SteadyWin GIM8115-9 is a 9:1 planetary gear robot joint actuator for articulated robotics, compact robot joints and integration projects that need configuration-specific torque and speed data. SteadyWin publishes separate official 24 V delta and 48 V star GDS810 columns. The specifications below retain each published column rather than combining their performance figures. Features 9:1 planetary reduction - Steel planetary gears and 15 arcmin listed backlash support compact articulated-joint systems. 24 V and 48 V GDS810 columns - SteadyWin publishes separate electrical and output data for the two official GDS810 configurations. Published torque range - The official table lists 13 N.m rated / 40 N.m stall torque at 24 V and 13.8 N.m rated / 46 N.m stall torque at 48 V. Configuration-specific speed - The documented nominal speed after reduction is 100 rpm at 24 V and 118 rpm at 48 V. CAN control - Both official GDS810 columns list CAN communication and a 14-bit onboard encoder. Second-encoder listing - The manufacturer table lists a second encoder for both documented GDS810 columns. Compact installation dimensions - SteadyWin lists an Ø96 × 41 mm body without a driver and Ø96 × 48.5 mm with a driver. Published load values - The official table lists 225 N maximum axial load and 900 N maximum radial load. IP54 environmental data - IP54 protection, -20°C to +80°C operation and noise below 60 dB are listed. Official resources - The Reference Documents section provides verified product CAD files and official driver resources. Specifications Parameter 24 V Delta Winding / GDS810 48 V Star Winding / GDS810 Nominal voltage 24 V 48 V Voltage range 12-48 V 12-48 V Rated power 190 W 221 W Rated torque 13 N·m 13.8 N·m Stall torque 40 N·m 46 N·m Nominal speed after reduction 100 rpm 118 rpm Maximum speed after reduction 129 rpm 146 rpm Gear ratio 9:1 9:1 Gearbox Planetary, steel gears, 15 arcmin listed backlash Planetary, steel gears, 15 arcmin listed backlash Communication CAN CAN Onboard encoder resolution 14 bit 14 bit Second encoder Listed Listed Protection grade IP54 IP54 Operating temperature -20°C to +80°C -20°C to +80°C Maximum axial load 225 N 225 N Maximum radial load 900 N 900 N Noise
