Precious metal commutation, Sleeve bearing Brushed Motor.
Specifications
| CMS12-2004 | CMS12-2010 | |
|---|---|---|
| Rated voltage[V] | 7.4 | 12 |
| No load speed[rpm] | 22,200 | 23,000 |
| No load current[mA] | 13 | 8 |
| Stall torque[mNm] | 5.48 | 5.77 |
| Stall current[mA] | 1,744 | 1,173 |
| Output power[W] | 3.2 | 3.5 |
| Max efficiency[%] | 83 | 84 |
| Terminal resistance[Ω] | 4.24 | 10.23 |
| Rated torque[mNm] | 0.43 | 0.45 |
| Rated speed[rpm] | 20,400 | 21,200 |
| Rated current[mA] | 150 | 99 |
| Friction torque[mNm] | 0.04 | 0.04 |
| Back-EMF constant[mV/rpm] | 0.331 | 0.518 |
| Torque constant[mNm/A] | 3.16 | 4.95 |
| Slope of N-T curve[rpm/mNm] | 4,049 | 3,989 |
| Mechanical time constant[ms] | 8.87 | 8.84 |
| Rotor inertia[gcm2] | 0.21 | 0.21 |
| Max allowable torque[mNm] | 1.83 | 1.92 |
| Inductance[mH] @1kHz | 0.051 | 0.078 |
| Thermal resistance Rth1（coil-housing）[K/W] | 16 | 16 |
| Thermal resistance Rth2（housing-ambient）[K/W] | 62 | 62 |
| Shaft radial play[mm] | 0.05 | |
| Shaft axial play[mm] | 0.03‐0.2 | |
| Max shaft radial load[N] | 0.5（5mm ※1） | |
| Max shaft axial load[N] | 0.15 | |
| Max shaft axial load at standstill[N] | 7.8 | |
| Operating temperature[℃] | -20‐+60 | |
| Max coil temperature[℃] | 80 | |
| Weight[g] | 11.8 | |
※1 measured at ( )mm point from flange
Electrical connections
| CMS12-2004 ／ CMS12-2010 | |
|---|---|
| #1 or Red Lead Wire | Motor Vin (+) |
| #2 | Encoder Vcc |
| #3 | Encoder Ch.A |
| #4 | Encoder Ch.B |
| #5 | (Encoder Ch.Z) |
| #6 | Encoder GND |
| #7 or Black Lead Wire | Motor GND (-) |
