Escap Cat Mot Red Formulaire Photos

Miniature high
performance motors
& peripheral components
for motion solutions
A Danaher Motion company
Portescap,
Putting your ideas
into motion
Movement symbolises life.
Mastering motion generated by small elec-
tric actuators is our vocation, our job.
You are the specialist in your own domain
and, naturally, you want the best possible
solutions for your specific needs.
We are here to help you turn your ideas
into reality, by actively listening to what you
have to say and offering you years of
experience acquired in the field of motor-
ization.
Like you, we place value on innovation,
technical excellence and providing quality
service.
Our objective is not only to satisfy your
present needs, but to help you prepare for
the future by orienting ourselves to your
long-term needs, and finding tailored solu-
tions in terms of performance and cost.
We are here, when you need a partner you
can count on.
Tuning into your needs - around the world,
yet close to home - the Portescap team
thanks you for your confidence.
© Portescap 2
Table of contents
page
A World of Applications 4
Adapted Solutions 8
Company presentation 9
The Ironless Rotor DC Motor technology & product range 10
The Disc Magnet Stepper Motor technology & product range 12
The small Brushless DC Motor technologies & product range 14
The Spur and Planetary Gearbox technologies & product range 16
The Encoder & Tachometer technologies & product range 18
The Portescap offer 20
Technical & Engineering section 21
escap® DC Motor data sheet section 43
Turbo DiscTM Stepper Motor data sheet section 71
Small Brushless DC Motor data sheet section 99
Spur & Planetary Gearbox data sheet section 115
Encoder & Tachometer data sheet section 135
Portescap, A complete service 140
Portescap Worldwide 143
3 © Portescap
A World of Applications…
Scientific & Measuring Instruments

- Bar code readers
- Cameras
- Chart & drum recorders
- Laser measuring / levelling
- Microscopes
- Theodolites/thermometers
- Viscosity measurement
Scientific instruments and measuring

equipment require motors of small size,
working evenly on a low voltage with mini-
mum energy consumption. The solutions
are found at Portescap.
Handheld tools and Surgical tools

- Dental instruments
- Inoculation guns
- Pruning scissors
- Screwdrivers
- Saws and drills for medical
Light, robust, easy to handle and powerful,

these are major advantages offered by
escap® motors. They can rotate at very
high speeds and support hundreds of
cycles of sterilisation.
© Portescap 4
Medical Equipment
- Infusion and volumetric pumps
- Exerciser & Prosthesis
- Surgical instruments
- Analysers
- Scanners
- Therapy
- Equipment
Medical equipment requires high reliability,

long life, accurate functioning plus silent
operation and possibly, for reasons of
security, battery operation. Solutions pro-
posed by Portescap easily meet these
requirements.
Security & Access Control

-Cameras
- Locks
- Paging Systems
- Signalling
- Fire doors
- Code bars readers
- Tickets dealers
Security and access control tolerate no risk

for the comfort and safety of everybody.
With Portescap, security is guaranteed.
5 © Portescap
Robotics & Factory automation
- Conveyors
- Remote controlled Vehicles
- Industrial Robots
Wherever rapid and accurate motion as

well as mobility and reliability are required,
Portescap products provide the appropri-
ate solution.
Textile
- Knitting machines
- Sewing machines
- Weaving machines
- Thread feeding machines
Always searching for machines of still high-

er performance, the textile industry
requires very high throughput, accuracy
and flexibility. The Turbo DiscTM stepper
motor technology was designed just for
that.
© Portescap 6
Civil Aviation and Aerospace
- Cameras
- Cruise Control
- Electric Actuators
- Gyroscopes
- Indicators
- On-board Instruments
- Satellites
- Optical Scanners
- Transceivers
- Valves
A world of particular applications has to

function under extreme environmental
conditions. Within the specially adapted
proposals from Portescap you will find
reliable solutions resistant to thermal and
mechanical shocks and which, in a small
lightweight envelope, can develop the
necessary power.
General
- Document handling
- Semiconductors
- Office equipment
- Model railways
- Optics
- Automotive & Transportation
- Environment control
- Audio, Video, Shows
And for any applications in areas so differ-

ent as optics, document handling, semi-
conductor industry, modeling, transporta-
tion and show business, a solution is
provided by either escap® or Turbo
Disc™. Talk to our application engineers.
With pleasure they will guide you towards
the best choice.
7 © Portescap
…Adapted solutions
A number of applications ask for unusual

transmissions of a movement in a specific
environment and envelope. Numerous
possibilities are available to provide the
customer with a complete solution. They
include double output shafts, clutches, a
freewheel, electric brake, double speed,
right angle output or a linear actuator The experience and continuous search for
adapted to escap® gearmotors. excellence in the fields of electronics, elec-
In addition to the multiple combinations of tromagnetics and high precision microme-
the products presented, their configuration chanics make Portescap the ideal partner
and characteristics may be adapted to for providing optimised solutions to any
customer requirements. This could, for problem in the concept, development, and
example, concern the output shaft, the manufacturing of high performance electro-
winding type, temperature range, a con- mechanical motion systems.
nector and so forth. Nevertheless there are special cases ask-
ing for a solution being entirely custom
made. These are studied and evaluated on
the basis of a specification written in close
collaboration between the customer and
our R & D team.
© Portescap 8
provides the micromotor technology
and know-how to meet your application requirements
The company was founded in 1931 in

La Chaux-de-Fonds in Switzerland. Over
the decades it has been recognised world-
wide as a specialist in the field of high per-
formance electromechanical drive sys-
tems. With 7 subsidiaries and 15 agencies
in the major industrialised countries,
Portescap offers an extended sales and
service network.
The personal contact and the technical

competence of the employees ensure that
customer service remains today, as in the
future, of prime importance.
Mechatronic specialist in the Research,

Development and Engineering depart-
ments, combined with the traditional «Swiss
made» quality standard, ensure satisfaction
of the most demanding requirements.
Today, the Portescap team employs 600

people around the world. Extensive training
and personal involvement along with a gen-
uine team spirit guarantee the customer
the optimum motion solution.
The majority of the escap® products are

designed, engineered and manufactured at
the parent company in La Chaux-de-Fonds,
in the canton of Neuchâtel. The Marly/
Fribourg production centre is mainly devot-
ed to manufacturing motors derived from
the disc magnet technology and brushless
motor.
The Portescap company is approved to
ISO 9001.
Portescap
A Danaher Motion company
When it comes to leading edge motion control applica-

tions, Portescap has a wealth of experience and innovative
products to meet your most demanding requirements.
We offer extensive prototype manufacturing facilities staffed

by experienced engineers to assist you with your applica-
tion-specific requirements.
Together, the companies that form Danaher Motion

are the best solution for your application.
9 © Portescap
D.C. Motors
The ironless rotor motor technology
A state-of-the-art motor line
The escap® D.C. motor results from an
original concept based on an ironless rotor,
combined with a commutation system
using either precious metals or a carbon/
copper combination.
Concept detail Motor characteristics Advantages for the application
Ironless rotor Low moment of inertia High acceleration

Ideal for incremental motion
Linear speed-torque function
Insensitive to shocks
No hysteresis and eddy current losses High efficiency, low losses from friction
only. Ideal for battery operation
No magnetic saturation High peak torques without the risk

of demagnetisation
Central stator magnet High power per size and per weight Ideal for portable or small equipment or
requiring small dimensions
Small sized bearings Low viscous damping High peak speeds, very low speed dependent
losses, low starting voltage
Precious metal commutation system Low friction, little electrical noise Low losses and wear, low electromagnetic
interference
RotafenteTM series High current densities may be commutated High continuous and peak torques without
Copper-graphite commutation risk of demagnetising the motor.
Very long life. Ideal for chopper drivers
Rated rotor temperature up to 155°C Continuous torque is exceptionally high

for the motor size, reducing the weight,
dimensions, and the cooling system
Very compact commutation system Excellent resistance to shocks and

vibration
High torque to inertia ratio High acceleration, short mechanical time

constant
© Portescap 10
DC motor torque range
Technical
specifications, 08GS
see page 43
08G
16C Continuous torque
17S Peak torque
16N
13N
22S
17N
16G
22N
22V
23V
26N
28L
28D
34L
23LT
23DT
28LT
28DT
35NT32
35NT82
Torque in mNm .1 1 2 4 6 10 20 30 40 60 100 150 200 300 500 800 1000
Torque in oz-in .01 .14 .3 .6 .8 1.4 3 4 6 8 14 21 28 42 71 113 142
Ranging from precious metal to RotafenteTM The above overwiew shows the values for
mechanical commutation systems, the continuous and peak torque for each
escap® DC motors, all using the ironless motor type in the series.
winding technology, offer a broad range of
products. These motors may be assembled with a
range of reduction gearboxes and with
optical and magnetic encoders. Motor-
tacho units and complete drive electronics
are also available. Please consult the table
of contents on page 3.
11 © Portescap
Turbo DiscTM stepper motors
The high performance disc magnet technology
The exceptional possibilities offered by the
Turbo DiscTM line of disc magnet stepper
motors are unequalled by any other kind of
stepper motor. Their advanced technology,
developed and patented by Portescap,
allows for truly exceptional dynamic perfor-
mance. The rotor of these motors consists
of a rare earth magnet having the shape of
a thin disc which is axially magnetized. Short magnetic circuit
A particular magnetization method allows using high quality laminations
for a high number of magnetic poles, giving
much smaller step angles than convention- No magnetic coupling between
al two-phase permanent magnet stepper phases
motors.
Such a rotor design has a very low moment
of inertia, resulting in outstanding accelera-
tion and dynamic behaviour. These fea-
tures, together with high peak speeds,
mean that any incremental movement is
carried out in the shortest possible time.
Low inertia also means high start/stop fre-
quencies allowing to save time during the
first step and to solve certain motion prob-
lems without applying a ramp. Rotor
with very low inertia
Those motors specially designed for
microstepping feature a sinusoidal torque
function with very low harmonic distortion
and low detent torque. Excellent static and
dynamic accuracy is obtained for any posi-
tion and under any load or speed condi-
tions.
Concept detail Motor characteristics Advantages for the application
Thin multipolar rare earth disc magnet Very low rotor inertia Very high acceleration
High start/stop frequencies
Very short iron circuit made of SiFe laminations Low iron losses High speeds
Coils placed near to the airgap More torque at high step rates High power/volume ratio
Independent magnetic circuit No coupling between phases Superior angular resolution in microstep
Simple magnetic circuit Sinusoidal torque function, low detent torque mode
Optimally dimensioned iron circuit Torque constant is linear up to 2 to 3 times High peak torques
nominal current
High energy magnet High power to weight ratio For motors in mobile applications
For size limitations
© Portescap 12
Turbo Disc™ motor torque range
Technical
specifications, P010
see page 71
P110
P310 Continuous torque
P430 Peak torque
PP520
P520
P530
P532
P630
P632
P850
P852
Torque in mNm 1 10 50 100 200 300 500 800 1000 1500 1750 2000
Torque in oz-in 0.14 1.4 7 14 28 42 71 113 142 212 248 283
Iron saturation effects Iron losses

Torque/current Comparison DM/Hybrid
example: escap® motor type P532. same torque, losses due to magnet flux only.
Normalised Torque (%) Loss (Watts)
200 12
150 9
Hybrid
200 steps/rev.
100 6
Disc Magnet
100 steps/rev.
50 3
0 0
x 0.5 x1 x 1.5 x2 2500 5000 7500 10 000
Rated Current Speed in steps/s
The unique electromagnetic characteristics The stator is designed for the shortest pos-
of disc magnet motors permit them to oper- sible magnetic circuit, using high quality iron
ate well below any saturation of the magnet- laminations. This gives low iron losses and
ic circuit, where torque is truly proportional more torque at high speed.
to current. By current boosting, perfor-
mance can momentarily be pushed well
above nominal values.
13 © Portescap
BLDC Motors
The Small Brushless DC Motor technologies
Conventional DC motors use a stationary The position of the rotor field is continuous-
magnet with a rotating armature combining ly monitored to ensure correct timing of the
the commutation segments and brushes to commutation (switching of the current in
provide automatic commutation. In com- the windings through power transistors).
parison, the brushless DC motor is a Three options for supervising the rotor
reversed design: the permanent magnet is position are proposed. The first one uses
rotating whereas the windings are part of no sensor inside the motor but derives the
the stator and can be energised without information by analysing the shape of
requiring a commutator-and-brush system. back-EMF. It is easy to implement and rec-
Therefore this motor type achieves very ommended mainly for high speed continu-
long, trouble-free life even while operating ous operation. Another option are Hall sen-
at very high speeds. sors built into the motor, signalling the rotor
One technology uses a self-supporting field strength. Finally, an encoder or resolver
cylindrical ironless coil made in the same may be added to the motor externally. It pro- Construction of three BLDC motors:
winding technique as for our ironless rotor vides very high resolution and allows the 22BT (with the tube rotating with the
DC motors: this is called the BLDC motor, BLDC motor to perform anything a DC with magnet, right), 26BC, slotless iron struc-
slotless iron structure. The rotor is a cylin- brushes can do but without the drawbacks ture (left) and a B09 motor with slotted
drical two-pole magnet, the stator tube is of a mechanical commutation system. iron structure (center)
made of iron laminations. With this con-
struction a uniform and constant airgap is
obtained. If the tube is fixed to the magnet
and rotates with it, iron losses are avoided.
The other technology is called BLDC
motor, slotted iron structure. The iron cores
are part of the housing. The rotor is a mul-
tiple-pole magnet.
Concept detail Motor characteristics Resulting advantages

DC device Essentially linear torque/speed curve, Possibility of speed
with torque proportional to current and position control
and speed proportional to voltage
Brushless design Life is not limited by brush wear Very long life, high reliability,
but only by wear on ball bearings insensitive to environnement
(no arcing), to shocks
and to vibration
Static winding attached Improved heat dissipation Overload capability
to motor housing
Slotless configuration No detent torque Excellent velocity smoothness
Versions without position sensor Typically used in spindle applications Cost effective
Less sensitive to environnement
Only three connecting wires
Versions with Hall effect sensors Typically used in applications Very simple commutation circuitry
with high variations of speed or load
Versions with encoder or resolver Typically used in incremental motion Very precise speed
and position control
© Portescap 14
BLDC technology
BLDC Motor torque range
Technical
specifications, B0504
see page 99
B0508
B0512 Continuous torque
B0906 Peak torque
B0909
B0912
18BT-3C
22BT-6A
13BC-3C
16BS-3C
26BC-6A
16BL-3C
26BC-3C
22BS-3C
22BM-3C
22BL-3C
Torque in mNm 1 10 50 100 200 300 500 1000 1500 2000 2500
Torque in oz-in 0.14 1.4 7 14 28 42 71 142 212 283 354
Brushless DC motors are a recent design The above overview gives the values of con-
but their market share increases rapidly, tinuous and peak torque for each motor
mainly for two reasons: the cost of servicing type in this product range. The motors may
equipment in the field is rising continuously, be assembled with reduction gearboxes,
and there are ever more applications where encoders and resolvers. Complete drive
a breakdown may have severe conse- electronics are also available.
quences. Actually, DC motors using brush- For all data please consult the table of con-
es are a very mature product and life time is tents.
rarely a problem except with speeds above
10’000 rpm. However, environmental and/or
working conditions may possibily lead to a
failure of brush-to-commutator contact,
stalling the motor. The keyword with this
solution is reliability.
15 © Portescap
The Spur and Planetary Gearbox Technologies
Complements well adapted to escap® motors
Every application has power requirements
in terms of specific values of speed and
torque. With a load demanding high torque
at low speed, use of a large motor capable
of developing the torque would be uneco-
nomic, and system efficiency would be very
low.
In such cases, a better solution is to intro- Principle of the planetary gearbox:
duce some gearing between the motor and The pinion S (=sun) having “s” teeth is driving
the load. Gearing adapts the motor to the the planets P (3 or 4 per train) which have “p“
load, be it for speed, torque, or inertia. The teeth and are fixed to the planet carrier.
motor-and-gearbox assembly will provide A = stationary annulus with “a“ teeth.
greater efficiency and be lower priced. The reduction ratio per train is i = (a:s) +1.
The increase in overall length of such an
assembly may be quite small if an integrat-
ed gearmotor is used.
Principle of the spur gearbox. The pinion, of
radius r1 and number of teeth z1, drives the
input wheel of radius r2 and number of teeth z2.
The reduction ratio per train “i” is z2:z1 which is
equal to r2:r1.
Concept details Gearbox characteristics Resulting advantages
Spur gear concept:

Only 1 transmission point per train Low friction per train Good efficiency, about 0.9 per train
Arrangement of several trains as intended Long gearbox of small diameter or short gearbox
by the designer of large diameter
Input and output shaft not necessarily in line Free choice for placing the motor relative to
Two output shafts possible the output shaft
Mounting of a sensor, a potentiometer etc.
Input wheel made of high grade plastics Reduction of mechanical noise generated at Silent functioning
high motor speeds
Planetary concept:
3 or 4 transmission points per train Reduction ratio per train is higher but so is Less trains for a given reduction ration efficienc
friction about 0.85 per train
Can transmit higher torques Very compact gearbox for its performance
Input and output of a train have the same For any number of trains, the load always rotates
direction of rotation in the same direction as the motor
Less backlash Smaller shock in case of a rapid reversal of
motor rotation
© Portescap 16
Torque range of escap® gearboxes
Technical
specifications, M707
see page 115
M/MU915
R10 Torque at 150 rpm
B16 Torque at 20 rpm
BA16
K20
K24
R13
R16
K27
R22
K38
RG1/8
RG1/9
M22
K40
R32
R40
Torque in Nm 0.001 0.01 0.03 0.1 0.2 0.4 0.6 1 2 4 6 10
Torque in oz-in 0.14 1.4 4 14 28 57 85 142 283 567 850 1416
For details please consult the Gearbox Data Sheet section.
The above chart shows the values of con- Also listed in the Gearbox Data Sheet section
tinuous and peak torque for each gearbox is a series of gearmotors, having a designa-
of this product range. tion starting with the letter M or B... .These
Several types are available with built-in are units where a spur gearbox is directly
clutches or with freewheels. assembled on a DC motor without a
For all this information please consult the mechanical interface. The procedure allows
Gearbox Data Sheet section. for a reduction of the length and weight of the
unit.
For the many cases where the motor rota-
tion is converted into linear motion, the L10
actuator offers a well adapted solution
combining a spur gearbox with a lead
screw.
17 © Portescap
The escap® Encoder and Tachometer Technologies
Controlled movement
High performance drive and servo systems
should not be limited by the precision and
reliability of their sensors.
Whether exact speed control or precise

positioning is required, the escap® product
line provides the right solution to the partic-
ular challenges of your application. It offers
precision tachogenerators as well as opti-
mal combinations of motor-tacho units,
optical and magnetic encoders integrated
into or adapted onto the motor, and com-
plete motor-tacho-encoder units.
Concept details Characteristics Resultant advantages
DC tachometer: V* Delivers a continuous signal Easy control even at very low speeds
Ironless rotor Adds neglectable inertia Little additional load for the motor
Commutation system made of precious metals Constant signal quality Low sensitivity to hostile environments
Magnetic encoder: P* Very simple construction Insensitive to hostile environments

Encoder integrated in the motor Compact design Negligible increase in length of the unit
Position monitored by Hall sensors Two output channels Very low current consumption
High reliability and long life
Optical encoder: P + V* High resolution Very precise positioning

Two channels plus Home position Facilitates counting the number of revolutions
Phototransistors in push-pull Signal level very stable No phenomenon of ageing
Stand-by mode Cuts LED supply at stall Lower consumption, lower temperature rise
Mask integrated on receivers No thermal drift Insensitive to temperatures, small dimensions
* P = position sensor
* V = velocity sensor
© Portescap 18
The escap® Encoder and Tachometer
D.C. Tachogenerators
The combination of an ironless rotor, a high
grade permanent magnet, and a commu-
tation system made of precious metals,
results in escap® D.C. tachogenerators
having a truly linear relationship between
angular velocity and induced voltage, a
very low moment of inertia and negligible
friction.
These tachos are available both as a stand-
alone item or within a complete motor-
tacho unit which has both the motor and
the tacho windings mounted on the same
shaft, supported by only two bearings. This
construction provides a remarkable
mechanical rigidity.
Units may also include an optical encoder Optical encoders Magnetic encoders
and can be assembled with a gearbox. The new type E (formely A) incremental The integrated escap® type D magnetic
optical encoder has three output channels. encoder consists of a multipolar magnet
It uses a dedicated ASIC having a matrix of mounted directly on the motor shaft. As the
optoelectronic sensors (patent pending) motor shaft turns, magnetic flux variations
which receives infrared light from an LED are detected by Hall sensors which gener-
after its passage through a metal code- ate two TTL-CMOS compatible output sig-
wheel. nals having a 90° phase shift between both
channels. The simple and robust design of
The mask determining the phase angle and this sensor makes it ideally suited to appli-
index position is directly integrated onto the cations with severe operating conditions,
circuit, ensuring very high precision. The such as high temperature, dust, humidity,
differential measure of the light modulated and vibration.
by the codewheel generates digital output Integrated into escap® motors, these units
signals insensitive to temperature drift with are intended for applications requiring com-
an electrical phase shift of 90° between pact and reliable high performance systems
channels A and B. The standard version of for speed and position control.
the encoder provides CMOS compatible
complementary signals for improved signal
transmission and noise rejection. Besides
the detection of the direction of rotation
and signal transitions in channel A and B
Available motor-encoder for direct control of a counter or a micro-
and motor-tacho units processor, the integration of this particular
circuit offers additional functions such as a
Magnetic Optical stand-by mode for reduced current con-
Motor Tacho encoder encoder sumption in battery powered equipment.
D13 F16 E9(A22)
13N ● A variety of connections are possible.
16N ●
This incremental encoder is highly insensi-
17S ● tive to severe environmental conditions. It
17N ● offers a high resolution within a very com-
22S ● pact package, and it may be mounted to a
22N ● ● large variety of motors.
22V ● ● ●
23LT ●
23V ● ●
23DT ●
26N
28L ●
28D ●
28DT ●
35NT32 ●
35NT82 ● ●
P530/P532 ●
P630/P632 ●
P850/P852 ●
22BC ●
● Combinations
19 © Portescap
The Portescap offer
To satisfy the variety of changing requirements of
today’s industries, Portescap offers a broad
range of standard, non-standard and custom
made solution.
The characteristics and standard tests of our
products are outlined in the pages describing the
technologies.
To satisfy particular requirements Portescap is
prepared to offer solutions tailored to various
fields of applications.
CE Regulations
According to the electromagnetic Compatibility
directives in force today, the CE marking is oblig-
atory for apparatus containing electric compo-
nents intended to final user. The motors manu-
factured by Portescap are not subjected to the
electromagnetic compatibility directives since
they are considered as components. The final
product only in which this component is mount-
ed is subject to the applicable norms. The CE Services associated with the
marking is therefore not mandatory. API Portescap offer:
Concerned about giving some guarantees to our
customers, our motors have still been through • after-sales technical assistance
an EMC conformity test (made by an official lab-
oratory) in order to define their electromagnetic • special products which may include:
disturbances level. All tested motors have been - 100% or defined AQL testing of
declared as conform to the standard standard or other requested para-
89/336/CEE in force. A certificate of conformity meters
can be delivered upon request. - documentation of results
- certificate of conformity
• development of custom made solu-

tions or subsystems
• supply upon request of documents

dealing with the product or the man- Our constant desire to satisfy customer needs in a
ufacturing process if agreed upon changing industrial world requires flexibility and
adaptation of our offer.
• assistance and advice on applica- For that reason the availability of our products from
tions. stock, as standard, on request or custom made, is not
defined in this catalogue but in a separate document
«Product Availability», which is attached at the end of
the catalogue and is updated frequently.
The General Conditions of sale of Portescap, respec-

tively the ones of its Affiliates, apply to all deliveries.
Any different agreement must be confirmed by the
supplier in writing.
The continuous efforts to improve our products may

lead us to ship products which may differ from the
description in this literature. For standard products we
reserve the right to make design changes without prior
notice.
Operating life and shelf life as well as the guaranteed

performance, may vary with the customer’s individual
application.
To help solve practical problems when using our

products, you may contact our sales unit application
engineers.
However, the user is solely responsible for the use of
our products and, particularly for their inclusion in an
assembly.
© Portescap 20
Technical & Engineering section
Table of contents
page
Ironless Rotor DC Motors Construction & Benefits 22
Principles of operation 23
Definition of characteristics 24
Turbo DiscTM Stepper Motors Construction & Benefits 25
Terminology and definitions 26
Brushless DC Motors Construction & Benefits 27

Principles of operation 28
Gearboxes Construction & Benefits 30

Feedback Devices Construction & Benefits 32
Electronic Drives Drivers 33

The microstep mode 35
Formulary and parameters Memorandum 36

Load Data Form 37
S.I. Units/Conversion table 38
Example of motor calculations DC motor/BLDC motor 39

Positioning with a DC motor 40
Positioning with a Stepper motor 41
Coding system Product designation 42
21 © Portescap
D.C. Motors
The ironless rotor motor technology
Motor brush endcap
A state-of-the-art motor line Motor coil support

The escap® D.C. motor results from an
original concept based on an ironless rotor, Bearing
combined with a commutation system
using either precious metals or a carbon/
copper combination.
Bearing
Retaining collar
Motor commutator
The rotor
The active rotor part simply consists of a cylin- The low winding inductance and constant
The stator drical skew winding, requiring no iron core. As a improvements of the quality of the brushgear
The stator part consists of a cylindrical two-pole result, rotor inertia is very low. materials, combined with a system for Reduction
permanent magnet, placed inside a steel tube Unlike other D.C. motor technologies, due to the of the Electro-Erosion (the REE® system which is
closing the magnetic circuit. High quality rare absence of iron there is no cogging and the rotor covered by a patent), all result in a reduction of
earth or AlNiCo magnets ensure very high per- will stop in any position. There are also no iron the electrical wear by a theoretical 75%. Thus
formance in a small envelope. losses, and the running speed depends only on lifetime is significantly increased.
the supply voltage and load torque.
Features The RotafenteTM copper-graphite Operating range

The technological features of escap® iron- commutation system Definition
less rotor D.C. motors lead to distinct For applications requiring high continuous The speed-torque diagram indicates the
advantages for high performance drive and and peak torques, where high current den- maximum recommended values of speed
servo systems. Low friction, low starting sities have to be commutated and power n, torque M and power P for both continu-
voltage, absence of iron losses, high effi- stages such as choppers are used, escap® ous and intermittent operation.
ciency, good thermal dissipation, linear D.C. motors with the Rotafente® commuta-
torque-speed function: all these factors tion system provide the optimal solution.
Max. recommended speed
facilitate their use and simplify the servo
loop. These motors offer optimum solu- n (rpm)
tions for all battery-powered equipment Max. continuous
output power
where efficiency is a major concern, and for
incremental motion systems where the low
rotor inertia allows for exceptional acceler-
ation.
M (mNm)
Continuous working range
Temporary working range

Within this range, the maximum ON-time has to
be determined with regard to the thermal limits of
the unit.
© Portescap 22
D.C. Servomotors
Principles of operation
Reference to the chart reveals useful per- Efficiency η is the mechanical to electrical
formance information valid for all escap® power ratio (η = Pm / Pel). Maximum effi-
servomotors. ciency ηmax occurs at relatively high speed.
It shows speed n, current I, output power P Its value depends upon the ratio of stall
and efficiency η plotted against torque M torque and friction torque and thus is a
for a given supply voltage U. Torque M is a function of the supply voltage:
function of the current I and the torque con-
( )
I0 2
stant k (expressed in Nm/A). The motor ηmax = 1 - ––
develops its maximum torque Ms at stall Id
(n=0), when the current is maximum and
determined only by the supply voltage U The maximum continuous torque depends
and the rotor resistance R: upon dissipated power (I2R), its maximum
value is determined by:
Is = U/R
Pdiss
Mmax = k –––– = k • Imax
Ms = Is • k Rmax
With increasing speed, an increasing back-

