Brushless DC Planetary Geared Motor
===================================

.. include:: ../_templates/constants.rst

**Datasheet:** :raw-html:`<br />`
`M82B200-24P-30S/G82-30S1 Datasheet <motor_docs_>`_


**Features:** :raw-html:`<br />`
**Power & Voltage:** 200W, 24V DC input :raw-html:`<br />`
**Current:** 10.5A rated :raw-html:`<br />`
**Speed:** 100 RPM rated (4200 RPM ±10% without gearbox) :raw-html:`<br />`
**Torque:** 15.00 Nm (2124.17 oz.in) rated :raw-html:`<br />`
**Motor Type:** 3-Phase, 10-Pole BLDC with Hall Sensors :raw-html:`<br />`
**Gearbox:** Planetary, 30:1 Gear Ratio :raw-html:`<br />`

**Connection:** :raw-html:`<br />`
*Motor Phases (16AWG):* :raw-html:`<br />`
*U (Yellow wire)* to ODESC V4.2 C screw terminal   :raw-html:`<br />`
*V (Green wire)* to ODESC V4.2 A screw terminal  :raw-html:`<br />`
*W (Blue wire)* to ODESC V4.2 B screw terminal  :raw-html:`<br />`
*Hall sensors* to ODESC V4.2 hall connectors :raw-html:`<br />`

**Interfacing:**
Connect *NVIDIA Jetson Orin Nano* to *ODESC V4.2* motor controllers to *motor*.

**Dimensions:** :raw-html:`<br />`
*Frame Size:* Φ82mm :raw-html:`<br />`
*Body Length:* 181.2mm :raw-html:`<br />`
*Shaft:* Φ19mm diameter, 49mm length (Keyway type) :raw-html:`<br />`
*Weight:* 4.24kg (9.35lbs) :raw-html:`<br />`

**Use-Case:** :raw-html:`<br />`
Provides movement for RoboFlock with precise control and high torque output.

.. _motor_docs: https://www.omc-stepperonline.com/24v-200w-100rpm-geared-brushless-dc-motor-15-00nm-2124-17oz-in-30-1-planetary-gearbox-m82b200-24p-30s-g82-30s1