Aerotech BM Series User manual

Revision 3.00
BM/BMSSeriesBrushless Rotary Motor
HARDWAREMANUAL

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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 © 1996-2023, Aerotech, Inc., All rights reserved.

Table of Contents
BM/BMSSeriesBrushless Rotary Motor 1
Table of Contents 3
List of Figures 4
List of Tables 5
EU Declaration of Conformity 7
UKCA Declaration of Conformity 8
Safety Procedures and Warnings 9
Installation and Operation 10
Electrical Warnings 12
Motor-Related Warnings 13
Pinch Points 14
Handling and Storage 15
Chapter 1: Overview 17
1.1. Motor Specifications 21
1.2. Dimensions 31
1.3. Environmental Specifications 38
1.4. Vacuum Operation 39
Chapter 2: Assembly and Installation 41
2.1. Connector Pinout 41
2.1.1. Motor Connectors 42
2.1.2. Feedback Connectors 44
2.2. External Motor Wiring 48
2.2.1. MotorPower Conductors 48
2.2.2. Protective Ground 48
2.2.3. Over-Current Protection 48
2.2.4. Hall-Effect Device and Thermistor Wiring 49
2.2.5. Wiring Guidelines 49
2.2.6. Thermal Protective Device [BMSMotors Only] 50
2.3. Hall-Effect Operation and Motor Phasing 52
2.4. Motor Heating 56
Chapter 3: Maintenance 57
Appendix A: Warranty and Field Service 59
Appendix B: Revision History 61
Index 63
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List of Figures
Figure 1-1: Torque Speed Curves (BM24, BM75, and BM130) 22
Figure 1-2: Torque Speed Curves (BM200, BM250, and BM500) 24
Figure 1-3: Torque Speed Curves (BM800 and BM1400) 26
Figure 1-4: Torque Speed Curves (BMS35, BMS60, and BMS100) 28
Figure 1-5: Torque Speed Curves (BMS280 and BMS465) 30
Figure 1-6: BM24 Model Dimensions (NEMA 17) 31
Figure 1-7: BM75, BM130, BM200 Model Dimensions (NEMA 23) 32
Figure 1-8: BM250, BM500 Model Dimensions (NEMA 34) 33
Figure 1-9: BM800, BM1400 Model Dimensions (NEMA 42) 34
Figure 1-10: BMS35 Model Dimensions (NEMA 17) 35
Figure 1-11: BMS60 and BMS100 Model Dimensions (NEMA 23) 36
Figure 1-12: BMS280 and BMS465 Model Dimensions (NEMA 34) 37
Figure 2-1: Thermal Sensor Resistance as a Function of Temperature 50
Figure 2-2: Typical Thermistor Interface Circuit 51
Figure 2-3: Hall Effect and Motor Phasing 52
Figure 2-4: Test Setup Configuration 53
Figure 2-5: Motor Lead Phasing with Oscilloscope 54
Figure 2-6: Hall Phasing with Oscilloscope 55
Figure 2-7: Operating Regions Example 56
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List of Tables
Table 1-1: BM Motor Options 17
Table 1-2: BMS Motor Options 19
Table 1-3: BM24, BM75, and BM130 Motor Specifications 21
Table 1-4: BM200, BM250, and BM500 Motor Specifications 23
Table 1-5: BM800 and BM1400 Motor Specifications 25
Table 1-6: BMS35, BMS60, and BMS100 Motor Specifications 27
Table 1-7: BMS280 and BMS465 Motor Specifications 29
Table 1-8: Environmental Specifications 38
Table 2-1: Motor Connector Options 41
Table 2-2: Feedback Connector Options 41
Table 2-3: Limit Connector Options 41
Table 2-4: Motor Power Connector Pinout (-MSOption) 42
Table 2-5: Mating Connector Part Numbers for the Motor Power Connector (-MSOption) 42
Table 2-6: Motor Connector Pinout (-D25Option) 42
Table 2-7: Mating Connector Part Numbers for the Motor Power Connector (-D25Option) 42
Table 2-8: Motor Power Flying Leads Pinout (-D25-FLB Option) 43
Table 2-9: Motor Power Terminal BlockPinout (-D25-4TS Option) 43
Table 2-10: Motor Connector Pinout (-D25-5D Option) 43
Table 2-11: Mating Connector Part Numbers for the -D25-5D Option Motor Power Connector 43
Table 2-12: Feedback Connector Pinout (-MSOption) 44
Table 2-13: Mating Connector Part Numbers for the -MS Option Feedback Connector 44
Table 2-14: Feedback Connector Pinout (without Limits, -D25 Option) 45
Table 2-15: Mating Connector Part Numbers for the -D25 Option Feedback Connector 45
Table 2-16: Feedback Connector Pinout (with Limits, -D25-9D, -9D-CMS, -5D, -FLB, -4TS) 46
