dc coreless motors - motion control products · 2019-03-26 · dc coreless motors motion control...

DC Coreless Motors

Motion Control Products Ltd. Page 1 of 22 Tel.: +44 (0)1202 599922

Coreless motor is a permanent magnet DC servo motor, compared to common motor, the difference is the use of coreless rotor/stator. Coreless motor has following advantages:

The maximum energy conversion efficiency (an index of energy saving characteristics) : its efficiency in general is more than 70%,some products can reach above 90%(the common core motor at 15-50%);

Activation, brake fast, fast response: mechanical time constant less than 28ms, part of the product can reach 10ms, the recommended operating region of the state of high speed run, the flexible speed regulation;

Reliable operation stability: adaptive ability is strong, speed fluctuation can be controlled within 2%

Low electro-magnetic interference: using high-quality brush, commutator structure, small commutation spark, can be removed from the additional interference resistant device;

High energy density: with the same power compared with iron core motor, weight, volume reduce by 13-1/2; speed-voltage, speed-torque, speed-current corresponding are presented the standard linear relationship.

Features

Non iron core, the unique design of high precision oil, thin air gap High performance rare earth magnet, high power density High torque, high efficiency No torque fluctuation Excellent volume power ratio, light weight Low vibration, high acceleration performance Smooth running, quick response Low noise No cogging Low starting torque, wide speed regulating range Good heat dissipation effect, low heat, small temperature rise

Contents D13R22B .........................................................................................................................................................................................2

D13R35B .........................................................................................................................................................................................3

D16R24B .........................................................................................................................................................................................4

D16R24F .........................................................................................................................................................................................5

D16R41B .........................................................................................................................................................................................6

D16R41F .........................................................................................................................................................................................7

D22R24B .........................................................................................................................................................................................8

D22R32B .........................................................................................................................................................................................9

S22R37E (with encoder) ...............................................................................................................................................................10

S22R45E (with encoder) ..............................................................................................................................................................11

D23R32B .......................................................................................................................................................................................12

D35R71B .......................................................................................................................................................................................13

D40R45B .......................................................................................................................................................................................14

D40R71B .......................................................................................................................................................................................15

Encoder ........................................................................................................................................................................................16

Planetary Gearbox .......................................................................................................................................................................17

Terminology .................................................................................................................................................................................22

