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

GIM4305 Robot dog motor with 10:1 gear box Stator 4305 1Nm with Driver PWM CAN
Brand: SMC Powers
Product Code: 25643052
Availability: 49986
Price: $146.98
Ex Tax: $146.98

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25643052 GIM4305 Robot dog motor with 10:1 gear box Stator 4305 1Nm with Driver PWM and CAN

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

1 RS485 Communication Menu and Control

 m - MotorRun
 b - MotorRunBackward
 r - RestMode
 p - ProgramRunMode
             p - Position Mode
             s - Speed Mode
             c - Current Mode
             t - Custom  Mode
             e - Exit to Menu

 c - CalibrateEncoder
 s - Setup

Configuration Options
prefix parameter                       min   max    current value
b    Current Bandwidth (Hz)      100   2000   1000.0
P (P of Position)                          1     100    50.0    (For PWM control only)
d (D of Position)                          0     100    50.0    (For PWM control only)
x    MAX(Position)                        1      5      2.0
i    CAN ID                                    0     127    1
m    CAN Master ID                      0     127    100
l    Current Limit (A)                      0.0   6.0    4.0
t    CAN Timeout (cycles)(0 = none)  0     100000 0
To change a value, type 'prefix''value''ENTER'
i.e. 'b1000''ENTER'

 z - SetZeroPosition
 f - UpdateFirmware
 e - ExitToMenu

For example: Send 's' + 'enter' (0x0D 0A) to goto Setting menu. Every command ends with 'enter' (0x0D 0A).

2 The driver connection PINS specifications.

3 PWM Control

4 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
 

Drawing:You are welcome to customize the motor, such as: color, reduction ratio, installation hole position, and other specifications!

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