# ENCOS EC-A6013-H20-100 Harmonic Joint

![ENCOS EC-A6013-H20-100 Harmonic Joint](https://parts.trymaglev.com/img/ac-encos-ec-a6013-h20-100.webp)

Integrated harmonic joint, 100:1, with 11 mm through-hole and dual encoder (906 g) for precise humanoid-arm and cobot joints.

- Maglev ID: ac-encos-ec-a6013-h20-100
- Brand: ENCOS
- MPN: EC-A6013-H20-100
- 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+: $1,750 (distributor, 2026-10-30, https://aifitlab.com/products/encos-ec-a6013-h20-100-motor; Variant: CAN & dual encoder, no adapter)

## Specifications
- Peak torque: 130 N·m
- Rated torque: 40 N·m
- Gear ratio: 100:1 harmonic
- Voltage: 48 V rated
- Mass: 906 g
- Interface: CAN, 1 Mbps (dual encoder)

## Links
- Product: https://aifitlab.com/products/encos-ec-a6013-h20-100-motor
- Datasheet: none
- CAD: none

## Equivalents
- MyActuator RH-20-100 Hollow Harmonic Actuator (no brake) (ac-myactuator-rh-20-100-e-n-d)

## Sources
- https://aifitlab.com/products/encos-ec-a6013-h20-100-motor (spec table + price + availability (distributor; product JSON https://aifitlab.com/products/encos-ec-a6013-h20-100-motor.js))