{"publisher":"Xirkit — the structured parts marketplace","canonical":"https://www.xirkit.io/products/encos-ec-a4310-p2-36-joint-actuator-3117","markdown":"https://www.xirkit.io/products/encos-ec-a4310-p2-36-joint-actuator-3117/data.md","mcp":"https://www.xirkit.io/mcp","note":"Every value is traced to a cited source (see sources and per-value src). Null means unknown, never zero.","record":{"id":"3117d8f2-c4ff-5c9a-b500-2288216fca60","mpn":"EC-A4310-P2-36","name":"ENCOS EC-A4310-P2-36 Joint Actuator","manufacturer":"ENCOS","family":"actuator","summary":"ENCOS EC-A4310-P2-36 is a Ø56 × 60.5 mm, 382 g joint actuator with a 36:1 reduction and a 3005 crossed-roller output bearing: 12 N·m rated and 36 N·m peak torque, 75 rpm rated (89 rpm peak), 7.8 A rated / 30 A peak phase current, 1.4 N·m/A, dual encoders and CAN at 1 Mbps on 24 V (48 V supported).","schema_version":"3.0","revision":null,"tags":["actuator","robotic actuator","joint actuator","can bus","bldc","encos","robotics","crossed roller bearing","36:1 joint motor","dual encoder actuator"],"sources":[{"other":{},"id":"datasheet","url":"https://aifitlab.com/products/encos-ec-a4310-p2-36-motor","title":"ENCOS EC-A4310-P2-36 Joint Actuator datasheet","publisher":"ENCOS","kind":"datasheet","retrieved_at":"2026-10-19T07:16:11+00:00","field_paths":["spec.constraints.electrical.supply_voltage_nominal_v","spec.geometry.body_diameter_mm","spec.geometry.body_length_mm","spec.geometry.cad.bbox.height_mm","spec.geometry.cad.bbox.length_mm","spec.geometry.cad.bbox.width_mm","spec.geometry.cad.envelope_complete","spec.geometry.cad.mesh_path","spec.geometry.cad.step_path","spec.geometry.cad.verification","spec.geometry.dimensions.height_mm","spec.geometry.dimensions.length_mm","spec.geometry.dimensions.width_mm","spec.geometry.other.weight_g","spec.provides.actuator_type","spec.provides.backlash_deg","spec.provides.control_interface","spec.provides.encoder","spec.provides.features","spec.provides.gear_ratio","spec.provides.integrated_driver","spec.provides.kt_nm_per_a","spec.provides.motor_type","spec.provides.other.rated_power_w","spec.provides.peak_torque_nm","spec.provides.rated_speed_rpm","spec.provides.rated_torque_nm","spec.provides.rotor_inertia_gcm2","spec.provides.torque_density_nm_per_kg","spec.usage.connectors","spec.usage.pinout_complete","spec.usage.requirements.other.peak_current_a","spec.usage.requirements.rated_current_a","spec.usage.requirements.rated_voltage_v"],"notes":"sha256 8acef42ccaa36ce9aeb514dd0acaaf27ea3e21f74176906cc484f7a188727be3"},{"other":{},"id":"offer0","url":"https://aifitlab.com/products/encos-ec-a4310-p2-36-motor?variant=44897649688712","title":"aifitlab.com listing","publisher":null,"kind":"distributor","retrieved_at":"2026-10-19T07:17:09+00:00","field_paths":["offers"],"notes":null}],"assets":[{"other":{},"kind":"datasheet","url":"https://aifitlab.com/products/encos-ec-a4310-p2-36-motor","label":"Datasheet","verification":"manufacturer","notes":null},{"other":{},"kind":"image","url":"https://cdn.shopify.com/s/files/1/0673/6848/5000/files/EC-A4310-P2-36-main-1.jpg","label":"ENCOS EC-A4310-P2-36","verification":"unverified","notes":"inspected: black cylindrical ENCOS joint