EMF E is induced in the armature which Tmax – Tamb
=k –––––––––
tends to reduce the current: Rmax • Rth
U-E where Tmax is the maximum tolerated arma-
I = ––––
R ture temperature, Tamb is the ambient tem-
perature, Rmax is the rotor resistance at
The value of E is the product of angular temperature Tmax and Rth is the total ther-
speed ω (expressed in rad/s) and the torque mal resistance (rotor-body-ambient).
constant (expressed in V/rad/s=Vs=Nm/A): At a given torque M, increasing or decreas-
ing the supply voltage will increase or
E = kω decrease the speed. The speed-torque
function varies proportionally to the supply
Thus, the supply voltage splits into two voltage U.
parts: RI, necessary to establish the current
I in the armature, which generates the The «Think escap®» publications are avail-
torque M, and kω to overcome the induced able for those who want further informa-
voltage, in order to generate the speed ω: tion.
U = RI + kω
No-load speed n0 is a function of the sup-

ply voltage and is reached when E be-
comes almost equal to U; no-load current
I0 is a function of friction torque:
U - RI0 30
n0 = –––––– • ––– (rpm)
k π
Power output P is the product of angular

speed ω and torque M ( P = M • ω); for a
given voltage it reaches its maximum Pmax
at half the stall torque Ms, where efficiency
is close to 50%. The maximum continuous
output power is defined by an hyperbola
delimiting the continuous and intermittent
operation ranges.
23 © Portescap
D.C. Servomotors
Definition of characteristics
INTRINSIC PARAMETERS OTHER PARAMETERS
9. Back-EMF constant Viscous torque constant
Voltage induced at a motor speed of Gives the increase of losses proportional to
1000 rpm. The tolerance is ±8%. speed. With ironless rotor motors viscous
Drawings 10. Torque constant losses are very small, thanks to the absence
Unspecified tolerances are ±0.2 mm. Indicates the torque developed for a cur- of iron losses. Their viscous losses include
Terminals or lead wires have no fixed exit rent of 1 A, as well as the EMF induced at windage losses in the airgap and the braking
relative to the mounting holes position. an angular velocity of 1 rad/s. The toler- torque generated by short-circuiting the
With motor-tacho units the relative position ance is ±8%. coils during commutation, as well as bearing
of motor cable and tacho cable is unspeci- 11. Terminal resistance friction.
fied. Value measured with the coil at 20/25°C
(70/80°F). It includes the resistance of the Radial play
Connections commutation system, and it rises at a rate It is measured at 1 mm from the motor cir-
Most standard motor types have solder ter- of 0.4%/°C. Tolerance is ±8% (±12% with clip.
minals. Soldering should be done quickly graphite brushes). Depending on the rotor
and at sufficient temperature (3 s, 350°C) in stall position, a brush could short-circuit Temperature
order to avoid overheating. Some motors two of the commutator segments and All specified values are measured at a tem-
and tachos are equipped with lead wires of cause a lower reading. perature of 20/25°C (70/80°F)
150 mm length and 0.14 mm2 cross sec- 12. Motor regulation
tion. The motor rotates clockwise (viewed By dividing the motor resistance R by the Motor life
from the shaft end) when the red wire or + square of the torque constant k, the motor It depends upon several application parame-
terminal is connected to positive. The regulation R/k2 is obtained. It represents ters and in particular on speed and torque. It
motor may be operated in both directions the slope of the speed-torque curve, i.e. is limited by mechanical wear and by the
and in any mounting position. the change in speed caused by a change electroerosion of the commutation system.
With a tacho rotating clockwise (viewed of the load torque. A smaller value indicates Most of the motors are equipped with the
from the shaft end), the + terminal, or white that the motor will dissipate less power to REE® system in order to reduce electroero-
lead, carries the positive. provide a given torque, and therefore has a sion. Our engineers will be pleased to esti-
higher efficiency when transforming electri- mate lifetime figures for your specific applica-
MEASURED VALUES cal energy into mechanical energy. The tol- tion.
1. Measuring voltage erance could exceed the nominal ±8% due Certain product characteristics are subject
Supply voltage at which the characteristics to tolerance accumulation. to variations over the motor life. A statistic
have been measured (at 20/25°C). 13. Rotor inductance control following well defined procedures is
2. No-load speed Measured with a frequency of 1 kHz at the made during numerous life tests.
Speed of the unloaded motor, it is propor- terminals of the stalled motor. The value
tional to the supply voltage. Tolerance is gives an order of magnitude. Standard test of D.C. motors
±8%, it is slightly higher for very small 14. Rotor inertia 100% test:
motors having a diameter <13 mm. Order of magnitude of the rotor inertia 1. No-load speed ± 8%.
3. Stall torque which depends mainly on the mass of cop- 2. No-load current: ≤ 150% of the average
Torque developed at the moment of apply- per rotating. value.
ing the supply voltage. The tolerance could 15. Mechanical time constant 3. Direction of rotation.
exceed ±8% due to tolerance accumula- It is the product of motor regulation (R/k2) 4. Terminal resistance: ± 8%, with precious
tion. and rotor inertia J. It describes the motor metal brushes.
4. Average no-load current physically taking into account electrical (R), 5. Starting voltage: ≤ 200% of the average
Current of the unloaded motor at no-load magnetic (k) and mechanical (J) parame- value.
speed. It represents the friction losses of ters. It is the time needed by the motor to 6. Commutation signal: In the case of a pre-
the standard motor at that speed. Tolerance reach 63% of its no-load speed or of its cious metal system the signal delivers
is about ±50%, and still more at low tem- final speed in view of the voltage and load exact information about the motor quality.
peratures. conditions. The tolerance may reach ±20% 7. Axial shaft play: With sleeve bearings it is
5. Typical starting voltage due to tolerance accumulation. set to a value between 50 and 150 µm.
The majority of motors (without load) will 8. Running noise: A measure does not
start to rotate at between 0.5 and 2 times THERMAL PARAMETERS make sense since noise depends largely
the typical value. 16., 17. Thermal time constant on the application conditions. Never-
Order of magnitude of the time required by theless, from each lot samples are test-
MAXIMUM VALUES the rotor (or stator) to reach 63% of the ed subjectively.
The values of lines 6. (max. continuous cur- temperature rise corresponding to a given
rent), 7. (max. continuous torque) and 8. constant power dissipation.
(max. angular acceleration) are recom- 18., 19. Thermal resistance
mended for usual operating conditions Gives the armature temperature rise with
regarding thermal environment and peak respect to the body, or body to ambient,
current. respectively, for a power dissipation of 1 W.
These values are order of magnitudes,
measured under unfavourable conditions.
With measuring methods reflecting more
common operating conditions, values
which are 10 to 50% lower may be
obtained.
© Portescap 24
Disc magnet stepper motors
The high performance technology
Basic principles
The fundamental advantage of a stepper
motor is its ability to execute a given speed per motors of conventional design are not
profile and to position a load, without need- intended for rapid movements. The disc 100% test:
ing an encoder and a position loop. The dif- magnet stepper motor is the only one to 1. The resistance of each winding.
ference between the stepper and the DC offer exceptional dynamic behaviour. 2. Back-EMF of each phase to determine their
motor, or the BLDC motor, is in the motor This technology, developed by Portescap and holding torque and any difference between
concept and in their commutation. for which a patent was granted, fully exploits them.
newly available materials like rare earth mag- 3. Phase changes of back-EMF periods over
The commutation nets, which in conjunction with an innovative one revolution.
of stepper motors takes place outside and concept have produced exceptional results. 4. The quadrature between both phases to
is independent of the angular rotor posi- determine angular accuracy.
tion. In DC motors it depends on the rotor The standard test for disc magnet 5. Friction torque.
position and is done either mechanically stepper motors 6. Detent torque.
through the brush gear, or electronically in The high quality level offered by Portescap is
the case of a brushless DC motor. assured by testing and checking throughout the Specific tests:
manufacturing process. These tests follow a Tests of other parameters and/or following other
The concept standard quality plan and well established pro- criteria may be done according to customer
of the stepper motor differs from that of the cedures. needs. They are then part of the customer speci-
DC and BLDC motor in so far as it gener- fication and are noted on a quality control docu-
ates a large number of stable positions The following motor parameters are checked ment.
within one revolution. This originates in the against the values given in the catalogue or in
principle of construction: a two phase their specification, at a temperature of 20/25°C.
motor using a rotor with a magnet of one
pole pair has four stable positions per rev.,
whereas a two phase motor with 50 pole
pairs has 200 of them and therefore makes
200 full steps/rev.
The number of commutations per rev.

depends on the number of steps/rev. of the
motor. Every electrical commutation pro-
vokes a variation of the magnetic flux, and
each flux variation generates iron losses. In
a stepper motor with many commutations
per rev. these iron losses can no longer be
neglected. It is for this reason that step-
Contrary to other stepper motor technologies,

with disc magnet motors there is no magnetic
coupling between the phases. Each phase is
The Rotor entirely independent. Thus its geometry can be
The rotor as the heart of The magnetic circuit adapted to obtain a truly sinusoidal function
this technology consists of The C-shaped magnetic circuit is of torque vs rotor position, and a value of
a rare earth magnet in the very short. Unlike the hybrid motor the iron detent torque which is very small compared
shape of a thin disc. API volume is not used as a structural support but to holding torque. These are prime conditions
Portescap's know-how and expe- optimised strictly in view of the magnetic induction. with microstep operation, if high positioning
rience has allowed us to optimise the magnetic Each elementary circuit is made of SiFe lamina- accuracy is needed on any microstep.
circuit, and to axially magnetise the disc with a tions; their low volume assures minimum iron
large number of pole pairs. Compared to tradi- losses from hysteresis and eddy currents. Thus
tional two phase PM stepper motors this gives a very high peak speeds can be achieved; even
higher number of steps/rev. Unlike other motor at 10’000 steps/s iron losses will not cause an
technologies the rotor does not require an addi- excessive temperature rise.
tional iron structure to obtain flux variations;
therefore rotor inertia is very low. It is capable For the user this means a very high power out-
of exceptional accelerations which, together with put from a small motor size, e.g. up to 50 W for
a high peak speed, make this motor technology the P532 motor (52 mm Ø x 33 mm).
suitable for fast incremental motion.
Although the iron circuit is very short, it is still
Furthermore, the low rotor inertia favours high dimensioned in order not to saturate under
starting frequencies which save time during the boost conditions. For the customer this may
first step. In addition, certain movements can be allow the use of a smaller size motor and boost-
executed without having to generate an acceler- ing it during acceleration or braking. This results
ation ramp. in a higher torque to inertia ratio.
25 © Portescap
escap® Disc magnet stepper motors
Terminology and definitions
Step sequence This is achieved by using either speed sen- Temperature
In a two phase motor each phase may carry sors or the Back-EMF of one of the two All values are measured at 22°C. In contin-
either positive or negative current. Therefore coils of each phase, for modulating the uous operation, the maximum rated tem-
one sequence consists of four successive phase currents such as to generate vis- perature of the phase windings sets the
states of excitation corresponding to four cous torque. limit at 130°C. The temperature rise is
steps (see charts below). The sequence can mainly due to Joule losses. At high step
be made with either one or both phases Pull-in frequency rates iron losses are added.
energised at a time. In the first case, a 40% Step rate at which the motor can start and
current increase will provide a torque close stop without loosing or gaining steps. It Angular accuracy
to the one obtained with both phases ener- depends on the rotor inertia and the load. It depends on the overall quality of the
gised. By alternately energising one and two motor and the driver. The step positions are
phases, an 8 state sequence is generated Pull-out frequency measured for an unloaded motor, with a
corresponding to 8 halfsteps. Highest step rate the motor can follow, driver introducing a negligible error. The
after ramp-up, without error. It depends on absolute error, due to manufacturing toler-
Microstep mode motor iron losses, on the driver and its volt- ances, is the error between the real rotor
A full step can be divided into microsteps age, and on the load. position and its theoretical position.
by successively decreasing the current in
one phase while increasing it in the other Useful torque Power rate
phase. This mode decreases the ripple Highest possible load torque indicated by This figure of merit represents the motor's
content of motor torque and speed; it the torque-speed curves. At low speed it is ability of supplying power to a load. It
increases system resolution and assures a usually about 60 to 80% of holding torque. equals the square of the motor torque
smooth and silent operation without reso- At higher step rates it is largely influenced divided by its rotor inertia. The higher its
nance problems. by the driver type and supply voltage. As value, the shorter is the time needed for
the type of load and stiffness of its coupling positioning the load.
Drive circuits may also affect it, these curves merely give
A stepper motor drive circuit requires a an indication.
drive logic circuit, two power stages and,
possibly, an optional damping circuit. DEFINITION OF CHARACTERISTICS
The clock generates the pulses, each of Holding torque
which represents one step or microstep. Highest load torque applicable to an ener-
In positioning systems the controller (gen- gised motor without causing continuous
erally a microprocessor) generates the rotation.
clock pulses corresponding to the number
of steps to be made, at the rate wanted Detent torque
which may include an acceleration ramp. Highest load torque applicable to a de-ener-
The translator (or sequencer) coordinates gised motor without causing continuous
the power transistor control signals which rotation. Detent torque includes magnetic
assure the correct energising of the phases cogging, bearing friction and hysteresis. The
as required for the move. rest positions without current are the same
An electronic damping circuit can be used as with one phase energised.
to damp end-of-step ringing, which may be
disturbing in systems having low friction.
Bph Bph Bph

Full-step mode Full-step mode Half-step mode
1 phase on 2 phases on
cw cw cw
Aph Aph Aph
ccw ccw ccw
© Portescap 26
Small Brushless DC Motor Technology
Construction and Advantages
Small brushless DC motors offer the fol-
lowing advantages:
- they replace conventional DC motors giv-
ing insufficient life and/or reliability in exist-
ing applications Components of the stator, rotor and endcap of an escap® 26BC motor
- they allow the development of entirely
new applications, made possible be-
cause these motors can run at very high
speed, ensure very long life, are very reli-
able and tolerate hostile environments.
Their design is based on a magnet which is
rotating and windings which are stationary.
This way, there is no need for a mechanical
commutation system and its problems of
wear, contact resistance and arcing no
longer exist.
In this catalogue, motor types referenced

to by a number (e.g. 26BC…) have a slot-
less stator iron structure, 3 phase windings
and a cylindrical magnet with one pole pair.
They may include Hall sensors and a driver.
Types starting with the letter B (e.g. B 050A…)
use a slotted stator iron structure with three
phase windings and a multipolar rotor
magnet. They detect the rotor position
through Hall sensors but are not available
with integrated drive circuits. housing fixed to the rotor. This way there
are no iron losses at all.
Particularities of the different escap®
motor models using a slotless stator For the ball bearings used in these motors,
structure MTBF figures based on values proposed
3C motors: by ball bearing manufacturers, under nom-
These types use the same winding tech- inal load for 90% survival are:
nique as the escap® DC motors with iron- - 30 000 hours at 10 000 rpm
less rotor. They have no position sensors. - 20 000 hours at 15 000 rpm
With only three connecting wires, they are - 10 000 hours at 30 000 rpm
intended for operation with a drive circuit
analysing back-EMF. They are typically Particularities of the motor models
used to drive constant speed devices such using a slotted stator structure
as fans, pumps, mirrors, chopper wheels They are manufactured in the USA and avail-
and so forth. The 13BC and 22BC have able in sizes 5 to 15 (12.7 mm to 38.1 mm
rare earth magnets, the other ones use diameter). Each model includes two ver-
AINiCo. The 22BL offers extremely high sions (e.g. B1106-050A and B1106-050B);
performance, it can develop a continuous “A” indicates that the 3 phase windings are
torque up to 20 mNm and speeds close to connected in a triangle (∆); the B version sig-
50 000 rpm. nifies a star connection (Y) which cuts
approximately in half the current necessary
8B motors: for a given torque.
This motor includes three Hall sensors and
therefore uses 8 hook-up wires.
6A motors:
They feature Hall sensors and built-in com-
mutation and drive circuitry. For simple uni-
directional applications only two hook-up
wires are necessary. The 22BT has its
27 © Portescap
Small brushless DC motors
Principles of operation
The differences between a DC motor hav- Use of an encoder or resolver Remember:
ing a mechanical commutation system and The rotor position may also be known by - for commutation, position sensors are
a BLDC motor are mainly found in: use of an encoder or resolver. Commuta- necessary when operating in incremental
- the product concept tion may be done very simply, similar to the mode
- the commutation of phase currents. procedure with Hall sensors, or it may be - sensorless commutation is recommend-
These differences are explained in the more complex by modulating sinusoidal ed only for applications running at con-
“Technology” section of this catalogue. currents in the three phases. This is called stant speed and load.
From the user’s point of view, brushless DC vector control, and its advantage is to pro-
motors follow the same equations as those vide a torque ripple of theoretically zero, as Operating principle of BLDC motors
with brushes: torque is proportional to cur- well as a high resolution for precise posi- It follows the same equations as the DC
rent, speed depends on the voltage and tioning. motor using mechanical commutation
the load torque. except that parameters like iron losses and
Use of Back-EMF analysis losses in the drive circuit are no longer neg-
The commutation of brushless motors A third option requiring no position sensor ligible in applications where efficiency is of
In the conventional DC motor commutation is the use of a particular electronic circuit. prime importance.
takes place mechanically through the com- The motor has only three hook-up wires,
mutator-and-brush system. In a BLDC the three phase windings are connected in Iron losses
motor, commutation is done by electronic either triangle or star. In the latter case, They depend on speed and, in the torque
means. In that case the instantaneous rotor resistors must be used to generate a zero formula, may be introduced as viscous fric-
position must be known in order to deter- reference voltage. With this solution the tion. The equation for useful motor torque
mine the phases to be energised. motor includes no sensors or electronic becomes:
The angular rotor position can be known by: components and it is therefore highly Mm = k • lm - kv • ω - Mf
- using a position sensor (Hall sensor, opti- insensitive to hostile environments. For
cal encoder, resolver) applications such as hand-held tools, with Mm = motor useful torque
- electronically analysing the back-EMF of a where the cable is constantly moved, the k = torque constant
non-energised winding. This is called fact of just three wires is another advan- lm = motor current
sensorless commutation. tage. kv = viscous coefficient for
iron losses
Use of Hall sensors The functioning of a sensorless motor is ω = angular velocity
In general, BLDC motors have three phase easy to understand. In all motors, the rela- Mf = bearing friction
windings. The easiest way is to power two tion of back-EMF and torque versus rotor
of them at a time, using Hall sensors to position is the same. Zero crossing of the Losses in the electronics
know the rotor position. A simple logic voltage induced in the non-energised wind- The current and votage required by the
allows for optimal energising of the phases ing corresponds to the position of maxi- motor and the drive circuit to operate at the
as a function of rotor position, just like the mum torque generated by the two ener- desired speed and torque depend also on
commutator and brushes are doing in the gised phases. This point of zero crossing the drive circuit.
conventional DC motor. therefore allows to determine the moment As an example, a driver bridge in bipolar
when the following commutation should technique will reduce the voltage available
take place depending on motor speed. at the motor terminals by about 1.7 V, and
This time interval is in fact equivalent to the the total current must include the con-
time the motor takes to move from the sumption of the circuitry.
position of the preceding commutation to
the back-EMF zero crossing position.
Electronic circuits designed for this com-
mutation function allow for easy operation
of sensorless motors.
As the back-EMF information is necessary
to know the rotor position, sensorless
commutation doesn’t work with the motor
at stall. The only way of starting is to pilot it
at low speed like a stepper in open loop.
© Portescap 28
Small Brushless DC motors
Terminology and definitions
Drawings
They use the normal DIN/ISO projection.
Unspecified tolerances are ±0.2 mm.
Rated Voltage
Supply voltage at which the characteristics Commutation angle
have been measured, under an ambient In Portescap Brushless DC motors with hall
temperature of 20 to 25°C. sensors, the Hall sensors are adjusted to
privide a symetric commutation angle for
Back EMF constant both CW and CCW operations.
It is mesured from the rated voltage and the
no-load speed of the motor. Standard tests for escap® brushless
DC motors
Equivalent impedance Catalogue parameters are checked at an
It is the resistance between any two of the ambient temperature of 20-25°C.
winding phases. In motors with a drive cir-
cuit, this measurement is not accessible. Final inspection:
1. No-load speed at rated voltage, to veri-
No-load speed fy the back EMF constant and the sen-
It is proportional to the supply voltage. sor position = 100%.
Tolerance is ±10%. 2. No-load current at rated voltage =
100%.
No-load current 3. Vibration at rated voltage = 100%
Measured at no-load speed. Tolerance is 4. Phase / phase resistance = according to
about ±30%. For motor with integrated sampling plan.
electronic commutation, the no-load cur-
rent includes the current drawn by the dri-
ver. For motor with external commutation,
the no-load current does not include the
current drawn by the driver.
Maximum continuous current

It is limited by the temperature rise of the
integrated circuit and/or of the winding
which is rated at 130°C.
Max. continuous torque

It is determined by thermal conditions.
Thermal resistance
It gives an order of magnitude of the wind-
ing temperature rise per dissipated watt.
Rotor imbalance
At speeds above 10 000 rpm, a minor
imbalance in the external load may cause
vibrations which could damage the ball
bearings and could also interfere with the
application.
Number of poles
Unless otherwise specified, all Portescap
Brushless DC motors have one pole paire
(north + south).
29 © Portescap
Reduction gearboxes escap® using spur and planetary gears
Construction & Advantages
Reduction gearboxes using spur gears
This gear technology offers advantages in
current-limited applications where lowest
input friction and high efficiency are essen-
tial. The broad range of escap® spur gear-
boxes is well adapted to our motor lines,
and includes integrated gearmotors.
Planetary gearboxes
The main advantages of escap® planetary
gearboxes are their high rated torque and a
high reduction ratio per gear train. Both
types use high quality composite materials.
The all-metal, have a very compact design
with excellent performance and lifetime.
High Speed Planetary gearboxes

This high performance product line was
designed for use on BLDC motors with iron
core windings. The gearboxes tolerate
input speeds of several 10’000 rpm and
output speeds of several 1000 rpm. That
way a motor-gearbox unit of very small
dimensions can provide extremely high val-
ues of speed and torque. The technical
data are listed in the section Small
Brushless DC Motor Data Sheet.
The diagram of dynamic torque shown with

each gearbox type indicates two ranges of
operation:
n (rpm)
1. The range of continuous operation,
defined after numerous life tests, ensures
optimum characteristics and performance
over the entire life if the gearbox is run in
this area.
2. Within the range of intermittent operation

a load torque of up to twice the values for
continuous operation may be applied for a
few seconds without permanent damage.
M (Nm)
Values at the output shaft
© Portescap 30
Reduction gearboxes escap® using spur and planetary gears
Terminology
The ISO standard specifies a cylindrical
spur gear by the module m, the number of Definitions
teeth z, and the pitch diameter PD defining
the imaginary circle which, in theory, rolls Direction of rotation
without slip on the pitch circle of the mating It indicates the direction of the output shaft
gear. In other words, only the part of the relative to the motor (= or ≠). In planetary
tooth situated at PD drives the mating gear gearboxes the direction is always the same
without any slipping, whereas above and at input and output, for any number of
below PD there is slip between both teeth. trains.
Pitch diameter PD: diameter of the theo- Efficiency

retical circle rolling without slip. It depends mainly on the number of trains.
Modul m: quotient of pitch and π, mea- It is an average value, measured at an
sured in mm, and also quotient of pitch ambient temperature of 20 to 25°C. A new
diameter and number of teeth: m = PD/z gearbox has lower values which will reach
Pitch P: length of arc of the pitch circle the normal value after the run-in period.
between the same points of two adjacent
teeth: P = m • π Max. static torque
Pressure angle α: angle between the tan- It is the peak torque supported at stall; Standard test of escap® reduction
gent to the pitch circle and the line perpen- beyond this limit value the gearbox may be gearboxes
dicular to the contact surface between two destroyed. The high quality level offered by Portescap is
teeth. As forces between two surfaces are ensured by testing and checking throughout
only transmitted perpendicular to the Max. recommended input speed the manufacturing process. These tests fol-
plane, this pressure angle, or torque trans- It has a large influence on the noise level low a standard Quality Plan and well estab-
mission angle, determines the part of the and life time of the gearbox and, depending lished procedures.
force that is actually driving the gear wheel on the application, should be considered The gearbox is mounted to a motor running
and which is proportional to the cosine of when selecting the reduction ratio. at 3000 to 4000 rpm. The following para-
that angle. Portescap uses for standard meters are checked against the values
spur gears a pressure angle of 20°. Backlash given in the catalogue or in the specifica-
Distance between teeth Wk: distance This is the angle a gearbox output shaft can tion, at a temperature of 20/25°C.
between two parallel planes on two oppo- rotate freely with the input blocked. It is
site profiles, measured over k teeth. This mainly due to gear play necessary to avoid 100% test
important parameter is used for checking jamming, plus shaft play and the elastic 1. Input friction
gear wheels. deformation of teeth and shafts under load. Amplitude and stability in both directions of
As it is load-dependent, two values are given, rotation, by measuring the current of the
with and without a load torque. reference motor.
Wk Backlash 2. Running noise
In fact, backlash of the preceding gear The gearbox components are selected in
α trains appears at the output shaft dimin- order to assure a level and frequency com-
ished by the reduction ratio. Contrary to patible with common applications. Specific
this, output shaft backlash appears at the measurements are inappropriate since
input multiplied by the ratio. With a 100: 1 noise depends largely on operating condi-
d p
ratio, a backlash of 1° represents a rotation tions. Therefore a subjective test is made.
of 100° at the input, and at each reversal of
the motor, the output only starts rotating Specific tests
once these 100° are caught up. Tests on other parameters and/or following
other criteria may be done according to
customer needs. They are then part of the
customer specification and are noted on a
quality control document.
31 © Portescap
Sensors
Terminology
Tachogenerators and motor-tacho units
EMF
For a temperature difference of 100°C the
induced voltage changes by only 1%. It is
strictly proportional to angular velocity.
However, at low speed (<100 rpm) its ripple
could introduce errors of the order of a few
percent in fast reacting speed loops.
Resonance frequency
Motor-tacho units are of remark-
ably high mechanical rigidity
because of their common single
shaft. In physical terms they
represent never-the-less two
masses coupled through an
«elastic» shaft. Such assemblies
have a naturel frequency which is
stated in the data sheet and at which
they tend to oscillate. There is a second
resonance frequency, usually much lower,
between motor and load. Applications using
sequences of start-stop or reversal at those
frequencies may run into trouble.
Magnetic and optical encoders

Output signals Standard test of escap® incremental
The encoder includes a circuit which trans- encoders
forms the sinusoidal Hall signals into two The high quality level offered by Portescap is
square signals. These are in quadrature, ensured by testing and checking throughout
which means that there is an electrical the manufacturing process. These tests fol-
angle of 90° between them. The phase shift low a standard Quality Plan and well estab-
allows to determine the direction of rota- lished procedures.
tion, depending on which channel is lead-
ing. The encoder is supplied with the voltage
The A22 optical encoder is available with indicated in the catalogue and the various
integrated circuitry which directly produces parameters are checked at ambient tem-
a logic signal indicating the direction of perature.
rotation, as well as up-down pulses. This
way, implementation of the encoder is very
simple.
© Portescap 32
Motor Drive Circuits
escap® motors feature characteristics rarely The dynamic performance of both D.C. For D.C. motors, voltage control is recom-
found in conventional designs. For their full and stepper motors depends to a large mended for drive applications with a well
exploitation Portescap propose a range of extent on the drive circuit. Continuous defined operating point. Current control is
suitable drive circuits. These allow a rapid torque does not; it is limited only by the recommended with incremental motion
yet complete evaluation of the motor and motor’s capability of thermal dissipation. and for applications requiring high me-
the driver in the application. At the produc- chanical power and high efficiency.
tion stage the customer may continue to use For stepper motors operating at low speed
the Portescap device or make his own drive in half-step mode a voltage controlled L/R
circuit. Our application engineers will be driver is recommended. With a current
pleased to provide support. controlled driver much higher step rates are
possible.
Voltage control, Current control,

D.C. motor D.C. motor
Speed (rad/s) Speed (rad/s)
Max. mechanical U
U output power k Max. output power
k Max. input power
Max. electrical
power consumption
U•k
Torque R Torque U•k Torque
R
Mechanical output power
Stepper motor drive circuits If a very smooth movement and/or high

The disc magnet stepper motors manufac- resolution are required, microstep opera- Current
tured by Portescap offer dynamic perfor- tion is the answer. The precise control of
mance unequalled by any other stepper current levels provided by Portescap
technology. In addition the models de- microstep drivers ensures the accuracy of
signed for microstep mode provide high motor position and a silent operation.
angular accuracy. Nevertheless, care must
be taken when selecting the drive circuit, to Holding torque of disc magnet stepper
ensure optimum performance of the motor- motors is determined by thermal limits
and-driver assembly in the application. rather than by saturation of the iron circuit, Time
as long as the coil temperature does not
At low speed, low resolution applications, exceed 130°C. Motor boosting is an effi-
an L/R type driver with half-step mode is cient means to obtain higher torque during
usually adequate. The high starting fre- acceleration and braking. This feature is of- Regenerative mode
quency offered by disc magnet stepper fered by most Portescap chopper drivers Non regenerative mode
motors may sometimes allow a given move and is activated by a simple logic signal.
without ramping; thus, simplifying the con- The high peak currents help to achieve
troller. extremely fast movements.
At high speed, low resolution applications, a On the other hand, if the motor is stalled
PWM chopper driver in half-step mode and there is no more need for angular T1 T3
often gives best results. With Portescap accuracy, a reduced stand-by current is
steppers and their short electrical time con- suggested.
stant the chopper frequency must be high
enough, such as ≈ 25 kHz. The chopper Most escap® drive circuits are protected T2 T4
control mode should best be regenerative against overheating and against short-cir-
with high speed and non-regenerative with cuits.
low speed applications.
Methods of chopper control

The regenerative mode gives faster response but
higher current ripple than the non-regenerative mode.
A higher chopper frequency results in reduced ripple.
33 © Portescap
The EDM-907 microstep drive circuit pro- The different operating modes of stepper motors
vides an extremely precise control of the
phase currents and, with the help of veloc- Operating mode Advantages Limitations
ity sensors, offers active damping of the
motor. The movement over each step of Full-step or half-step mode Simple translator Resolution = # of steps/rev
(or twice that number)
a current controlled stepper motor is
described by second order differential High torque ripple may excite
equations. End-of-step oscillations can mechanical resonance
cause problems cases of a pure inertial
load. Portescap has designed a drive using Depending on the load and the
speed sensors to optimise the step motor operation, noise may be
response and avoid oscillations. This feed- high
back may be activated at the end of a
move, or can be used continuously during Microstep mode Improved resolution Logic is more complex
movements at low step rates. Low torque ripple reduces Angular accuracy requires
resonance problems sophisticated current control
The system is demonstrated by the EDM-
907 driving a P850V motor, with V meaning Silent operation of motor High step rates occupy large
that the motor has integrated velocity sen- and load computing capacity
sors. More information is available on
request.
Illustration of the damping action on a disc magnet

motor making 3 full steps. Shown are the 2 phase
currents and the instantaneous rotor velocity. Step 1
and 2 are made without damping and show the usual
ringing. Step 3, with damping activated, shows the
modulation of the phase currents. Ringing is com-
pletely suppressed.
D.C. motor drive circuits Brushless D.C. motor drive circuits

The drive circuits introduced by Portescap Portescap have designed an innovative
for the escap® D.C. motor line provide four technique of controlling two phase BLDC
quadrant speed control and may also be motors without a position sensor (cf. 26BC-
used for position control. They are special- 4C motor). It is called the TetradriveTM con-
ly designed to take advantage of the short cept, where the ASIC 3LS provides the
electrical time constant of the motor. The commutation sequence.
ironless rotor structure gives perfect linear-
ity of the torque constant over a wide cur- Demonstration circuits based on this con-
rent range. As there is no saturation effect, cept are available. With such details as dri-
high peak currents give high peak torques ver stage, speed control, current control
which are needed for fast incremental and so forth being defined according to the
motion, while at the same time there is no needs of the application, this catalogue
danger of demagnetisation of the stator does not carry any «standard» version of
magnet. these drive circuits.
The ELD-3503 drive circuit includes a bipo-

lar linear transconductance power stage
for operation without generating electrical
noise. Driver efficiency depends on the
motor speed and torque. Speed may be
controlled either from a tacho signal or by
using the economic R x I compensation
technique.
The card feature full protection against

overcurrent, overtemperature, and short-
circuits.
© Portescap 34
The microstep mode
Basics
Consider a two phase stepper motor with a Please note: Phase A generates the torque:
rotor having one pole pair. In that case the • The microstep mode provides higher
mechanical angle is equal to the electrical resolution but no better angular accuracy. MA = - k • iA • sin (θ)
angle.
• The holding torque is the same with Phase B generates the torque:
Phase B
microstep, half-step or full-step mode
(holding torque is constant if power dissi- MB = k • iB • cos (θ)
6
5
4
pation from Joule losses is constant).
Torque
7 3
8 2 Phase A • To make a microstep requires less energy.

