Maxon Motor Specification

V
CC

n
L

M
L

Formulae
Handbook
Jan Braun
academy.maxonmotor.com maxon academy
Selection process
When performing a system analysis, the frst step is to describe the drive as a whole in its
environment. The objective is to obtain an overview oI the system, to determine the theoretical
Ieasibility oI a solution and to get a picture oI the boundary conditions and restrictions. See chapter
A.1: Overview, system analysis
The goal oI "Motion oI the load" is to defne the key reqirements regarding Iorces (torques) and
velocities (speeds oI rotation). How long must they be applied? What is the required control
accuracy? See chapter A.2: Motion of the load
The mechanical drive design can be skipped iI the load is driven directly and the drive system does
not include a mechanical transformation.
Mechanical drives transIorm mechanical power into mechanical power. For the selection oI the
drive the load key data are converted to the output oI the motor or gearshaIt. See chapter A.3:
Mechanical drives.
The step Ior the gearhead selection can be skipped iI no (maxon) gearhead is used. Gearheads are
typically used whenever high torques are required at low speeds.
The purpose oI this step is to determine iI and which maxon gearhead can be used. The key data
Ior the motor selection can then be calculated Irom the gearhead reduction and eIfciency. See
chapter 3.4: maxon gearhead
On the basis oI the torque and speed requirements, the next step is to select suitable types of
motors. The useIul liIe, commutation and bearing systems also have to be considered. See chapter
6.5: Motor selection
The selection of the winding is made on the basis oI a comparison oI the applied motor voltage
with the speed and a comparison oI the available current with the torque requirements. See chapter
6.5: Motor selection
The purpose oI the last step is the verication of the controller and sensor, as well as a verifcation
that the controller and sensor preselected in the situation analysis (Step 1) are compatible with the
selected motor. See chapter A.3: Verication of controller and sensor
Step 1
System
Overview
Step 2
Load
Step 3
Drive
Step 4
Gearhead
Step 5 + 6
Motor type
Winding
Step 7
Sensor
Controller
v(t), F(t)
Ambient
conditions
Communicaton
Power
Gear
Motor
Controller
Load
Start
drive selection
Overview, system analysis,
preselection of controller & sensor
Chap. A.1
Motion of the load
Chap. A.2
Mechanical drive design
Chap. A.3
Mechanical
transformation?
Use of
gearhead?
Motor type selection
Chap. 6.5
Winding selection
Chap. 6.5
Verication of controller & sensor
Chap. A.3
Drive selected
Gearhead selection
Chap. 3.4
No
No
Yes
Yes
Foreword
This Formulae Handbook lists the most important formulae in relation to all components of
the arive system. It makes use of a ow chart that supports quick selection of the correct arive.
Numerous illustrations and the clear descriptions of the symbols on the respective page help the
reader to understand the formulae.
Roughly speaking, it is a collection of the most important formulae from the maxon catalog, as
well as from the book "The selection of high-precision microarives", publishea by maxon acaaemy.
The initiative for writing this Formulae Hanabook was the book "The selection of high-precision
microarives" by Dr. Urs Kafaaer, which contains extensive know-how from the success story of
50-years of maxon DC arives with low power (below approx. 500 W). The collection is intenaea
for engineers, professors, lecturers and students, as a perfect supplement to the above mentioned
book.
Thank you
Firstly I woula like to thank Dr. Urs Kafaaer, who encouragea me to tackle this book. The
professional layout ana illustrations were aone by Patricia Gabriel ana Beni Anaerhalaen. Urs
Kafaaer, Barbara Schlup, Anfa Scht:, Patrik Gnos, Stefan Baumann, Martin Regg, Michael
Baumgartner, Martin Winalin, Jens Schul:e, Albert Bucheli, Martin Oaermatt ana Walter Schmia
have read the manuscript and have given valuable suggestions for improvements. I also received
extensive ana reaay support from many other people at maxon motor ag in response to my questions
ana requests for assistance.
Special thanks go to Susan Bechtiger, Paul Williams, Robin Philips, Anthony Mayr ana Mark
Casey who helpea improve the translation from German into English.
Sachseln, Spring 2012
Jan Braun
First Edition 2012
2012, maxon academy, Sachseln
This work is protected by copyright. All rights reserved, including but not limited to the rights to
translation into Ioreign languages, reproduction, storage on electronic media, reprinting and public
presentation. The use oI proprietary names, common names etc. in this work does not mean that
these names are not protected within the meaning oI trademark law. All the inIormation in this work,
including but not limited to numerical data, applications, quantitative data etc. as well as advice and
recommendations has been careIully researched, although the accuracy oI such inIormation and
the total absence oI typographical errors cannot be guaranteed. The accuracy oI the inIormation
provided must be verifed by the user in each individual case. The author, the publisher and/or their
agents may not be held liable Ior bodily injury or pecuniary or property damage.
Content 5
A. Drive selection 6
A.1 Overview, system analysis 6
A.2 Motion oI the load 7
A.3 Verifcation oI controller and sensor 8
1. Mass, force, torque 9
1.1 Forces in general 9
1.2 Torques in general 11
1.3 Moments oI inertia oI various bodies with reIerence
to the principal axes through the center oI gravity S 12
2. Kinematics 14
2.1 Linear equations oI motion 14
2.2 Rotary equations oI motion 15
2.3 Typical linear motion profles 16
2.4 Typical rotary motion profles 18
3. Mechanical drives 21
3.1 Mechanical transIormation 21
3.2 TransIormation oI mechanical drives, linear 22
3.3 TransIormation oI mechanical drives, rotation 25
3.4 maxon gear 26
4. Bearing 27
4.1 Comparison oI characteristics oI sintered sleeve bearings and ball bearings 27
5. Electrical principles 29
5.1 Principles oI DC (Direct Current) 29
5.2 Electrical resistive circuits 31
5.3 Principles oI AC (Alternating Current) 33
5.4 Simple flters 34
6. maxon motors 35
6.1 General 35
6.2 Power consideration oI the DC motor: in general 38
6.3 Motor constants and diagrams 39
6.4 Acceleration 41
6.5 Motor selection 42
7. maxon sensor 43
8. maxon controller 45
8.1 Operating quadrants 45
8.2 Selection oI power supply 45
8.3 Size oI the motor choke with PWM controllers 46
9. Thermal behavior 47
9.1 Basics 47
9.2 Continuous operation 49
9.3 Cyclic and intermittent operation (continuously repeated) 51
9.4 Short-term operation 52
10. Tables 53
10.1 maxon Conversion Tables 53
10.2 Typical coeIfcients oI Iriction Ior rolling, static and kinetic Iriction 54
11. Symbol list for the Formulae Handbook 56
6 maxon Formulae Handbook
A. Drive selection
A.1 Overview, system analysis
For detailed inIormation, reIer to the book "The selection oI high-precision microdrives", chapter 3.
BeIore the actual selection process begins, a consideration with the drive system in its entirety
is needed. The possible range oI variations oI the key parameters must also be determined. As
a rule, all oI these aspects are closely interlinked. The descriptions below are intended to help
clariIy these points and establish a Iramework Ior the Iurther selection process.
Mechanical design
J
S
p
m
R
d
1
J
2
d
2
J
1
Is the intended motion linear or a rotary?
What drive (spindle, toothed belt, etc.) or what
combination oI drives are going to be used
to achieve the desired motion? Is it a direct
drive?
Dene the control concept
Set value
Actuator
Output
Sensor
Feedback
Measurement
What variables are to be controlled: current,
speed, position? With what accuracy? Is an
open-loop control system suIfcient? How is
the controlled variable measured? Where do
the commands and set values come Irom? The
answers to these questions will result in a pre-
selection oI possible controllers and sensors,
i.e. Ior selection step 7 (see page 2).
Verify the power components
Is suIfcient electric power available to drive
the load under all operating conditions and to
compensate Ior the expected losses in the drive
train? What are the maximum voltage and
current that will be available?
Determine the boundary conditions
l
d
Are there restrictions on size? In what envi-
ronment (temperature, atmosphere etc.) is the
drive required to operate? Is compliance with
particular specifcations or quality standards
required? What is the specifed useIul liIe?
Cost considerations
Cost is always a key consideration. How can
the drive be designed as economically as pos-
sible and still meet the requirements regarding
perIormance and useIul liIe?
maxon Formulae Handbook 7
A.2 Motion of the load
In the step Ior determining the load requirements, the motions to be executed must be defned.
It is important to select appropriate motion profles and to consider which operating times are to
be expected.
Operating points
1 2 3
4
1 3 2 4 1
Time t
Velocity v
Speed n
Force F, torque M
Velocity v
Speed n
For determining the associated operating
points (value pairs oI torque and speed oI
rotation or oI Iorce and velocity), the respec-
tive total Iorces and torques are important. To
this end, all acting Iorces and torques have to
be determined. These in turn depend on the
moments oI inertia and the acceleration values.
For the purpose oI making a selection, calcu-
lating these values with an accuracy oI approx.
10 is suIfcient.
Mechanical play of the drive
-1500 -500 -1000
-0.2
-0.4
0.2
0.4
0 500 1500 1000
0
Test torque mNm
Twisting angle
Furthermore the question oI the maximum
permissible mechanical play of the drive has
to be determined.
Key data
Force F
Torque M
F
max
/M
max
F
RMS
/M
RMS
t
max
t
tot
Time t
The key data which caracterize the load can
fnally be calculated Irom the operating points.
They are important Ior selecting the drive.
The controller and sensor verifcation involves checking whether the preselection made during
the system analysis (selection step 1, see page 2) are compatible with the motor Iound. Detailed
examination oI the confguration oI the control circuit allows to make defnitive decisions regar-
ding the suitable components (controller and sensor).
Motion controller
In higher-level drive systems, the motion
controller is the central element. It is where all
the threads come together. Thus, the controller
must satisIy a wide range oI requirements.
The controller must
be able to control the manipulated variable
with suIfcient accuracy in a reasonable
amount oI time
be able to process the inIormation provided
by the sensor
understand the set values and commands oI
the higher-level system
provide the required electric power
be suited to the motor type
(brushed or brushless) and the commutation
Sensor
The sensor (encoder, DC tacho or resolver)
must be appropriate Ior the control task and
comply with the other components.
Additionally, the Iollowing Iurther selection
criteria apply.
The sensor has to
be mountable on the motor
according to the maxon modular system.
measure the correct control variable
(speed, position, direction oI rotation)
with suIfcient resolution.
Rule oI thumb: The resolution oI the sensor
should be at least Iour times higher than the
specifed accuracy oI the control variable.
A.3 Verication of controller and sensor
1. Mass, force, torque
1.1 Forces in general
The Iorce required to accelerate a mass oI 1 kg by 1 m/s in 1 s has the unit kg m/s
2
, with the
special unit name Newton (N).
Typical component forces in a drive system
F
a
m
Force Ior acceleration
mass x acceleration
[F] = kg m/s
2
= kgm/s
2
= N
F
a
= m a = m
t
v
F
G
m
Gravitation
(gravitational acceleration
g 9.81 m/s
2
9.81 N/kg - 10 N/kg)
F
G
= m g
F
H
F
G
F
N
Forces on the inclined plane:

Downhill-slope Iorce and normal
Iorce
F
H
= F
G
sin
F
N
= F
G
cos
F
N
F
R
Friction Iorce
Sliding Iriction
F
R
F
N
Spring Iorce, compression and
extension springs
F
S
k l
p F
P
Compressive Iorce F
p
p A
Symbol Name SI
A Cross section m
2
F Force N
F
a
Acceleration Iorce N
F
G
Weight oI a body N
F
H
Downhill-slope Iorce N
F
N
Normal Iorce
(Iorce perpendicular to the plane) N
F
p
Compressive Iorce N
F
R
Friction Iorce N
F
S
Spring Iorce N
Symbol Name SI
a Acceleration m/s
2
g Gravitational acceleration m/s
2
k Spring constant N/m
m Mass kg
p Pressure (1 Pa 1 N/m
2
10
-5
bar) Pa
Angle oI the inclined plane
l Displacement m
t Duration s
v Velocity change m/s
CoeIfcient oI Iriction (see table chapt. 10.2)
Calculating the total load force consisting of component forces
F
1
F
2
F
x
F
L
Addition oI Iorces acting in the same
direction
F
L
= F
1
+ F
2
+ ...+ F
F
1
F
2
F
x
F
L
Addition oI Iorces acting in opposite
directions
F
L
= F
1
F
2
... F
F
1
F
2
F
L
Addition oI perpendicular Iorces F
1
+ F
2
2
F
L
=
2
Symbol Name SI
F
L
Load Iorce (output) N
F
1
/ F
2
/ F
x
Partial Iorces N
1.2 Torques in general
The torque is a measure oI the rotational eIIect that a Iorce exerts on a rotating system. It plays
the same role Ior rotation that the Iorce plays Ior linear motion.
The equations always apply Ior a defned axis oI rotation.
General
F
r
M
Torque Iorce x lever arm
[M{ N m Nm
M F r
Typical component torques in drive systems
Torque Ior acceleration oI moments oI inertia
Torque moment oI inertia x angular acceleration
(For inIormation on calculating moments oI inertia,
see the next pages)
M
--
W
= J
30
W
Q
r
Friction oI ball bearing and
sintered sleeve bearing (simplifed)
M
R
= F
KL
r
KL

Torque oI spiral or leg springs M
S
= k
m

Calculating the load torque consisting of component torques
M
1
M
2
M
x
M
L
Addition oI torques acting in
same direction
M
L
M
1
M
2
... M
M
1
M
2
M
x
M
L
Addition oI torques acting in
opposite directions
M
L
M
1
M
2
... M
Symbol Name SI
F Force N
F
KL
Bearing load, axial / radial N
J Moment oI inertia kgm
2
M Torque Nm
M
L
Load torque Nm
M
R
Friction torque Nm
M
S
Torque, spiral spring Nm
M
Torque Ior acceleration Nm

M
1
/M
2
/M
x
Partial torques Nm
k
m
Torsion coeIfcient (spring constant) Nm
Symbol Name SI
r Radius m
r
KL
Mean diameter bearing m
Angular acceleration rad/s
2
t Duration s
Angle oI rotation rad
Angular velocity change rad/s
CoeIfcient oI Iriction (see table chapt. 10.2)
Symbol Name maxon
n Speed change rpm
Body type Illustration Mass, moments of inertia
Circular cylinder, disc
2
1
12
1
Pr
2
K
J
x
= Pr
2
J
y
= J
z
= P(3r
2
+ K
2
)
Hollow cylinder
P(r
a
2
U
i
2
) K
J
x
P(r
a
2
+ r
i
2
)
J
y
= J
z
=
K
2
2
1
4
1
3
PU
a
2
+ r
i
2
+
Circular cone
m =
J
x
=
J
y
= J
z
=
P(4r
2
+ h
2
)
3
1
10
3
80
3
Pr
2
r
2
K
Truncated circular cone
10
3
P(r
2
2
+ r
2
r
1
+ r
1
2
) K
3
1
J
x
P
r
2
5
r
1
5
r
2
3
r
1
3
Circular torus
4
1
m = 2
2
r
2
5
J
x
= J
y
=
8
1
P(45
2
+ 5r
2
)
J
z
= P(45
2
+ 3r
2
)
Sphere
3
4
5
2
m = r
3

J
x
= J
y
= J
z
= Pr
2

1.3 Moments of inertia of various bodies with reference
to the principal axes through the center of gravity S
Symbol Name SI
J
x
Moment oI inertia
with reIerence to the rotation axis x kgm
2
J
y
Moment oI inertia
with reIerence to the rotation axis y kgm
2
J
:
Moment oI inertia
with reIerence to the rotation axis : kgm
2
R Radius circular torus around :-axis m
Symbol Name SI
h Height m
m Mass kg
r Radius m
r
a
Outer radius m
r
i
Inner radius m
r
1
Radius 1 m
r
2
Radius 2 m
Density kg / m
3
Body type Illustration Mass, moments of inertia
Hollow sphere
3
4
5
2
P(r
a
3
U
i
3
)
J
x
= J
y
= J
z
P
r
a
5
U
i
5
r
a
3
U
i
3
Cuboid
m = DEF
J
x
=
12
1
P (E
2
+ F
2
)
Thin rod
yy
m $O
12
1
J
x
= J
z
PO
2
Square pyramid
3
1
20
1
20
1
4
3
PDEK
J
x
P(D
2
+ E
2
)
J
y
P(E
2
+ K
2
)
Arbitrary rotation body
2
1
m =
x1

f
2
(x) G[
J
x
=
x1

f
4
(x) G[
x2
x2
Steiner's theorem
Moment oI inertia with reIer-
ence to a parallel axis oI rota-
tion x at a distance oI r
s
to axis s
through the center oI gravity S.
J
x
= m r
s
2
+ J
s

Symbol Name SI
A Cross section m
2
J
s
Moment oI inertia with reIerence
to axis s through center oI gravity S kgm
2
J
x
Moment oI inertia
with reIerence to the rotation axis x kgm
2
J
y
Moment oI inertia
with reIerence to the rotation axis y kgm
2
J
:
Moment oI inertia
with reIerence to the rotation axis : kgm
2
a Length oI side a m
b Length oI side b m
Symbol Name SI
c Length oI side c m
h Height m
l Length m
m Mass kg
r
a
Outer radius m
r
i
Inner radius m
r
s
Distance oI axis s Irom center oI gravity S m
Density kg/m
3
x
1
Point 1 on the x-axis m
x
2
Point 2 on the x-axis m
2. Kinematics
2.1 Linear equations of motion
Uniform movement
s
t
v
Velocity v
Time t
Velocity
v s / t constant
[v{ m/s
v =
W
V
s v t
Constant acceleration from a standing start
s
t
v
Velocity v
Time t
Acceleration
a v / t constant
[a{ m/s
2
v a t
VDt
2
2
1
Free Iall
v g t
h = g t
2
2
1
Constant acceleration from initial speed
s
t
Velocity v
Time t
v
start
v
end
v
end
= v
start
+ a t
s v
start
t a t
2
2
1
Symbol Name SI
a Acceleration m/s
2
g Gravitational acceleration m/s
2
h Drop height m
s Distance m
Symbol Name SI
t, t Time, duration s
v, v Velocity, velocity change m/s
v
end
Velocity aIter acceleration m/s
v
start
Velocity beIore acceleration m/s
Remarks:
The shaded areas represent the distance s traveled during time period t.
2.2 Rotary equations of motion
General
1m
1m
1 rad =
1m
1m
57.2958
1rad
2 rad 360
Conversion between radian

and degrees
(The unit rad is Irequently
omitted.)
1 rad
2
360
360 2 raa
Conversion between
angular velocity and speed
of rotation
QQ
30
30
Uniform movement
t
,n
Angular velocity,
Speed n
Time t
Angular velocity
/ t constant
[] = rad/s
30
t
Speed oI rotation
n = 30 / / t const.
[n] = 1/min rpm
30
t
Constant acceleration from a standing start
t
Angular velocity,
Speed n
Time t
, n
Acceleration
/ t constant
[] = 1/s
2
= rad/s
2
t
Qt
30
t
2
2
1
Qt
2
1
30
t
Qt
30
t
2
2
1
Qt
2
1
30
Constant acceleration from initial speed
end
, n
end
start
, n
start
Angular velocity,
Speed n
Time t
end
start
t
n
end
= n
start
t
30

start
Wt
2
2
1
Q
start
Wnt
2
1
30
30
end
start
t
n
end
= n
start
t
30

start
Wt
2
2
1
Q
start
Wnt
2
1
30
30
Symbol Name SI
t, t Time, duration s
2
, Angular velocity (change) rad/s
end
Angular velocity aIter acceleration rad/s
Symbol Name SI
start
Angular velocity beIore acceleration rad/s
Symbol Name maxon
n, n Speed oI rotation (change) rpm
n
end
Speed aIter acceleration rpm
n
start
Speed beIore acceleration rpm
Remarks:
The shaded areas represent the angle oI rotation traveled during time period t.
Angle oI rotation = 2 Number oI revolutions 360 Number oI revolutions
Prole General Symmetrical
Suitability
Travel over long distance at
limited velocity
Diagram
v
max
t
a
s
t
b
t
c
t
tot
s
v
max
t
a
t
b
t
a
t
tot
Task:
Travel a distance oI s
in time t
tot
v
max
=
2
V
W
WRW
W
a
W
c
a
max
=
v
max
W
a
v
max
=
(W
WRW
W
a
)
V
V
a
max
=
(W
WRW
W
a
) W
a
Travel a distance oI s at a
limited velocity oI v
max
v
max
2
V
+
W
a
W
c
W
WRW
=
v
max
W
a
a
max
=
v
max
a
max
=
W
WRW
=
V
W
a
v
max
W
a
Travel a distance oI s at a
limited acceleration oI a
max
v
max
= a
max
W
a

W
WRW
=
V
W
a
a
max
W
a
Complete motion in the time
t
tot
at maximum velocity v
max
2
V
W
a
v
max
v
max
W
a
W
c
W
b
a
max
a
max
=
v
max
V(W
WRW
W
a
) v
max
W
a
t
tot
at maximum acceleration
a
max
v
max
= a
max
W
a
VD
max
(W
WRW
W
a
) W
a
Motion at limited velocity v
max

and limited acceleration a
max
2.3 Typical linear motion proles
Symbol Name SI
a
max
Maximum acceleration m/s
2
v
max
Maximum velocity m/s
s Distance m
Symbol Name SI
t
a
Time a s
t
b
Time b s
t
c
Time c s
t
tot
Total time s
3/3 Trapezoidal Triangle
Optimized Ior minimum power
(at given s and t):
Most advantageous Irom a thermal
point oI view
Optimized Ior limited acceleration or Iorce
(at given s and t).
Optimized Ior minimum time requirement
(at given s and a
max
).
v
max
s
t
tot
s
t
tot
v
max
v
max
= 1.5
a
max
= 4.5
W
WRW
V
W
2
WRW
V
v
max
= 2
a
max
= 4
W
WRW
V
W
2
WRW
V
v
max
a
max
= 2
v
2
max
W
WRW
= 1.5
V
V
v
max
a
max
=
v
2
max
W
WRW
= 2
V
V
2
3
a
max
a
max
v
max
=
W
WRW
=
V V
V a
max
Va
max
a
max
v
max
=
W
WRW
= 2
V
V a
max
3
2
W
WRW
v
max
a
max
3
v
max
V
W
WRW
2
1
a
max
= 2
v
max
V
W
WRW
W
WRW
v
max
9
2
3
1
v
max
= a
max
t
tot
a
max
t
tot
V a
max
t
2
tot
a
max
t
2
tot
v
max
= a
max
W
WRW
V a
max
W
2
WRW
2
1
4
1
a
max
v
2
max
W
WRW
= 3
a
max
v
max
V2
a
max
v
2
max
a
max
v
max
V
W
WRW
2
Symbol Name SI
a
max
Maximum acceleration m/s
2
v
max
Maximum velocity m/s
Symbol Name SI
s Distance m
t
tot
Total time s
Prole General Symmetrical
Suitability
Long rotation at limited speed
of rotation
Diagram
n
max
t
a
t
b
t
c
t
tot
n
max
t
a
t
b
t
a
t
tot
Task:
Travel an angle oI
in time t
tot
2
W
WRW
W
a
+ W
c
n
max
=
30
max
=
2
W
WRW
W
a
+ W
c
W
a
n
max
=
(W
WRW
W
a
)
30
max
=
(W
WRW
W
a
) W
a
Travel an angle oI
at a limited speed oI n
max
n
max
2
W
WRW
=

