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Miniature Motors

A Danaher Motion Company

Miniature Motors

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Table of Contents

A World of Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Engineering Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Brushless Slotted DC Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Brushless Slotless DC Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Brushed DC Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Stepper Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Digital Linear Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Portescap Motor Quick Reference Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Gearheads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

Note: This catalog does not contain information on all Portescap products available. For information on our complete line of products, please visit www.portescap.com. Also please see the back cover of this catalog for a complete listing of our regional customer service phone numbers.


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A World Of Applications

Powered Surgical and Dental Instruments

• Our motors will reduce the size, weight and heat experienced by the handpiece user, potentially elimi-nating the need for an additional costly cooling system. They offer the maximum speed and torque density available, allowing OEM’s to create smaller, lighter, more robust handpieces that reduce required operating time and surgeon fatigue.

• We are the leading supplier of autoclaveable BLDC motors for powered surgical instruments – life tested by our customers to withstand in excess of 1000 auto-clave cycles.

• Our motors are found in the industry’s leading drills, saws, shavers, screwdrivers, and dental instruments; serving orthopedic, cranio-maxillo-facial, ENT, otolaryn-gology, spinal and neurological surgical applications, as well as general dental and endodontics applications.

Ventilators and Respirators

• Our motor reduces the noise experienced by the user and allows the OEM to minimize the size and weight of the ventilator or respirator. A smaller package with less noise enhances the quality of life of the patient.

• Our motors are found in invasive and non-invasive ventilators, CPAP and BPAP respirators and personal protection respirators.

• Our Slotless motor offers the lowest inertia which allows near instantaneous airflow pressure change and enhances patient comfort.

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Infusion and Insulin Pumps

• The near silent operation of our motors reduces the noise experienced by the pump user, providing a higher quality of life.

• Our motors allow pump manufacturers to minimize size and weight of the pump, providing greater ease of mobility.

• For portable and wearable pumps, our high efficiency Brush and Brushless DC motors maximize battery life.

• Our motors are found in the industry’s leading enteral feeding infusion pumps, serving the nutritional, medication, and pain management needs of patients. They are also found in the industry‘s leading wearable insulin delivery pumps, managing the daily glucose needs of Type I diabetics.

Other Medical Equipment

• Our motors offer high reliability and accuracy, long life, and silent operation. They are also extremely effi-cient, enabling extended operation on battery power.

• Our motors support a vast array of powered medical devices including the industry’s leading diagnostic, scanning, x-ray processing, personal protection, dialy-sis, therapy, optics and patient handling equipment.

• Serving the motion needs of medical device manu-facturers for more than 70 years, Portescap offers unmatched product breadth, quality and performance.


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Security and Access

• With building security and protection becoming increa-singly important, so is the need for a precision miniaturemotor solution with experience in these applications. Portescap offers these solutions worldwide and provides the reliable, consistent performance and torque density needed to open doors, move cameras or scan bar codes. - Security Cameras- Locks- Paging Systems- Bar Code Readers

Robotics and Factory Automation

• Wherever rapid, accurate and consistent motion is required, Portescap products provide the appropriate solution. - Conveyors- Remote Controlled Vehicles- Industrial Robots

HVAC

• When heating, ventilation, air conditioning or refrige-ration applications demand affordable, reliable motion control, Portescap delivers with a variety of products and motor technologies. - Damper control for home air filtration system- Valve actuation, flow control

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Civil Aviation and Aerospace

• Within the specially adapted proposals from Portescap you will find reliable solutions resistant to thermal and mechanical shocks and which, in a small lightweight envelope, can deliver the necessary power, torque and long life required for these applications. - Cockpit Gauge- Fuel Metering- Electric Actuators- Gyroscopes- Indicators- Satellites- Optical Scanners- Transceivers- Valves

General

• Portescap solutions continue to provide extraordinarytorque density, efficiency and reliability for a wide variety of OEM markets and applications.

- Document Handling- Semiconductors- Office Equipment- Model Railways- Optics- Automotive & Transportation- Audio, Video


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Portescap provides the miniature motor technology and know-how to meet your application requirements.

When it comes to leading edge motion control applications, Portescap has a wealth of experience and innovative products to meet your most demanding requirements.

We offer extensive prototype manufacturing facilities staffed by experienced engineers to assist you with your application-specific requirements. Together, the companies that form Danaher Motion will deliver the best solution for your application.

Portescap was founded in 1931 in La Chaux-de-Fonds in Switzerland. Over the decades it has been recognized worldwide as a specialist in the field of high performance electromechanical drive systems. Portescap offers an extended sales and service network, focused on delivering world-class customer service.

Portescap offers competitive advantages such as:

• Experience in key markets and applications supported by qualified design and manufacturing engineering teams• Strong account management with direct sales force in North America, Europe and Asia• Product and customer research and development from concept, through prototype and into production• Custom motor capability for innovative applications, demanding unique solutions• Global manufacturing with facilities in the US, Europe and Asia • Exceptional performance• Great torque density in small frame sizes (.01 to 680 running oz-in) (0.07mNm to 4.8Nm)• Autoclavable brushless DC motors up to and beyond 1000 cycles• Industry leading Can Stack stepper technology from 15mm to 60mm (0.5 to 2.4 in)

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D.C. MotorsThe Ironless Rotor Motor Technology

A state-of-the-art motor lineThe escap® D.C. motor results from an original concept based on an ironless rotor, combined with a commutation system using either precious metals or a carbon/copper combination.

Concept Detail Motor Characteristics Advantages for the ApplicationIronless Rotor Low moment of inertia High Acceleration, Ideal for incremental motion, Linear speed-torque function, Insensitive to shocks No hysteresis and eddy current losses High efficiency, low losses from friction only Ideal for battery operation No magnetic saturation High peak torques without the risk of demagnetizationCentral Stator Magnet High power per size and per weight Ideal for portable or small equipment or requiring small dimensionsSmall Sized Bearings Low viscous damping High peak speeds, very low speed dependent losses, low starting voltagePrecious Metal Commutation System Low friction, little electrical noise Low losses and wear, low electromagnetic interferenceRatafente™ Series Copper-Graphite High current densities may High continuous and peak torques without risk ofCommutation be commutated demagnetizing the motor. Very long life. Ideal for chopper drivers Rated motor temperature up to 155ºC Continuous torque is exceptionally high for the motor size, reducing the weight, dimensions, and the cooling system Very compact commutation system Excellent resistance to shocks and vibration High torque to inertia ratio High acceleration, short mechanical time constant



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DC Motor Torque Range

This overview shows the values for continuous and peak torque for each motor type in the series. These motors may be assembled with a range of reduction gearboxes and with optical and magnetic encoders. Motor-tacho units and complete drive electronics are also available.

08GS

08G

13N

16C

16G

16N

17S

17N

22S

22N

22V/23L

23V

23GST

25GST

25GT

26N

28L

28LT

28D

28DT

30GT

35NT32

35NT82

Torque in mNm 0.1 1.0 10 100 1000 Torque in oz-in 0.014 0.14 1.42 14.2 142

Ranging from precious metal to RotafenteTM mechanical commutation systems, the escap® DC motors, all using the ironless winding technology, offer a broad range of products.

Continuous torquePeak torque

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The exceptional possibilities offered by the Turbo Disc™line of disc magnet stepper motors are unequalled by any other kind of stepper motor. Their advanced tech-nology, developed and patented by Portescap, allows for truly exceptional dynamic performance. The rotor of these motors consists of a rare earth magnet having the shape of a thin disc which is axially magnetized.A particular magnetization method allows for a high number of magnetic poles, giving much smaller step angles than conventional two-phase permanent magnet stepper motors.

Concept Detail Motor Characteristics Advantages for the ApplicationThin multipolar rare earth disc magnet Very low motor inertia Very High Acceleration, High start/stop frequencies Very short iron circuit made of SiFe Low iron losses High speedslaminations, Coils placed near to the airgap More torque at high step rates High power/volume ratioIndependent magnetic circuit No coupling between phases Superior angular resolution in microstep modeSimple magnetic circuit Sinusoidal torque function, low detent torqueOptimally dimensioned iron circuit Torque constant is linear High peak torques up to 2 to 3 times nominal currentHigh energy magnet High power to weight ratio For motors in mobile applications. For size limitations


Such a rotor design has a very low moment of inertia, resulting in outstanding acceleration and dynamic behavior. These features, together with high peak speeds,mean that any incremental movement is carried out in the shortest possible time.Low inertia also means high start/stop frequencies allowing to save time during the first step and to solve certain motion problems without applying a ramp.Those motors specially designed for microstepping feature a sinusoidal torque function with very low har-monic distortion and low detent torque. Excellent static and dynamic accuracy is obtained for any position and under any load or speed conditions.

Turbo Disc™ Stepper Motors The High Performance Disc Magnet Technology

Rotor with very low inertia

Short magnetic circuit using high quality laminations

No magnetic coupling




Turbo Disc™ Motor Torque Range

P010

P110

P310

Torque in mNm 1 10 100 Torque in oz-in 0.14 1.4 14

Iron saturation effects Torque/currentexample: escap® motor type P532.Normalized Torque (%)

The unique electromagnetic characteristics of disc magnet motors permit them to operate well below any saturation of the magnetic circuit, where torque is truly proportional to current. By current boosting, performance can momentarily be pushed well above nominal values.

Iron losses comparison DM/Hybrid same torque, losses due to magnet flux only. Loss (Watts)

The stator is designed for the shortest possible magnet-ic circuit, using high quality iron laminations. This gives low iron losses and more torque at high speed.

200

150

100

50

0 x 0.5 x 1 x 1.5 x 2

Rated Current

12

9

6

3

02500 5000 7500 10,000

Speed in steps/s

Hybrid200 steps/rev.

Disc Magnet100 steps/rev.


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Conventional DC motors use a stationary magnet with a rotating armature combining the commutation seg-ments and brushes to provide automatic commutation. In comparison, the brushless DC motor is a reversed design: the permanent magnet is rotating whereas the windings are part of the stator and can be energized without requiring a commutator-and-brush system. Therefore this motor type achieves very long, trouble-free life even while operating at very high speeds.One technology uses a self-supporting cylindrical iron-less coil made in the same winding technique as for our ironless rotor DC motors: this is called the BLDC motor, slotless iron structure. The rotor is a cylindrical two-pole magnet, the stator tube is made of iron laminations. With this construction a uniform and constant airgap is obtained.If the tube is fixed to the magnet and rotates with it, iron losses are avoided.

Concept Detail Motor Characteristics Advantages for the Application DC device Essentially linear torque/speed Possibility of speed and position control curve proportional to current and speed proportional to voltageBrushless design Life is not limited by brush wear Very long life, high reliability, insensitive to but only by wear on ball bearings environment (no arcing), to shocks and to vibrationStatic winding attached to motor housing Improved heat dissipation Overload capabilityVersions without position sensor Typically used in spindle Excellent velocity smoothness applicationsVersions with hall effect sensors Typically used in applications with Very simple commutation circuitry high variation of speed or load


The other technology is called BLDC motor, slotted iron structure. The iron cores are part of the housing. The rotor is a multiple-pole magnet. The position of the rotor field is continuously monitored to ensure correct timing of the commutation (switching of the current in the windings through power transistors). Three options for determining the rotor position are proposed. The first one uses no sensor inside the motor but derives the information by analyzing the shape of back-EMF. It is easy to implement and recommended mainly for high speed continuous operation. Another option is Hall sensors built into the motor, signalling the rotor field strength. Finally, an encoder or resolver may be added to the motor externally. It provides very high resolution and allows the BLDC motor to perform anything a DC with brushes can do but without the drawbacks of a mechanical commutation system.

BLDC MotorsThe Miniature Brushless DC Motor Technologies

Construction of three BLDC motors: 22BT (with the tube rotating with the magnet, right), 26BC, slotless iron structure (left) and a B09 motor with slotted iron structure (center)




BLDC Motor Torque Range

This overview gives the values of continuous and peak torque for each motor type in this product range. The motors may be assembled with reduction gearboxes, encoders and resolvers. Complete drive electronics are also available.

B0504-050

B0508-050

B0512-050

B0906-050

B0909-050

B0912-050

B1106-050

B1112-050

B1118-050

B1505-150

B1515-150

B1525-150

Torque in mNm 1.0 10.0 100.0 1000.0Torque in oz-in 0.14 1.4 14 142


Brushless DC motors are a recent design but their market share increases rapidly, mainly for two reasons: the cost of ser-vicing equipment in the field is rising continu-ously, and there are ever more applications where a breakdown may have severe consequences.

Actually, DC motors using brushes are a very mature product and life time is rarely a problem except with speeds above 10,000 rpm. However, environmental and/or working conditions may possibly lead to a failure of brush-to-commuta-tor contact, stalling the motor. The keyword with this solution is reliability.

18BT

22BT

13BC

16BS

16BL

26BC

22BS

22BM

22BL

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Every application has power requirements in terms of specific values of speed and torque. With a load demanding high torque at low speed, use of a large motor capable of developing the torque would be uneconomic, and system efficiency would be very low.In such cases, a better solution is to introduce some gearing between the motor and the load. Gearing adapts the motor to the load, be it for speed, torque, or inertia. The motor-and-gearbox assembly will provide greater efficiency and be lower priced.

Concept Detail Motor Characteristics Advantages for the Application Spur gear concept: Low friction per train Good efficiency, about 0.9 per trainOnly 1 transmission point per train Arrangement of several trains as Long gearhead of small diameter or short intended by the designer gearhead of large diameter Input and output shaft not Free choice for placing the motor relative necessarily in line to the ouptut shaft Two output shafts possible Mounting of a sensor, a potentiometerInput wheel made of high grade plastic Reduction of mechanical noise Silent operation generated at high motor speedsPlanetary concept: Reduction ratio per train is higher Less trains for a given reduction ratio3 or 4 transmission points per train but so is friction Efficiencies about 0.85 per train Can transmit higher torques Very compact gearbox for its performance Input and output of a train have For any number of trains, the load always the same direction of rotation rotates in the same direction as the motor Less backlash Smaller shock in case of a rapid reversal of motor rotation


The Spur and Planetary Gearhead TechnologiesComplements well adapted to escap® motors

Principle of the spur gearhead:The pinion of radius r1 and number of teeth z1, drives the input wheel of radius r2 and number of teeth z2.The reduction ratio per train “i” is z2:z1 which is equal to r2:r1.

Principle of the planetary gearhead:The pinion S (=sun) having “s” teeth is driving the planets P (3 or 4 per train) which have “p“ teeth and are fixed to the planet carrier.A = stationary annulus with “a“ teeth.The reduction ratio per train is i = (a:s) +1.


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A World of Applications

Memorandum Linear Movementm = mass [kg]d = linear displacement [m]v = linear speed [m/s]a = linear acceleration [m/s2]r = radius [m]p = pitch [m] η= transmission efficiency [–]F = force [N]

Angular Movement Angular Movement J = inertia [kgm2]θ = angular displacement [rad]ω = angular speed [rad/s]α = angular acceleration [rad/s2]r = radius [m]Z = number of teeth [–]i = reduction ratio [–]kv = viscous damping constant [Nm/rad/s = Nms]η = transmission efficiency [–]M = torque [Nm]

Force F = m • a [N]

Work - Energy W = F • d [Nm]

Mechanical Power Pm = F • v [W]

Torque M = J • α [Nm]ΔM = viscous damping = kv • Δω [Nm]

W = M • θ [Nm]

Pm = M • ω [W]

Inertia Moment of inertia of a ring: J = m • r2 [kgm2]Moment of inertia of a cylinder: J = 1/2 m • r2 = π/2 • r4 • h • ρ [kgm2]Moment of inertia of a hollow cylinder: J = 1/2 m (r12 + r22) = π/2 • (r14 - r24) • h • ρ [kgm2] ρ = specific mass [kg/m3] h = height [m]

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Symbols and S.I. Units – Conversion Table Symbol Description Unit a linear acceleration m/s2

d linear displacement mf frequency Hzk torque constant Nm/Akv motor constant Nm/ Wm mass kgn rotational speed rpmt time sv linear speed m/sB magnetic induction TE electromotive force VF force NH magnetic field A/mI current AJ moment of inertia kgm2

Symbol Description Unit L inductance HM torque NmP power WR resistance ΩRth thermal resistance °C/WT temperature °CU voltage VW work, energy Nmα angular acceleration rad/s2

η efficiency –θ angular displacement radτ time constant sΦ magnetic flux Wbω angular speed rad/s

Length: 1 in = 25.4 mm 1 mm = 0.0393 in 1 ft = 0.3048 m 1 m = 3.281 ftMass: 1 oz = 0.0283 kg 1 kg = 35.3 oz 1 lb = 0.454 kg 1 kg = 2.205 IbForce: 1 kp = 9.81 N 1 N = 0.102 kp 1 oz = 0.278 N 1 N = 3.597 oz 1 Ib = 4.45 N 1 N = 0.225 IbTemperature: T [°F] = 9/5 T°C +32 T [°C] = 5/9 (T°F-32) 0 K = -273.15 °C 0 °C = 273.15 KTorque: 1 kpcm = 0.0981 Nm 1 Nm = 10.2 kpcm 1 oz-in = 7.06 mNm 1 mNm = 0.1416 oz-in 1 Ib-in = 0.113 Nm 1 Nm = 8.849 Ib-in 1 Ib-ft = 1.356 Nm 1 Nm = 0.7376 Ib-ftInertia: 1 gcm2 = 1 x 10-7 kgm2 1 kgm2 = 1 x 107 gcm2

1 oz-in2 = 1.83 x 10-5 kgm2 1 kgm2 = 5.46 x 104 oz-in2

1 oz-in s2 = 0.00706 kgm2 1 kgm2 = 141.6 oz-in s2

1 moiss = 7.06 x 10-6 kgm2 1 kgm2 = 141643 moiss 1 Ib-in2 = 0.000293 kgm2 1 kgm2 = 3418 Ib-in2

1 Ib-in s2 = 0.113 kgm2 1 kgm2 = 8.85 Ib-in s2

Energy: 1 kcal = 4187 J 1 J = 0.239 cal 1 Btu = 1055 J 1 J = 9.48 x 10-4 BtuPower: 1 CV = 735 W 1 kW =1.36 CV 1 HP = 746 W 1 kW = 1.34 HP

A World of Applications

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Engineering Section

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The catalogue indicates a closest ratio of 111:1, the efficiency being 0.6 (or 60%). We may now calculate the motor speed and torque:

The motor table shows the 22V motor can deliver 7.5 mNm permanently. The 22V is available as a standard combina-tion with this gearbox. After choosing a winding we calculate the motor current and voltage the same way as in the pre-ceding example. A very simple graphic procedure of selecting a motor-gearbox unit is presented in the technical publica-tion Think escap® 6.

Drive With A BLDC Motor UsingElectronic CommutationA torque of 3 mNm is required at a speed of 10,000 rpm, with a life time beyond 15,000 hours. Quite obviously, the best choice is a motor using electronic com-mutation. The speed/torque curves show the 26BC-6A-113.101 motor to be able of doing the job. It has an integrated drive circuit, consuming 18 mA which are included in the no-load current. Now let’s calculate the necessary current and volt-age. The relevant catalogue values are:

equivalent resistance: 6.8 Ohmstorque constant: 9.2 mNm/Ano-load current at 725O rpm: 170 mAviscous torque constant: 0.4 • 10-6 Nms

The «equivalent resistance» is the resis-tance at any two of the three winding terminals. It cannot be measured from outside because of the presence of the driver transistors. The change in friction caused by a speed change is given by the viscous damping constant kv:

Direct Drive Without A GearboxA load having a friction torque M of 6 mNm should be driven at a speed of 2000 rpm. The ambient temperature Tamb is 30°C. The voltage available is 10 V. The escap® motor table shows the type 22N to be the smallest motor capable of deliv-ering a torque of 6 mNm continuously. Let’s take the model 22N 28 213E.286, which has a measuring voltage of 9V. The characteristics we are mostly interested in are the torque constant k of 12.2 mNm/A and the resistance at 22°C of 10.3 Ω. Neglecting the no-load current, for a torque of 6 mNm the motor current is:

We can now calculate the drive voltage required by the motor, at 22°C, for run-ning at 2000 rpm with a load torque of 6 mNm:

U = 10.3 • 0.48 + 12.5 • 10-3 • 209.4 = 7.56 VWe note that the current of 0.48 A is quite close to the rated continuous cur-rent of 0.62 A. We should therefore cal-culate the final rotor temperature (Tr) to make sure it stays below the rated value of 100°C and the voltage required is within the 10 V available. In the formulas, Pdiss is the dissipated power, RTr is the rotor resistance at the final temperature and α is the thermal coefficient of the copper wire resistance:

The catalogue values for the thermal resistance rotor-body and body-ambient are 6°C/W and 22°C/W, respectively. They are indications for unfavorable con-ditions. Under «normal» operating condi-

tions (motor mounted to a metal surface, with air circulating around it) we may take half the value for Rth2.

By solving equations (4) (5) and (6), we obtain the final rotor temperature Tr:

With a current of 0.48 A the rotor reaches a temperature of:

Tr = 69.9°C

At that temperature and according to equation (6), the rotor resistance is R70 = 12.22 Ω, and we need a drive voltage of 8.4 V. The motor requires an electrical power of 4 W. The problem is now solved. In case the application requires a par-ticularly long motor life, use of the next larger motor (type 22V) could possibly also be considered.

Speed/torque and current/torque lines of the 22N28-213E motor at 69.9°C and for 8.5 V.

The behavior and basic equations of ironless rotor D.C. motors is described in detail in the technical publication Think escap® 1.

Drive Using A GearboxA load with a friction torque of 0.5 Nm should be driven at a speed of 30 rpm. The gearbox table shows this torque is within the rating of the R22 gearbox. When choosing the reduction ratio we keep in mind that the input speed of the R22 should remain below 5000 rpm in order to assure low wear and low noise emission:

Examples of motor calculations (DC)

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Miniature Motors

Engineering Section

The load torque of 3 mNm requires a current of I = 0.326 A (see formula 1). The drop in viscous torque due to the higher speed of 10,000 rpm vs 7,500 rpm amounts to:

This results in an increase in no-load cur-rent of 12 mA.At 10,000 rpm we have:

170 + 12 = 182 mA

When adding them to the load current we arrive at approximately 0.508 A. The rated continuous current of this motor is 0.6 A as defined by the internal overload protection.

Rated working range of the 26BC-A-113 motor and point of actual operation.

The voltage follows formula (2):

For the triangular profile we then calculate the motor peak speed:

According to equation (3), this gives:

Finally, we apply equation (2):

This is the minimum output voltage required by a chopper driver.

A different way of selecting the motor is presented in the technical publication Think escap® 6.

Positioning With A D.C. MotorA load inertia of 20 • 10-7 kgm2 must be moved by an angle of 1 rad in 20 ms. Friction is negligible, ambient temperature is 40°C. With this incremental application we consider a duty cycle of 100% and a triangular speed profile.

Then the motor must rotate 0.5 rad in 10 ms whilst accelerating, then another 0.5 rad in 10 ms whilst braking. Let’s calcu-late the angular acceleration α:

The torque necessary to accelerate the load is:

If the motor inertia equalled the load inertia, torque would be twice that value. We then talk of matched inertias, where the motor does the job with the least power dissipation.

If we consider that case, motor torque becomes:

According to the motor overview the type 28DT12 can deliver 41 mNm permanently. As an example, take the -222E coil with a resistance (at 22°C) of 6.2 Ohm and a torque constant of 32.5 mNm/A. Consider a total thermal resistance of the order of: rotor-body: 4 C/W. body-ambient 8 C/W. The rotor inertia happens to be just 20 • 10-7 kgm2.

From equation (1) we get:

Equations (9) and (4) give:

Examples of motor calculations (DC)

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Engineering Section

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Positioning With A Stepper MotorA load inertia of 20 • 10-7 kg m2 has to be moved by an angle of 0,5 rad in 20 ms. With a triangular speed profile this requires a torque of 10 mNm up to a peak speed of 50 rad/s as calculated using equations (14) and (15). At that speed the mechanical power for the load alone is 0.5 W. Now we can evaluate the motor size necessary, and we see two possible solutions.

Direct driveThe motor type P430* (100 steps/rev, 60 mNm of holding torque) associated to a simple L/R type driver is quite enough for this application, as peak speed is only 50 rad/s:

Let’s see whether the move can be done within the motor’s pull-in range. Then we would not need to generate ramps for acceleration and deceleration, and the controller would be substantially simplified. In that case we have in fact a rectangular speed profile and the move requires a constant step rate which is obtained by dividing the distance (num-ber of steps which is 8) by the time:

Curves of torque vs step rate for the P310 with ELD-200 drive circuit.

Curves of torque vs step rate for the P310 with ELD-200 drive circuit.

With the ELD-200 drive circuit at 24V the motor P310-158 005, coils in parallel, can do the job with an adequate safety margin. At low step rates the available torque is substantially above the 5 mNm required for the triangular speed profile. By adapting this profile to the motor capabilities the move time can be further reduced.

The smaller P110 motor with R16 gear-box could also do the job but would require a driver of very high performance and carrying a higher price tag.

A detailed description of the disc magnet stepper motor technology is given in the technical publication Think escap® 5.

We must make sure the motor can start at that frequency. The curves on page 53 show that, with a load inertia equal to the rotor inertia of 3 gcm2, the motor can start at about 1700 steps/s. With a load inertia of 20 • 10-7 kg m2 this pull-in frequency becomes:

Thanks to the disc magnet technology the P430 motor can do the job quite easily, without needing a ramp, using a very simple controller and an economic driver.

