1. Introduction
This manual provides essential information for the safe and efficient operation of your Steadywin GIM8108 Brushless Gear Motor. The GIM8108 is a high-performance, waterproof motor designed for demanding applications such as robot actuators, exoskeletons, quadruped robots, and marine use. It features a multi-pole Direct Drive Motor (DDM) structure, a 15-bit absolute encoder, and supports FOC (Field Oriented Control) with CAN bus communication.
2. Product Features
- CAN communication (SmartCAN protocol, speed 1m).
- 15-bit absolute encoder, with a cycle pulse up to 32768.
- Multi-pole DDM structure for high torque output.
- Built-in open-source driver with simplified wiring.
- Ultra-small size, low noise, and low vibration.
- High-speed positioning and high reliability.
- FOC (Field Oriented Vector Control), supporting three-loop control.
- CAN bus upper computer interface for monitoring motor state and modifying parameters.
- Built-in rotor blocking, over-current, and over-voltage protection.
- Fully enclosed design with anti-corrosion coating for harsh outdoor environments (dust, rain).
- High precision planetary deceleration and precise rotation for accurate control.
3. Specifications
The following table details the technical specifications for the GIM8108-6 motor:
| Parameter | Value (MIT Driver) | Value (SHS Driver) |
|---|---|---|
| Nominal Voltage (V) | 24 | 36 |
| Voltage Range (V) | 24-48 | 24-48 |
| Power (W) | 125 | 170 |
| Nominal Torque (N.M) | 6 | 6.5 |
| Stall Torque (N.M) | 15 | 17 |
| Nominal Speed after Reduce (RPM) | 200 | 250 |
| Max Speed after Reduce (RPM) | 350 | 650 |
| Nominal Current (A) | 5 | 14.5 |
| Stall Current (A) | 20 | 45 |
| Phase to Phase Resistance (Ω) | 0.28 | 0.132 |
| Phase to Phase Inductance (mH) | 0.17 | 0.062 |
| Speed Constant (rpm/V) | 100 | 13.8 |
| Torque Constant (N.M/A) | 0.091 | 0.45 |
| Rotor Inertia (gcm^2) | 800 | 42.60 |
| Number of Pole Pairs | 21 | 21 |
| Gear Rate | / | 6:1 |
| Gear Type | Planetary | Planetary |
| Reducer Gear Material | STEEL | STEEL |
| Reducer Gear Backlash (arcmin) | < 6 | < 6 |
| Motor Weight without Driver (g) | 525 | 525 |
| Motor Weight with Driver (g) | 567 | 567 |
| Motor Size without Driver (mm) | Ø96×34 | Ø96×34 |
| Motor Size with Driver (mm) | Ø96×41.5 | Ø96×41.5 |
| Max Axial Load (N) | 800 | 800 |
| Max Radial Load (N) | 900 | 900 |
| Noise (dB) | < 60 | < 60 |
| Motor Protection Grade | IP54 | IP54 |
| Working Temperature (°C) | -20 ~ +80 | -20 ~ +80 |
Additional specifications:
- Material: Stainless steel
- Commutation: Brushless
- Construction: Permanent Magnet
- Frame: Yes
- Motor Mounting Type: Flange mount
- Protect Feature: Waterproof
- Efficiency: IE 2
- Usage: Boat, Robot Actuator, Exoskeleton, Quadruped
4. Setup Instructions
The GIM8108 motor features simplified wiring due to its built-in open-source driver. Proper installation is crucial for optimal performance and safety.
4.1. Mounting
- Ensure the mounting surface is clean, flat, and rigid enough to support the motor's weight and torque.
- Align the motor's flange mount with the mounting points on your application.
- Secure the motor using appropriate fasteners (not included) through the designated mounting holes. Ensure all fasteners are tightened evenly to prevent strain on the motor housing.
4.2. Electrical Connections
The motor is equipped with connectors for power and CAN bus communication. Refer to the side view of the motor for connector locations.
