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BRUSHLESS DC MOTORS HANDBOOK

Brushless DC Motors
Handbook
Axsys Technologies, Inc.

Motion Control Products
7603 Saint Andrews Avenue, Suite H
San Diego, CA 92154
Ph: (800) 777-3393

Fx: (619) 671-9292 www.axsys.com
Pancake Resolvers >> Brush Type Motors >>
Axsys Technologies’ Motion Control Products Division is experi-

enced and ready to build a high-quality system solution for your
specific application.
© Copyright 2005 Axsys Corporation Rev. 07/2005

Axsys believes the information in this publication is
accurate as of its publication date. Such information is
subject to change without notice. Axsys is not responsible
for inadvertent errors. All brands and product names are
trademarks of their respective owners.
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Brushless DC Motors (800) 777-3393

Table of Contents
User’s Guide . . . . . . . . . . . . . . . . . . . . 1
Axsys Introduction . . . . . . . . . . . . . 4 Mechanisms . . . . . . . . . . . . . . . . . . 109
Table of Contents
Brushless DC Motors. . . . . . . . . . . . 5 Direct Drive Motor Assemblies . 110
Commutating Brushless Scanners . . . . . . . . . . . . . . . . . . . 111
DC Motors . . . . . . . . . . . . . . . . . . . . 9 Actuators . . . . . . . . . . . . . . . . . . . 112
Glossary . . . . . . . . . . . . . . . . . . . . . 23 Feedback Packages. . . . . . . . . . . 113
Conversion Table . . . . . . . . . . . . . . 26
Capabilities . . . . . . . . . . . . . . . . . . . 114
Overview . . . . . . . . . . . . . . . . . . . 115
2 Phase Brushless Motors DC Motors . . . . . . . . . . . . . . . . . . 116
Selection Guide AC and Stepper Motors . . . . . . . 117
by Outside Diameter . . . . . . . . . . . . 29 DC and AC Tachometers . . . . . . . 118
by Peak Torque . . . . . . . . . . . . . . . . . 29 Resolvers/Synchros . . . . . . . . . . 119
Scanners . . . . . . . . . . . . . . . . . . . 120
3 Phase Brushless Motors Actuators . . . . . . . . . . . . . . . . . . . 121
Selection Guide Packages, Assemblies
by Outside Diameter . . . . . . . . . . . . 36 and Servosystems. . . . . . . . . . . . 122
by Peak Torque . . . . . . . . . . . . . . . . . 36
DC Motor Design Guide . . . . . . . . . 123
Limited Angle Slotted Motors
(Series Wound)
Selection Guide . . . . . . . . . . . . . . . . 65
Limited Angle Slotless Motors

(Toroidally Wound)
Selection Guide
by Outside Diameter . . . . . . . . . . . . 72
by Peak Torque . . . . . . . . . . . . . . . . . 73
Typical Performance Curves

Excursion Tables . . . . . . . . . . . . . . . . 74
Limited Angle Moving Coil Motors

Selection Guide . . . . . . . . . . . . . . . . 99
Dual Winding Motors

Selection Guide . . . . . . . . . . . . . . . 105
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(800) 777-3393 Brushless DC Motors

Alpha-Numeric Index BTM24-G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
BTM28-EA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
BTM30-E. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
0850-100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 BTM34-H-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
0910-095 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 BTM34-Q1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
1500M-154 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 BTM34-U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
1500N-125. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 BTM34-S. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Index
1600C-059 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 BTM35-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
1600C-059J . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 BTM48-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
2375H-050. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Inner Rotating:
2375H-110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 2 Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2375J-055 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 3 Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2700C-061 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Limited Angle Slotted . . . . . . . . . . . . . . . . . 66
2990B-110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Limited Angle
2990E-110 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Slotted (Series Wound). . . . . . . . . . . . . . . . . . . 65
3340-060F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Slottless (Toroidally Wound) . . . . . . . . . . . . . . 73
3340-210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Moving Coil Motors . . . . . . . . . . . . . . . . . . . . . 99
3350L-080 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Outer Rotating:
3625-085 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 3 Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3625J-100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Limited Angle Slotted . . . . . . . . . . . . . . . . . 67
3730F-060 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 RA2500A-077 . . . . . . . . . . . . . . . . . . . . . . . . . 100
3730H-071. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 RA2500B-078 . . . . . . . . . . . . . . . . . . . . . . . . . 101
4125-120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 RA6240B-119 . . . . . . . . . . . . . . . . . . . . . . . . . 102
4500C-080 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 RA6800-119 . . . . . . . . . . . . . . . . . . . . . . . . . . 103
4500C-080C. . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Three Phase Motors . . . . . . . . . . . . . . . . . . . . . 35
4600-075 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Two Phase Motors . . . . . . . . . . . . . . . . . . . . . . 29
4750-106 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
5750D-150. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5850B-075. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
6000R-250. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
6000S-190. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
6000S-340. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6000S-440. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
6700-154. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
7600B-750. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
8338-157 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
8700-100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
8860B-330. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
8860B-410. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
11500C-082. . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
BTM9-C2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
BTM10-S. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
BTM10-R-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
BTM10-AD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
BTM10-A-5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
BTM10-N-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
BTM10-L . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
BTM14-E. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
BTM15-C. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
BTM16-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
BTM16-FA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
BTM18-G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
BTM18-L . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
BTM22-BA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
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User’s Guide The Selection Guide is the first page
The Axsys Technologies Brushless DC in each brushless motor section.The
Motor Manual is organized in a manner Selection Guide lists the products featured,
which makes it easy to access the product basic parameters, and the page where the
performance information. Starting with the datapage can be found. Immediately fol-
Design Guides, you should be able to locate lowing the Selection Guide are the individ-
the specific brushless motor which best suits ual datapages. On each datapage are end
User’ Guide
your needs. and cutaway views of the product, as well as
winding and performance data.
Sample Datapage
6980G-180
2375H-050
Model
Number
+.006
Ø.146 -.000 THRU
C'BORE Ø.236 X .156 ± .010 DP
7 EQ. PLCS ON Ø6.650 BSC .23
BLU LEADWIRES ARE #22 AWG TYPE "E", 1.800 MAX.
Motor RED
PER MIL-W-16878/4, 12" MIN. LG.
GRN
# 10-32 UNF-2B
.500 MAX.
1.59
X .50 DP MIN.
Products
Drawing 7 EQ PLCS ON Ø6.650 BSC
Ø4.650 MIN. +.001

+.000 Ø4.499 -.000
Ø6.980 -.002 2 PLCS
Ø2.32 MAX. TYP. +.001
Ø.940 -.000
Ø6.330 MAX.
Ø1.52 MIN. TYP.
Ø2.375
+.000
-.001
Product
Category
LEADWIRES ARE #22 AWG TYPE "E",
3 Phase Motors
RED WHT/BLK PER MIL-W-16878, 36" MIN. LG. .015 ±.010
BLK MTG. DIM.
WHT/RED 1.36
1.575
.048±.010
Performance Performance Data

MTG. DIM.
ROTATION: FIELD ROTATES CW
Performance Data .325
Parameter Units Value

WHEN VIEWED FROM LEAD SIDE
Data Parameter Units Value

WITH THE FOLLOWING SEQUENCE:
WHITE/RED & WHITE/BLACK
ROTATION:
COMMON FIELD
AND ROTATES
POSITIVE CW
VOLTAGE
WHEN TO
VIEWED FROMBLACK.
LEAD SIDE
Peak Peak
Torque (Tp) (Tp)
Torque oz-in
oz-in 1300
60 APPLIED RED THEN
RED+, GREEN-; BLUE+, GREEN-;
Power at Tpat(PTpp) (Pp)
Power watts
watts 34160 BLUE+, RED-.
RED
MotorMotor
Constant (Km)(Km)
Constant oz-in/ W!W
oz-in/ W 224
4.74
RED
Electrical TimeTime
Electrical Constant (e) (te)
Constant milli-sec
milli-sec 1.1
0.54 WHITE/RED
Mechanical TimeTime
Mechanical Constant ( m)(tm)
Constant milli-sec
milli-sec 10.0
4.1
WHITE/BLACK BLACK
Damping
Damping Factor
Factor (Fo) (Fo) oz-in/rad/sec
oz-in/rad/sec 0.160
391
2
Moment
Moment of Inertia
of Inertia (Jm)(Jm) oz-in-sec
oz-in-sec 2 0.0016
1.60 GREEN SCHEMATIC BLUE
TotalTotal Breakaway
Breakaway Torque
Torque (Tf) (Tf) oz-in
oz-in 501.0 SCHEMATIC
Temperature
Temperature RiseRise (TPR)
(TPR) °C/watt
°C/watt 14
Max.Max. Allowable
Allowable Wdg.Wdg. Temp.
Temp. °C °C 155
155
Weight
Weight oz oz 5.5
134
Number of Poles 8
Number of Poles 28
Number of Phases 3
Number of Phases 2
Winding Winding Constants
Winding Constants
Parameter UNITS TOL. -013 -033 -052 -131
Constants Parameter UNITS TOL. -130 -180 -317 -490
Resistance (R) ohms ±12.5% 1.3 3.3 5.2 13.1
Voltage at Tp (Vp) volts Nominal 14.4 23.3 29.2 46.5
Current at Tp (Ip) amps Nominal 11.1 6.90 5.50 3.45
Torque Sensitivity (Kt) oz-in/amp ±10% 5.40 8.70 10.9 17.4
Torque Sensitivity (Kt) oz-in/amp ±10% 800 1000 1240 1525
Back E.M.F. (Kb) volts/rad/sec ±10% 0.039 0.061 0.076 0.120
43
Inductance (L) millihenries ±30% 0.7 1.8 2.8 7.1
25
Inductance (L) millihenries ±30% 14 22 35 www.axsys.com
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Motion Control Packages aerospace, and medical industries. Equipped
For decades, Axsys has provided for innovation, with a world-class team of
solutions for complex applications such as engineers and a global support network,
ultrasonic imaging systems, semiconductor Axsys is uniquely able to apply this high
process, mechanisms, aircraft actuation and performance technology to your system
missile guidance systems.The mechanism needs, at a competitive cost.
section of the Axsys Technologies Brushless
Introduction
DC Motor Manual gives a brief overview. Design and Manufacturing

Your Axsys design begins with a
Design Guides detailed review of your specifications by our
At the end of this catalog, you will find a engineers. If you have not established formal
DC Motor Design Guide, which prompts specifications, our engineers will help devel-
you to answer the necessary questions op them with you.We use computer aided
about your current motor requirements. design programs, design, and process control
The Design Guide is especially useful when specifications to assure the product will meet
your project calls for a custom solution.We your specifications.
recommend you make copies of it to use as
worksheets when deciding on your brush- Axsys manufacturing cycle brings with the
less motor requirements. establishment of a Materials Requirements
Plan (MRP).With the aid of an integrated
computer planning/scheduling system,
detailed production schedules are generated
Axsys Motion Control Products to ensure on-time material delivery, optimal
Introduction output, and inventory levels.
Heritage Customer Service

Axsys has been serving the At Axsys, service does not end
commercial,industrial and defense motion with the delivery of your products. Service
control industries for 40 years, supplying and support are our most important respon-
high performance components and systems sibilities, and we meet them with our net-
that stand up to the most rigorous environ- work of technical support staff that stretches
ments.We supply high performance prod- around the world. Our engineering, manu-
ucts that withstand 700 g’s of shock, 15,000 facturing and quality experts - in fact, all
lbs of pressure, and temperature ranges from employees in our entire organization - are
-55ºC to +200ºC, for applications from ready to serve you from concept, through
aerospace to medical, textile to robotics. development, to order delivery, and beyond.
From our inception, Axsys has

Quality Assurance
continuously challenged technological
limitations, developing state-of-the-art We have established the internal quality
motors, position feedback devices, and systems required for high-reliability com-
electromechanical assemblies for the rapidly mercial and defense programs. Axsys’ Quality
evolving commercial, industrial, defense, System is certified to ISO 9001:2000.
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Manufacturing Operation motors this energy can be handled by
Axsys MCP has a modern 60,000 the drive circuits.
square foot facility in San Diego, staffed by 2. The stator, which is wound member,
dedicated employees.We can easily accom- may be mounted in a substantial heat
modate contracts from the development sink to minimize temperature rise and
phase through full-scale production. prolong bearing life.
Brushless DC Motors
We encourage factory tours. Our operations 3. Where long life is a requirement, the
include an extensive CNC machine shop, absence of brushes normally increases
automated armature winding station, the motor’s life expectancy to that of
organized work centers, and environmental the bearings.
and performance testing equipment.
4. In high-cleanliness applications,
unacceptable brush wear particles are
Brushless DC Motors eliminated.
The mechanical switching of current 5. The EMI (Electromagnetic

associated with brush motors is replaced Interference)normally associated with the
with electronic switching in brushless arcing of the brush commutator interface
motors. Brushless DC motors are not simply is eliminated in the brushless motor.
AC motors powered by an inverter, instead Brushless DC controllers are generally
these devices use rotor feedback devices so free of major EMI contributors.
that the input wave forms are kept in proper
timing with the rotor position. Some form 6. For explosive environments, a brushless
of electronic commutation switching is nec- motor can be used without special
essary for all motors, except in the limited housing elements necessary to
angle devices. explosion-proof a conventional DC
motor.
Brushless DC motors with suitable control
electronics can be directly substituted for 7. Although brushes have been used
similarly-sized brush DC motors. Brushless extensively in space environments,
DC motors provide several advantages: their preparation is expensive and time
consuming.The brushless motor
1. Brushless units may be operated at requires much less preparation.
much higher speeds and at full torque
at these speeds, resulting in a motor Typical Applications
with considerable power output for its Brushless DC motors have the same
size. High speed operation is especially electrical performance operating (transfer
difficult for conventional DC motors function) characteristics as brush-commu-
because the high energy that must be tated DC motors, and can be used in the
switched by the brushes is destructive same applications.They provide high start-
and shortens motor life. In brushless ing torque, variable bi-directional speed
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operation, and precision position and veloc-
ity servo loop capabilities.They can also
replace AC motors in spindle and rotary
table drives where the higher torque DC
motor can drive the spindle directly, elimi-
nating the need for a belt and pulley.
Brushless DC Motors
Basic Components
A brushless motor system consists of four
basic subassemblies:
1. A stator wound with electromagnetic
coils which are connected in single and The gearless DC motor drive is ideally suited to
high acceleration applications requiring improved
poly-phase configurations.
response for rapid start/stop actions.
2. A rotor consisting of a soft iron core
and permanent magnet poles.
3. A rotor position sensor providing rotor
Applications Equipment Brushless DC Advantage
Long Life,
Velocity Servos Disk Memory Spindle Drive
Low-EMI
High Speed,
Video Tape Recorder
No Brush Debris
High Speed,
Silicon Water Spinner
Long Life
Low-EMI,
CAT Scanner
Low Audible Noise
High Speed,
Infrared Imager
Low-EMI
Long Life,
Artificial Hearts
No Brush Debris
Cryogenic Compressor No Brush Debris
No Arching
Fuel Pump
No Brush Debris
No Brush Debris
Air Bearing Spindle
High Speed
Vacuum Operation
Position Servos Space Vehicle
Low-EMI
Optical System No Brush Debris
Stable Platform Low-EMI
High Power Density Robot Low Thermal Resistance
Low Thermal Resistance

Airborne Actuator
6
Vacuum Operation
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position to the required resolution. Stator Leadwires
4. Commutation logic and switching elec-
tronics to covert rotor position infor-
Permanent
mation to the proper stator phase exci- Magnets
tation. Rotor Core
Windings
Brushless DC Motors
Stator
The stator for a brushless DC motor is a Stator
A) Inner Rotor Brushless DC Motor
laminated steel core with coils of magnet
wire embedded and connected in two or
Rotor Core
Stator Leadwires
more phases so that by sequentially exciting
these phase winding, a rotating electromag-
netic field can be generated.
Since both iron and copper losses in the

Stator Windings
brushless DC motor take place in the stator,
generated heat is easily transferred to the Permanent
Magnets
surroundings. A motor with an inner rotor is
better in this regard due to the larger stator B) Outer Rotor Brushless DC Motor
area in contact with the mounting surfaces.