actuator on a white stand, ENCOS logo"},{"other":{},"kind":"cad","url":"encos-ec-a4310-p2-36.step","label":"STEP (generated from datasheet drawing)","verification":"generated","notes":"cad_check passed"}],"offers":[{"other":{"price_breaks":[]},"supplier":"aifitlab.com","url":"https://aifitlab.com/products/encos-ec-a4310-p2-36-motor?variant=44897649688712","currency":"USD","unit_price":700,"stock_status":"preorder","region":"US","minimum_quantity":null,"checked_at":"2026-10-19T07:17:09+00:00","lead_time_days_min":null,"lead_time_days_max":null,"destination":"US","destination_postal_code":null,"notes":null,"price_basis":"listed","unit_price_max":null}],"best_for":[{"other":{},"label":"Robot joints and actuation","reason":"12 N·m rated / 36 N·m peak through 36:1 with a 3005 crossed-roller bearing rated 1.89 kN and 28 N·m bending: a load-bearing robot joint.","basis":"engineering_inference"},{"other":{},"label":"Robotics and motor control","reason":"CAN at 1 Mbps with dual encoders and daisy-chained power/CAN connectors puts several joints on one bus.","basis":"engineering_inference"}],"children":[],"spec":{"other":{},"usage":{"other":{},"pinout":[],"derived":{},"connectors":[{"id":"power","kind":"power connector ×2 (daisy-chain; part not named)","other":{},"pin_count":2},{"id":"can","kind":"CAN connector ×2 (daisy-chain; part not named)","other":{}}],"pin_mappings":[],"requirements":{"other":{"peak_current_a":30},"data_inputs":[],"power_inputs":[],"rated_current_a":7.8,"rated_voltage_v":24},"pinout_complete":false},"geometry":{"cad":{"bbox":{"width_mm":56,"height_mm":60.5,"length_mm":56},"features":[],"mesh_path":"encos-ec-a4310-p2-36.stl","step_path":"encos-ec-a4310-p2-36.step","assumptions":[],"verification":"generated","envelope_complete":true},"other":{"weight_g":382},"derived":{},"dimensions":{"other":{},"width_mm":56,"height_mm":60.5,"length_mm":56},"feature_boxes":[],"body_length_mm":60.5,"mounting_holes":[],"body_diameter_mm":56},"provides":{"other":{"rated_power_w":156},"derived":{},"encoder":"dual encoder (resolution not stated)","features":["Crossed-roller output bearing type 3005; axial and radial load 1.89 kN; bending moment 28 N·m","Efficiency 71 %; torque density 94.2 N·m/kg","Hollow-shaft sibling EC-A4310-P2-36H: 60 × 59.5 mm, 414 g, 4 mm through hole, same ratings","Peak output speed 89 rpm; rated bus current 6.5 A; rated power 156 W","Availability (2026-10-19): AIFIT Lab $700 without adapter (backordered); $780 with USB-CAN adapter"],"gear_ratio":36,"motor_type":"bldc","kt_nm_per_a":1.4,"backlash_deg":0.166667,"capabilities":[],"actuator_type":"planetary_joint","control_modes":[],"peak_torque_nm":36,"rated_speed_rpm":75,"rated_torque_nm":12,"control_interface":"CAN","integrated_driver":true,"rotor_inertia_gcm2":190,"torque_density_nm_per_kg":94.2},"compliance":{"other":{},"derived":{},"certifications":[]},"constraints":{"other":{},"derived":{},"thermal":{"other":{}},"electrical":{"other":{},"supply_voltage_nominal_v":24}}},"other":null,"source_type":"pdf","source_ref":"https://aifitlab.com/products/encos-ec-a4310-p2-36-motor","datasheet":{"cad":{"bbox":{"max":[28,28,60.5],"min":[-28,-28,0],"width_mm":56,"height_mm":60.5,"length_mm":56},"check":{"failed":[],"passed":true},"expected":[{"d":56,"x":0,"y":0,"axis":"z","name":"envelope","what":"cylinder"},{"what":"envelope_z","value":60.5}],"archetype":"envelope_cylinder","mesh_path":"/Users/sumeet/Documents/Xirkit