Motion Control Products Ltd. Page 2 of 22 www.motioncontrolproducts.com

D13R22B

MOTOR TECHNICAL DATA

Motor model D13R2203B D13R2206B D13R2209B D13R2212B D13R2215B

1 Nominal voltage V 3 6 9 12 15

2 No load speed rpm Wnl 13200 12700 12300 12400 13200

3 No load current mA InI 92 48 36 28 22

4 Nominal speed rpm Wc 8400 7500 7100 7050 7960

5 Nominal torque mNm Tc 1.32 1.31 1.29 1.27 1.28

6 Nominal current A Ic 0.69 0.33 0.21 0.16 0.13

7 Output power W Pc 1.16 1.03 0.96 0.94 1.07

8 Stall torque mNm Tmax 3.2 3.4 3.3 3.2 3.4

9 Stall current A Imax 1.67 0.85 0.54 0.39 0.35

10 Max. efficiency % ηmax 69 69 70 69 69

11 Terminal resistance Ω Rt 1.8 7.1 16.8 30.6 42.7

12 Torque constant mNm/A Kt 1.91 4.01 6.2 8.18 9.65

13 Speed constant rpm/V Wt 4993 2382 1539 1167 990

14 Speed torque gradient rpm/mNm Δn/ΔT 4220 4338 4487 4677 4645

OTHER SPECIFICATIONS

15 Ambient temperature

Ta -20℃ to +65℃

16 Max. winding temperature

Tcoilmax 85℃

17 Max. speed Nmax 16000 rpm

18 Axial play Δt 0.05-0.15 mm

19 No. of pole pairs 2p 1

20 No. of commutator segments

5

21 Motor weight Wt 16g

22 Max. Axial load (dynamic)

0.8N

23 Max. force for press fits (static)

15N

24 Max. radial load, 4 mm from flange

1.4N

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DC Coreless Motors


D13R35B


Motor model D13R3506B D13R3507B D13R3509B D13R3512B D13R3518B D13R3524B

1 Nominal voltage V 3 7.2 9 12 18 24

2 No load speed rpm Wnl 13300 13100 13700 12900 12800 13300

3 No load current mA InI 42 32 22 18 15 12

4 Nominal speed rpm Wc 10400 10000 10700 10100 10000 10800

5 Nominal torque mNm Tc 2.3 2.4 2.5 2.4 2.5 2.4

6 Nominal current A Ic 0.53 0.46 0.4 0.27 0.19 0.14

7 Output power W Pc 2.5 2.5 2.8 2.5 2.6 2.7

8 Stall torque mNm Tmax 11.7 10.8 11.8 13 12.8 14.4

9 Stall current A Imax 2.73 2.06 1.88 1.46 0.95 0.83

10 Max. efficiency % ηmax 78.2 76.3 78.1 78.3 78.1 81.2

11 Terminal resistance Ω Rt 2.2 3.5 4.8 8.2 18.9 28.8

12 Torque constant mNm/A Kt 4.31 5.25 6.27 8.88 13.43 17.23

13 Speed constant rpm/V Wt 2298 1886 1574 1109 734 571

14 Speed torque gradient rpm/mNm Δn/ΔT 1261 1292 1200 1167 1120 1042



Ta -20℃ to +65℃


Tcoilmax 85℃





5



0.8N


15N


1.4N


D16R24B









7 Output power W Pc 0.92 1.19 1.31 1.53 1.57










Ta -20℃ to +65℃


Tcoilmax 85℃





5



0.8N


15N


1.5N


DC Coreless Motors


D16R24F

MOTOR TECHNICAL DATA Motor model D16R2406F D16R2409F D16R2412F D16R2418F D16R2424F