Fig. 1 Brushless Motor Configurations
Rotors
In all continuous rotation brushless DC Position Sensors
motors, the permanent magnetic field is on There are several ways to sense brushless
the rotor.The winding supplying the rotat- rotor position. Rotor position sensing is
ing electromagnetic field are in the stator. necessary so the stator winding excitation
The rotor can be designed inside of the sta- can be controlled to keep the electromag-
tor, as in a conventional motor, or outside of netic field in leading quadrature with
the stator. See Figure 1A and 1B.The inner respect to the rotor field.These methods fall
rotor design is generally used in incremental into three categories: photo-electronic,
motion application where low inertia and electromagnetic, and magnetic.
fast response are required.The outer rotor
configuration provides a more rigid struc- PhotoElectronic
ture for the permanent magnets and has A set of photo-transistors and LEDs are
higher inertia. It is used in high speed appli- coupled across a shutter which is keyed to
cations where a stiff structure is required to the rotor and has windows in the proper
counter the centrifugal forces acting on the pattern to control the phase excitation. If a
permanent magnets, in velocity loop appli- shaft angle encoder is required in the sys-
cations where the additional rotor inertia is tem for normal shaft position sensing, a
desired for velocity stabilization, or when separate pattern track can be included on
the additional inertia is insignificant relative the disk for motor commutation.The out-
to the total inertia as in a memory disk put of an absolute encoder can also be used
drive. in a sine cosine ROM or as input to a digi-
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tal comparator to develop the commutation choice while IGBT’S are most common in
waveform. high voltage brushless motors driver where
the motor voltages are on the order of sev-
Electromagnetic eral hundred volts.
Electromagnetic sensors use a soft iron tar-
get and a set of wound coils. Changes in
Brushless DC Motors
the coil inductance are sensed and decoded Also, for high power applications, most
to verify rotor position. Eddy current modern three phase brushless drivers are
devices using metallic targets can also be designed to operate directly off of the 230
used in the same manner. Brushless resolver VAC or 440 VAC power line, eliminating
are commonly used in sine cosine systems the need for separate power supply lines, and
as the source of the phase quadrature wave- the need for a separate power supply to gen-
form. erate the switch bus voltages.These drive
systems almost always use IGBT power
Magnetic devices because of the high voltages
Hall effect sensors, magneto-resistors, or encountered and the high efficiency
magneto-diodes are used in magnetic sen- achieved with direct line powered operation.
sors.These devices work directly off of the
rotor poles so that the alignment of the In a sine-cosine system, the electronics mod-
sensors can be accomplished during the ule is a two phase bipolar amplifier.The sen-
manufacture of the stator.They become a sor output are first decoded or demodulate
part of the stator assembly so that the user (if required), and then amplified by a four
need only install the rotor to have an quadrant power amplifier.To reduce power
aligned system. dissipation in the amplifier, pulsewidth mod-
ulation is often used.This type of system is
Electronics more costly than the digitally switched sys-
The electronics module, which can be tem. For this reason, is used only when the
internal to the motor housing or placed on applications needs the smooth, low ripple
an external printed circuit board, receives torque of a sinusoidally-commutated brush-
the signals form the position sensors and less motor.
uses digital logic to develop the wave-forms
that are used to control the switches.These Brushless DC motor controllers offer many
switches are usually power MOSFET, power levels and commutation options.
IGBT, or bipolar transistor devices.The Standard controller products are available
selection of the type of power switch providing closed loop control of speed or
depends largely on the application and torque, accepting Hall sensor, optical
includes factors such as the motor voltage, encoder or resolver position sensor signals.
peak motor current, PWM frequency, and Often in low power applications, the control
the operating characteristics of the motor. electronic are an integral part of the motor
and range from single commutation and
In general, power MOSFET’S, because of switching circuits to complete speed control
the very low “on” resistance exhibited by systems. Many IC’s combining commuta-
this type of device, are the switches of tion, current sensing, fault detection, and
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power switch drive functions provide cost Rotor Position
effective Brushless DC motor control. Electrical Degrees
Torque
Commutating Brushless DC Motors

0A
90 180 270 360
Commutating Brushless DC
Motors
Torque
Torque and Winding Characteristics
The basic torque waveform of a brushless 0B
DC motor has a sinusoidal or trapezoidal
shape. It is the result of the interaction
Commutated ± 1 1 1 1
Excitation
between the rotor and stator magnetic fields,
3 2 4 1
4 1 3 2
and is defined as the output torque generat-
ed relative to rotor position when a constant
DC current is applied between two motor
Torque with iKt
Commutated
leads.This torque waveform is qualitatively
equivalent to the voltage generated wave- Excitation 0
form at the two motor leads when the
motor is driven at a constant speed by
Figure-2. Switch mode commutation of a two
another motor.The frequency is equal to the phase brushless DC motor.
number of pole pairs in the motor times the
speed in revolutions per second.
The brushless DC motor will exhibit torque

speed characteristics similar to a convention-
al DC motor when the stator excitation is in
proper alignment with the rotor’s magnetic
field.The stator excitation may be square
wave or sinusoidal. Ideally, the stator excita-
tion may be square wave or sinusoidal.
Ideally, the stator excitation should be
applied in a sequence to provide a constant
output torque due to the finite commuta-
tion angle.The commutation angle is the
angle the rotor rotates through before the
winding are switched. Ripple torque is typi-
cally expressed as a percentage of average to
peak torque ratio. It is present whenever the
winding are switched by a step function
either electrically via solid state switches or
mechanically via brushes.
Figure-3. Switch mode commutation of a three
phase delta wound brushless DC motor.
9
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In brushless DC motors designed for square
wave excitation, the ripple torque can be
reduced by reducing the commutation
angle by using a higher number of phases,
which also improves motor efficiency.

Figure 2 shows the commutation points
and output torque for a two phase brushless
motor.The commutation angle is 90 elec-
trical degrees which yields the largest ripple
torque of about 17% average to peak.A
three phase delta system is shown in Figure
3.The commutation angle is 60 degrees and
the ripple toque is approximately 7% aver- Figure-4. BEMF Trapezoidal waveform.
age to peak. Since two-thirds of the avail-
04
able winding are used at any one time, 03 05
compared to one-half for the two phase 02 06
01
system is more efficient.
07
The torque waveform indicated in Figure 2 012 08
011 09
and 3 have a sinusoidal shape.A trapezoidal 010
torque waveform can be obtained by using Rotor Position-Electrical Degrees
01
a salient pole structure in conjunction with
the necessary lamination/ winding configu- 60 120 180 240 360
ration. In practice, the trapezoidal torque 02
waveform does not have a perfectly flat top.

03
Manufacturing and other cost considera-
04
tions result in an imperfect trapezoidal
waveform. An example is Figure 4 where
the generated voltage waveform across two 05
terminals of a brushless motor designed for
trapezoidal torque generation is Shown. 06
Figure 5 is an example of a 12 phase brush-

07
less motor with a trapezoidal torque wave-
form.With the center terminal of the phas- 08
es connected to the supply voltage, the
phases are switched to ground during the 09
indicated commutation angle of 30 electri-

010
cal degrees. Only three phases are “on” at
any one time.This motor was designed to 011
satisfy the requirements of high efficiency
and minimum ripple torque for a precision 012
pointing and tracking space gimbal applica-

Figure-5.Torque waveform for 12 phase brushless
tion. In applications requiring smooth
10
DC motor.
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IA If the motor currents are supplied in the
0A following relationships:
IB
0B IA = I Cosu
Rotor Position Electrical Degrees

IB = I Sinu
The torque output of the motor is:

0A Torque with
IA Const.
90 180 270 360
T = TA + TB
T = I KT(Sin2u + Cos2u )
T = I KT
0B Torque with
IB Const. This analysis indicates that the sinusoidally
driven brushless motor has linear character-
istics similar to a conventional DC motor
IA = I COSu and has minimum ripple torque.Three
phrase winding can be connected in either
wye or delta configuration. Excitation can
IB = I SINu be switch mode or sinusoidal drive.The
switch mode drive is the most commonly
Normalized 1.0
used system because it results in the most
Torque
0.5
efficient use of the electronics.Two switches
per phase terminal are required for the
90 180 270 360 switch mode drive system.Therefore, only
2
T = IK SIN u
B T
six switches are required for either the wye
2
T = IK COS u
or delta configuration.
A T
Figure-6.Two phase sinusoidal excitation. The delta winding form a continuous loop,
operation at low speed, or where the motor so current flows through all three winding
is operated in a position loop, a sinusoidal regardless of which pair of terminals is
drive system should be considered. Figure 6 switched to the power supply. Since the
is an example of a two phase motor internal resistance of each phase is equal,
designed for sine wave drive. the current divides unequally, with two-
The torque output of each phase is: third of the total current from one winding
to another as the winding are commutated.
TA = IA KT Cos u For the wye connection, current flows

TB = IB KT Cos u through the two winding between the
Where switched terminals.The third winding is
isolated and carries no current. As the
IA = current in phase A winding are commutated, the full load cur-
IB = current in phase B rent must be switched from terminal to ter-
KT =torque sensitivity of motor minal. Due to the electrical time constant
u = rotor position in electrical degrees of the winding, it takes a finite amount of
11
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time for the current to reach full value. At The commutation points and output torque
high motor speeds, the electrical time con- for a two phase brushless motor were shown
stant may limit the switched current from in Figure 2.The commutation angle is 90
reaching full load value during the commu- electrical degrees, and the winding are
tation interval, and thus limits the generated switched “on: 45 electrical degrees before
torque.This is one of the reasons the delta- the peak torque position.The current polari-
configuration is preferred for applications ty must be reversed for negative torque
requiring high operating speed. Other con- peaks.The commutation waveform for this
siderations are manufacturing factors which motor are shown in Figure 7. Sensor output
permits the delta configuration to be fabri- and alignment is shown in figure 7A. The
cated with lower BEMF constant, resist- S1 output leads the phase B torque position
ance, and inductance. A lower BEMF con- by 45 electrical degrees.
stant allows the use of more common low
voltage power supplies, and the solid state There are several methods for aligning the
switches will not be required to switch S1,2 sensors with respect to the stator wind-
high voltage. For other than high speed ing. As shown in Figure 2, the peak torque
applications, the wye connection is pre- position of phase B coincides with the zero
ferred because it provides grater motor torque position of phase A and vice versa.
efficiency when used in conjunction with Sensor S1 can be aligned to the phase B
brushless motors designed to generate a winding by applying a constant current to
trapezoidal torque waveform. phase A.The rotor will rotate to phase A’s
zero torque position. S1 should be posi-
Sensor Timing and Alignment tioned so that its output just switches from a
A brushless DC motor duplicates the per- low to high logic state at 45 electrical
formance characteristics of a DC motor degrees counter-clockwise from phase A’s
only when its winding are properly com- zero torque position.
mutated. Proper commutation involves the
timing and sequence of stator winding Another method is to align the position sen-
excitation.Winding excitation must be sors to the BEMF waveform. Since the
timed to coincide with the rotor position BEMF waveform is qualitatively equivalent
that will produce optimum torque.The to the torque waveform, the motor can be
excitation sequence controls the polarity of driven at a constant speed by another motor,
generated torque, and therefore the direc- and the position sensors aligned to the gen-
tion of rotation. erated BEMF waveform.The sensor transi-
tion points relative to the BEMF waveform
Rotor position sensors provide the infor- should be as indicated in Figures 2 and 7.
mation necessary for proper commutation. For critical applications which require the
Sensor output is decoded by the commuta- commutation points to be optimized, the
tion logic electronics.The logic signals are motor should be operated at its rated load
fed to the power drive circuit which acti- point, and then the position sensors should
vates the solid state switches to commutate be adjusted until the average winding cur-
the winding. rent is at its minimum value.To facilitate
sensor alignment, Axsys can supply stators
12
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CW Rotor Position - Electrical Degrees
0 60 120 180 240 300 360
1
S1 0

1 (A)
S2 0
on
Q1 off
(S1 l S2)
on
Q2 off (S1 l S2)
on (B)
Q3 off
(S1 S2)
on
l
Q4 off (S1 l S2)
+
0B 3-4 0
- (C)
+
0A 1-2 0
-
Q4
+VS 1
-VS
Q2 0A (D)
2 3 4
0B
Q1 Q3
+VS -VS
Figure-7. Sensor output, commutation logic, and

and winding excitation waveform for a
two phase brushless DC motor.
with reference marks to which the position

sensors can be aligned.
The commutation points and output torque Figure-8. Sensor output, commutation logic and
for a three phase brushless motor was shown winding excitation waveform for a three phase
brushless DC motor.
in Figure 3.The commutation angle is 60
electrical degrees, and the winding are each phase during each commutation seg-
switched “on” at 30 electrical degrees before ment is shown in Figure 3B.The commu-
the peak torque position, and switched “off tated output torque versus motor
” at 30 electrical degrees after the peak position(in electrical degrees) is shown in
torque position.The current polarity for Figure 3C.
13
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To identify each of the 6 commutation ter- Sine Wave Drive
minals, a minimum of three logic signals are The sine wave drive control scheme is the
required.The commutation waveform are best choice when the brushless motor is
shown in Figure 8.The three sensors are required to duplicate the performance char-
spaced 60 electrical degrees apart, and have acteristics of a conventional DC torque

a 50% duty cycle. motor. Brushless DC torque motors
designed to provide sinusoidal torque wave-
As indicated in Figure 3 and 8, sensor S1 form have the additional advantage of mini-
can be aligned to the [A-[B zero torque mum ripple torque and high reliability when
position.
compared to the brush-commutated DC
This can be accomplished by applying a torque motor.
constant current to the [A-[B terminals.
The rotor will rotate to the [A-[B zero The basic equations for controlling motor
torque position.Then S1 should be posi- current and the resulting output torque for a
tioned so that its output just switches from two phase Brushless DC torque motor were
a low to high logic state S2 and S3 should shown in Figure 7.The control method
be positioned 60 and 120 electrical degrees consists of developing drive currents that are
respectively from S1. Other alignment con- a sinusoidal function of the rotor position.
siderations are as previously discussed for AS mentioned previously, position informa-
the two phase motor. tion can be obtained from a variety of
Hall Current Control Amplifier
K1 AMP
( )V
VC
IC
Control H1 H2
Input
voltage
Power Amplifiers K3 ( AMPV )

_
VH _ K3
10B
+ 0B
+
Differential Amplifiers
0A
_
K2
( VV )
VH _ K3
I0A
+ Power Amplifiers
+
Differential Amplifiers
K2 V
K3 ( AMPV )
( ) V
Figure-9. Functional control circuit for a two phase brushless DC torque motor with Hall Effect rotor
positioning sensing.
14 www.axsys.com


devices. Hall effect elements, sine cosine then align with the stator’s BEMF or
resolvers, optical encoder, electromagnetic torque waveform.The magnitude and
and electrostatic pickups, magneto-resistors, direction of the motor drive current is reg-
and magneto-diodes are currently being ulated by varying the magnitude and polar-

used as rotor position sensors. ity of the Hall device control current.
The specific requirements of each applica- The control equations are as follows:
tion usually dictate the position sensing sys- (Refer to Fig. 9)
tem selections.The linear Hall effect ele
ment is the sensing systems most frequently IC =KIVC
used because of its small size, low cost, and VH =KHICBCos u
simplified processing electronics. Figure 9 is
a functional control circuit for a two phase Where
brushless DC torque motor with linear Hall Ic = Hall device control current(Amp)
effect rotor positions sensing. To obtain Hall Vc = Input control Voltage (Volt)
device output voltages proportional to the K1 = Current amplifier gain (Amp/Volt)
sine and cosine of the rotor’s position, the VH = Hall device output voltage (Volt)
Hall devices are mechanically displaced 90 KH = Hall constant (Volt/Amp-KGauss)
electrical degrees from each other, and are B = Rotor permanent magnet field vector
Hall Current Control Amplifier

K1 AMP
( )V
VC
_ IC
Control H1 H2 H3
Input +
voltage
K2
( VV )
_
VH _ K3
10C
+
+ AMP
K2 ( VV ) ( )V
_ 0C 0A
VH _ K3
10B
+ 0B
+
K2
( VV )
_
VH _ K3 0A
+
+
Differential Amplifiers Power Amplifiers
Figure-10. Functional control circuit for a three phase brushless DC torque motor with Hall Effect positioning
sensor. positioning sensing.
15
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u = Angle between the plane of the Hall

+V
element and the rotor permanent S
magnet field vector(degrees) +V
S1
The current in [A winding is: Q1

+V
S OB
I[A =VHK2K3
Power
= K2K3 KHICB Cos u S2 Mosfet Q3
Drive -V
CKT +V
= K2K3 KHK1B VC Cos u Q2
Direction Control Input
OA
Similarly, the current in [B winding is:
Q4
I[B= K2K3KHICBVC Sin u -V
The torque output of each phase is: Figure-11. Functional drive circuit for bidirectional
control of a two phase brushless DC motor.
T[A = I[AKT Cos u
T[B = I[BKT Sin u Let KC = K1K2K3 KHKTB
Then the motor’s output torque is:
Substituting for I[A and I[B T = T[A + T[B = VCKC (Cos2 u + Sin2 u)
T = VCKC
T[A = VCK1K2K3 KHKTB Cos2 u
T[B = VCK1K2K3 KHKTB Sin2 u Therefore, the output torque is directly pro-
Figure-12. Functional drive circuit for bidirectional control of a three phase brushless DC motor.
16 www.axsys.com


+V
S Direction Control
Input
+V S
+V
S1 S

Q1 Q2 Q3
+V
S
0A
S2 PROM
or
Custom
I.C. 0B
+V 0C
S
S3
PWM INPUT FROM Q4 Q5 Q6

VELOCITY CONTROL CIRCUIT
CURRENT
SENSE
OUTPUT
Figure-13. Functional drive circuit for bi-directional control of a three phase brushless DC motor.
portional to the input control voltage.The tronics, and yields the lowest system cost.
same control scheme can be applied to a Power dissipation in the output stage is
three phase brushless DC torque motor as minimized by operating the power switch
shown in Figure 10. The Hall devices are devices in the complete OFF or fully ON
mechanically displaced 120 electrical degrees stage.The output stage can be interfaced
from each other and are aligned with the directly with the commutation logic cir-
BEMF waveform of each phase.The control cuit, and the whole system can be digital.
equations are as previously derived for the This allows the use of lower cost digital
two phase system, except the output torque integrated circuits to decode the position
is: sensor output and to sequence the drive
circuit power semiconductors.
T = VC KC (Sin2 u + Sin2 u (0 + 120) +
Sin2 (u - 240)) Figure 11 shows a simplified drive circuit
T = 1.5 VC KC for bi-directional control of a two phase
brushless DC motor.The timing and exci-
and, as before, the output torque is directly tation waveform for this motor were shown
proportional to the input control voltage. in Figure 7.The rotor position sensors are
Hall effect switches and their outputs are
Square Wave Drive processed by Exclusive OR gates. This fea-
A square wave drive system provides the ture allows the direction of rotation to be
most efficient utilization of the control elec- reversed. A logic “1” on the direction con-
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+V
S
+V
SS
+V
S1 S Q1
Q7
+V Q4
S
Q8
Q2 0A
S2 BCD TO
DECIMAL
DECODER Q9
Q5
Motor
Windings
+V
S Q10
Q3
S3 Q11
Q6
Q12
PWM INPUT FROM
VELOCITY CONTROL CIRCUIT
CURRENT
SENSE
OUTPUT
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3. AND and INVERT gates are used to
R L
implement the logic statements of
Figure 8B.
I

