S Series Brushless, Frameless Torque Motor

Description

Design Features

  • Slotless, brushless ring motors with high torque output and zero cogging
  • Frameless design for easy integration into OEM machines
  • Various winding options available
  • Includes Hall effect sensors for commutation
  • Follows the 2011/65/EU RoHS 2 Directive

The S-series motors are Aerotech's high-performance brushless, frameless torque motors. The motors feature rare-earth magnets for maximum torque and acceleration in a compact assembly.

High-Performance Design

The S-series motors utilize a slotless stator design and high pole-count rotor to provide zero cogging for exceptional velocity stability. The laminations contain no slots, eliminating torque ripple and cogging torque that produces velocity disturbance. The S-series motors are well-suited for direct-drive applications such as printing and scanning where velocity ripple cannot be tolerated.

Wide Range of Output Torque and Sizes

The S-series slotless motors cover a wide range of torque and package sizes. Continuous torque ranges from 0.20 N·m to 29.09 N·m. Peak torque ranges from 0.82 N·m to 116.37 N·m. The open design of the S-series motors allows for custom winding or mechanical variations to meet any application need.

The S-series motors are designed for applications in OEM machines. The S-50 (50 mm diameter) motor is ideal for small, tight spaces such as spindles or small feed rolls. The S-180 (180 mm diameter) and S-240 (240 mm diameter) can accelerate large print drums or precision positioning tables.

Easy Machine Integration

All S-series motors are supplied as two pieces – a slotless stator and a permanent magnet rotor. The stator is a standard 3-phase winding assembly with Hall-effect devices. They can be driven using a simple six-step or sinusoidal commutation algorithm. Aerotech’s Ndrive series amplifiers are performance-matched to the S-series motors for easy integration. The hollow rotor mounts directly to a drive axis with no gearing required.

Custom variations can be engineered to your requirements with minimal lead time.

Need help sizing your motor? Try Aerotech's Motor Sizer software to specify the ideal motor for your application.

Specifications

S Series Specifications

Motor ModelUnitsS-50-39S-50-52S-50-86S-76-35S-76-85S-76-149
Winding Designation A B A B A B A B A B A B
Performance Specifications(1,2)
Stall Torque, Continuous(3) N·m 0.20 0.33 0.56 0.48 1.60 2.86
Peak Torque(4) N·m 0.82 1.31 2.26 1.92 6.41 11.43
Rated Speed rpm 4,000 8,000 4,000 8000 3,000 8000 3,000 5,000 3,000 4,000 2,000 1,500
Power Output, Continuous W 85.7 171.5 112.1 224.1 132.4 353.2 150.8 251.4 381.2 508.2 457 342.8
Electrical Specifications(2)
BEMF Const., Line-Line, Max Vpk/krpm 10.3 3.4 19.0 6.3 40 13.3 29.1 14.5 57 38 79 118.5
Continuous Current, Stall(3) Apk 2.4 7.2 2.3 6.9 2.1 6.3 2.0 4.0 3.80 5.70 4.90 3.27
Arms 1.7 5.1 1.6 4.9 1.5 4.5 1.4 2.8 2.7 4.0 3.5 2.3
Peak Current, Stall(3) Apk 9.6 28.8 9.2 27.6 8.4 25.2 8.0 16.0 15.2 22.8 19.6 13.1
Torque Constant(5,6) N·m/Apk 0.09 0.03 0.14 0.05 0.27 0.09 0.24 0.12 0.42 0.28 0.58 0.87
N·m/Arms 0.12 0.04 0.20 0.07 0.38 0.13 0.34 0.17 0.60 0.40 0.82 1.24
Motor Constant(3,5) N·m/√W 0.034 0.050 0.076 0.075 0.179 0.280
Resistance, 25°C, Line-Line Ω 6.6 0.7 8.4 0.9 12.9 1.4 10.5 2.6 5.7 2.5 4.4 10.0
Inductance, Line-Line mH 1.50 0.17 1.30 0.14 2.40 0.27 1.40 0.35 1.10 0.49 0.87 1.96
Maximum Bus Voltage VDC 340
Thermal Resistance °C/W 2.02 1.73 1.35 1.83 0.93 0.72
Number of Poles - 8 14
Mechanical Specifications
Frameless Motor Weight kg 0.32 0.48 0.90 0.64 2.20 4.30
Frameless Rotor Inertia kg·m2 1.11x10-5 1.70x10-5 3.40x10-5 1.06x10-4 4.20x10-4 8.30x10-4
Length of Winding, Frameless Motor mm 39.1 51.8 85.8 35.0 84.8 149.0
Outside Diameter, Frameless Motor mm 50.8 76.0
Rotor Bore Diameter mm 9.5 30.0
Standards   2011/65/EU RoHS 2 Directive
  1. Performance is dependent upon heat sink configuration, system cooling conditions, and ambient temperature.
  2. All performance and electrical specifications ±10%.
  3. Values shown @ 75°C rise above a 25°C ambient temperature, with housed motor mounted to a 250 mm x 250 mm x 6 mm aluminum heat sink.
  4. Peak torque assumes correct rms current; consult Aerotech.
  5. Torque constant and motor constant specified at stall.
  6. All Aerotech amplifiers are rated Apk; use torque constant in N·m/Apk when sizing.
  7. Specifications given are for the motor only. When integrated into a housing with bearings additional losses should be considered.
  8. Maximum winding temperature is 100°C; thermistor trips at 100°C.
  9. Ambient operating temperature range 0°C - 25°C; consult Aerotech for performance in elevated ambient temperatures.