Parent/XirkitOnboard/work/encos-ec-a4310-p2-36/07_cad/part.stl","step_path":"/Users/sumeet/Documents/Xirkit Parent/XirkitOnboard/work/encos-ec-a4310-p2-36/07_cad/part.step","views_png":"/Users/sumeet/Documents/Xirkit Parent/XirkitOnboard/work/encos-ec-a4310-p2-36/07_cad/views.png","export_stl":"encos-ec-a4310-p2-36.stl","assumptions":[],"export_step":"encos-ec-a4310-p2-36.step","source_step":null,"verification":"generated","envelope_complete":true},"chips":[],"fields":{"kt":{"src":{"page":6,"quote":"| Torque Constant | 1.4 Nm/A | 1.4 Nm/A |","method":"table","table_id":"6_1"},"unit":"N·m/A","value":1.4},"weight":{"src":{"page":6,"quote":"| Weight | 382 g | 414 g |","method":"table","table_id":"6_1"},"unit":"g","value":382},"encoder":{"src":{"page":6,"quote":"| Double Encoder | Yes | Yes |","method":"table","table_id":"6_1"},"unit":null,"value":"dual encoder (resolution not stated)"},"backlash":{"src":{"page":6,"quote":"| Backlash | 10 Arcmin | 10 Arcmin |","method":"table","table_id":"6_1"},"orig":{"unit":"arcmin","value":10},"unit":"deg","value":0.1666666667},"connector":{"src":{"page":7,"quote":"Power ×2; CAN×2","figure":"ENCOS installation drawing, side view","method":"drawing"},"unit":null,"value":"power ×2 + CAN ×2 on the housing (parts not named)"},"gear_ratio":{"src":{"page":6,"quote":"| Reduction Ratio | 36 | 36 |","method":"table","table_id":"6_1"},"unit":null,"value":36},"motor_type":{"src":{"page":6,"quote":"| Rated Phase Current | 7.8 A | 7.8 A |","method":"derived","table_id":"6_1"},"unit":null,"value":"bldc"},"peak_torque":{"src":{"page":6,"quote":"| Peak Torque | 36 Nm | 36 Nm |","method":"table","table_id":"6_1"},"unit":"N·m","value":36},"rated_power":{"src":{"page":6,"quote":"| Rated Power | 156 W | 156 W |","method":"table","table_id":"6_1"},"unit":"W","value":156},"rated_speed":{"src":{"page":6,"quote":"| Rated Speed | 75 RPM | 75 RPM |","method":"table","table_id":"6_1"},"unit":"rpm","value":75},"peak_current":{"src":{"page":6,"quote":"| Peak Phase Current | 30 A | 30 A |","method":"table","table_id":"6_1"},"unit":"A","value":30},"rated_torque":{"src":{"page":6,"quote":"| Rated Torque | 12 Nm | 12 Nm |","method":"table","table_id":"6_1"},"unit":"N·m","value":12},"actuator_type":{"src":{"page":6,"quote":"| Reduction Ratio | 36 | 36 |","method":"derived","table_id":"6_1"},"unit":null,"value":"planetary_joint"},"mount_pattern":{"src":{"page":7,"quote":"6 x M3 - 6H 10; 6 x M3 10; 3x 4 ±0.01 5.20; 49 ±0.01; 26 ±0.01","figure":"ENCOS installation drawing, front and side views","method":"drawing"},"unit":null,"value":"output face: 6×M3-6H ↓10 and 6×M3 ↓10, 3×Ø4 ↓5.2 and 3×Ø4 ↓3 dowel holes, Ø49 and Ø26 pilots; rear boss Ø35"},"rated_current":{"src":{"page":6,"quote":"| Rated Phase Current | 7.8 A | 7.8 A |","method":"table","table_id":"6_1"},"unit":"A","value":7.8},"rated_voltage":{"src":{"page":6,"quote":"| Rated Voltage | 24 V (Supports 48V) | 24 V (Supports 