71973955-maxon-catalog-2011

Program 2011/12High Precision Drives and Systems.

DVD inside www.maxonmotor.comSold & Serviced By:

ELECTROMATEToll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com [email protected]

With support from European Space Agency (ESA).

maxon DVD:with selection program Windows XP, Vista and Windows 7 Helps you find the maxon solution for your drive requirements No installation necessary

Adobe Reader is required to maximize the ELECTROMATE electronic catalogs full range of functions. Toll Free (877) SERVO98 This is contained on the DVD. Phone(877) SERV099 Toll Free Faxwww.electromate.com [email protected]

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Welcome to maxon motor

Page 4 - 15

maxon selection guide

Page 16 - 21

Table of Contents

Page 22 - 23

Technology short and to the point Facts Calculations

Page 24 - 46

maxon drives in satellites.

maxon DC motor

47 - 134

When it really matters.Our drive systems are also used in research satellites. They are found, for instance, in the fuel valves of control rockets and help navigate satellites in space.maxon EC motor NEW EC 16 NEW EC 16 sterilizable NEW EC 40 maxon gear 135 - 197 145 / 147 146 / 148 155 199 - 243

maxon spindle drive

245 - 252

maxon sensor

253 - 277

maxon motor control NEW EPOS2 24/2

279 - 310 304

maxon compact drive

311 - 314

maxon accessories NEW AB 32

315 - 323 320

maxon special program

325 - 354

maxon special design

355 - 359

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maxon ceramic

Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com [email protected]

ELECTROMATE 361 - 365

Welcome to maxon motor

driven by precision maxon motor is the worlds leading supplier of high-precision drives and systems up to 500 watt output power. We develop and produce brushless and brush DC motors with our unique ironless maxon winding. Our modular program is complemented by flat motors with an iron core. The modular system with planetary, spur and special gearheads, sensors and control electronics, completes the range. High-tech CIM and MIM components are produced in a special competence center. maxon motor stands for top quality, innovation, competitiveness and a worldwide distribution network.

Born in Switzerland. Grown around the world. Based in Sachseln/Switzerland, maxon motor employs over 1800 staff worldwide and has production sites in Switzerland, Germany and Hungary as well as distribution companies in more than 30 countries. Around 1050 staff work in ultra-modern production sites in Central Switzerland, 370 in Sexau, Germany and 340 in Veszprm, Hungary. We manufacture all the major components of our drive systems on our own largely in-house developed machinery and production lines. This not only enables us to manufacture large series efficiently, but also provides maximum flexibility for special requirements or smaller unit sizes.

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They who want to fly high must also keep their feet firmly on the ground

Dear customers Can you recall 1961? Maybe you can remember the Berlin Wall being built or John F. Kennedy being elected as the 35th President of the United States. 1961 was not just an extremely eventful period in political times, but it was also a year of innovation and progress: (Bayer) Schering launched the contraceptive pill onto the European market, Heinrich Matthaei, a German biochemist, discovered the genetic code and the Russian cosmonaut Yuri Gagarin completed the first manned space flight in his spacecraft Vostok. Back on Earth, another chapter in the history of technology was being written in 1961 with the establishment of Interelectric AG in Sarnen, the main town in the canton of Obwalden, Central Switzerland . 50 years on, this company is now called maxon motor. Your partner for customized drive solutions.

50 years of maxon motor 50 years of maxon, that means 50 years of partnership. Above all, I would like to thank our customers for giving us a constant stream of new challenges that have enabled us to keep on growing for over half a century. Since it was founded, maxon motor has focused on continuous, solid growth. This has been paying off since 1961, especially in difficult economic times. But you will also find endurance in our products, firstly in their characteristics, such as long service life and reliability, but secondly in the fact that we are always improving them. This year, for instance, we have improved the performance of the EC 16 and EC 40 drives. The short versions of the brushless EC 16 motors can now also be sterilized. And in electronics, the new EPOS2 24/2 with interpolated position mode (PVT) replaces the EPOS 24/1. We are proud of the fact that our drives

are used around the world and in all different fields of application. It is not just medical and industrial companies that rely on our drive systems - even space organizations are increasingly using maxon motor products, such as in Mars rovers, space probes and satellites. We look forward to scaling the heights with you once more. And you can look forward to what maxon motor has to offer this year.

Yours faithfully,

Eugen Elmiger CEO

Direction left to right Dr. Karl-Walter Braun Controlling Eugen Elmiger Sales and Marketing CEO Dr. Ulrich Claessen Development and Quality Assurance Armin Lederer Production, Human Resources and Procurement

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maxon manufacturing company in Germany Sexau

maxon manufacturing company in Hungary Veszprm

Production at our satellite facilities.Security policy arguments and the labor market have characterized maxon motors decentralized production locations from the very beginning. In September 1989, for instance, we opened a production facility in Sexau, near Freiburg im Breisgau (Germany). And in 2001, we opened another production company in Veszprm, Hungary. Flexible production and assembly equipment coupled with systematic controls ensure that the manufacturing process is efficient, precise and meets a consistently high quality standard.

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Optimum solutions for your drive problems are discussed by our sales teams in project meetings.

Our employees are thoroughly trained for their demanding tasks.

Support, Sales, Training.Our sales engineers are at your disposal to discuss tailored solutions for your specialized requirements. Our expertise: Integration of sophisticated electronic controls and highly dynamic mechanical movement. Reliable and well trained sales engineers and authorized dealers ensure that you receive professional support and advice take advantage of it! Use maxon academy, the education and training platform for our drive expertise at www.maxonmotor.com/academy.

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Develop, Automate, Test.

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Modern means provide our engineers with the necessary assistance in their demanding tasks. This method further permits working out customer-specific solutions within the shortest possible time.

Modern production methods and highly automated processes guarantee efficient and low-cost production with an unprecedented accuracy of repetition. Flexible production lines mean quick changeovers to different production series.

Most modern measuring methods serve to assure highest quality, starting with the individual parts. Prior to starting production, newly developed motors and gearheads are tested thoroughly round the clock using most modern equipment.

maxons extensive R & D department is able to meet the requirements of the rapidly developing market of high technology drive systems. Our quality assurance system is organized and maintained, recognizing latest respective developments, thus offering you best possible assurance for a product of high quality.

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maxon Quality AssuranceOne of maxon motors main objectives is to offer our business partners high-quality products at attractive prices. Quality is interpreted in a very comprehensive way at maxon motor. Quality not only refers to the objective properties of the products, but extends to the manner in which our employees think and act. Our quality assurance system: As one of the first ten Swiss companies, we were awarded the Quality Certificate with the most stringent requirements according to international norm, on July 12, 1988. The structure and procedural organization, liabilities and responsibilities, as well as special assessments of processes and procedures are exactly documented for the entire staff, including management. Our Quality System is completely operational and practical. It is rigorously applied, maintained and periodically verified, the latter through BVQI Bureau Veritas Quality International since September 1991.

ISO 9001:2008 ISO 14001:2004 ISO 13485:2003SN EN ISO 13485:2003 is an internationally accepted quality norm for medical products that requires management and staff to ensure that the design and manufacture of medical products minimise potential risks for patients. The traceability of processes and raw materials must also be guaranteed. In 2007 the competence center in Sexau received certification for the development, production and distribution of ceramic dental implants. A year later, maxon medical Sachseln became ISO 13485-certified. This division develops, produces and markets drive components and systems, precision DC motor drive components up to 500 watts, spur and planetary gearheads, DC tachos, encoders and control electronics.

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Some definitions ISO International Organization for Standardization. Over 90 countries are associated with this organization. ISO 9001:2008 Quality management system requirements. This international norm promotes the choice of a process-oriented approach for developing, realizing and improving the effectiveness of a quality management system in order to increase customer satisfaction by meeting customer requirements. SN EN ISO 9001:2008 The European norm is identical to ISO 9001:2008. It exists in three official versions (English, French and German). There are also versions available in the relevant languages for OEN members. SN EN ISO 14001:2004 is an internationally accepted quality norm for environmental management systems (EMS). It covers environmental-relevant processes and procedures in a company, requiring a companys management and employees to adopt environmentally-compatible behaviour and constantly seek to improve its procedures and documentation. BV Bureau Veritas, headquartered in Paris, was founded in 1828 and operates approximately 500 inspection centres in 125 countries as the worlds oldest independent inspection and classification company. This is an assurance for broad international recognition.

maxon System Engineeringmaxon motor works according to the latest and up-to-date standards and norms in system technology. Our management and engineering methods and processes allow us to translate market requirements into demand oriented products on a systematic and economic basis. The difference between normal technology and maxons system technology only becomes apparent in the application. And where does the difference begin? With the manufacturer with us, maxon motor and our core competencies. The Customer Connection Customer satisfaction as measure of our performance Progress Integral quality assurance system SN EN ISO 9001:2008

Medical products certified under SN EN ISO 13485:2003 for maxon medical and our production company in Sexau (Germany) Qualified team of engineers More than 40 years professional experience State-of-the-art data processing systems Environmental management system certified according to SN EN ISO 14001:2004

Sales partners in 30countries

Competent customeradvisory service

Transparent processesThe Company Operates worldwide in development, production and sales

Application Support Documentation offering real support

More than 1500 competent and motivated staff innovative

Powerful, flexible andProfitability Efficient production of large and small series

Online catalog with selection program Computer service and motors networked Your benefits are Optimum total solutions at attractive prices A comprehensive, innovative and modular product range A verifiable quality assurance system Flexibility for made-to-order and series production

Cost-aware designs International purchaseof goods

Long-term planningSold & Serviced By:


Where are maxon motors used today?The Concordia research station lies in Eastern Antarctica at 3200 m above sea level. With temperatures as low as 84.6C, it is one of the coldest places on Earth. Despite the tough conditions, a telescope of the University of Nices Astrophysics Laboratory (LUAN) operates here. The telescope is mounted on a motorized base produced by Astro-Physics. It features maxon A-max and maxon RE 25 motors.

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ELECTROMATE12Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com [email protected]

Medical science Insulin pumps Apnea devices Prostheses Ophthalmosurgical devices Power tools Radiation equipment Surgical robots

Industrial Automation PCB mounting systems Lithography systems Electric discharge machines Welding equipment Packing machines Printing equipment Weaving machines

Instrumentation & Inspection Laser leveling systems Microscopes Calipers Particle measuring equipment Calibration systems Precision scales Weather and climate analyzers Astrophysics

Communication Television- and aerial view cameras Professional cameras Digital recording systems Projectors Theater and concert lighting Advertising displays Bar code readers Antenna adjustment systems

Robotics Humanoid robots Inspection robots Microrobotic systems Teleoperations robots Educational robots Household robots Space robots

Surveillance cameras Access and lock systems Card readers Mobile inspection systems Automated gates Scanning systems Respirators

Automotive Gasoline and fuel injection pumps Air conditioning Adjustable shock absorbers Power steering Electronic tachographs Distance measurement systems Fuel cell vehicles

Aerospace Brake flap adjustment Seat and display adjustment Flight recorders Solar sail adjustment Radar systems Luggage hatch equipment Autopilots

Motorized golf caddies Gambling machines Vacuum cleaner robots Model airplanes and trains Bicycles Coffee machines High-end modeling

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maxon DC motor maxon DC motors are highquality motors fitted with powerful permanent magnets. The heart of the motor is the worldwide patented ironless rotor. This means using cutting-edge technology to produce compact, powerful and low inertia drives. These DC motors have very fast acceleration thanks to their low mass moment of inertia. The modular construction of the A-max and RE-max programmes offer countless options and top performance at competitive prices.

maxon EC motor Our electronically commutated DC motors are characterized in particular by favourable torque behaviour, high performance, an extremely wide speed range and unprecedented service life. Their outstanding control features help create precision positioning drives. Similar to the ideology of the A-max programme, a modular motor range is available with the EC-max programme. The EC-4pole range provides top performance per volume unit, pushing the boundaries of technology.

maxon flat motor The flat design of the brushless DC flat motors makes them the ideal drive for many applications. Designed as internal or external rotor motors, they are often the ideal solution when space is limited. The well thought-out and simple design means that production is largely automated, helping keep down the price.

maxon gear The precision spur and planetary gearheads are compatible with maxon motors. In addition to a large standard program, maxon shows its strengths with customer-oriented special designs based on a broad know-how. State-of-the-art tools and production techniques are used to boost performance. It is a great advantage that the gearheads can be adjusted adapted directly in the workshop for the required motors.