 

    Motor ModelUnitsS-130-39S-130-60S-130-81S-130-102S-130-123
    Winding Designation A B A B A B A B A B
    Performance Specifications(1,2)
    Stall Torque, Continuous(3) N·m 2.36 4.18 5.89 7.69 8.65
    Peak Torque(4) N·m 9.42 16.73 23.55 30.75 34.61
    Rated Speed rpm 2,000 4,000 1,000 2,000 750 1,500 500 1,000 375 750
    Power Output, Continuous W 493.4 986.9 437.9 875.9 462.4 924.9 402.5 805.1 339.8 679.5
    Electrical Specifications(2)
    BEMF Const., Line-Line, Max Vpk/krpm 75.1 37.5 148.9 74.4 222.7 111.4 300.2 150.1 374.1 187.0
    Continuous Current, Stall(3) Apk 3.8 7.6 3.4 6.8 3.2 6.4 3.1 6.2 2.8 5.6
    Arms 2.7 5.4 2.4 4.8 2.3 4.5 2.2 4.4 2.0 4.0
    Peak Current, Stall(3) Apk 15.2 30.4 13.6 27.2 12.8 25.6 12.4 24.8 11.2 22.4
    Torque Constant(5,6) N·m/Apk 0.62 0.31 1.23 0.62 1.84 0.92 2.48 1.24 3.09 1.55
    N·m/Arms 0.88 0.44 1.74 0.87 2.60 1.30 3.51 1.75 4.37 2.18
    Motor Constant(3,5) N·m/√W 0.265 0.446 0.586 0.710 0.816
    Resistance, 25°C, line-line Ω 5.6 1.4 7.8 2.0 10.1 2.5 12.5 3.1 14.7 3.7
    Inductance, line-line mH 1.70 0.43 1.80 0.45 2.80 0.70 3.67 0.92 4.60 1.15
    Maximum Bus Voltage VDC 340
    Thermal Resistance °C/W 0.95 0.85 0.74 0.64 0.67
    Number of Poles - 18
    Mechanical Specifications
    Frameless Motor Weight kg 1.87 3.60 5.30 7.00 8.70
    Frameless Rotor Inertia kg·m2 1.60x10-3 3.00x10-3 4.70x10-3 6.20x10-3 7.80x10-3
    Length of Winding, Frameless Motor mm 38.7 59.7 80.7 101.7 122.7
    Outside Diameter, Frameless Motor mm 128.9
    Rotor Bore Diameter mm 50.8
    Standards   2011/65/EU RoHS 2 Directive
    1. Performance is dependent upon heat sink configuration, system cooling conditions, and ambient temperature.
    2. All performance and electrical specifications ±10%.
    3. Values shown @ 75°C rise above a 25°C ambient temperature, with housed motor mounted to a 250 mm x 250 mm x 6 mm aluminum heat sink.
    4. Peak torque assumes correct rms current; consult Aerotech.
    5. Torque constant and motor constant specified at stall.
    6. All Aerotech amplifiers are rated Apk; use torque constant in N·m/Apk when sizing.
    7. Specifications given are for the motor only. When integrated into a housing with bearings additional losses should be considered.
    8. Maximum winding temperature is 100°C; thermistor trips at 100°C.
    9. Ambient operating temperature range 0°C - 25°C; consult Aerotech for performance in elevated ambient temperatures.

