Aerotech BM Series User manual

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Revision: 2.10.00
BM/BMS Brushless Motor
Hardware Manual

Global Technical Support
Go to www.aerotech.com/global-technical-support for information and support about your Aerotech, Inc. products. The
website supplies software, product manuals, Help files, training schedules, and PC-to-PC remote technical support. If
necessary, you can complete Product Return (RMA) forms and get information about repairs and spare or replacement parts.
To get help immediately, contact a service office or your sales representative. Include your customer order number in your
email or have it available before you call.
United States (World Headquarters)
Email: [e-mail]
Phone: [phone]
Fax: [phone]
101 Zeta Drive
Pittsburgh, PA 15238-2811
www.aerotech.com
United Kingdom China
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This manual contains proprietary information and may not be reproduced, disclosed, or used in whole or in part without the
express written permission of Aerotech, Inc. Product names mentioned herein are used for identification purposes only and
may be trademarks of their respective companies.
Copyright © 1996-2019, Aerotech, Inc., All rights reserved.

BM/BMS Hardware Manual Table of Contents
Table of Contents
BM/BMS Brushless Motor Hardware Manual 1
Table of Contents 3
List of Figures 4
List of Tables 5
EU Declaration of Conformity 7
Safety Procedures and Warnings 9
Chapter 1: Overview 11
1.1. Motor Specifications 15
1.2. Brushless Motor Dimensions 27
1.3. Environmental Specifications 32
1.4. Vacuum Operation 33
Chapter 2: Assembly and Installation 35
2.1. Connector Pinouts 35
2.1.1. Motor Connectors 36
2.1.2. Feedback Connectors 38
2.2. External Motor Wiring 42
2.2.1. Motor Power Conductors 42
2.2.2. Protective Ground 42
2.2.3. Over Current Protection 42
2.2.4. Hall-Effect Device and Thermistor Wiring 43
2.2.5. Wiring Guidelines 43
2.2.6. Thermal Protective Device (BMSMotors Only) 44
2.3. Hall-Effect Operation and Motor Phasing 46
2.4. Motor Heating 50
2.5. Maintenance 51
Appendix A: Warranty and Field Service 53
Appendix B: Revision History 55
Index 57
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Table of Contents BM/BMS Hardware Manual
List of Figures
Figure 1-1: BM22 Torque Speed Curves 16
Figure 1-2: BM75 Torque Speed Curves 16
Figure 1-3: BM130 Torque Speed Curves 16
Figure 1-4: BM200 Torque Speed Curves 18
Figure 1-5: BM250 Torque Speed Curves 18
Figure 1-6: BM500 Torque Speed Curves 18
Figure 1-7: BM800 Torque Speed Curves 20
Figure 1-8: BM1400 Torque Speed Curves 20
Figure 1-9: BM2000 Torque Speed Curves 22
Figure 1-10: BM3400 Torque Speed Curves 22
Figure 1-11: BM4500 Torque Speed Curves 22
Figure 1-12: BMS35 Torque Speed Curves 24
Figure 1-13: BMS60 Torque Speed Curves 24
Figure 1-14: BMS100 Torque Speed Curves 24
Figure 1-15: BMS280 Torque Speed Curves 26
Figure 1-16: BMS465 Torque Speed Curves 26
Figure 1-17: BM22 Model Dimensions (NEMA 17) 27
Figure 1-18: BM75, BM130, BM200 Model Dimensions (NEMA 23) 28
Figure 1-19: BM250, BM500 Model Dimensions (NEMA 34) 28
Figure 1-20: BM800, BM1400 Model Dimensions (NEMA 42) 29
Figure 1-21: BM2000, BM3400, BM4500 Model Dimensions (NEMA 56) 29
Figure 1-22: BMS35 Model Dimensions (NEMA 17) 30
Figure 1-23: BMS60 and BMS100 Model Dimensions (NEMA 23) 30
