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Allied Motion's CM-5000 series of housed torque motors are high performance brushless DC torque motors with integral optical encoders. CM-5000 motors have a large hollow-shaft, rare-earth-magnet rotor supported by a robust precision ball bearing. A stainless steel or aluminum housing encloses the motor assembly and the integral encoder. These motors feature a high torque-to-inertia ratio, and are available as six models with continuous torque ratings from 201 through 1122 oz-in (1.41 through 8.41 Nm).
The CM-5000 series motors were specifically designed for high speed, high resolution positioning applications in semiconductor wafer handler robots, turret scanners, and similar precision manufacturing equipment and instruments. Available encoder types are:
- Ultra low distortion incremental sine/cosine, specifically designed for use with interpolators, yielding up to 144 million measuring steps
- Digital incremental up to 36,000 c/r (144,000 measuring steps)
- High resolution digital incremental from 50,000 c/r (200,000 measuring steps) up to 2,250,000 c/r (9 million measuring steps)
- 16/18/22 bit in serial output format
Features & Benefits
- Large 2" (50.8 mm ) hollow-shaft through-hole allowing passage of cabling, laser beams, or application plumbing
- High torque-to-inertia ratio and motor constant for responsive, efficient operation
- Ultra high resolution integral encoder for precise positioning and/or speed control
- Low profile mechanical design for easier system integration
Options
- Custom winding voltage
- Non-standard encoder resolution
- Stainless steel housing material
- Custom cable and/or connector configurations
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- Housed BLDC torque motor with integral optical encoder
- Six models with continuous torque rated from 1.41 up to 8.41 Nm (201 up to 1122 oz-in)
- High positioning resolution to over 2,250,000 c/r
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Mechanical Data
Parameter
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Value
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Shaft ID
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2.000 in ±0.0003 in
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Shaft Loading
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40 lb axial, 35 lb radial
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Shaft Runout
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0.0002 in TIR
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Starting Torque
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4.5 oz-in max @20°C
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Shaft Rotation
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Continuous, reversible
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Shaft Speed
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1500 RPM max
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Shaft Material
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416 stainless
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Housing Material
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Aluminum (stainless optional)
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Bearing Life
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Manufacturer specification
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Temperature
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Operating: -20°C to +90°C
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Shock
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50 G @ 11 ms
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Vibration
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5 - 2000 Hz @ 20 G
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Humidity
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98% without condensation
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Motor Constants @ 25°C Ambient
Parameter
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Unit
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-1
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-2
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-3
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-4
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-5
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-6
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Design voltage
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VDC
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100
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Peak Torque, ±25%
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oz-in
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1010
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2323
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3389
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4431
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5505
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6654
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Nm
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7.13
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16.4
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23.9
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31.3
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38.9
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47.0
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Peak Current, ±15%
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A
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11.1
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14.4
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15.2
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16.6
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18.5
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20.7
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Max. Continuous Stall Torque (80°C rise)
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oz-in
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201
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419
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623
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790
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997
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1192
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Nm
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1.41
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2.96
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4.40
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5.57
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7.04
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8.41
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Max. Continuous Power Output
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Watt
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271
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360
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464
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4668
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591
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665
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Rotor Inertia
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oz-in-s²
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2.9E-2
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6.3E-2
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9.7E-2
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1.3E-1
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1.6E-1
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2.0E-1
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kg-m²
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2.0E-4
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4.5E-4
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6.8E-4
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9.2E-4
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1.1E-3
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1.4E-3
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Torque Sensitivity, ±10%
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oz-in/A
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90.6
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181
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223
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267
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298
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321
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Nm/A
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0.64
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1.14
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1.58
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1.88
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2.10
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2.27
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Voltage Constant
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V/kRPM
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67
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119
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165
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197
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220
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238
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V/rad/s
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0.64
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1.14
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1.58
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1.88
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2.10
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2.27
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No-load Speed
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RPM
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1477
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833
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602
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504
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451
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418
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rad/s
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156
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87
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63
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53
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47
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44
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Motor Constant
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oz-in/√W
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30.2
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61.2
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86.9
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108.6
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128.0
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146.2
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Nm/√W
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0.21
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0.43
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0.61
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0.78
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0.90
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1.03
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Electrical Time Constant
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ms
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1.56
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3.00
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4.14
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5.05
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5.93
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6.87
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Mechanical Time Constant
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ms
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4.5
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2.4
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1.8
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1.6
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1.4
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1.3
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Thermal Resistance(1)
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°C/Watt
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1.3
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1.2
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1.1
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1.0
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0.9
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0.8
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Max. Cogging Torque
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oz-in
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5.5
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13.4
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18.1
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23.7
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29.6
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36.2
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Nm
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0.04
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0.09
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0.14
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0.17
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0.2
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0.26
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Viscous Damping
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oz-in/RPM
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3.6E-3
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7.5E-3
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0.01
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0.015
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0.018
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0.021
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Nm/RPM
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2.6E-5
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5.3E-5
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8.0E-5
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1.0E-4
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1.3E-1
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1.5E-4
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Hysteresis Drag Torque
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oz-in
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4.8
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10.3
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15.6
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20.9
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25.5
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29.8
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Nm
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0.03
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0.07
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0.11
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0.45
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0.18
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0.21
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Terminal Resistance, ±12%
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Ohm
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6.97
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6.94
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6.59
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6.02
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5.41
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4.83
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Terminal Inductance, ±30%
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mH
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14
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21
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27
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30
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32
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33
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Number of Poles
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-
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12
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Weight
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lb
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3.9
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5.7
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7.5
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9.2
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11
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12.8
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kg
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1.8
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2.6
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3.4
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4.2
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5
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5.8
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(1) TPR with motor mounted to aluminum 12.1" x 12.1" x 0.5" heatsink, still air, 20°C ambient
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Encoder Specifications
Model:
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CM-5000
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CM-5050
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CM-5050-HHC
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Output Format
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A/B sine/cosine, incremental
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A/B quadrature, incremental, digital
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Standard Linecounts (c/r)
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2000, 9000
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2000, 4000, 9000, 18000, 36000
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50000, 62500, 100000, 125000, 200000, 225000, 250000, 281000,
400000, 450000, 500000, 562500,
900000, 1125000, 1800000, 2250000
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Frequency Response
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Flat up to 100 kHz
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150 kHz min. @ 85°C
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4.0 MHz min. @ 85°C
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Absolute Accuracy
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±12 arcsec (typ.)
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Output
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Default Vout = differential,
0.5V peak-to-peak
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Line driver/26LS31, EIA std. RS422 & DIN 66259 compatible
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Power Supply (VDC)
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±5 Vdc @ 60mA max.
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+5 Vdc ±10% @ 100mA max. (no load)
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+5 Vdc ±10% @ 250mA max. (no load)
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 Motor Exitation Sequence and Hall Switch Outputs Encoder WaveformsSine/Cosine
Digital Incremental
Linecount
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CM-5000
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CM-5050
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CM-5050-HHC
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2000
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X
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X
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4000
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X
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9000
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X
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X
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18000
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X
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36000
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X
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50000
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X
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62500
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X
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100000
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X
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125000
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X
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200000
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X
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225000
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X
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250000
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X
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281000
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X
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400000
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X
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450000
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X
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500000
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X
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562500
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X
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900000
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X
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1125000
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X
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1800000
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X
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2250000
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X
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Item No.
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Description
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Type
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Size
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N/A
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CM-5000 Series Brushless DC Torque Motor-Encoder Specifications
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PDF
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74kB
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