MT DC Brushless Motors Full - Motion Tech … · The differences between a DC motor having a mechanical commutation system and a BLDC motor ... DC motor. • Use of an encoder or

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Table of content

Theory 3

1) Brushless Motor MTFL22RBL Series 4 MTFL28BL Series 5 MTFL33BL Series 6 MTFL36RBL Series 7 MTFL42RBL Series 8 MTFL42BL Series 9 MTFL42BLSH Series 10 MTFL57BL Series 11 MTFL57BLSH Series 12 MTFL86BL Series 13 MTBL92 Series 14 MTBL110 Series 15 MTBLM122 Series 16 Note: All windings shown are ‘standard’ configuration. Please contact Motion Technologies for availability of all others 2) Brushless Motor with Internal Driver 17 MTFL42BLS-IE Series 18 MTFL57BLS-IE Series 19

3) Brushless Motor with Gear Box MTFL28BL38-28JX20K Series 20 MTFL28BL38-36JX36K Series 21 MTFL42RBL60-24X0-40JXG50K Series 22 MTFL42RBL60-24X0-48JXG50K Series 23 MTFL42RBL60-24X0-48JXG200K Series 24 MTFL57BLXX-24V-56JX300K Series 25 MTFL57BLJB Series 26 MTFL86BLJB Series 27 Note: Many other gearbox types, ratios and low backlash versions are available, please contact Motion Technologies for further details. 4) Brushless Servo Drives, Introduction For full details, visit www.elmomc.com

The motors in this catalogue are selected to create a system to suit the application. Motion Technologies uses these motors as ‘building blocks’ by adding encoders, resolvers, connectors, sealing and drives to perform a very wide range of dynamics tailored to suit an application at a cost effective price.

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Small brushless DC motors

• Principles of operation The differences between a DC motor having a mechanical commutation system and a BLDC motor are mainly found in: - The product concept - The commutation of phase currents - From the user’s point of view, brushless DC motors follow the same equations as those with brushes: torque is proportional tocurrent, speed depends on the voltage and the load torque

• The commutation of brushless motors In the conventional DC motor commutation takes place mechanically through the commutator-and-brush system. In a BLDCmotor, commutation is done by electronic means. In that case the instantaneous rotor position must be known in order todetermine the phases to be energised.

The angular rotor position can be known by: - Using a position sensor (Hall sensor, optical encoder, resolver) - Electronically analysing the back-EMF or a non-energised winding. This is called sensorless commutation

• Use of Hall sensors In general, BLDC motors have three phase windings. The easiest way to power two of them at a time, using Hall sensors toknow the rotor position. A simple logic allows for optimal energising of the phases as a function of rotor position, just like thecommutator and brushes are doing in the conventional DC motor.

• Use of an encoder or resolver The rotor position may also be known by use of an encoder or resolver. Commutation may be done very simply, similar to theprocedure with Hall sensor, or it may be more complex by modulating sinusoidal currents in the three phases. This is calledvector control, and its advantage is to provide a torque ripple of theoretically zero, as well as a high resolution for precisepositioning.

• Use of Back-EMF analysis A third option requiring no position sensor is the use of a particular electronic circuit. The motor has only three hook-up wires, thethree phase windings are connected in either triangle or star. In the latter case, resistors must be used in generate a zeroreference voltage. With this solution the motor includes no sensors or electronic components and it is therefore highly insensitiveto hostile environments. For applications such as hand-held tools, where the cable si constantly moved, the fact of just threewires is another advantage. The functioning of a sensorless motor is easy to understand. In all motors, the relation of back-EMF and torque versus rotorposition is the same. Zero crossing of the voltage induced in the non-energised winding corresponds to the position of maximumtorque generated by the two energised phases. This point of zero crossing therefore allows to determine the moment when thefollowing commutation should take place depending on motor speed. This time interval is in fact equivalent to the time the motortakes to move from the position of the preceding commutation to the back-EMF zero crossing position. Electronic circuitsdesigned for this commutation function allow for easy operation of sensorless motors. As the back-EMF information is necessary to know the rotor position, sensorless commutation doesn’t work with the motor atstall. The only way of starting is to pilot it at low speed like a stepper in open loop. • Remember: - For commutation, position sensors are necessary when operating in incremental mode - Sensorless commutation is recommended only for applications running at constant speed and load • Operating principle of BLDC motors: It follows the same equations as the DC motor using mechanical commutation except that parameters like iron losses and lossesin the drive circuit are no longer negligible in applications where efficiency is of prime importance.

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Brushless DC Motor

MTFL22RBL SERIES MODEL NUMBER

MTFL 22 RBL 45

Body length Round Brushless motor

Motor frame size: Metric (mm) MotionTech FL Series

GENERAL SPECIFICATIONS ELECTRIC CONNECTION Winding type Star

Hall effect angle 120 degree electrical angle

Lead No.

