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

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

GIM4310-36 Robot dog motor with 36:1 gear box Stator 4310 10Nm 110KV with MIT CAN Driver
Brand: SMC Powers
Product Code: 2564310362
Availability: 49990
Price: $184.80
Ex Tax: $184.80

6 or more $183.60
12 or more $182.80
Qty:     - OR -   Add to Wish List
Add to Compare

2564310362 GIM4310-36 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:

 

Specifications:

　 　 GIM4305 GIM4310 GIM4310 GIM4310-36 MIT60 MIT80 MIT80 Pro
Motor Power supply 24V 24V 24V 24 24V 24V/48V 48V
Current 1.25A 2.5A 4.0A 4.0A 7.4A 7A 6.5A
Torque 1Nm 2Nm 3Nm 9Nm 3Nm 9Nm 13Nm
Torque const. 0.080Nm/A 0.229Nm/A 0.065Nm/A 0.919Nm/A 0.068Nm/A 0.091Nm/A 0.095Nm/A
Rated speed 300rpm 60rpm 120rpm 50rpm 300rpm 160RPM 300RPM
Max speed 400rpm 170rpm 270rpm 90rpm 400rpm 245RPM 380RPM
Speed const. 140rpm/V 70rpm/V 110rpm/V 110rpm/v 140rpm/V 100rpm/V 100rpm/V
Resistance 1.4ohm 4.8ohm 0.971ohm 0.971ohm 0.26ohm 0.17ohm 0.161
Inductance 780uH 2130uH 840uH 328uH 112uH 57uH 73uH
Poles 14 14 14 14 14 21 21
Motor power 30W 15W 40W 40W 210W 200W 480W
Size 53x26 53x31 53x31 55x47 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
Stall torque 3Nm 6Nm 6Nm 14Nm 9Nm 15Nm 35Nm
Driver Encoder 14it 14it 14bit 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
Weight 140g 217g 217g 310g 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

 

 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

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
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
Copyright © 2003-2017 by SMC Powers Ltd. All Rights Reserved. Email: shop@smc-powers.com Skype:smc-power