Product details

EC-A7225-P2-22H-A

Actuators & Joint Modules

ENCOS

EC-A7225-P2-22H-A

About this product

EC-A7225-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-A7225-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

30 N·m

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. 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 30

Average motor efficiency

75 %

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. 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) 75%

Axial and radial load rating

2.63 kN

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. 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 41.

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 41. 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 41. 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 41.

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 × 72.8 mm

Manufacturer specification

Configuration: Form A; without power connector; Gen 2 Form A; datasheet PDF page 41. Outer diameter × thickness; excludes power connector.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
88×81(带电源接口)/ 88×72.8(不带电源接口)(A 款)

Dimensions (outer diameter × thickness)

88 × 81 mm

Manufacturer specification

Configuration: Form A; with power connector; Gen 2 Form A; datasheet PDF page 41. Outer diameter × thickness; includes power connector.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
88×81(带电源接口)/ 88×72.8(不带电源接口)(A 款)

Dual encoder

Yes

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41.

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 41.

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 41. 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 41. 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

76 kg·mm²

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41.

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 76

Peak output speed

249 rpm

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. 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 249

Peak output torque

200 N·m

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. 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 200

Peak phase current

100 A

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41.

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

20 A

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
额定母线电流(Rated Bus Current) A 20

Rated input power

1,440 W

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
额定输入功率(Rated Input Power) W 1440

Rated output torque

44 N·m

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. 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 44

Rated phase current

28 A

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41.

ENCOS Gen 2 Joint Module Datasheet V1.6, 2026-09-22 (revision date only)
额定相电流(Rated Phase Current) A 28

Rated voltage

72 V

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41.

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 41. 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 41.

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 41.

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

Temperature-rise test duration

68 s

Manufacturer specification

Configuration: Form A; 50-rpm load; 70 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; 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)
70 1min08s

Temperature-rise test duration

28 s

Manufacturer specification

Configuration: Form A; 50-rpm load; 90 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; constant output speed 50 rpm. Original duration 28s; 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)
90 28s

Temperature-rise test duration

147 s

Manufacturer specification

Configuration: Form A; 50-rpm load; 60 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; constant output speed 50 rpm. Original duration 2min27s; 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)
60 2min27s

Temperature-rise test duration

2,067 s

Manufacturer specification

Configuration: Form A; 50-rpm load; 35 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; constant output speed 50 rpm. Original duration 34min27s; 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 34min27s

Temperature-rise test duration

272 s

Manufacturer specification

Configuration: Form A; 50-rpm load; 50 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; constant output speed 50 rpm. Original duration 4min32s; 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 4min32s

Temperature-rise test duration

390 s

Manufacturer specification

Configuration: Form A; 50-rpm load; 45 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; 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)
45 6min30s

Temperature-rise test duration

596 s

Manufacturer specification

Configuration: Form A; 50-rpm load; 40 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; constant output speed 50 rpm. Original duration 9min56s; 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 9min56s

Temperature-rise test duration

Continuous operation (manufacturer test)

Manufacturer specification

Configuration: Form A; 50-rpm load; 30 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; 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)
30 可持续使用

Temperature-rise test duration

600 s

Manufacturer specification

Configuration: Form A; stall; 49 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; stalled output. Original duration 10min; 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 10min

Temperature-rise test duration

18 s

Manufacturer specification

Configuration: Form A; stall; 99 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; 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)
99 18s

Temperature-rise test duration

140 s

Manufacturer specification

Configuration: Form A; stall; 79 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; stalled output. Original duration 2min20s; 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)
79 2min20s

Temperature-rise test duration

250 s

Manufacturer specification

Configuration: Form A; stall; 64 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; stalled output. Original duration 4min10s; 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 4min10s

Temperature-rise test duration

57 s

Manufacturer specification

Configuration: Form A; stall; 89 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; stalled output. Original duration 57s; 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)
89 57s

Temperature-rise test duration

330 s

Manufacturer specification

Configuration: Form A; stall; 59 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; stalled output. 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)
59 5min30s

Temperature-rise test duration

384 s

Manufacturer specification

Configuration: Form A; stall; 54 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; stalled output. Original duration 6min24s; 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 6min24s

Temperature-rise test duration

Continuous operation (manufacturer test)

Manufacturer specification

Configuration: Form A; stall; 44 N·m; Gen 2 Form A; datasheet PDF page 41. Manufacturer temperature-rise test from 30 to 100 degrees as printed, PDF page 45; 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)
44 可持续使用

Torque constant

2 N·m/A

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41.

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

1,275 g

Manufacturer specification

Configuration: Form A; Gen 2 Form A; datasheet PDF page 41. 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 1275(A 款) 1240(B 款) 1258(C 款估算值)

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