SteadyWin GIM6010-36 is a compact planetary gear robot joint actuator for robotic joints, exoskeleton mechanisms, manipulators and integrated motion-control projects. Its 36:1 steel planetary gearbox combines reduced output speed with joint-ready torque in a compact diameter. This Shopify listing supports winding, drive and second-encoder selections. The verified performance figures below are limited to the official Y-winding 48 V configurations with GDS6 or GDZ468H; select the exact configuration required for the application. Features 36:1 planetary reduction - Steel planetary gears with 15 arcmin listed backlash for the documented configurations. Documented GDS6 output - The official Y-winding 48 V GDS6 configuration is listed at 221 W, 18 N.m rated torque and 41 N.m stall torque. Documented GDZ468H output - The official Y-winding 48 V GDZ468H configuration is listed at 154 W, 17.4 N.m rated torque and 51.5 N.m stall torque. Control interfaces - The official table lists CAN for GDS6 and CAN plus RS485 for GDZ468H. 14-bit onboard encoder - Both documented driver configurations list 14-bit encoder resolution. Compact mechanical envelope - Listed size is Ø76 × 45.5 mm without a driver or Ø76 × 56.5 mm with a driver. Joint-load capability - The official table lists 250 N maximum axial load and 1000 N maximum radial load. Industrial operating range - IP54 protection, -20°C to +80°C operating temperature and noise below 65 dB are listed for the documented configurations. Encoder and brake choices - The product selector includes a second-encoder choice, and SteadyWin lists custom brake support for the documented configurations. Configuration-aware selection - Choose the winding, drive and encoder values shown in Shopify before system integration. Specifications The values below are the official Y-winding, 48 V GIM6010-36 figures for the documented GDS6 and GDZ468H driver configurations. They do not define every selectable configuration in this Shopify listing. Parameter GDS6 GDZ468H Winding Y Y Driver model GDS6 GDZ468H Nominal voltage 48 V 48 V Voltage range 12-48 V 12-48 V Rated power 221 W 154 W Rated torque 18 N·m 17.4 N·m Stall torque 41 N·m 51.5 N·m Nominal speed after reduction 85 rpm 65 rpm Maximum speed after reduction 97 rpm 100 rpm Rated current 4.6 A 3.2 A Stall current 9.3 A 20.12 A Phase-to-phase resistance 0.6 Ω 0.6 Ω Phase-to-phase inductance 0.39 mH 0.39 mH Speed constant 2.02 rpm/V 2.08 rpm/V Torque constant 4.38 N·m/A 4.3 N·m/A Pole pairs 14 14 Gear ratio 36:1 36:1 Gearbox Planetary, steel gear train, 15 arcmin backlash Planetary, steel gear train, 15 arcmin backlash Communication CAN CAN and RS485 Onboard encoder resolution 14 bit 14 bit Second encoder No Yes Protection grade IP54 IP54 Operating temperature -20°C to +80°C -20°C to +80°C Maximum axial load 250 N 250 N Maximum radial load 1000 N 1000 N Noise
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