Product details

EC-A9020-P2-23.625H-A

Actuators & Joint Modules

ENCOS

EC-A9020-P2-23.625H-A

About this product

EC-A9020-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-A9020-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

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)

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