+
30
W
a
+ W
c
t
a
max
=
n
max
30
n
max
+ W
a
W
WRW
=
30
max
=
n
max
W
a
30
Travel an angle oI at a
limited angular acceleration
of
max
max
W
a
+ W
a
W
WRW
=

n
max
=
max
W
a
30

t
tot
at maximum speed n
max
2
=
W
a
W
c
+ W
b
30
n
PD[

max
=
n
max
W
a
30
(W
WRW
W
a
)
30
n
max
max
=
n
max
W
a
30
Complete motion in the
time t
tot
at maximum angular
acceleration
max
max
(W
WRW
W
a
)W
a

max
W
a
n
max
=
30
Motion at limited speed

of n
max
and limited angular
acceleration oI
max
2.4 Typical rotary motion proles
Symbol Name SI
max
Maximum angular acceleration rad/s
2
t
a
Time a s
t
b
Time b s
t
c
Time c s
t
tot
Total time s
Symbol Name SI
Symbol Name maxon
n
max
Maximum speed in load cycle rpm
3/3 Trapezoidal Triangle
Optimized Ior minimum power
(at given and t):
Most advantageous Irom a thermal
point oI view
Optimized Ior limited angular acceleration
or torque (at given and t) and
Ior minimum time requirement
(at given and
max
).
n
max
t
tot
t
tot
n
max
W
WRW
n
max
= 1.5
30
max
= 4.5
t
2
tot
t
tot
n
max
= 2
30
max
= 4
t
2
tot
n
max
W
WRW
= 1.5
30
max
= 2
n
2
max
2
30
2
n
max
W
WRW
= 2
30
max
=
n
2
max

2
30
2
2
3
max

max
W
WRW
=

2
1
n
max
=
max

max
30
max
W
WRW
= 2
n
max
=
max
30
3
2
W
WRW
n
max

30
max
= 3
n
max
W
WRW
30
2
1
=
W
WRW
n
max
30
max
= 2
n
max
W
WRW
30
9
2

max
t
2
tot

PD[
t
2
tot
3
1
n
max
=
max
W
WRW

max
W
WRW
30

max
t
2
tot
4
1
n
max
=
30
2
1

max
W
WRW
t
tot
n
max
= 2
30
max
= 4
t
2
tot
max
n
2
max
=
30
max
n
max
W
WRW
= 2
30
Symbol Name SI
max
2
t
tot
Total time s
Symbol Name maxon
n
max
Notes
3. Mechanical drives
3.1 Mechanical transformation
Symbol Name SI
F Force N
F
L
M Torque Nm
M
L
Load torque Nm
M
in
Input torque Nm
P
mech
Mechanical power W
P
mech,in
Mechanical input power W
P
mech,L
Mechanical output power W
v Velocity m/s
Symbol Name SI
v
L
Load velocity m/s
EIfciency
Angular velocity rad/s
L
Angular velocity load rad/s
in
Angular velocity input rad/s
Symbol Name maxon
n Speed oI rotation rpm
Classication Output power/transformation, general
Rack and pinion Spindle
Ball screw
Trapezoidal screw
Conveyor belt
Crane
Eccentric drive
Crankshaft
Linear
Rover
Output power, linear motion
[W] m/s N
P
mech
v F
Transformation, general
P
mech,in
P
mech,L
=
in
M
in
v
L
F
L
=
Special design
Cyclo gear
Harmonic Drive
Gearhead
Spur gearhed
Planetary gearhead
Bevel gear
Worm gear
Wolfrom gear
Belt
Toothed belt
Chain drive
Rotation
Output power, rotary motion
[W] = s
-1
Nm
30
P
mech
0Q0
Transformation, general
P
mech,in
P
mech,L
=
in
M
in
L
M
L
=
Designations in the formulae
The load-side variables at the output are identifed by the index L.
The input-side variables (usually the motor) are identifed by the index in.
Spindle drive
J
S
p
Speed oI rotation
p
n
in
= v
L

60
Torque
2
M
in
=
p
F
L
Additional torque Ior constant acceleration
(speed change n
in
during period t
a
)
M
in,
J
in
J
S

m
L
m
S
4
2
p
2
30
t
a
n
in
Play,
position error
2
p

in
V
L
Belt drive/conveyor belt/crane
m
B
J
2
d
2
d
1
J
1
Speed oI rotation
60
d
1
v
L
n
in
=
Torque
F
L
2

M
in
=
d
1
(speed change n
in
during period t
a
)
W
a
Q
LQ
+

30 4
M
LQ
= J
LQ
+ J
1
+
J
2
d
2
2
m
L
+ m
B
d
1
2
d
1
2
J
X
d
X
2
d
1
2
+
J
1
d
1
Play,
position error
2
d
1
in
V
L

Symbol Name SI
F
L
J
in
Moment oI inertia, input
(motor, encoder, brake) kgm
2
J
S
Moment oI inertia, spindle kgm
2
J
X
Moment oI inertia, defector pulley X kgm
2
J
1
Moment oI inertia, driving end kgm
2
J
2
Moment oI inertia, defector pulley 2 kgm
2
M
in
Input torque Nm
M
in,
d
X
Diameter, defector pulley X m
d
1
Diameter, drive pulley m
d
2
Diameter, defector pulley 2 m
m
B
Mass, belt kg
Symbol Name SI
m
L
Mass oI the load kg
m
S
Mass, spindle kg
p Spindle lead (pitch) m
v
L
Load velocity m/s
s
L
Mechanical play, output m
t
a
Acceleration time s
in
Mechanical play, input rad
EIfciency
Symbol Name maxon
n
in
Input speed rpm
n
in
Speed change, input rpm
3.2 Transformation of mechanical drives, linear
Rack-and-pinion drive
p
J
P
, z
m
z
Speed oI rotation
n
in
=
p z
v
L
60
Torque
2
M
in
=
p z F
L

(speed change n
in
during period t
a
)
M
in,
= J
in
+ J
P
+
p
2
z
2

W
a
Q
in
m
L
+ m
Z
4
2
30
Play,
position error
2
p z
in
= V
L

Rover
J
W
m
F
d
Speed oI rotation
60
n
in
=
d
v
L
Torque M
in
=
F
L
2
d
(speed change n
in
during period t
a
)
m
L
+ m
F
W
a
Q
LQ
M
LQ
=
d
2
30
J
LQ
+ J
W
+
Play,
position error
2
d
in
= s
L
Symbol Name SI
F
L
J
in
2
J
P
Moment oI inertia, pinion kgm
2
J
W
Moment oI inertia,
all wheels together kgm
2
M
in
Input torque Nm
M
in,
d Diameter, drive wheel m
m
F
Mass, rover kg
m
L
Mass oI the load kg
m
Z
Mass, gear rack kg
p Pitch m
Symbol Name SI
v
L
Load velocity m/s
: Number oI teeth, pinion
s
L
Mechanical play, output m
t
a
Acceleration time s
in
EIfciency
Symbol Name maxon
n
in
Input speed rpm
n
in
Eccentric drive
e
J
E
Sinusoidal velocity curve oI the load
(assumption: constant motor speed n
in
)

v
L
(t) = n
in
e sin n
in
t
30 30
Angle-dependent periodic acceleration Iorce Ior load,
pistons and rods (m
L
)
30
n
in
2
e cos
F
a
() F
a
cos m
L

Angle-dependent torques due to diIIerent load conditions
M
in1
() e (F
L1
sin F
a1
cos) 0 _ _
M
in2
() e (F
L2
sin F
a2
cos) _ _ 2
Average torque load
e
F F
2
L1 L2
2 2 2 2
+
a2 a1
+
M
in,RMS
= + F F
Additional torque Ior acceleration oI the eccentric disc
(speed change n
in
during period t
a
)
30
W
a
Q
LQ
M
LQ
-
LQ
-
E
Symbol Name SI
F
L1
Load Iorce 1
st
halI cycle N
F
L2
Load Iorce 2
nd
halI cycle N
F
a
Acceleration Iorce N
F
a
() Periodic acceleration Iorce as a
Iunction oI the angle oI rotation N
F
a1
Acceleration Iorce, 1
st
/2
nd
halI cycle N
F
a2
st
/2
nd
halI cycle N
J
in
2
J
E
Moment oI inertia, eccentric disc kgm
2
M
in,RMS
RMS torque Nm
M
in,
M
in1
() Torque, 1
st
halI cycle Nm
Symbol Name SI
M
in2
() Torque, 2
nd
halI cycle Nm
e Eccentricity m
m
L
Mass oI the load kg
v
L
(t) Sinusoidal velocity curve oI the load m/s
t Time s
t
a
Acceleration time s
EIfciency
Symbol Name maxon
n
in
Input speed rpm
n
in
Gearhead
i
G J
1
J
2
Speed oI rotation n
in
= n
L
i
G
Torque
i
G

M
in
M
L
=
(speed change n
in
during period t
a
)
30 30

W
a
Q
LQ
=

M
LQ
= J
LQ
+ J
1
+
J
L
+ J
2
i
G

Q
LQ
W
a
J
LQ
+ J
G
+
J
L
i
G

2 2
Play, position error
in

L
i
G
Reduction ratio
planetary gearhead
z
1
i
G
z
1
+ z
3
=
Belt drive
m
R
d
1
J
2
d
2
J
1
Speed oI rotation
d
1
d
2
n
in
= n
L
Torque
d
2
d
1
M
L
M
in
=
(speed change n
in
during period t
a
)
M
LQ
=
m
R
d
2
1
2
t
a
n
in
+ J
in
+ J
1
+
J
L
+ J
2
d
1
4 30
2
d
2
2
d
1
2
d
x
J
x
+
Play, position error in L
2
=
d
1
d
Symbol Name SI
J
G
Moment oI inertia,
gearhead transIormed kgm
2
J
in
2
J
L
Moment oI inertia, load kgm
2
J
x
Moment oI inertia, defector pulley X kgm
2
J
1
Moment oI inertia, driving end kgm
2
J
2
Moment oI inertia, output kgm
2
M
in
Input torque Nm
M
in,
M
L
Load torque Nm
d
x
Diameter, defector pulley X m
d
1
Diameter, drive pulley m
d
2
Diameter, load pulley m
Symbol Name SI
i
G
Reduction ratio, gearhead (catalog value)
m
R
Mass, belt kg
:
1
Number oI teeth, sun wheel
:
3
Number oI teeth, internal gear
t
a
Acceleration time s
in
L
Mechanical play, output rad
EIfciency
Symbol Name maxon
n
in
Input speed rpm
n
L
Load speed rpm
n
in
3.3 Transformation of mechanical drives, rotation
Identication system for maxon-gearheads
A 22 GP
Gearhead design type
GS Spur gearhead
GP Planetary gearhead
KD Koaxdrive
Diameter
in mm
Version
A Metal version
B Version with enlarged internal gear
C Ceramic version
HD Heavy Duty for applications in oil
HP High power version
K Plastic version
L Low-cost version
M Sterilizable version for medical application
S Spindle drive with axial bearing
V Reinforced version
Z Low backlash version
Operating ranges of gearheads
maxon-gearheads are designed Ior an operating liIe oI at least 1000 hours at the given maximum
continuous torque and maximum input speed ratings. Operation below these limits will
signifcantly increase operating liIe. II the limits are exceeded, the useIul liIe oI the gearhead
may be reduced.
Load speed n
L
Short-term operation
Max. load speed
(determined by gearhead input speed)
Continuous operation
M
G,cont
Load torque M
L
M
G,max
n
max,L
n
max,L
n
max,in
n
max,L
=
i
G
n
max,in
i
G
n
max,in
3.4 maxon gear
Symbol Name SI
M
G,cont
Max. continuous torque, gearhead
(catalog value) Nm
M
G,max
Intermittently permissible torque,
gearhead (catalog value) Nm
i
G
Reduction ratio, gearhead (catalog value)
Symbol Name maxon
n
max,in
Maximum input speed rpm
n
max,L
Maximum load speed rpm
Sintered sleeve bearings Ball bearings
r
Operating
modes
Continuous operation Suitable Ior all types oI operation
Especially Ior start-stop operations and
low-speed applications
Speed
range
Ideal above approx. 500 rpm
(range Ior hydrodynamic
lubrication)
With special material pairing and
lubrication even at lower speeds
Up to approx. 10 000 rpm
In special cases up to 100 000 rpm
and higher
Radial /
axial load
Only small bearing loads Higher loads
Preloaded ball bearings:
Axial loading up to the value oI the
preload
Additional
operating
criteria
Typical in small brushed DC motors
up to approx. 30 mm diameter and
in spur gearheads
Not suitable Ior rotating load
Not suitable Ior vacuum
applications (outgassing)
Not suitable Ior low temperatures
( -20C)
Typical in DC motors above 10 mm
diameter and in planetary gearheads
Preloaded ball bearings oIIer a very
long liIe and smooth operation:
Typical in brushless DC motors
Bearing
play
Axial: typically 0.05 ... 0.15 mm
Radial: typically 0.014 mm
Axial: typically 0.05 . 0.15 mm
(no axial play iI preloaded)
Radial: typically 0.025 mm
Coefcient
of friction
0.001 . 0.01
(hydrodynamic lubrication)
0.001 . 0.1
Lubrica-
tion
Hydrodynamic lubrication only at
high speeds
ShaIt bearing material very important,
pore size oI the sintered bearing and
viscosity oI the lubricant at operating
temperature are critical
Special: Sintered iron bearings with
ceramic shaIt Ior high radial loads
and long operating liIe
Temperature range Ior standard
lubrication: typically -20 . 100 C
Special lubrication possible Ior very
high or very low operating temperatures
Sealing possible (but higher Iriction,
shorter liIe and lower speed limit)
Costs Economical More expensive
4. Bearing
4.1 Comparison of characteristics of sintered sleeve bearings and ball bearings
Notes
5. Electrical principles
5.1 Principles of DC (Direct Current)
Electric power
Unit:
[P] J A JA
W J/s
Power:
P = U I = R I
2
=
R
U
2
Power loss:
P
V
= R I
2
Power adjustment
At R
L
= R
i
the maximum power is drawn Irom a voltage source.
1.0
0.8
0.6
0.4
0.2
0.0
0.01 0.1 1 10 100
R
L
/R
i
P
/
P
m
a
x
I R
i
Linear source Consumer load
a
b
U
0
U
kl
R
L
I

