BOM-DAT/encoder-dat/encoder-dat.md
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# encoder dat
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+
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+
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+- [[magnetic-sensor-dat]] - [[encoder-dat]] - [[sensor-hall-dat]]
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+
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+
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+## magnetic-sensor
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+
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+- [[AS5047-dat]]
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+- [[AS5600-dat]]
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+
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+- [[AMS-dat]] - [[AS5047-DAT]] - [[AS5600-dat]] - [[encoder-dat]]
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+
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+- [[MT6701-dat]]
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+
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+- [[MT6701-dat]] - [[MT6816-dat]] - [[novosense-dat]]
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+
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+
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+Magnetic position sensors have many benefits over encoders:
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+
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+- Very efficient position calculation ( no counting )
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+- Time of execution doesn’t depend on velocity or number of sensors
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+- No need for interrupt hardware
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+- Absolute position value
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+- Lower price than encoders
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+- Simple to mount
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+
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+### demo
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+
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+
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+[AS5047D - Optical Encoder Replacement](https://www.youtube.com/watch?v=Gl-DiOqXXJ8)
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+
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+
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+
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+## encoder
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+
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+- Optical encoder - 2400cpr
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+- Optical encoder AMT103 - configurable cpr 48-8192
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+
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+
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+
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## motor encoder
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- hall encoder
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https://www.electrodragon.com/product/5pcs-rotary-encoder/
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-- [[SCU1007-dat]] - [[resistor-trim-pot-dat]]
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+- [[SCU1007-dat]] - [[resistor-trim-pot-dat]]
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+
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+
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+
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+## ref
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+
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+- https://docs.simplefoc.com/position_sensors
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Chip-dat/AMS-DAT/AS5047-DAT.md
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-# AS5047 DAT
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+# AS5047-DAT
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+
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+
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+- [[AMS-dat]] - [[AS5047-DAT]] - [[AS5600-dat]] - [[encoder-dat]]
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// define a led pin.
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#define LED_PIN 13
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#########################
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+
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+
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+### demo
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+
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+
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+[AS5047D - Optical Encoder Replacement](https://www.youtube.com/watch?v=Gl-DiOqXXJ8)
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+
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+
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+
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+
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## ref
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- https://github.com/jonas-merkle/AS5047P
Chip-dat/novosense-dat/MT6701-dat/MT6701-dat.md
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![](MT6701-SCH.png)
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+
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+
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+
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+## docs
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+
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+- [[MT6701_CRC_使能例程.c]]
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+- [[MT6701磁编模块修改说明.docx]]
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+- [[MT6701驱动软件.zip]]
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+- [[MT6816CT_3Wire_4WiresMCU__SPI.ioc]]
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+- [[MT6701_With_Push_Drive.zip]]
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+
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## ref
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- [[novosense-dat]]
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Chip-dat/novosense-dat/novosense-dat.md
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# novosense-dat
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-- [[MT6701-dat]]
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+- [[MT6701-dat]] - [[MT6816-dat]] - [[novosense-dat]]
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+
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+
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+
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## MT6816：14-bit Magnetic Angle Encoder
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Tech-dat/acturator-dat/motor-dat/motor-gimbal-dat/2026-02-21-21-27-54.png
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Tech-dat/acturator-dat/motor-dat/motor-gimbal-dat/2026-02-21-21-29-33.png
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Tech-dat/acturator-dat/motor-dat/motor-gimbal-dat/motor-gimbal-dat.md
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+# motor-gimbal-dat
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+- [[robot-dat]]
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-# motor-gimbal-dat
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+- [[encoder-dat]]
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+
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+- [[motor]]
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+
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+
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+
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+## info
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+
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+Gimbal motors are a specialized type of **Brushless DC (BLDC) motor** designed for high-precision positioning rather than high-speed rotation. They are optimized to keep a camera or sensor perfectly level by making micro-adjustments in real-time.
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+
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+---
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+
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+### Main Features
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+
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+* **High Pole Count:** Unlike standard drone motors, gimbal motors typically have **14 to 22+ magnetic poles**. This allows for extremely smooth, high-resolution movement without the "stepping" sensation found in lower-pole motors.
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+* **Low Cogging Torque:** They are engineered to minimize the magnetic "bumps" felt when rotating the motor. This ensures that the motor doesn't "snap" into a specific position, allowing for fluid transitions.
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+* **High Torque at Low RPM:** These motors are designed to hold a specific position or move very slowly with high resistance to external forces (like wind or movement), rather than spinning at thousands of RPMs.
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+* **Hollow Shaft Design:** A signature physical feature. The center of the motor is often hollow to allow **power and signal cables** (like HDMI or IMU wires) to pass through without tangling during 360-degree rotations.
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+* **Fine-Gauge Windings:** They use very thin copper wire with a high number of turns. This creates higher internal resistance, which is necessary for the delicate current control required by a gimbal controller.
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+
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+
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+## types
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+
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+## 4015
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+
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+
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+![](2026-02-21-21-29-33.png)
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+- Brushless DC motor 4015: low-speed, high-torque design. Peak torque up to ~0.35 Nm. Well suited for wheeled/leg robots, robot joints, camera gimbals and similar applications.