Use of a gearboxThe P310 motor makes 60 steps/rev and has a holding torque of 12 mNm at nomi-nal current. This is too small for moving the load in a direct drive. However, its mechanical power is more than enough. A reduction gearbox can adapt the requirements of the application to the motor capabilities.

Choosing the reduction ratioA first choice consists of matching inertias and then make sure that with that ratio the motor speed remains within a reasonable range, where the necessary torque can be delivered. With incremen-tal motion, an inertial match assures the shortest move time, with the motor providing constant torque over the speed range considered. In our example this asks for a ratio i0 of:

From the various gearbox models pro-posed for the P310 we pick the K24, which offers a smallest ratio of 5:1. Using equations (14), (15) and (19), we find:

• a load inertia reflected to the motor shaft of 1 • 10-7 kg m2

• a motor acceleration of 25,000 rad/s2

• a motor peak speed of 250 rad/s = 2400 rpm = 2400 steps/s• a necessary motor torque of 5 mNm

Examples of motor calculations (Disc Magnet Stepper)

* This motor is not listed in the catalog.

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Engineering section

Use the PULL IN curve if the control circuit provides no acceleration and the load is frictional only.

Example: Frictional TorqueUsing a torque wrench, a frictional load is measured to be 15 mN• m (105.93 oz-in). It is desired to move this load 67.5˚ in .06 sec. or less.

Solution: 1. If a 7.5˚ motor is used, then the motor would have to take nine steps to move 67.5˚. A rate of v = = 150 steps/sec or higher is thus required.

2. Referring to Fig. 1 the maximum PULL IN error rate with a torque of 15 mN• m is 275 steps/sec. (It is assumed no acceleration control is provided.)

3. Therefore, a 42M048C1U-N motor could be used at 150 steps per second - allowing a safety factor.

Figure 1. Torque/Speed -- Frictional Load

Use the PULL OUT curve, in conjunction with a Torque = Inertia x Acceleration equation (T=J ), when the load is inertial and/or acceleration control is provided.

In this equation, acceleration or ramping = is in radians/sec2.

RampingAcceleration control or ramping is normally accomplished by gating on a voltage controlled oscillator (VCO) and associated charging capacitor. Varying the RC time constant will give different ramp-ing times. A typical VCO acceleration control frequency plot for an incremental movement with equal acceleration and deceleration time would be as shown in Fig. 2.

Figure 2. Step Rate/Time

Acceleration also may be accomplished by changing the timing of the input pulses (frequency). For example, the frequency could start at a 1/4 rate, go to a 1/2 rate, 3/4 rate and finally the running rate.

A. Applications where: Ramping acceleration or deceleration control time allowed.

TJ (Torque mN• m) = JT x x K

Where JT = Rotor Inertia (g• m2) plus Load Inertia (g• m2)

Δv = Step rate change

Δt = Time allowed for acceleration in seconds

K =

K = .13 for 7.5˚ - 48 steps/revolution

K = .26 for 15˚ - 24 steps/revolution

K = .314 for 18˚ - 20 steps/revolution

In order to solve an application problem using acceleration ramp-ing, it is usually necessary to make several estimates avoiding to a procedure similar to the one used to solve the following example:

Example: Fictional Torque Plus Inertial Load with Acceleration Control. An assembly device must move 4 mm in less than 0.5 sec. the motor will drive a lead screw through a gear ration. the lead screw and gear ration were selected so that 100 steps of a 7.5˚ motor = 4 mm. The total Inertial Load (rotor + gear + screw) = 25 x 104 g• m2. The Frictional Load = 15 mN• m.

Solution:1. Select a stepper motor PULL OUT curve which allows a torque in excess of 15 mN• m at a step rate greater than

v = = 200 steps/sec

Referring to Figure 3, determine the maximum possible friction load only.

Figure 3. Torque/Speed _ Friction Plus Inertia.

9__.06

TORQUE SPEED CURVES

SPEED (PPS)

PULL OUTPULL IN

TORQ

UE

(mN

m)

NI-ZO

UNIPOLAR 42M048CIU-N L/R 2 PHASE DRIVE60.0

50.0

40.0

30.0

20.0

10.0

00 50 100 150 200 250 300 350

8.50

7.08

5.66

4.25

2.83

1.42

0

π

Dv__Δt

RUNRATE

t RUN

t ACCEL t DECELTIME IN M SEC

Dv__Δt

2 _______steps/rev

100 steps________0.5 sec

TORQUE SPEED CURVES

SPEED (PPS)

PULL OUTPULL IN

TORQ

UE

(mN

m)

NI-ZO

UNIPOLAR 42M048CIU-N L/R 2 PHASE DRIVE60.0

50.0

40.0

30.0

20.0

10.0

00 50 100 150 200 250 300 350

8.50

7.08

5.66

4.25

2.83

1.42

0

Examples of motor calculations (Can Stack)

22


Engineering section

www.portescap.com

2. Make a first estimate of a working rate (a running rate less than the maximum) and determine the torque available to accelerate the inertia (excess over TF). T1 - TF = 20 - 15 = 5 mN• m (torque available for acceleration at 250 steps/sec)

3. Using a 60% safety factor 5 mN• m x .6 = 3 mN• m calculate Δt to accelerate. (Refer to Fig. 2) From the TJ = JT x x K equation. 3.0 mN• m = Therefore, to accelerate Δt = .027 sec Note: The same amount of time is allowed to decelerate.

4. The number of steps used to accelerate and decelerate. NA + ND = Δt x 2 or

NA + ND = vΔt

= 250 (.027) = 7 steps

5. The time to move at the run rate Δtrun = NT - (NA + ND) = = .37 sec Where NT = Total move of 100 steps

6. The total time to move is thus Δtrun + Δtaccel = Dtdecel .37 + .027 + .027 = .42 sec This is the first estimate. You may make the motor move slower if more safety is desired.

B. Applications where: No ramping acceleration or deceleration control time is allowed.

Even though no acceleration time is provided, the stepper motor can lag a maximum of two steps or 180 electrical degrees. If the motor goes from zero steps/sec to v steps/sec, the lag time Δt would be

sec Thus, the torque equation for no acceleration or deceleration is: T (Torque mN• m) = JT x x K

Where: JT = Rotor Inertia (g•m2) plus Load Inertia (g•m2) v = steps/sec rate

k =

Example: Friction Plus Inertia - No Acceleration Ramping. A tape capstan is to be driven by a stepper motor. The friction drag torque (TF) is 15.3 mN• m and the inertia of the capstan 10 x 104 g•m2. The capstan must rotate in 7.5˚ increments rate of 200 steps per second.

Solution:Since a torque greater than 15.3 mN• m at 200 steps per second is needed, consider a 42M048C1U-N motor.

The Total Inertia = Motor Rotor Inertia + Load Inertia JT = JR + JL

= (12.5 x 104 + 10 x 104) g• m2

= 13.5 x 104 g•m2

1. Since there is no acceleration ramping, use the equation: TJ = JT x x K (K = .13) TJ = 13.5 x 104 x x .13 TJ = 3.5 mN• m

2. Total Torque = TF + TJ = 15.3 + 3.5 = 18.8 mN• m

3. Refer to the PULL OUT curve Fig. 4 at speed of 200 per second, where the available torque is 26 mN• m. Therefore the 42M048C1U-N motor can be selected with a safety factor.

Figure 4: Torque/Speed -- Friction Plus Inertia.

Δv__Δt

25 x 104 x 250 x .13________________ Δt

v__2

100-7_____250

2__ v

v2__ 2

2_____step/rev

π

v2__ 2

2002____ 2

PULL OUTPULL IN

TORQ

UE

(mN

m)

NI-ZO

UNIPOLAR 42M048CIU-N L/R 2 PHASE DRIVETORQUE VS SPEED

60.0

50.0

40.0

30.0

20.0

10.0

00 50 100 150 200 250 300 350

8.50

7.08

5.66

4.25

2.83

1.42

0

SPEED (PPS)

Examples of motor calculations (Can Stack)

Miniature Motors

23www.portescap.com

Please contact us or visit our website to learn about other available sizes: 6, 8, 10, 12

Slotted BLDC

Slotted BLDC

Brushless SlottedDC Motors

Timing Relationship 24

B0504-050 26

B0508-050 27

B0512-050 28

NEW B0610-024 29

NEW B0614-024 30

B0906-050 31

B0909-050 32

B0912-050 33

B1106-050 34

B1112-050 35

B1118-050 36

B1505-150 37

B1515-150 38

B1525-150 39

NEW B-230013 40

NEW C-230012 41



STANDARD SIZE 5

Timing relationships between the motor phases and the hall sensors that support cummutation (four pole motor). CCW rotation from shaft end.

Motor is supplied with connector AMP #640430-8 which may be removed.

Timing Relationship - Standard Size 5

Miniature Motors

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STANDARD SIZE 9, 11, 15

Timing relationships between the motor phases and the hall sensors that support cummutation (four pole motor). CW rotation from shaft end.

Motor is supplied with connector AMP #640430-8 which may be removed.

Slotted BLDC

Timing Relationship – Standard Size 9, 11, 15



B0504-050

[*] denotes millimetersSpecifications subject to change without notice

Size 5 Performance Data - Model: B0504-050Symbol Parameter Units A BTcs Max Cont Stall Torque oz-in (mNm) .320 (2.26) .320 (2.26)Tpk Peak Torque oz-in (mNm) 1.46 (10.3) .740 (5.23)Pdiss* Max Cont Pwr Dissipation watt 5.83 5.83Wnl No Load Speed rpm 75,200 38,100Ics Max Cont Current amp .370 .190Km Motor Constant oz-in/watt1⁄2 (mNm/watt1⁄2) .130 (.920) .130 (.920) Kt Torque Constant oz-in/amp (mNm/amp) .860 (6.07) 1.70 (12.0)tm Mech Time Constant msec 24.5 24.3te Elec Time Constant msec .060 .060Jm Rotor Inertia oz-in-sec2 (kg-m2) 3.00x10-6 (2.12x10-8) 3.00x10-6 (2.12x10-8)Kd Viscous Torque (Losses) oz-in/krpm (mNm/krpm) 1.94x10-5 (1.40x10-4) 1.94x10-5 (1.40x10-4)Rth Thermal Resistance °C/watt 22.3 22.3Tf Static Friction Torque oz-in (mNm) .030 (.210) .030 (.210)W Motor Weight oz (gm) .900 (24.0) .900 (24.0)

*Mounted on a 5.0” x 5.0” x 0.25” Aluminum Heat Sink

Size 5 Winding Data - Model: B0504-050Symbol Parameter Units A BVr Rated Voltage VDC 50.0 50.0Ipk Peak Current amp 1.69 .44Ke Back EMF (Voltage) Constant V/krpm .640 1.26L Inductance (Ph to Ph) mH 1.68 6.53Rc Resistance (Ph to Ph) Ω 28.4 109.7


Miniature Motors

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B0508-050



Slotted BLDC

Size 5 Performance Data - Model: B0508-050Symbol Parameter Units A BTcs Max Cont Stall Torque oz-in (mNm) .710 (5.01) .710 (.501)Tpk Peak Torque oz-in (mNm) 5.82 (41.1) 2.91 (20.6)Pdiss* Max Cont Pwr Dissipation watt 7.03 7.03Wnl No Load Speed rpm 73,500 36,700Ics Max Cont Current amp .800 .400Km Motor Constant oz-in/watt1⁄2 (mNm/watt1⁄2) .270 (.191) .270 (.191)Kt Torque Constant oz-in/amp (mNm/amp) .880 (6.21) 1.77 (12.5)tm Mech Time Constant msec 9.98 9.98te Elec Time Constant msec .050 .050Jm Rotor Inertia oz-in-sec2 (kg-m2) 5.00x10-6 (3.53x10-8) 5.00x10-6 (3.53x10-8)Kd Viscous Torque (Losses) oz-in/krpm (mNm/krpm) 7.93x10-5 (5.60x10-4) 7.93x10-5 (5.60x10-4)Rth Thermal Resistance °C/watt 18.5 18.5Tf Static Friction Torque oz-in (mNm) .050 (.350) .050 (.350)W Motor Weight oz (gm) 1.20 (34.0) 1.20 (34.0)


Size 5 Winding Data - Model: B0508-050Symbol Parameter Units A BVr Rated Voltage VDC 50.0 50.0Ipk Peak Current amp 6.59 1.65Ke Back EMF (Voltage) Constant V/krpm .650 1.31L Inductance (Ph to Ph) mH 0.360 1.44Rc Resistance (Ph to Ph) Ω 7.28 29.1



B0512-050


Size 5 Performance Data - Model: B0512-050Symbol Parameter Units A BTcs Max Cont Stall Torque oz-in (mNm) 1.04 (7.34) 1.04 (7.34Tpk Peak Torque oz-in (mNm) 10.4 (73.6) 5.17 (36.5)Pdiss* Max Cont Pwr Dissipation watt 8.19 8.19Wnl No Load Speed rpm 70,100 35,000Ics Max Cont Current amp 1.13 0.56Km Motor Constant oz-in/watt1⁄2 (mNm/watt1⁄2) .360 (2.54) .360 (2.54) Kt Torque Constant oz-in/amp (mNm/amp) .930 (6.57) 1.85 (13.1)tm Mech Time Constant msec 7.45 7.51te Elec Time Constant msec .050 .050Jm Rotor Inertia oz-in-sec2 (kg-m2) 7.00x10-6 (4.94x10-8) 7.00x10-6 (4.94x10-8)Kd Viscous Torque (Losses) oz-in/krpm (mNm/krpm) 1.49x10-4 (1.05x10-3) 1.49x10-4 (1.05x10-3)Rth Thermal Resistance °C/watt 15.9 15.9Tf Static Friction Torque oz-in (mNm) .080 (.560) .080 (.560)W Motor Weight oz (gm) 1.60 (44.0) 1.60 (44.0)


Size 5 Winding Data - Model: B0512-050Symbol Parameter Units A BVr Rated Voltage VDC 50.0 50.0Ipk Peak Current amp 11.3 2.79Ke Back EMF (Voltage) Constant V/krpm .680 1.37L Inductance (Ph to Ph) mH .220 0.890Rc Resistance (Ph to Ph) Ω 4.27 17.2


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Miniature Motors

B0610-024

NEW

Speed-Torque CurvesSize B0610

70000

60000

50000

40000

30000

20000

10000

0.5 1 1.50 2 2.5

0

Size 6 Performance Data - Model: B0610-024Symbol Parameter Units A BTcs Max Cont Stall Torque oz-in (mNm) 1.85 (13.1) 2.0 (14.1)Tpk Peak Torque oz-in (mNm) 14.3 (101.3) 8.0 (56.6)Pdiss* Max Cont Pwr Dissipation watt 8.44 8.44Wnl No Load Speed at 24 volts-25°C rpm 57,300 28,300Ics Max Cont Current amp 3.49 1.89Km Motor Constant oz-in/watt1⁄2 (mNm/watt1⁄2) .64 (4.50) 0.69 (4.86) Kt Torque Constant oz-in/amp (mNm/amp) .56 (3.93) .056 (3.93)tm Mech Time Constant msec 4.75 4.1te Elec Time Constant msec 0.17 0.21Jm Rotor Inertia oz-in-sec2 (kg-m2) 15.0 (1.06) 15.0 (1.06)Kd Viscous Torque (Losses) oz-in/krpm (mNm/krpm) 3.2E-4 (2.3E-3) 3.2E-4 (2.3E-3)Rth Thermal Resistance °C/watt 15.4 15.4Tf Static Friction Torque oz-in (mNm) .0150 (1.06) .150 (1.06)W Motor Weight oz (gm) 2.8 (79) 2.8 (79)


Size 6Winding Data - Model: B0610-024Symbol Parameter Units A BVr Rated Voltage VDC 50.0 50.0Ipk Peak Current amp 25.8 7.2Ke Back EMF (Voltage) Constant V/krpm 0.861 1.72L Inductance (Ph to Ph) mH 0.08 0.33Rc Resistance (Ph to Ph) Ω 0.46 1.57



Size 6 Performance Data - Model: B0614-024Symbol Parameter Units A BTcs Max Cont Stall Torque oz-in (mNm) 2.62 (18.5) 2.79 (19.7)Tpk Peak Torque oz-in (mNm) 23.8 (167.9) 13.2 (93.5)Pdiss* Max Cont Pwr Dissipation watt 10.4 10.4Wnl No Load Speed at 24 volts-25°C rpm 58,150 28,750Ics Max Cont Current amp 4.99 2.66Km Motor Constant oz-in/watt1⁄2 (mNm/watt1⁄2) 0.81 (6.74) 0.87 (6.12) Kt Torque Constant oz-in/amp (mNm/amp) 0.55 (3.90) 1.10 (7.79)tm Mech Time Constant msec 3.7 3.3te Elec Time Constant msec 0.19 0.22Jm Rotor Inertia oz-in-sec2 (kg-m2) 19.0 (1.34) 19.0 (1.34)Kd Viscous Torque (Losses) oz-in/krpm (mNm/krpm) 6.8E-4 (4.8E-3) 6.8E-4 (4.8E-3)Rth Thermal Resistance °C/watt 12.5 12.5Tf Static Friction Torque oz-in (mNm) .0150 (1.06) .150 (1.06)W Motor Weight oz (gm) 3.2 (90) 3.2 (90)


Size 6Winding Data - Model: B0614-024Symbol Parameter Units A BVr Rated Voltage VDC 50.0 50.0Ipk Peak Current amp 43.1 12.0Ke Back EMF (Voltage) Constant V/krpm 0.85 1.71L Inductance (Ph to Ph) mH 0.05 0.21Rc Resistance (Ph to Ph) Ω 0.28 0.98

B0614-024

NEW

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Miniature Motors

B0906-050


Size 9 Performance Data - Model: B0906-050Symbol Parameter Units A BTcs Max Cont Stall Torque oz-in (mNm) 2.09 (14.8) 2.09 (14.8)Tpk Peak Torque oz-in (mNm) 16.2 (114.4) 8.25 (58.3)Pdiss* Max Cont Pwr Dissipation watt 9.12 9.12Wnl No Load Speed rpm 59,800 31,200Ics Max Cont Current amp 1.94 1.00Km Motor Constant oz-in/watt1⁄2 (mNm/watt1⁄2) .700 (4.94) .690 (4.87)Kt Torque Constant oz-in/amp (mNm/amp) 1.08 (7.63) 2.08 (14.7)tm Mech Time Constant msec 8.78 8.98te Elec Time Constant msec .170 .170Jm Rotor Inertia oz-in-sec2 (kg-m2) 3.00x10-6 (2.12x10-8) 3.00x10-6 (2.12x10-8)Kd Viscous Torque (Losses) oz-in/krpm (mNm/krpm) 5.35x10-4 (3.78x10-3) 5.35x10-4 (3.78x10-3)Rth Thermal Resistance °C/watt 14.3 14.3Tf Static Friction Torque oz-in (mNm) .100 (.710) .100 (.710)W Motor Weight oz (gm) 3.30 (94.0) 3.30 (94.0)


Size 9 Winding Data - Model: B0906-050Symbol Parameter Units A BVr Rated Voltage VDC 50.0 50.0Ipk Peak Current amp 14.9 3.97Ke Back EMF (Voltage) Constant V/krpm .800 1.54L Inductance (Ph to Ph) mH .280 1.02Rc Resistance (Ph to Ph) Ω 1.61 6.04


Slotted BLDC



B0909-050


Size 9 Performance Data - Model: B0909-050Symbol Parameter Units A BTcs Max Cont Stall Torque oz-in (mNm) 3.08 (21.8) 3.08 (21.8)Tpk Peak Torque oz-in (mNm) 27.9 (197.0) 15.0 (105.9)Pdiss* Max Cont Pwr Dissipation watt 10.9 10.9Wnl No Load Speed rpm 57,600 30,700Ics Max Cont Current amp 2.73 1.46Km Motor Constant oz-in/watt1⁄2 (mNm/watt1⁄2) .930 (6.57) .940 (6.64)Kt Torque Constant oz-in/amp (mNm/amp) 1.13 (7.98) 2.11 (14.9)tm Mech Time Constant msec 6.53 6.48te Elec Time Constant msec .190 .190Jm Rotor Inertia oz-in-sec2 (kg-m2) 4.00x10-5 (2.82x10-7) 4.00x10-5 (2.82x10-7)Kd Viscous Torque (Losses) oz-in/krpm (mNm/krpm) 9.73x10-4 (6.87x10-3) 9.73x10-4 (6.87x10-3)Rth Thermal Resistance °C/watt 11.9 11.9Tf Static Friction Torque oz-in (mNm) .130 (.920) .130 (.920)W Motor Weight oz (gm) 4.00 (113.0) 4.00 (113.0)


Size 9 Winding Data - Model: B0909-050Symbol Parameter Units A BVr Rated Voltage VDC 50.0 50.0Ipk Peak Current amp 24.8 7.10Ke Back EMF (Voltage) Constant V/krpm .830 1.56L Inductance (Ph to Ph) mH .180 .650Rc Resistance (Ph to Ph) Ω .970 3.38


Miniature Motors

B0912-050

33www.portescap.com

Size 9 Performance Data - Model: B0912-050Symbol Parameter Units A BTcs Max Cont Stall Torque oz-in (mNm) 4.10 (29.0) 4.10 (29.0)Tpk Peak Torque oz-in (mNm) 41.9 (295.9) 22.5 (158.9)Pdiss* Max Cont Pwr Dissipation watt 12.7 12.7Wnl No Load Speed rpm 56,500 30,800Ics Max Cont Current amp 3.58 1.94Km Motor Constant oz-in/watt1⁄2 (mNm/watt1⁄2) 1.15 (8.12) 1.14 (8.05)Kt Torque Constant oz-in/amp (mNm/amp) 1.15 (8.12) 2.11 (14.9)tm Mech Time Constant msec 5.33 5.41te Elec Time Constant msec .240 .230Jm Rotor Inertia oz-in-sec2 (kg-m2) 5.00x10-5 (3.53x10-7) 5.00x10-5 (3.53 x 10-7)Kd Viscous Torque (Losses) oz-in/krpm (mNm/krpm) 1.50x10-3 (1.06x10-2) 1.50x10-3 (1.06x10-2)Rth Thermal Resistance °C/watt 10.2 10.2Tf Static Friction Torque oz-in (mNm) .160 (1.13) .160 (1.13)W Motor Weight oz (gm) 4.70 (133.0) 4.70 (133.0)




Slotted BLDC




B1106-050


Size 11 Performance Data - Model: B1106-050Symbol Parameter Units A BTcs Max Cont Stall Torque oz-in (mNm) 5.17 (36.5) 5.17 (36.5)Tpk Peak Torque oz-in (mNm) 31.6 (223.1) 15.8 (111.6)Pdiss* Max Cont Pwr Dissipation watt 11.5 11.5Wnl No Load Speed rpm 48,800 24,400Ics Max Cont Current amp 3.88 1.94Km Motor Constant oz-in/watt1⁄2 (mNm/watt1⁄2) 1.52 (10.7) 1.52 (10.7)Kt Torque Constant oz-in/amp (mNm/amp) 1.33 (9.39) 2.66 (18.8)tm Mech Time Constant msec 4.88 4.88te Elec Time Constant msec .400 .400Jm Rotor Inertia oz-in-sec2 (kg-m2) 8.00x10-5 (5.65x10-7) 8.00x10-5 (5.65x10-7)Kd Viscous Torque (Losses) oz-in/krpm (mNm/krpm) 2.60x10-3 (1.83x10-2) 2.60x10-3 (1.83x10-2)Rth Thermal Resistance °C/watt 11.3 11.3Tf Static Friction Torque oz-in (mNm) .400 (2.82) .400 (2.82)W Motor Weight oz (gm) 6.20 (175.0) 6.20 (175.0)




Miniature Motors

B1112-050

35www.portescap.com

Slotted BLDC

Size 11 Performance Data - Model: B1112-050Symbol Parameter Units A BTcs Max Cont Stall Torque oz-in (mNm) 8.50 (60.0) 8.50 (60.0)Tpk Peak Torque oz-in (mNm) 67.3 (475.2) 33.4 (235.9)Pdiss* Max Cont Pwr Dissipation watt 13.5 13.5Wnl No Load Speed rpm 45,000 22,500Ics Max Cont Current amp 5.90 2.94Km Motor Constant oz-in/watt1⁄2 (mNm/watt1⁄2) 2.32 (16.4) 2.31 (16.3)Kt Torque Constant oz-in/amp (mNm/amp) 1.44 (10.2) 2.89 (20.4)tm Mech Time Constant msec 3.17 3.19te Elec Time Constant msec .420 .420Jm Rotor Inertia oz-in-sec2 (kg-m2) 1.20x10-4 (8.47x10-7) 1.20x10-4 (8.47x10-7)Kd Viscous Torque (Losses) oz-in/krpm (mNm/krpm) 5.95x10-3 (4.20x10-2) 5.95x10-3 (4.20x10-2)Rth Thermal Resistance °C/watt 9.62 9.62Tf Static Friction Torque oz-in (mNm) .450 (3.18) .450 (3.18)W Motor Weight oz (gm) 7.90 (225.0) 7.90 (225.0)


Size 11 Winding Data - Model: B1112-050Symbol Parameter Units A BVr Rated Voltage VDC 50.0 50.0Ipk Peak Current amp 46.7 11.6Ke Back EMF (Voltage) Constant V/krpm 1.07 2.13L Inductance (Ph to Ph) mH .110 .430Rc Resistance (Ph to Ph) Ω .260 1.04





