HEXMOTOR

HEXMOTOR

The HEX43xx series is a range of integrated joint motors developed by HexFellow for the embodied robotics industry. Featuring a planetary gear system, it delivers impact resistance, high torque transparency, low friction, and exceptional cost-effectiveness. With integrated drive and control and CAN-FD communication, the motors support hardware timestamping, synchronization, MIT control, and multi-device daisy-chaining.
Model
$149.99 USD
Features

Integrated Joint Motor Design
All-in-one joint actuator engineered for the embodied robotics industry

Planetary Gear System
High impact resistance, excellent torque transparency, low friction, and strong cost-performance ratio

Integrated Drive & Control
Built-in motor driver with CAN-FD communication

Advanced Control Capabilities
Supports hardware timestamping, synchronization, MIT control, and multi-device control

Wide Voltage Support
Rated at 48V, suitable for industrial applications

High Performance Output
4310: 128W power, 3 Nm rated, 7 Nm peak | 4342: 9 Nm rated, 30 Nm peak
Wiki & Learn

[Wiki] Get more details on HexMotor

View the complete technical documentation and user guide for the HexMotor motor

https://docs.hexfellow.com/hex-motor/hex-4310_en/
HEXMOTOR
  • HEXMOTOR
  • HEXMOTOR
  • HEXMOTOR
  • HEXMOTOR

Motor Dimensions

Motor Characteristics

Technical Specifications

HEXMOTOR 4310 & 4342 Complete Specifications

HEXMOTOR 4310

Motor Performance
Rated Voltage 48 V
Rated Current 3.7 A
Rated Speed 410 rpm
Rated Torque 3 Nm
Peak Torque 7 Nm
Peak Current 7.5 A
No-load Speed 500 rpm
Key Parameters
Pole Pairs 28
Phase Inductance 0.55 mH
Phase Resistance 1.05 Ω
Reduction Ratio 10 : 1
Sensors
Encoder Type Magnetic (single-turn)
Encoder Bits 16-bit
Encoder Count 2
Communication Interface
Control Interface CAN-FD @ 5 Mbps
Dimensions & Weight
Outer Diameter 57 mm
Height 45 mm
Weight 310 g
Operating Temperature -20°C ~ 40°C
Protection Features
Driver Over-temperature > 120°C
Motor Over-temperature > 110°C
Over-voltage > 65 V
Phase Over-current > 14 A (PEAK)
Under-voltage < 14 V
Stall Protection Driver detects motor stall

HEXMOTOR 4342

Motor Performance
Rated Voltage 48 V
Rated Current 3 A
Rated Speed 105 rpm
Rated Torque 9 Nm
Peak Torque 30 Nm
Peak Current 9.6 A
No-load Speed 117 rpm
Key Parameters
Pole Pairs 28
Phase Inductance 0.55 mH
Phase Resistance 1.05 Ω
Reduction Ratio 42 : 1
Sensors
Encoder Type Magnetic (single-turn)
Encoder Bits 16-bit
Encoder Count 2
Communication Interface
Control Interface CAN-FD @ 5 Mbps
Motor Characteristics
Feature Point n(r/min) T(N·m) Po(W) U(V) I(A) Pi(W) EFF
No-load point 124.89 0.0000 0.0000 48.064 0.3314 15.927 0.00%
Max efficiency 108.36 7.4628 84.677 48.066 2.5953 124.75 67.88%
Max output 62.445 28.665 187.43 48.072 8.8837 427.04 43.89%
Max torque 0.0000 57.500 0.0000 48.081 17.436 838.14 0.00%
Stall point 0.0000 57.500 0.0000 48.081 17.436 838.14 0.00%
Rated point 1 113.69 5.0000 59.525 48.065 1.8648 89.638 66.41%
Rated point 2 92.038 15.000 144.56 48.068 4.8307 232.21 62.25%
Rated point 3 81.210 20.000 170.07 48.070 6.3137 303.50 56.04%
Dimensions & Weight
Outer Diameter 57 mm
Height 53.3 mm
Weight 398 g
Operating Temperature -20°C ~ 40°C
Protection Features
Driver Over-temperature > 120°C
Motor Over-temperature > 110°C
Over-voltage > 65 V
Phase Over-current > 14 A (PEAK)
Under-voltage < 14 V
Stall Protection Driver detects motor stall

Applications

Software Support

C++ / Rust / CAN-FD / CANopen

C++
C++
Rust
CAN-FD
CANopen

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