BMS12-2102/BMS12-2104

With hall sensors,
Sleeve bearing Brushless Motor.

Gear
SSG12	SPG12	-	-

Brushless Motor
BMS12-2102	BMS12-2104
-	-

Encoder
ETD12	-

Driver
SHSD24-01A	PSV24-05E
-	-

With Hall
sensors

Sintered
sleeve bearing

Nd-Fe-B
magnet

	BMS12-2102	BMS12-2104
Rated voltage[V]	7.4	12
No load speed[rpm]	22,800	24,300
No load current[mA]	100	70
Stall torque[mNm]	11.60	12.09
Stall current[mA]	3,941	2,703
Output power[W]	6.9	7.7
Max efficiency[%]	71	70
Terminal resistance[Ω]	1.88	4.44
Rated torque[mNm]	1.59	1.68
Rated speed[rpm]	19,667	20,931
Rated current[mA]	628	435
Friction torque[mNm]	0.30	0.32
Back-EMF constant[mV/rpm]	0.316	0.481
Torque constant[mNm/A]	3.02	4.59
Slope of N-T curve[rpm/mNm]	1,965	2,009
Mechanical time constant[ms]	2.71	2.77
Rotor inertia[gcm²]	0.12	0.12
Max torque[mNm]	3.87	4.03
Inductance[mH] @1kHz	0.046	0.133
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]	13.4

※1 measured at ( )mm point from flange