258115060 MIT80 Pro-6 50KV Robot dog Motor with Gear box 6:1 (without Driver)
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 |
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 |
Weight | 318g | 574g | 567g | 567g | 760g | 705g | 705g | 890g |
Drawing:You are welcome to customize the motor, such as: color, reduction ratio, installation hole position, and other specifications!
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 | |
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:
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 |