Table 2-17: Mating Connector Part Numbers for the -D25-XX Feedback Connector 46
Table 2-18: Limit Connector Pinout (-D25-9D,-9D-CMS, -5D, -FLB, -4TS) 47
Table 2-19: Mating Connector Part Numbers for the Limit Connector 47
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EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Declares that the product:
Product Standard BM and BMS motors (excluding VAC6 versions)
Model/Types BM75, BM130, BM200, BM250, BM500, BM800, BM1400, BMS35, BMS60,
BMS100, BMS280, BMS465
To which this declaration relates, meets the essential health and safety requirements and is in
conformity with the relevant EU Directives listed below:
2014/35/EU Low Voltage Directive
EU 2015/863 Directive, Restricted Substances (RoHS 3)
Using the relevant section of the following EU Standards and other normative documents:
IEC 60034-1:2010 Rotating electrical machines
IEC 61010-1:2010 Safety requirements for electrical equipment for
measurement, control, and laboratory use
NOTE: Safe operation of the motor requires over speed
and over current protection. This could be done by
the connected controller / amplifier combination.
Authorized
Representative: / Norbert Ludwig
Managing Director
Aerotech GmbH
Gustav-Weißkopf-Str.18
90768 Fürth
Germany
Engineer Verifying
Compliance: / Matt Maurer
Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
Date 9/12/2023
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UKCA Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Declares that the product:
Product Standard BM and BMS motors (excluding VAC6 versions)
Model/Types BM75, BM130, BM200, BM250, BM500, BM800, BM1400, BMS35, BMS60,
BMS100, BMS280, BMS465
To which this declaration relates, meets the essential health and safety requirements and is in
conformity with the relevant UK Legislation listed below:
Electrical Equipment (Safety) Regulations 2016
Hazardous Substances in Electrical and Electronic Equipment Regulations 2012
Using the relevant section of the following UK Designated Standards and other normative
documents when installed in accordance with the installation instructions supplied by the
manufacturer.
IEC 60034-1:2010 Rotating electrical machines
IEC 61010-1:2010 Safety requirements for electrical equipment for
measurement, control, and laboratory use
NOTE: Safe operation of the motor requires over speed
and over current protection. This could be done by
the connected controller / amplifier combination.
Authorized
Representative: / Simon Smith
Managing Director
Aerotech Ltd
The Old Brick Kiln, Ramsdell, Tadley
Hampshire RG26 5PR
UK
Engineer Verifying
Compliance: / Matt Maurer
Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
Date 9/12/2023
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Safety Procedures and Warnings
IMPORTANT: This manual tells you how to carefully and correctly use and operate the
motor.
lRead all parts of this manual before you install or operate the motor or before you
do maintenance to your system.
lTo prevent injury to you and damage to the equipment, obey the precautions in this
manual.
lAll specifications and illustrations are for reference only and were complete and
accurate as of the release of this manual. To find the newest information about this
product, refer to www.aerotech.com.
If you do not understand the information in this manual, contact Aerotech Global
Technical Support.
IMPORTANT: This product has been designed for light industrial manufacturing or
laboratory environments. If the product is used in a manner not specified by the
manufacturer:
lThe protection provided by the equipment could be impaired.
lThe life expectancy of the product could be decreased.
Safety notes and symbols are placed throughout this manual to warn you of the potential risks at the
moment of the safety note or if you fail to obey the safety note.
