DM10010L 120NM MIT Driving Brushless Servo Robot Joint Motor with Optional USB-CAN Adapter for Humanoid Robots

Specifications:
Motor Parameters:
- Rated voltage: 48V (support wide voltage of 24-48V)
- Rated current: 23.5A
- Peak current: 95A
- Rated torque: 40NM
- Peak torque: 120NM
- Rated speed: 70rpm at 24V, 100rpm at 48V
- Maximum speed without load: 100rpm at 24V, 200rpm at 48V

Motor Characteristic Values:
- Reduction ratio: 10:1
- Number of pole pairs: 21
- Phase inductance: 85uh
- Phase resistance: 0.11ohms

Structure and Weight:
- Outer diameter: 120mm
- Height: 53mm (excluding the protruding part of the positioning pin, the diameter of the protruding part*height: 3*3mm)
- Motor weight: about 1372g

Encoder:
- Encoder digits: 14 bits
- Number of encoders: 2
- Encoder type: magnetic encoder (single-turn output shaft absolute position in one turn)

Communication:
- Control interface: CAN at 1Mbps
- Parameter adjustment interface: UART at 921600bps

Control Mode:
- MIT mode
- Speed mode
- Position mode

Protection:
- Drive over-temperature protection, protection temperature: 120°C, over-temperature motor will exit "enable mode".
- The motor over-temperature protection is set according to the usage requirements. It is recommended that the temperature does not exceed 100°C. The over-temperature motor will exit the "enable mode".
- Motor overvoltage protection is set according to usage requirements. It is recommended not to exceed 58V. Overvoltage will exit the "enable mode".
- Communication loss protection, if no CAN command is received within the set period, it will automatically exit the "enable mode".
- Motor over-current protection is set according to usage requirements. It is recommended not to exceed 95A. Over-current will exit the "enable mode".
- Motor under-voltage protection, if the power supply voltage is lower than the set value, it will exit the "enable mode" and the power supply voltage shall not be lower than 15V.

Package Included:
- 1 x Motor
- 1 x Power Supply Connection Cable
- 1 x GH1.25 2Pin Connection Cable
- 1 x GH1.25 3Pin Connection Cable
- 1 x Optional USB to CAN Adapter