With hall sensors,
Sleeve bearing Brushless Motor.
| Gear | |||
|---|---|---|---|
| SSG12 | SPG12 | - | - |
| Brushless Motor | |
|---|---|
| BMS12-1503 | BMS12-1506 |
| - | - |
| Encoder | |
|---|---|
| ETD12 | - |
| Driver | |
|---|---|
| SHSD24-01A | PSV24-05E |
| - | - |
With Hall
sensors
sensors
Sintered
sleeve bearing
sleeve bearing
Nd-Fe-B
magnet
magnet
Specifications
| BMS12-1503 | BMS12-1506 | |
|---|---|---|
| Rated voltage[V] | 7.4 | 12 |
| No load speed[rpm] | 26,200 | 31,800 |
| No load current[mA] | 112 | 86 |
| Stall torque[mNm] | 5.75 | 6.15 |
| Stall current[mA] | 2,349 | 1,875 |
| Output power[W] | 4.0 | 5.1 |
| Max efficiency[%] | 61 | 62 |
| Terminal resistance[Ω] | 3.15 | 6.40 |
| Rated torque[mNm] | 0.82 | 0.88 |
| Rated speed[rpm] | 22,457 | 27,257 |
| Rated current[mA] | 432 | 342 |
| Friction torque[mNm] | 0.29 | 0.30 |
| Back-EMF constant[mV/rpm] | 0.269 | 0.360 |
| Torque constant[mNm/A] | 2.57 | 3.44 |
| Slope of N-T curve[rpm/mNm] | 4,559 | 5,170 |
| Mechanical time constant[ms] | 4.23 | 4.79 |
| Rotor inertia[gcm2] | 0.08 | 0.08 |
| Max torque[mNm] | 1.92 | 2.05 |
| Inductance[mH] @1kHz | TBD | 0.150 |
| 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] | 0.02‐0.2 | |
| Max shaft radial load[N] | 0.5(3.9mm ※1) | |
| Max shaft axial load[N] | 0.15 | |
| Max shaft axial load at standstill[N] | 7.8 | |
| Operating temperature[℃] | -20‐+80 | |
| Max coil temperature[℃] | 90 | |
| Weight[g] | 8.8 | |
※1 measured at ( )mm point from flange
Electrical connections
| BMS12-1503 ／ BMS12-1506 | ||
|---|---|---|
| #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
