Maxon 2012-13 Catalog
November 25, 2022 | Author: Anonymous | Category: N/A
Short Description
Download Maxon 2012-13 Catalog...
Description
Program 2012/13 High Precision Drives and Systems.
DVD inside www.maxonmotor.com
maxon DVD: with selection program – Windows XP, Vista and Windows 7 – Helps you find the maxon solution for your drive requirements – No installation necessary Adobe Reader is required to maximize the electronic catalog’s full range of functions. This is contained on the DVD. DVD.
Welcome to maxon motor
4–15
maxon selection guide
16–21
Table of Contents
22–23
Technology – short and Technology to the point Facts Calculations
24–46
maxon DC motor
47–134
maxon EC motor NEW EC EC 22 HD NEW EC EC 45 flat, 70 Watt NEW EC EC 60 flat, 100 Watt
135–199 153–154 197 198
maxon gear NEW GP GP 16 C
201–248 218
NEW GP GP NEW GP GP
22 HD 26 A
maxon spindle drive NEW GP GP 16 S
228 232 249–259 251–252
maxon sensor 261–287 NEW Enc. Enc. MILE for EC 60 flat 263 NEW Enc. Enc. MILE for EC 90 flat 264 maxon motor control NEW ESCON ESCON 36/2 DC NEW ESCON ESCON 50/5 NEW EPOS3 EPOS3 70/10 EtherCAT
289–322 292 292 319
maxon compact drive
323–326
maxon accessorie accessories s NEW Accessories Accessories overview
327–337 336–337
maxon special program
339–374
maxon special design
375–379
maxon ceramic
381–385
Welcome to maxon motor
driven by precision maxon motor is the world’s leading supplier of high-precision drives and systems up to 500 watt output power. We develop and produce brushless and brushed DC motors with our unique ironless maxon winding. Our modular program is complemented by flat motors with an iron core. The modular system with planetary, spur and special gearheads, sensors and control electronics, completes the range. High-tech CIM and MIM components are produced in a special competence center. maxon maxon motor stands for top quality, innovation, competitiveness and a worldwide distribution network.
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Born in Switzerland. Grown around the world. Based in Sachseln/Switzerland, maxon motor employs over 2020 staff worldwide and has production sites in Switzerland, Germany and Hungary as well as distribution companies in more than 30 countries. Around 1150 staff work in ultra-modern production sites in Central Switzerland, 400 in Sexau, Germany and 220 in Veszprém, Hungary. We manufacture all the major components of our drive systems on our own largely in-house developed machinery and production lines. This not only enables us to manufacture large series efficiently efficiently,, but also provides maximum flexibility for special requirements or smaller unit sizes.
Back to the motor
Dear Valued Customer Small, precise, powerful – and at the core the ironless maxon winding. You can already see it on the front page. Our new motors are a key aspect of the maxon catalog 2012/13. We have made them even more powerful and robust to solve the most demanding drive task problems, together with you. Hotter than ever With the EC 22 HD (Heavy Duty), maxon motor is launching a standard motor for extremely harsh working conditions. The brushless DC motor, which has been designed for the extremely high requirements in the field of deep drilling, can also withstand harsh environmental conditions: The EC 22 HD has been designed for temperatures of more than 200°C and atmospheric pressures of up to 1700 bar. It is also resistant to large
Direction left to right Armin Lederer Production, Human Resources and Procurement Dr. Ulrich Claessen Claessen Development and Quality Assurance Eugen Elmiger Elmiger Sales and Marketing, CEO Dr. Karl-Walter Braun Braun Controlling Norbert Bitzi CFO
vibration and shocks. The motor opens up new possibilities for a wide range of applications. It is predestined, for example, for use in the astronautics industry, in power stations, in automotive and aircraft construction or in underground applications. Stronger than ever The successful series of brushless maxon EC 45 flat motors is continually expanding. The family is joined by a completely newly designed 70 watt model. The new EC 45 flat 70 W is characterized by a very flat speed/torque gradient and combines old with new: Flange pattern, mounting and plugs are identical to the existing 50 W model. Nonetheless, the 70 watt model delivers 38 percent more torque. As easily combinable as ever The new EC 45 flat 70 W is available
with Hall sensors in four winding types (24, 30, 36, 48 V) and can be combined with over 50 different planetary and spur gearheads from the GP 42 C and GS 45 A series. A number of servo amplifiers (DEC, DECS, DECV and DES) and position controllers (EPOS2 and EPOS2 P) are available for control. For the EC 22 HD there is also the robust new planetary gearhead GP 22 HD with the same diameter. And with the new ESCON 36/2 and ESCON 50/5 servo amplifiers you will always have your DC drives under control. Best regards,
Eugen Elmiger CEO
maxon manufacturing company in Germany Sexau
maxon manufacturing company in Hungary Veszprém
Production at our satellite facilities. Security policy arguments and the labor market have characterized maxon motor’s decentralized production locations from the very beginning. In September 1989, for instance, we opened a production facility in Sexau, near Freiburg im Breisgau (Germany). And in 2001, we opened another production company in VeszVeszprém, Hungary. Flexible Flexible production and assembly equipment coupled with systematic controls ensure that the manufacturing process is efficient, precise and meets a consistently high quality standard.
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Optimum solutions for your drive problems are discussed by our sales teams in project meetings.
Our employees are thoroughly trained for their demanding tasks.
Support, Sales, Training. Our sales engineers are at your disposal to discuss tailored solutions for your specialized requirements. Our expertise: Integration of sophisticated electronic controls and highly dynamic mechanical movement. Reliable and well trained sales engineers and authorized dealers ensure that you receive professional support and advice – take advantage of it! Use maxon academy, the education and training platform for our drive expertise at academy academy.maxonmotor.c .maxonmotor.com. om.
Develop, Automate, Test.
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Modern means provide our engineers with the necessary assistance in their demanding tasks. This method further fur ther permits working out customer-specific solutions within the shortest possible time.
Modern production methods and highly automated processes guarantee efficient and low-cost production with an unprecedented accuracy of repetition. Flexible production lines mean quick changeovers to different production series.
Most modern measuring methods serve to assure highest quality, starting with the individual par ts. Prior to starting production, newly developed motors and gearheads are tested thoroughly – round the clock – using most modern equipment.
maxon’s extensive R & D department is able to meet the requirements of the rapidly developing market of high technology drive systems. Our quality assurance system is organized and maintained, recognizing latest respective developments,, thus offering developments you best possible assurance for a product of high quality. quality.
maxon Quality Assurance
One of maxon motor’s main objectives is to offer our business partners high-quality products at attractive prices. Quality is interpreted in a very comprehensive way at maxon motor. Quality not only refers to the objective properties of the products, but extends to the manner in which our employees think and act. Our quality assurance system: As one of the first ten Swiss companies, we were awarded the Quality Certificate with the most stringent requirements according to international norm, nor m, on July 12, 1988. The structure and procedural organization, liabilities and responsibilities, as well as special assessments of processes and procedures are exactly documented for the entire staff, including management. Our Quality System is completely operational and practical. It is rigorously applied, maintained and periodically verified, the latter through BVQI Bureau Veritas Quality International since September 1991.
ISO 9001:2008 ISO 14001:2004 ISO 13485:2003 SN EN ISO 13485:20 13485:2003 03 is an internationally accepted quality norm for medical products that requires management and staff to ensure that the design and manufacture of medical products minimise potential risks for patients. The traceability of processes and raw materials must also be guaranteed. In 2007 the competence center in Sexau received certification certification for the development, production and distribution of ceramic dental implants. A year later, maxon medical Sachseln became ISO 13485-certified. This division develops, produces and markets drive components and systems, precision DC motor drive components up to 500 watts, spur and planetary gearheads, DC tachos, encoders and control electronics.
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Some definitions ISO International Organization for Standardization. Over 90 countries are associated with this organization. ISO 9001:2008 – Quality management system requirements. This international norm promotes the choice of a process-oriented approach for developing, realizing and improving the effectiveness effectiv eness of a quality management system in order to increase customer satisfaction by meeting customer requirements. SN EN ISO 9001:200 9001:2008 8 The European norm is identical to ISO 9001:2008. It exists in three official versions (English, French and German). There are also versions available in the relevant languages for OEN members. SN EN ISO 14001:20 14001:2004 04 is an internationally accepted quality norm for environmental management systems (EMS). It covers environmental-relevant processes and procedures in a company, requiring a company’s management and employees to adopt environmentally-compatible behaviour and constantly seek to improve its procedures and documentation. BV Bureau Veritas, headquartered in Paris, was founded in 1828 and operates approximately inspection centres in 125 500 countries as the world’s oldest independent inspection and classification company. This is an assurance for broad international recognition.
maxon System Engineering maxon motor works according to the latest and up-to-date standards and norms in system technology.. Our management and engineering methods and processes allow us to translate market nology requirements into demand oriented products on a systematic and economic basis. The difference ‘normal’ technology maxon’s system only becomes apparent in thebetween application. And where does and the difference begin?technology With the manufacturer with us, maxon motor and our core competencies. The Customer Connection satisfaction ion – Customer satisfact as measure of our performance
Progress – Integral quality assurance system SN EN ISO 9001:2008
– Medical products certified under SN EN ISO 13485:2003 for maxon medical and our production company in Sexau (Germany) Qualified team of engineers
– Sales partners in 30 countries
– Competent customer advisory service
– Transparent processes The Company – Operates worldwide in development, production and sales
– More than 1800 competent and motivated staff
Powerful,, flexibl flexible e and – Powerful innovative
Profitability – Efficient production of large and small series
– Cost-aware designs – International purchase of goods
– Long-term planning
– – More than 40 years’ professional experience – State-of-the-art data processing systems – Environmental management system certified according
to SN EN ISO 14001:2004
Application Support – Documentation offering real support
– Online catalog with selection program – Computer service and motors networked Your benefits are attractive e prices – Optimum total solutions at attractiv – A comprehensive, innovative and modular product range
– –
A verifiable quality assurance system Flexibility for made-to-order and series production
Where are maxon motors used today? Our drive systems go to great depths inside the earth. They can for example be found in drill heads and help to increase the safety of deep drills. With modern drives, such as the maxon EC 22 HD, many functions in the field of deep drilling can be better controlled. In deep drilling tools, the hydraulic valves are, for example, controlled by maxon drives. And that at high pressures and temperatures of up to 200 °C.
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Medical science Insulin pumps Apnea devices Prostheses Ophthalmosurgical devices Power tools Radiation equipment Surgical robots
Industrial Automation PCB mounting systems Lithography systems Electric discharge machines Welding equipment Packing Pack ing machines Printing equipment Weaving machines
Instrumentation & Inspection Laser leveling systems Microscopes Calipers Particle measuring equipment Calibration systems Precision scales Weather and climate analyzers Astrophysics
Communication Television- and aerial view cameras Professional cameras Digital recording systems Projectors Theater and concert lighting Advertising displays Bar code readers Antenna adjustment systems
Robotics Humanoid robots Inspection robots Microrobotic systems Teleoperations robots Educational robots Household robots Space robots
Surveillance cameras Access and lock systems Card readers Mobile inspection systems Automated gates Scanning systems Respirators
Automotive Gasoline and fuel injection pumps Air conditioning Adjustable shock absorbers Power steering Electronic tachographs Distance measurement systems Fuel cell vehicles
Aerospace Brake flap adjustment Seat and display adjustment Flight recorders Solar sail adjustment Radar systems Luggage hatch equipment Autopilots
Consumer Applications Motorized golf caddies Gambling machines Vacuum Vac uum cleaner robots Model airplanes and trains Bicycles Coffee machines High-end modeling
maxon DC motor maxon DC motors are highquality motors fitted with powerful permanent magnets. The “heart” of the motor is the worldwide patented ironless rotor. This means using cutting-edge technology to produce compact, powerful and low inertia drives. These DC motors have very fast acceleration thanks to their low mass moment of inertia. The modular construction of the A-max and RE-max programmes offer countless options and top performance at competitive prices.
maxon EC motor Our electronically commutated DC motors are characterized in particular par ticular by favourable torque behaviour, high performance, an extremely wide speed range and unprecedented service ser vice life. Their outstanding control features help create precision positioning drives. Similar to the ideology of the A-max programme, a modular motor range is available with the EC-max programme. p rogramme. The EC-4pole range provides top performance per volume unit, pushing the boundaries of technology.
maxon flat motor The flat design of the brushless DC flat motors makes them the ideal drive for many applications. Designed as internal or external rotor motors, they are often the ideal solution when space is limited. The well thought-out and simple design means that production is largely automated, helping keep down the price.
maxon gear The precision spur and planetary gearheads are compatible with maxon motors. In In addition to a large standard program, maxon shows its strengths with customer-oriented special designs based on a broad know-how.. State-of-the-art know-how tools and production techniques are used to boost performance. It is a great advantage that the gearheads can be adjusted adapted directly in the workshop for the required motors.
Great choice, easy ordering. maxon’s product range of motors and combinations is unique around the world. Its modular system and numerous winding options are crucial for this range of variations. We We have divided our products into four program groups to help he lp guarantee our customers the shortest delivery times.
Stock program The market-oriented selection from our extensive range offers you the following key advantages: — Quick delivery times — In stock at our sales offices around the world
Special program A wide range of motors and combinations is available on request.
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Standard program In the comprehensive standard program, products are included which can be produced produ ced and delivered in a short time. The plenitude of versions in this program offer tried and tested standard products for optimised application.
Special design maxon develops special versions to fit customers’ special needs. maxon is strong in this sector.
maxon sensor Encoders, DC tachos and resolvers enable speed and angular position to be evaluated accurately and form the basis for high-precision positioning. For resonance reasons, sensors are only mounted on motors with continuous shafts to ensure high precision and signal resolution. Assembly is compatible with the motors and must be carried out in the supplier's workshop.
maxon motor control Controls are used to their full advantage with maxon motors. Various 4-quadrant servoamplifiers cover all requirements in terms of performance and speed accuracy in maxon DC motors. Should you require maxon EC motors, you benefit from the latest design in electronic communication. The 1 and 4-quadrant amplifiers offer a range of useful additional functions. When combined with maxon motors, the innovative maxon positioning controllers are complete solutions for accurate positioning and regulated rotary movements.
maxon compact drive maxon’s compact drives feature controllers, sensors and motors in a modern aluminium casing, which, when combined with existing compatible maxon products, produce robust, space-saving and high power density drive solutions. The decentralized concept of these intelligent drives minimises the use of centralised position controllers. The compact drive’s controller-motor combination has an optimum layout and can be used immediately.
maxon ceramic A technological leap into the future. An innovative tool, ceramic material is becoming more prominent wherever metals are pushed to their limits, such as for use in tools, parts for medical technology or components for high-grade drive technology. The innovative use of hightech ceramic components leads to a marked improvement in performance and service life of our motors and drives. Volume-optimised and low-cost parts can be produced using MIM parts.
The maxon modular system maxon’s motors, gearheads, encoders, brakes and controllers are all perfectly compatible and offer an almost unending u nending number of possible combinations. The maxon modular mod ular system always gives you the ideal combination for the required application. ap plication.
Planetary Gearhead
Spur Gearhead
Motors DC motors EC motors EC flat motors
Encoder MR
Encoder HEDL
DC-Tacho Spindle Drive Electronics 4-Q-DC Servoamplifier 1-Q-EC Amplifier 4-Q-EC Amplifier Positioning control units
Resolver
Brake
Selection guide maxon motor Classification of the maxon motor ranges according to performance performance classes. Performance, Perfo rmance, also in conjunction with size, is frequently a central requirement when considering drive systems. A preliminary size-related selection can be made from the different product ranges with the maxon motor selection guide. Our data sheets pro provide vide detailed characteristics related to individual motors. Should you need any additional information, simply call us!
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Selection Guide maxon gear / maxon sensor Bearing g n g i g r n i n e a r i r a a b e e b b v e l e d e l i a l e l B S S
Max. Continuous torque Intermittently permissible torque
Nm
100
50
10
5
1
0.5
0.1 0.05
0.01 0.005
maxon gear
Page
GP 6 A A
Ø6 mm
0.002–0.03 Nm
3.9:1–854:1
204
GP 8 A A GP 10 K K
Ø8 mm Ø10 mm
0.01–0.1 Nm 0.01–0.1 0.005– 0.1 Nm
4:1–4096:1 4:1–1024:1 4:1–1 024:1
205 206
GP 10 A A
Ø10 mm
0.01–0 .15 Nm
4:1–1024:1
207
GS 12 A A
Ø12 mm
0.01–0.05 Nm 0.01–0.05
6.4:1–4402:1
208
GP 13 K K
Ø13 mm
0.05 –0.15 Nm
4.1:1–1119:1 4.1:1–1 119:1
209
GP 13 A A
Ø13 mm
0.2–0.35 Nm
4.1:1–3373:1 4.1: 1–3373:1
210
GP 13 M M
Ø13 mm
0.1–0.15 Nm
5.1:1–125:1
211
GS 16 K K
Ø16 mm
0.01–0.03 Nm 0.01–0.03
6.4:1–5752:1
212
GS 16 A A
Ø16 mm
0.015–0.04 Nm
6.4:1–5752:1
213
GS 16 V V
Ø16 mm
0.06–0.1 Nm
6.4:1–5752:1
214
GS 16 VZ VZ Ø16 mm
0.06–0.1 Nm
22:1–1670:1 22:1–167 0:1
215
GP 16 K K
Ø16 mm
0.06 –0.18 Nm
4.4:1–1621:1
216
GP 16 A A
Ø16 mm
0.1–0.3 Nm
4.4:1–4592:1
217
GP 16 C C
Ø16 mm
0.2–0.6 Nm
4.4:1–4592:1
218
GP 16 M M
Ø16 mm
0.1–0.3 Nm
4.4:1–4592:1
219
GP 19 B B
Ø19 mm
0.1–0.3 Nm
4.4:1–4592:1
220
GS 20 A A
Ø20 mm 0.06–0. 25 Nm
15:1–532:1
221
GP 22 B B
Ø22 mm 0.1–0.3 Nm
4.4:1–4592:1
222
GP 22 L L
Ø22 mm 0.2–0.6 Nm
3.8:1–4592:1
223
GP 22 A A
Ø22 mm 0.5–1.0 Nm
3.8:1–4592:1
224
GP 22 C C
Ø22 mm 0.5–2.0 Nm
3.8:1–4592:1
225/226
GP 22 HP HP Ø22 mm 2.0–3.4 Nm
3.8:1–850:1
227
GP 22 HD HD Ø22 mm 2.0–4.0 Nm
3.8:1–4592:1
228
GP 22 M M
Ø 22 mm 0.5–2.0 Nm
3.8:1–4592:1
229
GS 24 A A
Ø24 mm
7.2:1–325:1
230
GP 26 B B
Ø26 mm 0.5–2.0 Nm
GP 26 A A
Ø26 mm 0.75–4.5 Nm
GS 30 A A
0.1 Nm
3.8:1–4592:1
231
5.2:1–236:1
232
Ø 30 mm 0.07–0.2 Nm
15:1–500:1
233
GP 32 BZ BZ Ø32 mm 0.75–4.5 Nm
3.7:1–236:1
234
GP 32 A A
Ø32 mm 0.75–4.5 Nm
3.7:1–6285:1
235/236
GP 32 C C
Ø32 mm 1.0–6.0 Nm
3.7:1–6285:1
237/238
GP 32 HP HP Ø32 mm 4.0–8.0 Nm
14:1–913:1 14:1 –913:1
239
KD 32 32
Ø32 mm 1.0– 4.5 Nm
11:1–1091:1 11:1–1 091:1
240
GS 38 A A
Ø38 mm 0.1–0.6 Nm
6:1–900:1
241
GP 42 C C
Ø42 mm 3.0–15.0 Nm
3.5:1–936:1
GS 45 A A
Ø45 mm 0.5–2.0 Nm
5:1–1952:1 5:1–1 952:1
GP 52 C C
Ø52 mm 4.0–30.0 Nm
3.5:1–936:1
245/246
GP 62 A A
Ø62 mm 8.0–50.0 Nm
5.2:1–236:1
247
GP 81 A A
Ø81 mm 20.0–120.0 Nm
3.7:1–308:1
248
Output torque
Option
maxon sensor
Page
Encoder MILE
64 CPT, 3 channel
262
Encoder MILE (60)
512–2048 CPT, 2 channel, LD
263
Encoder MILE (90)
800–3200 CPT, 2 channel, LD
264
Encoder MR, type S S
16 CPT, 2 channel
265
Encoder MR, type S S
64–256 CPT, 2 channel, LD
266
Encoder MR, type S S
100 CPT, 2 channel, LD
266
Encoder MR, type S S
64–256 CPT, 2 channel
267
Encoder MR, type M M
32 CPT, 2/3 channel
268/269
Encoder MR, type M M
128–512 CPT, 2/3 channel, LD
270
Encoder MR, type M M
128–512 CPT, 2/3 channel, LD
271
Encoder MR, type ML ML 128–1000 CPT, 3 channel, LD
272
Encoder MR, type L L
256–1024 CPT, 3 channel, LD
273
Encoder HEDS 5540 5540
500 CPT, 3 channel
276/277
2 2 3 3 6 6 2 2 2 2 3 3 3 6 9 9 9 7 7 0 0 1 1 1 1 1 1 1 1 1 2 2 3 3 3 3 3 3 3 3 3 3 3 3 3 2 / 5 0 C 6 C 5 0 0 / E 3 1 C C / 5 / 5 / D / 1 4 / 1 D / / e C E 0 2 2 l 0 0 5 1 / 2 / 2 D u 4 0 0 0 / 5 0 5 6 5 7 P 7 / 1 / / 2 o d 2 3 4 4 / 0 0 2 2 4 N 0 E 5 2 2 2 2 3 N O 5 _ 7 2 2 2 2 M S S S S S O C S S S S S S S 2 S O O O O O C S D D E E P O P O P O P O P P P P P S E E A A D D E E E E E E E E E
242/243 244
Encoder HEDL 5540 5540
500 CPT, 3 channel
278–280
Encoder HEDL 9140 9140
500 CPT, 3 channel
281/282
Encoder MEnc 10 10
12 CPT, 2 channel
283
Encoder MEnc 13 13
16 CPT, 2 channel
284/285
DC tacho DCT 22 22
0.52 V
286
– – 17
Information on connecting sensors with controllers, page 336.