- Power Connection: Connect your DC power supply (24-48V, depending on driver type) to the main power input connector. Ensure correct polarity.
- CAN Bus Connection: Connect the CAN bus interface from your control system to the motor's CAN bus connector. The motor supports the SmartCAN protocol.
- Grounding: Ensure proper grounding of the motor and control system to prevent electrical interference and ensure safety.
Warning: Incorrect wiring can damage the motor and control system. Always double-check connections before applying power.
5. Operating Instructions
The GIM8108 motor is controlled via a CAN bus interface, allowing for precise and dynamic control.
5.1. Initial Power-Up
- After all connections are secure, apply power to the motor.
- Observe for any unusual noises or movements. The motor should remain stationary unless commanded.
5.2. CAN Bus Communication
The motor utilizes the SmartCAN protocol for communication. An upper computer (control system) is required to send commands and receive feedback.
- Commanding Motion: Use your CAN bus control software to send commands for desired speed, position, or torque. The motor's 15-bit absolute encoder provides high-resolution feedback for precise control.
- Parameter Modification: The CAN bus interface allows for real-time modification of motor parameters, enabling fine-tuning for specific application requirements.
- Monitoring: The upper computer can monitor the motor's state, including current speed, position, temperature, and error status.
5.3. FOC Control
The motor's built-in driver supports Field Oriented Control (FOC) with three-loop control, providing smooth, efficient, and dynamic performance. This advanced control method ensures high precision and responsiveness.
6. Maintenance
The GIM8108 motor is designed for durability and low maintenance, especially in harsh environments, thanks to its fully enclosed and anti-corrosion coated design.
- Regular Inspection: Periodically inspect the motor for any signs of physical damage, loose connections, or excessive wear.
- Cleaning: While waterproof, it is good practice to keep the motor clean from excessive dirt or debris. Use a soft, damp cloth for cleaning. Avoid using harsh chemicals or abrasive materials.
- Connection Check: Ensure all electrical connections remain tight and free from corrosion.
- Bearing Check: Listen for any unusual noises from the bearings. If abnormal noise is detected, consult support.
Note: Do not attempt to disassemble the motor. Disassembly may void the warranty and can lead to damage or injury.
7. Troubleshooting
The GIM8108 motor includes built-in protection features to prevent damage. If you encounter issues, consider the following:
| Problem | Possible Cause | Solution |
|---|---|---|
| Motor does not move | No power, incorrect wiring, CAN bus communication error, motor in protection mode (e.g., over-current, over-voltage, rotor blocking) | Check power supply and connections. Verify CAN bus communication. Check for error codes via CAN bus. Reduce load if rotor blocking is detected. |
| Erratic or unstable movement | Incorrect control parameters, electrical interference, loose connections | Review and adjust FOC control parameters via CAN bus. Ensure proper grounding and shielding. Check all connections. |
| Motor overheating | Excessive load, insufficient cooling, prolonged operation at high current | Reduce mechanical load. Ensure adequate ventilation around the motor. Monitor operating current and temperature via CAN bus. |
| Unusual noise or vibration | Mechanical misalignment, damaged bearings, foreign objects, motor damage | Check motor mounting and alignment. Inspect for foreign objects. If noise persists, contact technical support. |
If troubleshooting steps do not resolve the issue, please contact technical support.
8. Warranty and Support
8.1. Warranty Information
The Steadywin GIM8108 motor comes with a warranty period of 3 months to 1 year, depending on specific purchase terms. Please retain your proof of purchase for warranty claims.
The warranty does not cover damage caused by improper installation, misuse, unauthorized modifications, or operation outside of specified parameters.
8.2. Technical Support
For technical assistance, product inquiries, or detailed quotes, please contact Suzhou Yuanzhao Intelligent Technology Co.,Ltd. using the following information:
- WhatsApp: +86 18107497246 (Replies within 3 minutes)
- Email: 3921654103@qq.com (Replies within 8 hours)