P
max
=
4 R
i
U
0
2
4
I
2
R
i
=
Ohm's law
V R U
A
+
_
I
U R I
I =
R
U
R =
I
U
Symbol Name SI
I Current A
P Power W
P
max
Maximum power W
P
V
Power losses W
R Electrical resistance
Symbol Name SI
R
i
Inner resistance, voltage source
R
L
Load resistance
U Voltage V
U
0
Source voltage V
U
kl
Terminal voltage V
Electrical time constant
100
%
60
40
20
0
0
el
2
el
4
el
3
el
5
el
U
in
U
out
t
63%
The electrical time constant
describes the reaction time oI
the current when switching
on or oII a voltage.
[
el
] F As / J s
[
el
] H / Js / A / s
Current change with
inductive load
el
=
R
L
Voltage change with
capacitive load
el
= R C
Pull-up / pull-down
+V
R
u
Logic
Pull-up
Pull-up: (relatively high-impedance) resistor
Connects signal line with higher voltage potential
Pulls the line up to the higher potential, iI no external
voltage actively pulls the line to a lower potential
Logic
R
d
Pull-down
Pull-down: (relatively high-impedance) resistor
Connects signal line with lower voltage potential
Pulls the line down to the lower potential, iI no external
voltage actively pulls the line to a higher potential
Open-collector output
Logic
Collector
Emitter
Base
R
u
+V
Open
Collector
Output
I
out
U
out
Open-collector output (OC):
Output oI an integrated circuit with a bipolar transistor
with an open collector output.
Usually the outputs are used in combination with
a pull-up resistor which raises the output voltage to a
higher potential in the inactive state.
U
out
J (I
out
R
u
)
Hall sensors usually have an open-collector output
without pull-up resistor. ThereIore it is integrated into the
maxon controllers.
Symbol Name SI
C Capacitance F
I
out
Output current A
L Inductance H
R
d
Pull-down resistance
R
u
Pull-up resistance
Symbol Name SI
t Time s
U
in
Input voltage V
U
out
Output voltage V
+V Supply voltage V
el
Electrical time constant s
Series resistor circuits
R
2
U
+
I
U
1
U
2
R
1
I constant
U U
1
U
2
+...
R = R
1
+ R
2
+ ...
=
U
2
U
1
R
2
R
1
Parallel resistor circuits
R
2
U
+
I
I
1
I
2
R
1
U constant
I = I
1
+ I
2
+...
R
1
=
R
1
1
+
R
2
1
+ ...
R
1
+ R
2
R
1
R
2
R =
=
I
2
I
1
R
1
R
2
5.2 Electrical resistive circuits
Symbol Name SI
I Total current A
I
1
, I
2
Partial currents A
R Equivalent resistance
Symbol Name SI
R
1
, R
2
Partial resistances
U Total voltage V
U
1
, U
2
Partial voltages V
Voltage divider, no-load
R
2
U
+
I
U
2
R
1
U
1
R
1
+ R
2
R
2
U
2
= U
=
U
2
U
1
R
2
R
1
R
2
U
2
I =
R
1
+ R
2
U
=
Voltage divider, under load
R
2
U
+
I
I
R2
R
1
U
L
R
L
I
L
R
x
R
1
+
R
2
U
+
I
I
R2
R
1
U
L
R
L
I
L
R
x
R
1
+
R
x
U
L
= U
R
x
+ R
1
R
L

R
2
R
x
=
R
L
+ R
2
R
2
I
L
= I
R
L
+ R
2
R
L
I
R2
= I
R
L
+ R
2
Potentiometer
0
U
+
A
R
L
1
U
L
R
0
S
E
x
A: Start
S: Wiper
E: End
x R
0
R
L
R =
(x R
0
) + R
L
No-load
R
U
L
= U
R + (1 x) R
0
Under load
x
U
L
= U
R
L
R
0
(x x
2
) +1
Winding resistance
Temperature-dependance R
T
= R
mot
(1
Cu
T)
Symbol Name SI
I Total current A
I
L
Load current A
I
R2
Current through resistor R
2
A
R Equivalent resistance
R
0
Resistance, potentiometer
R
1
, R
2
Partial resistances
R
L
Load resistance
R
mot
Terminal resistance, motor (catalog value)
R
x
Equivalent resistance oI R
2
and R
L

Symbol Name SI
R
T
Resistance at temperature T
U Total voltage V
U
1
, U
2
Partial voltages V
U
L
Load voltage V
T Temperature diIIerence K
x Potentiometer position 0...1
Symbol Name Value
Cu
Resistance coeIfcient, copper 0.0039 K
-1
Alternating quantities
t
T
[f] = 1 / s H:
[] = 1 / s =
rad / s
f =
T
1
2 f
Ohm's law
V Z U
A
~
~
I
U(t) Z I(t)
I(t) =
Z
U(t)
Z =
I(t)
U(t)
Resistances
Reactance
~
X
L
~
X
C
Inductive: X
L
L 2 f L
~
X
L
~
X
C
Capacitive: X
C
=
&
1
2I&
1
=
Impedance (AC resistance)
For series connection oI R and L, or R and C R
2
+ X
2
Z =
5.3 Principles of AC (Alternating Current)
Symbol Name SI
C Capacitance F
I Current A
L Inductance H
T Period s
U Voltage V
Symbol Name SI
X Stands Ior X
C
or X
L

X
C
Reactance, capacitive
X
L
Reactance, inductive
Z Impedance
f Frequency Hz
t Time s
Angular Irequency rad/s
General
Cut-oII Irequency f
C
f
C
=
2 R C
1

or

f
C
=
2 L
R
Phase shiIt
U
in
U
out
FRV
Low-pass lters, integral element
Allow Irequencies to pass virtually unaIIected below their cut-oII Irequency f
C
.
Higher Irequencies are dampened.
Applications: maxon controller inputs, commutation signal measurement oI maxon motors.
R
U
in
C U
out
L
U
in
R U
out
U
R
I
U
out
U
in
U
out
I
U
L
U
in
1.0
U
in
U
out
0.707
90
f = f
C
45
0
0.1
f/f
C
10 0.2 0.5 1 2 5
0.1
0.5
0.2
U
in
U
out
1 + ( f / f
C
)
2
=
1
U
out
= U
in
R
2
+ X
c
2
X
c
U
out
= U
in
R
2
+ X
L
2
R
5.4 Simple lters
Symbol Name SI
C Capacitance F
I Current A
L Inductance H
U
C
Voltage over capacitance V
U
in
Input voltage V
U
L
Voltage over inductance V
Symbol Name SI
U
out
Output voltage V
U
R
Voltage over resistance V
X
C
Reactance, capacitive
X
L
Reactance, inductive
f Frequency Hz
f
C
Cut-oII Irequency Hz
Phase shiIt
High-pass lter, derivative element
Allow Irequencies to pass virtually unaIIected above their cut-oII Irequency f
C
.
Lower Irequencies are dampened.
R
U
in
L U
out
U
out
I
U
C
U
in
U
R
I
U
out
U
in
C
U
in
R U
out
0.707
f = f
C
1.0
U
in
U
out
90
45
0
0.1
f/f
C
10 0.2 0.5 1 2 5
0.1
0.5
0.2
U
in
U
out
1 + ( f
C
/ f

)
2
=
1
U
out
= U
in
R
2
+ X
C
2
R
U
out
= U
in
R
2
+ X
L
2
X
L
6. maxon motors
6.1 General
What is special about maxon motors?
The heart oI the maxon motor is the self-supporting ironless copper winding.
Outstanding Ieatures oI the maxon DC motors:
High eIfciency Low power consumption
Very low moment oI inertia Highest acceleration
Low inductance Long service liIe
Linear characteristics Good controllability
Compact design Good volume/power ratio
No magnetic cogging
Low electromagnetic interIerence
High reliability
maxon DC motor (brushed permanent-magnet energized DC motors)
RE program
High power density
High-quality DC motor with NdFeB magnet
High speeds and torques
Robust design (metal fange)

6 - 65 mm
A-max program
Good price/perIormance ratio
DC motor with AlNiCo magnet
Automated manuIacturing process
12 - 32 mm
RE-max program
High perIormance at low costs
Combines rational manuIacturing and
design oI the A-max motors with the higher
power density oI the NdFeB magnets
Automated manuIacturing process
13 - 29 mm
Properties of the two brush systems
Graphite brushes
Well suited Ior high
currents and peak currents
Well suited Ior start-stop and
reverse operation
Larger motors (Irom approx. 10 W)
Higher Iriction, higher no-load current
Not suited Ior low currents
Higher audible noise
Higher electromagnetic emissions
More complex and higher costs
Precious metal brushes
Well suited Ior lowest
currents and voltages
Well suited Ior continuous operation
Smaller motors
Very low Iriction, low audible noise
Low electromagnetic emissions
Cost eIIective
Not suited Ior high currents and
peak currents
Not suited Ior start-stop operation
maxon EC motor
Brushless DC motors (BLDC motors)
Motor behavior similar to brushed DC motor
Design similar to synchronous motor (3-phase stator winding, rotating permanent magnet)
Powering oI the 3 phases according to the rotor position by a commutation electronics
maxon EC range
Power-optimized, with high speeds
up to 100 000 rpm
Robust design
Various types: e.g. short long, sterilizable
Lowest residual imbalance
6 - 60 mm
EC-max range
Attractive price/perIormance ratio
Robust steel housing
Speeds up to 20 000 rpm
Rotor with one pole pair
16 - 40 mm
EC-4pole range
Highest power density thanks to 4-pole rotor
Knitted winding, system maxon
with optimi-
zed interconnection oI the partial windings
Speeds up to 25 000 rpm
High-quality magnetic return material to
reduce eddy current losses
Mechanical time constants below 3
milliseconds.
22 - 45 mm
maxon EC at motor
Attractive price/perIormance ratio
High torques due to external,
multipole rotor
Excellent heat dissipation at higher speeds,
resulting Irom the to open design
Speeds oI up to 20 000 rpm
10 - 90 mm
maxon EC-i range
Highly dynamic due to internal,
multipole rotor
Mechanical time constants
below 3 milliseconds
Speeds oI up to 15 000 rpm
40 mm
Electronic commutation
Commutation type Rotor position determination
Block commutation with Hall sensors sensorless
Turning angle
Block-shaped phase currents
0 360 60 120180 240300
+
+
+
U
U
U
1-2
2-3
3-1
1
0
1
0
1
0
60 120 180 240 300 360 0
Signal sequence diagram
for the Hall sensors (HS)
Supplied motor voltage
(phase to phase)
HS 1
HS 2
HS 3
0 60 120 180 240 300 360