Selection Guide maxon EC motor Type
maxon EC motor
Page
1.2 W
0.3 mNm
EC 6
138
2 W
0.9 mNm
EC 8
139
6.0 W
2.4–2.5 mNm
EC 13
141
8.0 W
1.5 mNm
EC 10
140
12 W
5.2–5.7 mNm
EC 13
142
30 W
4.1–4.5 mNm
EC 13 ster.
143
30 W
8.0–8.5 mNm
EC 16
145
30 W
7.4–7.8 7.4–7 .8 mNm
EC 16 ster.
146
g n i r s r g o e a i s b r n n a e s v e b e l e l l a l e l a H S B
Modular system
r r e e v d l o s o k e c n e r a E R B
Recommended electronics
2 2 3 3 3 6 9 2 7 7 8 8 9 5 6 6 2 1 1 1 1 1 1 1 9 9 9 9 9 9 0 0 0 1 3 3 3 3 3 3 3 2 2 2 2 2 2 3 3 3 3 2 5 C / / E 2 5 6 / 0 / / 5 C C 3 / 5 5 / 1 0 4 / 4 0 / / 1 5 2 5 0 0 2 E D u l e 4 0 0 / 0 0 5 0 / 1 u l e / 3 u l e / 1 / 5 / 1 4 / / 2 d 2 5 7 P 2 7 N 5 2 4 o d 2 4 o d 7 0 5 0 7 0 2 2 4 M o 2 2 2 2 3 O S 2 2 2 S S S S S C C C M C M C S S S S S O O O O O S E E E C E E C E E E P O P O P O P P P P P E D D D D D D D D E E E E E E E E
40 W
19.1–19.7 mNm
EC 22
149
40 W
16.0–16.5 mNm
EC 22 ster.
150
50 W
6.6–7.6 mNm
EC 13 ster.
144
60 W
16.5–17.7 mNm
EC 16
147
60 W
13.4–13.7 mNm
EC 16 ster.
148
80 W
33.7–54.5 mNm
EC 22 HD
153
80 W
42.8–46.9 mNm
EC 32
156
100 W
43.6–46.4 mNm
EC 22 ster.
151
100 W
39.8– 41.4 mNm
EC 22 ster.
152
150 W
168–191 mNm
EC 45
158
170 W
160–164 mNm
EC 40
157
240 W
57.2–149 mNm
EC 22 HD
154
250 W
32.8 mNm
EC 25
155
250 W
311–347 mNm
EC 45
159
400 W
747–830 mNm
EC 60
160
5.0 W
3.2–3.3 mNm
EC-max 16
163
5.0 W
2.2–2.3 mNm
EC-max 16, 2-w
164
7.6–8.2 mNm
EC-max 16
165
10.2–10.9 mNm
EC-max 22
166
25 W
21.7–23.1 mNm
EC-max 22
167
40 W
33.3–34.6 mNm
EC-max 30
168
60 W
60.2–63.9 mNm
EC-max 30
169
70 W
87.1–94.7 87. 1–94.7 m Nm
EC-max 40
170
120 W
168–211 mNm
EC-max 40
171
8.0 W 12 W
90 W
51.0–53.0 mNm
-4pole -4pole
22
175
100 W
65.5–71.6 mNm
-4pole -4pole
30
177
120 W
60.9–64.3 mNm
-4pole -4pole
22
176
200 W
127–131 mNm
-4pole -4pole
30
178
maxon flat motor 0.2 W
0.2 mNm
EC 10 flat
181
0.5 W
0.8–0.9 mNm
EC 9.2 flat
180
1.5 W
1.6–1.7 mNm
EC 14 flat
182
EC 20 flat IE
185
3.0 W
3.2–4.1 mNm
EC 20 flat
183
5.0 W
7.3–8.4 mNm
EC 20 flat
184
5.0 W
7.3–7.5 mNm
EC 20 flat IE
186
6.0 W
7.5–9.4 mNm
EC 32 flat
187
12 W
18.7–25.8 mNm
EC 45 flat
192
15 W
22.4–23.3 mNm
EC 32 flat
188
15 W
24.6–25.5 mNm
EC 32 flat IE
189
30 W
53.2–66.6 mNm
EC 45 flat
193
30 W
57.0–89.9 mNm
EC 45 flat IE
195
50 W
69.5–95.2 mNm
EC 45 flat
194
50 W
76.6–123.0 mNm
EC 45 flat IE
196
50 W
36.8–46.6 mNm
-i -i
40
190
70 W
41.5–48.4 mNm
-i -i
40
191
2.0 W
3.6 mNm
70 W
108–134 mNm
EC 45 flat
197
90 W
425–499 mNm
EC 90 flat
199
100 W
216–317 mNm
EC 60 flat
198
Nominal torque mNm
0.1
0.2
on request
20
0.3
0.4
0.5
0.6
0.7 0.8 0.9 1
2
3
Only for motors without Hall sensors Only for motors with Hall sensors Only for motors with Hall sensors and 3 channel encoder At least 2 channel encoder with line driver or hall sensors is required
– Information on connecting motors with controllers, page 337. –
4
5
6
7
Contents Technology – short and to the point Topic
Page
maxon DC motor maxon EC motor maxon gear maxon sensor maxon motor control maxon DC and EC motor Key information
maxon DC motor
24–25 26–29 30–31 32–33 34–35 36–43
Page
RE RE RE RE RE
30 35 40 50 65
∅6 mm, Precious metal brushes, 0.3 Watt ∅8 mm, Precious metal brushes, 0.5 Watt ∅10 mm, Precious metal brushes, 0.75 Watt ∅10 mm, Precious metal brushes, 1.5 Watt ∅13 mm mm,, Pre Preci ciou ous s met metal al br brus ushe hes s, 1.2 1.2/0 /0.7 .75 5 Wat Wattt ∅13 mm, Precious metal bru rus shes, 2.5/2 Watt ∅13 mm, Graphite brushes, 1.5 Watt ∅13 mm, Graphite brushes, 3.0 Watt ∅16 mm, Precious metal brushes CLL, 2 Watt ∅16 mm mm,, Pre Preci ciou ous s me meta tall bru brush shes es CL CLL, L, 3. 3.2 2 Wat attt ∅16 mm, Graphite brushes, 4.5 Watt ∅25 mm, Precious metal brushes CLL, 10 Watt ∅25 mm, Graphite brushes, 20 Watt ∅30 ∅35 ∅40 ∅50 ∅65
m mm m,, G Grra ap ph hiitte eb brru us sh he es s,, 6 90 0W Wa atttt mm, Graphite brushes, 150 Watt mm, Graphite brushes, 200 Watt mm, Graphite brushes, 250 Watt
maxon EC motor
50 51 52– 53 53 54 –5 –55 56–59 56–5 9 60–6 60 –63 3 64 – 67 68 –71 72 73–7 73– 74 75 –76 77 78 –79 8 80 1 82 83 84
Program
Type A-max A-max A-max A-max A-max A-max A-max A-max A-max A-max
Page ∅12 mm, mm, Prec Preciou ious s metal metal bru brush shes es CLL, CLL, 0. 0.75/ 75/0.5 0.5 W ∅16 mm mm,, Pr Prec ecio ious us me meta tall bru brush shes es CL CLL, L, 2/ 2/1. 1.2 2W ∅16 mm, Graphite brushes, 2 Watt ∅19 mm mm,, Pre Preci ciou ous s met metal al br brus ushe hes s CLL CLL,, 2.5 2.5//1. 1.5 5W ∅19 mm, Graphite brushes, 2.5 Watt ∅22 mm, Precious metal brushes CLL, 5/3.5 W ∅22 mm, Graphite brushes, 6 Watt ∅26 mm, Precious metal brushes CLL, 4/7/4.5 W ∅26 mm, Graphite brushes, 6/11 Watt ∅32 mm mm, Graphite brushes, 15/20 Watt
12 16 16 19 19 22 22 26 26 32
RE -max -max
Program
Type
RE -max -max RE -max -max RE -max -max RE -max -max RE -max -max RE -max -max RE -max -max RE -max -max RE -max -max RE -max -max RE -max -max
Page
87–88 89–90 91– 92 93–94 95 – 9 6 97–98 97–9 8 99 –100 101–104 105 –108 109 –1 –112
Page
13 ∅13 mm, Precious metal brushes CLL, 0.75/1.2 W 115–116 117–118 18 13 ∅13 mm, Precious metal brushes CLL, 2/2.5 W 117–1 Precious metal metal brushes CLL, CLL, 4/2.5 W 11 119–120 9–120 17 ∅17 mm, Precious 121–122 17 ∅17 mm, Graphite brushes, 4.5 Watt Precious metal metal brushes CLL, CLL, 5/3.5 W 123–124 21 ∅21 mm, Precious 125 –126 21 ∅21 mm, Graphite brushes, 6 Watt Precious metal brushes brushes CLL, 10/6.5 10/6.5 W 127–128 24 ∅24 mm, Precious 129 –130 24 ∅24 mm, Graphite brushes, 11 Watt mm,, Pr Prec ecio ious us me meta tall br brus ushe hes s CL CLL, L, 15 Wat attt 131 29 ∅29 mm mm, Pr Precious me metal br brushes CL CLL, 9 Watt 132 29 ∅29 mm 133 –134 29 ∅29 mm, Graphite brushes, 22 Watt
EC -4pole -4pole
Type 6 8 10 13 13 sterilizable 13 sterilizable 16 16 sterilizable 22 22 sterilizable 22 HD 25 32 40 45 60
44 45 46 48/136/202
Brushless DC servomotors
EC Program EC EC EC EC EC EC EC EC EC EC EC EC EC EC EC EC
maxon e-media maxon academy maxon conversion table Standard specification
A-max
Type 6 8 10 10 13 13 13 13 16 16 16 25 25
Page
DC motors with moving coil rotor
RE Program RE RE RE RE RE RE RE RE RE RE RE RE RE
Topic
∅6 mm, brushless, 1.2 Watt ∅8 mm, brushless, 2 Watt ∅10 mm, brushless, 8 Watt ∅13 mm mm, br brushless, 6/ 6/12 Watt ∅13 mm, brushless, 30 Watt ∅13 mm, brushless, 50 Watt ∅16 mm mm, bru brus shless, 30 30/60 Watt ∅16 mm mm, bru brus shless, 30 30/60 Watt ∅22 mm mm,, bru brush shlles ess s, 40/ 40/10 100 0 Wa Watt ∅22 mm mm,, bru brush shlles ess s, 40/ 40/10 100 0 Wa Watt ∅22 mm mm,, bru brush shle less ss,, 80/ 80/24 240 0 Wat Wattt ∅25 mm, brushless, High-Speed ∅32 mm, brushless, 80 Watt ∅40 mm, brushless, 170 Watt ∅45 mm, mm, bru brush shle less ss,, 150/ 150/25 250 0 Wat Wattt ∅60 mm, brushless, 400 Watt
138 139 140 141–142 143 144 145 45//147 146 46//148 149 49//151 150 50//152 153– 53–1 154 155 156 157 158– 15 8–15 159 9 160
Program
Type EC -4pole -4pole EC -4pole -4pole EC -4pole -4pole EC -4pole -4pole
Page 22 22 30 30
∅22 ∅22 ∅30 ∅30
mm, brushless, 90 Watt mm, brushless, 120 Watt mm, brushless, 100 Watt mm, brushless, 200 Watt
175 176 177 178
EC flat Program Type EC EC EC EC EC EC
9.2 flat ∅10 mm, brushless, 0.5 Watt 10 flat ∅10 mm, brushless, 0.2 Watt 14 flat ∅13.6 mm, brushless, 1.5 Watt 20 flat ∅20 mm, brushless, 3/5 Watt 20 flat brushless, 2/5 Watt, IE 32 flat ∅32 mm, brushless, 6/15 Watt
Page 180 181 182 183 –184 185 –186 187–188
EC -max -max
Program
Type
Page
EC -max -max EC -max -max EC -max -max EC -max -max EC -max -max EC -max -max
16 ∅16 mm, brushless, 5/8 Watt 22 ∅22 mm, brushless, 12/25 Watt 30 ∅30 mm, brushless, 40 Watt 30 ∅30 mm, brushless, 60 Watt 40 ∅40 mm, brushless, 70 Watt 40 ∅40 mm, brushless, 120 Watt
163 –165 166 –167 168 169 170 171
EC 32 flat EC-i 40 EC 45 flat EC 45 flat EC 45 flat EC 60 flat EC 90 flat
brushless, 15 Watt, IE ∅40 mm, brushless, 50/70 Watt ∅42.9 mm mm, brushless, 12/30/50 Watt brushless, 30/50 Watt, IE ∅42.8 mm, brushless, 70 Watt ∅60 mm, brushless, 100 Watt ∅90 mm, brushless, 90 Watt
189 190 –191 192–194 195 –196 197 198 199
22
maxon gear
Gearheads
Type
Page
Planetary gearhead GP 6 A 6 mm, 0.002– 0.03 Nm Planetary gearhead GP 8 A 8 mm, 0.01– 0.1 Nm Planetary gearhead GP 10 K 10 mm, 0.005– 0.1 Nm Planetary gearhead GP 10 A 10 mm, 0.01– 0.15 Nm Spur gearhead GS 12 A 12 mm, 0.01– 0.03 Nm Planetary gearhead GP 13 K 13 mm, 0.05– 0.15 Nm Planetary gearhead GP 13 A 13 mm, 0.2– 0.35 Nm Planetary gearhead GP 13 M13 mm, 0.05– 0. 0.275 Nm Spur gearhead GS 16 K 16 mm, 0.01– 0.03 Nm Spur gearhead GS 16 A 16 mm, 0.015– 0. 0.04 Nm Spur gearhead GS 16 V 16 mm, 0.06– 0.1 Nm Spur gearhead GS 16 VZ 16 mm, 0.06– 0.1 Nm Planetary gearhead GP 16 K 16 mm, 0.06– 0.18 Nm Planetary gearhead GP 16 A 16 mm, 0.1– 0.3 Nm Planetary gearhead GP 16 C 16 mm, 0.2– 0.6 Nm Planetary gearhead GP 16 M16 mm, sterilizable Planetary gearhead GP 19 B 19 mm, 0.1– 0.3 Nm Spur gearhead GS 20 A 20.3 mm mm, 0. 0.06– 0. 0.25 Nm Nm Planetary gearhead GP 22 B 22 mm, 0.1– 0.3 Nm Planetary gearhead GP 22 L 22 mm, 0.2– 0.6 Nm
maxon spindle drive
204 20 5 20 6 207 20 8 20 9 210 211 212 213 214 215 216 217 218 219 220 221 2 22 223
Page drive drive drive drive
GP GP GP GP
16 16 22 22
S S S S
16 mm, ball screw 16 mm, metric spindle 22 mm, ball screw 22 mm, metric spindle
maxon sensor
251 252 253 254
Page MILE MR Enc 22 HEDS 5540 HEDL 5540
64 –3 –3200 CPT, 2/3 channel 16 –1 –1024 CP CPT, 2/ 2/3 ch channel 100 CPT, 2 channel 500 CPT, 3 channel 500 CPT, 3 channel
maxon motor control Type
262–264 265 –273 274 –275 276 –277 278 –280
224 225 –2 –226 227 228 229 230 231 232 233 234 235–2 23 5–236 36 237– 23 23 8 239 240 241 242–243 244 245 –246 247 248
Type
Page
Spindle drive GP 32 S Spindle drive GP 32 S Spindle drive GP 32 S
32 mm, 32 mm, 32 mm mm,,
ball screw metric spindle trape tra pezo zoid idal al sp spin indl dle e
255 256 257 25 7
Type
290–292 293–301 302–308 309–313
r o t o M C D
r o t o M C E
Page
Encoder HEDL 9140 Encoder MEnc 10 Encoder MEnc 13 DC-Tacho DCT 22 Resolver Res 26
500 CPT, 3 channel 12 CPT, 2 channel 16 CPT, 2 channel 0.52 V 10 V
281–282 283 284 –285 286 287
Type
r a e G
e l d e v i n i r p d S
Electronics Electronic s for DC motors and EC motors Page
ESCON servo controllers 1-Q-EC Servoamplifier 4-Q-EC Servoamplifier Positioning control unit EPOS2
Planetary gearhead GP 22 A 22 mm, 0.5–1.0 Nm Planetary gearhead GP 22 C 22 mm mm, 0. 0.5– 2. 2.0 Nm Nm Planetary gearhead GP 22 HP 22 mm, 2.0– 3.4 Nm Planetary gearhead GP 22 HD 22 mm, 2.0– 4.0 Nm Planetary gearhead GP 22 M 22 mm, sterilizable Spur gearhead GS 24 A 24 mm, 0.1 Nm Planetary gearhead GP 26 B 26 mm, 0.5–2.0 Nm Planetary gearhead GP 26 A 26 mm, 0.75– 4.5 Nm Spur gearhead GS 30 A 30 mm, 0.07– 0.2 Nm Planetary gearhead GP 32 BZ 32 mm, 0.75– 4.5 Nm Planetary gearhead GP 32 A 32 mm mm,, 0.7 0.75– 5–4. 4.5 5 Nm Nm Planetary gearhead GP 32 C 32 mm mm, 1. 1.0– 6. 6.0 Nm Nm Planetary gearhead GP 32 HP 32 mm, 4.0– 8.0 Nm Koaxdrive KD 32 32 mm, 1.0– 4.5 Nm Spur gearhead GS 38 A 38 mm, 0.1– 0.6 Nm Planetary gearhead GP 42 C 42 mm, 3–15 Nm Spur gearhead GS 45 A 45 mm, 0.5–2.0 Nm Planetary gearhead GP 52 C 52 mm, 4–30 Nm Planetary gearhead GP 62 A 62 mm, 8– 50 Nm Planetary gearhead GP 81 A 81 mm, 20–120 Nm
Encoder and DC-Tacho
Type Encoder Encoder Encoder Encoder Encoder
Page
Spindle Drive
Type Spindle Spindle Spindle Spindle
Type
s t n e t n o C
Page
Positioning control unit EPOS2 P Positioning control unit EPOS3 Summary maxon motor control Summary accessories
314–316 317–319 320 321–322
r o s n e S
maxon compact drive Type
Page
MCD EPOS/MCD EPOS P
maxon accessories Type Brake Brake Brake Brake
324–325
20, 28, 32, 41,
24 VDC, 0.1 Nm 24 VDC, 0.4 Nm 24 VDC, 0.4 Nm 24 VDC, 2.0 Nm
Page
Accessories
326
328 329 –331 332 333
Type
Page
Brake AB 44, 24 VDC, 2.5 Nm End caps Accessories overview overview
3 34 335 336–337
maxon special program Type
Page
RE-Program F-Program S-Program A-Program
340 341–347 348–355 356–357
Type
Special Gearheads/Special Motors
Page
GM-Program EC-Program Gearheads maxon motor control
maxon special design Type
r l o o t r t o n M o c
Accessories Page
AB AB AB AB
Type
358 359–368 369 370–374
t c a e v p i r m o D C
s e i r o s s e c c A
l m a a i c r e g p o S r p
maxon ceramic Page 376–379
Type CIM products
Page 383
l a n i g c i e s p e d S
MIM products
384
maxon worldwide Type Contact information
c i m a r e C
Page 386–389
23
maxon DC motor
Technology – short and to the point
r o t o m The outstanding technical features of maxon DC motors: C – No magnetic magnetic cogging D – High acceleration thanks to a low n mass inertia o – Low electromagnetic interference x Low inductance efficiency a –– High m – Linearit Linearity y between voltage and speed
Program – RE-Program – A-max-Program – RE -max-Program -max-Program
– Linearity between between load and speed speed – Linearity betwe between en load and current current – Small torque ripple than thanks ks to multi-segment commutator – Able to bear high overloads overloads for short periods – Compact design – small dimensions – Multiple combination possibilities with gears as well as DC tachometers and encoders
1 2 3 4 5
Flange Permanent magnet Housing (magnetic return) Shaft Winding
6 7 8 9 = + " *
Commutator plate Commutator Graphite brushes Precious metal brushes Cover Electrical connection Ball bearing Sintered sleeve bearing
Characteristics of the maxon RE range: Characteristics RE range: – High power density – High-quality DC motor with NdFeB NdFeB magnet – High speeds and torques – Robust design (metal flange) Characteristics of the maxon A-max Characteristics -max range: range: – Good price/performance price/performance ratio ratio – DC motor with AlNiCo magnet – Torsional orsionally ly rigid shaft – Automated manufacturing process Characteristics of the maxon RE -max range: Characteristics -max range: − High-perfor High-performance mance at low cost − Combines rational manufacturing and design of the A-max motors with the higher power density of the NdFeB magnets – Automated manufacturing process
The maxon winding
Service life
The “heart” of the maxon motor is the world-wide patented ironless winding, System maxon ® : This motor principle has very specific advanta advantages. ges. There is no magnetic detent and minimal electromagnetic interference. The efficiency of up to 90% exceeds that of other motor systems.
A general statement about service life li fe cannot be made due to many influencing factors. Service life can vary between more than 20 000 hours under favorable conditions, and less than 100 hours under extreme conditions (in rare cases). Roughly 1000 to 3000 hours are attained with average requirements.
There are numerous winding variants for each motor type (see motor data sheets). They are differentiated by the wire diameter and number of turns. This results in various motor terminal resistances. The wire sizes used are between 32 µm and 0.45 mm, resulting in the different terminal resistances of the motors. This influences the motor parameters that describe the transformation of electrical and mechanical energy (torque and speed constants). It allows you to select the motor that is best suited to your application. The maximum permissible winding temperature in high-temperature applications is 125°C (155°C in special cases), otherwise 85°C. Effects of wire gauge and number of windings are:
Turning speed The optimal operating speeds are between 4000 rpm and 9000 rpm dependin depending g on the motor size. Speeds of more than 20 000 rpm have been attained with some special versions. A physical property of a DC motor is that, at a constant voltage, the speed is reduced with increasing loads. A good adaptation to the desired conditions is possible thanks to a variety of winding variants. At lower speeds, a gear combination is often more favorable than a slowly turning motor.