B1118-050


Size 11 Performance Data - Model: B1118-050Symbol Parameter Units A BTcs Max Cont Stall Torque oz-in (mNm) 11.8 (83.3) 11.8 (83.3)Tpk Peak Torque oz-in (mNm) 116.1 (819.8) 58.0 (409.6)Pdiss* Max Cont Pwr Dissipation watt 15.5 15.5Wnl No Load Speed rpm 46,600 23,300Ics Max Cont Current amp 8.45 4.23Km Motor Constant oz-in/watt1⁄2 (mNm/watt1⁄2) 2.99 (21.1) 2.99 (21.1) Kt Torque Constant oz-in/amp (mNm/amp) 1.39 (9.82) 2.78 (19.6)tm Mech Time Constant msec 2.54 2.54te Elec Time Constant msec .500 .500Jm Rotor Inertia oz-in-sec2 (kg-m2) 1.60x10-4 (1.13x10-6) 1.60x10-4 (1.13x10-6)Kd Viscous Torque (Losses) oz-in/krpm (mNm/krpm) 1.00X10-2 (7.06X10-2) 1.00X10-2 (7.06X10-2)Rth Thermal Resistance °C/watt 8.37 8.37Tf Static Friction Torque oz-in (mNm) .500 (3.53) .500 (3.53)W Motor Weight oz (gm) 9.70 (275.0) 9.70 (275.0)


Size 11 Winding Data - Model: B1118-050Symbol Parameter Units A BVr Rated Voltage VDC 50.0 50.0Ipk Peak Current amp 83.4 20.8Ke Back EMF (Voltage) Constant V/krpm 1.03 2.06L Inductance (Ph to Ph) mH .070 .290Rc Resistance (Ph to Ph) Ω .140 .580


Miniature Motors

B1505-150

37www.portescap.com


Size 15 Performance Data - Model: B1505-150Symbol Parameter Units A BTcs Max Cont Stall Torque oz-in (mNm) 7.16 (50.6) 7.16 (50.6)Tpk Peak Torque oz-in (mNm) 35.7 (252.1) 18.2 (128.5)Pdiss* Max Cont Pwr Dissipation watt 15.1 15.1Wnl No Load Speed rpm 38,000 19,000Ics Max Cont Current amp 1.35 .680Km Motor Constant oz-in/watt1⁄2 (mNm/watt1⁄2) 1.83 (12.9) 1.85 (13.1)Kt Torque Constant oz-in/amp (mNm/amp) 5.26 (37.1) 10.5 (74.3)tm Mech Time Constant msec 21.1 20.7te Elec Time Constant msec .270 .270Jm Rotor Inertia oz-in-sec2 (kg-m2) 5.00X10-4 (3.53X10-6) 5.00X10-4 (3.53X10-6)Kd Viscous Torque (Losses) oz-in/krpm (mNm/krpm) 3.75X10-3 (2.65X10-2) 3.75X10-3 (2.65X10-2)Rth Thermal Resistance °C/watt 8.60 8.60Tf Static Friction Torque oz-in (mNm) .300 (2.12) .300 (2.12)W Motor Weight oz (gm) 12.5 (353.0) 12.5 (353.0)


Size 15 Winding Data - Model: B1505-150Symbol Parameter Units A BVr Rated Voltage VDC 150.0 150.0Ipk Peak Current amp 6.78 1.73Ke Back EMF (Voltage) Constant V/krpm 3.89 7.78L Inductance (Ph to Ph) mH 1.47 5.87Rc Resistance (Ph to Ph) Ω 5.46 21.4


Slotted BLDC



B1515-150


Size 15 Performance Data - Model: B1515-150Symbol Parameter Units A BTcs Max Cont Stall Torque oz-in (mNm) 20.3 (143.3) 20.3 (143.3)Tpk Peak Torque oz-in (mNm) 179.3 (1266.1) 87.9 (620.7)Pdiss* Max Cont Pwr Dissipation watt 24.1 24.1Wnl No Load Speed rpm 38,100 18,100Ics Max Cont Current amp 3.83 1.85Km Motor Constant oz-in/watt1⁄2 (mNm/watt1⁄2) 4.11 (29.0) 4.17 (29.5)Kt Torque Constant oz-in/amp (mNm/amp) 5.26 (37.1) 11.05 (78.0)tm Mech Time Constant msec 7.56 7.34te Elec Time Constant msec .340 .350Jm Rotor Inertia oz-in-sec2 (kg-m2) 9.00X10-4 (6.36X10-6) 9.00X10-4 (6.36X10-6)Kd Viscous Torque (Losses) oz-in/krpm (mNm/krpm) 1.91X10-2 (.135) 1.91X10-2 (.135)Rth Thermal Resistance °C/watt 5.40 5.40Tf Static Friction Torque oz-in (mNm) .330 (2.33) .330 (2.33)W Motor Weight oz (gm) 18.0 (510.0) 18.0 (510.0)


Size 15 Winding Data - Model: B1515-150Symbol Parameter Units A BVr Rated Voltage VDC 150.0 150.0Ipk Peak Current amp 34.1 7.95Ke Back EMF (Voltage) Constant V/krpm 3.89 8.17L Inductance (Ph to Ph) mH .370 1.62Rc Resistance (Ph to Ph) Ω 1.09 4.65


Miniature Motors

B1525-150

39www.portescap.com


Size 15 Performance Data - Model: B1525-150Symbol Parameter Units A BTcs Max Cont Stall Torque oz-in (mNm) 31.7 (223.7) 31.7 (223.7)Tpk Peak Torque oz-in (mNm) 328.2 (2317.6) 152.0 (1073.3)Pdiss* Max Cont Pwr Dissipation watt 32.5 32.5Wnl No Load Speed rpm 38,100 17,600Ics Max Cont Current amp 6.02 2.78Km Motor Constant oz-in/watt1⁄2 (mNm/watt1⁄2) 5.56 (39.3) 5.57 (39.3)Kt Torque Constant oz-in/amp (mNm/amp) 5.26 (37.1) 11.4 (80.5)tm Mech Time Constant msec 5.96 5.94te Elec Time Constant msec .500 .500Jm Rotor Inertia oz-in-sec2 (kg-m2) 1.30X10-3 (9.18X10-6) 1.30X10-3 (9.18X10-6)Kd Viscous Torque (Losses) oz-in/krpm (mNm/krpm) 3.45X10-2 (0.243) 3.45X10-2 (0.243)Rth Thermal Resistance °C/watt 4.00 4.00Tf Static Friction Torque oz-in (mNm) .380 (2.68) .380 (2.68)W Motor Weight oz (gm) 23.5 (667.0) 23.5 (667.0)


Size 15 Winding Data - Model: B1525-150Symbol Parameter Units A BVr Rated Voltage VDC 150.0 150.0Ipk Peak Current amp 62.4 13.3Ke Back EMF (Voltage) Constant V/krpm 3.89 8.43L Inductance (Ph to Ph) mH .300 1.40Rc Resistance (Ph to Ph) Ω .590 2.77


Slotted BLDC



Motor Type Coil dependent parameters / Winding type Units B-230013-12A B-230013-20A B-230013-24D 1. DC Resistance at 25°C (line-to-line) ⁄ ±10% Ohm 0.5 0.75 2. Inductance at 1000 Hz (line-to-line) ±20% mH 1,1 1,653. Back - EMF Constant (line-to-line) ±10% V/1000 rpm 5.0 8.8 10.04. Torque Constant ±10% mNm/Amp 47.3 79.8 95.35. Max. Continuous Current Amp 2.4 1.4 1,2 Coil independent parameter 6. Max. Continuous Torque mNm 113.7 114.8 113.7Mechanical parameters7. Rotor Inertia kg-m2 6.07x10-6 6.07x10-6 6.07x10-6 Dynamic performances 8. Rated Voltage Volt 12 20 249. Max. No Load Current Amp 0.2 0.18 0,1510. Max. No Load Speed Rpm 2650 2540 267011. Thermal Resistance °C/Watt 4.5 4.5 4,5

Size 23 (57.0 mm)

HALLEFFECT

SENSORS26 AWG

MOTORWINDINGS

22 AWG

DESCR.

PHASE C6 WHITE

8

7 PHASE B

PHASE ABROWN

ORANGE

PIN

4

5

3

2

1

LEAD WIRE COLOR CODE

+5V

LEAD

COMMON

RED

GREEN

BLUE

WHITE

COLOR

BROWN

S1

S2

S3

Ø6.34 [0.250]

DETAIL "A", SHAFT DETAILSCALE 2:1

Ø 12.68 12.66 [0.499 0.498]

0.76 [0.030]C 0.5 x 45°

2X (47.15 [1.856])

4x R3.9[R.16]

4X Ø5.20 [Ø0.205]THRUON A Ø66.68[Ø2.625] B.C.

18

2x 56.40 [2.220]

5.74 [0.226](MOUNTING PLATE)

Ø56.4 [2.220]

162.0~175.0 [6.38~6.89]

"A"

NAME PLATE,ADHESIVE BACKED

LABEL

20.54 20.06 [0.809 0.790](TO END OF SHAFT)

37.01 36.29 [1.457 1.429]

MA

DE

IN IN

DIA

KOLL

MO

RG

ENM

oti

on

Tec

hn

olo

gie

s G

rou

p

S/N

: XXX

XX-X

XX R

EV.X

MO

DEL

B-2

3001

3-N

NN

Speed v/s Torque Curve

T (m

Nm

)

50

1428

42

56

70

84

98

112

126

140

550 1050 1550 2050 2550

N(rpm)

B-230013-12A

Motor Characteristics

• Motor with preloaded ball bearings• Motor with three phase star connection of the coils• Hall sensors: Supply voltage 4.5V to 20 VDC• 4 pole design

Note: 1) Above models can be supplied with special mounting configuration such as shaft with flat end, tapping, undercuts & end bells with a variety of holes, tapping requirement on requests 2) Above models can be supplied with attachment of gear/ pulley/drive electronics on requests

NEWB-230013-12A

Miniature Motors

Size 23 High Torque

41www.portescap.com

Slotted BLDC

Motor Type Coil dependent parameters / Winding type Units C-230012-12B C-230012-20A C-230012-24C 1. DC Resistance at 25°C (line-to-line) ⁄ ±10% Ohm 0.25 0.5 0.75 2. Inductance at 1000 Hz (line-to-line) ±20% mH 0,35 1,1 1,653. Back - EMF Constant (line-to-line) ±10% V/1000 rpm 2,35 4,3 5,24. Torque Constant ±10% mNm/Amp 22.5 40.9 48.75. Max. Continuous Current Amp 6,3 4,5 3,7 Coil independent parameter 6. Max. Continuous Torque mNm 142.6 181.5 179.4Mechanical parameters7. Rotor Inertia kg-m2 1.009x10-5 1.009x10-5 1.009x10-5 Dynamic performances 8. Rated Voltage Volt 12 20 249. Max. No Load Current Amp 0.75 0.5 0.410. Max. No Load Speed Rpm 5650 5500 512011. Thermal Resistance °C/Watt 4.5 4.5 4.5

Ø6.34 [0.250]

DETAIL "A", SHAFT DETAILSCALE 2:1

Ø 12.68 12.66 [0.499 0.498]

0.76 [0.030]

C 0.5 x 45°

2X (47.15 [1.856])

4x R3.9[R.16]

4X Ø5.20 [Ø0.205]THRUON A Ø66.68[Ø2.625] B.C.

18

2x 56.40 [2.220]

5.74 [0.226](MOUNTING PLATE)

Ø56.4 [2.220]

162.0~175.0 [6.38~6.89]

"A"

NAME PLATE,ADHESIVE BACKED

LABEL

20.54 20.06 [0.809 0.790](TO END OF SHAFT)

52.53 51.81 [2.068 2.040]

MA

DE

IN IN

DIA

KOLL

MO

RGEN

Mo

tio

n T

ech

no

log

ies

Gro

up

S/N

: XXX

XX-X

XX R

EV.X

MO

DEL

C-2

3001

2-N

NN

HALLEFFECT

SENSORS26 AWG

MOTORWINDINGS

22 AWG

DESCR.

PHASE C6 WHITE

8

7 PHASE B

PHASE ABROWN

ORANGE

PIN

4

5

3

2

1

LEAD WIRE COLOR CODE

+5V

LEAD

COMMON

RED

GREEN

BLUE

WHITE

COLOR

BROWN

S1

S2

S3

Speed v/s Torque Curve

T (m

Nm

)

3000

14

28

42

56

70

84

N(rpm)

C-230012-12B

Motor Characteristics

• Motor with preloaded ball bearings• Motor with three phase star connection of the coils• Hall sensors: Supply voltage 4.5V to 20 VDC• 4 pole design

Note: 1) Above models can be supplied with special mounting configuration such as shaft with flat end, tapping, undercuts & end bells with a variety of holes, tapping requirement on requests 2) Above models can be supplied with attachment of gear/ pulley/drive electronics on requests

0

3500 4000 4500 5000 5500

NEWC-230012-12B


42

Notes

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Miniature Motors

Slotless BLDC

43www.portescap.com

Brushless Slotless DC Motors

18BT 44

22BT 45

13BC 46

16BS 47

16BL 48

22BS 49

22BM 50

22BL 51

26BC3C 52

26BC6A 53

Slotless BLDC

Designation of Brushless Slotless DC Motors 26 BC 6 A 107 .101

Motor diameterTechnologyNumber of terminal wiresCommunication systemWinding typeExecution code



escap 18BT

Winding Type §§ -LCoil Dependent Parameters Phase/phase resistance ohm 58.0Phase/phase inductance mH 2.3Back-EMF constant V/1000 rpm 0.70Torque Constant mNm/A (oz.-in/A) 6.68 (0.95)Dynamic Parameters Rated Voltage V 5.0No-load Current A 0.015No-load Speed rpm 5900Max. continuous stall torque mNm (oz-in) 1.2 (0.17)Max. continuous stall current A 0.20Max. continuous torque at 10 krpm mNm (oz-in) 1.20 (0.17)Max. continuous current at 10 krpm A 0.20Max. continuous power at 10 krpm W 1.3Intrinsic Parameters Motor constant mNm/W1⁄2 (oz-in/W1⁄2) 0.9 (0.12)Rotor inertia kgm2 10-7 5.3Mechanical time constant ms 688Electrical time constant ms 0.04Thermal resistance ºC/W 30

Electronically Commutated Sensorless Motor w/ Rotating External Tube

8.60 0.05

13 0.2

20

3x 120º

3x 2.40

1

23

0.80 0.2

4.70 0.1

1 0.1

9 0.1

3 0.2

M10 x 0.7518 - 0.05

023 0.2

15.60

0.03 A

- 0.10

12 0.2

A

dimensions in mmmass: 16 g 18BT 3C §§ • 02

ConnectionsPin Designation1 phase 12 phase 23 phase 3

• Motor with preloaded ball bearings• Typical preload = 3.0 N• Maximum external load: - axial static 40 N - axial dynamic 3 N - radial dynamic 7 N• Operating temperature range: -40°C to +100°C• Max. rated coil temperature: 125°C• The rotor is not balanced

EBS 485 SI

Miniature Motors

escap 22BT

45www.portescap.com

DC Motor w/ Integrated Electronic Commutation and Rotating External Tube

22BT 6A §§ • 05

• Motor with preloaded ball bearings• Typical preload = 3.5 N• Maximum external load: - axial static 50 N - axial dynamic 5 N - radial dynamic 10 N• Operating temperature range: -0°C to +70°C• Max. rated coil temperature: 125°C• Rotor not balanced

dimensions in mmmass: 32 g

ConnectionsPin Color Designation1 brown GND2 red power supply voltage 1)

3 orange direction CCW/CW 4)

4 yellow enable start/stop 4)

5 green logic supply voltage 2)

6 blue speed signal 3)

• Integrated electronic commutation• Warning: an incorrect supply voltage polarity may damage the electronic circuitry!1) The motor supply voltage may vary between 2.5 V and 10 V. The use of Mosfets in the power stage provides a very low voltage drop.2) The logic supply voltage may vary between 5 V and 10 V. By connecting pin 2 and pin 5 together, the motor becomes a two-wire version identical to a DC motor. In this case, the supply voltage may only vary between 5 V and 10 V.3) A square wave voltage with one pulse per revolution is available on pin 64) Pins 3 and 4 have pull up resistor of 120 kohm.

Slotless BLDC

Winding Type §§ -P Coil Dependent Parameters Phase/phase resistance ohm 8.2 Phase/phase inductance mH 0.33Back-EMF constant V/1000 rpm 0.59Torque Constant mNm/A (oz.-in/A) 5.63 (0.80)Dynamic Parameters Rated Voltage V 5.0No-load Current A 0.071No-load Speed rpm 7500Max. continuous stall torque mNm (oz-in) 3.0 (0.43)Max. continuous stall current A 0.60Max. continuous torque at 10 krpm mNm (oz-in) 2.8 (0.40)Max. continuous current at 10 krpm A 0.57Max. continuous power at 10 krpm W 3.0Intrinsic Parameters Motor constant mNm/W1⁄2 (oz-in/W1⁄2) 2.0 (0.28)Rotor inertia kgm2 10-7 17.7Mechanical time constant ms 457Electrical time constant ms 0.04Thermal resistance ºC/W 24


37


escap 13BC

Winding Type §§ -E -H -K -PCoil Dependent Parameters Phase/phase resistance ohm 22.5 14.8 10.4 5.6Phase/phase inductance mH 0.68 0.44 0.31 0.17Back-EMF constant V/1000 rpm 0.84 0.69 0.58 0.46Torque Constant mNm/A (oz.-in/A) 8.02 (1.14) 6.59 (0.93) 5.54 (0.78) 4.39 (0.62)Dynamic Parameters Rated Voltage V 10 10 10 10No-load Current A 0.054 0.068 0.085 0.114No-load Speed rpm 9300 11600 14000 18200Max. continuous stall torque mNm (oz-in) 1.8 (0.3) 1.8 (0.3) 1.8 ( 0.3) 1.9 (0.3)Max. continuous stall current A 0.28 0.34 0.41 0.55Max. continuous torque at 10 krpm mNm (oz-in) 1.6 (0.2) 1.6 (0.2) 1.5 (0.2) 1.7 (0.2)Max. continuous current at 10 krpm A 0.25 0.31 0.36 0.49Max. continuous power at 10 krpm W 1.7 1.7 1.6 1.7Intrinsic Parameters Motor constant mNm/W1⁄2 (oz-in/W1⁄2) 1.7 (0.2) 1.7 (0.2) 1.7 (0.2) 1.9 (0.3)Rotor inertia kgm2 10-7 0.22 0.22 0.22 0.22Mechanical time constant ms 8 7 7 6Electrical time constant ms 0.03 0.03 0.03 0.03Thermal resistance ºC/W 42 42 42 42

Electronically Commutated Sensorless Motor

13BC 3C §§ • 05dimensions in mmmass: 19 g

ConnectionsColor Designationwhite phase 1grey phase 2violet phase 3

EBS 485 SI

Continuous working rangeTemporary working range

Values at the output shaft

mNm (oz.in)

20000

15000

10000

5000

0.5 1 1.5 2 2.5 3(0.1) (0.1) (0.2) (0.3) (0.3) (0.4)

00

n (rpm)

1 W1 W1 W1 W

2 W2 W2 W2 W

The 13BC-3C is a sensorless motor with a delta-connected winding. It is intended to use with a sensorless driver such as the EBS 485 S I or a driver using, for instance, a chip of the Philips TDA family. If the winding center-point is needed, it can be generated by using three external resis-tors attached to the motor phases and Y-connected together.

Miniature Motors

47www.portescap.com



mNm (oz.in)

50000

40000

30000

20000

10000

1 2 3 4 5(0.1) (0.3) (0.4) (0.6) (0.7)

00

n (rpm)

5 W5 W

10 W10 W

Winding Type §§ -L Coil Dependent Parameters Phase/phase resistance ohm 7.0Phase/phase inductance mH 0.28Back-EMF constant V/1000 rpm 0.86Torque Constant mNm/A (oz.-in/A) 8.21 (1.16)Dynamic Parameters Rated Voltage V 12No-load Current A 0.097No-load Speed rpm 13200Max. continuous stall torque mNm (oz-in) 4.3 (0.61)Max. continuous stall current A 0.62Max. continuous torque at 10 krpm mNm (oz-in) 3.7 (0.52)Max. continuous current at 10 krpm A 0.55Max. continuous power at 10 krpm W 7.7Intrinsic Parameters Motor constant mNm/W1⁄2 (oz-in/W1⁄2) 3.1 (0.44)Rotor inertia kgm2 10-7 0.6Mechanical time constant ms 6.2Electrical time constant ms 0.04Thermal resistance ºC/W 26


16BS 3C §§ • 01dimensions in mmmass: 29 g

ConnectionsColor Designationgrey phase 1violet phase 2blue phase 3

EBS 485 SI• Motor with preloaded ball bearings• Typical preload = 2 N• Maximum external load: - axial static 25 N - axial dynamic 2 N - radial dynamic 5 N• Operating temperature range: -40°C to 100°C• Max. rated coil temperature: 125°CThe 16BS-3C is a sensorless motor with a delta-con-nected winding. It is intended to use with a sensorless driver such as the EBS 485 SI or a driver using, for instance, a chip of the Philips TDA family. If the wind-ing center-point is needed, it can be generated by using three external resistors attached to the motor phases and Y-connected together.

Slotless BLDC

escap 16BS


escap 16BL

Winding Type §§ -L Coil Dependent Parameters Phase/phase resistance ohm 0.70Phase/phase inductance mH 0.03Back-EMF constant V/1000 rpm 0.45Torque Constant mNm/A (oz.-in/A) 4.30 (0.61)Dynamic Parameters Rated Voltage V 12No-load Current A 0.23No-load Speed rpm 26300Max. continuous stall torque mNm (oz-in) 8.2 (1.16)Max. continuous stall current A 2.2Max. continuous torque at 10 krpm mNm (oz-in) 7.1 (1.0)Max. continuous current at 10 krpm A 1.9Max. continuous power at 10 krpm W 7.5Intrinsic Parameters Motor constant mNm/W1⁄2 (oz-in/W1⁄2) 5.1 (0.72)Rotor inertia kgm2 10-7 1.1Mechanical time constant ms 4.2Electrical time constant ms 0.04Thermal resistance ºC/W 22


16BL 3C §§ • 01dimensions in mmmass: 53 g

ConnectionsColor Designationgrey phase 1violet phase 2blue phase 3

EBS 485 SI



mNm (oz.in)

50000

40000

30000

20000

10000

2 4 6 8 10(0.3) (0.6) (0.9) (1.1) (1.4)

00

n (rpm)

7.5 W7.5 W

15 W15 W

• Motor with preloaded ball bearings• Typical preload = 4.5 N• Maximum external load: - axial static 25 N - axial dynamic 2 N - radial dynamic 5 N• Operating temperature range: -40°C to +100°C• Max. rated coil temperature: 125°C

www.portescap.com48

Miniature Motors

37

49www.portescap.com

Winding Type §§ -C -E -M -N -TCoil Dependent Parameters Phase/phase resistance ohm 12.70 5.40 1.13 0.43 0.21Phase/phase inductance mH 0.51 0.22 0.05 0.02 0.01Back-EMF constant V/1000 rpm 1.80 1.18 0.53 0.30 0.20Torque Constant mNm/A (oz.-in/A) 17.19 (2.43) 11.27 (1.60) 5.06 (0.72) 2.86 (0.41) 1.91 (0.27)Dynamic Parameters Rated Voltage V 24 24 12 12 12No-load Current A 0.03 0.07 0.16 0.35 0.63No-load Speed rpm 13100 20000 22300 39500 59300Max. continuous stall torque mNm (oz-in) 9.0 (1.28) 8.9 (1.26) 8.7 (1.24) 7.7 (1.10) 7.1 (1.01)Max. continuous stall current A 0.6 0.9 1.9 3.0 4.4Max. continuous torque at 10 krpm mNm (oz-in) 8.5 (1.20) 8.1 (1.15) 8.0 (1.13) 6.9 (0.97) 6.1 (0.87)Max. continuous current at 10 krpm A 0.5 0.8 1.7 2.8 3.8Max. continuous power at 10 krpm W 8.9 8.5 8.4 7.2 6.4Intrinsic Parameters Motor constant mNm/W1⁄2 (oz-in/W1⁄2) 4.8 (0.68) 4.8 (0.69) 4.8 (0.67) 4.4 (0.62) 4.2 (0.59)Rotor inertia kgm2 10-7 2.1 2.1 2.1 2.1 2.1Mechanical time constant ms 9.0 8.9 9.3 11.0 12.1Electrical time constant ms 0.04 0.04 0.04 0.04 0.04Thermal resistance ºC/W 18 18 18 18 18



mNm (oz.in)

50000

40000

30000

20000

10000

2 4 6 8 10 120

0

n (rpm)

10 W10 W

20 W20 W

(0.3) (0.6) (0.9) (1.1) (1.4) (1.7)

Electronically Commutated Motor

22BS 8B §§ • 01


With Hall effect sensorsColor Designationgrey phase 1violet phase 2blue phase 3green 4.5 to 24 VDCyellow GNDorange sensor 1red sensor 2brown sensor 3

