Product details

EC-A7220-P2-22H-A

Actuators & Joint Modules

ENCOS

EC-A7220-P2-22H-A

About this product

EC-A7220-P2-22H-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 and Form C variants. Cover image: Manufacturer reference illustration of Form A.

Model
EC-A7220-P2-22H-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

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)

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