GIM4305 Robot dog motor with 10:1 gear box Stator 4305 1Nm with Driver CyberBeast

Brand: SMC Powers
Product Code: 25643053
Availability: 49982

Price: $146.98
Ex Tax: $146.98

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25643053 GIM4305 Robot dog motor with 10:1 gear box Stator 4305 1Nm with Driver CyberBeast

Specifications:

		GIM Series Motor with GearBox
	GIM	3505 -8	4305 -10	4310 -10	4310 -36	6010-6		6010 -8-Lite	6010-36		8108-6		8108 -8-Lite	8108-9		8108-36		8115-6		8115-9		8115-36		10015-9
Motor	Nominal Voltage V	24	24	24	24	24	24	24	24	24	24	48	48	24	48	24	48	48	48	48	48	48	48	24	48
	Voltage Range V	12-36									24-48		24-56	24-48					36-48					10-40	24-48
	Nominal Current A	1.4	4.0	3.5	3	24	4	10.5	8	4	5	14.5	7	5	15	5	16	16	5	9.5	5	9.5	5	17.5	12
	Max Current A	2.5	13	15	12	40	15	25	20	15	20	45	25	20	45	20	45	45	20	45	20	25	20	35	35
	Nominal Torque Nm	0.43	0.85	2	6	3	3	5	24	18	6	6.5	7.5	9	9	36	33	11	9	17	13	45	54	25	28
	Max Torque Nm	0.85	3	5.8	18	9	9	11	58	45	15	17	22	22	22	90	93	29.5	25	45	35	115	150	60	70
	Torque const. Nm/A	0.41	0.21	0.66	1.5	0.1	0.07	0.47	3.05	0.07	0.09	0.45	1.0	0.09	0.6	0.09	2.05	0.7	0.28	1.55	0.28	4.8	.28	1.37	2.41
	Rated Gear shaft speed rpm	234	200	100	28	320	300	120	30	50	200	250	110	130	180	35	40	140	180	110	120	15	30	50	45
	Max Gear shaft speed rpm	306	540	330	85	670	400	420	69	90	350	650	320	230	400	65	110	330	380	220	250	36	65	155	122
	Speed const. KV	13	15	9	2.5	19	130	12	1.9	130	100	14	5.7	100	9.4	100	2.5	7.1	50	4.8	50	4.8	50	4.5	2.5
	Res ohm	4.03	0.64	1.05	0.97	0.32	0.28	0.21	0.32	0.2	0.28	0.13	0.44	0.28	0.16	0.28	0.12	0.23	0.43	0.23	0.43	0.54	0.43	0.14	0.43
	L mH	0.43	0.17	0.34	0.33	0.2	0.2	0.12	0.23	0.19	0.17	0.06	0.04	0.17	0.05	0.17	0.05	0.09	0.27	0.26	0.27	0.26	0.27	0.09	0.27
	Poles pairs	11	14	14	14	14	14	14	14	14	21	21	21	21	21	21	21	21	21	21	21	21	21	21	21
	Motor power W	9	20	20	12	85	90	65	75	90	125	170	80	125	170	125	135	160	160	195	160	85	160	130	130
	Size dia mm	43	53	53	55	76	76	80	76	76	96	96	92	96	96	96	96	96	96	96	96	96	96	122	122
	Size L mm	30	26	32	47	35	35	40	56.5	56.5	41.5	41.5	55	41.5	41.5	57	57	48.5	48.5	48.5	48.5	64	64	57.5	57.5
	Max motor temp. ⁰C	85	85	85	85	85	85	85	85	85	85	85	85	85	85	85	85	85	85	85	85	85	85	85	85
Gear box	Type	Planetary
	Gear rate	8:1	10:1	10:1	36:1	6:1	6:1	8:1	36:1	36:1	6:1	6:1	8:1	9:1	9:1	36:1	36:1	6:1	6:1	9:1	9:1	36:1	36:1	9:1	9:1
	Stall torque Nm	0.85	3	5.8	18	40	15	25	20	15	20	45	25	20	45	20	45	45	20	45	20	25	20	35	35
	Gear backlash arcmin	15	15	15	15	15	15	15	15	15	15	15	15	15	15	15	15	15	15	15	15	15	15	15	15
	Gear material	AL	AL or S	Steel
Driver	Encoder
	Position control mode	2K Hz
	Prot	Stall OTP
	Comm.	UART / CAN
	FW	MIT / ZE / CB						OD ZE	MIT / ZE / CB				OD ZE	MIT / ZE / CB
Motor & Gear box	Ambient temp. ⁰C	0-40
	Max. Axial load N	200	300	300	300	600	600	600	900	900	800	800	800	800	800	900	900	800	800	800	800	900	900	5k	5k
	Max. Radial load N	300	500	500	500	800	800	800	1k	1k	900	900	900	900	900	1k	1k	900	900	900	900	1k	1k	5k	5k
	Size dia mm	43	53	53	55	76	76	80	76	76	96	96	92	96	96	96	96	96	96	96	96	96	96	122	122
	Size L mm	30	26	32	47	35	35	40	56.5	56.5	41.5	41.5	55	41.5	41.5	57	57	48.5	48.5	48.5	48.5	64	64	57.5	57.5
	Weight g	97	150	227	310	318	318	388	574	574	567	567	396	567	567	760	760	705	705	705	705	960	960	13X	13X