Shock/Electrocution Hazard Pinch, Shear, or Crush Hazard
General/Conditional Awareness Rotational Machinery Hazard
Hot Surface Hazard Pinch/Entanglement Hazard
Magnetic Field Hazard Trip Hazard
Heavy, Bulky Lifting Hazard Appropriate Equipment Required
Pressure/Explosive Atmosphere
Hazard Electrostatic Discharge Hazard
A blue circle symbol is an action or tip that you should obey. Some examples include:
General tip Read the manual/section
Wear personal protective equipment
(PPE): Safety Glasses If applicable, do not lift unassisted
Wear personal protective equipment
(PPE): Gloves
Wear personal protective equipment
(PPE): Hearing Protection
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Installation and Operation
To decrease the risk of damage to the equipment, you must obey the precautions that follow.
IMPORTANT: Aerotech motors are meant to be part of a drive package that consists of
an amplifier and a controller. The motor relies on the drive package for fault protection.
Do not use these motors in any other way.
DANGER: General Hazard Warning!
This product can produce high forces and move at velocities that could cause injury.
The user is responsible for its safe operation. The following general equation is
provided to assist with risk assessments in regards to contact and pinch points:
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WARNING: General Hazard Warning!
lOnly trained operators should operate this equipment.
lAll service and maintenance must be done by approved personnel.
lUse this product only in environments and operating conditions that are approved in
this manual.
lNever install or operate equipment that appears to be damaged.
lFor BMSmotors: the motor over-temperature sensor must be monitored by the
drive. Use it to shut down the drive if the motor overheats.
lFor BMmotors:it is the responsibility of the user to monitor the motor temperature
to make sure that the motor does not overheat.
lMake sure that the product is securely mounted before you operate it.
lUse care when you move the motor or you could negatively affect the performance
of it.
WARNING:Trip Hazard!
Route, house, and secure all cables, duct work, air, or water lines. Failure to do so could
introduce trip hazards around the system that could result in physical injury or could
damage the equipment.
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Electrical Warnings
To decrease the risk of electrical shock, injury, death, and damage to the equipment, obey the
precautions that follow.
DANGER: Electrical Shock Hazard!
lMotor phase voltage levels could be hazardous live.
lPersonnel are protected from hazardous voltages unless electrical interconnections,
protective bonding (safety ground), or motor enclosures are compromised.
lDo not connect or disconnect motor interconnections while connected to a live
electrical power source.
lBefore you set up or do maintenance, disconnect electrical power.
lMake sure that the motor frame is safety grounded with a conductor equal in size to
the phase conductors.
lThe drive must contain a properly-sized fuse, matched to the motor cable wire size.
lIt is the responsibility of the End User/System Integrator to make sure that motors
are properly connected and grounded per Engineering Standards and applicable
safety requirements.
lIt is the responsibility of the End User/System Integrator to configure the system
drive or controller within the Aerotech motor electrical and mechanical
specifications.
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Motor-Related Warnings
Aerotech motors are capable of producing high forces and velocities. Obey all warnings and all
applicable codes and standards when you use or operate a stage or system that incorporates
Aerotech motors.
DANGER: Mechanical Hazard!
Personnel must be made aware of the mechanical hazards during set up or when you
do service to the motor.
lUnintentional manual movement into the stage "end-of-travel" stops, could damage
the stage or undo precision alignments.
lMotor movement could create pinch points, entanglement hazards, or rotational
mechanical hazards.
lUncouple or otherwise prevent motion of motor-coupled machinery when you do ser-
vice to the equipment.
DANGER: Hot Surface Hazard!
lThe motor frame temperature could exceed 70°C in some applications.
lDo not touch the motor frame while it is in operation.
lWait until the motor has cooled before you touch it.
DANGER:Risk of Explosive Atmosphere!
lStandard Aerotech motors are not rated for applications with explosive atmospheres
such as airborne dust or combustible vapors.
lDo not operate motors outside of Aerotech environmental specifications.
DANGER: Magnetic Field Hazard!
Aerotech motors contain magnets which can present a Magnetic Field Hazard.
lDo not disassemble a motor under any circumstances.
lStrong magnetic fields could interfere with external/internal medical devices.
lStrong magnetic fields could present mechanical hazards such as pinch points.
