Product details

EC-A7216-P2-22H-A

Actuators & Joint Modules

ENCOS

EC-A7216-P2-22H-A

About this product

EC-A7216-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-A7216-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

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)

Related products

Contact Us

If you have any questions or would like to get in touch, please feel free to reach out to us at the email below.

info@robotuo.com

YOUR CHOICES

Privacy settings

Choose each optional purpose. All are off until you agree. Change or withdraw consent at any time; browsing still works if you reject all.

Privacy preference

Remembers the choice you make here.

Always active

Save comparisons and followed companies and products between visits. Turning this off deletes saved selections; you can still use them during this visit.

Allow Google Analytics through Firebase to measure general page visits and usage with cookies and device information. Advertising remains off.

Allow OneSignal to process browser and subscription information for Robotuo news and updates. Browser permission is a separate step.

Your shortlist

0 companies selectedUp to 10

Your shortlist is empty. Browse companies and add the ones you’d like to connect with.