SensorlessColor Designationgrey phase 1violet phase 2blue phase 3

• Motor with preloaded ball bearings• Typical preload = 6 N• Maximum external load: - axial static 50 N - axial dynamic 5 N - radial dynamic 10 N• Operating temperature range: -40°C to 100°C• Max. rated coil temperature: 125°C

sensorless

EBS 485 SI R22, 0.6Nm

with hall effect sensors

22BS 3C §§ • 01

Slotless BLDC

BL 5010 M22, 1.5Nm

escap 22BS


50

escap 22BM

Winding Type §§ -C -E -H -K -PCoil Dependent Parameters Phase/phase resistance ohm 14.36 6.28 0.97 0.63 0.34Phase/phase inductance mH 0.57 0.25 0.04 0.03 0.01Back-EMF constant V/1000 rpm 2.68 1.77 0.80 0.65 0.45Torque Constant mNm/A (oz.-in/A) 25.59 (3.62) 16.90 (2.39) 7.64 (1.08) 6.21 (0.87) 4.30 (0.60)Dynamic Parameters Rated Voltage V 30 30 30 24 24No-load Current A 0.03 0.05 0.13 0.16 0.30No-load Speed rpm 11000 16800 37300 36800 53100Max. continuous stall torque mNm (oz-in) 13.5 (1.91) 13.5 (1.91) 15.5 (2.19) 15.6 (2.20) 14.3 (2.02)Max. continuous stall current A 0.6 0.8 2.2 2.7 3.6Max. continuous torque at 10 krpm mNm (oz-in) 12.5 (1.77) 12.6 (1.78) 14.0 (1.98) 14.1 (1.99) 12.5 (1.77)Max. continuous current at 10 krpm A 0.5 0.8 2.0 2.4 3.2Max. continuous power at 10 krpm W 13.1 13.2 14.7 14.8 13.1Intrinsic Parameters Motor constant mNm/W1⁄2 (oz-in/W1⁄2) 6.8 (0.96) 6.7 (0.96) 7.8 (1.10) 7.8 (1.10) 7.4 (1.04)Rotor inertia kgm2 10-7 3.0 3.0 3.0 3.0 3.0Mechanical time constant ms 6.6 6.6 5.0 4.9 5.5Electrical time constant ms 0.04 0.04 0.04 0.04 0.04Thermal resistance ºC/W 16 16 16 16 16





sensorless

EBS 485 SI R22, 0.6Nm


22BM 3C §§ • 01



mNm (oz.in)

50000

40000

30000

20000

10000

5 10 15 20(0.7) (1.4) (2.1) (2.8)

00

n (rpm)

20 W20 W

40 W40 W

22BM 8B §§ • 01

BL 5010 M22, 1.5 Nm

• Motor with preloaded ball bearings• Typical preload = 6 N• Maximum external load: - axial static 50 N - axial dynamic 5 N - radial dynamic 10 N• Operating temperatur range: -40°C to +100°C• Max. rated coil temperature: 125°C

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Miniature Motors

escap 22BL

www.portescap.com

Winding Type §§ -K -P Coil Dependent Parameters Phase/phase resistance ohm 0.77 0.41Phase/phase inductance mH 0.03 0.02Back-EMF constant V/1000 rpm 0.94 0.65Torque Constant mNm/A (oz.-in/A) 8.98 (1.27) 6.21 (0.88)Dynamic Parameters Rated Voltage V 24 24No-load Current A 0.13 0.19No-load Speed rpm 25400 36800Max. continuous stall torque mNm (oz-in) 22.8 (3.22) 21.6 (3.06)Max. continuous stall current A 2.7 3.7Max. continuous torque at 10 krpm mNm (oz-in) 20.8 (2.94) 19.6 (2.77)Max. continuous current at 10 krpm A 2.5 3.4Max. continuous power at 10 krpm W 21.8 20.5Intrinsic Parameters Motor constant mNm/W1⁄2 (oz-in/W1⁄2) 10.2 (1.45) 9.7 (1.37)Rotor inertia kgm2 10-7 3.9 3.9Mechanical time constant ms 3.7 4.2Electrical time constant ms 0.04 0.04Thermal resistance ºC/W 13 13





57.1

sensorless

EBS 485 SI R22, 0.6Nm


BL 5010 M22, 1.5Nm

22BL 3C §§ • 01

22BL 8B §§ • 01



mNm (oz.in)

50000

40000

30000

20000

10000

2 4 6 8 10 12 14 16 18 20 22 24(0.3) (0.6) (0.9) (1.1) (1.4) (1.7) (2.0) (2.3) (2.6) (2.9) (3.1) (3.4)

00

n (rpm)

30 W30 W

50 W50 W

Slotless BLDC

• Motor with preloaded ball bearings• Typical preload = 6 N• Maximum external load: - axial static 50 N - axial dynamic 5 N - radial dynamic 10 N• Operating temperature range: -40°C to 100°C• Max. rated coil temperature: 125°C

51


52

escap 26BC 3C


Winding Type §§ -109PCoil Dependent Parameters Phase resistance ohm 5Phase inductance mH 3.8Back-EMF constant V/1000 rpm 0.73Torque constant mNm/A 7Max. continuous current mA 1000Coil Independent Parameters Friction torque mNm 0.3Viscous torque (losses) mNm/1000rpm 0.047Max. continuous torque up to 10000 rpm mNm 7Max. recommended speed rpm 20000Mechanical Parameters Rotor inertia kgm2 10-7 9.4Mechanical time constant ms 95Dynamic Performances with EBS 485 SI Rated voltage V 12No-load current mA 180No-load speed rpm 14800Peak torque mNm 7

EBS 485 SI

26BC 3C §§ • 101dimensions in mmmass: 72 g

SensorlessColor Designationviolet phase 1grey phase 2white phase 3



mNm (oz.in)

20000

15000

10000

5000

2 4 6 8 100

0

n (rpm)

4 W4 W

8 W8 W

(0.3) (0.6) (0.9) (1.1) (1.4)

The 26BC-3C is a sensorless motor with a delta-connected winding. It is intended to usewith a sensorless driver such as the EBS 485 SI or a driver using, for instance, a chip of the Philips TDA family. If the winding center-point is needed, it can be generated by using three external resistors attached to the motor phases and Y-connected together.

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Miniature Motors

escap 26BC 6A

53www.portescap.com

DC Motor w/ Integrated Electronic Commutation

• Integrated electronic commutation• Warning: an incorrect supply voltage polarity may damage the electronic circuitry!• Standard version with preloaded ball bearings• Max. permissible coil temp. 130°C (266°F)• Recommended ambient temperature range 0 to 70°C (32 to 158°F)• The current consumption of the electronics is 18 mA• During start up, current needs to be limited to 200 mA• Designated GND power supply voltage1)

direction CCW/CW 5) enable start/stop 3) 5)

logic supply voltage 2) speed signal 4)

26BC-6A §§ • 101dimensions in mmmass: 72 g

With Hall effect sensorsPin Color 1 brown 2 red 3 orange 4 yellow 5 green 6 blue

Winding Type §§ -119 -113 -110 -107Coil Dependent Parameters Phase resistance ohm 1.9 6.8 17.6 69Phase inductance mH 0.23 0.71 1.65 5.8Back-EMF constant V/1000 rpm 0.56 0.96 1.4 2.66Torque constant mNm/A (oz.-in/A) 5.4 (0.7) 9.2 (1.3) 13.4 (1.9) 25.4 (3.6)Max. continuous current A 1.2 0.6 0.4 0.2Coil Independent Parameters Friction torque mNm 0.25 0.25 0.25 0.25Viscous torque (losses) mNm/1000rpm 0.4 0.4 0.4 0.4Max. continuous torque up to 10000 rpm mNm (oz-in) 4 (0.56) 4.2 (0.6) 4.4 (0.62) 4 (0.56)Max. recommended speed rpm 14000 8000 11000 4800Mechanical Parameters Rotor inertia kgm2 10-7 9.4 9.4 9.4 9.4Mechanical time constant ms 61 75 92 100Dynamic Performances Rated voltage V 7.5 7.5 15 15No-load current mA 250 170 120 50No-load speed rpm 12500 7250 9300 4700Peak speed rpm 14000 8000 11000 5600Peak torque mNm (oz-in) 4 (0.56) 4.2 (0.6) 4.4 (0.62) 4 (0.56)

M (mNm)

15000

10000

5000

1 2 3 4 5 60

0

n (rpm)

Speed/torque range of the various windings

Specifications subject to change without prior notice

110110

107107

Slotless BLDC

1) The motor supply voltage may vary between 2.5V and 18V except for the -119 and -113 coils where the volt age should be limited to 7.5 V.2) The logic supply voltage may vary between 5 and 18 V. By connecting 2 and 5 together, the motor becomes a simple two wires version exactly like a DC motor. In this case, the supply voltage may vary between 5 V and 18 V except for the -119 and -113 coils where the voltage should be limited to 7.5 V.3) Start/Stop: when grounded, the motor is no more powered.4) Available on output 6 is a square wave voltage: low level = GND, high level = + V logic. Available on output 6 is a square wave voltage: low level = GND, high level = + V logic.5) Inputs 3-4 have pull up resistors of 120 kohm

Thermal time constant min. 11Thermal resistance °C/W 14Axial play* µm 10 Radial play (2.5N rad.load) µm 10Axial load (static) 25NRadial load (static) 25N

* with axial load > 2.5N, max. axial play is 130µm



Notes

Miniature Motors

Designation of Brushed DC Motors 22 N 2R 28 -210E D 16 .201

Motor diameter in mmCode for motor length & generationIndication for ball bearingsCommutation systemWinding typeEncoder typeNumber of lines of encoderMotor execution code

55www.portescap.com

Brushed DC

Brushed DC Motors

08GS61 56

08G61 57

13N88 58

16C18 59

16N28 60

16G88 61

17S78 62

17N78 63

22S78 64

22N28/48 65

22V28/48 66

23L21 67

23V58/48 68

23GST82 69

25GST2R82 70

25GT2R82 71

26N58/48 72

28L28 73

28LT12 74

28D11 75

28DT12 76

30GT2R82 77

35NT2R32 78

35NT2R82 79

Brushed DC


Executions

Gearbox Page 08GS61

R10 108 7


Precious Metal Commutation System - 5 Segments 0.5 Watt

dimensions in mmmass: 3.8 g 08GS61 §§ • 3



M(mNm)

n (rpm)

0.5 W

• Thermal resistance: rotor-body 20°C/W body-ambient 100°C/W• Thermal time constant rotor/stator: 5 s/100s• Max. rated coil temperature: 100°C• Recom. ambient temperature range: -30°C to +85°C (-22°F to +185°F)• Max. axial static force: 30 N• End play: ≤ 100 µm Radial play: ≤ 15 µm Shaft runout: ≤ 10 µm• Max. side load at 2 mm from mounting face: - sleeve bearings 0.5 N• Motor fitted with sleeve bearings

Max. Recommended Speed

Max. ContinuousOutput Power

Winding Type §§ -107 -105 -105CMeasured ValuesMeasuring voltage V 2 4.5 6No-load speed rpm 7000 10700 11000Stall torque mNm (oz-in) 0.42 (0.06) 0.59 (0.084) 0.64 (0.091)Average No-load current mA 6 4 3Typical starting voltage V 0.2 0.3 0.5Max. Recommended Values Max. continuous current A 0.25 0.168 0.133Max. continuous torque mNm (oz-in) 0.64 (0.09) 0.64 (0.091) 0.66 (0.093)Max. angular acceleration 103 rad/s2 889 859 884Intrinsic ParametersBack-EMF constant V/1000 rpm 0.275 0.41 0.53Torque constant mNm/A (oz-in/A) 2.63 (0.372) 3.92 (0.55) 5.1 (0.72)Terminal resistance ohm 12.6 30 48Motor regulation R/k2 103/Nms 1800 2000 1900Rotor inductance mH 0.058 0.11 0.2Rotor inertia kgm2 10-7 0.03 0.03 0.03Mechanical time constant ms 5.5 5.9 5.6

escap 08GS61

Miniature Motors

57www.portescap.com

Brushed DC

escap 08G61

Precious Metal Commutation System - 5 Segments0.7 Watt



M(mNm)

n (rpm )

0.7 W



0,54,5 0-0,1

0,2

4,3

1,55 19,6

1,5

0 -0,0

15

1,9

0,4

2

5

2,1

1

8 0 -0

,08

5,5

Mx0

,5

6 0 -0

,018

dimensions in mmmass: 4.5 g 08G61 §§ • 3

Winding Type §§ -107 -205C Measured ValuesMeasuring voltage V 3 9No-load speed rpm 9800 11800Stall torque mNm (oz-in) 0.73 (0.103) 1.01 (0.143)Average No-load current mA 5.5 2.2Typical starting voltage V 0.2 0.6Max. Recommended Values Max. continuous current A 0.25 0.124Max. continuous torque mNm (oz-in) 0.7 (0.099) 0.87 (0.102)Max. angular acceleration 103 rad/s2 924 999Intrinsic ParametersBack-EMF constant V/1000 rpm 0.3 0.75Torque constant mNm/A (oz-in/A) 2.86 (0.406) 7.2 (1.01)Terminal resistance ohm 11.8 64Motor regulation R/k2 103/Nms 1400 1200Rotor inductance mH 0.03 0.16Rotor inertia kgm2 10-7 0.035 0.035Mechanical time constant ms 5 4.4

• Thermal resistance: rotor-body 18°C/W body-ambient 85ºC/W• Thermal time constant rotor/stator: 5 s/100s• Max. rated coil temperature: 100°C• Recom. ambient temperature range: -30°C to +85°C (-22°F to +185°F)• Max. axial static force: 30 N• End play: ≤ 100 µm Radial play: ≤ 15 µm Shaft runout: ≤ 10 µm• Max. side load at 2 mm from mounting face: - sleeve bearings 0.5 N• Motor fitted with sleeve bearings

Executions

Gearbox Page 08G61

R10 108 5


escap13N88



dimensions in mmmass: 18 g 13N88 §§ • 1

Winding Type §§ -213E -110 -107Measured ValuesMeasuring voltage V 6.0 12.0 24.0No-load speed rpm 12300 12400 14100Stall torque mNm (oz-in) 6.5 (0.93) 8 (1.13) 8.4 (1.19)Average No-load current mA 25.6 13.6 8.8Typical starting voltage V 0.08 0.10 0.20Max. Recommended Values Max. continuous current A 0.69 0.38 0.21Max. continuous torque mNm (oz-in) 3.03 (0.43) 3.33 (0.47) 3.18 (0.45)Max. angular acceleration 103 rad/s2 433 405 438Intrinsic ParametersBack-EMF constant V/1000 rpm 0.48 0.95 1.67Torque constant mNm/A (oz-in/A) 4.58 (0.65) 9.1 (1.28) 15.9 (2.26)Terminal resistance ohm 4.20 13.7 45.6Motor regulation R/k2 103/Nms 200 166 179Rotor inductance mH 0.07 0.25 0.80Rotor inertia kgm2 10-7 0.28 0.33 0.29Mechanical time constant ms 5.6 5.5 5.2

• Thermal resistance: rotor-body 10°C/W body-ambient 40°C/W• Thermal time constant - rotor / stator: 6 s / 300 s• Max. rated coil temperature: 100°C (210°F)• Recom. ambient temperature range: -30°C to +85°C (-22°F to +185°F)• Viscous damping constant: 0.04 x 10-6 Nms• Max. axial static force for press-fit: 150 N• End play: ≤ 150 µm Radial play: ≤ 30 µm Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face: - sleeve bearings 1.5 N• Motor fitted with sleeve bearings (ball bearings optional)



Executions

Gearbox Page 13N88 13N88D12

R13 109 1 3

2.5 W

Miniature Motors

escap 16C18

www.portescap.com


Precious Metal Commutation System - 5 Segments0.85 Watt- +

4

3,7

5,9

10

1,6M x1,4 max.

3,7

150

±3

6,72 15,7

5,7( )16,5( )1

7,52 15,7

16 0 -0

,1

6 0 -0

,018

1 0 -0,0

06

15

1,5

-0,0

06-0

,00916

0 -0,1

6 0 -0

,01815

dimensions in mmmass: 13 g 16C18 §§ • 30 16C18 §§ • 67

Winding Type §§ -115 -210 -207 -205 -204Measured ValuesMeasuring voltage V 1.5 4.0 6.0 12.0 15.0No-load speed rpm 15300 14700 15700 16200 16000Stall torque mNm (oz-in) 1.1 (0.16) 1.3 (0.19) 1.1 (0.16) 1.2 (0.17) 0.8 (0.11)Average No-load current mA 74.8 23.0 18.4 10.4 6.9Typical starting voltage V 0.04 0.05 0.10 0.15 0.25Max. Recommended Values Max. continuous current A 1.19 0.48 0.31 0.16 0.10Max. continuous torque mNm (oz-in) 0.98 (0.14) 1.13 (0.16) 1.0 (0.14) 1.0 (0.14) 0.79 (0.11)Max. angular acceleration 103 rad/s2 127 110 148 99 117Intrinsic ParametersBack-EMF constant V/1000 rpm 0.092 0.26 0.36 0.70 0.87Torque constant mNm/A (oz-in/A) 0.88 (0.12) 2.48 (0.35) 3.44 (0.49) 6.68 (0.95) 8.3 (1.18)Terminal resistance ohm 1.20 7.5 18.0 65.0 162Motor regulation R/k2 103/Nms 1555 1217 1523 1455 2347Rotor inductance mH 0.02 0.15 0.25 1.00 2.00Rotor inertia kgm2 10-7 0.31 0.41 0.27 0.41 0.27Mechanical time constant ms 48 50 41 60 63

• Thermal resistance: rotor-body 15°C/W body-ambient 40°C/W• Thermal time constant - rotor / stator: 4 s / 230 s• Max. rated coil temperature: 100°C (210°F)• Recom. ambient temperature range: -30°C to +85°C (-22°F to +185°F)• Viscous damping constant: 0.04 x 10-6 Nms• Max. axial static force for press-fit: 150 N• End play: ≤ 150 µm Radial play: ≤ 30 µm Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face: - sleeve bearings 0.5 N - ball bearings 3 N• Motor fitted with sleeve bearings (ball bearings optional)



Executions

Single Shaft With F16

Gearbox Page 16C18 16C18

B16 110 67 76

BA16 111 67 76

R16 112 30 76

Brushed DC

59


2

10

10M 1,6 x 2,5 max.

15,4

116

68

1,5

1,7

5,5 28

(6,5)

7,5

6

escap 16N28



dimensions in mmmass: 24 g 16N28 §§ • 201

)

Winding Type §§ -111P -210E -208E -207E -106 -205EMeasured ValuesMeasuring voltage V 3 7.5 9.0 12.0 16.0 18.0No-load speed rpm 9500 9700 8900 10800 10200 9600Stall torque mNm (oz-in) 3.7 (0.52) 3.7 (0.52) 3.1 (0.45) 3.1 (0.45) 3.4 (0.48) 2.9 (0.41)Average No-load current mA 28 13.3 8.4 7.7 6.3 4.9Typical starting voltage V 0.10 0.15 0.2 0.3 0.4 0.45Max. Recommended Values Max. continuous current A 1.01 0.42 0.29 0.24 0.19 0.15Max. continuous torque mNm (oz-in) 2.9 (0.44) 2.9 (0.41) 2.7 (0.38) 2.4 (0.34) 2.7 (0.38) 2.5 (0.35)Max. angular acceleration 103 rad/s2 161 148 172 192 200 182Intrinsic ParametersBack-EMF constant V/1000 rpm 0.31 0.75 1.0 1.1 1.5 1.8Torque constant mNm/A (oz-in/A) 2.96 (0.42) 7.2 (1.0) 9.5 (1.35) 10.3 (1.45) 14.6 (2.07) 17.3 (2.45)Terminal resistance ohm 2.4 14.6 28 40.5 68.5 109Motor regulation R/k2 103/Nms 270 280 310 380 320 360Rotor inductance mH 0.08 0.5 0.8 0.9 2 3Rotor inertia kgm2 10-7 0.72 0.77 0.63 0.51 0.53 0.55Mechanical time constant ms 20 22 20 19 17 20

• Thermal resistance: rotor-body 7°C/W body-ambient 28°C/W• Thermal time constant - rotor / stator: 7 s / 390 s• Max. rated coil temperature: 100°C (210°F)• Recom. ambient temperature range: -30°C to +85°C (-22°F to +185°F)• Viscous damping constant:0.04 x 10-6 Nms• Max. axial static force for press-fit: 100 N (with sleeve bearing only)• End play: ≤ 150 µm Radial play: ≤ 30 µm Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face: - sleeve bearings 1.5 N - ball bearings 3 N• Motor fitted with sleeve bearings (ball bearings optional)



Executions


Gearbox Page 16N28 16N28

B16 200 110 235 235

BA16 200 111 235 235

R16 112 201 201

Max screw torque 40mNmMax traction 230N

Miniature Motors

escap 16G88

61www.portescap.com

Precious Metal Commutation System - 9 Segments5 Watt



150

0,3

1,82x x4

28 7,5 0,5

1

6 0,5

10

1,6M x2,8 max.

1

10

6,5( )

606x

16 0 -0

,1

6 0 -0

,018

1,5

-0,0

06-0

,009

6 0 -0

,018

dimensions in mmmass: 24 g 16G88 §§ • 1

Winding Type §§ -220P -220E -213E -211E -210E -208EMeasured ValuesMeasuring voltage V 3 6 9 12 15 24No-load speed rpm 10600 10900 8000 8700 9000 10400Stall torque mNm (oz-in) 16 (2.3) 19.9 (2.8) 12.7 (1.80) 12.1 (1.71) 12.2 (1.73) 14.3 (2.0)Average No-load current mA 45 17 8 6.5 5.5 3.5Typical starting voltage V 0.02 0.05 0.12 0.18 0.20 0.30Max. Recommended Values Max. continuous current A 2.0 1.21 0.55 0.42 0.35 0.25Max. continuous torque mNm (oz-in) 5.2 (0.74) 6.3 (0.89) 5.8 (0.82) 5.4 (0.76) 5.4 (0.76) 5.4 (0.76)Max. angular acceleration 103 rad/s2 282 277 292 273 291 272Intrinsic ParametersBack-EMF constant V/1000 rpm 0.28 0.55 1.12 1.37 1.65 2.3Torque constant mNm/A (oz-in/A) 2.67 (0.38) 5.3 (0.74) 10.7 (1.51) 13.1 (1.85) 15.8 (2.23) 22 (3.11)Terminal resistance ohm 0.5 1.6 7.6 13 19.5 37Motor regulation R/k2 103/Nms 70 58 66 76 79 77Rotor inductance mH 0.01 0.045 0.15 0.26 0.40 0.72Rotor inertia kgm2 10-7 0.8 0.91 0.8 0.8 0.74 0.8Mechanical time constant ms 5.6 5.3 5.3 6.1 5.8 6.1

• Thermal resistance: rotor-body 8°C/W body-ambient 35°C/W• Thermal time constant - rotor / stator: 6 s / 500 s• Max. rated coil temperature: 100°C (210°F)• Recom. ambient temperature range: -30°C to +85°C (-22°F to +185°F)• Viscous damping constant: 0.05 x 10-6 Nms• Max. axial static force for press-fit: 100 N• End play: ≤ 150 µm Radial play: ≤ 30 µm Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face: - sleeve bearings 1.5 N• Motor fitted with sleeve bearings

Executions

Single Shaft

Gearbox Page 16G88

B16 110 5

BA16 111 5

R16 112 1

Max screw torque 40 mNmMax traction 230 N

Brushed DC

°


2

10

10M 1,6 x 1,5 max.

68

1,5

4,5

5,5 18,7

(6,5)

7,5

6

11715

,4 161

1,7

escap 17S78



dimensions in mmmass: 19 g 17S78 §§ • 1



n (rpm )

�

Winding Type §§ -208P -209FMeasured ValuesMeasuring voltage V 6 12No-load speed rpm 10200 13800Stall torque mNm (oz-in) 4.3 (0.61) 6 (0.85)Average No-load current mA 25 15Typical starting voltage V 0.09 0.16Max. Recommended Values Max. continuous current A 0.50 0.34Max. continuous torque mNm (oz-in) 2.6 (0.37) 2.7Max. angular acceleration 103 rad/s2 204 210Intrinsic ParametersBack-EMF constant V/1000 rpm 0.57 0.85Torque constant mNm/A (oz-in/A) 5.4 (0.77) 8.1 (1.15)Terminal resistance ohm 7.5 16.2Motor regulation R/k2 103/Nms 250 250Rotor inductance mH 0.15 0.35Rotor inertia kgm2 10-7 0.50 0.50Mechanical time constant ms 13 12

• Thermal resistance: rotor-body 13°C/W body-ambient 38°C/W• Thermal time constant - rotor / stator: 7 s / 350 s• Max. rated coil temperature: 100°C (210°F)• Recom. ambient temperature range: -30°C to +85°C (-22°F to +185°F)• Viscous damping constant: 0.04 x 10-6 Nms• Max. axial static force for press-fit: 100 N• End play: ≤ 150 µm Radial play: ≤ 30 µm Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face: - sleeve bearings 1.5 N - ball bearings 3 N• Motor fitted with sleeve bearings

Max. Recommended SpeedMax. ContinuousOutput Power

Executions


Gearbox Page 17S78 17S78

B16 110 5 5

BA16 111 5 5

R16 112 1 1 M(mNm)

Miniature Motors

escap 17N78

63www.portescap.com




n (rpm )



1,6M x 1,5 max.

