M4215 Robotic Arm Joint Actuator

Outer diameter：70mm
Power：50W
Length：80mm
Weight: 0.8kg
Rated torque:10Nm
Max. Speed: 40RPM

jennifer@avatarroboticparts.com

Product Introduction

M4215 robot joint actuators integrated a compact structure, solid articulated motor combines a dc torque motor, driver, encoder and high precision harmonic reducer. M Series joint actuators make automated production easier and more efficient. Theharmonic drive motor can be widely used in CNC machine, automated production lines, robot arms, humanoid robots, large rotating platforms. This product has stable performance and fewer after-sales problems, making it the first choice for robot customers.

M4215 Harmonic Drive Robot Joint Motor

Power：36W
Voltage：36V
Spee：2000rpm/ratio
Torque：7/10Nm

Speed/Position mode
Pulse direction/485/CANopen/Easycan
Multi-turn absolute value encoder

Features

High accuracy /precision

Backlash is less than 10 arcsec Low noise level

Double absolute encoder 15 bit single-turn and 16 bit multi-turn

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

DB9 Male head
1	2	3	4	5	6	7	8	9
PU+	PU-	DIR+	DIR-	WR+	ZO	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, 0~0.5V at 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	ZO	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.