BMS16-2001/BMS16-2004/BMS16-2013

With hall sensors,
Sleeve bearing Brushless motor.

Gear
SSG15	SPG16	-	-

Brushless Motor
BMS16-2001	BMS16-2004
BMS16-2013	-

Encoder
ETD16	-

Driver
SHSD24-01A	PSV24-05E
-	-

With Hall
sensors

Sintered
sleeve bearing※1

Nd-Fe-B
magnet

	BMS16-2001	BMS16-2004	BMS16-2013
Rated voltage[V]	7.4	12	24
No load speed[rpm]	21,400	23,200	24,800
No load current[mA]	93	113	60
Stall torque[mNm]	16.70	15.97	16.30
Stall current[mA]	5,242	3,459	1,882
Output power[W]	9.4	9.7	10.6
Max efficiency[%]	75	67	67
Terminal resistance[Ω]	1.41	3.47	12.75
Rated torque[mNm]	1.96	2.28	2.33
Rated speed[rpm]	18,900	19,886	21,257
Rated current[mA]	699	591	320
Friction torque[mNm]	0.30	0.54	0.54
Back-EMF constant[mV/rpm]	0.340	0.500	0.937
Torque constant[mNm/A]	3.24	4.77	8.95
Slope of N-T curve[rpm/mNm]	1,280	1,455	1,521
Mechanical time constant[ms]	4.62	5.25	5.49
Rotor inertia[gcm²]	0.34	0.34	0.34
Max torque[mNm]	5.57	5.32	5.43
Inductance[mH] @1kHz	TBD	0.160	0.642
Thermal resistance Rth1（coil-housing）[K/W]	TBD	TBD	6
Thermal resistance Rth2（housing-ambient）[K/W]	TBD	TBD	29.1
Shaft radial play[mm]	0.05
Shaft axial play[mm]	0.02‐0.2
Max shaft radial load[N]	1.2(4.9mm ※2)
Max shaft axial load[N]	0.2
Max shaft axial load at standstill[N]	9.8
Operating temperature[℃]	-20‐+80
Max coil temperature[℃]	90
Weight[g]	24

※1 Ball bearing is available as option
※2 measured at ( )mm point from flange