{"id":"gim4305-10-datasheet","title":"SteadyWin GIM4305-10 datasheet","titleProperty":"field","source":"lane/datasheet @ ec9a13c: docs/proposals/build_datasheet_report.py build_rows(); CAN 14 torque corrected per robotparts 2026-10-25-bam-kt-correction.json","properties":{"field":{"type":"text","width":230},"section":{"type":"text","width":160},"nominal":{"type":"number","unit":"unit","align":"left","width":150},"measured":{"type":"number","unit":"unit","values":"measured_values","align":"left","width":170},"board":{"type":"text","unit":"unit","width":190},"derived":{"type":"text","unit":"unit","width":150},"unit":{"type":"text","width":84},"delta":{"type":"number","unitText":"%","decimals":1,"width":110},"status":{"type":"text","display":"badge","colors":{"measured":6,"board":1,"datasheet":0,"derived":7,"partial":2,"pending":4,"refused":8,"missing":0,"candidate":3},"width":96},"n":{"type":"number","width":52},"sources":{"type":"list","width":210},"specimens":{"type":"list","width":120},"latest":{"type":"text","width":100},"m2":{"type":"text","display":"badge","colors":{"required":8,"optional":0},"width":96},"models":{"type":"list","width":260},"bench":{"type":"text","width":300},"order":{"type":"number","hidden":true},"measured_values":{"type":"list","hidden":true}},"detail":{"property":"_detail","kind":"column","columnKinds":{"nominal":"datasheet","measured":"measured","board":"board","derived":"derived"},"columns":[{"id":"column","label":"Column"},{"id":"value","label":"Value"},{"id":"specimen","label":"Unit"},{"id":"date","label":"Date"},{"id":"ci95","label":"95% CI"},{"id":"status","label":"Status"},{"id":"source","label":"Source","link":"url","block":true},{"id":"method","label":"Method","block":true}]},"rows":[{"id":"mass","field":"Mass","section":"Mechanical","order":0,"nominal":140.0,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"g","delta":null,"status":"datasheet","n":1,"sources":["datasheet"],"specimens":[],"latest":"2026-10-22","m2":null,"models":[],"bench":"weigh it","_detail":[{"column":"datasheet","status":"datasheet","value":"140.0 g","specimen":"","date":"2026-10-22","source":"manufacturer · steadywin.cn","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"without the driver (the gearmotor); 150 g with SteadyWin's driver","ci95":""}]},{"id":"outer_diameter","field":"Outer diameter","section":"Mechanical","order":1,"nominal":53.0,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"mm","delta":null,"status":"datasheet","n":1,"sources":["datasheet"],"specimens":[],"latest":"2026-10-22","m2":null,"models":[],"bench":"the maker's drawing, or calipers","_detail":[{"column":"datasheet","status":"datasheet","value":"53.0 mm","specimen":"","date":"2026-10-22","source":"manufacturer · steadywin.cn","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"row 电机尺寸带驱动(Size with Driver), mm; Ø53*26 without the driver","ci95":""}]},{"id":"axial_length","field":"Length","section":"Mechanical","order":2,"nominal":26.0,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"mm","delta":null,"status":"datasheet","n":1,"sources":["datasheet"],"specimens":[],"latest":"2026-10-22","m2":null,"models":[],"bench":"the maker's drawing, or calipers","_detail":[{"column":"datasheet","status":"datasheet","value":"26.0 mm","specimen":"","date":"2026-10-22","source":"manufacturer · steadywin.cn","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"without the driver; 32 mm with it (the atlas's 26 mm “with driver” is a conflict)","ci95":""}]},{"id":"dimensions","field":"Dimensions","section":"Mechanical","order":3,"nominal":null,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"mm","delta":null,"status":"missing","n":0,"sources":[],"specimens":[],"latest":null,"m2":null,"models":[],"bench":"the maker's drawing","_detail":[]},{"id":"output_flange","field":"Output flange / shaft","section":"Mechanical","order":4,"nominal":"3 × M3 on Ø27 mm, 4 mm deep (output)","measured":null,"measured_values":[],"board":null,"derived":null,"unit":null,"delta":null,"status":"datasheet","n":1,"sources":["datasheet"],"specimens":[],"latest":"2026-10-22","m2":null,"models":[],"bench":"the maker's drawing","_detail":[{"column":"datasheet","status":"datasheet","value":"3 × M3 on Ø27 mm, 4 mm deep (output)","specimen":"","date":"2026-10-22","source":"manufacturer · 14180476.s21i.faiusr.com","url":"https://14180476.s21i.faiusr.com/61/ABUIABA9GAAg1rfAxQYo4P63Xg.pdf","method":"the Ø37 output boss: three M3 holes, effective thread depth 4 mm, on Ø27","ci95":""}]},{"id":"mounting","field":"Mounting pattern","section":"Mechanical","order":5,"nominal":"6 × M2.5 on Ø47.5 mm, 3 mm deep (mount) · 3 × M2.5 on Ø47.5 mm, 5 mm deep (front_mount)","measured":null,"measured_values":[],"board":null,"derived":null,"unit":null,"delta":null,"status":"datasheet","n":2,"sources":["datasheet"],"specimens":[],"latest":"2026-10-22","m2":null,"models":[],"bench":"the maker's drawing","_detail":[{"column":"datasheet","status":"datasheet","value":"6 × M2.5 on Ø47.5 mm, 3 mm deep (mount)","specimen":"","date":"2026-10-22","source":"manufacturer · 14180476.s21i.faiusr.com","url":"https://14180476.s21i.faiusr.com/61/ABUIABA9GAAg1rfAxQYo4P63Xg.pdf","method":"the drawing's back views: six M2.5 holes, thread depth 3 