     

      Motor ModelUnitsS-180-44S-180-69S-180-94S-240-43S-240-63S-240-83
      Winding Designation A B A B A B A B A B A B
      Performance Specifications(1,2)
      Stall Torque, Continuous(3) N·m 5.99 11.12 15.93 10.73 19.71 29.09
      Peak Torque(4) N·m 23.98 44.47 63.70 42.90 78.82 116.37
      Rated Speed rpm 500 1000 500 1000 250 500 600 1200 250 500 200 400
      Power Output, Continuous W 313.8 627.7 582.1 1164.3 416.9 833.8 673.9 1347.9 515.9 1031.8 609.3 1218.6
      Electrical Specifications(2)
      BEMF Const., Line-Line, Max Vpk/krpm 268.7 134.4 263.9 131.9 393.4 196.7 209.4 104.7 404.3 202.2 607.2 303.6
      Continuous Current, Stall(3) Apk 2.7 5.4 5.1 10.2 4.9 9.8 6.2 12.4 5.9 11.8 5.8 11.6
      Arms 1.9 3.8 3.6 7.2 3.5 6.9 4.4 8.8 4.2 8.3 4.1 8.2
      Peak Current, Stall(4) Apk 10.8 21.6 20.4 40.8 19.6 39.2 24.8 49.6 23.6 47.2 23.2 46.4
      Torque Constant(5,6) N·m/Apk 2.22 1.11 2.18 1.09 3.25 1.63 1.73 0.87 3.34 1.67 5.02 2.51
      N·m/Arms 3.14 1.57 3.08 1.54 4.60 2.30 2.45 1.22 4.72 2.36 7.09 3.55
      Motor Constant(3,5) N·m/√W 0.628 1.053 1.391 0.845 1.405 1.893
      Resistance, 25°C, Line-Line Ω 12.8 3.2 4.4 1.1 5.6 1.4 4.3 1.1 5.8 1.5 7.2 1.8
      Inductance, Line-Line mH 3.40 0.85 1.70 0.43 2.60 0.65 2.15 0.54 2.90 0.73 4.30 1.08
      Maximum Bus Voltage VDC 340
      Thermal Resistance °C/W 0.82 0.67 0.57 0.47 0.38 0.32
      Number of Poles - 18 26
      Mechanical Specifications
      Frameless Motor Weight kg 4.24 8.10 11.90 5.80 11.00 16.20
      Frameless Rotor Inertia kg·m2 7.40x10-3 1.48x10-2 2.20x10-2 2.30x10-2 4.50x10-2 7.00x10-2
      Length of Winding, Frameless Motor mm 43.2 68.2 93.2 42.7 62.7 82.7
      Outside Diameter, Frameless Motor mm 180.0 239.2
      Rotor Bore Diameter mm 86.4 120.6
      Standards   2011/65/EU RoHS 2 Directive
      1. Performance is dependent upon heat sink configuration, system cooling conditions, and ambient temperature.
      2. All performance and electrical specifications ±10%.
      3. Values shown @ 75°C rise above a 25°C ambient temperature, with housed motor mounted to a 250 mm x 250 mm x 6 mm aluminum heat sink.
      4. Peak torque assumes correct rms current; consult Aerotech.
      5. Torque constant and motor constant specified at stall.
      6. All Aerotech amplifiers are rated Apk; use torque constant in N·m/Apk when sizing.
      7. Specifications given are for the motor only. When integrated into a housing with bearings additional losses should be considered.
      8. Maximum winding temperature is 100°C; thermistor trips at 100°C.
      9. Ambient operating temperature range 0°C - 25°C; consult Aerotech for performance in elevated ambient temperatures.
      • S Series Torque Curves 1
      • S Series Torque Curves 2
      • S Series Torque Curves 3
      • S Series Torque Curves 4
      • S Series Torque Curves 5
      • S Series Torque Curves 6

