GIM4310 Robot dog motor with 36:1 gear box Stator 4310 10Nm 110KV with MIT CAN Driver

Brand: SMC Powers
Product Code: 25643108
Availability: 49994

Price: $184.80
Ex Tax: $184.80

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Description

25643108 GIM4310 Robot dog motor with 10:1 gear box Stator 4310 10Nm 110KV with MIT CAN Driver

Driver Communication: SmartCAN 1MHz & PWM

Driver Firmware: Compatible with MIT open source software

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.

Specifications:

		GIM4305	GIM4310	GIM4310	GIM4310	MIT60	MIT80	MIT80 Pro
Motor	Power supply	24V	24V	24V	24V	24V	24V/48V	48V
	Current	1.25A	2.5A	4.0A	4.0A	7.4A	7A	6.5A
	Torque	1Nm	2Nm	3Nm	10Nm	3Nm	9Nm	13Nm
	Torque const.	0.080Nm/A	0.065Nm/A	0.065Nm/A	0.065Nm/A	0.068Nm/A	0.091Nm/A	0.095Nm/A
	Rated speed	300rpm	60rpm	120rpm	120rpm	300rpm	160RPM	300RPM
	Max speed	400rpm	170rpm	270rpm	270rpm	400rpm	245RPM	380RPM
	Speed const.	140rpm/V	70rpm/V	110rpm/V	110rpm/V	140rpm/V	100rpm/V	100rpm/V
	Resistance	1.4ohm	4.8ohm	2.0ohm	2.0ohm	0.26ohm	0.17ohm	0.161
	Inductance	780uH	2130uH	840uH	840uH	112uH	57uH	73uH
	Poles	14	14	14	14	14	21	21
	Motor power	30W	15W	40W	40W	210W	200W	480W
	Size	53x26	53x31	53x31	53x31	76x63.5	96x39.5	96x41.7
	Max motor temperature	85C	85C	85C	85C	85C	85C	85C
Gearbox	Gear rate	10:1	10:1	10:1	36:1	6:1	06:01	06:01
Gearbox	Stall torque	3Nm	6Nm	6Nm	21Nm	9Nm	15Nm	35Nm
Driver	Encoder	14it	14it	14it	14it	12bit	MA702 15bit	12bit
	Position control mode	2KHz	2KHz	2KHz	2KHz	2KHz	2KHz	2KHz
	Protection	stall warning	stall warning	stall warning	stall warning	stall warning	stall warning	stall warning
	Communication	SmartCAN 1MHz &PWM	SmartCAN 1MHz &PWM	SmartCAN 1MHz &PWM	SmartCAN 1MHz &PWM	SmartCAN 1MHz	SmartCAN 1MHz	SmartCAN 1MHz
	Firmware	MIT open source software	MIT open source software	MIT open source software	MIT open source software	MIT open source software	MIT open source software	MIT open source software
Assembly	Ambient temperature	0-40C	0-40C	0-40C	0-40C	0-40C	0-40C	0-40C
Assembly	Weight	140g	217g	217g	g	315g	600g	714g

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

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

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

Send 00000001 8 FF FF 7D 08 88 86 63 E8
Receive 00000064 6 01 17 B5 AC 98 D8

Send 00000001 8 FF FF 7D 08 88 86 63 E8
Receive 00000064 6 01 44 40 C0 C9 38

Send 00000001 8 FF FF 7D 08 88 86 63 E8
Receive 00000064 6 01 7C 2D CB 57 F7

Send 00000001 8 FF FF 7D 08 88 86 63 E8
Receive 00000064 6 01 B8 E6 CF 28 31

Notes:

CAN Send: Identifier： 0x00 Standard Frame Frame Format: DATA DLC: 8 bytes

	DATA[0]	DATA[1]	DATA[2]	DATA[3]		DATA[4]	DATA[5]	DATA[6]		DATA[7]
Data bit	7-0	7-0	7-0	7-0	7-4	3-0	7-0	7-4	3-0	7-0
Content	high 8 bits	low 8 bits	high 8 bits	low 4 bits	high 4 bits	low 8 bits	high 8 bits	low 4 bits	high 4 bits	low 4 bits
	Motor position		Motor speed		KP		KD		torque
Value	rad		rad/s						Nm

Motor CAN feedback

CAN Receive: Identifier： 0x00 + Driver ID Standard Frame Frame Format: DATA DLC: 8 bytes

	DATA[0]	DATA[1]	DATA[2]	DATA[3]	DATA[4]		DATA[5]
Data bit	7-0	7-0	7-0	7-0	7-4	3-0	7-0
Content	8 bits	high 8 bits	low 8 bits	High 8 bits	low 4 bits	high 4 bits	low 8 bits
Content	Driver ID	Motor position		Motor speed		Motor torque
Value		rad		rad/s		Nm

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

Tags: GIM4310 Robot dog motor with 36:1 gear box Stator 4310 10Nm 110KV with MIT CAN Driver