253601262 MG6012-36 V3 Robot dog Motor with Gear box 36:1 and Driver CAN, Stator 6012 KV62
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!
Two Encoder Benifits
The first encoder remembers the motor rotor zero postion. The second encoder remembers the gear box output shaft zero position. |
3. Send command 3E A6 01 08 ED 00 00 71 02 A0 8C 00 00 9F in Hex to make the motor return to 267 degree position. |
6. Send command 3E A6 01 08 ED 00 00 00 00 A0 8C 00 00 2C in Hex to make the motor return to Zero position. |
Drawing:
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
Motor | Part No. | MG4005 | MG6010 | MG6012 Duo | MG8010 | MG8010-36 | MG8016 | MG8016 Duo | MG10015 | |
Turns | 25 | 20 | 20 | 18 | 17 | 13 | 13 | 11 | ||
Nominal voltage | V | 24 | 48 | 48 | 48 | 48 | 48 | 48 | 48 | |
Nominal current | A | 1.6 | 3.8 | 3.8 | 4.9 | 6.9 | 6.5 | 6.5 | 8 | |
Nominal power | 38.4 | 182.4 | 182.4 | 240 | 800 | 330 | 330 | 385 | ||
Nominal torque | N.M | 1 | 5 | 5 | 9 | 35 | 13 | 13 | 30 | |
Nominal Speed | rpm | 253 | 285 | 285 | 165 | 68 | 155 | 155 | 150 | |
Max Speed | rpm | 316 | 350 | 350 | 250 | 90 | 225 | 225 | 190 | |
Stall torque | N.M | 2.5 | 11.5 | 11.5 | 21 | 45 | 35 | 35 | 50 | |
Stall current | A | 4 | 8 | 8 | 7 | 12.6 | 12.5 | 12.5 | 13 | |
Resistance | Ω | 1.4 | 0.98 | 0.98 | 0.94 | 0.27 | 0.55 | 0.55 | 0.38 | |
Wire connect | Y | Y | Y | Y | delt | Y | Y | Y | ||
Phase to phase inductance | mH | 0.5 | 0.55 | 0.55 | 0.73 | 0.23 | 0.54 | 0.54 | 0.45 | |
Speed constant | rpm/v | 105 | 58 | 58 | 32 | 51 | 30 | 30 | 28 | |
Torque constant | N.M/A | 0.06 | 1.32 | 1.32 | 3.00 | 0.15 | 3.30 | 3.30 | 3.85 | |
Radial load | N | 1000 | 1000 | 1000 | 1200 | 2500 | 1200 | 1200 | 2000 | |
Axial load | N | 250 | 250 | 250 | 300 | 500 | 300 | 300 | 500 | |
Rotor inertia | gc㎡ | 140 | 850 | 850 | 805 | 2670 | 3400 | 3400 | 5675 | |
Number of pole pairs | 13 | 14 | 14 | 20 | 20 | 20 | 20 | 21 | ||
Motor weight | g | 154 | 480 | 480 | 630 | 860 | 710 | 710 | 1190 | |
Working temperature | C | -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 | |
Gear | Gear ratio | 10:1 | 8:1 | 8:1 | 6:1 | 36:1 | 6:1 | 6:1 | 7:1 | |
Backlash | 10 | 5 | 5 | 5 | 8 | 5 | 5 | 5 | ||
Driver | Driver No. | DF40 | DRC15 | DRC15 | DRC20 | DG80v2 | DRC20 | DRC20 | DRC20 | |
Input voltage | V | 7.4-32 | 12-48 | 12-48 | 12-50 | 12-60 | 12-50 | 12-50 | 12-50 | |
Nominal Current | A | 8 | 10 | 10 | 15 | 15 | 15 | 15 | ||
Burst Current | A | 15 | 20 | 20 | 30 | 30 | 30 | 30 | ||
Nominal power | W | 120 | 300 | 300 | 700 | 700 | 700 | 700 | ||
Communication | CAN Bus/RS485 | CAN Bus | CAN Bus | CAN Bus | CAN RS485 | CAN Bus | CAN Bus | CAN Bus | ||
Encoder | 14-bit | 16-bit | 16-bit | 16-bit | 18-bit | 16-bit | 18-bit | 18-bit | ||
2 Encoders | No | No | Yes | No | No | No | Yes | No | ||
Baut rate | 1M | 1M | 1M | 1M | 1M | 1M | 1M | 1M | ||
Communication frequency | 2K | 2K | 2K | 2K | 2K | 2K | 2K | 2K | ||
Control frequency | ||||||||||
Torque loop | kHz | 24 | 24 | 24 | 32 | 32 | 32 | 32 | 24 | |
Speed loop | kHz | 8 | 8 | 8 | 8 | 8 | 8 | 8 | 8 | |
Position loop | kHz | 4 | 4 | 4 | 4 | 4 | 4 | 4 | 4 | |
Control mode | ||||||||||
Torque loop | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | ||
Speed loop | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | ||
Position loop | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | ||
S-Curve | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | ||
ID Switch | 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 | ||
Temperature sensor | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes |