The MP series planetary robot joint actuator is a joint module integrating a reducer, a motor and a motor driver. The deceleration mode is planetary reducer has all its gears treated by vacuum nitriding, which endows the reducer with high strength and a long service life.
Max rated torque: 120NM
Peak Speed : 157RPM
Rated Voltage: 48V
The MP series planetary robot joint actuator is a joint module integrating a reducer, a motor and a motor driver. The deceleration mode is planetary reducer has all its gears treated by vacuum nitriding, which endows the reducer with high strength and a long service life. The motor adopts a brushless DC motor scheme with concentrated windings, featuring high power density and efficiency. After optimizing the pole arc coefficient, the motor has a lower cogging torque and operates more smoothly. Meanwhile, the product is equipped with a high-performance driver independently developed. The servo control incorporates flux linkage observation control, which can adapt to different loads and has an extremely wide constant speed bandwidth. Unlike the traditional three-loop PID control, there is no need to frequently adjust parameters. It is simple and easy to use. The driver also has functions such as temperature protection and overload protection to ensure the stable and reliable operation of the product.
| Model | MP-A4310-P2-36 | MP-A6408-P2-25 | MP-A8112-P1-18 | MP-A10020-P1-12 | MP-A10020-P2-24 | MP-A13715-P1-12.67 | MP-A13720-P1-11.4 |
| Reducer ratio | 36 | 25 | 18 | 12 | 24 | 12.67 | 11.4 |
| Rated Voltage（V） | 24 | 48 | 48 | 48 | 48 | 48 | 48 |
| Rated Power（W） | 134.4 | 365.2 | 672 | 933.6 | 1450 | 1876 | 1756.8 |
| Rated Speed （RPM） | 77 | 126 | 154 | 128 | 116 | 119 | 126 |
| Rated Torque（NM） | 12 | 20 | 30 | 50 | 100 | 110 | 120 |
| Peak Speed（RPM） | 87 | 135 | 157 | 140 | 126 | 135 | 139 |
| Peak Torque（NM） | 36 | 60 | 90 | 150 | 360 | 320 | 400 |
| Weight（G） | 384 | 604 | 831 | 1362 | 2180 | 2657 | 3109 |
| Backlash（Arcmin） | 10 | 10 | 12 | 20 | 20 | 10 | 15 |
| Motor Size（MM） | 56*60 | 88*59.5 | 105*47.5 | 124*60 | 124*85 | 170*73 | 170*83 |
| communication mode | CAN | CAN | CAN | CAN | CAN | CAN | CAN |
| Model | MP-A4310-P2-36 | MP-A6408-P2-25 | MP-A8112-P1-18 | MP-A10020-P1-12 | MP-A10020-P2-24 | MP-A13715-P1-12.67 | MP-A13720-P1-11.4 |
| Reducer ratio | 36 | 25 | 18 | 12 | 24 | 12.67 | 11.4 |
| Rated Voltage（V） | 24 | 48 | 48 | 48 | 48 | 48 | 48 |
| Rated Bus Bar Current（A） | 5.6 | 7.8 | 14.01 | 19.45 | 30.21 | 39 | 36.6 |
| Rated Phase Current（A） | 7.7 | 8.6 | 13.18 | 21.76 | 44.91 | 43.5 | 46.7 |
| Rated Power（W） | 134.4 | 365.2 | 672 | 933.6 | 1450 | 1876 | 1756.8 |
| Rated Speed （RPM） | 77 | 126 | 154 | 128 | 116 | 119 | 126 |
| Rated Torque（NM） | 12 | 20 | 30 | 50 | 100 | 110 | 120 |
| Peak Speed（RPM） | 87 | 135 | 157 | 140 | 126 | 135 | 139 |
| Peak Phase Current（A） | 30 | 60 | 60 | 70 | 140 | 220 | 220 |
| Peak Torque（NM） | 36 | 60 | 90 | 150 | 360 | 320 | 400 |
| Efficiency | 71% | 71% | 72% | 72% | 80% | 73% | 80% |
| Torque constant（NM/A） （average value） |
1.4） | 2.35 | 2.1 | 2.5 | 2.6 | 2.5 | 2.5 |
| Weight（G） | 384 | 604 | 831 | 1362 | 2180 | 2657 | 3109 |
| Backlash（Arcmin） | 10 | 10 | 12 | 20 | 20 | 10 | 15 |
| Motor Size（MM） | 56*60 | 88*59.5 | 105*47.5 | 124*60 | 124*85 | 170*73 | 170*83 |
| communication mode | CAN | CAN | CAN | CAN | CAN | CAN | CAN |
| Communication baud rate | 1M | 1M | 1M | 1M | 1M | 1M | 1M |
| Double Encoder | YES | YES | YES | YES | YES | YES | YES |
| Axial and radial loads（KN） | 1.89 | 2.14 | 2.81 | 2.63 | 6.76 | 6.76 | 6.76 |
| Bending moment resistanc（NM） | 28 | 40 | 98 | 78 | 300 | 300 | 300 |
| Cross roller bearing type | 3005 | 4005 | 7005 | 6005 | 9008 | 9008 | 9008 |
| The rotor inertia of the motor（kg*MM^2） | 31.256 | 51.457 | 96.86 | 487.314 | 465.415 | 1203.149 | 1469.242 |