Lead Colour Lead Gauge Function Description

Shaft run out 0.025mm 1 Blue UL1007 26AWG Vcc Supply voltage for hall sensors Radial play 0.02mm@450g 2 Red HALL A End play 0.08mm@450g 3 Yellow HALL B Max. Radial force 10N @ 10mm from the 4 Brown HALL C Max. Axial force 2N 5 Green GND Ground for hall sensors Insulation class Class B 6 Red UL1007 26AVG PHASE U Dielectric strength 500VDC for one minute 7 Brown PHASE V Installation resistance 100MΩMin., 500VDC 8 Black PHASE W

ELECTRICAL SPECIFICATIONS Model MTFL22RBL45 MTFL22RBL68 Number of poles 8 8Number of phase 3 3Rated voltage VDC 24 24Rated speed RPM 4600 3500 Continuous stall torque mN.m 9.6 26.4 Rated torque mN.m 8.0 22.0 Rated power W 3.8 8Peak torque mN.m 21 50Peak current A 1.1 1.5Line to line resistance ohms 23 11.8 Line to line inductance mH 6.2 4.2Torque constant mNm/A 30.2 35.5 Rotor inertia g.cm2 0.66 1.32 Body length mm 45 68Mass Kg 0.07 0.12

♦ DIMENSIONS:

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Brushless DC Motor MTFL28BL SERIES

MODELS NUMBER MTFL 28 BL 38

Body length

Brushless motor Motor frame size: Metric (mm)

MotionTech FL Series GENERAL SPECIFICATIONS ELECTRIC CONNECTION

Winding type Star

Hall effect angle 120 degree electrical angle Lead No.


Shaft run out 0.025mm 1 Yellow UL1007 26AWG Vcc Supply voltage for hall sensors Radial play 0.02mm @ 450g 2 Blue HALL A End play 0.08mm @ 450g 3 Orange HALL B Max. Radial force 15N @ 10mm from the flange 4 Brown HALL C Max. Axial force 10N 5 White GND Ground for hall sensors Insulation class Class B 6 Green PHASE U Dielectric strength 500VDC for one minute 7 Red PHASE V Installation resistance 100M Ω Min, 500VDC 8 Black PHASE W

♦ ELECTRICAL SPECIFICATIONS

Model MTFL28BL26 MTFL28BL38 MTFL28BL77Number of poles 4 4 4Number of phase 3 3 3Rated voltage VDC 15 24 24Rated speed RPM 8000 10000 3700Continuous stall torque mN.m 8.4 17 60Rated torque mN.m 7 14.12 50Rated power W 6 14.78 16Peak torque mN.m 21 42.4 150Peak current A 2.5 2.8 3Line to line resistance ohms 8 4.63 4.67Line to line inductance mH 2 3 3.5Torque constant mNm/A 13.7 16 50Rotor inertia g.cm2 1.23 2.12 5.98Body length mm 26 38 77Mass Kg 0.060 0.082 0.280

DIMENSIONS:

×

°

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Brushless DC Motor

MTFL33BL SERIES MODEL NUMBER

MTFL 33 BL 29

Body length Brushless motor

Motor frame size: Metric (mm) MotionTech FL Series GENERAL SPECIFICATIONS ELECTRIC CONNECTION

ELECTRICAL SPECIFICATIONS

DIMENSIONS

Winding type Star Hall effect angle 120 degree electrical angle

Lead No.


Shaft run out 0.025mm 1 Yello UL1007 26AWG Vcc Supply voltage for hall sensorsRadial play 0.02mm @ 450g 2 Blue HALL A End play 0.08mm @ 450g 3 Orang HALL B Max. radial force 15N@10mm from the flange 4 Brown HALL C Max. axial force 10N 5 White GND Ground for hall sensors Insulation class Class B 6 Green PHASE U Dielectric strength 500VDC for one minute 7 Red PHASE V Insulation resistance 100M Ω Min, 500VDC 8 Black PHASE W

Model MTFL33BL29Number of poles 4Number of phase 3Rated voltage VDC 36Rated speed RPM 4000Continuous stall torque mN.m 14Rated torque mN.m 12Rated power W 4Peak torque mN.m 35Peak current A 0.64Line to line resistance ohms 29.2Line to line inductance mH 11.83Torque constant mNm/A 18.75Rotor inertia g.cm2 7.95Body length mm 29Mass Kg 0.085

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Brushless DC Motor

MTFL36BL SERIES MODEL NUMBER

MTFL 36 RBL 42




DIMENSIONS

Winding type Star



Shaft run out 0.025mm 1 Yellow UL1007 26AWGVcc Supply voltage for hall Radial play 0.02mm@450g 2 Blue HALL A End play 0.08mm@450g 3 Orange HALL B Max. Radial force 15N @ 10mm from the 4 Brown HALL C Max. Axial force 10N 5 White GND Ground for hall sensors Insulation class Class B 6 Green UL1007 22AWGPHASE U Dielectric strength 500VDC for one minute 7 Red PHASE V Installation resistance 100MΩMin., 500VDC 8 Black PHASE W

Model MTFL36BL42Number of poles 8Number of phase 3Rated voltage VDC 24Rated speed RPM 4800Continuous stall torque mN.m 43.2Rated torque mN.m 36Rated power W 18Peak torque mN.m 162Peak current A 5.0Line to line resistance ohms 2.96Line to line inductance mH 2.5Torque constant mNm/A 34.6Rotor inertia g.cm2 13.1Body length mm 42Mass Kg 0.185

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Brushless DC Motor

MTFL42RBL SERIES MODEL NUMBER

MTFL 42 RBL 60




DIMENSIONS:

Winding type Star



Shaft run out 0.025mm 1 Blue UL1007 26AWG Vcc Supply voltage for hall sensorsRadial play 0.02mm@450g 2 Yellow HALL A End play 0.08mm@450g 3 Brown HALL B Max. Radial force 15N @ 10mm from the 4 Red HALL C Max. Axial force 10N 5 Green GND Ground for hall sensors Insulation class Class B 6 Red UL1007 22AWG PHASE U Dielectric strength 500VDC for one minute 7 Brown PHASE V Installation resistance 100MΩMin., 500VDC 8 Black PHASE W

