4 pole high torque brushless motor equipped with a built-in sensor and ball bearings.
| Gear | |||
|---|---|---|---|
| TR22 | - | - | - |
| Brushless Motor | |
|---|---|
| B4S22-3210B | - |
| - | - |
| Encoder | |
|---|---|
| - | - |
| Driver | |
|---|---|
| SHSD24-01A | - |
| - | - |
With Hall
sensors
sensors
Ball bearing
Nd-Fe-B
magnet
magnet
Specifications
| B4S22-3210B | |
|---|---|
| Rated voltage[V] | 24 |
| No load speed[rpm] | 7,000 |
| No load current[mA] | 53 |
| Stall torque[mNm] | 75.54 |
| Stall current[mA] | 2,412 |
| Output power[W] | 13.9 |
| Max efficiency[%] | 73 |
| Terminal resistance[Ω] | 9.95 |
| Rated torque[mNm] | 9.75 |
| Rated speed[rpm] | 6,096 |
| Rated current[mA] | 358 |
| Friction torque[mNm] | 1.70 |
| Back-EMF constant[mV/rpm] | 3.353 |
| Torque constant[mNm/A] | 32.02 |
| Slope of N-T curve[rpm/mNm] | 93 |
| Mechanical time constant[ms] | 3.91 |
| Rotor inertia[gcm2] | 3.77 |
| Max allowable torque[mNm] | 22.00 |
| Inductance[mH] @1kHz | 0.967 |
| Thermal resistance Rth1（coil-housing）[K/W] | TBD |
| Thermal resistance Rth2（housing-ambient）[K/W] | TBD |
| Shaft radial play[mm] | 0.05 |
| Shaft axial play[mm] | 0‐0.2 |
| Max shaft radial load[N] | 6(4.2mm ※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] | 72 |
※1 measured at ( )mm point from flange
Electrical connections
| B4S22-3210B | ||
|---|---|---|
| #1 | W | Motor winding W |
| #2 | V | Motor winding V |
| #3 | U | Motor winding U |
| #4 | Gnd | GND |
| #5 | Vcc | Input voltage 12V（3‐18V） |
| #6 | Hw | Hall sensor output W |
| #7 | Hv | Hall sensor output V |
| #8 | Hu | Hall sensor output U |
Specification charts