Low terminal resistance – Low resistanc resistance e winding – Thick wire, few few turns – High starting starting currents – High specific speed speed (rpm per volt) volt) High terminal resistance – High resistanc resistance e winding – Thin wire, wire, many turns – Low starting starting currents – Low specific speed speed (rpm per volt)
The following have an influence: 1. The electric load: higher current loads result in greater electric wear. Therefore, it may be advisable to select a somewhat stronger motor for certain applications. We would be happy to advise you. 2. Speed: the higher the speed, the greater the mechanical wear. 3. Type Type of operation: extreme start/stop, left/right operation leads to a reduction in service life. 4. Environmental influences: temperature, influences: temperature, humidity, vibration, type of installation, etc. 5. In the case of precious metal brushes, 5. In the CLL concept increases concept increases service life at higher loads and the benefits of precious metal brushes are retained. 6. Combination 6. Combinations s of graphite brushes and brushes and ball bearings lead to a long service life, even under extreme conditions.
24
Technology Techno logy – short and to the point point
May 2012 edition / subject to change
2
1
3
r o t o m C D n o x a m
4 5 6 8 3
2
1
4
+
5 6 7 +
* 7 8 =
=
9 *
Mechanical commutation Graphite brushes In combination with copper commutators for the most rigorous applications. More than 10 million cycles were attained in different applications.
Graphite brushes are typically used: – In larger larger motors – With high current current loads – In start/stop operation – In reverse reverse operation – While controlling controlling at pulsed power stage (PWM) The special properties of graphite brushes can brushes can cause so-called spikes. They are visible in the commutation pattern. Despite the high-frequency interference caused by the spikes, these motors have become popular in applications with electronic controls. Please note, that the contact resistance of the graphite brushes changes dependent on load.
Precious metal brushes and commutator Our precious metal combinations ensure a highly constant and low contact resistance, even after a prolonged standstill time. The motors work with very low starting voltages and electromagnetic interferences. Precious metal brushes are typically used: – In small motors – In continuous operation – With small current current loads loads – With battery battery operation – In DC tachometers The commutation pattern is uniform and free of spikes, as opposed to that of other motors. The combination of precious metal brushes and maxon rotor system results in minimum of high-frequency interference, which otherwise leads to major problems in electronical circuits. The motors need practically no interference suppression.
Commutation pattern with graphite brushes
For further explanations, please see page 49 or “The selection of high-precision microdrives” by Dr. Urs Kafader.
Commutation pattern The commutation pattern shows the current pattern of a maxon DC motor over one motor revolution. Please place a low-ohm series resistor in series with the motor (approx. 50 times smaller than the motor resistance). Observe the voltage drop over the resistor on the oscilloscope.
Commutation pattern with precious metal brushes
3
2
CLL concept With precious metal commutation, the wear on commutators commutator s and brushes is caused mainly by sparks. The CLL concept suppresses spark generation to a large extent, thus greatly extending service life. When driven with a pulsed power stage (PWM) higher no-load currents occur and an unwanted motor heating can result.
1
Legend 1 Ripple, actual peak-to-peak ripple 2 Modulation, attributab attributable le mainly to asymmetry in the magnetic field and the winding. 3 in Signal pattern within
a revolution (number of peaks = twice the number of commutator segments)
May 2012 edition / subject to change
Technology Techno logy – short and to the point
25
ironless winding Technology – short and to the point maxon EC motor
r o t o Characteristics ristics of maxon EC motors: m Characte − Brushless DC motor C − Long service service life E − Highly efficient characteristics, excellent n − Linear motor characteristics, o control properties x − Ironless winding g system maxon ® a with threewindin phases in the stator m
− Lowest electrical electrical time constant and low inductance − No detent − Good heat dissipati dissipation, on, high overload capacity − Rotating Neodymium Neodymium permanent magnet with 1 or 2 pole pairs.
Program – EC-Program – EC -max-Program -max-Program – EC -4pole -4pole – – – – –
with Hall sensors sensorless with integrated electronics sterilizable heavy duty
1 2 3 4 5 6 7 8 9 = +
Flange Housing Laminated steel stack Winding Permanent magnet Shaft Balancing disks Print with Hall sensors Control magnet Ball bearing Spring (bearing (bearing preload)
Characteristics of the maxon EC range: Characteristics EC range: – Power optimized, with high speeds up to 100 000 000 rpm – Robust Ro bust design – Various types: e.g. short/ short/long, long, sterilizable sterilizabl e – Lowest residual imbalance Characteristics of the maxon EC -max range: Characteristics -max range: − attractive price/performance price/performance ratio − robust steel steel casing − speeds of up to 20 000 rpm − rotor with 1 pole pair
Electronical commutation Block commutation Rotor position is reported by three in-built Hall
Sensorless block commutation The rotor position is determined using the
Characteristics of the maxon EC -4pole range: Characteristics -4pole range: − Highest power power density thanks to rotor with 2 pole pairs − Knitted winding winding system maxon ® with optimised interconnection interconnectio n of the partial windings − Speeds of up to 25 000 rpm − High-quality magnetic magnetic return material to reduce eddy current losses − Mechanical time constants constants below 3 ms
sensors. The six Halldifferen sensors arranged offset by 120° provide different t signal combinations per revolution. The three partial windings are now supplied in six different conducting phases in accordance with the sensor information. The current and voltage curves are block-shaped. The switching position of each electronic commutation is offset by 30° from the respective torque maximum.
progression induced voltage. electronics evaluate of thethe zero crossing of theThe induced voltage (EMF) and commute the motor current after a speed dependent pause (30° after EMF zero crossing). The amplitude of the induced voltage is dependent on the speed. When stalled or at low speed, the voltage signal is too small and the zero crossing cannot be detected precisely. This is why special algorithms are required for starting (similar to stepper motor control). To allow EC motors to be commuted without sensors in a D arrangement, a virtual star point is usually created in the electronics.
Bearings and service life The long service life of the brushless design can only be properly exploited by using preloaded ball bearings. − Bearings designed for for tens of thousands of hours. − Service life is affected by maximum speed, speed, residual unbalance and bearing load. l oad.
Properties of block commutation – Relatively simple and favorably priced electronics – Torque ripple of 14% – Controlled motor start-up – High starting torques torques and accelerations accelerations possible – The data of the maxon EC motors are determined with block commutation. Possible applications – Highly dynamic servo drives – Start/stop operation – Positioning Positi oning tasks
Properties of sensorless commutation – Torque ripple of 14% (block commutation) – No defined defined start-up – Not suitable for low speeds – Not suitable for dynamic applicati applications ons Possible applications – Continuous operation at higher speeds – Fans
Block commutation
Sensorless commutation
EMK
1
Legend The commutation angle is based on the length of a full commutation sequence (360°e). The length of a commutation interval is therefore 60°e. The commutation rotor position is identical to the motor shaft position for motors with 1 pole pair. The values of the shaft position are halved for motors with 2 pole pairs.
2
Technology Techno logy – short and to the point point
2
EMK
0°
60°
3
26
120°
180°
240°
300°
360°
3 May 2012 edition / subject to change
2
1
3 5
4
7 2
+ 8
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5 7 6 =
8
9 =
= 1
Hall sensor circuit
Winding arrangement
Sinusoidal commutation The high resolution signals from the encoder or resolver are used for generating sine-shape
The open collector output of Hall sensors does not normally have its own pull-up resistance, as this is integral in maxon controllers. Any excep-
The maxon rhombic winding is divided into three partial windings, each shifted by 120°. The partial windings can be connected in two
motor currents in the electronics. currentsto through the three motor windings The are related the rotor position and are shifted at each phase by 120 degrees (sinusoidal commutation). This results in the very smooth, precise running of the motor and, in a very precise, high quality control.
tions specifically motorare data sheets. mentioned in the relevant
different manners “Y” or “ ”. This changes the speed and torque -inversely proportional by the factor 3 . However, the winding arrangement does not play a decisive role in the selection of the motor. It is important that the motor-specific parameters (speed and torque constants) are in line with requirements.
Wiring diagram for Hall sensors
Properties of sinusoidal commutation – More expensive expensive electronics – No torque torque ripple – Very smooth running, even at very very low speeds – Approx. 5% more continuous torque compared to block commutation Possible applications – Highly dynamic servo servo drives – Positioning tasks
D
The power consumption consumption of a Hall sensor is typically 4 mA (for output of Hall sensor = “HI”).
The maximum permissible winding temperature is 125°C or 155°C depending on motor type. Currents in sine and block commutation Sinusoidal phase currents
Block-shaped phase currents
0°
60°
120° Turning 180° angle 240° 240°
300°
360°
Legend 1 Star point
For further explanations, please see page 137
2 3
or “The selection of high-precision microdrives” by Dr. Urs Kafader.
Time delay 30° Zero crossing of EMF
Technology Techno logy – short and to the point
May 2012 edition / subject to change
maxon EC motor
iron-cored winding
27
Technology – short and to the point
r o t o Characteristics ristics of maxon EC flat motors motors m Characte and EC-i motors: C − Brushless DC motor E − Long service service life for when space is limited n − Flat design for o − Comparativ Comparatively ely high inertia x − Motor characteristics characteristics may vary from a the strongly linear behaviour m − Hall sensor signals utilizable for for simple speed
Program – EC flat motor – with Hall sensors – sensorless – with integrated electronics
and position control
1 2 3 4 5 6 7 8
Flange Housing Laminated steel stack Winding Permanent magnet Shaft Print with Hall sensors Ball bearing
(bearing preload) 9 Spring (bearing
− Winding with iron core and several several teeth per phase in the stator − Low detent torque − Good heat dissipati dissipation, on, high overload capacity − Multipole Neodymium Neodymium permanent magnet magnet − Smaller commutation commutation steps Characteristics of maxon EC flat motors: Characteristics − Attractive price/performance price/performance ratio ratio − High torques due to external, multipole rotor − Excellent heat dissipation at higher higher speeds thanks to open design Characteristics of the maxon EC-i program: Characteristics EC-i program: − Highly dynamic due due to internal, multipole rotor − Mechanical time constants constants below 3 ms − High torque density − Speeds of up to 15 000 rpm
Bearings and service life The long service life of the brushless design can only be properly exploited by using preloaded ball bearings. − Bearings designed for for tens of thousands of hours − Service life is affected by maximum speed, speed, residual imbalance and bearing load
Electronical commutation Block commutation Rotor position is reported by three built-in Hall sensors which deliver six differen differentt signal combinations per commutation sequence.
Sensorless block commutation The rotor position is determined using the progression of the induced voltage. The electronics evaluate the zero crossing of the induced
The three phases are powered in six ent conducting phases in line with thisdiffersensor information. The current and voltage curves are block-shaped. The switching position of every electronic commutation lies symmetrically around the respective torque maximum.
voltage (EMF)dependent and commute the(30° motor current after a speed pause after EMF zero crossing). The amplitude of the induced voltage is dependent on the speed. When stalled or at low speed, the voltage signal is too small and the zero crossing cannot be detected precisely. This is why special algorithms are required for starting (similar to stepper motor control). To allow EC motors to be commuted without sensors in a D arrangement, a virtual star point is usually created in the electronics.
Properties of block commutation – Relatively simple and favorably priced electronics – Controlled motor start-up – High starting torques torques and accelerations accelerations possible – The data of the maxon EC motors are determined with block commutation. Possible applications – Highly dynamic servo drives – Start/stop operation – Positioning Positi oning tasks
Properties of sensorless commutation – No defined defined start-up – Not suitable for low speeds – Not suitable for dynamic applicati applications ons Possible applications – Continuous operation at higher speeds – Fans, pumps
Block commutation
Sensorless commutation
EMK
1 Legend The commutation angle is based on the length of a full commutation sequence (360°e). The length of a commutation interval is therefore 60°e. The values of the shaft position can be calculated from the commutation angle divided by the number of pole pairs.
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Technology Techno logy – short and to the point point
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0°
60°
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120°
180°
240°
300°
360°
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5 4 2 1
r o t
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9
Sinusoidal commutation Sinusoidal commutation for for EC motors with slotted winding is basically possible, provided provided that an encoder can be mounted. The main benefit of sinusoidal commutation – the smooth
4
5
Hall sensor circuit
Winding arrangement
The open collector output of Hall sensors does not normally have its own pull-up resistance, as this is integral in maxon controllers. Any exceptions are specifically mentioned in the relevant motor data sheets.
The winding is divided into 3 par tial windings which have several stator teeth each. The partial windings can be connected in two different manners - “Y” or “ D”. This changes the speed and torque inversely proportional
operation – only comes into play to a limited degree due to the detent. Wiring diagram for Hall sensors
Integrated electronics
by the factor 3 . However, the winding arrangement does not play a decisive role in the selection of the motor. It is important that the motor-specific parameters (speed and torque constants) are in line with requirements. requirement s. Flat motors and EC-i are normally “Y”-circuited.
For motors with integrate integrated d electronics, the electronic commutation (mostly block commutation with Hall sensors) is built in. A speed controller and other functionalities can also be implemented. Features − Simple operation with with DC voltage voltage − Fewer connections than with the EC motor − No additional electronics electronics required − Output power reductions possible due to less space for power electronics
The power consumption consumption of a Hall sensor is typically 4 mA (for output of Hall sensor = “HI”).
The maximum permissible winding temperature is 125°C. (EC-i 155°C).
Legend 1 Star point 2 Time delay 30° 3 Zero crossing of EMF
For further explanations, please see page 137 or “The selection of high-precision microdrives” by Dr. Urs Kafader. Technology Techno logy – short and to the point
May 2012 edition / subject to change
maxon gear
Technology – short and to the point r a e Gears g n If mechanical power is required at a high torque
Program
1 Output shaft 2 Mounting flange
29
o and correspondingly reduced speed, a maxon x precision gear is recommended. According a to the gear ratio the output speed is reduced m while the output torque is enhanced. For a more
3 4 5 6 7 8 9 =
Planetary Plan etary gearhead – Sp Spur ur gearhead – Koaxdrive – Spindle Sp indle drives
precise determination of the latter, efficiency must be taken into consideration. Conversion The conversion of speed and torque of the gear output (n L, M L ) to to the motor shaft (n mot , M mot ) fol follows the following equations:
Bearing of the output output shaft shaft Axial security Intermediate plate Cogwheel Motor pinion Planetary gearwheel Sun gearwheel Planet carrier
+ Internal gear
nmot = i · n L
=
mot
i·
M L i
·ɳ
where: i: reduction h: Gearhead efficienc efficiency y
Service life The gears usually achieve 1000 to 3000 operating hours in continuous operation at the maximum permissible load and recommended input speed. Service life is significantly extended if these limitsdrops are not pushed. If the speed below this threshold, the gearhead may be loaded with higher torques without compromising the life span. On the other hand, higher speeds and thus higher reduction ratios can be chosen if the torque limits are not fully exploited. Factors affecting life span include: – Exceeding maximum torque can lead to excessive wear. – Local temperature peaks in the area of tooth contact can destroy the lubricant. – Massively exceeding the gear input speed reduces the service life. – Radial and axial loads loads on the bearing.
Temperature/lubrication maxon gears are lubricated for life. The lubricants used are especially effective in the recommended temperature range. At higher or lower operating temperatures we offer recommendations for special lubricants.
30
Selection of gears
Spur gearhead
For the selection of the gearhead, the maximum transmittable power – the product of speed and torque – is decisive. It should be noted that the transmittable power depends on the number of gear stages. The load torque should be below the nominal torque (max. continuous torque) of the gearhead M N,G N,G .
The gear consists of one or more stages. One stage represents the pairing of two cogwheels. The first cogwheel (pinion) is mounted directly on the motor shaft. The bearing of the output shaft is usually made of sintered material. – Favorably priced – For low torques – Output torque up to 2 Nm – Reduction ratios of 6:1 to 5752:1 – External - Ø12 - 45 45 mm – Low noise level – High efficiency
M N,G ≥ M L
For short-term loading, the short-term torque of the gearhead must also be considered. Where possible, the input speed of the gear i max max should not be exceeded. This limits the maximum possible reduction i max max at a given operating speed. The following applies to the selection of the reduction i
i ≤ i imax =
nmax,G n L
If the gear is selected, the data conversed to ) are the motor axis (n mot are used to select the mot , M mot mot motor. The maxon modular system defines the proper motor-gear combinations combinations..
Technology Techno logy – short and to the point point
May 2012 edition / subject to change
4 2 1
3
6
5 7 = 8 9 +
r a e g n o x a m
2
3
4
1
Planetary gearhead Planetary gears are particularly suitable for the transfer of high torques. Large gearheads are normally fitted with ball bearings at gearhead output. – For transferring high torques up to 180 Nm – Reduction ratios of 4:1 to 6285:1 – External diameter diameter 6–81 mm – High performance performance in a small space – High reduction ratio ratio in a small space – Concentri Concentric c gear input and output Plastic versions Favorably priced and yet compact drives can be realized with plastic gears. The mechanical load is slightly smaller than that of metal designs, however, it is significantly higher than that of spur gears.
Ceramic versions By using ceramic components in gearheads, the wear characteristics of critical components can be significantly improved. The result when compared to purely metal gearheads is: – Longer service life – Higher continuous torques – Higher intermittent intermittent torques – Higher input speeds High power gearhead Especially high output torques in the output stage of planetary gearheads can be achieved through the following measures – Use of ceramic components – 4 instead of 3 planet gears in the output stage – Additional motor-side motor-side support of the output output stage – Reinforcement of the output bearings Heavy duty gearhead The HD (heavy duty) gearheads are characterized by their robust construction. The use of stainless steel and optimized welding joints enable use under the most extreme conditions.
Koaxdrive Noise reduction Noise is primarily generate generated d in the input stage of the gearhead. The following measures can help to reduce noise: – Smaller input speeds and thus smaller relative velocity of the tooth flanks – Input stage with plastic gears – Use of a Koaxdrive gearhead The quiet “Koaxdrive” combines worm and planetary gearing. In the first stage, a separately mounted worm drives the three offset planetary wheels which then mesh in the specially toothed internal geared wheel. All further stages are designed as a normal planetary gear: – low noise – high reduction ratio ratio in the first stage – other properties properties as planetary gears gears
Reduced backlash gearhead The reduction in backlash is achieved through a patented preloading of the planet gears in the output stage. Despite the wear that occurs during operation, the gearhead backlash remains constantly low, unlike for gearheads in which the backlash reduction is achieved by low-tolerance manufacturing manufa cturing and material pairing. Sterilizable gearhead Sterilizable gearheads are characterized by the use of stainless steel and special lubricants. The bearing of the output shaft and the connection to the motor are designed so that fluid leaking into the gearhead is inhibited.
Technology Techno logy – short and to the point
May 2012 edition / subject to change
maxon sensor
Technology – short and to the point r o s n Sensors e s maxon offers a series of sensors. Their charac n teristics are: o x Digital incremental encoder a – Relative position signal suitable for for m positioning tasks
– Rotation direction direction recognition recognition – Speed information from number of pulses per time unit – Standard solution for for many applications
Program – – – – – –
Digital MILE encoder Digital MR encoder Digital Hall effect encoder Digital optical encoder DC Tacho Resolver
1 2 3 4 5 6 7 8 9
End cap Electrical connections connections motor and encoder encoder Print MR sensor ASIC Magnetic multi-pole wheel Encoder housing Motor connections Motor
31
= Solid measure measure + Carrier of solid measure
Standard solution for for many applications DC tachometer – signal – Analog Rotationspeed direction direction recognition recognition – Not suitable for positioning tasks Resolver – Analog rotor position signal – Analog speed signal – Extensive evaluation electroni electronics cs required in the control system – For special solutions in conjunction conjunction with sinusoidal commutation in EC motors
Digital Incremental Encoder
Magnetic principles
Encoder signals For further processing in the controller, the encoders deliver square-wave signals whose pulses can be counted for exact positioning or speed measurement. Channels A and B pick up phase shifted signals, which are compared with one another to determine the rotation direction. All maxon positioning systems evaluate the rising and falling signal edges. With regard to encoder number number of pulses, this results in i n a four times higher positioning precision. This This is what is referred to as quadcounts. A “home” pulse (index channel I) can be used as a reference point for precise determination of rotation angle. The line driver produces complementary signals – – A, B, I which help to eliminate interference on long signal lines. In addition, this electronic driver installed in the encoder improves improves signal quality by steeper signal edges.
On the magnetic Encoder a small multipole permanent magnet sits on the motor shaft. The changes in the magnetic flow are recorded by sensors and supplied to the electronics as processed channel A and B. Magnetic encoders require a minimum of space.
er (photo transistor) changes light/dark signals into corresponding electrical impulses that are amplified and processed in the electronics.
MR encoder – Sensor with magnetoresistive magnetoresistive principle principle – Thanks to interpolation, interpolation, high counts per per turn possible – Different number of pulses can be selected – Index channel possible – Line driver driver possible
– – –
MEnc – Digital Hall Hall sensors – 2 channels A and B – No line driver driver possible – Low number of pulses
With inductive MILE encoders, a high-frequency alternating field is transfo transformatively rmatively transmitted and thus angle dependant modulated, using a structured copper disk.