Model MTFL42RBL30 MTFL42RBL60 MTFL42RBL85 MTFL42RBL93 Number of poles 8 8 8 8 Number of phase 3 3 3 3 Rated voltage VDC 24 24 24 24 Rated speed RPM 3500 4200 4000 6300 Continuous stall torque mN.m 21.6 67 180 138 Rated torque mN.m 18 56 150 115 Rated power W 6.5 25 62 76 Peak torque mN.m 60 240 450 500 Peak current A 1.5 5 7.5 10 Line to line resistance ohms 9.8 1.6 0.71 0.325 Line to line inductance mH 7.5 1.94 0.86 0.36 Torque constant mNm/A 48.7 38.5 38.6 28.7 Rotor inertia g.cm2 24 48 84 94 Body length mm 30 60 85 93 Mass Kg 0.25 0.4 0.7 0.8

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Brushless DC Motor

MTFL42BLS SERIES MODEL NUMBER

MTFL 42 BLS 01

Series number Brushless motor



Model MTFL42BLS01 MTFL42BLS02 MTFL42BLS03 MTFL42BLS04Number of poles 8Number of phase 3Rated voltage VDC 24Rated speed RPM 4000Continuous stall torque N.m 0.075 0.15 0.22 0.3Rated torque N.m 0.0625 0.125 0.185 0.25Rated power W 26 52.5 77.5 105Peak torque N.m 0.19 0.38 0.56 0.75Peak current A 5.4 10.6 15.5 20Line to line resistance ohms 1.8 0.8 0.55 0.28Line to line inductance mH 2.6 1.2 0.8 0.54Torque constant Nm/A 0.035 0.0355 0.036 0.0376Back E.M.F V/KRPM 3.66 3.72 3.76 3.94Rotor inertia g.cm2 24 48 72 96Body length mm 41 61 81 100Mass Kg 0.3 0.45 0.65 0.8

DIMENSIONS:

BLKRED

PHASE W

PHASE U

PHASE V

YEL

only for double shaft

Winding type Delta



Shaft run out 0.025mm 1 Red UL1007 26AWG Vcc Supply voltage for hall sensors Radial play 0.02mm@450g 2 Blue HALL A End play 0.08mm@450g 3 Green HALL B Max. Radial force 28N @ 20mm from the flange 4 White HALL C Max. Axial force 10N 5 Black GND Ground for hall sensors Insulation class Class B 6 Yellow UL1007 20AWG PHASE A Dielectric strength 500VDC for one minute 7 Red PHASE B Installation resistance 100MΩMin., 500VDC 8 Black PHASE C

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Stack length code number 01 02 03 04

Number of poles 10 Line to line resistance ohms @20°C ( ±10%) 2.6 1.1 0.70 0.48 Line to line inductance mH (± 20%) 1.83 0.96 0.58 0.44 Nominal voltage V 24 No load speed rpm (±10%) 4100 4000 4100 4000 No load current A (@ 25°C) < 0.3 < 0.4 < 0.6 < 0.65 Rated torque Nm 0.07 0.16 0.26 0.36 Rated speed rpm (±10%) 3000 Peak torque Nm 0.3 0.65 1.1 1.44 Torque constant Nm/A 0.054 Back EMF Vrms/Krpm (1±10%) 4.06 3.44 3.51 4.2 Rotor inertia g.cm2 48 101 154 207 Weight kg 0.26 0.46 0.65 0.85 Dimension ‘L’ mm 40.3 60.3 80.3 100.3

Brushless DC Motor

MTFL42BLSH SERIES – High Performance Model MODEL NUMBER

MTFL 42 BLS H 01 Options H = Hall (standard) E = Encoder (also insert ppr) R = Rear shaft extension Others on request Code Number High Performance Brushless Motor frame size: Metric (mm) MotionTech FL Series GENERAL SPECIFICATIONS ELECTRIC CONNECTION


Winding type Star Hall effect angle 120 degree electrical angle


Shaft run out 0.025mm Yellow UL1430 AWG20# Phase U Motor Power Radial play 0.02mm@450g Red UL1430 AWG20# Phase V Motor Power End play 0.08mm@450g Black UL1430 AWG20# Phase W Motor Power Max. Radial force 15N @ 10mm from the flange Red UL1430 AWG26# Hall +5V Hall Power Supply Max. Axial force 10N Blue UL1430 AWG26# Hall 1 Hall Power Supply Insulation class Class B Green UL1430 AWG26# Hall 2 Hall Power Supply Dielectric strength 500VDC for one minute White UL1430 AWG26# Hall 3 Hall Power Supply Installation resistance 100MΩMin, 500VDC Black UL1430 AWG26# Hall GND Hall Power Supply

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Brushless DC Motor

MTFL57BL(S) SERIES MODEL NUMBER

MTFL 57 BL(S) 01

Series number BL: Brushless motor with round front end bell BLS: Brushless motor with square front end bell

Frame: 57mm MotionTech FL Series

GENERAL SPECIFICATIONS ELECTRIC CONNECTION


DIMENSIONS:

Winding type Delta



Shaft run out 0.025mm 1 Red UL1007 26AWG Vcc Supply voltage for hall sensorsRadial play 0.02mm @ 460g 2 Blue HALL A End play 0.08mm @ 460g 3 Green HALL B Max. Radial force 75N @ 20mm from the flange 4 White HALL C Max. Axial force 15N 5 Black GND Ground for hall sensors Insulation class Class B 6 Yellow UL1007 20AWG PHASE A Dielectric strength 500VDC for one minute 7 Red PHASE B Installation resistance 100M Ω Min, 500VDC 8 Black PHASE C