This reduces torque ripple and results in
9 1
a smoother movement with less reso-
10 16 nance excitation. Position
11 15
-180 -90 o θ0 90 180
12
13
14
Phase A Phase B
12345678
With half-step mode the energising

sequence of phases A and B would be: A+, A B
Position
A+ and B+, B+, A- and B+, A-, A- and B-, Position
and so forth. The corresponding target Function of the torque versus rotor position.
positions are: 1, 3, 5, and so forth.
In positions with both phases energised, Current shape (4 microsteps per step). When replacing iA and iB by their respective
the phase currents are reduced to 1/ 2 terms the following torque equation is
times the value of the nominal current for Torque obtained:
one-phase-on. This provides constant val- +B -A -B +A +B
ues of holding torque and thermal dissipa- M = MA + MB = - k • I0 • sin (θ - θ0)
tion.
These simple calculations show that the
Phase A Phase B Electrical angle motor torque-vs-rotor position function has
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 90 180 270 360 to be perfectly sinusoidal if all microstep
Position
positions are to be targeted with the same
B
Position
B
accuracy and stiffness.
Furthermore, motor detent torque must be

Current shape (half-step mode). as low as possible in order not to disturb
Torque
angular accuracy.
+B -A -B +A +B Torque as a function of rotor position and of phase Note that disc magnet stepper motors
currents (4 microsteps per step). designed for microstep operation meet
these requirements.
The theory
Electrical angle
Quite obviously, for the driver a very precise
0 90 180 270 360
current regulation is also necessary in order
Phase B
to place the target positon exactly where it
is supposed to be.
N θ0 Phase A Conclusion
The conditions for obtaining precise posi-
tioning in microstep mode are for the
S motor:
Torque as a function of rotor position and of phase • sinusoidal function of torque versus rotor
currents (half-step mode). position
Let θ0 be the desired microstep target posi- • excellent linearity torque vs current
With microstep mode (the example shows tion. Apparently, this requires phase cur- • no magnetic coupling between phases
4 microsteps per step) the phase currents rents of: • low detent torque
are adjusted to values such that the vector
sum of the magnetic fluxes generated by iA = I0 cos (θ0) for the drive circuit:
phase A and B corresponds to the desired • precise current control
target position. In case of a sine-cosine iB = I0 sin (θ0) • precise definition of sine and cosine values.
command the values of holding torque and
thermal dissipation are constant all the
time.
35 © Portescap
Memorandum
Linear movement Angular movement
m = mass [kg] J = inertia [kgm2]

d = linear displacement [m] θ = angular displacement [rad]
v = linear speed [m/s] ω = angular speed [rad/s]
a = linear acceleration [m/s2] α = angular acceleration [rad/s2]
r = radius [m] r = radius [m]
p = pitch [m] Z = number of teeth [–]
η = transmission efficiency [–] i = reduction ratio [–]
F = force [N] kv = viscous damping constant [Nm/rad/s = Nms]
η = transmission efficiency [–]
M = torque [Nm]
Force Torque
F =m•a [N] M =J•α [Nm]

∆M = viscous damping = kv • ∆ω [Nm]
Work - Energy
W =F•d [Nm] W =M•θ [Nm]
Mechanical power
Pm =F•v [W] Pm =M•ω [W]
Inertia
Moment of inertia of a ring: J ≅ m • r2 [kgm2]

Moment of inertia of a cylinder: J 2 4
= /2 m • r = π/2 • r • h • ρ
1
[kgm2]
Moment of inertia of a hollow cylinder: J = /2 m (r1 + r2 ) = π/2 • (r1 - r2 ) • h • ρ [kgm2]
1 2 2 4 4
ρ = specific mass [kg/m3] h = height [m]
θ v Z1 Z2
m J2, θ2, ω2, α2, M2,
ω i =Z2 / Z1
+ +
+ +
d
r
motor shaft
motor shaft
J= m • r2 [kgm2] M=F•r/η [Nm]
θ= d/r [rad]
ω= v/r [rad/s] ropt. = Jm/m [m]
α= a/r [rad/s2]
J2, θ2, ω2, α2, M2,

r11 r2
p i = ––
r1
motor shaft m + +
v motor shaft
d r2
J = m (p / 2π)2 [kgm2] M = F • p / 2π • η [Nm] J1 = J2 / i2 [kgm2] (load inertia reflected to the motor shaft)
θ = 2π • d / p [rad] θ = θ2 • i [rad]
ω = 2π • v / p [rad/s] Popt. = 2π Jm/m [m] ω1 = ω2 • i [rad/s]
α = 2π • a / p [rad/s2] α1 = α2 • i [rad/s2]
M1 = M2 /i • η [Nm]
iopt. = J2/Jm [–]
© Portescap 36
Load Data Form
To optimize motor choice and Company:

estimate life expectancy for your Contact person:
application, please complete and
return a photocopy of the follow- Address:
ing load data form. Tel.: Fax:
Application / Function: New Existant
Date: Recommended product:
Load specification
Transmission
M, F
θ
r = mm
v
m
η =
ω + +
Motor
shaft
d
r
p = mm
p η =
Motor
shaft m J = kgm2 t, θ, ω
v
d
Z2
Z1
i=– =
Z2 Z1
Motor η=
shaft
+ +
r2
i=– =
r1
Motor r1
shaft η=
+ +
Mass = kg Inertia = kgm2
r2
Static friction force = N Static friction torque = Nm
Other
Load viscous force = N/m Viscous damping torque = Nms
Movement specification
Controlled parameters [ ]
Torque:
Speed:
Position:
Trajectory:
t[ ]
Additional constraints:
Precision = [ ]
Resolution = [ ]
Overshoot = %
Application environment
Available power supply: Imax= A
Voltage range = V
Available control electronics: f max = Hz
Temperature range: operational = °C storage = °C
Available space: Ømax = mm Lmax = mm
Lifetime: Operating hours = Number of cycles =
Shaft load: axial = N radial = N Distance = mm
Is motor stalled? if yes, conditions: Voltage = V Current = A
37 © Portescap
Symbols and S.I. units
Conversion table
Symbol Description Unit Symbol Description Unit
a linear acceleration m/s2 L inductance H

d linear displacement m M torque Nm
f frequency Hz P power W
k torque constant Nm/A R resistance Ω
km motor constant Nm/ W Rth thermal resistance °C/W
m mass kg T temperature °C
n rotational speed rpm U voltage V
t time s W work, energy Nm
v linear speed m/s α angular acceleration rad/s2
B magnetic induction T η efficiency –
E electromotive force V θ angular displacement rad
F force N τ time constant s
H magnetic field A/m Φ magnetic flux Wb
I current A ω angular speed rad/s
J moment of inertia kgm2
Length: 1 in = 25.4 mm 1 mm = 0.0393 in

1 ft = 0.3048 m 1m = 3.281 ft
Mass: 1 oz = 0.0283 kg 1 kg = 35.3 oz

1 lb = 0.454 kg 1 kg = 2.205 Ib
Force: 1 kp = 9.81 N 1N = 0.102 kp

1 oz = 0.278 N 1N = 3.597 oz
1 Ib = 4.45 N 1N = 0.225 Ib
Temperature: T [°F] = 9/5 T°C +32 T [°C] = 5/9 (T°F-32)

0K = -273.15 °C 0 °C = 273.15 K
Torque: 1 kpcm = 0.0981 Nm 1 Nm = 10.2 kpcm

1 oz-in = 7.06 mNm 1 mNm = 0.1416 oz-in
1 Ib-in = 0.113 Nm 1 Nm = 8.849 Ib-in
1 Ib-ft = 1.356 Nm 1 Nm = 0.7376 Ib-ft
Inertia: 1 gcm2 = 1 x 10-7 kgm2 1 kgm2 = 1 x 107 gcm2

1 oz-in2 = 1.83 x 10-5 kgm2 1 kgm2 = 5.46 x 104 oz-in2
1 oz-in s2 = 0.00706 kgm2 1 kgm2 = 141.6 oz-in s2
1 moiss = 7.06 x 10-6 kgm2 1 kgm2 = 141643 moiss
1 Ib-in2 = 0.000293 kgm2 1 kgm2 = 3418 Ib-in2
1 Ib-in s2 = 0.113 kgm2 1 kgm2 = 8.85 Ib-in s2
Energy: 1 kcal = 4187 J 1J = 0.239 cal

1 Btu = 1055 J 1J = 9.48 x 10-4 Btu
Power: 1 CV = 735 W 1 kW = 1.36 CV

1 HP = 746 W 1 kW = 1.34 HP
© Portescap 38
Examples of motor calculations
DIRECT DRIVE WITHOUT A By solving equations (4) (5) and (6), we The catalogue indicates a closest ratio of
GEARBOX obtain the final rotor temperature Tr: 111:1, the efficiency being 0.6 (or 60%).
A load having a friction torque M of We may now calculate the motor speed
6 mNm should be driven at a speed of R22 • I2 • Rth • (1-22 α) + Ta and torque:
Tr = –––––––––––––––––––––––– (9)
2000 rpm. The ambient temperature Tamb 1 - α • R22 • I2 • Rth
is 30°C. The voltage available is 10 V. Mch
Mm = –––– [Nm] (11)
The escap® motor table shows the type 22N With a current of 0.48 A the rotor reaches a i·η
to be the smallest motor capable of deliver- temperature of:
ing a torque of 6 mNm continuously. Let’s 0.5
Mm = ––––––– = 7.5 • 10-3 Nm = 7.5 mNm
take the model 22N 28-213E.201, which Tr = 72.6°C 111 • 0.6
has a measuring voltage of 9V. The charac-
teristics we are mostly interested in are the At that temperature and according to nm = nch • i [rpm] (12)
torque constant k of 12.5 mNm/A and the equation (6), the rotor resistance is R72 =
resistance at 22°C of 10.3 Ω. Neglecting the 12.33 Ω, and we need a drive voltage of nm = 30 • 111 = 3330 rpm
no-load current, for a torque of 6 mNm the 8.5 V. The motor requires an electrical
motor current is: power of 4.1 W. The motor table shows the 22V motor can
The problem is now solved. In case the deliver 7.5 mNm permanently. The 22V is
M application requires a particularly long available as a standard combination with
I = ––––– [A] (1)
k motor life, use of the next larger motor (type this gearbox. After choosing a winding we
22V) could possibly also be considered. calculate the motor current and voltage the
6 same way as in the preceding example.
I = ––––– = 0.48 A rpm
12.5 A very simple graphic procedure of select-
6500 ing a motor-gearbox unit is presented in the
We can now calculate the drive voltage technical publication Think escap® 6.
required by the motor, at 22°C, for running n
at 2000 rpm with a load torque of 6 mNm: I
DRIVE WITH A D.C. MOTOR USING
U=R•I+k•ω [V] (2) 0.48 A ELECTRONIC COMMUTATION
2000 A torque of 3 mNm is required at a speed
n of 10 000 rpm, with a life time beyond
ω = 2π • –––– [rad/s] (3)
60 15 000 hours. Quite obviously, the best
choice is a motor using electronic commu-
U = 10.3 • 0.48 + 12.5 • 10-3 • 209.4 = 7.56 V 6 8.6 mMm tation.
Speed/torque and current/torque lines of the 22N28- The speed/torque curves show the 26BC-
We note that the current of 0.48 A is quite 213E motor at 68.4°C and for 8.5 V. 6A-113.101 motor to be able of doing the
close to the rated continuous current of job. It has an integrated drive circuit, con-
0.62 A. We should therefore calculate the The behaviour and basic equations of iron- suming 18 mA which are included in the
final rotor temperature (Tr) to make sure it less rotor D.C. motors is described in detail no-load current. Now let’s calculate the
stays below the rated value of 100°C and in the technical publication Think escap® 1. necessary current and voltage. The rele-
the voltage required is within the 10 V avail- vant catalogue values are:
able. In the formulas, Pdiss is the dissipated
power, RTr is the rotor resistance at the final DRIVE USING A GEARBOX equivalent impedance: 6.8 W
temperature and α is the thermal coeffi- A load with a friction torque of 0.5 Nm torque constant: 9.2 mNm/A
cient of the copper wire resistance: should be driven at a speed of 30 rpm. no-load current at 13400 rpm: 110 mA
The gearbox table shows this torque is viscous torque constant: 0.4 • 10-6 Nms
∆T = Tr - Tamb = Pdiss • Rth [°C] (4) within the rating of the R22 gearbox. When
choosing the reduction ratio we keep in The «equivalent impedance» is the imped-
Pdiss = RTr • I2 [W] (5) mind that the input speed of the R22 ance at any two of the three winding termi-
should remain below 5000 rpm in order to nals. It cannot be measured from outside
RTr = R22 • (1 + α (Tr - 22)) [Ω] (6) assure low wear and low noise emission: because of the presence of the driver tran-
sistors.
α = 0.0039 [1/°C] (7) nmax The change in friction caused by a speed
i ≤ ––––– [-] (10)
nch change is given by the viscous damping
Rth = Rth1 + Rth2 [°C/W] (8) constant kv:
5000
i ≤ ––––– = 166.7 ∆Mf
The catalogue values for the thermal resis- 30 kv = ––––– [Nm/rad/s = Nms] (13)
tance rotor-body and body-ambient are ∆ω
5°C/W and 20°C/W, respectively. They are
indications for unfavourable conditions.
Under «normal» operating conditions
(motor mounted to a metal surface, with air
circulating around it) we may take half the
value for Rth2.
39 © Portescap
The load torque of 3 mNm requires a cur- POSITIONING WITH A D.C. MOTOR For the triangular profile we then calculate
rent of I = 0.326 A (see formula 1). A load inertia of 20 • 10-7 kgm2 must be the motor peak speed:
The drop in viscous torque due to the lower moved by an angle of 1 rad in 20 ms.
speed of 10 000 rpm vs 13 400 rpm Friction is negligible, ambient temperature ωmax = α • t [rad/s] (17)
amounts to: is 40°C. With this incremental application
we consider a duty cycle of 100% and a tri- ωmax = 10 000 • 0.01 = 100 rad/s
∆Mf = kv • ∆ω = 0.4 • 10-6 • 356 = 0.14 mNm angular speed profile.
According to equation (3), this gives:
This results in a drop in no-load current of Then the motor must rotate 0.5 rad in 10 ms
15 mA. whilst accelerating, then another 0.5 rad in nmax = 955 rpm
At 10 000 rpm we have: 10 ms whilst braking.
Finally, we apply equation (2):
110 - 15 = 95 mA Let’s calculate the angular acceleration α:
U=R•I+k•ω
When adding them to the load current we 2θ = 9.05 • 1.23 + 32.5 • 10-3 • 100
α = ––––––– [rad/s2] (14)
arrive at approximately 0.42 A. The rated t2 = 15.2 V
continuous current of this motor is 0.45 A as
defined by the internal overload protection. 2 • 0.5 This is the minimum output voltage
α = –––––– = 10 000 rad/s2
0.012 required by a chopper driver.
rpm
15 000 The torque necessary to accelerate the A different way of selecting the motor is
load is: presented in the technical publication Think
escap® 6.
Mch = Jch • α [Nm] (15)
7500
Mch = 20 • 10-7 • 10 000 = 20 mNm
If the motor inertia equalled the load inertia,

torque would be twice that value. We then
mMm talk of matched inertias, where the motor
2.5 5 does the job with the least power dissipa-
tion.
Rated working range of the 26BC-A-113 motor and
point of actual operation. If we consider that case, motor torque
becomes:
The voltage follows formula (2), the voltage
drop across the power stage being negli- Mm = (Jch + Jm) • α [Nm] (16)
gible:
Mm = 2 • Mch = 40 mNm
U = R • I + k • ω + u = 2.87 + 9.63 = 12.5 V
According to the motor overview the type
As the drive circuit supply voltage may be 28DT12 can deliver 40 mNm permanently.
from 5V to 18V, the pins 2 and 5 may be As an example, take the -222E coil with a
hooked together and connected to 12.5 V. resistance (at 22°C) of 6.2 W and a
If the motor operates but in one direction torque constant of 32.5 mNm/A. Consider
and there is no speed control, the two wire a total thermal resistance of the order of
motor version 26BC-2A offers the simplest 7.5°C/W. The rotor inertia happens to be
solution. just 20 • 10-7 kgm2.
From equation (1) we get:

M 40
I = –– = –––– = 1.23 A
k 32.5
Equations (9) and (4) give:
Tr = 143°C, RTr = 9.68 Ω
© Portescap 40
POSITIONING WITH A STEPPER We must make sure the motor can start at mNm
MOTOR that frequency. The curves on page 53 10
A load inertia of 20 • 10-7 kg m2 has to be show that, with a load inertia equal to the
moved by an angle of 0,5 rad in 20 ms. rotor inertia of 3 gcm2, the motor can start 8
With a triangular speed profile this requires at about 1700 steps/s. With a load inertia
a torque of 10 mNm up to a peak speed of of 20 • 10-7 kg m2 this pull-in frequency 6
50 rad/s as calculated using equations (14) becomes:
and (15). At that speed the mechanical
power for the load alone is 0.5 W. Now we 2Jm 4
f1 = f0 ––––––– [Hz] (18)
can evaluate the motor size necessary, and Jm + Jch
we see two possible solutions. 2
Direct drive 6 steps/s

f1 = 1700 • ––– = 870 steps/s 0
The motor type P430 (100 steps/rev, 23 0 1000 2000 3000
60 mNm of holding torque) associated to
a simple L/R type driver is quite enough for Thanks to the disc magnet technology the
this application, as peak speed is only P430 motor can do the job quite easily, Curves of torque vs step rate for the P310 with ELD-
50 rad/s: without needing a ramp, using a very sim- 200 drive circuit.
ple controller and an economic driver.
50 With the ELD-200 drive circuit at 24V the
––– • 100 = 796 steps/s
2π Use of a gearbox motor P310-158 005, coils in parallel, can
The P310 motor makes 60 steps/rev and do the job with an adequate safety margin.
Let’s see whether the move can be done has a holding torque of 12 mNm at nominal At low step rates the available torque is
within the motor’s pull-in range. Then we current. This is too small for moving the substantially above the 5 mNm required for
would not need to generate ramps for load in a direct drive. However, its mechan- the triangular speed profile. By adapting
acceleration and deceleration, and the ical power is more than enough. A reduc- this profile to the motor capabilities the
controller would be substantially simplified. tion gearbox can adapt the requirements of move time can be further reduced.
In that case we have in fact a rectangular the application to the motor capabilities.
speed profile and the move requires a con- The smaller P110 motor with R16 gearbox
stant step rate which is obtained by divid- Choosing the reduction ratio could also do the job but would require a
ing the distance (number of steps which is A first choice consists of matching inertias driver of very high performance and carry-
8) by the time: and then make sure that with that ratio the ing a higher price tag.
motor speed remains within a reasonable
0.5 • 100 range, where the necessary torque can be A detailed description of the disc magnet
–––––––– = 400 steps/s
2π • 0.02 delivered. With incremental motion, an iner- stepper motor technology is given in the
tial match assures the shortest move time, technical publication Think escap® 5.
mNm
with the motor providing constant torque
50
over the speed range considered. In our
example this asks for a ratio i0 of:
40
Jch
i0 = ––– [-] (19)
30 Jm
20 20
i0 = –––– = 4.82
0.86
10
From the various gearbox models pro-
0 steps/s posed for the P310 we pick the K24, which
0 1000 2000 3000 offers a smallest ratio of 5:1. Using equa-
tions (14), (15) and (19), we find:
Curves of torque vs step rate for the P430 with ELD- • a load inertia reflected to the motor shaft
200 drive circuit. of 1 • 10-7 kg m2
• a motor acceleration of 25 000 rad/s2
• a motor peak speed of 250 rad/s =
2400 rpm = 2400 steps/s
• a necessary motor torque of 5 mNm.
41 © Portescap
Designation of ironless rotor D.C. motors 22 N 2R 28 -210E D 16 .201
Motor diameter in mm
Code for motor length
Indication for ball bearings
Commutation system
Winding type
Encoder type
Number of lines of encoder
Motor execution code
Designation of stepper motors P X 5 3 2 -25 8 012 14 V
Stepper motor
Internal code
Code for diameter
Code for length
Motor version for full/half-step = 2
Motor version for microstep =0
Number of rotor pole pairs
Number of connections or terminal wires
Resistance per winding (indicated by a letter for some motors)
Motor execution code
Particular option
Designation of BLDC motors, slotless iron structure 26 BC 6 A 107 .101
Motor diameter
Technology
Number of terminal wires
Commutation system
Winding type
Execution code
Designation of BLDC motors, slotted iron structure B 0508 -050A -R 0 G 05 F
Motor type (B = Brushless motor)

Diameter & length in inches (0508 = 0.5” D x 0.8” L)
Nominal voltage (050A/050B/150A/150B)
Motor shaft options (R = round, F = flat, D = double, O = gearhead)
Mounting options (0 = threads, 1 = servo groove, 2/3/4 = screw diamond/triangle/square)
Configuration (M = just motor, G = gearhead)
Gear ratio (05 = 5:1)
Gearhead shaft options (R = round, F = flat, D = double)
Example of gearboxes designation R 22 0- 190
Gearbox type
Gearbox diameter in mm
Gearbox execution code
Reduction ratio
Example of gearmotors designation M 707L61-207 10.7 .0
Gearmotor
Motor type and definition
Reduction ratio
Gearmotor execution code
© Portescap 42
escap® DC Motor data sheet section
Table of contents
Motor type page
08GS 44
08G 45
13N 46
16C 47
16N 48
16G 49
17S 50
17N 51
22S28 52
22S48 53
22N28 54
22N48 55
22V28 56
22V48 57
23LT12 58
23V 59
23DT 60
26N 61
28L28 62
28LT 63
28D 64
28DT12 65
34L11 66
35NT2R32 67
35NT2R82 68
Ex-proof motors EEX 69
Autoclavable motors 69
High speed motors 69
ELD-3503 drive circuit 70
43 © Portescap
escap 08GS61 D.C. Motor
Precious metal commutation system - 5 segments 0.5 Watt
scale: 1:1
dimensions in mm
mass: 3.8 g 08GS61 •1 08GS61 •2
Winding types -107 -105 -105C -204

Measured values
1 Measuring voltage V 2 4.5 6 9
2 No-load speed rpm 9500 10700 11000 10700
3 Stall torque mNm (oz-in) 0.3 (0.042) 0.59 (0.084) 0.59 (0.084) 0.63 (0.089)
4 Average no-load current mA 8 4 3 2
5 Typical starting voltage V 0.2 0.3 0.5 0.6
Max. recommended values
6 Max. continuous current A 0.25 0.168 0.128 0.087
7 Max. continuous torque mNm (oz-in) 0.46 (0.065) 0.64 (0.091) 0.63 (0.089) 0.67 (0.095)
8 Max. angular acceleration 103 rad/s2 641 859 849 889
Intrinsic parameters
9 Back-EMF constant V/1000 rpm 0.2 0.41 0.53 0.82
10 Torque constant mNm/A (oz-in/A) 1.91 (0.27) 3.92 (0.55) 5.1 (0.72) 7.8 (1.11)
11 Terminal resistance ohm 12.6 30 52 111
12 Motor regulation R/k2 103/Nms 3500 2000 2000 1800
13 Rotor inductance mH 0.05 0.11 0.2 0.45
14 Rotor inertia kgm2 . 10-7 0.03 0.03 0.03 0.03
15 Mechanical time constant ms 10 5.9 6.1 5.4
• Thermal resistance:
rotor-body 20°C/W
body-ambient 100°C/W
• Thermal time constant rotor/stator: 5 s/100s
• Max. rated coil temperature: 100°C
• Recom. ambient temperature range:
-30°C to +65°C (-22°F to +150°F)
• Max. axial static force: 30 N
• End play: ≤ 100 µm n (rpm) Max. continuous
R10, 0.1 Nm
Radial play: ≤ 15 µm output power
Shaft runout: ≤ 10 µm
0.5 W
• Max. side load at 2 mm from mounting face:
- sleeve bearings 0.5 N
• Motor fitted with sleeve bearings
M(mNm)

© Portescap 44 Specifications subject to change without prior notice
escap 08G61 D.C. Motor
scale: 1:1
dimensions in mm
08G61 •1 08G61 •2
mass: 4.5 g
Winding types -107 -106 -105 -205C -204

