Introduction

The M0601 is a highly integrated, all-in-one hub motor designed for intelligent robots, AGVs/AMRs, and various mobile platforms. It seamlessly combines a brushless motor, servo driver, and high-precision encoder within a compact hub measuring only 102mm in diameter. This achieves a revolutionary shift from complex assembly to "plug-and-play," greatly simplifying drive system design and integration.
The product utilizes advanced FOC algorithm and RS485 communication, supporting precise full-closed-loop control of torque, speed, and position. With a rated torque of 0.96 N·m and a robust stall torque of 2.0 N·m, it easily handles various load scenarios. Furthermore, the motor operates at noise levels below 50 dB and boasts an IP54 protection rating, ensuring a quiet, reliable, and durable power solution for diverse applications.
Highly Integrated, Agile Deployment
The integrated design eliminates external drivers, complex mechanical interfacing, and cumbersome wiring, significantly reducing system complexity and accelerating time-to-market.
Precise Control, Powerful Performance
Featuring a built-in 4096-line encoder paired with triple-loop closed control, it offers rapid response and smooth motion. The strong torque output meets the demanding needs of robot movement, start/stop, and obstacle crossing.
Intelligent, Reliable, Quiet, and Durable
Capable of real-time monitoring of current, temperature, and fault status, with multiple protection mechanisms. Quiet operation suitable for diverse environments.

Feature

• Integrated Compact Design: Combines motor, driver, and encoder into one unit. Compact structure, high integration, enabling "plug-and-play."
• Intelligent Communication & Feedback: Supports RS485 communication, allowing real-time access to key parameters such as position, speed, current, temperature, and fault codes.
• Multiple Safety Protections: Built-in over-current, over-temperature, stall protection, and Hall sensor detection ensure safe and reliable operation.
• Flexible Control Modes: Supports three closed-loop modes: current loop (torque control), speed loop (speed control), and position loop (angle control).
• Quiet and Smooth Operation: Optimized design and FOC control algorithm result in operating noise ≤ 50 dB.
• Auxiliary Function: Supports electric braking for fast and stable stopping.

Applications

• Service Robots: Delivery robots, guide robots, cleaning robots
• AGVs/AMRs: Warehouse logistics automated guided vehicles, industrial production line mobile robots
• Mobile Platforms: Educational & research robot platforms, special-purpose mobile equipment, creative mechatronic devices

Specifications

• Operating Voltage: 18 VDC
• Rated Current: 1.25 A
• Rated Speed: 115 rpm
• Rated Torque: 0.96 N·m
• Stall Torque: 2.0 N·m
• Stall Current: ≤ 2.7 A
• No-Load Current: ≤ 0.25 A
• No-Load Speed: 200 ± 10 rpm
• Protection Rating: IP54
• Torque Constant: 0.75 N.m/A
• Speed Constant: 11.1 rpm/V
• Interface Type: RS485
• Encoder Resolution: 4096
• Relative Accuracy: 1024
• Noise: ≤ 50 dB
• Operating Temperature: -20℃ ~ 45℃

Pinout

Usage Precautions

• Before use, confirm whether the working voltage matches the specified voltage for the M0601.

• Ensure the motor operates within the specified ambient temperature range.

• Avoid immersing the motor in water, as this may cause malfunction or damage.

• Before use, ensure all wiring is correct and secure to prevent poor contact.

• Before operating the motor, refer to the installation instructions to ensure the motor is installed correctly and securely.

• Before operating the motor, refer to the installation instructions to ensure the external output parts are installed correctly and securely.

• Avoid damaging the cables during use, as this may lead to motor malfunction or damage.

• Do not touch the rotating parts of the motor during operation to prevent injury.

• When the motor outputs high torque, it may generate heat. Do not touch the motor to avoid burns.

• Do not disassemble the motor without authorization, as this may cause malfunction, damage, and potential safety hazards.

Protection Specifications

• Bus overcurrent protection threshold: 3A. Protection triggers upon overcurrent occurrence, and is released after 5 seconds.

• Motor overtemperature protection threshold: 80°C. Protection is released when the temperature falls 5°C below the threshold.

• Phase current protection threshold: 4.6A. Protection triggers upon overcurrent occurrence, and is released after 5 seconds.

• Stall protection: Protection triggers if the stall condition persists for more than 5 seconds, and is released after 5 seconds.

Installation Guidelines

Please installing the motor on the custom device refer to the size and position of the motor mounting holes. Unit: mm

The installation hole on the stator is M2.5 (φ2.5), 5mm depth, distributed at the φ15.2 circle and the 8mm flat position.
Please choose proper screws for installation.

Motor Drive User Manual

The driver performs closed-loop control of torque current and speed based on the user's input target value.

Communication Method

485 Bus Protocol Control
After power-on, simply send the relevant information according to the corresponding protocol.

Communication Protocol

Baud rate: 115200
Data bit: 8 bits
Stop bit: 1 bit
Parity check: None
Data length: 10bits
Method: Polling
Maximum Frequency: 500 Hz
Current Mode: -32767~32767 correspond to -8~8A (not the range of the motor), INT16 bits.
Velocity Mode: -330~330 rpm, INT16 bits
Angle Mode: 0~32767 correspond to 0°~360°, UINT 16 bits.

• Operation steps:

  1. Set the motor ID (saved in FLASH when power off)

  2. Set motor mode（current loop, velocity loop, angle loop, default in velocity loop）

  3. Send the set value

• Spin the motor
  

Acceleration time: Valid in velocity loop mode. unity: 1 rpm/0.1 ms. When you set to 1, acceleration time is 10*0.1 ms = 1 ms each 1 rpm. When set to 0, it would be the default value as 1.
Brake: 0XFF is valid value in velocity loop mode to brake, other values are invalid.

• Obtain other feedback
  

Angle in 8 bits: 0~255 corresponds to 0~360°
Stator temperature: unity ℃

a、Fault values:

E.g.:0x02 or 0b00000010 means corresponds to bus over current fault.
CRC8 value:The Value of DATA[0] to DATA[8] after CRC8/Maxim algorithm verification.
Use CRC-8/Maxim algorithm to validate the value from DATA [0] to DATA [8]
CRC-8/Maxim multinomial: x8 + x5 + x4 + 1

b、Motor mode switching：

Mode value:
0x01: Current loop
0x02: Velocity loop
0x03: Angle loop
Switching to angle loop is available only when the velocity is lower than 10 rpm.

c、Motor ID setting:

Note: When setting the ID, please make sure that the bus has only one motor; ID setting is
allowed once every power reset; The ID will be changed after 5 times repeating the ID setting
command.

d、ID check:

Note: When checking the ID, please make sure that the bus has only one motor.

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