table.	2.81 kNConfiguration: Form A; Gen 2 Form A; datasheet PDF page 47. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred.	73 N·mConfiguration: Form A; Gen 2 Form A; datasheet PDF page 47.	1M / 5M (manufacturer notation)Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion.	Full specifications Source-backed claims Specifications & evidence Source-backed claims. Configuration, workload and evidence type matter when comparing products. Allowed continuous output torque 40 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. Output speed 50 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 允许连续转矩(50RPM)(Allows Continuous Torque) Nm 40 Average motor efficiency 72 % Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. Manufacturer average efficiency; duty cycle and averaging method are not specified in this table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机平均效率(Average Motor Efficiency) 72% Axial and radial load rating 2.81 kN Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. Manufacturer combines axial and radial loads in one row; no independent simultaneous-load envelope is inferred. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 轴向载荷和径向载荷(Axial And Radial Loads) KN 2.81 Bending moment resistance 73 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 抗弯矩(Bending Moment Resistance) Nm 73 Communication baud-rate notation 1M / 5M (manufacturer notation) Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. Source prints 1M/5M without an explicit bit/s unit or mapping; notation preserved without inferred conversion. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信波特率(Communication Baud Rate) 1M/5M Communication interface CAN / CAN FD Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. Manufacturer prints CAN/CANFD; no unsupported interface variant SKU is created. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 通信方式(Communication Mode) CAN/CANFD Cross-roller bearing model 7005 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 交叉滚子轴承型号(Cross Roller Bearing Type) 7005 Dimensions (outer diameter × thickness) 106 × 66.8 mm Manufacturer specification Configuration: Form A; without power connector; Gen 2 Form A; datasheet PDF page 47. Outer diameter × thickness; excludes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 106×77（带电源接口）/ 106×66.8（不带电源接口）（A 款） Dimensions (outer diameter × thickness) 106 × 77 mm Manufacturer specification Configuration: Form A; with power connector; Gen 2 Form A; datasheet PDF page 47. Outer diameter × thickness; includes power connector. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 106×77（带电源接口）/ 106×66.8（不带电源接口）（A 款） Dual encoder Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 是否具有双编码器(Double Encoder) 是 Hollow-bore diameter 7 mm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 中空孔直径(Hole Diameter) mm 7 Hollow structure Yes Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·全系中空结构 Motor architecture Inner rotor Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·高性能内转子电机 Motor rotor inertia 118.1 kg·mm² Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机的转子惯量(The Rotor Inertia Of The Motor) Kgmm2 118.1 Peak output speed 240 rpm Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. Output-shaft speed per datasheet note; peak value, not a continuous speed rating. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值转速(Peak Speed) RPM 240 Peak output torque 240 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. Peak value; permitted peak duration is not stated in the rating table. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值扭矩(Peak Torque) Nm 240 Peak phase current 160 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 峰值相电流(Peak Phase Current) A 160 Rated bus current 23.9 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定母线电流(Rated Bus Current) A 23.9 Rated input power 1,728 W Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定输入功率(Rated Input Power) W 1728 Rated output torque 60 N·m Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. Output speed 0 rpm, explicitly stated in source row. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定扭矩(0RPM)(Rated Torque) Nm 60 Rated phase current 29.5 A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定相电流(Rated Phase Current) A 29.5 Rated voltage 72 V Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 额定电压(Rated Voltage) V 72 Reducer architecture Two-stage planetary Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. Series construction defined on datasheet PDF page 3. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) ·二级行星减速器 Reducer backlash 18 arcmin Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速器背隙(Reducer Backlash) Arcmin 18 Reduction ratio 23.625 Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 减速比(Reduction Ratio) 23.625 Temperature-rise test duration 797 s Manufacturer specification Configuration: Form A; 50-rpm load; 60 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; constant output speed 50 rpm. Original duration 13min17s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 60 13min17s Temperature-rise test duration 1,354 s Manufacturer specification Configuration: Form A; 50-rpm load; 50 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; constant output speed 50 rpm. Original duration 22min34s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 50 22min34s Temperature-rise test duration 120 s Manufacturer specification Configuration: Form A; 50-rpm load; 80 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; constant output speed 50 rpm. Original duration 2min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 80 2min Temperature-rise test duration 33 s Manufacturer specification Configuration: Form A; 50-rpm load; 110 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; constant output speed 50 rpm. Original duration 33s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 110 33s Temperature-rise test duration 276 s Manufacturer specification Configuration: Form A; 50-rpm load; 70 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; constant output speed 50 rpm. Original duration 4min36s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 70 4min36s Temperature-rise test duration 52 s Manufacturer specification Configuration: Form A; 50-rpm load; 100 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; constant output speed 50 rpm. Original duration 52s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 100 52s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; 50-rpm load; 40 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; constant output speed 50 rpm. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 40 可持续使用 Temperature-rise test duration 11 s Manufacturer specification Configuration: Form A; stall; 125 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; stalled output. Original duration 11s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 125 11s Temperature-rise test duration 1,020 s Manufacturer specification Configuration: Form A; stall; 65 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; stalled output. Original duration 17min; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 65 17min Temperature-rise test duration 100 s Manufacturer specification Configuration: Form A; stall; 90 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; stalled output. Original duration 1min40s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 90 1min40s Temperature-rise test duration 161 s Manufacturer specification Configuration: Form A; stall; 80 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; stalled output. Original duration 2min41s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 80 2min41s Temperature-rise test duration 40 s Manufacturer specification Configuration: Form A; stall; 110 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; stalled output. Original duration 40s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 110 40s Temperature-rise test duration 254 s Manufacturer specification Configuration: Form A; stall; 70 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; stalled output. Original duration 4min14s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 70 4min14s Temperature-rise test duration 58 s Manufacturer specification Configuration: Form A; stall; 100 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; stalled output. Original duration 58s; converted exactly to seconds. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 100 58s Temperature-rise test duration Continuous operation (manufacturer test) Manufacturer specification Configuration: Form A; stall; 60 N·m; Gen 2 Form A; datasheet PDF page 47. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 51; stalled output. This is the listed test point, not a universal operating-temperature guarantee. This is base-model characterization; the tested mounting form and cooling setup are not identified, so it is not presented as a separately verified Form A thermal guarantee. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 60 可持续使用 Torque constant 1.95 N·m/A Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 扭矩常数(Torque Constant) Nm/A 1.95 Weight 1,572 g Manufacturer specification Configuration: Form A; Gen 2 Form A; datasheet PDF page 47. Exact Form A mass; B/C masses are not assigned to this product. ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only) 电机重量(Weight) g 1572（A 款） 1530（B 款）