mm","ci95":""},{"column":"datasheet","status":"datasheet","value":"3 × M2.5 on Ø47.5 mm, 5 mm deep (front_mount)","specimen":"","date":"2026-10-22","source":"manufacturer · 14180476.s21i.faiusr.com","url":"https://14180476.s21i.faiusr.com/61/ABUIABA9GAAg1rfAxQYo4P63Xg.pdf","method":"an alternative mount on the front cover, around the output (the drawing's upper views)","ci95":""}]},{"id":"rated_torque","field":"Rated torque","section":"Output performance","order":6,"nominal":1.05,"measured":null,"measured_values":[],"board":null,"derived":"1.214 continuous · 1.356 continuous","unit":"N·m","delta":null,"status":"datasheet","n":3,"sources":["datasheet","derived"],"specimens":[],"latest":"2026-10-24","m2":null,"models":[],"bench":"thermal run at constant torque to the winding limit (T8)","_detail":[{"column":"datasheet","status":"datasheet","value":"1.05 N·m","specimen":"","date":"2026-10-22","source":"manufacturer · steadywin.cn","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"row 额定扭矩(Nominal Torque), N.M, GDZ34 driver column; the GDS34 column states 1","ci95":""},{"column":"derived","status":"derived","value":"1.214 continuous","specimen":"CAN 1 · unit …145a","date":"2026-10-24","source":"CAN 1 thermal × board Kt_out","url":"","method":"2.386 A to 80 °C × 0.5089 N·m/A","ci95":""},{"column":"derived","status":"derived","value":"1.356 continuous","specimen":"CAN 14 · unit …4184","date":"2026-10-24","source":"CAN 14 thermal × board Kt_out","url":"","method":"2.665 A to 80 °C × 0.5087 N·m/A","ci95":""}]},{"id":"peak_torque","field":"Peak torque","section":"Output performance","order":7,"nominal":3.82,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"N·m","delta":null,"status":"datasheet","n":1,"sources":["datasheet"],"specimens":[],"latest":"2026-10-22","m2":null,"models":[],"bench":"stall at the driver's peak current, kt × I (T6)","_detail":[{"column":"datasheet","status":"datasheet","value":"3.82 N·m","specimen":"","date":"2026-10-22","source":"manufacturer · steadywin.cn","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"row 堵转扭矩(Stall Torque), N.M, GDZ34 driver column; the GDS34 column states 3.47","ci95":""}]},{"id":"rated_speed","field":"Rated speed","section":"Output performance","order":8,"nominal":312.0,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"rpm","delta":null,"status":"datasheet","n":1,"sources":["datasheet"],"specimens":[],"latest":"2026-10-22","m2":null,"models":[],"bench":"torque–speed ladder (T7)","_detail":[{"column":"datasheet","status":"datasheet","value":"312.0 rpm","specimen":"","date":"2026-10-22","source":"manufacturer · steadywin.cn","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"row 减速后额定转速(Nominal Speed after Reduce), RPM, GDZ34 driver column; the GDS34 column states 300","ci95":""}]},{"id":"max_output_speed","field":"Max (no-load) speed","section":"Output performance","order":9,"nominal":402.0,"measured":"505.2 at 36.5 V (52.9 rad/s)","measured_values":[],"board":null,"derived":"390.1 at 24 V","unit":"rpm","delta":null,"status":"measured","n":3,"sources":["datasheet","measured","derived"],"specimens":["CAN 14"],"latest":"2026-10-24","m2":null,"models":[],"bench":"no-load speed ladder at a stated bus voltage (T7)","_detail":[{"column":"datasheet","status":"datasheet","value":"402.0 rpm","specimen":"","date":"2026-10-22","source":"manufacturer · steadywin.cn","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"row 减速后最大转速(Max Speed after Reduce), RPM, GDZ34 driver column; the GDS34 column states 366","ci95":""},{"column":"measured","status":"measured","value":"505.2 at 36.5 V (52.9 rad/s)","specimen":"CAN 14 · unit …4184","date":"2026-10-24","source":"CAN 14 model card","url":"","method":"the fastest |qd| any ladder run reached, with moteus' voltage limiter (98) engaged, bus 36.5 V","ci95":""},{"column":"derived","status":"derived","value":"390.1 at 24 V","specimen":"","date":"2026-10-24","source":"Kv × V / ratio","url":"","method":"162.6 rpm/V (CAN 14 board) × 24 V / 10","ci95":""}]},{"id":"torque_speed_envelope","field":"Torque–speed envelope","section":"Output performance","order":10,"nominal":null,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":null,"delta":null,"status":"missing","n":0,"sources":[],"specimens":[],"latest":null,"m2":null,"models":[],"bench":"speed ladder × torque caps (T7)","_detail":[]},{"id":"gear_ratio","field":"Gear ratio","section":"Drivetrain","order":11,"nominal":10.0,"measured":9.615,"measured_values":[9.615],"board":null,"derived":null,"unit":":1","delta":-3.849999999999998,"status":"measured","n":2,"sources":["datasheet","measured"],"specimens":["CAN 1"],"latest":"2026-10-22","m2":null,"models":["M1.datasheet"],"bench":"camera vs encoder angle ratio (T5)","_detail":[{"column":"datasheet","status":"datasheet","value":"10.0:1","specimen":"","date":"2026-10-22","source":"manufacturer · steadywin.cn","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"row 减速比(Gear Rate), both driver columns","ci95":""},{"column":"measured","status":"measured","value":"9.615 [9.469, 9.757]","specimen":"CAN 1 · unit …145a","date":"2026-10-21","source":"robotparts record (as_mounted)","url":"https://github.com/zacharyyamaoka/bam_ws/blob/7157b86a342917bdcc7915113eb906bba12f294f/src/dev/bam_rack_twin/records/one-dof-test-rack/deployment.json#L216-L221","method":"Camera