V E=K
T B
v 4. PNP and NPN power Darlington
transistors are used to switch the motor
winding.
5. Flyback diodes across each transistors

Figure-16. Equivalent electrical circuit of the
provide a transient path for the
Brushless DC motor. commutated winding inductive
energy.
trol input will invert the sense of the posi-
tion sensor output. Referring back to Figure 6. Speed control is achieved by “servoing”
7, we note that inverting the sensor polarity the supply voltage to the transistor
will reverse the polarity of excitation on bridge.
each motor terminal thus making it produce
torque in the opposite direction. A single PROM or custom integrated cir-
cuit can be used to replace the EXCLU-
The logic statements shown in Figure 7b are SIVE OR,AND, and INVERT logic ICs.
implemented with AND and INVERT This is shown in Figure 13.
gates. Power MOSFETS are used to switch
the motor winding. Speed control is The required logic can also be implement-
obtained by pulse width modulating the ed with a BCD-to-decimal decoder as
power MOSFET during its ON commuta- shown in Figure 14. Since the decoder out-
tion period.The MOSFET drive circuit put has only one unique “high” output
consists of the gate drive and appropriate state for any combination of logic inputs,
level shifting for the “P” and “N” channel both the PNP and NPN power transistors
devices. must be switched OFF and ON simultane-
ously for each commutation point.This
A functional drive circuit for bi-directional control function is performed by driver
control of a three phase brushless DC motor transistors Q7 through Q12.
is shown in Figure 12.The timing and exci-
tation waveform for this motor was shown A simple low-cost drive used to control the
in Figure 8. The main features of this con- brushless DC spindle motor in a disk drive
trol scheme are: is shown in Figure 15. Only three power
MOSFETS are required to commutate the
1. Rotor position feedback is obtained wye connected winding with the center tap
from three LED-photo-transistors. connected to the supply voltage.The wind-
ing are switched over 120 electrical
2. Schmit-trigger inventers are used to degrees. Due to the relatively high inertial
shape the photo transistors output load, the increased ripple torque has negli-
waveform. gible impact on system performance.
19
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Clamping zener diodes are used to protect
the power MOSFETS from over-voltage v NL
( No Load
speed)
transients produced when the inductive
VT VN
winding are switched OFF.
Speed
V1 V2
Brushless Servo Systems
The brushless DC motor, when properly
Torque T Stall
commutated, will exhibit the same per-
formance characteristics as a brushcommu- Figure-17 Speed torque characteristic curves.
tated DC motor, and for servo analysis the
brushless motor can be represented by the
same motor parameters. It can be modeled
The torque developed by the brushless DC
by the equivalent circuit of Figure 16.This
motor is proportional to the input current.
model can be used to develop the electrical
and speed-torque characteristics equations
T = I KT
for brushless DC motors.
The electrical equation is: Where KT = the torque sensitivity

(oz-in/amp)
VT = IR + Ldl/dt + KB(v) (1)
If we solve for I and substitute into
Where Equation (2) we obtain:
VT = the terminal voltage across the active

commutated phase VT = T/KTR + KB(v) (3)
I = the sum of the phase currents into
the motor The first term represents the voltage
R = the equivalent input resistance of the required to produce the desired torque, and
active commutated phase the second term represents the voltage
L = the equivalent input inductance of required to overcome the back EMF of the
the active commutate phase winding at the desired speed. If we solve (3)
KB = the back EMF constant of the active for rotor speed, we obtain:
v = the angular velocity of the rotor

v = VT/KB - TR/KBKT (4)
If the electrical time constant of the brush-
less DC motor is substantially less than the which is the speed-torque equation for a
period of commutation, the steady state permanent magnet DC motor.
equation describing the voltage across the
motor is: A family of speed-torque curves represented
by Equation (4) is shown in Figure 17.
VT = IR+KBv (2) The no-load speed can be obtained by sub-

stituting T=0 into (4).
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Assume the motor has an internal loss
torque.TLOSS = 0.5 oz-in, and the winding
v NL = VT/KB
will see a maximum temperature rise
Stall torque can be determined by substitut- (ambient plus internal heating) of 25° C.

ing v=0 in (4) The minimum voltage available to the
motor is:
TSTALL = KT VT/R = IKT
The slopes of the parallel straight line speed VT(MIN) = Vs(MIN) - 2VCE(MAX) = 21.6 - 3.0
torque curves of Figure 17 can be expressed = 18.6 V
by: The maximum resistance of the winding
including tolerance and temperature rise is:
R/KBKT = v NL/ TSTALL RMAX = R (1 + 12.5%){1 + (0.00393)
(DT)}
Since the speed-torque curves are linear, RMAX = 0.9(1.125){1 + (0.00393)( 25)}
their construction is not required; the servo = 1.11 ohm
designer can calculate all needed informa-
tion from the basic motor parameters. The maximum voltage across the motor
with worst case parameters is:
Application Example
TF + TL
-
A typical constant velocity application such
+ T+
VT I v (S)
I K I
as the spindle in a memory disk drive may
e R + SL T e (J + J ) S+F
M L
-
have the following requirements:
Operating speed v = 3600 RPM =
K
377 rad/sec B
Load Torque T L = 12 oz-in
Available supply Vs = 24V ± 10% Figure-18 Block diagram of brushless DC motor
Max Voltage drop VCE(MAX) = 1.5 V model.
across switching transistors
The requirement is to select an appropriate

VT(MAX) = ( RMAX)(TL + TLOSS)/(KT(MAX))
motor and verify that it will meet operating
+ KB(MAX)v
speed torque requirements under worst case
VT(MAX) = ( 1.11)(12.5 + 0.5)/(5.94) +
parameter conditions.
(0.0418)(377)
VT(MAX) = 18.1 V
The motor selected has the following
parameters: Therefore, the motor selected will meet the
requirements under worst case conditions.
KT = 5.4 ± 10% oz-in/amp The block diagram and transfer function
KB = 0.038 ± 10% Volts rad/sec for a brushless DC motor when coupled to
R = 0.90 ± 12.5% ohms a load can be constructed from Equation
(1) and the following dynamic torque
21
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equation: suppressors. Almost all brushless motor sys-
tems require current limiting to avoid inad-
T = (JM + JL))dv/dt + Fv + TF + TL (5)
vertent demagnetization of the permanent
Where magnet rotor during starting and fast rever-
JM = the motor moment of inertia sals.The logic system must be examined for
JL = the load moment of inertia possibility of improper outputs during
F = the damping factor representing all power application. For instance, if the logic
motor and load viscous friction states are such that both the transistors at
TF = the motor friction torque one corner of the three phase delta are
TL = the load friction torque turned on, the resulting short circuit will be
disastrous. An easy and fruitful test during
Taking the Laplace transform of (1) and bread boarding is to step the logic through
(5) yields: its sequence and note that the motor steps
through its rotation with no reversals or long
VT = IR + SL + KB v(S) (6) steps.This assures that the logic is correct
T = (JM + JL))S + Fv(S) + TF + TL (7) and that the motor is connected properly. If
this is not done, it is possible that the motor
Figure 18 is a block diagram representing will run, but that during one segment of its
Equations (6) and (7) and is identical to the rotation its torque will be reversed or non-
model used for the brush commutated DC existent. High current will result, but may be
motor. overlooked inadvertently.
Some Common Pitfalls A Simple Test Method

Motor windings are inductive.This gives Many of our customers have found that an
rise to two considerations that should not incoming test of the motor torque is expen-
be overlooked.The first is motor speed. sive to instrument and perform. In these
Since the winding electrical time constants cases we have suggested that the incoming
are in the area of one millisecond, commu- electrical inspection be made on the back
tating frequencies above several hundred EMF constant of the motor (Kb).This
hertz need special treatment. Commutating parameter is directly proportional to the
frequency is equal to the number of pole torque sensitivity and is more easily meas-
pairs in the machine times the speed in ured.The technique involves driving the
revolutions per second. For units that must motor at a constant speed and measuring the
operate at higher speeds some provision for generated voltage at the motor terminals.
shifting the commutation points must be Acceptance limits can be set based on the
made.This can be done either mechanically back EMF constant and assurance of a com-
or electronically. Also, the motor inductance pliant motor is given by this test.
causes high voltage spikes to appear across
the power transistors as they are switched Thermal Considerations
off.These must be allowed for in the design On each of the following data pages, the
either by use of high voltage transistors or maximum allowable winding temperature is
protective zener diodes or other transient specified.The maximum operating tempera-
22
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ture of the winding depends on the load free to rotate. It is always recommended to
duty cycle and the thermal paths to system inspect the area of the air gap looking for
heat sinks.The value given for motor resist- any chips from magnets or magnetic chips
ance and resistance dependent parameters that may have adhered to magnets and
on the data sheets are defined at 25°C removed before operating the motor.
winding temperature. If the winding is
operated at a different temperature, the tem-
perature coefficient of copper (0.4% per °C)
Glossary
must be taken into consideration. Glossary
Handling, Storage, Installation Commutation – Sequenced switching of

The motors in this Source Book are all electrical power so that it is properly distrib-
designed with rare earth magnets and require uted in place and time to a motor winding.
careful handling.These magnets have very This function is performed by carbon
strong attractions to magnetic materials. brushes and a copper commutator in a con-
Without cautious handling, injury could occur. ventional DC motor.
Electrical Degree – An angular measure
When motors are stored in their original dimensioned so that one pole pair contains
shipping container, they are well protected 360 electrical degrees. In a two pole
for normal storage conditions.Those motors machine an electrical degree equals a
that are housed have permanently lubricated mechanical degree.The number of pole
bearings and do not require changing the pairs in a machine equals the number of
bearings unless storage packaging has been electrical degrees in a mechanical degree.
damaged.The device should be closely Exclusive OR gate – An electronic logic
inspected to see if damage or contamination element in which the output is on when
has occurred. either of the two inputs is on but not when
both are on or off. It can be seen that if one
Installation of brushless motors has only a input is held off the state of the output
handling problem. As the size of the motor is the same as the state of the second input
increases, not only does the weight affect but if the first input is held on the state of
handling, but the magnetic attraction is a the second input is reversed at the output.
problem. If the motor is shipped with the
magnet assembly inside the armature, it Hall Effect Element – Semiconductor
should be left this way to keep from damag- which produces an output voltage propor-
ing the magnets.There is a nonmagnetic tional to the magnetic flux density perpen-
shim placed in the air gap to keep the mag- dicular to the surface of the semiconductor
net assembly close to the center of the and an input control current. It is common-
armature.This helps to align the motor to ly packaged with signal conditioning elec-
the mating mounting diameters.The tronics to provide a linear or digital output.
mounting diameters of the housing and hub LED (Light-Emitting Diode) – A two termi-
or shaft should have chamfers to help during nal electronic component that emits light
installation. Once the motor is in place, the from its semiconductor junction when elec-
shim is removed and the motor should be trical current flows through it.
23
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Mounting – The information given on phase in a brushless motor.The pole
each data page are user requirements for positions for each phase are angularly dis-
correct axial and concentric orientation of placed from one another so that a moving
the motor components. It is required to magnetic field may be set up in a stationary
preserve the specified performance component.
characteristics.
Phase – A motor winding which will set Photo Transistor – A semiconductor device
Glossary
up magnetic poles in a specific position in in which the electrical current flowing

the motor when a current is flowing in the through it is controlled by the amount of
winding.There is usually more than one light falling in on the junction.When there
Axsys’ DC torque motors are designed using premium materials that offer unique space and weight savings
while generating maximum power output. Limited angle torque motors do not require commutation elec-
24
tronics and have near zero cogging.
www.axsys.com


is no light the current is very small.
A greater amount of light increases the cur-
rent flow.
PROM – A programmable read only memo-

ry is an integrated circuit where data is
entered by field programming techniques in
which fusible links are blown, or in which
Glossary
some other permanent modification
is made to the device structure.They can be
employed to eliminate conventional combi-
national logic circuits.
Rotor – Rotating element that drives the
load.
Solid State Switch – A semiconductor

device which is used to switch the power to
the motor windings. Commonly used
devices are transistors and MOSFETS.
Stator – Stationary element.
25
www.axsys.com


Conversion Table
Conversion Table
To Convert:
From To Multiply by
ounces (force) grams (force) 28.35

ounces (force) Newtons 0.278
Weight
pounds (force) grams (force) 453.6
pounds (force) Newtons 4.448
inches centimeters
2.54
Distance inches meters
2.54 x 10-2
feet meters
ounce-inches gram-centimeters 72.01
Torque ounce-inches Newton-meters 7.061 x 10-3
pound-feet Newton-meters 1.356
RPM radians/second 0.1047
Angular Velocity degrees/second radians/second 1.745x10-2
rev/second radians/second 6.283
ounce-inch-sec2 gram-centimeter 7.06 x 104

Inertia
pound-feet-sec2 Kgram-centimeter 0.367
Power Rate ounce-inch/sec2 kilowatts/second 7.061 x 10-3
26
www.axsys.com

Design Guide
Axsys produces this 2-axis gimbal that can be used in a variety of applications. The
gimbal consists of two brush type motors, a brushless motor, two resolvers, a slip
ring assembly and the associated structural components and the electronics.
27
www.axsys.com

2 Phase Brushless Motors

2 Phase Motors

Selection Guide: by Outside Diameter - 2 Phase Brushless Motors

Rotation Peak Torque Power@TP W
K!m O.D. I.D. Axial Length Page
Model Number
Inner/Outer (oz-in.) (watts) (oz-in/ watts) (in.) (in.) (in.)
1600C-059 I 20 58 2.64 1.600 0.810 0.590 30
2375J-055 I 60 155 4.47 2.375 0.940 0.550 31
4500C-080C I 384 120 28.0 4.500 2.770 0.800 32
11500C-082 I 600 14 162 12.313 9.563 1.031 33
2 Phase Motors
Selection Guide: by Peak Performance - 2 Phase Brushless Motors
Rotation Peak Torque Power@TP Km O.D. I.D. Axial Length Page
Model Number
Inner/Outer (oz-in.) (watts) (oz-in/!W
watts) (in.) (in.) (in.)
1600C-059 I 20 58 2.64 1.600 0.810 0.590 30
2375J-055 I 60 155 4.47 2.375 0.940 0.550 31
4500C-080C I 384 120 28.0 4.500 2.770 0.800 32
11500C-082 I 600 14 162 12.313 9.563 1.031 33
Other sizes are available. Contact Axsys Technologies for your specific requirements.
29
www.axsys.com

1600C-059
Brushless DC Motor / Inside Rotor (800) 777-3393
.590
GRN BLK MAX
RED LEADWIRES ARE #24 AWG TYPE "E",
WHT PER MIL-W-16878, 8" MIN. LG.
.370
.125 MAX. TYP.
Ø1.540 +.000
MAX. TYP. Ø1.600 -.001
+.001
Ø1.205 Ø.810 -.000
MIN.
2 Phase Motors
.050 ±.010
MTG. DIM.
.470
ROTATION: FIELD ROTATES CCW

Performance Data WITH THE FOLLOWING SEQUENCE:

BLACK & WHITE LEADS COMMON
& A POSITIVE VOLTAGE APPLIED
TO GREEN LEAD THEN TO RED LEAD.
Peak Torque (Tp) oz-in 20
WHITE
Power at Tp (Pp) watts 58
Motor Constant (Km) oz-in/!WW 2.64 GREEN
Electrical Time Constant (te) milli-sec 0.43

milli-sec 20 RED BLACK
Mechanical Time Constant (tm)
Damping Factor (Fo) oz-in/rad/sec 0.05 SCHEMATIC
Moment of Inertia (Jm) oz-in-sec2 0.001

Total Breakaway Torque (Tf) oz-in 1.0
Temperature Rise (TPR) °C/watt 4
Max. Allowable Wdg. Temp. °C 155
Weight oz 2.6
Number of Poles 8
Number of Phases 2
Winding Constants
30
www.axsys.com

2375J-055
(800) 777-3393 Brushless DC Motors / Inside Rotor

GRN BLK
WHT RED
LEADWIRES ARE #20 AWG TYPE "E", .550 MAX.
PER MIL-W-16878/4, 24" MIN. LG.
.23
Ø2.32
MAX. TYP. +.000
Ø2.375 -.001
Ø1.52 MIN. TYP.
+.001
Ø.940 -.000
2 Phase Motors
.048 ±.010
MTG. DIM.
.325
Performance Data ROTATION: FIELD ROTATES CCW

GREEN+, WHITE-, RED+, BLACK-.
RED
Motor Constant (Km) oz-in/!W
W 4.47
BLACK
Mechanical Time Constant (tm) milli-sec 10
GREEN WHITE
Damping Factor (Fo) oz-in/rad/sec 0.150
SCHEMATIC
Total Breakaway Torque (Tf) oz-in 1
Weight oz 5.5
Number of Poles 8
Number of Phases 2
Winding Constants
Voltage at Tp (Vp) volts Nominal 14 18 21.8 27.0
Current at Tp (Ip) amps Nominal 11 8.82 7.2 5.8
Torque Sensitivity (Kt) oz-in/amp ±10% 5.4 6.80 8.2 10
31
www.axsys.com

4500C-080C
Brushless DC Motors / Inside Rotor (800) 777-3393

GRN RED .545
WHT BLU
.070 MTG. DIM.
LEADWIRES ARE #18 AWG

TYPE "E", PER MIL-W-16878,
12" MIN. LG.
+.001 +.000
Ø2.770 Ø4.500 -.002
-.000 Ø3.490
2 Phase Motors
Ø4.350
MAX.TYP.
.195 MAX.
.410
.800 MAX.
Performance Data
Peak Torque (Tp) oz-in 384 RED+, WHITE-, BLUE+, GREEN-.
Power at Tp (Pp) watts 120 RED

