# ENCOS EC-A10020-P1-12 Planetary Joint

![ENCOS EC-A10020-P1-12 Planetary Joint](https://parts.trymaglev.com/img/ac-encos-ec-a10020-p1-12.webp)

Large 12:1 quasi-direct-drive joint (124 mm, 1.37 kg, dual encoder) for humanoid and quadruped hips and knees needing 150 N·m peak.

- Maglev ID: ac-encos-ec-a10020-p1-12
- Brand: ENCOS
- MPN: EC-A10020-P1-12
- Category: actuators / Integrated Joint Actuators
- Origin: CN (maker HQ, factory not confirmed)
- Maker: Nanjing ENCOS Intelligent Technology (南京因克斯智能科技有限公司) (brand, CN)
- NDAA: unknown · Blue UAS: unknown · FCC: n/a
- HTS: 8501.31.40.00 (typical)
- MOQ: unknown · Lead time: unknown
- Confidence: REPORTED

## Price
- 1+: $1,250 (distributor, 2026-10-30, https://aifitlab.com/products/encos-ec-a10020-p1-12-motor; Variant: CAN & dual encoder, no adapter)

## Specifications
- Peak torque: 150 N·m
- Rated torque: 50 N·m
- Gear ratio: 12:1 planetary
- Voltage: 48 V rated
- Mass: 1373 g
- Interface: CAN, 1 Mbps (dual encoder)

## Links
- Product: https://aifitlab.com/products/encos-ec-a10020-p1-12-motor
- Datasheet: none
- CAD: none

## Equivalents
- Damiao DM-J10010L-2EC Joint Motor (ac-damiao-dm-j10010l-2ec)

## Sources
- https://aifitlab.com/products/encos-ec-a10020-p1-12-motor (spec table + price + availability (distributor; product JSON https://aifitlab.com/products/encos-ec-a10020-p1-12-motor.js))