Tech-dat/acturator-dat/motor-dat/motor-gimbal-dat/motor-gimbal-dat.md
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-# motor-gimbal-dat
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-
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-- [[robot-dat]]
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-
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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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-
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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.
34
-- 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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-
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-## GM4108H-120T Gimbal Motor
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-
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-
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-- Model: GM4108H
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-- Motor Out Diameter: Ф47±0.05mm
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-- Configuration: 24N/22P
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-- Motor Height: 32.3±0.2mm
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-- Hollow Shaft(OD): Ф10-0.008/-0.012mm
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-- Hollow Shaft(ID): 8+0.05/0mm
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-- Wire Length: 265±3mm
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-- Cable AWG: #24
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-- Motor Weight: 124±0.5g
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-- Wire plug: 2.5mm dupont connector
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-- No-load current: 0.07±0.1A
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-- No-load volts: 20V
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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 == $1200\text{--}1800$ $g\cdot cm$ 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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-- Steering (axle extension): Clockwise
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-- High-low temperature test：
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-- High temperature: Keep at 60℃ for 100 hours, and the motor can work normally after 24 hours at room temperature
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-- Low temperature：Keep at -20℃ for 100 hours, and the motor can work normally after 24 hours at room temperature
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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)
... ...
\ No newline at end of file
0
+# motor-gimbal-dat
1
+
2
+- [[robot-dat]]
3
+
4
+- [[encoder-dat]]
5
+
6
+- [[motor]]
7
+
8
+
9
+
10
+## info
11
+
12
+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.
13
+
14
+---
15
+
16
+### Main Features
17
+
18
+* **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.
19
+* **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.
20
+* **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.
21
+* **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.
22
+* **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.
23
+
24
+
25
+## types
26
+
27
+## 4015
28
+
29
+
30
+![](2026-02-21-21-29-33.png)
31
+
32
+- 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.
33
+- Mechanical compatibility: can replace 4010 / 4008 motors — same outer diameter; stator is 5 mm taller than 4010 for increased torque.
34
+- Supports FOC control. Rotor uses NdFeB magnetic segments for strong magnetic flux.
35
+- 3D CAD files available for easy integration and modeling.
36
+- 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.
37
+- Encoder options: AS5600 (I2C, 12-bit) or MT6701 (ABZ, 14-bit). Both share the same mounting holes — choose based on your preferred interface.
38
+
39
+Specifications (typical / nominal)
40
+
41
+| Item | Value |
42
+|---|---:|
43
+| Model | 4015 |
44
+| Slots / Poles | 24 slots, 22 poles (11 pole pairs) |
45
+| Motor outer diameter | 45 mm |
46
+| Motor height | 24 mm |
47
+| Stator diameter | 40 mm |
48
+| Stator height | 15 mm |
49
+| Shaft diameter | 10 mm |
50
+| Hollow shaft bore | 7.5 mm |
51
+| Weight | 129 g |
52
+| Recommended supply voltage | 12 – 36 V |
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+
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+Electrical / performance (measured / typical)
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+
56
+| 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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+
63
+| Parameter | Value |
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+|---|---:|
65
+| Speed constant (Kv) | ~61 RPM/V |
66
+| Back-EMF constant (Ke) | 0.1562 V/(rad/s) |
67
+| Phase resistance (per phase) | 4.80 Ω |
68
+| Phase inductance (per phase) | 2.6 mH |
69
+| Magnet type | NdFeB magnetic segments |
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+| Winding turns | 55 turns (per phase) |
71
+| Wire diameter | 0.24 mm |
72
+| Winding connection | Delta (triangle) connection |
73
+
74
+Notes
75
+
76
+- Values above are taken from manufacturer/test data and may vary by unit and measurement method. Use conservative margins for current/thermal design.
77
+- Choose encoder (AS5600 or MT6701) depending on control method (I2C vs incremental ABZ). Both mount to the same footprint.
78
+
79
+## GM4108H-120T Gimbal Motor
80
+
81
+
82
+- Model: GM4108H
83
+- Motor Out Diameter: Ф47±0.05mm
84
+- Configuration: 24N/22P
85
+- Motor Height: 32.3±0.2mm
86
+- Hollow Shaft(OD): Ф10-0.008/-0.012mm
87
+- Hollow Shaft(ID): 8+0.05/0mm
88
+- Wire Length: 265±3mm
89
+- Cable AWG: #24
90
+- Motor Weight: 124±0.5g
91
+- Wire plug: 2.5mm dupont connector
92
+- No-load current: 0.07±0.1A
93
+- No-load volts: 20V
94
+- No-load Rpm: 513~567 RPM
95
+- Load current: `1.5A`
96
+- Load volts: `20V`
97
+- Load torque(g·cm): 1200-1800 == $1200\text{--}1800$ $g\cdot cm$ becomes $1.2\text{--}1.8$ $kg\cdot cm$.
98
+
99
+- [[torque-dat]]
100
+
101
+
102
+- Motor internal resistance: 11.1Ω±5%（Resistance varies with temperature）
103
+- High voltage test: DC500V 1mA@2sec
104
+- Rotor housing runout: ≤0.1mm
105
+- Steering (axle extension): Clockwise
106
+- High-low temperature test：
107
+- High temperature: Keep at 60℃ for 100 hours, and the motor can work normally after 24 hours at room temperature
108
+- Low temperature：Keep at -20℃ for 100 hours, and the motor can work normally after 24 hours at room temperature
109
+- Maximum power: ≤25W
110
+- Working current: 3-5S
111
+- Working temperature: -20~60℃;10~90%RH
112
+
113
+
114
+
115
+## CN
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+
117
+![](2026-02-21-21-27-54.png)
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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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+- [[motor-gimbal]]
... ...
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