Great choice, easy ordering.maxons product range of motors and combinations is unique around the world. Its modular system and numerous winding options are crucial for this range of variations. We have divided our products into four program groups to help guarantee our customers the shortest delivery times.

Stock program The market-oriented selection from our extensive range offers you the following key advantages: Quick delivery times In stock at our sales offices around the world

Standard program In the comprehensive standard program, products are included which can be produced and delivered in a short time. The plenitude of versions in this program offer tried and tested standard products for optimised application.

Special program A wide range of motors and combinations is available on request.

Special design maxon develops special versions to fit customers special needs. maxon is strong in this sector.

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ELECTROMATE14Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com [email protected]

maxon sensor Encoders, DC tachos and resolvers enable speed and angular position to be evaluated accurately and form the basis for high-precision positioning. For resonance reasons, sensors are only mounted on motors with continuous shafts to ensure high precision and signal resolution. Assembly is compatible with the motors and must be carried out in the supplier's workshop.

maxon motor control Controls are used to their full advantage with maxon motors. Various 4-quadrant servoamplifiers cover all requirements in terms of performance and speed accuracy in maxon DC motors. Should you require maxon EC motors, you benefit from the latest design in electronic communication. The 1 and 4-quadrant amplifiers offer a range of useful additional functions. When combined with maxon motors, the innovative maxon positioning controllers are complete solutions for accurate positioning and regulated rotary movements.

maxon compact drive maxons compact drives feature controllers, sensors and motors in a modern aluminium casing, which, when combined with existing compatible maxon products, produce robust, space-saving and high power density drive solutions. The decentralized concept of these intelligent drives minimises the use of centralised position controllers. The compact drives controller-motor combination has an optimum layout and can be used immediately.

maxon ceramic A technological leap into the future. An innovative tool, ceramic material is becoming more prominent wherever metals are pushed to their limits, such as for use in tools, parts for medical technology or components for high-grade drive technology. The innovative use of hightech ceramic components leads to a marked improvement in performance and service life of our motors and drives. Volume-optimised and low-cost parts can be produced using MIM parts.

The maxon modular systemmaxons motors, gearheads, encoders, brakes and controllers are all perfectly compatible and offer an almost unending number of possible combinations. The maxon modular system always gives you the ideal combination for the required application.

Planetary Gearhead

Spur Gearhead

Motors DC motors EC motors EC flat motors

Encoder MR

Encoder HEDL

DC-Tacho Spindle Drive Electronics 4-Q-DC Servoamplifier 1-Q-EC Amplifier 4-Q-EC Amplifier Positioning control units Resolver

Brake

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Selection guide maxon motorClassification of the maxon motor ranges according to performance classes. Performance, also in conjunction with size, is frequently a central requirement when considering drive systems. A preliminary size-related selection can be made from the different product ranges with the maxon motor selection guide. Our data sheets provide detailed characteristics related to individual motors. Should you need any additional information, simply call us!

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Selection Guidemaxon gearBearingBa ll b Sle eari ng ev Sli e be de a be ring a ri ng

maxon gear6 mm 8 mm 10 mm 10 mm 12 mm 13 mm 13 mm 13 mm 16 mm 16 mm 16 mm 16 mm 16 mm 16 mm 16 mm 19 mm 20 mm 22 mm 22 mm 22 mm 22 mm 22 mm 24 mm 26 mm 30 mm 32 mm 32 mm 32 mm 32 mm 38 mm 42 mm 45 mm 52 mm 62 mm 81 mm 0.002 - 0.03 Nm 0.01 - 0.1 Nm 0.005 - 0.1 Nm 0.01 - 0.15 Nm 0.01 - 0.05 Nm 0.05 - 0.15 Nm 0.2 - 0.35 Nm 0.1 - 0.15 Nm 0.01 - 0.03 Nm 0.015 - 0.04 Nm 0.06 - 0.1 Nm 0.06 - 0.1 Nm 0.06 - 0.18 Nm 0.1 - 0.3 Nm 0.1 - 0.3 Nm 0.1 - 0.3 Nm 0.06 - 0.25 Nm 0.1 - 0.3 Nm 0.2 - 0.6 Nm 0.5 - 1.0 Nm 0.5 - 2.0 Nm 2.0 - 3.4 Nm 0.5 - 2.0 Nm 0.1 Nm 0.5 - 2.0 Nm 0.07 - 0.2 Nm 0.75 - 4.5 Nm 0.75 - 4.5 Nm 1.0 - 6.0 Nm 4.0 - 8.0 Nm 1.0 - 4.5 Nm 0.1 - 0.6 Nm 3.0 - 15.0 Nm 0.5 - 2.0 Nm 4.0 - 30.0 Nm 8.0 - 50.0 Nm 20.0 - 120.0 Nm 3.9:1 - 854:1 4:1 - 4096:1 4:1 - 1024:1 4:1 - 1024:1 6.4:1 - 4402:1 4.1:1 - 1119:1 4.1:1 - 3373:1 5.1:1 - 125:1 6.4:1 - 5752:1 6.4:1 - 5752:1 6.4:1 - 5752:1 22:1 - 1670:1 4.4:1 - 1621:1 4.4:1 - 4592:1 4.4:1 - 4592:1 4.4:1 - 4592:1 15:1 - 532:1 4.4:1 - 4592:1 3.8:1 - 4592:1 3.8:1 - 4592:1 3.8:1 - 4592:1 3.8:1 - 850:1 3.8:1 - 4592:1 7.2:1 - 325:1 3.8:1 - 4592:1 15:1 - 500:1 3.7:1 - 236:1 3.7:1 - 6285:1 3.7:1 - 6285:1 14:1 - 913:1 11:1 - 1091:1 6:1 - 900:1 3.5:1 - 936:1 5:1 - 1952:1 3.5:1 - 936:1 5.2:1 - 236:1 3.7:1 - 308:1

Page202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222/223 224 225 226 227 228 229 230/231 232/233 234 235 236 237/238 239 240/241 242 243

GP 6 A GP 8 A GP 10 K GP 10 A GS 12 A GP 13 K GP 13 A GP 13 M GS 16 K GS 16 A GS 16 V GS 16 VZ GP 16 K GP 16 A GP 16 M GP 19 B GS 20 A GP 22 B GP 22 L GP 22 A GP 22 C GP 22 M GS 24 A GP 26 B GS 30 A GP 32 BZ GP 32 A GP 32 C KD 32 GS 38 A GP 42 C GS 45 A GP 52 C GP 62 A GP 81 A

GP 22 HP 22 mm

GP 32 HP 32 mm

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Nm

100

50

10

5

1

0.5

0.1 0.05

0.01 0.005

Output torque


Max. Continuous torque Intermittently permissible torque

Option

Beschnitt Beschnittcyan magenta yellow yellow schwarz cyan magenta schwarz

Selection Guide Selection Guidemaxon DCDC motor maxon motorType Type Modular system Modular system Recommended electronics Recommended electronicsC3 AD 0/2 S LD AS 50/5 28 C_ S3 2 02 AD E /50 28 /5 2 S5 AD 0/1 28 2 S_ 50 3 AP E 50 ED 2 /50 83 2 OS S5 1 01 EP AD 2 /2 OS 4/2 283 S2 _E 0 EP Mo5u 20 d0 le1 / 30 383 O 4 6/2 EP S2 2 EP 28 30 OS O2 M 4/5 3 4 2 EP S2odu 304 50 le 3 OS 5 /5 6 EP 2 24 /2 30 70/ 4 O 5 5 1 EP S2 P0 0 30 OS 5 25 5 / 2 7 4/5 3 EP OS 0/10 08 5 2P 30 24 /5 5 3Gr ap h Pre ite b rus c. Gra meta hes Ca pa lb ph r P e cie r Slre ittob ushe eve rusn s c. m Lo e be hg s i e Ba Ca lpa tarib L fe l bc l nr eiao u trir g sh Sle g ev nLon es Ba e bea g Li fe ll b r ear ing ing En co DC der -Ta En cho Br ak co d DC e er -Ta Br cho ak e

e

0.3 W 0.3 W 0.5 W 0.5 W

0.3 mNm mNm 6 0.3 RE 0.6 mNm mNm 8 0.6 RE

RE 6 RE 8

50 51

50 51

0.75 W 0.75 W 0.7 - 0.8 mNm mNm 10 RE 10 0.7 - 0.8 RE 0.75 W 0.75 W 0.5 - 1.3 mNm mNm 13 RE 13 0.5 - 1.3 RE 1.2 W 1.2 W 0.5 - 1.3 mNm mNm 13 RE 13 0.5 - 1.3 RE 1.5 W 1.5 W 1.5 mNm mNm 10 RE 10 1.5 RE 1.5 W 1.5 W 0.2 - 1.3 mNm mNm 13 RE 13 0.2 - 1.3 RE 2.0 W 2.0 W 1.5 - 3.0 mNm mNm 13 RE 13 1.5 - 3.0 RE 2.0 W 2.0 W 1.4 - 2.4 mNm mNm 16 RE 16 1.4 - 2.4 RE 2.5 W 2.5 W 1.5 - 2.9 mNm mNm 13 RE 13 1.5 - 2.9 RE 3.0 W 3.0 W 1.2 - 2.5 mNm mNm 13 RE 13 1.2 - 2.5 RE 3.2 W 3.2 W 2.4 - 5.5 mNm mNm 16 RE 16 2.4 - 5.5 RE 4.5 W 4.5 W 2.2 - 4.8 mNm mNm 16 RE 16 2.2 - 4.8 RE 10 W 20 W 20 W 60 W 90 W 10 W11.4 - 29.1 mNm mNm 25 RE 25 11.4 - 29.1 RE 20 W17.8 - 30.6 mNm mNm 25 RE 25 17.8 - 30.6 RE 20 W11.1 - 30.8 mNm mNm 25 RE 25 11.1 - 30.8 RE 60 W51.7 - 88.2 mNm mNm 30 RE 30 51.7 - 88.2 RE 90 W 73.2 - 105.0 - 105.0 mNm 35 RE 35 73.2 mNm RE

52/53 52/53 58/59 58/59 56/57 56/57 54/55 54/55 64-67 64-67 62/63 62/63 72 72 60/61 60/61 68-71 68-71 73/74 73/74 75/76 75/76 77 78 79 80 81 82 83 84 77 78 79 80 81 82 83 84