Figure 1-24: BMS280 and BMS465 Model Dimensions (NEMA 34) 31
Figure 2-1: Typical Thermal Sensor Resistance as a Function of Temperature 44
Figure 2-2: Typical Thermistor Interface Circuit 45
Figure 2-3: Hall Effect and Motor Phasing 46
Figure 2-4: Test Setup Configuration 47
Figure 2-5: Motor Lead Phasing with Oscilloscope 48
Figure 2-6: Hall Phasing with Oscilloscope 49
Figure 2-7: Example Torque Speed Curve 50
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BM/BMS Hardware Manual Table of Contents
List of Tables
Table 1-1: BM Motor Options 11
Table 1-2: BMS Motor Options 13
Table 1-3: BM22, BM75, and BM130 Motor Specifications 15
Table 1-4: BM200, BM250, and BM500 Motor Specifications 17
Table 1-5: BM800 and BM1400 Motor Specifications 19
Table 1-6: BM2000, BM3400, and BM4500 Motor Specifications 21
Table 1-7: BMS35, BMS60, and BMS100 Motor Specifications 23
Table 1-8: BMS280 and BMS465 Motor Specifications 25
Table 1-9: Environmental Specifications 32
Table 2-1: Motor Connector Options 35
Table 2-2: Feedback Connector Options 35
Table 2-3: Limit Connector Options 35
Table 2-4: Motor Power Connector Pinout (-MSOption) 36
Table 2-5: Mating Connector Part Numbers for the Motor Power Connector (-MSOption) 36
Table 2-6: Motor Connector Pinout (-D25Option) 36
Table 2-7: Mating Connector Part Numbers for the Motor Power Connector (-D25Option) 36
Table 2-8: Motor Power Flying Leads Pinout (-D25-FLB Option) 37
Table 2-9: Motor Power Terminal BlockPinout (-D25-4TS Option) 37
Table 2-10: Motor Connector Pinout (-D25-5D Option) 37
Table 2-11: Mating Connector Part Numbers for the -D25-5D Option Motor Power Connector 37
Table 2-12: Feedback Connector Pinout (-MSOption) 38
Table 2-13: Mating Connector Part Numbers for the -MS Option Feedback Connector 38
Table 2-14: Feedback Connector Pinout (without Limits, -D25 Option) 39
Table 2-15: Mating Connector Part Numbers for the -D25 Option Feedback Connector 39
Table 2-16: Feedback Connector Pinout (with Limits, -D25-9D, -9D-CMS, -5D, -FLB, -4TS) 40
Table 2-17: Mating Connector Part Numbers for the -D25-XX Feedback Connector 40
Table 2-18: Limit Connector Pinout (-D25-9D,-9D-CMS, -5D, -FLB, -4TS) 41
Table 2-19: Mating Connector Part Numbers for the Limit Connector (-D25-xxx) 41
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Table of Contents BM/BMS Hardware Manual
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BM/BMS Hardware Manual Declaration of Conformity
EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product Standard BM and BMS motors (excluding VAC6 versions)
Model/Types BM75, BM130, BM200,BM250, BM500, BM800, BM1400, BMS35, BMS60,
BMS100, BMS280, BMS465
This is to certify that the aforementioned product is in accordance with the applicable requirements of the
following Directive(s):
2014/35/EU Low Voltage Directive
2011/65/EU RoHS2 Directive
and has been designed to be in conformity with the applicable requirements of the following Standard(s)
when installed and used in accordance with the manufacturer’s supplied installation instructions.
IEC 60034-1:2010 Rotating Electrical Machines
IEC 61010-1:2010 Safety requirements for Electrical Equipment for meas-
urement, control, and laboratory use
NOTE: Safe operation of the motor requires over speed and
over current protection. This may be done by the con-
nected controller / amplifier combination.
