Description
4015 Hollow Shaft BLDC Outrunner Torque Motor
The 4015 Hollow Shaft Brushless DC Motor is a high-torque outrunner BLDC motor specifically designed for robotic joints, gimbal systems, AGV steering modules, humanoid robots, quadruped robots, pan-tilt platforms, and precision motion control applications.
Featuring a compact 45mm diameter design, integrated radial magnetic ring, and 7.5mm hollow shaft, the motor enables direct installation of magnetic encoders such as MT6701, AS5600, AS5048, and similar sensing solutions. Its wide operating voltage range of 12V–36V allows flexible deployment across robotic systems and industrial automation equipment.
Compared with traditional 4008 and 4010 gimbal motors, the 4015 offers significantly higher torque output while maintaining a compact footprint, making it ideal for robotic actuators and lightweight direct-drive joint systems.
Key Features
- High torque direct-drive BLDC motor
- Hollow shaft design for cable routing
- Integrated radial magnetic ring
- Supports magnetic encoder installation
- Compact outrunner structure
- Wide voltage operation from 12V to 36V
- Suitable for robotic joints and gimbals
- Precision low-speed control capability
- High efficiency permanent magnet design
- Compatible with external BLDC servo controllers
Typical Applications
- Robot Joint Actuators
- Humanoid Robots
- Quadruped Robots
- AGV Steering Modules
- Direct Drive Motion Systems
- Camera Gimbals
- Pan-Tilt Systems
- UAV Payload Stabilization
- Industrial Automation
- Research Robotics
- LiDAR Rotation Platforms
- Smart Vehicles
Specifications
| Parameter | Value |
|---|---|
| Model | 4015 |
| Motor Type | Brushless DC Outrunner |
| Rotor Structure | Outrunner |
| Pole Configuration | 24 Slots / 22 Poles |
| Pole Pairs | 11 |
| Diameter | 45mm |
| Height | 24mm |
| Stator Size | 40mm × 15mm |
| Shaft Diameter | 10mm |
| Hollow Shaft Diameter | 7.5mm |
| Weight | 129g |
| Voltage Range | 12V–36V |
| KV Rating | 61KV |
| Back EMF Constant | 0.1562V/(rad/s) |
| Phase Resistance | 4.8Ω |
| Phase Inductance | 2.6mH |
| Winding Turns | 55T |
| Wire Diameter | 0.24mm |
| Winding Configuration | Delta |
| Magnet Type | NdFeB Permanent Magnet |
| Bearing Type | 6800ZZ Deep Groove Ball Bearing |
| Encoder Support | Yes |
| Magnetic Ring | Pre-installed |
Performance @ 12V
| Parameter | Value |
|---|---|
| Rated Torque | 0.12 N·m |
| Maximum Torque | 0.15 N·m |
| Rated Speed | 610 RPM |
| Rated Power | 8W |
| Rated Current | 0.65A |
| Maximum Current | 4A |
Performance @ 24V
| Parameter | Value |
|---|---|
| Rated Torque | 0.30 N·m |
| Maximum Torque | 0.35 N·m |
| Rated Speed | 1100 RPM |
| Rated Power | 33W |
| Rated Current | 1.4A |
| Maximum Current | 4A |
Available Variants
Variant 1
Motor Only
Includes:
- 1 × 4015 Hollow Shaft BLDC Motor
Variant 2
Motor + MT6701 Magnetic Encoder
Includes:
- 1 × 4015 Hollow Shaft BLDC Motor
- 1 × MT6701 Magnetic Encoder Board
- Pre-installed Magnetic Ring
Package Includes
Depending on selected variant:
- 4015 BLDC Motor
- MT6701 Encoder Board (optional)
Applications
- Humanoid Robot Joints
- Quadruped Robot Joints
- Robot Arm Actuators
- AGV Steering Systems
- Camera Stabilization Platforms
- UAV Gimbals
- LiDAR Systems
- Direct Drive Rotary Platforms
- Motion Simulation Systems
- Industrial Automation Equipment
FAQ
Does this motor include a driver?
No. An external BLDC controller or servo driver is required.
Is the magnetic ring already installed?
Yes. The motor includes a pre-installed radial magnetic ring for encoder integration.
Which encoders are supported?
Compatible with MT6701, AS5600, AS5048 and similar magnetic encoder solutions.
Is this suitable for robot joints?
Yes. The high torque density and hollow shaft structure make it suitable for lightweight robotic joints and actuator systems.
Can cables pass through the center hole?
Yes. The 7.5mm hollow shaft is designed for cable routing and encoder installation.
Is this motor suitable for direct-drive applications?
Yes. The motor is optimized for direct-drive motion control without a gearbox.
