1. Introduction
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. Safety Information
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.
- Ensure power is disconnected before performing any installation or maintenance.
- 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.
- Verify correct voltage and current ratings before applying power.
3. Specifications
The MG4010E-i10v3 motor boasts robust specifications for various robotic applications.
3.1 General Specifications
| Attribute | Value |
|---|---|
| Model Number | MG4010E-i10v3 |
| Type | Servo Motor |
| Construction | Permanent Magnet |
| Commutation | Brushless |
| Protect Feature | Totally Enclosed |
| Efficiency | IE 2 |
| Color | black |
| Certification | CE |
| Origin | Mainland China |
3.2 Performance Parameters
| Item Name | Value |
|---|---|
| Rated Voltage | 24 V |
| Max Speed | 320 rpm |
| Rated Torque | 2.5 N.m |
| Rated Speed | 260 rpm |
| Rated Current | 3.5 A |
| Max Power | 140 W |
| Max Torque | 4.5 N.m |
| Speed Constant | 108.3 rpm/V |
| Torque Constant | 0.07 N.m/A |
| Turns | 14 |
| Winding Type | Y |
| Phase Resistance | 604 Ω |
| Phase Inductance | 0.28 mH |
| Motor Poles | 26 |
| Rotor Inertia | 202 gcm² |
| Motor Temperature | YES |
3.3 Reducer Specifications (PG4210)
| Item Name | Value |
|---|---|
| Reduction Ratio | 1:10 |
| Backlash | ≤8 arcmin |
| Bearing Rated Load | 1000 N |
| Motor Weight | 250 g |
3.4 Drive Specifications (DG40)
| Item Name | Value |
|---|---|
| Drive Input Voltage | 7.4-32 V |
| Communication | RS485 OR CAN |
| Communication Frequency | RS485: 500Hz (115200bps) / CAN: 2KHz (1Mbps) |
| Encoder | 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 |
| Control Mode | Torque Loop (24KHz) / Speed Loop (8KHz) / Position Loop (4KHz) |
| Acceleration curve | Trapezoid acceleration |
4. Installation and Setup
4.1 Dimensions and Mounting
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.
| Interface | Note |
|---|---|
| A/H | RS485-A Or CAN-H |
| B/L | RS485-B Or CAN-L |
| V- | Negative Power Supply |
| V+ | Positive Power Supply |
| T | UART Transmitter |
| R | UART Receiver |
| G | Signal GND |
5. Operation
5.1 Control Modes
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 Protection Features
The motor drive incorporates several protection features to ensure reliable operation and longevity, including Under Voltage Protection (UVP), Over Voltage 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. Maintenance
Regular maintenance helps ensure the longevity and optimal performance of your MG4010E-i10v3 motor.
- Cleaning: Keep the motor housing clean and free from dust and debris. Use a soft, dry cloth. Avoid using solvents or harsh chemicals.
- Inspection: Periodically inspect all wiring connections for tightness and signs of wear or damage.
- Temperature Monitoring: Utilize the dual temperature sensors to monitor motor and driver temperatures, ensuring they remain within operational limits.
- Environmental Conditions: Ensure the motor operates within its specified environmental conditions (temperature, humidity) to prevent premature wear.
7. Troubleshooting
If you encounter issues with your MG4010E-i10v3 motor, consider the following common troubleshooting steps:
- Motor Not Responding:
- Check power supply connections and ensure the input voltage is within the 7.4-32V range.
- 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.
- Overheating:
- Reduce the motor load or operating speed.
- Ensure adequate ventilation around the motor.
- Check for short circuits or incorrect wiring.
8. User Tips
- Software Familiarization: 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.
- Communication Protocol: 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. Warranty and Support
For warranty information, technical support, or service inquiries, please contact the seller or manufacturer directly. Keep your purchase records for reference.