Authorized Representative: Simon Smith, European Director
Address: Aerotech Ltd
The Old Brick Kiln, Ramsdell, Tadley
Hampshire RG26 5PR
UK
Name
/ Alex Weibel
Position Engineer Verifying Compliance
Location Pittsburgh, PA
Date 8/9/2019
www.aerotech.com 7

Declaration of Conformity BM/BMS Hardware Manual
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BM/BMS Hardware Manual Safety
Safety Procedures and Warnings
This manual tells you how to carefully and correctly use and operate the BM/BMS . Read all parts of this
manual before you install or operate the BM/BMS or before you do maintenance to your system. To prevent
injury to you and damage to the equipment, obey the precautions in this manual. The precautions that follow
apply when you see a Danger or Warning symbol in this manual. If you do not obey these precautions, injury
to you or damage to the equipment can occur. If you do not understand the information in this manual,
contact Aerotech Global Technical Support.
This product has been designed for light industrial manufacturing or laboratory environments. The protection
provided by the equipment could be impaired if the product is used in a manner not specified by the
manufacturer.
N O T E : Aerotech continually improves its product offerings; listed options may be superseded at any
time. All drawings and illustrations are for reference only and were complete and accurate as of this
manual’s release. Refer to www.aerotech.com for the most up-to-date information.
N O T E :
D A N G E R : The motor temperature can pose a burn hazard. Do not touch the motor until it
has cooled sufficiently.
D A N G E R : These motors are not rated for use in explosive atmospheres. They are not to be
operated in the presence of potentially explosive mixtures of air-borne dust or combustible
vapors.
D A N G E R : Motors and their associated drive, cabling, etc. are sources of electromagnetic
fields. Persons with implanted medical devices need to evaluate the risks associated with
these devices before entering an area where they are in use.
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Safety BM/BMS Hardware Manual
W A R N I N G : To minimize the possibility of electrical shock, bodily injury or death the
following precautions must be followed.
1. Operators must be trained before operating this equipment.
2. All service and maintenance must be performed by qualified personnel.
3. Moving parts can cause crushing or shearing injuries. Access to all stage and motor parts
must be restricted while connected to a power source.
4. Cables can pose a tripping hazard. Securely mount and position all system cables to avoid
potential hazards.
5. BM/BMS motors are not intended to be directly connected to an electrical power
distribution system. They are meant to be part of a drive package consisting of an amplifier
and controller. The motor relies on the drive package for all manners of fault protection.
Aerotech, Inc. does not approve their motors for use in any other manner.
6. Equipment grounds must be in place and maintained to reduce the risk of potentially fatal
or serious injury from electrical shock.
7. Disconnect electrical power to the motor before performing maintenance procedures. In
addition, uncouple or otherwise prevent motor-coupled machinery from moving the motor
during service.
8. Do not expose this product to environments or conditions outside of the listed
specifications. Exceeding environmental or operating specifications can cause damage to
the equipment.
9. Never install or operate equipment that appears to be damaged.
10. If the product is used in a manner not specified by the manufacturer, the protection
provided by the product can be impaired and result in damage, shock, injury, or death.
10 www.aerotech.com

BM/BMS Hardware Manual Overview
Chapter 1: Overview
N O T E : Aerotech continually improves its product offerings; listed options may be superseded at any
time. All drawings and illustrations are for reference only and were complete and accurate as of this
manual’s release. Refer to www.aerotech.com for the most up-to-date information.