Characteristics – Rather higher space requirement with project-
Inductive principle
Optical principle In the optical principle of the fork light barrier (example: HEDL, HEDS, Enc22) an LED sends light through a finely resolved impulse disc, which is mounted on the motor shaft. The receivRepresentation of the output signal of a digital encoder 90° e
Phase shift A,B
360° e
Cycle
ing Highpart number of pulses Index channel and line driver possible Very high accuracy
Characteristics – Very robust against magnetic and electri electrical cal fields as well as contaminatio contamination n – Very high speeds possible – High precision. Interpolation errors are largely compensated for by a look-up table – Index channel and line driver available – Absolute interface interface (SSI) on request
Schematic design of a magnetic encoder
Schematic design of an opto-electronic opto-electron ic encoder A
B
I
Channel A
N S
Channel B
N Channel I
S
Index puls width Phase shift of index pulse
32
Technology Techno logy – short and to the point point
May 2012 edition / subject to change
9 8 9
7 6 3
+
4 5
3
1
=
8
1
DC Tacho In principle every maxon DC motor can be used as a DC tacho. For motor-tacho combinations, we offer a DC tachometer, whereby the tacho
r o s n e s n o x a m
we offer a DC tachometer, theshaft. tacho rotor is mounted directly onwhereby the motor
2 5
Characteristics – The output DC voltage voltage is proportional to the speed thanks to the precious metal brushes. – AINiCo magnet for for high signal stability with temperature temperatur e fluctuations – No additional tacho tacho bearings or friction – No couplings, high mechanical mechanical resonance frequency
Tips on encoder selection
Resolver
Principal features of the maxon incremental encoder are: – The number of pulses per revolution (increments) – The T he accuracy – Use of an index channel – The use of a line driver – The maximum supported supported speed – The suitability for special ambient ambient conditions (dust, oil, magnetic fields, ionizing radiation) Encoders and maxon controllers – As a standard the maxon maxon controllers are prepreset for encoders with 500 pulses per revolution. – The input frequency frequency of the controller electronics can limit the maximum possible counts per turn of the encoder. – The higher the number of pulses and the higher the accuracy the better a smooth, jerkfree operation can be achieved even at low speeds. – maxon controllers can be set for low or high speed operation and for encoders with a low or high number of pulses.
Schematic design of the inductive MILE encoder
The following applies especially to positioning systems: – The higher the number number of pulses, the more precise the position that can be reached. At 500 pulses (2000 quadcounts) an angle resolution of 0.18° is achieve achieved, d, which is usually much better than the precision of the mechanical drive components (e.g. due to gear play or elasticity of drive belts). – Only encoders with an integrated integrated line driver (RS422) should be used in positioning controls. This prevents electromagnetic interference signals from causing signal loss and accumulated positioning errors. – Positioning applications often require the index channel of the encoder for precise reference point detection.
Characteristics – Robust, for industri industrial al use – Long service service life – No mechanical wear – Output signal can be transmitted over long distances without problems – No sensitive electronics – Special signal evaluation evaluation required – Only one sensor for position and speed information – EC motors with resolver resolver are supplied without Hall sensors
Recommendations Recommenda tions on encoder selection l a c c i n E R t p M M o
(✓) Conditionally applicable *on request
very low speed
arctan
precise position
A/D
line driver possible
LUT
index channel possible
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
(✓) (✓)
robust against ext. magnetic fields ionising radiation
Schematic design of a resolver E L I M
✓
compact design dust, dirt, oil
(✓)
✓
very high speed
sin
cos
The resolver is mounted on the motor’s through shaft and adjusted according to the magnetic field of the motor rotor. The resolver has a rotating primary coil (rotor) and two secondary coils (stator) offset by 90°. An alternating current connected to the primary coil is transferre transferred d to the two secondary coils. The amplitudes of the secondary voltages are sin j and cos j, where j is the rotation angle.
✓
✓ ✓
✓
✓*
Technology Techno logy – short and to the point
May 2012 edition / subject to change
maxon motor control l o r Technology – short and t n o c The maxon motor control program control program contains r servo amplifiers for controlling the fast reacting o maxon DC and EC motors. t o m n o x a m
to the point Program – – – –
4-Q servoamplifiers for DC motors Sensorless controllers for EC motors 1-Q and 4-Q servoamplifiers servoamplifiers for EC motors Position controllers for DC and EC motors
Motor type – maxon DC motor – maxon EC motor with or without sensor Type of control – Speed – Position – Current Feedback – Encoder – DC Tacho – IxR compensation compensation – Hall sensors Power amplifiers – Linear – Pulsed – 1 quadrant – 4 quadrant Circuit technology
33
– Digital – Analog
Controlled variables
Digital encoder control
IxR compensation
Speed control The function of the speed servo amplifier is to keep the prescribed motor speed constant and independent of load changes. To achieve this, the set value (desired speed) is continuou continuously sly compared with the actual value (actual speed) in the control electronics of the servo amplifier. The controller difference determined in this way is used by the controller to regulate the power stage of the servo amplifier in such a manner
The motor is equipped with a digital encoder that provides a certain number of pulses per revolution. The turning direction is detected with the square pulses of channels A and B offset by 90 electric degrees. – Digital encoders are often found found in positioning controls, in order to derive and measure the travel or angle. – Digital encoders are are not subject to mechamechanical wear.
The motor is provided with a voltage that is proportional to the applied speed set value. The speed would drop with increasing i ncreasing motor load. The The compensation circuitry increases the output voltage with increasing motor current. The compensation must be adjusted to the terminal resistance of the motor which depends on temperature and load.
that the motor reduces the controller difference. This represents a closed speed regulating circuit.
– In conjunction with digital controllers controllers there are no drift effects. – If Hall sensor signals of an EC motor are used for control, this corresponds to an encoder with low resolution.
is subject to limits in the percent range. – Favorably priced and space-saving – No tacho-generator or encoder required – Less precise control when there is a load change – Only analog speed speed control possible possible – Ideal for for low-cost applications without high demands on speed accuracy
Position control The positioning control ensures a match between the currently measured position with a target position, by providing the motor with the corresponding correction values, as with a speed controller. The position data are usually obtained from a digital encoder.
The attainable speed precision of such a system
Current control The current control provides the motor with a current proportional to the set value. Accordingly, the motor torque changes proportionally to the set value. The current controller also improves the dynamics of a superior positioning or speed control circuit.
Principle of a control circuit
34
Technology Technol ogy – short and to the point point
Principle: Encoder control
Principle: IxR compensation
May 2012 edition / subject to change
l
t o r n o c r o t o m n o x a m
Power amplifiers One of the followin following g two principles to control the power stage transistors is used in maxon controllers: Linear power stage The operating voltage is divided between the motor and the power amplifier. The controller
DC tacho control
Operating quadrants
The motor must be equipped with a DC tachometer that provides a speed proportional signal. In the maxon modular system, the tachometer rotor is mounted directly on the through motor shaft, resulting in a high resonant frequency. – Classical solution of a very very precise control – Limited service life of the DC DC tacho generator – Not suitable for for positioning tasks tasks – Only for for analog controllers – Only for DC motors – Ideal for stringe stringent nt demands on speed dynamics
4-Q operation – Controlled motor operation and braking operation in both rotation directions – A must for for positioning tasks 1-Q operation – Only motor operation (Quadrant I or Quadrant III) – Direction reverse reverse via digital signal – Typical: amplifier for EC motors
For further explanations, please see page 289. Principle: DC tachometer control
Operation quadrants
changes the voltage on the motor (U M) linearly and proportionally. The voltage applied to the power amplifier (UT) causes power dissipation – High currents and low motor voltages voltages cause significant power dissipation – Simple and favorably favorably priced design of the power amplifier Principle: Linear power amplifier
Pulsed power stage (PWM) The controller switches the motor on and off in short intervals (pulses/cycles). If the off interval is longer, the motor loses speed. The decisive average value of the voltage changes in relation to the on-to-off time. Only little energy is converted into heat. – More expensive power amplifier – High efficiency Principle: Pulsed power amplifier
Technology Techno logy – short and to the point
May 2012 edition / subject to change
35
maxon DC motor and maxon EC motor
Key information r o t o The motor as an energy converter m electrical motor converts electrical power P (current I and and voltage n The U) P n M ). into into mechanical power (speed (speed and and torque The losses that o x arise are divided into frictional losses, attributable to P and in Joule a power losses P of the winding (resistance R) . Iron losses do not occur m in the coreless maxon DC motors. In maxon EC motors, they are treated
See also: Technology – short and to the point, explanation of the motor
Units In all formulas, the variables are to be used in the units according to the catalog (cf. physical variables and their units on page 42). 42).
el el
mech mech
mech mech
J J
The following applies applies in par ticular: – All torques in mNm – All currents in A (even no-load currents) – Speeds (rpm) instead of of angular velocity (rad/s)
formally like an additional friction torque. The power balance can therefore be formulated as: Pel = Pmech + P J
The detailed result is as follows · I =
30 000
n · M + R · I 2
Electromechanical motor constants The geometric arrangement of the magnetic circuit and winding defines in detail how the motor converts the electrical input power (current, voltage) into mechanical output power (speed, torque). Two important characteristic values of this energy conversion are the speed constant k n and the torque n and constant k M . The speed constant combines the speed n with with the voltage M U induced in the winding U ind (=EMF). is proportional to the speed; the ind ind ind following applies: n = k n · U ind ind
Pel = U · I
P J = R · I 2
Pmech =
30 000
M · n
Motor constants Speed constant k n torque constant k M not independent of one n and M are another. The following applies:
Similarly, the torque constant links the mechanical torque M with with the electrical current I . M = k M · I
The speed constant is also called specific speed. Specific voltage, generator or voltage constants are mainly the reciprocal value of the speed constant and describe the voltage induced in the motor per speed. The torque constant is also called specific torque. The reciprocal value is called specific current or current constant.
The main point of this proportionality is that torque and current are equivalent for the maxon motor. The current axis in i n the motor diagrams is therefor therefore e shown as parallel to the torque axis as well.
Motor diagrams A diagram can be drawn for every maxon DC and EC motor, from which key motor data can be taken. Although tolerances and temperature influences are not taken into consideration consideration,, the values are sufficient for a first estimation in most applications. In the diagram, speed n , current I , power output P 2 and efficiency are applied as a function of torque M at at constant 2 and voltage U . Speed-torque line This curve describes the mechanical behavior of the motor at a constant voltage U : – Speed decreases decreases linearly with increasing torque. – The faster the motor turns, the less torque it can provide. The curve can be described with the help of the two end points, no-load speed n 0 lines 2 and 7 in the motor data). 0 and stall torque M H (cf. H DC motors can be operated at any voltage. No-load speed and stall torque change proportionally to the applied voltage. This is equivalent to a parallel
Derivation of the speed-torque line The following occurs if one replaces current I with torque M using using
shift of the speed-torque in the diagram. Between theapproximation no-load speed and voltage, the followingline proportionality applies in good
the torque constant in the detailed2 power balance: U·
n0 n · U
where k n is the speed constant (line 13 of the motor data). n is Independent of the voltage, the speed-torque line is described most practically by the slope or gradient of the curve (line 14 of the motor data).
=
M k M
=
n·M+R·
M k M
Transformed and taking account of the close relationship of k M and k n M and n , an equation is produced of a straight line between speed n and and torque M. n = k n
30 000
·
R k M 2
· M
n0 M H
or with the gradient and the no-load speed n 0 0 0
36
30 000
· M
Key information information
May 2012 edition / subject to change
The speed-torque gradient is one of the most informative pieces of data and allows direct comparison between different motors. The smaller the speed-torque gradient, the less sensitive the speed reacts to torque (load) changes and the stronger the motor. With the maxon motor, the speedtorque gradient within the winding series of a motor type (i.e. on one catalog page) remains practically constant.
Speed n
U = UN
n0
Current gradient The equivalence of current to torque is shown by an axis parallel to the torque: more current flowing through the motor produces more torque. The current scale is determined by the two points no-load current I 0 0 and starting current I A (lines 3 and 8 of motor data). The no-load current is equivalen equivalentt to the friction torque M R R , that describes the internal friction in the bearings and commutation system. M R = k M · I 0
In the maxon EC motor, there are strong, speed dependent iron losses in the stator iron stack instead of friction losses in the commutation system. The motors develop the highest torque when starting. It is many times greater than the normal operating torque, so the current uptake is the greatest as well. The following applies for the stall torque M H starting current I A H and M H = k M · I A
Efficiency curve The efficiency describes the relationship of mechanical power delivered to electrical power consumed.
Torque M IA
Current I
r o t o m n o x a m
=
30 000
n· ·
( R ) U · I
One can see that at constant applied voltage U and and due to the proportionality of torque and current, the efficiency increases with increasing speed (decreasing torque). At low torques, friction losses become increasingly significant and efficiency rapidly approaches zero. Maximum efficiency (line 9 of motor data) is calculated using the starting current and no-load current and is dependent on voltage.
max = 1
I 0
n0
2
I A
MH
Maximum efficiency and maximum output power do not occur at the same torque.
Rated working point The working point is voltage an idealU working for the motor derives fromrated operation at nominal 1point of motor data) andand nominal N (line N current I N 6). The nominal torque M N (line 5) in this working N (line N produced point follows from the equivalence of torque and current. M N
k I I M · ( N
0)
Nominal speed n N 4) is reached in line with the speed gradient. N (line The choice of nominal voltage follows from considerations of where the maximum no-load speed should be. The nominal current derives from the motor‘s thermally maximum permissible continuous current.
Key information
May 2012 edition / subject to change
Motor diagrams, operating ranges
r
The catalogue contains a diagram of every maxon DC and EC motor type that shows the operating ranges of the different winding types using a typical motor.
operating range t o Permanent The two criteria “maximum continuou continuous s torque” and “maximum permis- sible m speed” limit the continuous operating range. Operating points within this n range are not critical thermally and do not generally cause increased wear o of the commutation system. x a Short-term operating range m The motor may only be loaded with the maximum continuous current for thermal reasons. However, temporary higher currents (torques) are allowed. As long as the winding temperature is below the critical value, the winding will not be damaged. Phases Phases with increased i ncreased currents are time limited. A measure of how long the temporary overload can last is provided by the thermal time constant of the winding (line 19 of the motor data). The magnitude of the times with overload ranges from several seconds for the smallest motors (6 mm to 13 mm diameter) up to roughly one minute for the largest (60 mm to 90 mm diameter). The calculation of the exact overload time is heavily dependent on the motor current and the rotor’s starting temperature. Maximum continuous current, maximum continuous torque The Jule power losses heat up the winding. The heat produced must be able to dissipate and the maximum rotor temperature (line 22 of the motor data) should not be exceeded. This results in a maximum continuous current, at which the maximum winding temperature is attained under standard conditions (25°C ambient temperature, no heat dissipation via the flange, free air circulation). Higher motor currents cause excessive winding temperatures. The nominal current is selected so that it corresponds to this maximum permissible constant current. It depends heavily on the winding. These thin wire windings have lower nominal current levels than thick ones. With very low resistive windings, the brush system‘s capacity can further limit the permissible constant current. With graphite brush motors, friction losses increase sharply at higher speeds. With EC motors, eddy current losses increase in the return as speed increases and produce additional heat. The maximum permissible continuous current decreases at faster speeds accordingly. The nominal torque allocated to the nominal current is almost constant
25000 20000 15000 10000 5000
10
20 0.4
30 0.8
40 1.2
Operating range diagram
37
within a motor type‘s winding range and represents a characteristic size of the motor type.
ION / IN
T
5
The maximum speed for DC motors ispermissible primarily limited by the commutation system. The commutator and brushes wear more rapidly at very high speeds. The reasons are: – Increased mechanical mechanica l wear because of the large traveled path of the commutator – Increased electro-erosion electro-erosion because of brush vibration vibration and spark formation.
4
2
A further reason for limiting the speed is the rotor’s residual mechanical mechanical imbalance which shortens the ser vice life of the bearings. Higher Higher speeds than the limit speed n max max (line 23) are possible, however, they are “paid for” by a reduced service life expectancy. The maximum permissible speed for the EC motor is calculated based on service life considerations of the ball bearings (at least 20 000 hours) at the maximum residual imbalance and bearing load. Maximum winding temperature The motor current causes the winding to heat up due to the winding’s resistance. To prevent the motor from overheating, this heat must dissipate to the environment via the stator. The coreless winding is the thermally critical point. The maximum rotor temperature must not be exceeded, even temporarily. With graphite brush motors and EC motors which tend to have higher current loads, the maximum rotor temperatu temperature re is 125°C (in individual cases up to 155°C). Motors with precious metal commutators only allow lower current loads, so that the rotor temperatures must not exceed 85°C. Favourable mounting conditions, such as good air circulation or cooling plates, can significantly lower temperatures.
38
Time
3
1
0
10
ON OFF I ON ON I N N t ON ON T t ON% ON%
20
30
40
50
60
70
80
90
ON%
Motor in operation Motor stationary Max. peak current Max. permissible continuous current (line 6) ON time [s] , should not exeed (line 19) ON + OFF [s] + t OFF [s] Cycle time t ON Duty cycle as percentage of cycle time. The motor may be overloaded by the relationsh relationship ip I ON X % of the total cycle time. ON / I N at N w
I on = I N
T t ON
Key information information
May 2012 edition / subject to change
maxon flat motor Multipole EC motors, such as maxon flat motors, require a greater number of commutation steps for a motor revolution (6 x number of pole pairs). Due to the wound stator teeth they have a higher terminal inductance than motors with an ironless winding. As a result at higher speed, the current can-
r o t o m
not developthe fully during the correspondingly short commutation Therefore, apparent torque produced is lower. Current is alsointervals. fed back into the controller‘s power stage. As a result, motor behaviour deviates from the ideal linear speed-torq speed-torque ue gradient. The apparent speed-torque gradient depends on voltage and speed: The gradient is steeper at higher speeds. Mostly, flat motors are operated in the continuous operation range where the achievable speed-torque gradient at nominal voltage can be approximated by a straight line between no-load speed and nominal working point. The achievable speed-torque gradient is approximately.
n o x a m
0 N N
Acceleration In accordance with the electrical boundary conditions (power supply, control, battery), a distinction is principally made between two different different starting processes: – Start at constant voltage (without (without current limitation) – Start at constant current current (with current limitation) Start under constant current A current limit always means that the motor can only deliver a limited torque. In the speed-torque diagram, the speed increases on a vertical line with a constant torque. Acceleration is also constant, thus simplifying the calculation. Start at constant current is usually found in applications with servo amplifiers, where acceleration torques are limited by the amplifier‘s peak current.
n
Start with constant terminal voltage Here, the speed increases from the stall torque along the speedtorque line. Thestart. greatest andmotor thus the greatest acceleration effective at the The torque faster the turns, the lower the accel-is eration. The speed increases more slowly. This exponentially flattening increase is described by the mechanical time constant m 15 of m (line the motor data). After this time, the rotor at the free shaft end has attained 63% of the no-load speed. After roughly three mechanical time constants, the rotor has almost reached the no-load speed.
n
n
n
M
– Mechanical time constant
M
m = 100 ·
– Angular acceleration (in (in rad / s 2) at constant current I or or constant torque M with with an additional load of inertia J L: = 104 ·
k · I M J + J R L
– RunRun-up up time inertia J L:
t (in (in
= =
300
· ·
J + J R L
ms) of the unloaded motor:
k 2 M
– Mechanical time constants inertia J L:
M = 104 ·
m m (in (in
J + R R
m' = 100 ·
J + R R 2
k M
1 +
m m’
(in ms) with an additional load
J L J R
ms) at a speed change n with with an additional load – Maximum angular acceleration motor:
J + J R L k · I M
max = 104 ·
max max (in
rad / s2) of the unloaded
max max (in
rad / s2) with an additional
M H J R
(all variables in units according to the catalog) – Maximum angular acceleration load inertia J L:
M H
= 104 ·
max
R + J L J
– Run-up time (in ms) at constant voltage up to the operating point (M L , n L ):
m · In In
M L R 1 M H
M R 1 L M H
n0 n0 n L
Key information
May 2012 edition / subject to change
Tolerances Tolerances must be considered in critical ranges. The possible deviations of the mechanical dimensions can be found in the overview drawings. The motor data are average values: the adjacent diagram shows the effect of tolerances on the curve characteristics. They are mainly caused by differences in the magnetic field strength and in wire resistance, and not so
r o t o by mechanical influences.toThe changes are heavily Itexaggerated in the diagram and are simplified improve understanding. is clear, how m much n ever, that in the motor’s actual operating range, the tolerance range is more o limited than at start or at no-load. Our computer sheets contain all detailed x specifications. a m
Calibrating The tolerances can be limited by controlled de-magnetization de-magnetization of the motors. Motor data can be accurately specified down to 1 to 3%. However, the motor characteristic values lie in the lower portion of the standard tolerance range.
Thermal behavior Influence of temperature An increased motor temperature affects winding resistance and magnetic characteristic values.
The Joule power losses P J J in the winding determine heating of the motor. This heat energy must be dissipated via the surfaces of the winding and motor. The increase T W W of the winding temperature T W with regard to the W ambient temperature arises from heat losses P J J and thermal resistances R th1 th1 and R th2 . th2
Winding resistance increases linearly according to the thermal resistance coefficient for copper (Cu = 0.0039):
T W ( R T W Rth1 + Rth2) · P J W U = U W =
Here, thermal resistance R th1 th1 relates to the heat transfer between the winding and the stator (magnetic return and magnet), whereas R th2 th2 describes the heat transfer from the housing to the environment. Mounting the motor on a heat dissipating chassis noticeably lowers thermal resistance R th2 th2 . The
RT = R25 ·
(1 Cu ( 25°C )) ))
Example: a winding temperature of 75°C causes the winding resist- ance to increase by nearly 20%.
39
values specified in the data sheets for thermal resistances and the maximum continuous current were determined determined in a series of tests, in which the motor was end-mounted onto a vertical plastic plate. The modified thermal resistance R th2 th2 that occurs in a particular application must be determined using original installation and ambient conditions. Thermal resistance R th2 th2 on motors with metal flanges decreases by up to 80% if the motor is coupled to a good heat-conducting (e.g. metallic) retainer. The heating runs at different rates for the winding and stator due to the different masses. After switching on the current, the winding heats up first (with time constants from several seconds to half a minute). The stator reacts much slower, with time constants ranging from 1 to 30 minutes depending on motor size. A thermal balance is gradually established. The temperature difference of the winding compared to the ambient temperature can be determined with the value of the current I (or in intermittent ) . operation with the effective value of the current I = I RMS RMS
W =
The magnet becomes weaker at higher temperatures. The reduction is 1 to 10% at 75°C depending on the magnet material. The most important consequen consequence ce of increased motor temperature is that the speed curve becomes steeper which reduces the stall torque. The changed stall torque can be calculated in first approxima approximation tion from the voltage and increased winding resistance. M = k · I = k · HT M AT M
U RT
( R Rth1 + Rth2) · R R · I I 2 1 Cu · ( R R · I I 2 Rth1 + Rth2) · R
Here, electrical resistance R must must be applied at the actual ambient temperature.
