S-Series Brushless, Frameless Torque Motors
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- Garey Scott Waters
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1 S-Series rushless, Frameless Torque Motors Slotless, brushless ring motors with high torque output and zero cogging Frameless design for easy integration into OEM machines Various winding options available Includes Hall effect sensors for commutation Follows the 211/65/EU RoHS 2 Directive The S-series motors are erotech s high-performance brushless, frameless torque motors. The motors feature neodymium iron boron magnets for maximum torque and acceleration in a compact assembly. High-Performance Design The S-series motors utilize a slotless stator design and high pole-count rotor to provide zero cogging for exceptional velocity stability. The laminations contain no slots, eliminating torque ripple and cogging torque that produces velocity disturbance. The S-series motors are well-suited for direct-drive applications such as printing and scanning where velocity ripple cannot be tolerated. Easy Machine Integration ll S-series motors are supplied as two pieces a slotless stator coil and permanent magnet rotor. The stator is a standard 3-phase coil assembly with Hall-effect devices. They can be driven using a simple six-step or sinusoidal commutation algorithm. erotech s Ndrive series amplifiers are performance-matched to the S-series motors for easy integration. The hollow rotor mounts directly to a drive axis with no gearing required. Custom variations can be engineered to your requirements with minimal lead time. Wide Range of Output Torque and Sizes The S-series slotless motors cover a wide range of torque and package sizes. torque ranges from.2 N-m to 29.9 N-m. torque ranges from.82 N-m to N-m. The open design of the S-series motors allows for custom winding or mechanical variations to meet any application need. The S-series motors are designed for applications in OEM machines. The S-5 (5-mm diameter) motor is ideal for small, tight spaces such as spindles or small feed rolls. The S-18 (18 mm diameter) and S-24 (24 mm diameter) can accelerate large print drums or precision positioning tables. S-series motor is used in erotech s high-performance DR direct-drive rotary stage. 1
2 S-Series SPECIFICTIONS Motor Model Units S-5-39 S-5-52 S-5-86 S S S S-Series Rotary Motors Winding Designation Performance Specifications (1,2) Stall Torque, (3) N-m Torque(4) N-m Rated Speed rpm 4, 8, 4, 8, 3, 8, 3, 5, 3, 4, 2, 1,5 Power Output, W Electrical Specifications (2) EMF Const., Line-Line, Max V pk /krpm Current, Stall (3) mp pk mp rms Current, Stall(3) pk Torque Constant (5,6) N-m/mp pk N-m/mp rms Motor Constant(3,5) N-m/ W Resistance, 25 C, Line-Line ohms Inductance, Line-Line mh Maximum us Voltage VDC 34 Thermal Resistance C/W Number of Poles 8 14 Mechanical Specifications Frameless Motor Weight kg Frameless Rotor Inertia kg-m2 1.11x x x x x x1-4 Length of Winding, Frameless Motor mm Outside Diameter, Frameless Motor mm Inside Shaft Diameter, Frameless Motor mm Standards 211/65/EU RoHS 2 Directive Notes: 1. Performance is dependent upon heat sink configuration, system cooling conditions, and ambient temperature. 2. ll performance and electrical specifications ±1%. 3. Values 75 C rise above a 25 C ambient temperature, with housed motor mounted to a 25 mm x 25 mm x 6 mm aluminum heat sink. 4. torque assumes correct rms current; consult erotech. 5. Torque constant and motor constant specified at stall. 6. ll erotech amplifiers are rated pk; use torque constant in N-m/pk when sizing. 7. Specifications given are for the motor only. When integrated into a housing with bearings, additional losses should be considered. 8. Maximum winding temperature is 1 C; thermistor trips at 1 C. 9. mbient operating temperature range C - 25 C; consult erotech for performance in elevated ambient temperatures. 2