Table 1-1: BM Motor Options
Brushless Rotary Servomotors
BM22 NEMA 17 brushless servomotor; 22.5 oz·in continuous torque
BM75 NEMA 23 brushless servomotor; 72.0 oz·in continuous torque
BM130 NEMA 23 brushless servomotor; 144.0 oz·in continuous torque
BM200 NEMA 23 brushless servomotor; 205.0 oz·in continuous torque
BM250 NEMA 34 brushless servomotor; 322.0 oz·in continuous torque
BM500 NEMA 34 brushless servomotor; 515.0 oz·in continuous torque
BM800 NEMA 42 brushless servomotor; 866.0 oz·in continuous torque
BM1400 NEMA 42 brushless servomotor; 1562.0 oz·in continuous torque
BM2000 NEMA 56 brushless servomotor; 2080.0 oz·in continuous torque
BM3400 NEMA 56 brushless servomotor; 3360.0 oz·in continuous torque
BM4500 NEMA 56 brushless servomotor; 4480.0 oz·in continuous torque
Connectors (Required)
-MS Integral cables with military-style feedback and motor connectors; not available for BM22
-D25 Integral cables with D-style 25-pin feedback and D-style 4-pin motor connectors; only
available on BM22, BM75, BM130, and BM200
-D25-9D Integral cables with D-style 25-pin feedback, D-style 4-pin motor, and D-style 9-pin limit
connectors; only available on BM75, BM130, and BM200
-D25-FLB Integral cables with D-style 25-pin feedback connector, flying leads for the motor, and a
D-style 9-pin limit connector; only available on BM75, BM130, and BM200
-D25-5DU Integral cables with D-style 25-pin feedback, D-style 5-pin motor, and D-style 9-pin limit
connectors; only available on BM75, BM130, and BM200
-D25-9D-CMS
Integral cables with D-style 25-pin feedback, D-style 4-pin motor, and D-style 9-pin limit
connectors and a cable management system; only available on BM75, BM130, and
BM200
-D25-4TS Integral cables with D-style 25-pin feedback, terminal block 4-pin motor, and D-style 9-pin
limit connectors; only available on BM75, BM130, and BM200
Feedback (Required)
-E1000H 1000 lines/rev TTL incremental encoder with Hall tracks; not available for BM22
-E2000H 2000 lines/rev TTL incremental encoder with Hall tracks; not available for BM3400 or
BM4500
-E2500H 2500 lines/rev TTL incremental encoder with Hall tracks; not available for BM22
-E5000H 5000 lines/rev TTL incremental encoder with Hall tracks; not available for BM22
-E1000ASH 1000 lines/rev 1 Vpp incremental encoder with Hall tracks; not available for BM22,
BM2000, BM3400 or BM4500
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Overview BM/BMS Hardware Manual
Brake (Optional)
-BK
Brake, holding torque = 0.8 N·m (112 oz·in), 24 VDC, 0.25 A [NEMA23]
Brake, holding torque = 1.7 N·m (240 oz·in), 24 VDC, 0.50 A [NEMA 34]
Brake, holding torque = 5.6 N·m (800 oz·in), 24 VDC, 0.75 A [NEMA42]
Brake, holding torque = 40.7 N·m (360 lb·in), 24 VDC, 0.75 A [NEMA56]
Cable Type (Optional)
-HF Hi-Flex life cable; only available on BM75, BM130, and BM200
Cable Length (Optional)
-xx Cable length from motor to connectors in decimeters; 3.8 dm is the default with a 50 dm
maximum; only available on BM75, BM130, and BM200
Shaft Seal (Optional)
-NS Nitrile front shaft seal; only available on BM250, BM500, BM800 and BM1400
Vacuum Preparation (Optional)
-VAC6 Vacuum preparation to 10-6 Torr
Accessories
MC-HPD25-M High-power D-style motor mating connector
MC-DB25-F D-style 25-pin motor and feedback mating connector
MCM1-3 Military style motor power mating connector (BM2000, BM3400, BM4500)
MCM-3 Military style motor power mating connector (BM75, BM130, BM200, BM250, BM500,
BM800, BM1400)
MCF-3 Military style feedback mating connector
12 Chapter 1 www.aerotech.com

BM/BMS Hardware Manual Overview
Table 1-2: BMS Motor Options
BMS Series Rotary Servo Motors
BMS35 NEMA 17 brushless servomotor; 38.0 oz·in continuous torque
BMS60 NEMA 23 brushless servomotor; 46.2 oz·in continuous torque
BMS100 NEMA 23 brushless servomotor; 80.0 oz·in continuous torque
BMS280 NEMA 34 brushless servomotor; 227.0 oz·in continuous torque
BMS465 NEMA 34 brushless servomotor; 404.8 oz·in continuous torque
Winding Options
-A Standard winding
-B Optional motor winding; not available for BMS35.
