Product details

EC-A10820-P2-24H-A

Actuators & Joint Modules

ENCOS

EC-A10820-P2-24H-A

About this product

EC-A10820-P2-24H-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-A10820-P2-24H-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

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)

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