7 Output power W Pc 0.92 1.19 1.31 1.53 1.57










Ta -20℃ to +65℃


Tcoilmax +85℃





5



0.8N


15N


1.5N


D16R41B

MOTOR TECHNICAL DATA Motor model D16R4106B D16R4112B D16R4118B D16R4124B D16R4136B D16R4148B

1 Nominal voltage V 6 12 18 24 36 48






7 Output power W Pc 3.2 4.8 5 5.5 5.5 5.6

8 Stall torque mNm Tmax 23.5 28.3 31.7 33.3 36.3 37.3


10 Max. efficiency % ηmax 87.2 84.2 84.1 85 86.5 86.4

11 Terminal resistance Ω Rt 1.1 35 7.4 11.8 24.2 42.1



14 Speed torque gradient rpm/mNm Δn/ΔT 566 492 417 420 389 375



Ta -20℃ to +65℃


Tcoilmax +85℃





5



0.8N


15N


1.5N


DC Coreless Motors


D16R41F


Motor model D16R4106F D16R4112F D16R4118F D16R4124F D16R4136F D16R4148F







7 Output power W Pc 3.2 4.8 5 5.5 5.5 5.6

8 Stall torque mNm Tmax 23.5 28.3 31.7 33.3 36.3 37.3


10 Max. efficiency % ηmax 87.2 84.2 84.1 85 86.5 86.4

11 Terminal resistance Ω Rt 1.1 35 7.4 11.8 24.2 42.1



14 Speed torque gradient

rpm/mNm Δn/ΔT 566 492 417 420 389 375



Ta -20℃ to +65℃


Tcoilmax +85℃





5



0.8N


15N


1.5N


D22R24B







5 Nominal torque mNm Tc 5 5 5 5 5


7 Output power W Pc 3.61 3.46 3.31 3.51 3.38

8 Stall torque mNm Tmax 14 13.8 12.1 13.9 12.4









Ta -20℃ to +65℃


Tcoilmax +85℃





5



3N


45N


12N


DC Coreless Motors


D22R32B


Motor model D22R3206B D22R3212B D22R3218B D22R3224B D22R3236B D22R3248B





5 Nominal torque mNm Tc 5.8 6.7 7 6.9 7 6.9


7 Output power W Pc 3.37 4.9 4.85 5.37 4.76 4.28

8 Stall torque mNm Tmax 16.4 23.2 22.9 24.4 21.9 20


10 Max. efficiency % ηmax 65 72 72 73 72 71

11 Terminal resistance

Ω Rt 2.2 5.7 13.6 21 57.1 117

12 Torque constant mNm/A Kt 6 11.01 17.3 21.35 34.72 48.74


14 Speed torque gradient

rpm/mNm Δn/ΔT 565 440 424 430 441 457



Ta -20℃ to +65℃


Tcoilmax +85℃





5



3N


45N


12N


S22R37E (with encoder)


Motor model S22R3724E S22R3736E

1 Nominal voltage V 24 36

2 No load speed rpm Wnl 10500 10800

3 No load current mA InI 16 13

4 Nominal speed rpm Wc 6700 6460

5 Nominal torque mNm Tc 5 5

6 Nominal current A Ic 0.24 0.17

7 Output power W Pc 3.51 3.38

8 Stall torque mNm Tmax 13.9 12.4

9 Stall current A Imax 0.66 0.41

10 Max. efficiency % ηmax 78 77

11 Terminal resistance Ω Rt 36.3 87.6

12 Torque constant mNm/A Kt 20.97 30.28

13 Speed constant rpm/V Wt 455 315

14 Speed torque gradient rpm/mNm Δn/ΔT 757 868

15 Encoder Incremental (2500PPR)



Ta -20℃ to +65℃


Tcoilmax +85℃





5



3N


45N


12N


DC Coreless Motors


S22R45E (with encoder)


