Home » MG8016-6 Duo V2 2 encoders Robot dog motor with 6:1 gear box & RS485 driver Stator 8016 KV30

MG8016-6 Duo V2 2 encoders Robot dog motor with 6:1 gear box & RS485 driver Stator 8016 KV30

MG8016-6 Duo V2 2 encoders Robot dog motor with 6:1 gear box & RS485 driver Stator 8016 KV30
Product Code: 25480166
Availability: 49995
Price: $353.40
Ex Tax: $353.40

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25480166 MG8016-6 Duo Robot dog Motor with 6:1 ​Gear box & RS485 Driver, Stator 8016 KV30

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 Ω 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!

 

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. 

 

MG DUO 2 Encoder and 1 Encoder test comparison

 

 

 

​
Step 1: Power on the motor, run command to set the motors to 0 degree, gearbox to 0 degree. 
Step 2: Send the command to run the motor to 150 degree. 
Step 3: Power off the motor
Step 4:　Power on the motor again. Send the command to run the motor to 0 degree. You can see both 1 encoder motor and Duo 2 Encoders motor gearbox can return to 0 degree position. 
Step 5:　Run command to run the motor to 540 degree. 
Step 6: Power off the motor
Step 7: Power on the motor again. Run command to return to motor 0 degree. You can see only Duo 2 Encoders motor gearbox can return to 0 degree position. 

Drawing:

 

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

 

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 Ω 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
 
Tags: MG8016 Duo 2 encoders Robot dog motor with gear box & RS485 driver Stator 8016 KV30
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