Model MTFL57BL(S)005 MTFL57BL(S)01 MTFL57BL(S)02 MTFL57BL(S)03 MTFL57BL(S)04 Number of poles 4Number of phase 3Rated voltage VDC 36Rated speed RPM 4000Rated torque N.m 0.055 0.11 0.22 0.32 0.43Rated power W 23 46 92 133 180Peak torque N.m 0.16 0.39 0.7 1 1.27Peak current A 3.5 6.8 11.5 16.5 20.5Line to line resistance ohms 4.1 1.5 0.7 0.45 0.35Line to line inductance mH 10 4.2 2.16 1.4 1Torque constant Nm/A 0.053 0.063 0.063 0.063 0.063Back E.M.F V/KRPM 5.55 6.6 6.6 6.6 6.6Rotor inertia g.cm2 30 75 119 173 230Body length(L) mm 45 55 75 95 115Mass Kg 0.25 0.5 0.75 1 1.25

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Brushless DC Motor

MTFL57BL(S)H SERIES MODELS NUMBER

MTFL 57 BL(S) H 01 Series number

High torque BL: Brushless motor with round front end bell BLS: Brushless motor with square front end bell

Motor frame size MotionTech FL Series

GENERAL SPECIFICATIONS ELECTRIC CONNECTION Winding type Delta

Hall effect angle 120 degree electrical angle

Lead No.


Shaft run out 0.025mm 1 Red UL1007 26AWG Vcc Supply voltage for hall sensors Radial play 0.025mm @ 460g 2 Blue HALL A End play 0.025mm @ 4000g 3 Green HALL B Max. Radial force 75N @ 20mm from the flange 4 White HALL C Max. Axial force 15N 5 Black GND Ground for hall sensors Insulation class Class B 6 Yellow UL1007 20AWG PHASE A Dielectric strength 500VDC for one minute 7 Red PHASE B Installation resistance 100M Ω Min, 500VDC 8 Black PHASE C


DIMENSIONS:

2. 5

20. 6± 1

4. 552

± 0. 05

49.5

±0.

260

49. 5± 0. 260

4-+0. 2 0

± 0. 2

4-

57.8

300

YEL

PHASE B PHASE C

PHASE A

RED BLK

Model MTFL57BLSH01 Number of poles 4Number of phase 3Rated voltage VDC 24Rated speed RPM 2300Rated torque N.m 0.24Rated power W 58Peak torque N.m 0.55Peak current A 11.5Line to line resistance ohms 1.5Line to line inductance mH 1.8Torque constant Nm/A 0.05Back E.M.F V/KRPM 5.2Rotor inertia g.cm2 200Body length(L) mm 52Mass Kg 0.65

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Brushless DC Motor

MTFL86BLS SERIES MODEL NUMBERS

MTFL 86 BLS 58

Body length Brushless motor

Motor frame size MotionTech FL Series GENERAL SPECIFICATIONS ELECTRIC CONNECTION


DIMENSIONS:

8.38

31.75

1.52

0.2

86

86

69.6 0.2

PHASE CRED

RED/WHT

PHASE BBLK

BLK/WHT

PHASE AYEL

YEL/WHT

Winding type Delta



Shaft run out 0.05mm 1 Red UL1007 26AWG Vcc Supply voltage for hall sensors

Radial play 0.02mm @ 450g 2 Blue HALL A

End play 0.08mm @ 450g 3 Green HALL B

Max. Radial force 220N @ 10mm from the flange 4 White HALL C

Max. Axial force 60N 5 Black GND Ground for hall sensors

Insulation class Class B 6 Yel & Yel/Wht UL3266 AWG20# PHASE A

Dielectric strength 500VDC for one minute 7 Red & Red/Wht PHASE B

Installation resistance 100M Ω Min, 500VDC 8 Blk & Blk/Wht PHASE C

Model MTFL86BLS58 MTFL86BLS71 MTFL86BLS98 MTFL86BLS125Number of poles 8Number of phase 3Rated voltage VDC 48Rated speed RPM 3000Rated torque N.m 0.35 0.7 1.4 2.1Rated power W 110 220 440 660Peak torque N.m 1.05 2.1 4.2 6.3Peak current A 11 19 33 55Line to line resistance ohms 1.05 0.36 0.2 0.16Line to line mH 2.2mH 1.05mH 0.48 0.3mHTorque constant Nm/A 0.10 0.11 0.13 0.11Back E.M.F V/KRPM 10.5 11.5 13.5 11.5Rotor inertia g.cm2 400 800 1600 2400Body length (L) mm 58 71 98 125Mass Kg 1.5 1.85 2.6 4

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Brushless DC Motor with Integrated Electronics

MTFL42BLS-IE SERIES MODEL NUMBER

MTFL 42 BLS 01 - IE

Integrated electronics Series number

BLS: Brushless motor with square front end bell Frame: 42mm MotionTech FL Series GENERAL SPECIFICATIONS ELECTRICAL CONNECTION


DIMENSIONS:

PHASE U

PHASE V PHASE W

Winding type Delta +5V F/R SV PG GND GND +VpHall effect angle 120 degree electrical angle 0 0 0 0 0 0 0Shaft run out 0.025mm 1 2 3 4 5 6 7Radial play 0.02mm@450g 7 +Vp DC POWER INPUT +24VDC End play 0.08mm@450g 6 GND COMMON GROUND OF SYSTEM Max. radial force 28N @ 20mm from the flange 5 GND COMMON GROUND OF SYSTEM Max. axial force 10N 4 PG SPEED PULSE OUTPUT(TTL),12 PULSE/REVInsulation class Class B 3 SV SPEED VOLTAGE 0—5VDC Dielectric strength 500VDC for one minute 2 F/R ROTATING DIRECTION Insulation resistance 100MΩMin., 500VDC 1+5v =5V VOLTAGE OUTPUT

