4 pole high torque brushless motor equipped with a built-in sensor and ball bearings.
| Gear | |||
|---|---|---|---|
| SSG12 | SPG12 | - | - |
| Brushless Motor | |
|---|---|
| B4S12-2108B | B4S12-2109B |
| - | - |
| Encoder | |
|---|---|
| ETD12 | - |
| Driver | |
|---|---|
| SHSD24-01A | PSV24-05E |
| - | - |
With Hall
sensors
sensors
Ball bearing
Nd-Fe-B
magnet
magnet
Specifications
| B4S12-2108B | B4S12-2109B | |
|---|---|---|
| Rated voltage[V] | 12 | 15 |
| No load speed[rpm] | 15,320 | 19,300 |
| No load current[mA] | 55 | 56 |
| Stall torque[mNm] | 11.09 | 11.64 |
| Stall current[mA] | 1,592 | 1,678 |
| Output power[W] | 4.5 | 5.9 |
| Max efficiency[%] | 66 | 67 |
| Terminal resistance[Ω] | 7.54 | 8.94 |
| Rated torque[mNm] | 1.58 | 1.66 |
| Rated speed[rpm] | 13,132 | 16,543 |
| Rated current[mA] | 275 | 288 |
| Friction torque[mNm] | 0.40 | 0.40 |
| Back-EMF constant[mV/rpm] | 0.756 | 0.751 |
| Torque constant[mNm/A] | 7.22 | 7.17 |
| Slope of N-T curve[rpm/mNm] | 1,381 | 1,659 |
| Mechanical time constant[ms] | 3.49 | 4.20 |
| Rotor inertia[gcm2] | 0.23 | 0.23 |
| Max allowable torque[mNm] | 3.60 | 3.60 |
| Inductance[mH] @1kHz | 0.258 | 0.256 |
| Thermal resistance Rth1（coil-housing）[K/W] | TBD | TBD |
| Thermal resistance Rth2（housing-ambient）[K/W] | TBD | TBD |
| Shaft radial play[mm] | 0.05 | |
| Shaft axial play[mm] | 0‐0.1 | |
| Max shaft radial load[N] | 0.5(3.4mm ※1) | |
| Max shaft axial load[N] | 0.15 | |
| Max shaft axial load at standstill[N] | 10 | |
| Operating temperature[℃] | -20‐+80 | |
| Max coil temperature[℃] | 90 | |
| Weight[g] | 18 | |
※1 measured at ( )mm point from flange
Electrical connections
| B4S12-2108B ／ B4S12-2109B | ||
|---|---|---|
| #1 | U | Motor winding U |
| #2 | V | Motor winding V |
| #3 | W | Motor winding W |
| #4 | Vdd | Input voltage 3.0V（1.6‐5.5V） |
| #5 | Gnd | GND |
| #6 | Hu | Hall sensor output U |
| #7 | Hv | Hall sensor output V |
| #8 | Hw | Hall sensor output W |
Specification charts