EMF
EMF
Legend
Star point
Time delay 30
Zero crossing of EMF
Sinusoidal commutation With encoder and Hall sensors (HS)
0 360 60 120 180 240 300
Turning angle
Sinusoidal phase currents
EC-Motor mit HS Encoder
EC motor with HS Encoder
Comparison of DC and EC motors
DC motor (brushed)
Simple operation and control,
even without electronics
No electronic parts in the motor
Operating liIe limited by brush system
Max. speeds limited by brush system
EC motor (brushless)
Long operating liIe and high speeds with
preloaded ball bearings
No commutator arcing
Iron losses in the magnetic return
Needs electronics Ior operation
(more cables and higher costs)
Electronic parts in the motor (Hall sensors)
6.2 Power consideration of the DC motor: in general
Motor as energy converter
P
J
= R
mot
,
mot
2
P
L
= n M
30
P
el
= U
mot
,
mot
Power balance, motor

P
el
P
L
P
J
30
U
mot
I
mot
= n M + R
mot
I
mot
2

U
mot
> U
N
U
mot
= U
N
Torque M
n
0
M
H
P
L
P
L
Power P
Speed n
In the speed-torque diagram, the output power
is equivalent to the area oI the rectangle below
the speed-torque line. This rectangle is largest
at halI the stall torque and halI the no-load
speed.
The power curve is a parabola, whose
maximum value is proportional to the square
oI the motor voltage.
Symbol Name SI
I
mot
Motor current A
M Torque Nm
M
H
Stall torque Nm
P Power W
P
el
Electrical input power W
P
J
Joule power loss W
P
L
Mechanical output power W
R
mot
Terminal resistance, motor
(catalog value)
Symbol Name SI
U
mot
Motor voltage V
U
N
Nominal voltage, motor
(catalog value) V
Symbol Name maxon
n
0
No load speed rpm
6.3 Motor constants and diagrams
Motor constants
The speed constant k
n
and the torque constant k
M
are two important characteristic values Ior
the energy conversion.
Speed constant k
n
The speed constant k
n
combines the speed n with the voltage
induced in the winding U
ind
(EMF).
n = k
n
U
ind
Torque constant k
M
The torque constant k
M
links the produced torque M with the
electrical current I.
Information: maxon unit mNm/A
M k
M
I
mot
Dependence between k
n
and k
M
(maxon units)
30 000
k
n
k
M
=
V
rpm
A
mNm
[ ]

s V
rad
= 1
A
Nm
Speed-torque line
Describes the motor behavior i.e. possible operating points
(n, M) at a constant voltage U
mot
U
m
o
t

>

U
N
Torque M
n
0
M
H
n
U
m
o
t

=

U
N
Speed n
M
M
R
I
0
I
A
Motor current I
mot
n
0
- k
n
U
mot
M
H
= k
M
I
A
M
R
= k
M
I
0
0
Q
QN
Q
8
mot
0
(maxon units)
Speed/torque gradient:
M
n
30 000
=
k
M
2
R
mot
M
H
n
0
(maxon units)
Symbol Name SI
I
mot
Motor current A
I
A
Starting current A
I
0
No load current A
k
M
Torque constant (catalog value) Nm/A
M Torque Nm
M
H
Stall torque Nm
M
R
Friction torque Nm
R
mot
U
ind
Induced voltage V
Symbol Name SI
U
mot
Motor voltage V
U
N
Nominal voltage, motor (catalog value) V
Symbol Name maxon
k
n
Speed constant (catalog value) rpm/ V
n
0
No load speed rpm
n/M Speed/torque gradient, motor
(catalog value) rpm/mNm
Voltage equation, motor

I
mot
+
U
mot
U
ind
L
mot
R
mot
EMF
W
L
U
PRW
= L
PRW
+ R
PRW
I
PRW
+ U
LQG
R
PRW
I
PRW
+ U
LQG
Derived Irom this the speed oI rotation as a
Iunction oI the load (speed-torque line)
0
Q
QN
Q
8
mot
0Q
0
0
0
Q
(maxon units)
Efciency curve f(M)
n
0
U
mot
= U
N
K
max
Torque M
Efficiency K
Speed n
M
H
30 000

U
mot
,
mot
Q(00
5
)
(with0
R
N
M
,
0
)
max
=
I
A
I
0
1
2
Symbol Name SI
EMF Electromotive Iorce V
I
0
No load current A
I
A
Starting current A
I
mot
Motor current A
k
M
L
mot
Terminal inductance, motor (catalog value) H
M Torque Nm
M
H
Stall torque Nm
M
R
Friction torque Nm
R
mot
U
N
U
ind
Induced voltage V
Symbol Name SI
U
mot
Motor voltage V
i Current change A
t Time change s
EIfciency
max
Maximum eIfciency at U
N
(catalog value)
Symbol Name maxon
k
n
Speed constant (catalog value) rpm/V
n
0
No load speed rpm
Angular acceleration: Start with constant current
M
L
, n
L
n
0
n
0
n
L
M
H
t Time t
l
mot
= constant
Torque M
Speed n
Speed n
Acceleration
J
R
-
L
k
M
I
mot
J
R
-
L
M
Ramp time to load speed
t
30
n
k
M
I
mot
J
R
J
L
30
n
M
J
R
J
L
Angular acceleration: Start with constant terminal voltage
n
L
M
L
, n
L
n
0
M
H
n
0
t
m
U
mot
= constant
Time t
Torque M
Speed n
Speed n
Acceleration, maximum
max
=
J
R
+ J
L
M
H
Ramp time to load speed
W
m
'
ln
1
M
H
M
L
+ M
R
n
0
1
M
H
M
L
+ M
R
n
0
n
L
Mechanical time constant with load inertia
m
'
=
k
M
2
(J
R
+ J
L
) R
mot
Symbol Name SI
I
mot
Motor current A
J
L
Moment oI inertia, load kgm
2
J
R
Moment oI inertia, rotor (catalog value) kgm
2
k
M
M Torque Nm
M
H
Stall torque Nm
M
L
Load torque Nm
M
R
Friction torque Nm
R
mot
t Time s
U
mot
Motor voltage V
Symbol Name SI
2
max
2
t Acceleration time s
m
Mechanical time constant (catalog value) s
m
Mechanical time constant
with additional J
L
s
Symbol Name maxon
n
0
No load speed rpm
n
L
Load speed rpm
n Speed change rpm
6.4 Acceleration
Speed n
Short-term operation
Max. permissible speed
Continuous
operation
M
RMS
Torque M
M
max
M
N
M
H
based on the required torques
M
N
~ M
RMS
M
H
~ M
max
Root mean square load (RMS)
M
RMS
=
t
tot
1
(t
1
M
1
2
+ t
2
M
2
2
+ ... + t
n
M
n
2
)
Remark:
A motor type (e.g. RE30) is defned by: its size, the mechanical output power, the bearing system
oI the shaIt, the commutation system used and the possible combinations with gearheads and
sensors (maxon modular system)
Winding selection
For an optimum match between the electrical and mechanical power components oI the motor.
Speed-torque line
high enough for all
operating points
n
0,theor
Safety
factor
~ 20%
n
max
Deceleration Acceleration
M
max
Speed n
Torque M
k
n
specifes the winding:
Select winding with
k
n
N
n,theor
=
U
mot
n
0,theor
U
mot
n
max
+
=
0
Q
0
max
(maxon units)
where n
max
, M
max
is the extreme operating point
and n/M the average speed/torque gradient
oI the selected motor type.
Recommendation: Add a saIety Iactor oI approx. 20 to k
n
to compensate Ior tolerances and load
changes; but do not select too large a value Ior

k
n
, as this would lead to large currents.
Required maximum motor current
I
mot
= I
0
+
k
M
M
max
6.5 Motor selection
Symbol Name SI
I
mot
Motor current A
I
0
No load current A
k
M
M
1...n
Torque at operating points 1...n Nm
M Torque Nm
M
H
Stall torque Nm
M
N
Nominal torque, motor (catalog value) Nm
M
RMS
RMS torque Nm
M
max
Maximum torque in load cycle Nm
U
mot
Motor voltage V
Symbol Name SI
t
1n
Duration oI operating points 1...n s
t
tot
Total time, operating cycle s
Symbol Name maxon
k
n
Speed constant (catalog value) rpm/V
k
n,theor
Required speed constant rpm/V
n
max
n
0,theor
Required no load speed rpm
7. maxon sensor
maxon incremental encoder
360e 90e
Channel A
Channel B
Signal edges (quadcounts)
Index channel I
Recommended applications QUAD MEnc MR EASY MILE Optical
High number oI counts
High speeds
Low speeds
Line driver (in the case oI long
cables, rough ambient conditions,
positioning applications)

Low positioning accuracy or
positioning with gearhead
,
High positioning accuracy ,
Index channel (Ior precision homing)
Dust, dirt, oil
Ionizing radiation () ()
External magnetic felds ()
Mechanically robust
Recommended With restrictions () Optional (on request) Not recommended
Counts per turn from position resolution
Required counts per turn N of the
encoder Ior a specifed positioning
accuracy oI .
1
L
360
Remark: By evaluating the quadcounts (qc), a Iour times higher resolution is achieved. This is
recommended Ior a suIfciently accurate positioning.
Measurement resolution, motor speed
Example:
Measurement resolution Q:
1 qc/ms
Counts per turn N, encoder:
500 CPT
Q =
Q N
4
Q =
Q N
4
=
1
ms
qc
CPT
CPT
qc
=
PLQ
qc
qc
= rpm
Comment: The achievable speed stability is much higher than the above measurement
resolution, due to the mass inertias and Ieed Iorward (iI applicable).
Symbol Name SI
N Counts per turn CPT
i Reduction ratio, mechanical drive
Q 4 Quadcounts per pulse qc/IMP
Q Measurement resolution qc/ms
Symbol Name SI
Position resolution
Symbol Name maxon
n Measurement resolution, motor speed rpm
8. maxon controller
8.1 Operating quadrants
Operating quadrants
n
M
n
M
n
M
n
M
n
M
Quadrant II
Braking operation
Clockwise (cw)
Quadrant III
Motor operation
Counterclockwise
(ccw)
Quadrant IV
Braking operation
Counterclockwise
(ccw)
Quadrant I
Motor operation
Clockwise (cw)
1-Q operation
Only motor operation
(Quadrant I or Quadrant III)
Direction reversal via digital signal
Typical: amplifer Ior EC motors
Braking is not controlled (Iriction),
oIten slow
4-Q operation
Controlled motor operation
and braking operation in both
rotation directions (all 4 quadrants)
A must Ior positioning tasks
8.2 Selection of power supply
Required supply voltage at given load (n
L
, M
L
)
V
CC
0
Q
Q
L
0
L
+ 8
max
(maxon units)
Q
0,81
8
1
Notes:
In the case oI a 4Q servo amplifer, the power supply has to be able to absorb the kinetic energy
generated (Ior example in a capacitor) when the load is decelerated.
When a stabilized power supply is used, the overcurrent protection has to be deactivated Ior
the operating range.
The Iormula includes the maximum voltage drop U oI the controller at maximum continuous
current.
Achievable speed at given voltage supply
n
L
(V
CC
U
max
) (maxon units)
0
Q
0
L
U
N
n
0,UN
Symbol Name SI
M Torque Nm
M
L
Load torque Nm
U
N
V
CC
Supply voltage V
U
max
Maximum voltage drop oI the controller V
Symbol Name maxon
n
L
Load speed rpm
n
0,UN
No load speed motor at U
N
(catalog value) rpm
8.3 Size of the motor choke with PWM controllers
Calculation of current ripple
PWM scheme 1-Q 2-level (4-Q) 3-level (4-Q)
Maximum
current ripple,
peak-to-peak
,
PP,max
=
4 L
tot