ground truth: an ArUco tag on the output, posed by solvePnP (IPPE_SQUARE) in RealSense D405 colour frames while the board turned the rotor; the camera/encoder angle ratio about the tag's own axis, 95% CI by block bootstrap (bam_rack_twin README lines 35-40). The source states output turns per rotor turn; inverted here to rotor turns per output turn.","ci95":"[9.469, 9.757]"}]},{"id":"backlash","field":"Backlash","section":"Drivetrain","order":12,"nominal":15.0,"measured":12.213364857312035,"measured_values":[12.213364857312035],"board":null,"derived":null,"unit":"arcmin","delta":-18.57756761791977,"status":"measured","n":3,"sources":["datasheet","measured"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-23","m2":null,"models":[],"bench":"staircase holds, camera vs encoder (T5)","_detail":[{"column":"datasheet","status":"datasheet","value":"15.0 arcmin","specimen":"","date":"2026-10-22","source":"manufacturer · steadywin.cn","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"row 减速器齿轮背隙(Reducer Gear Backlash), arcmin, both driver columns","ci95":""},{"column":"measured","status":"refused","value":"5.673 [-7.571, 20.08]","specimen":"CAN 1 · unit …145a","date":"2026-10-23","source":"CAN 1 model card","url":"","method":"camera tag (output) vs encoder (rotor / N) at settled staircase holds, differenced per level (up vs down)","ci95":"[-7.571, 20.08]"},{"column":"measured","status":"measured","value":"12.21 [8.131, 15.92]","specimen":"CAN 14 · unit …4184","date":"2026-10-23","source":"CAN 14 model card","url":"","method":"camera tag (output) vs encoder (rotor / N) at settled staircase holds, differenced per level (up vs down)","ci95":"[8.131, 15.92]"}]},{"id":"torsional_stiffness","field":"Torsional stiffness","section":"Drivetrain","order":13,"nominal":null,"measured":"≥ 460.8 (gear + stop in series) · pending","measured_values":[],"board":null,"derived":null,"unit":"N·m/rad","delta":null,"status":"partial","n":2,"sources":[],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-23","m2":null,"models":[],"bench":"clamp the output, ramp the torque (T5)","_detail":[{"column":"measured","status":"partial","value":"≥ 460.8 (gear + stop in series)","specimen":"CAN 1 · unit …145a","date":"2026-10-23","source":"CAN 1 model card","url":"","method":"a bound, not a value; a clamp at the output would separate them","ci95":"[435.1, 486.4]"},{"column":"measured","status":"pending","value":"pending","specimen":"CAN 14 · unit …4184","date":"2026-10-23","source":"CAN 14 model card","url":"","method":"needs the output held still under torque (a hard stop or a clamp); CAN 14 turns freely","ci95":""}]},{"id":"efficiency","field":"Efficiency","section":"Drivetrain","order":14,"nominal":null,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"%","delta":null,"status":"missing","n":0,"sources":[],"specimens":[],"latest":null,"m2":null,"models":[],"bench":"input vs output power on a dyno","_detail":[]},{"id":"gearbox_input_inertia","field":"Input inertia","section":"Drivetrain","order":15,"nominal":null,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"kg·m²","delta":null,"status":"missing","n":0,"sources":[],"specimens":[],"latest":null,"m2":null,"models":["M1.datasheet"],"bench":"chirp with nothing on the output, minus the rotor","_detail":[]},{"id":"bearing_radial_load","field":"Bearing radial load","section":"Drivetrain","order":16,"nominal":500.0,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"N","delta":null,"status":"datasheet","n":1,"sources":["datasheet"],"specimens":[],"latest":"2026-10-22","m2":null,"models":[],"bench":"the maker only","_detail":[{"column":"datasheet","status":"datasheet","value":"500.0 N","specimen":"","date":"2026-10-22","source":"manufacturer · steadywin.cn","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"row 径向最大负载(Max Radial Load), N, both driver columns","ci95":""}]},{"id":"bearing_axial_load","field":"Bearing axial load","section":"Drivetrain","order":17,"nominal":125.0,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"N","delta":null,"status":"datasheet","n":1,"sources":["datasheet"],"specimens":[],"latest":"2026-10-22","m2":null,"models":[],"bench":"the maker only","_detail":[{"column":"datasheet","status":"datasheet","value":"125.0 N","specimen":"","date":"2026-10-22","source":"manufacturer · steadywin.cn","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"row 轴向最大负载(Max Axial Load), N, both driver columns","ci95":""}]},{"id":"pole_pairs","field":"Pole pairs","section":"Motor electrical","order":18,"nominal":14.0,"measured":null,"measured_values":[],"board":"14 · 14","derived":null,"unit":null,"delta":null,"status":"board","n":3,"sources":["datasheet","board"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-24","m2":null,"models":[],"bench":"driver calibration","_detail":[{"column":"datasheet","status":"datasheet","value":"14","specimen":"","date":"2026-10-22","source":"manufacturer · steadywin.cn","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"row 极对数(Number of Pole Pairs), Pairs, both driver columns","ci95":""},{"column":"board","status":"board","value":"14","specimen":"CAN 1 · unit …145a","date":"2026-10-24","source":"CAN 1 model card","url":"","method":"conf get motor.poles / 