Home » MG6010-6 Duo V3 2 encoders Robot dog motor with gear box 1:6 & RS485 driver Stator 6010 KV58

MG6010-6 Duo V3 2 encoders Robot dog motor with gear box 1:6 & RS485 driver Stator 6010 KV58

MG6010-6 Duo V3 2 encoders Robot dog motor with gear box 1:6 & RS485 driver Stator 6010 KV58
Product Code: 25360104
Availability: 50000
Price: $239.00
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25360104 MG6010-6 Duo V3 2 encoders Robot dog Motor with ​Gear box 1:6 & RS485 Driver, Stator 6010 KV58

Specifications:

Motor Part No. 　 MG4005-10 MG6010-6 MG6012-8 MG6012-36 MG8008-9 MG8010-6 MG8010-36 MG8016-6 MG10015-10
Turns 　 25 20 20 20 17 17 13 13 11
Nominal voltage V 24 48 48 48 48 48 48 48 48
Nominal current A 1.6 3.8 3.8 3.8 4.9 4.9 6.9 6.5 8
Nominal power 　 38.4 182.4 182.4 182.4 240 240 330 330 385
Nominal torque N.M 1 5 5 15 10 9 35 13 30
Nominal Speed rpm 253 285 285 62 178 155 68 155 150
Max Speed rpm 316 350 350 78 220 225 80 225 190
Stall torque N.M 2.5 11.5 11.5 33 20 21 45 35 50
Stall current A 4 8 8 8 10 7 9 12.5 13
Resistance Ω 1.4 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
Phase to phase inductance mH 0.5 0.55 0.55 0.55 0.59 0.73 0.23 0.54 0.45
Speed constant rpm/v 105 58 58 58 42 32 51 30 28
Torque constant N.M/A 0.06 1.32 1.32

3.94

 2.07 3.00 5.07 3.30 3.85
Radial load N 1000 1000 1000 1000 1200 1200 1200 1200 2000
Axial load N 250 250 250 250 300 300 300 300 500
Rotor inertia gc㎡ 140 850 850   1550 805 2670 3400 5675
Number of poles  pairs 13 14 14 14 20 20 20 20 21
Motor weight g 154 480 480   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
Max demagnetize temperature C 120C 120C 120C 120C 120C 120C 120C 120C 120C
Gear Gear ratio 　  10:1  6:1  8:1 36:1 9:1  6:1  36:1  6:1  10:1
Backlash 　 10 5 5 5 5 5 5 5 5
Driver Driver No. 　 DF40 DRC15 DRC15 DRC15 DRC20 DRC20 DRC20 DRC20 DRC20
Input voltage V  7.4-32  12-48  12-48 12-48 12-48 12-50 12-50 12-50 12-50
Nominal Current A 8 10 10 10 15 15 15 15 15
Burst Current A 15 20 20 20 30 30 30 30 30
Nominal power W 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
Encoder 　 14-bit 16-bit 16-bit 16-bit 18-bit 18-bit 18-bit 18-bit 18-bit
2 Encoders 　 No Optional Optional No Optional No No Optional Optional
Baut rate 　 1M 1M 1M 1M 1M 1M 1M 1M 1M
Communication frequency 　 2K 2K 2K 2K 2K 2K 2K 2K 2K
Control frequency 　 　 　 　     　 　 　 　
     Torque loop kHz 24 24 24 24 32 32 32 32 24
     Speed loop kHz 8 8 8 8 8 8 8 8 8
     Position loop kHz 4 4 4 4 4 4 4 4 4
Control mode 　 　 　     　 　 　 　 　
     Torque loop 　 Yes Yes Yes Yes Yes Yes Yes Yes Yes
     Speed loop 　 Yes Yes Yes Yes Yes Yes Yes Yes Yes
     Position loop 　 Yes Yes Yes Yes Yes Yes Yes Yes Yes
S-Curve 　 Yes Yes Yes Yes Yes Yes Yes Yes Yes
ID Switch 　 Yes Yes Yes Yes Yes Yes Yes Yes Yes
Connector 　 XT2.0 XT2.0 XT2.0 XT2.0 XT2.0 XT2.0 XT2.0 XT2.0 XT2.0
Temperature sensor 　 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 Ω 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 RS485 Protocol

  1. RS485 bus parameter

Bus type:

RS485

Bus interface chip:

MAX3485

Bus interface level:

TTL 3.3V

Baud rate:

9600, 19200, 57600, 115200 (default)

Data bits:

8

Parity:

none

Stop position:

1

 

2 Some RS485 command samples

The following is a sample to send an open running command to the #1 motor running at 250 power in HEX. 
3E A0 01 02 E1 FA 00 FA
The following is a sample to send a Speed closed loop control command to the #1 motor running at an angular speed 720dps in HEX
3E A2 01 04 E5 40 19 01 00 5A
The following is a sample to send a Position + Speed closed loop control command to #1 motor to run at speed 180dps to 360 degree
3E A4 01 0C EF A0 8C 00 00 00 00 00 00 50 46 00 00 C2

Tags: MG6010 Robot dog motor with gear box & CAN driver Stator 6010 KV58
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