Connectors
-MS Integral cables with military-style feedback and motor connectors; not available for
BMS35
-D25 Integral cables with D-style 25-pin feedback and D-style 4-pin motor connectors; not avail-
able for BMS280 or BMS465
-D25-9D Integral cables with D-style 25-pin feedback, D-style 4-pin motor, and D-style 9-pin limit
connectors; not available for BMS280 or BMS465
-D25-FLB Integral cables with D-style 25-pin feedback connector, flying leads for the motor, and a
D-style 9-pin limit connector; not available for BMS280 or BMS465
-D25-5DU Integral cables with D-style 25-pin feedback, D-style 5-pin motor, and D-style 9-pin limit
connectors; not available for BMS280 or BMS465
-D25-9D-CMS Integral cables with D-style 25-pin feedback, D-style 4-pin motor, and D-style 9-pin limit
connectors and a cable management system; not available for BMS280 or BMS465
-D25-4TS Integral cables with D-style 25-pin feedback, terminal block 4-pin motor, and D-style 9-pin
limit connectors; not available for BMS280 or BMS465
Feedback Options
-E1000H 1000 lines/rev TTL incremental encoder w/Hall tracks (-E1000H); not available for BM22
-E2000H 2000 lines/rev TTL incremental encoder w/Hall tracks (-E2000H); not available for
BM3400 or BM4500
-E2500H 2500 lines/rev TTL incremental encoder w/Hall tracks (-E2500H); not available for BM22
-E5000H 5000 lines/rev TTL incremental encoder w/Hall tracks (-E5000H); not available for BM22
-E1000ASH 1000 lines/rev 1 Vpp incremental encoder w/Hall tracks (-E1000ASH); not available for
BM22, BM2000, BM3400 or BM4500
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Overview BM/BMS Hardware Manual
Brake (Optional)
-BK
Brake, holding torque:0.2N·m [NEMA17]
Brake, holding torque: 0.8 N·m (112 oz·in), 24 VDC, 0.25 A [NEMA23]
Brake, holding torque: 1.7 N·m (240 oz·in), 24 VDC, 0.50 A [NEMA34]
Cable Type (Optional)
-HF High-flex cable; not available for BMS280 or BMS465
Cable Length (Optional)
-xx Cable length from motor to connectors in decimeters; 3.8 dm is the default; not available
for BMS280 or BMS465.
Vacuum Preparation (Optional)
-VAC6 Vacuum preparation to 10-6 Torr
Accessories
MC-HPD25-M High-power D-style motor mating connector
MC-DB25-F D-style 25-pin mating connector
MCM-3 Military style motor power mating connector
MCF-3 Military style feedback mating connector
14 Chapter 1 www.aerotech.com

BM/BMS Hardware Manual Overview
1.1. Motor Specifications
The specifications for the BM series brushless motors are listed in Table 1-3,Table 1-4,Table 1-5, and Table
1-6. The specifications for the BMS series brushless motors are listed in Table 1-7 and Table 1-8.
