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 -60 -A

      Ordering Options

      Motor SeriesMotor Diameter CodeMotor Length Code (Laminations and Windings)Winding
      S 50
      76
      130
      180
      240
      39, 52, 86 for 50 diameter code motors
      35, 85, 149 for 76 diameter code motors
      39, 60, 81, 102, 123 for 130 code diameter motors
      44, 69, 94 for 180 diameter code motors
      43, 63, 83 for 240 diameter code motors
      A
      B

      Slotless Torque Ring "Kit" Servomotors

      Option Description
      S-50-39-A Slotless motor, rotor and stator, 50.80 mm O.D., Cont. Stall torque: 0.20 N·m
      S-50-52-A Slotless motor, rotor and stator, 50.80 mm O.D., Cont. Stall torque: 0.33 N·m
      S-50-86-A Slotless motor, rotor and stator, 50.80 mm O.D., Cont. Stall torque: 0.56 N·m
      S-76-35-A Slotless motor, rotor and stator, 75.97 mm O.D., Cont. Stall torque: 0.53 N·m
      S-76-85-A Slotless motor, rotor and stator, 75.97 mm O.D., Cont. Stall torque: 1.60 N·m
      S-76-149-A Slotless motor, rotor and stator, 75.97 mm O.D., Cont. Stall torque: 2.86 N·m
      S-130-39-A Slotless motor, rotor and stator, 128.93 mm O.D., Cont. Stall torque: 2.36 N·m
      S-130-60-A Slotless motor, rotor and stator, 128.93 mm O.D., Cont. Stall torque: 4.18 N·m
      S-130-81-A Slotless motor, rotor and stator, 128.93 mm O.D., Cont. Stall torque: 5.89 N·m
      S-130-102-A Slotless motor, rotor and stator, 128.93 mm O.D., Cont. Stall torque: 7.69 N·m
      S-130-123-A Slotless motor, rotor and stator, 128.93 mm O.D., Cont. Stall torque: 8.65 N·m
      S-180-44-A Slotless motor, rotor and stator, 180.34 mm O.D., Cont. Stall torque: 5.99 N·m
      S-180-69-A Slotless motor, rotor and stator, 180.34 mm O.D., Cont. Stall torque: 11.12 N·m
      S-180-94-A Slotless motor, rotor and stator, 180.34 mm O.D., Cont. Stall torque: 15.93 N·m
      S-240-43-A Slotless motor, rotor and stator, 239.20 mm O.D., Cont. Stall torque: 10.73 N·m
      S-240-63-A Slotless motor, rotor and stator, 239.20 mm O.D., Cont. Stall torque: 19.71 N·m
      S-240-83-A Slotless motor, rotor and stator, 239.20 mm O.D., Cont. Stall torque: 29.09 N·m
      S-xx-yy-z Custom models available. Please consult the factory and web site for latest information.

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