8009 Integrated Servo Motor | 40 N·m, Dual Encoder CAN

The 8009 is a compact integrated servo actuator for robotic joints, collaborative robots, AGV/AMR systems, factory automation, medical equipment, stabilized platforms, and multi-axis motion systems. It combines a high-torque brushless motor, servo driver, dual magnetic encoders, reduction stage, and closed-loop controller in a 98 mm-diameter package supporting a 24–48 V supply range.

• 20 N·m rated torque and 40 N·m peak torque
• 24 V nominal design with support for 24–48 V operation
• Rated speed: 100 rpm at 24 V and 200 rpm at 48 V
• Maximum no-load speed: 160 rpm at 24 V and 320 rpm at 48 V
• 9:1 reduction ratio for compact high-torque robotic actuation
• Dual 14-bit single-turn magnetic encoders
• CAN control at 1 Mbps and UART tuning at 921600 bps
• MIT, speed, and position control modes with trapezoidal acceleration/deceleration support in position control

Product Overview

The 8009 is positioned between compact low-torque joint actuators and very high-torque integrated servo motors. Its 20 N·m rated torque and 40 N·m peak torque make it suitable for medium-load robotic joints, mobile-robot steering or actuation systems, automation mechanisms, and compact multi-axis motion platforms.

The actuator integrates motor, driver, dual encoders, and control electronics into one unit, reducing external wiring and simplifying joint packaging. Its 24–48 V operating range also allows the same actuator architecture to be used across different robotic power systems.

Dual 14-bit magnetic encoders provide output position feedback, while CAN communication supports motion commands and operating-status telemetry. The controller supports MIT, speed, and position modes, and the controller supports trapezoidal acceleration and deceleration profiles in position-control mode.

Key Features

20 N·m Rated / 40 N·m Peak Torque

A 9:1 reduction stage provides 20 N·m rated torque and 40 N·m peak torque for medium-load robotic-joint, mobile-robot, and automation applications.

24–48 V Operation

The actuator is rated at 24 V and supports operation across a 24–48 V system range. Higher bus voltage increases the available speed range while the torque ratings remain unchanged.

Dual 14-Bit Encoders

Two single-turn magnetic encoders provide output-position feedback. The output-side encoder supports absolute-position retention across power cycles.

CAN Control and Real-Time Telemetry

The actuator uses CAN communication at 1 Mbps for control and feedback, with UART at 921600 bps for tuning and configuration.

Smooth Position Motion Profiles

Position-control mode supports trapezoidal acceleration and deceleration profiles to reduce abrupt speed changes and provide smoother commanded motion.

Integrated Protection

Protection functions include driver and motor over-temperature protection, configurable over-voltage and over-current protection, under-voltage protection, and communication-loss protection.

Technical Specifications

Technical Drawing & Dimensions

Mechanical drawings are provided below for integration and dimensional reference.

Applications

Robotic Joints and Collaborative Robots

The 8009 can be used in medium-load robot joints, collaborative robots, and compact manipulators that require integrated position feedback and CAN control.

AGV / AMR Steering and Drive Systems

The 20 N·m rated output and 24–48 V operating range support steering, drive, and other servo-motion functions in mobile robotic platforms.

Factory Automation and Multi-Axis Motion

Integrated motion control, CAN telemetry, and compact packaging make the actuator suitable for automated equipment and synchronized multi-axis mechanisms.

Medical Equipment and Stabilized Platforms

The actuator can be integrated into controlled-motion equipment, stabilized platforms, and other systems where compact servo actuation is required.

Need Help Selecting?

For smaller joints, compare the 4310P compact integrated servo motor. For substantially higher torque, compare the 10422 high-torque integrated servo motor. You can also browse the Propulsion & Actuation collection for related actuators and motion-control components.