2","ci95":""},{"column":"board","status":"board","value":"14","specimen":"CAN 14 · unit …4184","date":"2026-10-24","source":"CAN 14 model card","url":"","method":"conf get motor.poles / 2","ci95":""}]},{"id":"kv","field":"Kv","section":"Motor electrical","order":19,"nominal":"152.5–167.5","measured":null,"measured_values":[],"board":"162.5 · 162.6","derived":null,"unit":"rpm/V","delta":null,"status":"board","n":3,"sources":["datasheet","board"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-24","m2":null,"models":[],"bench":"driver calibration or a back-EMF spin","_detail":[{"column":"datasheet","status":"datasheet","value":"152.5–167.5","specimen":"","date":"2026-10-23","source":"SteadyWin page, as the rack card read it","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"","ci95":""},{"column":"board","status":"board","value":"162.5","specimen":"CAN 1 · unit …145a","date":"2026-10-24","source":"CAN 1 model card","url":"","method":"conf get motor.Kv","ci95":""},{"column":"board","status":"board","value":"162.6","specimen":"CAN 14 · unit …4184","date":"2026-10-24","source":"CAN 14 model card","url":"","method":"conf get motor.Kv","ci95":""}]},{"id":"kt","field":"Kt (rotor, peak A)","section":"Motor electrical","order":20,"nominal":null,"measured":null,"measured_values":[],"board":"0.05089 (0.5089 at the output) · 0.05087 (0.5087 at the output)","derived":null,"unit":"N·m/A","delta":null,"status":"board","n":2,"sources":["board"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-24","m2":null,"models":["M1.datasheet","M5.dcmotor"],"bench":"drive-gain test with a known mass (T6)","_detail":[{"column":"board","status":"board","value":"0.05089 (0.5089 at the output)","specimen":"CAN 1 · unit …145a","date":"2026-10-24","source":"CAN 1 model card","url":"","method":"moteus: 8.27 / Kv x i_q; output x the gear ratio","ci95":""},{"column":"board","status":"board","value":"0.05087 (0.5087 at the output)","specimen":"CAN 14 · unit …4184","date":"2026-10-24","source":"CAN 14 model card","url":"","method":"moteus: 8.27 / Kv x i_q; output x the gear ratio","ci95":""}]},{"id":"resistance_line_to_line","field":"Resistance, line to line","section":"Motor electrical","order":21,"nominal":"1.11–1.15","measured":null,"measured_values":[],"board":"1.264 (2 × 0.6319 phase) · 1.302 (2 × 0.651 phase)","derived":null,"unit":"Ω","delta":null,"status":"board","n":3,"sources":["datasheet","board"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-24","m2":null,"models":["M5.dcmotor"],"bench":"driver calibration","_detail":[{"column":"datasheet","status":"datasheet","value":"1.11–1.15","specimen":"","date":"2026-10-23","source":"SteadyWin page, as the rack card read it","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"","ci95":""},{"column":"board","status":"board","value":"1.264 (2 × 0.6319 phase)","specimen":"CAN 1 · unit …145a","date":"2026-10-24","source":"CAN 1 model card","url":"","method":"moteus_tool calibration (conf get motor.resistance_ohm)","ci95":""},{"column":"board","status":"board","value":"1.302 (2 × 0.651 phase)","specimen":"CAN 14 · unit …4184","date":"2026-10-24","source":"CAN 14 model card","url":"","method":"moteus_tool calibration (conf get motor.resistance_ohm)","ci95":""}]},{"id":"inductance_line_to_line","field":"Inductance, line to line (d / q)","section":"Motor electrical","order":22,"nominal":"0.28–0.41","measured":null,"measured_values":[],"board":"d 0.2659, q 0.4494 · d 0.2714, q 0.4611","derived":null,"unit":"mH","delta":null,"status":"board","n":3,"sources":["datasheet","board"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-24","m2":null,"models":["M5.dcmotor"],"bench":"driver calibration","_detail":[{"column":"datasheet","status":"datasheet","value":"0.28–0.41","specimen":"","date":"2026-10-23","source":"SteadyWin page, as the rack card read it","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"","ci95":""},{"column":"board","status":"board","value":"d 0.2659, q 0.4494","specimen":"CAN 1 · unit …145a","date":"2026-10-24","source":"CAN 1 model card","url":"","method":"conf get motor.inductance_d_H","ci95":""},{"column":"board","status":"board","value":"d 0.2714, q 0.4611","specimen":"CAN 14 · unit …4184","date":"2026-10-24","source":"CAN 14 model card","url":"","method":"conf get motor.inductance_d_H","ci95":""}]},{"id":"nominal_voltage","field":"Nominal voltage","section":"Motor electrical","order":23,"nominal":24.0,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"V","delta":null,"status":"datasheet","n":1,"sources":["datasheet"],"specimens":[],"latest":"2026-10-22","m2":null,"models":[],"bench":"the maker only","_detail":[{"column":"datasheet","status":"datasheet","value":"24.0 V","specimen":"","date":"2026-10-22","source":"manufacturer · steadywin.cn","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"row 额定电压(Nominal Voltage), V, both driver columns; range 12~40 V (GDZ34) or 12~36 V (GDS34)","ci95":""}]},{"id":"continuous_current","field":"Rated (continuous) current","section":"Motor electrical","order":24,"nominal":"2.18 rated","measured":2.5255,"measured_values":[2.386,2.665],"board":null,"derived":null,"unit":"A","delta":null,"status":"measured","n":3,"sources":["datasheet","measured"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-24","m2":null,"models":[],"bench":"thermal