M4210 Robotic Arm Joint Actuator

Product Introduction

M4210 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.

Harmonic Drive Robot Joint Motor

✓ Speed/Position mode

✓ Pulse direction/485/CANopen

✓ Multi-turn absolute value encoder

33W

Power

36V

Voltage

2000rpm/ratio

Speed

3.2Nm

Torque

	Parameter	M4210E11B50L
Overall parameter	Motor rated voltage	24~36VDC
	Motor rated current	1.5A
	Output torque after deceleration	3.2NM
	Weight	0.4KG
	Speed range after deceleration	0~40RPM
Reducer parameter	Reduction ratio	50
	Rated torque	3.2NM
	Peak start-stop torque	7.8NM
	Backlash	<10 arc seconds
	Design life	8500hour
Motor parameter	Torque	0.3NM
	Rated speed	2000RPM
	Maximum rotational speed	2500RPM
	Power	33W
	Resistance	2.65
	Inductance	1.18mh
	Rotary inertia	9.139x10^-5 KG/M ²
Feedback signal		Multi-turn absolute encoder (15 bit single-turn and 16 bit multi-turn)
Cooling mode		Natural cooling
Position Control Mode	Maximum input pulse frequency	500KHz
	Pulse instruction mode	Pulse + direction, A phase +B phase(needs the controller supports AB pulses)
	Electronic gear ratio	Set up 1~65535 to 1~65535
	Location sampling frequency	2KHZ
Protection function		Lock-motor alarm, over-current alarm
Communication interface		Canopen (CAN Communication) /Modbus(485 communication)
Environment	Ambient temperature	0~40°
	Max. permissible temperature of motor	85°
	Humidity	5~95%

Features

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.