Motor model S22R4524E S22R4536E S22R4548E

1 Nominal voltage V 24 36 48

2 No load speed rpm Wnl 10500 9650 9130

3 No load current mA InI 16 14 12

4 Nominal speed rpm Wc 7420 6530 5980

5 Nominal torque mNm Tc 6.9 7 6.9

6 Nominal current A Ic 0.32 0.2 0.14

7 Output power W Pc 5.3 4.8 4.3

8 Stall torque mNm Tmax 24.4 21.9 20

9 Stall current A Imax 1.14 0.63 0.41

10 Max. efficiency % ηmax 73 72 71

11 Terminal resistance Ω Rt 21 57.1 117

12 Torque constant mNm/A Kt 21.3 34.7 48.7

13 Speed constant rpm/V Wt 447 275 196

14 Speed torque gradient rpm/mNm Δn/ΔT 430 441 457

15 Encoder incremental (2500PPR)



Ta -20℃ to +65℃


Tcoilmax +85℃





5



3N


45N


12N


D23R32B


Motor model D23R3212B D23R3224B

1 Nominal voltage V 12 24

2 No load speed rpm Wnl 11000±10% 12150±10%

3 No load current mA InI 25 <15

4 Nominal speed rpm Wc 9450 10000±10%

5 Nominal torque mNm Tc 9 8.7

6 Nominal current A Ic 0.89 0.48

7 Output power W Pc 8.9 9.2

8 Stall torque mNm Tmax 36.4 33

9 Stall current A Imax 3.6 1.8

10 Max. efficiency % ηmax 80 80

11 Terminal resistance Ω Rt 2.2 9.7

12 Torque constant mNm/A Kt 10.1 18.4

13 Speed constant rpm/V Wt 920 506

14 Speed torque gradient rpm/mNm Δn/ΔT 172 247



Ta -20℃ to +65℃


Tcoilmax +85℃





5



3N


45N


12N


DC Coreless Motors


D35R71B





3 No load current mA InI 247 169 124 92.9 77.5


5 Nominal torque mNm Tc 73.1 101 97.2 101 99.4

6 Nominal current A Ic 4 3.62 2.62 2.02 1.67

7 Output power W Pc 50 74 66 72 68

8 Stall torque mNm Tmax 929 1200 973 1080 980

9 Stall current A Imax 47.8 41.1 25 20.7 15.8





14 Speed torque gradient rpm/mNm Δn/ΔT 7.93 6.55 7.57 7.05 7.52



Ta -30℃ to +100℃


Tcoilmax +155℃

17 Max. speed Nmax 12,000 rpm




13



5.6N


110N


28N


D40R45B








6 Nominal current A Ic 3.7 1.9 1.2 1 0.6

7 Output power W Pc 13.8 14.7 13.6 13.7 13.6

8 Stall torque mNm Tmax 82.1 90.2 80.2 78.3 79

9 Stall current A Imax 10 5.45 3.21 2.38 1.58



12 Torque constant mNm/A Kt 8.2 16.5 25 33 50





Ta -20℃ to +65℃


Tcoilmax +85℃





7



0.5N


50N


2.5N


DC Coreless Motors


D40R71B


Motor model D40R7112B D40R7124B D40R7148B-01 D40R7148B-02 D40R7148B-03






6 Nominal current A Ic 5.8 6.2 3 2.6 2.1

7 Output power W Pc 64 122 137 113 91

8 Stall torque mNm Tmax 1720 1811 2560 2040 1620

9 Stall current A Imax 105 51 42 29 20





14 Speed torque gradient rpm/mNm Δn/ΔT 4.05 7.5 2.97 3.16 3.45



Ta -30℃ to +100℃


Tcoilmax +155℃





13



5.6N


110N


28N


Encoder

TECHNICAL DATA TERMINAL INFORMATION

Counts per turn 1000

Number of channels 3

Max. operating frequency (kHz) 20

Max. speed (rpm) 28,000

Supply voltage VCC 5 V

Output signal VCC = 5VDC TTL compatible

Phase shift Φ 90° e ± 45e

Power input at VCC 5VDC max. 15 mA

Inertia of the magnetic disc 0.07 gcm2

Operating temperature range -20° C to +80° C


DC Coreless Motors


Planetary Gearbox P22H Gearbox (0.5-1.2Nm)

φ7

Lφ 1 2 φ 1 4

3 -φ 2. 5 3 -M 2 .5 - De e p 3

φ2

3.50 -0.05

14 . 50-0.3

1 0+0.20

φ22

0 -0.5

φ 7+0.020

φ40 -0.15

1 8 .50-0.3 φ 1 0

0-0.02

Max permissible speed 10,000 rpm radial clearance ≤0.04mm Max radical force ≤10N axial clearance ≤0.04 mm Max axial force ≤10N Temperature range 40 -- +125℃（plastic gear -10 to 85℃） Max permissible force ≤100N

Item No. Gear Ratio Output Torque (Nm)

Stage No. Continuous Stall

1222001 3.57

0.5 0.8 1 1222002 4 1222003 4.6 1222004 5.5 1222005 12.76

0.5 1 2

1222006 14.29 1222007 16 1222008 16.43 1222009 18.4 1222010 19.64 1222011 21.16 1222012 22 1222013 25.3 1222014 30.25 1222015 45.55

1.2 1.8 3

1222016 51.02 1222017 57.14 1222018 58.67 1222019 64 1222020 65.71 1222021 70.15 1222022 73.6 1222023 75.57 1222024 78.57 1222025 84.64 1222026 88 1222027 90.36 1222028 97.34 1222029 101.2 1222030 108.04 1222031 116.38 1222032 121 1222033 139.15 1222034 166.38


Item No. Gear Ratio Output Torque (Nm)

Stage No. Continuous Stall

1222035 162.69

1.2 1.8 4

1222036 182.22 1222037 204.08 1222038 209.55 1222039 228.57 1222040 234.69 1222041 250.55 1222042 256 1222043 262.86 1222044 269.9 1222045 280.61 1222046 294.4 1222047 302.29 1222048 314.29 1222049 322.7 1222050 338.56 1222051 347.63 1222052 352 1222053 361.43 1222054 385.84 1222055 389.34 1222056 404.8 1222057 415.64 1222058 432.14 1222059 447.75 1222060 465.52 1222061 484 1222062 496.96 1222063 535.35 1222064 556.6 1222065 594.2 1222066 640.09 1222067 665.5 1222068 765.33 1222069 915.06 1222070 581.05