40
Key information information
May 2012 edition / subject to change
Motor selection The drive requirements must be defined before proceeding to motor selection. – How fast and at which torques does the load move? – How long do the individual load phases last? – What accelerations take place? – How great great are the mass inertias? Often drive is indirect, means that there is a mechanical mationthe of the motor outputthis power using belts, gears, screws and transforthe like. The drive parameters, therefore, are to be calculated to the motor shaft. Additional steps for gear selection are listed below. Furthermore, the power supply requirements need to be checked. – Which maximum voltage voltage is available at the motor terminals? – Which limitations apply apply with regard to current? current? The current and voltage of motors supplied with batteries or solar cells are very limited. In the case of control of the unit via a ser vo amplifier, the amplifier’s maximum current is often an important limit. Selection of motor types The possible motor types are selected using the required torque. On the one hand, the peak torque, M max max , is to be taken into consideration and on the other, the effective torque M RMS RMS . Continuous operation is characterized by a single operating or load point (M L, n L ). The motor types in i n question must have a nominal torque (= max. continuous torque) M N is greater N that than operating torque M B B. M N > M B
In work cycles, such as start/stop operation, the motor‘s nominal torque must be greater than the effective load torque (quadratically averaged). This prevents the motor from overheating. M N > M RMS
Advices for evaluating the requirements: Often the load points (especially the torque) are not known or are difficult to determine. In such cases you can operate your device with a measuring motor roughly estimated according to size and power. Vary the voltage until the desired operating points and motion sequences have been achieved. Measure the voltage and current flow. Using these specifications and the order number of the measuring motor, our engineers can often specify the suitable motor for your application. Additional optimization criteria are, for example: – Mass to be accelerated (type, mass inertia) – Type of operation (continuous, intermittent, reversing) – Ambient conditions (temperature, humidity, medium) – Power supply, supply, battery
When selecting the motor type, other constraints also play a major role: – What maximum length should the drive unit have, have, including gear and encoder? – What diameter? – What service life is expected from the motor and which commutation system should be used? – Precious metal commutation for continuous operation at low currents (rule of thumb for longest ser vice life: up to approx. 50% of I N N ) – Graphite commutation for high continuous currents (rule of thumb: 50% to approx. 75% of I N and frequent current peaks N ) and (start/stop operation, reversing operation). – Electronic commutation commutati on for highest speeds and longest servic service e life. – How great are the forces forces on the shaft, do ball bearings have to be used or are less expensive sintered bearings sufficient?
The stall torque of the selected motor should usually exceed the emerging load peak torque. M H > M max max
Selection of the winding: electric requirement In selecting the winding, it must be ensured that the voltage applied directly to the motor is sufficient for attaining the required speed in all operating points. Unregulated operation In applications with only one operating point, this is often achieved with a fixed voltage U. A winding is sought with a speed-torque line that passes through the operating point at the specified voltage. The calculation uses the fact that all motors of a type feature practically the same speed-torque gradient. A target no-load speed n 0,theor 0,theor is calculated from operating point (n L, M L ). 0 , theor L +
L
n
r o t o m n o x a m
This target no-load speed must be achieved with the existing voltage U, which defines the target speed constant.
k n, theor =
M
n0 , theor U
Those windings whose kn is as close to k n, n, theor as possible, will approximate the operating point the best at the specified voltage. A somewhat larger speed constant results in a somewhat higher speed, a smaller speed constant results in a lower one. The variation of the voltage adjusts the speed to the required value, a principle that servo amplifiers also use. The motor current I is is calculated using the torque constant k M M of the selected winding and the load torque M L.
I =
M L k M
Key information
May 2012 edition / subject to change
Regulated servo drives In work cycles, all operating points must lie beneath the curve at a maximum voltage U max max . Mathematically, this means that the following must apply for all operating points (n L, M L ):
n
r k · U > + o t o When using servo amplifiers, a voltage drop occurs at the power stage, so m that the effective voltage applied to the motor is lower. This must be taken
0
max
L
L
U max .
consideration when determining the maximum supply voltage It is recommended that a regulating reserve of some 20% be included, so n into o x that regulation is even ensured with an unfavorable tolerance situation of a motor, load, amplifier and supply voltage. Finally, the average current load m and peak current are calculated ensuring that the servo amplifier used can deliver these currents. In some cases, a higher resistance winding must be selected, so that the currents are lower. However, the required voltage is then increased.
Example Exampl e for motor/ motor / gear selection selection A drive should move cyclically according to the following speed diagram. diagram. n
0.5
2.5
3.0
3.7
The inertia of the load to be accelerated J L is 140 000 gcm2. The constant coefficient is approximately 300 mNm. The motor should be driven with a 4-Q servo amplifier from maxon ESCON 36/2. The power supply unit delivers max. 3 A and 24 V. Calculation of load data The torque required for acceleration and braking are calculated as follows (motor and gearhead inertia omitted): M = J L
30
60 = 0.014 = 0.176 Nm = 176 mNm 30 0.5
Together with the friction torque, the following torques result for the different phases of motion. – Accelerati Acceleration on phase (duration 0.5 s) 476 mNm – Constant speed (duration 2 s) 300 mNm – Braking (friction brakes with 300 mNm) (duration 0.5 s) 124 mNm – Standstil Standstilll (duration 0.7 s) 0 mNm Peak torque occurs during acceleration. The RMS determined torque of the entire work cycle is
M
Physical i I I A I 0 0 I RMS RMS I N N R J R J L k M M k n n M M L M H H M mot mot M R R M RMS RMS M N N M N,G N,G n n L n max max n max,G max,G n mot mot n 0 0 P el el P J J
variables
P mech R R 25 25 R T T R th1 th1 R th2 th2 t T T max max T U U
Mechanical power Terminal resistanc resistance e Resistance at 25°C* Resistance at temperature T Heat resistanc resistance e winding housing* Heat resistance housing/air* Time Temperature Max. winding temperature* Ambient temperatu temperature re
Gear reduction* Motor current Starting current* No-load current* RMS determined current Nominal current* Moment of inertia of the rotor* Moment of inertia of the load Torque constant* Speed constant* (Motor) torque Load torque Stall torque* Motor torque Moment of friction RMS determined torque Nominal torque Max. torque of gear* Speed Operating speed of the load Limit speed of motor* Limit speed of gear* Motor speed No-load speed* Electrical power Joule power loss
and their units SI Catalog A A A A A kgm2 kgm2 Nm/A Nm Nm Nm Nm Nm Nm Nm Nm
W W W
s K K K
A, mA A, mA mA A, mA A, mA gcm2 gcm2 mNm/A rpm/V mNm mNm mNm mNm mNm mNm mNm Nm rpm rpm rpm rpm rpm rpm W W W
K/W K/W s °C °C °C
41
t 1 · M 21 + t 2 · M 22 + t 3 · M 23 + t 4 · M 24
M = RMS
t tot
0.5 · 476 2 + 2 · 300 2 + 0.5 · 124 2 + 0.7 · 0
=
285 mNm 3.7
The maximum speed (60 rpm) occurs at the end of the acceleration phase at maximum torque (463 mNm). Thus, the peak mechanical power is: Pmax = M max
30
60 W nmax = 0.476 30
T W W U U ind ind U max max U N N Cu Cu max max n/ M T W W t G m ax ax m m S S W W
Winding temperature Motor voltage Induced voltage (EMF) Max. supplied voltage Nominal voltage* Resistance coeffici coefficient ent of Cu Maximum angle accelerati acceleration on Curve gradient* Temperature difference winding/ambient Run up time (Motor) efficiency (Gear) efficiency* Maximum efficiency* Mechanical time constant* Therm. time constant of the stator* Therm. time constant of the winding*
K °C V V V V V V V V = 0.0039 rad/s2 rpm/mNm K K s ms % % % s ms s s s s
(*Specified in the motor or gear data)
42
Key information information
May 2012 edition / subject to change
Gear selection A gear is required with a maximum continuous torque of at least 0.28 Nm and an intermittent torque of at least 0.47 Nm. This requirement is fulfilled, for example, by a planetary gear with 22 mm diameter (metal version GB 22 A). The recommended input speed of 6000 rpm allows a maximum reduction of: imax =
nmax, G n B
r o t o m n
6000 = 100:1 60
=
n[rpm]
We select the three-stage gear with the next smallst reduction of 84 : 1 (stock program). Efficiency is max. 59%. Motor type selection Speed and torque are calculated to the motor shaft
9.6 mNm, 5040 rpm
nmot = i · n L = 84 · 60 = 5040 rpm
M mot, RMS =
M mot, max =
M RMS i M max i
=
285 5.8 mNm 84 0.59 84
=
476 84 0.59 84
9.6 mNm
The possible motors, which match the selected gears in accordance with the maxon modular system, are summarized in the table opposite. The table contains only DC motors with graphite commutation, which are better suited for start-stop operation, as well as brushless EC motors. Selection falls on an A-max 22, 6 W, which demonstrates a sufficiently high continuous torque. The motor should have a torque reserve so that it can even function with a somewhat unfavorable gear efficiency. The additional torque requirement during acceleration can easily be delivered by the motor. The temporary peak torque is not even twice as high as the continuous torque of the motor. Selection of the winding The motor type A-max 22, 6 W has an average speed-torque gradient of some 450 rpm/mNm. However, it should be noted that the two lowest resistance windings have a somewhat steeper gradient. The desired no-load speed is calculated as follows: 0 , theor mot +
max = 5040 + 450 9.6 9.6 = 9360 rpm
The extreme working point should of course be used in the calculation (max. speed and max. torque), since the speed-torque line of the winding must run above all working points in the speed / torque diagram. This target no-load speed must be achieved with the maximum voltage U = = 24 V supplied by the control (ESCON 36/2), which defines the minimum target speed constant k n, n, theor of the motor.
k n, theor =
n0 , theor U
=
9360 rpm = 390 V 24
According to the calculations, the selection of the motor is 110163, which with its speed constant of 558 rpm/V has a speed control reserve of over 20%. This means that unfavorable tolerances are not a problem. The higher speed constant of the winding compared to the calculated value means that the motor runs faster at 24 V than required, which can be compensated with the controller. This motor also has a second shaft end for mounting an encoder. The torque constant of this winding is 17.1 mNm/A. Therefore the maxi-
Motor A-max 22, 6 W A-max 19, 2.5 W RE-max 21, 6 W EC 16, 30 W EC 16, 60 W
M N N
EC 20 flat, 3W EC 20 flat, 5W EC 20 flat, 5 W, iE.
6.9 mNm 3.8 mNm 6.8 mNm 8.5 mNm 17 mNm 3-4 mNm 7.5 mNm 7.5 mNm
Suitability good too weak good good too strong too weak good good, possible alternati alternative ve with integrated speed controller, no ESCON control necessary
o x a m
mum torque corresponds to a peak current of:
I max =
M max k M
+ I 0 =
9.6 + 0.029 = 0.6 A 17.1
This current is smaller than the maximum current (4 A) of the controller and the power supply unit (3 A). Thus, a gear motor has been found that fulfils the requirements (torque and speed) and can be operated by the controller provided.
Key information
May 2012 edition / subject to change
maxon
e-media
r o t o m n o
Visit us online…
www.maxonmotor.com
x a m
The electronic catalogue All the information in this printed catalogue are stored independently from the maxon selection program on the DVD. Adobe Reader is required to maximise the electronic catalog‘s full range of functions. This is contained on the DVD. maxon selection program The maxon selection program is available in 5 languages on DVD or at www.maxonmotor.com. After selecting your drive requirements, the maxon selection program shows the possible solution combinations available from our extensive product program: – Motor/gearhead combinations – Matching maxon maxon controllers – Matching encoders and DC tachos
Selection menu for a discrete application
The solutions can be evaluated using various criteria: – Dimensions – Charge – Power and voltage requirement Easy-to-follow layout of chosen solution – System overview – Input data and peripheral conditions – Motor data: nominal data with tolerances and typical values for the application – Gearhead data, controller and sensor data Calculation and layout of achievable operating data for an existing drive unit. Quick search for a replacement for an existing motor/gearhead combination, showing matching maxon controllers and sensors. Integrated moment of iner tia calculator to help Integrated you calculate moments of inertia. System requirements – Windows 7, NT, NT, 2000, ME or XP – Windows Vista Business, Enterprise Enterprise or Ultimate – Recommended memory (RAM): at least 256 MB
Display of possible drive solutions
43
– Re Recommended commended screen resoluti resolution: on: at least 1024 x 768 The maxon selection program requires no installation. It can be copied into the hard disc or started using the DVD. Settings can not be saved when using the DVD.
44
maxon e-media e-media
Graphical description of a particular drive solution
May 2012 edition / subject to change
maxon academy In depth knowledge direct from the manufacturer
academy.maxonmotor.com Increase your knowledge of drive technology and motion control. Learn more about the interaction of drive components, namely motor, gears, sensors and controllers. maxon academy brings together maxon products to provide ongoing education on drive technology. In addition to the maxon academy books and and brochures, you will find here E-learning modules, the currently planned seminars on drive technology and motion control as well as teaching material. These range from presentation and sample motors that can be taken apart for student exercises to models for hands-on training with suggestions for practical work.
The selection of high-precisio high-precision n microdrives Step by step from the specific formulation of the drive problem to its solution. Numerous tips and explanations, focusing only on theory where required for greater understanding. Various examples of applications deal with the practical aspects of drive technology. Author: Dr. Urs Kafader, 149 pages, ISBN 978-3-9520143-4-6
Magnetism Principles, definitions and theory on magnetism, magnetic circuits and magnetisation procedures. In-depth handling of drive technology-related magnetic forces. Explanations on magnetic field sensors and natural magnetic fields. Author: Dr. Otto Stemme, 182 pages, ISBN 978-3-9520143-5-6
maxon Formula Compendium Formulae, terms and explanations for for all types of calculations concerning drive systems. Detailed collection with illustrations and descriptions. Flow chart for targeted drive selection. Author: Dipl. Ing. Jan Braun
r o t o m n o x a m
May 2012 edition / subject to change
maxon academy
maxon Conversion Tables r General Information o Quantities and their basic units in the t International System of Measurements (SI) o Basic m Quantity unit n Meter o Length Kilogram x Mass Second a Time m
Electrical current Thermodynamic temperature
Power A
B
oz-in-s-1
-1
W = N · ms Sign
Ampere
A
Kelvin
K
kpm s
7.20 · 10
oz-in
sought: mNm
ft-lbf -3
kpm
10
Abbrevation
Multiply
1
192
141.6
1.416
0.142
/ 192 192
1
oz-in2
2
0.737 · 10
0.737 · 10
-3
-3
kpm
pcm
9.807
9.807 · 10-5
1
1 · 10-5
1.39 · 103
1.39 · 10-2
7.233
7.233 · 10-5
lb
-3
10
10-6
Giga . .
109
Nano . . n
10-9
Piko . .
10-12
p
Nms2=kgm2 6
2.93 · 10
1.13 · 10
1 · 10
7.06 · 10-3
2.93 · 10-4
0.113
1 3
/ 16 16
24.130
1
386.08
3.41 · 103
lb -3
gr (grain)
kg
-6
0.4 54 54
64.79· 10 10
0.454 · 103 64.79·10-3
1
16
/ 16 16
1
1
437.5
1 · 103
1
-3
2.28 · 10 / 7000 7000 1
1 · 10-7
9.807
54.6
-3
5.46 ·10
5.35 · 105
3.41
3.41 ·10-4
3.35 · 104
F [N]
oz
lbf
N
0.278
4.448
1
kp
0.028
0.454
0.102
1
16
3.600 35.27 35.27·10-3
/ 16 16
1
0.225 2.205 2.205·10-3
2.011
32.17
7.233 70.93 70.93·10-3
2.20 2. 205 5 · 103 lbf 3
9.807 · 107
N
35.2 35 .27 7 · 10 oz
2.20 2. 205 5
1
B A
3
35.2 35 .27 7
1
7000
-3
1 · 10
kpm s2
Force
g
1
gcm2
4
1 · 10-3 4
5.46 · 10
oz
gr (grain)
1 · 10
6.18 · 10
m [kg]
A
mNm s2
7
7.06 · 10
1
1
6
15.43 · 10 15.43 · 10 pdl
kp
p
9.807 9.807·10-3 1 · 10-3
1
Length A
B
Arc definition
lb-in-s2 3
16
28.35
10-2
lb-in2 4
386.08
g
Zenti . . c
J [kg m2]
1
28.35 ·10
102
10
-2
0.737
oz-in-s2
182.9
kg oz
m
-1
Mikro . .
T
1.70 · 10-6
1
9.807 · 103 9.807 ·10-2
1 -2
0.102 · 10
1
B
106
Ter a . .
1 · 10
0.102 · 10
lb-in2
10
12
-3
0.102
A
oz-in
Mega . . M G
mNm
-2
0.138
g cm
Dezi . . d Milli . .
1.23 · 10-5
7.233
0.102 · 10
7.20 · 10
2
1
10
Ncm
1 · 103
oz-in
B
Decimal multiples and fractions of units
k
Nm = Ws
1.356 · 103 -4
Mass
Kilo . .
0.102
-3
2.36 · 10-3
1.39 · 10
Moment of Inertia
= 1 Ws
3
0.737 · 10-3
7.06
1 J = 1 Nm
Hekto . . h
0.737
1 · 10
kgm2=Nms2 1.83 · 10-5
10
/ 60 60
3
1
1
… derived units: 1 yd = 3 ft = 36 in 1 lb = 16 oz = 7000 gr (grains) 1 kp = 1 kg · 9.80665 ms-2 1 N = 1 kgms-2 1 W = 1 Nms -1 = 1 kgm 2s-3
da
2
9.807 · 10
0.142
1.356
ft-lbf
… gravitational acceleration: g = 9.80665 m s-2 = 386.08858 in s-2
Deka . .
1
141.6
0.138
/ 60000 60000
3
192
7.06 · 10
mNm
Multiply Prefix
1.15 · 10
-2
1 · 10
2
9.807
M [Nm]
A
Nm
… conversions: 1 oz = 2.834952313 · 10-2 kg 1 in = 2.54 · 10-2 m
Abbrevation
1.2 · 10
/ 12 12
-5
1 · 10
mNm min-1
Torque
Factors used for …
Prefix
1
/ 11520 11520
-4
-3
3
1.356 · 10
kpm s-1
mW
1 3
16
1
/ 192 192
W = N · ms-1
1.356
112.9
1/60
1
ft-lbf-s -1
0.113
0.117
1
-1
B
multiply by 7.06
1.17 · 10
7.06 -1
in-lbf-s -1
-4
7.06 · 10
ft-lbf-s -1
m kg s
oz-in-min -1
-3
mW oz-in-s
Conversion Example A known unit B unit sought
known: oz-in
P [W]
l [m] in
ft -3
yd
Mil
m -6
cm
m
25.4 · 10
0.305
0.914
25.4 · 10
1
cm
2.54
30.5
91.4
25.4 · 10-4
1 · 102
-3
3
mm
25.4
305
914
1
12
36
in 1
ft
/ 12 12
1
Angu An gula larr Vel Veloc ocity ity A
B -1
s-1 = Hz
rad s
2
rpm min-1
1
-1
[s
rpm min-1
rad s-1
/ 30 30
1
/ 60 60
]
30
1
/
1 · 10
1 · 10-6
1
0.1
1 · 10-4
1
1 · 10-3
10
1 · 10-3
39.37
0.394
/ 12 12 · 10
3.281
3.94 · 10-2 -2
3.281 · 10
A
min-2
-2
1
s
rad s-2
1
/ 1800 1800
2
3.281 · 10-6
3.281 · 10
-2
[s
s-2
/ 3600 3600
3.94 · 10-5
-3
Angular Acceleratio Acceleration n B
rad s-2
A -1
1
/ 2
/ 60 60
1
2.54 · 10
-1
ft-s-1
/ 30 30
v [m s-1] in-min-1
-2
ms in-s
in-s-1
4.23 · 10
ft-s-1 -4
0.305
ft-min-1
m s-1 -3
5.08 · 10
1
cm s-1
mm s-1
-2
m min-1
-3
1 · 10
1
1 · 10 -2
/ 60 60
-3
1
60
12
720
39.37
39.37 · 10
/ 12 12
5
1
60
3.281
3.281 · 10-2 3.281 · 10-3 5.46 · 10-2
1
39.37 · 10
Temperature B
A
Kelvin Units used in this brochure
° Celsius ° Fahrenheit
]
min-1 s-1
1
Linear Velocity B
0.01
1 · 10
-3
-3
25.4 · 10 1
3
mm
0.656
T [K] ° Fahrenheit
° Celsius = Centigrade
Kelvin
(°F -305.15) / 1.8
+ 273.15
1
(°F -32) / 1.8
1
-273.15
1
1.8°C + 32
1.8 K + 305.15
45
46
maxon motor motor
May 2012 edition / subject to change
r o t o m C D n o x a m
maxon DC motor maxon DC motors are high-quality motors fitted with powerful permanent magnets. The “heart” of the motor is the worldwide patented ironless rotor. For you, this means cutting-edge technology in compact, powerful and low inertia drives.