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Search, applications, and external websites

Search terms filter content in your browser and may appear in the page URL. Avoid entering sensitive information into search. Application and issue-report drafts stay in this page until you choose Send. Sending shares the information you entered and the relevant page with Robotuo through our hosting provider and Feishu, where our team reviews it and follows up. Do not include sensitive personal information. These submissions work independently of optional analytics and notification preferences.

To limit repeated requests, our server processes your IP address and stores a keyed hash with short-lived counters. When deployed with our shared Upstash Redis store, it stores these hashes, submission identifiers and delivery state for up to 24 hours; form contents are not stored there. Application and report records remain in Feishu for team review and follow-up. Contact Robotuo about access or deletion using the contact information in this policy.

Reloading or closing the page clears unsent drafts. Visit previews do not send a booking. Company websites and the Robot Valley booking page are separate websites with their own privacy practices. Review their policies before submitting personal details.

About this product family

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Specifications & evidence

Allowed continuous output torque

Average motor efficiency

Axial and radial load rating

Bending moment resistance

Communication baud-rate notation

Communication interface

Cross-roller bearing model

Dimensions (outer diameter × thickness)

Dimensions (outer diameter × thickness)

Dual encoder

Hollow-bore diameter

Hollow structure

Motor architecture

Motor rotor inertia

Peak output speed

Peak output torque

Peak phase current

Rated bus current

Rated input power

Rated output torque

Rated phase current

Rated voltage

Reducer architecture

Reducer backlash

Reduction ratio

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Torque constant

Weight

Specifications & evidence

Allowed continuous output torque

Average motor efficiency

Axial and radial load rating

Bending moment resistance

Communication baud-rate notation

Communication interface

Cross-roller bearing model

Dimensions (outer diameter × thickness)

Dimensions (outer diameter × thickness)

Dual encoder

Hollow-bore diameter

Hollow structure

Motor architecture

Motor rotor inertia

Peak output speed

Peak output torque

Peak phase current

Rated bus current

Rated input power

Rated output torque

Rated phase current

Rated voltage

Reducer architecture

Reducer backlash

Reduction ratio

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration

Temperature-rise test duration