M Robot Joint Actuators

The robot joint actuators integrated DC motor , harmonic reducer , absolute encoder and high servo motor drive together , So M Series robot joint actuators make automated production easier and more efficient,can build the robot project soon, applications for various requirements .
The harmonic drive actuators have stable performance and fewer after-sales problems, making it the first choice for robot customers.

Max rated torque: 100NM
Peak Speed : 30RPM
Rated Voltage: 36VDC±10%
Communication: Canopen, Modbus,EasyCan

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Product Description
The M series robot joint actuators include the outer diameter of 52mm 70mm 80mm 110mmmm , the maximum torque can reach 100Nm; With stable product performance, low price, which can meet the needs of many customers for joint modules. Widely used in CNC machine, automated production lines, robot arms, humanoid robots, large rotating platforms.

M4210,M4215, M8010, M8025
Integrated joint servo motor

Voltage:24-36V
Power:33W,50W,100W, 200W
Torque:3.2NM,10NM, 51NM, 100NM

Speed/position mode
Pulse direction /RS485/CANOPEN
Multi-turn absolute encoder

M series joint actuators quick selection table

Model	M8025E25B50/80/100L	M8010E17B50/80/100L	M4215E14B50/80/100L	M4210E14B50/80/100L
Motor rated voltage	36VDC±10%	36VDC±10%	36VDC±10%	36VDC±10%
Output torque	51NM/85NM/100NM	34NM/35NM/51NM	7NM/10NM/10NM	3.2NM
Output Speed	0~30RPM/0~18RPM/0~15RPM	0~30RPM/0~18RPM/0~15RPM	0~40RPM/0~25RPM/0~20RPM	0~40RPM
OD	110mm	80mm	70mm	52mm

Product Features

CANopen and Modbus PC software to monitor motor status and modify parameters.

-Isolate CANopen communication according to CiA301 V4.2.0 specificationSupport SDO, TPDO, RPDO.
-Support speed mode, position mode (contour mode, interpolation mode)
-Support heartbeat production and consumption

Built-in low power consumption multi-turn absolute encoder

-15 bit absolute encoder, one lap pulse up to 32768.
-Harmonic reducer, motor, driver and 15bit +16bit encoder are integrated.
-when the robotic joint motor is powered, there is a charging circuit inside to power the -battery.
--When the robot servo motor is powered off, the battery current consumed is only 0.07mA.

Multi-stage DD motor structure, large torque output

-Multi-Stage Direct Drive Architecture for Enhanced Torque Density
-High Torque Output with Smooth and Precise Motion Control
-Integrated Design for Efficiency and System Reliability

High-Precision Harmonic Drive System

-High-Precision Harmonic Reducer
-Low Noise & Low Vibration Performance
-High-Speed Positioning Capability
-High Reliability for Continuous Operation

Reasonable interface-power connector

Terminal Serial No	Name	Function
1	+V	Positive DC Power +24V~36V. Negative and positive connections can either directly short the power supply or damage the driver
2	GND	DC power source. Negative and positive connections can either directly short the power supply or damage the driver

Reasonable interface-Communication

Db9 Male head
1	2	3	4	5	6	7	8	9
PU+	PU-	DIR+	DIR-	WR+	OZ	COM	CANL	CANH
BLUE	BLUE BLACK	GREEN	GREEN BLACK	RED WHITE	YELLOW	BLACK WHITE	BROWN	WHITE

Terminal serial number	Name	Function
1	PU+	Pulse control signal: the rising edge of the pulse is valid; PU- is 3.3~5V at high level, and 0-0.5V at low level. For reliable response to pulsed signals, the pulse width should be greater than 1.2μs. If +12V or +24V is used, a series resistor is required.
2	PU-
3	DIR+	Direction signal: high/low level signal, in order to ensure the reliable commutation of the motor, the direction signal should be established at least 5μs before the pulse signal.DIR-3.3~5V at high level, 0-0.5Vat low level.
4	DIR-
5	WR+	Alarm signal output, the internal output is optocoupler NPN.Normally,it is in high impedance state, and it is connected to COM during alarm.
6	OZ	Encoder zero output. There is a zero signal optocoupler NPN output conduction signal.
7	COM	The output signal is common to the 485 power supply.
8	CANL	Can Communication port CANL, built-in isolated power supply
9	CANH	Can Communication port CANH,built-in isolated power supply