Standard Specification No. 100 Explanation of the DC motors RE-Program -max Program -max -max Program
48 49 50–84 87–112 115–134 47
maxon Standard Specification r o With our Standard Specification we of t o fer you a means to judge maxon motors m in the most important respects. To our it covers normal applica C knowledge tions. The Standard Specification is part D of our “General Conditions of Sale”. n o x Electrical equipment must meet cer a tain minimum requirements, which was m introduced into the European market
after 1.1.96. Small motors will be identified as components and will therefore represent no seperate electrical equipment within the sense of the guidelines. Nevertheless Neve rtheless the majority of the maxon motor program are already CE certified. Certifying the motors takes place during operation at no-load and in the new condition.
The CE sign means that the product conforms to EU guidelines and procedures designed to achieve conformity were carried out. RoHS zifikationen. All our products are built under EU directive 2002/95/EG. REACH As a downstream user, maxon motor ag has taken all the necessary steps to ensure that the chemical substances were pre-registered by our suppliers. The clarifications with our suppliers per September 9, 2009 resulted in, that no maxon products contain more than 0.1 mass percentage of chemicals that are stated on the EChA list. Note to the Catalogue 2012/13 maxon motor ag accepts no liability for the accuracy of the information contained in this catalogue, nor for any damages which may result directly or indirectly from the use of such information. This disclaimer does not apply to wilful intent, gross negligence, and does not affect legislation governing product liability.
48
maxon DC motor
The Standard Specification No. 100 for maxon DC motor, motor, maxon -max and maxon -max -max 1. Principles The standard specification describes tests carried out on the finished motor and during the production process.
tact resistance of graphite brushes and the torque constant may change during the run-in period due to increased brush seating. As a result, no-load current and
In order to our high quality standard, weguarantee check materials, parts and subassemblies through the manufacturing process and the complete motor. The obtained measurements are recorded and can be made available to customers if required. Random sampling plans are according to ISO 2859, MIL STD 105E and DIN/ISO 3951 (inspection by attributes, sequential sampling, variables inspection) as well as internal manufacturing controls. This specification always applies unless a different one has been agreed between the customer and maxon.
speed may driftbemarginally. sameare effect may also observed The if motors being operated under no-load condition over a longer period.
2. Data 2.1 Electrical data data apply at 22° to 25°C. Data control within one minute running time. Measurement voltage +/voltage +/- 0.5 % for voltages 3V and ± 0.015 V for voltages 3V No-load speed speed ± 10% No-load current current maximum specified value Sense of rotation cw rotation cw = clockwise Motor position position horizontal Notes: Measurement voltage may vary from the nominal voltage listed in the catalog. The no load current specified in the catalog is a typical value and not the maximum one. By connecting the red wires or if voltage is applied to the ‘+’ Terminal, shaft rotation is cw (clockwise) as seen from the mounting end. For ccw running, the specified tolerance data may only be marginally exceeded. Terminal resistance: resistance: Winding resistance is verified in the manufacturing process through spot checks on a representative basis. Terminal resistance is determined at product certification. It should be noted that terminal resistance depends on the rotor’s rotational position. As transfer resistance depends on current density in graphite brushes, measuring resistance with an ohmmeter if the current is low does not give reasonable results. Too low a reading is produced with precious metal brush motors if the brushes bridge two commutator segments, thereby short-circuiting one coil segment. Inductance is determined at product certification. Test frequency is 1 kHz. The motor’s terminal inductance depends on frequency. Commutation: An oscilloscope is used to check the neutral setting and test for electrical faults, such as interrupted winding or short-circuit between turns. Commutation displays for precious metal brushes and graphite brushes are not directly comparable. Precious metal brushes display a clear commutation picture which remains interference free up to the motor‘s recommended maximum speed, but with graphite brushes, this is only expected up to around one third of that. In addition, it should be noted that the con-
2.2 Mechanical data data per outline drawing: Standardmeasuring instruments (for electrical length measuring DIN 32876, micrometer per DIN 863, dial indicator DIN 878, calliper per DIN 862, bore calliper DIN 2245, thread calliper per DIN 2280 and others) are used. 2.3 Rotor imbalance: Rotors are balanced according to standard data or customer requirements during manuf manufacturing. acturing. 2.4 Noise: Tests are carried out for anomalies within a lot, on a subjective basis. Depending on speed, the motions in the motor cause noise and vibration of varying degrees, frequency and intensity. The noise level experienced with a single sample unit should not be interpreted as indicative of the noise or vibration level to be expected of future deliveries. 2.5 Service life: Durability life: Durability tests are carried out under uniform internal criteria as part of product certification. A motor‘s service life essentially depends on the operating and ambient conditions. Consequently, the many possible variations do not allow us to make a general statement on service life. 2.6 Environmental influences Protection against corrosion: Our products are tested during product cer tification on the basis of DIN EN 60068-2-30. Coating of components: Surface components: Surface treatment and coating procedures used by maxon are selected on the basis of their merits to resist corrosion. These treatments are evaluated at product certification according to their applicable standard. 3. Parameters that differ from or are additional to the data sheet can be specified and will be then a central part of our systematic testing as the customer‘s specification. Test/inspection certificates are issued by prior agreemen agreement. t. January 2010 edition / subject to change
May 2012 edition / subject to change
Explanation of the pages 50–134 Dimensional drawings On the enclosed DVD dimensional drawings (DXF-files) are available and are suitable for import to any CAD system. Presentation of the views according to the projection method E (ISO). All dimensions in [mm]. Mounting threads in plastic Screwed connections on motors with plastic flanges require special attention. MA Max. tightening torque torque [Ncm] A torque screw driver may be adjusted to this value. L
Active depth of screw connection connection [mm] The relation of the depth of the screw connection to the thread diameter must be at least 2:1. The depth of the screw connection must be less than the usable length of the thread! Motor Data The values stated are based on a motor temperatem perature of 25°C (so-called cold data). Line 1 1 Nominal voltage voltage UN [Volt] is the DC voltage on the motor connections on which all nominal data are based (lines 2 - 9). Lower and higher voltages are permissible, provided set limits are not exceeded. Line 2 2
No load speed speed n0 [rpm] ±10%
This is the speed at whichload. the motor turns at nominal voltage and without It is approximately proportional to the applied voltage. Line 3 3 No load current current I0 [mA] ±50% This is the typical current that the unloaded motor draws when operating at nominal voltage. It depends on brush friction and friction in the bearings, and also increases with rising speed. No-load friction depends heavily on temperature, particularly with precious metal commutation. In extended operation, no-load friction decreases and increases at lower temperatures. Line 4 4 Nominal speed speed nN [rpm] is the speed set for operation at nominal voltage and nominal torque at a motor temperature of 25°C. Line 5 5 Nominal torque torque MN [mNm] is the torque generated for operation at nominal voltage and nominal current at a motor temperature of 25°C. It is at the limit of the motor's continuous operation range. Higher torques heat up the winding too much. Line 6 6 Nominal current current IN [A] is the current that, at 25°C ambient temperature, heats the winding up to the maximum permissible temperature (= max. permissible continuous current). IN decreases as speed increases due to additional friction losses.
Line 7 7 Stall torque torque MH [mNm] is the torque produced by the motor when at standstill. Rising motor temperatures reduce stall torque. Line 8 8 Starting current current IA [A] is the quotient from nominal voltage and the motor's terminal resistance. Starting current is equivalent to stall torque. With larger motors, I A cannot often be reached due to the amplifier's current limits. Line 9 optimal Maximum efficiency efficiency max [%] is the9 relationship between input and output power at nominal voltage. It also doesn't always denote the optimal operating point. Line 10 10 Terminal resistance resistance R [] is the resistance at the terminals at 25°C and determines the starting current at a given voltage. For graphite brushes, it should be noted that resistance is load-dependent and the value only applies to large currents. Line 11 11 Terminal inductance inductance L [mH] is the winding inductance when stationary and measured at 1 kHz, sinusoidal. Line 12 12 Torque constant kM [mNm/A] This may also be referred to as "specific torque" and represents the quotient from generated torque and applicable current. Line 13 13 Speed constant constant kn [rpm/V] shows the ideal no load speed per 1 volt of applied voltage. Friction losses not taken into account. Line 14 14 Speed / torque gradient gradient n / M [rpm/mNm] The speed / torque gradient is an indicator of the motor's performance. The smaller the value, the more powerful the motor and consequently the less motor speed varies with load l oad variations. It is based on the quotient of ideal no-load speed and ideal stall torque. Line 15 15 Mechanical time constant constant m [ms] is the time required for the rotor to accelerate from standstill to 63% of its no-load speed. Line 16 16 Rotor inertia inertia JR [gcm2] is the mass moment of inertia i nertia of the rotor, based on the axis of rotation. Line 17 17 Thermal resistance housing-ambient Rth2 [K/W] housing-ambient and Line 18 18 Thermal resistance winding-housing Rth1 [K/W] winding-housing Characteristic values of thermal contact resistance without additional heat sinking. Lines 17 and 18 combined define the maximum heating at a given power loss (load). Thermal resistance Rth2 on motors with metal flanges can decrease by up to 80% if the motor is coupled directly to a good heat-conducting (e.g. metallic) mounting rather than a plastic panel.
May 2012 edition / subject to change
RE 6 6 mm, Precious Metal Brushes, 0.3 Watt
Line 19 19 Thermal time constant winding winding w [s] and Line 20 20 Thermal time constant motor m [s] These are the typical reaction times for a temperature change of winding and motor. It can be seen that the motor reacts much more sluggishly in thermal terms than the winding.The values are calculated from the product of thermal capacity and given heat resistances. Line 21 21 Ambient temperature temperature [°C] Operating temperature range. This derives from the heat reliability of the materials used and viscosity of bearing lubrication. Line 22 22 Max. winding temperature temperature [°C] Maximum permissible winding temperature. Line 23 23 Maximum permissible speed speed nmax [rpm] is the maximum recommended speed based on thermal and mechanical perspectives. A reduced service life can be expected at higher speeds. Line 24 24 Axial play play [mm] For non-preloadedmotors, this represents the tolerance limits of the factory-set bearing play. The latter is included in shaft length tolerances. Pre-loading cancels out axial play up to the given axial loading. Line 25 25 Radial play play [mm] Radial play derives from the bearings' radial air. A preload) cancels out radial play upspring to the(bearing given axial loading. Line 26 / 27 27 Max. axial loading loading [N] dynamically: axial loading permissible in opdynamically: eration. If different values apply for traction and thrust, the smaller value is given. statistically: maximum axial force applying to statistically: the shaft at standstill where no residual damage occurs. Shaft supported: maximum supported: maximum axial force applying to the shaft at standstill if the force is not input at the other shaft end.This is not possible for motors with only one shaft end. Line 28 28 Max. radial loading loading [N] The value is given for a typical clearance from the flange; this value falls the greater the clearance Line 29 29 Number of pole pairs Number of north poles of the permanent magnet. The phase streams and commutation signals pass through per revolution p cycles. Servo-controllers require the correct details of the number of pole pairs. Line 30 30 Number of commutator segments Line 31 31 Weight of motor [g] motor [g]
maxon DC motor
49
r o t o m C D n o x a m
r o t o m C D n o x a m
M 2.5:1 Stock program Standard program Special program (on request)
Article Numbers
with cables with terminals
38 678 0 3 49189
386781 3 49190
3 8 6782 3 49191
38 678 3 3 4919 2
1.5 18500 42.6 46 80 0.302 0.453 0.419 0.581
3 18600 21.3 5670 0.324 0.242 0.485 0 .3 3 6
4 .5 18600 14.2 54 00 0.318 0.158 0.469 0.217
6 18600 10.7 53 40 0.316 0.118 0.465 0.161
%
54
57
56
56
2 .5 8 0.0227 0.72 13300 47500 7.45 0.015
8. 92 0.0907 1.44 663 0 41000 7.18 0.0167
2 0 .8 0.204 2.16 4420 42400 7.24 0.0163
37.2 0 .3 6 3 2.88 3310 42700 7. 24 0.0162
Motor Data 1 2 3 4 5 6 7 8
Values at nominal voltage Nominal voltage No load speed No load current Nominal speed Nominal Nomin al torqu torque e (max. cont continuou inuous s torqu torque) e) Nominal Nomin al curre current nt (max. cont continuou inuous s curre current) nt) Stall torque Starting current
9 Max. efficiency Characteristics 10 Termina erminall resista resistance nce 11 Te Terminal inductance 12 To Torque constant 13 Speed constant 14 Speed / torque gradient 15 Mechanical time constant 16 Rotor inertia
V rpm mA rpm mNm A mNm A
mH mNm/A rpm/V rpm/mNm ms gcm2
Specifications
Operating Range
17 18 19 20 21 22
Thermal data Thermal resistance housing-ambient Thermal resistance winding-housing Thermal time constant winding Thermal time constant motor Ambient temperature Max. permissible winding temperature
23 24 25 26 27 28
Mechanical data (sleeve bearings) Max. permissible speed 23000 rpm Axial play 0.02 - 0.1 mm Radial play 0.012 mm Max. axial load (dynamic) 0.15 N Max. force for press fits (static) 10 N Max. radial loading, 4 mm from flange 0.6 N
29 30 31
Other specifications Number of pole pairs Number of commutator segments Weight of motor
Values listed in the table are nominal. Values Explanation of the figures on on page page 49.
Comments
n [rpm]
Continuous operation In observation of above listed thermal resistance (lines 17 and 18) the maximum permissible winding temperature will be reached during continuous operation at 25°C ambient. = Thermal limit.
77 K/W 16.2 K/W 1.39 s 16.3 s -20…+65°C +85°C
1 maxon Modular System 5 2.3 g Planetary Gearhead 6 mm 0.002 - 0.03 0.03 Nm Page 204
Short term operation The motor may be briefly overloaded (recurring).
Assigned power rating
Overview on page 16 - 21
Recommended Electronics: ESCON 36/2 DC Page 292 Notes 18
50
maxon DC motor
May 2012 edition / subject to change
RE 8 8 mm, Precious Metal Brushes, 0.5 Watt
r o t o
m C D n o x a m
M 2.5:1 Stock program Standard program Special program (on request)
Article Numbers
347723
3 47 724
3477 25
3 47728
347 726
347727
V rpm mA rpm mNm A mNm A %
2.4 13900 19.2 43 20 0.63 0.412 0.925 0.581 67
4.2 14200 11. 2 4 48 0 0.624 0.237 0 .9 3 2 0.34 67
6 13300 7.3 350 0 0.616 0.155 0 .8 5 7 0. 207 66
7.2 14300 6 .6 6 4220 0 .5 9 6 0.134 0 .8 6 6 0.187 66
9 14400 5.35 4760 0.626 0.113 0 .9 5 7 0.166 68
12 15600 4.44 5410 0 .5 8 9 0.0865 0.925 0.13 67
4.13 0.0304 1.59 6 00 0 15600 6.31 0.0388
12.3 0.09 2.74 3 490 15700 6 .3 0.0383
29 0. 206 4.15 2300 16100 6.34 0.0375
38. 5 0.257 4.63 20 60 17200 6 .4 4 0 .0 3 5 8
54.3 0.4 5.77 1650 15500 6. 29 0 .0 3 8 7
92. 2 0 .6 0 6 7.11 1340 17400 6.49 0.0355
Motor Data 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Values at nominal voltage Nominal voltage No load speed No load current Nominal speed Nominal Nomin al torqu torque e (max. conti continuou nuous s torqu torque) e) Nominal Nomin al curre current nt (max. conti continuou nuous s curre current) nt) Stall torque Starting current Max. efficiency Characteristics Termina erminall resist resistance ance Terminal inductance Te Torque constant To Speed constant Speed / torque gradient Mechanical time constant Rotor inertia
mH mNm/A rpm/V rpm/mNm ms gcm2
Specifications
Operating Range
17 18 19 20 21 22
Thermal data Thermal resistance housing-ambient Thermal resistance winding-housing Thermal time constant winding Thermal time constant motor Ambient temperature Max. permissible winding temperature
23 24 25 26 27 28
Mechanical data (sleeve bearings) Max. permissible speed 23000 rpm Axial play 0.02 - 0.1 mm Radial play 0.012 mm Max. axial load (dynamic) 0.15 N Max. force for press fits (static) 10 N Max. radial loading, 4 mm from flange 0.6 N
29 30 31
Other specificatio specifications ns Number of pole pairs Number of commutator segments Weight of motor
Values listed in the table are nominal. Explanation of the figures on on page page 49.
Comments
n [rpm]
Continuous operation In observation of above listed thermal resistance (lines 17 and 18) the maximum permissible winding temperature will be reached during continuous operation at 25°C ambient. = Thermal limit.
48 K/W 22 K/W 2.96 s 21.3 s -20…+65°C +85°C
1 maxon Modular System 5 4.1 g Planetary Gearhead 8 mm 0.01 - 0.1 Nm Page 205
Short term operation The motor may be briefly overloaded (recurring).
Assigned power rating
Overview on page 16 - 21 Encoder MR 100 CPT C PT,, 2 channels channels Page 266
Recommended Electronics: ESCON 36/2 DC Page 292 EPOS2 24/2 312 EPOS2 Module 36/2 312 Notes 18
May 2012 edition / subject to change
RE 10 10 mm, Precious Metal Brushes, 0. 0.75 75 Watt, approved r o t o m C D
maxon DC motor
51
n o x a m
M 1:1 Stock program Standard program Special program (on request)
Article Numbers
118382 118383 118384 118385 118386 11838 18387 7 11838 18388 8 118389 118390 118391
Motor Data 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Values at nominal voltage Nominal voltage No load speed No load current Nominal speed Nominal Nomin al torqu torque e (max. cont continuou inuous s torqu torque) e) Nominal Nomin al curre current nt (max. cont continuou inuous s curre current) nt) Stall torque Starting current Max. efficiency Characteristics
Termina erminall resista resistance nce Te T erminal inductance Torque constant To Speed constant Speed / torque gradient Mechanical time constant Rotor inertia
V rpm mA rpm mNm A mNm A %
3 1040 0 12.8 2010 0.792 0.307 1 0.375 67
3.6 993 0 10.1 1520 0.786 0.243 0 .9 4 9 0.284 66
4.5 113 00 00 9.52 2970 0.788 0. 222 1.09 0.297 68
6 13 00 000 8.51 4 68 0 0.785 0.191 1. 25 0. 292 69
6 1140 0 7.18 3160 0.801 0.17 1.13 0.232 68
7.2 10 60 60 0 5.47 1860 0.758 0.125 0.944 0.15 66
9 107 00 00 4.45 2000 0.757 0.101 0.957 0.123 66
12 1160 0 3 .6 8 2790 0.746 0.0811 1.01 0.106 67
5 .5 5 8 m H 0.0461 0.072 mNm/A 2.14 2.67 rpm/V 4470 3570 rpm/mNm 116 00 00 107 00 00 ms 8.02 7.96 gcm2 0. 0.066 066 0.0 0.071 711 1
12.7 0.112 3 .3 4 2860 10 80 80 0 7.99 0.07 0. 0704 04
15.2 0.136 3.67 260 0 107 00 00 7.95 0.07 0. 0706 06
20.6 0.184 4. 27 223 0 107 00 00 7.95 0.07 0. 0706 06
25.8 36.4 47.9 0.24 0.325 0.398 4.87 5.68 6.28 1960 1680 1520 10 40 40 0 10 80 80 0 116 00 00 7.9 7.98 8 .0 9 0.07 0. 0726 26 0. 0.07 0706 06 0. 0.066 0666 6
72.9 0 .6 0 5 7.75 1230 116 00 00 8 .0 9 0.066 0. 0666 6
114 0 .9 2 9.55 1000 119 00 00 8.16 0.065 0. 0654 4
Specifications
2 .4 103 00 00 16 1670 0.76 0.368 0.924 0 .4 3 2 66
Operating Range
17 18 19 20 21 22
Thermal data Thermal resistance housing-ambient Thermal resistance winding-housing Thermal time constant winding Thermal time constant motor Ambient temperature Max. permissible winding temperature
23 24 25 26 27 28
Mechanical data (sleeve bearings) Max. permissible speed 19000 rpm Axial play 0.05 - 0.15 mm Radial play 0.012 mm Max. axial load (dynamic) 0.15 N Max. force for press fits (static) 15 N Max. radial loading, 4 mm from flange 0.4 N
29 30 31
Other specifications Number of pole pairs Number of commutator segments Weight of motor
Values listed in the table are nominal. Values Explanation of the figures on on page page 49.
7. 2 1170 0 6. 2 2 33 50 0.784 0.143 1.12 0.198 68
Comments
n [rpm]
Continuous operation In observation of above listed thermal resistance (lines 17 and 18) the maximum permissible winding temperature will be reached during continuous operation at 25°C ambient. = Thermal limit.
45.5 K/W 19.5 K/W 3.16 s 108 s -20…+65°C +85°C
1 maxon Modular System 7 7 g Planetary Gearhead 10 mm 0.005 - 0.1 0.1 Nm Page 206 Planetary Gearhead 10 mm 0.01 - 0.15 Nm 0.15 Nm Page 207
Short term operation The motor may be briefly overloaded (recurring).
