HEX 4310 Data Center
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The HEX43xx series motors are integrated joint motors designed by HexMeow specifically for the embodied robotics industry. The series uses a planetary reduction system and offers advantages such as impact resistance, high torque transparency, low friction, and high cost-effectiveness. The motors feature integrated drive and control with CAN-FD communication, and support hardware timestamping, synchronization, MIT control, one-to-many control, and other functions.
This page describes the Meow motor hardware. See the Meow quick start for connection and control, and the Meow protocol for communication and encoding.
Technical Specifications
Motor Characteristics
Motor Features
- Dual encoders with single-turn absolute position on the output shaft, no loss of absolute position on power failure; integrated motor and driver design with compact structure and high integration.
- Feedback of motor speed, position, torque, motor temperature, and other information via CAN-FD@5Mbps.
- Support for sending control commands to multiple motors simultaneously with a single CAN message, enabling one-to-many control.
- Configurable feedback through PDO mapping; Meow uses the Meow objects and feedback layout.
- Support for multiple control modes including position mode, velocity mode, torque mode, MIT mode, and more.
Motor Dimensions
Motor Parameters
| Parameter |
Data |
| Rated Voltage |
48 V |
| Rated Current |
3.7 A |
| Rated Speed |
410 rpm |
| Rated Torque |
3 Nm |
| Peak Torque |
7 Nm |
| Peak Current |
7.5 A |
| No-load Speed |
500 rpm |
| Parameter |
Data |
| Pole Pairs |
28 |
| Phase Inductance |
0.55 mH |
| Phase Resistance |
1.05 Ω |
| Reduction Ratio |
10 |
Sensors
| Parameter |
Data |
| Encoder Bits |
16-bit |
| Encoder Count |
2 |
| Encoder Type |
Magnetic (single-turn) |
Communication Interface
| Parameter |
Data |
| Control Interface |
CANFD@5Mbps |
Control Modes
- MIT Mode
- Velocity Mode
- Position Mode
- Torque Mode
Protection Features
| Protection Type |
Trigger Condition |
| Driver Over-temperature |
Driver temperature > 120°C |
| Motor Over-temperature |
Motor coil temperature > 110°C |
| Over-voltage |
DC bus voltage > 65 V |
| Phase Over-current |
Phase current > 14 A (PEAK) |
| Under-voltage |
DC bus voltage < 14 V |
| Stall Protection |
Driver detects motor stall |
Protection Behavior
All protections above will cause the motor to exit "Enabled Mode" when triggered.
Motor Dimensions and Weight
| Parameter |
Data |
| Outer Diameter |
57 mm |
| Height |
45 mm |
| Weight |
310 g |
| Operating Temperature |
-20~40°C |
