HX8-C50W-M・Datasheet

HX8-C50W-M

$170.00

1. Features

Designed with brushless motor / stainless-steel gear set / all-metal housing
CAN bidirectional communication, up to 1 Mbps, supports position and status feedback
12-bit absolute position encoder (4,096 counts resolution), supports arbitrary zero-point setting
Supports a maximum multi-turn control range of ±368,640° (1,024 turns), with power-off position memory
Built-in trapezoidal acceleration/deceleration for smooth motion control
Provides three stop modes: torque holding / torque release / damping control
Integrated protections for temperature, voltage, stall, power, and current, with intelligent power limiting
Includes a visual Master / PC Software for configuration, supports firmware upgrade

2. Model Naming

3. Specifications

3.1 Basic Specifications

Parameter	Value
Protocol Type	CAN Bus
Input Voltage	18.0 ~ 25.2 V
Motor Type	Brushless
Position Sensor	12-bit Contactless Absolute Encoder (Magnetic)
Effective Position Range	±180° (single-turn) / ±368,640° (multi-turn)
Resolution	4,096 counts / 360° (0.088° per count)
Processor	32-bit MCU
Baud Rate	9,600 bps ~ 1 Mbps
ID Range	0 ~ 254
Gear Ratio	387:1
Output Spline Specification	Stainless Steel / Ø6 mm / 25T
Gear Material	All Stainless Steel Construction
Interface	PH2.0 - 4Pin
Case Material	All Aluminum Alloy
Dimensions	40 x 20 x 46 mm
Appearance	Single-shaft
Weight	95 g
Operating Temperature	-10 ~ 60 °C
Operating Mode	Single-turn Angle \| Multi-turn Angle \| Damping Mode

3.2 Performance Specifications (@24 V)

Parameter	Value
Max Stall Torque	4.90 N·m (50 kg·cm)
Max Continuous Torque	2.75 N·m (28 kg·cm)
Rated Torque	0.88 N·m (9 kg·cm)
Rated Speed	52 rpm (0.192 sec @ 60°)
No-Load Speed	66 rpm (0.151 sec @ 60°)
Peak Current	3 A
No-load Current	<300 mA
Standby Current	<40 mA
Axial Load	20 N
Radial Load	40 N

T-N Characteristic Curve

Mechanical Overload Curve

4. Dimensions & Installation

Downloads: PDF ｜ STEP ｜ DWG｜ More Part Drawings

5. Interfaces & Wiring

CAN Interface Pin Definition

Daisy-Chain

Parallel Connection

6. Protection Features

Bus servos integrate multiple protections for temperature, voltage, stall, power, and current. The status flag bits can be used to determine which protection is currently triggered.

Temperature Protection
Trigger：Operating temperature > configured threshold Action：Force low-power operation, limiting output while maintaining basic motion Recovery: when the temperature falls to the threshold minus 10 °C, automatic recovery

Stall Protection
Trigger：Stall torque-release switch ON + current power > protection threshold Action：Automatically release holding torque to prevent long-term motor overload damage Recovery：No power cycle is required. Send Stop Command to restore normal operation

Power Protection
Trigger：Stall torque-release switch OFF + current power > protection threshold Action：Limit operating power, reducing it to the configured stall-power ceiling Recovery: automatic recovery after the power load drops back to a safe range

Voltage Protection
Trigger：Operating voltage is outside the configured high/low voltage range Action：Automatically release holding torque, with no torque output so the servo enters a free state Recovery：Power-cycle required, and the voltage must return to the normal range

Current Protection
Trigger：Operating current > configured threshold Action：Automatically release holding torque as the final safety fallback Recovery: automatic recovery after the current drops below the threshold

Warning

After voltage protection is triggered, you must power-cycle the servo before it can resume operation.
Stall/power/current protections prevent overload damage. Setting thresholds too high may make protection ineffective.
If temperature or current protection is triggered frequently, reduce the load or improve cooling and power supply.

Note

The default temperature protection threshold is 70 °C.
Default voltage protection ranges: 7.4 V version: 6.0-8.4 V / 12 V version: 9.0-12.6 V / 24 V version: 20.0-25.2 V.
Current protection can be combined with stall and power protection. If the first two protections are not triggered by the Master / PC Software, current protection serves as the final hardware-level safeguard.

7. Communication Specifications

CAN bus servos use Classical CAN communication. The target servo is selected by ServoID, and device parameters are accessed using general read and write commands. For complete parameter addresses, data types, packet formats, and communication examples, see the CAN Bus Servo Communication Protocol.

7.1 CAN Communication Specifications

Item	Specification
Communication Protocol	Classical CAN
Frame Format	CAN 2.0A, 11-bit standard data frame
CAN ID	Fixed at `0x321`
Default Baud Rate	500 Kbps
Baud Rate Range	9,600 bps–1 Mbps
ServoID Range	`0–254` (`0x00–0xFE`)
Data Length per Frame	Maximum 8 bytes
Byte Order	Little-endian, low byte first

This protocol does not use extended frames, remote frames, or CAN FD.

