MG8015-9 Robot dog motor 14Nm 177RPM Max 28Nm 216RPM with CAN Driver with gear box Stator 8015 KV41

Product Code: 25480152
Availability: 50000

Price: $304.60
Ex Tax: $304.60

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25480152 MG8015-9 Robot dog Motor with 9:1 Gear box & CAN Driver, Stator 8016 KV41

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	8015 -9	8016 -6	10015 -10
	Turns		25	14	14	13	20	20	20	17	17	13	16	13	11
	Nominal voltage	V	24	24	24	24	48	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	6.8	6.5	8
	Nominal power		38.4	84	84	106	182.4	182.4	182.4	240	240	330	326	330	385
	Nominal torque	N.M	1	2.5	9	4	5	5	15	10	9	35	14	13	30
	Nominal Speed	rpm	253	260	72	235	285	285	62	178	155	68	177	155	150
	Max Speed	rpm	316	320	90	320	350	350	78	220	225	80	216	225	190
	Stall torque	N.M	2.5	4.5	18	7	11.5	11.5	33	20	21	45	28	35	50
	Stall current	A	4	6.97	6.97	6.7	8	8	8	10	7	9	14	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	0.3	0.55	0.38
	Wire connect		Y	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	0.32	0.54	0.45
	Speed constant	rpm/v	105	108	3	98	58	58	58	42	32	51	41	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	1.35	3.30	3.85
	Radial load	N	1000	1000	1000	1000	1000	1000	1000	1200	1200	1200	1200	1200	2000
	Axial load	N	250	250	250	250	250	250	250	300	300	300	300	300	500
	Rotor inertia	gc㎡	140	202		850	850	850		1550	805	2670	2570	3400	5675
	Number of poles	pairs	13	13	13	14	14	14	14	20	20	20	21	20	21
	Motor weight	g	154	250	350	420	480	480		570	630	860	705	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	-20 - 80C
	Max demagnetize temperature	C	120C	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	9:1	6:1	10:1
Gear	Backlash		10	8	6	8	5	5	5	5	5	5	5	5	5
Driver	Driver No.		DG40	DG40	DG40	DG40	DRC15	DRC15	DRC15	DRC20	DRC20	DRC20	DGE60	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	12-60	12-50	12-50
	Nominal Current	A	8	8	8	8	10	10	10	15	15	15	15	15	15
	Burst Current	A	15	15	15	15	20	20	20	30	30	30	30	30	30
	Nominal power	W	120	120	120	120	300	300	300	700	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	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	18-bit
	2 Encoders		No	OPT	OPT	OPT	OPT	OPT	No	OPT	No	No	OPT	OPT	OPT
	Baut rate		1M	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	2K
	Control frequency
	Torque loop	kHz	24	24	24	24	24	24	24	32	32	32	32	32	24
	Speed loop	kHz	8	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	4
	Control mode
	Torque loop		Yes	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	Yes
	Position loop		Yes	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	Yes
	ID Switch		Yes	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	XT30
	Temperature sensor		Yes	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

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

2 Some CAN command samples

To send a running command to the #1 motor.

ID	Len	Data0	D1	D2	D3	D4	D5	D6	D7	Format	Type
141	8	88	00	00	00	00	00	00	00	Standard	Data

The following is a sample to send a stop command to the #1 motor.

ID	Len	Data0	D1	D2	D3	D4	D5	D6	D7	Format	Type
141	8	81	00	00	00	00	00	00	00	Standard	Data

The following is a sample to send a Speed closed loop control

ID	Len	Data0	D1	D2	D3	D4	D5	D6	D7	Format	Type
141	8	A2	00	00	00	28	23	00	00	Standard	Data

The following is a sample to send a Position + Speed closed loop control command to the #1 motor to run at speed 90dps to 720degre

ID	Len	Data0	D1	D2	D3	D4	D5	D6	D7	Format	Type
141	8	A4	00	28	23	40	19	01	00	Standard	Data

Tags: MG8015-9 Robot dog motor 14Nm 177RPM Max 28Nm 216RPM with CAN Driver with gear box Stator 8015 KV41