Measured values
1 Measuring voltage V 3 4.5 6 9 12
2 No-load speed rpm 9800 10300 10300 11800 10400
3 Stall torque mNm (oz-in) 0.73 (0.103) 0.87 (0.123) 0.88 (0.125) 1.01 (0.143) 0.86 (0.122)
4 Average no-load current mA 6 4.2 3.2 2.5 1.6
5 Typical starting voltage V 0.2 0.3 0.5 0.6 0.8
6 Max. continuous current A 0.25 0.21 0.163 0.124 0.081
7 Max. continuous torque mNm (oz-in) 0.7 (0.99) 0.85 (0.12) 0.87 (0.123) 0.87 (0.123) 0.86 (0.122)
8 Max. angular acceleration 103 rad/s2 924 989 989 999 979
9 Back-EMF constant V/1000 rpm 0.3 0.43 0.57 0.75 1.13
10 Torque constant mNm/A (oz-in/A) 2.86 (0.406) 4.11 (0.58) 5.4 (0.77) 7.2 (1.01) 10.8 (1.53)
11 Terminal resistance ohm 11.8 21.3 36.8 64 150
12 Motor regulation R/k2 103/Nms 1400 1300 1200 1200 1300
13 Rotor inductance mH 0.03 0.07 0.12 0.16 0.47
14 Rotor inertia kgm2 . 10-7 0.035 0.035 0.035 0.035 0.035
15 Mechanical time constant ms 5 4.4 4.3 4.4 4.5
rotor-body 18°C/W
• Thermal time constant rotor/stator: 5 s/100 s
-30°C to +65°C (-22°F to +150°F)
• Max. axial static force: 30 N
• End play: ≤ 100 µm n (rpm) Max. continuous
R10, 0.1 Nm
Radial play: ≤ 15 µm output power
M(mNm)

escap 13N88 D.C. Motor
scale: 1:1
dimensions in mm
mass: 18 g 13N88 •1 13N88 •3
Winding types -216P -216E -213E -110 -108 -107

Measured values
1 Measuring voltage V 2.0 4.5 6.0 12.0 15.0 24.0
2 No-load speed rpm 9000 10800 12300 12400 12400 14100
3 Stall torque mNm (oz-in) 6.9 (0.98) 7.2 (1.02) 6.5 (0.93) 8 (1.13) 6.5 (0.91) 8.4 (1.19)
4 Average no-load current mA 48.0 26.4 25.6 13.6 10.6 8.8
5 Typical starting voltage V 0.03 0.06 0.08 0.10 0.15 0.20
6 Max. continuous current A 1.50 0.90 0.69 0.38 0.27 0.21
7 Max. continuous torque mNm (oz-in) 3.0 (0.43) 3.42 (0.48) 3.03 (0.43) 3.33 (0.47) 2.99 (0.42) 3.18 (0.45)
8 Max. angular acceleration 103 rad/s2 242 225 271 252 288 274
9 Back-EMF constant V/1000 rpm 0.22 0.41 0.48 0.95 1.19 1.67
10 Torque constant mNm/A (oz-in/A) 2.10 (0.30) 3.92 (0.55) 4.58 (0.65) 9.1 (1.28) 11.4 (1.61) 15.9 (2.26)
11 Terminal resistance ohm 0.61 2.45 4.20 13.7 26.4 45.6
12 Motor regulation R/k2 103/Nms 138 160 200 166 204 179
13 Rotor inductance mH 0.01 0.05 0.07 0.25 0.40 0.80
14 Rotor inertia kgm2 . 10-7 0.38 0.38 0.28 0.33 0.26 0.29
15 Mechanical time constant ms 5 6 6 5 5 5
Availability: see enclosed document at the

end of the catalogue
rotor-body 10°C/W
• Thermal time constant - rotor / stator:
6 s / 300 s
• Max. rated coil temperature: 100°C (210°F)
-30°C to +65°C (-22°F to +150°F)
• Viscous damping constant: n (rpm) Max. continuous
0.04 x 10-6 Nms output power
• Max. axial static force for press-fit: 150 N
• End play: ≤ 150 µm
Radial play: ≤ 30 µm
• Motor fitted with sleeve bearings M (mNm)
(ball bearings optional)


escap 16C18 D.C. Motor
scale: 1:1
dimensions in mm
mass: 13 g 16C18 • 30 16C18 • 67
Winding types -115 -210 -207 -205 -204

Measured values
1 Measuring voltage V 1.5 4.0 6.0 12.0 15.0
2 No-load speed rpm 15300 14700 15700 16200 16000
4 Average no-load current mA 74.8 23.0 18.4 10.4 6.9
11 Terminal resistance ohm 1.20 7.5 18.0 65.0 162
15 Mechanical time constant ms 48 50 41 60 63

rotor-body 15°C/W
4 s / 230 s
• Max. rated coil temperature:100°C (210°F)
-30°C to +65°C (-22°F to +150°F) Max. recommended speed
- ball bearings 3N
M (mNm)
escap 16N28 & 16N38 D.C. Motor
scale: 1:1
dimensions in mm
mass: 24 g 16N28 • 201 16N38 • 213
Winding types -114 -210E -208E -207E -106 -205E

Measured values
2 No-load speed rpm 8900 9700 8900 10800 10200 9600
3 Stall torque mNm (oz-in) 4.1 (0.6) 3.9 (0.55) 3.1 (0.45) 3.1 (0.45) 3.4 (0.5) 2.9 (0.4)
11 Terminal resistance ohm 4.1 14 28 40.5 68.5 109
13 Rotor inductance mH 0.21 0.5 0.8 0.9 2 3

rotor-body 7°C/W
7 s / 390 s
• Recom. ambient temperature range: Max. recommended speed
-30°C to +65°C (-22°F to +150°F)
- ball bearings 3N M (mNm)
• With rear output shaft, the no-load current is Continuous working range
50% higher Temporary working range

escap 16G88 D.C. Motor
-0,100
2 x Ø1.8 x 3 mm
6 x M1.6 x 3
Ø16 -0,100
0
(For self forming screw K18)
16
Ø 6 -0,018
6- 0,018
-0,006
-0,006
Ø 1,50 -0,009
Ø 1,50 -0,009
Ø 6 -0,018
6- 0,01
0
0
0
10
10
1 1
150 ± 3
4
6 ±0.5 6 ±0.5
1 28 7.5 ±0.5 1 28 7.5 ±0.5
scale: 1:1
dimensions in mm
mass: 24 g 16G88 •1 16G88 •2
Winding types -220P -220E -213E -211E -210E -208E

Measured values
1 Measuring voltage V 3 6 9 12 15 24
2 No-load speed rpm 11000 11700 8200 9700 9100 11300
4 Average no-load current mA 45 24 14 10 9 6
7 Max. continuous torque mNm (oz-in) 5.8 (0.82) 5.5 (0.78) 5.3 (0.75) 4.7 (0.67) 5 (0.71) 4.5 (0.64)
11 Terminal resistance ohm 0.4 1.6 7.56 12.5 20.1 39
rotor-body 8°C/W
B16, 0.12 Nm
6 s / 500 s
-30°C to +65°C (-22°F to +150°F)
n (rpm) Max. continuous
• Viscous damping constant:
output power
0.05 x 10-6 Nms
BA16, 0.2 Nm
R16, 0.3 Nm - sleeve bearings 1.5 N
- ball bearings 3N

escap 17S78 & 17S88 D.C. Motor
scale: 1:1
dimensions in mm
mass: 19 g 17S78 •1 17S88 •2
Winding types -213P -208P -209E

Measured values
1 Measuring voltage V 2.5 6 12
2 No-load speed rpm 11900 10400 12400
3 Stall torque mNm (oz-in) 5.2 (0.74) 4.6 (0.65) 5.9 (0.83)
4 Average no-load current mA 70 25 15
5 Typical starting voltage V 0.05 0.09 0.16
6 Max. continuous current A 1.41 0.52 0.32
7 Max. continuous torque mNm (oz-in) 2.6 (0.37) 2.6 (0.37) 2.8 (0.4)
8 Max. angular acceleration 103 rad/s2 130 131 137
9 Back-EMF constant V/1000 rpm 0.20 0.56 0.95
10 Torque constant mNm/A (oz-in/A) 1.95 (0.28) 5.3 (0.76) 9.1 (1.28)
11 Terminal resistance ohm 0.94 6.9 18.6
12 Motor regulation R/k2 103/Nms 250 240 230
13 Rotor inductance mH 0.02 0.15 0.35
14 Rotor inertia kgm2 . 10-7 0.50 0.50 0.50
15 Mechanical time constant ms 12 12 12

rotor-body 13°C/W
7 s / 350 s
• Viscous damping constant: n (rpm) Max. continuous output power
0.04 x 10-6 Nms
- ball bearings 3N
M (mNm)
• With rear output shaft, the no-load current is Continuous working range
50% higher

scale: 1:1
dimensions in mm
mass: 27 g 17N78 •1 17N88 •4
Winding types -216E -213E -210E -208E -207E

Measured values
2 No-load speed rpm 8500 8300 8500 8500 8900
11 Terminal resistance ohm 3.20 6.0 17.3 38.4 65.0
Availability: see enclosed document at the end

of the catalogue
rotor-body 10°C/W
7 s / 400 s
-30°C to +65°C (-22°F to +150°F)

escap 22S28 D.C. Motor
scale: 1:1
dimensions in mm
mass: 49 g 22S28 •1
Winding types -119 -210P -208P -210E -208E -205E

Measured values
2 No-load speed rpm 7600 8900 9100 9600 9600 7900
4 Average no-load current mA 23.8 12.6 9.1 7.7 6 2.8
Availability: see enclosed document at the end

of the catalogue
rotor-body 5°C/W
7 s / 480 s
• Viscous damping constant: n (rpm)
0.04 x 10-6 Nms Max. continuous
output power
- ball bearings 3N
M (mNm)

escap 22S48 D.C. Motor
scale: 1:1
dimensions in mm
mass: 49 g 22S48 • 10
Winding types -119 -210P -208P -210E -208E -205E

Measured values
2 No-load speed rpm 7600 8800 9000 9500 9500 7900
4 Average no-load current mA 36 19 14 12 9 4.2

rotor-body 5°C/W
7 s / 480 s
output power
- ball bearings 3N
M (mNm)

scale: 1:1
dimensions in mm
mass: 53 g 22N28 •201 22N28 •286
Winding types -216P -216E -213E -210E -208E -105

Measured values
2 No-load speed rpm 5200 5600 7000 5900 6300 7200
11 Terminal resistance ohm 1.50 5.80 10.3 27.0 59.0 200
rotor-body 6°C/W
9 s / 550 s
-30°C to +65°C (-22°F to +150°F)
• Max. axial static force for press-fit: 150 N output power
- ball bearings 3N
• Motor fitted with sleeve bearings M(mNm)

scale: 1:1
dimensions in mm
mass: 53 g 22N48 •308
Winding types -216P -216E -213E -210E -208E -105

Measured values
2 No-load speed rpm 5200 5600 6900 5800 6200 7200
4 Average no-load current mA 26 16 12.6 8 6 3
7 Max. continuous torque mNm (oz-in) 8 (1.13) 8.1 (1.15) 7.4 (1.05) 7.2 (1.02) 6.9 (0.98) 6.5 (0.92)
10 Torque constant mNm/A (oz-in/A) 5.4 (0.77) 10 (1.42) 12.2 (1.73) 19.3 (2.73) 27 (3.83) 47.3 (6.69)
11 Terminal resistance ohm 1.5 5.7 10.3 27 59 200
14 Rotor inertia kgm2 . 10-7 3.5 2 2.8 3.0 2.9 2.0
rotor-body 6°C/W
9 s / 550 s
-30°C to +65°C (-22°F to +150°F)
- sleeve bearings 3N
- ball bearings 6N
• Motor fitted with sleeve bearings M(mNm)

escap 22V28 D.C. Motor
scale: 1:1
dimensions in mm
mass: 68 g 22V28 • 201 22V28 • 202
Winding types -216P -213P -216E -213E -210E -208E

Measured values
2 No-load speed rpm 6400 7100 6700 7600 7500 6300
4 Average no-load current mA 18 15 9 7.6 6.0 3.2
7 Max. continuous torque mNm (oz-in) 10.27(1.45) 9.09 (1.29) 9.66 (1.37) 8.48 (1.20) 7.4 (1.05) 8.13 (1.15)

rotor-body 6°C/W
10 s / 460 s
output power
- ball bearings 6N
M (mNm)
escap 22V48 D.C. Motor
scale: 1:1
dimensions in mm
mass: 68 g 22V48 • 204
Winding types -216P -213P -216E -213E -210E -208E

Measured values
2 No-load speed rpm 6400 7100 6700 7600 7500 6300
4 Average no-load current mA 27 22 13.5 11 9 4.8

rotor-body 6°C/W
10 s / 460 s
• Max. rated coil temperature:100°C (210°F)
output power
• Max. side load at 5 mm from mounting
face:
escap 23LT12 D.C.Motor
Graphite/copper commutation system - 9 segments 8.5 Watt
scale: 3:4
dimensions in mm
mass: 80 g 23LT12 •1 23LT12 • 45 23LT12 • 120
Winding types -216P -216E -210E

Measured values
1 Measuring voltage V 6 12 18
2 No-load speed rpm 8300 8800 8600
5 Typical starting voltage V - - -
rotor-body 7°C/W
12 s / 460 s
-10°C to +80°C (-14°F to 176°F) Max. recommended speed
• Max. axial static force for press-fit: 250 N n (rpm)
Max. continuous output power
- ball bearings 8N
M (mNm)


escap 23V58 & 23V48 D.C. Motor
scale: 3:4
dimensions in mm
mass: 100 g 23V58 •1 23V48 • 11
Winding types -216P -213P -216E -213E -210E

Measured values
2 No-load speed rpm 4500 4800 4800 5200 6500
3 Stall torque mNm (oz-in) 31 (4.4) 27 (3.8) 29 (4.1) 24 (3.4) 23.3 (3.3)
4 Average no-load current mA 30.8 27.5 18.7 16.5 13
7 Max. continuous torque mNm (oz-in) 18.2 (2.6) 16.4 (2.3) 17.2 (2.4) 14.9 (2.1) 13 (1.8)

rotor-body 5°C/W
10 s / 580 s
-30°C to +65°C Max. recommended speed
output power
face:
- sleeve bearing 6N
M(mNm)
- ball bearings 8N
• With rear output shaft, the no-load current is
50% higher Temporary working range

escap 23DT12 D.C. Motor
Graphite/copper commutation system - 9 segments 15 Watt
scale: 3:4
dimensions in mm
mass: 110 g 23DT12 •1 23DT2R12 • 93
Winding types -216P -216E -210E

Measured values
1 Measuring voltage V 9.0 18.0 28.0
3 Stall torque mNm (oz-in) 44 (6.2) 42 (5.9) 27 (3.8)
5 Typical starting voltage V -- -- --
7 Max. continuous torque mNm (oz-in) 21 (3) 19.5 (2.8) 15 (2.1)

rotor-body 5°C/W
13 s / 580 s
-10°C to +80°C (-14°F to 176°F) Max. recommended speed
• Max. axial static force for press-fit: 250 N n (rpm) Max. continuous
output power
face:
- ball bearings 8N
• Motor exec. • 1 fitted with sleeve bearings
M(mNm)
• Motor exec. • 93 fitted with two preloaded
ball bearings
Precious metal commutation system - 9 segments 5,7 Watt
scale: 3:4
dimensions in mm
mass : 114 g 26N58 •1 26N48 •9
Winding types -216P -113P -216E -113 -110

Measured values
1 Measuring voltage V 6 7.5 12 15 24
2 No-load speed rpm 4500 5500 4700 5400 6700
3 Stall torque mNm (oz-in) 29.6 (4.19) 25.5 (3.6) 28.6 (4.06) 26 (3.7) 25 (3.54)
4 Average no-load current mA 31 30 16 15 12
7 Max. continuous torque mNm (oz-in) 15.2 (2.2) 15.7 (2.2) 20 (2.8) 16.2 (2.3) 11 (1.56)
11 Terminal resistance ohm 2.5 3.8 10 16 32

rotor-body 5°C/W
10 s / 640 s
face:
M(mNm)
- ball bearings 8N

escap 28L28 D.C. Motor
Precious metal commutation system - 9 segments 11 Watt
scale: 3:4
dimensions in mm
mass: 125 g 28L28 • 49 28L28 • 164
Winding types -219P -219 -416E -413E -410E

Measured values
2 No-load speed rpm 5300 5300 5600 5300 5000
3 Stall torque mNm (oz-in) 43 (6.08) 43 (6.11) 50 (7.08) 42 (5.96) 34 (4.87)

rotor-body 5 °C/W
body-ambient 12 °C/W
20 s / 760 s
• Max. axial static force for press-fit : 150 N output power
face
M (mNm)
- ball bearings 8N
escap 28LT12 D.C. Motor
scale: 3:4
dimensions in mm
mass: 135 g 28LT12 • 49
Winding types -219P -219 -416E

Measured values
4 Average no-load current mA 125.0 65.0 35.0

rotor-body 5°C/W
17 s / 760 s
-10°C to +80°C (14°F to 176°F) Max. recommended speed
• End play: ≤ 150 µm output power
- ball bearings 8N
M(mNm)


escap 28D11 D.C. Motor
scale: 3:4
dimensions in mm
mass: 190 g 28D11 •2
Winding types -222P -219P -222E -219E

Measured values
1 Measuring voltage V 9.0 12.0 18.0 24.0
2 No-load speed rpm 5300 5800 5200 6000
3 Stall torque mNm (oz-in) 97 (13.75) 94 (13.27) 101 (14.26) 95 (13.47)
4 Average no-load current mA 55.0 44.0 27.5 22.0
5 Typical starting voltage V 0.10 0.15 0.20 0.30
6 Max. continuous current A 1.50 1.50 1.17 0.91
7 Max. continuous torque mNm (oz-in) 23.4 (3.3) 28.4 (4.0) 37.1 (5.2) 33.6 (4.8)
11 Terminal resistance ohm 1.50 2.50 5.8 9.5
12 Motor regulation R/k2 103/Nms 5.73 6.56 5.50 6.69
15 Mechanical time constant ms 11 12 11 12

rotor-body 4°C/W
body-ambient 8°C/W
18 s / 630 s
1 x 10-6 Nms
output power
• Max. side load at 5 mm from mounting face
- ball bearings 10 N
M (mNm)
escap 28DT12 D.C. Motor
scale: 3:4
dimensions in mm
mass: 200 g 28DT12 •2 28DT2R12 • 98
Winding types -222P -219P -222E -219E

Measured values
1 Measuring voltage V 12 15 24 28
2 No-load speed rpm 6800 7100 6900 6900
3 Stall torque mNm (oz-in) 102 (14.4) 101 (14.3) 126 (17.8) 107 (15.1)
5 Typical starting voltage V -- -- -- --
6 Max. continuous current A 2.5 2 1.4 1.1
7 Max. continuous torque mNm (oz-in) 37 (5.2) 35 (5.0) 41 (5.8) 37 (5.2)
11 Terminal resistance ohm 1.9 2.9 6.2 9.9
12 Motor regulation R/k2 103/Nms 7.3 7.6 5.9 7
14 Rotor inertia kgm2 . 10-7 20 18 20 18

rotor-body 4°C/W
body-ambient 8°C/W
18 s / 630 s
• Max. rated coil temperature:155°C
• End play: ≤ 150 µm output power
(ball bearings optional) M(mNm)


escap 34L11 D.C.Motor
scale: 3:4
dimensions in mm
mass: 230 g 34L11 •2 34L11 •1
Winding types -224E -219E

Measured values
1 Measuring voltage V 15.0 24.0
2 No-load speed rpm 4250 5390
3 Stall torque mNm (oz-in) 109 (15.43) 104 (14.72)
4 Average no-load current mA 27.5 27.5
5 Typical starting voltage V 0.15 0.20
6 Max. continuous current A 1.31 0.90
7 Max. continuous torque mNm (oz-in) 43.0 (6.1) 36.8 (5.2)
8 Max. angular acceleration 103 rad/s2 34 38
9 Back-EMF constant V/1000 rpm 3.50 4.40
10 Torque constant mNm/A (oz-in/A) 33.4 (4.73) 42 (5.95)
11 Terminal resistance ohm 4.60 9.7
12 Motor regulation R/k2 103/Nms 4.12 5.49
13 Rotor inductance mH 0.60 1.00
14 Rotor inertia kgm2 . 10-7 32.00 24.00
15 Mechanical time constant ms 13 13

rotor-body 4°C/W
body-ambient 8°C/W
18 s / 760 s
1 x 10-6 Nm output power
face:
- ball bearings 10 N M (mNm)
escap 35NT2R32 D.C. Motor
scale: 3:4
dimensions in mm
mass: 320 g 35NT2R32 •2 35NT2R32 • 50
Winding types -228P -228E -416SP

Measured values
4 Average no-load current mA 180 90.0 50.0
12 Motor regulation R/k2 103/Nms 4.43 3.13 3.12

rotor-body 4°C/W
body-ambient 8°C/W
50 s / 920 s
• Max. axial static force for press-fit : 100 N n (rpm)
- shaft supported: 1000 N Max. continuous
output power
• End play: negligible
Radial play: negligible
face:
• Motor fitted with ball bearings
M(mNm)


escap 35NT2R82 D.C. Motor
scale: 3:4
dimensions in mm
mass: 310 g 35NT2R82 •2 35NT2R82 • 50
Winding types -426P -426SP

Measured values
1 Measuring voltage V 18 32
3 Stall torque mNm (oz-in) 538 (76) 756 (107)
4 Average no-load current mA 141 80
5 Typical starting voltage V - -
7 Max. continuous torque mNm (oz-in) 90 (12.7) 115 (16.3)
8 Max. angular acceleration 103 rad/s2 51 64
10 Torque constant mNm/A (oz-in/A) 25.4 (3.6) 52 (7.3)
11 Terminal resistance ohm 0.85 2.20
12 Motor regulation R/k2 103/Nms 1.3 0.83
13 Rotor inductance mH 0.1 0.40

rotor-body 4°C/W
body-ambient 8°C/W
40 s / 920 s
n (rpm) Max. continuous
output power
- shaft supported: 1000 N
• End play: negligible
Radial play: negligible
• Max. side load at 10mm from mounting
face:
• Motor fitted with ball bearings
M(mNm)

escap Special motors
Explosion proof motors
ATEX - IP 44
II 2G EEx dIIC T4/T5/T6

PTB 97 ATEX 1095
CE 102
dimensions in mm 35NT EEx flameproof enclosure
• Graphite-copper commutation system, 13 • Satisfies the European norms EN 50014 / • Applies to markets such as:
segments 50018 and the new ATEX 94/9/EC norm - petroleum and petro-chemistry
• Max. recom. motor speed 9000 rpm • Protection level: IP 44 - chemistry
• Ambient temperature range: • This motor series is also available with the - pharmacy industry
-10 to +40°C (-14 to +104°F) following accessories: - mines safety
• Mechanical power from 24W to 75W - 3 channel optical encoder E9
• Applicable in severe environment - Line driver compatible RS 485
containing explosive gases, vapours and - DC tacho (motor-tacho unit)
sprays - Planetary gearboxes:
R32, R40
escap
Autoclavable and high speed motors
dimensions in mm 23DT2R12 • 84 / • 87
• Available for the motors 17N, 23DT and • High speed for: • Applies to markets such as:
28DT - centrifuges - Hand tools for surgery or dental
• Complementary autoclavable planetary - ultra high vacuum pumps - Drilling tools, saws
gearboxes R16 and R32 - medical analysers - Implantology equipment
• Max. motor speed up to 40'000 rpm - chiropodist equipment - etc...
• More than 100 cycles autoclavability by - grinding/milling tools
damp process
• Mechanical power up to 27W continuous


ELD-3503 V4 DC motor drive
Compact DC motor drive circuit
• Linear amplifier 2.5 A, 35 V • Single voltage supply 12... 35 VDC

• Speed control with a DC tacho or by • Overtemperature, overcurrent and
RxI compensation shortcircuit protection
• Torque control with trans- • Software assisted implementation
conductance amplifier 0.5 A/V
• Suitable for low inductance motors
Specifications
1 Single DC supply 12 to 35 V
2 Maximum permanent output current 2.5 A
3 Maximum peak current 3.5 A (factory set) 7A max.
4 Differential input ± 10 V (± 5 V also possible)
5 Transconductance amplifier 0.5 A/V1)
6 Precision of the current regulation ± 5%
7 Linearity of the output ± 2% from 0 to 2 A
The card is delivered with an application
8 Cut-off frequency 2 kHz
software on a floppy disk. After entering
9 Speed regulation using a tacho 1000 rpm/V1) speed, torque, power supply voltage and
10 Variation due to the load in tacho mode ± 0.5% thermal conditions, this convenient tool
11 Speed regulation using RxI compensation 1000 rpm/V1) calculates the minimum voltage needed
12 Variation due to the load in RxI mode ± 5% for n > 500 rpm for the specified motor and indicates all
13 Precision of the speed regulation ± 5% limitations imposed by the motor, the
card or the power supply. Changes
14 Cut-off frequency 20 Hz
resulting from a different motor winding
15 Adjustable permanent current limitation 0 to 3.5 A
are displayed immediatley.
16 Slow fuse 2A The application requires Windows 3.1 or
17 Thermal circuit breaker 80 °C higher.
18 Overcurrent indication LED IRMS
19 Overtemperature indication LED Tmax
20 Operating temperature range 0 to 65°C
21 Dimensions 100 x 80 x 30 mm (˚ Europe), 250 g
22 Connections Screw terminals
1)
These factors should be multiplied by 2 when the input voltage of the card is changed
to ± 5 V
Block diagram
© Portescap 70
Turbo DiscTM Stepper Motor
data sheet section
Table of contents
Motor type page
P010 72
P110 74
P310 76
P430 78
P520 80
PP520 82
P530 84
P532 86
P630 88
P632 90
P850 92
P852 94
ESD-1200-1300 Drive circuit 96
EDB-909 Drive circuit 96
EDM-453 Drive circuit 97
EDM-907 Drive circuit 97
DM224i Drive circuit 98
71 © Portescap
Turbo Disc™ P010 Stepper motor
Suitable for microstep operation
24 steps/revolution
15° step angle
scale: 1:1
dimensions in mm
mass: 9 g P010-064 - • 02
Windings available 020 003
Coil dependent parameters typ typ

1 Phase resistance ohm 20 3
2 Phase inductance (1 kHz) mH 13.7 1.8
3 Nominal phase current (2 ph. on) A 0.15 0.43
4 Nominal phase current (1 ph. on) A 0.21 0.6
5 Back-EMF amplitude V/kst/s 2.30 0.81
Coil independent parameters typ max

Torque parameters
6 Holding torque (nominal current) mNm (oz-in) 1.85 (0.26)
7 Holding torque (1.5 x nominal current) (1) mNm (oz-in) 2.6 (0.37)
8 Detent torque amplitude and friction mNm (oz-in) 0.4 (0.06)
Thermal parameters
9 Thermal resistance coil-ambient (2) °C/W 100
Angular accuracy
10 Absolute accuracy (2 ph. on full-step mode) % full-step ±10
Mechanical parameters
11 Rotor inertia kgm2.10 -7 0.07
Other parameters
12 Natural resonance frequency (nom. current) Hz 200
13 Electrical time constant ms 0.6
14 Angular acceleration (nominal current) rad/s 2 265000
• Max. rated coil temperature: 130°C • Radial shaft play (2N): 30 µm • "Power rate" (nominal current): 0.49 kW/s
• Recom. ambient temperature range: Axial shaft play (2N): 40 µm • with ball bearings
-20°C to +50°C • Max. radial load: 2.5 N
Max. axial load3): 2.5 N
1)
Measurement with 1 phase on.
The max. coil temperature must be
respected
2)
Motor unmounted
3)
Shaft must be supported when press-fitting
a pulley or a pinion

P010-064-020, U = 3V, Rs = 0 ohm P010-064-020, U = 4V, Rs = 0 ohm

Voltage drive type L/R Voltage drive type L/R
Couple Puissance Couple Puissance

[mNm] [W] [mNm] [W]
Kapton Circuit
Reinforcement for connector
ZIF ZMP step 1 mm
(pas/s) Motor connections

(t/min)
P010-064-2.5 U = 6V, Rs = 2.5 ohm P010-064-2.5 I = 0.6A, U = 12V

Voltage drive type L/R Current source
Couple Puissance Couple Puissance

[mNm] [W] [mNm] [W]
(pas/s)
(t/min)
Notes
The high power/size ratio and high peak

speed dedicate this motor to the most
demanding fields of applications.
Its extended pull-in range and excellent
efficiency are benefits for straight forward
battery driven operation.
Pull-in range Pull-in is measured with a load inertia Availability: see enclosed document at the
Pull-out range equal to the rotor inertia. end of the catalogue
Power output
24 steps/revolution
15° step angle
scale: 1:1
dimensions in mm
mass: 23 g
lead wires: 100 0 mm P110-064 - • 08 P110-064 - • 12
-10
Windings available 068 015 2.5
Coil dependent parameters typ typ typ

1 Phase resistance ohm 62 15 2.5
2 Phase inductance (1 kHz) mH 46 12 2.2
3 Nominal phase current (2 ph. on) A 0.12 0.25 0.65
5 Back-EMF amplitude V/kst/s 10.8 5.2 2
Coil independent parameters min typ max

Torque parameters
6 Holding torque (nominal current) mNm (oz-in) 6.4 (0.91) 7 (1.0) 7.6 (1.08)
7 Holding torque (1.5 x nominal current) 1) mNm (oz-in) 9.2 (1.31) 10 (1.4) 10.8 (1.54)
8 Detent torque amplitude and friction mNm (oz-in) 0.6 (0.09) 1 (0.1) 1.5 (0.21)
Thermal parameters
9 Thermal resistance coil-ambient 2) °C/W 45
Angular accuracy
10 Absolute accuracy (2 ph. on full-step mode) % full-steps ±3 ±5
11 Rotor inertia kgm2.10-7 0.40
Other parameters
12 Natural resonance frequency (nominal current) Hz 160
14 Angular acceleration (nominal current) rad/s2 167000
• Max. rated coil temperature: 130°C • Radial shaft play (2N): 30 µm • Test voltage (1 min): 300 VRMS
• Recom. ambient temperature range: Axial shaft play (2N): 40 µm • "Power rate" (nominal current): 1.2 kW/s
-20°C to +50°C • Max. radial load: 0.5 N
Max. axial load3): 0.5 N
1)
Measurement with 1 phase on. The
max. coil temperature must be respected.
2)
Motor unmounted.
3)
Shaft must be supported for press-fitting a
pulley or a pinion.


