MG8008-9 Duo V3 2 encoders Robot dog motor with gear box & CAN driver 18 bit on motor 14 bit on gearbox Stator 8008 KV42

MG8008-9 Duo V3 2 encoders Robot dog motor with gear box & CAN driver 18 bit on motor 14 bit on gearbox Stator 8008 KV42
Product Code: 25380087
Availability: 50000
Price: $296.20
Ex Tax: $296.20

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25380087 MG8008-9 1:9 Duo V3 2 encoders Robot dog Motor with ​Gear box & CAN Driver, Stator 8008 KV42

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 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.
1. Turn on the motor power.
2. Send command 3E A6 01 08 ED 00 00 00 00 A0 8C 00 00 2C in Hex to return to Zero position.
This above is the Zero position of the motor.

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. 
The above is the position of 267 degree after run the command.
4. Then turn the motor power off.
5. After a while, turn the motor power on.

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.
The above is motor Zero position after running the command. 
You can see that the motor with gear box, if there are 2 encoders, even you turn the motor power off, you can return to the motor zero position after power on again. 

 

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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