Product Drawings

Product Application

Fully automated production

Welding robotic arm

Surgical robot

Medical rehabilitation robot

	Parameter	M4210E 14B50L	M4215E 14B50L	M4215E 14B80L	M4215E 14B100L	M8010(B) E17B50L	M8010(B) E17B80L	M8010(B) E17B100L	M8025(B) E25B50L	M8025(B) E25B80L	M8025(B) E25B100L
Overall parameter	Motor rated voltage	36VDC±10%	36VDC±10%	36VDC±10%	36VDC±10%	36VDC±10%	36VDC±10%	36VDC±10%	36VDC±10%	36VDC±10%	36VDC±10%
	Motor rated current	1.5A	2A	2A	2A	3.5A	3.5A	3.5A	7A	7A	7A
	Output torque after deceleration	3.2NM	7NM	10NM	10NM	34NM	35NM	51NM	51NM	85NM	100NM
	Weight	0.4KG	0.8KG	0.8KG	0.8KG	1KG	1KG	1KG	2.5KG	2.5KG	2.5KG
	Speed range after deceleration	0~40RPM	0~40RPM	0~25RPM	0~20RPM	0~30RPM	0~18RPM	0~15RPM	0~30RPM	0~18RPM	0~10RPM
Reducer parameter	Reduction ratio	50	50	80	100	50	80	100	50	80	100
	Rated torque	3.2NM	7NM	10NM	10NM	34NM	35NM	51NM	51NM	82NM	87NM
	Peak start-stop torque	7.8NM	23NM	30NM	36NM	44NM	56NM	70NM	127NM	178NM	204NM
	Backlash	＜10 arc seconds	＜10 arc seconds	＜10arc seconds	＜10arc seconds	<20 arc seconds	<20 arc seconds	<20 arc seconds	<20 arc seconds	<20 arc seconds	<20 arc seconds
	Design life	8500hour	8500hour	8500hour	8500hour	8500hour	8500hour	8500hour	8500hour	8500hour	8500hour
Motor parameter	Torque	0.3NM	0.5NM	0.5NM	0.5NM	1NM	1NM	1NM	2NM	2NM	2NM
	Rated speed	2000RPM	1500RPM	1500RPM	1500RPM	1500RPM	1500RPM	1500RPM	1000RPM	1000RPM	1000RPM
	Maximum rotational speed	2500RPM	2000RPM	2000RPM	2000RPM	2000RPM	2000RPM	2000RPM	1500RPM	1500RPM	1500RPM
	Power	33W	50W	50W	50W	100W	100W	100W	200W	200W	200W
	Resistance	2.65	2.65	2.65	2.65	0.86	0.86	0.86	0.53	0.53	0.53
	Inductance	1.18mh	1.1mh	1.1mh	1.1mh	0.8mh	0.8mh	0.8mh	0.5mh	0.5mh	0.5mh
	Rotary inertia	0.9139x10-5 KG/M 2	0.9139x10-5 KG/M 2	0.9139x10-5 KG/M 2	0.9139x10-5 KG/M 2	0.69x10-4 KG/M2	0.69x10-4KG/M2	0.69x10-4KG/M2	1.74x10-4 KG/M2	1.74x10-4 KG/M2	1.74x10-4 KG/M2
Feedback signal		Multi-turn absolute encoder (15 bit single-turn and 16 bit multi-turn)	Multi-turn absolute encoder (15 bit single-turn and 16 bit multi-turn)			Multi-turn absolute encoder (15-bit single-turn 16-bit multi-turn)			Multi-loop absolute encoder (15-bit single-turn 16-bit multi-turn)
Cooling mode		Natural cooling	Natural cooling			Natural cooling			Natural cooling
Position Control Mode	Maximum input pulse frequency	500KHz	500KHz			500KHz			500KHz
	Pulse instruction mode	Pulse + direction, A phase +B phase(needs the controller supports AB pulses)	Pulse + direction, A phase +B phase(needs the controller supports AB pulses)			Pulse + direction, A phase +B phase(need controller support AB pulse)			Pulse + direction, A phase +B phase(needs controller support AB pulse)
	Electronic gear ratio	Set up 1~65535 to 1~65535	Set up 1~65535 to 1~65535			Set up 1~65535 to 1~ 65535			Set up 1~65535 to 1~ 65535
	Location sampling frequency	2KHZ	2KHZ			2KHz			2KHz
Protection function		Lock-motor alarm, over-current alarm	Lock-motor alarm, over-current alarm			Clock-motor alarm, over current alarm			Clock-motor alarm, over current alarm
Communication interface		CANBUS/Canopen/Modbus	CANBUS/Canopen/Modbus			CANBUS/Canopen/Modbus			CANBUS/Canopen/Modbus
Environ ment	Ambient temperature	0~40°	0~40°			0~40°			0~40°
	Max. permissible temperature of motor	85°	85°			85°			85°
	Humidity	5~95%	5~95%			5~95%			5~95%