10

6 ±0,5

5,5

2

10

2,8 ±0,1

1 6,5( )

7,5 ±0,525,9

60°6x

1,7 1,515

,4

1,5

-0,0

06-0

,009

6 0 -0

,018

17 0 -0

,1

16 15,9

85 0 -0

,015

17N78 §§ • 1

Winding Type §§ -216E -213E -210E -208E -207EMeasured ValuesMeasuring voltage V 6.0 7.5 12.0 18.0 24.0No-load speed rpm 8500 8300 8500 8500 8900Stall torque mNm (oz-in) 12.5 (1.77) 10.7 (1.52) 9.3 (1.31) 9.4 (1.33) 9.4 (1.33)Average No-load current mA 10.5 9.1 7.7 4.9 3.5Typical starting voltage V 0.04 0.08 0.08 0.11 0.16Max. Recommended Values Max. continuous current A 0.86 0.63 0.37 0.25 0.19Max. continuous torque mNm (oz-in) 5.69 (0.81) 5.33 (0.75) 4.85 (0.69) 4.89 (0.69) 4.79 (0.68)Max. angular acceleration 103 rad/s2 207 267 243 258 266Intrinsic ParametersBack-EMF constant V/1000 rpm 0.70 0.90 1.40 2.10 2.67Torque constant mNm/A (oz-in/A) 6.7 (0.95) 8.6 (1.22) 13.4 (1.89) 20.1 (2.84) 25.5 (3.61)Terminal resistance ohm 3.20 6.0 17.3 38.4 65.0Motor regulation R/k2 103/Nms 72 81 97 95 100Rotor inductance mH 0.11 0.14 0.40 0.90 1.41Rotor inertia kgm2 10-7 1.10 0.80 0.80 0.76 0.72Mechanical time constant ms 8 7 8 7 7


Executions


Gearbox Page 17N78 17N78

B16 110 5 5

BA16 111 5 5

R16 112 1 1

Brushed DC


M(mNm)


escap 22S78


Precious Metal Commutation System - 9 Segments 6 Watt

1 6,5( )

10

22M x2 max.

6 ±0,5

7,5 ±0,55,5 26

120˚3x

1 1,7

12

15,4

1,5

-0,0

06-0

,009

7 0 -0

,022

22 0 -0

,1

21,8

Ø

Ø

Ø Ø

Ø

Ø

dimensions in mmmass: 49 g 22S78 §§ • 1



M(mNm)

n (rpm )

6 12 18 24 30 36

6W

Winding Type §§ 124 119 208P 208EMeasured ValuesMeasuring voltage V 4.5 6 12 24No-load speed rpm 8000 8400 8000 8500Stall torque mNm (oz-in) 31 (4.4) 27 (3.8) 20 (2.8) 18.3 (2.6)Average No-load current mA 16 12 5.5 3.3Typical starting voltage V 0.03 0.05 0.06 0.2Max. Recommended Values Max. continuous current A 1.5 1.4 0.6 0.3Max. continuous torque mNm (oz-in) 8 (1.1) 9.5 (1.34) 8.3 (1.2) 7.7 (1.1)Max. angular acceleration 103 rad/s2 328 400 416 385Intrinsic ParametersBack-EMF constant V/1000 rpm 0.56 0.7 1.49 2.8Torque constant mNm/A (oz-in/A) 5.3 (0.75) 6.8 (0.96) 14.2 (2.01) 26.7 (3.78)Terminal resistance ohm 0.8 1.5 8.5 35Motor regulation R/k2 103/Nms 27 33 42 49Rotor inductance mH 0.03 0.05 0.18 0.85Rotor inertia kgm2 10-7 2.5 1.9 1.6 1.6Mechanical time constant ms 6.8 6.2 6.7 7.8




Executions

Single Shaft

Gearbox Page 22S78

R22 113 1

Miniature Motors

escap 22N28/48

65www.portescap.com


22N28 §§ • 286 22N48 §§ • 308

M(



M(mNm)

n (rpm )



Executions

Single Shaft For F16 For E9

Gearbox Page 22N28 22N28 22N48

R22 113 286 286 308

M22 114 286 286 308

K24 115 286 286 308

K27 116 286 286 308

RG1/8 119 204 204 310

RG1/9 120 204 204 310

K38 118 204 204 310

L10 123 204 204 310

• Thermal resistance: rotor-body 6°C/W body-ambient 22°C/W• Thermal time constant - rotor / stator: 9 s / 550 s• Max. rated coil temperature: 100°C (210°F)• Recom. ambient temperature range: -30°C to +65°C (-22°F to +150°F)• Viscous damping constant: 0.1 x 10-6 Nms• Max. axial static force for press-fit: 150 N• End play: ≤ 150 µm Radial play: ≤ 30 µm Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face: - sleeve bearings 3 N - ball bearings 6 N• Motor fitted with sleeve (ball bearings optional)

Winding Type §§ -216P -216E -213E -210E -208E -105Measured ValuesMeasuring voltage V 3.0 6.0 9.0 12.0 18.0 36.0No-load speed rpm 5200 5600 7000 5900 6300 7200Stall torque mNm (oz-in) 10.9 (1.54) 10.6 (1.50) 10.7 (1.51) 8.6 (1.21) 8.2 (1.16) 8.5 (1.20)Average No-load current 1) mA 12.6/27 7.0/14 6.0/11 3.5/7 2.5/5 1.4/3Typical starting voltage 1) V 0.03/0.25 0.05/0.35 0.06/0.45 0.08/0.5 0.12/0.7 0.24/0.90Max. Recommended Values Max. continuous current A 1.50 0.83 0.62 0.38 0.26 0.14Max. continuous torque mNm (oz-in) 8.1 (1.15) 8.4 (1.19) 7.5 (1.06) 7.3 (1.04) 7.0 (0.98) 6.6 (0.93)Max. angular acceleration 103 rad/s2 100 96 107 98 96 132Intrinsic ParametersBack-EMF constant V/1000 rpm 0.57 1.07 1.28 2.02 2.83 4.95Torque constant mNm/A (oz-in/A) 5.44 (0.77) 10.2 (1.45) 12.2 (1.73) 19.3 (2.73) 27.0 (3.83) 47.3 (6.69)Terminal resistance ohm 1.50 5.80 10.3 27.0 59.0 200Motor regulation R/k2 103/Nms 51 56 69 73 81 90Rotor inductance mH 0.10 0.35 0.50 1.20 2.30 7.00Rotor inertia kgm2 10-7 3.50 3.50 2.80 3.00 2.90 2.00Mechanical time constant ms 18 19 19 22 23 181) Single Shaft/double shaft

Brushed DC


Max screw torque 130 mNmMax traction 300N

max. 5min. 4

33,9

6 ±0,5

7,5 ±0,5

2-0

,006

-0,0

09÷

12 ±0,4

2-0

,006

-0,0

09÷

2M x3 max. 2

10

6 ±0,5

1,64x M x

150

±3

7,5 ±0,55,5

42°

38°

60°6x

1 6,5( )

1,71

1 6,5( )

32

22 0 -0

,1÷

10 0 -0

,022

÷

15,4

÷

1,5

-0,0

06-0

,009

÷

10 0 -0

,022

÷

22 0 -0

,1÷

18,5÷17÷

1,5

-0,0

06-0

,009


escap 22V28/48



4.5

4.5

dimensions in mmmass: 68 g 22V28 §§ • 201 22V48 §§ • 204



M(mNm)

n (rpm )

7 14 21 28 35 42

4.5 W

• Thermal resistance: rotor-body 6°C/W body-ambient 22°C/W• Thermal time constant - rotor / stator: 10 s / 460 s• Max. rated coil temperature: 100°C (210°F)• Recom. ambient temperature range: -30°C to +85°C (-22°F to +185°F)• Viscous damping constant: 0.1 x 10-6 Nms• Max. axial static force for press-fit: 150 N• End play: ≤ 150 µm Radial play: ≤ 30 µm Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face: - sleeve bearings 3 N - ball bearings 6 N• Motor fitted with sleeve bearings (ball bearings optional)

Max. Recommended SpeedExecutions

Single Shaft For F16 For E9

Gearbox Page 22V28 22V28 22V48

R22 95 202 202 225

M22 96 201 201 204

K24 97 202 202 225

K27 98 202 202 225

RG1/8 101 201 201 204

RG1/9 102 201 201 204

K38 100 201 201 204

L10 105 201 201 204

Winding Type §§ -216P -213P -216E -213E -210E -208EMeasured ValuesMeasuring voltage V 4.5 6.0 9.0 12.0 15.0 24.0No-load speed rpm 6400 7100 6700 7600 7500 6300Stall torque mNm (oz-in) 18.2 (2.59) 16.0 (2.27) 17.1 (2.42) 15.0 (2.13) 11.5 (1.63) 11.5 (1.62)Average No-load current 1) mA 18/27 15/22 9/13.5 7.6/11 6.0/9 3.2/4.8Typical starting voltage 1) V 0.06/0.2 0.08/0.3 0.10/0.4 0.15/0.6 0.24/1.0 0.4/1.6Max. Recommended Values Max. continuous current A 1.55 1.15 0.77 0.58 0.40 0.23Max. continuous torque mNm (oz-in) 10.27 (1.45) 9.09 (1.29) 9.66 (1.37) 8.48 (1.20) 7.4 (1.05) 8.13 (1.15)Max. angular acceleration 103 rad/s2 105 113 98 105 102 134Intrinsic ParametersBack-EMF constant V/1000 rpm 0.70 0.84 1.33 1.56 1.97 3.75Torque constant mNm/A (oz-in/A) 6.7 (0.95) 8.0 (1.13) 12.7 (1.80) 14.9 (2.11) 18.8 (2.66) 35,8 (5.07)Terminal resistance ohm 1.65 3.00 6.70 11.9 24.5 75.0Motor regulation R/k2 103/Nms 37 47 42 54 69 58Rotor inductance mH 0.10 0.15 0.50 0.55 0.80 3.30Rotor inertia kgm2 10-7 3.90 3.20 3.90 3.20 2.90 2.40Mechanical time constant ms 14 15 16 17 20 141) Single Shaft/double shaft


Max screw torque 130 mNmMax traction 300N

Miniature Motors

escap 23L21

67www.portescap.com

Brushed DC


10

1,5 11( )

12,534,1

2M x2,2

60°6x

4,6 4,7

23

0 -0,1

10

0 -0,0

22

3-0

,006

-0,0

09

17

23L21 §§ • 1



n (rpm )

M(mNm )10 20 30 40

4.2

Winding Type §§ -216E -213E -208EMeasured ValuesMeasuring voltage V 9.0 12 24No-load speed rpm 6800 7600 6400Stall torque mNm (oz-in) 16.9 (2.39) 14.9 (2.11) 11.1 (1.57)Average No-load current mA 30 26 11Typical starting voltage V 0.1 0.2 0.5Max. Recommended Values Max. continuous current A 0.77 0.58 0.23Max. continuous torque mNm (oz-in) 9.3 (1.31) 6.2 (1.16) 7.6 (1.08)Max. angular acceleration 103 rad/s2 82 91 87Intrinsic ParametersBack-EMF constant V/1000 rpm 1.30 1.55 3.62Torque constant mNm/A (oz-in/A) 12.4 (1.76) 14.8 (2.10) 34.6 (4.90)Terminal resistance ohm 6.6 11.9 75Motor regulation R/k2 103/Nms 43 54 63Rotor inductance mH 0.4 0.55 3.3Rotor inertia kgm2 10-7 4.5 3.6 3.5Mechanical time constant ms 19 20 22

• Thermal resistance: rotor-body 7°C/W body-ambient 16°C/W• Thermal time constant - rotor / stator: 12 s / 460 s • Max. rated coil temperature: 100°C• Recom. ambient temperature range: -30°C to +85°C (-22°F to 285°F)• Max. axial static force for press-fit: 250 N• End play: ≤ 150 µm Radial play: ≤ 18 µm Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face: - sleeve bearings 6 N - ball bearings 8 N• Motor exec. • 1 fitted with sleeve bearings (ball bearings optional)





escap 23V58 & 23V48


Executions

Single Shaft For E9

Gearbox Page 23V58 23V48

R22 113 4 11

M22 114 4 11

K24 115 4 11

K27 116 4 11

RG1/8 119 1 9

RG1/9 120 1 9

K38 118 1 9

L10 123 1 9


dimensions in mmmass: 100 g 23V58 §§ • 1 23V48 §§ • 9



n (rpm )

M(mNm )

6.5 W

• Thermal resistance: rotor-body 5°C/W body-ambient 12°C/W• Thermal time constant - rotor / stator: 10 s / 580 s• Max. rated coil temperature: 100°C • Recom. ambient temperature range: -30°C to +85°C (-22°F to +185°F)• Viscous damping constant: 0.45 x 10-6 Nms• Max. axial static force for press-fit: 250 N• End play: ≤ 150 µm Radial play: ≤30 µm Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face: - sleeve bearings 6 N - ball bearings 8 N• Motor fitted with sleeve bearings (ball bearings optional)• With rear output shaft, the N-load current is 50% higher


Winding Type §§ -216P -213P -216E -213E -210E Measured ValuesMeasuring voltage V 6.0 7.5 12.0 15.0 24.0 No-load speed rpm 4500 4800 4800 5200 6500 Stall torque mNm (oz-in) 31 (4.4) 27 (3.8) 29 (4.1) 24 (3.4) 23.3 (3.3) Average No-loadcurrent mA 30.8 27.5 18.7 16.5 13 Typical starting voltage V 0.05 0.10 0.13 0.15 0.20 Max. Recommended ValuesMax. continuous current A 1.49 1.15 0.75 0.57 0.39 Max. continuous torque mNm (oz-in) 18.2 (2.6) 16.4 (2.3) 17.2 (2.4) 14.9 (2.1) 13 (1.8) Max. angular acceleration 103 rad/s2 123 139 116 127 141Intrinsic ParametersBack-EMF constant V/1000 rpm 1.31 1.53 2.47 2.82 3.64 Torque constant mNm/A (oz-in/A) 12.5 (1.7) 14.6 (2.0) 23.5 (3.33) 26.9 (3.8) 34.8 (4.9) Terminal resistance ohm 2.45 4.1 9.7 16.6 35.8 Motor regulation R/k2 103/Nms 16 19 17 23 30 Rotor inductance mH 0.20 0.30 0.80 1.10 1.70 Rotor inertia kgm2 10-7 5.90 4.70 5.90 4.70 3.70 Mechanical time constant ms 9 9 10 11 11


max. 5min. 4

150

±3

2 0 -0

,006

÷

12 ±0,4

1,5

3,2

2M x 2,3max.

3-0

,006

-0,0

09÷

10,6

3

17,5

1,64x M x

47,648,8

3-0

,006

-0,0

09÷

10,6

11( )

12,5±0,5

11( )

12,5±0,5

60°6x

38°

42°

1,8 2,7

1,5

18,5÷17÷

10 0 -0

,022

÷

23 0 -0

,1÷

10 0 -0

,022

÷

23 0 -0

,1÷

Miniature Motors

escap 23GST82

69www.portescap.com

Brushed DC

Graphite/Copper Commutation System - 9 Segments18 Watt


M(mNm)

n (rpm )

18 W

20 40 60 80 100 120

• Thermal resistance: rotor-body 7°C/W body-ambient 16°C/W• Thermal time constant - rotor / stator: 12 s / 460 s • Max. rated coil temperature: 155°C• Recom. ambient temperature range: -30°C to +125°C (-22°F to +257°F)• Max. axial static force for press-fit: 250 N• End play: ≤ 150 µm Radial play: ≤ 30 µm Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face: - sleeve bearings 6 N• Motor fitted with ball bearings



dimensions in mmmass: 80 g 23GST2R82 §§ • 1 23GST2R82 §§ • 2 23GST2R82 §§ • 3

Winding Type §§ -216P -216E Measured ValuesMeasuring voltage V 12 24 No-load speed rpm 8700 9100 Stall torque mNm (oz-in) 80 (11.3) 87 (12.3) Average No-load current mA 90 47 Typical starting voltage V - - Max. Recommended Values Max. continuous current A 1.7 0.9 Max. continuous torque mNm (oz-in) 21 (3.0) 22 (3.1) Max. angular acceleration 103 rad/s2 226 231 Intrinsic ParametersBack-EMF constant V/1000 rpm 1.36 2.61 Torque constant mNm/A (oz-in/A) 13 (1.84) 25 (3.53) Terminal resistance ohm 1.95 6.85 Motor regulation R/k2 103/Nms 12 (0.1) 11 (0.4) Rotor inductance mH Rotor inertia kgm2 10-7 4.7 4.7 Mechanical time constant ms 5.4 5.2

Executions

Single Shaft For E9

Gearbox Page 23GST82 23GST82

R22 113 2 --

M22 114 2 --

K27 116 2 --

RG1/8 119 1 3

RG1/9 120 1 3

K38 118 1 3

L10 123 1 3

23GST2R .323GST .223GST .1

max. 2,8min. 2

168

±3

1,64x M

39,212 ±0,3 12,5 ±0,3

11( )

10

1,51,5

7,5 ±0,3

5,1

2M x 2,2 max.

5,7

2 36

1,5

10

11( )

12,5 ±0,3

40°

40°

60°6x

6( )

3-0

,006

-0,0

09÷ 3

-0,0

06-0

,009

÷

10 0 -0

,022

÷

35,1

23 0 -0

,1÷

2 0 -0

,006

÷

10 0 -0

,022

÷

17÷

3-0

,006

-0,0

09÷

10 0 -0

,022

÷

18,5÷

23 0 -0

,1÷22

0 -0,1

÷

23 0 -0

,1÷


escap 25GST2R82


Graphite/Copper Commutation System - 9 Segments 27 Watt

25GST2R82 §§ • 1 25GST2R82 §§ • 2

• Thermal resistance: rotor-body 6°C/W body-ambient 13°C/W• Thermal time constant - rotor / stator: 10 s / 450 s• Max. rated coil temperature: 155°C• Recom. ambient temperature range: -30°C to +125°C (-22°F to +257°F)• Max. axial static force for press-fitting without holding shaft (sleeve/ball b.) 500 N/68N• Axial/radial play (ball bearings) neglectable• Max axial/radial play (sleeve b.) 150µm/30µm• Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face: - sleeve bearings 6 N - ball bearings 12 N• Motor fitted with ball bearings• 83 Communication is recommended for servo applications• For filter add `f ` to designation before the coil



Executions

Single Shaft For E9 HED5

Gearbox Page 25GST2R82 25GST2R82 25GST2R82

K40 121 6 8 --

R32 117 6 8 --

R40 122 1 2 4


Winding Type §§ -324P -224P -216P -216E Measured ValuesMeasuring voltage V 6 12 24 48 No-load speed rpm 10300 11300 10300 10800 Stall torque mNm (oz-in) 81 (11.5) 150 (21) 160 (25) 161 (23) Average No-load current 1) mA 300 170 70 40 Typical starting voltage 1) V -- -- -- -- Max. Recommended Values Max. continuous current A 4.2 2.9 1.45 0.75 Max. continuous torque mNm (oz-in) 21 (3) 27 (3.8) 30 (4.2) 30 (4.2) Max. angular acceleration 103 rad/s2 104 139 152 148 Intrinsic ParametersBack-EMF constant V/1000 rpm 0.57 1.05 2.3 4.4 Torque constant mNm/A (oz-in/A) 5.4 (0.77) 10 (1.42) 22 (3.11) 42 (5.9) Terminal resistance ohm 0.4 0.8 3.3 12.5 Motor regulation R/k2 103/Nms 14 8 6.8 7.1 Rotor inductance mH 0.07 0.05 0.1 0.8 Rotor inertia kgm2 10-7 10 10 10 10 Mechanical time constant ms 14 8 6.8 7.11) Single Shaft/double shaft

÷18,5

4x ÷1,2 x 4,8

25GST 2R .225GST 2R .1

5,5 0,5

33

0,7

2M x 2,7 max.

29

2,8

43,5

3-0

,006

-0,0

09÷

12 ±0,2

0,7

11,5( )1

12,5 ±0,1

3-0

,006

-0,0

09÷

40°

40°

6x60°

10 0 -0

,02

÷

÷25

0 -0,1

43,5

÷17

10 0 -0

,02

÷

10 0 -0

,02

÷

Miniature Motors

escap 25GT2R82

71www.portescap.com

Brushed DC

40 Watt Graphite/Copper Communication System - 9 Segments

25GT2R82 §§ • 1 25GT2R82 §§ • 2

M(mNm)



40 W n (rpm )

0 40 80 120 160 200 240

• Thermal resistance: rotor-body 5°C/W body-ambient 11°C/W• Thermal time constant - rotor / stator: 10 s / 450 s• Max. rated coil temperature: 155°C• Recom. ambient temperature range: -30°C to +125°C (-22°F to +257°F)• Max. axial static force for press-fitted without holding shaft (sleeve/ball b.) 500 N / 100N• Axial/radial play (ball bearings) neglectable• Max axial/radial play (sleeve b.) 150µm/30µm• Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face: - sleeve bearings 8 N - ball bearings 25 N• Motor fitted with ball bearings (sleeve bearings optional)• 83 Communication is recommended for servo applications


Winding Type §§ -324P -230P -222P -219P -219EMeasured ValuesMeasuring voltage V 9 12 18 24 36 No-load speed rpm 9300 9500 9500 10300 8300 Stall torque mNm (oz-in) 171 (24) 246 (35) 249 (35) 258 (37) 200(28) Average No-load current 1) mA 320 210 140 120 65 Typical starting voltage 1) V -- -- -- -- --Max. Recommended Values Max. continuous current A 4.2 3.8 2.5 2 1.06 Max. continuous torque mNm (oz-in) 36 (5.1) 43 (6.1) 42 (5.9) 41 (5.8) 41 (5.8)Max. angular acceleration 103 rad/s2 135 163 165 160 157Intrinsic ParametersBack-EMF constant V/1000 rpm 0.95 1.25 1.88 2.3 4.3 Torque constant mNm/A (oz-in/A) 9.1 (1.28) 11.9 (1.69) 18 (2.54) 22 (3.11) 41.1 (5.89) Terminal resistance ohm 0.48 0.58 1.3 2.05 7.4 Motor regulation R/k2 103/Nms 5.8 4.1 4 4.2 4.4 Rotor inductance mH 0.024 0.035 0.08 0.14 0.5 Rotor inertia kgm2 10-7 13 13 13 13 13 Mechanical time constant ms 7.6 5.3 5.2 5.5 5.7 1) Single Shaft/double shaft



Executions


Gearbox Page 25GT2R82 25GT2R82 25GT2R82

RG1/8 119 1 2 4

RG1/9 120 1 2 4

K38 118 1 2 4

R32 117 1 2 4

M22 114 5 6 --

0,52,8

29

11

12 ±0,2 53,45 12,5 ±0,1

1 11,5( ) 1,24x ÷ x4,8

3M x 3,3 max.

12,5 ±0,1

1 11,5( )

53,455,5

40°

40°

60°6x

0,7 3

0,7 3

3 0 -0

,006

÷

4-0

,006

-0,0

09÷10

0 -0,0

2÷

14 0 -0

,02

÷

25 0 -0

,1÷

18,5÷

10 0 -0

,02

÷

25 0 -0

,1÷

20÷

14 0 -0

,02

÷ 4-0

,006

-0,0

09÷


escap 26N58/26N48



dimensions in mmmass: 114 g 26N58 §§ • 1 26N48 §§ • 6



n (rpm )

M(mNm)

Winding Type §§ -216P -113P -216E -113 -110Measured ValuesMeasuring voltage V 6 7.5 12 15 24No-load speed rpm 4500 5500 4700 5500 6700Stall torque mNm (oz-in) 29.6 (4.19) 25.5 (3.6) 28.6 (4.06) 25 (3.5) 25 (3.54)Average No-load current mA 31 30 16 15 12Typical starting voltage V 0.08 0.1 0.15 0.2 0.28Max. Recommended Values Max. continuous current A 1.47 1.19 0.74 0.60 0.41Max. continuous torque mNm (oz-in) 17.9 (2.5) 15.7 (2.1) 17.3 (2.4) 15.1 (2.1) 13.3 (1.88)Max. angular acceleration 103 rad/s2 119 100 115 100 89Intrinsic ParametersBack-EMF constant V/1000 rpm 1.29 1.35 2.5 2.7 3.5Torque constant mNm/A (oz-in/A) 12.3 (1.74) 12.9 (1.83) 23.9 (3.38) 25.8 (3.65) 33.5 (4.74)Terminal resistance ohm 2.5 3.8 10 15.2 32Motor regulation R/k2 103/Nms 16 23 18 23 29Rotor inductance mH 0.2 0.3 0.8 1.1 1.7Rotor inertia kgm2 10-7 6 6 6 6.7 6Mechanical time constant ms 9.7 14 11 14 17

• Thermal resistance: rotor-body 5°C/W body-ambient 12°C/W• Thermal time constant - rotor / stator: 10 s / 640 s• Max. rated coil temperature: 100°C (210°F)• Recom. ambient temperature range: -30°C to +85°C (-22°F to +185°F)• Viscous damping constant: 0.45 x 10-6 Nms• Max. axial static force for press-fit: 250 N• End play: ≤ 150 µm Radial play: ≤ 30 µm Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face: - sleeve bearings 6 N - ball bearings 8 N• Motor fitted with sleeve bearings (ball bearings optional)



Executions Single Shaft Double Shaft for E9 Gearbox Page 26N58-- 26N48-- R22 113 5 9 M22 114 5 9 K24 115 5 9 K27 116 5 9 RG1/8 119 1 6 RG1/9 120 1 6 K38 118 1 6 L10 123 1 6

max. 5min. 41,64xM x

150

±3

17,5

3

12,5±0,5

11( )

10,6

3-0

,006

-0,0

09÷

43,3 42,1

10,63

-0,0

06-0

,009

÷

2M x 2,3 max.