48V) |","method":"table","table_id":"6_1"},"unit":"V","value":24},"rotor_inertia":{"src":{"page":6,"quote":"| The Rotor Inertia Of The Motor | 19 kgmm² | 18 kgmm² |","method":"derived","table_id":"6_1"},"orig":{"unit":"g·cm²","value":190},"unit":"kg·m²","value":0.000019},"torque_density":{"src":{"page":6,"quote":"| Torque Density | 94.2 Nm/kg | 87 Nm/kg |","method":"table","table_id":"6_1"},"unit":"N·m/kg","value":94.2},"control_interface":{"src":{"page":6,"quote":"| Communication Mode | CAN | CAN |","method":"table","table_id":"6_1"},"unit":null,"value":"CAN"},"integrated_driver":{"src":{"page":2,"quote":"ENCOS EC-A4310-P2-36 Motor - EC-A4310-P2-36 (CAN & Dual Encoder) / NOT Include is backordered and will ship as soon as it is back in stock.","method":"derived"},"unit":null,"value":true}},"groups":{"all":[]},"source":{"url":"https://aifitlab.com/products/encos-ec-a4310-p2-36-motor","pages":6,"sha256":"8acef42ccaa36ce9aeb514dd0acaaf27ea3e21f74176906cc484f7a188727be3","onboarded_at":"2026-10-19T07:17:51+00:00"},"coverage":{"pct":97.1,"score":"33/34","passed":true,"explained_nulls":["gear_type","no_load_speed","kv","backdrive_torque","control_modes","operating_temperature","label","lifecycle","compliance"]},"entities":[],"taxonomy":{"dimensions":{"role":"mechanical_dimensions","definition":"Size (diameter × length), packing size, dimension drawing or mounting pattern"},"site_chrome":{"role":"other","definition":"Website navigation, FAQs, reviews, related products, support links, footers"},"model_comparison":{"role":"electrical_ratings","definition":"Comparison table of several models of the series (one row per model: voltage, power, torque, current, speed, ratio, weight, size, encoder)"},"pricing_ordering":{"role":"ordering_commercial","definition":"Price, options (KV, driver board yes/no), SKU, shipping, payment, points"},"product_overview":{"role":"identity_overview","definition":"Product description / highlights: what the actuator integrates (motor, gearbox, driver, encoder), control modes, protections, applications"},"connectors_wiring":{"role":"pins_or_terminals","definition":"Power / CAN / UART connectors, cables in the wiring pack, pin assignments"},"specification_table":{"role":"electrical_ratings","definition":"Specification grid: voltage, rated/peak torque, speeds, currents, Kt/Kv, gear ratio, backlash, back-drive, encoder, inertia, weight, connectors, temperature"}},"variants":{},"commercial":{"other":{},"checked_at":"2026-10-19T07:17:09+00:00","compliance":[],"ordering_codes":[{"code":"EC-A4310-P2-36","description":"CAN & dual encoder, solid shaft"},{"code":"EC-A4310-P2-36H","description":"hollow-shaft version"}]},"mechanical":{"dims":{"length":{"src":{"page":7,"quote":"60.50","method":"drawing"},"unit":"mm","value":60.5},"diameter":{"src":{"page":6,"quote":"| Motor Size | 56×60.5 mm | 60x59.5 mm |","method":"table","table_id":"6_1"},"unit":"mm","value":56}},"kind":"mechanical","holes":[],"units":"mm","origin":"axis = Z at x=y=0; envelope from z=0 to