Model MTFL42BLS01-IE MTFL42BLS02-IENumber of poles 8Number of phase 3Rated voltage VDC 24Rated speed RPM 4000Rated torque N.m 0.0625 0.125 Rated power W 26 52.5 Peak torque N.m 0.19 0.38 Peak current A 5.4 10.6 Line to line resistance ohms 1.8 0.8 Line to line inductance mH 2.6 1.2 Torque constant Nm/A 0.035 0.0355 Back E.M.F V/KRPM 3.66 3.72 Rotor inertia g.cm2 24 48 Body length(L) mm 76 96

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Brushless DC Motor with Integrated Electronics

MTFL57BL(S)-IE SERIES MODELS NUMBERS

MTFL 57 BL(S) 01 - IE Integrated electronics

Series number BL: Brushless motor with round front end bell BLS: Brushless motor with square front end bell

Frame: 57mm MotionTech FL Series

GENERAL SPECIFICATIONS ELECTRICAL CONNECTION


DIMENSIONS:

Winding type Delta +5V F/R SV PG GND GND +VpHall effect angle 120 degree electrical angle 0 0 0 0 0 0 0Shaft run out 0.025mm 1 2 3 4 5 6 7Radial play 0.02mm@460g 7 +Vp DC POWER INPUT +24VDC End play 0.08mm@4000g 6 GND COMMON GROUND OF SYSTEMMax. radial force 75N @ 20mm from the flange 5 GND COMMON GROUND OF SYSTEMMax. axial force 15N 4 PG SPEED PULSE OUTPUT(TTL),12 PULSE/REVInsulation class Class B 3 SV SPEED VOLTAGE 0—5VDC Dielectric strength 500VDC for one minute 2 F/R ROTATING DIRECTION Insulation resistance 100MΩMin., 500VDC 1+5v +5V VOLTAGE OUTPUT

Model MTFL57BL(S)005-IE MTFL57BL(S)01-IE MTFL57BL(S)02-IE

Number of poles 4Number of phase 3Rated voltage VDC 36Rated speed RPM 4000Rated torque N.m 0.055 0.11 0.22Rated power W 23 46 92Peak torque N.m 0.16 0.39 0.55Peak current A 3.5 6.8 9Line to line resistance ohms 4.1 1.5 0.7Line to line inductance mH 10 4.2 2.16Torque constant Nm/A 0.053 0.063 0.063Back E.M.F V/KRPM 5.55 6.6 6.6Rotor inertia g.cm2 30 75 119Body length(L) mm 68 78 98

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Brushless DC Motor with Planetary Gearbox MTFL28BL38 - 24XX - 28JX

♦ MOTOR NUMBER MTFL 28 BL 38 – 24 30 – 28JX 20k – Reduction Ratio

Diameter of Gearbox

No load speed (3000rpm) Rated Voltage

Length of Motor Brushless motor

Motor frame size (metric mm) MotionTech FL Series ♦ MOTOR SPECIFICATIONS Motor Name MTFL28BL38-2430 MTFL28BL38-2440Number of poles 4 4 Number of phase 3 3 Rated Voltage VDC 24 24 Rated Speed RPM 2000 2700 Rated Torque mN.m 5 7 Rated Power W 1.0 1.9 Rated Current A 0.15 0.20 Peak Current A 0.45 0.60 Line to line Resistance Ohms 93.3 55 Line to line Inductance mH 28 18.3 ♦ GEARBOX SPECIFICATIONS Reduction Ratio 3.7 5.2 14 19 27 51 71 100 139 264Number of Gear Trains 1 1 2 2 2 3 3 3 3 4Length of Gear Box 31.5 31.5 40.0 40.0 40.0 48.5 48.5 48.5 48.5 57.5Max. Permissible load torque time Kgcm 5 5 10 10 10 30 30 30 30 30

MTFL28BL38-2430-28JX20KNo-load Speed RPM 810 577 214 158 111 59 42 30 21 11Rated Speed RPM 540 384 142 105 74 39 28 20 14 7Rated Torque mN.m 18.5 26 70 95 135 255 355 500 695 1320

MTFL28BL38-2440-28JX20KNo-load Speed RPM 1081 769 285 210 148 78 56 40 28 15Rated Speed RPM 729 519 192 142 100 52 38 27 19 10Rated Torque mN.m 25.9 36.4 98 133 189 357 497 700 973 1848 ♦ DIMENSIONS

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Brushless DC Motor with Planetary Gearbox

MTFL28BL38 - 24XX - 36JX

♦ MOTOR NUMBER MTFL 28 BL 38 – 24 50 – 36JX 30k – Reduction Ratio

Diameter of Gearbox



Motor frame size (metric mm) MotionTech FL Series

♦ MOTOR SPECIFICATIONS Motor Name MTFL28BL38-2450 MTFL28BL38-2460

Number of poles 4 4 Number of phase 3 3 Rated Voltage VDC 24 24 Rated Speed RPM 3450 4350 Rated Torque mN.m 9 10 Rated Power W 2.9 3.5 Rated Current A 0.30 0.35 Peak Current A 0.90 1.05 Line to line Resistance Ohms 31 19 Line to line Inductance mH 11.8 7.8

♦ GEARBOX SPECIFICATIONS

Reduction Ratio 3.7 5.2 14 19 27 51 71 100 139 264Number of Gear Trains 1 1 2 2 2 3 3 3 3 4Length of Gear Box 31.5 31.5 38.5 38.5 38.5 48.5 48.5 48.5 48.5 55.5Max. Permissible load torque time Kgcm 10 10 30 30 30 60 60 60 60 60

