Eriksen - ENCOS Integrated Planetary Gear Joint Module – High-Torque Dual-Encoder Robot Joint Motor

Dongchuang Pioneer Joint Motor

GuaranTee Supplier 11 Years

ENCOS Integrated Planetary Gear Joint Module – High-Torque Dual-Encoder Robot Joint Motor

This integrated robotic joint motor features a planetary gear module, a high-torque design, and a dual-encoder configuration; it combines the motor and reduction mechanism.

Color classification：

EC-A2806-P2-36 Outer diameter 44mm / Torque 3N.m

EC-A4310-P2-36 Outer diameter 56mm / Torque 12n·m

EC-A4315-P2-36 Outer diameter 56mm / Torque 25n·m

EC-A6408-P2-25 Outer diameter 88mm / Torque 20N.m

EC-A6416-P2-25 Outer diameter 88mm / Torque 40N.m

EC-A8112-P1-18 Outer diameter 105mm / Torque 30N.m

EC-A8116-P1-18 Outer diameter 105mm / Torque 40N.m

EC-A10020-P1-12 Outer diameter 124mm / Torque 50N.m

EC-A10020-P2-24 Outer diameter 124mm / Torque 100N.m

EC-A13715-P1-12.67 Outer diameter 170mm / torque 117N·m

EC-A13720-P1-11.4 Outer diameter 170mm / Torque 120N.m

USB-CAN module debugging software usage

Communication module (EtherCAT to CAN)

USD 62.14~2014.29

contact shop

Humanoid robot

Integrated Joint Module

Meticulous Craftsmanship·Exceptional Quality

Six major advantages provide you with a better user experience.

Comprehensive Range

Over 50 Specifications

Versatile Application

Cost-effectiveness

In-house component development

50% cost reduction

Ultra-lightweight

Weight

Reduced by 1/

Ultra-high performance, high load-to-weight ratio

Torque density is twice that of comparable products.

Factory-Direct | Authentic Product

Strict Quality Control

A Decade of Professional Service

Technical Support Provided by Engineers

High stability

Capable of withstanding instantaneous peak torque shocks of three times the rated value.

Dual encoders ensure precise positioning.

Retains location data during power loss, ensuring precise positioning and worry-free operation.

Stable performance, capable of withstanding instantaneous peak torque shocks three times the rated value; rated service life is 5,000 hours, with actual continuous operation already exceeding 12 months.

High adaptability

"High-speed, high-real-time" communication solution for full-body joints and sensors

Full series with dual encoders

Switch between multiple control modes at any time; features load self-adaptation—no tuning required.

1.Drive cover

2.Driver board

3.Drive motor

4.shell

5.Reduction gearbox

6.Bearing

7.Front cover

Solution

30cm-tall robotic dog

Recommended model: EC-A6408-P2-25

60cm-tall robotic dog

Recommended model: EC-AB112-P1-18

80cm-tall robotic dog

Recommended model: EC-A10020-P2-24

1.2-meter humanoid robot

1.6–1.8 meter humanoid robot

Wheeled service robot

Selected Case Studies

Tiangong Robot

BOOSTER T1

CL-1

1.Introduction to the EC-A2806-P2-36 Moto

Performance Parameters
Reduction Ratio		36
Rated Voltage	v	48
Rated Bus Current	A	2.1
Rated Phase Current	A	2.4
Rated Power	W	101
Rated Speed	RPM	207
Rated Torque	Nm	3
Peak Speed	RPM	220
Peak Phase Current	A	10
Peak Torque	Nm	12
Efficiency		60%
Torque Constant	Nm/A	1.35
Weight	8	162
Backlash	Arcmin	12
MotorSize	mm	44×44
Communication Mode		CAN
Communication Baud Rate		1M
Double Encoder		yes
AxialAndRadialLoads	KN	2.23
BendingMoment Resistance	Nm	13

