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M Series Robot Joint Module
M Series Robot Joint Module
M Series Robot Joint Module

M Series Robot Joint Module

This joint module is a highly integrated design module, which is the core module of the joint part of the robot, and can quickly realize various applications and functional requirements of the robot.
This joint module is mainly composed of high-performance torque motor, absolute encoder, high precision harmonic reducer, high safety servo driver and brake in one, to meet the needs of users with large torque output, high motion accuracy and high reliability.

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Product Description
This product includes the outer diameter of 52mm 70mm 80mm 110mmmm products, the maximum torque can reach 100Nm; Stable product performance, low price, can meet the needs of many customers for joint modules. This product can be widely used in robot arm, turntable, industrial automation equipment, agricultural picking robot arm and so on.


Product Features
1. Isolate CANOPEN communication in accordance with CiA301 V4.2.0 specification.
    A. Support SDO, TPDO, RPDO.
    B. Support speed mode, position mode (contour mode, interpolation mode).
    C. Support heartbeat production and consumption
2. 15-bit absolute encoder, one lap pulse up to 32768.
3. Multi-turn absolute value (battery required). Pulse mode: Power on automatically back to the power off position.
    Communication mode: power-off record location.
4. Multi-stage DD motor structure, large torque output.
5. Integrated servo, simplified wiring, small size.
6. Low noise, low vibration, high speed positioning, high reliability.
7. FOC field orientation vector control, support position/velocity closed loop.
8. Can work in zero lag given pulse state, follow zero lag.
9. 16 position electronic gear function.
10. CANOPEN host computer is provided to monitor motor status and modify parameters.
11. Position mode, support pulse + direction signal, encoder follow
12. Speed mode, support PWM duty ratio signal speed regulation
13. With blocked rotation, overcurrent protection, overvoltage protection.



With simplified wiring and compact structure, the smallest outer diameter of M series robot joint modules is 52mm. 



M series robotic joint are designed with reasonable interface-- power connector and communication &output interface.




With simple and easy operate PC software to minitor motor status and modify parameter, M series robot joint servo motor actuator could fulfill many clients' demand. 



Built-in low power consumption multi-turn absolute encoder, 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.





 
 
 
  Parameter M4215E
14B50L 		 M4215E
14B80L		 M4215E
14B100L		 M5730(B)
E17B50L		 M5730(B)
E17B80L		 M5730(B)
E17B100L		 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% 36VDC±10% 36VDC±10%
Motor rated current 2A 2A 2A 3.5 A 3.5 A 3.5 A 3.5A 3.5A 3.5A 7A 7A 7A
Output torque after deceleration 7NM 10NM 10NM 34NM 35NM 51NM 34NM 35NM 51NM 51NM 85NM 100NM
Weight 0.8KG 0.8KG 0.8KG 1KG 1KG 1KG 1KG 1KG 1KG 2.5KG 2.5KG 2.5KG
Speed range after deceleration 0~40RPM 0~25RPM 0~20RPM 0~30RPM 0~18RPM 0~15RPM 0~30RPM 0~18RPM 0~15RPM 0~30RPM 0~18RPM 0~10RPM
Reducer parameter Reduction ratio 50 80 100 50 80 100 50 80 100 50 80 100
Rated torque 7NM 10NM 10NM 21NM 29NM 31NM 34NM 35NM 51NM 51NM 82NM 87NM
Peak start-stop torque 23NM 30NM 36NM 44NM 56NM 70NM 44NM 56NM 70NM 127NM 178NM 204NM
Backlash ＜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		 <20 arc seconds <20 arc seconds <20 arc
seconds
Design life 8500hour 8500hour 8500hour 8500H 8500H 8500H 8500hour 8500hour 8500hour 8500hour 8500hour 8500hour
Motor parameter Torque 0.5NM 0.5NM 0.5NM 1NM 1NM 1NM 1NM 1NM 1NM 2NM 2NM 2NM
Rated speed 1500RPM 1500RPM 1500RPM 1500RPM 1500RPM 1500RPM 1500RPM 1500RPM 1500RPM 1000RPM 1000RPM 1000RPM
Maximum rotational speed 2000RPM 2000RPM 2000RPM 2000RPM 2000RPM 2000RPM 2000RPM 2000RPM 2000RPM 1500RPM 1500RPM 1500RPM
Power 50W 50W 50W 100W 100W 100W 100W 100W 100W 200W 200W 200W
Resistance 2.65 2.65 2.65 0.86 0.86 0.86 0.86 0.86 0.86 0.53 0.53 0.53
Inductance 1.1mh 1.1mh 1.1mh 0.8mh 0.8mh 0.8mh 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 0.69 x 10-4 KG/M2 0.69 x 10-4KG/M2 0.69 x 10-4KG/M2 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-loop absolute encoder (single-loop 15 bit multi-loop 9 bit) 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 ~65535 to 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 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%
  

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