run to the winding limit (T8)","_detail":[{"column":"datasheet","status":"datasheet","value":"2.18 rated","specimen":"","date":"2026-10-23","source":"SteadyWin page, as the rack card read it","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"","ci95":""},{"column":"measured","status":"measured","value":"2.386 A to 80 °C","specimen":"CAN 1 · unit …145a","date":"2026-10-24","source":"CAN 1 model card","url":"","method":"winding rise from copper resistance (alpha 0.00393) by fixed 1.5/0.75 A d-axis probe windows; 2-pole Foster network fitted to the rise (residual 1.4 degC)","ci95":""},{"column":"measured","status":"measured","value":"2.665 A to 80 °C","specimen":"CAN 14 · unit …4184","date":"2026-10-24","source":"CAN 14 model card","url":"","method":"winding rise from copper resistance (alpha 0.00393) by fixed 1.5/0.75 A d-axis probe windows; 1-pole Foster network fitted to the rise (residual 3.5 degC)","ci95":""}]},{"id":"peak_current","field":"Peak current","section":"Motor electrical","order":25,"nominal":null,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"A","delta":null,"status":"missing","n":0,"sources":[],"specimens":[],"latest":null,"m2":null,"models":[],"bench":"the maker only","_detail":[]},{"id":"rotor_inertia","field":"Rotor inertia","section":"Motor electrical","order":26,"nominal":null,"measured":"≤ 6.8e-06 (a bound) · ≤ 2.36e-06 (a bound)","measured_values":[],"board":null,"derived":null,"unit":"kg·m²","delta":null,"status":"partial","n":2,"sources":[],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-23","m2":null,"models":["M1.datasheet"],"bench":"chirp with nothing on the output (scope part)","_detail":[{"column":"measured","status":"partial","value":"≤ 6.8e-06 (a bound)","specimen":"CAN 1 · unit …145a","date":"2026-10-23","source":"CAN 1 model card","url":"","method":"upper bound from the axis-inertia CI: J_rotor <= 6.8e-06 kg.m^2 (68 g.cm^2), so an older note's 100 g.cm^2 is impossible on this joint","ci95":""},{"column":"measured","status":"partial","value":"≤ 2.36e-06 (a bound)","specimen":"CAN 14 · unit …4184","date":"2026-10-23","source":"CAN 14 model card","url":"","method":"upper bound from the axis-inertia CI: J_rotor <= 2.36e-06 kg.m^2 (23.6 g.cm^2), so an older note's 100 g.cm^2 is impossible on this joint","ci95":""}]},{"id":"thermal_resistance","field":"Thermal resistance, winding","section":"Thermal","order":27,"nominal":null,"measured":7.664,"measured_values":[6.716,8.612],"board":null,"derived":null,"unit":"K/W","delta":null,"status":"measured","n":2,"sources":["measured"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-24","m2":null,"models":["M5.dcmotor"],"bench":"winding-R rise under a fixed d-axis current (T8)","_detail":[{"column":"measured","status":"measured","value":"4.747 + 3.865 (2-pole)","specimen":"CAN 1 · unit …145a","date":"2026-10-24","source":"CAN 1 model card","url":"","method":"winding rise from copper resistance (alpha 0.00393) by fixed 1.5/0.75 A d-axis probe windows; 2-pole Foster network fitted to the rise (residual 1.4 degC)","ci95":""},{"column":"measured","status":"measured","value":"6.716","specimen":"CAN 14 · unit …4184","date":"2026-10-24","source":"CAN 14 model card","url":"","method":"winding rise from copper resistance (alpha 0.00393) by fixed 1.5/0.75 A d-axis probe windows; 1-pole Foster network fitted to the rise (residual 3.5 degC)","ci95":""}]},{"id":"thermal_time_constant","field":"Thermal time constant","section":"Thermal","order":28,"nominal":null,"measured":55.25,"measured_values":[41.1,69.4],"board":null,"derived":null,"unit":"s","delta":null,"status":"measured","n":2,"sources":["measured"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-24","m2":null,"models":[],"bench":"winding-R rise under a fixed d-axis current (T8)","_detail":[{"column":"measured","status":"measured","value":"41.1 / 556.6","specimen":"CAN 1 · unit …145a","date":"2026-10-24","source":"CAN 1 model card","url":"","method":"winding rise from copper resistance (alpha 0.00393) by fixed 1.5/0.75 A d-axis probe windows; 2-pole Foster network fitted to the rise (residual 1.4 degC)","ci95":""},{"column":"measured","status":"measured","value":"69.4","specimen":"CAN 14 · unit …4184","date":"2026-10-24","source":"CAN 14 model card","url":"","method":"winding rise from copper resistance (alpha 0.00393) by fixed 1.5/0.75 A d-axis probe windows; 1-pole Foster network fitted to the rise (residual 3.5 degC)","ci95":""}]},{"id":"max_winding_temperature","field":"Max winding temperature","section":"Thermal","order":29,"nominal":80.0,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"°C","delta":null,"status":"datasheet","n":1,"sources":["datasheet"],"specimens":[],"latest":"2026-10-23","m2":null,"models":[],"bench":"the maker only","_detail":[{"column":"datasheet","status":"datasheet","value":"80","specimen":"","date":"2026-10-23","source":"SteadyWin page, as the rack card read it","url":"https://www.steadywin.cn/en/h-pd-9.html","method":"","ci95":""}]},{"id":"insulation_class","field":"Insulation class","section":"Thermal","order":30,"nominal":null,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":null,"delta":null,"status":"missing","n":0,"sources":[],"specimens":[],"latest":null,"m2":null,"models":[],"bench":"the