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4310P Compact Integrated Servo Motor | 12.5 N·m, Dual Encoder CAN
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The 4310P is a compact integrated servo actuator for robotic joints, AGV/AMR steering mechanisms, precision automation, medical equipment, stabilized camera systems, and multi-axis motion platforms. It combines a brushless motor, servo driver, dual magnetic encoders, and closed-loop controller in a compact 57 mm-diameter package, with 24 V and 48 V versions available.
- Rated torque: 3.5 N·m; peak torque: 12.5 N·m
- 10:1 reduction ratio with 120 rpm rated output speed
- 24 V version: up to 200 rpm no-load speed; 48 V version: up to 450 rpm
- Dual 16-bit single-turn magnetic encoders for output-position feedback
- CAN control interface at 1 Mbps and UART tuning interface at 921600 bps
- MIT, speed, and position control modes
- Integrated temperature, voltage, current, and communication-loss protection functions
- Approx. 325 g actuator weight with a compact 57 mm outer diameter and 49 mm height
Product Overview
The 4310P integrates the motor, servo drive electronics, dual encoders, and motion-control functions into a single compact actuator. This architecture reduces external wiring and simplifies mechanical integration where installation space is limited.
The actuator provides 3.5 N·m rated torque and 12.5 N·m peak torque through a 10:1 reduction stage. Both voltage versions are rated at 120 rpm, while the 24 V version has a specified maximum no-load speed of 200 rpm and the 48 V version reaches up to 450 rpm.
For embedded control, the 4310P uses CAN communication at 1 Mbps and provides UART at 921600 bps for tuning and configuration. MIT, speed, and position control modes are supported, along with CAN-based parameter access, status feedback, and firmware updating.
Key Features
Dual Encoder Feedback
Two 16-bit single-turn magnetic encoders provide motor and output-side position feedback. The output-side encoder retains absolute position across power cycles, reducing the need for repeated homing in supported applications.
Integrated Motor and Servo Driver
The brushless motor, servo driver, encoder system, and controller are integrated into one compact actuator, helping reduce external wiring and simplify robotic-joint packaging.
CAN Control and Real-Time Telemetry
The CAN interface supports motion commands, parameter access, and feedback such as speed, position, torque-related data, and motor temperature for embedded robot-control systems.
MIT, Speed and Position Modes
Multiple control modes support joint control, wheel or steering actuation, motion platforms, and other servo applications requiring different command structures.
Protection and Diagnostics
The controller includes driver and motor temperature monitoring, over-voltage protection, under-voltage protection, over-current protection, and communication-loss protection. Protection thresholds are configurable where supported by the controller settings.
24 V vs. 48 V Versions
| Parameter | 24 V Version | 48 V Version |
|---|---|---|
| Rated Voltage | 24 V | 48 V |
| Rated Phase / Power Current | 4.9 A / 3.1 A | 4.8 A / 1.6 A |
| Rated Torque | 3.5 N·m | 3.5 N·m |
| Peak Torque | 12.5 N·m | 12.5 N·m |
| Rated Speed | 120 rpm | 120 rpm |
| Maximum No-Load Speed | 200 rpm | 450 rpm |
| Minimum Supply / Under-Voltage Reference | 15 V | 20 V |
Technical Specifications
| Parameter | Specification |
|---|---|
| Reduction Ratio | 10:1 |
| Pole Pairs | 14 |
| Phase Inductance | Approx. 320 µH |
| Phase Resistance | Approx. 580 mΩ |
| Outer Diameter | 57 mm |
| Height | 49 mm |
| Weight | Approx. 325 g |
| Encoder Resolution | 16-bit |
| Encoder Quantity | 2 |
| Encoder Type | Single-turn magnetic encoder |
| Control Interface | CAN, 1 Mbps |
| Tuning Interface | UART, 921600 bps |
| Control Modes | MIT mode, speed mode, position mode |
Technical Drawings & Dimensions
Mechanical drawings are provided below for integration and dimensional reference.
Applications
Robot Joints and Collaborative Robots
The compact integrated architecture and multiple servo-control modes make the 4310P suitable for robotic joints, compact manipulators, and collaborative-robot development.
AGV / AMR Steering and Motion Systems
CAN control, position feedback, and a compact mechanical envelope support steering joints and other motion-control functions in mobile robotic systems.
Medical and Laboratory Automation
The integrated servo architecture can be used in compact automated equipment where controlled motion and reduced external wiring are important.
Camera Gimbals and Multi-Axis Platforms
The actuator can also be integrated into stabilized camera systems, unmanned platforms, and multi-axis motion-control assemblies.
Need Help Selecting?
If you are selecting between the 24 V and 48 V versions, contact LucSys Robotics with your required torque, speed, bus voltage, duty cycle, joint geometry, and control architecture. For higher-torque applications, compare the 10422 high-torque integrated servo motor, or browse the Propulsion & Actuation collection for related motion-control components.
Frequently Asked Questions
What torque does the 4310P provide?
The specified rated torque is 3.5 N·m and the specified peak torque is 12.5 N·m.
What is the difference between the 24 V and 48 V versions?
Both versions provide the same rated torque, peak torque, 10:1 reduction ratio, and 120 rpm rated speed. The 24 V version has a specified maximum no-load speed of 200 rpm, while the 48 V version reaches up to 450 rpm.
What communication interface does the 4310P use?
The main control interface is CAN at 1 Mbps. UART at 921600 bps is provided for tuning and configuration.
What control modes are supported?
The actuator supports MIT mode, speed mode, and position mode.
Does the 4310P have dual encoders?
Yes. The actuator uses two 16-bit single-turn magnetic encoders for motor and output-side position feedback.
Does the actuator retain position after power loss?
output-side absolute-position retention across power cycles, reducing the need for repeated homing in supported applications.
What are the dimensions and weight?
The actuator has a 57 mm outer diameter, a 49 mm height, and weighs approximately 325 g.
What is the reduction ratio?
The specified reduction ratio is 10:1.
Can parameters be monitored or adjusted over CAN?
Yes. states that CAN can be used for parameter access and real-time feedback such as speed, position, torque-related data, and motor temperature.
Can the firmware be updated through CAN?
Yes. CAN-based firmware updating is a supported function.
What protection functions are included?
The controller includes driver and motor temperature protection, over-voltage protection, under-voltage protection, over-current protection, and communication-loss protection.
What applications is the 4310P suitable for?
Typical applications include compact robot joints, collaborative robots, AGV/AMR steering mechanisms, medical or laboratory automation, multi-axis motion platforms, stabilized camera systems, and unmanned systems.
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