Voltage driver type L/R Voltage driver type L/R
Torque Power Torque Power
[mNm] [W] [mNm] [W]
(steps/s) Motor connections

(rpm)
P110-064-015 P110-064-2.5
Voltage driver type L/R Current chopper driver
U = 24V, Rs = 47 ohm I = 0.9A, U = 24V
[mNm] [W] [mNm] [W]
Executions available :
• 08 see drawing
• 12 see drawing
• 08 for gearbox B16
• 12 for gearbox R16
The standard version available from stock is

with sleeve bearings. This motor is also
available with ball bearings (execution •13)
(steps/s) and, on request, with the encoder D type
(rpm) (execution •19).
Iron saturation effect

Torque / Current
One phase on
Couple
[mNm]
Notes
The high power/size ratio and high peak
speed dedicate this motor to the most
The following escap® drive circuits are
recommended with the P110 motor,
depending on the mode and the dynamic
x Rated performance required: ESD-1200 (p. 96),
current EDM-453 (p. 97).
Pull-in range
Pull-out range Pull-in is measured with a load inertia equal Availability: see enclosed document at the
Power output to the rotor inertia. end of the catalogue
60 steps/revolution
6° step angle
scale: 2:3
dimensions in mm
mass: 40 g P310-158 - • 09 P310-158 - • 10
Windings available 170 170 005 005

coils in series coils in parallel coils in series coils in parallel
Coil dependent parameters typ typ typ typ
1 Phase resistance ohm 332 83 10.5 2.6
2 Phase inductance (1 kHz) mH 184 46 6.4 1.6
3 Nominal phase current (2 ph. on) A 0.06 0.12 0.36 0.72
4 Nominal phase current (1 ph. on) A 0.09 0.17 0.51 1
5 Back-EMF amplitude V/kst/s 18 9 3.2 1.6
Coil independent parameters 1) min typ max

Torque parameters
6 Holding torque (nominal current) mNm (oz-in) 11.5 (1.6) 14 (2) 16.5 (2.4)
7 Holding torque (1.5 x nominal current) 2) mNm (oz-in) 23 (3.8) 28 (4) 33 (4.8)
8 Detent torque amplitude and friction mNm (oz-in) 1.4 (0.2) 2.5 (0.3) 3 (0.4)
Thermal parameters
Angular accuracy
10 Absolute accuracy (2 ph. on full-step mode) % full-steps ±3.5 ±5
11 Rotor inertia kgm2.10-7 0.86
Other parameters
14 Angular acceleration (nominal current) rad/s2 140 000
• Max. rated coil temperature: 130°C • Radial shaft play (5N)4): 35 µm • Test voltage (1 min): 500 VRMS
• Recom. ambient temperature range: Axial shaft play (5N)4): 100 µm • "Power rate" (nominal current): 1.7 kW/s
-20°C to +50°C • Max. radial load5) in N: 1 (10)*
Max. axial load6) in N: 0.5 (20)*
1)
Bipolar driver.
2)
The maximum coil temperature must be
respected.
3)
Motor unmounted.
4)
Sleeve bearing version.
5)
Sleeve bearing version. Load applied
at 8 mm from mounting face.
6)
Sleeve bearing version. Shaft must be
supported for press-fitting a pulley or pinion.
* Fitted with ball bearings.

P310-158-005 P310-158-170
Coils in serie Coils in serie
0Ω series resistor, 7V 56Ω series resistor, 24V
[mNm] [W] [mNm] [W]
Motor connections
(steps/s)
(rpm)
P310-158-170 P310-158-005
Coils in parallel Coils in parallel
Voltage driver type L/R escap® EDM-453,
120 ohm series resistor, 24V I = 1A, U = 24V
[mNm] [W] [mNm] [W]
Executions available from stock :
• 09 sleeve bearings, diameter 2

• 10 bearings, diameter 4
• 09 & L10, K24, K27, R22, RG 1/8
Particular versions include options such as

series or parallel connections prewired on the
PC board, special shafts (hollow shaft),
windings, and so forth.
(steps/s)
(rpm)
P310-158-005 P310-158-005
Coils in parallel Coils in serie
escap® ESD-1200, escap® ESD-1200,
I = 1A, U = 24V I =0.5A, U = 45V
Notes
Torque Power Torque Power The high power/size ratio and high peak
[mNm] [W] [mNm] [W] speed dedicate this motor to the most
The motor is energised with nominal current
unless otherwise specified.
depending on the drive mode and the
dynamic performance required: EDM-453
(p.96), ESD-1200 (p.97).
(steps/s)
(rpm)
Pull-in range
Pull-out range Pull-in is measured with a load inertia Availability: see enclosed document at the
Power output equal to the rotor inertia. end of the catalogue
100 steps/revolution
3.6° step angle
scale: 2/3
dimensions in mm
mass: 100 g P430-258 - • 01
Windings available 013 013 005 005

1 Phase resistance ohm 26 6.5 10 2.5
2 Phase inductance (1 kHz) mH 40 10 14 3.5
4 Nominal phase current (1 ph. on) A 0.5 1 0.8 1.6
5 Back-EMF amplitude V/kst/s 7.5 3.8 4.7 2.3
Coil independent parameters 1)

Torque parameters min typ max
6 Holding torque (nominal current) mNm (oz-in) 50 (7.1) 60 (8.5) 70 (9.9)
7 Holding torque (2 x nominal current) 2) mNm (oz-in) 75 (10.6) 90 (12.7) 105 (14.9)
8 Detent torque amplitude and friction mNm (oz-in) 1.5 (0.2) 3.5 (0.5) 6.5 (0.9)
Thermal parameters
Angular accuracy
10 Absolute accuracy (2 ph. on full-step mode) % full-steps ±3
11 Rotor inertia kgm2.10-7 3
Other parameters
• Recom. ambient temperature range: Axial shaft play (5N): 10 µm • "Power rate" (nominal current): 12 kW/s
-20°C to +50°C • Max. radial load4): 20N
Max. axial load5): 30N
1)
Bipolar driver.
2)
respected.
3)
Motor unmounted.
4)
Load applied at 12 mm from mounting face.
5)
pulley or pinion.

P430-258-013 P430-258-005
Coils in series Coils in series
[mNm] [W] [mNm] [W]
Motor connections
(steps/s)
(rpm)
P430-258-013 P430-258-005
escap® EDM-453 or DM224-i escap® EDM-453,
I = 1A I = 1.5A
[mNm] [W] [mNm] [W]
• 01 see drawing
• 01 & RG1/9

special shafts and so forth.
(steps/s)
(rpm)
P430-258-013 P430-258-005
I = 1A I =1.6A
Notes
Torque Power Torque Power The speed scale is indicated in full-steps/s
[mNm] [W] [mNm] [W] for all drive modes.
The motor is driven in half-steps unless
otherwise specified.
Pull-in is measured with a load inertia equal
to the rotor inertia.
The following drive circuits are
dynamic performance required:
DM224i, EDM-453, ESD-1200.
(steps/s)
(rpm)
Pull-in range
3.6° step angle
scale: 2/3
dimensions in mm
mass: 180 g
lead wires: 195 ±10 mm
0.25 mm2 (AWG 24) P520-254 - • 60

1 Phase resistance ohm 13.5 4.4 0.7
5 Back-EMF amplitude V/kst/s 9.8 5.5 2.1

Torque parameters
6 Holding torque (nominal current) mNm (oz-in) 102 (15) 120 (17) 140 (20)
7 Holding torque (2 x nominal current) 2) mNm (oz-in) 175 (25) 205 (29) 240 (34)
8 Detent torque amplitude and friction mNm (oz-in) 4 (0.5) 10 (1.4) 15 (2.1)
Thermal parameters
9 Thermal resistance coil-ambient 3) °C/W 9.5
Angular accuracy
10 Absolute (2 ph. on full-step mode/microstep) % full-steps ±3/±5 ±5/±8
Other parameters
1)
Bipolar driver.
2)
respected.
3)
Motor unmounted.
4)
5)
pulley or pinion.

P520-254-013 P520-254-004
Voltage driver type L/R escap® EDM-453,
33Ω series resistor, 36V I =1.3A
[mNm] [W] [mNm] [W]
100 5 100 20
80 4 80 16
60 3 60 12
40 2 40 45V 8
36V
20 1 20 24V 4
0 0 0 0
0 1000 2000 3000 4000 5000 (steps/s) 0 2000 4000 6000 8000 10000 Motor connections
0 600 1200 1800 2400 3000 (rpm) 0 1200 2400 3600 4800 6000
P520-254-004 P520-254-004
I =0.9A I =1.4A
[mNm] [W] [mNm] [W]
100 30 125 30
80 24 100 24 • 60 see drawing

• 60 with gearbox RG1/9
60 18 75 18
The P520 motor is also available from stock
40 24V 36V 60V 12 50 24V 36V 60V 12 with the K40 gearboxe.

20 6 25 6
special shafts (hollow shaft), other
gearboxes optical encoders and so forth.
0 0 0 0
0 2000 4000 6000 8000 10000 (steps/s) 0 2000 4000 6000 8000 10000
0 1200 2400 3600 4800 6000 (rpm) 0 1200 2400 3600 4800 6000
P520-254-0.7 P520-254-0.7
escap® EDM-453 ou DM224-i, escap® ESD-1300,
I =3A I =2.3A
Torque Power Torque Power Notes
[mNm] [W] [mNm] [W] The speed scale is indicated in full-steps/s
100 30 100 50 for all drive modes.
80 24 80 40 otherwise specified.
60V The motor is energised with nominal current
60 18 60 36V 30 unless otherwise specified.
24V 36V 45V recommended with the P520 motor,
40 12 40 24V 20
dynamic performance required: DM224i,
20 6 20 10 EDM-453, ESD-1200, ESD-1300.
0 0 0 0
0 2000 4000 6000 8000 10000 (steps/s) 0 2000 4000 6000 8000 10000
0 1200 2400 3600 4800 6000 (rpm) 0 1200 2400 3600 4800 6000
Pull-in range
Turbo Disc™ PP520 Stepper motor
With integrated position sensors
3.6° step angle
scale: 2/3
dimensions in mm
mass: 170 g PP520-258 - • 01

1 Phase resistance ohm 13.5 4.4 0.7
5 Back-EMF amplitude V/kst/s 9.8 5.5 2.1
Coil independent parameters1) min typ max

Torque parameters
6 Holding torque (nominal current) mNm (oz-in) 102 (14.4) 120 (17) 140 (19.8)
7 Holding torque (1.5 x nominal current) 2) mNm (oz-in) 175 (24.8) 205 (29) 240 (34)
Thermal parameters
Angular accuracy
Other parameters
Hall sensor 6)
15 Supply voltage V 5 24
16 Operating temperature °C -40 125
17 Signal periods per revolution 7) - 25
18 Elec. angle between motor ph./hall signal degrees 35 45 55
1)
• Max. rated coil temperature: 130°C Bipolar driver
2)
• Recom. ambient temperature range: The maximum coil temperature must be
-20°C to +50°C respected
3)
• Radial shaft play (5N): 15 µm Motor unmounted
Axial shaft play (5N): 10 µm 4)
Load applied at 12 mm from mounting face
• Max. radial load4): 20 N 5)
Shaft must be supported
Max. axial load5): 30 N for press-fitting a pulley or pinion
• Test voltage (1 min): 500 VRMS 6)
Two sensors with output signals in
• "Power rate" (nominal current): 12 kW/s quadrature. Open-collector ( Imax = 10mA )
7)
When using both signals' edges, a
resolution of 100 positions per rev. is
obtained

Turbo Disc™ PP520 Stepper motor
PP520-258-013 PP520-258-004
Voltage driver type L/R escap® ESD-1200,
33Ω in Serie, 36V U = 36V
[mNm] [W] [mNm] [W]
(steps/s) Motor connections

(rpm)
PP520-258-0.7 PP520-258-004
escap® ESD-1300, Autocommutation mode
U = 36V Phase advance 45°
[mNm] [W] [mNm] [W]
• 01 see drawing
• 01 for gearbox RG1/9
The PP520 motor is also available with the

K40 gearbox.

gearboxes and so on.
(steps/s)
(rpm)
PP520-258-004
Autocommutation mode
Parameter phase advance
U = 36V Torque and sensor signals phase shift
Couple in electrical degrees Notes
[mNm] CW operation. The speed scale is indicated in full-steps/s
for all drive modes. The motor is driven in
half-steps unless otherwise specified.
With the integrated Hall sensors, the PP520
motor can operate as a stepper motor with
confirmation of step execution. With an
adequate drive circuit it can also position,
with the automatic commutation assuring full
torque usage.
The following drive circuits are recom-
mended with the PP520 motor, depending
(steps/s) on the drive mode and the dynamic perfor-
(rpm) mance required: ESD-1200/1300, DM224-i.
The DEM 31 and DEM 32 circuits allow to
demonstrate the use of the PP520 motor in
brushless DC mode.
Pull-in range
3.6° step angle
scale: 2/3
dimensions in mm
mass: 250 g
lead wires: 195 ± 10 mm
0.25 mm2 (AWG 24) P530-258 - • 10 P530-258 - • 84
Windings available 012 004 004 0.7

coils in series coils in series coils in parallel coils in parallel
1 Phase resistance ohm 27 8.8 2.2 0.35
4 Nominal phase current (1 ph. on) A 0.56 1 2 5.2
5 Back-EMF amplitude V/kst/s 20 11 5.5 2.1

Torque parameters
7 Holding torque (2 x nominal current) 2) mNm (oz-in) 255 (36.1) 300 (42.5) 345 (48.8)
Thermal parameters
Angular accuracy
10 Absolute accuracy (2 ph. on full-step mode/microstep) % full-steps ±3/±6 ±5/±8
Other parameters
1)
Bipolar driver.
2)
respected.
3)
Motor unmounted.
4)
5)
pulley or pinion.

P530-258-012 P530-258-004
escap® EDM-453 escap® EDM-453 or DM224-i
I = 0.56A I = 1A
[mNm] [W] [mNm] [W]
Motor connections
(steps/s)
(rpm)
P530-258-004 P530-258-0.7
escap® EDM-453 or DM224-i escap® EDM-907,
I = 2A I = 5.2A, U = 25V
[mNm] [W] [mNm] [W]
• 10 see drawing
• 84 see drawing
• 84 with E9
• 10 or • 84 with RG1/9
The P530 motor is also available with the

K40 gearbox.

special shafts (hollow shaft), optical
encoders and so forth.
(steps/s)
(rpm)
P530-258-0.7 P530-258-0.7
escap® EDM-907, escap® EDM-907,
I = 5.2A, U = 50V I =5.2A, U = 75V
Notes
Torque Power Torque Power This motor is designed for microstep
[mNm] [W] [mNm] [W] operation, it features :
- sinusoidal torque function
- detent torque is very small compared to
holding torque
- no magnetic coupling between phases
- excellent linearity torque vs current
The speed scale is indicated in full-steps/s
for all drive modes.
(steps/s) The following drive circuits are recom-
(rpm) mended with the P530 motor, depending on
the drive mode and the dynamic perfor-
mance required: EDM-453, EDM-907.
Pull-in range Pull-in is measured with a load inertia equal Availability: see enclosed document at the
Pull-out range to the rotor inertia. end of the catalogue
Power output
3.6° step angle
scale: 2/3
dimensions in mm
mass: 250 g
0.25 mm2 (AWG 24) P532-258 - • 10 P532-258 - • 84
Windings available 012 004 004 0.7

coils in series coils in series coils in parallel coils in parallel
1 Phase resistance ohm 27 8.8 2.2 0.35
4 Nominal phase current (1 ph. on) A 0.56 1 2 5.2
5 Back-EMF amplitude V/kst/s 21 12 6 2.3

7 Holding torque (2 x nominal current) 2) mNm (oz-in) 306 (43.3) 360 (51) 414 (58.6)
8 Detent torque amplitude and friction mNm (oz-in) 14 (2) 28 (4) 40 (5.7)
Thermal parameters
Angular accuracy
Other parameters
• Max. rated coil temperature: 130°C • Radial shaft play (5N: 25 µm • Test voltage (1 min): 500 VRMS
1)
Bipolar driver.
2)
respected.
3)
Motor unmounted.
4)
5)
pulley or pinion.

P532-258-004 P532-258-012
L/R driver L/R driver
[mNm] [W] [mNm] [W]
Motor connections
(steps/s)
(rpm)
P532-258-004 P532-258-004
escap® EDM-453, escap® ESD-1200,
34V, 2A I = 2A
[mNm] [W] [mNm] [W]
• 10 see drawing
• 84 see drawing
• 84 with E9
• 10 or • 84 with RG1/9
The P532 motor is also available with the

K40 gearbox.

gearboxes (R32, R40 ), optical encoders and
(steps/s) so forth.
(rpm)
P532-258-0.7 P532-258-0.7
I = 2.4A I =3A
Notes
Torque Power Torque Power The low inertia, extended pull-in range, high
[mNm] [W] [mNm] [W] peak speed and boost torque capability of
this motor are benefits for fast incremental
motion.
dynamic performance required: EDM-453,
(steps/s) ESD-1200, ESD-1300.
(rpm)
Pull-in range
3.6° step angle
scale: 2/3
dimensions in mm
mass: 430 g
0.35 mm2 (AWG 22) protection class IP 54 P630-258 - • 04 P630-258 - • 00
Windings available C C B B
1 Phase resistance ohm 2.5 0.63 1.55 0.39
2 Phase inductance (1 kHz) mH 4.8 1.2 2.7 0.68
Nominal phase current (1 ph. on) A 1.9 3.8 2.5 5

7 Holding torque (2 x nominal current) 2) mNm (oz-in) 430 (60.9) 530 (75) 640 (90.6)
8 Detent torque amplitude and friction mNm (oz-in) 20 (2.8) 24 (3.4)
Thermal parameters
Angular accuracy
Other parameters
13 Electrical time constant ms 2
1)
Bipolar driver.
2)
respected.
3)
Motor mounted to an aluminium plate
10 x 20 x 1.3 cm.
4)
5)
pulley or pinion.

P630-258-C P630-258-C
Coils in series Coils in parallel
escap® EDM-453 escap® EDM-907
I = 1.9A I = 3.8A, U = 50V
[mNm] [W] [mNm] [W]
Motor connections
(steps/s)
(rpm)
P630-258-C P630-258-B
I = 3.8A, U = 70V I = 5A, U = 25V
[mNm] [W] [mNm] [W]
None, but the executions • 00 and • 04

(see drawing) or the • 04 with E9 encoder
are fasten to deliver
(steps/s)
(rpm)
P630-258-B P630-258-B
I = 5A, U = 50V I = 5A, U = 70V
Notes
Torque Power Torque Power This motor is designed for microstep
[mNm] [W] [mNm] [W] operation, it features :
- sinusoidal torque function
- detent torque is very small compared to
holding torque
- no magnetic coupling between phases
- excellent linearity current vs torque
(steps/s) The following drive circuits are recom-
(rpm) mended with the P630 motor, depending on
the drive mode and the dynamic perfor-
mance required: EDM-453, EDM-907,
Dm224i.
Pull-in range
100 steps/revolution lead wires : 380 ± 15 mm 0.35 mm2 (AWG 24)

3.6° step angle
scale: 2/3
dimensions in mm
mass: 430 g P632-258 - • 04 P632-258 - • 00
2 Phase inductance (1 kHz) mH 4.8 1.2 2.7 0.68
4 Nominal phase current (1 ph. on) A 1.9 3.8 2.5 5
5 Back-EMF amplitude V/kst/s 10.6 5.3 8 4

Torque parameters
7 Holding torque (1.5 x nominal current) 2) mNm (oz-in) 510 (72.2) 600 (84.9) 690 (97.7)
Thermal parameters
Angular accuracy
Other parameters
13 Electrical time constant ms 2
1)
Bipolar driver.
2)
respected.
3)
10 x 20 x 1.3 cm
4)
5)
pulley or pinion.

P632-258-B P632-258-C
escap® ESD-1300 escap® EDB-909
I = 3.8A, U = 50V
[mNm] [W] [mNm] [W]
Motor connections
(steps/s)
(rpm)
P632-258-B P632-508-C
escap® EDB-909, escap® EDB-909,
I = 5A, U = 50V I = 3.8A, U = 70V
[mNm] [W] [mNm] [W]
• 04 see drawing
• 04 & E9

double shaft • 00, special shafts and so
forth.
(steps/s)
(rpm)
P632-258-B
Coils in parallel
escap® EDB-909,
I = 5A, U = 70V
Notes
Torque Power The low inertia, extended pull-in range, high
[mNm] [W] peak speed and boost torque capability of
motion.
dynamic performance required: ESD-1300,
(steps/s) EDB-909.
(rpm)
Pull-in range
1.8° step angle
scale: 1/2
dimensions in mm
mass: 1 kg
0.35 mm2 (AWG 22) protection class IP 54 P850-508 - • 11 P850-508 - • 006 V
2 Phase inductance (1 kHz) mH 6.4 1.6 4 1

7 Holding torque (2 x nominal current) 2) mNm (oz-in) 1130 (160) 1340 (189.7) 1550 (219.5)
8 Detent torque amplitude and friction mNm (oz-in) 3.5 (0.5) 28 (3.9) 43 (6.1)
Thermal parameters
Angular accuracy
11 Rotor inertiakgm2.10-7 150
Other parameters
Velocity sensors6)
15 EMF amplitude V/kst/s 5.5
16 Coil resistances ohm 80
17 Coil inductance mH 50
1)
• Max. rated coil temperature: 155°C Bipolar driver
2)
• Recom. ambient temperature range: The maximum coil temperature must be
-20°C to +50°C respected
3)
• Radial shaft play (20N): 25 µm Motor mounted to an aluminium plate
Axial shaft play (30N): 25 µm 20 x 20 x 1.3 cm
4)
• Max. radial load4): 44N Load applied at 12 mm from mounting face
Max. axial load5): 66N 5)
Shaft must be supported
• Test voltage (1 min): 500 VRMS for press-fitting a pulley or pinion
6)
• "Power rate" (nominal current): 86 kW/s Delivering two sinusoidal signals in
quadrature (standard option).

P850-508-C P850-508-C
escap® EDM-453 escap® EDM-907
I = 2.5A I = 5A, U = 50V
[mNm] [W] [mNm] [W]
Motor connections
(steps/s)
(rpm)
P850-508-B P850-508-C
I = 6.4A, U = 50V I = 5A, U = 70V
Torque Power Torque Power Executions available from stock :
[mNm] [W] [mNm] [W]
P850-508-C • 11 see drawing
This motor is also available with the coil

B • 11 and encoder E9 or with speed
sensors • 006 V
special shafts (hollow shaft) and so forth.
(steps/s)
(rpm)
Notes
P850-508-B This motor is designed for microstep
Coils in parallel operation, it features :
escap® EDM-907, - sinusoidal torque function
I = 6.4A, U = 70V - detent torque is very small compared to
holding torque
Couple - no magnetic coupling between phases
[mNm] - excellent linearity current vs torque

for all drive modes. The motor is driven in
half-steps unless otherwise specified.
Use of the velocity sensors and adequate
drive circuitry allow for damping of the end-
of-step ringing. Total move time is thus
reduced when positioning a load having low
friction content.
(steps/s) depending on the drive mode and the
(rpm) dynamic performance required : EDM-453,
EDM-907.
Pull-in range
1.8° step angle
scale: 1/2
dimensions in mm
mass: 1 kg
0.35 mm2 (AWG 22) protection class IP 54 P852-508 - • 11
2 Phase inductance (1 kHz) mH 5 1.25 3.2 0.8

6 Holding torque (nominal current) mNm (oz-in) 900 (127) 1060 (150) 1220 (173)
7 Holding torque (2 x nominal current) 2) mNm (oz-in) 1600 (226) 1880 (266) 2160 (306)
Thermal parameters
Angular accuracy
Other parameters
Max. axial load5) : 66N
1)
Bipolar driver.
2)
respected.
3)
20 x 20 x 1.3 cm.
4)
5)
pulley or pinion.