3,2

1,5

12 ±0,4

2 0 -0

,006

÷

12,5 ±0,5

11( )

42°

38°

60°6x

1,5

2,71,8

18,5÷

26 0 -0

,1÷

10 0 -0

,022

÷

26 0 -0

,1÷

10 0 -0

,022

÷

17÷

Miniature Motors

escap 28L28

73www.portescap.com




dimensions in mmmass: 125 g 28L28 §§ • 49 28L28 §§ • 164

Winding Type §§ -219P -219 -416E -413E -410EMeasured ValuesMeasuring voltage V 6.0 12.0 24.0 28.0 36.0No-load speed rpm 5300 5300 5600 5300 5000Stall torque mNm (oz-in) 43 (6.08) 43 (6.11) 50 (7.08) 42 (5.96) 34 (4.87)Average No-load current mA 44.0 22.0 11.0 8.8 6.6Typical starting voltage V 0.05 0.10 0.15 0.20 0.40Max. Recommended Values Max. continuous current A 1.50 0.95 0.53 0.40 0.28Max. continuous torque mNm (oz-in) 15.2 (2.20) 19.9 (2.82) 21.0 (2.97) 19.7 (2.78) 18.3 (2.58)Max. angular acceleration 103 rad/s2 77 77 48 58 67Intrinsic ParametersBack-EMF constant V/1000 rpm 1.12 2.24 4.26 5.20 7.1Torque constant mNm/A (oz-in/A) 10.7 (1.51) 21.4 (3.03) 40.7 (5.76) 49.7 (7.03) 67.8 (9.60)Terminal resistance ohm 1.49 5.95 19.5 33.0 71.0Motor regulation R/k2 103/Nms 13 13 12 13 15Rotor inductance mH 0.10 0.50 2.40 3.20 7.1Rotor inertia kgm2 10-7 10.40 10.40 17.50 13.50 11.00Mechanical time constant ms 14 14 21 18 17

• Thermal resistance: rotor-body 5 °C/W body-ambient 12 °C/W• Thermal time constant - rotor / stator: 20 s / 760 s• Max. rated coil temperature: 100°C (210°F)• Recom. ambient temperature range: -30°C to +85°C (-22°F to +185°F)• Viscous damping constant: 0.5 x 10-6 Nms

Executions Single Shaft Double Shaft for E9 Gearbox Page 28L28 28L18 R22 113 164 317 M22 114 164 317 RG1/8 119 49 315 RG1/9 120 49 315 R32 117 49 315 K38 118 49 315 K40 121 49 315 L10 123 49 315

Brushed DC

150

±3

7

2M x 3,6 max.

10

43,5

2 2

43,5

7

5,1

(11)

12,5 ±0,2 7,5 ±0,2

60°6x

1,5 6( )1,5

10 0

-0,0

15÷

280 -0

,1÷

17÷

3-0

,006

-0,0

09÷

10 0

-0,0

15÷ 2

0 -0,0

06÷

280 -0

,1÷


Executions Single Shaft Double Shaft for E9 Gearbox Page 28LT12-- 28LT12-- R22 113 164 -- M22 114 164 -- RG1/8 119 49 316 RG1/9 120 49 316 R32 117 49 316 K38 118 49 316 K40 121 49 316 L10 123 49 316

escap 28LT12



°

°

°

28LT12 §§ • 49 28LT12 §§ • 316

Winding Type §§ -219P -219 -416EMeasured ValuesMeasuring voltage V 9.0 18.0 32.0No-load speed rpm 7900 7900 7400Stall torque mNm (oz-in) 57 (8.1) 63 (8.86) 65 (9.26)Average No-load current mA 125.0 65.0 35.0Typical starting voltage V -- -- --Max. Recommended Values Max. continuous current A 2.15 1.13 0.63Max. continuous torque mNm (oz-in) 21.6 (3.06) 22.8 (3.23) 24.2 (3.42)Max. angular acceleration 103 rad/s2 101 107 68Intrinsic ParametersBack-EMF constant V/1000 rpm 1.12 2.24 4.26Torque constant mNm/A (oz-in/A) 10.7 (1.51) 21.4 (3.03) 40.7 (5.76)Terminal resistance ohm 1.70 6.15 19.9Motor regulation R/k2 103/Nms 15 13 12Rotor inductance mH 0.10 0.50 2.40Rotor inertia kgm2 10-7 10.70 10.70 17.80Mechanical time constant ms 16 14 21

• Thermal resistance: rotor-body 5 °C/W body-ambient 12 °C/W• Thermal time constant - rotor / stator: 17s / 760 s• Max. rated coil temperature: 155°C (210°F)• Recom. ambient temperature range: -30°C to +125°C (-22°F to +257°F)• Viscous damping constant: 0.5 x 10-6 Nms• Max. axial static force for press-fit: 250 N• End play: ≤ 150 µm Radial play: ≤ 18 µm Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face - sleeve bearings 6 N - ball bearings 8 N• Motor fitted with sleeve bearings (ball bearings optional)• Optional RFI filters



Miniature Motors

escap 28D11

75www.portescap.com




°


28D11 §§ • 1

Winding Type §§ -222P -219P -222E -219EMeasured ValuesMeasuring voltage V 9.0 12.0 18.0 24.0No-load speed rpm 5300 5800 5200 6000Stall torque mNm (oz-in) 97 (13.75) 94 (13.27) 101 (14.26) 95 (13.47)Average No-load current mA 55.0 44.0 27.5 22.0Typical starting voltage V 0.10 0.15 0.20 0.30Max. Recommended Values Max. continuous current A 1.50 1.50 1.17 0.91Max. continuous torque mNm (oz-in) 23.4 (3.3) 28.4 (4.0) 37.1 (5.2) 33.6 (4.8)Max. angular acceleration 103 rad/s2 73 77 75 76Intrinsic ParametersBack-EMF constant V/1000 rpm 1.70 2.05 3.40 3.95Torque constant mNm/A (oz-in/A) 16.2 (2.29) 19.5 (2.76) 32.5 (4.60) 37.7 (5.33)Terminal resistance ohm 1.50 2.50 5.8 9.5Motor regulation R/k2 103/Nms 5.73 6.56 5.50 6.69Rotor inductance mH 0.20 0.30 0.75 1.10Rotor inertia kgm2 10-7 19.80 17.60 19.80 17.60Mechanical time constant ms 11 12 11 12

• Thermal resistance: rotor-body 4 °C/W body-ambient 8 °C/W• Thermal time constant - rotor / stator: 18s / 630 s• Max. rated coil temperature: 100°C (210°F)• Recom. ambient temperature range: -30°C to +85°C (-22°F to +185°F)• Viscous damping constant: 1 x 10-6 Nms• Max. axial static force for press-fit: 500 N• End play: ≤ 150 µm Radial play: ≤ 25 µm Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face - sleeve bearings 8 N - ball bearings 10 N• Motor fitted with sleeve bearings (ball bearings optional)

Executions

Single Shaft

Gearbox Page 28D11--

R32 117 4

Brushed DC


escap 28DT12



°

°

°

dimensions in mmmass: 200 g 28DT12 §§ • 1 28DT12 §§ • 98

Winding Type §§ -222P -219P -222E -219EMeasured ValuesMeasuring voltage V 12 15 24 28No-load speed rpm 6800 7100 6900 6900Stall torque mNm (oz-in) 102 (14.4) 101 (14.3) 126 (17.8) 107 (15.1)Average No-load current mA 210 180 110 90Typical starting voltage V -- -- -- --Max. Recommended Values Max. continuous current A 2.5 2 1.4 1.1Max. continuous torque mNm (oz-in) 37 (5.2) 35 (5.0) 41 (5.8) 37 (5.2)Max. angular acceleration 103 rad/s2 91 98 102 104Intrinsic ParametersBack-EMF constant V/1000 rpm 1.70 2.05 3.40 3.95Torque constant mNm/A (oz-in/A) 16.2 (2.29) 19.5 (2.76) 32.5 (4.60) 37.7 (5.33)Terminal resistance ohm 1.9 2.9 6.2 9.9Motor regulation R/k2 103/Nms 7.3 7.6 5.9 7Rotor inductance mH 0.20 0.30 0.75 1.10Rotor inertia kgm2 10-7 20 18 20 18Mechanical time constant ms 15 14 12 13

• Thermal Resistance: rotor-body 4 °C/W, body-ambient 8 °C/W• Thermal time constant - rotor / stator: 18s / 630 s• Max. rated coil temperature: 155°C (210°F)• Recom. ambient temperature range: -30°C to +125°C (-22°F to +257°F)• Viscous damping constant: 1 x 10-6 Nms• Max. axial static force for press-fit: 500 N• End play: ≤ 150 µm Radial play: ≤ 25 µm Shaft runout: ≤ 10 µm• Max. side load at 10 mm from mounting face - sleeve bearings 8 N - ball bearings 10 N• Motor fitted with sleeve bearings (ball bearings optional)• Optional RFI filter


Executions Single Shaft Double Shaft for E9 Gearbox Page 28DT12-- 28DT12-- R32 117 4 106 R40 122 1 98

Miniature Motors

escap 30GT2R82

77www.portescap.com




dimensions in mmmass: 310 g 30GT2R82 §§ • 4 30GT2R82 §§ • 5

Winding Type §§ -234P -234EMeasured ValuesMeasuring voltage V 18 36No-load speed rpm 8500 8900Stall torque mNm (oz-in) 758 (107) 871 (123)Average No-load current mA 180 90Typical starting voltage V -- --Max. Recommended Values Max. continuous current A 4.5 2.5Max. continuous torque mNm (oz-in) 87 (12.3) 93 (13.2)Max. angular acceleration 103 rad/s2 133 139Intrinsic ParametersBack-EMF constant V/1000 rpm 2 4.05Torque constant mNm/A (oz-in/A) 20.2 (2.97) 38.7 (5.5)Terminal resistance ohm 0.48 1.6Motor regulation R/k2 103/Nms 1.2 1.1Rotor inductance mH 0.06 0.24Rotor inertia kgm2 10-7 33 33Mechanical time constant ms 3.9 3.5

• Thermal Resistance: rotor-body 4.5 °C/W body-ambient 9.0 °C/W• Thermal time constant - rotor / stator: 40s / 920 s• Max. rated coil temperature: 155°C • Recom. ambient temperature range: -30°C to +125°C (-22°F to +257°F)• Max. axial static force for press-fit: 100 N• End play: negligible Radial play: negligible Shaft runout: ≤ 10 µm• Max. side load at 10 mm from mounting face - ball bearings 35 N• Motor fitted with ball bearings• 83 Commutation is recommended for servo applications• For filter add ‘F’ to designation before coil• On request available with HP encoder and brake

Executions Single Shaft For E9 Gearbox Page 30GT2R82 R32 117 4 5 R40 122 4 5

Brushed DC


escap 35NT2R32



scale: 3:4dimensions in mmmass: 310 g 35NT2R32 §§ • 1 35NT2R32 §§ • 50



M (mNm)

n (rpm)

0 100 200 300

9000

7000

5000

3000

10000

52 W

Winding Type §§ -228P -228E -416SP Measured ValuesMeasuring voltage V 9.0 15.0 24.0 No-load speed rpm 4990 4320 4470 Stall torque mNm (oz-in) 121 (17.2) 148 (20.89) 149 (21.11)Average No-load current mA 180 90.0 50.0 Typical starting voltage V -- -- -- Max. Recommended Values Max. continuous current A 3.04 1.87 1.18 Max. continuous torque mNm (oz-in) 48.1 (6.8) 57.9 (8.2) 58.3 (8.3) Max. angular acceleration 103 rad/s2 54 56 55 Intrinsic ParametersBack-EMF constant V/1000 rpm 1.76 3.40 5.40 Torque constant mNm/A (oz-in/A) 16.8 (2.38) 32.5 (4.60) 51.6 (7.30) Terminal resistance ohm 1.25 3.30 8.30 Motor regulation R/k2 103/Nms 4.43 3.13 3.12 Rotor inductance mH 0.13 0.52 1.30 Rotor inertia kgm2 10-7 48.00 48.00 52.00 Mechanical time constant ms 21 15 16

• Thermal Resistance: rotor-body 4 °C/W body-ambient 8 °C/W• Thermal time constant - rotor / stator: 40s / 920 s• Max. rated coil temperature: 155°C • Recom. ambient temperature range: -55°C to +125°C (-31°F to +257°F)• Max. axial static force for press-fit: 100 N shaft supported: 1000N• End play: negligible Radial play: negligible Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face - ball bearings 35 N• Motor fitted with ball bearings• For filter add `F` to designation before coil• On request available with HP encoder and brake



Executions


Gearbox Page 35NT2R32 35NT2R32 35NT2R32

R32 117 54 66 35

K40 121 54 66 35

R40 122 54 66 35

Miniature Motors

escap 35NT2R82

79www.portescap.com




M (mNm)

n (rpm)

0 100 200 300 400 500 600

900080007000600050004000300020001000

0

102 W



scale: 3:4dimensions in mmmass: 310 g

35NT2R82 §§ • 1 35NT2R82 §§ • 50

Winding Type §§ 426P 426SPMeasured ValuesMeasuring voltage V 18 32No-load speed rpm 6700 5900Stall torque mNm (oz-in) 538 (76) 756 (107)Average No-load current mA 141 80Typical starting voltage V -- --Max. Recommended Values Max. continuous current A 3.7 2.3Max. continuous torque mNm (oz-in) 90 (12.7) 115 (16.3)Max. angular acceleration 103 rad/s2 122 125Intrinsic ParametersBack-EMF constant V/1000 rpm 2.65 5.40Torque constant mNm/A (oz-in/A) 25.4 (3.6) 52 (7.3)Terminal resistance ohm 0.85 2.20Motor regulation R/k2 103/Nms 1.3 0.83Rotor inductance mH 0.1 0.40Rotor inertia kgm2 10-7 71.4 71.4Mechanical time constant ms 9 6

• Thermal Resistance: rotor-body 4 °C/W body-ambient 8 °C/W• Thermal time constant - rotor / stator: 40s / 920 s• Max. rated coil temperature: 155°C • Recom. ambient temperature range: -55°C to +125°C (-31°F to +257°F)• Max. axial static force for press-fit: 100 N shaft supported: 1000N• End play: negligible Radial play: negligible Shaft runout: ≤ 10 µm• Max. side load at 5 mm from mounting face - ball bearings 35 N• Motor fitted with ball bearings• For filter add `F` to designation before coil• On request available with HP encoder and brake

Executions


Gearbox Page 35NT2R82 35NT2R82 35NT2R82

R32 117 54 66 35

R40 122 54 66 35

Brushed DC


Notes


Miniature Motors

Stepper Motors

81www.portescap.com

Stepper

Stepper Motors• Can Stack• Turbo Disc• Digital Linear Actuator

15M020D-N Series Stepper Motor 82

20M020D Series Stepper Motor 83

26M048B Series Stepper Motor 84

35M048B Series Stepper Motor 85

42M048C Series Stepper Motor 86

26M048B Series Stepper w/ Gear Trains 87

Turbo DiscTM P010 88




20DAM Series Digital Linear Actuator 92

26DBM Series Digital Linear Actuator 94

42DBL Series Digital Linear Actuator 96

Portescap Motor Quick Reference Chart 98

Designation of DMM Stepper Motors P X 5 3 2 -25 8 012 14 V

Stepper motorInternal codeCode of diameterCode of lengthMotor version of full/half-step = 2Motor version for microstep = 0Number of rotor pole pairsNumber of connections or terminal wiresResistance per winding (indicated by a letter for some motors)Motor execution codeParticular option

82


15M020D

Series Features

• Measures only 15 mm in diameter, 15.5 mm in thickness• A step angle of 18 degrees (or 20 steps per revolution)• 0.63 watts input power per winding• Weight: 14.0g / 0.5 oz• Permanently lubricated sintered bronze bearings• Available in bipolar construction only• Superior torque performance• Excellent for open-loop systems• Widely used frame size in various industries

15M020D-N

Technical SpecificationsPart Number 15M020D1B-NDC operating voltage 5Resistance per winding (ohms) 40 ± 10%Inductance per winding (mH) 14 ± 20%Holding torque* (mNm / oz. in) 3.87 / .55Rotor moment of inertia (g.m2) 1.15 x 10 -5

Detent torque (mNm / oz.-in) 1.62 / .23Step angle 18ºStep angle tolerance* ± 1.5ºSteps per revolution 20Maximum operating temperature 100ºCAmbient temperature range operating -20ºC to 70ºC storage -40ºC to 85ºCBearing type Sintered bronze sleeveInsulation resistance at 500Vdc 100 megohmsDielectric withstanding voltage 450 ± 50 VRMS for 2 secondsWeight (g/oz) 14 / 0.5Leadwires 28 AWG, UL Style 1429

*Measured with 2 phases energized

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Miniature Motors

20M020D

83www.portescap.com

Series Features

• 18º Step Angle (or 20 steps per revolution)• 1.25 Watts input power per winding• Permanently lubricated sintered bearings• Available in unipolar or bipolar construction• Superior torque performance• Excellent for open-loop systems• Widely used frame size in various industries

20M020D

Stepper

Technical SpecificationsPart Number Unipolar Bipolar 20M020D1U 20M020D2U 20M020D1B 20M020D2BDC operating voltage 5 12 5 12Resistance per winding (ohms) 20 115.2 20 115.2 Inductance per winding (mH) 3.9 20.3 7.8 52.8Holding torque* (mNm / oz. in) 7.77 / 1.10 11.30 / 1.60 Rotor moment of inertia (g.m2) 4.1 x 10 -5 Detent torque (mNm / oz.-in) 3.53 / 0.50Step angle 18ºStep angle tolerance* ± 1.5ºSteps per revolution 20Maximum operating temperature 100ºCAmbient temperature range operating -20ºC to 70ºC storage -40ºC to 85ºCBearing type Sintered Bronze SleeveInsulation resistance at 500Vdc 100 megohmsDielectric withstanding voltage 450 ± 50 VRMS for 2 secondsWeight (g/oz) 23.5 / .83Leadwires 28 AWG, UL Style 1429


84


26M048B

26MO48B

Technical SpecificationsPart Number Unipolar Bipolar 26M048B1U 26M048B2U 26M048B1B 26M048B2BDC operating voltage 5 12 5 12Resistance per winding (ohms) 19.8 108 19.8 108 Inductance per winding (mH) 5.3 36.5 13.0 60.7Holding torque* (mNm / oz. in) 9.2/1.3 10.6/1.5 Rotor moment of inertia (g.m2) 1.1 x 10 -4 Detent torque (mNm / oz.-in) 1.34/0.19Step angle 7.5ºStep angle tolerance* ± .5ºSteps per revolution 48Maximum operating temperature 100ºCAmbient temperature range operating -20ºC to 70ºC storage -40ºC to 85ºCBearing type sintered bronze sleeveInsulation resistance at 500Vdc 100 megohmsDielectric withstanding voltage 650 ± 50 VRMS 60 Hz for 2 secondsWeight (g/oz) 34/1.2Leadwires 28 AWG, UL Style 1429


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Miniature Motors

35M048B

85www.portescap.com

TORQUE VS SPEEDBIPOLAR 35M048B1B L/R 2 PHASE DRIVE

0

0.28

0.57

0.85

1.70

0

TOR

QU

E (m

Nm

)

OZ-

IN

0 50 100 150 200 250 300

SPEED (PPS)

PULL OUTPULL IN

1.14

1.42

2.0

4.0

6.0

8.0

10.0

12.0

350

TORQUE VS SPEEDUNIPOLAR 35M048B1U L/R 2 PHASE DRIVE

0 50 100 150 200 250 300

SPEED (PPS)

PULL OUT

PULL IN

350

1.9814.0

0

2.0

4.0

6.0

8.0

10.0

12.0

14.0

TOR

QU

E (m

Nm

)

0

0.28

0.57

0.85

1.70

OZ-

IN

1.14

1.42

1.98

Stepper

Technical SpecificationsPart Number 35M048B1U 35M048B2U 35M024B1U 35M024B2U 35M020B1U 35M020B2U DC operating voltage 5 12 5 12 5 12Resistance per winding (ohms) 12.5 72 12.5 72 12.5 72 Inductance per winding (mH) 7.8 36 7.2 32.8 6.8 32Holding torque* (mNm / oz. in) 18.4/2.6 16.93/2.4 13.4/1.9 Rotor moment of inertia (g.m2) 2 x 10 -4 2 x 10 -4 2 x 10 -4 Detent torque (mNm / oz.-in) 2.2/0.30 2.2/0.30 2.2/0.30Step angle 7.5º 15.0º 18.0ºStep angle tolerance* +/- 0.5% ± 1º ± 1.2ºSteps per revolution 48 24 20Maximum operating temperature 100ºCAmbient temperature range operating -20ºC to 70ºC storage -40ºC to 85ºCBearing type sintered bronze sleeveInsulation resistance at 500Vdc 100 megohmsDielectric withstanding voltage 650 ± 50 VRMS 60 Hz for 2 secondsWeight (g/oz) 79/2.8Leadwires 28 AWG, UL Style 1430


35MO48B

86


42M048C

42M048C-N

TORQUE VS SPEEDBIPOLAR 42M048C1B-N L/R 2 PHASE DRIVE

0

1.42

2.83

4.25

8.50

0

TOR

QU

E (m

Nm

)

OZ-

IN

0 50 100 150 200 250 300

SPEED (PPS)

PULL OUTPULL IN

5.66

7.08

10.0

20.0

30.0

40.0

50.0

60.0

350

TORQUE VS SPEEDUNIPOLAR 42M048C1U-N L/R 2 PHASE DRIVE

0

1.42

2.83

4.25

8.50

0TO

RQ

UE

(mN

m)

OZ-

IN

0 50 100 150 200 250 300

SPEED (PPS)

PULL OUTPULL IN

5.66

7.08

10.0

20.0

30.0

40.0

50.0

60.0

350

Technical SpecificationPart Number Unipolar Bipolar 42M048C1U-N 42M048C2U-N 42M048C1B-N 42M048C2B-NDC operating voltage 5 12 5 12Resistance per winding (ohms) 9.1 52.4 9.1 52.4 Inductance per winding (mH) 8.1 51.7 16.7 85.7Holding torque* (mNm / oz. in) 66.2/9.4 84.0/11.9 Rotor moment of inertia (g.m2) 12.5 x 10 -4

Detent torque (mNm / oz.-in) 12.7/1.8Step angle 7.5ºStep angle tolerance* ± .5ºSteps per revolution 48Maximum operating temperature 100ºCAmbient temperature range operating -20ºC to 70ºC storage -40ºC to 85ºCBearing type sintered bronze sleeveInsulation resistance at 500Vdc 100 megohmsDielectric withstanding voltage 650 ± 50 VRMS 60 Hz for 2 secondsWeight (g/oz) 145/5.1Leadwires 26 AWG, UL Style 1430


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Miniature Motors

26M048B

87www.portescap.com

26M048B

Stepper

Available Gear Train Reductions

-V11 2:1 3.75º 62.50 8.9/1.16

-V16 5:1 1.5º 25.00 17.01/2.41

-V19 7.5:1 1.00º 16.66 21.08/3.00

PartSuffix

GearRatio

OutputStep

Angle

OutputSpeed RPM@100 PPS

Running Torque@100 PPSmNm/oz-in

Other gear ratios available

2:1

Unipolar 12 Vdc

Basic Series

30:1

Bipolar 5 Vdc

Basic Series

Technical Specifications (Motor Only) Part Number Unipolar Bipolar 26M048B1U 26M048B2U 26M048B1B 26M048B2BDC operating voltage 5 12 5 12Resistance per winding (ohms) 19.6 110 19.8 108 Inductance per winding (mH) 5.3` 36.5 13.0 60.7Holding torque* (mNm / oz. in) 9.2/1.3 10.6/1.5 Rotor moment of inertia (g.m2) 1.1 x 10 -4 Detent torque (mNm / oz.-in) 1.34/0.19Step angle 7.5ºStep angle tolerance* ± 5ºSteps per revolution 48Maximum operating temperature 100ºCAmbient temperature range operating -20ºC to 70ºC storage -40ºC to 85ºCBearing type Bronze SleeveInsulation resistance at 500Vdc 100 megohmsDielectric withstanding voltage 660 ± 50 VRMS 60 Hz for 2 secondsWeight (g/oz) 57.2/2Leadwires 28 AWG


How to Order1. List Series 26M048B2. Add suffix -V11 to V37 for desired gear ratio

Examples of Part Numbers

26MO48B 2U -V11 26MO48B 1B V31

88


P010 • 064 §§• 02

P010-064-020, U = 3V, Rs = O ohmVoltage drive type L/R

P010-064-2.5.1, I = 0.6A, U = 12VCurrent source

Winding Type §§ 020 003 Coil Dependent Parameters typ typPhase resistance ohm 20 3Phase inductance (1kHz) mH 13.7 1.8Nominal phase current (2 ph. on) A 0.15 0.43Nominal phase current (1 ph. on) A 0.21 0.6Back-EMF amplitude V/kst/s 2.30 0.81

Coil Independent Parameters Torque Parameters typ maxHolding torque (nominal current) mNm (oz-in) 1.85 (0.26) Holding torque (1.5 x nominal current) (1) mNm (oz-in) 2.6 (0.37) Detent torque mNm (oz-in) 0.4 (0.06) Thermal Parameters Thermal resistance coil ambient (2) ºC/W 100 Absolute accuracy (2 ph. on full-step model) % full-step ±10Mechanical Parameters Rotor inertia kgm2, 10 -7 Other Parameters Natural resonance frequency (nom. current) Hz 200 Electrical time constant ms 0.6 Angular acceleration (nominal current) rad/s2 265000

+0.

1-0

.2

6.80

4 0.2

1.50

-0.0

06-0

.009

6 0 -0

.018

M5.