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+- Mechanical compatibility: can replace 4010 / 4008 motors — same outer diameter; stator is 5 mm taller than 4010 for increased torque.
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+- Supports FOC control. Rotor uses NdFeB magnetic segments for strong magnetic flux.
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+- 3D CAD files available for easy integration and modeling.
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+- Compatible with FOC driver stacks and libraries such as SimpleFOC, DengFOC, ODrive (with MT6701 encoder option) and VESC (motor only). Example code and integration notes provided.
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+- Encoder options: AS5600 (I2C, 12-bit) or MT6701 (ABZ, 14-bit). Both share the same mounting holes — choose based on your preferred interface.
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+
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+Specifications (typical / nominal)
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+
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+| Item | Value |
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+|---|---:|
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+| Model | 4015 |
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+| Slots / Poles | 24 slots, 22 poles (11 pole pairs) |
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+| Motor outer diameter | 45 mm |
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+| Motor height | 24 mm |
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+| Stator diameter | 40 mm |
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+| Stator height | 15 mm |
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+| Shaft diameter | 10 mm |
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+| Hollow shaft bore | 7.5 mm |
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+| Weight | 129 g |
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+| Recommended supply voltage | 12 – 36 V |
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+
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+Electrical / performance (measured / typical)
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+
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+| Condition | Rated torque | Max torque | Rated speed | Rated current | Max current | Rated power |
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+|---|---:|---:|---:|---:|---:|---:|
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+| 12 V (typical) | 1200 g·cm (0.12 Nm) | 1500 g·cm (0.15 Nm) | 610 RPM | 0.65 A | 4 A | — |
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+| 24 V (typical) | 3000 g·cm (0.30 Nm) | 3500 g·cm (0.35 Nm) | 1100 RPM | 1.4 A | 4 A (typ) | 33 W |
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+
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+Motor constants and electrical data
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+
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+| Parameter | Value |
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+|---|---:|
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+| Speed constant (Kv) | ~61 RPM/V |
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+| Back-EMF constant (Ke) | 0.1562 V/(rad/s) |
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+| Phase resistance (per phase) | 4.80 Ω |
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+| Phase inductance (per phase) | 2.6 mH |
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+| Magnet type | NdFeB magnetic segments |
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+| Winding turns | 55 turns (per phase) |
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+| Wire diameter | 0.24 mm |
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+| Winding connection | Delta (triangle) connection |
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+
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+Notes
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+
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+- Values above are taken from manufacturer/test data and may vary by unit and measurement method. Use conservative margins for current/thermal design.
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+- Choose encoder (AS5600 or MT6701) depending on control method (I2C vs incremental ABZ). Both mount to the same footprint.
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## GM4108H-120T Gimbal Motor
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- No-load Rpm: 513~567 RPM
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- Load current: `1.5A`
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- Load volts: `20V`
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-- Load torque(g·cm): 1200-1800
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+- Load torque(g·cm): 1200-1800 == $1200\text{--}1800$ $g\cdot cm$ becomes $1.2\text{--}1.8$ $kg\cdot cm$.
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+
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+- [[torque-dat]]
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+
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+
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- Motor internal resistance: 11.1Ω±5%（Resistance varies with temperature）
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- High voltage test: DC500V 1mA@2sec
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- Rotor housing runout: ≤0.1mm
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- Maximum power: ≤25W
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- Working current: 3-5S
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- Working temperature: -20~60℃;10~90%RH
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+
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+
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+
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+## CN
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+
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+![](2026-02-21-21-27-54.png)
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app-dat/robot-dat/robot-Two-wheeled-self-balancing-dat/robot-Two-wheeled-self-balancing-dat.md
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- [[LDO-dat]] - [[ST-power-dat]] - [[L78xx-dat]]
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-
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+- [[encoder-dat]] - [[AS5600-dat]]
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## control board
app-dat/robot-dat/robot-dat.md
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- [[robot-Two-wheeled-self-balancing-dat]]
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-
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+
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+- [[robot-joint-dat]] == [[motor-gimbal-dat]] - [[encoder-dat]]
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+
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+
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## types
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mechanics-dat/physics-dat/torque-dat/torque-dat.md
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# torque-dat
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+
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+## 0.35Nm vs 1200-1800 g·cm
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+
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+$1200\text{--}1800$ $g\cdot cm$ becomes $1.2\text{--}1.8$ $kg\cdot cm$.
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+
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+1200–1800 g⋅cm becomes 1.2–1.8 kg⋅cm.
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+
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+
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+- $1.2$ $kg\cdot cm \times 0.09807 \approx \mathbf{0.118}$ $N\cdot m$
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+- $1.8$ $kg\cdot cm \times 0.09807 \approx \mathbf{0.176}$ $N\cdot m$
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+
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+## N·m and kg·cm
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+
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note the rated torque of a motor is the maximum torque that the motor can deliver at its rated speed.
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and stall torque is the maximum torque that the motor can deliver at zero speed.