P852-508-C P852-508-C
escap® ESD-1300 escap® EDB-909,
U = 50V
[mNm] [W] [mNm] [W]
Motor connections
(steps/s)
(rpm)
P852-508-C P852-508-B
U = 70V U = 25V
Torque Power Torque Power Executions available from stock :
[mNm] [W] [mNm] [W]
P852-508-B • 11 see drawing

P852-508-B • 11 & E9
This motor is also available with the coil

C • 11 or with the coils B or C (exec.• 00)
and double shaft
special shafts (hollow shaft) and so forth.
(steps/s)
(rpm)
P852-508-B P852-508-B
U = 50V U = 70V
Notes
Torque Power Torque Power The low inertia, extended pull-in range, high
[mNm] [W] [mNm] [W] peak speed and boost torque capability of
motion.
dynamic performance required: ESD-1300,
(steps/s) EDB-909.
(rpm)
Pull-in range
ESD-1200/1300 Stepper motor drive circuit
Bipolar chopper driver 2A or 3A, 60V
• 8 operating current levels adjustable • Protected against overload & short-

using links or external resistor circuit (phase to phase and across
• Built-in clock oscillator with ramp phase)
• 30kHz chopping frequency suitable • Recommended for the following
for TurboDisc motors with short TurboDisc motors: P310, P430,
electrical time constant P520, PP520, P532, PH632, P632,
• AC or DC power supply P852
• Automatic stand by current mode
when motor is stationary if required
Specifications
1 Power motor supply volt. AC 18 to 44 V - DC 22 to 60 V
2 Power logic supply volt. AC 18 V - DC 24 V
3 Auxiliary DC output volt. U = 24V, I = 300 mA
Connector:
4 Max phase current ESD1200: 2A · ESD1300: 3A
5 Logic input low level: 0...2 V or short circuit · high level: 10...12V or open circuit Pin Row a Row c
6 Logic output (Fault, Zero) open collector NPN, 30 Vmax, Imax = 15 mA 2 Motor Phase B- Motor Phase B-
4 Motor Phase B+ Motor Phase B+
7 Max. clock frequency 40 kHz in half-step mode, minimum pulse width 10 ms 6 Motor Phase A- Motor Phase A-
8 Int. oscillator - slow range 100 Hz to 4 kHz not ramped 8 Motor Phase A+ Motor Phase A+
- fast range 2 kHz to 40 kHz ramped (ramp accel. 60 ms - decel. 30 ms) 10 +24VDC +24VDC
12 Logic supply 1 Motor Supply 1
9 Current level adjustment with jumper, 8 current levels or with external resist. (pin 32a) 14 Logic supply 2 Motor Supply 2
10 Current reduction stand by function 50% reduction by jumper 16 0V 0V
11 Temperature operating 0°C to 50°C · storage -40°C to 85°C 18 0V 0V
20 Fast Fault
12 Protection overload · short circuit phase to phase and across phase
22 Slow Zero Phase
13 Fuses FS1 logic supply 1A 24 Rate Adjust Com. Slow Rate Adjust
FS2 motor supply 3.15A (ESD1200), 4A (ESD1300) 26 Fast Rate Adj. Direction
28 Internal Clock Out Clock In
14 Size / Connector 160 x 100 x 35 mm / DIN 41612 D32
30 Not Connected Energise
32 External Ref. Signal 0V
EDB-909 Stepper motor drive circuit

Small size bipolar chopper driver 9A, 70V
• Phase current from 2 A to 9 A ad- • Stand-by current activated by logic
justed by external resistor input
• Chopping frequency 40 kHz • Short-circuit and overtemperature
• Single voltage power supply from protections
22 V to 70 VDC • Recommended for the following
• Opto-isolated inputs for Direction, TurboDisc motors: P532, PH632,
Clock, Stand-by, Enable P632, P852
• Choice of half-step or full-step mode
via logic input or by strap
Specifications
1 Power motor supply voltage 22 V to 70 VDC
2 Supply voltage output 5 V / 20 mA
3 Max phase current 2A to 9A
4 Optocoupler inputs : Clock. Direction. Enable. Stand-by. Logic connector: Power connector:
Input current 4 mA to 10 mA
Input voltage (with no series resistor) 5 V to 8 V Pin Pin
Input voltage (with series resistor of 1 KΩ) 8 V to 15 V
1 +5 V out 1 Phase A-
2 + Stand by 2 Phase A+
Input voltage (with series resistor of 2.2 KΩ) 15 V to 24 V
3 + Enable 3 Phase B-
5 Open drain output : Fault, VMAX = 35 V, IMAX = 25 mA 4 + Clock 4 Phase B+
6 LED indicator Green LED (power) - Red LED (fault) 5 +CW/CCW 5 GND
7 Max. clock frequency 20 kHz 6 Fault 6 VMot
8 Protection Short-circuit between phases, Overvoltage, Thermal 7 H/F
9 Operating temperature 0 to 40°C 8 GND log
10 Connector SUB-D15 for logic inputs
9 - Stand by
10 - Enable
(delivered with the driver) 6 poles plug for motor and power supply
11 - Clock
11 Size Module 128 x 70 x 36 mm 12 - CW/CCW
13 RS
14 RI
15 RI' RS'
© Portescap 96
EDM-453 Stepper motor drive circuit
Microstep bipolar chopper driver 3A, 45V
• Single DC supply voltage 12 to 45 V • All inputs optoisolated
• Two different current ranges 0-3 A / • Chopper control mode selectable
0-1,5 A user selectable; 16 levels per between regenerative and
range, programmable with front freewheeling
panel commutator • Recommended for the following
• Choice of 8 various resolutions via TurboDisc motors : P110, P310,
front panel commutator or by logic P430, P520, PP520, P530, P630,
inputs, from full-step to 64 microsteps P850
Specifications
1 Power supply voltage DC 12 V to 45 V
2 Max phase current 1,5 A / 3 A, fuse max 2A slow blow
3 Optocoupler inputs: Connector:
input 0 0 V or GND Pin Row A Row C
1 NC Home H
input 1 (int. series resistor 470 ohms) +3,5 V...+6 V
2 NC Home L
input 2 (int. series resistor 2200 ohms) +10 V...+30 V 3 NC Enable 0
current 15 mA typ, 20 mA max 4 Enable 1 Enable 2
4 Boost/stand by current values nominal ± 33 % (3 A max) 5 Dir. 1 Dir. 2
6 Dir. 0 Clock 0
5 Chopper frequency 40 kHz 7 Clock 1 Clock 2
6 Max. clock frequency 150 kHz 8 St-by 1 St-By
7 LED indicator Power (green) - Fault (red) 9 St-By 0 Boost 0
10 Boost 1 Boost 2
8 Protection short-circuit between phases, phase and +VDC 11 D2 1 D2 2
9 Temperature 0°C to 50°C 12 D2 0 D1 0
10 Size / Connector 160 x 100 x 26 mm / DIN 41612 D64 13 D1 1 D1 2
14 D0 1 D0 2
15 D0 0 Mode 0
16 Mode 1 Mode 2
18 Phase A+ Phase A+
22 Phase A- Phase A-
24 Phase B+ Phase B+
28 Phase B- Phase B-
30 0 VDC 0 VDC
32 + VDC + VDC
EDM-907 Stepper motor drive circuit

Microstep bipolar chopper driver 9A, 70V
• Single DC supply voltage 22 to 70 V • Electronic damping available for
• Choice of 8 peak phase current motors having velocity sensors
levels from 1,3 A to 9,9 A via front • Opto-isolated inputs for Direction
panel commutator or by logic inputs Clock, Boost and Stand by
• Choice of 11 resolutions from full • Short-circuit and over temperature
step to 64 microsteps through front protections
panel commutator • Recommended for the following
• Perfect current regulation especially TurboDisc motors : P530, P630, P850
around zero crossing
Specifications
1 Power supply voltage DC 22 V to 70 V (protected with fuse 4 A)
2 Supply voltage output 5 V / 20 mA
3 Phase current (peak value) 1.3 A to 9.9 A Connector:
4 Optocoupler inputs : Clock. Direction. Enable. Stand by.
input voltage (without series resistor) 5 V to 7 V Pin Row A Row C
input current 4 mA to 10 mA 2 Phase B+ Phase B+
5 Logic inputs I0, I1, I2 (current selection) 4 Phase B- Phase B-
input voltage 5 V to 24 V (TTL compatible) 6 Phase A+ Phase A+
8 Phase A- Phase A-
6 TTL inputs Energise, Damp
10 Vmot Vmot
input voltage 5V 12 GND GND
7 Open drain output Home, Fault, (VMAX = 50 V, IMAX = 25 mA) 14 Output +5V/25 mA Fault
8 Max. clock frequency 500 kHz 16 +CW/CCW -CW/CCW
9 Speed sensor input signal: 18 +CLK -CLK
voltage range -200 V to + 200 V 20 +Stand by -Stand by
damping gain (factory set) 1.25 A/V 22 +Boost -Boost
24 Energize NC
10 LED indicator Power Home (green), Fault (red), Torque loss (orange)
26 Home Damp
11 Protection Short-circuit, Overvoltage, Thermal 28 I2 a+ velocity sensor a
12 Operating temperature 0 to 40°C 30 I1 a-b- velocity sensor a/b
13 Size/Connector 160 x 100 x 54 mm/Din41612D32 32 I0 b+ velocity sensor b
© Portescap 97
DM224i Stepper motor drive circuit
intelligent microstep driver, bipolar chopper driver
• Complete microstep controller &

driver in one package
• Operates Stand-alone/Networked
• Outputs 12-48 V and 3A/phase
• Accepts high level commands
directly; no indexer required
Specifications
1 Power supply voltage 12 V to 48 V, unregulated
2 Motor current 0.1 to 3 A continuous, software programmable
3 Logic inputs 7 general purpose TTL inputs, software programmable
4 Logic outputs 4 general purpose TTL outputs, 16 mA max. current
5 Resolution 12800 steps/rev., auto switch to full step
at software programmable velocity • Ultra compact, panel mount package
6 Ramp linear acceleration ramp
7 Speed range 0 to 6000 rpm (motor dependant)
8 Multi axis switch selectable up to 32 axis
9 Protection bus overvoltage, short circuit phase to phase and
phase to Ground
10 Size / Connector 129.3 x 82 x 50.8 mm / see below
The DM-224i incorporates the The DM-224i can be operated stand- In addition, the DM-224i auto-switches
functionality of an indexer and drive in a alone with local program storage, or up to and from two-phase, full-step mode
single integrated unit. to 32 DM-224i drivers can be networked at a fixed velocity to increase efficiency.
This microcontroller-based, recirculating from a single PC serial port or similar Two-phase, full stepping provides up to
current micro-stepping drive is ideal for host interface. 33% higher torque output from the
single and multiple axis OEM applica- Multi-axis start and stop, along with on- motor.
tions. the-move speed change are only a few
of its networked features.
A - Input / Output connector B - PC Serial Port connector

Pin Signal Pin Signal DB9-F RS-232 RS-422
23 TTL Return 24 Shield Pin # Prim. RS-485
A 21 Output 4 22 N/C 1 N/C Tx+
19 Output 3 20 N/C 2 Tx Tx-
17 Output 2 18 N/C 3 Rx Rx-
15 Output 1 16 N/C 4 N/C Rx+
13 Input 7 14 N/C 5 COM COM
11 Input 6 12 N/C 6 N/C N/C
B 7 Input 4 8 N/C 8 N/C N/C
3 Input 2 4 N/C
1 Input 1 2 N/C
C - Motor connector D - Supply Voltage connector

C
Pin Pin
1 A+ 1 +DC
2 A- 2 -DC
D 3 Shield 3 GND
4 B+
5 B-
6 N/C
7 N/C
Availability: see document at the end of the

© Portescap 98 catalogue
Small Brushless DC Motor
data sheet section
Table of contents
Motor type page
18BT 100
22BT 101
13BC 102
16BS 103
16BL 104
22BS 105
22BM 106
22BL 107
26BC3C 108
26BC6A 109
B0504 / B0508 / B0512 110
RS 05 111
B0906 / B0909 / B0912 112
RS 09 113
ESB-485 Drive circuit 114
BL5010 Drive circuit 114
99 © Portescap
escap 18BT BLDC Motor
Electronically commutated sensorless motor with
rotating external tube
Connections
Pin Designation
scale: 1:1 1 phase 1
dimensions in mm 2 phase 2
mass: 16 g 18BT 3C · · •02 3 phase 3
Winding type ·· -L
Coil dependent parameters
1 Phase / phase resistance ohm 58.0
2 Phase / phase inductance mH 2.3
3 Back-EMF constant V/1000 rpm 0.70
4 Torque constant mNm/A (oz-in/A) 6.68 (0.95)
Dynamic parameters
5 Rated voltage V 5.0
6 No-load current A 0.015
7 No-load speed rpm 5900
8 Max. continuous stall torque mNm (oz-in) 1.2 (0.17)
9 Max. continuous stall current A 0.20
10 Max. continuous torque at 10 krpm mNm (oz-in) 1.2 (0.17)
11 Max. continuous current at 10 krpm A 0.20
12Max. continuous power at 10 krpm W 4.6
1 1
13 Motor constant mNm/W /2 (oz-in/W /2) 0.9 (0.12)
14 Rotor inertia kgm2 . 10-7 5.3
15 Mechanical time constant ms 688
17 Thermal resistance °C/W 30
• Motor with preloaded ball bearings The 18BT-3C is a sensorless motor with a
• Typical preload = 3.0 N delta-connected winding. It is intended to use
• Maximum external load: with a sensorless driver such as the EBS 485 SI
- axial static 40 N or a driver using, for instance, a chip of the
- axial dynamic 3N Philips TDA family. If the winding center-point
- radial dynamic 7N is needed, it can be generated by using three
• Operating temperature range: -40°C to external resistors attached to the motor
+100°C phases and Y-connected together.
• The rotor is not balanced

escap 22BT BLDC Motor
D.C. Motor with integrated electronic commutation and rotating
external tube
Connections
Pin Color Designation
1 brown GND
2 red power supply voltage 1)
3 orange direction CCW/CW 4)
scale: 1:1 4 yellow enable start/stop 4)
dimensions in mm 5 green logic supply voltage 2)
mass: 32 g 22BT 6A · · •05 6 blue speed signal 3)
Winding type ·· -E -K -P
1 Phase / phase resistance ohm 38.0 18.7 8.2
2 Phase / phase inductance mH 1.52 0.75 0.33
Dynamic parameters
5 Rated voltage V 5.0 5.0 5.0
6 No-load current A 0.035 0.047 0.071
8 Max. continuous stall torque mNm (oz-in) 2.1 (0.30) 2.6 (0.37) 3.0 (0.43)
9Max. continuous stall current A 0.28 0.40 0.60
10 Max. continuous torque at 10 krpm mNm (oz-in) 2.0 (0.29) 2.5 (0.35) 2.8 (0.40)
11 Max. continuous current at 10 krpm A 0.27 0.38 0.57
12Max. continuous power at 10 krpm W 6.3 6.8 7.2
1 1
13 Motor constant mNm/W /2 (oz-in/W /2) 1.4 (0.20) 1.7 (0.24) 2.0 (0.28)
16 Electrical time constant ms 0.04 0.04 0.04
17 Thermal resistance °C/W 24 24 24
• Motor with preloaded ball bearings • Integrated electronic commutation

• Typical preload = 3.5 N • Warning: an incorrect supply voltage
polarity may damage the electronic
• Maximum external load: circuitry!
- axial static 50 N 1)
The motor supply voltage may vary between
- axial dynamic 5N 2.5 V and 10 V. The use of Mosfets in the power
- radial dynamic 10 N stage provides a very low voltage drop.
2)
The logic supply voltage may vary between
• Operating temperature range: -0°C to
5 V and 10 V. By connecting pin 2 and pin 5
+70°C together, the motor becomes a two-wire version
• Max. rated coil temperature: 125°C identical to a DC motor. In this case, the supply
• Rotor not balanced voltage may only vary between 5 V and 10 V.
3)
A square wave voltage with one pulse per
revolution is available on pin 6
low level = OV/high level = same as on pin 5.
4)
Pins 3 and 4 have pull up resistor of 120 kohm.

escap 13BC BLDC Motor
Electronically commutated sensorless motor
Connections
Color Designation
scale: 1:1 white phase 1
dimensions in mm grey phase 2
mass: 19 g 13BC 3C · · •05 violet phase 3
Winding type ·· -E -H -K -P
1 Phase / phase resistance ohm 22.5 14.8 10.4 5.6
2 Phase / phase inductance mH 0.68 0.44 0.31 0.17
Dynamic parameters
5 Rated voltage V 10 10 10 10
6 No-load current A 0.054 0.068 0.085 0.114
7 No-load speed rpm 9300 11600 14000 18200
8 Max. continuous stall torque mNm (oz-in) 1.8 (0.3) 1.8 (0.3) 1.8 (0.3) 1.9 (0.3)
9 Max. continuous stall current A 0.28 0.34 0.41 0.55
10 Max. continuous torque at 10 krpm mNm (oz-in) 1.6 (0.2) 1.6 (0.2) 1.5 (0.2) 1.7 (0.2)
11 Max. continuous current at 10 krpm A 0.25 0.31 0.36 0.49
12Max. continuous power at 10 krpm W 4.1 4.1 4.0 4.1
1 1
13 Motor constant mNm/W /2 (oz-in/W /2) 1.7 (0.2) 1.7 (0.2) 1.7 (0.2) 1.9 (0.3)
14 Rotor inertia 2
kgm . 10 -7
0.22 0.22 0.22 0.22
16 Electrical time constant ms 0.03 0.03 0.03 0.03
17 Thermal resistance °C/W 42 42 42 42
The 13BC-3C is a sensorless motor with a

delta-connected winding. It is intended to use
with a sensorless driver such as the EBS 485 SI
or a driver using, for instance, a chip of the
Philips TDA family. If the winding center-point
is needed, it can be generated by using three
external resistors attached to the motor
phases and Y-connected together.

escap 16BS BLDC Motor
Connections
Color Designation
scale: 1:1 grey phase 1
dimensions in mm violet phase 2
mass: 29 g 16BS 3C · · •01 blue phase 3
Dynamic parameters
5 Rated voltage V 12
12 Max. continuous power at 10 krpm W 7.6
1 1
14 Rotor inertia 2
kgm . 10 -7
0.6
15 Mechanical time constant ms 8.3
• Motor with preloaded ball bearings The 16BS-3C is a sensorless motor with a

escap 16BL BLDC Motor
Connections
Color Designation
scale: 1:1 grey phase 1
dimensions in mm violet phase 2
mass: 53 g 16BL 3C · · •01 blue phase 3
Dynamic parameters
12Max. continuous power at 10 krpm W 11.9
1 1
15 Mechanical time constant ms 4.2
• Motor with preloaded ball bearings The 16BL-3C is a sensorless motor with a

escap 22BS BLDC Motor
Electronically commutated motor
22BS 8B · · •01
With Hall effect sensors
Color Designation
grey phase 1
violet phase 2
22BS 3C · · •01 blue phase 3
Sensorless green 4.5 to 24 VDC
Color Designation yellow GND
scale: 1:1 grey phase 1 orange sensor 1
dimensions in mm violet phase 2 red sensor 2
mass: 75 g blue phase 3 brown sensor 3
Winding type ·· -B -C -E -M -N -T
1 Phase / phase resistance ohm 24.10 12.70 5.40 1.13 0.43 0.21
2 Phase / phase inductance mH 0.96 0.51 0.22 0.05 0.02 0.01
4 Torque constant mNm/A (oz-in/A) 22.92 (3.25) 17.19 (2.43) 11.27 (1.60) 5.06 (0.72 2.86 (0.41) 1.91 (0.27)
Dynamic parameters
5 Rated voltage V 24 24 24 12 12 12
6 No-load current A 0.03 0.03 0.07 0.16 0.35 0.63
7 No-load speed rpm 9700 13100 20000 22300 39500 59300
8 Max. continuous stall torque mNm (oz-in) 8.7 (1.24) 9.0 (1.28) 8.9 (1.26) 8.7 (1.24) 7.7 (1.10) 7.1 (1.01)
9 Max. continuous stall current A 0.4 0.6 0.9 1.9 3.0 4.4
10 Max. continuous torque at 10 krpm mNm (oz-in) 8.2 (1.16) 8.5 (1.20) 8.1 (1.15) 8.0 (1.13) 6.9 (0.97) 6.1 (0.87)
11 Max. continuous current at 10 krpm A 0.4 0.5 0.8 1.7 2.8 3.8
12 Max. continuous power at 10 krpm W 14.2 14.5 14.1 14.0 12.8 12.0
1 1
13 Motor constant mNm/W /2 (oz-in/W /2) 4.7 (0.66) 4.8 (0.68) 4.8 (0.69) 4.8 (0.67) 4.4 (0.62) 4.2 (0.59)
15 Mechanical time constant ms 9.6 9.0 8.9 9.3 11.0 12.1
16 Electrical time constant ms 0.04 0.04 0.04 0.04 0.04 0.04
17 Thermal resistance °C/W 18 18 18 18 18 18
• Motor with preloaded ball bearings rpm 22BS M-winding

• Typical preload = 6N
• Maximum external load:
sensorless
- axial static 50 N
- axial dynamic 5N
- radial dynamic 10 N
• Operating temperature range: -40°C to +100°C
Continuous duty mNm

Temporary duty
with Hall effect sensors

escap 22BM BLDC Motor
22BM 8B · · •01
Color Designation
grey phase 1
violet phase 2
22BM 3C · · •01 blue phase 3
Winding type ·· -C -E -H -K -P
1 Phase / phase resistance ohm 14.36 6.28 0.97 0.63 0.34
2 Phase / phase inductance mH 0.57 0.25 0.04 0.03 0.01
3 Back-EMF constant V/krpm 2.68 1.77 0.80 0.65 0.45
Dynamic parameters
5 Rated voltage V 30 30 30 24 24
6 No-load current A 0.03 0.05 0.13 0.16 0.30
7 No-load speed rpm 11000 16800 37300 36800 53100
8 Max. continuous stall torque mNm (oz-in) 13.5 (1.91) 13.5 (1.91) 15.5 (2.19) 15.6 (2.20) 14.3 (2.02)
9 Max. continuous stall current A 0.6 0.8 2.2 2.7 3.6
10 Max. continuous torque at 10 krpm mNm (oz-in) 12.5 (1.77) 12.6 (1.78) 14.0 (1.98) 14.1 (1.99) 12.5 (1.77)
11 Max. continuous current at 10 krpm A 0.5 0.8 2.0 2.4 3.2
12 Max. continuous power at 10 krpm W 19.4 19.5 21.0 21.0 19.4
1 1
13 Motor constant mNm/W /2 (oz-in/W /2) 6.8 (0.96) 6.7 (0.96) 7.8 (1.10) 7.8 (1.10) 7.4 (1.04)
15 Mechanical time constant ms 6.6 6.6 5.0 4.9 5.5
16 Electrical time constant ms 0.04 0.04 0.04 0.04 0.04
17 Thermal resistance °C/W 16 16 16 16 16
• Motor with preloaded ball bearings rpm 22BM K-winding

sensorless
- axial static 50 N
- axial dynamic 5N
Continuous duty mNm

Temporary duty

escap 22BL BLDC Motor
22BL 8B · · •01
Color Designation
grey phase 1
violet phase 2
22BL 3C · · •01 blue phase 3
Winding type ·· -K -P
1 Phase / phase resistance ohm 0.77 0.41
2 Phase / phase inductance mH 0.03 0.02
4 Torque constant mNm/A (oz-in/A) 8.98 (1.27) 6.21 (0.88)
Dynamic parameters
5 Rated voltage V 24 24
6 No-load current A 0.13 0.19
8 Max. continuous stall torque mNm (oz-in) 22.8 (3.22) 21.6 (3.06)
9 Max. continuous stall current A 2.7 3.7
10 Max. continuous torque at 10 krpm mNm (oz-in) 20.8 (2.94) 19.6 (2.77)
11 Max. continuous current at 10 krpm A 2.5 3.4
12 Max. continuous power at 10 krpm W 29.5 28.2
1 1
13 Motor constant mNm/W /2 (oz-in/W /2) 10.2 (1.45) 9.7 (1.37)
15 Mechanical time constant ms 3.7 4.2
16 Electrical time constant ms 0.04 0.04
17 Thermal resistance °C/W 13 13
• Motor with preloaded ball bearings rpm 22BL P-winding

sensorless
- axial static 50 N
- axial dynamic 5N
Continuous duty mNm

Temporary duty

Connections
Color Designation
scale: 1:1 violet phase 1
dimensions in mm grey phase 2
mass: 72 g 26BC-3C • 101 white phase 3
Winding type -109P

The 26BC-3C is a sensorless motor with a
1 Phase resistance ohm 5
delta-connected winding. It is intended to use
2 Phase inductance mH 3.8
with a sensorless driver such as the EBS 485 SI
or a driver using, for instance, a chip of the
4 Torque constant mNm/A 7
Philips TDA family. If the winding center-point
5 Max. continuous current mA 1000
is needed, it can be generated by using three
Coil independent parameters
external resistors attached to the motor
6 Friction torque mNm 0.3
phases and Y-connected together.
7 Viscous torque (losses) mNm/1000rpm 0.047
8 Max. cont. torque (up to 10000 rpm) mNm 7
9 Max. recommended speed rpm 20000
11 Mechanical time constant ms 95
Dynamic performances with EBS 485 SI
13 No load current mA 180
14 No load speed rpm 14800
15 Peak torque mNm 7
Thermal time constant mn 11

Thermal resistance °C/W 14
Axial play* µm 10
Radial play (2.5N rad.load) µm 10
Axial load (static) N 50
Radial load (static) N 50
*with axial load > 2.5N, max. axial play is 130µm

D.C. Motor with integrated electronic commutation
Connections
Pin Color Designation
1 brown GND
2 red power supply voltage 1)
3 orange direction CCW/CW 5)
scale: 1:1 4 yellow enable start/stop 3) 5)
dimensions in mm 5 green logic supply voltage 2)
mass: 72 g 26BC-6A • 101 6 blue speed signal 4)
Winding type -119 -113 -110 -107

Coil dependent parameters • Integrated electronic commutation
1 Phase resistance ohm 1.9 6.8 17.6 69 • Warning: an incorrect supply voltage
polarity may damage the electronic
2 Phase inductance mH 0.23 0.71 1.65 5.8
circuitry!
3 Back-EMF constant V/1000 rpm 0.56 0.96 1.4 2.66 • Standard version with preloaded ball
4 Torque constant mNm/A (oz-in/A) 5.4 (0.7) 9.2 (1.3) 13.4 (1.9) 25.4 (3.6) bearings
5 Max. continuous current A 1.2 0.6 0.4 0.2 • Max. permissible coil temp. 130°C (266°F)
Coil independent parameters • Recommended ambient temperature
6 Friction torque mNm 0.25 0.25 0.25 0.25 range 0 to 70°C (32 to 158°F)
7 Viscous torque (losses) mNm/1000 rpm 0.4 0.4 0.4 0.4 • The current consumption of the
electronics is 18 mA
8 Max. cont. torque (up to 10k rpm) mNm (oz-in) 4 (0.56) 4.2 (0.6) 4.4 (0.62) 4 (0.56) 1)
The motor supply voltage may vary between
9 Max. recommended speed rpm 14000 8000 11000 4800 2.5V and 18V except for the -119 and -113 coils
Mechanical parameters where the voltage should be limited to 7.5 V.
2)
10 Rotor inertia kgm2 . 10-7 9.4 9.4 9.4 9.4 The logic supply voltage may vary between
11 Mechanical time constant ms 61 75 92 100 5 and 18 V. By connecting 2 and 5 together, the
motor becomes a simple two wires version
Dynamic performances exactly like a DC motor. In this case, the supply
12 Rated voltage V 7.5 7.5 15 15 voltage may vary between 5 V and 18 V except
13 No load current mA 250 170 120 50 for the -119 and -113 coils where the voltage
should be limited to 7.5 V.
14 No load speed rpm 12500 7250 9300 4700 3)
start/stop: when grounded, the motor is no
15 Peak speed rpm 14000 8000 11000 5600 more powered.
16 Peak torque mNm (oz-in) 4 (0.56) 4.2 (0.6) 4.4 (0.62) 4 (0.56) 4)
Available on output 6 is a square wave voltage:
low level = GND, high level = + V logic.
5)
Thermal time constant mn 11 Availability: see enclosed document at the Inputs 3-4 have pull up resistors of 120 kohm.
Thermal resistance °C/W 14 end of the catalogue
Axial play* µm 10
Radial play (2.5 N rad.load) µm 10
Axial load (static) N 50
Radial load (static) N 50
*With axial load > 2.5N, the max. axial play is 130µm Speed/torque range of the various windings
n (rpm)
M (mNm)

B0504 - B0508 - B0512 High speed BLDC Motor
Connections
hall sensors:
1 red Vcc
2 black GND
3 yellow S1
4 orange S2
5 white S3
motor:
6 blue phase A
dimensions in mm 7 brown phase B
mass : 23 g / 34 g / 45 g 8 violet phase C
B05.. -
Motor type B0504 B0508 B0512
Coil dependent parameters/Winding type 050A 050B 050A 050B 050A 050B
1 Phase resistance ohm 28.6 110.5 7.6 30.3 4.3 17.2
2 Phase inductance mH 1.11 4.33 0.38 1.51 0.24 0.94
4 Torque constant mNm/A (oz-in/A) 6.4 (0.91) 12.7 (1.8) 6 (0.85) 12 (1.7) 6.4 (0.91) 12.8 (1.81)
6 Friction torque mNm (oz-in) 0.18 (0.03) 0.35 (0.05) 0.53 (0.08)
7 Viscous torque (losses) mNm/1000 rpm 0.00015 0.00049 0.001
9 Max. recommended speed rpm 80000 80000 80000
Dynamic performances with BL 5010
12 Rated voltage V 50 50 50
13 No load current mA 55 35 125 75 195 100
14 No load speed rpm 69000 33000 75000 36500 70000 34500
15 Peak speed rpm 71000 36000 76500 38000 72000 36000
16 Peak torque mNm (oz-in) 10.8 (1.5) 5.5 (0.78) 38 (5.3) 19 (2.68) 71 (10.1) 36 (5.04)
Length L1 mm 23.8 36.5 49.2
Thermal time constant s 102 140 176
Thermal resistance rotor-ambient °C/W 35.8 28.4 21
Axial play µm 81 81 81
Radial play µm 25 25 25
Axial load (static) N 50 50 50
Radial load (static) @ 9.6 mm N 30 30 30
• Motor with preloaded ball bearings. • The B05 is a three phase motor with wye • Gearbox option: planetary RS05
• Shaft must be supported for press-fitting a connections of the coils. • An autoclavable version of this motor series is
pulley or pinion. • Hall sensors: supply voltage 4.5 V to 24 VDC. also available
Externall pull-up resistor 4.7 kohm (typ.) Curves with 50VDC
current source driver
n (rpm) x 1000 n (rpm) x 1000 n (rpm) x 1000
M (mNm) M (mNm) M (mNm)