maker only","_detail":[]},{"id":"temperature_range","field":"Operating temperature","section":"Thermal","order":31,"nominal":null,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"°C","delta":null,"status":"missing","n":0,"sources":[],"specimens":[],"latest":null,"m2":null,"models":[],"bench":"the maker only","_detail":[]},{"id":"encoder_type","field":"Encoder type","section":"Sensing","order":32,"nominal":null,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":null,"delta":null,"status":"missing","n":0,"sources":[],"specimens":[],"latest":null,"m2":null,"models":[],"bench":"the maker, or the driver's config","_detail":[]},{"id":"encoder_resolution","field":"Encoder resolution","section":"Sensing","order":33,"nominal":null,"measured":null,"measured_values":[],"board":"16,384 · 16,384","derived":"16,384","unit":"counts/rev","delta":null,"status":"board","n":3,"sources":["board","derived"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-24","m2":null,"models":[],"bench":"driver calibration (cpr)","_detail":[{"column":"board","status":"board","value":"16,384","specimen":"CAN 1 · unit …145a","date":"2026-10-24","source":"CAN 1 model card","url":"","method":"conf get motor_position.sources.0.cpr; output quantum = 2 pi / cpr / N","ci95":""},{"column":"board","status":"board","value":"16,384","specimen":"CAN 14 · unit …4184","date":"2026-10-24","source":"CAN 14 model card","url":"","method":"conf get motor_position.sources.0.cpr; output quantum = 2 pi / cpr / N","ci95":""},{"column":"derived","status":"derived","value":"16,384","specimen":"","date":"2026-10-08","source":"2^bits (the atlas's 14 bit)","url":"","method":"","ci95":""}]},{"id":"breakaway_torque","field":"Breakaway torque","section":"Friction","order":34,"nominal":null,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"N·m","delta":null,"status":"missing","n":0,"sources":[],"specimens":[],"latest":null,"m2":null,"models":["M3.stribeck","M3.lugre"],"bench":"slow torque ramp from rest","_detail":[]},{"id":"coulomb_friction","field":"Coulomb friction","section":"Friction","order":35,"nominal":null,"measured":"0.0551 · 0.06721 [0.05349, 0.08276] · 0.0508 true (0.04133 board × 1.229)","measured_values":[],"board":null,"derived":null,"unit":"N·m","delta":null,"status":"measured","n":3,"sources":["measured"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-25","m2":"required","models":["M1.datasheet","M2.coulomb_viscous","M3.stribeck","M3.load","M4.ripple","M3.lugre"],"bench":"velocity plateaus (identify)","_detail":[{"column":"measured","status":"measured","value":"0.0551","specimen":"CAN 14 · unit …4184","date":"2026-10-25","source":"robotparts record (as_mounted)","url":"https://github.com/zacharyyamaoka/bam_ws/blob/7157b86a342917bdcc7915113eb906bba12f294f/src/dev/bam_rack_twin/bam_rack_twin/twin.py#L63-L65","method":"Coulomb plus viscous fit on settled velocity plateaus, tau = Fc*sgn(v) + b*v + tau0 (bam_rack_twin identify.py lines 5-10; its moving-block-bootstrap CI is not quoted in the source), used as the identified twin's MuJoCo frictionloss. Corrected 2026-10-25: same runs, torque x 1.229; the board's Kv was a stale 199.78 when they were logged (recalibrated to 162.56 on 2026-10-23). Supersedes the 0.0448 N·m published on 2026-10-21.","ci95":""},{"column":"measured","status":"measured","value":"0.06721 [0.05349, 0.08276]","specimen":"CAN 1 · unit …145a","date":"2026-10-23","source":"CAN 1 model card","url":"","method":"tau = Fc*sgn(v_cmd) + b*v_cmd + tau0 on plateau rows >= 0.5 s after each speed change, block bootstrap","ci95":"[0.05349, 0.08276]"},{"column":"measured","status":"measured","value":"0.0508 true (0.04133 board × 1.229)","specimen":"CAN 14 · unit …4184","date":"2026-10-23","source":"CAN 14 model card","url":"","method":"tau = Fc*sgn(v_cmd) + b*v_cmd + tau0 on plateau rows >= 0.5 s after each speed change, block bootstrap","ci95":"[0.03968, 0.04354]"}]},{"id":"viscous_friction","field":"Viscous friction","section":"Friction","order":36,"nominal":null,"measured":"-0.361 (negative) · -0.00656 (negative)","measured_values":[],"board":null,"derived":null,"unit":"N·m·s/rad","delta":null,"status":"refused","n":2,"sources":[],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-23","m2":"required","models":["M1.datasheet","M2.coulomb_viscous","M3.stribeck","M3.load","M4.ripple"],"bench":"velocity plateaus (identify)","_detail":[{"column":"measured","status":"refused","value":"-0.361 (negative)","specimen":"CAN 1 · unit …145a","date":"2026-10-23","source":"CAN 1 model card","url":"","method":"tau = Fc*sgn(v_cmd) + b*v_cmd + tau0 on plateau rows >= 0.5 s after each speed change, block bootstrap","ci95":"[-0.7923, 0.02332]"},{"column":"measured","status":"refused","value":"-0.00656 (negative)","specimen":"CAN 14 · unit …4184","date":"2026-10-23","source":"CAN 14 model card","url":"","method":"tau = Fc*sgn(v_cmd) + b*v_cmd + tau0 on plateau rows >= 0.5 s after each speed change, block bootstrap","ci95":"[-0.009949, -0.003939]"}]},{"id":"stribeck_velocity","field":"Stribeck velocity","section":"Friction","order":37,"nominal":null,"measured":"slope 0.00656 N·m·s/rad, not vs","measured_values":[],"board":null,"derived":null,"unit":"rad/s","delta":null,"status":"partial","n":1,"sources":[],"specimens":["CAN 