W 28.0
WHITE
Mechanical Time Constant (tm) milli-sec 7.36 BLUE GREEN

Temperature Rise (TPR) °C/watt 3.2
Weight oz 22
Number of Poles 20
Number of Phases 2
Winding Constants
Voltage at Tp (Vp) volts Nominal 14 18.5 20 27.4
Current at Tp (Ip) amps Nominal 8.6 6.5 6 4.4
Torque Sensitivity (Kt) oz-in/amp ±10% 44.6 59 64 87
Back E.M.F. (Kb) volts/rad/sec ±10% 0.31 0.42 .45 0.62
32
www.axsys.com

11500C-082
(800) 777-3393 Brushless DC Motor / Inside Rotor

RED WHT/BLK
WHT/RED BLK
.844 ±.010
PER MIL-W-16878, 36'' MIN. LG.
MTG. DIM.
1.031 MAX.
+.000 .095
Ø12.313 -.002
.035X45 .820 MAX.
Ø11.680
+.002
2 Phase Motors
Ø9.563 -.000
Ø9.563
Ø10.550 MAX. Ø8.938
+.006 .094
+.006 Ø.140 -.000 THRU
10 PLCS. EQ. SP. .094
Ø.140 -.000 THRU
ON Ø9.250 BSC
10 PLCS. EQ. SP.
.65
0N Ø12.000 BSC

WHEN VIEWED FROM LEAD SIDE,
WITH WHITE/RED & WHITE/BLACK
Performance Data
COMMON AND POSITIVE VOLTAGE
APPLIED TO RED THEN BLACK.
Peak Torque (Tp) oz-in 600 RED

oz-in/!W
WHITE/RED
Motor Constant (Km) W 142
Electrical Time Constant (te) milli-sec 0.59 WHITE/BLACK BLACK
Mechanical Time Constant ( tm) milli-sec 15.7

SCHEMATIC
Damping Factor (Fo) oz-in/rad/sec 144
Weight oz 91
Number of Poles 44
Number of Phases 2
Winding Constants
Voltage at Tp (Vp) volts Nominal 12.0 17 20.8 26
Current at Tp (Ip) amps Nominal 1.14 1 0.9 0.7
33
Inductance (L) millihenries ±30% 5.8 9.0 14 22
www.axsys.com

3 Phase Brushless Motors

3 Phase Motors

Selection Guide: by outside diameter - 3 Phase Brushless Motors

Rotation Peak Torque Power@TP Km O.D. I.D. Axial Page
Model Number
Inner/Outer (oz-in.) !W watts)
(watts) (oz-in/ (in.) (in.) Length
0850-100 I 12 56 1.60 0.850 0.188 1.000 39
0910-095 I 3.1 8 1.12 0.910 0.150 0.953 40
1500M-154 I 100 160 8 1.491 0.250 1.540 41
1500N-125 0 50 80 5.60 1.500 0.455 1.250 61
1600C-059J I 20 57 2.64 1.600 0.810 0.590 42
2375H-110 I 50 16 12.4 2.375 1.000 1.410 44
3 Phase Motors
2375H-050 I 60 160 4.74 2.375 0.940 0.500 43
2990E-110 I 64 34 11.0 2.990 1.500 1.479 46
2990B-110 I 100 128 8.85 2.990 0.625 1.100 45
3340-060F I 65 23 14 3.340 2.126 0.600 47
3340-210 I 300 40 47.3 3.340 2.126 2.450 48
3350L-080 0 38 18 9 3.350 2.001 0.750 62
3625J-100 I 135 42 21.2 3.625 2.500 1.245 49
3730H-071 I 187 97 19.0 3.730 1.811 0.708 50
4500C-080 I 384 153 31 4.500 2.770 0.800 51
5750D-150 I 300 90 31.6 5.750 3.000 1.500 52
5850B-075 I 1000 443 47.5 5.850 3.500 0.800 53
35
www.axsys.com

(800) 777-3393 Brushless Type DC Motors

Selection Guide: by outside diameter - 3 Phase Brushless Motors
Model Number
Inner/Outer (oz-in.) (watts) !W watts)
(oz-in/ (in.) (in.) (in.)
6000R-250 0 4800 310 273 6.000 3.000 2.500 63
6000S-190 I 1500 236 97.6 6.000 4.000 1.700 54
6000S-340 I 4248 421 207 6.000 4.000 2.960 55
6000S-440 I 5800 620 233 6.000 4.000 3.935 56
7600B-750 I 28400 1284 793 7.559 3.780 7.500 57
8338-157 I 2124 106 206 8.338 6.417 1.575 58

3 Phase Motors
8860B-330 I 15294 1020 479 8.860 5.000 3.300 59
8860B-410 I 24074 1800 566 8.860 5.000 4.100 60
36
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Selection Guide: by peak torque - 3 Phase Brushless Motors

Rotation Peak Power@ Km !W O.D. I.D. Axial Length Page
Model Number
Inner/Outer Torque TP (oz-in/ watts) (in.) (in.) (in.)
0910-095 I 3.1 8 1.12 0.910 0.150 0.953 40
0850-100 I 12 56 1.60 0.850 0.188 1.000 39
1600C-059J I 20 57 2.64 1.600 0.810 0.590 42
3350L-080 0 38 17 9.25 3.350 2.001 0.750 62
1500N-125 O 50 80 5.60 1.500 0.455 1.250 61
2375H-110 I 50 16 12.4 2.375 1.000 1.410 44
3 Phase Motors
2375H-050 I 60 160 4.74 2.375 0.940 0.500 43
3340-060F I 65 23 14 3.340 2.126 0.600 47
2990E-110 I 64 34 11.0 2.990 1.500 1.479 46
1500M-154 I 100 160 8 1.491 0.250 1.540 41
2990B-110 I 100 128 8.85 2.990 0.625 1.100 45
3625J-100 I 135 41 21.2 3.625 2.500 1.245 49
3730H-071 I 187 97 19.0 3.730 1.811 0.708 50
5750D-150 I 300 90 31.6 5.750 3.000 1.500 52
3340-210 I 300 40 47.3 3.340 2.126 2.450 48
4500C-080 I 384 120 35.1 4.500 2.770 0.800 51
5850B-075 I 1000 440 47.5 5.850 3.500 0.800 53
6000S-190 I 1500 236 97.6 6.000 4.000 1.700 54
8338-157 I 2124 101 212 8.338 6.417 1.575 58
6000S-340 I 4248 421 207 6.000 4.000 2.960 55
6000R-250 O 4800 310 273 6.000 3.000 2.500 63
6000S-440 I 5800 620 233 6.000 4.000 3.935 56
7600B-750 I 28400 1284 793 7.559 3.780 7.500 57
8860B-330 I 15,294 1020 479 8.860 5.000 3.300 59
8860B-410 I 24,074 1800 566 8.860 5.000 4.100 60
37
www.axsys.com

Other 3 Phase Brushless Motors available but not included in catalog:
Additions to Selection Guide: 3 Phase Brushless Motors

Model Number
Inner/Outer (oz-in.) (watts) (oz-in/!W
watts) (in.) (in.) (in.) (1)
5125AH-136 I 784 255 49 5.125 3.250 1.360 (2)
6000S-175 I 2160 470 100 6.000 4.000 1.750 (2)
6000S-320 I 4248 445 200 6.000 4.000 3.225 (2)
7600B-700 I 28,322 1389 760 7.559 3.780 7.200 (2)
8000-325 I 9,600 720 358 8.000 4.000 3.250
3 Phase Motors
8860B-475 I 35,520 3508 600 8.860 5.000 4.750 -

9750-125 I 4,489 493 202 9.750 7.630 1.250 -
9750-240 I 13,148 1205 421 9.750 7.630 2.700 (2)
13750B-428 I 54,528 3121 979 13.750 9.000 4.480 -
13750B-560 I 99,456 7465 1152 13.750 9.000 5.800 -
1700F-041 O 28 31 5 1.700 0.700 0.413 -
15500C-425 O 86,592 1304 2398 15,500 10.500 4.490 -
Notes: (1) Data Sheet under construction, please contact Axsys for information
(2) Motor assembly includes Hall sensors.
38
www.axsys.com

0850-100

.880
LEADWIRES ARE #24 AWG TYPE " E",
PER MIL-W-16878, 12" MIN. LG. .550
BLU
YEL .170 MAX. 2 PL
GRN
+.000
Ø.850 -.002
Ø.435
Ø.410
Ø.835
2 PL
.225 ±.010
3 Phase Motors
+.001
MTG. DIM. Ø.188 -.000
1.000
Performance Data ROTATION: FIELD ROTATES CW WHEN

VIEWED FROM LEAD SIDE WITH THE
FOLLOWING SEQUENCE: YELLOW+, BLUE-,
YELLOW+, GREEN-, BLUE+, GREEN-.

Power at Tp (Pp) watts 56 YELLOW
Motor Constant (Km) oz-in/!WW 1.60

GREEN BLUE
Mechanical Time Constant (tm) milli-sec .16
SCHEMATIC
Weight oz 1.6
Number of Poles 6
Number of Phases 3
Winding Constants
Voltage at Tp (Vp) volts Nominal 17.1 24.2 33 49
Torque Sensitivity (Kt) oz-in/amp ±10% 3.65 4.8 7 10.5
Back E.M.F. (Kb) volts/rad/sec ±10% .026 0.036 0.05 .074
39
Inductance (L) millihenries ±30% .8 1.6 3 6.8
www.axsys.com

0910-095
BLU
LEADWIRES ARE #26 AWG TYPE "ET",

ORN .690
PER MIL-W-16878/6, 16" MIN. LG.
.064 ±.010
BRN MTG. DIM.
Ø.800 MAX.
Ø.460 Ø.910 ±.001
Ø.525 MIN.
2PL Ø.860
2 PL
3 Phase Motors
Ø.150 ±.001
.200 MAX. .190 MAX.
.563

Performance Data WHEN VIEWED FROM LEAD SIDE

BROWN+, BLUE-; BROWN+
ORANGE-; BLUE+, BROWN-.
Peak Torque (Tp) oz-in 3.1

BROWN
Electrical Time Constant (te) milli-sec 0.16 BLUE ORANGE
Mechanical Time Constant (tm) milli-sec 3.93

SCHEMATIC
Weight oz 1.65
Number of Poles 4
Number of Phases 3
Winding Constants
40
www.axsys.com

1500M-154

GRN PER MIL-W-16878/6, 4" MIN. LG.
BLU
1.400
ORN
.100 ±.010 MTG. DIM.
+.000
Ø1.410 MAX. Ø1.491 -.001
Ø.900 MAX.
+.001
Ø.250 -.000
1.20
3 Phase Motors
1.540 MAX.

Performance Data GREEN+, BLUE-, ORANGE+, BLUE-,

ORANGE+, GREEN-.

ORANGE
Motor Constant (Km) oz-in/!WW 8
Electrical Time Constant (te) milli-sec 0.42 BLUE GREEN
Mechanical Time Constant (tm) milli-sec 3.23 SCHEMATIC

Weight oz 8.6
Number of Poles 6
Number of Phases 3
Winding Constants
Voltage at Tp (Vp) volts Nominal 11.0 18.2 27.7 29
Back E.M.F. (Kb) volts/rad/sec ±10% 0.048 .081 .118 .128
41
www.axsys.com

1600C-059J
LEADWIRES ARE #24 AWG TYPE "E", .590 MAX.

PER MIL-W-16878/4, 8" MIN. LG.
WHT
.370
.125 MAX. TYP.

RED BLK
Ø1.540 MAX. +.000

BOTH SIDES Ø1.600
-.001
+.001
Ø.810
-.000
Ø1.205 MIN.
3 Phase Motors
.050 ±.010 MTG. DIM.

.470


BLACK+, RED-, WHITE+, RED-,
WHITE+, BLACK-

WHITE
milli-sec 20.4 RED BLUE
SCHEMATIC
Weight oz 2.6
Number of Poles 8
Number of Phases 3
Winding Constants
42
www.axsys.com

2375H-050
.23
BLU LEADWIRES ARE #22 AWG TYPE "E",
PER MIL-W-16878/4, 12" MIN. LG. .500 MAX.
RED GRN
Ø2.32 MAX. TYP. +.001

Ø.940 -.000
Ø1.52 MIN. TYP. +.000

Ø2.375
-.001
3 Phase Motors
.048±.010
MTG. DIM.
.325
Performance Data
RED+, GREEN-; GREEN+, BLUE-;
Peak Torque (Tp) oz-in 60 BLUE+, RED-.

RED
W 4.74
Damping Factor (Fo) oz-in/rad/sec 0.160 GREEN BLUE
Moment of Inertia (Jm) oz-in-sec2 0.0016 SCHEMATIC

Weight oz 5.5
Number of Poles 8
Number of Phases 3
Winding Constants
43
Inductance (L) millihenries ±30% 0.7 1.8 2.8 8
www.axsys.com

2375H-110
Brushless DC Motors w/ Hall Sensors / Inside Rotor (800) 777-3393

VIO BLK 1.410 MAX.
RED YEL/WHT (S1)
RED/WHT(S2)
WHT 1.100 MAX.
BLU ORG/WHT(S3)
MOTOR LEADWIRES ARE #24 AWG .900

TYPE "E", & SENSOR LEADWIRES ARE .025 MTG. DIM.
#26 AWG, PER MIL-W-16878,
12" MIN. LG.
Ø1.475
MAX.
+.001 Ø2.280
Ø1.000
-.000 MAX.
TYP.
3 Phase Motors
+.000
Ø2.375 -.001
.675
.225 MAX.
Commutation Table
Step 1 2 3 4 5 6 7 Color
STE
Performance Data
Parameter Units Value Off + + Off - - Off
MOTOR
Phase A RED
Motor Phase B - - Off + + Off - BLU
Peak Torque (Tp) oz-in 50 + Off - - Off + +
SENSOR
Phase C WHT
Power at Tp (Pp) watts 16 Sensor 1 1 1 1 O O O 1 (YEL / WHT)
Sensor 2 O O 1 1 1 O O (RED / WHT)
Motor Constant (Km) oz-in/!WW 12.4 Sensor Sensor 3 1 O O O 1 1 1 (ORG / WHT)
VIO 5-24V DC
BLK GND
Damping Factor (Fo) oz-in/rad/sec 1.08 ROTATION: CW WHEN VIEWED FROM LEAD SIDE
RED
Max. Allowable Wdg. Temp. °C 155 BLUE WHITE
Weight oz 12 SCHEMATIC
Number of Poles 8
Number of Phases 3
Winding Constants
44
www.axsys.com

2990B-110
1.100
MAX.
.536
PER MIL-W-16878, 16 " MIN.LG.
.290 MAX.
BLK TYP.
RED BLU
Ø2.890
+.000 MAX. TYP.
Ø2.990 -.001 Ø1.770
+.002 MAX.
Ø.625 -.000
Ø1.850
MIN. TYP. Ø2.910
MAX.
3 Phase Motors
.083 ±.010
MTG. DIM.
.700

Performance Data
RED+, BLUE-, BLACK+, BLUE-,
BLACK+, RED-.

RED
Mechanical Time Constant (tm) milli-sec 12 BLUE BLACK

Weight oz 18.2
Number of Poles 4
Number of Phases 3
Winding Constants
Voltage at Tp (Vp) volts Nominal 10.9 17.4 21 26.8
Current at Tp (Ip) amps Nominal 11.9 7.5 6.2 5
45
www.axsys.com

2990E-110
Brushless DC Motor with Hall Sensor / Inside Rotor (800) 777-3393

VIO BLK
1.470 MAX.
RED YEL/WHT (S1)
WHT RED/WHT(S2)
BLU ORG/WHT(S3) 1.160 MAX.
Ø2.850 MAX.
.845
MOTOR LEADWIRES ARE #22 AWG
TYPE "E", & SENSOR LEADWIRES .030 MTG. DIM.
ARE #26 AWG TYPE "ET", PER
MIL-W-16878, 12" MIN. LG.
Ø1.850 MIN.
+.000
2.910 -.005
Ø1.835
MAX.
+.001 Ø2.890
Ø1.500 -.000 MAX.
TYP.
3 Phase Motors
+.000
Ø2.990 -.002
.516
.335 MAX.
Commutation Table
Step 1 2 3 4 5 6 7 Color
Performance Data
Parameter Units Value Phase A Off + + Off - - Off RED
Motor Phase B - - Off + + Off - WHT
Peak Torque (Tp) oz-in 64 Phase C + Off - - Off + + BLU
Motor Constant (Km) oz-in/!WW 11.0 Sensor Sensor 3 1 O O O 1 1 1 (ORG / WHT)
milli-sec 0.60 VIO 5-24V DC
Electrical Time Constant (te) BLK GND
ROTATION: CW WHEN VIEWED FROM LEAD SIDE
Damping Factor (Fo) oz-in/rad/sec 0.850 RED

BLUE WHITE
SCHEMATIC
Weight oz 16
Number of Poles 8
Number of Phases 3
Winding Constants
46
www.axsys.com

3340-060F
.600
MAX.
.295
.150 MAX.
PER MIL-W-16878/4, 12" MIN.LG.
Ø2.640
MIN. TYP.
+.001 Ø3.190
Ø2.125 -.000
MAX. TYP.
+.000
Ø3.340 -.001
WHT
RED
3 Phase Motors
BLU
.040
MTG. DIM.
.375

Performance Data WHEN VIEWED FROM LEAD SIDE

RED+, WHT-, WHT+, BLUE-,
BLUE+, RED+.