MTFL28BL38-2450-36JX30KNo-load Speed RPM 1351 961 357 263 185 98 70 50 36 19Rated Speed RPM 932 663 246 181 127 67 48 34 24 13Rated Torque mN.m 33.3 46.8 126 171 243 459 639 900 1251 2376

MTFL28BL38-2460-36JX30KNo-load Speed RPM 1621 1153 428 315 222 117 84 60 43 22Rated Speed RPM 1175 836 310 228 161 85 61 43 31 16Rated Torque mN.m 37 52 140 190 270 510 710 1000 1390 2640

♦ DIMENSIONS

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MTFL42RBL60-24XX-40JXG50K

♦ MOTOR NUMBER MTFL 42 RBL 60 – 24 30 – 40JX - Reduction Ratio

Diameter of Gearbox


Length of Motor Round Brushless motor


♦ MOTOR SPECIFICATIONS

Motor Name MTFL42RBL60-2420-40JXG50K MTFL42RBL60-2430-40JXG50KNumber of poles 8 8 Number of phase 3 3 Rated Voltage VDC 24 24 Rated Speed RPM 1400 2100 Rated Torque N.m 0.04 0.05 Rated Power W 5.8 11.0 Rated Current A 0.5 0.85 Peak Current A 1.5 2.6 Line to line Resistance Ohms 11.9 6.0 Line to line Inductance mH 15.0 6.4

♦ GEARBOX SPECIFICATIONS Reduction Ratio 3.6 4.9 15 19 24 56 71 91 116 212Number of Gear Trains 1 1 2 2 2 3 3 3 3 4Length of Gear Box 35.5 35.5 45.5 45.5 45.5 55.5 55.5 55.5 55.5 66Max. Permissible load torque time Kgcm 15 15 60 60 60 150 150 150 150 150

MTFL42RBL60-2420-40JXG50KNo-load Speed RPM 555 408 133 105 83 35 28 22 17 9Rated Speed RPM 388 285 93 73 58 25 19 15 12 6.6Rated Torque N.m 0.14 0.19 0.6 0.76 0.96 2.2 2.8 3.6 4.6 8.4

MTFL42RBL60-2430-40JXG50KNo-load Speed RPM 833 612 200 157 125 53 42 33 25 14Rated Speed RPM 583 428 140 110 87 375 29 23 18 9.9Rated Torque N.m 0.18 0.24 0.75 0.85 1.2 2.8 3.5 4.5 5.8 10.6

♦ DIMENSIONS

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MTFL42RBL60-2440-48JXG50K

♦ MOTOR NUMBER MTFL 42 RBL 60 – 24 40 – 48JX 50K - Reduction Ratio

Diameter of Gearbox




♦ MOTOR SPECIFICATIONS Motor Name MTFL42RBL60-2440-48JXG50K Number of poles 8Number of phase 3Rated Voltage VDC 24Rated Speed RPM 2800Rated Torque N.m 0.07Rated Power W 20.5Rated Current A 1.4Peak Current A 4.2Line to line Resistance Ohms 2.98Line to line Inductance mH 3.50


Reduction Ratio 15 19 24 56 71 91 116Number of Gear Trains 2 2 2 3 3 3 3Length of Gear Box 42.5 42.5 42.5 52.5 52.5 52.5 52.5Max. Permissible load torque time Kgcm 60 60 60 150 150 150 150No-load Speed RPM 266 210 166 71 56 44 34Rated Speed RPM 186 147 116 50 39 30 24Rated Torque N.m 1.05 1.33 1.67 3.92 4.97 6.37 8.12

♦ DIMENSIONS

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MTFL42RBL60-24XX-48JXG200K

♦ MOTOR NUMBER MTFL 42 RBL 60 – 24 30 – 48JX 200k - Reduction Ratio

Diameter of Gearbox


Length of Motor Round Brushless motor


♦ MOTOR SPECIFICATIONS Motor Name MTFL42RBL60-2420-48JXG200K MTFL42RBL60-2430-48JXG200K Number of poles 8 8

Number of phase 3 3

Rated Voltage VDC 24 24

Rated Speed RPM 1400 2100

Rated Torque N.m 0.04 0.05

Rated Power W 5.8 11.0

Rated Current A 0.5 0.85

Peak Current A 1.5 2.6

Line to line Resistance Ohms 11.9 6.0

Line to line Inductance mH 15.0 6.4

♦ GEARBOX SPECIFICATIONS Reduction Ratio 316 403 515 944 1206 1540

Number of Gear Trains 4 4 4 5 5 5

Length of Gear Box 64.5 64.5 64.5 74.5 74.5 74.5

Max. Permissible load torque time Kgcm 300 300 300 600 600 600


No-load Speed RPM 6.32 4.96 3.88

Rated Speed RPM 4.43 3.47 2.71

Rated Torque N.m 12.6 16.1 20.6


No-load Speed RPM 3.17 2.48 1.94

Rated Speed RPM 2.22 1.74 1.36

Rated Torque N.m 47.2 60.3 75.2

♦ DIMENSIONS

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MTFL57BLxx – 24V -56JX300K

♦ MOTOR NUMBER MTFL 57 BL 01 24V 56JX 300K - Reduction Ratio

Diameter of Gearbox

Rated Voltage Length of Motor: 01-55mm, 02-75mm, 03-95mm, 04-115mm

Brushless motor Motor frame size (metric mm)

