GIM4310-10 Robot dog motor with 10:1 gear box Stator 4310 3Nm 110KV with MIT CAN Driver

Brand: SMC Powers
Product Code: 25643107
Availability: 49943

Price: $164.28
Ex Tax: $164.28

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Description

25643107 GIM4310 Robot dog motor with 10:1 gear box Stator 4310 3Nm 110KV with MIT CAN Driver

Driver Communication: SmartCAN 1MHz & PWM

Driver Firmware: has MIT mode CAN communication

Specifications:

	GIM Series Motor with GearBox 35 & 43
GIM	3505-8	3505-9	3505-36	3510-8	3510-64	4305-10	4310-10	4310-36	4310-40	4315-8
Nominal Voltage V	24	24	24	24	24	24	24	24	24	24
Voltage Range V	12-40	12-40	12-40	12-40	12-40	12-40	12-40	12-40	12-40	12-40
Nominal Current A	1.4	1.6	1.7	3.3	3.41	4.0	3.5	3.0	3.7	1.86
Max Current A	2.5	4.19	4.54	28.94	25.58	13	15	12	17.1	19.5
Nominal Torque Nm	0.43	0.71	3.12	1	9	0.85	3	6	8.5	1.6
Max Torque Nm	0.85	1.95	8.01	6.28	50	3	5.8	18	30.59	14.25
Torque const. Nm/A	0.41	0.35	2.0	0.28	2.84	0.21	0.66	1.5	1.79	0.96
Planet Gear box Rate	8:1	9:1	36:1	8:1	64:1	10:1	10:1	36:1	40:1	8:1
Rated Gear shaft rpm	234	258	50	534	67	200	100	28	70	350
Max Gear shaft rpm	306	380	97	588	74	540	300	85	86	405
Speed const. KV	13	15.83	4.04	24.5	3.08	15	9	2.5	3.58	16.88
Res ohm	4.03	4.47	4.47	0.52	0.52	0.64	1.05	0.97	0.27	1.5
L mH	0.43	0.45	0.45	0.29	0.29	0.17	0.34	0.33	0.8	0.43
Poles pairs	11	11	11	7	7	14	14	14	14	14
Motor power W	9	38	41	79	82	20	20	12	89	45
Size dia mm	43	45	45	46	46	53	53	55	57	57
Size L mm	30	36.1	44.1	51.5	77.5	26	32	47	56	58
Max motor temp. 0C	-20-+80	-20-+80	-20-+80	-20-+80	-20-+80	-20-+80	-20-+80	-20-+80	-20-+80	-20-+80
Gear backlash arcmin	15	15	15	15	15	15	15	15	15	15
Encoder bit	14	14	14	14	14	14	14	14	14	14
Weight g	97	132	178	259.6	507	150	227	310	385	372

		GIM Series Motor with GearBox 60, 81 &100
	GIM	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	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	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	40	15	25	20	15	20	45	25	20	45	20	45	45	20	45	20	25	20	35	35
	Nominal Torque Nm	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	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	0.1	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	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	670	400	420	69	90	350	650	320	230	400	65	110	330	380	220	250	36	65	155	122
	Speed const. KV	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	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	0.2	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	14	14	14	14	14	21	21	21	21	21	21	21	21	21	21	21	21	21	21	21
	Motor power W	85	90	65	75	90	125	170	80	125	170	125	135	160	160	195	160	85	160	130	130
	Size dia mm	76	76	80	76	76	96	96	92	96	96	96	96	96	96	96	96	96	96	122	122
	Size L mm	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
Gear box	Type	Planetary
	Gear rate	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	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
	Gear material	Steel
Driver	Encoder
	Position control mode			2KHZ
	Protection	Stall OTP
	Communication	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	600	600	600	900	900	800	800	800	800	800	900	900	800	800	800	800	900	900	5k	5k
	Max. Radial load N	800	800	800	1k	1k	900	900	900	900	900	1k	1k	900	900	900	900	1k	1k	5k	5k
	Size dia mm	76	76	80	76	76	96	96	92	96	96	96	96	96	96	96	96	96	96	122	122
	Size L mm	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	318	318	388	574	574	567	567	396	567	567	760	760	705	705	705	705	960	960	1372	1372

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:

Tags: GIM4310 Robot dog motor with 10:1 gear box Stator 4310 3Nm 110KV with MIT CAN Driver