Table 1-3: BM22, BM75, and BM130 Motor Specifications
BM22 BM75 BM130
Performance Specifications (1,2)
Stall Torque, Continuous (3) N·m (oz·in) 0.16 (22.5) 0.51 (72.0) 1.02 (144.0)
Peak Torque(4) N·m (oz·in) 0.48 (68.0) 1.30 (181.0) 2.50 (361.0)
Rated Speed rpm 3000 4000 4000
Rated Power Output, Continuous W 50 192 333
Electrical Specifications (2)
BEMF Constant (Line-Line, Max) Vpk/krpm 3.9 9.0 19.0
Continuous Current, Stall (3) Apk (Arms)4.9 (3.5) 9.0 (6.4) 6.9 (4.9)
Peak Current, Stall (4) Apk (Arms)14.7 (10.4) 22.5 (15.9) 17.3 (12.2)
Torque Constant (5)
N·m/Apk
(oz·in/Apk)0.032
(4.50)
0.060
(8.00)
0.150
(20.90)
N·m/Arms
(oz·in/Arms)0.045
(6.40)
0.080
(11.40)
0.210
(29.60)
Motor Constant (3,5) N·m/√W
(oz·in/√W)
0.038
(5.41)
0.055
(7.84)
0.101
(14.30)
Resistance, 25°C (Line-Line) Ω 0.67 1.00 2.00
Inductance (Line-Line) mH 0.73 1.42 3.52
Maximum Bus Voltage VDC 80 340 340
Thermal Resistance °C/W 4.56 1.18 1.04
Number of Poles -- 8 8 8
Mechanical Specifications
Frame Size NEMA 17 23 23
Motor Weight kg (lb) 0.4 (0.88) 1.1 (2.42) 1.5 (3.30)
Rotor Moment of Inertia kg·m2
(oz·in·s2)
2.00x10-6
(0.00028)
5.20x10-6
(0.00070)
9.20x10-6
(0.00130)
Max Radial Load N (lb) 78 (18) 89 (20) 89 (20)
Max Axial Load N (lb) 39 (9) 89 (20) 89 (20)
1. Performance is dependent upon heat sink configuration, system cooling conditions, and ambient temperature
2. All performance and electrical specifications ±10%
3. Values shown @ 105°C rise above a 25 °C ambient temperature, with housed motor mounted to a 250 mm x 250 mm x 6 mm
aluminum heat sink
4. Peak torque assumes correct rms current; consult Aerotech
5. Torque constant and motor constant specified at stall
6. Maximum winding temperature is 130 °C
7. Ambient operating temperature range 0 °C - 25 °C; consult Aerotech for performance in elevated ambient temperatures
8. All Aerotech amplifiers are rated Apk; use torque constant in N·m/Apk when sizing
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Overview BM/BMS Hardware Manual
Figure 1-1: BM22 Torque Speed Curves
Figure 1-2: BM75 Torque Speed Curves
Figure 1-3: BM130 Torque Speed Curves
16 Chapter 1 www.aerotech.com

BM/BMS Hardware Manual Overview
Table 1-4: BM200, BM250, and BM500 Motor Specifications
BM200 BM250 BM500
Performance Specifications (1,2)
Stall Torque, Continuous(3) N·m (oz·in) 1.45 (205.0) 2.30 (322.0) 3.60 (515.0)
Peak Torque (4) N·m (oz·in) 3.60 (512.0) 5.70 (805.0) 9.10 (1286.0)
Rated Speed rpm 4000 4000 4000
Rated Power Output, Continuous W 455 739 1065
Electrical Specifications (2)
BEMF Constant (Line-Line, Max) Vpk/krpm 18.0 28.0 29.0
Continuous Current, Stall (3) Apk (Arms)10.3 (7.3) 10.3 (7.3) 17.5 (12.4)
Peak Current, Stall (4) Apk (Arms)25.8 (18.2) 25.6 (18.1) 43.8 (30.9)
Torque Constant (5)
N·m/Apk
(oz·in/Apk)
0.140
(19.90)
0.220
(31.40)
0.210
(29.40)
N·m/Arms
(oz·in/Arms)
0.200
(28.10)
0.310
(44.40)
0.290
(41.60)
Motor Constant (3,5) N·m/√W
(oz·in/√W)
0.131
(18.54)
0.206
(29.22)
0.287
(40.69)
Resistance, 25°C (Line-Line) Ω 1.10 1.10 0.50
Inductance (Line-Line) mH 2.18 2.74 1.42
Maximum Bus Voltage VDC 340 340 340
Thermal Resistance °C/W 0.81 0.82 0.61