Assigned power rating
Overview on page 16 - 21
Recommended Electronics: ESCON 36/2 DC Page 292 Notes 18
maxon DC motor
May 2012 edition / subject to change
52
RE 10 10 mm, Precious Metal Brushes, 0. 0.75 75 Watt, Watt, approved
r o t o m C D n o x a
m
M 1:1 Stock program Standard program Special program (on request)
Article Numbers
256085 256086 256087 256088 256089 256 256090 090 256 256091 091 256 256092 092 256 256093 093 256094
Motor Data Values at nominal voltage Nominal voltage No load speed No load current Nominal speed Nominal Nomin al torqu torque e (max. conti continuou nuous s torqu torque) e) Nominal Nomin al curre current nt (max. conti continuou nuous s curre current) nt) Stall torque Starting current Max. efficiency Characteristics 10 Termina erminall resist resistance ance
1 2 3 4 5 6 7 8 9
1 11 2 13 14 15 16
Te T muin Te To orrq eacloinndsu tacntat nce Speed constant Speed / torque gradient Mechanical time constant Rotor inertia
V rpm mA rpm mNm A mNm A %
2 .4 10100 23.4 1670 0.746 0 .3 6 8 0.924 0.432 59
3 1020 0 18.8 2010 0.777 0.307 1 0.375 61
3 .6 976 0 14.9 1520 0.771 0.243 0.949 0.284 60
4.5 11200 13.9 2970 0.773 0. 22 2 1.09 0.297 62
6 128 00 00 12.3 46 90 0.769 0.19 1.25 0. 292 64
6 1120 0 10.5 3170 0.786 0.17 1.13 0.232 62
7.2 116 00 00 9.07 3350 0.769 0.143 1.12 0.198 62
7. 2 1040 0 8.01 1860 0.743 0.125 0 .9 4 4 0.15 60
9 10 50 500 6.51 2000 0.743 0.101 0.957 0.123 60
12 1140 0 5 .3 7 2790 0.731 0.081 1.01 0.106 60
5. 55
8
12.7
15. 2
20.6
25.8
36.4
47.9
7 2 .9
114
03..13142 286 0 10 80 80 0 7.99 0.07 0. 0704 04
03.1 .6376 2600 107 00 00 7.95 0.07 0. 0706 06
04.1 . 2874 2230 107 00 00 7.95 0.07 0. 0706 06
0 4..2 84 7 1960 10 40 40 0 7.9 0.07 0. 0726 26
m/H 44 61 02.0 mNm A 0.20.1 .6772 rpm/V 4470 3570 rpm/mNm 116 00 00 107 00 00 ms 8.02 7.96 gcm2 0. 0.066 066 0.0 0.071 711 1
Specifications
Operating Range
17 18 19 20 21 22
Thermal data Thermal resistance housing-ambient Thermal resistance winding-housing Thermal time constant winding Thermal time constant motor Ambient temperature Max. permissible winding temperature
23 24 25 26 27 28
Mechanical data (sleeve data (sleeve bearings) Max. permissible speed 14000 rpm Axial play 0.05 - 0.15 mm Radial play 0.012 mm Max. axial load (dynamic) 0.15 N Max. force for press fits (static) 15 N Max. radial loading, 4 mm from flange 0.4 N
29 30 31
Other specificatio specifications ns Number of pole pairs Number of commutator segments Weight of motor
Values listed in the table are nominal. Explanation of the figures on on page page 49.
05.3 .6285 06.3 . 2988 07.6 .7055 1680 1520 1230 10 80 80 0 116 00 00 116 00 00 7.98 8 .0 9 8 .0 9 0.07 0. 0706 06 0. 0.066 0666 6 0. 0.066 0666 6
Comments
n [rpm]
Continuous operation In observation of above listed thermal resistance (lines 17 and 18) the maximum permissible winding temperature will be reached during continuous operation at 25°C ambient. = Thermal limit.
45.5 K/W 19.5 K/W 3.16 s 108 s -20…+65°C +85°C
1 maxon Modular System 7 7 g Planetary Gearhead 10 mm 0.005 - 0.1 Nm Page 206 Planetary Gearhead 10 mm 0.01 - 0.15 Nm Page 207
0 9..9 52 5 1000 119 00 00 8.16 0.065 0. 0654 4
Short term operation The motor may be briefly overloaded (recurring).
Assigned power rating
Overview on page 16 - 21
Recommended Electronics: ESCON 36/2 DC Page 292 EPOS2 24/2 312 EPOS2 Module 36/2 312 Notes 18
May 2012 edition / subject to change
RE 10 10 mm, Precious Metal Brushes, 1.5 Watt, approved r o t o m C D n o x a m
Encoder MR 16 CPT, 2 channels Page 265 Encoder MR 64 - 256 CPT, 2 channels Page 266 Encoder MEnc 10 mm 12 CPT, 2 channels Page 283
maxon DC motor
53
M 1:1 Stock program Standard program Special program (on request)
Article Numbers
118392 11839 18393 3 11 118394 8394 11839 18395 5 118396 11839 18397 7 11839 18398 8 11 118399 8399 118400
Motor Data Values at nominal voltage Nominal voltage No load speed No load current Nominal speed Nominal Nomin al torqu torque e (max. cont continuou inuous s torqu torque) e) Nominal Nomin al curre current nt (max. cont continuou inuous s curre current) nt) Stall torque Starting current Max. efficiency Characteristics 10 Termina erminall resista resistance nce 11 Te Terminal inductance
1 2 3 4 5 6 7 8 9
1 12 3 14 15 16
Topreqeude ccoonnssttaanntt To S Speed / torque gradient Mechanical time constant Rotor inertia
V 3 rpm 13 00 000 mA 23.9 rpm 6840 mNm 1.5 A 0.713 mNm 3.12 A 1.44 % 76
mrN pm m//A V 424.1160 rpm/mNm 4240 ms 4.62 gcm2 0.104
Thermal data Thermal resistance housing-ambient Thermal resistance winding-housing Thermal time constant winding Thermal time constant motor Ambient temperature Max. permissible winding temperature
23 24 25 26 27 28
Mechanical data (sleeve data (sleeve bearings) Max. permissible speed 19000 rpm Axial play 0.05 - 0.15 mm Radial play 0.012 mm Max. axial load (dynamic) 0.15 N Max. force for press fits (static) 15 N Max. radial loading, 4 mm from flange 0.4 N
Other specifications
Values listed in the table are nominal. Values Explanation of the figures on on page page 49.
4.5 10 60 60 0 12.1 4210 1.47 0.379 2.47 0.619 74
6 1240 0 11.1 6160 1.5 0 .3 3 8 3.01 0 .6 6 76
326.6420 433 0 4.61 0.102
238.930 4280 4.6 0.102
234.9090 4370 4.59 0.1
Operating Range
17 18 19 20 21 22
4.5 1280 0 15.5 6 53 0 1.48 0.462 3 .0 4 0.919 76
6 9 9 12 9 88 880 12200 1110 0 1250 0 8 .3 3 7. 27 6.42 5.67 3880 6080 4990 6510 1.57 1.53 1.54 1.54 0.282 0.226 0.207 0.176 2.61 3.08 2.83 3.24 0.458 0.444 0.371 0.36 75 76 76 77
3.11 4.9 7.27 9.09 13.1 2 .0 8 mH 0. 01 0173 0 .0 .0 25 25 3 0 .0 .0 40 40 2 0. 05 05 86 86 0. 07 076 6 0.12
Specifications
29 pairs segments 30 Number Number of of pole commutator 31 Weight of motor
3 107 00 00 18.5 44 30 1.49 0.582 2 .5 2 0.963 75
241.5 060 4180 4.58 0.105
156.870 386 0 4.56 0.113
20.3 0 .178
24.3 33.3 0. 21 215 0 .2 .2 99 99
163.9750 4010 4.59 0.109
172.6530 398 0 4.56 0.11
Comments
n [rpm]
Continuous operation In observation of above listed thermal resistance (lines 17 and 18) the maximum permissible winding temperature will be reached during continuous operation at 25°C ambient. = Thermal limit.
37.5 K/W 9.0 K/W 2.22 s 135 s -20…+65°C +85°C
1 7 maxon Modular System 10 g Planetary Gearhead 10 mm 0.005 - 0.1 Nm Page 206 Planetary Gearhead 10 mm 0.01 - 0.15 Nm Page 207
10960 39 30 4.56 0.111
Short term operation The motor may be briefly overloaded (recurring).
Assigned power rating
Overview on page 16 - 21
Recommended Electronics: ESCON 36/2 DC Page 292 Notes 18
54
maxon DC motor
May 2012 edition / subject to change
RE 10 10 mm, Precious Metal Brushes, 1.5 Watt, approved
r o t o m C D n o x a m
M 1:1
Stock program Standard program Special program (on request)
Article Numbers
256096 256097 256099 2561 256100 00 256101 2561 256102 02 2561 256103 03 2561 256104 04 256105
Motor Data Values at nominal voltage Nominal voltage No load speed No load current Nominal speed Nominal Nomin al torqu torque e (max. conti continuou nuous s torqu torque) e) Nominal Nomin al curre current nt (max. conti continuou nuous s curre current) nt) Stall torque Starting current Max. efficiency Characteristics 10 Termina erminall resist resistance ance 11 Te Terminal inductance 12 To Torque constant
1 2 3 4 5 6 7 8 9
1 13 4 15 16
S Sp pe ee ed dc /o tonrsqtuaentgradient Mechanical time constant Rotor inertia
V 2 .4 rpm 10 40 40 0 mA 21.7 rpm 4170 mNm 1.51 A 0.715 mNm 2.49 A 1.15 % 75
2.4 4.5 8560 128 00 00 17 15.1 2230 65 30 1.49 1.48 0.584 0.462 2.02 3.04 0.771 0.919 73 76
4.5 10 60 60 0 11.8 4210 1.47 0.379 2.47 0.619 75
6 124 00 00 10.8 6160 1.5 0.339 3.01 0 .6 6 76
7. 2 119 00 00 8.55 590 0 1.56 0.282 3.13 0.549 77
3.11 4.9 7.27 9.09 13.1 2 .0 8 mH 0. 01 0173 0. 02 02 53 53 0. 04 04 02 02 0 .0 .0 5 58 8 6 0 .0 .076 6 0 .12 mNm/A 2.16 2 .6 2 3.3 3.99 4.56 5.7 pm V 4 42 41 rpmr/m N/m 40 0 ms 4.62 gcm2 0.104
Specifications
3 46 34 30 0 4.61 0.102
2 90 48 28 0 4.6 0.102
2 44 30 70 0 4.59 0.1
Operating Range
17 18 19 20 21 22
Thermal data Thermal resistance housing-ambient Thermal resistance winding-housing Thermal time constant winding Thermal time constant motor Ambient temperature Max. permissible winding temperature
23 24 25 26 27 28
Mechanical data (sleeve data (sleeve bearings) Max. permissible speed 14000 rpm Axial play 0.05 - 0.15 mm Radial play 0.012 mm Max. axial load (dynamic) 0.15 N Max. force for press fits (static) 15 N Max. radial loading, 4 mm from flange 0.4 N
29 30 31
Other specificatio specifications ns Number of pole pairs Number of commutator segments Weight of motor
Values listed in the table are nominal. Explanation of the figures on on page 49.
2 18 00 0 41 4 .5 8 0.105
16 3 88 60 0 4.56 0.113
9 1220 0 7.06 6 08 0 1.53 0. 226 3 .0 8 0.444 77
10 12 123 00 00 1250 0 6 .4 5 5 .5 6250 6510 1.54 1.55 0. 207 0.176 3.14 3.24 0.412 0.36 77 77
20.3 0.178 6 .9 5
24.3 33.3 0 .2 .215 0. 29 29 9 7.63 9
13 4 07 10 0 4.59 0.109
12 3 95 80 0 4 .5 6 0.11
Comments
n [rpm]
Continuous operation In observation of above listed thermal resistance (lines 17 and 18) the maximum permissible winding temperature will be reached during continuous operation at 25°C ambient. = Thermal limit.
37.5 K/W 9.0 K/W 2.22 s 135 s -20…+65°C +85°C
1 maxon Modular System 7 10 g Planetary Gearhead 10 mm 0.005 - 0.1 Nm Page 206 Planetary Gearhead 10 mm 0.01 - 0.15 Nm Page 207
10 3 96 30 0 4.56 0.111
Short term operation The motor may be briefly overloaded (recurring).
Assigned power rating
Overview on page 16 - 21
Recommended Electronics: ESCON 36/2 DC Page 292 EPOS2 24/2 312 EPOS2 Module 36/2 312 Notes 18
Encoder MR 16 CPT, 2 channels Page 265 Encoder MR 64 - 256 CPT, 2 channels Page 266 Encoder MEnc 10 mm 12 CPT, 2 channels Page 283
maxon DC motor
May 2012 edition / subject to change
RE 13 13 mm, Precious Metal Brushes, 1.2 Watt, approved r o t o m C D n o x a m
M 1:1 Stock program Standard program Special program (on request)
Article Numbers
55
11840 18401 1 11840 18402 2 118403 118404 118405 118406 11840 18407 7 118408 118409 1184 18410 10 118411 118412 118413 11 11841 8414 4 11 11841 8415 5
Motor Data 1 2 3 4 5 6 7 8 9 10 11 12 13
Values at nominal voltage Nominal voltage No load speed No load current Nominal speed Nominal Nomin al torqu torque e (max. cont continuou inuous s torqu torque) e) Nominal Nomin al curre current nt (max. cont continuou inuous s curre current) nt) Stall torque Starting current Max. efficiency Characteristics Termina erminall resista resistance nce Terminal inductance Te Torque constant To Speed constant
14 Speecehdan/ itcoarlqtuim e egrcaodnie 1 5 M sn tatnt 16 Rotor inertia
1 1.2 1.5 1.8 2.4 3 3 .6 V 00 1130 0 1110 0 1100 0 113 00 00 1160 0 1210 0 rpm 116 00 84.1 65.7 53.8 42 34.5 30.6 mA 104 rpm 9930 8600 7670 6520 5860 6250 6960 1.24 1.27 1.31 mNm 0.499 0.63 0.825 1.02 0.72 0.72 0.72 0.666 0.557 0.499 A 0.72 2 .4 2.52 2.45 2.54 2.76 3.08 mNm 2.86 1.62 1.3 1.15 1.11 A 3 .5 6 2 .4 5 2 .0 2 69 67 68 67 68 69 70 % 0.281 061 mH 0.0 06 mNm/A 0.802 rpm/V 11900
0.491 0.0 09 091 0 .9 8 9740
0.742 1.11 0.0147 0.0216 1.25 1.51 7660 6310
rpm/mN mm s
41157.60 41848.90 41546.30 gcm2 0.358 0.291 0.299
Specifications
1.85 0.03 62 62 1.96 4870
41644.10 0. 29
2.61 0.0 54 545 2.41 3970
4. 2 1150 0 24.5 6310 1.3 0.405 2. 9 0.857 70
Thermal data Thermal resistance housing-ambient Thermal resistance winding-housing Thermal time constant winding Thermal time constant motor Ambient temperature Max. permissible winding temperature
23 24 25 26 27 28
Mechanical data (sleeve data (sleeve bearings) Max. permissible speed 19000 rpm Axial play 0.05 - 0.15 mm Radial play 0.014 mm Max. axial load (dynamic) 0.8 N Max. force for press fits (static) 15 N (static, shaft supported) 170 N Max. radial loading, 5 mm from flange 1.4 N
29 30 31
Other specifications Number of pole pairs Number of commutator segments Weight of motor
Values listed in the table are nominal. Values Explanation of the figures on on page page 49.
8 1170 0 13.2 6 40 0 1.27 0. 211 2. 84 0.449 69
9 106 00 00 10.3 5210 1.26 0.169 2.52 0.321 68
10 1100 0 9.75 5 590 1.24 0.156 2.57 0.307 68
12 15 1120 0 1070 0 8.31 6. 2 5820 5190 1.25 1.24 0.133 0.101 2.65 2.48 0.268 0.19 68 68
3. 23 4.9 7.42 11.3 17.8 28 32.6 44.9 0.0719 0.10 8 0.158 0. 24 243 0. 37 377 0. 57 579 0.661 0.921 2.76 3 .3 9 4.1 5 .0 8 6 .3 2 7.84 8.37 9.89 3460 2820 2330 1880 1510 1220 1140 96 6
41630.90 413 31.70 41034.50 41039.50 41232.50 41139.50 41235.60 0.288 0.303 0.318 0.315 0.306 0.308 0.304
Operating Range
17 18 19 20 21 22
5 6 113 00 00 109 00 00 20.1 16 6010 5650 1.28 1.28 0.329 0.266 2.76 2 .6 9 0.674 0.53 69 69
41335.70 0 .3
78.8 1. 59 59 13 734
41434.60 41338.60 41435.70 0.293 0.297 0.294
Comments
n [rpm]
Continuous operation In observation of above listed thermal resistance (lines 17 and 18) the maximum permissible winding temperature will be reached during continuous operation at 25°C ambient. = Thermal limit.
46 K/W 14 K/W 5.18 s 76.1 s -20…+65°C +85°C
Short term operation The motor may be briefly overloaded (recurring).
Assigned power rating
maxon Modular System
1 7 12 g
Overview on page 16 - 21
Recommended Electronics: ESCON 36/2 DC Page 292 ESCON 50/5 292 Notes 18
56
maxon DC motor
May 2012 edition / subject to change
RE 13 13 mm, Precious Metal Brushes, Brushe s, 1.2 1.2 Watt, approved
r o t o m C D n o x a m
M 1:1 Stock program
Article Numbers
Standard program Special program (on request)
118 184 416 118 184 417 118 184 418 118 1841 419 9 118 18420 420 118 1842 421 1 118 18422 422 118423 118424 118425 11 118426 8426 11 118427 8427 118428 11842 18429 9 118430
Motor Data Values at nominal voltage 1 Nominal voltage
V
1
1.2
1.5
1.8
2 .4
3
3.6
4.2
5
6
8
9
10
12
15
2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
No load speed rpm No load current mA Nominal speed rpm Nominal Nomin al torqu torque e (max. conti continuou nuous s torqu torque) e) mNm Nominal Nomin al curre current nt (max. conti continuou nuous s curre current) nt) A Stall torque mNm Starting current A Max. efficiency % Characteristics Termina erminall resist resistance ance Terminal inductance Te mH Torque constant To mNm/A Speed constant rpm/V Speed / torque gradient rpm/mNm Mechanical time constant ms Rotor inertia gcm2
Specifications
1160 0 113 00 00 1110 0 110 00 00 1130 0 1160 0 1210 0 104 84.1 65.7 5 3 .8 42 34.5 30.6 9930 8600 7670 6520 5860 6250 6960 0.499 0.63 0.825 1.02 1.24 1.27 1.31 0.72 0.72 0.72 0.72 0.666 0.557 0.499 2. 86 2.4 2 .5 2 2 .4 5 2 .5 4 2.76 3 .0 8 3.56 2.45 2.02 1.62 1.3 1.15 1.11 69 67 68 67 68 69 70
11500 113 00 00 10 90 90 0 24.5 20.1 16 6310 6010 5650 1.3 1.28 1.28 0.405 0.329 0. 266 2 .9 2.76 2 .6 9 0.857 0.674 0.53 70 69 69
0.281 0.0 06 061 0 .8 0 2 11900 4170 15.6 0.358
4.9 7.42 11.3 17.8 28 32.6 44.9 78.8 0.108 0.158 0. 24 243 0.377 0.579 0.6 61 61 0.921 1.59 3 .3 9 4.1 5.08 6.32 7.84 8.37 9.89 13 2820 2330 1880 1510 1220 1140 9 66 734 4090 4220 4190 4250 4350 4440 4380 4450 13.5 13.5 13.5 13.6 13.7 13.6 13.6 13.7 0.315 0.306 0.308 0.304 0.3 0.293 0.297 0.294
0.491 0.00 91 91 0.98 9740 48 80 14.9 0.291
0.742 0.0147 1.25 7660 4560 14.3 0. 299
1.11 0.0 21 216 1.51 6310 46 40 14.1 0.29
1.85 0.0 36 362 1.96 4870 460 0 13.9 0.288
Operating Range
17 18 19 20 21 22
Thermal data Thermal resistance housing-ambient Thermal resistance winding-housing Thermal time constant winding Thermal time constant motor Ambient temperature Max. permissible winding temperature
23 24 25 26 27 28
Mechanical data (sleeve data (sleeve bearings) Max. permissible speed 19000 rpm Axial play 0.05 - 0.15 mm Radial play 0.014 mm Max. axial load (dynamic) 0.8 N Max. force for press fits (static) 15 N (static, shaft supported) 170 N Max. radial loading, 5 mm from flange 1.4 N
29 30 31
Other specificatio specifications ns Number of pole pairs Number of commutator segments Weight of motor
Values listed in the table are nominal. Explanation of the figures on on page page 49.
2.61 3.23 0.054 5 0.0719 2.41 2.76 3970 3460 4310 4040 13.7 13.5 0.303 0.318
110 00 00 9.75 559 0 1. 24 0.156 2.57 0.307 68
1120 0 1070 0 8.31 6. 2 5820 5190 1.25 1.24 0.133 0.101 2.65 2.48 0.268 0.19 68 68
Comments
n [rpm]
Continuous operation In observation of above listed thermal resistance (lines 17 and 18) the maximum permissible winding temperature will be reached during continuous operation at 25°C ambient. = Thermal limit.
46 K/W 14 K/W 5.18 s 76.1 s -20…+65°C +85°C
1 7 15 g
11700 10 60 60 0 13. 2 10.3 6400 5210 1.27 1. 26 0.211 0.169 2 .8 4 2 .5 2 0.449 0.321 69 68
Short term operation The motor may be briefly overloaded (recurring).