f
PWM

V
CC
,
PP,max
=
2 L
tot

f
PWM
V
CC
,
PP,max
=
4 L
tot

f
PWM
V
CC
Calculation L
tot
L
tot
= L
int
+ 0.3...0.8 L
mot
+ L
ext
The eIIective motor inductance in the case oI square PWM excitation only amounts to approx.
30 80 oI the catalog value L
mot
.
The catalog value L
mot
is defned at a Irequency oI 1 kHz with sinusoidal excitation.
At a current ripple oI I
PP
_ 1.5 I
N
the motor can still be loaded to approx. 90 oI the
nominal current I
N
(catalog value).
At a current ripple oI I
PP
~ 1.5 I
N
, it is recommended to use an external motor choke,
in accordance with the Iormula below.
Calculation, additional external motor choke
PWM scheme 1-Q and 3-level (4-Q) 2-level (4-Q)
Rule oI thumb
L
ext
=
6 I
N
f
PWM
V
CC
L
int
0.3 L
mot
L
ext
=
3 I
N
f
PWM
V
CC
L
int
0.3 L
mot
L
ext
_ 0 No additional motor choke required
L
ext
> 0 Additional motor choke recommended
PWM
DC
motor
L
mot
L
ext
L
int
DC amplifier
PWM
PWM
PWM
EC
motor
L
mot
1
/
2
L
ext
1
/
2
L
int
1
/
2
L
int
1
/
2
L
int
1
/
2
L
ext
1
/
2
L
ext
EC amplifier
Symbol Name SI
f
PWM
PWM Irequency Hz
I
N
Nominal current, motor (catalog value) A
L
ext
Inductance, additional external
motor choke H
L
int
Inductance, built-in choke controller H
Symbol Name SI
L
mot
Terminal inductance, motor (catalog value) H
L
tot
Total inductance H
V
CC
Supply voltage V
I
PP
Current ripple, peak-to-peak A
I
PP,max
Maximum current ripple, peak-to-peak A
9. Thermal behavior
9.1 Basics
Heat sources
Iron losses in EC
motors and motors
with iron core winding
Remagnetization losses
P
V, magn
=
30
n M
magn
Eddy current losses
P
V,eddy
const n
2
Joule power losses
in winding
Temperature T
Resistance R
25C T
W
R
mot
R
TW
P
J
= R
TW
I
mot
2
R
TW
= R
mot
|1
Cu
(T
W
25C)|
Friction losses: in the bearings and in the brushes (brushed DC motors)
Losses in the
gearhead
40%
60%
80%
100%
M
G, cont
Efficiency
1-stage
3-stage
5-stage
Torque M
30
P
V,R
= n
mot
M
mot
(1
G
)
30
P
V,R
= n
L
M
L

G
1
G
Stall torque reduced through temperature rise
First approximation; calculated Irom voltage and increased
winding resistance
(Temperature dependence oI k
M
not considered)
M
HT
= k
M
I
AT
= k
M
R
TW
U
mot
Storing heat
Q c m T C
th
T Q P
v
t
Winding: C
th,W
= c
Cu
m
W
Stator: C
th,S
= c
Fe
m
mot
Gearhead: C
th,G
= c
Fe
m
G
Symbol Name SI
C
th
Heat capacity J/K
C
th,G
Heat capacity gearhead J/K
C
th,S
Heat capacity stator J/K
C
th,W
Heat capacity winding J/K
c Specifc heat capacity J/(kgK)
I
AT
Starting current at temperature T
W
A
I
mot
Motor current A
k
M
M Torque Nm
M
G,cont
Maximum continuous torque, gearhead
(catalog value) Nm
M
HT
Stall torque at temperature T
W
Nm
M
L
Load torque Nm
M
magn
Torque Ior reversal oI magnetization Nm
M
mot
Motor torque Nm
m Mass kg
m
G
Mass, gearhead kg
m
mot
Mass, motor kg
m
W
Mass, winding kg
P
J
Joule power losses W
P
V
Power losses W
P
V,eddy
Eddy current power losses W
Symbol Name SI
P
V,magn
Power losses Ior reversal oI magnetization W
P
V,R
Friction power losses W
Q Stored heat J
R
mot
R
TW
Winding resistance at current temp. T
W

T Temperature C
T
W
Winding temperature C
t Time s
U
mot
Motor voltage V
T Temperature diIIerence K
EIfciency
G
Gearhead eIfciency
Symbol Name maxon
n
L
Load speed rpm
n
mot
Motor speed rpm
Symbol Name Value
Cu
-1
c
Cu
Specifc heat capacity copper 380 J/(kgK)
c
Fe
Specifc heat capacity iron 450 470 J/(kgK)
Analogy to electrical circuit:
Power loss P
V
Thermal Electrical Current I
R
th1
R
th2
T
W
T
W
T
S
T
S
T
A
U
1
U
2
C
th,W
R
1
R
2
C
1
C
2
GND
C
th,s
Thermal oHeat ow
Losses
Symbol Name Unit
Q Stored heat J
P
V
Power losses W J/s
T
W
Temperature diIIerence, winding ambient K
T
S
Temperature diIIerence, stator ambient K
T
A
Ambient temperature C (K)
R
th1
Therm. resistance, winding housing
(catalog value) K/W
R
th2
Therm. resistance, housing ambient
(catalog value) K/W
C
th,W
Heat capacity, winding J/K
C
th,S
Heat capacity, stator J/K
Electrical oCurrent ow
Current source
Symbol Name Unit
Q Electric charge C
I Current A C/s
U
1
Voltage, potential diIIerence V
U
2
Voltage, potential diIIerence V
GND Ground V
R
1
Electrical resistance
R
2
Electrical resistance
C
1
Electrical capacitance F
C
2
Electrical capacitance F
Heating of a simple body Cooling of a simple body
T
start
T
end
T
max
= 100%
th
Time t
Temperature T
Heating
63%
T
end
T
start
T
max
= 100%
th
Time t
Temperature T
Cooling
63%
th
t
7W = 7
end
1
[ ]
th
t
7W = 7
start

Symbol Name SI
T Temperature C
T
A
Ambient Temperature C
T
end
End temperature C
T
start
Temperature at start C
T
S
Stator temperature C
T
W
Symbol Name SI
t Time s
T
max
Maximum temperature change K
T(t) Temperature change as a
Iunction oI time t K
th
Thermal time constant s
Continuous operation is characterized by a thermal equilibrium. AIter several stator time constants
the temperature diIIerence between the rotor and stator stays constant, as their temperatures do not
increase Iurther.
Motor: Winding and stator temperature
Temperature T
140
1 10 100 1000 10000
Stator
Temperature
difference
Winding
T
W,
T
S,
R
th1
R
th2
T
W
T
S
T
A
Time t
0
120
100
80
40
20
60
Heating of the winding in accordance
with the thermal time constant
of the winding
W
Heating of the stator in accordance
with the thermal time constant
of the stator
s
Thermal equilibrium
after several stator time
constants
T
W
= T
W
T
A
= (R
th1
+ R
th2
) P
J
R
th1
R
TA
I
mot
2
7
W
=
1
Cu
R
th1
R
TA
I
mot
2
R
th2
7
S
= 7
S
7
A
=
R
th1
+ R
th2
7
W
Gearhead: Housing temperature
P
V, G
T
G
R
th,G
T
G
T
A
P
V, G
T
G
= T
G
T
A
= R
th,G
P
J,G
R
th, G
: e.g. estimated with

R
th2
of
motors with the same size
9.2 Continuous operation
Symbol Name SI
I
mot
Motor current A
P
J
P
J,G
Power losses, gearhead W
R
TA
Winding resistance at temperature T
A

R
th,G
Therm. resistance, gearhead ambient K/W
R
th1
(catalog value) K/W
R
th2
(catalog value) K/W
T Temperature C
T
A
Ambient temperature C
T
G
Gearhead temperature C
T
S
Symbol Name SI
T
S,
End temperature, stator C
T
W
T
W,
End temperature, winding C
t Time s
T
G
Temperature diIIerence, gearhead ambient K
T
S
T
W
S
Therm. time constant, stator (catalog value) s
W
Therm. time constant, winding
(catalog value) s
Symbol Name Value
Cu
-1
Permissible nominal current I
N
I
N
M
N
n
N
Speed n
Torque M
Motor current I
mot
Continuous
operation
Short-term
operation
Max. permissible speed
Temperature-dependence under standard mounting
conditions (Iree air convection at 25C; mounted
horizontally on plastic plate)
T
max
T
A
I
N,TA
= I
N

T
max
25C
Temperature-dependence under modifed mounting
conditions
T
max
T
A
I
N,TA
= I
N

T
max
25C
R
th1
+ R
th2
R
th1
+ R
th2,mod
Determining R
th2,mod
T
W
T
A
T
S
R
th2, mod
R
th1
T
S
P
V
P
V
P
V
Motor under original conditions
Installation, Iastening, air circulation
Separate measurement during
continuous operation
At any motor current I
mot
Stator temperature T
S,
Ambient temperature T
A
1
Cu
R
th1
R
TA
I
mot
2
R
th2,mod
7
S

R
TA
I
mot
2
(1
Cu
7
S
)
Symbol Name SI
I
mot
Motor current A
I
N
I
N,TA
Nominal current as a Iunction oI T
A
A
M Torque Nm
M
N
Nominal torque, motor (catalog value) Nm
P
V
Power losses W
R
TA
A

R
th1
(catalog value) K/W
R
th2
(catalog value) K/W
R
th2,mod
Therm. resistance,
housing ambient modifed K/W
T
A
Symbol Name SI
T
max
Max. permissible winding temperature
(catalog value) C
T
S
T
W
T
S
Temperature diIIerence,
stator ambient K
Symbol Name maxon
n
N
Nominal speed, motor (catalog value) rpm
Symbol Name Value
Cu
-1
Repetitive work cycles oI short duration (typically only a Iew seconds) can be assessed with the
same Iormalism as continuous operation.
T
e
m
p
e
r
a
t
u
r
e

T

90.00
80.00
70.00
60.00
50.00
40.00
30.00
0.1 1 10 100 1000
On
(1s)
Average
end temparture,
winding
10000
Time t
Off
(3s)
On
Time constant
winding 9s
Off
Average temperature rise during intermittent operation
Use eIIective current value (RMS) as motor
load.
(R
th1
+ R
th2
R
TA
I
RMS
2
7
W
=
1
Cu
(R
th1
+ R
th2
R
TA
I
RMS
2

R
th2
7
S
=
(R
th1
+ R
th2
)
7
W
Intermittent operation
Temperature T
Time t
Current I
I
on
I
RMS
T
W,avf
T
S,
T
max
t
on
t
off
RMS current
t
on
I
RMS
= I
on
t
on
+ t
off
Basic requirement: I
RMS
_ I
N,TA
Maximum load current Ior a given time cycle
T
max
T
A
I
on
,
N
T
max
25C
t
on
t
off
t
on
OFF duration Ior a load oI I
on
during t
on
t
off
I
on
2
T
max
7
A
T
max
25C
I
N
2

1 t
on
9.3 Cyclic and intermittent operation (continuously repeated)
Symbol Name SI
I Current A
I
N
I
N,TA
A
A
I
on
Current during ON phase A
I
RMS
RMS current A
R
TA
A