Power at Tp (Pp) watts 23 RED
Electrical Time Constant (te) milli-sec .247
milli-sec 9.7 BLUE WHT
Moment of Inertia (Jm) oz-in-sec2 .013

Weight oz 11
Number of Poles 16
Number of Phases 3
Winding Constants
Current at Tp (Ip) amps Nominal 1.1 .9 .71 .57
Torque Sensitivity (Kt) oz-in/amp ±10% 60 74.8 91.8 115
47
www.axsys.com

3340-210
Brushless DC Motor with Hall Sensors / Inside Rotor (800) 777-3393
BLU/WHT (S3)
RED/WHT (S2) VIO
2.450 MAX.
YEL/WHT (S1)
BLK 2.100 MAX.
60˚
120 ˚ 1.800
.150 MAX.
+.001 Ø3.190 MAX.

Ø2.126 -.000 TYP.
Ø2.780
MIN. Ø2.640 MIN. +.000
Ø3.340 -.001
.080 MTG. DIM.

3 Phase Motors
WHT BLU
RED 2.030
MOTOR LEADWIRES ARE #28 AWG TYPE "ET",

& SENSOR LEADWIRES ARE #28 TYPE "ET",
PER MIL-W-16878/6, 12" MIN. LG.
Commutation Table
Performance Data Step 1 2 3 4 5 6 7 Color
W 47.3 Sensor Sensor 3 1 O O O 1 1 1 (BLU / WHT)
VIO 5-24V DC
BLK GND
Mechanical Time Constant (tm) milli-sec 3.18 ROTATION: CW WHEN VIEWED FROM PINION END
RED
2
Moment of Inertia (Jm) oz-in-sec 0.050
Temperature Rise (TPR) °C/watt 1 BLUE WHITE
Max. Allowable Wdg. Temp. °C 155 SCHEMATIC
Weight oz 35
Number of Poles 16
Number of Phases 3
Winding Constants
48
www.axsys.com

3625J-100
(800) 777-3393 Brushless DC Motor with Hall Sensors / Inside Rotor
MOTOR LEADWIRES ARE #28 AWG TYPE "E", .400 MAX.

& SENSOR LEADWIRES ARE #26 AWG TYPE "ET", 1.000 MAX.
PER MIL-W-16878, 12" MIN. LG.
RED WHT .665

(S1) YEL/WHT
(S2) RED/WHT .180 MAX.
BLU
(S3) ORG/WHT
VIO
BLK
Ø2.920
Ø2.560
MIN.
MIN.
+.001
Ø2.500 -.000
Ø3.475 +.000
MAX. Ø3.625 -.001
3 Phase Motors
.045 ±.010
MTG. DIM.
.860
Commutation Table
Step 1 2 3 4 5 6 7 Color
Performance Data
Sensor 2 O 1 1 1 O O O (RED / WHT)
Motor Constant (Km) oz-in/!WW 21.2 Sensor Sensor 3 O O 1 1 1 O O (BLU / WHT)
RED
Max. Allowable Wdg. Temp. °C 155 BLUE WHITE
Number of Poles 14
Number of Phases 3
Winding Constants
Torque Sensitivity (Kt) oz-in/amp ±10% 44 69 87.0 108
Back E.M.F. (Kb) volts/rad/sec ±10% .31 .49 .614 .765
49
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3730H-071

.551 ±.004
RED
BLK
WHT
LEADWIRES ARE #30 AWG .059 ± .010
TYPE "E", PER MIL-W-16878, (MTG. DIM)
12" MIN. LG.
Ø3.395
MAX. TYP.
Ø2.457
MIN. TYP. +.000
Ø 1.811 +.000
-.001 Ø 3.730 -.001
3 Phase Motors
.433 ±.008
.138 MAX. TYP.
.708 MAX.
Performance Data
ROTATION: FIELD ROTATES CW WHEN
VIEWED FROM LEAD SIDE WITH THE
FOLLOWING SEQUENCE: RED+, BLACK-;
WHITE+, BLACK-; WHITE+, RED-.
RED
W 19.0
Mechanical Time Constant (tm) milli-sec 4.90 WHITE BLACK
SCHEMATIC
Weight oz 19.4
Number of Poles 14
Number of Phases 3
Winding Constants
50
www.axsys.com

4500C-080
WHT .545
RED
BLU
.070 MTG. DIM.

12" MIN. LG.
+.001 +.000
Ø2.770 Ø4.500 -.002
-.000 Ø3.490
Ø4.350
MAX.TYP.
3 Phase Motors
.195 MAX.
.410
.800 MAX.
Performance Data
RED+, WHITE-, BLUE+,
Peak Torque (Tp) oz-in 384 WHITE-; BLUE+, RED-.

RED
BLUE WHITE
2 SCHEMATIC
Weight oz 22
Number of Poles 20
Number of Phases 3
Winding Constants
Voltage at Tp (Vp) volts Nominal 11 17.5 21.5 27.1
Current at Tp (Ip) amps Nominal 14 8.73 7.1 5.65
Torque Sensitivity (Kt) oz-in/amp ±10% 27 44.0 54 68.0
51
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5750D-150
MOTOR LEADWIRES ARE #16 1.55 MAX.

AWG TYPE "E", & SENSOR LEADWIRES
ARE #22 AWG TYPE "ET", PER MIL-W- 1.15 MAX.
22759/11, 12 "MIN. LG. .350
.650
.040 MTG. DIM.
.400
Ø5.625
+.000 TYP.
Ø5.750 -.002 +.002
Ø3.000 -.000
Ø5.580
3 Phase Motors
.390
.650
Commutation Table
+ + Off - - Off +
Parameter Units Value Phase A RED
Motor Phase B - Off + + Off - - WHT
Peak Torque (Tp) oz-in 300 Phase C Off - - Off + + Off BLK
Sensor 1 1 1 O O O 1 1 YEL
Sensor 2 O 1 1 1 O O O BRN
W 31.6 Sensor Sensor 3 O O O 1 1 1 O ORG
VIO 5-24V DC
BLK GND
Damping Factor (Fo) oz-in/rad/sec 7.05 ROTATION: CW WHEN VIEWED FROM LEAD SIDE

WHITE
Max. Allowable Wdg. Temp. °C 155 BLACK RED
Number of Poles 12
Number of Phases 3
Winding Constants
Voltage at Tp (Vp) volts Nominal 6.0 9 11.4 13.8
Torque Sensitivity (Kt) oz-in/amp ±10% 20.0 29 36.6 45.0
52
Inductance (L) millihenries ±30% .45 1.0 1.5 2.4
www.axsys.com

5850B-075

(S3) ORG/WHT
(S2) GRN/WHT BRN
.440 MAX.
(S1) YEL/WHT VIO
MOTOR LEADWIRES ARE #24
AWG TYPE "E", & SENSOR
.520 MTG. DIM. LEADWIRES ARE #26 AWG TYPE
"ET", PER MIL-W-22759/11, 36" MIN.LG.
75˚ MAX.
ORG
WHT
GRN
+.000 Ø4.580 MIN.
Ø5.850 -.002
Ø5.730 MAX.
.520 ±.010
3 Phase Motors
.220 MAX.
.360 +.001
Ø3.500
-.000
.220 MAX.
Commutation Table
Off + + Off - - Off
Phase A ORG
Peak Torque (Tp) oz-in 1000 Phase C + Off - - Off + + GRN
Sensor 1 O O O 1 1 1 O (YEL / WHT)
Power at Tp (Pp) watts 443 Sensor 2 1 O O O 1 1 1 (GRN / WHT)
Motor Constant (Km) oz-in/ W 47.5 Sensor Sensor 3 1 1 O O O 1 1 (ORG / WHT)
VIO 5-24V DC
Electrical Time Constant (te) milli-sec .72 BRN GND
Mechanical Time Constant (tm) !W

milli-sec 9.1 ROTATION: CW WHEN VIEWED FROM LEAD SIDE
Damping Factor (Fo) oz-in/rad/sec 15.9 ORANGE
Moment of Inertia (Jm) oz-in-sec2 0.145 SCHEMATIC

Max. Allowable Wdg. Temp. °C 155 GREEN WHITE
Weight oz 40
Number of Poles 24
Number of Phases 3
Winding Constants
53
www.axsys.com

6000S-190

VIO
MOTOR LEADWIRES ARE #16 (S3) ORN/WHT 1.900 MAX.
AWG TYPE "E", & SENSOR (S2) RED/WHT BLK 1.460 MAX.
LEADWIRES ARE #24 AWG (S1) YEL/WHT
TYPE "ET", PER MIL- 0.82
W-16878/4, 28" MIN. LG.
.050 MTG.
RED
DIM.
WHT
BLK
7)
+.000
2. 2
(R Ø6.000 -.002
(R
2.
1.070 Ø5.350
84
)
2 X Ø5.900
+.002
Ø4.000 -.000
3 Phase Motors
Commutation Table
STEP
Parameter Units Value + + Off - - Off +

PH
MOTOR PH
Phase A RED
- Off + + Off - -
PH
SE
Motor Phase B WHT
Off - - Off + + Off
SE
Peak Torque (Tp) oz-in 1500 Phase C BLK

SENSOR SE
VI
BL
Power at Tp (Pp) watts 236 Sensor 1 1 1 O O O 1 1 (YEL / WHT)

W 97.6 Sensor Sensor 3 O O O 1 1 1 O (ORG / WHT)
VIO 5-24V DC
BLK GND
Moment of Inertia (Jm) oz-in-sec2 0.230 RED

BLACK WHITE
SCHEMATIC
Weight oz 80
Number of Poles 16
Number of Phases 3
Winding Constants
54
www.axsys.com

6000S-340

VIO 3.425 MAX.
(S3) ORN/WHT
MOTOR LEADWIRES ARE #16 (S2) RED/WHT 2.960 MAX.
AWG TYPE "E",& SENSOR (S1) YEL/WHT BLK
LEADWIRES ARE #24 AWG 2.200
TYPE "ET", PER MIL-W-16878/4,
28" MIN. LG. RED .050 MTG.
WHT DIM.
BLK
7)
+.000
2. 2
Ø6.000 -.002
(R
(R
2.
2.500 Ø5.350
84
)
2 X Ø5.900
+.002
Ø4.000 -.000
3 Phase Motors
Commutation Table
Step 1 2 3 4 5 6 7 Color
Performance Data
Parameter Units Value Phase A + + Off - - Off + RED
Motor Constant (Km) oz-in/!WW 207 Sensor Sensor 3 O O O 1 1 1 O (ORG / WHT)

RED
BLACK WHITE
SCHEMATIC
Weight oz 168
Number of Poles 16
Number of Phases 3
Winding Constants
55
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6000S-440

VIO
(S3) ORN/WHT 4.400 MAX.
(S2) RED/WHT BLK 3.935
MOTOR LEADWIRES ARE #16
(S1) YEL/WHT 3.175
AWG TYPE "E", & SENSOR
TYPE "ET",PER MIL-W- RED .050 MTG.
16878/4, 28" MIN. LG DIM.
WHT
BLK
7)
+.000
2.2
Ø6.000 -.002
(R
(R
2.
3.475
84
)
2 X Ø5.900
+.002
Ø4.000 -.000
3 Phase Motors
Commutation Table
W 233 Sensor Sensor 3 O O O 1 1 1 O (ORG / WHT)
VIO 5-24V DC
BLK GND

RED
Temperature Rise (TPR) °C/watt 0.46 BLACK WHITE
Weight oz 236
Number of Poles 16
Number of Phases 3
Winding Constants
Current at Tp (Ip) amps Nominal 24.9 19.3 15.9 11
56
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7600B-750
MOTOR LEADWIRES
ARE #16 AWG TYPE "E",
7.50 MAX.
SENSOR LEADWIRES ARE
#26 AWG TYPE "ET", 5.97
PER MIL-W-16878/4, 28" MIN. LG.
.67 MAX.
.075 MTG. DIM.
Ø4.922
MIN. 6.350 ±.008
+.000
Ø7.559 -.001 Ø4.469
MAX.
90˚
+.0008
3 Phase Motors
Ø 3.7800 -.0000 7.200 MAX.
Ø7.170
2 PL
Commutation Table
Motor Constant (Km) oz-in/!WW 793 Sensor Sensor 3 O O O 1 1 1 O (ORG / WHT)
BLU 5-24V DC
GRN GND
2
Moment of Inertia (Jm) oz-in-sec 1.36 RED
Max. Allowable Wdg. Temp. °C 155 BLACK WHITE
Number of Poles 24
Number of Phases 3
Winding Constants
Voltage at Tp (Vp) volts Nominal 71.7 85.9 107 138
57
Inductance (L) millihenries ±30% 27 41 64 105
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8338-157
LEADWIRES ARE #22 AWG TYPE "E", +.000

1.142
BLK PER MIL-W-16878/4B, 12" MIN. LG. -.008
RED GRN .050
MTG. DIM.
Ø8.150 +.000
Ø8.338
MAX.TYP. -.002
+.001
Ø6.417 -.002
3 Phase Motors
.275 MAX.
+.000
1.055 -.011
1.653 MAX.
Performance Data
RED+, GRN-; RED +, BLK-; GRN+, BLK-;
Peak Torque (Tp) oz-in 2124 GRN+, RED-; BLK+, RED-; BLK+, GRN-.

Motor Constant (Km) oz-in/!WW 206 RED

BLACK GREEN
SCHEMATIC
Weight oz 104
Number of Poles 36
Number of Phases 3
Winding Constants
58
Inductance (L) millihenries ±30% 6 7.6 9.4 16
www.axsys.com

8860B-330
3.300 MAX.
PER MIL-W-16878/4, 24" MIN. LG. 2.30
WHT .150 .500 MAX.

BLK MTG. DIM.
RED
+.000
Ø8.860 -.005 2.60 Ø8.650 MAX.
2 PL
+.002
Ø5.000 -.000
Ø8.675
2 PL Ø6.200 MIN.
2 PL
3 Phase Motors
Performance Data
BLACK+, WHITE-; BLACK+, RED-;
WHITE+, BLACK-.
Peak Torque (Tp) oz-in 15,294

BLACK
Electrical Time Constant (te) milli-sec 3.2 WHITE RED

SCHEMATIC
Weight lb 24
Number of Poles 32
Number of Phases 3
Winding Constants
59
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8860B-410
Brushless DC Motors / Inside Rotor (800) 777-3393
4.100 MAX.
PER MIL-W-16878/4, 24" MIN. LG.
2.95
WHT .125 MTG. DIM. .575 MAX.
BLK
RED
+.000
Ø8.860 -.005 3.20 Ø8.650 MAX.
2 PL
+.002
Ø5.000 -.000
Ø8.675
2 PL Ø6.200
2 PL
3 Phase Motors

Performance Data
BLACK+, WHITE-; BLACK+, RED-;
WHITE+, BLACK-.
Peak Torque (Tp) oz-in 24,074

BLACK
Electrical Time Constant (te) milli-sec 3.5 WHITE RED
Mechanical Time Constant ( tm) milli-sec 0.90 SCHEMATIC

Weight lbs. 29.7
Number of Poles 32
Number of Phases 3
Winding Constants
Voltage at Tp (Vp) volts Nominal 50 62 78 121.3
60
Inductance (L) millihenries ±30% 5 7.3 11 29
www.axsys.com

1500N-125
(800) 777-3393 Brushless DC Motor / Outside Rotor
±.020
Ø.062 x .170 DP
4 PLS EQ SP ON Ø1.400
1.190
PER MIL-W-16878, 10 " MIN LG.
.950 MTG. DIM. .040 RED BLK WHT
Ø.550
MIN. TYP.
Ø1.060
Ø.455 +.000 MAX. TYP.
-.001
+.000
Ø.490 Ø1.500 -.001
MIN. TYP.
.125 MAX.
3 Phase Motors
1.250
MAX.


RED+, WHITE-; BLACK+, WHITE-;
BLACK+, RED-.