14"],"latest":"2026-10-23","m2":null,"models":["M3.stribeck","M3.lugre"],"bench":"plateaus below 1 rad/s","_detail":[{"column":"measured","status":"partial","value":"slope 0.00656 N·m·s/rad, not vs","specimen":"CAN 14 · unit …4184","date":"2026-10-23","source":"CAN 14 model card","url":"","method":"minus the plateaus' viscous slope b (tau = Fc*sgn(v) + b*v + tau0), applied up to the fastest plateau speed","ci95":"[0.003939, 0.009949]"}]},{"id":"friction_load_coefficient","field":"Load-dependent friction","section":"Friction","order":38,"nominal":null,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":null,"delta":null,"status":"missing","n":0,"sources":[],"specimens":[],"latest":null,"m2":null,"models":["M3.load"],"bench":"plateaus under a load or gravity sweep","_detail":[]},{"id":"friction_radial_coefficient","field":"Radial-load friction (new)","section":"Friction","order":39,"nominal":null,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"N·m/N","delta":null,"status":"missing","n":0,"sources":[],"specimens":[],"latest":null,"m2":null,"models":[],"bench":"arm length vs mass sweep","_detail":[]},{"id":"torque_ripple","field":"Torque ripple per rotor harmonic","section":"Friction","order":40,"nominal":null,"measured":"k14: 25.8 · k28: 12.3 · k24: 11.1","measured_values":[],"board":null,"derived":null,"unit":"mN·m","delta":null,"status":"measured","n":3,"sources":["measured"],"specimens":["CAN 14"],"latest":"2026-10-25","m2":null,"models":[],"bench":"settled plateaus, rotor-harmonic fit","_detail":[{"column":"measured","status":"measured","value":"k14: 25.8","specimen":"CAN 14 · unit …4184","date":"2026-10-25","source":"robotparts record (as_mounted)","url":"https://github.com/zacharyyamaoka/bam_ws/blob/7157b86a342917bdcc7915113eb906bba12f294f/src/dev/bam_rack_twin/bam_rack_twin/twin.py#L84-L85","method":"Rotor-harmonic fit on the same velocity plateaus, tau = c_plateau + sum_k a_k cos(k r q) + b_k sin(k r q) (bam_rack_twin identify.py lines 5-10, identified+ twin); the amplitude at one harmonic. Corrected 2026-10-25: same runs, torque x 1.229; the board's Kv was a stale 199.78 when they were logged (recalibrated to 162.56 on 2026-10-23). Supersedes the k14: 21 mN·m published on 2026-10-21.","ci95":""},{"column":"measured","status":"measured","value":"k28: 12.3","specimen":"CAN 14 · unit …4184","date":"2026-10-25","source":"robotparts record (as_mounted)","url":"https://github.com/zacharyyamaoka/bam_ws/blob/7157b86a342917bdcc7915113eb906bba12f294f/src/dev/bam_rack_twin/bam_rack_twin/twin.py#L84-L85","method":"Rotor-harmonic fit on the same velocity plateaus, tau = c_plateau + sum_k a_k cos(k r q) + b_k sin(k r q) (bam_rack_twin identify.py lines 5-10, identified+ twin); the amplitude at one harmonic. Corrected 2026-10-25: same runs, torque x 1.229; the board's Kv was a stale 199.78 when they were logged (recalibrated to 162.56 on 2026-10-23). Supersedes the k28: 10 mN·m published on 2026-10-21.","ci95":""},{"column":"measured","status":"measured","value":"k24: 11.1","specimen":"CAN 14 · unit …4184","date":"2026-10-25","source":"robotparts record (as_mounted)","url":"https://github.com/zacharyyamaoka/bam_ws/blob/7157b86a342917bdcc7915113eb906bba12f294f/src/dev/bam_rack_twin/bam_rack_twin/twin.py#L84-L85","method":"Rotor-harmonic fit on the same velocity plateaus, tau = c_plateau + sum_k a_k cos(k r q) + b_k sin(k r q) (bam_rack_twin identify.py lines 5-10, identified+ twin); the amplitude at one harmonic. Corrected 2026-10-25: same runs, torque x 1.229; the board's Kv was a stale 199.78 when they were logged (recalibrated to 162.56 on 2026-10-23). Supersedes the k24: 9 mN·m published on 2026-10-21.","ci95":""}]},{"id":"ripple_map","field":"Ripple map (rotor angle, RMS)","section":"Friction","order":41,"nominal":null,"measured":20.129176153531905,"measured_values":[18.62968902532038,21.628663281743428],"board":null,"derived":null,"unit":"mN·m","delta":null,"status":"measured","n":2,"sources":["measured"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-23","m2":null,"models":["M4.ripple","M5.dcmotor"],"bench":"settled plateaus, rotor-harmonic fit with phase","_detail":[{"column":"measured","status":"measured","value":"RMS 21.63 [19.78, 22.14]","specimen":"CAN 1 · unit …145a","date":"2026-10-23","source":"CAN 1 model card","url":"","method":"tau = c_plateau + sum_k a_k cos(k*10*q) + b_k sin, k = 1..32 per rotor revolution, on settled plateaus with k_max*r*|v|/2pi <= 0.7 x the reply Nyquist rate; block bootstrap of the map RMS; tiers [64, 128] only if every leave-one-run-out fold gains >= 0.02 R2","ci95":"[0.01978, 0.02214]"},{"column":"measured","status":"measured","value":"RMS 18.63 [17.97, 19.27]","specimen":"CAN 14 · unit …4184","date":"2026-10-23","source":"CAN 14 model card","url":"","method":"tau = c_plateau + sum_k a_k cos(k*10*q) + b_k sin, k = 1..32 per rotor revolution, on settled plateaus with k_max*r*|v|/2pi <= 0.7 x the reply Nyquist rate; block bootstrap of the map RMS; tiers [64, 128] only if every leave-one-run-out fold gains >= 0.02 R2","ci95":"[0.01797, 0.01927]"}]},{"id":"capture_friction_torque","field":"Capture friction (candidate