SG-6010D Technical Datasheet v1.0¶
Status: Public engineering evaluation reference
Release date: 2026-10-06
SG-6010D is an 80 mm integrated planetary robot joint actuator for projects that require a higher torque level than the SG-6010C reference platform.
This public datasheet consolidates the specifications already published on the current SG-6010D product page. Driver, encoder, communication and closed-loop functions depend on the ordered configuration and must be confirmed in the quotation.
Key Performance¶
| Parameter | Published value |
|---|---|
| Transmission structure | Planetary gearbox |
| Outer diameter | 80.0 mm |
| Product thickness | 58.77 mm |
| Reduction ratio | 28.13:1 |
| Backlash | 15-30 arcmin |
| Operating voltage | 24-48 VDC |
| Motor power | 328 W |
| Rated output speed | 100 rpm |
| No-load output speed | 170 rpm |
| Rated output torque | 16 Nm |
| Peak output torque | 50 Nm |
| Weight | 791 g |
| Allowable radial force | 1000 N |
| Allowable axial force | 400 N |
Warning
Peak torque is not a continuous rating. Peak-torque duration, current limit, duty cycle and thermal suitability must be confirmed for the actual application.
Configuration Boundary¶
SG-6010D can be supplied in configurations that include:
- Motor + planetary gearbox
- Motor + planetary gearbox + integrated driver + encoder
The final driver, encoder, connector, cable and firmware configuration is confirmed by quotation and order documentation.
Driver-Equipped Configuration¶
SigGear has confirmed that the SG6010 driver platform documented in the current SG6010 user manual applies to the driver-equipped SG-6010D configuration.
Confirmed capabilities include:
- 16-bit single-turn absolute magnetic encoder
- FOC closed-loop control
- Position control
- Velocity control
- Torque control
- MIT-style motion control
- CAN Simple
- CANopen (CiA301 / CiA302 / CiA402)
- USB Type-C configuration / debugging
- RS485 / Modbus RTU with the corresponding interface / expansion configuration
EtherCAT and other expansion interfaces remain project-specific and require confirmation.
View SG-6010D Driver and Communication Reference
Mechanical and Load Evaluation¶
For early packaging and load screening, use the published envelope and load limits above.
Final design-in must also consider:
- Actual mounting interface
- Load direction and load offset
- Duty cycle and shock loading
- Peak-torque duration
- Cable / connector orientation
- Driver-equipped or non-driver configuration
View SG-6010D Mechanical Interface Reference
CAD, Drawings and Integration Documentation¶
A public STEP model is not currently released in this repository for SG-6010D.
Detailed STEP, controlled drawings, CAN / integration documentation and configuration-specific files should be requested for the intended project so the files can be matched to the ordered configuration.
Request CAD, Drawing or Integration Files
Selection Information Required¶
Please provide:
- Application and joint position
- Rated and peak torque
- Required peak-torque duration
- Required output speed
- Operating voltage
- Installation envelope
- Duty cycle
- Radial and axial load condition
- Driver, encoder and communication requirements
- Prototype quantity and estimated annual quantity
Related Pages¶
SG-6010D Product Page Custom Robot Joint Development Robot Joint Selection Guide
Engineering Contact¶
Wanrong Wang
International Sales / Sales Engineer, SigGear
wangwanrong@siggear.com