256010081 GIM6010-8-Lite 5Nm 120RPM Max 11Nm 420RPM Robot dog motor with gear box 8:1 and ODrive driver CAN/RS485 Stator 6010 388g
ODriveTool
The following is a detailed instruction on ODriveTool.
odrivetool — ODrive Documentation 0.6.9 documentation (odriverobotics.com)
https://docs.odriverobotics.com/v/latest/interfaces/odrivetool.html
If you use it on Windows. you can do following steps to connect to the driver for setting.
1. visit www.python.org to download python and install it on your windows.
2. Press Win + R, then input CMD click open to open DOS.
3. Input pip install odrive==0.5.6.post0 to install odrivetool.
4. Use USB to TYPE C wire to connect the driver to PC. Power on the driver.
5. Visit https://zadig.akeo.ie to download Zadig,Open Zadig, Click menu OPTIONS->list all devices, then choose "CyberBeast Motor Driver Device(Interface 2)”:Change the drive to libusb win32. Click install driver.
6. Go to DOS, input odrivetool and press enter to connect to the drive.
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 | |
Resistance 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 | |
Inductance 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 | ALU | ALU or S | Steel | ||||||||||||||||||||||
Driver | Encoder | ||||||||||||||||||||||||
Position control mode |
2KHz | ||||||||||||||||||||||||
Protection | stall OTP |
stall |
stall OTP |
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stall OTP |
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Comm. |
UART / CAN |
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Firmware | MIT | MIT | MIT | MIT | OD | OD | |||||||||||||||||||
Motor & Gear box |
Ambient temp. 0C | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 0-40 | 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
MIT = MIT compatiable Driver
OD = ODrive
13X = 1372 g
Drawing:You are welcome to customize the motor, such as: color, reduction ratio, installation hole position, and other specifications!