50 x

0.5

4 0.2

Turbo DiscSL��P010

www.portescap.com

24 steps/revolution15º step angle

Miniature Motors


89www.portescap.com


P110 • 064 • §§• 08 P110 • 064 • §§• 12

P110-064-2.5.1, I=0.9A, U=24VCurrent source

P110-064-015, U=12V, Rs=15ohmP110-064-068, U=24V, Rs=68 ohmVoltage Driver type L.R

Winding Type §§ 068 015 2.5 Coil Dependent Parameters typ typ typPhase resistance ohm 62 15 2.5Phase inductance (1kHz) mH 46 12 2.2Nominal phase current (2 ph. on) A 0.12 0.25 0.65Nominal phase current (1 ph. on) A 0.17 0.35 0.9Back-EMF amplitude V/kst/s 10.8 5.2 2

Coil Independent Parameters Torque Parameters min typ maxHolding torque (nominal current) mNm (oz-in) 6.4 (0.91) 7 (1.0) 7.6 (1.08) Holding torque (1.5 x nominal current) (1) mNm (oz-in) 9.2 (1.31) 10 (1.4) 10.8 (1.54) Detent torque mNm (oz-in) 0.6 (0.9) 1 (0.1) 1.5 (0.21) Thermal Parameters Thermal resistance coil ambient (2) ºC/W 45 Absolute accuracy (2 ph. on full-step model) % full-step ±3 ±5Mechanical Parameters Rotor inertia kgm2, 10 -7 0.40 Other Parameters Natural resonance frequency (nom. current) Hz 160 Electrical time constant ms 0.8 Angular acceleration (nominal current) rad/s2 167000

Stepper

90



P310 - 158 - §§• 09 P310 - 158 - §§• 10*dimensions in mmmass: 40 g

P310-158-005, Coils in parallelescap EDM-453, I=1 amp, U=24V

P310-158-170, Coils in seriesVoltage driver type L/R, 56 series resistor, 24V

Winding Type §§ 170 170 005 005Coil Dependent Parameters typ typ typ typ coils in series coils in parallel coils in series coils in parallel

Phase resistance ohm 332 83 10.5 2.6Phase inductance (1kHz) mH 184 46 6.4 1.6Nominal phase current (2 ph. on) A 0.06 0.12 0.36 0.72Nominal phase current (1 ph. on) A 0.09 0.17 0.51 1Back-EMF amplitude V/kst/s 18 9 3.2 1.6Coil Independent Parameters Torque Parameters min typ maxHolding torque (nominal current) mNm (oz-in) 11.5 (1.6) 14 (2) 16.5 (2.4) Holding torque (1.5 x nominal current) (1) mNm (oz-in) 23 (3.8) 28 (4) 33 (4.8) Detent torque mNm (oz-in) 1.4 (0.2) 2.5 (0.3 3 (0.4) Thermal Parameters Thermal resistance coil ambient (2) ºC/W 25 Absolute accuracy (2 ph. on full-step model) % full-step ±3.5 ±5Mechanical Parameters Rotor inertia kgm2, 10 -7 0.86 Other Parameters Natural resonance frequency (nom. current) Hz 230 Electrical time constant ms 0.6 Angular acceleration (nominal current) rad/s2 140000


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*Ball bearing version

Miniature Motors

3,2 +0.1 0 52

3

51,852

42,4

+ -0,1

195+

-10

22 0 -0

,033

5-0

,008

-0,0

16

3-0

,006

-0,0

16

1,35 +- 0,5

20,5 +- 0,532,6 16,5

91www.portescap.com

Stepper

P532-258 - §§• 10

scale: 2/3dimensions in mmmass: 250 glead wires: 195 ± 10 mm0.25 mm2 (AWG 24)

Winding available §§ 012 004 004 0.7 coils in series coils in series coils in parallel coils in parallel

Coil Dependent Parameters typ typPhase resistance ohm 27 8.8 2.2 0.35Phase inductance (1kHz) mH 64 20 5 0.7Nominal phase current (2 ph. on) A 0.4 0.7 1.4 3.7Nominal phase current (1 ph. on) A 0.56 1 2 5.2Back-EMF amplitude V/kst/s 21 12 6 2.3

Coil Independent Parameters1) Torque Parameters min typ maxHolding torque (nominal current) mNm (oz-in) 174 (24.6) 205 (29) 236 (33.4) Holding torque (2 x nominal current) (2) mNm (oz-in) 306 (43.3) 360 (51) 414 (58.6) Detent torque amplitude and friction mNm (oz-in) 14 (2) 28 (4) 40 (5.7) Thermal Parameters Thermal resistance coil ambient (3) ºC/W 7.3 Absolute accuracy (2 ph. on full-step model) % full-step ±3 ±5Mechanical Parameters Rotor inertia kgm2, 10 -7 12 Other Parameters Natural resonance frequency (nom. current) Hz 330 Electrical time constant ms 2.3Angular acceleration (nominal current) rad/s2 171 000

100 steps/revolution3.6° step angle

P532-258 - §§• 84

• Max. rated coil temperature: 130°C• Recom. ambient temperature range: -20°C to +50°C• Radial shaft play (5N): 25 µm Axial shaft play (5N): 25 µm• Max. radial load4): 20N Max. axial load5): 30N• Test voltage (1 min): 500 VRMS• „Power rate“ (nominal current): 35 kW/s

1) Bipolar driver.2) The maximum coil temperature must be respected.3) Motor unmounted.4) Load applied at 12 mm from mounting face.5) Shaft must be supported for press-fitting a pulley or pinion.


92


Series Features

• Competitively priced, high resolution digital linear actuator• Available with Neodymium magnet• Linear Step Resolution - 0.001”, 0.002”, 0.004”• Unipolar or bipolar coil construction• Linear force up to 108 oz (30.0N)• 1.25 Watts input power per winding• Fast, powerful and precise positioning• Precision radial ball bearing design• Industries standard frame sizes• Customized design available

20DAM-L Non-captive Version

General Specifications Max Pull-in Rate* (Steps/Sec) 600Power Consumption 2.5 WattsInsulation Resistance 20 MBearings Radial BallWeight 0.9 oz (25gm)Operating Temperature Range -20ºC - 70ºCStorage Temperature Range -40ºC - 85ºC

20DAM-L Non-Captive Version

20DAM-L

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Miniature Motors

93www.portescap.com

Series Features


20DAM-K Captive Version


20DAM-K Captive Version

DLA

20DAM-K

94


Series Features


26DBM-L Non-captive Version


26DBM-L Non-captive Version

26DBM-L

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Miniature Motors

95www.portescap.com

Series Features

• Competitively priced, high resolution digital linear actuator• Available with Neodymium magnet• Linear Step Resolution - 0.0005”, 0.0010”, 0.0020”• Unipolar or bipolar coil construction• Linear force up to 128 oz (35.6N)• 1.7 Watts input power per winding• Fast, powerful and precise positioning• Precision radial ball bearing design• Industries standard frame sizes

26DBM-K Captive Version


26DBM-K Captive Version

DLA

26DBM-K

96


42DBL-L

Series Features

• Competitively priced, high resolution digital linear actuator• Linear Step Resolution - 0.001”, 0.002”, 0.004”• Unipolar or bipolar coil construction• Linear force up to 370 oz (102.9N)• 5 Watts input power per winding• Fast, powerful and precise positioning• Precision radial ball bearing design• Industries standard frame sizes• Customized design available

42DBL-L Non-Captive General SpecificationsMax Pull-in Rate* (Steps/Sec) 300Power Consumption 10 WattsInsulation Resistance 20 MBearings Radial BallWeight 5.5 oz (156gm)Operating Temperature Range -20ºC - 70ºCStorage Temperature Range -40ºC - 85ºC

42DBL-L Non-Captive Version

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Miniature Motors

42DBL-K

97www.portescap.com

Series Features

• Competitively priced, high resolution digital linear actuator• Available with Neodymium magnet• Linear Step Resolution - 0.001”, 0.002”, 0.004”• Unipolar or bipolar coil construction• Linear force up to 370 oz (102.9N)• 5 Watts input power per winding• Fast, powerful and precise positioning• Precision radial ball bearing design• Industries standard frame sizes• Customized design available

42DBL-K Captive Version

General Specifications Max Pull-in Rate* (Steps/Sec) 300Power Consumption 10 WattsInsulation Resistance 20 MBearings Radial BallWeight 5.5 oz (156gm)Operating Temperature Range -20ºC - 70ºCStorage Temperature Range -40ºC - 85ºC

42DBL-K Captive Version

DLA

98


Portescap Motor Quick Reference Chart

Permanent Magnet DC Stepper Motor

Holding Step Angle Steps/Rev DC Resistance/Windings (Ohms) Torque (Min.) (Degrees) Operating Bipolar & Unipolar Series mNm / oz-in) Voltage 5 vdc 12 vdc15M020D 3.9 / 0.55 18 20 5 40 –20M020D 7.77 / 1.10 18 20 5 or 12 20 11526M024B 6.3 / 0.9 15 24 5 or 12 19.6 11026M048B 9.2 / 1.3 7.5 48 5 or 12 19.6 11035L020B 18.3 / 2.6 18 20 5 or 12 11 6435L024B 20.0 / 2.8 15 24 5 or 12 11 6435L048B 25.0 / 3.5 7.5 48 5 or 12 11 6435M020B 13.4 / 1.9 18 20 5 or 12 12.5 7235M024B 16.9 / 2.4 15 24 5 or 12 12.5 7235M048B 18.4 / 2.6 7.5 48 5 or 12 12.5 7242L048D 106.6 / 15.1 7.5 48 5 or 12 5.2 3042M048C 66.2 / 9.4 7.5 48 5 or 12 9.1 52.442S048D 49.4 / 7.0 7.5 48 5 or 12 12.5 7544M100D 46.6 / 6.6 3.6 100 5 or 12 12.5 7055M048B 102.4 / 14.5 7.5 48 5 or 12 5.2 3060L024B 130.0 / 18.5 15 24 5 or 12 4.6 26.260L048B 183.1 / 26.0 7.5 48 5 or 12 4.6 26.2

Permanent Magnet AC Synchronous Motor

Running AC Torque (Min.) RPM RPM Operating Capacity Series (mNm / oz-in) 50 Hz 60 Hz Voltage (mF) 20M720B 2.68 /.38 600 -- 24 2.2 20M864B 2.68 /.38 -- 720 24 2.2 26M250B 6.29 /.89 250 -- 24 or 120 6.8 or 0.33 26M300B 6.29 /.89 -- 300 24 or 120 6.8 or 0.33 35L250B 12.08 /1.71 250 -- 24 or 120 or 230 3.3 or 0.15 or 0.039 35L300B 12.08 /1.71 -- 300 24 or 120 or 230 3.3 or 0.15 or 0.039 35M250B 7.06 /1.00 250 -- 24 or 120 or 130 3.0 or 0.18 or 0.047 35M300B 8.83 /1.25 -- 300 24 or 120 or 130 3.0 or 0.18 or 0.047

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Miniature Motors

Portescap Motor Quick Reference Chart

99www.portescap.com

Digital Linear Actuator

Series Linear Travel Maximum Min. Holding Force DC Resistance/Windings (Ohms) Per Step Force (Unenergized) Operating Bipolar & Unipolar (mm/in) (N / oz) (N / oz) Voltage 5 vdc 12 vdc26DBM-K & -L 0.0127 / .0005 16.7 / 60 55.6 / 200 5 or 12 14.6 84 0.0254 / .0010 13.3 / 48 13.9 / 50 5 or 12 14.6 84 0.0508 / .0020 8.9 / 32 2.8 / 10 5 or 12 14.6 8435DBM-K & -L 0.0254 / .0010 20.9 / 75 11.1 / 40 5 or 12 10 58 0.0508 / .0020 15.3 / 55 2.8 / 10 5 or 12 10 58 0.0762 / .0030 8.3 / 30 1.4 / 5 5 or 12 10 5842DBL-K & -L 0.0254 / .0010 100.0 / 360 111.2 / 400 5 or 12 5 28.8 0.0508 / .0020 72.3 / 260 83.4 / 300 5 or 12 5 28.8 0.1016 / .0040 50.0 / 180 19.5 / 70 5 or 12 5 28.8

Geared Digital Linear Actuator

Series Linear Travel Operating Min. Holding Force DC Resistance/Windings (Ohms) Per Step Force (Unenergized) Operating Bipolar & Unipolar (mm/in) (N / lb) (N / lb) Voltage 5 vdc 12 vdcC42M100A20-S 0.002 / .0000783 178 / 40 133 / 30 12 -- 75

DLA

Permanent Magnet Stepper Motor with Gear Trains

Series Gear Train Rating Shape DC Resistance/Windings (Ohms) (Running) (Static) of Operating Bipolar & Unipolar (mNm / oz-in) (mNm / oz-in) Gearbox Voltage 5 vdc 12 vdc26M048B-V 70.6 / 10 141.2 / 20 Oval 5 or 12 19.6 11035M048B-X 35.3 / 5.0 141.2 / 20 Pear 5 or 12 12.5 7242M048C-R 706 / 100 1060 / 150 Round 5 or 12 9.1 52.442M048C-Z 1410 / 200 2120 / 300 Pear 5 or 12 9.1 52.4C57L048A25-S 13,555/1,920 14,911/2,112 Square 12 -- 16 (bipolar)

100


Notes

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Miniature Motors

101www.portescap.com

Gearheads

Planetary - Size 5 102




M707 L61 106

M915 L61, MU915 107

R10 108

R13 109

B16 110

BA16 111

R16 112

R22 113

M22 114

K24 115

K27 116

R32 117

K38 118

RG1/8 119

RG1/9 120

K40 121

R40 122

L10 123

Gearhead

Gearheads

Example of Gearheads Designation R 22 0- 190

Gearbox typeGearbox diameter in mmGearbox execution codeReduction ratio



Size 5 Standard Modular Planetary GearheadGear Max Max Efficiency Max Mech Backlash Envelope Integral Rotation AdditionRatio Torque Input Range Power Max Diagram Shaft Input to Length for Output Speed % Output Minutes Below Seal Output Shaft Seal oz-in (Nm) rpm Watt of Angle Available inch (mm)

5.00 42 (0.29) 80,000 85-92 80 95 single yes same .156 (3.96)15.00 42 (0.29) 80,000 75-90 80 110 dual yes same .156 (3.96)25.00 42 (0.29) 80,000 75-90 80 110 dual yes same .156 (3.96)

Gearhead Length - “L”Single Stage Dual Stage

.432±.002 . 603±.003

(10.973±0.051) (15.316±0.076)(-) denotes millimeters


Planetary Gearhead - Size 5

Miniature Motors



4.00 162 (1.1) 60,000 90-95 180 45 single yes same .175 (4.45)5.00 162 (1.1) 60,000 90-95 180 45 single yes same .175 (4.45)7.00 162 (1.1) 60,000 90-95 180 45 single yes same .175 (4.45)12.00 162 (1.1) 60,000 75-90 180 60 dual yes same .175 (4.45)15.00 162 (1.1) 60,000 75-90 180 60 dual yes same .175 (4.45)16.00 162 (1.1) 60,000 75-90 180 60 dual yes same .175 (4.45)20.00 162 (1.1) 60,000 75-90 180 60 dual yes same .175 (4.45)21.00 162 (1.1) 60,000 75-90 180 60 dual yes same .175 (4.45)25.00 162 (1.1) 60,000 75-90 180 60 dual yes same .175 (4.45)28.00 162 (1.1) 60,000 75-90 180 60 dual yes same .175 (4.45)35.00 162 (1.1) 60,000 75-90 180 60 dual yes same .175 (4.45)49.00 162 (1.1) 60,000 75-90 180 60 dual yes same .175 (4.45)


.747±.002 . 1.074±.003



Gearhead






.826±.002 . 1.223±.003





Miniature Motors





1.453±.002 2.141±.003



Gearhead




Gearmotor with Spur Gears 0.012 Nm

M707 L61 §§ • §§ • 0

escap M707L61

Gearhead SpecificationsRatio §§ 7.07 10.7 19.6 29.8 54.6 82.7 152 230 421 638 1170 1770No. of gear stages 2 2 3 3 4 4 5 5 6 6 7 7Direction of Rotation = = ≠ ≠ = = ≠ ≠ = = ≠ ≠Efficiency 0.8 0.8 0.75 0.75 0.65 0.65 0.6 0.6 0.55 0.55 0.5 0.5Length = L (mm) 23.8 23.8 25.8 25.8 27.8 27.8 29.8 29.8 31.8 31.8 33.8 33.8Mass (g) 4.3 4.3 4.4 4.4 4.6 4.6 4.7 4.7 4.9 4.9 5.0 5.0Max. recom. dynamic mNm (oz-in) 12 (1.7) at 20 rpmoutput torque mNm (oz-in) 8 (1.1) at 150 rpm Bearing type sleeve bearings Max. static torque mNm (oz-in) 50 (7.08) Max. side load at 3 mm from mount. face N (lb) 1 (0.225) Max. axial load N (lb) 1 (0.225) Max. force for press-fit N (lb) 5 (1.12) Average backlash at no-load 2º Average backlash at 12mNm 3º Radial Play µm ≤30 Axial Play µm ≤100 Max. recom input speed rpm 7500 Temperature range ºC (ºF) -30 ... +65 (-22...+150)

Motor SpecificationsWinding Types §§ -207 -205 -204

Measured Values Measuring Voltage V 2 3.5 4.5No-Load speed rpm 10400 11400 11700Stall torque mNm (oz-in) 0.31 (0.04) 0.37 (0.05) 0.23 (0.03)Average no-load current mA 12 8 6Typical starting voltage V 0.2 0.3 0.5Max. Recommended Values Max. continuous current A 0.28 0.18 0.11Max. continuous torque mNm (oz-in) 0.46 (0.07) 0.48 (0.07) 0.36 (0.47)Intrinsic Parameters Torque constant mNm/A (oz-in/A) 1.7 (0.24) 2.8 (0.39) 3.3 (0.47)Terminal resistance ohm 11 26 65Motor regulation R/k2 103/Nms 3700 3400 5800Thermal inductance mH 0.03 0.10 0.11Rotor inertia kgm2 10-7 0.022 0.030 0.016Thermal Parameters Mechanical time constant ms 8 10 9Thermal time constant rotor s 3 3 3Thermal resistance body-ambient ºC/W 70 70 70

Miniature Motors


Gearmotor with Spur Gears and Right Angle Output0.03 Nm

M915 L61 §§ • §§ • 40 MU915 L61 §§ • §§ • 40

Gearhead SpecificationsRatio §§ 3.67 13.4 26.8 49.3 98.7 181 362 663 1330 2430No. of gear stages 1 2 3 3 4 4 5 5 6 6Direction of Rotation ≠ = ≠ ≠ = = ≠ ≠ = =Efficiency 0.9 0.8 0.7 0.7 0.65 0.65 0.6 0.6 0.55 0.55Length = L (mm) 21.2 23.30 26 26 28.7 28.7 31.4 31.4 34.1 34.1Mass (g) 10/B 10/A 11/B 11/B 12/A 12/A 13/B 13/B 13/A 13/A

Max. recom. dynamic output torque mNm (oz-in) 30 (4.25) at 20 rpm mNm (oz-in) 20 (2.83) at 150 rpm Bearing type sleeve bearings Max. static torque mNm (oz-in) 70 (9.87) Max. side load at 3 mm from mount. face N (lb) 1.5 (0.34) Max. axial load N (lb) 1 (0.225) Max. force for press-fit N (lb) 5 (1.12) Average backlash at no-load 2º Average backlash at 12mNm 3º Radial Play µm ≤30 Axial Play µm ≤150 Max. recom input speed rpm 7500 Temperature range ºC (ºF) -20 ... +65 (-4...+150)

Gearhead

escap M915L61MU915L

Motor SpecificationsWinding Types §§ -208 -205

Measured Values Measuring Voltage V 2 3No-Load speed rpm 8300 8000Stall torque mNm (oz-in) 0.52 (0.07) 0.35 (0.05)Average no-load current mA 8 6Max. Recommended Values Max. continuous current A 0.28 0.18 Max. continuous torque mNm (oz-in) 0.59 (0.08) 0.50 (0.07) Intrinsic Parameters Torque constant mNm/A (oz-in/A) 2.2 (0.31) 3.2 (0.46) Terminal resistance ohm 8.5 26 Motor regulation R/k2 103/Nms 1760 2540 Thermal inductance mH 0.05 0.10 Rotor inertia kgm2 10-7 0.04 0.03 Thermal Parameters Mechanical time constant ms 7 7 Thermal time constant rotor s 3 3 Thermal resistance body-ambient ºC/W 60 60



escap R10

Planetary Gearhead 0.1 Nm

2,1

1,8

0 -0,0

5

5,65

4

7,5L

1,6M x1,5

1

7

2-0

,006

-0,0

12

3,8

10 0 -0

,1

4 0 -0

,022

dimensions in mmR10 • 0 §§

Ratio §§ 4 16 64 256 1024 4096

No. of gear stages 1 2 3 4 5 6Direction of Rotation = = = = = =Efficiency 0.9 0.80 0.7 0.65 0.60 0.5L (mm) 9 12.5 16 19.5 23 26.50Mass (g) 3 4 5 6 7 8Available with motor 08GS61 • 7 08G61 • 5 PO10 • 02

Characteristics R10 • 0

Bearing Type sleeve bearing Max. static torque Nm (oz-in) 0.15 (21.4) Max. radial force at 8 mm from mounting face N (lb) 2 (0.45) Max. axial force N (lb) 5 (1.125) Force for press-fit N (lb) 10 (2.25) Average backlash at no-load 1º Average backlash at 0.1 Nm 3º Radial play µm ≤50 Axial play µm 50-150 Max. recom. input speed rpm 10000 Operating temperature range ºC (ºF) -30...+65 (-22...+150)

M (Nm)

n (rpm) Dynamic torque



0.05 0.1 0.15

Miniature Motors


Planetary Gearhead0.25 Nm

1,6M x2,5

2,8

0 -0,0

5

6

8,2

9( )1

10L

9,5

3-0

,006

-0,0

127 0 -0

,015

13 0 -0

,1

R13 • 0 §§

Ratio §§ 5.5 22 30.2 88 121 166 352 484 665.5 915

No. of gear stages 1 2 2 3 3 3 4 4 4 4Direction of Rotation = = = = = = = = = =Efficiency 0.85 0.75 0.75 0.65 0.65 0.65 0.55 0.55 0.55 0.55L (mm) 14.5 18.6 18.6 22.7 22.7 22.7 26.8 26.8 26.8 26.8Mass (g) 6 9 9 12 12 12 15 15 15 15Available with motor13N88 • 1

Characteristics R13 • 0 R13 2R • 0

Bearing Type sleeve ballMax. static torque mNm (oz-in) 0.5 (71) 0.5 (71)Max. radial force at 8 mm from mounting face N (lb) 5 (1.12) 20 (4.5)Max. axial force N (lb) 8 (1.8) 10 (2.2)Force for press-fit N (lb) 100 (23) 100 (23)Average backlash at no-load 1.25º 1.25ºAverage backlash at 0.25 Nm 2º 2ºRadial play µm ≤20 ≤10Axial play µm 50-150 ≤50Max. recom. input speed rpm 7500 7500Operating temperature range ºC (ºF) -30...+85 (-22...+185)



Dynamic torquen (rpm)150

100

50

00 0 .2 0.4 0 .6 0.8 1

M (Nm)

Gearhead

dimensions in mm

escap R13



escap B16

Reduction Gearhead with Spur Gears 0.12 Nm

6,5

2,7

0 -0,0

5

1

5

2M x4,5

11

1,5

92,5 L

1,1 7,9( )

4,7

0 -0,0

5

16 0 -0

,1

11,8

16 14,5

3-0

,006

-0,0

127 0 -0

,022

dimensions in mm B16 • 0 §§

Ratio §§ 5 9 15 27 45 81 135 141 243 405 729 1215 2187

No. of gear stages 2 2 3 3 4 4 5 5 5 6 6 7 7Direction of Rotation = = ≠ ≠ = = ≠ ≠ ≠ = = ≠ ≠Efficiency 0.81 0.81 0.73 0.73 0.65 0.65 0.59 0.59 0.59 0.53 0.53 0.48 0.48L (mm) 10.5 10.5 13 13 15.5 15.5 18 18 18 20.5 20.5 23 23Mass (g) 7 7 8 8 9 9 10 10 10 11 11 12 12Available with motor 16C18 • 67, 76 16N28 • 235 1) 16G88 • 5 17S78 • 5 17N78 • 5 P110 • 8 1) with 16N28•235 motor, use B16•200 §§ (short version)

Characteristics B16 • 0 B16 2R • 0

Bearing Type sleeve ballMax. static torque Nm (oz-in) 0.4 (56) 0.4 (56)Max. radial force at 8 mm from mounting face N (lb) 5 (1.1) 10 (2.2)Max. axial force N (lb) 5 (1.1) 10 (2.2)Force for press-fit N (lb) 100 (23) 100 (23)Average backlash at no-load 1.5º 1.5ºAverage backlash at 0.1 Nm 3º 3ºRadial play µm ≤20 ≤10Axial play µm 50...150 ≤100Max. recom. input speed rpm 8000 8000Operating temperature range ºC (ºF) -30...+65 (-22...+150)

M (Nm)



Dynamic torquen (rpm)