MotionTech FL Series

♦ MOTOR SPECIFICATION Model MTFL57BL01-24 MTFL57BL02-24 MTFL57BL03-24 MTFL57BL04-24Number of poles 4Number of phase 3Rated voltage VDC 36Rated speed RPM 4000Rated torque N.m 0.11 0.22 0.32 0.44Rated power W 46 92 134 184Line to line resistance ohms 1.5 0.6 0.45 0.38Line to line inductance mH 4.5 2.1 1.65 1Torque constant Nm/A 0.063 0.063 0.061 0.063Back E.M.F Vrms/KRPM 5.1 5.1 4.9 5.1Rotor inertia g.cm2 30 75 119 230Motor body length(L1) mm 55 75 95 115


Reduction Ratio 3.6 4.25 1 15 18 47 55 65 76 168 198 234 276 326 Number of Gear Trains 1 2 3 4 Length of Gear mm L2 52.6 52.6 64.2 75.7(83.7) Max. Permissible load torque time Kgcm 30 100 300 600 No-load Speed RPM 1472 1247 4 353 294 113 96 85 70 32 27 23 19 16 Rated Speed RPM 1111 941 3 267 222 85 73 62 53 24 20 17 14 12 MODEL MTFL57BL01-24V-56JX300K Rated Torque N.m 0.36 0.42 1. 1.34 1.6 3.8 4.4 5.2 6 12 14.2 16.9 20 23.5 MODEL MTFL57BL02-24V-56JX300K Rated Torque N.m 0.72 0.84 2. 2.68 3.2 7.6 8.8 10.4 12 24 28.4 33.8 40 47 MODEL MTFL57BL03-24V-56JX300K Rated Torque N.m 1 1.22 3. 3.9 4.7 11 12.8 15 17.7 35 41.5 49 MODEL MTFL57BL04-24V-56JX300K Rated Torque N.m 1.44 1.68 4. 5.36 6.4 15.2 17.6 20.8 24 48

♦ DIMENSIONS

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Brushless DC Motor with Spur Gearbox

MTFL57BS-JB ♦ MODEL NUMBER MTFL 57BLS JB 01

Motor winding number

Square Gearbox

Frame: 57mm

MotionTech FL Series

♦ GENERAL MOTOR SPECIFICATIONS ELECTRIC CONNECTION


Ratio 3 7.5 12.5 15 25 30 50 75 90 100 120 150Number of gear trains 2 2 2 3 3 3 4 4 5 5 5 5Length(L) mm 32 32 32 32 42 42 42 42 42 42 42 42Length (L1) mm Either 45mm, 55mm, 75mm, 95mm and 115mm according to motor selection Peak torque kg.cm 50Average Backlash at no load 4 deg. 3.5 deg. 3 deg. 2.5deg

♦ MOTOR ELECTRICAL SPECIFICATIONS

♦ DIMENSIONS

Winding type Delta


Lead Color Lead Gauge Function Description

Shaft run out 0.025mm 1 Red UL1007 26AWG Vcc Supply voltage for hall sensorsRadial play 0.02mm @ 460g 2 Blue HALL A End play 0.08mm @ 460g 3 Green HALL B Max. Radial force 75N @ 20mm from the flange 4 White HALL C Max. Axial force 15N 5 Black GND Ground for hall sensorsInsulation class Class B 6 Yellow UL1007 20AWG PHASE A Dielectric strength 500VDC for one minute 7 Red PHASE B Installation resistance 100M Ω Min, 500VDC 8 Black PHASE C

Model MTFL57BL(S)005 MTFL57BL(S)01 MTFL57BL(S)02 MTFL57BL(S)03 MTFL57BL(S)04Number of poles 4Number of phase 3Rated voltage VDC 36Rated speed RPM 4000Rated torque N.m 0.055 0.11 0.22 0.32 0.43Rated power W 23 46 92 133 180Peak torque N.m 0.16 0.39 0.7 1 1.27Peak current A 3.5 6.8 11.5 16.5 20.5Line to line resistance ohms 4.1 1.5 0.7 0.45 0.35Line to line inductance mH 10 4.2 2.16 1.4 1Torque constant Nm/A 0.053 0.063 0.063 0.063 0.063Back E.M.F V/KRPM 5.55 6.6 6.6 6.6 6.6Rotor inertia g.cm2 30 75 119 173 230Body length(L) mm 45 55 75 95 115Mass Kg 0.25 0.5 0.75 1 1.25

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Brushless DC Motor with Spur Gearbox

MT86BLS-JB MODEL NUMBERS

MTFL 86BLS JB 58 Body length

Brushless motor

Motor frame size

MotionTech FL Series GENERAL MOTOR SPECIFICATIONS ELECTRIC CONNECTION

GEARBOX SPECIFICATIONS

MOTOR ELECTRICAL SPECIFICATIONS

73.55 0.2

4

90

9.5

4

-0.05

36

L33

3

25

120

18

73.55

0.1

90

Winding type Delta


Lead Color Lead Gauge Function Description

Shaft run out 0.05mm 1 Red UL1007 26AWG Vcc Supply voltage for hall sensorsRadial play 0.02mm @ 450g 2 Blue HALL A End play 0.08mm @ 450g 3 Green HALL B Max. Radial force 220N @ 10mm from the flange 4 White HALL C Max. Axial force 60N 5 Black GND Ground for hall sensorsInsulation class Class B 6 Yel & Yel/Wht UL3266 AWG20# PHASE A Dielectric strength 500VDC for one minute 7 Red & Red/Wht PHASE B Installation resistance 100M Ω Min, 500VDC 8 Blk & Blk/Wht PHASE C

Ratio 3 5 7.5 12.5 15 25 30 50 75 100 120 150Number of gear trains 2 2 2 2 2 3 3 4 4 4 4 4Length(L) Mm 45 45 45 45 45 60 60 60 60 60 60 60Length (L1) Mm Either 56mm, 69mm, 96mm and 123mm according to motor selectionPeak torque kg.cm 250Average Backlash at no load 4 deg. 3.5 deg. 2.5 deg.