RS05 Gearbox
Planetary gearbox 0.28 Nm
scale 1:1
dimensions in mm RS05 •
Ratio 5 15 25
1 No. of gear stages 1 2 2

2 Dir. of rotation = = =
3 Efficiency (%) 85-92 75-90 75-90
4 L1 (mm) 13.9 18.26 18.26
5 Mass (g) 8.8 11.9 11.9
6 Available with motor L2- length with motor (mm)
B0504 35.3 39.7 39.7
B0508 48 52.4 52.4
B0512 60.7 65.1 65.1

Motor + gearbox = L2
L2
Characteristics RS05
7 Bearing type ball bearings

8 Max. static torque Nm (oz-in) 0.8 (113.3)
9 Max. radial force
at 8 mm from mounting face N (lb) 14 (3.15)
10 Max. axial force N (lb) 82 (18.45)
11 Force for press-fit N (lb) --
12 Average backlash at no-load 45'-60'
13 Average backlash at 0,1 Nm --
14 Radial play µm 7.5
15 Axial play µm 12
16 Max. recom. input speed rpm 50'000
17 Operating temperature range °C (°F) 0...+155 (+32...+311)

B0906 - B0909 - B0912 High speed BLDC Motor
Connections
hall sensors:
1 red Vcc
2 black GND
3 yellow S1
4 orange S2
5 white S3
motor:
6 blue phase A
dimensions in mm 7 brown phase B
mass : 85 g / 170 g / 255 g 8 violet phase C
B09.. -
Motor type B0906 B0909 B0912
Coil dependent parameters/Winding type 050A 050B 050A 050B 050A 050B
1 Phase resistance ohm 1.7 6.5 1.0 3.4 0.7 2.25
2 Phase inductance mH 0.30 1.09 0.19 0.65 0.15 0.50
4 Torque constant mNm/A (oz-in/A) 8.3 (1.2) 16 (2.26) 8.5 (1.21) 16 (2.26) 8.2 (1.16) 15 (2.13)
6 Friction torque mNm (oz-in) 0.71 (0.1) 0.88 (0.13) 1.06 (0.15)
7 Viscous torque (losses) mNm/1000 rpm 0.0042 0.0079 0.01
8 Max. continuous torque (up to 10'000 rpm) mNm (oz-in) 15.3 (2.17) 21.5 (3.05) 25.8 (3.65)
9 Max. recommended speed rpm 55000 55000 55000
10 Rotor inertia kgm2 . 10-7 2.5 3 3.6
11 Mechanical time constant ms 6 4.2 3.7
Dynamic performances with BL 5010
12 Rated voltage V 50 50 50
13 No load current mA 235 175 330 240 425 305
14 No load speed rpm 54500 28000 53000 28000 56000 30000
15 Peak speed rpm 55000 28700 54000 28500 56000 30500
16 Peak torque mNm (oz-in) 232 (33) 118 (17) 423 (60) 227.5 (32.2) 597 (84.5) 321 (45.5)
Length L1 mm 45.1 53.5 61.9
Thermal time constant s 330 365 401
Thermal resistance rotor-ambient °C/W 14.8 14.0 13.2
Axial play µm 112 112 112
Radial play (2.5N rad.load) µm 20 20 20
Axial load (static) N 180 180 180
Radial load (static) @ 10.5 mm N 105 110 113
• Motor with preloaded ball bearings. • The B09 is a three phase motor with wye • Gearbox option: planetary RS09
• Shaft must be supported for press-fitting a connections of the coils. • An autoclavable version of this motor series is
pulley or pinion. • Hall sensors: supply voltage 4.5 V to 24 VDC. also available
Curves with 50VDC
Externall pull-up resistor 4.7 kohm (typ.)
current source driver
n (rpm) x 1000 n (rpm) x 1000 n (rpm) x 1000
M (mNm) M (mNm) M (mNm)

RS09 Gearbox
Reduction gearbox with spur gears and planetary gear stage 2.1 Nm
scale 1:1
dimensions in mm RS09 •
Ratio 4 5 7 12 15 16 20 21 25 28 35 49
1 No. of gear stages 1 1 1 2 2 2 2 2 2 2 2 2

2 Dir. of rotation = = = = = = = = = = = =
3 Efficiency (%) 90-95 90-95 90-95 75-90 75-90 75-90 75-90 75-90 75-90 75-90 75-90 75-90
4 L1 (mm) 24.5 24.5 24.5 32.8 32.8 32.8 32.8 32.8 32.8 32.8 32.8 32.8
5 Mass (g) 47 47 47 66 66 66 66 66 66 66 66 66
B0906 64.1 64.1 64.1 72.4 72.4 72.4 72.4 72.4 72.4 72.4 72.4 72.4
B0909 72.5 72.5 72.5 80.8 80.8 80.8 80.8 80.8 80.8 80.8 80.8 80.8
B0912 80.9 80.9 80.9 89.2 89.2 89.2 89.2 89.2 89.2 89.2 89.2 89.2
Availability: see enclosed document at the of

the catalogue
L2
Characteristics RS09

8 Max. static torque Nm (oz-in) 6 (849.6)
9 Max. radial force
11 Force for press-fit N (lb) --
12 Average backlash at no-load 45' - 60'
13 Average backlash at 0,1 Nm --
14 Radial play µm 7
15 Axial play µm 19
16 Max. recom. input speed rpm 40'000
17 Operating temperature range °C (°F) 0...155 (+32...+311)

EBS-485 SI BLDC drive circuit
Driver for brushless, sensorless DC motors
• Commutation control through back- • Single DC supply voltage 24V up to

EMF detection 48V
• Phase current 5 A continuous, • Analogue motor current output Imot,
adjustable current limitation 1V/A
• Digital PID speed regulation 2000 to • Colour-coded clamp type connector
40000 rpm • Digital tacho output, 6 pulses per
• Compact size 100 x 90 x 25mm revolution
Specifications
1 Power supply voltage Vcc 24...48V DC
2 Max. continuous current 5A adjustable by resistor R4
3 Control inputs: pull-up to 5V on board
Enable to supply the motor
Direction direction selection
Brake fast motor brake
4 Analogue input:
Speed reference range 0.5V...10V*
5 Digital output: 0...5V with internal pull-up
Tacho digital speed information
6 pulses per turn nrpm = 10 x fTacho(Hz)
6 Analogue output:
Imot indication of motor phase current, transconductance gain 1V/A
Current limitation by inserting a resistor R4**
7 Speed loop:
Range 2'000...40'000 rpm, 0.5V<speed ref.<10V
Speed loop optimisation load inertia, Jmot < Jload < 5 x Jmot
Ramping time 1s full scale 0...10V with no load
Speed accuracy ≤ 5%
8 Connector colour-coded cage clamp (clamping tool is supplied)
BL5010 BLDC drive circuit

Driver for brushless motor with Hall sensors
• 2 quadrant amplifier operating • Hall sensor spacing select. 60°/120°

in open loop or closed velocity loop • Compact size
• Single DC supply voltage, 12V to 50V
• maximum continuous current 10 A
Specifications
1 Power supply voltage 12V to 50 VDC
2 Continuous current 10 A max. with heatsink
3 Auxiliary output voltage 6.25 V-30 mA / 15 V-50 mA
4 Chopper frequency 15 kHz
5 Inputs (pull-up +6.25V) Stop, Enable, Direction
6 Speed reference 0 V to 6.25 V Connector Motor lead PIN Name
7 Selection mode open loop or velocity loop by jumper J1 Red 1 Hall S. PWR lead
Black 2 Hall S. GND lead
8 Protection overcurrent / -temperature Yellow 3 Hall S1
9 Max. heatsink temperature 80°C Orange 4 Hall S2
White 5 Hall S3
J2 Red 1 Power +
Black 2 Ground -
Blue 3 Phase A
Brown 4 Phase B
Violet 5 Phase C
J3 POT-GND 1 Signal GND
Stop=low 2 Enable
CW=Low 3 Direction
POT wiper 4 Analog IN
P OT +6V 5 +6.25 V
No connect. 6 + 15 V
60°/120° - Open
Default - Closed
CV Default - Open
- Closed
© Portescap 114
Gearbox Data Sheet section
Table of contents
Product type page
M707L 116
M915L 117
MU915L 117
R10 118
R13 119
B16 120
BA16 121
R16 122
K20 123
R22 124
M22 125
K24 126
K27 127
R32 128
K38 129
RG1/8 130
RG1/9 131
K40 132
R40 133
L10 134
115 © Portescap
escap M707 L 61 Gearmotor
Reduction gearbox with spur gears 0.012 Nm
scale 1:1
dimensions in mm
M707 L 61 - - •0
Gearbox specifications
Ratio 7.07 10.7 19.6 29.8 54.6 82.7 152 230 421 638 1170 1770
No. of gear stages 2 2 3 3 4 4 5 5 6 6 7 7
Direction of rotation = = ≠ ≠ = = ≠ ≠ = = ≠ ≠
1 Efficiency 0.8 0.8 0.75 0.75 0.65 0.65 0.6 0.6 0.55 0.55 0.5 0.5
2 Length = L (mm) 23.8 23.8 25.8 25.8 27.8 27.8 29.8 29.8 31.8 31.8 33.8 33.8
3 Mass (g) 4.3 4.3 4.4 4.4 4.6 4.6 4.7 4.7 4.9 4.9 5.0 5.0
4 Max. recom. dynamic output torque mNm (oz-in) 12 (1.7) at 20 rpm
mNm (oz-in) 8 (1.1) at 150 rpm
5 Bearing type sleeve bearings
6 Max. static torque mNm (oz-in) 50 (7.08)
7 Max. side load at 3 mm from mount. face N (lb) 1 (0.225)
8 Max. axial load N (lb) 1 (0.225)
9 Max. force for press-fit N (lb) 5 (1.12)
10 Average backlash at no-load 2°
11 Average backlash at 12 mNm 3°
12 Radial play µm ≤ 30
13 Axial play µm ≤ 100
14 Max. recom. input speed. rpm 7500
15 Temperature range °C (°F) -30 ... +65 (-22...+150)
Availability: see document at the end of the catalogue
Motor specifications
Winding types -207 -205 -204
Measured values
1 Measuring voltage V 2 3.5 4.5
2 No-load speed rpm 10400 11400 11700
5 Typical starting voltage V 0.2 0.3 0.5
9 Terminal resistance ohm 11 26 65
11 Terminal inductance mH 0.03 0.10 0.11
Thermal parameters
14 Thermal time constant rotor s 3 3 3
15 Thermal resistance body-ambient °C/W 70 70 70

escap M915 L61 & MU915 L61 Gearmotor
scale 1:1
dimensions in mm M915 L61 - - • 40 MU915 L61 - - • 40
Gearbox specifications
Ratio 3.67 13.4 26.8 49.3 98.7 181 362 663 1330 2430
No. of gear stages 1 2 3 3 4 4 5 5 6 6
Direction of rotation ≠ = ≠ ≠ = = ≠ ≠ = =
1 Efficiency 0.9 0.8 0.7 0.7 0.65 0.65 0.6 0.6 0.55 0.55
2 Length = L (mm) 21.2 23.30 26 26 28.7 28.7 31.4 31.4 34.1 34.1
3 Mass (g) / view 10/B 10/A 11/B 11/B 12/A 12/A 13/B 13/B 13/A 13/A
4 Max. recom. dynamic output torque mNm (oz-in) 30 (4.25) at 20 rpm
mNm (oz-in) 20 (2.83) at 150 rpm
6 Max. static torque mNm (oz-in) 70 (9.87)
7 Max. side load at 3 mm from mount. face N (lb) 1.5 (0.34)
8 Max. axial load N (lb) 1 (0.225)
9 Max. force for press-fit N (lb) 5 (1.12)
11 Average backlash at 12 mNm 3°
13 Axial play µm ≤ 150
14 Max. recom. input speed. rpm 7500
15 Temperature range °C (°F) -20 ... +65 (-4...+150)
Availability: see document at the end of the catalogue
Motor specifications
Winding types -208 -205
Measured values
1 Measuring voltage V 2 3
3 Stall torque mNm (oz-in) 0.52 (0.07) 0.35 (0.05)
4 Average no-load current mA 8 6
7 Max. continuous torque mNm (oz-in) 0.59 (0.08) 0.50 (0.07)
8 Torque constant mNm/A (oz-in/A) 2.2 (0.31) 3.2 (0.46)
9 Terminal resistance ohm 8.5 26
10 Motor regulation R/k2 103/Nms 1760 2540
11 Terminal inductance mH 0.05 0.10
Thermal parameters
14 Thermal time constant rotor s 3 3
15 Thermal resistance body-ambient °C/W 60 60

escap R10 Gearbox
scale 1:1
dimensions in mm R10 • 0
Ratio 4 16 64 256 1024 4096
1 No. of gear stages 1 2 3 4 5 6

2 Dir. of rotation = = = = = =
3 Efficiency 0.9 0.8 0.7 0.65 0.6 0.5
4 L1 (mm) 9 12.5 16 19.5 23 26.5
5 Mass (g) 3 4 5 6 7 8
08 G61 • 1 28.6 32.1 35.6 39.1 42.6 46.1
08 GS61 • 1 25.6 29.1 32.6 36.1 39.6 43.1
P010 • 02 25.4 28.9 32.4 35.9 39.9 42.9
L2
Characteristics R10 • 0
n (rpm) Dynamic torque

9 Max. radial force
11 Force for press-fit N (lb) 10 (2.25)
12 Average backlash at no-load 1° M (Nm)
13 Average backlash at 0.1 Nm 3°
15 Axial play µm 50 -150
16 Max. recom. input speed rpm 10000 Continuous working range
17 Operating temperature range °C (°F) -30 ... +65 (-22...+150) Temporary working range
escap R13 Gearbox
scale 1:1
Ratio 5.5 22 30.2 88 121 166 352 484 665.5 915
1 No. of gear stages 1 2 2 3 3 3 4 4 4 4

2 Dir. of rotation = = = = = = = = = =
3 Efficiency 0.85 0.75 0.75 0.65 0.65 0.65 0.55 0.55 0.55 0.55
4 L1 (mm) 14.5 18.6 18.6 22.7 22.7 22.7 26.8 26.8 26.8 26.8
5 Mass (g) 6 9 9 12 12 12 15 15 15 15
13N88 • 1 / • 3 43.1 47.2 47.2 51.3 51.3 51.3 55.4 55.4 55.4 55.4

L2
Characteristics R13 • 0 R13 2R • 0 n (rpm) Dynamic torque

150
7 Bearing type sleeve ball
8 Max. static torque Nm (oz-in) 0.5 (71) 0.5 (71)
9 Max. radial force 100
at 8 mm from mounting face N (lb) 5 (1.12) 20 (4.5)
10 Max. axial force N (lb) 8 (1.8) 10 (2.2) 50
11 Force for press-fit N (lb) 300 (23) 100 (23)
12 Average backlash at no-load 1.25° 1.25° M (Nm)
0
13 Average backlash at 0.25 Nm 2° 2° 0 0,2 0,4 0,6 0,8 1
14 Radial play µm ≤ 20 ≤ 10
15 Axial play µm 50 -150 ≤ 50
16 Max. recom. input speed rpm 7500 7500 Continuous working range
escap B16 Gearbox
scale 1:1
dimensions in mm
B16 • 0
Ratio 5 9 15 27 45 81 135 141 243 405 729 1215 2187
1 No. of gear stages 2 2 3 3 4 4 5 5 5 6 6 7 7

2 Dir. of rotation = = ≠ ≠ = = ≠ ≠ ≠ = = ≠ ≠
3 Efficiency 0.81 0.81 0.73 0.73 0.65 0.65 0.59 0.59 0.59 0.53 0.53 0.48 0.48
4 L1 (mm) 13.5 13.5 16 16 18.5 18.5 21 21 21 23.5 23.5 26 26
5 Mass (g) 7 7 8 8 9 9 10 10 10 11 11 12 12
16C18 • 67 31.2 31.2 33.7 33.7 36.2 36.2 38.7 38.7 38.7 41.2 41.2 43.7 43.7
16N28 • 235 37.7 37.7 40.2 40.2 42.7 42.7 45.2 45.2 45.2 47.7 47.7 50.2 50.2
P110 • 8 32.5 32.5 35 35 37.5 37.5 40 40 40 42.5 42.5 45 45
Also available: 17S78 • 5 / 17N78 • 5 / 16G88 • 1 Availability: see enclosed document at the
This gearbox is also available with a built-in
clutch.
L2
Characteristics B16 • 0 B16 2R • 0 n (rpm) Dynamic torque
7 Bearing type sleeve bearings ball bearings

8 Max. static torque Nm(oz-in) 0.4 (56) 0.4 (56)
9 Max. radial force
10 Max. axial force N (lb) 5 (1.1) 10 (2.2)
13 Average backlash at 0,1 Nm 3° 3°
15 Axial play µm 50 ... 150 ≤ 100
escap BA16 Gearbox
Reduction gearbox with spur gears and planetary output gear 0.2 Nm
stage
scale 1:1
dimensions in mm
BA16 • 0
Ratio1) 22.5 40.5 67.5 121.5 202.5 243 364.5 607.5 1093.5 1822.5 3280.5
1 No. of gear stages 3 3 4 4 5 5 5 6 6 7 7

2 Dir. of rotation = = ≠ ≠ = = = ≠ ≠ = =
3 Efficiency 0.72 0.72 0.65 0.65 0.59 0.59 0.59 0.53 0.53 0.48 0.48
4 L1 (mm) 26.7 26.7 29.2 29.2 31.7 31.7 31.7 34.2 34.2 36.7 36.7
5 Mass (g) 12 12 13 13 14 14 14 15 15 16 16
16C18 • 67 44.4 44.4 46.9 46.9 49.4 49.4 49.4 51.9 51.9 54.4 54.4
16N28 • 235 50.9 50.9 53.4 53.4 55.9 55.9 55.9 58.4 58.4 60.9 60.9
17N78 • 5 52.1 52.1 54.6 54.6 57.1 57.1 57.1 59.6 59.6 62.1 62.1
P110 • 8 45.7 45.7 48.2 48.2 50.7 50.7 50.7 53.2 53.2 55.7 55.7
Also available: 17S78 • 5 / 18G88 • 5 Availability: see enclosed document at the

1) ratios 5467 and 9841 available on

request
L2
Characteristics BA16 • 0 BA16 2R • 0 n (rpm) Dynamic torque

9 Max. radial force
15 Axial play µm ≤ 150 ≤ 100 Values at the output shaft
16 Max. recom. input speed rpm 8000 8000
escap R16 Gearbox
scale 1:1
Ratio 5.5 22 30.2 88 121 166 352 484 665.5 915
1 No. of gear stages 1 2 2 3 3 3 4 4 4 4

2 Dir. of rotation = = = = = = = = = =
3 Efficiency 0.85 0.75 0.75 0.65 0.65 0.65 0.55 0.55 0.55 0.55
4 L1 (mm) 16 20.1 20.1 24.2 24.2 24.2 28.3 28.3 28.3 28.3
5 Mass (g) 10 13 13 16 16 16 19 19 19 19
16N28 • 201 44 48.1 48.1 52.2 52.2 52.2 56.3 56.3 56.4 56.3
17S78 • 1 34 38.8 38.8 42.9 42.9 42.9 47 47 47.1 47
17N78 • 1 41.9 46 46 50.1 50.1 50.1 54.2 54.2 54.3 54.2
P110 • 12 35 39.1 39.1 43.2 43.2 43.2 47.3 47.3 47.4 47.3
Also available: 16N38 • 213 / 17S88 • 2 / 17N88 • 4 / 16C18 • 30 / 16G88 • 1 Availability: see enclosed document at the
L2
Characteristics R16 • 0 R16 2R • 0

n (rpm) Dynamic torque

8 Max. static torque Nm (oz-in) 1 (141) 1 (141)
9 Max. radial force
13 Average backlash at 0.3 Nm 2° 2°
15 Axial play µm 50 -150 ≤ 50
escap K20 Gearbox
dimensions in mm
K20 • 0
Ratio 8.3 16.6 25 50 75 150 375 675
1 No. of gear stages 2 3 3 4 4 5 6 6

2 Dir. of rotation = ≠ ≠ = = ≠ = =
3 Efficiency 0.85 0.85 0.75 0.75 0.75 0.75 0.65 0.65
4 L1 (mm) 11.40 13.12 13.12 14.80 14.80 16.45 18.11 18.11
5 Mass (g) 18.3 19.5 19.5 20.6 20.6 21.8 23 23.1
22N28 • 286 47.8 49.52 49.52 51.2 51.2 52.85 54.51 54.51
L2
Characteristics K20 • 0 n (rpm) Dynamic torque

9 Max. radial force
11 Force for press-fit N (lb) 30 (6.7) M (Nm)
13 Average backlash at 0.15 Nm 1.5°
15 Axial play µm 40 -150

escap R22 Gearbox
scale 1:1
Ratio 5.75 16.2 19.4 27.6 33.1 65.5 93.2 111 132 159 190 376 641 1090
1 No. of gear stages 1 2 2 2 2 3 3 3 3 3 3 4 4 4

2 Dir. of rotation = = = = = = = = = = = = = =
3 Efficiency 0.8 0.7 0.7 0.7 0.7 0.6 0.6 0.6 0.6 0.6 0.6 0.5 0.5 0.5
4 L1 (mm) 25 32.5 32.5 32.5 32.5 40 40 40 40 40 40 40 40 40
5 Mass (g) 20 25 25 25 25 30 30 30 30 30 30 33 33 33
22S28 • 1 48.8 56.3 56.3 56.3 56.3 63.8 63.8 63.8 63.8 63.8 63.8 63.8 63.8 63.8
22N28 • 201 54.8 62.3 62.3 62.3 62.3 69.8 69.8 69.8 69.8 69.8 69.8 69.8 69.8 69.8
22V28 • 202 59.4 66.9 66.9 66.9 66.9 74.4 74.4 74.4 74.4 74.4 74.4 74.4 74.4 74.4
23LT12 • 45 62.1 69.6 69.6 69.6 69.6 77.1 77.1 77.1 77.1 77.1 77.1 77.1 77.1 77.1
23V58 • 4 73.8 81.3 81.3 81.3 81.3 88.8 88.8 88.8 88.8 88.8 88.8 88.8 88.8 88.8
23DT12 • 38 / • 93 75.5 83 83 83 83 90.5 90.5 90.5 90.5 90.5 90.5 90.5 90.5 90.5
26N58 • 5 68.3 75.8 75.8 75.8 75.8 83.3 83.3 83.3 83.3 83.3 83.3 83.3 83.3 83.3
28L28 • 164 68.5 76 76 76 76 83.5 83.5 83.5 83.5 83.5 83.5 83.5 83.5 83.5
28LT12 • 164 68.2 75.7 75.7 75.7 75.7 83.2 83.2 83.2 83.2 83.2 83.2 83.2 83.2 83.2
P310 • 09 46.7 54.2 54.2 54.2 54.2 61.7 61.7 61.7 61.7 61.7 61.7 61.7 61.7 61.7
Also available: 22N48 • 308 / 22V48 • 225 / 23V48 • 11 / 26N48 • 9 / 22HV48 • 2 Availability: see enclosed document at the
L2
Characteristics R22 • 0 R22 2R • 0 n (rpm) Dynamic torque

9 Max. radial force
11 Force for press-fit N (lb) 300 (67.4) 300 (67.4)
15 Axial play µm 50 -150 50 -150 Values at the output shaft
escap M22 Gearbox
scale 1:1
dimensions in mm M22 • 0 M22 • 200
Ratio1) 3.67 5 13.4 18.3 25 49.3 67.2 91.7 125 180.8 246.5 336.1 458.3 625 903.8
1 No. of gear stages 1 1 2 2 2 3 3 3 3 4 4 4 4 4 5

2 Dir. of rotation = = = = = = = = = = = = = = =
3 Efficiency 0.8 0.8 0.7 0.7 0.7 0.6 0.6 0.6 0.6 0.55 0.55 0.55 0.55 0.55 0.5
4 L1 (mm) 22.6 22.6 29.5 29.5 29.5 36.4 36.4 36.4 36.4 43.3 43.3 43.3 43.3 43.3 50.2
5 Mass (g) 26 26 33 33 33 40 40 40 40 47 47 47 47 47 54
22N28 • 286 54.6 54.6 61.5 61.5 61.5 68.4 68.4 68.4 68.4 75.3 75.3 75.3 75.3 75.3 82.2
22V28 • 201 57 57 63.9 63.9 63.9 70.8 70.8 70.8 70.8 77.7 77.7 77.7 77.7 77.7 84.6
23LT12 • 45 59.7 59.7 66.6 66.6 66.6 73.5 73.5 73.5 73.5 80.4 80.4 80.4 80.4 80.4 87.3
23V58 • 4 71.4 71.4 78.3 78.3 78.3 85.2 85.2 85.2 85.2 92.1 92.1 92.1 92.1 - -
23DT12 • 38 / • 93 73.1 73.1 80 80 80 86.9 86.9 86.9 86.9 93.8 93.8 93.8 93.8 - -
26N58 • 5 65.9 65.9 72.8 72.8 72.8 79.7 79.7 79.7 79.7 86.6 86.6 86.6 86.6 -
28L28 • 164 66.1 66.1 73 73 73 79.9 79.9 79.9 79.9 86.8 86.8 86.8 86.8 - -
28LT12 • 164 65.8 65.8 72.7 72.7 72.7 79.6 79.6 79.6 79.6 86.5 86.5 86.5 - - -
22BC 44.3 44.3 51.2 51.2 51.2 58.1 58.1 58.1 58.1 65 65 65 65 65 71.9
Also available: 22N48 • 308 / 22V48 • 204 / 23V48 • 11 / 26N48 • 9 Availability: see enclosed document at the
Motor + gearbox = L2 1) ratios 1232, 1680, 2292, 3125,
available on request
L2
Characteristics M22 • 0 / • 200 n (rpm) Dynamic torque

8 Max. static torque Nm (oz-in) 4 (556)
9 Max. radial force
at 8 mm from mounting face N (lb) 50 (11)
10 Max. axial force N (lb) 70 (16 )
11 Force for press-fit N (lb) 100 (22)
13 Average backlash at 1 Nm 3°
14 Radial play µm < 200
15 Axial play µm 50 -150 Values at the output shaft
17 Operating temperature range °C (°F) -30 ... +65(-22...+150) Temporary working range
escap K24 Gearbox
scale 1:1
dimensions in mm K24 • 0
Ratio 5 8 20 32 64 128 320 800 2048
1 No. of gear stages 2 2 4 4 4 4 6 6 6

2 Dir. of rotation = = = = = = = = =
3 Efficiency 0.85 0.85 0.75 0.75 0.75 0.75 0.65 0.65 0.65
4 L1 (mm) 15 15 18 18 18 18 21 21 21
5 Mass (g) 15 15 18 18 18 18 20 20 20
22N28 • 286 47 47 50 50 50 50 53 53 53
22V28 • 202 49.4 49.4 52.4 52.4 52.4 52.4 55.4 55.4 55.4
23V58 • 4 63.8 63.8 66.8 66.8 66.8 66.8 69.8 69.8 69.8
26N58 • 5 58.3 58.3 61.3 61.3 61.3 61.3 64.3 64.3 64.3
P310 • 09 36.7 36.7 39.7 39.7 39.7 39.7 42.7 42.7 42.7
Also available: 22N48 • 308 / 22V48 • 225 / 23V48 • 11 / 26N48 • 9 / 23LT12 • 45 / Availability: see enclosed document at the
22HV48 • 2 end of the catalogue
L2
Characteristics K24 • 0 K24 2R • 0 n (rpm) Dynamic torque

9 Max. radial force
13 Average backlash at 0,12 Nm 2.5° 2.5°
15 Axial play µm 50 -150 ≤ 10

escap K27 Gearbox
scale 1:1
Ratio 6.2 18.6 27.9 55.7 99.1 198 501 979 2970
1 No. of gear stages 4 4 4 4 6 6 6 6 9