Introduction to the EC-A4310-P2-36 Motor

Performance Parameters
Reduction Ratio		36
Rated Voltage	v	24 (supports 48V)
Rated Bus Current	A	6.5
Rated Phase Current	A	7.8
Rated Power	W	156
Rated Speed	RPM	75
Rated Torque	Nm	12
Peak Speed	RPM	89
Peak Phase Current	A	30
Peak Torque	Nm	36
Efficiency		71%
Torque Constant	Nm/A	1.4
Weight	8	384
Backlash	Arcmin	10
MotorSize	mm	56×60.5
Communication Mode		CAN
Communication Baud Rate		1M
Double Encoder		yes
AxialAndRadialLoads	KN	1.89
BendingMoment Resistance	Nm	28
Cross Roller Bearing Type		300s
The Rotor Inertia OfThe Motor	kgmm²	18.2
Torque Density	Nm/kg	93.75

Introduction to the EC-A4315-P2-36 Motor

Performance Parameters
Reduction Ratio		36
Rated Voltage	v	48
Rated Bus Current	A	8.28
Rated Phase Current	A	10.22
Rated Power	W	397
Rated Speed	RPM	109
Rated Torque	Nm	25
Peak Speed	RPM	117
Peak Phase Current	A	30
Peak Torque	Nm	75
Efficiency		74%
Torque Constant	Nm/A	2.6
Weight	8	455
Backlash	Arcmin	10
MotorSize	mm	56×69.5
Communication Mode		CAN
Communication Baud Rate		1M
Double Encoder		yes
AxialAndRadialLoads	KN	1.89
BendingMoment Resistance	Nm	28
Cross Roller Bearing Type		3005
The Rotor Inertia OfThe Motor	kgmm²	25.5
Torque Density	Nm/kg	164.84

EC-A6408-P2-25电机简介

Performance Parameters
Reduction Ratio		25
Rated Voltage	v	48
Rated Bus Current	A	6.92
Rated Phase Current	A	11.83
Rated Power	W	332
Rated Speed	RPM	133
Rated Torque	Nm	20
Peak Speed	RPM	149
Peak Phase Current	A	60
Peak Torque	Nm	60
Efficiency		72%
Torque Constant	Nm/A	2.35
Weight	8	604
Backlash	Arcmin	10
MotorSize	mm	88×59.5
Communication Mode		CAN
Communication Baud Rate		1M
Double Encoder		yes
AxialAndRadialLoads	KN	2.14
BendingMoment Resistance	Nm	40
Cross Roller Bearing Type		4005
The Rotor Inertia OfThe Motor	kgmm²	62.254
Torque Density	Nm/kg	99.34

EC-A6416-P2-25 电机简介

Performance Parameters
Reduction Ratio		25
Rated Voltage	v	48
Rated Bus Current	A	13
Rated Phase Current	A	17.5
Rated Power	W	624
Rated Speed	RPM	107
Rated Torque	Nm	40
Peak Speed	RPM	120
Peak Phase Current	A	60
Peak Torque	Nm	120
Peak Torque		73%
Torque Constant	Nm/A	2.74
Weight	8	803
Backlash	Arcmin	15
MotorSize	mm	88x67.5
Communication Mode		CAN
Communication Baud Rate		1M
Double Encoder		yes
AxialAndRadialLoads	KN	2.14
BendingMoment Resistance	Nm	40
Cross Roller Bearing Type		4005
The Rotor Inertia OfThe Motor	kgmm²	104.395
Torque Density	Nm/kg	149.44

Introduction to the EC-A8112-P1-18 Motor

Performance Parameters
Reduction Ratio		18
Rated Voltage	v	48
Rated Bus Current	A	13.3
Rated Phase Current	A	15.9
Rated Power	W	638.4
Rated Speed	RPM	155
Rated Torque	Nm	30
Peak Speed	RPM	157
Peak Phase Current	A	60
Peak Torque	Nm	90
Efficiency		78%
Torque Constant	Nm/A	2.1
Weight	8	860
Backlash	Arcmin	12
MotorSize	mm	105×53
Communication Mode		CAN
Communication Baud Rate		1M
Double Encoder		yes
AxialAndRadialLoads	KN	2.81
BendingMoment Resistance	Nm	98
Cross Roller Bearing Type		7005
The Rotor Inertia OfThe Motor	kgmm²	146.69
Torque Density	Nm/kg	104.65