1.2 1.8 5

1222071 650.77 1222072 728.86 1222073 748.39 1222074 816.33 1222075 838.19 1222076 894.81 1222077 914.29 1222078 938.78 1222079 963.92 1222080 1002.19 1222081 1024 1222082 1051.43 1222083 1079.59 1222084 1122.45 1222085 1152.51 1222086 1177.6 1222087 1209.14 1222088 1241.53 1222089 1257.14 1222090 1290.82 1222091 1354.24 1222092 1378.01 1222093 1390.51 1222094 1408 1222095 1445.71 1222096 1484.44 1222097 1543.37 1222098 1557.38 1222099 1599.09 1222100 1619.2 1222101 1662.57 1222102 1728.57 1222103 1774.87 1222104 1790.98 1222105 1862.08 1222106 1911.96


DC Coreless Motors


1222107 1936 1222108 1987.86 1222109 2059.63 1222110 2122.13 1222111 2141.39 1222112 2226.4 1222113 2286.04 1222114 2376.79 1222115 2462.6 1222116 2560.36 1222117 2662 1222118 2733.3 1222119 2944.41 1222120 3061.3 1222121 3268.08 1222122 3520.5 1222123 3660.25 1222124 4209.29 1222125 5032.84

PG32H (1 - 6Nm)

Stage No. Length L (mm) Matched Motor Efficiency (%) Backlash Weight (g)

1 31.6

Motors with power less than 40W

90 ≤1º 125

2 37.9 81 ≤1.2 º 147

3 44.2 73 ≤1.5º 169

4 50.5 65 ≤1.5º 191

5 56.8 59 ≤1.5º 213

φ26φ3 2

φ3

4 -M3 -D eep 5

50 -0.05

φ60 -0.015

1 2+0.20

1 9. 50-0.5

3 -φ 3

φ1 7 φ 190-0.02

L

φ10

14.6? 0.32

The gear’s hole is from -0.005 to +0.01

Housing Material Stainless Steel Max. Radial Load ≤50N

Gears Material Steel Max. Axial Load ≤50N

Output Shaft Material Stainless Steel Max. Force for press fit ≤100N

Output Flange Material Aluminium Radial Play ≤0.03mm

Output Bearing Roller Bearing Axial Play ≤0.03 mm

Max. Motor Speed 6,000 rpm Recommended Ambient Temperature -40˚C to +125℃


PG32H Ratio Table

Item no. Gear Ratio Output Torque (Nm)

Stage No. Rated torque Stall torque

1232001 3.11

1 1.25 1 1232002 3.71 1232003 4.8 1232004 5.75 1232006 9.68

3 3.75 2

1232007 11.56 1232008 13.8 1232009 14.93 1232010 17.83 1232011 17.89 1232012 21.36 1232014 23.04 1232016 27.6 1232017 33.06 1232021 30.11

6 7.5 3

1232022 35.95 1232023 42.92 1232024 46.46 1232025 51.24 1232026 55.47 1232027 55.65 1232028 66.22 1232029 66.44 1232031 71.68 1232032 79.33 1232034 85.58 1232035 85.87 1232037 102.51 1232038 102.86 1232040 110.59 1232041 122.8 1232044 132.48 1232046 158.7 1232049 190.11 4 5 1232056 93.68

6 7.5

4

1232057 111.85 1232058 133.53 1232059 144.54

6 7.5

1232060 159.42 1232061 172.56 1232062 173.15 1232063 190.33 1232064 206.02 1232065 206.72 1232067 223 1232068 245.96 1232069 246.79 1232071 266.24 1232072 267.14 1232073 294.64 1232075 317.86 1232076 318.93 1232077 320.01 1232079 344.06 1232081 380.77 1232082 382.06 1232085 410.77 1232086 412.16 1232087 456.13 1232090 492.07 1232091 493.73 1232094 530.84 1232096 589.46 1232097 591.45 1232101 635.9 1232102 706.12


