DFRobot 4015 3-Phase BLDC Motor 24V 1100RPM 3500g/cm, AS5600 Encoder

The DFRobot 4015 is an outer-rotor brushless DC motor with a factory-fitted AS5600 magnetic encoder, made for field-oriented control (FOC) in robot joints, camera gimbals, automation rigs and FOC learning projects. At its 24 V rating it delivers 3500 g·cm (0.35 Nm) of torque, and the hollow shaft lets wiring or mechanical parts pass through the centre.

Key features

• Built-in 12-bit AS5600 encoder with 0.087° accuracy gives closed-loop position, speed and torque feedback; I2C by default, PWM or analogue output when the PGO pin is grounded.
• Compatible with the open-source SimpleFOC library on Arduino, ESP32 and Raspberry Pi, and pairs with a SimpleFOCmini driver board.
• 24N22P stator with 11 pole pairs and a 61KV winding; under FOC it gives smooth, low-noise torque delivery.
• 10 mm shaft with a 7.5 mm hollow bore.
• Accepts 12–36 V DC; at 12 V it runs at 610 RPM with 0.15 Nm.

Specifications

• Supply voltage: 12–36 V DC
• Rated voltage: 12 V / 24 V
• Rated current: 0.65 A at 12 V, 1.4 A at 24 V
• Maximum current: 4 A
• Rated power: 8 W at 12 V, 33 W at 24 V
• Rated speed: 610 RPM at 12 V, 1100 RPM at 24 V
• Rated torque: 0.15 Nm at 12 V, 0.35 Nm at 24 V
• KV: 61KV
• Configuration: 24N22P, 11 pole pairs
• Phase resistance: 7.2 ohm
• Winding resistance: 4.8 ohm
• Phase inductance: 2.6 mH
• Stator: 40 mm diameter × 15 mm height
• Shaft: 10 mm, 7.5 mm hollow bore
• Motor size: 45 × 26 mm
• Winding: 55 turns, 0.24 mm wire
• Encoder: AS5600, 12-bit, 0.087°, 3.3 V, GH1.25 4-pin
• Encoder outputs: I2C, PWM, analogue
• Operating temperature: 0–60 °C
• In the box: Motor with encoder, encoder cable to DuPont, 3-pin motor cable

For position or torque control, drive it from a three-phase FOC driver such as the SimpleFOCmini rather than a drone ESC, and keep the encoder on 3.3 V logic.