Number of Poles -- 8 8 8
Max Temperature °C 124 144 123
Mechanical Specifications
Frame Size NEMA 23 34 34
Motor Weight kg (lb) 2.0 (4.40) 3.6 (7.92) 5.0 (11.00)
Rotor Moment of Inertia kg·m2
(oz·in·s2)
1.30x10-5
(0.00180)
7.85x10-5
(0.01110)
1.39x10-4
(0.01970)
Max Radial Load N (lb) 89 (20) 178 (40) 178 (40)
Max Axial Load N (lb) 89 (20) 89 (20) 89 (20)
1. Performance is dependent upon heat sink configuration, system cooling conditions, and ambient temperature
2. All performance and electrical specifications ±10%
3. Values shown @ 105°C rise above a 25 °C ambient temperature, with housed motor mounted to a 250 mm x 250 mm x 6 mm
aluminum heat sink
4. Peak torque assumes correct rms current; consult Aerotech
5. Torque constant and motor constant specified at stall
6. Maximum winding temperature is 130 °C
7. Ambient operating temperature range 0 °C - 25 °C; consult Aerotech for performance in elevated ambient temperatures
8. All Aerotech amplifiers are rated Apk; use torque constant in N·m/Apk when sizing
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Overview BM/BMS Hardware Manual
Figure 1-4: BM200 Torque Speed Curves
Figure 1-5: BM250 Torque Speed Curves
Figure 1-6: BM500 Torque Speed Curves
18 Chapter 1 www.aerotech.com

BM/BMS Hardware Manual Overview
Table 1-5: BM800 and BM1400 Motor Specifications
Motor Model Units BM800 BM1400
Performance Specifications (1,2)
Stall Torque, Continuous (3) N·m (oz·in) 6.10 (866.0) 11.00 (1562.0)
Peak Torque (4) N·m (oz·in) 15.30 (2166.0) 27.60 (3905.0)
Rated Speed rpm 3000 3000
Rated Power Output, Continuous W 1446 2529
Electrical Specifications (2)
BEMF Constant (Line-Line, Max) Vpk/krpm 69.0 69.0
Continuous Current, Stall (3) Apk (Arms)11.9 (8.4) 20.5 (14.5)
Peak Current, Stall (4) Apk (Arms)29.8 (21.0) 51.3 (36.2)
Torque Constant (5)
N·m/Apk
(oz·in/Apk)
0.510
(72.80)
0.540
(76.20)
N·m/Arms
(oz·in/Arms)
0.730
(103.00)
0.760
(107.80)
Motor Constant (3,5) N·m/√W
(oz·in/√W)
0.451
(63.86)
0.745
(105.47)
Resistance, 25°C (Line-Line) Ω 1.20 0.50
Inductance (Line-Line) mH 3.80 1.70
Maximum Bus Voltage VDC 340 340
Thermal Resistance °C/W 0.60 0.54
Number of Poles -- 8 8
Mechanical Specifications
Frame Size NEMA 42 42
Motor Weight kg (lb) 6.6 (14.52) 10.7 (23.54)
Rotor Moment of Inertia kg·m2
(oz·in·s2)
3.00x10-4
(0.04250)
5.60x10-4
(0.07930)
Max Radial Load N (lb) 222 (50) 222 (50)
Max Axial Load N (lb) 89 (20) 89 (20)
1. Performance is dependent upon heat sink configuration, system cooling conditions, and ambient temperature
2. All performance and electrical specifications ±10%
3. Values shown @ 105°C rise above a 25 °C ambient temperature, with housed motor mounted to a 300 mm x 300 mm x 13 mm
aluminum heat sink
4. Peak torque assumes correct rms current; consult Aerotech
5. Torque constant and motor constant specified at stall
6. Maximum winding temperature is 130 °C
7. Ambient operating temperature range 0 °C - 25 °C; consult Aerotech for performance in elevated ambient temperatures
8. All Aerotech amplifiers are rated Apk; use torque constant in N·m/Apk when sizing
www.aerotech.com Chapter 1 19