1. Introduzione
The K-TECH MG4010E-i10v3 is a high-performance dual encoders motor designed for advanced robotic applications such as mechanical arms, legged robots, AGV cars, and wearable robots. This motor features high power, large torque, and high precision, making it suitable for demanding tasks. It integrates an 18-bit single-turn absolute magnetic motor encoder and a 14-bit single-turn absolute magnetic reducer encoder, ensuring accurate position feedback even after power loss.
2. Informazioni sulla sicurezza
Please read and understand all safety instructions before installing, operating, or maintaining the motor. Failure to follow these instructions may result in personal injury or equipment damage.
- Prima di effettuare qualsiasi installazione o manutenzione, assicurarsi che l'alimentazione sia scollegata.
- Do not expose the motor to moisture, extreme temperatures, or corrosive environments.
- Handle with care to avoid damage to internal components, especially the encoders.
- Only qualified personnel should perform wiring and configuration.
- Verifica corretto voltage and current ratings before applying power.
3. Specifiche
The MG4010E-i10v3 motor boasts robust specifications for various robotic applications.
3.1 Specifiche generali
| Attributo | Valore |
|---|---|
| Numero di modello | MG4010E-i10v3 |
| Tipo | Servomotore |
| Costruzione | Magnete permanente |
| Commutazione | Senza spazzole |
| Funzione di protezione | Totalmente chiuso |
| Efficienza | IE 2 |
| Colore | nero |
| Certificazione | CE |
| Origine | Cina continentale |
3.2 Parametri di prestazione
| Nome dell'articolo | Valore |
|---|---|
| Volume nominaletage | 24 Volt |
| Velocità massima | 320 giri al minuto |
| Coppia nominale | 2.5 Nm |
| Velocità nominale | 260 giri al minuto |
| Corrente nominale | 3.5 A |
| Potenza massima | 140 L |
| Coppia massima | 4.5 Nm |
| Velocità costante | 108.3 rpm / V |
| Coppia costante | 0.07 N.m/A |
| Gira | 14 |
| Winding Type | Y |
| Resistenza di fase | 604Ω |
| Induttanza di fase | 0.28mH |
| Motor Poles | 26 |
| Inerzia del rotore | 202 gcm² |
| temperatura motore | SÌ |
3.3 Reducer Specifications (PG4210)
| Nome dell'articolo | Valore |
|---|---|
| Rapporto di riduzione | 1:10 |
| Gioco | ≤8 arcmin |
| Bearing Rated Load | 1000 N |
| Peso del motore | 250 grammi |
3.4 Drive Specifications (DG40)
| Nome dell'articolo | Valore |
|---|---|
| Volume di ingresso dell'unitàtage | 7.4-32 V |
| Comunicazione | RS485 OR CAN |
| Frequenza di comunicazione | RS485: 500Hz (115200bps) / CAN: 2KHz (1Mbps) |
| Codificatore | 18bit (motor) + 14bit (reducer) Magnetic Encoder |
| Encoder Baudrate (RS485) | 9600, 19200, 57600, 115200, 230400, 406800, 1M, 2M bps |
| Baudrate (CAN) | 100K, 125K, 250K, 500K, 1M |
| Modalità di controllo | Torque Loop (24KHz) / Speed Loop (8KHz) / Position Loop (4KHz) |
| Acceleration curve | Trapezoid acceleration |
4. Installazione e configurazione
4.1 Dimensioni e montaggio
Refer to the installation drawing for precise dimensions and mounting hole patterns. Ensure adequate clearance for wiring and heat dissipation.
4.2 Wiring and Interface Definition
The motor supports RS485 or CAN bus communication. Connect the motor to your control system using the defined interfaces. The drive board includes dual temperature sensor interfaces for real-time monitoring of motor and driver temperature.
| Interfaccia | Nota |
|---|---|
| A/H | RS485-A Or CAN-H |
| B / L | RS485-B o CAN-L |
| V- | Alimentazione negativa |
| V+ | Alimentazione positiva |
| T | Trasmettitore UART |
| R | Ricevitore UART |
| G | Segnale GND |
5. Funzionamento
Modalità di controllo 5.1
The MG4010E-i10v3 supports multiple control modes, including Torque Control, Speed Control, Multi Loop Angle Control, Single Loop Angle Control, and Increment Angle Control. These modes can be configured via the dedicated motor tool software.
5.2 Software Tool and Firmware Upgrade
A dedicated motor tool software is available for parameter adjustment, testing, and firmware upgrades. This software supports open-source development platforms such as PC, MCU, PLC, ICP, and RPI.
5.3 Funzionalità di protezione
The motor drive incorporates several protection features to ensure reliable operation and longevity, including Under VoltageProtezione (UVP), OverVoltage Protection (OVP), Driver Temperature Protection (DTP), Motor Temperature Protection (MTP), Over Current Protection (OCP), Short Circuit Protection (SCP), Motor Stall Protection (MSP), and Low Input Power (LIP).
6. Manutenzione
Regular maintenance helps ensure the longevity and optimal performance of your MG4010E-i10v3 motor.
- Pulizia: Keep the motor housing clean and free from dust and debris. Use a soft, dry cloth. Avoid using solvents or harsh chemicals.
- Ispezione: Controllare periodicamente tutti i collegamenti elettrici per verificarne la tenuta e l'eventuale presenza di segni di usura o danni.
- Monitoraggio della temperatura: Utilize the dual temperature sensors to monitor motor and driver temperatures, ensuring they remain within operational limits.
- Condizioni ambientali: Ensure the motor operates within its specified environmental conditions (temperature, humidity) to prevent premature wear.
7. Risoluzione Dei Problemi
If you encounter issues with your MG4010E-i10v3 motor, consider the following common troubleshooting steps:
- Il motore non risponde:
- Controllare i collegamenti dell'alimentatore e assicurarsi che il volume di ingressotage rientra nell'intervallo 7.4-32V.
- Verify communication bus (RS485/CAN) wiring and baud rate settings in the software.
- Ensure the motor is not in a protected state (e.g., due to overcurrent or overtemperature). Check software diagnostics.
- Inaccurate Position/Speed:
- Confirm encoder connections are secure.
- Recalibrate the zero point using the motor tool software if necessary.
- Check for mechanical obstructions or excessive load.
- Surriscaldamento:
- Reduce the motor load or operating speed.
- Garantire un'adeguata ventilazione attorno al motore.
- Check for short circuits or incorrect wiring.
8. Suggerimenti per l'utente
- Familiarizzazione con il software: Spend time exploring the motor tool software. Understanding its features for parameter adjustment, testing, and diagnostics can significantly enhance your experience and help in fine-tuning performance.
- Encoder Advantage: Leverage the dual encoders (18-bit motor and 14-bit reducer) for precise control and position memory. This is particularly useful in applications requiring high accuracy and reliable homing after power cycles.
- Protocollo di comunicazione: Choose between RS485 and CAN communication based on your system's requirements for speed and network complexity. Ensure consistent baud rates across all connected devices.
9. Garanzia e supporto
Per informazioni sulla garanzia, supporto tecnico o richieste di assistenza, contattare direttamente il venditore o il produttore. Conservare la documentazione di acquisto per riferimento.