150 W 150 94.9 - 188.0 - 188.0 mNm 40 RE 40 W 94.9 mNm RE 200 W 200 W - 348.5 - 380.0 mNm 50 RE 50 348.5 380.0 mNm RE 250 W 250 W - 452.0 - 890.0 mNm 65 RE 65 452.0 890.0 mNm RE

223

maxon -max maxon -max0.5 W 0.5 W 0.8 - 0.9 mNm mNm 0.8 - 0.9 -max-max 12 12 0.75 W0.75 W - 0.9 mNm mNm 0.8 0.8 - 0.9 -max-max 12 12 1.2 W 1.2 W 0.7 - 2.2 mNm mNm 0.7 - 2.2 -max-max 16 16 1.5 W 1.5 W 1.3 - 3.6 mNm mNm 1.3 - 3.6 -max-max 19 1988 87 90 94 88 87 90 94

231

233

2.0 W 2.0 W 0.7 - 2.5 mNm mNm 0.7 - 2.5 -max-max 16 16 89/91/92 89/91/92 2.5 W 2.5 W 0.8 - 4.0 mNm mNm 0.8 - 4.0 -max-max 19 19 93/95/96 93/95/96 3.5 W 3.5 W 4.8 - 6.4 mNm mNm 4.8 - 6.4 -max-max 22 22 4.5 W 4.5 W - 15.9 mNm mNm 4.5 4.5 - 15.9 -max-max 26 26 5.0 W 5.0 W 4.8 - 6.4 mNm mNm 4.8 - 6.4 -max-max 22 2298 104 97 98 104 97

238

241

4.0 W 4.0 W - 12.5 mNm mNm 5.5 5.5 - 12.5 -max-max 26 26 101/102 101/102

6.0 W 6.0 W 5.8 - 7.1 mNm mNm 5.8 - 7.1 -max-max 2299/100 99/100 22 6.0 W 6.0 W - 13.8 mNm mNm 6.7 6.7 - 13.8 -max-max 26 26 105/106 105/106 7.0 W 7.0 W - 15.7 mNm mNm 4.5 4.5 - 15.7 -max-max 26 26103 103

11 W 11 W 5.5 - 17.7 mNm mNm 5.5 - 17.7 -max-max 26 26 107/108 107/108 15 W 15 W 31.4 - 37.5 mNm mNm 31.4 - 37.5 -max-max 32 32 109/110 109/110 20 W 20 W 38.4 - 45.0 mNm mNm 38.4 - 45.0 -max-max 32 32 111/112 111/112

maxon -max maxon -max0.75 W0.75 W - 1.3 mNm mNm 0.3 0.3 - 1.3 -max 13 -max 13 116 1.2 W 1.2 W 0.3 - 1.3 mNm mNm 0.3 - 1.3 -max 13 -max 13 115 2W 2 W 0.9 - 2.8 mNm mNm 0.9 - 2.8 -max 13 -max 13 118 2.5 W 2.5 W 1.0 - 2.8 mNm mNm 1.0 - 2.8 -max 13 -max 13 117 2.5 W 2.5 W 1.3 - 3.4 mNm mNm 1.3 - 3.4 -max 17 -max 17 120 3.5 W 3.5 W 2.5 - 6.3 mNm mNm 2.5 - 6.3 -max 21 -max 21 124 4.0 W 4.0 W 1.3 - 3.4 mNm mNm 1.3 - 3.4 -max 17 -max 17 119 5.0 W 5.0 W 2.6 - 6.1 mNm mNm 2.6 - 6.1 -max 21 -max 21 123 6.5 W 6.5 W - 10.7 mNm mNm 8.6 8.6 - 10.7 -max 24 -max 24 128 9.0 W 9.0 W - 25.5 mNm mNm 8.5 8.5 - 25.5 -max 29 -max 29 132 10 W 10 W 8.5 - 10.5 mNm mNm 8.5 - 10.5 -max 24 -max 24 127 15 W 15 W 8.4 - 26.1 mNm mNm 8.4 - 26.1 -max 29 -max 29 131116 115 118 117 120 124 119 123 128 132 127 131

121/122 4.5 W 4.5 W 1.4 - 3.9 mNm mNm 1.4 - 3.9 -max 17 -max 121/122 17 125/126 6.0 W 6.0 W 1.9 - 6.9 mNm mNm 1.9 - 6.9 -max 21 -max 125/126 21

129/130 11 W 11 W 10.8 - 12.4 mNm mNm 10.8 - 12.4 -max 24 -max 129/130 24 133/134 22 W 22 W 10.9 - 30.5 mNm mNm 10.9 - 30.5 -max 29 -max 133/134 29

Nominal torque mNmmNm 0.1 Nominal torque

0.1

0.2

0.2

0.3

0.3 0.4

0.5 0.4

0.5 0.6

LS

maxon DC motor maxon DC motor

Page Page

0.6 0.8 0.9 10.9 1 0.7 0.7 0.8

2

2

3

3

08

4

4 5

56

6 7

87

Option/On request Option/On request

Sold & Serviced By: For motors with /with / without sensors For motors without sensors At least least 2 channel encoderline driverdriver is required At 2 channel encoder with with line is required

ELECTROMATE

18 18


6 GP A 8 GP A 6A 1 GP 0 K 8A 1 GS 0 A P 10 K GP 2 A 10 GS 3 K P1 A 3 GP 2 A 1 GP 3 K S1 M 3 GP 6 A S1 K 3A 6 GS M 1 K GS 6 V P1 6A GS VZ P1 6 K GP V 1 GP 6 VZ A 1 GP K GP 6 M 1 16 GP 9 B A S1 2 GP 6 M GP 0 A 19 22 GS B P2 B 2L GP 0 A 22 GP B A 22 L GP C 22 GP HP A 2 GP 2 M S2 C 4A GP 2 HP 26 B GS 2 M 2 34 GP 0 A 26 32 GP BZ S 30 GP 2 A 3 B GP 2 C Z 3 GD 2 AP KP H 3 GS 2 C P 32 KD 8 AP GP H 3 4 GS 2 C 38 4 GP 5 A 4 5 GS 2 C P4 62 GP 5 A 51 8 GP 2 C A 6 GP 2 A 81 A

20 2 20 3 20 4 2 20 3 5 20 4 6 20 5 7 20 6 8 20 7 9 21 00 8 20 19 1 21 0 2 21 1 3 21 2 4 21 3 5 21 4 6 21 5 7 21 6 8 21 7 9 22 10 8 22 22 19 1 2/2 20 3 22 2 22 24 1 2/2 25 3 22 224 6 22 5 7 22 6 8 2 7 23 2 9 0/2 28 2 3 31 2/2 29 23 3 3 0/2 23 34 2/2 1 33 5 2 6 23 34 7/2 35 8 2 24 36 30 9 7/2 41 38 23 24 42 9 0/2 41 3 24 2 24 3

cyan magenta yellow yellow schwarz cyan magenta schwarz

56GP

6 7

87

Beschnitt Beschnitt

9 8 109

10

Gears Gears

20

20

30

30

40

4050

50 60

70 60

80 90 100 100 70 80 90

200

200

300

300 400

400 500

Sold & Serviced By:

500 700 800 900 1000 1000 600 600 700 800 900


ELECTROMATE

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Beschnitt Beschnitt

Selection Guide Selection Guidemaxon EC EC motor maxon motorType Type Modular system Modular system Recommended electronics Recommended electronicsDE odule 29 80 C 24 9 24 50 2 DE 50/5 /5 29 DE CM 3 1 CV 0 50 DE odule 29 /5 C 0 1 5 50 DE 70/10 /5 29 7 1 C SV 5 50 5/0 DE 29 S 5/5 C 7 1 EP 70/10 DE 29 OS 8 7 S5 E DPO 2 /2 298 ES 0 54/ S2 7 2 M EP 70odu / le 20 OS 10 3 398 4 EP EP 2 2 6/2 29 30 OS O2 4/5 8 4 S2 2 EP Mo5u 30 d0 le5 5 OS /3 4 EP 2 24 6/2 30 OS 70/5 5 4 1 EP 2 P0 0 30 5 OS 5 25 /4 EP 2 70 /5 30 OS 5 8 / 2 P 10 3 05 24 /5

maxon EC motor maxon EC motor1.2 W 1.2 W 2W 2W 0.2 mNm mNmEC 6 0.2 0.9 mNm mNmEC 8 0.9 EC 6 EC 8

Page Page 138 139 138 139 141 140 142 143 145 146 149 150 144 147 148 154 151 152 156 155 153 157 158

6.0 W 6.0 W 2.2 - 2.3 mNm mNmEC 13 EC 13 141 2.2 - 2.3 8.0 W 8.0 W 1.1 - 1.2 mNm mNmEC 10 EC 10 140 1.1 - 1.2 12 W 30 W 30 W 30 W 40 W 40 W 50 W 60 W 60 W 80 W 12 W 4.7 - 5.2 mNm mNmEC 13 EC 13 142 4.7 - 5.2

143 30 W 4.5 - 4.8 mNm mNmEC 13 ster.13 ster. 4.5 - 4.8 EC30 W 8.1 - 8.8 mNm mNmEC 16 EC 16 145 8.1 - 8.8 30 W 7.1 - 8.4 mNm mNmEC 16 ster.16 ster. 7.1 - 8.4 EC 146 40 W 18.3 - 19.6 mNm mNmEC 22 EC 22 149 18.3 - 19.6

150 40 W 15.2 - 16.3 mNm mNmEC 22 ster.22 ster. 15.2 - 16.3 EC 144 50 W 7.1 - 8.1 mNm mNmEC 13 ster.13 ster. 7.1 - 8.1 EC60 W 16.7 - 18.5 mNm mNmEC 16 EC 16 147 16.7 - 18.5 60 W 13.3 - 13.7 mNm mNmEC 16 ster.16 ster. 13.3 - 13.7 EC 148 80 W 40.6 - 45.8 mNm mNmEC 32 EC 32 154 40.6 - 45.8

100 W 10038.5 - 40.6 mNm mNmEC 22 EC 22 151 W 38.5 - 40.6

152 100 W 100 W 43.9 - 44 mNm mNmEC 22 ster.22 ster. 43.9 - 44 EC150 W 150 W - 188.0 mNm mNmEC 45 EC 45 156 168.0 168.0 - 188.0 170 W 170 W - 164 mNm mNmEC 40 EC 40 155 159 159 - 164 250 W 250 W 38.1 mNm mNmEC 25 EC 25 153 38.1 250 W 250 W - 323.0 mNm mNmEC 45 EC 45 157 285.0 285.0 - 323.0 400 W 400 W - 830.0 mNm mNmEC 60 EC 60 158 747.0 747.0 - 830.0

maxon -max maxon -max5.0 W 5.0 W3.4 - 3.5 mNm mNm 3.4 - 3.5 -max 16 -max 16161 8.0 W 8.0 W7.6 - 8.2 mNm mNm 7.6 - 8.2 -max 16 -max 16163 12 W 25 W 40 W 60 W 70 W 12 W - 11.9 mNm mNm 11.2 11.2 - 11.9 -max 22 -max 22164 25 W - 23.4 mNm mNm 21.9 21.9 - 23.4 -max 22 -max 22165 40 W - 35.0 mNm mNm 33.9 33.9 - 35.0 -max 30 -max 30166 60 W - 65.3 mNm mNm 61.3 61.3 - 65.3 -max 30 -max 30167 70 W - 93.7 mNm mNm 85.1 85.1 - 93.7 -max 40 -max 40168