Miniature Motors


Reduction Gearhead with Spur Gears and Planetary Output0.2 Nm

M

dimensions in mmBA16 • 0 §§

Characteristics BA16 • 0 BA16 2R • 0

Bearing Type sleeve ballMax. static torque Nm (oz-in) 0.4 (57) 0.4 (57)Max. radial force at 5 mm from mounting face N (lb) 5 (1.1) 15 (3.3)Max. axial force N (lb) 5 (1.1) 10 (2.2)Force for press-fit N (lb) 200 (44) 200 (44)Average backlash at no-load 1.5º 1.5ºAverage backlash at 0.1 Nm 3º 3ºRadial play µm ≤30 ≤10Axial play µm ≤150 ≤100Max. recom. input speed rpm 8000 8000Operating temperature range ºC (ºF) -30...+65 (-22...+150)

Gearhead

escap BA16

Ratio §§ 22.5 40.5 67.5 121.5 202.5 243 364.5 607.5 1093.5 1822.5 3280.5

No. of gear stages 3 3 4 4 5 5 5 6 6 7 7Direction of Rotation = = ≠ ≠ = = = ≠ ≠ = =Efficiency 0.72 0.72 0.65 0.65 0.59 0.59 0.59 0.53 0.53 0.48 0.48L (mm) 26.7 26.7 29.2 29.2 31.7 31.7 31.7 34.2 34.2 36.7 36.7Mass (g) 12 12 13 13 14 14 15 15 15 16 16Available with motor 16C18 • 67, 76 16N28 • 235 1) 16G88 • 5 17S78 • 5 17N78 • 5 P110 • 8 1) with 16N28•235 motor, use BA16 • 200 §§ (shorter version)





escap R16


dimensions in mm

Ratio §§ 5.5 22 30.2 88 121 166 352 484 665.5 915

No. of gear stages 1 2 2 3 3 3 4 4 4 4Direction of Rotation = = = = = = = = = =Efficiency 0.85 0.75 0.75 0.65 0.65 0.65 0.55 0.55 0.55 0.55L (mm) 16 20.1 20.1 24.2 24.2 24.2 28.3 28.3 28.3 28.3Mass (g) 10 13 13 16 16 16 19 19 19 19Available with motor 16C18 • 30 16N28 • 201 16G88 • 1 17S78 • 1 17N78 • 1 P110 • 12


Bearing Type sleeve ballMax. static torque Nm (oz-in) 1 (141) 1 (141)Max. radial force at 8 mm from mounting face N (lb) 5 (1.12) 20 (4.5)Max. axial force N (lb) 8 (1.8) 10 (2.2)Force for press-fit N (lb) 100 (23) 100 (23)Average backlash at no-load 1.25º 1.25ºAverage backlash at 0.3 Nm 2º 2ºRadial play µm ≤20 ≤10Axial play µm 50-150 ≤50Max. recom. input speed rpm 7500 7500Operating temperature range ºC (ºF) -30...+85 (-22...+185)



n (rpm)

M (Nm)

Dynamic torque

0.2 0.4 0.6 0.8 1

R16 • 0 §§

Miniature Motors



R22 • 0 §§


Bearing Type sleeve ballMax. static torque Nm (oz-in) 2 (283) 2 (283)Max. radial force at 8 mm from mounting face N (lb) 10 (2.2) 15 (3.3)Max. axial force N (lb) 10 (2.2) 10 (2.2)Force for press-fit N (lb) 300 (67.4) 300 (67.4)Average backlash at no-load 1.5º 1.5ºAverage backlash at 0.3 Nm 3º 3ºRadial play µm ≤25 ≤10Axial play µm 50-150 50-150Max. recom. input speed rpm 5000 5000Operating temperature range ºC (ºF) -30...+65 (-22...+150)

Ratio §§ 5.75 16.2 19.4 27.6 33.1 65.5 93.2 111 132 159 190 376 641 1090

No. of gear stages 1 2 2 2 2 3 3 3 3 3 3 4 4 4Direction of Rotation = = = = = = = = = = = = = =Efficiency 0.8 0.7 0.7 0.7 0.7 0.6 0.6 0.6 0.6 0.6 0.6 0.5 0.5 0.5L (mm) 25 32.5 32.5 32.5 32.5 40 40 40 40 40 40 40 40 40Mass (g) 20 25 25 25 25 30 30 30 30 30 30 33 33 33Available with motor 22S78 • 1 22N28 • 286/22N 48 • 308 22V28 • 202/22V48.225 23GST82 • 2 23V58 • 4/23V48 • 11 26N58 • 5/26N48 • 9 28L28 • 164 / 28L18 • 317 28LT12 • 164 P310 • 9


M (Nm)



0.4 0.8 1.2 1.4 1.6 2

Gearhead

escap R22

dimensions in mm



escap M22


dimensions in mm M22 • 0 §§ M22 • 200 §§

M (Nm)

Temporary working rangeC ontinuous working rangeValues at the output shaf


0.5 1 1.5 2 2.5 3 3.5 4

Characteristics M22 . 0 / . 200

Bearing Type sleeve Max. static torque Nm (oz-in) 4 (556)Max. radial force at 8 mm from mounting face N (lb) 50 (11) Max. axial force N (lb) 70 (16)Force for press-fit N (lb) 100 (22)Average backlash at no-load 2ºAverage backlash at 1 Nm 3ºRadial play µm <200Axial play µm 50-150Max. recom. input speed rpm 7500Operating temperature range ºC (ºF) -30...+65 (-22...+150)

Ratio §§ 3.67 5 13.4 18.3 25 49.3 67.2 91.7 125 180.8 246.5 336.1 458.3 625 903.8No. of gear stages 1 1 2 2 2 3 3 3 3 4 4 4 4 4 5Direction of Rotation = = = = = = = = = = = = = = =Efficiency 0.8 0.8 0.7 0.7 0.7 0.6 0.6 0.6 0.6 0.55 0.55 0.55 0.55 0.55 0.5L (mm) 22.6 22.6 29.5 29.5 29.5 36.4 36.4 36.4 36.4 43.3 43.3 43.3 43.3 43.3 50.2Mass (g) 26 26 33 33 33 40 40 40 40 47 47 47 47 47 54Available with motor 22N28 • 286/ 22N48 • 308 22V28 • 201/22V48 • 204 25GST82 • 5/6 / 23GST82 • 2 23V58 • 4/23V48 • 11 26N58 • 5/26N48 • 9 28L28 • 164 / 28L28 • 317 28LT12 • 164

Miniature Motors


Reduction Gearhead with Spur Gears0.17 Nm

K24 • 0 §§

Characteristics K24 • 0 K24 2R • 0

Bearing Type sleeve ballMax. static torque Nm (oz-in) 0.7 (100) 0.7 (100)Max. radial force at 8 mm from mounting face N (lb) 5 (1.1) 20 (4.5)Max. axial force N (lb) 8 (1.8) 10 (2.2)Force for press-fit N (lb) 30 (6.7) 30 (6.7)Average backlash at no-load 1.5º 1.5ºAverage backlash at 0.12 Nm 2.5º 2.5ºRadial play µm ≤40 ≤10Axial play µm 50-150 ≤10Max. recom. input speed rpm 5000 5000Operating temperature range ºC (ºF) -30...+65 (-22...+150)

M (Nm)


Temporary working rangeC ontinuous working rangeValues at the output shaft

0.14 0.28 0.42 0.56 0.7

Gearhead

dimensions in mm

Ratio §§ 5 8 20 32 64 128 320 800 2048No. of gear stages 2 2 4 4 4 4 6 6 6Direction of Rotation = = = = = = = = =Efficiency 0.85 0.85 0.75 0.75 0.75 0.75 0.65 0.65 0.65L (mm) 15 15 18 18 18 18 21 21 21Mass (g) 15 15 18 18 18 18 20 20 20Available with motor 22N28 • 286/22N 48 • 308 22V28 • 202/22V 48 • 225 23V58 • 4/23V48 • 11 26N58 • 5/26N48 • 9 P310 • 9.09




dimensions in mm K27 • 0 §§


Bearing Type sleeve ballMax. static torque Nm (oz-in) 0.7 (100) 0.7 (100)Max. radial force at 8 mm from mounting face N (lb) 20 (4.5) 25 (5.5)Max. axial force N (lb) 8 (1.8) 40 (9)Force for press-fit N (lb) 300 (67.5) 60 (13.5)Average backlash at no-load 2º 2ºAverage backlash at 0.2 Nm 3º 3ºRadial play µm ≤60 ≤20Axial play µm 50-150 ≤100Max. recom. input speed rpm 4000 4000Operating temperature range ºC (ºF) -30...+65 (-22...+150)

M (Nm)



0.15 0.3 0.45 0.6 0.75

escap K27

Ratio §§ 6.2 18.6 27.9 55.7 99.1 198 501 979 2970

No. of gear stages 4 4 4 4 6 6 6 6 9Direction of Rotation = = = = = = = = ≠Efficiency 0.65 0.65 0.65 0.65 0.55 0.55 0.55 0.55 0.4L (mm) 28.5 28.5 28.5 28.5 28.5 28.5 28.5 28.5 28.5Mass (g) 40 40 40 40 42 42 42 42 48Available with motor 22N28 • 286/ 22N 48 • 308 22V28 • 202/22V 48 • 225 23GST82 • 2 23V58 • 4/23V48 • 11 26N58 • 5/26N48 • 9 P310 • 9

Miniature Motors



3M x5,5

L

10

15,25

16,5( )

20,5

70,

1

4

-0,0

08-0

,017

32 0 -0

,1

26

20 0 -0

,021

8

dimensions in mm R32 • 0 §§

Characteristics R32 • 0

Bearing Type ball Max. static torque Nm (oz-in) 20 (2832) Max. radial force at 8 mm from mounting face N (lb) 180 (40.5) Max. axial force N (lb) 150 (33.75) Force for press-fit N (lb) 500 (112.5) Average backlash at no-load 1º Average backlash at 3 Nm 2º Radial play µm ≤10 Axial play µm ≤10 Max. recom. input speed rpm 6000 Operating temperature range ºC (ºF) -30...+85 (-22...+185)

M (Nm)



Gearhead

escap R32

Ratio §§ 5.75 1) 17.4 24 33 1) 72.3 99.8 138 190 1) 301 416 574 792 1090 1)

No. of gear stages 1 2 2 2 3 3 3 3 4 4 4 4 4Direction of Rotation = = = = = = = = = = = = =Efficiency 0.8 0.75 0.75 0.75 0.65 0.65 0.65 0.65 0.55 0.55 0.55 0.55 0.55L (mm) 32 38 38 38 44 44 44 44 50 50 50 50 50Mass (g) 124 145 145 145 175 175 175 175 205 205 205 205 205Available with motor 25GST82 • 1/2/3 25GT82 • 6/8 28L28 • 49/28L18 • 315 28LT12 • 49/316 28D11 • 4 28DT12 • 4/ • 106 30GT82 • 4/5 35NT32/82 • 1/50/351) Ratio on request only



escap K38

Reduction Gearhead with Spur Gears 1 Nm

dimensions in mm K38 • 0 §§

M (Nm)



0.5 1 1.5 2 2.5

Ratio §§ 6 10 18 30 60 100 200 500 900

No. of gear stages 2 2 3 3 4 4 5 6 6Direction of Rotation = = ≠ ≠ = = ≠ = =Efficiency 0.81 0.81 0.73 0.73 0.65 0.65 0.6 0.55 0.55L (mm) 23.6 23.6 26.1 26.1 28.6 28.6 31.1 33.6 33.6Mass (g) 55 55 60 60 65 65 70 75 75Available with motor 22N28 • 204 / 22N48 • 310 22V28 • 201 / 22V48 • 204 25GST82 • 1/2/4 / 23GST82 • 1/3 23V58 • 1 / 23V48 • 9 26N58 • 1 / 26N48 • 6 28L28 • 49 / 28L18 • 315 28LT • 49 / 316


Bearing Type sleeve ballMax. static torque Nm (oz-in) 2 (282) 2 (282)Max. radial force at 8 mm from mounting face N (lb) 50 (11.25) 75 (17)Max. axial force N (lb) 30 (6.75) 30 (6.75)Force for press-fit N (lb) 500 (112.5) 500 (112.5)Average backlash at no-load 1.7º 1.7ºAverage backlash at 1 Nm 2.7º 2.7ºRadial play µm ≤100 ≤30Axial play µm 50-250 ≤200Max. recom. input speed rpm 5000 5000Operating temperature range ºC (ºF) -30...+65 (-22...+150)

Miniature Motors

escap RG 1/8


Reduction Gearhead with Spur Gears0.6 Nm

RG 1/8 • 1 §§

Ratio §§ 5.5 12 24 48 96 150 480 750 1200 1920 3000

No. of gear stages 2 3 3 4 4 4 5 5 6 6 6Direction of Rotation = ≠ ≠ = = = ≠ ≠ = = =Efficiency 0.8 0.7 0.7 0.65 0.65 0.65 0.6 0.6 0.55 0.55 0.55L (mm) 16.5 16.5 16.5 16.5 16.5 16.5 16.5 16.5 16.5 16.5 16.5Mass (g) 64 66 66 68 68 68 70 70 72 72 72Available with motor 22N28 • 204/22N48 • 310 22V28 • 201/22V48 • 204 23GST82 • 1/3 23V58 • 1/23V48 • 9 25GST82 • 1/2/4 / 26N58 • 1/26N48 • 6 28L28 • 49/28L18 • 315 28LT12 • 49/316 P310 • 9.09



Dynamic torquen (rpm)

M (Nm)

0.2 0.4 0.6 0.8 1

Gearhead

dimensions in mm

Characteristics RG1/8 • 1 RG1/8 2R • 1

Bearing Type sleeve ballMax. static torque Nm (oz-in) 1 (140) 1 (140)Max. radial force at 8 mm from mounting face N (lb) 50 (11.25) 50 (33.75)Max. axial force N (lb) 50 (11.25) 250 (56)Force for press-fit N (lb) 200 (45) 300 (67.51)Average backlash at no-load 1.5º 1.5ºAverage backlash at 0.6 Nm 3º 3ºRadial play µm ≤60 ≤20Axial play µm 50-250 ≤200Max. recom. input speed rpm 5000 5000Operating temperature range ºC (ºF) -30...+65 (-22...+150)



escap RG 1/9


dimensions in mm RG 1/9 • 1 §§

Characteristics RG1/9 • 1 RG1/9 2R • 1

Bearing Type sleeve ballMax. static torque Nm (oz-in) 2 (280) 2 (280)Max. radial force at 8 mm from mounting face N (lb) 60 (13.5) 150 (33.75)Max. axial force N (lb) 50 (11.25) 250 (56.25)Force for press-fit N (lb) 250 (56.25) 300 (67.5)Average backlash at no-load 2.5º 2.5ºAverage backlash at 1 Nm 3º 3ºRadial play µm ≤60 ≤20Axial play µm 50-300 ≤250Max. recom. input speed rpm 5000 5000Operating temperature range ºC (ºF) -30...+65 (-22...+150)

M (Nm)



0.4 0.8 1.2 1.6 2.0

Ratio §§ 4.25 9 12 18 24 48 90 180 360 810 1620

No. of gear stages 2 3 3 4 4 5 5 6 7 7 8Direction of Rotation = ≠ ≠ = = ≠ ≠ = ≠ ≠ =Efficiency 0.8 0.7 0.7 0.65 0.65 0.6 0.6 0.55 0.5 0.5 0.45L (mm) 17.3 17.3 17.3 17.3 17.3 17.3 17.3 17.3 17.3 17.3 17.3Mass (g) 86 88 88 90 90 92 92 95 98 98 102Available with motor 22N28 • 204/22N48 • 310 22V28 • 201/22V48 • 204 25GST82 • 1 /2/3 23V58 • 1/23V48 • 9 25GST82 • 1/2/4 / 23GST82 • 1/3 26N58 • 1/26N48 • 6 28L28 • 49/28L18 • 315 28LT12 • 49/316

Miniature Motors

escap K40


Reduction Gearhead with Spur Gears3 Nm

K40 • 100 §§

Ratio §§ 5 10 15 20 30 45 60 90 135 180 270 405No. of gear stages 2 3 3 4 4 4 5 5 5 6 6 6Direction of Rotation = ≠ ≠ = = = ≠ ≠ ≠ = = =Efficiency 0.8 0.7 0.7 0.65 0.65 0.65 0.6 0.6 0.6 0.55 0.55 0.55L (mm) 40 40 40 50 50 50 50 50 50 50 50 50Mass (g) 120 125 125 145 145 145 150 150 150 155 155 155Available with motor 25GT2R82 • 6 / 8 28LT12 • 49 / 316 28L28 • 49 / 315 28D11 • 4 35NT2R32 • 54 / 66


Bearing Type sleeve ballMax. static torque Nm (oz-in) 6 (850) 6 (850)Max. radial force at 8 mm from mounting face N (lb) 80 (18) 150 (33.75)Max. axial force N (lb) 80 (18) 150 (33.75)Force for press-fit N (lb) 200 (45) 200 (45)Average backlash at no-load 1º 1ºAverage backlash at 0.3 Nm 1.5º 1.5ºRadial play µm ≤50 ≤10Axial play µm 50-250 ≤10Max. recom. input speed rpm 4000 4000Operating temperature range ºC (ºF) -30...+65 (-22...+150)

M (Nm)

Temporary working rangeContinuous working rangeValues at the output shaft


Gearhead

dimensions in mm



escap R40

Planetary Gearhead 10 Nm

L

dimensions in mm R40 • 0 §§

Ratio §§ 3.56 5.6 15.2 24 54.2 85.3 134 193 303 478 753No. of gear stages 1 1 2 2 3 3 3 4 4 4 4Direction of Rotation = = = = = = = = = = =Efficiency 0.85 0.85 0.7 0.7 0.6 0.6 0.6 0.5 0.5 0.5 0.5L (mm) 38.3 38.3 46,8 46.8 55.3 55.3 55.3 63.8 63.8 63.8 63.8Mass (g) 245 245 285 285 340 340 340 400 400 400 400Available with motor 25GT82 • 1 / 2 / 4 28DT12 • 1/98 30GT82 • 4 / • 5 35NT32/82 • 1/50/69

M (Nm)


n (rpm) Dynamic torqueCharacteristics R40 • 0

Bearing Type ballMax. static torque Nm (oz-in) 40 (5700)Max. radial force at 8 mm from mounting face N (lb) 600 (135)Max. axial force N (lb) 400 (90)Force for press-fit N (lb) 600 (135)Average backlash at no-load 1ºAverage backlash at 0.3 Nm 1.3ºRadial play µm ≤10Axial play µm ≤10Max. recom. input speed rpm 6000Operating temperature range ºC (ºF) -30...+85 (-22...+185)

Miniature Motors

escap L10


L10 • 01 §§

Ratio§§ 5 10 20 50 100

Characteristics L10 Max. recom. holding force N (lb) 200 (45)Max. recom. linear force N (lb) 50 at 10 mm/s (9 at 2 ft/min) N (lb) 100 at 2 mm/s (22 at 0.4 ft/min)Average axial play mm 0.4 Recom. linear speed range mm/s 0.5 to 20 Temperature range ºC (ºF) -15...+55 (+5...+131)Available with motor: 22N28 • 204 / 22N48 • 310 22V48 • 201 / 22V48 • 204 25GST82 • 1/2/3 / 23GST82 • 1/3 23DT12 • 1 / 88 23V58 • 1 / 23V48 • 9 26N58 • 1 / 26N48 • 6 28L28 • 49 / 28L18 • 315

The leadscrew should be prevented from rotating by the user.

Modifications to obtain higher linear speeds are available on request.

Accessories are also available on request, these include: fixing bolts, forked connector and threaded rod.

Brass output stage.

Disponibility: see enclosed document at the end of the catalog.

dimensions in mm

Linear Actuators

Gearhead



Notes

Miniature Motors

Encoders


Encoders

escap Type D / Type F 126

escap E9 127

HEDS 5500/5540 128

Encoder



escap Type D / Type F

Integrated Magnetic Encoders

dimensions in mm

Characteristics at 22ºC D FNumber of pulses per rev 12 16 Supply voltage Vcc V 5 3.5...15Supply current typical at 5 V mA 4 6Rise time t4 µs 0.125 5Fall time t5 µs 0.05 0.2Output signal 2) Two channels / square wave in quadratureElectrical phase shift between U1 and U2 t3/t1 x 360 degree 90 ± 40Signal ratio 3) t2/t1 % 50 ± 25Max. count frequency kHz 10 15Operating temperature range ºC -20...+85Inertia 10-7 x kgm2 0.1

Measuring conditions

Temperature ºC 22 Supply voltage V 5 Load resistance Mohm 1 Load capacity pF 25Encoder F available on motor types 16C 16N 17S 17N 22N 22VL1 = length (mm) 18.6 30 20 28.9 34 36.3L2 = length (mm) 3,6 3.6 3.6 3.6 3.1 3.1D = motor diameter (mm) 16 16 17 17 22 22Encoder D available on motor types 13N P110.19 L = length (mm) 40.4 31.2 31.2 31.2 31.2 31.2 D = motor diameter (mm) 13 16 16 16 16 16

1) Connector Dupont type Quikie II or equivalent

2) Internal pull-up resistor: 10 kohm only available with the F type encoder

3) Over the entire frequency and temperature range

Typical Encoder Output Signal

t1: Periodt2/t1: Signal ratiot3: Phase shiftt4 Rise timet5 Fall time

Encoder Type D and F connections 1)

1 Motor + 6 Motor -2 Vcc 7 NC3 Channel A 8 NC4 Channel B 9 NC5 GND 10 NC

Miniature Motors

Encoder E9


3 Channel Optical Encoder

dimensions in mmmass: 6.2g E9

Features• 2 channel quadrature output and index pulse

• Small size

• Integrated direction of rotation detection

• Stand-by function with latched state of channels (to

de-activate the stand-by mode, connect the pin 4 to the ±5V)

• Complimentary outputs

• Up/down pulse signals (on request)

• CMOS compatible.

to 0 V DC or +5V DC• Single 5V DC supply1) The input stand-by has to be connected

Typical Encoder Output Signal

Connector Quikie II, Dupont or equivalent (on request)

Encoder

Characteristics at 22ºC Number of lines available 100, 144, 200, 5001)

Supply current typical mA 10

max mA 20 stand-by µA 50 Output signal CMOS compatible Electrical phase shift between A and B degree 90 ± 20 Duty cycle % 50 ± 10 Max. count frequency kHz 200 Operating temperature range at 90% humidity ºC -40 to + 85 Code wheel moment of inertia 10-7 x kgm2 0.12 Supply voltage Vcc V 5 ± 10% Pin Out 1 2 3 4 5 6 7 8 9 10 Version 1 GND Vcc dir. stand-by A A B B Z Z Version 2 GND Vcc dir. stand-by up A down B pulse Z 13 BC 16 BS 16BL 22BS 22BM 22BL.

Available on Motor Types 22N48 22V48 23GST82 23V48 25GST/GT 26N48 28L18 28LT12 28DT12 30GT 35NT32

L = length (mm) 53.9 56.2 58.5 67.6 84.10/72.50 62.1 61.5 61.2 85.1 89.6 84Page # 1) ask for a 2R motor type for use with the E9 in 500 lines; other number of lines on request ; other number of lines on request2) E9 Encoder is available for P530, P532, P850 and P852 models. Visit www.portescap.com for product details.3) Dimensions with brushless motors not given. Visit www.portescap.com for product details.

59 60 63 62 64/65 66 67 68 70 71 72/73



HEDS 5500/5540

Optical Encoder

1 2 3 4 5

26,2

30

41,1

L118,3

L2

dimensions in mmPin Function1. Mass2. N.C

3. Channel A4. Vcc5. Channel B

Characteristics at 22ºC 5500/5540Measured ValuesStandard number of lines 96 to 1024Supply voltage V 5 ± 10% Supply current, typical value mA 17-57

Output signals 2 channels, square wave in quadrature 3 channels (with index) Electrical phase angle between channels 90 ± 10º Output current per channel mA >5, TTL compatible Frequency response kHz 100Moment of inertia kgm2 0.6 x 10-7

Operating temperature ºC -40 to 100Connections 5 pins

HEDS 5500/5400 L1 L2 25GST • 4 43.4 61.725GT • 4 53.45 71.7535NT2R32 • 13 57.6 83.6535NT2R82 • 13 62.6 83.65

On request HP encoder available on other motors. Encoder also available with line-driver

HP encoders are available for mounting on shaft diameters of 2,3,4 and 5. For more information, please ask for the Hewlett-Packard data sheet.

Miniature Motors

Notes


Encoder



Notes

EUROPE

SwitzerlandDanaher Motion157, rue JardiniereCH 2301 La Chaux-de-FondsSwitzerlandPhone: +41 (0) 32 925 61 11Fax: +41 (0) 32 925 65 96Email: [email protected] Literature: [email protected]

USA, CANADA or MEXICO

Danaher Motion110 Westtown RoadWest Chester, PA 19382-4978Phone: 1-610-235-5499Fax: 1-610-696-4294Email: [email protected]

www.portescap.com

2006

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ASIA

ChinaDanaher MotionRm 2205, Scitech Tower22 Jianguomen Wai StreetBeijing, China, 100004Phone: +86 10 6515 0260Fax: +86 10 6515 0263Email: [email protected]

JapanDanaher Motion Japan3F, 2nd Nagaoka Bldg2-8-5, Hacchobori, Chuo-kuTokyo 104-0032 JapanPhone: +81-3-6222-1051Fax: +81-3-6222-1055Email: [email protected]

Portescap SingaporeBlock 3015A, Ubi Road 1, #07-08Kampong Ubi Industrial EstateSingapore 408705Phone: 011-65-6747-4888Fax: 011-65-6743-5686Email: [email protected]



38

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