Assigned power rating
maxon Modular System
Overview on page 16 - 21
Planetary Gearhead 13 mm
0.05 -209 0.15 Nm 0.15 Nm Page Planetary Gearhead 13 mm 0.2 - 0.35 Nm Page 210
Recommended Electronics: ESCON 36/2 DC Page 292 ESCON 50/5 292 Notes 18
maxon DC motor
May 2012 edition / subject to change
57
RE 13 13 mm, Precious Metal Brushes, 0. 0.75 75 Watt, Watt, approved r t o o m C D n o x a m
M 1:1 Stock program Standard program
Article Numbers
Special program (on request) 11843 18431 1 11843 18432 2 118433 118434 118435 118436 11843 18437 7 118438 118439 118440 11 118441 8441 11 118442 8442 118443 118444 118445
Motor Data 1 2 3 4 5 6
Values at nominal voltage Nominal voltage No load speed No load current Nominal speed Nominal Nomin al torqu torque e (max. cont continuou inuous s torqu torque) e) Nominal Nomin al curre current nt (max. cont continuou inuous s curre current) nt)
0.6 0.72 0 .9 V rpm 6900 6710 6590 71.7 56.1 mA 88.2 rpm 5170 3920 3070 mNm 0.511 0.643 0.837 0.72 A 0.720 0.72
1.2 7250 47.3 2740 1.03 0.72
1.5 1.8 1.8 2 .4 3 3 .6 4.8 6990 6850 5950 6490 6700 6480 6950 36.2 29.4 24.7 20.6 17.1 13.7 11.2 1430 1430 682 1180 1300 1090 1520 1.26 1.3 1.34 1.33 1.3 1.3 1.29 0.671 0.562 0.504 0.408 0.331 0.268 0. 213
6 7000 9.06 1510 1.28 0.17
6 65 30 8. 33 99 0 1.26 0.158
7.2 66 50 7.09 1140 1.27 0.134
10 7030 5.46 1480 1.26 0.101
7 Stall torque 8 Starting current 9 Max. efficiency Characteristics 10 Termina erminall resista resistance nce 11 Te Terminal inductance 12 To Torque constant 13 Speed constant 14 Speed / torque gradient 15 Mechanical time constant 16 Rotor inertia
1.71 2.14 64
1.44 1.47 61
1.51 1. 21 62
1.63 1.08 63
1.59 0.812 63
0.281 0.0 06 061 0.802 11900 4170 15.6 0.358
0.491 0.00 91 91 0.98 9740 48 80 14.9 0.291
0.742 0.0147 1.25 7660 4560 14.3 0. 299
1.11 0.0 21 216 1.51 6310 46 40 14.1 0.29
1.85 0.0 36 362 1.96 4870 460 0 13.9 0.288
mNm A %
mH mNm/A rpm/V rpm/mNm ms gcm2
Specifications
1.66 0.69 63
1.54 1.66 1.66 1.61 1.7 1.68 0.557 0.489 0.404 0.318 0.269 0.214 63 64 64 63 64 64
2.61 3.23 0.054 5 0.0719 2.41 2.76 3970 3460 4310 4040 13.7 13.5 0.303 0.318
Operating Range
17 18 19 20 21 22
Thermal data Thermal resistance housing-ambient Thermal resistance winding-housing Thermal time constant winding Thermal time constant motor Ambient temperature Max. permissible winding temperature
23 24 25 26 27 28
Mechanical data (sleeve data (sleeve bearings) Max. permissible speed 11000 rpm Axial play 0.05 - 0.15 mm Radial play 0.014 mm Max. axial load (dynamic) 0.8 N Max. force for press fits (static) 15 N (static, shaft supported) 170 N Max. radial loading, 5 mm from flange 1.4 N
29 30 31
Other specifications Number of pole pairs Number of commutator segments Weight of motor
Values listed in the table are nominal. Values Explanation of the figures on on page page 49.
1.59 0.161 63
1.65 0.127 63
4.9 7.42 11.3 17.8 28 32.6 44.9 78.8 0.108 0.158 0. 24 243 0.377 0.579 0.6 61 61 0.921 1.59 3 .3 9 4.1 5.08 6.32 7.84 8.37 9.89 13 2820 2330 1880 1510 1220 1140 9 66 734 4090 4220 4190 4250 4350 4440 4380 4450 13.5 13.5 13.5 13.6 13.7 13.6 13.6 13.7 0.315 0.306 0.308 0.304 0.3 0.293 0.297 0.294
Comments
n [rpm]
Continuous operation In observation of above listed thermal resistance (lines 17 and 18) the maximum permissible winding temperature will be reached during continuous operation at 25°C ambient. = Thermal limit.
46 K/W 14 K/W 5.18 s 76.1 s -20…+65°C +85°C
Short term operation The motor may be briefly overloaded (recurring).
Assigned power rating
maxon Modular System
1 7 12 g
Overview on page 16 - 21 Encoder MR 16 CPT, 2 channels channels Page 265 Encoder MR 64 - 256 CPT, 2 channels Page 266/267 Encoder MEnc 13 mm 16 CPT, 2 channels Page 284
Recommended Electronics: ESCON 36/2 DC Page 292 ESCON 50/5 292 EPOS2 24/2 312 EPOS2 Module 36/2 312 EPOS3 70/10 EtherCAT 319 Notes 18
58
1.54 0.184 62
maxon DC motor
May 2012 edition / subject to change
RE 13 13 mm, Precious Metal Brushes, 0. 0.75 75 Watt, approved
r o t o m C D n o x a m
M 1:1 Stock program Standard program Special program (on request)
Article Numbers
118446 11844 18447 7 11 118448 8448 118449 118450 11845 18451 1 11845 18452 2 11 118453 8453 118454 118455 11 118456 8456 11 118457 8457 118458 11 118459 8459 118460
Motor Data Values at nominal voltage Nominal voltage No load speed No load current Nominal speed Nominal Nomin al torqu torque e (max. conti continuou nuous s torqu torque) e) Nominal Nomin al curre current nt (max. conti continuou nuous s curre current) nt) Stall torque Starting current Max. efficiency Characteristics 10 Termina erminall resist resistance ance
1 2 3 4 5 6 7 8 9
0.72 0.9 V 0.6 rpm 6900 6710 6590 71.7 56.1 mA 88.2 rpm 5170 3920 3070 mNm 0.511 0.643 0.837 0.72 A 0.720 0.72 1.44 1.51 mNm 1.71 1.47 1.21 A 2.14 64 61 62 %
0.281 0.491
0.742
1.2 7250 47.3 2740 1.03 0.72 1.63 1.08 63
1.5 1.8 1.8 2.4 3 3.6 4 .8 6 6990 6850 5950 6490 6700 6480 6950 7000 36.2 29.4 24.7 20.6 17.1 13.7 11.2 9.06 1430 1430 682 1180 1300 1090 1520 1510 1.26 1.3 1.34 1.33 1.3 1.3 1.29 1. 28 0.671 0.562 0.504 0.408 0.331 0. 268 0.213 0.17 1.59 1.66 1.54 1.66 1.66 1.61 1.7 1.68 0.812 0.69 0.557 0.489 0.404 0.318 0. 269 0.214 63 63 63 64 64 63 64 64
6 653 0 8 .3 3 990 1.26 0.158 1.54 0.184 62
7. 2 6650 7.09 1140 1.27 0.134 1.59 0.161 63
10 7030 5.46 1480 1. 26 0.101 1.65 0.127 63
1.11
1.85
32.6
44.9
78.8
2.61
3. 23
4.9
7.42
11.3
17.8
28
11 12 13 14 15 16
Te T erminal inductance Torque constant To Speed constant Speed / torque gradient Mechanical time constant Rotor inertia
mH mNm/A rpm/V rpm/mNm ms gcm2
Specifications
0.0 06 061 0.802 11900 4170 15.6 0.358
0.0 09 091 0 .9 8 9740 4 88 0 14.9 0. 291
0.0147 1.25 7660 456 0 14.3 0. 299
0.0216 1.51 6310 464 0 14.1 0. 29
0.03 62 62 1.96 4870 4 60 0 13.9 0.288
0.0 54 545 2.41 3970 4310 13.7 0 .3 0 3
0.0719 2.76 346 0 40 40 13.5 0.318
Operating Range
17 18 19 20 21 22
Thermal data Thermal resistance housing-ambient Thermal resistance winding-housing Thermal time constant winding Thermal time constant motor Ambient temperature Max. permissible winding temperature
23 24 25 26 27 28
Mechanical data (sleeve data (sleeve bearings) Max. permissible speed 11000 rpm Axial play 0.05 - 0.15 mm Radial play 0.014 mm Max. axial load (dynamic) 0.8 N Max. force for press fits (static) 15 N (static, shaft supported) 170 N Max. radial loading, 5 mm from flange 1.4 N
29 30 31
Other specificatio specifications ns Number of pole pairs Number of commutator segments Weight of motor
Values listed in the table are nominal.
Explanation of the figures on on page page 49.
0.10 8 0.158 0. 24 243 0. 37 377 0. 57 579 0.661 0.921 1. 59 59 3 .3 9 4.1 5 .0 8 6 .3 2 7.84 8.37 9.89 13 2820 2330 1880 1510 1220 1140 96 6 734 4090 4220 4190 4250 4350 4440 4380 4450 13.5 13.5 13.5 13.6 13.7 13.6 13.6 13.7 0.315 0.306 0.308 0.304 0.3 0.293 0.297 0.294
Comments
n [rpm]
46 K/W 14 K/W 5.18 s 76.1 s -20…+65°C +85°C
1 7 15 g
Continuous operation In observation of above listed thermal resistance (lines 17 and 18) the maximum permissible winding temperature will be reached during continuous operation at 25°C ambient. = Thermal limit.
0.75
12000
118455 8000
4000
Short term operation The motor may be briefly overloaded (recurring). 0.4
0.8
0.1
1.2
0.2
Assigned power rating
0.3
maxon Modular System
Overview on page 16 - 21
Planetary Gearhead 13 mm 0.05 - 0.15 Nm Page 209 Planetary Gearhead 13 mm 0.2 - 0.35 Nm Page 210
Encoder MR 16 CPT, 2 channels channels Page 265 Encoder MR 64 - 256 CPT, 2 channels Page 266/267 Encoder MEnc 13 mm 16 CPT, 2 channels Page 284
Recommended Electronics: ESCON 36/2 DC Page 292 ESCON 50/5 292 EPOS2 24/2 312 EPOS2 Module 36/2 312 EPOS3 70/10 EtherCAT 319 Notes 18
maxon DC motor
May 2012 edition / subject to change
59
RE 13 13 mm, Precious Metal Brushes, 2.5 Watt, approved r o t o m C D n o x a m
M 1:1 Stock program Standard program Special program (on request)
Article Numbers
11846 18461 1 11846 18462 2 118463 118464 118465 118466 11846 18467 7 118468 118469 1184 18470 70 118471 1184 18472 72 1184 18473 73 1184 18474 74 118475
Motor Data 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Values at nominal voltage Nominal voltage V No load speed rpm No load current mA Nominal speed rpm Nominal Nomin al torqu torque e (max. cont continuou inuous s torqu torque) e) mNm Nominal Nomin al curre current nt (max. cont continuou inuous s curre current) nt) A Stall torque mNm Starting current A Max. efficiency % Characteristics Termina erminall resista resistance nce Terminal inductance Te mH Torque constant To mNm/A Speed constant rpm/V Speed / torque gradient rpm/mNm Mechanical time constant ms
2 .4 3 3 10 60 600 12200 1070 0 51.5 50.8 42 9160 10500 8490 1.44 1.56 1.8 0.72 0.72 0.72 9.95 10.2 8.34 4.63 4.42 3.15 80 80 79
3 .6 10 80 80 0 3 5 .5 80 50 2.16 0.72 8.25 2 .6 3 78
4.8 4 .8 6 7.2 8 10 1140 0 1010 0 1140 0 1140 0 109 00 00 1140 0 28.8 24.4 23 19.2 16.1 13.8 7890 6430 7660 7730 7320 7790 2.76 2.87 2.81 2.86 2.98 2 .9 0.72 0.664 0.586 0.497 0.443 0.363 8.81 7.78 8.51 8.84 9.1 9.15 2. 22 1.74 1.72 1.48 1.31 1.11 79 78 79 79 79 79
0.519 0.0213 2.15 44 40 1070 7.65
1.37 0 .0 4 5 6 3.14 30 40 1330 7.37
2.16 0.0727 3.97 2410 1310 7. 28
0.679 0.0247 2.31 4130 1210 7.55
0.951 0.0323 2 .6 5 3610 1300 7.45
2.75 0.092 4.46 2140 1320 7.27
3 .5 0.114 4.96 1930 1360 7. 28
12 1100 0 11 7390 2. 89 0.291 8.77 0.856 79
15 1110 0 8 .8 7 7470 2 .9 0.235 8 .9 0.699 79
4.85 6.11 9.03 14 21.5 0.164 0.223 0.316 0.485 0.749 5.95 6.94 8. 27 10. 2 12.7 1600 1380 1160 932 750 1310 1210 1260 1270 1260 7.23 7.16 7.2 7.21 7.21
15 10 30 30 0 7.98 66 20 2. 88 0.217 8.13 0 .5 9 2 79
18 10 60 60 0 6 .9 6920 2 .9 0.187 8.44 0.526 79
24 1150 0 5 .8 2 7800 2.84 0.149 8.87 0.451 79
25.3 0.87 13.7 69 6 1280 7.21
34.2 1.19 16 595 1270 7. 22
53. 2 1.79 19.7 4 85 1310 7. 27
16 Rotor inertia
gcm2 0.681 0.596 0.548
Specifications
Operating Range
17 18 19 20 21 22
Thermal data Thermal resistance housing-ambient Thermal resistance winding-housing Thermal time constant winding Thermal time constant motor Ambient temperature Max. permissible winding temperature
n [rpm]
23 24 25 26 27 28
Mechanical data (sleeve data (sleeve bearings) Max. permissible speed 19000 rpm Axial play 0.05 - 0.15 mm Radial play 0.014 mm Max. axial load (dynamic) 0.8 N Max. force for press fits (static) 15 N (static, shaft supported) 95 N Max. radial loading, 5 mm from flange 1.4 N
29 30 31
Other specifications Number of pole pairs Number of commutator segments Weight of motor
Values listed in the table are nominal. Values Explanation of the figures on on page page 49.
0.53
0 .5 3
0.526 0.512 0.528 0.565 0.545 0.541 0.544 0.536 0.543 0.529
Comments Continuous operation In observation of above listed thermal resistance (lines 17 and 18) the maximum permissible winding temperature will be reached during continuous operation at 25°C ambient. = Thermal limit.
33 K/W 7.0 K/W 4.88 s 229 s -20…+65°C +85°C
1 7 21 g
Short term operation The motor may be briefly overloaded (recurring).
Assigned power rating
maxon Modular System
Overview on page 16 - 21
Recommended Electronics: ESCON 36/2 DC Page 292 ESCON 50/5 292 Notes 18
60
maxon DC motor
May 2012 edition / subject to change
RE 13 13 mm, Precious Metal Brushes, 2.5 Watt, approved
r o t o
m C D n o x a m
M 1:1 Stock program Standard program Special program (on request)
Motor Data 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Values at nominal voltage Nominal voltage V No load speed rpm No load current mA Nominal speed rpm Nominal Nomin al torqu torque e (max. conti continuou nuous s torqu torque) e) mNm Nominal Nomin al curre current nt (max. conti continuou nuous s curre current) nt) A Stall torque mNm Starting current A Max. efficiency % Characteristics Termina erminall resist resistance ance Terminal inductance Te mH Torque constant To mNm/A Speed constant rpm/V Speed / torque gradient rpm/mNm Mechanical time constant ms Rotor inertia gcm2
Specifications
Article Numbers
118 1847 476 6 118 1847 477 7 118 1847 478 8 118 1847 479 9 118 18480 480 118 1848 481 1 118482 11848 18483 3 118484 118485 118486 11848 18487 7 11848 18488 8 11 118489 8489 118490
2.4 10 60 60 0 51.5 9160 1.44 0.72 9.95 4.63 80
3 1220 0 50.8 10500 1.56 0.72 10.2 4.42 80
3 3.6 4 .8 4.8 6 7.2 8 10 107 00 00 108 00 00 1140 0 1010 0 1140 0 114 00 00 10 90 900 114 00 00 42 35.5 28.8 24.4 23 19. 2 16.1 13.8 8490 8050 7890 6430 7660 7730 7320 7790 1.8 2.16 2.76 2.87 2.81 2.86 2.98 2. 9 0.72 0.72 0.72 0.664 0.586 0.497 0.443 0.363 8.34 8.25 8.81 7.78 8.51 8 .8 4 9.1 9.15 3.15 2 .6 3 2 . 2 2 1.74 1.72 1.48 1.31 1.11 79 78 79 78 79 79 79 79
0.519 0.0213 2.15 4 44 0 1070 7.65 0.681
0.679 0.0247 2.31 4130 1210 7.55 0.596
0.951 0.0323 2.65 3610 1300 7.45 0 .5 4 8
Operating Range
1.37 0.0456 3.14 3 04 0 1330 7.37 0.53
2.16 0.0727 3.97 2410 1310 7.28 0.53
12 15 15 110 00 00 1110 0 103 00 00 11 8.87 7.98 7390 7470 6620 2 .8 9 2.9 2 .8 8 0.291 0.235 0.217 8.77 8 .9 8.13 0.856 0.699 0.592 79 79 79
18 10 60 600 6.9 6 920 2 .9 0.187 8 .4 4 0.526 79
24 1150 0 5. 82 7800 2 .8 4 0.149 8 .8 7 0.451 79
2.75 3. 5 4 .8 5 6.11 9.03 14 21.5 25.3 34. 2 53. 2 0.092 0.114 0.164 0.223 0.316 0.485 0.749 0.87 1.19 1.79 4.46 4.96 5.95 6.94 8.27 10.2 12.7 13.7 16 19.7 2140 1930 1600 1380 1160 93 2 750 6 96 595 48 5 1320 1360 1310 1210 1260 1270 1260 1280 1270 1310 7. 27 7.28 7.23 7.16 7.2 7.21 7.21 7.21 7.22 7.27 0.526 0.512 0.528 0.565 0.545 0.541 0.544 0.536 0.543 0.529
Comments
17 18 19 20 21 22
Thermal data Thermal resistance housing-ambient Thermal resistance winding-housing Thermal time constant winding Thermal time constant motor Ambient temperature Max. permissible winding temperature
23 24 25 26 27 28
Mechanical data (sleeve data (sleeve bearings) Max. permissible speed 19000 rpm Axial play 0.05 - 0.15 mm Radial play 0.014 mm Max. axial load (dynamic) 0.8 N Max. force for press fits (static) 15 N (static, shaft supported) 95 N Max. radial loading, 5 mm from flange 1.4 N
29 30 31
Other specificatio specifications ns Number of pole pairs Number of commutator segments Weight of motor
Values listed in the table are nominal. Explanation of the figures on on page page 49.
n [rpm]
Continuous operation In observation of above listed thermal resistance (lines 17 and 18) the maximum permissible winding temperature will be reached during continuous operation at 25°C ambient. = Thermal limit.
33 K/W 7.0 K/W 4.88 s 229 s -20…+65°C +85°C
1 7 21 g
Short term operation The motor may be briefly overloaded (recurring).
Assigned power rating
maxon Modular System
Overview on page 16 - 21
Planetary Gearhead 13 mm 0.05 - 0.15 Nm Page 209 Planetary Gearhead 13 mm 0.2 - 0.35 Nm Page 210 Recommended Electronics: ESCON 36/2 DC Page 292 ESCON 50/5 292 Notes 18
maxon DC motor
May 2012 edition / subject to change
61
RE 13 13 mm, Precious Metal Brushes, 2 Watt, approved r o t o m C D n o x a m
M 1:1 Stock program Standard program Special program (on request)
Article Numbers
118 18491 491 118 18492 492 118 18493 493 118 18494 494 118 18495 495 118 18496 496 118497 11 118498 8498 11849 18499 9 11 118500 8500 118501 11850 18502 2 11850 18503 3 11850 18504 4 118505
Motor Data 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Values at nominal voltage Nominal voltage V No load speed rpm No load current mA Nominal speed rpm Nominal Nomin al torqu torque e (max. cont continuou inuous s torqu torque) e) mNm Nominal Nomin al curre current nt (max. cont continuou inuous s curre current) nt) A Stall torque mNm Starting current A Max. efficiency % Characteristics Termina erminall resista resistance nce Terminal inductance Te mH Torque constant To mNm/A Speed constant rpm/V Speed / torque gradient rpm/mNm Mechanical time constant ms Rotor inertia gcm2
Specifications 17 18 19 20 21
Thermal data Thermal resistance housing-ambient Thermal resistance winding-housing Thermal time constant winding Thermal time constant motor Ambient temperature
1.5 6570 43. 8 5170 1.46 0.72 6. 22 2 .8 9 77
1.5 609 0 39.8 4 320 1.58 0.72 5.12 2.21 75
1.8 63 80 35.3 4160 1.82 0.72 5.01 1.89 75
2 .4 7170 3 0 .8 44 0 0 2.18 0.72 5 .5 1.75 76
3 7100 24.3 35 60 2.78 0.72 5.51 1.39 76
3 3 .6 4. 2 4 .8 6 7.2 9 10 12 15 6300 6800 6620 6490 6810 6590 6630 6840 7020 7150 20.8 19.2 15.8 13.5 11.5 9.19 7.41 6.94 5.99 4.91 2550 3000 2880 2880 3130 2880 2940 3120 3330 3400 2.91 2.85 2.91 3 .0 2 2 .9 5 2 .9 3 2 . 9 4 2 .9 2 2 .9 3 2 .8 8 0.669 0.592 0.502 0.446 0.367 0.294 0. 237 0. 218 0.188 0.151 4.86 5.1 5.16 5.46 5.49 5.26 5.34 5.42 5.63 5.54 1.09 1.03 0.866 0.786 0.665 0.514 0.419 0.395 0.351 0.282 75 75 75 76 76 75 76 76 76 76
0.519 0.0213 2.15 44 40 1070 7.65 0.681
0.679 0.0247 2.31 4130 1210 7.55 0.596
0.951 0.0323 2 .6 5 3610 1300 7.45 0.548
1.37 0.0456 3.14 30 40 1330 7.37 0.53
2.16 0.0727 3.97 2410 1310 7. 28 0 .5 3
2.75 3 .5 4.85 6.11 9.03 14 21.5 25.3 34.2 53.2 0.092 0.114 0.164 0.223 0.316 0.485 0.749 0.87 1.19 1.79 4.46 4.96 5.95 6.94 8.27 10. 2 12.7 13.7 16 19.7 2140 1930 1600 1380 1160 932 750 69 6 595 4 85 1320 1360 1310 1210 1260 1270 1260 1280 1270 1310 7.27 7.28 7.23 7.16 7.2 7.21 7.21 7.21 7.22 7.27 0.526 0.512 0.528 0.565 0.545 0.541 0.544 0.536 0.543 0.529
Operating Range n [rpm]
33 K/W 7.0 K/W 4.88 s 229 s -20…+65°C
Comments Continuous operation In observation of above listed thermal resistance (lines 17 and 18) the maximum permissible winding temperature will be reached during continuous operation at 25°C ambient.
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