161 163 164 165 166 167 168 169

5.0 W 5.0 W2.4 - 2.7 mNm mNm 2.4 - 2.7 -max 16, 2-w16, 2-w 162 -max 162

120 W 120 W - 212.0 mNm mNm 164.0 164.0 - 212.0 -max 40 -max 40169

maxon -4pole maxon -4pole90 W

173 90 W 45.0 - 47.4 mNm mNm 45.0 - 47.4 -4pole 22 -4pole 22

173 175 174 176 177 178

175 100 W 10063.3 - 69.7 mNm mNm W 63.3 - 69.7 -4pole 30 -4pole 30 174 120 W 12059.0 - 64.1 mNm mNm W 59.0 - 64.1 -4pole 22 -4pole 22 176 200 W 200 W - 120.0 mNm mNm 114.0 114.0 - 120.0 -4pole 30 -4pole 30 177 200 W 200 W - 308.0 mNm mNm 237.0 237.0 - 308.0 -4pole 45 -4pole 45300 W 300 W 635.0 mNm mNm 635.0 -4pole 45 -4pole 45 178

maxon flat motor maxon flat motor0.2 W 0.2 W 0.2 mNm mNm 10 flat 10 flat 181 0.2 EC EC

181 180 182 185 183 184 186 187 192 188 189 193 195 194 196 190 191 197

0.5 W 0.5 W - 0.9 mNm mNm 9.2 EC 9.2 flat 180 0.7 0.7 - 0.9 EC flat 1.5 W 1.5 W - 1.7 mNm mNm 14 flat 14 flat 182 1.6 1.6 - 1.7 EC EC 2.0 W 2.0 W

185 3.7 mNm mNm 20 flat IE flat IE 3.7 EC EC 20

3.0 W 3.0 W - 3.9 mNm mNm 20 flat 20 flat 183 3.1 3.1 - 3.9 EC EC 5.0 W 5.0 W - 8.2 mNm mNm 20 flat 20 flat 184 7.0 7.0 - 8.2 EC EC 5.0 W 5.0 W 12 W 15 W 15 W 30 W 30 W 50 W 50 W 50 W 70 W 90 W

186 5.5 mNm mNm 20 flat IE flat IE 5.5 EC EC 20

6.0 W 6.0 W - 9.4 mNm mNm 32 flat 32 flat 187 7.4 7.4 - 9.4 EC EC 1218.3 - 25.8 mNm mNm 45 flat 45 flat 192 W 18.3 - 25.8 EC EC 1522.4 - 23.3 mNm mNm 32 flat 32 flat 188 W 22.4 - 23.3 EC EC

189 1524.0 - 26.2 mNm mNm 32 flat IE flat IE W 24.0 - 26.2 EC EC 323054.3 - 70.6 mNm mNm 45 flat 45 flat 193 W 54.3 - 70.6 EC EC 3065.0 - 91.0 mNm mNm 45 flat IE flat IE W 65.0 - 91.0 EC EC 45 195 5064.2 - 96.9 mNm mNm 45 flat 45 flat 194 W 64.2 - 96.9 EC EC 50 W - 123.0 mNm mNm 45 flat IE flat IE 66.0 66.0 - 123.0 EC EC 45 196 5038.9 - 51.0 mNm mNm 40-i 40 W 38.9 - 51.0 -i 7053.5 - 66.7 mNm mNm 40-i 40 W 53.5 - 66.7 -i

190 191

387.0 - 494.0 mNm mNm 90 flat 90 flat 197 90 W 387.0 - 494.0 EC EC

Nominal torque mNm mNm0.1 Nominal torque

0.1

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Ha ll s Sle ens or ev Ba e be s Ha llll b sea arin g Sle nri or ev sng Ba e be s ll b a ri n ea rin g En g co Re der so En lver Br ak co d Re e er so Br lver ak e DE CS DE 50 /5 C DEC 24/1 28 EC 9 Mo Sd DE 5ule 2 2 C 0/5 4/2 89 24 DE 2 /1 3

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CM

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on request on request

Only for motors without Hall sensors Only for motors without Hall sensors Sold & Serviced By: Only for motors with Hall sensors Only for motors with Hall sensors ELECTROMATE Only for motors with Hall sensors and 3and 3 channel encoder Only for motors with Hall sensors channel encoder At least 2 channel encoder with line driverdriver or hall sensors is required Toll Free Phone (877) SERVO98 At least 2 channel encoder with line or hall sensors is requiredToll Free Fax (877) SERV099 www.electromate.com [email protected]

GP 6 GP A 8 GP A 1 6A GP 0 K 8A 1 GS 0 A P1 0K GP 2 A 10 GP 3 K S1 A 2 GP 3 A 1 GS 3 K P1 M 6 GP 3 K S A 16 A GS 3 M 1 GP 6 V S1 K GS 6 VZ P1 A K GP 6 V 1 GP 6 VZ A 16 GP K GP M 16 1 GP 9 B S1 A 26 0M GP A GP 22 19 GS B P B 22 L GP 0 A 2 GP 2 A B 22 L GP C 2 A GP 2 HP 2 GP 2 M S C 24 A GP 2 HP 22 GS 6 B M 30 24 GP A 36 2 GP 2 BZ S3 0 GP 2 A 3 B GP 2 C Z 32 KP H GD AP 32 GP C S 3 KP 8 A GD 2 HP 3 4 GS 2 C 3 48 GP 5 A 5 4 GS 2 C P6 42 GP 5 A 82 5 GP 1 A C 6 GP 2 A 81 A

20 2 20 3 20 4 2 20 5 3 20 4 6 20 7 5 20 8 6 20 9 7 21 00 8 20 19 1 21 2 0 21 3 1 21 4 2 21 5 3 21 6 4 21 7 5 21 8 6 21 9 7 22 10 8 22 22 19 1 2/2 20 3 22 2 22 24 1 2/2 25 3 22 22 4 6 22 5 7 22 8 6 23 229 0/2 7 2 23 31 2/2 8 2 23 33 0/2 9 23 34 1 2/2 33 5 2 6 23 34 7/2 35 8 23 24 6 30/ 9 72 41 38 23 24 42 9 0/2 41 3 24 2 24 3


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ContentsTechnology short and to the pointTopic maxon maxon maxon maxon maxon maxon DC motor EC motor gear sensor motor control DC and EC motor Key information Page 24-25 26-29 30-31 32-33 34-35 36-43 Topic maxon e-media maxon academy maxon conversion table Standard specication Page 44 45 46 48 / 136 / 200

maxon DC motorRE ProgramType RE RE RE RE RE RE RE RE RE RE RE RE RE RE RE RE RE RE 6 8 10 10 13 13 13 13 16 16 16 25 25 30 35 40 50 65

DC motors with moving coil rotor -max ProgramPage Type -max -max -max -max -max -max -max -max -max -max 12 16 16 19 19 22 22 26 26 32 Page 12 mm, Precious metal brushes CLL, 0.75 / 0.5 W 87-88 16 mm, Precious metal brushes CLL, 2 / 1.2 W 89-90 16 mm, Graphite brushes, 2 Watt 91-92 19 mm, Precious metal brushes CLL, 2.5 / 1.5 W 93-94 19 mm, Graphite brushes, 2.5 Watt 95-96 22 mm, Precious metal brushes CLL, 5 / 3.5 W 97-98 22 mm, Graphite brushes, 6 Watt 99-100 26 mm, Precious metal brushes CLL, 4 / 7 / 4.5 W 101-104 26 mm, Graphite brushes, 6 / 11 Watt 105-108 32 mm, Graphite brushes, 15 / 20 Watt 109-112 50 51 52-53 54-55 56-59 60-63 64-67 68-71 72 73-74 75-76 77 78-79 80 81 82 83 84

6 mm, Precious metal brushes, 0.3 Watt 8 mm, Precious metal brushes, 0.5 Watt 10 mm, Precious metal brushes, 0.75 Watt 10 mm, Precious metal brushes, 1.5 Watt 13 mm, Precious metal brushes, 1.2 / 0.75 Watt 13 mm, Precious metal brushes, 2.5 / 2 Watt 13 mm, Graphite brushes, 1.5 Watt 13 mm, Graphite brushes, 3.0 Watt 16 mm, Precious metal brushes CLL, 2 Watt 16 mm, Precious metal brushes CLL, 3.2 Watt 16 mm, Graphite brushes, 4.5 Watt 25 mm, Precious metal brushes CLL, 10 Watt 25 mm, Graphite brushes, 20 Watt 30 mm, Graphite brushes, 60 Watt 35 mm, Graphite brushes, 90 Watt 40 mm, Graphite brushes, 150 Watt 50 mm, Graphite brushes, 200 Watt 65 mm, Graphite brushes, 250 Watt

-max ProgramType -max -max -max -max -max -max -max -max -max -max -max 13 13 17 17 21 21 24 24 29 29 29 Page 13 mm, Precious metal brushes CLL, 0.75 / 1.2 W 115-116 13 mm, Precious metal brushes CLL, 2 / 2.5 W 117-118 17 mm, Precious metal brushes CLL, 4 / 2.5 W 119-120 17 mm, Graphite brushes, 4.5 Watt 121-122 21 mm, Precious metal brushes CLL, 5 / 3.5 W 123-124 21 mm, Graphite brushes, 6 Watt 125-126 24 mm, Precious metal brushes CLL, 10 / 6.5 W 127-128 24 mm, Graphite brushes, 11 Watt 129-130 29 mm, Precious metal brushes CLL, 15 Watt 131 29 mm, Precious metal brushes CLL, 9 Watt 132 29 mm, Graphite brushes, 22 Watt 133-134

maxon EC motorEC ProgramType EC EC EC EC EC EC EC EC EC EC EC EC EC EC EC 6 8 10 13 13 13 16 16 22 22 25 32 40 45 60

Brushless DC servomotors -4pole ProgramPage Type -4pole -4pole -4pole -4pole -4pole -4pole 22 22 30 30 45 45 22 mm, brushless, 90 Watt 22 mm, brushless, 120 Watt 30 mm, brushless, 100 Watt 30 mm, brushless, 200 Watt 45 mm, brushless, 200 Watt 45 mm, brushless, 300 Watt Page 173 174 175 176 177 178

sterilizable sterilizable sterilizable sterilizable

6 mm, brushless, 1.2 Watt 8 mm, brushless, 2 Watt 10 mm, brushless, 8 Watt 13 mm, brushless, 6 / 12 Watt 13 mm, brushless, 30 Watt 13 mm, brushless, 50 Watt 16 mm, brushless, 30 / 60 Watt 16 mm, brushless, 30 / 60 Watt 22 mm, brushless, 40 / 100 Watt 22 mm, brushless, 40 / 100 Watt 25 mm, brushless, High-Speed 32 mm, brushless, 80 Watt 40 mm, brushless, 170 Watt 45 mm, brushless, 150 / 250 Watt 60 mm, brushless, 400 Watt

138 139 140 141-142 143 144 145/147 146/148 149/151 150/152 153 154 155 156-157 158

EC at ProgramType EC 9.2 at EC 10 at EC 14 at EC 20 at EC 20 at EC 32 at EC 32 at EC-i 40 EC 45 at EC 45 at EC 90 at 9.2 mm. brushless, 0.5 Watt 10 mm, brushless, 0.2 Watt 13.6 mm, brushless, 1.5 Watt 20 mm, brushless, 3 / 5 Watt 20 mm, brushless, 2 / 5 Watt, IE 32 mm, brushless, 6 / 15 Watt 32 mm, brushless, 15 Watt, IE 40 mm, brushless, 50 / 70 Watt 45 mm, brushless, 12 / 30 / 50 Watt 45 mm, brushless, 30 / 50 Watt, IE 90 mm, brushless, 90 WattSold & Serviced By:

Page 180 181 182 183-184 185-186 187-188 189 190-191 192-194 195-196 197

-max ProgramType -max -max -max -max -max -max 16 22 30 30 40 40 16 mm, brushless, 5 / 8 Watt 22 mm, brushless, 12 / 25 Watt 30 mm, brushless, 40 Watt 30 mm, brushless, 60 Watt 40 mm, brushless, 70 Watt 40 mm, brushless, 120 Watt Page 161-163 164-165 166 167 168 169


maxon gearType Planetary gearhead GP 6 A Planetary gearhead GP 8 A Planetary gearhead GP 10 K Planetary gearhead GP 10 A Spur gearhead GS 12 A Planetary gearhead GP 13 K Planetary gearhead GP 13 A Planetary gearhead GP 13 M Spur gearhead GS 16 K Spur gearhead GS 16 A Spur gearhead GS 16 V Spur gearhead GS 16 VZ Planetary gearhead GP 16 K Planetary gearhead GP 16 A Planetary gearhead GP 16 M Planetary gearhead GP 19 B Spur gearhead GS 20 A Planetary gearhead GP 22 B

GearheadsPage 6 mm, 0.002 0.03 Nm 8 mm, 0.01 0.1 Nm 10 mm, 0.005 0.1 Nm 10 mm, 0.01 0.15 Nm 12 mm, 0.01 0.03 Nm 13 mm, 0.05 0.15 Nm 13 mm, 0.2 0.35 Nm 13 mm, 0.1 0.15 Nm 16 mm, 0.01 0.03 Nm 16 mm, 0.015 0.04 Nm 16 mm, 0.06 0.1 Nm 16 mm, 0.06 0.1 Nm 16 mm, 0.06 0.18 Nm 16 mm, 0.1 0.3 Nm 16 mm, sterilizable 19 mm, 0.1 0.3 Nm 20.3 mm, 0.06 0.25 Nm 22 mm, 0.1 0.3 Nm 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 Type Planetary gearhead GP 22 Planetary gearhead GP 22 Planetary gearhead GP 22 Planetary gearhead GP 22 Planetary gearhead GP 22 Spur gearhead GS 24 A Planetary gearhead GP 26 Spur gearhead GS 30 A Planetary gearhead GP 32 Planetary gearhead GP 32 Planetary gearhead GP 32 Planetary gearhead GP 32 Koaxdrive KD 32 Spur gearhead GS 38 A Planetary gearhead GP 42 Spur gearhead GS 45 A Planetary gearhead GP 52 Planetary gearhead GP 62 Planetary gearhead GP 81 L A C HP M B BZ A C HP C C A A 22 mm, 0.2 0.6 Nm 22 mm, 0.5 1.0 Nm 22 mm, 0.5 2.0 Nm 22 mm, 2.0 3.4 Nm 22 mm, sterilizable 24 mm, 0.1 Nm 26 mm, 0.5 2.0 Nm 30 mm, 0.07 0.2 Nm 32 mm, 0.75 4.5 Nm 32 mm, 0.75 4.5 Nm 32 mm, 1.0 6.0 Nm 32 mm, 4.0 8.0 Nm 32 mm, 1.0 4.5 Nm 38 mm, 0.1 0.6 Nm 42 mm, 3 15 Nm 45 mm, 0.5 2.0 Nm 52 mm, 4 30 Nm 62 mm, 8 50 Nm 81 mm, 20 120 Nm Page 220 221 222-223 224 225 226 227 228 229 230-231 232-233 234 235 236 237-238 239 240-241 242 243

maxon spindle driveType Spindle drive GP 22 S Spindle drive GP 22 S Spindle drive GP 32 S

Spindle DrivePage Type Spindle drive GP 32 S Spindle drive GP 32 S 32 mm, metric spindle 32 mm, trapezoidal spindle Page 250 251

maxon sensorType Encoder Encoder Encoder Encoder Encoder MILE MR Enc 22 HEDS 5540 HEDL 5540

Encoder and DC-TachoGearhead Ceramic Special design Special program Accessories Compact Drive Electronics Sensor Spindle drive

Page 64 CPT, 3 channel 16 1024 CPT, 2 / 3 channel 100 CPT, 2 channel 500 CPT, 3 channel 500 CPT, 3 channel 254 255-263 264-265 266-267 268-270

Type Encoder HEDL 9140 Encoder MEnc 10 Encoder MEnc 13 DC-Tacho DCT 22 Resolver Res 26 500 CPT, 3 channel 12 CPT, 2 channel 16 CPT, 2 channel 0.52 V 10 V

Page 271-272 273 274-275 276 277

maxon motor controlType 4-Q-DC Servoamplier LSC 4-Q-DC Servoamplier ADS 1-Q-EC Servoamplier DECS 1-Q-EC Servoamplier DEC 4-Q-EC Servoamplier DECV / DEC

Electronics for DC motors and EC motorsPage 281 281 286 286-288 295 Type 4-Q-EC Servoamplier DES Positioning control unit EPOS Positioning control unit EPOS P Summary maxon motor control Summary accessories Page 296 301-305 306-308 309 310

maxon compact driveType MCD EPOS / MCD EPOS P Accessories Page 312-313 314 Type

maxon accessoriesBrake AB Brake AB Brake AB Brake AB Brake AB End caps Type EC-Program Gearheads 20, 24 VDC, 0.1 Nm 28, 24 VDC, 0.4 Nm 32, 24 VDC, 0.4 Nm 41, 24 VDC, 2.0 Nm 44, 24 VDC, 2.5 Nm

AccessoriesPage 316 317-319 320 321 322 323 Page 345-352 353-354

maxon special programType RE-Program F-Program S-Program A-Program GM-Program Page 326 327-333 342-343 342-343 344

maxon special designType Special Gearheads/Special Motors Page 356-359 Type

maxon ceramicPage 363 364Sold & Serviced By:

CIM products MIM products

maxon worldwidePage Contact information 366-369


EC Motor

22 mm, ball screw 22 mm, metric spindle 32 mm, ball screw

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DC Motor

Contents

maxon DC motor

maxon DC motor TechnologyshortandtothepointTheoutstandingtechnicalfeaturesof maxon DC motors: Nomagneticcogging Highaccelerationthankstoalow massinertia Lowelectromagneticinterference Lowinductance Highefficiency Linearitybetweenvoltageandspeed Linearitybetweenloadandspeed Linearitybetweenloadandcurrent Smalltorqueripplethankstomulti-segment commutator Abletobearhighoverloadsforshortperiods Compactdesign-smalldimensions Multiplecombinationpossibilitieswithgears aswellasDCtachometersandencoders

Program A-max-Program RE-max-Program RE-Program

1 Flange 2 Permanentmagnet 3 Housing(magneticreturn) 4 Shaft 5 Winding 6 Commutatorplate 7 Commutator 8 Graphitebrushes 9 Preciousmetalbrushes = Cover + Electricalconnection " Ballbearing * Sinteredsleevebearing

The maxon windingTheheartofthemaxonmotoristheworldwidepatentedironlesswinding,System maxon :Thismotorprinciplehasveryspecific advantages.Thereisnomagneticdetentand minimalelectromagneticinterference.The efficiencyofupto90%exceedsthatofother motorsystems. Therearenumerouswindingvariantsforeach motortype(seemotordatasheets).Theyare differentiatedbythewirediameterandnumber ofturns.Thisresultsinvariousmotorterminal resistances.Thewiresizesusedarebetween 32mand0.45mm,resultinginthedifferent terminalresistancesofthemotors. Thisinfluencesthemotorparametersthat describethetransformationofelectricaland mechanicalenergy(torqueandspeedconstants).Itallowsyoutoselectthemotorthat isbestsuitedtoyourapplication. Themaximumpermissiblewindingtemperatureinhigh-temperatureapplicationsis125C (155Cinspecialcases),otherwise85C. Effectsofwiregaugeandnumberofwindings are: Low terminal resistance Lowresistancewinding Thickwire,fewturns Highstartingcurrents Highspecificspeed(rpmpervolt) High terminal resistance Highresistancewinding Thinwire,manyturns Lowstartingcurrents Lowspecificspeed(rpmpervolt)

Turning speedTheoptimaloperatingspeedsarebetween 4000rpmand9000rpmdependingonthe motorsize.Speedsofmorethan20 000rpm havebeenattainedwithsomespecialversions. AphysicalpropertyofaDCmotoristhat,at aconstantvoltage,thespeedisreducedwith increasingloads.Agoodadaptationtothe desiredconditionsispossiblethankstoa varietyofwindingvariants. Atlowerspeeds,agearcombinationisoften morefavorablethanaslowlyturningmotor.

Service lifeAgeneralstatementaboutservicelifecannot bemadeduetomanyinfluencingfactors. Servicelifecanvarybetweenmorethan20 000 hoursunderfavorableconditions,andless than100hoursunderextremeconditions(in rarecases).Roughly1000to3000hoursare attainedwithaveragerequirements. The following have an influence: 1. The electric load: highercurrentloadsresult ingreaterelectricwear.Therefore,itmaybe advisabletoselectasomewhatstrongermotor forcertainapplications.Wewouldbehappyto adviseyou. 2. Speed: thehigherthespeed,thegreaterthe mechanicalwear. 3. Type of operation: extremestart/stop, left/rightoperationleadstoareductionin servicelife. 4. Environmental influences:temperature, humidity,vibration,typeofinstallation,etc. 5.Inthecaseofpreciousmetalbrushes, the CLL conceptincreasesservicelifeat higherloadsandthebenefitsofpreciousmetal brushesareretained. 6.Combinationsof graphite brushesandball bearingsleadtoalongservicelife,evenunder extremeconditions.

Sold & Serviced By:

ELECTROMATE24Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com [email protected] May2011edition/subjecttochange

Technology short and to the point

2 3 5 6 8 4

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* = 78 = 9 *

Mechanical commutationGraphite brushes Incombinationwithcoppercommutatorsforthe mostrigorousapplications. Morethan10millioncycleswereattainedin differentapplications. Graphite brushes are typically used: Inlargermotors Withhighcurrentloads Instart/stopoperation Inreverseoperation Whilecontrollingat pulsedpowerstage(PWM) Thespecialpropertiesofgraphite brushes cancauseso-calledspikes.Theyarevisiblein thecommutationpattern.Despitethehighfrequencyinterferencecausedbythespikes, thesemotorshavebecomepopularinapplicationswithelectroniccontrols.Pleasenote,that thecontactresistanceofthegraphitebrushes changesdependentonload. Precious metal brushes and commutator Ourpreciousmetalcombinationsensurea highlyconstantandlowcontactresistance, evenafteraprolongedstandstilltime.The motorsworkwithverylowstartingvoltages andelectromagneticinterferences. Precious metal brushes are typically used: Insmallmotors Incontinuousoperation Withsmallcurrentloads Withbatteryoperation InDCtachometers Thecommutationpatternisuniformandfree ofspikes,asopposedtothatofothermotors. Thecombinationofpreciousmetalbrushes andmaxonrotorsystemresultsinminimumof high-frequencyinterference,whichotherwise leadstomajorproblemsinelectronicalcircuits. Themotorsneedpracticallynointerference suppression. CLL concept Withpreciousmetalcommutation,thewearon commutatorsandbrushesiscausedmainlyby sparks.TheCLLconceptsuppressesspark generationtoalargeextent,thusgreatlyextendingservicelife. Whendrivenwithapulsedpowerstage(PWM) higherno-loadcurrentsoccurandanunwanted motorheatingcanresult.