BLACK
Mechanical Time Constant (tm) milli-sec 22.7 WHITE RED

Weight oz 6.2
Number of Poles 8
Number of Phases 3
Winding Constants
61
www.axsys.com

3350L-080
Brushless DC Motor / Outside Rotor (800) 777-3393

.750 MAX.
MOTOR LEADWIRES #24 AWG TYPE "E", &
SENSOR LEADWIRES #28 AWG TYPE "ET",
.220 .230 PER MIL-W-16878/4,16" MIN. LG.
.200 MAX. 54˚
+.0000
Ø 3.3495 -.0010
Ø2.750 MAX.
72˚
Ø2.870 MAX. +.0010

Ø2.0005 -.0000
Ø2.10
(BOTH SIDES)
3 Phase Motors
.040
MTG. DIM. Ø.096 THRU C' SINK Ø82° x Ø.175 4 PLACES
.440
Commutation Table
Parameter Units Value Phase A Off - - Off + - Off RED
Motor Phase B + + Off - - Off + WHT
Peak Torque (Tp) oz-in 38 Phase C - Off + + Off - - BLK
W 9 Sensor Sensor 3 1 O O O 0 1 1 (ORG / WHT)
VIO 5-24V DC
BLK GND
Mechanical Time Constant (tm) milli-sec 42.9 ROTATION: CCW WHEN VIEWED FROM LEAD SIDE

RED
Temperature Rise (TPR) °C/watt 7.7 BLACK WHITE
Weight oz 8.8
Number of Poles 10
Number of Phases 3
Winding
Resistance (R) ohms ±12.5% 11.1 17.8 28.0 70
Current at Tp (Ip) amps Nominal 1.23 0.95 0.76 .50
Back E.M.F. (Kb) volts/rad/sec ±10% 0.209 0.259 0.326 .537
62
www.axsys.com

6000R-250
2.500 MAX.
Ø.125 THRU Ø.225x82 ˚
6 PL ON 5.750 BSC .23 MAX.
Ø5.200
Ø3.100 +.002
MAX. TYP. Ø3.000 -.000
TYP. 1.950
Ø3.250 +.000
MIN. TYP. Ø6.000 -.002
3 Phase Motors
PER MIL-W-16878/6, 20" MIN. LG.
BLK .050 MTG. DIM.
WHT 2.050
RED


RED+, WHITE-; BLACK+, WHITE-;
BLACK+, RED-.
Peak Torque (Tp) oz-in 4800 BLACK

RED WHITE
SCHEMATIC
Weight oz 172
Number of Poles 24
Number of Phases 3
Winding Constants
Voltage at Tp (Vp) volts Nominal 35 37.3 44.6 54.5
Back E.M.F. (Kb) volts/rad/sec ±10% 3.8 4.1 4.9 6
63
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Limited Angle Slotted Motors (Series Wound)

Series Wound


Selection Guide: by outside diameter - Limited Angle Slotted Motors (Series Wound)
Peak Km Angular
Rotation Power@TP O.D. I.D. Axial Length
Model Number Torque (oz-in/ Excursion Page
Inner/Outer (watts) (in.) (in.) (in.)
(oz-in.) !W
watts) (± degrees)
2700C-061 I 60 70 7.19 5 2.700 1.250 0.610 66

3625-085 O 180 128 16 5 3.625 2.500 0.820 67
3730F-060 O 165 151 13.8 5 3.730 2.400 0.600 68
4600-075 O 65 10 20.8 2 4.600 3.000 0.750 69
4750C-106 O 800 240 52 5 4.750 2.077 1.061 70

Peak Km Angular
Series Wound
Inner/Outer (watts) (in.) (in.) (in.)
(oz-in.) !W
watts) (± degrees)
2700C-061 I 60 70 7.19 5 2.700 1.250 0.610 66

4600-075 O 65 10 20.8 2 4.600 3.000 0.750 69
3730F-060 O 165 151 13.8 5 3.730 2.400 0.600 68
3625-085 O 180 128 16 5 3.625 2.500 0.820 67
4750C-106 O 800 240 52 5 4.750 2.077 1.061 70
Other Limted Angle Slotted Motors available but not included in catalog:
Peak Km Angular
Inner/Outer (watts) watts)
(in.) (in.) (in.)
(oz-in.) (± degrees)
1050G-122 I 35 121 3.18 12 1.050 0.156 1.223 -

4500E-067 O 340 125 30.4 3 4.500 2.674 0.672 -
Notes: (1) Data Sheet under construction, please contact Axsys for information.
65
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2700C-061

.610 MAX.
.180 MAX.
.250
24 MIN. LG.
ORG
+.000
Ø2.700 -.001
ROTOR IS AT MAXIMUM
Ø2.600
TORQUE POSITION
+.001
WHEN ORIENTATION Ø1.250 -.000
MARKS ARE IN LINE Ø2.040
GRN
.068 ±.010 MTG. DIM.
Performance Data .385

Series Wound

GREEN+
Motor Constant (Km) oz-in/ !W
W 7.19
ORANGE-
SCHEMATIC
2
Angular Excursion degrees ±5
Weight oz 7
Number of Poles 10
Number of Phases 1
Winding Constants
Back E.M.F. (Kb) volts/rad/sec ±10% .124 0.172 .171 0.257
66
Inductance (L) millihenries ±30% 1.7 2.9 3 5.6
www.axsys.com

3625-085

LEADWIDES ARE #26 ROTOR IS AT MAXIMUM
AWG TYPE "E", PER MIL- TORQUE POSITION WHEN
W-22759/11, 15" MIN. LG. ORIENTATION MARKS
BLK ARE IN LINE
3x 60 ˚
ORG
.125
MAX.
Ø3.110 +.001
Ø2.500 -.000
MAX. TYP.
+.0000
Ø3.6250 -.0015 Ø2.575
MIN. TYP.
90˚
.550
Ø3.432
.040 ±.010

5x Ø.109 THRU MTG. DIM. .635
Ø.172 x 82 ˚ .820
MAX.
Performance Data
Series Wound
ORANGE+

BLACK-
SCHEMATIC
W 16
Weight oz 14
Number of Poles 12
Number of Phases 1
Winding Constants
Resistance (R) ohms ±12.5% 6.8 9.5 13 15.8
Voltage at Tp (Vp) volts Nominal 29.5 35 40 45
Torque Sensitivity (Kt) oz-in/amp ±10% 41.5 49 57.6 63
67
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3730F-060
ROTOR IS AT MAXIMUM TORQUE

POSITION WHEN ORIENTATION
MARKS ARE IN LINE
.410
GRN
ORG .043 MTG. DIM.
PER MIL-W-16878/4, 26 " MIN. LG.
+.000
Ø3.730
-.002 .325
+.002
Ø2.400 -.000 Ø2.520 DIA.
Ø3.140
.175 MAX.
Performance Data
Series Wound
.600 MAX.

GREEN-
ORANGE+
SCHEMATIC
2
Weight oz 11
Number of Poles 10
Number of Phases 1
Winding Constants
Back E.M.F. (Kb) volts/rad/sec ±10% 0.164 0.204 .245 .306
68
www.axsys.com

4600-075

.345

.750 MAX.
LEADWIRES ARE #28 AWG TYPE "ET", POSITION WHEN ORIENTATION
PER MIL-W-16878/6, 6" MIN. LG. MARKS ARE IN LINE
+.000
Ø4.600 -.002
ORG
GRN
Ø3.100 MIN. Ø3.970 MAX.
+.002
Ø3.000 -.000
.320
.210
.315 ±.010 MTG. DIM.

Ø.125 THRU
6 PL EQ SPACED

ON Ø4.330 BC
ORANGE-
Performance Data
Series Wound
GREEN+
SCHEMATIC
Weight oz 14
Number of Poles % (avg to peak) 12
Number of Phases rad/sec 1
Winding Constants
69
www.axsys.com

4750-106

1.061 MAX.
Ø.136 THRU C'BORE
Ø.35 x.10 DP 4 .160 MAX.
PER MIL-W-16878, 24" MIN. LG. PLS EQ SP ON 2.497 BC
.190
ORG
MARKS ARE IN LINE
Ø3.072 R .030 MAX. Ø4.170
+.000 Ø2.7495 ±.001

Ø4.7500 -.002 Ø.2.077
.615 ±.015
.21
Ø.125 THRU 6
PLS EQ SP ON 4.532 BC .086 ±.010 MTG. DIM.
GRN
.760
Series Wound
Performance Data
Parameter Units Value ORANGE+

Power at Tp (Pp) watts 240 GREEN+
W 52 SCHEMATIC

Mechanical Time Constant ( tm) milli-sec 10
Weight oz 36
Number of Poles 18
Number of Phases 1
Winding Constants
Torque Sensitivity (Kt) oz-in/amp ±10% 62 78.5 95 121
70
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Limited Angle Slotless Motors (Toroidally Wound)

Toroidally Wound


Selection Guide: by Outside Diameter - Limited Angle Slotless Motors (Toroidally Wound)
Peak Power@ Km Ang. Excusion O.D. I.D. Axial Length Page

Model Number W
Torque TP (oz-in/!watts) (± degrees) (in.) (in.) (in.)
BTM9-C2 2.9 25 0.587 45 0.870 0.125 0.700 75
BTM10-S 6.0 84 0.653 60 0.960 0.125 0.700 76
BTM10-R-3 1.8 21 .393 60 0.962 0.125 0.350 77
BTM10-AD 1.7 20 0.383 60 1.000 0.188 0.350 78
BTM10-A-5 2.9 81 0.323 60 1.000 0.125 0.350 79
BTM10-N-2 1.8 21 0.395 20 1.000 0.125 0.350 80
BTM10-L 14.5 418 0.710 40 1.000 0.125 1.000 81
BTM14-E 6.0 38 0.968 30 1.374 0.500 0.375 82
BTM15-C 22 159 1.75 15 1.500 0.375 0.500 83
BTM16-B 6.0 25 1.20 22.5 1.600 0.810 0.350 84
BTM16-FA 6.0 29 1.12 22.5 1.600 0.187 0.350 85
BTM18-G 18 39 2.89 25 1.718 0.250 0.700 86
BTM18-L 20 60 2.59 50 1.719 0.187 0.943 87
BTM22-BA 12.5 25 2.50 60 2.125 0.875 0.500 88
BTM24-G 36 29 6.73 15 2.375 1.250 0.625 89
BTM28-EA 70 41 10.9 10 2.756 0.875 0.630 90
BTM30-E 63 72 7.42 60 3.000 0.500 1.000 91
BTM34-H-1 80 92 8.32 60 3.312 0.375 1.125 92
BTM34-Q1 180 100 18.0 5 3.350 0.800 0.800 93
BTM34-U 345 998 10.9 50 3.375 0.627 2.000 94
BTM34-S 170 430 8.20 50 3.400 0.380 1.100 95
BTM35-B 165 118 15.2 20 3.500 1.000 0.950 96
BTM48-B 220 245 14 5 4.759 2.676 0.600 97
72
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Brushless DC Motors Brushless DC Motors

Selection Guide: by Peak Performance - Limited Angle Slotless Motors (Toroidally Wound)
Peak Power@ Km Ang. Excusion O.D. I.D. Axial Length Page
Model Number
Torque TP (oz-in/!W
watts) (± degrees) (in.) (in.) (in.)
BTM10-AD 1.7 20 0.383 60 1.000 0.188 0.350 78
BTM10-R-3 1.8 21 .393 60 0.962 0.125 0.350 77
BTM10-N-2 1.8 21 0.395 20 1.000 0.125 0.350 80
BTM9-C2 2.9 25 0.587 45 0.870 0.125 0.700 75
BTM10-A-5 2.9 81 0.323 60 1.000 0.125 0.350 79
BTM10-S 6.0 84 0.653 60 0.960 0.125 0.700 76
BTM14-E 6.0 38 0.968 30 1.374 0.500 0.375 82

BTM16-B 6.0 25 1.20 22.5 1.600 0.810 0.350 84
BTM16-FA 6.0 29 1.12 22.5 1.600 0.187 0.350 85

BTM22-BA 12.5 25 2.50 60 2.125 0.875 0.500 88
Toroidally Wound
BTM10-L 14.5 418 0.710 40 1.000 0.125 1.000 81
BTM18-G 18 39 2.89 25 1.718 0.250 0.700 86
BTM18-L 20 60 2.59 50 1.719 0.187 0.943 87
BTM15-C 22 159 1.75 15 1.500 0.375 0.500 83
BTM24-G 36 29 6.73 15 2.375 1.250 0.625 89
BTM30-E 63 72 7.42 60 3.000 0.500 1.000 91
BTM28-EA 70 41 10.9 10 2.756 0.875 0.630 90
BTM34-H-1 80 92 8.32 60 3.312 0.375 1.125 92
BTM35-B 165 118 15.2 20 3.500 1.000 0.950 96
BTM34-S 170 430 8.20 50 3.400 0.380 1.100 95
BTM34-Q1 180 100 18.0 5 3.350 0.800 0.800 93
BTM48-B 220 245 14 5 4.759 2.676 0.600 97
BTM34-U 345 998 10.9 50 3.375 0.627 2.000 94
73
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Torque vs. Angular Excusion
Toroidally Wound
100 100
80 80
% Torque
% Torque
60 60
40 40
20 20
-40°
-30°
-20°
-10°
0
+10°
+20°
+30°
+40°
-80°
-60°
-40°
-20°
0
+20°
+40°
+60°
+80°
Angular Excursion Angular Excursion
X Y
100 100
80 80
% Torque
% Torque
60 60
40 40
20 20
-80°
-60°
-40°
-20°
0
+20°
+40°
+60°
+80°
-40°
-30°
-20°
-10°
0
+10°
+20°
+30°
+40°
Angular Excursion Angular Excursion
Z 6 Pole
100
80
% Torque
60
40
20
-40°
-30°
-20°
-10°
0
+10°
+20°
+30°
+40°
Angular Excursion
8 Pole
74
www.axsys.com

BTM9-C2
LEADWIRES ARE #30 AWG TYPE "ET", +.003

PER MIL-W-16878/6B, 6" MIN. LG. Ø.125 -.000 THRU
Limited Angle slotless Motors

.700
Toroidally Wound
Ø.870 ±.001
RED
BLK
ROTOR IS AT MAXIMUM
TORQUE POSITION WHEN .650 .025 MTG. DIM
ORIENTATION MARKS
ARE IN LINE
Performance Data
W 0.587 RED+
Constinuous Torque (Tc) oz-in 1.3

Power at Constinuous Torque watts 4.9 BLACK-
Input Volts at Constinuous Torque volts 7.9 SCHEMATIC

Rotor Inertia (Jm) oz-in-sec2 0.000024
Angular Excursion,(Page 74, Curve X) degrees ±45
Number of Poles 2
Weight oz 1
Winding Constants
Parameter UNITS TOL. Value
Resistance (R) ohms ±12.5% 12.8
Voltage at Tp (Vp) volts Nominal 17.7
Current at Tp (Ip) amps Nominal 1.38
Torque Sensitivity (Kt) oz-in/amp ±10% 2.10
Back E.M.F. (Kb) volts/rad/sec ±10% 0.015
75
Inductance (L) millihenries ±30% 2.7
www.axsys.com

BTM10-S

PER MIL-W-16878, 6 " MIN. LG.
+001
Ø.125 -.000
+000
Ø.960 -.002
BLU
WHT
ROTOR IS AT MAXIMUM
TORQUE POSITION .100 ±.015
WHEN ORIENTATION
MARKS ARE IN LINE +.005
.500 -.000
.700
Performance Data

Toroidally Wound
WHITE+
W 0.653
BLUE-
Power at Constinuous Torque watts 5.3
SCHEMATIC
Input Volts at Constinuous Torque volts 5.6
Angular Excursion (Page 74, Curve X) degrees ±60
Number of Poles 2
Weight oz 1.1
Winding Constants
76
www.axsys.com

BTM10-R-3

.230
PER MIL-W-16878/4, 6" MIN. LG. .060 MTG. DIM.
+.000
Ø.962 -.005
BLK
GRAY
+.002
Ø.125 -.000
ROTOR IS AT MAXIMUM
TORQUE SENSITIVITY
POSITION WHEN
ORIENTATION MARKS .350
ARE IN LINE
Performance Data

Toroidally Wound
W .393 GRAY+


Number of Poles 2
Weight oz 0.7
Winding Constants
77
Inductance (L) millihenries ±30% 20
www.axsys.com

BTM10-AD

.230
+.000
Ø1.0000 -.001
RED +.001
WHT Ø.1875 -.000
ROTOR IS AT MAXIMUM
TORQUE SENSITIVITY .060 ±.005
POSITION WHEN MTG. DIM.
ORIENTATION MARKS
ARE IN LINE +.000
.350 -.005
Performance Data

Toroidally Wound

Constinuous Torque (Tc) oz-in 0.5 RED+

Input Volts at Constinuous Torque volts 7.5 WHITE -
Electrical Time Constant (te) milli-sec 0.15 SCHEMATIC

Number of Poles 2
Weight oz 0.6
Winding Constants
78
www.axsys.com

BTM10-A-5

PER MIL-W-16878/4, 6" MIN. LG .230
+.000
Ø1.0000 -.001
GRAY
BLK
+.001
Ø.125 -.000
ROTOR IS AT MAXIMUM
TORQUE POSITION WHEN .050 ±.005
ORIENTATION MARKS MTG. DIM.
ARE IN LINE
.350
Performance Data

Toroidally Wound
W 0.323
GRAY+
Input Volts at Constinuous Torque volts 12
BLACK-
Number of Poles 2
Weight oz 0.6
Winding Constants
79
www.axsys.com

BTM10-N-2

.350
.060 MTG. DIM.
+.001
Ø.125 -.000
GRAY +.000
Ø1.0000 -.001
BLK
ROTOR IS AT MAXIMUM
TORQUE POSITION WHEN
ORIENTATION MARKS
ARE IN LINE
.230
Performance Data

Toroidally Wound

GRAY+
BLACK-
SCHEMATIC
Angular Excursion (Page 74, Curve Z) degrees ±20
Number of Poles 2
Weight oz 0.8
Winding Constants
80
www.axsys.com

BTM10-L

+.003
Ø.125 -.000
+000
RED 1.000 -.005
BLK
.025
.950
ROTOR IS AT MAXIMUM MTG. DIM.
ORIENTATION MARKS
ARE IN LINE
1.000
Performance Data

Toroidally Wound
RED+
BLACK-
SCHEMATIC
Number of Poles 2
Weight oz 2.3
Winding Constants
81
www.axsys.com

BTM14-E
.375

+.000
Ø1.374 -.001
RED +.0005
Ø.5000 -.0000
BLK
Ø.700
ROTOR IS AT MAXIMUM
ORIENTATION MARKS
ARE IN LINE. .300
.00 ±.01
MTG. DIM.
Performance Data

Toroidally Wound

W 0.968
Power at Constinuous Torque watts 4.7 RED+

Electrical Time Constant (te) milli-sec .42 BLACK-
Mechanical Time Constant ( tm) milli-sec 33 SCHEMATIC

Angular Excursion (Page 74, Curve Y) degrees ±30
Number of Poles 2
Weight oz 1.7
Winding Constants
82
www.axsys.com

BTM15-C

PER MIL-W- 16878/4, 6" MIN. LG. .500
BLK
RED
+.001
Ø.3750 -.000
+.000
Ø1.500 -.002
.01 X 45 ˚
CHAMFER
BOTH SIDES
ROTOR IS AT MAXIMUM TORQUE .03 ±.01

POSITION WHEN ORIENTATION .440 MTG. DIM.
MARKS ARE IN LINE
Performance Data
RED+

Peak Torque (Tp) oz-in 22 BLACK-
SCHEMATIC
Toroidally Wound
W 1.75
Number of Poles 4
Weight oz 2.5
Winding Constants
83
www.axsys.com

BTM16-B

.350
PER MIL-W-16878/610" MIN. LG.
BLK
RED
+.001 +.000
Ø.810 -.000 Ø1.600 -.001
ROTOR IS AT MAXIMUM
ORIENTATION MARKS
ARE IN LINE.
.250
.050 MTG. DIM.