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Pinch Points
A pinch point is a mechanical hazard that can occur when there are exposed parts of the motor,
stage, or system that can move. For example, the travel of a stage tabletop could expose the user to
a pinch point between the tabletop and the stage housing. The images that follow will show you
typical external and internal pinch point locations.
DANGER: Mechanical Hazard!
lSystem travel can cause crush, shear, or pinch injuries.
lOnly trained operators should operate this equipment.
lDo not put yourself in the travel path of machinery.
lRestrict access to all motor parts
owhen the system moves under power (during normal operation, for example).
owhen the system is moved manually (during the installation process or when you
do maintenance, for example).
lMotors are capable of very high speeds and acceleration rates.
Figure 1: Typical Pinch Point Locations
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Handling and Storage
IMPORTANT: It is the responsibility of the customer to safely and carefully lift and
move the motor.
lBe careful when you move or transport the motor.
lRetain the shipping materials for future use.
lTransport or store the motor in its protective packaging.
WARNING: Electrostatic Discharge (ESD) Sensitive Components!
Wear an ESDwrist strap when you handle, install, or do service to the system assembly.
You could damage the power supply or drives if you fail to observe the correct
ESDpractices.
Inspect the shipping container for any evidence of shipping damage. If any damage exists, notify the
shipping carrier immediately.
Remove the packing list from the shipping container. Make sure that all the items specified on the
packing list are contained within the package.
The documentation for the motor is on the included installation device. The documents include
manuals, interconnection drawings, and other system documentation. Save this information for
future reference.
Each motor has a label listing the system part number and serial number. These numbers contain
information necessary for maintenance or system hardware and software updates. Locate this label
and record the information for later reference.
Unpacking and Handling
It is the responsibility of the customer to safely and carefully lift and move the motor.
IMPORTANT: All electronic equipment and instrumentation is wrapped in antistatic
material and packaged with desiccant. Ensure that the antistatic material is not
damaged during unpacking.
DANGER:Lifting Hazard! Use care when you move the motor or you could negatively
affect the performance of it.
lUse the correct lifting techniques, mechanical assistance, or additional help to lift or
move this product.
lDo not use the cables or the connectors to lift or move this product.
lMake sure that all moving parts are secure before you move the motor. Unsecured
moving parts could shift and cause injury or damage to the equipment.
lIf the motor is heavy, a single person lift could cause injury. Use assistance when you
lift or move it.
oRefer to Section 1.2. Dimensions for dimensions
oRefer to Section 1.1. Motor Specifications for weight specifications.
Carefully remove the motor from its protective shipping container.
lLift this product only by the base.
lUse a cart, dolly, or similar device to move the motor to a new location.
Gently set the motor on a smooth, flat, and clean surface. Use compressed nitrogen or clean, dry, oil-
free air to remove any dust or debris that has collected during shipping.
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Before you operate the motor, let it stabilize at room temperature for at least 12 hours. This will
ensure that all of the alignments, preloads, and tolerances are the same as they were when they
were tested at Aerotech.
Storage
Store the motor in the original shipping container. If the original packaging included ESDprotective
packaging, make sure to store the motor in it. The storage location must be dry, free of dust, free of
vibrations, and flat.