Forfurtherexplanations,pleaseseepage49 orTheselectionofhigh-precisionmicrodrives byDr.UrsKafader.

Commutationpatternwith graphitebrushes

Commutationpatternwith preciousmetalbrushes

3

Commutation pattern Thecommutationpatternshowsthecurrent patternofamaxonDCmotoroveronemotor revolution. Pleaseplacealow-ohmseriesresistorinseries withthemotor(approx.50timessmallerthan themotorresistance).Observethevoltagedrop overtheresistorontheoscilloscope.

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Legend 1 Ripple,actualpeak-to-peakripple 2 Modulation,attributablemainlyto asymmetryinthemagneticfieldand Sold & Serviced By: inthewinding. 3 Signalpatternwithinarevolution ELECTROMATE (numberofpeaks=twicethenumberof (877) SERVO98 Toll Free Phone Toll Free Fax (877) SERV099 commutatorsegments)www.electromate.com [email protected] Technology short and to the point 25

May2011edition/subjecttochange

maxon DC motor

maxon EC motor

maxon EC motor ironlesswinding TechnologyshortandtothepointCharacteristicsofmaxon EC motors BrushlessDCmotor Longservicelife Speedsofupto50 000rpmandhigher arepossible Highlyefficient Linearmotorcharacteristics,excellent controlproperties Ironlesswindingsystemmaxon withthreephasesinthestator Lowestelectricaltimeconstantand lowinductance Nodetent Goodheatdissipation,highoverload capacity RotatingNeodymiumpermanentmagnet with1or2polepairs. Lowestresidualunbalance

Program EC-Program EC-max-Program EC-4pole with Hall sensors sensorless with integrated electronics sterilizable

1 Flange 2 Housing 3 Laminatedsteelstack 4 Winding 5 Permanentmagnet 6 Shaft 7 Balancingdisks 8 PrintwithHallsensors 9 Controlmagnet = Ballbearing + Spring(bearingpreload)

Characteristicsofthemaxon EC-maxrange attractiveprice/performanceratio robuststeelcasing speedsofupto20 000rpm rotorwith1polepair Characteristicsofthemaxon EC-4polerange Highestpowerdensitythankstorotor with2polepairs Knittedwindingsystemmaxon withoptimisedinterconnectionofthepartialwindings Speedsofupto25 000rpm High-qualitymagneticreturnmaterialto reduceeddycurrentlosses Mechanicaltimeconstantsbelow3ms

Electronical commutationBlock commutation Rotorpositionisreportedbythreein-builtHall sensors.TheHallsensorsarrangedoffsetby 120providesixdifferentsignalcombinations perrevolution.Thethreepartialwindingsare nowsuppliedinsixdifferentconductingphases inaccordancewiththesensorinformation.The currentandvoltagecurvesareblock-shaped. Theswitchingpositionofeachelectroniccommutationisoffsetby30fromtherespective torquemaximum. Properties of block commutation Relativelysimpleandfavorablypriced electronics Torquerippleof14% Controlledmotorstart-up Highstartingtorquesandaccelerations p ossible ThedataofthemaxonECmotorsare determinedwithblockcommutation. Possible applications Highlydynamicservodrives Start/stopoperation Positioningtasks Blockcommutation Sensorless block commutation Therotorpositionisdeterminedusingthe progressionoftheinducedvoltage.The electronicsevaluatethezerocrossingofthe inducedvoltage(EMF)andcommutethemotor currentafteraspeeddependentpause(30 afterEMFzerocrossing). Theamplitudeoftheinducedvoltageis dependentonthespeed.Whenstalledorat lowspeed,thevoltagesignalistoosmalland thezerocrossingcannotbedetectedprecisely. Thisiswhyspecialalgorithmsarerequiredfor starting(similartosteppermotorcontrol). ToallowECmotorstobecommutedwithout sensorsinaDarrangement,avirtualstarpoint isusuallycreatedintheelectronics. Properties of sensorless commutation Torquerippleof14%(blockcommutation) Nodefinedstart-up Notsuitableforlowspeeds Notsuitablefordynamicapplications Possible applications Continuousoperationathigherspeeds Fans

Bearings and service lifeThelongservicelifeofthebrushlessdesign canonlybeproperlyexploitedbyusingpreloadedballbearings. Bearingsdesignedfortensofthousands ofhours. Servicelifeisaffectedbymaximumspeed, residualunbalanceandbearingload.

Sensorlesscommutation

EMK

Legend Thecommutationangleisbasedonthelength ofafullcommutationsequence(360e).The lengthofacommutationintervalistherefore 60e. Thecommutationrotorpositionisidenticalto themotorshaftpositionformotorswith1pole pair. Thevaluesoftheshaftpositionarehalvedfor motorswith2polepairs.

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Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com [email protected] May2011edition/subjecttochange

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Hall sensor circuitSinusoidal commutation Thehighresolutionsignalsfromtheencoder orresolverareusedforgeneratingsine-shape motorcurrentsintheelectronics.Thecurrents throughthethreemotorwindingsarerelatedto therotorpositionandareshiftedateachphase by120degrees(sinusoidalcommutation).This resultsintheverysmooth,preciserunningof themotorand,inaveryprecise,highquality control. Properties of sinusoidal commutation Moreexpensiveelectronics Notorqueripple Verysmoothrunning,evenatverylow speeds Approx.5%morecontinuoustorque comparedtoblockcommutation Possible applications Highlydynamicservodrives Positioningtasks TheopencollectoroutputofHallsensorsdoes notnormallyhaveitsownpull-upresistance,as thisisintegralinmaxoncontrollers.Anyexceptionsarespecificallymentionedintherelevant motordatasheets.

Winding arrangementThemaxonrhombicwindingisdividedinto threepartialwindings,eachshiftedby120. Thepartialwindingscanbeconnectedintwo differentmanners-YorD.Thischangesthe speedandtorqueinverselyproportionalbythe factor . However,thewindingarrangementdoesnot playadecisiveroleintheselectionofthe motor.Itisimportantthatthemotor-specific parameters(speedandtorqueconstants)are linewithrequirements.

WiringdiagramforHallsensors

Themaximumpermissiblewindingtemperature is125Cor155Cdependingonmotortype. CurrentsinsineandblockcommutationSinusoidal phase currents


Block-shaped phase currents

0

60

120

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300

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maxon EC motor

maxon EC motor

maxon EC motor iron-coredwinding TechnologyshortandtothepointCharacteristicsofmaxon EC flat motors andEC-i motors BrushlessDCmotor Longservicelife Flatdesignforwhenspaceislimited Comparativelyhighinertia Motorcharacteristicsmayvaryfrom thestronglylinearbehaviour Hallsensorsignalsutilizableforsimple speedandpositioncontrol Windingwithironcoreandseveralteeth perphaseinthestator Lowdetenttorque Goodheatdissipation,highoverload capacity MultipoleNeodymiumpermanentmagnet Smallercommutationsteps Characteristicsofmaxon EC flat motors Attractiveprice/performanceratio Hightorquesduetoexternal,multipolerotor Excellentheatdissipationathigherspeeds thankstoopendesign Speedsofupto20 000rpm rotorwith1polepair Characteristicsofthemaxon EC-iprogram Highlydynamicduetointernal, multipolerotor Mechanicaltimeconstantsbelow3ms Hightorquedensity Speedsofupto15 000rpm

Program EC flat motor with Hall sensors sensorless with integrated electronics

1 Flange 2 Housing 3 Laminatedsteelstack 4 Winding 5 Permanentmagnet 6 Shaft 7 PrintwithHallsensors 8 Ballbearing 9 Spring(bearingpreload)

Electronical commutationBlock commutation Rotorpositionisreportedbythreebuilt-inHall sensorswhichdeliversixdifferentsignal combinationspercommutationsequence. Thethreephasesarepoweredinsixdifferentconductingphasesinlinewiththissensor information.Thecurrentandvoltagecurves areblock-shaped.Theswitchingpositionof everyelectroniccommutationliessymmetrically aroundtherespectivetorquemaximum. Properties of block commutation Relativelysimpleandfavorablypriced electronics Controlledmotorstart-up Highstartingtorquesandaccelerationspossible ThedataofthemaxonECmotorsare determinedwithblockcommutation. Possible applications Highlydynamicservodrives Start/stopoperation Positioningtasks Sensorless block commutation Therotorpositionisdeterminedusingthe progressionoftheinducedvoltage.The electronicsevaluatethezerocrossingofthe inducedvoltage(EMF)andcommutethemotor currentafteraspeeddependentpause(30 afterEMFzerocrossing). Theamplitudeoftheinducedvoltageis dependentonthespeed.Whenstalledorat lowspeed,thevoltagesignalistoosmalland thezerocrossingcannotbedetectedprecisely. Thisiswhyspecialalgorithmsarerequiredfor starting(similartosteppermotorcontrol).To allowECmotorstobecommutedwithoutsensorsinaDarrangement,avirtualstarpointis usuallycreatedintheelectronics. Properties of sensorless commutation Nodefinedstart-up Notsuitableforlowspeeds Notsuitablefordynamicapplications Possible applications Continuousoperationathigherspeeds Fans,pumps

Bearings and service lifeThelongservicelifeofthebrushlessdesign canonlybeproperlyexploitedbyusingpreloadedballbearings. Bearingsdesignedfortensofthousands ofhours Servicelifeisaffectedbymaximumspeed, residualimbalanceandbearingload

Blockcommutation

Sensorlesscommutation

EMK

1Legend Thecommutationangleisbasedonthelength ofafullcommutationsequence(360e).The lengthofacommutationintervalistherefore 60e. Thevaluesoftheshaftpositioncanbecalculatedfromthecommutationangledividedby thenumberofpolepairs.

2EMK

2Sold & Serviced By:

0

60

120

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ELECTROMATE 360

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Hall sensor circuitSinusoidal commutation SinusoidalcommutationforECmotorswith slottedwindingisbasicallypossible,provided thatanencodercanbemounted.Themain benefitofsinusoidalcommutationthesmooth operationonlycomesintoplaytoalimited degreeduetothedetent. TheopencollectoroutputofHallsensorsdoes notnormallyhaveitsownpull-upresistance,as thisisintegralinmaxoncontrollers.Anyexceptionsarespecificallymentionedintherelevant motordatasheets.

Winding arrangementThewindingisdividedinto3partialwindings whichhaveseveralstatorteetheach.The partialwindingscanbeconnectedintwo differentmanners-YorD.Thischanges thespeedandtorqueinverselyproportional bythefactor . However,thewindingarrangementdoesnot playadecisiveroleintheselectionofthe motor.Itisimportantthatthemotor-specific parameters(speedandtorqueconstants)are linewithrequirements.FlatmotorsandEC-iare normallyY-circuited.

WiringdiagramforHallsensors

Integrated electronicsFormotorswithintegratedelectronics,the electroniccommutation(mostlyblockcommutationwithHallsensors)isbuiltin.Aspeed controllerandotherfunctionalitiescanalsobe implemented. Features SimpleoperationwithDCvoltage FewerconnectionsthanwiththeECmotor Noadditionalelectronicsrequired Outputpowerreductionspossibleduetoless spaceforpowerelectronics

Themaximumpermissiblewindingtemperature is125C.(EC-i155C).


