SG-6010D Driver and Communication Reference v1.0¶
Status: Public engineering integration reference
Release date: 2026-10-06
SigGear has confirmed that the current SG6010 driver platform documented in the SG6010 user manual applies to the driver-equipped SG-6010D configuration.
This page summarizes the integration information that is suitable for public engineering evaluation. Firmware revision and ordered hardware configuration must still be confirmed before final integration.
Driver Electrical Reference¶
| Parameter | Confirmed manual value |
|---|---|
| Rated driver voltage | 15~48 V DC |
| Minimum / maximum driver voltage | 12/72 V DC |
| Rated current | 6 A |
| Maximum line current | 30 A |
| Maximum phase current | 90 A |
| Standby power consumption | <10 mA |
| CAN maximum bitrate | 1 Mbps |
| USB Type-C rate | 10 Mbps |
| Encoder resolution | 16-bit single-turn absolute |
| Driver operating temperature | -20°C to 70°C |
| Motor over-temperature alarm | 90°C, adjustable |
| Driver over-temperature alarm | 90°C, adjustable |
Warning
These are driver-platform limits and are not a substitute for the SG-6010D actuator operating limits, current limits, torque limits or thermal validation for a specific application.
Confirmed Interfaces¶
The driver platform includes or supports:
- Power + CAN integrated connector
- USB Type-C debugging / host communication
- Second encoder interface using I2C or UART
- SWD programming / debugging
- Motor temperature input
- Brake / braking-resistor interface
- Minimum / maximum limit-switch inputs
- Expansion interface for additional functions
The expansion slot can support additional interfaces such as RS485 and other project-specific expansion hardware. EtherCAT remains subject to project configuration and confirmation.
Confirmed Communication Protocols¶
CAN Simple¶
The SG6010 driver manual documents the CAN Simple protocol with:
- Standard 11-bit CAN ID
- 8-byte data frame
- Configurable node ID
- Configurable CAN bitrate
- Factory default CAN bitrate documented as 500 kbps
- Maximum CAN bitrate documented as 1 Mbps
CANopen¶
The same driver platform supports CANopen and the manual documents implementation against:
- CiA301
- CiA302
- CiA402
An EDS file is used for CANopen integration. Firmware / EDS revision must be matched to the delivered driver.
RS485 / Modbus RTU¶
RS485 with Modbus RTU is supported on the confirmed SG6010 driver platform when the corresponding RS485 interface / expansion configuration is supplied.
The manual documents up to 115200 bps for the RS485 implementation.
Confirmed Control Modes¶
The driver platform supports:
- Position control
- Velocity control
- Torque control
- MIT-style motion control
The manual further documents filtered / trajectory / circular position modes, direct / ramped velocity control and direct / ramped torque control.
Encoder and Feedback¶
The driver platform uses a 16-bit single-turn absolute magnetic encoder in the driver-equipped configuration.
The second-encoder interface can communicate through:
- I2C
- UART
Final second-encoder hardware, mounting and firmware configuration must be confirmed for the order.
Integration Boundary¶
Before final integration, confirm:
- Driver hardware revision
- Firmware revision
- CAN / CANopen / RS485 interface selected
- EDS / endpoint file matched to firmware
- Encoder configuration
- Brake / braking-resistor function
- Connector and cable set
- Current and speed limits
- Customer controller requirements
Related Resources¶
SG-6010D Technical Datasheet SG-6010D Mechanical Interface SG-6010D Product Page
Engineering Contact¶
Wanrong Wang
International Sales / Sales Engineer, SigGear
wangwanrong@siggear.com