3 S-Series SPECIFICTIONS Motor Model Units S S-13-6 S S S Winding Designation Performance Specifications (1,2) Stall Torque, (3) N-m Torque(4) N-m Rated Speed rpm 2, 4, 1, 2, 75 1,5 5 1, Power Output, W Electrical Specifications (2) EMF Const., Line-Line, Max V pk /krpm Current, Stall (3) mp pk mp rms Current, Stall(3) pk Torque Constant (5,6) N-m/mp pk N-m/mp rms Motor Constant(3,5) N-m/ W Resistance, 25 C, Line-Line ohms Inductance, Line-Line mh Maximum us Voltage VDC 34 Thermal Resistance C/W Number of Poles 18 Mechanical Specifications Frameless Motor Weight kg Frameless Rotor Inertia kg-m2 1.6x1-3 3.x x x x1-3 Length of Winding, Frameless Motor mm Outside Diameter, Frameless Motor mm Inside Shaft Diameter, Frameless Motor mm 5.8 Standards 211/65/EU RoHS 2 Directive Notes: 1. Performance is dependent upon heat sink configuration, system cooling conditions, and ambient temperature. 2. ll performance and electrical specifications ±1%. 3. Values 75 C rise above a 25 C ambient temperature, with housed motor mounted to a 25 mm x 25 mm x 6 mm aluminum heat sink. 4. torque assumes correct rms current; consult erotech. 5. Torque constant and motor constant specified at stall. 6. ll erotech amplifiers are rated pk; use torque constant in N-m/pk when sizing. 7. Specifications given are for the motor only. When integrated into a housing with bearings, additional losses should be considered. 8. Maximum winding temperature is 1 C; thermistor trips at 1 C. 9. mbient operating temperature range C - 25 C; consult erotech for performance in elevated ambient temperatures. 3
4 S-Series SPECIFICTIONS Motor Model Units S S S S S S S-Series Rotary Motors Winding Designation Performance Specifications (1,2) Stall Torque, (3) N-m Torque(4) N-m Rated Speed rpm 5 1, 5 1, , Power Output, W , , , ,218.6 Electrical Specifications (2) EMF Const., Line-Line, Max V pk /krpm Current, Stall (3) mp pk mp rms Current, Stall(4) pk Torque Constant (5,6) N-m/mp pk N-m/mp rms Motor Constant(3,5) N-m/ W Resistance, 25 C, Line-Line ohms Inductance, Line-Line mh Maximum us Voltage VDC 34 Thermal Resistance C/W Number of Poles Mechanical Specifications Frameless Motor Weight kg Frameless Rotor Inertia kg-m2 7.4x x x x x1-2 7.x1-2 Length of Winding, Frameless Motor mm Outside Diameter, Frameless Motor mm Inside Shaft Diameter, Frameless Motor mm Standards 211/65/EU RoHS 2 Directive Notes: 1. Performance is dependent upon heat sink configuration, system cooling conditions, and ambient temperature. 2. ll performance and electrical specifications ±1%. 3. Values 75 C rise above a 25 C ambient temperature, with housed motor mounted to a 25 mm x 25 mm x 6 mm aluminum heat sink. 4. torque assumes correct rms current; consult erotech. 5. Torque constant and motor constant specified at stall. 6. ll erotech amplifiers are rated pk; use torque constant in N-m/pk when sizing. 7. Specifications given are for the motor only. When integrated into a housing with bearings, additional losses should be considered. 8. Maximum winding temperature is 1 C; thermistor trips at 1 C. 9. mbient operating temperature range C - 25 C; consult erotech for performance in elevated ambient temperatures. 4
5 S-Series PERFORMNCE S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed
6 S-Series PERFORMNCE S-Series Rotary Motors S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed
7 S-Series PERFORMNCE S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed
8 S-Series PERFORMNCE S-Series Rotary Motors S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed
9 S-Series PERFORMNCE S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed
10 S-Series PERFORMNCE S-Series Rotary Motors S Torque vs Speed S Torque vs Speed S Torque vs Speed S Torque vs Speed
11 S-Series DIMENSIONS S-5 Ø [ 1.998] 2. Dimensions - millimeters [inches] Ø46.6 [1.84] Max. Model No. C S [.84] 22. [.87] 39.1 [1.54] S [1.34] 34.8 [1.37] S [2.64] 68.8 [2.71] 8. [.32] Max. Stack Length 51.8 [2.4] 84.8 [3.34] 9.8 [.39] Max. Motor Coil Wires 24 WG 6 Leads,.3m[12 in] Phase = lack - lue Phase = Red - rown Phase C = White - Yellow Hall Sensor Wires 28 WG 5 Leads,.3m[12 in] Common = lack +5V = Red Hall = lue Hall = White Hall C = Orange Ø [ ] Thermistor Wires 3 WG 2 Leads,.3m[12 in] Red - Red.1[.4] Mounting Requirement Hall Sensors M3 X.5 X 4.8 [.19] dp. 2 Holes Eq. Spaced on Ø13.77 [Ø.542] b.c. Ø3.18 [.125] Ream X 7.6 [.3] dp. 2 Holes Eq. Spaced on Ø13.77+/-.3 [Ø.542+/-.1].C. Rotor Length Rotor ssembly Stator ssembly C Stator Length.4 [.2] Mounting Dimension S-76 S-5 SERIES MOTORS Dimensions millimeters [inches] 6/99 Hall Sensor CTLOG Wires 28 DRWING WG 6/99 5 Leads,.3m[12 in] MSR CI 125 6/99 S-5_CT MSR Model No. C - S-5_CT.DWG Common = lack S-5_CT - +5V = Red N/ SCLE: 1:1 OF 1 SHEET 1 S [.68] 18.8[.74] 35.[1.38] Hall = lue Hall = White ECN S ZONE 67.[2.64] REV. 68.6[2.7] 84.8[3.34] DESCRIPTION Hall C = Orange DTE PPROVED MCN11587 DIMENSION WS /15/28 RCVGNRO S [5.16] 135.[5.31] 148.8[5.86] MCN1521 REMOVE THERMISTOR SPECS ND INCLUDE WIRE GUGE REMOVE "2 PLCES" TEXT FROM WINDING OD DIMENSION UPDTE TITLE LOCK ND ECN TLE STNDRDIZE DRWINGS CROSS S-MOTOR FMILY Stack Length UPDTE ROTOR ID PRECISION Ø8. [.31] Max. Ø9.8 [.39] Max. Thermistor Wires 3 WG 2 Leads,.3m[12 in] Minimum 8/2/213 Length RLYR Red Red Motor Coil Wires 24 WG 6 Leads,.3m[12 in] Phase = lack lue Phase = Red rown Phase C = White Yellow Hall Sensors.1[.4] Ø72. [2.83] Max. Mounting Requirement Ø Ø Rotor ssembly Ø.5 [.2] Mounting Dimension Rotor Length C Stator Length Stator ssembly M4 x.7 x 8[.31] dp. Typ. 4 Holes Eq. Spaced on 36[1.417].C. 11
12 S-Series DIMENSIONS S-Series Rotary Motors S-13 Dimensions - millimeters [inches] Model No. C S [.82] 23.1 [.91] 38.7 [1.52] S [1.65] 44.1 [1.74] 59.7 [2.35] S [2.48] 65.1 [2.56] 8.7 [3.18] S [3.3] 86.1 [3.39] 11.7 [4.] S [4.13] 17.1 [4.22] [4.83] Motor Coil Wires 24 WG 6 LeadsS,.3m[12 in] Phase = lack - lue Phase = Red - rown Phase C = White - Yellow Hall Sensor Wires 28 WG 5 Leads,.3m[12 in] Common = lack +5V = Red Hall = lue Hall = White Hall C = Orange 6. [.24] Max. Stack Length 11.7 [.46] Max. Thermistor Wires 3 WG 2 Leads,.3m[12 in] Red - Red Hall Sensors Ø [ ] Ø124. [4.88] Max..5[.2] Mounting Requirement Ø [ ] M5 X.8 X 12.7mm dp. 4 Places Eq. Spaced on 64[2.52] Dia..C. Mounting Dimension 1.6 [.6] Rotor Length Stator Length C Rotor ssembly Stator ssembly MSR 6/99 CI 6/99 MSR 6/99 S-13_CT.DWG S-13 SERIES MOTORS CTLOG DRWING N/ S-13_CT S-13_CT SCLE: 1:1 SHEET 1 OF 1 ECN ZONE REV. DESCRIPTION DTE PPROVED MCN1523 REMOVE THERMISTOR SPECS ND INCLUDE WIRE GUGE INCLUDE WIRE GUGE FOR MOTOR ND HLL SENSOR WIRES INCLUDE "MX." ON WINDING OD ND END WINDING DIMENSIONS UPDTE TITLE LOCK ND ECN TLE STNDRDIZE DRWINGS CROSS S-MOTOR FMILY 8/2/213 RLYR 12
13 S-Series DIMENSIONS S-18 Dimensions - millimeters [inches] Model No. C S [.98] 26. [1.2] 43.2 [1.7] S [1.97] 51. [2.1] 68.2 [2.69] S [2.95] 76. [2.99] 93.2 [3.67] Motor Coil Wires 24WG 6 Leads,.3m[12 in] Phase = lack - lue Phase = Red - rown Phase C = White - Yellow Hall Sensor Wires 28 WG 5 Leads,.3m[12 in] Common = lack +5V = Red Hall = lue Hall = White Hal C = Orange Stack Length 7.7 [.3] Max. 1.6 [.42] Max. Thermistor Wires 3 WG 2 Leads,.3m[12 in] Red - Red Hall Sensors Ø [ ] Ø174. [6.85] Max. Ø [ ].25[.1] Mounting Requirement M6 X 1 X 12.7mm dp. 4 Places Eq. Spaced on 12[4.2] Dia..C. Rotor ssembly Mounting Dimension.5 [.2] Rotor Length Stator Length C Stator ssembly MSR 6/99 CI 6/99 MSR 6/99 S-18_CT.DWG S-18 SERIES MOTORS CTLOG DRWING N/ S-18_CT S-18_CT SCLE: 1:1 SHEET 1 OF 1 ECN ZONE REV. DESCRIPTION DTE PPROVED MCN9196 DDED QTY 4 MOUNTING HOLES ON ROTOR 3/1/26 DLH MCN1524 REMOVE THERMISTOR SPECS ND INCLUDE WIRE GUGE INCLUDE WIRE GUGE FOR MOTOR ND HLL SENSOR WIRES INCLUDE "MX." ON WINDING OD ND END WINDING DIMENSIONS UPDTE TITLE LOCK ND ECN TLE STNDRDIZE DRWINGS CROSS S-MOTOR FMILY 8/2/213 RLYR 13
