with Hall sensors Brushless Motor.
B4S12-21XX Specifications
| Brushless Motor B4S12-21XX02 | Brushless Motor B4S12-21XX04 | ||||
|---|---|---|---|---|---|
| 1 | Nomal voltage | 7.4 | 12.0 | V | |
| 2 | No load speed | 22800 | 24300 | rpm | |
| 3 | No load current | 100 | 70 | mA | |
| 4 | Stall torque | 11.60 | 12.09 | mNm | |
| 5 | Stall current | 3940 | 2700 | mA | |
| 6 | Output power | 6.9 | 7.7 | W | |
| 7 | Max efficiency | 71 | 70 | % | |
| 8 | Terminal resistance | 1.88 | 4.44 | Ω | |
| 9 | Rated torque | 1.83 | 1.60 | mNm | |
| 10 | Rated speed | 19200 | 21100 | rpm | |
| 11 | Rated current | 706 | 418 | mA | |
| 12 | Friction torque | 0.30 | 0.32 | mNm | |
| 13 | Back-EMF constant | 0.316 | 0.481 | mV/rpm | |
| 14 | Torque constant | 3.02 | 4.59 | mNm/A | |
| 15 | Slope of N-T curve | 1965 | 2009 | rpm/mNm | |
| 16 | Mechanical time constant | 2.71 | 2.77 | ms | |
| 17 | Rotor inertia | 0.12 | 0.12 | gcm2 | |
| 18 | Max torque | 5.80 | 6.05 | mNm | |
Mechanical data
| 19 | Shaft raddial play | 0.015 | mm |
| 20 | Shaft axial play | 0.23 | mm |
| 21 | Max shaft radial load | 5（3.4mm*） | N |
| 22 | Max shaft axial load | 1 | N |
| 23 | Max shaft axial load at standstill | 10 | N |
| 24 | Operating temperature | -20~80 | ℃ |
| 25 | Max coil temperature | 90 | ℃ |
| 26 | Weight | 18 | g |
*measured at () mm from flange
Environmental data
| #1 | Coil U |
Motor winding U |
| #2 | Coil V | Motor winding V |
| #3 | Coil W | Motor winding W |
| #4 | Hall Vcc | Input voltage 3∼5V |
| #5 | Hall GND | GND |
| #6 | Hall u | Hall sensor output U |
| #7 | Hall v | Hall sensor output V |
| #8 | Hall w | Hall sensor output W |
Sensored version available as option.
Encoder ETD12-2C/D/E
2 channels optical incremental encoder
Specification at 25℃
| encoderETD12-2C | encoderETD12-2C | encoderETD12-2C | |||
|---|---|---|---|---|---|
| 1 | Sensor | Optical | |||
| 2 | Encoder Type | Incremental | |||
| 3 | Output Signal | CMOS/TTL compatible | |||
| 4 | Number of Channels | 2(3ch as option） | channel | ||
| 5 | Resolution（Max. speed = 50,000 rpm ) | 128 | 256 | 512 | pulse/rev |
| 6 | Max. Frequency Response | 55 | 110 | 220 | kHz |
| 7 | Supply Voltage, Vcc | 4.5 ... 5.5 | V | ||
| 8 | Supply Current, typical | 20 | mA | ||
| 9 | Output Voltage "H" | ≧2.4(Max. Vcc) | V | ||
| 10 | Output Voltage "L" | ≦0.4 | V | ||
| 11 | Output current per channel | 1.5 | mA | ||
| 12 | Rise and fall time （RL = 2.7 kΩ and CL = 25 pF）,typical | Tr=100, Tf=100 | ns | ||
| 13 | Inertia | TBD | gmm2 | ||
| 14 | Operating Temperature | -20 ... +85 | ℃ | ||
| 15 | Storage Temperature | -20 ... +85 | ℃ | ||
Output signal (at motor shaft clockwise rotation)
Output
signal information
| Cycle C | 360 |
°e |
| Pulse P | 180 | °e |
| A to B channel phase shift, φ | 90±45 | °e |
| Logic state width, S | 90±45 | °e |
*Max error (±゜e)
indicated above.
| #1 | （MOTOR+） |
Motor winding |
| #2 | Vcc | D.C4.5 ... 5.5V |
| #3 | Ch.A | CMOS/TTL compatible |
| #4 | Ch.B | CMOS/TTL compatible |
| #5 | - | NC(3ch as option, Ch.Z) |
| #6 | GND | |
| #7 | (MOTOR-) | Motor winding |