      Dimensions

      • S-50
      • S-76
      • S-130
      • S-180
      • S-240

      Ordering Information

      Ordering Example

      S-130-81-A
      Series Winding Designation
      S-50-39
      S-50-52
      S-50-86
      S-76-35
      S-76-85
      S-76-149
      S-130-39
      S-130-60
      S-130-81
      S-130-102
      S-130-123
      S-180-44
      S-180-69
      S-180-94
      S-240-43
      S-240-63
      S-240-83
      -A
      -B

      Slotless Torque Ring "Kit" Servomotors

      Option Description
      S-50-39-A Slotless motor, rotor, and stator, 50 mm O.D., 39 mm length.
      S-50-52-A Slotless motor, rotor, and stator, 50 mm O.D., 52 mm length.
      S-50-86-A Slotless motor, rotor, and stator, 50 mm O.D., 86 mm length.
      S-76-35-A Slotless motor, rotor, and stator, 76 mm O.D., 35 mm length.
      S-76-85-A Slotless motor, rotor, and stator, 76 mm O.D., 85 mm length.
      S-76-149-A Slotless motor, rotor, and stator, 76 mm O.D., 149 mm length.
      S-130-39-A Slotless motor, rotor, and stator, 130 mm O.D., 39 mm length.
      S-130-60-A Slotless motor, rotor, and stator, 130 mm O.D., 60 mm length.
      S-130-81-A Slotless motor, rotor, and stator, 130 mm O.D., 81 mm length.
      S-130-102-A Slotless motor, rotor, and stator, 130 mm O.D., 102 mm length.
      S-130-123-A Slotless motor, rotor, and stator, 130 mm O.D., 123 mm length.
      S-180-44-A Slotless motor, rotor, and stator, 180 mm O.D., 44 mm length.
      S-180-69-A Slotless motor, rotor, and stator, 180 mm O.D., 69 mm length.
      S-180-94-A Slotless motor, rotor, and stator, 180 mm O.D., 94 mm length.
      S-240-43-A Slotless motor, rotor, and stator, 240 mm O.D., 43 mm length.
      S-240-63-A Slotless motor, rotor, and stator, 240 mm O.D., 63 mm length.
      S-240-83-A Slotless motor, rotor, and stator, 240 mm O.D., 83 mm length.

      Note: S-Series torque ring motors include the stator w/flying leads, adjustable-phase Hall bd., and rotor w/magnets

      Winding Designation (Required)

      Option Description
      -A 76 cm (2.5 ft) flying leads std
      -B Optional winding.

      Integration (Required)

      Aerotech offers both standard and custom integration services to help you get your system fully operational as quickly as possible. The following standard integration options are available for this system. Please consult Aerotech if you are unsure what level of integration is required, or if you desire custom integration support with your system.
      -TAS Integration - Test as system 
      Testing, integration, and documentation of a group of components as a complete system that will be used together (ex: drive, controller, and stage). This includes parameter file generation, system tuning, and documentation of the system configuration.
      -TAC Integration - Test as components 
      Testing and integration of individual items as discrete components. This is typically used for spare parts, replacement parts, or items that will not be used or shipped together (ex: stage only). These components may or may not be part of a larger system