7.2 Parameter Read and Write Methods

CAN servos use general commands to access device parameters. Motion control, status reading, and parameter configuration are all performed through the corresponding parameter addresses.

Operation	Description
Read Single Parameter	Reads one 16-bit parameter at a time
Read Two Parameters	Reads two 16-bit parameters at a time
Write Single Parameter	Writes one 16-bit parameter at a time
Write Two Parameters	Writes two 16-bit parameters at a time
Write and Return	Returns the parameter value actually accepted by the servo after writing
Continuous Write	Buffers multiple parameter groups and submits them together, suitable for writing combined parameters to a single servo

Note

A 32-bit parameter consists of two adjacent 16-bit addresses. The lower address stores the lower 16 bits, and the higher address stores the upper 16 bits. Signed parameters such as angles are represented using two's complement.

8. Motion and Control Commands

8.1 Communication Check

Read a device parameter from the target ServoID and use the response packet to determine whether the servo is online.

Command	Description
Communication Check	A normal response containing the target servo's device parameter indicates that the servo is online

8.2 Single-Turn Angle Control

Supports time-based and speed-based control, and allows the servo's current single-turn angle to be read.
The control range is ±180°, with a minimum control resolution of 0.1°.

Command	Parameters
Basic Single-Turn Angle Control	Target angle, motion time, operating power
Advanced Single-Turn Angle Control (Time-Based)	Target angle, motion time, acceleration time, deceleration time, operating power
Advanced Single-Turn Angle Control (Speed-Based)	Target angle, motion speed, acceleration time, deceleration time, operating power
Read Single-Turn Angle	Response packet = current servo angle

Trapezoidal Acceleration and Deceleration

8.3 Multi-Turn Angle Control

Supports time-based and speed-based control, and allows the servo's current multi-turn angle to be read.
The control range is ±368,640° (±1,024 turns), with a minimum control resolution of 0.1°.

Command	Parameters
Basic Multi-Turn Angle Control	Target angle, motion time, operating power
Advanced Multi-Turn Angle Control (Time-Based)	Target angle, motion time, acceleration time, deceleration time, operating power
Advanced Multi-Turn Angle Control (Speed-Based)	Target angle, motion speed, acceleration time, deceleration time, operating power
Read Multi-Turn Angle	Response packet = current servo angle

Trapezoidal Acceleration and Deceleration

8.4 Turn Count Reset / Power-Off Angle Memory

Turn Count Reset

When the servo is in the torque-released state, the turn count can be reset through the PC software or a designated command, recording the current absolute position angle as the current angle again.
After the reset, the initial angle falls within the range of -180° to +180°.

Command	Description
Reset Turn Count	Clears the current multi-turn count and records the current position again

Turn Count Reset

Note

As shown, the current angle at point A1 is 6,880°, and the angle after reset is θ1. The current angle at point A2 is 6,800°, and the angle after reset is -θ2.

Power-Off Angle Memory

If the servo's angle does not change after power-off, the current angle read after power is restored remains unchanged. For example, if point A is at 6,800° before power-off and the angle does not change while power is off, the servo remains at point A and the angle read after power-on is still 6,800°.
If an external force changes the servo angle after power-off, the angle read after power is restored will fall within ±180° of the memorized angle.

Power-Off Angle Memory

Note

As shown, point A is at 6,800° before power-off. If an external force moves the servo while power is off and it stops at point B1, the angle read after power-on is 6,920°. If it stops at point B2, the angle read is 6,680°.

8.5 Damping Mode

Allows the servo to move to different angular positions under an external force while maintaining a specified damping effect. The damping coefficient can be customized.

Command	Parameter
Damping Control	Operating power (mW)

8.6 Stop Commands

Select the appropriate stop-command type according to the motion-control requirements. See the table below for details.
A stop command can also restore normal operation after stall protection has been triggered.
When the servo is in the torque-released state, sending the "Hold Torque" command restores holding torque at the current position.

Command	Description
Release Torque	Stops motion and releases holding torque.
Hold Torque	Stops motion and maintains holding torque, or restores holding torque from a torque-released state.
Hold Damping	Stops motion and enters damping mode, allowing an external force to adjust the angle.

8.7 Status Reading / Data Monitoring

Retrieves the servo's operating status and key parameters for debugging, inspection, and real-time display in the PC software.

Command	Description
Data Read	Reads an individual servo status or configuration parameter and returns its value.
Data Monitoring	Reads information such as voltage, current, power, temperature, status bits, angle, and turn count.

8.8 Set Origin

Sets the servo's current position as the origin. This is commonly used for zero-position calibration after assembly and provides a consistent motion starting reference for control algorithms.

Command	Parameter
Set Origin	Servo ID / reset = 0