R
th1
(catalog value) K/W
R
th2
(catalog value) K/W
T Temperature C
T
A
Symbol Name SI
T
max
(catalog value) C
T
S,
T
W,av
Average end temperature, winding C
t Time s
t
off
OFF time s
t
on
ON time s
T
S
T
W
Symbol Name Value
Cu
-1
High, brieI, one-time overload oI the motor. The operation duration is so short that the temperature
oI the thermally inert stator does not increase signifcantly; this corresponds to an ON time oI
approx.
S
/10 ( 5
w
).
Only the heating oI the winding, which corresponds to the heating oI a simple body
(see chapter 9.1), has to be taken into account.
140
1 10 100 1000
0
120
100
80
40
20
60
0.1
s
10000
Temperature T
Stator
Temperature
difference
Winding
Time t
T
W,
R
th1
T
S,
T
W
T
A
R
th2
T
S,
= T
A
T
W
= R
th1
P
J
R
th1
R
TA
I
mot
2
7
W
=
1
Cu
R
th1
R
TA
I
mot
2
Overload factor K
Quantifcation oI the overload
Meaning:
K 1: T
max
is not reached during short-term operation
K ~ 1: Limit maximum ON time t
on
T
max
25C
K =

T
max
T
S
R
th1
R
th1
+

R
th2
I
mot
I
N
Maximum permissible overload at given ON time t
on
1
K =
1 exp
t
on
W
Maximum ON time t
on
at given overload Iactor K
K
2
t
on
W
ln
K
2
1
Maximum motor current I
mot
at given
overload Iactor K
T
max
T
S
I
mot
= K I
N

T
max
25 C
R
th1
+ R
th2
R
th1

9.4 Short-term operation
Symbol Name SI
I
mot
Motor current A
I
N
K Overload Iactor
P
J
R
TA
A

R
th1
Therm. resistance, winding housing K/W
(catalog value)
R
th2
Therm. resistance, housing ambient K/W
(catalog value)
T Temperature C
T
A
T
max
(catalog value) C
Symbol Name SI
T
W,
End temperature, winding C
T
S
T
S,
t Time s
t
on
ON time s
T
W
S
Therm. time constant, stator
(catalog value) s
W
Therm. time constant, winding
(catalog value) s
Symbol Name Value
Cu
-1
10. Tables
10.1 maxon Conversion Tables
Power P |W|
B A oz-in-s
-1
oz-in-rpm in-lbI-s
-1
It-lbI-s
-1
Nm s
-1
W mW kpm s
-1
mNm rpm
WNm s
-1
7.0610
-3
1.1710
-4
0.113 1.356 1 110
-3
9.807
1
/
60000
mW 7.06 0.117 112.9 1.35610
3
1 10
3
1 9.80710
3 1
/
60
oz-in-s
-1
1
1
/
60
16 192 141.6 0.142 1.3910
3
2.3610
-3
It-lbI-s
-1 1
/
192
1
/
11520
1
/
12
1 0.737 0.73710
-3
7.233 1.2310
-5
kpm s
-1
7.2010
-4
1.210
-5
1.1510
-2
0.138 0.102 0.10210
-3
1 1.7010
-6
Torque M |Nm|
B A oz-in It-lbI Nm Ws Ncm mNm kpm pcm
Nm 7.0610
-3
1.356 1 110
-2
110
-3
9.807 9.80710
-5
mNm 7.06 1.35610
3
110
3
10 1 9.80710
3
9.80710
-2
kpm 7.2010
-4
0.138 0.102 0.10210
-2
0.10210
-3
1 110
-5
oz-in 1 192 141.6 1.416 0.142 1.3910
3
1.3910
-2
It-lbI
1
/
192
1 0.737 0.73710
-2
0.73710
-3
7.233 7.23310
-5
Moment of inertia J |kg m
2
]
B A oz-in
2
oz-in-s
2
lb-in
2
lb-in-s
2
Nms
2
kgm
2
mNm s
2
gcm
2
kpm s
2
g cm
2
182.9 7.0610
4
2.9310
3
1.1310
6
110
7
110
4
1 9.80710
7
kgm
2
Nms
2
1.8310
-5
7.0610
-3
2.9310
-4
0.113 1 110
-3
110
-7
9.807
oz-in
2
1 386.08 16 6.1810
3
5.4610
4
54.6 5.4610
-3
5.3510
5
lb-in
2 1
/
16
24.130 1 386.08 3.4110
3
3.41 3.4110
-4
3.3510
4
Mass m |kg| Force F |N|
B A oz lb gr (grain) kg g
B

A
oz lbI N kp p
kg 28.3510
-3
0.454 64.7910
-6
1 110
-3
N 0.278 4.448 1 9.807 9.80710
-3
g 28.35 0.45410
3
64.7910
-3
110
3
1 kp 0.028 0.454 0.102 1 110
-3
oz 1 16 2.2810
-3
35.27 35.2710
3
oz 1 16 3.600 35.27 35.2710
-3
lb
1
/
16
1
1
/
7000
2.205 2.20510
3
lbI 1/16 1 0.225 2.205 2.20510
-3
gr (grain) 437.5 7000 1 15.4310
3
15.4310
6
pdl 2.011 32.17 7.233 70.93 70.9310
-3
Length l |m|
B A in ft yd Mil m cm mm P
m 25.410
-3
0.305 0.914 25.410
-6
1 0.01 110
-3
110
-6
cm 2.54 30.5 91.4 25.410
-4
110
2
1 0.1 110
-4
mm 25.4 305 914 25.410
-3
110
3
10 1 110
-3
in 1 12 36 110
-3
39.37 0.394 3.9410
-2
3.9410
-5
ft
1
/
12
1 3
1
/
12
10
-3
3.281 3.28110
-2
3.28110
-3
3.28110
-6
Angular velocity Z |s
-1
] Angular acceleration |s
-2
]
B A s
-1
Hz rpm rad s
-1
B A min
-2
s
-2
rad s
-2
rpm s
-2
rad s
-1
2S
S
/
30
1 s
-2 1
/
3600
1
1
/
2S
1
/
60
rpm
1
/
60
1
30
/
S
rad s
-2 S
/
1800
2S 1
S
/
30
Linear velocity v |m s
-1
]
B A in-s
-1
in-rpm It-s
-1
It-rpm m s
-1
cm s
-1
mm s
-1
m rpm
m s
-1
2.5410
-2
4.2310
-4
0.305 5.0810
-3
1 110
-2
110
-3 1
/
60
in-s
-1
1 60 12 720 39.37 39.3710
-2
39.3710
-3
0.656
It-s
-1 1
/
12
5 1 60 3.281 3.28110
-2
3.28110
-3
5.4610
-2
Temperature T |K|
B A Fahrenheit Celsius Kelvin
Kelvin (F -305.15) / 1.8 273.15 1
Celsius (F -32) / 1.8 1 -273.15
Fahrenheit 1 1.8C 32 1.8 K 305.15
General Information
Quantities and their basic units in the
International System oI Units (SI)
Quantity Base unit Unit sign
Length meter m
Mass kilogram kg
Time second s
Electric
current ampere A
Thermodynamic
temperature kelvin K
Conversion example
A Known unit
B Unit sought
Known: Multiply by Sought:
oz-in 7.06 mNm
Factors used for
conversions:
1 oz 2.834952313 10
-2
kg
1 in 2.54 10
-2
m
gravitational acceleration:
g 9.80665 m s
-2
386.08858 in s
-2
derived units:
1 yd 3 It 36 in
1 lb 16 oz 7000 gr (grains)
1 kp 1 kg 9.80665 ms
-2
1 N 1 kgms
-2
1 W 1 Nms
-1
1 kgm
2
s
-3
1 J 1 Nms
-1
1 Ws
Decimal multiples and fractions of units
Prefx
Abbre-
viation
Power
of ten
Prefx
Abbre-
viation
Power
of ten
deca.. da 10
1
deci.. d 10
-1
hecto.. h 10
2
centi.. c 10
-2
kilo.. k 10
3
milli.. m 10
-3
mega.. M 10
6
micro.. m 10
-6
giga.. G 10
9
nano.. n 10
-9
tera.. T 10
12
pico.. p 10
-12
Units used in
the maxon catalog
10.2 Typical coefcients of friction for rolling, static and kinetic friction
Type of friction Friction condition Description
Kinetic Iriction
Solid-to-solid Iriction
(dry kinetic Iriction)
Direct contact between the
Iriction partners
Boundary Iriction (lubricated
kinetic Iriction)
Special case oI solid-to-
solid Iriction with adsorbed
lubricant on the surIaces
Mixed Iriction
Solid-to-solid Iriction and
fuid Iriction combined next
to each other
Fluid Iriction
Friction partners are
completely separated Irom
each other by a flm oI fuid
(produced hydrostatically or
hydrodynamically)
Gas Iriction
Friction partners are
completely separated Irom
each other by a gas flm
(produced aerostatically or
aerodynamically)
Static Iriction
20 . 100 higher than
kinetic Iriction
Rolling Iriction
Rolling Iriction
Bodies separated by
lubricated roller bearings
Combined rolling and sliding
Iriction
Rolling Iriction with a
kinetic component (slip)
Typical coefcient of friction Examples Coefcient of friction
0.1 . 1
Sintered bronze Steel 0.15 . 0.3
Plastic Gray cast iron 0.3 . 0.4
Steel Steel 0.4 . 0.7
Nitrided steel Nitrided steel 0.3 . 0.4
Copper Copper 0.6 . 1.0
Chromium Chromium 0.41
Al alloy Al alloy 0.15 . 0.6
0.1 . 0.2 Steel Steel 0.1
0.01 . 0.1
Sleeve bearing, lubricated, at low speeds oI rotation
Tempered steel Tempered steel 0.05 . 0.08
0.001 . 0.01
Sintered sleeve bearing, lubricated, at high speeds oI rotation
and low radial load
0.0001
0.1 . 1.2
Steel Steel dry 0.4 . 0.8
Steel Steel lubricated 0.08 . 0.12
Sintered bronze Steel dry 0.2 . 0.4
Sintered bronze Steel lubricated 0.12 . 0.14
Plastic Gray cast iron, dry 0.3 . 0.5
0.001 . 0.005 Ball bearings 0.001 . 0.0025
0.001 . 0.1
11. Symbol list for the Formulae Handbook
Name Symbol Unit Page number
Acceleration a m/s
2
9, 14
Acceleration Iorce F
a
N 9, 24
st
/2
nd
halI cycle F
a1
/ F
a2
N 24
Acceleration time t
a
s 22, 23, 24, 25
Acceleration time t s 41
Ambient temperature T
A
C 48, 49, 50, 51, 52
Angle oI rotation / rad 11, 15, 18, 19, 24
Angle oI the inclined plane 9
2
11, 15, 41
Angular Irequency rad/s 33
Angular velocity / Angular velocity (change) / , / rad/s 11, 15, 21
Angular velocity aIter/beIore acceleration
end
/
start
rad/s 15
Angular velocity, input / load
in
/
L
rad/s 21
Average end temperature, winding T
W,av
C 51
Bearing load, axial / radial F
KL
N 11
Capacitance C F 30, 33, 34
CoeIfcient oI Iriction (see table chapt. 10.2) 9, 11
Compressive Iorce F
p
N 9
Counts per turn, CPT N 44
Cross section A m
2
9, 13
Current I A 29, 33, 34, 48, 51
Current change
i
A 40
Current during ON phase I
on
A 51
Current ripple, peak-to-peak I
PP
A 46
Current through resistor R
2
I
R2
A 32
Cut-oII Irequency f
C
Hz 34
Density kg/m
3
12, 13
Diameter, defector pulley 2 d
2
m 22
Diameter, defector pulley X d
X
m 22
Diameter, drive pulley d
1
m 22, 25
Diameter, drive wheel d m 23
Diameter, load pulley d
2
m 25
Displacement
l
m 9
Distance s, s / s m 14, 16, 17
Distance oI axis s Irom center oI gravity S r
s
m 13
Downhill-slope Iorce F
H
N 9
Drop height h m 14
Duration t s 9, 11
Duration oI operating points 1...n t
1n
s 42
Eccentricity e m 24
Eddy current power losses P
V,eddy
W 47
EIfciency 21, 22, 23, 24, 25, 40, 47
Electric charge Q C 48
Electrical capacitance C
1
/ C
2
F 48
Electrical input power P
el
W 38
Electrical resistance R / R
1
/ R
2
29, 30, 33, 34, 48
Electrical time constant
el
s 30
Electromotive Iorce EMK V 40
End temperature T
end
C 48
End temperature, stator / winding T
S,
/ T
W,
C 49, 51, 52
Equivalent resistance R 31, 32
Equivalent resistance oI R
2
and R
L
R
x
32
Force F N 9, 11, 21
Frequency f Hz 33, 34
Friction Iorce F
R
N 9
Friction power losses P
V,R
W 47
Friction torque M
R
Nm 11, 39, 40, 41
Gearhead eIfciency
G
47
Gearhead temperature T
G
C 49
Gravitational acceleration g m/s
2
9, 14
Ground GND V 48
Heat capacity C
th
J/K 47
Heat capacity gearhead / stator / winding C
th,G
/ C
th,S
/ C
th,W
J/K 47, 48
Height h m 12, 13
Impedance Z 33
Induced voltage U
ind
V 39, 40
Inductance L H 30, 33, 34
Inductance, additional external motor choke L
ext
H 46
Inductance, built-in choke controller L
int
H 46
Inner radius r
i
m 12, 13
Inner resistance, voltage source R
i
29
Input speed n
in
rpm 22, 23, 24, 25
Input torque M
in
Nm 21, 22, 23, 25
Input voltage U
in
V 30, 34
Intermittently permissible torque, gearhead (catalog value) M
G,max
Nm 26
Joule power loss P
J
W 38, 47, 49, 52
Length l m 13
Length oI side a / b / c a / b / c m 13
Load current I
L
A 32
Load Iorce (output) F
L
N 10, 21, 22, 23
Load Iorce, 1
st
/ 2
nd
halI cycle F
L1
/ F
L2
N 24
Load resistance R
L
29, 32
Load speed n
L
rpm 25, 41, 45, 47
Load torque M
L
Nm 11, 21, 25, 41, 45, 47
Load velocity v
L
m/s 21, 22, 23
Load voltage U
L
V 32
Mass m kg 9, 12, 13, 47
Mass oI the load m
L
kg 22, 23, 24
Mass, belt m
B
kg 22
Mass, belt m
R
kg 25
Mass, gear rack m
Z
kg 23
Mass, gearhead m
G
kg 47
Mass, motor m
mot
kg 47
Mass, rover m
F
kg 23
Mass, spindle m
S
kg 22
Mass, winding m
W
kg 47
Maximum acceleration a
max
m/s
2
16, 17
Maximum angular acceleration
max
rad/s
2
18, 19, 41
Maximum continuous torque, gearhead (catalog value) M
G,cont
Nm 26, 47
Maximum current ripple, peak-to-peak I
PP,max
A 46
Maximum eIfciency at U
N
(catalog value)
max
40
Maximum input speed n
max,in
rpm 26
Maximum load speed n
max,L
rpm 26
Maximum permissible winding temperature (catalog value) T
max
C 50, 51, 52
Maximum power P
max
W 29
Maximum speed in load cycle n
max
rpm 18, 19, 42
Maximum temperature change T
max
K 48
Maximum torque in load cycle M
max
Nm 42
Maximum velocity v
max
m/s 16, 17
Maximum voltage drop oI the controller U
max
V 45
Mean diameter bearing r
KL
m 11
Measurement resolution Q qc/ms 44
Measurement resolution, motor speed n rpm 44
Mechanical input power P
mech,in
W 21
Mechanical output power P
L
/ P
mech,L
W 21, 38
Mechanical play, input
in
rad 22, 23, 25
Mechanical play, output s
L
/
L
m/rad 22, 23, 25
Mechanical power P
mech
W 21
Mechanical time constant (catalog value)
m
s 41
Mechanical time constant with additional J
L