Refer to Section 1.3. Environmental Specifications
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Chapter 1: Overview
Table 1-1: BM Motor Options
Brushless Rotary Servomotors
BM24 NEMA 17 brushless servomotor
BM75 NEMA 23 brushless servomotor
BM130 NEMA 23 brushless servomotor
BM200 NEMA 23 brushless servomotor
BM250 NEMA 34 brushless servomotor
BM500 NEMA 34 brushless servomotor
BM800 NEMA 42 brushless servomotor
BM1400 NEMA 42 brushless servomotor
Connectors (Required)
-MS Integral cables with military-style feedback and motor connectors; compatible
with:BM75, BM130, BM200, BM250, BM500, BM900, BM1400
-D25 Integral cables with D-style 25-pin feedback and D-style 4-pin motor
connectors; compatible with:BM24, BM75, BM130, BM200
-D25-9D Integral cables with D-style 25-pin feedback, D-style 4-pin motor, and D-style
9-pin limit connectors; compatible with: BM75, BM130, 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; compatible with:BM75, BM130,
BM200
-D25-5DU Integral cables with D-style 25-pin feedback, D-style 5-pin motor, and D-style
9-pin limit connectors; compatible with:BM75, BM130, 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; compatible
with:BM75, BM130, BM200
-D25-4TS Integral cables with D-style 25-pin feedback, terminal block 4-pin motor, and
D-style 9-pin limit connectors; compatible with:BM75, BM130, BM200
Feedback (Required)
-E1000H 1000 lines/rev TTL incremental encoder with Hall tracks; compatible
with:BM75, BM130, BM200, BM250, BM500, BM900, BM1400
-E2000H 2000 lines/rev TTL incremental encoder with Hall tracks; compatible with:
BM75, BM130, BM200, BM250, BM500, BM900, BM1400
-E2500H 2500 lines/rev TTL incremental encoder with Hall tracks
-E5000H 5000 lines/rev TTL incremental encoder with Hall tracks; compatible
with:BM75, BM130, BM200, BM250, BM500, BM900, BM1400
-E1000ASH 1000 lines/rev 1 Vpp incremental encoder with Hall tracks
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Brake (Optional)
-BK Holding brake
Cable Type (Optional)
-HF Hi-Flex life cable; compatible with: BM75, BM130, BM200
Cable Length (Optional)
-xx Cable length from motor to connectors in decimeters; 3.8 dm is the default
with a 50 dm maximum; compatible with: BM75, BM130, BM200
Shaft Seal (Optional)
-NS Nitrile front shaft seal; compatible with: BM250, BM500, BM800, 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
MCM-3 Military style motor power mating connector; compatible with: BM75, BM130,
BM200, BM250, BM500, BM800, BM1400
MCF-3 Military style feedback mating connector
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Table 1-2: BMS Motor Options
BMS Series Rotary Servo Motors
BMS35 NEMA 17 brushless servomotor
BMS60 NEMA 23 brushless servomotor
BMS100 NEMA 23 brushless servomotor
BMS280 NEMA 34 brushless servomotor
BMS465 NEMA 34 brushless servomotor
Winding Options
-A Standard winding
NOTE:Alternate winding options are available. Contact Aerotech for more information.
Connectors
-MS Integral cables with military-style feedback and motor connectors; compatible
with:BMS60, BMS100, BMS280, BMS465
-D25 Integral cables with D-style 25-pin feedback and D-style 4-pin motor
connectors; compatible with:BMS35, BMS60, BMS100
-D25-9D Integral cables with D-style 25-pin feedback, D-style 4-pin motor, and D-style
9-pin limit connectors; compatible with:BMS35, BMS60, BMS100
-D25-FLB
Integral cables with D-style 25-pin feedback connector, flying leads for the
motor, and a D-style 9-pin limit connector; compatible with:BMS35, BMS60,
BMS100
-D25-5DU Integral cables with D-style 25-pin feedback, D-style 5-pin motor, and D-style
9-pin limit connectors; compatible with:BMS35, BMS60, BMS100
-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; compatible
with:BMS35, BMS60, BMS100
-D25-4TS Integral cables with D-style 25-pin feedback, terminal block 4-pin motor, and
D-style 9-pin limit connectors; compatible with:BMS35, BMS60, BMS100
Feedback Options
-E1000H 1000 lines/rev TTL incremental encoder with Hall tracks
-E2000H 2000 lines/rev TTL incremental encoder with Hall tracks
-E2500H 2500 lines/rev TTL incremental encoder with Hall tracks
-E5000H 5000 lines/rev TTL incremental encoder with Hall tracks
-E1000ASH 1000 lines/rev 1 Vpp incremental encoder with Hall tracks
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Brake (Optional)
-BK Holding brake
Cable Type (Optional)
-HF High-flex cable; compatible with:BMS35, BMS60, BMS100
Cable Length (Optional)
-xx Cable length from motor to connectors in decimeters; 3.8 dm is the default
with a 50 dm maximum; compatible with:BMS35, BMS60, BMS100
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
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