Product details

EC-A5016-P2-17H-A

Actuators & Joint Modules

ENCOS

EC-A5016-P2-17H-A

About this product

EC-A5016-P2-17H-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-A5016-P2-17H-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

8 N·m

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. 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 8

Average motor efficiency

68 %

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. 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) 68%

Axial and radial load rating

2.2 kN

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. 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 2.2

Bending moment resistance

17 N·m

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
抗弯矩(Bending Moment Resistance) Nm 17

Communication baud-rate notation

1M / 5M (manufacturer notation)

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. 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 6. 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

3505

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6.

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) 3505

Dimensions (outer diameter × thickness)

60 × 59.8 mm

Manufacturer specification

Configuration: Form A; without power connector; Gen 2 Form A; datasheet PDF page 6. Outer diameter × thickness; excludes power connector.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
60×68(带电源接口)/ 60×59.8(不带电源接口)(A 款)

Dimensions (outer diameter × thickness)

60 × 68 mm

Manufacturer specification

Configuration: Form A; with power connector; Gen 2 Form A; datasheet PDF page 6. Outer diameter × thickness; includes power connector.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
60×68(带电源接口)/ 60×59.8(不带电源接口)(A 款)

Dual encoder

Yes

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6.

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

4 mm

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
中空孔直径(Hole Diameter) mm 4

Hollow structure

Yes

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. 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 6. 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

8 kg·mm²

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6.

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 8

Peak output speed

332 rpm

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. 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 332

Peak output torque

36 N·m

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. 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 36

Peak phase current

40 A

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
峰值相电流(Peak Phase Current) A 40

Rated bus current

4.4 A

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
额定母线电流(Rated Bus Current) A 4.4

Rated input power

316.8 W

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
额定输入功率(Rated Input Power) W 316.8

Rated output torque

8.5 N·m

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. 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 8.5

Rated phase current

5.9 A

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
额定相电流(Rated Phase Current) A 5.9

Rated voltage

72 V

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6.

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 6. 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 6.

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

17

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
减速比(Reduction Ratio) 17

Temperature-rise test duration

18 s

Manufacturer specification

Configuration: Form A; 50-rpm load; 16 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; constant output speed 50 rpm. 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)
16 18s

Temperature-rise test duration

60 s

Manufacturer specification

Configuration: Form A; 50-rpm load; 12 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; 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)
12 1min

Temperature-rise test duration

29 s

Manufacturer specification

Configuration: Form A; 50-rpm load; 14 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; 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)
14 29s

Temperature-rise test duration

170 s

Manufacturer specification

Configuration: Form A; 50-rpm load; 10 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; constant output speed 50 rpm. Original duration 2min50s; 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)
10 2min50s

Temperature-rise test duration

390 s

Manufacturer specification

Configuration: Form A; 50-rpm load; 9 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; constant output speed 50 rpm. Original duration 6min30s; 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)
9 6min30s

Temperature-rise test duration

Continuous operation (manufacturer test)

Manufacturer specification

Configuration: Form A; 50-rpm load; 8 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; 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)
8 可持续使用

Temperature-rise test duration

17 s

Manufacturer specification

Configuration: Form A; stall; 14.1 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; stalled output. Original duration 17s; 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)
14.1 17s

Temperature-rise test duration

85 s

Manufacturer specification

Configuration: Form A; stall; 11 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; stalled output. Original duration 1min25s; 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)
11 1min25s

Temperature-rise test duration

24 s

Manufacturer specification

Configuration: Form A; stall; 13.3 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; stalled output. Original duration 24s; 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)
13.3 24s

Temperature-rise test duration

41 s

Manufacturer specification

Configuration: Form A; stall; 12.5 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; stalled output. Original duration 41s; 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)
12.5 41s

Temperature-rise test duration

360 s

Manufacturer specification

Configuration: Form A; stall; 10 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; stalled output. Original duration 6min; 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)
10 6min

Temperature-rise test duration

480 s

Manufacturer specification

Configuration: Form A; stall; 9 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; stalled output. Original duration 8min; 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)
9 8min

Temperature-rise test duration

Continuous operation (manufacturer test)

Manufacturer specification

Configuration: Form A; stall; 8.5 N·m; Gen 2 Form A; datasheet PDF page 6. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 10; 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)
8.5 可持续使用

Torque constant

1.4 N·m/A

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
扭矩常数(Torque Constant) Nm/A 1.4

Weight

467 g

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 6. 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 467(A 款) 460(B 款) 472(C 款估算值)

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