DC Coreless Motors


Item no. Rate Output constant (Nm)

Pole Rated torque Stall torque

1232106 761.76 6 7.5

4 1232110 912.53 1232114 1093.13 4 5 1232126 291.46

6 7.5 5

1232127 347.97 1232128 415.43 1232129 449.68 1232130 495.97 1232131 536.86 1232132 538.68 1232133 592.13 1232134 640.95 1232135 643.12 1232137 693.79

6 7.5 5

1232138 706.93 1232139 765.21 1232140 767.8 1232142 828.3 1232143 831.1 1232144 913.57 1232145 916.66 1232147 988.89 1232148 992.24 1232149 995.59 1232151 1070.42 1232152 1094.38 1232154 1180.62 1232155 1184.61 1232156 1188.62 1232159 1277.95 1232160 1282.28 1232162 1414.28 1232163 1419.06 1232166 1525.72 1232167 1530.88 1232168 1536.06 1232171 1651.51 1232172 1694.19 1232175 1827.68 1232176 1833.87 1232177 1840.07 1232181 1971.7 1232182 1978.37 1232184 2189.41 1232185 2196.82 1232190 2361.93 1232191 2369.92 1232194 2548.04 1232195 2622.73 1232199 2829.39 1232200 2838.97 1232205 3052.34 1232207 3389.38 1232208 3400.85 1232213 3656.45 1232217 4060.19 1232221 4380.12

6 7.5 5 1232227 5247.02

1232234 6285.49 4 5


Terminology 1 Nominal voltage is the applied voltage between two powered phases in block commutation. 2 No load speed is the speed at which the unloaded motor runs with the nominal voltage applied. It is approximately proportional to the applied voltage. 3 No load current This is the typical current that the unloaded motor draws when operating at nominal voltage. It increases with rising speed owing to bearing friction and iron losses. No load friction depends heavily on temperature. It decreases in extended operation and increases at lower temperatures. 4 Nominal speed is the speed set for operation at nominal voltage and nominal torque at a motor temperature of 25°C. 5 Nominal torque is the torque generated for operation at nominal voltage and nominal current at a motor temperature of 25°C. It is at the limit of the motor’s continuous operation range. Higher torques heat up the winding too much. 6 Nominal current is the current in the active phase in block commutation that generates the nominal torque at the given nominal speed (= max. permissible continuous load current). 7 Stall torque is the torque produced by the motor when at standstill. Rising motor temperatures reduce stall torque. 8 Stall current is the quotient from nominal voltage and the motor’s terminal resistance. Stall current is equivalent to stall torque. 9 Max. efficiency is the optimal relationship between input and output power at nominal voltage. It also doesn’t always denote the optimal operating point. 10 Terminal resistance phase to phase is determined through the resistance at 25°C between two connections. 11 Terminal inductance phase to phase is the winding inductance between two connections. It is measured at 1 kHz, sinusoidal. 12 Torque constant This may also be referred to as «specific torque» and represents the quotient from generated torque and applicable current. 13 Speed constant indicates the theoretical no load speed per volt of applied voltage, disregarding friction losses. 14 Speed/torque gradient The speed/torque gradient is an indicator of the motor’s performance. The smaller the value, the more powerful the motor and consequently the less motor speed varies with load variations. It is based on the quotient of ideal no load speed and ideal stall torque (tolerance ± 20%). 15 Mechanical time constant is the time required for the rotor to accelerate from standstill to 63% of its no load speed. 16 Rotor moment of inertia is the mass moment of inertia of the rotor, based on the axis of rotation.

Copyright © 2017 Motion Control Products Ltd. All data subject to change without notice in advance (V2019.0325)


dc coreless motors - motion control products · 2019-03-26 · dc coreless motors motion control...

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