MTFL86BLS58 MTFL86BLS71 MTFL86BLS98 MTFL86BLS125Number of poles 8Number of phase 3Rated voltage VDC 48Rated speed RPM 3000Rated torque N m 0.35 0.7 1.4 2.1Rated power W 110 220 440 660Peak torque N m 1.05 2.1 4.2 6.3Peak current A 11 19 33 55Line to line resistance Ohms 1.05 0.36 0.2 0.16Line to line inductance MH 2.2mH 1.05mH 0.48 0.3mHTorque constant Nm/A 0.10 0.11 0.13 0.11Back E.M.F V/KRPM 10.5 11.5 13.5 11.5Rotor inertia g cm2 400 800 1600 2400Body length (L) Mm 58 71 98 125Mass Kg 1.5 1.85 2.6 4

♦ DIMENSIONS

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Harmonica model HAR - X / XXX Feature Units 5/60 8/60 12/60 2/100 4/100 8/100 12/100 1/200 2/200 4/200 6/200

Minimum supply voltage VDC 10 20 40

Nominal supply voltage VDC 50 85 170

Maximum supply voltage VDC 59 95 195

Efficiency at rated power (at nominal conditions)

W 250 400 650 200 320 640 1100 200 320 640 1100

Maximum output voltage % >97

Auxiliary supply voltage >97% of DC bus voltage at f=22 kHz

Auxiliary power supply VDC 24 ± 20%

Amplitude power VA 8 Amplitude sinusoidal/DC continuous current

A 5 8 13.3 2.5 4 8 13.3 1.25 2 4 6.6

Sinusoidal continuous RMS current limit (Ic)

A 3.5 5.7 9.4 1.8 2.8 5.7 9.4 0.9 1.4 2.8 4.7

Peak current limit A 2 x Ic RMS output power without heatsink

% 10 50 20 100 50 20 20 100 50 20 20

Weight g(oz) 150g (5.3 ounces)

Dimensions mm (in) 82 x 25.4 x 75 (3.2" x 1.0" x 3.0")

Digital in/Digital out/Analog in 6/02/2001

Mounting method Wall mount ("Bookshelf") of DIN rail

Harmonica BLDC Drive with feedback. • Intelligent compact digital servo drives for DC brush, brushless motors and linear motors. • Compact servo drives support up to 13.3 amps. • Capable of delivering a peak of 2200W of power and 1100W of continuous power. • Is capable of operating in position, velocity and current modes and contains a wide range of feedback and I/O options. • By using Elmo’s Composer software, users can easily perform drive setup, configuration, turning, analysis and

programming. • The drive operates on DC power. • Small case enables an efficient and cost saving implementation.

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AC, DC Intelligent Digital Servo Drives Controllers Servo Controllers for DC Brush Servo Motors with Incremental Encoder, Resolver, Digital Halls, Analog SINCOS,

Absolute, Analog Halls, Tacho, and Brushless Potentiometer Feedbacks

Current, Velocity, Advance Position Operation Modes, Analog, PWM, Pulse and Direction, Software Commands-

RS-232, CANopen, DS 301 and DSP 402 Communications

• Elmo’s SimplIQ digital servo drives combine high densities of power, intelligent functionality and space friendly design.

• The drives integrate Elmo’s advanced, SimplIQ motion control core technology, which enables superior control performance, offers

advanced programming capabilities and supports standard communication protocols.

• All the drives in the series include a fully digital motion controller that features current, velocity and position loops and selection of

commutation types and position feedbacks.

• The result: higher dynamics and increased precision for a wide variety of implementations.

Feature Unit Tweeter Whistle Harmonica Cello Drum Bassoon Cornet Tuba Guitar

Supply Voltage Range VDC 7.5 ~ 95 7.5 ~ 95 10 ~ 195 10 ~ 195 11 ~ 390 11 ~ 195

Supply Voltage Range VAC 1x30 ~ 270 1x60 up to 3x505

1x60 up to 3x505

Motor DC Brush, or Brushless Sinusoidal, trapezoidal

Operating Modes Current, Velocity, Position & Advance Position

Commands Analog, PWM, Pulse and Direction, Software Commands

Feedbacks Incremental Encoder, Resolver, Digital Halls, Analog SIN-COS, Adsolute, Analog Hall, Tacho Potentiometer

Cont. Output Current A 2.5 ~ 3.3 1 ~ 20 2.0 ~ 13.3 2.25 ~ 30 18 ~ 90 1 ~ 6 1.4 ~ 9 12 ~ 20 3 ~ 45

Output Power Range KW 0.16 ~ 0.2 0.05 ~ 1.60 0.20 ~ 1.10 0.24 ~ 3.40 2.7 ~ 9.6 0.32 ~ 1.90 0.42 ~ 3.40 3.60 ~ 11.30 0.48 ~ 4.8

Digital In, Out, Analog In 6/02/2001 6/02/2001 6/02/2001 10/05/2002 6/02/2001 6/02/2001 10/06/2002 10/06/2002

Communications RS-232, CANopen DS 301, DSP 305 and DSP 402

Programming SimpleIQ Programming

Software Tools Composer

Memory Up to 32KB

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Other MT Products

Documents

MT DC Brushless Motors Full - Motion Tech … · The differences between a DC motor having a mechanical commutation system and a BLDC motor ... DC motor. • Use of an encoder or