---
title: "ENCOS EC-A6416-P2-25 specs"
description: "Integrated Joint actuator from ENCOS (China). Peak torque 120 Nm, rated 40 Nm, weight 805 g, torque density 149.1 Nm/kg, price $925."
canonical: https://actuatorlist.com/actuators/encos-ec-a6416-p2-25
last-updated: 2026-11-01T14:05:43.000Z
---
# EC-A6416-P2-25 by ENCOS

> Integrated Joint actuator from ENCOS (China). Peak torque 120 Nm, rated 40 Nm, weight 805 g, torque density 149.1 Nm/kg, price $925.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Integrated Joint |
| Peak torque | 120 Nm |
| Rated torque | 40 Nm |
| Max speed | 120 rpm |
| Gear ratio | 25:1 |
| Weight | 805 g |
| Torque density | 149.1 Nm/kg |
| Price | $925 |
| Price per Nm | $7.7 |
| Backdrivable | n/a |
| Backlash | 15 arcmin |
| Voltage | 48 V |
| Peak current | 60 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=40&n=120): **503 W** of shaft power at its rated 40 N·m and 120 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=0.805,0.5,0&p=2): **33.1 N·m** at the shoulder with its 805 g at the elbow of a 2 kg-payload arm.
- [Humanoid robot actuators](/guides/humanoid-robot-actuators#ankle): **5 of 7 joints** within its rated torque, up to the ankle at 38.4 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

88mm x 67.5mm planetary joint module with dual encoders and a 4005 crossed-roller bearing; the hip and knee actuator of Menlo Research's Asimov 1. 40 N.m rated, 120 N.m peak, 107 rpm rated and 120 rpm peak at 48V, 25:1, 17.5A rated and 60A peak phase current, 624W rated, 73% efficiency, 15 arcmin backlash, 805g. CAN at 1 Mbps. Specs and the $925 motor-only price are from the AIFITLAB listing; no ENCOS datasheet was found online. A hollow-shaft EC-A6416-P2-30.25H variant is sold separately.

## Sources

- [https://aifitlab.com/products/encos-ec-a6416-p2-25-motor](https://aifitlab.com/products/encos-ec-a6416-p2-25-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 Integrated Joint actuators

- [EC-A4315-P2-36 (ENCOS)](https://actuatorlist.com/actuators/encos-ec-a4315-p2-36): 154.6 Nm/kg
- [DM-J6248P-2EC (DAMIAO (DMBots))](https://actuatorlist.com/actuators/damiao-dm-j6248p-2ec): 147 Nm/kg
- [EC-A4310-P2-36 (ENCOS)](https://actuatorlist.com/actuators/encos-ec-a4310-p2-36): 94.2 Nm/kg
- [RMD-X8-120 (MyActuator)](https://actuatorlist.com/actuators/myactuator-rmd-x8-120): 85.7 Nm/kg
- [RobStride 04 (RobStride)](https://actuatorlist.com/actuators/robstride-04): 84.5 Nm/kg

## Catalog comparisons

Catalog specifications and source caveats, not compatibility recommendations.

- [DM-J6248P-2EC vs EC-A6416-P2-25](/comparisons/damiao-dm-j6248p-2ec-vs-encos-ec-a6416-p2-25)
- [EC-A4315-P2-36 vs EC-A6416-P2-25](/comparisons/encos-ec-a4315-p2-36-vs-encos-ec-a6416-p2-25)
- [EC-A6416-P2-25 vs RMD-X8-120](/comparisons/encos-ec-a6416-p2-25-vs-myactuator-rmd-x8-120)
- [EC-A6416-P2-25 vs RobStride 04](/comparisons/encos-ec-a6416-p2-25-vs-robstride-04)

[Browse actuator comparisons](/compare).

## Machine-readable

- JSON: https://actuatorlist.com/api/v1/actuators/encos-ec-a6416-p2-25
- Catalog index for agents: https://actuatorlist.com/llms.txt