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