---
title: "ENCOS EC-A5013-H17-100 specs"
description: "Harmonic / Precision actuator from ENCOS (China). Peak torque 90 Nm, rated 30 Nm, weight 630 g, torque density 142.9 Nm/kg, price $1,500."
canonical: https://actuatorlist.com/actuators/encos-ec-a5013-h17-100
last-updated: 2026-11-01T14:05:43.000Z
---
# EC-A5013-H17-100 by ENCOS

> Harmonic / Precision actuator from ENCOS (China). Peak torque 90 Nm, rated 30 Nm, weight 630 g, torque density 142.9 Nm/kg, price $1,500.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Harmonic / Precision |
| Peak torque | 90 Nm |
| Rated torque | 30 Nm |
| Max speed | 38 rpm |
| Gear ratio | 100:1 |
| Weight | 630 g |
| Torque density | 142.9 Nm/kg |
| Price | $1,500 |
| Price per Nm | $16.7 |
| Backdrivable | n/a |
| Backlash | 0.2 arcmin |
| Voltage | 48 V |
| Peak current | 20 A |
| Communication | CAN |
| Control modes | n/a |
| Encoder | dual encoder |
| Integrated driver | yes |
| Availability | in production |
| Data status | Unverified catalog: confirm sources |

## Size a joint

- [Motor torque calculator](/tools/motor-torque-calculator?solve=power&t=30&n=38): **119 W** of shaft power at its rated 30 N·m and 38 rpm.
- [Robot arm torque calculator](/tools/robot-arm-torque-calculator?L=0.4,0.35,0.12&m=1.2,0.8,0.3&a=0.63,0.5,0&p=2): **32.5 N·m** at the shoulder with its 630 g at the elbow of a 2 kg-payload arm.
- [Humanoid robot actuators](/guides/humanoid-robot-actuators#waist): **4 of 7 joints** within its rated torque, up to the waist at 16.9 N·m.

## Use cases

- humanoid joint
- robot arm
- exoskeleton

## Robots that use it

- [Asimov 1](https://actuatorlist.com/robots#menlo-asimov-1) by Menlo Research: Open-source 1.2 m, 35 kg biped humanoid for whole-body control and locomotion research, sold as a DIY kit with full BOM, CAD and a MuJoCo sim on GitHub. Rated for 5 kg per arm.

## Notes

63mm x 81.5mm harmonic-drive joint module with an 8mm through hole, dual encoders and a 3005 crossed-roller bearing, used in Asimov 1. 30 N.m rated, 90 N.m peak, 33 rpm rated and 38 rpm peak at 48V, 100:1, 3A rated and 20A peak phase current, 120W rated, 31% efficiency, 630g. Backlash is listed as 10 arcsec (0.17 arcmin). CAN at 1 Mbps. Specs and the $1,500 motor-only price are from the AIFITLAB listing; no ENCOS datasheet was found online.

## Sources

- [https://aifitlab.com/products/encos-ec-a5013-h17-100-motor](https://aifitlab.com/products/encos-ec-a5013-h17-100-motor)
- [https://autonews.gasgoo.com/articles/news/ces-2026-encos-showcases-three-core-products-enabling-mass-production-of-humanoid-robots-2008894532819447809](https://autonews.gasgoo.com/articles/news/ces-2026-encos-showcases-three-core-products-enabling-mass-production-of-humanoid-robots-2008894532819447809)

## Similar Harmonic / Precision actuators

- [EC-A3814-H14-107 (ENCOS)](https://actuatorlist.com/actuators/encos-ec-a3814-h14-107): 138.2 Nm/kg
- [LPA-20 (Low Profile Rotary Actuator) (Harmonic Drive LLC)](https://actuatorlist.com/actuators/harmonic-drive-lpa-20): 40.7 Nm/kg
- [FHA-14C-100 (FHA-C Mini) (Harmonic Drive LLC)](https://actuatorlist.com/actuators/harmonic-drive-fha-14c-100): 17 Nm/kg
- [SHA-CG series (SHA-CG Hollow Shaft Actuator) (Harmonic Drive LLC)](https://actuatorlist.com/actuators/harmonic-drive-sha-cg): n/a
- [CHA series (Hollow Shaft Servo Actuator) (Harmonic Drive (Harmonic Drive SE / LLC))](https://actuatorlist.com/actuators/harmonic-drive-cha-series): n/a

## Catalog comparisons

Catalog specifications and source caveats, not compatibility recommendations.

- [EC-A3814-H14-107 vs EC-A5013-H17-100](/comparisons/encos-ec-a3814-h14-107-vs-encos-ec-a5013-h17-100)

[Browse actuator comparisons](/compare).

## Machine-readable

- JSON: https://actuatorlist.com/api/v1/actuators/encos-ec-a5013-h17-100
- Catalog index for agents: https://actuatorlist.com/llms.txt