MIT60 Robot dog motor with gear box and driver inside Stator 6010 KV140

MIT60 Robot dog motor with gear box and driver inside Stator 6010 KV140
Product Code: 2560103
Availability: 50000
Price: $332.58
Ex Tax: $332.58

3 or more $326.50
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56010 MIT60 Robot dog Motor with ​Gear box plus Driver, Stator 6010 KV140

Specifications:

    MIT60 MIT80 MIT80 Pro
Motor Power supply 24V 24V/48V 48V
Current 7.4A 7A 6.5A
Torque 3Nm 9Nm 13Nm
Torque const. 0.068Nm/A 0.091Nm/A 0.095Nm/A
Rated speed 300rpm 160RPM 300RPM
Max speed 400rpm 245RPM 380RPM
Speed const. 140rpm/V 100rpm/V 100rpm/V
Resistance 0.26ohm 0.17ohm 0.161
Inductance 112uH 57uH 73uH
Poles 14 21 21
Motor power 210W 200W 480W
Size 76x63.5 96x39.5 96x41.7
Max motor temperature 85C 85C 85C
Gearbox Gear rate  6:1 06:01 06:01
Stall torque 9Nm 15Nm 35Nm
Driver Encoder 12bit MA702 15bit 12bit
Position control mode 2KHz 2KHz 2KHz
Protection stall warning stall warning stall warning
Communication SmartCAN 1MHz SmartCAN 1MHz SmartCAN 1MHz
Firmware MIT open source software MIT open source software MIT open source software
Assembly Ambient temperature 0-40C 0-40C 0-40C
Weight 315g 600g 714g

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

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:

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
Driver ID Motor position Motor speed Motor torque
Value   -95.5 to 95.5 rad -30 to 30 rad/s -18 to 18 Nm

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