Performance Data

Toroidally Wound

W 1.20
Power at Constinuous Torque watts 2 RED+

Electrical Time Constant (te) milli-sec 0.30 BLACK-

Angular Excursion (Page 74, Curve Y) degrees ±22.5
Number of Poles 4
Weight oz 1.5
Winding Constants
84
www.axsys.com

BTM16-FA

PER MIL-W-16878/4, 20" MIN. LG.
CLR
.350 MAX.
BLK
Ø.800 MIN.
.08 ±.02
+.000
Ø1.6000 -.001 Ø.394
+.0006
Ø.1874 -.0000
ROTOR IS AT MAXIMUM
ORIENTATION MARKS
ARE IN LINE. .161 MTG. DIM.
.114 MAX.
.024
.189 MAX.
.102
Performance Data
Parameter Units Value 100

80
Peak Torque (Tp) oz-in 6.0 60
40
%
re
q
uT
o
Toroidally Wound
20
oz-in/!W
˚
˚
˚
˚
- ˚
- ˚
˚
- ˚
Motor Constant (Km) W 1.12
0˚
+
+
+
+
2
0
0
4
0
2
0
1
1
0
3
0
4
0
0
3
-
ANGULAR EXCURSION
Power at Constinuous Torque watts 2.4 CLEAR+

Electrical Time Constant (te) milli-sec 0.29 BLACK-

Angular Excursion (Page 74, Curve Y) degrees ±22.5
Number of Poles 4
Weight oz 1.8
Winding Constants
85
www.axsys.com

BTM18-G
BLK
RED LEADWIRES ARE #28
AWG TYPE "E", PER MIL-
W-16878/4, 12" MIN. LG.
+.000
Ø1.718 -.002
+.001
Ø.250 -.000
.060 MTG. DIM.

ROTOR IS AT MAXIMUM TORQUE .580
MARKS ARE IN LINE
.700
Performance Data

Toroidally Wound
Motor Constant (Km) oz-in/!WW 2.89 RED+
Constinuous Torque (Tc) oz-in 8


Number of Poles 4
Weight oz 4.8
Winding Constants
86
www.axsys.com

BTM18-L

PER MIL-W-16878/6B, 12" MIN. LG .860
YEL
BRN +.000
Ø1.719 -.002
+.001
Ø.187 -.000
ROTOR IS AT MAXIMUM
ORIENTATION MARKS .041 MTG. DIM
ARE IN LINE .943
Performance Data

Toroidally Wound
Motor Constant (Km) oz-in/!WW 2.59 BROWN+

Power at Constinuous Torque watts 8.5 YELLOW-

Number of Poles 2
Weight oz 5.6
Winding Constants
87
www.axsys.com

BTM22-BA

.500
+.000
.150 -.004
R .010 MAX. LEADWIRES ARE #26 AWG TYPE "E",
+.000
.055 -.004 PER MIL-W-16878/4B, 12 " MIN. LG.
+.000 Ø2.125
Ø2.125 -.002 .475
+.001
Ø.875 -.000
Ø1.550
Ø2.500
ROTOR IS AT MAXIMUM
ORIENTATION MARKS Ø.098 THRU
ARE IN LINE 6 PLCS E.Q. SP.
ON Ø2.322
Performance Data

Toroidally Wound

RED+
Power at Constinuous Torque watts 7
BLACK-
SCHEMATIC
Number of Poles 2
Weight oz 10
Winding Constants
Voltage at Tp (Vp) volts Nominal 16
Back E.M.F. (Kb) volts/rad/sec ±10% .056
88
www.axsys.com

BTM24-G
ROTOR IS AT MAXIMUM
TORQUE POSITION
LEADWIRES ARE #26 AWG TYPE "E", .625 +.000
PER MIL-W-16878/4B, 18" MIN. LG. -.005
WHEN ORIENTATION
MARKS ARE IN LINE WHT .025 MTG. DIM.
BLK/RED
+.000
Ø2.375 -.002
+.001
Ø1.250 -.000
Ø1.825
+.005
.575 -.000 .20 MIN.
Performance Data

Toroidally Wound
Constinuous Torque (Tc) oz-in 20 WHITE+
BLACK/RED-

Angular Excursion Page 74,Curve 6 Pole degrees ±15
Number of Poles 6
Weight oz 10
Winding Constants
89
www.axsys.com

BTM28-EA

.551 ROTOR IS AT
MAXIMUM TORQUE LEADWIRES ARE
POSITION WHEN #26 AWG TYPE "E",
.063 ORIENTATION WHITE 16878/4B,18" MIN. LG.
30˚±2 ˚
MARKS ARE IN LINE BLK/RED
R 1.457 ±.008
2 PL
.556 R .100 ±.004

8 PL
+.000 70 ˚
Ø2.756 -.002
2 PL
+.001
Ø.875 -.000
Ø.098 ±.004 THRU

4 HOLES EQ. SP.
ON Ø2.953
Ø3.130 90
.630 .03 MIN.
2 x 100 ˚
Performance Data

Toroidally Wound

Power at Constinuous Torque watts 20 WHITE+

Electrical Time Constant (te) milli-sec 0.95 BLACK/RED-
SCHEMATIC
2
Rotor Inertia (Jm) oz-in-sec 0.01
Angular Excursion Page 74, Curve 6 Pole degrees ±10
Number of Poles 6
Weight oz 11.5
Winding Constants
90
www.axsys.com

BTM30-E

1.000

TYPE "E", PER MIL-W-16878/4B,
6" MIN. LG.
RED +.001
Ø.500 -.000
BLK
+.000
Ø3.000 -.003
ROTOR IS AT MAXIMUM
TORQUE POSITION
WHEN ORIENTATION
MARKS ARE IN LINE .050
Performance Data

Toroidally Wound
Constinuous Torque (Tc) oz-in 20 RED+
BLACK-

Number of Poles 2
Weight oz 22
Winding Constants
91
www.axsys.com

BTM34-H-1

PER MIL-W-16878/6, 12" MIN. LG.
1.000
+.001
Ø.375 -.000
BLK +.000
WHT Ø3.312 -.002
ROTOR IS AT MAXIMUM
TORQUE POSITION WHEN .062 MTG. DIM.
ORIENTATION MARKS
ARE IN LINE 1.125
Performance Data

Toroidally Wound

Constinuous Torque (Tc) oz-in 60 BLACK+

Input Volts at Constinuous Torque volts 34.7 WHITE-

Number of Poles 2
Weight oz 28.5
Winding Constants
92
www.axsys.com

BTM34-Q-1

PER MIL-W-16878/4, 10" MIN. LG.
.80
.599
22.5 ˚±3 ˚ .079

RED
BLK ROTOR IS AT MAXIMUM
TORQUE POSITION
WHEN ORIENTATION
MARKS ARE IN LINE
Ø3.350
+.000
Ø3.3500 -.002
Ø4.016 +.0015
Ø1.7260 - .0000
4x5˚
Ø2.62
+.008
4 x .122 -.000 .599 ±.005
EQ. SP ON Ø3.768 MTG. DIM.
Performance Data

Toroidally Wound
Motor Constant (Km) !W W
oz-in/ 18.0
RED+
BLACK-
SCHEMATIC
Angular Excursion (Page 74, Curve 8 Pole) degrees ±5
Number of Poles 8
Weight oz 20
Winding Constants
93
www.axsys.com

BTM34-U

2.000
PER MIL-W-16878/6B,12" MIN. LG.
1.850
.075 ±.015 MTG. DIM.

+.001
Ø.627 - .000
+.000
RED Ø3.375 -.002
BLK
ROTOR IS AT MAXIMUM
ORIENTATION MARKS
ARE IN LINE
Performance Data

Toroidally Wound

W 10.9 RED+


Number of Poles 2
Weight oz 40
Winding Constants
94

BTM34-S

LEADWIRES ARE #22 AWG 1.050
TYPE "E", PER MIL-W-16878/4,
12 " MIN. LG.
+.001
Ø.380 -.000 +.000
Ø3.400 -.002
WHT
BLU
ROTOR IS AT MAXIMUM
ORIENTATION MARKS .025 ±.010
ARE IN LINE 1.100 MTG. DIM.
Performance Data

Toroidally Wound
Constinuous Torque (Tc) oz-in 49.5 WHITE+

Input Volts at Constinuous Torque volts 7.1 BLUE-

Number of Poles 2
Weight oz 28
Winding Constants
95
www.axsys.com

BTM35-B

LEADWIRES ARE #24 AWG TYPE "E", .950
PER MIL-W- 16878/4, 18" MIN. LG.
+.001
Ø1.000 -.000
+.000
Ø3.500 -.002
RED Ø2.500
BLK
ROTOR IS AT MAXIMUM TORQUE .100 ± .01

POSITION WHEN ORIENTATION .750 MTG. DIM.
MARKS ARE IN LINE
Performance Data
RED+
Peak Torque (Tp) oz-in 165 BLACK-
SCHEMATIC
Toroidally Wound

Number of Poles 4
Weight oz 23
Winding Constants
96
www.axsys.com

BTM48-B

Ø.136 THRU 4 PL EQ SP
ON A Ø3.203 .425 MAX.
.175 MAX.
+.000
+.000 Ø4.759 -.002
Ø3.259 -.002
Ø2.676

TYPE "E", PER MIL-W-22759/33, ROTOR IS AT MAXIMUM
12 " MIN. LG TORQUE POSITION WHEN .250
ORIENTATION MARKS .071 ±.002
WHT/RED MTG. DIM.
ARE IN LINE
WHT/BLK
Performance Data

Toroidally Wound
Motor Constant (Km) !WW
oz-in/ 14
WHITE/RED+
Input Volts at Constinuous Torque volts 17.2 WHITE/BLACK-
SCHEMATIC
Angular Excursion (Page 74, Curve 8 Pole) degrees ±5
Number of Poles 10
Weight oz 9
Winding Constants
Back E.M.F. (Kb) volts/rad/sec ±10% .664
97
www.axsys.com




Selection Guide: Limited Angle Moving Coil Motors
Continuous Actuator Angular
Rotation Peak Torque Axial Page
Model Number Torque Constant Excursion O.D. I.D.
Inner/Outer (oz-in.) Length
(oz-in.) (oz-in/ !W
watts) (degrees)
RA2500A-077 I 7 4 1.9 35 See Drawing 100
RA2500B-078 I 9 4 1.9 35 See Drawing 101
RA6240B-119 O 80 43 10.5 18 See Drawing 102
RA6800-119 O 110 40 23 10 See Drawing 103
99
www.axsys.com

RA2500A-077
-E-
1.125
BLK
COIL ASSEMBLY
A A
.780
.380
.390
-F-
70˚ RED
.750 I NSERT, HELICAL COIL
35˚ 2 X MS21209C0420
-D-
R 1.600
R 1.010
LEADWIRES ARE
1.925 #28 AWG TYPE "E",
-A- PER MIL-W-16878
SECTION A-A .666 2.500
.061 FULL R
. 251 1.969
.172
Ø.063 THRU
-B-
.220
.063
-C-
2.000
2 X MS21209C0420
Ø.010 A B M C M
Performance Data
RED+
Power at Tp (Pp) watts 7.1

BLK-
Actuator Constant (Ka) oz-in/ W 1.9
SCHEMATIC
Continuous Torque (Tc) oz-in 4
Stroke degrees ±35.5
Clearance mm 0.381
Maximum Winding Temp. °C 155
Weight of coil assembly oz 0.446
Total Weight oz 5.24
Winding Constants
Parameter UNITS TOL. -110
100
www.axsys.com

RA2500B-078
-E-
1.125
BLK
COIL ASSEMBLY
A A
.780
.380
.390
-F-
70˚ RED
.750 I NSERT, HELICAL COIL
35˚ 2 X MS21209C0420
-D-
R 1.600
R 1.010
LEADWIRES ARE
1.925 #28 AWG TYPE "E",
-A- PER MIL-W-16878
SECTION A-A .666 2.500
.061 FULL R
. 251 1.969
.172
Ø.063 THRU
-B-
.220
.063
-C-
2.000
2 X MS21209C0420
Performance Data Ø.010 A B M C M

Peak Torque (Tp) oz-in 9 RED+

Actuator Constant (Ka) oz-in/ W 1.9 BLK-
Continuous Torque (Tc) oz-in 4 SCHEMATIC

Stroke degrees ±35
Clearance mm 0.381
Winding Constants
101
www.axsys.com

RA6240B-119

Ø.140 THRU
4 PLCS
.812
.190
3.438
3.75 1.192
3.00
36˚
STROKE
CL .250
4 PLCS 1.50
.812
.535 .112-4OUNC-2B
1.625
1.187 X .312 DP 2 PLCS
3.12 R LEADWIRES ARE #28 AWG

TYPE "E", PER MIL-W-16878
RED BLK
Performance Data
RED +

BLK -
SCHEMATIC
Actuator Constant (Ka) oz-in/ W 10.5
Stroke degrees ±18
Clearance mm 0.02
Winding Constants
Torque Sensitivity (Kt) oz-in/amp ±10% 11
102
www.axsys.com

RA6800-119
Ø.140 THRU
3.75 4 PLCS 1.192
3.437
3.00
.250
.687
20˚
2 PLCS
STROKE
1.00
2 PLCS
CL
1.78
1.250 .556
.156 .112-4OUNC-2B
2 PLCS 1.625
1.500 X .312 DP 2 PLCS
3.40 R
BLK
RED
TYPE "E", PER MIL-W-16878
Performance Data
RED +

BLK -
SCHEMATIC
Actuator Constant (Ka) oz-in/ W 23
Stroke degrees ±10
Clearance mm 0.02
Total Weight oz 16
Winding Constants
Torque Sensitivity (Kt) oz-in/amp ±10% 43
103
www.axsys.com

Dual Winding Motors

Dual Winding Motors


Selection Guide: Dual Winding Motors
Axial
Rotation Peak Torque Power@TP Km O.D. I.D. Page
Motor Type Model Number Length
Inner/Outer (oz-in.) !W
(watts) (oz-in/ watts) (in.) (in.)
(in.)
2-Phase 4125-120 I 83 12.5 23.7 4.125 2.440 1.200 106
3-Phase 6700-154 I 500 33 90 6.700 5.250 1.850 107
3-Phase 8700-100 O 150 10.5 50.3 8.700 7.500 1.000 108
Dual Winding Motors
105
www.axsys.com

4125-120

Dual Winding Motors
Performance Data
Weight oz 29
Number of Poles 14
Number of Phases 2
Winding Constants
Parameter UNITS TOL. -100 -160 --250 -500
Voltage at Tp (Vp) volts Nominal 11.0 14 17.7 25
Current at Tp (Ip) amps Nominal 1.10 .9 70 0.500
Torque Sensitivity (Kt) oz-in/amp ±10% 75.0 93 117 165
Back E.M.F. (Kb) volts/rad/sec ±10% 0.523 .65 .83 1.16
106
www.axsys.com

6700-154
1.000 MOTOR LEADWIRES ARE #18 AWG TYPE "E", &

.080 ±.050 SENSOR LEADWIRES ARE #24 AWG TYPE "ET",
MTG. DIM. .590 MAX. PER MIL-W-1687/4, 18" MIN.LG.
150 ˚ MAX.
.260 MAX.
Dual Winding Motors

+.000
Ø6.700 -.002 6.627 ±.010
5.320
+.002 (Ø6.00)
Ø5.250 -.000
Ø6.500
MAX. TYP.
1.350 .127 ±.001
.280 MAX. R .005 MAX.

