MIT60-6 130KV Robot dog motor with gear box 6:1 and ZE RS485 & CAN driver inside Stator 6010

Product Code: 256010065
Availability: 50000

Price: $332.58
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256010065 MIT60-6 Robot dog Motor with Gear box 6:1 plus ZE RS485 & CAN Driver, Stator 6010

Specifications:

		MIT60-6	MIT60-36	MIT80-6	MIT80-9	MIT80-36	MIT80 Pro-6	MIT80 Pro-9	MIT80 Pro-36
Motor	Nominal voltage	24V	24V	24V	24V	24V	48V	48V	48V
	Nominal Current	4A	4A	5A	5A	5A	5A	5A	5A
	Stall Current	15A	15A	20A	20A	20A	20A	20A	20A
	Norminal Torque	3Nm	18Nm	6Nm	9Nm	36Nm	9Nm	13Nm	54Nm
	Stall Torque	9Nm	45Nm	15Nm	22Nm	90Nm	25Nm	35Nm	150Nm
	Rated speed	300rpm	50rpm	200rpm	130rpm	35rpm	180rpm	120rpm	30rpm
	Max speed	400rpm	90rpm	350rpm	230rpm	60rpm	380rpm	250rpm	65rpm
	Speed const.	130rpm/V	130rpm/V	100rpm/V	100rpm/V	100rpm/V	50rpm/V	50rpm/V	50rpm/V
	Resistance	0.28ohm	0.28ohm	0.28ohm	0.28ohm	0.28ohm	0.43ohm	0.43ohm	0.43ohm
	Inductance	200uH	190uH	170uH	170uH	170uH	270uH	270uH	270uH
	Torque constant	0.068Nm/A	0.068Nm/A	0.09Nm/A	0.09Nm/A	0.09Nm/A	0.28Nm/A	0.28Nm/A	0.28Nm/A
	Rotor inertia	600gcm^2	600gcm^2	800gcm^2	800gcm^2	800gcm^2	1200gcm^2	1200gcm^2	1200gcm^2
	Poles	14	14	21	21	21	21	21	21
	Motor power	90W	90W	125W	125W	125W	160W	160W	160W
	Size	76x63.5	76x63.5	96x39.5	96x39.5	96x39.5	96x41.7	96x41.7	96x41.7
	Max motor temperature	85C	85C	85C	85C	85C	85C	85C	85C
Gearbox	Gear rate	6:1	36:1	6:1	9:1	36:1	6:1	9:1	36:1
Gearbox	Stall torque	9Nm	45Nm	15Nm	22Nm	90Nm	25Nm	35Nm	150Nm
Driver	Voltage range	12-36V	12-36V	24-48V	24-48V	36-48V	36-48V	36-48V	36-48V
	Encoder	12bit	12bit	12bit	12bit	12bit	12bit	12bit	12bit
	Position control mode	2KHz	2KHz	2KHz	2KHz	2KHz	2KHz	2KHz	2KHz
	Protection	stall warning	stall warning	stall warning	stall warning	stall warning	stall warning	stall warning	stall warning
	Communication	SmartCAN 1MHz	SmartCAN 1MHz	SmartCAN 1MHz	SmartCAN 1MHz	SmartCAN 1MHz	SmartCAN 1MHz	SmartCAN 1MHz	SmartCAN 1MHz
	Firmware	MIT open source software	MIT open source software	MIT open source software	MIT open source software	MIT open source software	MIT open source software	MIT open source software	MIT open source software
Assembly	Ambient temperature	0-40C	0-40C	0-40C	0-40C	0-40C	0-40C	0-40C	0-40C
Assembly	Weight	318g	574g	567g	567g	760g	705g	705g	890g

You are welcome to customize the motor, such as: color, reduction ratio, installation hole position, and other specifications!

Driver: ZE RS485 & CAN

1. Support RS485 and CAN simultaneously

2. Support Customized RS485 and Customized CAN protocol.

3. Support Modbus protocol.

4. Support CANOpen protocol.

5. Support MIT CAN protocol.

6. Support Broadcast mode. Master and slaver can receive the command, but the slaver doesn't reply to the master

7. Support Public mode. All slaver receive the command, and reply to the command. Can not use Pubic ID with RS485

Windows PC setting and control program.

RS485 Windows Control sample

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	Ω	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
Gearbox	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
Assembly	Weight	g	315g	600g	714g	480	480	630	710	710	1190

Applications:

Code link: https://os.mbed.com/users/benkatz/code/Hobbyking_Cheetah/

Connectors and Wires

Driver CAN command

Send CAN command to driver to control the motor position, speed, and current.

Special CAN command

1 Enter motor control mode {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC}

2 Exit motor control mode {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFD}

3 Set current position as zero position {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE}

Identifier： 0x00 Standard Frame Frame Format: DATA DLC: 8 bytes

	DATA[0]	DATA[1]	DATA[2]	DATA[3]		DATA[4]	DATA[5]	DATA[6]		DATA[7]
Data bit	7-0	7-0	7-0	7-0	7-4	3-0	7-0	7-4	3-0	7-0
Content	high 8 bits	low 8 bits	high 8 bits	low 4 bits	high 4 bits	low 8 bits	high 8 bits	low 4 bits	high 4 bits	low 4 bits
	Motor position		Motor speed		KP		KD		torque
Value	-95.5 to 95.5 rad		-30 to 30 rad/s						-18 to 18 Nm

Motor CAN feedback

Identifier： 0x00 + Driver ID Standard Frame Frame Format: DATA DLC: 8 bytes

	DATA[0]	DATA[1]	DATA[2]	DATA[3]	DATA[4]		DATA[5]
Data bit	7-0	7-0	7-0	7-0	7-4	3-0	7-0
Content	8 bits	high 8 bits	low 8 bits	High 8 bits	low 4 bits	high 4 bits	low 8 bits
Content	Driver ID	Motor position		Motor speed		Motor torque
Value		-95.5 to 95.5 rad		-30 to 30 rad/s		-18 to 18 Nm

Tags: MIT60-6 130KV Robot dog motor with gear box 6:1 and ZE RS485 & CAN driver inside Stator 6010