14 S-Series DIMENSIONS S-Series Rotary Motors S [.3] Max. 12. [.47] Max. Hall Sensor Wires 28 WG 5 Leads,.3m[12 in] Common=lack +5v = Red Hall = lue Hall = White Hall C = Orange Thermistor Wires 3 WG 2 Leads,.3m[12 in] Red Red Motor Coil Wires 24 WG 6 Leads,.3m[12 in] Phase = lack lue Phase = Red rown Phase C = White Yellow Stator Rotor Mounting Requirement.5[.2] Ø24.2 [8.4] 45. Ø232.4 [9.15] Max. Ø185.3 [7.3] Ø Ø25.4 [8.9] Rotor Length Ø Mounting Dimension.5 [.2] M6 X 1 X 12.7[1/2] dp. Typ. 4 Holes Eq. Spaced on 152.4[6.].C. Stack Length Stator Length C Ø 3.2[.126] X 7.6[.3] Dp. Typ. 2 Holes Eq. Spaced on 152.4[6.].C. (Tooling holes) Nominal ir Gap etween Rotor and Stator.6[.24] Dimensions milimeters [inches] Model No. C S [.827] 22. [.866] 4.7 [1.62] S [1.653] 43. [1.693] 61.7 [2.429] S [2.48] 64. [2.52] 82.7 [3.256] 14
15 S-Series ORDERING INFORMTION S-Series rushless Frameless Torque Motor S-5-39 Slotless motor, rotor, and stator, 5 mm O.D., 39 mm length. S-5-52 Slotless motor, rotor, and stator, 5 mm O.D., 52 mm length. S-5-86 Slotless motor, rotor, and stator, 5 mm O.D., 86 mm length. S Slotless motor, rotor, and stator, 76 mm O.D., 35 mm length. S Slotless motor, rotor, and stator, 76 mm O.D., 85 mm length. S Slotless motor, rotor, and stator, 76 mm O.D., 149 mm length. S Slotless motor, rotor, and stator, 13 mm O.D., 39 mm length. S-13-6 Slotless motor, rotor, and stator, 13 mm O.D., 6 mm length. S Slotless motor, rotor, and stator, 13 mm O.D., 81 mm length. S Slotless motor, rotor, and stator, 13 mm O.D., 12 mm length. S Slotless motor, rotor, and stator, 13 mm O.D., 123 mm length. S Slotless motor, rotor, and stator, 18 mm O.D., 44 mm length. S Slotless motor, rotor, and stator, 18 mm O.D., 69 mm length. S Slotless motor, rotor, and stator, 18 mm O.D., 94 mm length. S Slotless motor, rotor, and stator, 24 mm O.D., 43 mm length. S Slotless motor, rotor, and stator, 24 mm O.D., 63 mm length. S Slotless motor, rotor, and stator, 24 mm O.D., 83 mm length. Note: S-Series torque ring motors include the stator w/flying leads, adjustable-phase Hall bd., and rotor w/magnets Winding Designation (Required) - 76 cm (2.5 ft) flying leads std - Optional winding. Integration (Required) erotech offers both standard and custom integration services to help you get your system fully operational as quickly as possible. The following standard integration options are available for this system. Please consult erotech if you are unsure what level of integration is required, or if you desire custom integration support with your system. -TS -TC Integration - Test as system Testing, integration, and documentation of a group of components as a complete system that will be used together (ex: drive, controller, and stage). This includes parameter file generation, system tuning, and documentation of the system configuration. Integration - Test as components Testing and integration of individual items as discrete components that ship together. This is typically used for spare parts, replacement parts, or items that will not be used together. These components may or may not be part of a larger system. 15
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