key)","section":"Friction","order":42,"nominal":null,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":"N·m","delta":null,"status":"candidate","n":0,"sources":[],"specimens":[],"latest":null,"m2":null,"models":[],"bench":"stop-and-hold tapes, fitted in the twin","_detail":[]},{"id":"position_repeatability","field":"Position repeatability (floor)","section":"Servo-level measured","order":43,"nominal":null,"measured":0.9893134087586678,"measured_values":[0.8968246573548182,1.0818021601625174],"board":null,"derived":null,"unit":"mrad","delta":null,"status":"measured","n":2,"sources":["measured"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-24","m2":null,"models":[],"bench":"5 identical repeats of one tape (T1)","_detail":[{"column":"measured","status":"measured","value":"0.897","specimen":"CAN 1 · unit …145a","date":"2026-10-24","source":"floors.json","url":"","method":"median pairwise RMS(e_a - e_b), e = q - q_target, identical repeats of one tape; 5 repeats","ci95":""},{"column":"measured","status":"measured","value":"1.08","specimen":"CAN 14 · unit …4184","date":"2026-10-24","source":"floors.json","url":"","method":"median pairwise RMS(e_a - e_b), e = q - q_target, identical repeats of one tape; 5 repeats","ci95":""}]},{"id":"stop_accuracy","field":"Stop accuracy, p90","section":"Servo-level measured","order":44,"nominal":null,"measured":3.697186773247252,"measured_values":[3.375112899980093,4.019260646514411],"board":null,"derived":null,"unit":"mrad","delta":null,"status":"measured","n":2,"sources":["measured"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-24","m2":null,"models":[],"bench":"waypoint stops, camera at the output (T4)","_detail":[{"column":"measured","status":"measured","value":"4.02","specimen":"CAN 1 · unit …145a","date":"2026-10-24","source":"stop_accuracy.json","url":"","method":"15 stops, encoder side, plain PD","ci95":""},{"column":"measured","status":"measured","value":"3.38","specimen":"CAN 14 · unit …4184","date":"2026-10-24","source":"stop_accuracy.json","url":"","method":"16 stops, encoder side, plain PD","ci95":""}]},{"id":"twin_tracking_error","field":"Twin tracking error, held out","section":"Servo-level measured","order":45,"nominal":null,"measured":3.422301,"measured_values":[2.758796,4.085806],"board":null,"derived":null,"unit":"mrad","delta":null,"status":"measured","n":2,"sources":["measured"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-26","m2":null,"models":[],"bench":"held-out tapes vs the twin (T2)","_detail":[{"column":"measured","status":"measured","value":"2.76 (3.08× floor)","specimen":"CAN 1 · unit …145a","date":"2026-10-26","source":"acceptance.json","url":"","method":"held-out tapes; no sim_model_sha256 pinned in robotparts yet","ci95":""},{"column":"measured","status":"measured","value":"4.09 (3.78× floor)","specimen":"CAN 14 · unit …4184","date":"2026-10-26","source":"acceptance.json","url":"","method":"held-out tapes; no sim_model_sha256 pinned in robotparts yet","ci95":""}]},{"id":"thermal_envelope","field":"Continuous thermal envelope","section":"Servo-level measured","order":46,"nominal":null,"measured":2.5255,"measured_values":[2.386,2.665],"board":null,"derived":null,"unit":"A","delta":null,"status":"measured","n":2,"sources":["measured"],"specimens":["CAN 1","CAN 14"],"latest":"2026-10-24","m2":null,"models":[],"bench":"continuous-current runs to the limit (T8)","_detail":[{"column":"measured","status":"measured","value":"2.386 A to 80 °C","specimen":"CAN 1 · unit …145a","date":"2026-10-24","source":"CAN 1 model card","url":"","method":"winding rise from copper resistance (alpha 0.00393) by fixed 1.5/0.75 A d-axis probe windows; 2-pole Foster network fitted to the rise (residual 1.4 degC)","ci95":""},{"column":"measured","status":"measured","value":"2.665 A to 80 °C","specimen":"CAN 14 · unit …4184","date":"2026-10-24","source":"CAN 14 model card","url":"","method":"winding rise from copper resistance (alpha 0.00393) by fixed 1.5/0.75 A d-axis probe windows; 1-pole Foster network fitted to the rise (residual 3.5 degC)","ci95":""}]},{"id":"ports","field":"Ports","section":"Ports, diagnostics & environment","order":47,"nominal":"mount (mechanical.mount); front_mount (mechanical.mount); output (mechanical.output)","measured":null,"measured_values":[],"board":null,"derived":null,"unit":null,"delta":null,"status":"datasheet","n":1,"sources":["datasheet"],"specimens":[],"latest":null,"m2":null,"models":[],"bench":"the part folder's ports","_detail":[{"column":"datasheet","status":"datasheet","value":"mount (mechanical.mount); front_mount (mechanical.mount); output (mechanical.output)","specimen":"","date":"","source":"part folder · ports","url":"","method":"","ci95":""}]},{"id":"diagnostics","field":"Diagnostics","section":"Ports, diagnostics & environment","order":48,"nominal":null,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":null,"delta":null,"status":"missing","n":0,"sources":[],"specimens":[],"latest":null,"m2":null,"models":[],"bench":"the part folder's diagnostics","_detail":[]},{"id":"ip_rating","field":"IP rating","section":"Ports, diagnostics & environment","order":49,"nominal":null,"measured":null,"measured_values":[],"board":null,"derived":null,"unit":null,"delta":null,"status":"missing","n":0,"sources":[],"specimens":[],"latest":null,"m2":null,"models":[],"bench":"the maker only","_detail":[]}]}