Overview
The SteadyWin GIM4305-10 is a 10:1 planetary reducer motor for compact robotics actuators. It supports selectable driver/communication configurations to match different control architectures, with options for CAN & RS485 or CAN-only (driver-dependent). It can be pre-configured for Pupper V3 custom builds, including pre-installed firmware/default parameters and CAN ID setup based on the Pupper V3 BOM guidance.
Key Features
- Model: GIM4305-10 planetary gearbox motor, 10:1 gear ratio
- Driver options: GDZ34 (SDC216) or GDS34 (SDC01)
- Communication (driver-dependent): CAN & RS485, or CAN
- Encoder resolution: 14 Bit
- Separate encoder support: YES
- Second encoder: NO
- Protection grade: IP54
- Noise: <60 dB
- Custom brake support: YES
Specifications
| Parameter | Option A | Option B |
|---|---|---|
| Model | GIM4305-10 | GIM4305-10 |
| Driver Model | GDZ34 (SDC216) | GDS34 (SDC01) |
| Nominal Voltage | 24V (12-40V range) | 24V (12-36V range) |
| Power | 52W | 48W |
| Nominal Torque | 1.05 N*m | 1 N*m |
| Stall Torque | 3.82 N*m | 3.47 N*m |
| Nominal Speed after Reduction | 312 RPM | 300 RPM |
| Max Speed after Reduction | 402 RPM | 366 RPM |
| Nominal Current | 2.18A | 2A |
| Stall Current | 14.99A | 5.6A |
| Phase Resistance | 1.11 ohm | 1.15 ohm |
| Phase Inductance | 0.28 mH | 0.41 mH |
| Speed Constant | 16.75 rpm/V | 15.25 rpm/V |
| Torque Constant | 0.39 N*m/A | 0.62 N*m/A |
| Number of Pole Pairs | 14 Pairs | 14 Pairs |
| Gear Ratio | 10:1 | 10:1 |
| Gear Type | Planetary | Planetary |
| Reducer Gear Material | ALU or STEEL | ALU or STEEL |
| Reducer Gear Backlash | 15 arcmin | 15 arcmin |
| Motor Weight (without Driver) | 140g | 140g |
| Motor Weight (with Driver) | 150g | 150g |
| Size (without Driver) | 53 mm dia x 26 mm | 53 mm dia x 26 mm |
| Size (with Driver) | 53 mm dia x 26 mm | 53 mm dia x 26 mm |
| Max Axial Load | 125N | 125N |
| Max Radial Load | 500N | 500N |
| Noise | <60 dB | <60 dB |
| Communication | CAN & RS485 | CAN |
| Second Encoder | NO | NO |
| Protection Grade | IP54 | IP54 |
| Operating Temperature | -20 C to +80 C | -20 C to +80 C |
| Encoder Resolution | 14 Bit | 14 Bit |
| Separate Encoder Support | YES | YES |
| Custom Brake Support | YES | YES |
Applications
- Humanoid robots
- Robotic arms
- Exoskeletons
- Quadruped robots
- AGV vehicles
- ARU robots
Open Source Integration
- Pupper V3 project documentation: https://pupper-v3-documentation.readthedocs.io/en/latest/index.html
- Pupper V3 custom version notes: pre-install firmware and default parameters specified in the Pupper V3 BOM documentation; CAN IDs can be pre-configured (for one-time purchases of 12 units: CAN 1x4, CAN 2x4, CAN 3x4 per the BOM guidance).
Manuals