2 Dir. of rotation = = = = = = = = ≠
3 Efficiency 0.65 0.65 0.65 0.65 0.55 0.55 0.55 0.55 0.4
4 L1 (mm) 28.5 28.5 28.5 28.5 28.5 28.5 28.5 28.5 28.5
5 Mass (g) 40 40 40 40 42 42 42 42 48
22N28 • 286 60.5 60.5 60.5 60.5 60.5 60.5 60.5 60.5 60.5
22V28 • 202 62.9 62.9 62.9 62.9 62.9 62.9 62.9 62.9 62.9
26N58 • 5 72 72 72 72 72 72 72 72 72
P310 • 09 50.2 50.2 50.2 50.2 50.2 50.2 50.2 50.2 50.2
Also available: 22N48 • 308 / 22V48 • 225 / 26N48 • 9 / 23V58 • 4 / 23V48 • 11 / Availability: see enclosed document at the
23LT12 • 45 / 22HV48 • 2 end of the catalogue

clutch.
L2

9 Max. radial force
10 Max. axial force N (lb) 8 (1.8) 40(9)
12 Average backlash at no-load 2° 2° M (Nm)
15 Axial play µm 50 -150 ≤ 100 Values at the output shaft
escap R32 Gearbox
scale 1:1
Ratio 5.75 17.4 24 33 72.3 99.8 138 190 301 416 574 792 1090
Note for motor execution 1) 2) 2) 1) 2) 2) 2) 1) 2) 2) 2) 2) 1)
1 No. of gear stages 1 2 2 2 3 3 3 3 4 4 4 4 4
2 Dir. of rotation = = = = = = = = = = = = =
3 Efficiency 0.8 0.75 0.75 0.75 0.65 0.65 0.65 0.65 0.55 0.55 0.55 0.55 0.55
4 L1 (mm) 32 38 38 38 44 44 44 44 50 50 50 50 50
5 Mass (g) 124 145 145 145 175 175 175 175 205 205 205 205 205
28L28 • 49 75.5 81.5 81.5 81.5 87.5 87.5 87.5 87.5 93.5 93.5 93.5 93.5 93.5
28LT12 • 49 75.2 81.2 81.2 81.2 87.2 87.2 87.2 87.2 93.2 93.2 93.2 93.2 93.2
28D11 • 4 93.7 99.7 99.7 99.7 105.7 105.7 105.7 105.7 111.7 111.7 111.7 111.7 111.7
28DT12 • 4 / • 982) 96.6 102.6 102.6 102.6 108.6 108.6 108.6 108.6 114.6 114.6 114.6 114.6 114.6
35NT2R32 • 12) / • 541) / • 502) 94.9 100.9 100.9 100.9 106.9 106.9 106.9 106.9 112.9 112.9 112.9 112.9 112.9
35NT2R82 • 12) / • 541) / • 502) 94.9 100.9 100.9 100.9 106.9 106.9 106.9 106.9 112.9 112.9 112.9 112.9 112.9
Also available: 26N58 • 1 / 26N48 • 6 / 34L11 • 1 / 35HNT2R82 • 1 Availability: see enclosed document at the
L2
Characteristics R32 • 0 n (rpm) Dynamic torque

9 Max. radial force
11 Force for press-fit N (lb) 500 (112.5)
13 Average backlash at 3 Nm 2°
14 Radial play µm ≤10
15 Axial play µm ≤10 Values at the output shaft
© API Portescap 128 Specifications subject to change without prior notice
escap K38 Gearbox
Reduction gearbox with spur gears 1 Nm
scale 1:1
Ratio 6 10 18 30 60 100 200 500 900
1 No. of gear stages 2 2 3 3 4 4 5 6 6

2 Dir. of rotation = = ≠ ≠ = = ≠ = =
3 Efficiency 0.81 0.81 0.73 0.73 0.65 0.65 0.6 0.55 0.55
4 L1 (mm) 23.6 23.6 26.1 26.1 28.6 28.6 31.1 33.6 33.6
5 Mass (g) 55 55 60 60 65 65 70 75 75
22V28 • 201 58 58 60.5 60.5 63 63 65.5 68 68
26N58 • 1 67.1 67.1 69.6 69.6 72.1 72.1 74.6 77.1 77.1
28L28 • 49 67.1 67.1 69.6 69.6 72.1 72.1 74.6 77.1 77.1
28LT12 • 49 66.8 66.8 69.3 69.3 71.8 71.8 74.3 76.8 76.8
Also available: 22V48 • 204 / 26N48 • 6 / 22N28 • 204 / 23LT12 • 1 / 23LT2R12 • 120 / Availability: see enclosed document at the
23V58 • 1 / 23V48 • 9 / 23DT12 • 1 / 23DT2R12 • 88 / 23HV48 • 1 end of the catalogue
L2

9 Max. radial force
at 8 mm from mounting face N (lb) 50 (11.25) 75 (17)
13 Average backlash at 1 Nm 2.7° 2.7°
© API Portescap 129 Specifications subject to change without prior notice
escap RG1/8 Gearbox
scale 1:1
dimensions in mm RG1/8 • 1
Ratio 5.5 12 24 48 96 150 480 750 1200 1920 3000
1 No. of gear stages 2 3 3 4 4 4 5 5 6 6 6

2 Dir. of rotation = ≠ ≠ = = = ≠ ≠ = = =
3 Efficiency 0.8 0.7 0.7 0.65 0.65 0.65 0.6 0.6 0.55 0.55 0.55
4 L1 (mm) 16.5 16.5 16.5 16.5 16.5 16.5 16.5 16.5 16.5 16.5 16.5
5 Mass (g) 64 66 66 68 68 68 70 70 72 72 72
22N28 • 204 52 52 52 52 52 52 52 52 52 52 52
22V28 • 201 54.4 54.4 54.4 54.4 54.4 54.4 54.4 54.4 54.4 54.4 54.4
23DT12 • 1 70.5 70.5 70.5 70.5 70.5 70.5 70.5 70.5 70.5 70.5 70.5
P310 • 09 35.2 35.2 35.2 35.2 35.2 35.2 35.2 35.2 35.2 35.2 35.2
Also available: 22V48 • 204 / 23DT2R12 • 88 / 23LT12 • 1 / 23LT2R12 • 120 / 23V58 • 1 / Availability: see enclosed document at the
23V48 • 9 / 26N58 • 1 / 26N48 • 6 / 28L28 • 49 / 28LT12 • 49 / 23HV48 • 1 end of the catalogue
clutch.
L2
Characteristics RG1/8 • 1 RG1/8 2R • 1 n (rpm) Dynamic torque

9 Max. radial force
10 Max. axial force N (lb) 50 (11.25) 250 (56)
11 Force for press-fit N (lb) 200 (45) 300 (67.5)
M (Nm)
12 Average backlash at no-load 1.5° 1.5°
13 Average backlash at 0.6 Nm 3° 3°
escap RG1/9 Gearbox
scale 1:1
dimensions in mm RG1/9 • 1
Ratio 4.25 9 12 18 24 48 90 180 360 810 1620
1 No. of gear stages 2 3 3 4 4 5 5 6 7 7 8

2 Dir. of rotation = ≠ ≠ = = ≠ ≠ = ≠ ≠ =
3 Efficiency 0.8 0.7 0.7 0.65 0.65 0.6 0.6 0.55 0.5 0.5 0.45
4 L1 (mm) 17.3 17.3 17.3 17.3 17.3 17.3 17.3 17.3 17.3 17.3 17.3
5 Mass (g) 86 88 88 90 90 92 92 95 98 98 102
23V58 • 1 69.6 69.6 69.6 69.6 69.6 69.6 69.6 69.6 69.6 69.6 69.6
23DT12 • 1 71.3 71.3 71.3 71.3 71.3 71.3 71.3 71.3 71.3 71.3 71.3
28L28 • 49 64.3 64.3 64.3 64.3 64.3 64.3 64.3 64.3 64.3 64.3 64.3
P520 • 60 47.1 47.1 47.1 47.1 47.1 47.1 47.1 47.1 47.1 47.1 47.1
PP520 • 01 47.1 47.1 47.1 47.1 47.1 47.1 47.1 47.1 47.1 47.1 47.1
P532 • 10 56.6 56.6 56.6 56.6 56.6 56.6 56.6 56.6 56.6 56.6 56.6
Also available: 23V48 • 9 / 23DT2R12 • 88 / 28LT12 • 49 / 22V28 • 201 / 22N48 • 204 / Availability: see enclosed document at the
23LT12 • 1 / 23LT2R12 • 120 / 26N58 • 1 / 26N48 • 6 / 23HV48 • 1 end of the catalogue

clutch.
L2
Characteristics RG1/9 • 1 RG1/9 2R • 1 n (rpm) Dynamic torque

9 Max. radial force
M (Nm)
12 Average backlash at no-load 2.5° 2.5°
13 Average backlash at 1 Nm 3° 3°
escap K40 Gearbox
Reduction gearbox with spur gears 3 Nm
scale 1:1
Ratio 5 10 15 20 30 45 60 90 135 180 270 405
1 No. of gear stages 2 3 3 4 4 4 5 5 5 6 6 6

2 Dir. of rotation = ≠ ≠ = = = ≠ ≠ ≠ = = =
3 Efficiency 0.8 0.7 0.7 0.65 0.65 0.65 0.6 0.6 0.6 0.55 0.55 0.55
4 L1 (mm) 40 40 40 50 50 50 50 50 50 50 50 50
5 Mass (g) 120 125 125 145 145 145 150 150 150 155 155 155
28LT12 • 49 83.2 83.2 83.2 93.2 93.2 93.2 93.2 93.2 93.2 93.2 93.2 93.2
35NT2R32 • 1 / • 50 102.9 102.9 102.9 112.9 112.9 112.9 112.9 112.9 112.9 112.9 112.9 112.9
35NT2R82 • 1 / • 50 102.9 102.9 102.9 112.9 112.9 112.9 112.9 112.9 112.9 112.9 112.9 112.9
P520 • 60 70.8 70.8 70.8 80.8 80.8 80.8 80.8 80.8 80.8 80.8 80.8 80.8
P532 • 10 80.3 80.3 80.3 90.3 90.3 90.3 90.3 90.3 90.3 90.3 90.3 90.3
Also available: 28L28 • 49 / 35HNT2R82 • 1 / PP520 • 01 Availability: see enclosed document at the
L2

9 Max. radial force
at 8 mm from mounting face N (lb) 80 (18) 150 (33.75)
10 Max. axial force N (lb) 80 (18) 150 (33.75)
12 Average backlash at no-load 1° 1° M (Nm)
13 Average backlash at 0,3 Nm 1.5° 1.5°
escap R40 Gearbox
Planetary gearbox 10 Nm
scale 1:1
Ratio 3.56 5.6 15.2 24 54.2 85.3 134 193 303 478 753
1 No. of gear stages 1 1 2 2 3 3 3 4 4 4 4

2 Dir. of rotation = = = = = = = = = = =
3 Efficiency 0.85 0.85 0.7 0.7 0.6 0.6 0.6 0.5 0.5 0.5 0.5
4 L1 (mm) 38.3 38.3 46.8 46.8 55.3 55.3 55.3 63.8 63.8 63.8 63.8
5 Mass (g) 245 245 285 285 340 340 340 400 400 400 400
28DT12 • 1 102.9 102.9 111.4 111.4 119.9 119.9 119.9 128.4 128.4 128.4 128.4
34L11 • 1 99.6 99.6 108.1 108.1 116.6 116.6 116.6 125.1 125.1 125.1 125.1
35NT2R32 • 1 / • 50 101.2 101.2 109.7 109.7 118.2 118.2 118.2 126.7 126.7 126.7 126.7
35NT2R82 • 1 / • 50 101.2 101.2 109.7 109.7 118.2 118.2 118.2 126.7 126.7 126.7 126.7
Also available: 28DT2R12 • 98 / 35HNT2R82 • 1 Availability: see enclosed document at the

L2
Characteristics R40 • 0 n (rpm) Dynamic torque

9 Max. radial force
at 8 mm from mounting face N (lb) 600 (135)
10 Max. axial force N (lb) 400 (90)
11 Force for press-fit N (lb) 600 (135)
13 Average backlash at 0,3 Nm 1.3°
14 Radial play µm ≤10
15 Axial play µm ≤10 Values at the output shaft
escap L10 Linear actuator
Linear actuator
1mm/rev
scale 1:1
dimensions in mm L10 • 01
Ratio 5 10 20 50 100
Characteristics L10 The leadscrew should be prevented from
rotating by the user.
Modifications to obtain higher linear speeds
1 Max. recom. holding force N (lb) 200 (45) are available on request.
2 Max. recom. linear force N (lb) 50 at 10 mm/s (9 at 2 ft/min)
Accessories are also available on request,
N (lb) 100 at 2 mm/s (22 at 0.4 ft/min) these include: fixing bolts, forked connector
3 Average axial play mm 0.4 and threaded rod.
4 Recom. linear speed range mm/s 0.5 to 20
5 Temperature range °C (°F) -15...+55 (+5...+131) Brass output stage.
6 Available with motor 22V28•201/•204
28L28•49 Disponibility: see enclosed document at the
P310•09 end of the catalogue.
Also available: 22N28 • 204 / 23LT12 • 1 / 28LT2R12 • 120 / 23V58 • 1 / • 9 / 23HV48 • 1 /
23DT12 • 1 / 23DT2R12 • 88 / 26N58 • 1 / • 6 / 28LT12 • 49
escap BF16 Gearbox

Gearbox with built-in clutch
scale 1:1
dimensions in mm BF16
Characteristics BF16
Other gearbox characteristics remain
unchanged, see escap® B16
1 Min. slipping torque mNm (oz-in) 5 (0.71)
2 Max. slipping torque mNm (oz-in) 100 (14.1)
3 Precision of setting ± 15% Disponibility: see enclosed document at the
4 Length L = Lgbx + 18.9 end of the catalogue

Encoder & Tachometer
data sheet section
Table of contents
Product type page
22N 136
28L 136
22HV 137
23HV 137
28GD 137
35HNT 137
D13 138
F16 138
E9 139
135 © Portescap
escap 22N24 & 28L24 D.C. Tachogenerator
scale: 1:1
dimensions in mm 22N24 - 104 • 4 28L24 - 405 • 49
Tachogenerators types 22N24 - 104 • 4 28L24 - 405 • 49
1 EMF ± 2% V/1000 rpm 5.5 13.5

2 Typical ripple peak-peak % 8 6
3 Ripple frequency per rev. 18 18
4 Terminal resistance ohm 450 415
6 Average friction torque mNm (oz-in) 0.1 (0.014) 0.4 (0.056)
7 Mass g 64 125
Ripple
Every coil is switched twice per revolution, Availability: see enclosed document at the
at the positive and negative brush. The end of the catalogue
ripple frequency per revolution is therefore
twice the number of coils or number of
commutator segments.
Typical tachogenerator signal: 9 segments commutator
a) value of the induced voltage (1 V) with actual

ripple of 90 mV (9%)
b) (scale 10 times larger than a) minimum
theoretical ripple, frequency per revolution
equals twice the number of commutator
segments
c) actual ripple value, twice per revolution
d) signal for one complete revolution of the
rotor

escap 22H-23H-28G-35H Motor-tacho
22HV48-213E/204 • 2 23HV48-216E/204 • 1
L1 = 39.7 Available with: K38, RG1/8, RG1/9
L2 = 53.8
L3 = 7.5
L4 = 6.5
Available with: K24, R22, K27
28GD11-222E/404E • 2 35HNT2R82-426SP/204 • 1
Available with: R32, R40
Motor types 22HV48 23HV48 28GD11 35HNT2R82

Winding types (motor/tacho) -213E/204 -216E/204 -222E/404E -426SP/204
1 EMF ± 2% V/1000 rpm 1 1 5.2 1

2 Typical ripple pk-pk % 7 7 7 7
3 Ripple frequency per rev. 18 18 18 18
4 Terminal resistance ohm 175 175 175 175
Motor-tacho unit specifications
6 Measuring voltage V 12 12 18 32
7 No-load speed rpm 7400 4700 5200 6100
9 Typical starting voltage V 0.30 0.26 0.40 -
10 Rotor inertia kgm2 . 10-7 3.5 6.2 24 71.7
11 Mechanical time constant ms 16 11 13 5.2
12 Resonance frequency Hz 2000 2000 800 3000
13 Length L mm 53.8 67.6 97.9 82.4
14 Mass g 84 116 270 325
15 Other motors characteristics see page 22N48 23V48 28D11 35NT82
• Recommended temperature range: • Temperature coef. of EMF: -0.02%/°C Availability: see enclosed document at the
-10 to +65 °C (+14 °F to +150 °F) • Temperature coef. of resistance: +0.4%/°C end of the catalogue
• Linearity/reversion error: ± 0.1% • Max. recom. current for the tacho: < 1 mA
• Linearity with 10 Kohm load: ± 0.7%

escap Type D / Type F Encoder
Integrated magnetic encoders
1) 1)
Encoder type D connections Encoder type F connections
1 Motor + 6 Motor - 1 Motor + 6 Motor -
2 Vcc 7 NC 2 Vcc 7 NC
3 Channel A 8 NC 3 Channel A 8 NC
scale: 1:1 4 Channel B 9 NC 4 Channel B 9 NC
dimensions in mm 5 GND 10 NC 5 GND 10 NC
Characteristics at 22 °C D F
1 Number of pulses per rev. 12; 10 16; 15

2 Supply voltage Vcc V 5 3.5 ...15
3 Supply current typical at 5 V mA 4 6
4 Rise time t4 µs 0.125 5
5 Fall time t5 µs 0.05 0.2
6 Output signal2) - Two channels / square wave in quadrature
7 Electrical phase shift between U1 and U2 t3/t1 x 360 degree 90 ± 40
8 Signal ratio3) t2/t1 % 50 ± 25
9 Max. count frequency kHz 10 15
10 Operating temperature range °C -20 ... +85
11 Inertia 10-7 x kgm2 0.1
12 Measuring conditions Temperature °C 22
Supply voltage V 5
Load resistance Mohm 1
Load capacitance pF 25
Encoder F available on motor types 16N 17S 17N 22S 22N 22V
13 L1 = length (mm) 30 20 28.9 28 34 36.3
14 L2 = length (mm) 3.6 3.6 3.6 3.1 3.1 3.1
15 D = motor diameter (mm) 16 17 17 22 22 22
Encoder D available on motor 13N

16 L = length (mm) 40.4
17 D = motor diameter (mm) 13

Typical encoder output signal
t1: Period
t2/t1: Signal ratio 1)
Connector Dupont type Quikie II or
t3: Phase shift
equivalent
t4: Rise time 2)
Internal pull-up resistor: 10 kohm
t5: Fall time
Only available with the F type encoder
3)
Over the entire frequency and
temperature range

E9 Encoder
3 channel optical encoder
connector Quickie II,

Dupont or equivalent
(on request)
scale: 1:1
dimensions in mm
mass: 6.2 g
Characteristics at 22°C
1 Number of lines available 100, 144, 200, 256, 300, 360, 5001), 5121)
2 Supply current typical mA 10
max. mA 20
stand-by µA 50
3 Output signal CMOS compatible
4 Electrical phase shift between A and B degree 90 ± 20
5 Duty cycle % 50 ± 10
6 Max. count frequency kHz 200
7 Operating temperature range at 90% humidity °C -40 to + 85
8 Code wheel moment of inertia 10-7 x kgm2 0.12
9 Supply voltage Vcc V 5 ± 10%
Pin out 1 2 3 4 5 6 7 8 9 10
10 Version 1 GND Vcc dir. stand-by A A B B Z Z
11 Version 2 GND Vcc dir. stand-by up A down B pulse Z
Available on motor types 22N48 22V48 23LT12 23V48 23DT12 26N48 28DT12 35NT
12 L = length (mm) 53.9 56.2 57.6 67.6 71 62.1 85.1 84
13 see page 55 57 58 59 60 61 65 67-68
1)
ask for a 2R motor type for use with the E9 in 500 or 512 lines version Availability: see enclosed document at the
Typical encoder output signal

Features
Version 1 Version 2 • 2 channel quadrature output and index
pulse
• small size
• integrated direction of rotation detection
• stand-by function with latched state of
channels (to desactivate the stand-by
mode, connect the pin 4 to the +5V)
• complementary outputs
• up/down pulse signals (on request)
• CMOS compatible.
1)
The input Standby has to be connected
to 0 VDC or +5 VDC
• single 5VDC supply

Portescap, the complete service
Do you want further information about technologies and products of Danaher Motion
Companies? Please contact the address closest to you (see rear cover page of this cata-
logue) and ask for the information you need.
Think escap® 1
Physical properties of DC motors using an
ironless rotor.
Think escap® 2
Damping of ironless rotor DC motors.
Think escap® 3
Replaced by number 6.
Think escap® 4
Reliability and life of DC motors: the REE ®
System.
Think escap® 5
Stepper motor drives.
Think escap® 6
Selection criteria for DC motors.
Think escap® 7
Drivers for ironless rotor DC motors.
© Portescap 140
141 © Portescap
NOTES NOTEN NOTES
© Portescap 142
WORLDWIDE
Switzerland Poland Hungary
API Portescap API Portescap Poland Sp. z. o. o. World Components
CH-2301 La Chaux-de-Fonds Pl-26600 Radom H-9200 Mosonmagyarovar
Tel: 032 925 61 11 Tel: 048 36 427 48 Tel: 096 57 80 70
Fax: 032 925 65 96 Fax: 048 36 427 48 Fax: 096 57 80 77
E-mail: pub@portescap.com E-mail: api@radom.net E-mail: woco@mail.matav.hu
Internet: www.apiportescap.com
Sweden India
API Portescap Scandinavia AB O.E.N. India Ltd.
SUBSIDIARIES S-745 23 Enköping IN-Cochin 682019
Tel: 08 592 565 10 Tel: 484 301 132
Finland Fax: 08 594 803 42 Fax: 484 302 287
API Portescap Scandinavia AB E-mail: lena.stenhjelm@apiscand.se E-mail: sales@oenindia.com
Fin-00250 Helsinki
Tel: 09/415.586.20 USA Israel
Fax: 09/415.586.21 API Motion Inc. Electrondart Ltd.
E-mail: harri.berg@apimotion.net US-Amherst - NY 14228 IL-Petach Tikva 49120
Tel: 716 691 9100 Tel: 039 31 44 47
France Fax: 716 691 9181 Fax: 039 30 28 67
API Portescap France SA E-mail: info@apimotion.com E-mail: amatzia@e-dart.co.il
F-94706 Maisons - Alfort
Tel: 01 45 18 33 93 Italy
Fax: 01 45 18 33 94 REPRESENTATIVES Deltaomega S.r.l.
E-mail: cvillieux@portescap.com I-20090 Opera - Milano
Austria Tel: 02 57 69 51
Agence Sud Burisch Elektronische-Bauteile GmbH Fax: 02 57 69 53 39
F-69003 Lyon A-1210 Wien E-mail: info@deltaomega.it
Tel: 04 72 91 21 00 Tel: 01 277 20 208 Internet: www.deltaomega.it
Fax: 04 72 35 92 35 Fax: 01 277 20 277
E-mail: info@beb.co.at Korea
Germany Internet: www.beb.co.at Hansse International Trading Corp.
API Portescap Deutschland GmbH KR-110-062 Seoul
D-75179 Pforzheim Belgium Tel: 82 2722 1687
Tel: 07231 491 5 Telerex Belgium S.A. Fax: 82 2722 1682
Fax: 07231 491 620 B-2100 Antwerpen E-mail: hansse@yahoo.com
E-mail: salesde@portescap.com Tel: 03 326 40 00 Internet: www.hansse.co.kr
Fax: 03 326 31 17
Technisches Büro Süd E-mail: info-be@telerex-europe.com Nederlands
D-87700 Memmingen Internet: www.telerex-europe.com Telerex Nederland B.V.
Tel: 08331 978 913 NL-4802 HW Breda
Fax: 08331 978 920 Tel: 076 571 5000
E-mail: mabens.api-portescap@t-online.de
Bulgaria Fax: 076 571 1477
Maxitrade E-mail: info-nl@telerex-europe.com
Bl-1404 Sofia Internet: www.telerex-europe.com
Technisches Büro Nord/Ost
Tel: 02 43 82 52
D-01458 Ottendorf - Okrilla bei
Fax: 02 943 40 93
Dresden
E-mail: maxitrad@bgnet.bg Singapore
Tel: 03520 571 606 Plant & Mill SUP. PTE Ltd.
Fax: 03520 571 607 Singapore 508839
E-mail: hruhland.api-portescap@t-online.de China + Hong Kong Tel: 542 42 11
Sun Chong Seng Enterprises Fax: 542 13 18
Hong Kong
Great-Britain Tel: 2418 2263
API Portescap (UK) Ltd.
Fax: 2418 1802 South Africa
GB-BH24 3PB Scotronics (PTY) Ltd.
E-mail: tcting@hkabc.net
Tel: 01425 463 210 ZA-Sandton 2146
Fax: 01425 477 755 Tel: 11 466 16 04
E-mail: sales@apimotion.com Czech and Slovak Republics Fax: 11 466 16 16
ESB Blansko E-mail: scotron@iafrica.com
Cz-678 01 Blansko
Japan Tel: 0506 418 726
API Portescap Japan Ltd.
Fax: 0506 539 88 Spain and Portugal
J-Tokyo 103 - 0023 Anatronic S.A.
E-mail: esb@esb.cz
Tel: 03 3241 0201 E-28005 Madrid
Internet: www.esb.cz
Fax: 03 3241 0221 Tel: 91 366 01 59
E-mail: akiokubo@portescap.co.jp Fax: 91 365 50 95
Denmark E-mail: informacion@madrid.anatronic.com
Gearcentralen A/S
Norway DK-6400 Sonderborg
Internet: www.anatronic.com
see Sweden
Tel: 074 42 18 64
Fax: 074 42 18 94
E-mail: info@gearcentralen.dk
Internet: www.micmotor.dk
143 © Portescap
© Portescap - Printed in Switzerland 2001 - This catalogue is printed on paper manufactured without the use of chlorine /
www.apiportescap.com

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Miniature high

The Ironless Rotor DC Motor technology & product range 10

The Disc Magnet Stepper Motor technology & product range 12

The small Brushless DC Motor technologies & product range 14

The Spur and Planetary Gearbox technologies & product range 16

The Encoder & Tachometer technologies & product range 18

The Portescap offer 20

Technical & Engineering section 21

escap® DC Motor data sheet section 43

Turbo DiscTM Stepper Motor data sheet section 71

Small Brushless DC Motor data sheet section 99

Spur & Planetary Gearbox data sheet section 115

Encoder & Tachometer data sheet section 135

Portescap, A complete service 140

Portescap Worldwide 143

Scientific & Measuring Instruments

Scientific instruments and measuring

Handheld tools and Surgical tools

Light, robust, easy to handle and powerful,

Medical equipment requires high reliability,

Security & Access Control

Security and access control tolerate no risk

Wherever rapid and accurate motion as

Always searching for machines of still high-

A world of particular applications has to

And for any applications in areas so differ-

A number of applications ask for unusual

The company was founded in 1931 in

The personal contact and the technical

Mechatronic specialist in the Research,

Today, the Portescap team employs 600

The majority of the escap® products are

When it comes to leading edge motion control applica-

We offer extensive prototype manufacturing facilities staffed

Together, the companies that form Danaher Motion

Concept detail Motor characteristics Advantages for the application

Ironless rotor Low moment of inertia High acceleration

No magnetic saturation High peak torques without the risk

Rated rotor temperature up to 155°C Continuous torque is exceptionally high

Very compact commutation system Excellent resistance to shocks and

High torque to inertia ratio High acceleration, short mechanical time

16C Continuous torque

17S Peak torque

Torque in mNm .1 1 2 4 6 10 20 30 40 60 100 150 200 300 500 800 1000

Torque in oz-in .01 .14 .3 .6 .8 1.4 3 4 6 8 14 21 28 42 71 113 142

Concept detail Motor characteristics Advantages for the application

P310 Continuous torque

P430 Peak torque

Torque in oz-in 0.14 1.4 7 14 28 42 71 113 142 212 248 283

Iron saturation effects Iron losses

Concept detail Motor characteristics Resulting advantages

B0512 Continuous torque

B0906 Peak torque

Torque in oz-in 0.14 1.4 7 14 28 42 71 142 212 283 354

Concept details Gearbox characteristics Resulting advantages

Spur gear concept:

R10 Torque at 150 rpm

B16 Torque at 20 rpm

Torque in Nm 0.001 0.01 0.03 0.1 0.2 0.4 0.6 1 2 4 6 10