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25340102 MG4010-10 Duo 2 Encoders Robot dog motor with gear box 1:10 & Driver CAN Stator 4310 KV108
Please note that this version is with CAN driver.
1. This is a small integrated planet gear reduction motor, which is suitable for desktop robots, mechanical dogs, and robotic arms.
Specifications:
Motor | MG Series Motors | |||||||||||||
Part No. | 4005 -10 | 4010 -10 | 4010 -36 | 5010 -10 |
6010-6 |
6012 -8 |
6012 -36 | 8008 -9 | 8010 -6 | 8010 -36 | 8016 -6 | 10015 -10 | ||
Turns | 25 | 14 | 14 | 13 | 20 | 20 | 20 | 17 | 17 | 13 | 13 | 11 | ||
Nominal voltage | V | 24 | 24 | 24 | 24 | 48 | 48 | 48 | 48 | 48 | 48 | 48 | 48 | |
Nominal current | A | 1.6 | 3.5 | 3.5 | 4.4 | 3.8 | 3.8 | 3.8 | 4.9 | 4.9 | 6.9 | 6.5 | 8 | |
Nominal power | 38.4 | 84 | 84 | 106 | 182.4 | 182.4 | 182.4 | 240 | 240 | 330 | 330 | 385 | ||
Nominal torque | N.M | 1 | 2.5 | 9 | 4 | 5 | 5 | 15 | 10 | 9 | 35 | 13 | 30 | |
Nominal Speed | rpm | 253 | 260 | 72 | 235 | 285 | 285 | 62 | 178 | 155 | 68 | 155 | 150 | |
Max Speed | rpm | 316 | 320 | 90 | 320 | 350 | 350 | 78 | 220 | 225 | 80 | 225 | 190 | |
Stall torque | N.M | 2.5 | 4.5 | 18 | 7 | 11.5 | 11.5 | 33 | 20 | 21 | 45 | 35 | 50 | |
Stall current | A | 4 | 6.97 | 6.97 | 6.7 | 8 | 8 | 8 | 10 | 7 | 9 | 12.5 | 13 | |
Resistance | Ω | 1.4 | 0.6 | 0.6 | 0.47 | 0.98 | 0.98 | 0.98 | 0.74 | 0.94 | 0.27 | 0.55 | 0.38 | |
Wire connect | Y | Y | Y | Y | Y | Y | Y | Y | Y | Y | Y | Y | ||
Phase to phase inductance | mH | 0.5 | 0.28 | 0.28 | 0.26 | 0.55 | 0.55 | 0.55 | 0.59 | 0.73 | 0.23 | 0.54 | 0.45 | |
Speed constant | rpm/v | 105 | 108 | 3 | 98 | 58 | 58 | 58 | 42 | 32 | 51 | 30 | 28 | |
Torque constant | N.M/A | 0.06 | 0.07 | 2.58 | 0.1 | 1.32 | 1.32 |
3.94 |
2.07 | 3.00 | 5.07 | 3.30 | 3.85 | |
Radial load | N | 1000 | 1000 | 1000 | 1000 | 1000 | 1000 | 1000 | 1200 | 1200 | 1200 | 1200 | 2000 | |
Axial load | N | 250 | 250 | 250 | 250 | 250 | 250 | 250 | 300 | 300 | 300 | 300 | 500 | |
Rotor inertia | gc㎡ | 140 | 202 | 850 | 850 | 850 | 1550 | 805 | 2670 | 3400 | 5675 | |||
Number of poles | pairs | 13 | 13 | 13 | 14 | 14 | 14 | 14 | 20 | 20 | 20 | 20 | 21 | |
Motor weight | g | 154 | 250 | 350 | 420 | 480 | 480 | 570 | 630 | 860 | 710 | 1190 | ||
Working temperature | C | -20 - 80C | -20 - 80C | -20 - 80C | -20 - 80C | -20 - 80C | -20 - 80C | -20 - 80C | -20 - 80C | -20 - 80C | -20 - 80C | -20 - 80C | -20 - 80C | |
Max demagnetize temperature | C | 120C | 120C | 120C | 120C | 120C | 120C | 120C | 120C | 120C | 120C | 120C | 120C | |
Gear | Gear ratio | 10:1 | 10:1 | 36:1 | 10:1 | 6:1 | 8:1 | 36:1 | 9:1 | 6:1 | 36:1 | 6:1 | 10:1 | |
Backlash | 10 | 8 | 6 | 8 | 5 | 5 | 5 | 5 | 5 | 5 | 5 | 5 | ||
Driver | Driver No. | DG40 | DG40 | DG40 | DG40 | DRC15 | DRC15 | DRC15 | DRC20 | DRC20 | DRC20 | DRC20 | DRC20 | |
Input voltage | V | 7.4-32 | 7.4-32 | 7.4-32 | 7.4-32 | 12-48 | 12-48 | 12-48 | 12-48 | 12-50 | 12-50 | 12-50 | 12-50 | |
Nominal Current | A | 8 | 8 | 8 | 8 | 10 | 10 | 10 | 15 | 15 | 15 | 15 | 15 | |
Burst Current | A | 15 | 15 | 15 | 15 | 20 | 20 | 20 | 30 | 30 | 30 | 30 | 30 | |
Nominal power | W | 120 | 120 | 120 | 120 | 300 | 300 | 300 | 700 | 700 | 700 | 700 | 700 | |
Communication | CAN/ RS485 | CAN/ RS485 | CAN/ RS485 | CAN/ RS485 | CAN/ RS485 | CAN/ RS485 | CAN/ RS485 | CAN/ RS485 | CAN/ RS485 | CAN/ RS485 | CAN/ RS485 | CAN/ RS485 | ||
Encoder | 14-bit | 18-bit | 18-bit | 18-bit | 16-bit | 16-bit | 16-bit | 18-bit | 18-bit | 18-bit | 18-bit | 18-bit | ||
2 Encoders | No | OPT | OPT | OPT | OPT | OPT | No | OPT | No | No | OPT | OPT | ||
Baut rate | 1M | 1M | 1M | 1M | 1M | 1M | 1M | 1M | 1M | 1M | 1M | 1M | ||
Communication frequency | 2K | 2K | 2K | 2K | 2K | 2K | 2K | 2K | 2K | 2K | 2K | 2K | ||
Control frequency | ||||||||||||||
Torque loop | kHz | 24 | 24 | 24 | 24 | 24 | 24 | 24 | 32 | 32 | 32 | 32 | 24 | |
Speed loop | kHz | 8 | 8 | 8 | 8 | 8 | 8 | 8 | 8 | 8 | 8 | 8 | 8 | |
Position loop | kHz | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | |
Control mode | ||||||||||||||
Torque loop | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | ||
Speed loop | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | ||
Position loop | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | ||
S-Curve | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | ||
ID Switch | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | ||
Connector | ZH | ZH | ZH | ZH | XT30 | XT30 | XT30 | XT30 | XT30 | XT30 | XT30 | XT30 | ||
Temperature sensor | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes |
You are welcome to customize the motor, such as: color, reduction ratio, installation hole position, and other specifications!
Drawings
Open CAN Protocol
1. CAN bus parameters and single motor command send and receive message format
Bus interface: CAN
Baud rate: 1Mbps
The format of message used to send commands and motor replies to a single motor is as follows:
ID: 0x140 + ID(1~32)
Frame format: DATA
Frame type: Standard
DLC: 8 Byte