MG6010-6 Duo V3 2 encoder Robot dog motor with gear box 1:6 & CAN driver Stator 6010 KV58

MG6010-6 Duo V3 2 encoder Robot dog motor with gear box 1:6 & CAN driver Stator 6010 KV58
Product Code: 25360105
Availability: 50000
Price: $239.00
Ex Tax: $239.00

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25360105 MG6010-6 Duo V3 2 encoders Robot dog Motor with ​1:6 Gear box & CAN Driver, Stator 6010 KV58

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 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!

Drawing:

Related product list for easy finding the suitable one:

  MIT open source software Commercial software
MIT60 MIT80 MIT80 Pro MG6010 MG6012 Duo MG8010 MG8016 MG8016 Duo MG10015
Motor Power supply V 24 24 / 48 48 48 48 48 48 48 48
Current A 7.4 7 6.5 3.8 3.8 4.9 6.5 6.5 8
Torque N.M 3 9 13 5 5 9 13 13 30
Torque const. N.M/A 1.3 2.4 3.1 1.32 1.32 3.00 3.30 3.30 3.85
Rated speed rpm 300 160 300 285 285 165 155 155 150
Max speed rpm 400 245 380 350 350 250 225 225 190
Speed const. rpm/v 140 100 100 58 62 32 30 30 28
Resistance 0.26 0.17 0.161 0.98 0.98 0.94 0.55 0.55 0.38
Inductance mH 0.112 0.057 0.073 0.55 0.55 0.73 0.54 0.54 0.45
Poles   14 21 21 14 14 20 20 20 21
Motor power W 210 200 480 182.4 182.4 240 330 330 385
Size mm 76x63.5 96x39.5 96x41.7 79x44.7 80x44.5 98x43 99x49.5 99x49.5 120x50.2
Max motor temperature C 85C 85C 85C  -20 - 80C  -20 - 80C  -20 - 80C  -20 - 80C  -20 - 80C  -20 - 80C
Gearbox Gear rate    6:1  6:1  6:1  8:1  8:1  6:1  6:1  6:1  7:1
Stall torque N.M 9 15 35 11.5 11.5 21 35 35 50
Driver Encoder   12bit MA702 15bit 12bit 16-bit 16-bit 16-bit 16-bit 18-bit 18-bit
Encoders pcs 1 1 1 1 2 1 1 2 1
Position control mode kHz 2 2 2 4 4 4 4 4 4
Protection   stall warning Over current/over heat
Communication   SmartCAN 1MHz CAN Bus/RS485
Firmware   MIT open source software Commercial software/ Torque loop/Position loop/Speed loop
Assembly Ambient temperature C 0-40C 0-40C 0-40C -20-40C -20-40C -20-40C -20-40C -20-40C -20-40C
Weight g 315g 600g 714g 480 480 630 710 710 1190
 
 

Applications:

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

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