EC-A8116-P1-18 电机简介

Performance Parameters
Reduction Ratio		18
Rated Voltage	v	48
Rated Bus Current	A	19.4
Rated Phase Current	A	21
Rated Power	W	931.2
Rated Speed	RPM	132
Rated Torque	Nm	40
Peak Speed	RPM	140
Peak Phase Current	A	70
Peak Torque	Nm	130
Efficiency		76%
Torque Constant	Nm/A	2.35
Weight	8	961
Backlash	Arcmin	12
MotorSize	mm	105X57
Communication Mode		CAN
Communication Baud Rate		1M
Double Encoder		yes
AxialAndRadialLoads	KN	2.81
BendingMoment Resistance	Nm	98
Cross Roller Bearing Type		7005
The Rotor Inertia OfThe Motor	kgmm²	184.053
Torque Density	Nm/kg	135.28

Introduction to the EC-A10020-P1-12 Motor

Performance Parameters
Reduction Ratio		12
Rated Voltage	v	48
Rated Bus Current	A	18.34
Rated Phase Current	A	21.04
Rated Power	W	880
Rated Speed	RPM	127
Rated Torque	Nm	50
Peak Speed	RPM	140
Peak Phase Current	A	70
Peak Torque	Nm	150
Efficiency		79%
Torque Constant	Nm/A	2.5
Weight	8	1362
Backlash	Arcmin	20
MotorSize	mm	124×60
Communication Mode		CAN
Communication Baud Rate		IM
Double Encoder		yes
AxialAndRadialLoads	KN	2.63
BendingMoment Resistance	Nm	78
Cross Roller Bearing Type		6005
The Rotor Inertia OfThe Motor	kgmm²	488.265
Torque Density	Nm/kg	110.13

Introduction to the EC-A10020-P2-24 Motor

Performance Parameters
Reduction Ratio		24
Rated Voltage	v	48
Rated Bus Current	A	35.12
Rated Phase Current	A	44.05
Rated Power	W	1686
Rated Speed	RPM	115
Rated Torque	Nm	100
Peak Speed	RPM	123
Peak Phase Current	A	140
Peak Torque	Nm	330
Efficiency		75%
Torque Constant	Nm/A	2.6
Weight	8	2180
Backlash	Arcmin	20
MotorSize	mm	124×85
Communication Mode		CAN
Communication Baud Rate		IM
Double Encoder		yes
AxialAndRadialLoads	KN	6.76
BendingMoment Resistance	Nm	300
Cross Roller Bearing Type		9008
The Rotor Inertia OfThe Motor	kgmm²	476.222
Torque Density	Nm/kg	151.38

EC-A13720-P1-11.4电机简介

Performance Parameters
Reduction Ratio		11.4
Rated Voltage	v	48
Rated Bus Current	A	36.6
Rated Phase Current	A	46.7
Rated Power	W	1756.8
Rated Speed	RPM	126
Rated Torque	Nm	120
Peak Speed	RPM	139
Peak Phase Current	A	220
Peak Torque	Nm	400
Efficiency		73%
Torque Constant	Nm/A	2.5
Weight	8	3109
Backlash	Arcmin	15
MotorSize	mm	170×84.5
Communication Mode		CAN
Communication Baud Rate		1M
Double Encoder		yes
AxialAndRadialLoads	KN	6.76
BendingMoment Resistance	Nm	300
Cross Roller Bearing Type		9008
The Rotor Inertia OfThe Motor	kgmm²	1506.601
Torque Density	Nm/kg	128.66