SAM10 (Smart Actuator Module 10)
SAM10 is an MD-embedded actuator featuring optimized hardware design and motor control algorithms.
It is primarily used in applications requiring moderate assistance, such as support for elderly users
or individuals recovering from stroke.
Features
- Actuator with Built-in Reducer
- Utilizes a 200W frameless motor
- Compact design with a planetary gear integrated inside the frameless motor
- High efficiency and low backlash
- Integrated BLDC Motor Driver
- Integrated BLDC motor driver with advanced control technology
- Achieves a current control bandwidth of up to 5 kHz
- Embedded advanced control algorithms
- Superior Power Density
- Power density 3–4 times higher than that of comparable commercial products
- Specifications suitable for a wide range of robotic applications
- Low-impedance design for force-mode control applications
Specification
| Motor |
| Parameter |
angel KIT SAM10 |
Unit |
| Min. |
Typ. |
Max. |
| Power |
50 |
100 |
200 |
W |
| Voltage |
12 |
24 |
48 |
V |
| No-Load Speed |
70 |
150 |
310 |
rpm |
| Rated Speed |
40 |
85 |
180 |
rpm |
| Max Torque |
20 |
Nm |
| Rated Torque |
9.8 |
Nm |
| Rated Current |
6.7 |
A |
| Stall Torque |
(25) |
Nm |
| Stall Current |
19.2 |
A |
| Reducer Type |
Planetary + Spur |
|
| Reduction Ratio |
18.75 |
|
| Weight |
580 |
g |
| Dimensions |
69(W) × 150(L) × 49(H) |
mm |
| Mounting Type |
2-M3, 2-M4 |
|
| Absolute Encoder (Motor/Output) |
13/13 |
bit |
| Incremental Encoder (Motor) |
13 |
bit |
| Electrical |
|
Parameter |
Symbol |
Mn. |
| Absolute Max. ratings |
Max. Operating Voltage |
Vmd |
12 |
| Max. Logic Operating Voltage |
Vcc |
4.5 |
| Max. Output Current to BLDC (continuous) |
Imax |
- |
| Electrostatic Discharge Voltage (HBM) |
Vesd |
- |
| I/O Characteristics |
Supply Current for Logic Devices |
Idd |
- |
| I/O Output Low Level Voltage |
Vol |
0 |
| I/O Output High Level Voltage |
Voh |
2.0 |
| I/O Input Low Level Voltage |
Vil |
0 |
| I/O Input High Level Voltage |
Vih |
2.0 |
| Environmental Conditions |
Operating Temperature |
Top |
0 |
| Storage Temperature |
Tst |
-40 |
| Mechanical Dimensions |
Weight |
- |
- |
| Dimensions |
- |
- |
| Mounting Type |
- |
- |
| Control |
| Supported Sensors |
Absolute Encoder |
SSI with 13bit x 2 |
| Incremental Encoder |
RS422 with 13bit x 1 |
| Supported Control Mode |
Speed |
Yes |
| Force |
Yes |
| Homing |
Yes |
| Supported Algorithm |
Impedance Control |
Yes |
| Friction Compensation |
Yes |
| Gravity Compensation |
Yes |
| I/O Interfaces |
ADC |
x 2, 12bit resolution |
| CAN (cascading supported) |
CAN-FD (8M bps) |
| USB for FW upgrade |
Yes |
| Indicators |
LEDs |
1 EA, RGBW |
| ID Setup |
Via DIP switches |
4 bit with IO mapping |