Product details

EC-A9016-P2-23.625H-A

Actuators & Joint Modules

ENCOS

EC-A9016-P2-23.625H-A

About this product

EC-A9016-P2-23.625H-A is the Form A configuration of ENCOS’s second-generation hollow planetary robot joint module. It combines an inner-rotor motor, two-stage planetary reduction, dual encoders and CAN/CAN FD communication. The Form A dimensions and weight below are distinguished from the separately named Form B variants. Cover image: Manufacturer reference illustration of Form A.

Model
EC-A9016-P2-23.625H-A
Category
Actuators & Joint Modules, Components

Product family: ENCOS Gen 2 planetary joint modules

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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