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maxon EC motor

maxon gear Technologyshortandtothepointmaxon gearGearsIfmechanicalpowerisrequiredatahightorque andcorrespondinglyreducedspeed,amaxon precisiongearisrecommended.Accordingto thegearratiotheoutputspeedisreducedwhile theoutputtorqueisenhanced.Foramore precisedeterminationofthelatter,efficiency mustbetakenintoconsideration.

Program Planetary gearhead Spur gearhead Koaxdrive Spindle drives

1 Outputshaft 2 Mountingflange 3 Bearingoftheoutputshaft 4 Axialsecurity 5 Intermediateplate 6 Cogwheel 7 Motorpinion 8 Planetarygearwheel 9 Sungearwheel = Planetcarrier + Internalgear

Spur gearheadThegearconsistsofoneormorestages.One stagerepresentsthepairingoftwocogwheels. Thefirstcogwheel(pinion)ismounteddirectly onthemotorshaft.Thebearingoftheoutput shaftisusuallymadeofsinteredmaterial. Favorablypriced Forlowtorques Outputtorqueupto2Nm Reductionratiosof6:1to5752:1 External-12-45mm Lownoiselevel Highefficiency Fortransferringhightorquesupto180Nm Reductionratiosof4:1to6285:1 Externaldiameter6-81mm Highperformanceinasmallspace Highreductionratioinasmallspace Concentricgearinputandoutput

ConversionTheconversionofspeedandtorqueofthegear output(nB, MB )tothemotorshaft(nmot, Mmot ) followsthefollowingequations:

KoaxdriveThequietKoaxdrivecombineswormand planetarygearing.Inthefirststage,aseparatelymountedwormdrivesthethreeoffset planetarywheelswhichthenmeshinthespeciallytoothedinternalgearedwheel.Allfurther stagesaredesignedasanormalplanetary gear: quiet highreductionratiointhefirststage otherpropertiesasplanetarygears

where: i: reduction : Gearheadefficiency

Selection of gearsAswithmotors,speedandtorquelimitsalso applytogearheads.Operatingtorquemust bebelowgearheadMN,Gnominaltorque(max. continuoustorque).

Planetary gearheadPlanetarygearsareparticularlysuitableforthe transferofhightorques.Largegearheadsare normallyfittedwithballbearingsatgearhead output.

Spurgearhead

Planetarygearhead

Withshort-termloads,theintermittenttorqueof thegearshouldalsobetakenintoconsideration. Notethatthenominaltorque(continuous torque)ofthegearisdependentonthenumber ofstages. Wherepossible,theinputspeedofthegear imaxshouldnotbeexceeded.Thislimitsthe maximumpossiblereductionimaxatagiven operatingspeed.Thefollowingappliestothe selectionofthereductioniM M

Ifthegearisselected,thedataconversedto themotoraxis(nmot, Mmot )areusedtoselectthe motor.Themaxonmodularsystemdefinesthe propermotor-gearcombinations. By: Sold & Serviced

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Service lifeThegearsusuallyachieve1000to3000operatinghoursincontinuousoperationatthemaximumpermissibleloadandrecommendedinput speed.Servicelifeissignificantlyextendedif theselimitsarenotpushed. Thefollowinghaveaninfluence: Exceedingmaximumtorquecanleadto excessivewear. Localtemperaturepeaksintheareaoftooth contactcandestroythelubricant. Massivelyexceedingthegearinputspeed reducestheservicelife. Radialandaxialloadsonthebearing.

MaterialsCeramics Ceramiccomponentsareincreasinglyused inplanetarygears,astheycansignificantly improvethewearcharacteristicsofcritical components. Thisresultsin: Longerservicelife Highercontinuoustorques Higherintermittenttorques Higherinputspeeds Youcanalsobenefitfromhigh-techceramic componentsthathaveprovedtheirworthmillionsoftimesoverinmaxonsdrivetechnology (seealsopages362365).

Torquecomparisonwithplanetarygearhead

Planetarygearheadswithceramicaxescan achievemuchhighertorquesthanwithsteel axes,asceramicaxesaremuchmorewear- resistantthansteelones. Plastic Favorablypricedandyetcompactdrivescan berealizedwithplasticgears.Themechanicalloadisslightlysmallerthanthatofmetal designs,however,itissignificantlyhigherthan thatofspurgears. Forfurtherexplanations,pleaseseepage201 orTheselectionofhigh-precisionmicrodrives byDr.UrsKafader.

Temperature / lubricationmaxongearsarelubricatedforlife.Thelubricantsusedareespeciallyeffectiveinthe recommendedtemperaturerange.Athigher orloweroperatingtemperaturesweofferrecommendationsforspeciallubricants.

Ceramicshaft

SteelShaft

Unlikesteelaxeswhichdemonstratehigh levelsofwearandtear,ceramicaxesshow almostnoneoverthesamerunningtime.

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maxon gear

6

maxon sensor Technologyshortandtothepointmaxon sensorSensorsmaxonoffersaseriesofsensors. Theircharacteristicsare: Digital incremental encoder Relativepositionsignalsuitablefor positioningtasks Rotationdirectionrecognition Speedinformationfromnumberofpulsesper timeunit Standardsolutionformanyapplications DC tachometer Analogspeedsignal Rotationdirectionrecognition Notsuitableforpositioningtasks Resolver Analogrotorpositionsignal Analogspeedsignal Extensiveevaluationelectronicsrequiredin thecontrolsystem Forspecialsolutionsinconjunctionwith sinusoidalcommutationinECmotors

Program Digital MILE encoder Digital MR encoder Digital Hall effect encoder Digital optical encoder DC Tacho Resolver

1 Endcap 2 Electricalconnectionsmotorandencoder 3 Print 4 MRsensor 5 ASIC 6 Magneticmulti-polewheel 7 Encoderhousing 8 Motorconnections 9 Motor = Solidmeasure + Carrierofsolidmeasure

Magneto-resistant (MR) principle InanMR-encoder,themultipolemagnetic discmountedonthemotorshaftproducesa sinusoidalvoltageintheMRsensor.Thetypical encodersignalsarecreatedbyinterpolation andelectronicsignalrefinement. Characteristics Needsverylittlespace Noprotrudingparts Highnumberofpulsesbyinterpolation Differentnumberofpulsescanbeselected Indexchannelpossible Linedriverpossible Magnetic principle with Hall sensors OnthemagneticMEnc-Encoderasmall multipolepermanentmagnetsitsonthemotor shaft.Thechangesinmagneticfluxareread byHallsensorsandfedintotheelectronicsas channelAandB. Characteristics Smalldesign 2channelsAandB Nolinedriverpossible Lownumberofpulses

Digital Incremental EncoderEncoder signals Theencodersprovideasimplesquaresignal forfurtherprocessinginthecontrolsystem.Its impulsescanbecountedforexactpositioning ordeterminingspeed.ChannelsAandBpick upphaseshiftedsignals,whicharecompared withoneanothertodeterminetherotation direction. Ahomepulse(indexchannelI)canbeused asareferencepointforprecisedeterminationof rotationangle. Thelinedriverproducescomplementarysig nalsA,B,Iwhichhelptoeliminateinterference onlongsignallines.Inaddition,thiselectronic driverinstalledintheencoderimprovessignal qualitybysteepersignaledges.

Optical principle Theopto-electronicprinciple(example:HEDL HEDS,Enc22)sendsanLEDlightthrough afinelyscreenedcodewheelthatisrigidly mountedontothemotorshaft.Thereceiver (phototransistor)changeslight/darksignals intocorrespondingelectricalimpulsesthatare amplifiedandprocessedintheelectronics. Characteristics Needslargespacewithprotrudingpart Highnumberofpulses Indexchannelpossible Linedriverpossible Highaccuracy Inductive eddy current principle IntheinductiveMILEencoder,ahigh-frequency magneticfieldisbroughtontoastructured copperdiscandtheangle-dependentfield displacementmeasured. Characteristics Veryrobustagainstmagneticandelectrical fieldsaswellascontamination Veryhighspeedspossible Highprecision.Interpolationerrorsare largelycompensatedforbyalook-uptable Indexchannelandlinedriveravailable Absoluteinterface(SSI)onrequest

Representationoftheoutputsignal ofadigitalencoder90 e 360 e Phase shift A,B CycleChannel A

Schematicdesignofa magneticencoder

Schematicdesignofan opto-electronicencoderA B I

NChannel B

S N SSold & Serviced By:

Channel I

Index puls width Phase shift of index pulse

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DC TachoInprincipleeverymaxonDCmotorcanbeused asaDCtacho.Formotor-tachocombinations, weofferaDCtachometer,wherebythetacho rotorismounteddirectlyonthemotorshaft. Characteristics TheoutputDCvoltageisproportionaltothe speedthankstothepreciousmetalbrushes. AINiComagnetforhighsignalstabilitywith temperaturefluctuations Noadditionaltachobearingsorfriction Nocouplings,highmechanicalresonance frequency

Tips on encoder selection Principalfeaturesofthemaxonincremental encoderare: Thenumberofpulsesperrevolution (increments) Theaccuracy Useofanindexchannel Theuseofalinedriver Themaximumsupportedspeed Thesuitabilityforspecialambientconditions (dust,oil,magneticfields,ionizingradiation) Encoders and maxon controllers Asastandardthemaxoncontrollersare presetforencoderswith500pulsesperrevolution. Thehigherthenumberofpulsesandthe highertheaccuracythebetterasmooth,jerkfreeoperationcanbeachievedevenatlow speeds. maxoncontrollerscanbesetforloworhigh speedoperationandforencoderswithalow orhighnumberofpulses. Controlelectronicscanrestrictanencoders maximumpossiblenumberofpulses.

The following applies especially to positioning systems: Allmaxonpositioningsystemsevaluatethe risingandfallingsignaledges.Withregard toencodernumberofpulses,thisresultsina fourtimeshigherpositioningprecision.This iswhatisreferredtoasquadcounts. Thehigherthenumberofpulses,themore precisethepositionthatcanbereached. At500pulses(2000quadcounts)anangle resolutionof0.18isachieved,whichis usuallymuchbetterthantheprecisionofthe mechanicaldrivecomponents(e.g.dueto gearplayorelasticityofdrivebelts). Onlyencoderswithanintegratedlinedriver (RS422)shouldbeusedinpositioningcontrols.Thispreventselectromagneticinterferencesignalsfromcausingsignallossand accumulatedpositioningerrors. Positioningapplicationsoftenrequirethe indexchanneloftheencoderforprecise referencepointdetection.

ResolverTheresolverismountedonthemotorsthrough shaftandadjustedaccordingtothemagnetic fieldofthemotorrotor.Theresolverhasarotatingprimarycoil(rotor)andtwosecondarycoils (stator)offsetby90.Analternatingcurrent connectedtotheprimarycoilistransferredto thetwosecondarycoils.Theamplitudesofthe secondaryvoltagesaresinjandcosj,where jistherotationangle. Characteristics Robust,forindustrialuse Longservicelife Nomechanicalwear Outputsignalcanbetransmittedoverlong distanceswithoutproblems Nosensitiveelectronics Specialsignalevaluationrequired Onlyonesensorforpositionandspeedinformation ECmotorswithresolveraresupplied withoutHallsensors

Schematicdesignof theinductiveMILEencoder

Recommendationsfor usingthemaxonencoderoptical MEnc MILE MR

Schematicdesignofaresolver

sinarctan A/D

linedriverpossible indexchannelpossible preciseposition verylowspeed veryhighspeed dust,dirt,oil ionisingradiation*onrequest

cos

LUT

()

*

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maxon sensor

maxon motor control

maxon motor control Technology short and to the pointThe maxon motor control program contains servo amplifiers for controlling the fast reacting maxon DC and EC motors.