CB = Cyberbeast Driver
ZE = ZE300 RS485 & CAN Driver
MIT = MIT compatiable Driver
OD = ODrive
13X = 1372 g

Driver: New driver

Supports MIT CAN and CyberBeast CAN protocol. You can choose MIT CAN or Cyberbeast CAN protocol for communication.
CyberBeast protocol supports CAN or RS485 protocol communications.
Supports voltage, temperature reading. (0xB4 00 00 00 00 00 00 00 Read the voltage)
Supports Ia, Ib, Ic，current reading. (0xB4 04 00 00 00 00 00 00 Read the Ia)
Supports Torque control. (0x93 CC CC 7C 41 B8 0B 00 15.8Nm )
Supports Speed control. (0x94 00 00 4A 42 B8 0B 00 50.5RPM )
Supports Positoin control. (0x95 00 10 49 40 B8 0B 00 180degree)
There are Windows PC App and Android App for mobile phone to set and test the motor. You can use USB to TLL for wire connectoin, or MotorWifi for wireless connection.

Driver Specifications:

Item	Data and Specification
Rated Voltage	0-26V, support 6S Lipo battery
Rated Current	3A
Max Voltage	30V
Peak Current	6A
Encoder	14 bit
PWM	Control the motor rotation according to the configuration mode (position/speed/torque), with 5V output, The neutral postion is 1.45ms to 1.55ms. over 1.55ms runs clockwise, below 1.45ms runs anti-clockwise.
RS485	Driver parameter adjustment interface, firmware upgrade interface. RS485 baud rate is 19200, 8-bit data, no check, 1stop bit All RS485 commands end with 0x0D 0A (with Enter key value) All data written through the RS485 interface are stored in the chip at once.
CAN	Bus control interface, compatible with MIT control protocol
ENCODER2	The second encoder interface is used to set up the absolute position

MIT CAN control:

CANBUS protocol and commands, these commands are compatible with MIT Cheetah CAN

CAN data frame length 8 byte.

CAN Baudrate: 1Mbps

Default CAN ID: 1 (you can set the motor driver ID by RS485)

1） Control the motor

0xff 0xff 0xff 0xff 0xff 0xff 0xff 0xfc // Start the motor

0xff 0xff 0xff 0xff 0xff 0xff 0xff 0xfd // Stop the motor

2) Set the motor position zero point

0xff 0xff 0xff 0xff 0xff 0xff 0xff 0xfe

3）Switch the motor operation mode

0xff 0xff 0xff 0xff 0xff 0xff 0xff 0xf9 //Switch to torque mode

0xff 0xff 0xff 0xff 0xff 0xff 0xff 0xfA //switch to speed mode

0xff 0xff 0xff 0xff 0xff 0xff 0xff 0xfB //Switches to position mode

4) Running data samples of Continuous data in position mode:

Send 00000001 8 00 00 80 F8 88 86 63 E8
Receive 00000064 6 01 FF FF 80 07 AB

Send 00000001 8 00 00 80 F8 88 86 63 E8
Receive 00000064 6 01 D4 7E 49 67 3C

Send 00000001 8 00 00 80 F8 88 86 63 E8
Receive 00000064 6 01 8F 12 38 77 AC

Send 00000001 8 00 00 80 F8 88 86 63 E8
Receive 00000064 6 01 3E BA 32 67 DA

Send 00000001 8 FF FF 7D 08 88 86 63 E8
Receive 00000064 6 01 00 1F 80 08 23
Drawing:

Tags: GIM4305 Robot dog motor with 10:1 gear box Stator 4305 1Nm with Driver CyberBeast