Overview
The MyActuator RMD-X4-10 Motor is an integrated planetary actuator motor from the RMD-X V4 Series ("Special Series for Robot"). It is specified for 24V operation with a 12.6 gear ratio and supports CAN BUS / EtherCAT communication. The actuator uses a dual encoder (ABS-17BIT input / 18BIT output) and is specified for <0.01Degree control accuracy.
Key Features
- Communication: CAN BUS / EtherCAT
- Dual encoder: ABS-17BIT (Input) / 18BIT (Output)
- Hollow design
- High precision
- High torque density
Specifications
| Gear Ratio | 12.6 |
| Input Voltage | 24V |
| No Load Speed | 317RPM |
| No-Load Input Current | 1A |
| Rated Speed | 238RPM |
| Rated Torque | 4N.m |
| Rated Output Power | 100W |
| Rated Phase Current | 7.8A(rms) |
| Peak Torque | 10N.m |
| Peak Phase Current | 19.5A(rms) |
| Efficiency | 69.5% |
| Motor Back-EMF Constant | 6Vdc/Krpm |
| Module Torque Constant | 0.8N.m/A |
| Motor Phase Resistance | 0.32Ω |
| Motor Phase Inductance | 0.14mH |
| Pole Pair | 13 |
| 3 Phase Connection | Y |
| Back Drive Torque | 0.8N.m |
| Backlash | 10Arcmin |
| Output Bearing Type | Deep Groove Ball Bearings |
| Axial Load Suffer | 1.2KN |
| Axial Load Stress | 1.2KN |
| Radial Load | 1.2KN |
| Inertia | 0.25Kg.cm² |
| Encoder Type & Interface | Dual Encoder ABS-17BIT(Input)/18BIT (Output) |
| Control Accuracy | <0.01Degree |
| Communication | CAN BUS/EtherCAT |
| Weight | 0.33Kg |
| Insulation Grade | F |
Applications
- Humanoid robots
- Robotic arms
- Exoskeleton robots
- Quadruped robots
- AGV smart vehicles
- Industrial automation and smart warehousing equipment
- Gimbals, PTZ systems, and inspection platforms
Manuals & Downloads
- MyActuator_RMDX4_P12.5_10.stp
- Motor_Motion_Protocol.pdf
- EtherCAT_control_protocol.pdf
- User_Manual_for_X_Series_Products.pdf
- X4-10_Installation_Drawing.pdf
- X4-10_Accessories.pdf
Series Naming Conventions (RMD-X V4)
- RMD: Brand name; R-Reducer, M-Motor, D-Drive
- X2: Series name (integrated planetary actuator); digit indicates motor model (e.g., X2, X4, X6, X8)
- P28: Planetary gear ratio identifier (e.g., P12, P28, P32)
- 7: Peak torque (example shown: 7N.m)
- E: Communication (CAN BUS & EtherCAT)
Details
The RMD‑X V4 “Special Series for Robot” integrates motor, planetary gearbox, and control-ready features like CAN/EtherCAT and dual encoders.
Use the RMD‑X V4 naming code to quickly identify actuator series, planetary gear ratio, peak torque rating, and the CAN BUS/EtherCAT interface.