Program 4-Q servoamplifiers for DC motors Sensorless controllers for EC motors 1-Q and 4-Q servoamplifiers for EC motors Position controllers for DC and EC motors

Motor type maxon DC motor maxon EC motor with or without sensor Type of control Speed Position Current Feedback Encoder DC Tacho IxR compensation Hall sensors Power amplifiers Linear Pulsed 1 quadrant 4 quadrant Circuit technology Digital Analog

Controlled variablesSpeed control The function of the speed servo amplifier is to keep the prescribed motor speed constant and independent of load changes. To achieve this, the set value (desired speed) is continuously compared with the actual value (actual speed) in the control electronics of the servo amplifier. The controller difference determined in this way is used by the controller to regulate the power stage of the servo amplifier in such a manner that the motor reduces the controller difference. This represents a closed speed regulating circuit. Position control The positioning control ensures a match between the currently measured position with a target position, by providing the motor with the corresponding correction values, as with a speed controller. The position data are usually obtained from a digital encoder. Current control The current control provides the motor with a current proportional to the set value. Accordingly, the motor torque changes proportionally to the set value. The current controller also improves the dynamics of a superior positioning or speed control circuit.

Digital encoder controlThe motor is equipped with a digital encoder that provides a certain number of pulses per revolution. The turning direction is detected with the square pulses of channels A and B offset by 90 electric degrees. Digital encoders are often found in positioning controls, in order to derive and measure the travel or angle. Digital encoders are not subject to mechanical wear. In conjunction with digital controllers there are no drift effects. If Hall sensor signals of an EC motor are used for control, this corresponds to an encoder with low resolution.

IxR compensationThe motor is provided with a voltage that is proportional to the applied speed set value. The speed would drop with increasing motor load. The compensation circuitry increases the output voltage with increasing motor current. The compensation must be adjusted to the terminal resistance of the motor which depends on temperature and load. The attainable speed precision of such a system is subject to limits in the percent range. Favorably priced and space-saving No tacho-generator or encoder required Less precise control when there is a load change Only analog speed control possible Ideal for low-cost applications without high demands on speed accuracy

Principle of a control circuit

Principle: Encoder control

Principle: IxR compensation

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Power amplifiersOne of the following two principles to control the power stage transistors is used in maxon controllers: Linear power stage The operating voltage is divided between the motor and the power amplifier. The controller changes the voltage on the motor (UM) linearly and proportionally. The voltage applied to the power amplifier (UT) causes power dissipation High currents and low motor voltages cause significant power dissipation Simple and favorably priced design of the power amplifier Principle: Linear power amplifier

DC tacho controlThe motor must be equipped with a DC tachometer that provides a speed proportional signal. In the maxon modular system, the tachometer rotor is mounted directly on the through motor shaft, resulting in a high resonant frequency. Classical solution of a very precise control Limited service life of the DC tacho generator Not suitable for positioning tasks Only for analog controllers Only for DC motors Ideal for stringent demands on speed dynamics

Operating quadrants4-Q operation Controlled motor operation and braking operation in both rotation directions A must for positioning tasks 1-Q operation Only motor operation (Quadrant I or Quadrant III) Direction reverse via digital signal Typical: amplifier for EC motors

For further explanations, please see page 279. Principle: DC tachometer control Operation quadrants

Pulsed power stage (PWM) The controller switches the motor on and off in short intervals (pulses/cycles). If the off interval is longer, the motor loses speed. The decisive average value of the voltage changes in relation to the on-to-off time. Only little energy is converted into heat. More expensive power amplifier High efficiency Principle: Pulsed power amplifier

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maxon motor control

maxon DC motor and maxon EC motor Key informationmaxon motorSee also: Technology short and to the point, explanation of the motor

The motor as an energy converterThe electrical motor converts electrical power Pel (current I and voltage U ) into mechanical power Pmech (speed n and torque M ). The losses that arise are divided into frictional losses, attributable to Pmech and in Joule power losses PJ of the winding (resistance R). Iron losses do not occur in the coreless maxon DC motors. In maxon EC motors, they are treated formally like an additional friction torque. The power balance can therefore be formulated as: Units In all formulas, the variables are to be used in the units according to the catalog (cf. physical variables and their units on page 42). The following applies in particular: All torques in mNm All currents in A (even no-load currents) Speeds (rpm) instead of angular velocity (rad/s)

The detailed result is as follows

Electromechanical motor constants The geometric arrangement of the magnetic circuit and winding defines in detail how the motor converts the electrical input power (current, voltage) into mechanical output power (speed, torque). Two important characteristic values of this energy conversion are the speed constant kn and the torque constant kM . The speed constant combines the speed n with the voltage induced in the winding Uind (=EMF). Uind is proportional to the speed; the following applies:

Motor constants Speed constant kn and torque constant kM are not independent of one another. The following applies:M

Similarly, the torque constant links the mechanical torque M with the electrical current I.

The main point of this proportionality is that torque and current are equivalent for the maxon motor. The current axis in the motor diagrams is therefore shown as parallel to the torque axis as well.

The speed constant is also called specific speed. Specific voltage, generator or voltage constants are mainly the reciprocal value of the speed constant and describe the voltage induced in the motor per speed. The torque constant is also called specific torque. The reciprocal value is called specific current or current constant.

Motor diagramsA diagram can be drawn for every maxon DC and EC motor, from which key motor data can be taken. Although tolerances and temperature influences are not taken into consideration, the values are sufficient for a first estimation in most applications. In the diagram, speed n, current I, power output P2 and efficiency are applied as a function of torque M at constant voltage U. Speed-torque line This curve describes the mechanical behavior of the motor at a constant voltage U: Speed decreases linearly with increasing torque. The faster the motor turns, the less torque it can provide. The curve can be described with the help of the two end points, no-load speed n0 and stall torque MH (cf. lines 2 and 7 in the motor data). DC motors can be operated at any voltage. No-load speed and stall torque change proportionally to the applied voltage. This is equivalent to a parallel shift of the speed-torque line in the diagram. Between the no-load speed and voltage, the following proportionality applies in good approximation

Derivation of the speed-torque line The following occurs if one replaces current I with torque M using the torque constant in the detailed power balance:

where kn is the speed constant (line 13 of the motor data). Independent of the voltage, the speed-torque line is described most practically by the slope or gradient of the curve (line 14 of the motor data).

Transformed and taking account of the close relationship of kM and kn , an equation is produced of a straight line between speed n and torque M.Sold & Serviced By:

or with the gradient and the no-load speed n0


The speed-torque gradient is one of the most informative pieces of data and allows direct comparison between different motors. The smaller the speed-torque gradient, the less sensitive the speed reacts to torque (load) changes and the stronger the motor. With the maxon motor, the speed-torque gradient within the winding series of a motor type (i.e. on one catalog page) remains practically constant. Current gradient The equivalence of current to torque is shown by an axis parallel to the torque: more current flowing through the motor produces more torque. The current scale is determined by the two points no-load current I0 and starting current IA (lines 3 and 8 of motor data). The no-load current is equivalent to the friction torque MR , that describes the internal friction in the bearings and commutation system.

Speed nn0

U = UN

Torque MIA

Current I

In the maxon EC motor, there are strong, speed dependent iron losses in the stator iron stack instead of friction losses in the commutation system. The motors develop the highest torque when starting. It is many times greater than the normal operating torque, so the current uptake is the greatest as well. The following applies for the stall torque MH and starting current IA

Efficiency curve The efficiency describes the relationship of mechanical power delivered to electrical power consumed.

One can see that at constant applied voltage U and due to the proportionality of torque and current, the efficiency increases with increasing speed (decreasing torque). At low torques, friction losses become increasingly significant and efficiency rapidly approaches zero. Maximum efficiency (line 9 of motor data) is calculated using the starting current and no-load current and is dependent on voltage.

n0

MH

A rule of thumb is that maximum efficiency occurs at roughly one seventh of the stall torque. This means that maximum efficiency and maximum output power do not occur at the same torque.

Rated working pointThe rated working point is an ideal working point for the motor and derives from operation at nominal voltage UN (line 1 of motor data) and nominal current IN (line 6). The nominal torque MN produced (line 5) in this working point follows from the equivalence of torque and current, and nominal speed nN (line 4) is reached in line with the speed gradient. The choice of nominal voltage follows from considerations of where the maximum no-load speed should be. The nominal current derives from the motors thermally maximum permissible continuous current.

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maxon motor

Motor diagrams, operating rangesThe catalogue contains a diagram of every maxon DC and EC motor type that shows the operating ranges of the different winding types using a typical motor. Permanent operating range The two criteria maximum continuous torque and maximum permissible speed limit the continuous operating range. Operating points within this range are not critical thermally and do not generally cause increased wear of the commutation system. Short-term operating range The motor may only be loaded with the maximum continuous current for thermal reasons. However, temporary higher currents (torques) are allowed. As long as the winding temperature is below the critical value, the winding will not be damaged. Phases with increased currents are time limited. A measure of how long the temporary overload can last is provided by the thermal time constant of the winding (line 19 of the motor data). The magnitude of the times with overload ranges from several seconds for the smallest motors (6 mm to 13 mm diameter) up to roughly one minute for the largest (60 mm to 90 mm diameter). The calculation of the exact overload time is heavily dependent on the motor current and the rotors starting temperature. Maximum continuous current, maximum continuous torque The Jule power losses heat up the winding. The heat produced must be able to dissipate and the maximum rotor temperature (line 22 of the motor data) should not be exceeded. This results in a maximum continuous current, at which the maximum winding temperature is attained under standard conditions (25C ambient temperature, no heat dissipation via the flange, free air circulation). Higher motor currents cause excessive winding temperatures. The nominal current is selected so that it corresponds to this maximum permissible constant current. It depends heavily on the winding. These thin wire windings have lower nominal current levels than thick ones. With very low resistive windings, the brush systems capacity can further limit the permissible constant current. With graphite brush motors, friction losses increase sharply at higher speeds. With EC motors, eddy current losses increase in the return as speed increases and produce additional heat. The maximum permissible continuous current decreases at faster speeds accordingly. The nominal torque allocated to the nominal current is almost constant within a motor types winding range and represents a characteristic size of the motor type. The maximum permissible speed for DC motors is primarily limited by the commutation system. The commutator and brushes wear more rapidly at very high speeds. The reasons are: Increased mechanical wear because of the large traveled path of the commutator Increased electro-erosion because of brush vibration and spark formation. A further reason for limiting the speed is the rotors residual mechanical imbalance which shortens the service life of the bearings. Higher speeds than the limit speed nmax (line 23) are possible, however, they are paid for by a reduced service life expectancy. The maximum permissible speed for the EC motor is calculated based on service life considerations of the ball bearings (at least 20 000 hours) at the maximum residual imbalance and bearing load. Maximum winding temperature The motor current causes the winding to heat up due to the windings resistance. To prevent the motor from overheating, this heat must dissipate to the environment via the stator. The coreless winding is the thermally critical point. The maximum

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