2 PL
.127 ±.001
Step 1 2 3 4 5 6 7 Color
Commutation Table (PRIMARY)
Performance Data
Phase A + + Off - - Off +
Parameter Units Value Motor Phase B - Off + + Off - -
RED
Phase C Off - - Off + + Off

BLK
Peak Torque (Tp) oz-in 500 GRN
Sensor 1 1 1 O O O 1 1 YEL
Power at Tp (Pp) watts 33 Sensor Sensor 2 O 1 1 1 O O O RED
Sensor 3 O O O 1 1 1 O ORG
Motor Constant (Km) oz-in/!WW 90.0 RED

Mechanical Time Constant (tm) milli-sec 7.69 BLACK
SCHEMATIC
GREEN
Step 1 2 3 4 5 6 7 Color
Damping Factor (Fo) oz-in/rad/sec 57.2 Commutation Table (SECONDARY)
Moment of Inertia (Jm) oz-in-sec 2

0.440 Phase A + + Off - - Off + RED / WHT
Motor Phase B - Off + + Off - - BLK / WHT
Total Breakaway Torque (Tf) oz-in 20 Phase C Off - - Off + + Off GRN / WHT
Sensor 1 1 1 O O O 1 1 YEL /WHT
Temperature Rise (TPR) °C/watt 1.2 Sensor Sensor 2 O 1 1 1 O O O RED / WHT
Max. Allowable Wdg. Temp. °C 155 Sensor 3 O O O 1 1 1 O ORG / WHT
RED/WHT
Weight oz 60
Number of Poles 32 BLK/WHT GRN/WHT
SCHEMATIC
Number of Phases 3 ROTATION: CW WHEN VIEWED FROM LEAD SIDE
Winding Constants
Back E.M.F. (Kb) volts/rad/sec ±10% .85 1.11 1.40 1.77
107
Inductance (L) millihenries ±30% 1.3 2 3.2 5
www.axsys.com

8700-100
Brushless DC Motor/Outside Rotor (800) 777-3393

PER MIL-W-22759/32, 48" MIN. LG.
Dual Winding Motors
36˚ .600
2 x .250 MAX.
18˚ .050 MTG. DIM.
.112-40 UNC X .150 DP MIN. 1.000 MAX.
5 EQ. SP. ON Ø8.450
.500
+.005
Ø.100 -.000THRU Ø7.660
10 EQ. SP. ON Ø8.450 Ø7.500 ±.001
MIN.
Ø8.700 ±.001
.032 +.003 DP X .0625 ±.0010 W Ø8.150
-.000 MAX
KEYWAY, 1PL


RED+, GREEN-, GREEN+, BLACK-,
BLACK+, RED-. AND RED/WHT+ GRN/WHT-
GRN/WHT+, BLK/WHT- BLK/WHT+, RED/WHT-.
Peak Torque (Tp) oz-in 150 RED

Electrical Time Constant (te) milli-sec 1
BLK GRN

Damping Factor (Fo) oz-in/rad/sec 17.9 RED/WHT
2
Temperature Rise (TPR) °C/watt 1.4 GRN/WHT BLK.WHT

SCHEMATIC
Weight oz 2.95
Number of Poles 40
Number of Phases 3
Winding Constants
Resistance (R) ohms ±12.5% 80 130 180 300
Voltage at Tp (Vp) volts Nominal 29 37 43.5 50.4
Current at Tp (Ip) amps Nominal .363 .28 0.214 0.176
108
www.axsys.com


Mechanisms
Direct Drive Motor Assemblies . . .127
Mechanisms
Scanners . . . . . . . . . . . . . . . . . . . . .128
Actuators . . . . . . . . . . . . . . . . . . . . .129
Feedback Packages . . . . . . . . . . . . .130
109
www.axsys.com


Direct Drive Motor Assemblies
AMCP produces custom-designed motion

control packages and assemblies. Brushless
torque motors can be integrated with
matching resolvers to provide smooth com-
mutation and high accuracy, absolute posi-
tioning.These products provide
efficient solutions in demanding motion
control applications from industrial robot
drives to space mechanisms. Our customers
enjoy the performance, cost and logistics
benefits of procuring integrated component
sets from a single source.
Gimbal assembly with a brushless motor, 2 D.C.

brush motors, 2 resolvers, slip ring assembly, and
associated structural hardware for a 2 axis missile
seeker.
Mechanisms
High torque brushless motor-resolver assembly

with integral ferrofluid seal for vacuum semicon-
ductor process mechanism provides high position-
ing accuracy and speeds up to 1200 RPM.
110
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Scanners
AMCP is a leading supplier of rotary and

oscillating scanners for defense IR imag-
ing applications.
These scanners incorporate proprietary con-

trol electronics to provide high scan rates
and linearity.
Typical Performance Characteristics

Rotary Scanners
Wobble: 30 arc-seconds
Jitter: 1.5 micro-seconds
Oscillating Scanners:
Active Scan Angle: 7.5 deg Rotating scanner.
Scan Rate: 60 Hz
Linearity: .5 micro-seconds
Mechanisms
Oscillating scanner.
111
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Actuators
Axsys produces custom linear and rotary

actuators for a space, defense and com-
mercial applications.
Redundant drive actuator for space deployment

mechanism.
.
Mechanisms
Focus actuator with integral control electronics for

IR imaging telescope positions to 6x10-4 inches.
112
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Feedback Packages
Axsys provides resolvers in custom hous-

ings,creating special application-specific
feedback packages.
Resolver-based feedback package for commuter

jet flap drive mechanism.
Mechanisms
113
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Capabilities
Overview . . . . . . . . . . . . . . . . . . . . .115
DC Motors . . . . . . . . . . . . . . . . . . . .116
AC and Stepper Motors . . . . . . . . . .117
DC and AC Tachometers . . . . . . . . .118
Resolvers/Synchros . . . . . . . . . . . .119
Scanners . . . . . . . . . . . . . . . . . . . . .120
Actuators . . . . . . . . . . . . . . . . . . . . .121
Packages, Assemblies
and Servosystems . . . . . . . . . . . . .122
Capabilities
114
www.axsys.com


Overview
• DC Motors - Direct Drive/Brushless and
Brush Type most advanced and reliable technology
• AC and Stepper Motors available. Axsys offers a wide array of both
• DC and AC Tachometers standard and custom components, which
• Resolvers/Synchros can be combined as a system to offer opti-
• Scanners - Oscillating and Rotary mal solutions for your motion control
• Actuators - Linear and Rotary needs. By incorporating standard compo-
• Packages, Assemblies and nents into a single housing, for example, we
Servosystems can provide the most economical and tech-
nically sound solution to many motion
Axsys’ Motion Control Product’s compre- control problems. Standard or custom-engi-
hensive componentdesign and manufactur- neered components, sub-assemblies, or
ing capabilities are unique in the motion entire systems–Axsys has what you need.
control industry, with expertise developed The following information offers a brief
over more than three decades.This experi- description of each of our product lines,
ence allows Axsys to provide high perform- plus examples of how they can be com-
ance motion control and measurement solu- bined into assemblies and systems to meet
tions using the your motion control needs
Capabilities
115
www.axsys.com


DC Motors • Housed or frameless
• Rare earth magnets
Direct Drive / Brushless and Brush Type • 2-wire control (+/-)
Performance Features
Axsys’ complete line of MAGTECH® direct Brushless, Limited Angle
drive brushless and brush type torque Torque Motors
motors and servomotors are sure to include • Outer diameters 0.8" to 14"
a motor that meets your system’s require- • Torque up to 24 ft-lbs
ments. • Angular excursion: to ±60°
• No slot effects
The direct drive motor is equivalent to a
conventional servomotor-gearhead, but fea- Brushless, Moving Coil, Segmented
tures improved response characteristics.This • Radius up to 10”
gearless DC motor drive is ideally suited • Torque up to 200 oz-in
for high acceleration applications with • Extremely low cogging
rapid starts and stops.The absence of gear- • No commutation required
ing also eliminates errors caused by friction,
backlash, and other inaccuracies, making
possible a very high threshold sensitivity -
to one arc second in high performance
positioning systems.
DC torque motors have a space-saving

“pancake” shape, i.e. they are axially short
compared to the diameter and can be con-
ventionally mounted around a shaft or
other load. Limited angle torque motors do
not require commutation electronics and
have no cogging.
Characteristics
Capabilities
Brushless
• Outer diameters 0.5" to 33"
• Torque up to 1,650 ft-lbs DC Brushless and Brush Motors, Housed and
• Housed or frameless Frameless Motors, Segment Motors, Brushless
Limited Angle Torque Motors, and Large Ring
• Rare earth magnets Torque Motors.
• 2- or 3- phase winding
Brush
• Outer diameters 1" to 20"
• Torque up to 465 ft-lbs
116
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AC and Stepper Motors Stepper Motors
• Outer diameters 0.5" to 4"
Performance Features • 7.5, 15, 30, 45 and 90 degree steps
Axsys’ AC and stepper motors maintain con- • Slow speeds to 1,500 PPS
stant speed without feedbackdevices, reduc- • Permanent magnet and variable
ing system cost and complexity. Hysteresis reluctance
synchronous AC motors are small, light-
weight, low-inertia motors that ensure tight
speed control under varying loads.They also
feature fast ramp up, proven reliability, and
cost-effective design. Induction AC motors
also offer high reliability and low cost, with
non-sparking operation.They can meet
stringent torque and starting voltage specifi-
cations. Stepper motors provide accurate
position using a predefined angular step, and
are suitable in lighter load applications.
Characteristics
Hysteresis Synchronous AC Motors

• Outer diameters 0.5" to 2.5"
• Motor speeds to 12,000 rpm
• Power output to 250 watts
• Speed stability to .001%
• Available with or without gearhead
• Fixed wobble is 100 arcseconds
maximum, phase to phase
• Random wobble is 7 arcseconds
total maximum
Capabilities
Induction AC Motors
• Outer diameters 0.5" to 2.5"
• Motor speeds to 24,000 rpm
• Power output to 75 watts
• 12 to 230 VAC / 60 to 400Hz
• Single and double-shaft extensions
117
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DC and AC Tachometers
Axsys’ MAGTECH® electromagnetic
tachometer generators provide precise
velocity feedback by supplying output volt-
age directly proportional to speed.With
these very high output voltage to speed
ratios, Axsys’ tachometers allow stable volt-
age output over a wide range of speeds.
Their fast response to high-rate velocity
changes aid overall system stability.They
can be coupled directly to the load to elim-
inate drive train inaccuracies. A wide
dynamic range allows for low speed opera-
tion. Axsys engineers its tachometers to
withstand high shock and vibration levels.
Tachometer Generators.
Characteristics
• Outer diameter 1" to 20"
• Velocity change response less than
100 microsec time constants
• Dynamic range up to 50,000 to 1
• Output ripple as low as 0.03%
• Speed range 1 rpm to 6000 rpm
• AC or DC configurations
Capabilities
118
www.axsys.com


Resolvers/Synchros
Axsys’ exceptionally reliable single, multi-
speed and segment resolvers are absolute
position sensors, providing a high degree of
angular accuracy and extremely high resolu-
tion.They are available in transmitter, differ-
ential, or receiver functions.These mainte-
nance-free, high-precision resolvers are
specifically designed to withstand environ-
ments containing dirt, grease, oil or other
contaminants.They are available housed or
unhoused, in a variety of configurations,
with either analog or digital outputs.
They are compact, low weight, easy to install
and feature a low noise/signal ratio.The seg-
mented resolver, a patented invention, offers
cost savings over full rotation resolvers by Brushless Resolvers, Multispeed Resolvers,
providing highly accurate performance in Segmented Resolvers, Synchros and Induction
situations that require only limited angle Potentiometers.
measurements.
Characteristics
• Single or multispeed, up to 64 speed
• Accuracy to 5 arcseconds
• Outer diameters 0.7" to 13" - custom
sizes available
• Input excitation frequency from 60 to
20,000 Hz
• Null voltages 1 to 3 mV/Volt output
Capabilities
• Speeds to 20,000 rpm
• Bare, hub and sleeve housings, or
fully housed with bearings available
• Rotor or stator primary
• Compensated windings available
• Brushless versions available
• Transmitter, receiver or
differential available
119
www.axsys.com


Scanners
Axsys’ high precision scanners are designed
and manufactured in both open and closed
loop configurations.These sophisticated
scanners are capable of performing with
precision and reliability under harsh envi-
ronmental conditions.They are used in mil-
itary, medical, printing, guidance tracking,
and thermal imaging system applications
requiring precision performance. Low jitter,
low power consumption, high stability and
high band width with precision velocity
and position feedback, are salient features of
our scanning systems. Our scanners incor-
porate state-of-the-art control techniques
covered by several patents.
Rotating and Oscillating Scanners.
Characteristics
Open Loop Configurations

• Hysteresis Synchronous
Scanner
– Speeds up to 100,000 rpm
– Low jitter, high efficiency and
low heat dissipation
• Brushless DC Scanner
– Speeds up to 50,000 rpm
– Low ripple, high efficiency,
low jitter and noise
Capabilities
Closed Loop Configurations

• Rotary polygon, oscillating and
co-axial configurations
• 1,200-3,000 pulses per scanner revo-
lution
• Typical tilt and wobble 10 arcseconds
• Scanner speeds between 300-50,000
rpm
• MTBF = 100,000 hrs @ 25°C
120
www.axsys.com


Actuators
Transducer Selection
Axsys designs and manufactures several con-
figurations of rotary and linear actuators.
Axsys’ actuators serve a large market includ-
ing the military, aerospace, medical, and
industrial sectors.They are typically found in
electro-optical pointing systems, missile fin
actuator systems, commercial avionics con-
trol surfaces, as well as in robotic and special
industrial applications. Axsys’ actuators are
available with either AC or DC power sys-
tem options. Prime mover choices include
either Brush DC motor, brushless DC
motor, stepper motor, or induction motor.
The actuator’s prime movers can vary to
meet individual application requirements. Linear/Rotary Electromechanical Actuators, Drive
Electronics and Control Systems.
Characteristics
• High precision, high efficiency gear

boxes –spur and planetary types are
typical
• Available for both rotary and linear
displacement
• Operating torques 5 in-oz to 5000
oz-in
• Available in both open loop and
closed loop configurations with or
without drive electronics
Capabilities
• Positional accuracy of .0002" achiev-
able with linearity and repeatability
up to 2%, under extreme environmen-
tal conditions
121
www.axsys.com


Packages, Assemblies and
Servosystems
Assemblies
Packaging several electromechanical com-
ponents onto a common shaft is one way
to provide greater system accuracy at lower
cost. Axsys can assemble components such
as motors, potentiometers, resolvers,
encoders, gearheads, or magnetic brakes and
clutches into a single housing to save space
and increase system reliability. Customers
also save procurement, assembly and testing
costs, and gain one source accountability,
on-time delivery of all parts, and a single
documentation package.The result: a ready-
to-install servomechanism optimized for Custom Assembly.
the application, and backed by Axsys.’ guar-
anteed quality and service.
Systems
In addition to custom sub-assemblies, Axsys
also provides complete servosystems con-
sisting of motor, velocity feedback, position
feedback, gear reduction, electronic control
units, motor drivers and amplifiers. Like
custom sub-systems, complete servosystems
provide ready-to-install products uniquely
optimized for the application.The result is
lower cost, greater accuracy, and all the
advantages of single-source accountability.
Capabilities
122
www.axsys.com


DC Motor Design Guide
Performance/Winding Data:
Application_________________________
___________________________________ Peak Torque:
___________________________________ ❏oz-in ❏ N-m
___________________________________ Motor Constant:
W
___________________________________ ❏oz-in/!W
W ❏N-m/!W
Torque Sensitivity:
❏oz-in/Amp ❏N-m/Amp
Physical Requirements: Back EMF Volt/rad/s
Power Watt
❏ Brushless Current Amp
❏ Brush Voltage Volt
❏ Inner Rotating Resistance Ohms
❏ Outer Rotating Inductance mH
❏ Limited Angle
Max Winding Temperature: 155°C is stan-
❏ Frameless
dard for Brush type, 220°C is standard for
❏ Housed
Brushless type.
❏ Maximum OD
Other Max.Winding Temperature if
❏ Maximum Length
required °C
❏ Minimum ID
Environmental Requirements:
For Housed Motors Only:
Temperature of Operation:
OD
Minimum °C Maximum °C
Length
Shock
Shaft OD
Vibration
Shaft Length Altitude
Other
DC Motor Design Guide

For Brushless Motors Only: Requested by:
Name
Commutation: Title
❏ Hall Sensors ❏ Resolver
Company
❏ Encoder ❏ None Address
City
Drive Output Waveform: State
❏ 6 Point Trapezoidal ❏ Sinusoidal Zip
Country
Winding: Phone
❏ Single Phase ❏ 2-Phase ❏ 3-Phase Fax
❏ Delta ❏ Wye ❏ Open Delta Email
123
www.axsys.com

Notes
124
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Notes
Notes
125
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Notes
Notes
126
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Notes
Notes
127
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Notes
Notes
128
www.axsys.com

Axsys Technologies’ Motion Control Products Division is experi-

enced and ready to build a high-quality system solution for your
specific application.
© Copyright 2005 Axsys Corporation Rev. 07/2005

Axsys believes the information in this publication is
accurate as of its publication date. Such information is
subject to change without notice. Axsys is not responsible
for inadvertent errors. All brands and product names are
trademarks of their respective owners.
BRUSHLESS DC MOTORS HANDBOOK

Brushless DC Motors
Handbook
Axsys Technologies, Inc.

Motion Control Products
7603 Saint Andrews Avenue, Suite H
San Diego, CA 92154
Ph: (800) 777-3393

Fx: (619) 671-9292 www.axsys.com
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BRUSHLESS DC MOTORS HANDBOOK

Axsys Technologies, Inc.

Ph: (800) 777-3393

Axsys Technologies’ Motion Control Products Division is experi-

© Copyright 2005 Axsys Corporation Rev. 07/2005

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Brushless DC Motors (800) 777-3393

Limited Angle Slotless Motors

Typical Performance Curves

Limited Angle Moving Coil Motors

Dual Winding Motors

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(800) 777-3393 Brushless DC Motors

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Brushless DC Motors (800) 777-3393

Ø4.650 MIN. +.001

Performance Performance Data

Parameter Units Value

Data Parameter Units Value

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(800) 777-3393 Brushless DC Motors

DC Motor Manual gives a brief overview. Design and Manufacturing

Heritage Customer Service

From our inception, Axsys has

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Brushless DC Motors (800) 777-3393

The mechanical switching of current 5. The EMI (Electromagnetic

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(800) 777-3393 Brushless DC Motors

Applications Equipment Brushless DC Advantage

Cryogenic Compressor No Brush Debris

Optical System No Brush Debris

Stable Platform Low-EMI

High Power Density Robot Low Thermal Resistance

Low Thermal Resistance

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Brushless DC Motors (800) 777-3393

Since both iron and copper losses in the

area in contact with the mounting surfaces.

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(800) 777-3393 Brushless DC Motors

<< Previous Table of Contents Next >>

Brushless DC Motors (800) 777-3393

Commutating Brushless DC Motors

The brushless DC motor will exhibit torque

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(800) 777-3393 Brushless DC Motors

which also improves motor efficiency.

compared to one-half for the two phase 02 06

The torque waveform indicated in Figure 2 012 08

ration. In practice, the trapezoidal torque 02

waveform does not have a perfectly flat top.

Figure 5 is an example of a 12 phase brush-

indicated commutation angle of 30 electri-

pointing and tracking space gimbal applica-

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Brushless DC Motors (800) 777-3393

Commutating Brushless DC Motors

The torque output of the motor is:

TA = IA KT Cos u For the wye connection, current flows

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(800) 777-3393 Brushless DC Motors

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