m
s 41
Moment oI inertia J kgm
2
11
Moment oI inertia with reIerence to the axis s through the center oI gravity S J
s
kgm
2
13
Moment oI inertia with reIerence to the rotation axis x J
x
kgm
2
12, 13
Moment oI inertia with reIerence to the rotation axis y J
y
kgm
2
12, 13
Moment oI inertia with reIerence to the rotation axis : J
:
kgm
2
12, 13
Moment oI inertia, all wheels together J
W
kgm
2
23
Moment oI inertia, defector pulley 2 / X J
2
/ J
X
kgm
2
22, 25
Moment oI inertia, driving end J
1
kgm
2
22, 25
Moment oI inertia, eccentric disc J
E
kgm
2
24
Moment oI inertia, gearhead transIormed J
G
kgm
2
25
Moment oI inertia, input (motor, encoder, brake) J
in
kgm
2
22, 23, 24, 25
Moment oI inertia, load J
L
kgm
2
25, 41
Moment oI inertia, output J
2
kgm
2
25
Moment oI inertia, pinion J
P
kgm
2
23
Moment oI inertia, rotor (catalog value) J
R
kgm
2
41
Moment oI inertia, spindle J
S
kgm
2
22
Motor current I
mot
A 38, 39, 40, 41, 42, 47, 49, 50, 52
Motor speed n
mot
rpm 47
Motor torque M
mot
Nm 47
Motor voltage U
mot
V 38, 39, 40, 42, 47
No load current I
0
A 39, 40, 42
No load speed n
0
rpm 38, 39, 40, 41
No load speed oI motor at U
N
(catalog value) n
0,UN
rpm 45
A
I
N,TA
A 50, 51
Nominal current, motor (catalog value) I
N
A 46, 50, 51, 52
Nominal speed, motor (catalog value) n
N
rpm 50
Nominal torque, motor (catalog value) M
N
Nm 42, 50
Nominal voltage, motor (catalog value) U
N
V 38, 39, 40, 45
Normal Iorce (Iorce perpendicular to the surIace oI contact) F
N
N 9
Number oI teeth, internal gear / pinion / sun wheel :
3
/ : / :
1
23, 25
OFF time t
off
s 51
ON time t
on
s 51, 52
Outer radius r
a
m 12, 13
Output current I
out
A 30
Output voltage U
out
V 30, 34
Overload Iactor K 52
Partial currents I
1
, I
2
A 31
Partial Iorces F
1
/ F
2
/ F
x
N 10
Partial resistances R
1
, R
2
31, 32
Partial torques M
1
/ M
2
/ M
x
Nm 11
Partial voltages U
1
, U
2
V 31, 32
Period T s 33
Periodic acceleration Iorce as a Iunction oI the angle oI rotation F
a
() N 24
Phase shiIt 34
Pitch p m 23
Point 1 / 2 on the x-axis x
1
/ x
2
m 13
Position resolution 44
Potentiometer position x 0.1 32
Power P W 29, 38
Power losses / power losses, gearhead P
V
/ P
J,G
W 29, 47, 48, 49, 50
Power losses Ior reversal oI magnetization P
V,magn
W 47
Pressure (1 Pa 1 N / m
2
10
-5
bar) p Pa 9
Pull-down resistance R
d
30
Pull-up resistance R
u
30
PWM Irequency f
PWM
Hz 46
Quadcounts per pulse Q 4 qc/IMP 44
Radius / Radius 1 / Radius 2 r / r
1
/ r
2
m 11, 12
Radius circular torus around :-axis R m 12
Reactance, capacitive X
C
33, 34
Reactance, inductive X
L
33, 34
Reduction ratio, gearhead (catalog value) i
G
25, 26
Reduction ratio, mechanical drive i 44
Required no load speed n
0,theor
rpm 42
Required speed constant k
n,theor
rpm/V 42
Resistance at temperature T R
T
32
Resistance coeIfcient, copper
Cu
0.0039 K
-1
32, 47, 49, 50, 51, 52
Resistance, potentiometer R
0
32
RMS current I
RMS
A 51
RMS torque M
in,RMS
/ M
RMS
Nm 24, 42
Sinusoidal velocity curve oI the load v
L
(t) m/s 24
Source voltage U
0
V 29
Specifc heat capacity c J/(kgK) 47
Specifc heat capacity copper c
Cu
380 J/(kgK) 47
Specifc heat capacity iron c
Fe
450 470 J/(kgK) 47
Speed / torque gradient, motor (catalog value) n / M rpm/mNm 39, 40, 42, 45
Speed aIter acceleration n
end
rpm 15
Speed beIore acceleration n
start
rpm 15
Speed change n rpm 11, 41
Speed change, input n
in
rpm 22, 23, 24, 25
Speed constant (catalog value) k
n
rpm/V 39, 40, 42
Speed oI rotation / Speed oI rotation (change) n / n, n rpm 15, 21, 38 ,39, 40, 41, 42, 45, 47, 50
Spindle lead (pitch) p m 22
Spring constant k N/m 9
Spring Iorce F
S
N 9
Stall torque M
H
Nm 38, 39, 40, 41, 42
Stall torque at temperature T
W
M
HT
Nm 47
Stands Ior X
C
or X
L
X 33
Starting current I
A
A 39, 40
Starting current at temperature T
W
I
AT
A 47
Stator temperature T
S
C 48, 49, 50, 52
Stored heat Q J 47, 48
Supply voltage +V V 30
Supply voltage V
CC
V 45, 46
Temperature T C 47, 48, 49, 51, 52
Temperature at start T
start
C 48
Temperature change as a Iunction oI time t T(t) K 48
Temperature diIIerence T K 32, 47
Temperature diIIerence, gearhead ambient T
G
K 49
Temperature diIIerence, stator ambient T
S
K 48, 49, 50, 51
Temperature diIIerence, winding ambient T
W
K 48, 49, 51, 52
Terminal inductance, motor (catalog value) L
mot
H 40, 46
Terminal resistance, motor (catalog value) R
mot
32, 38, 39, 40, 41, 47
Terminal voltage U
kl
V 29
Therm. resistance, gearhead ambient R
th,G
K/W 49
Therm. resistance, housing ambient (catalog value) R
th2
K/W 48, 49, 50, 51, 52
Therm. resistance, housing ambient modifed R
th2,mod
K/W 50
Therm. resistance, winding housing (catalog value) R
th1
K/W 48, 49, 50, 51, 52
Therm. time constant, stator / winding (catalog value)
S
/
W
s 49, 52
Thermal time constant
th
s 48
Time / Time, duration t / t, t s 14, 15, 24, 30, 33, 41, 47, 48, 49, 51, 52
Time a / b / c t
a
/ t
b
/ t
c
s 16, 18
Time change t s 40
Torque M Nm 11, 21, 38, 39, 40, 41, 42, 45, 47, 50
Torque at operating points 1...n M
1...n
Nm 42
Torque constant (catalog value) k
M
Nm/A 39, 40, 41, 42, 47
Torque Ior acceleration M
in,
/ M
Nm 11, 22, 23, 24, 25

Torque Ior reversal oI magnetization M
magn
Nm 47
Torque, 1
st
/ 2
nd
halI cycle M
in1
() / M
in2
() Nm 24
Torque, spiral spring M
S
Nm 11
Torsion coeIfcient (spring constant) k
m
Nm 11
Total current I A 31, 32
Total inductance L
tot
H 46
Total time t
tot
s 16, 17, 18, 19
Total time, operating cycle t
tot
s 42
Total voltage U V 31, 32
Velocity / Velocity (change) v / v, v / v m/s 9, 14, 21
Velocity aIter acceleration v
end
m/s 14
Velocity beIore acceleration v
start
m/s 14
Voltage U V 29, 33
Voltage over capacitance/inductance/resistance U
C
/ U
L
/ U
R
V 34
Voltage, potential diIIerence U
1
/ U
2
V 48
Weight oI a body F
G
N 9
Winding resistance at current temperature T
W
R
TW
47
Winding resistance winding at temperature T
A
R
TA
49, 50, 51, 52
Winding temperature T
W
C 47, 48, 49, 50
V
CC

n
L

M
L

Formelsammlung
Jan Braun
academy.maxonmotor.ch maxon academy

Maxon Motor Specification

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Maxon Motor Specification

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Maxon Motor Specification

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V

Forces on the inclined plane:

Torque Ior acceleration Nm

Conversion between radian

Constant acceleration from a standing start

Constant acceleration from initial speed

Complete motion in the time

Motion at limited speed

Additional torque Ior constant acceleration

Power balance, motor

Nm 11, 22, 23, 24, 25

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