z=length","features":[],"archetype":"envelope_cylinder","assumptions":{}},"page_index":[{"page":1,"tags":[],"primary":"site_chrome"},{"page":2,"tags":[],"primary":"pricing_ordering"},{"page":3,"tags":["pricing_ordering"],"primary":"pricing_ordering"},{"page":4,"tags":["product_overview"],"primary":"product_overview"},{"page":5,"tags":[],"primary":"none_of_these"},{"page":6,"tags":["specification_table"],"primary":"specification_table"}],"performance":[],"schema_name":"datasheet-1","part_ratings":{}},"use_cases":["joint-actuation","robot-motor-control"],"commercial":{"other":{},"checked_at":"2026-10-19T07:17:09+00:00","compliance":[],"ordering_codes":[{"code":"EC-A4310-P2-36","description":"CAN & dual encoder, solid shaft"},{"code":"EC-A4310-P2-36H","description":"hollow-shaft version"}]},"null_reasons":{"kv":{"note":"not published","reason":"not_in_source"},"label":{"note":"connector pin assignments are not given in the AIFIT page or ENCOS drawing","reason":"not_in_source"},"gear_type":{"note":"ratio given, gear-train type not","reason":"not_in_source"},"lifecycle":{"note":"store availability is not lifecycle evidence","reason":"not_in_source"},"compliance":{"note":"no certification statement","reason":"not_in_source"},"pole_pairs":{"note":"not listed","reason":"not_in_source"},"control_modes":{"note":"not listed","reason":"not_in_source"},"no_load_speed":{"note":"only a peak speed of 89 rpm is printed (kept as a feature)","reason":"not_in_source"},"backdrive_torque":{"note":"not published","reason":"not_in_source"},"operating_temperature":{"note":"not listed","reason":"not_in_source"}},"assembly_label":"Actuator","assembly_level":2,"search_aliases":["EC-A4310-P2-36","ENCOS A4310","ENCOS EC-A4310","EC-A4310 36:1"],"design":{"assets":[{"other":{},"kind":"datasheet","url":"https://aifitlab.com/products/encos-ec-a4310-p2-36-motor","label":"Datasheet","verification":"manufacturer","notes":null,"resolved_url":"https://aifitlab.com/products/encos-ec-a4310-p2-36-motor"},{"other":{},"kind":"image","url":"https://cdn.shopify.com/s/files/1/0673/6848/5000/files/EC-A4310-P2-36-main-1.jpg","label":"ENCOS EC-A4310-P2-36","verification":"unverified","notes":"inspected: black cylindrical ENCOS joint actuator on a white stand, ENCOS logo","resolved_url":"https://cdn.shopify.com/s/files/1/0673/6848/5000/files/EC-A4310-P2-36-main-1.jpg"},{"other":{},"kind":"cad","url":"encos-ec-a4310-p2-36.step","label":"STEP (generated from datasheet drawing)","verification":"generated","notes":"cad_check passed","resolved_url":"https://wlrumvsjnliyuuvzwnrt.supabase.co/storage/v1/object/public/geometry/encos-ec-a4310-p2-36.step"}],"cad":{"verification":"generated","envelope_complete":true,"assumptions":[],"step_path":"encos-ec-a4310-p2-36.step","mesh_path":"encos-ec-a4310-p2-36.stl","footprint_svg_path":null,"bbox":{"length_mm":56,"width_mm":56,"height_mm":60.5},"features":[],"step_url":"https://wlrumvsjnliyuuvzwnrt.supabase.co/storage/v1/object/public/geometry/encos-ec-a4310-p2-36.step","mesh_url":"https://wlrumvsjnliyuuvzwnrt.supabase.co/storage/v1/object/public/geometry/encos-ec-a4310-p2-36.stl","footprint_svg_url":null},"limitations":["Generated geometry is an approximate mechanical envelope; inspect original manufacturer CAD when available.","Generated footprint_svg_path is an outline, not a verified electrical land pattern.","Xirkit does not run fit checks; download step_url and test fit against your own enclosure."]}}}