BM-BMS Series Brushless Motors Manual PDF

Over 100 years cumulative experience
24 hour rush turnaround / technical support service
Established in 1993
The leading independent repairer of servo motors and drives in North America.
Visit us on the web:

www.servo-repair.com
www.servorepair.ca
www.ferrocontrol.com
www.sandvikrepair.com
www.accuelectric.com
Scroll down to view your document!
For 24/7 repair services :
USA: 1 (888) 932 - 9183

Canada: 1 (905) 829 -2505
Emergency After hours: 1 (416) 624 0386
Servicing USA and Canada

BM/BMS Series Brushless
Motors
Hardware Manual
P/N: EDA135 (Revision: 1.04)
Dedicated to the Science of Motion

Aerotech, Inc.
101 Zeta Drive, Pittsburgh, PA, 15238
Phone: 412-963-7470 Fax: 412-963-7459
www.aerotech.com
Product Registration Register online at: http://www.aerotech.com/prodreg.cfm
Technical Support United States Headquarters:

Phone: (412) 967-6440
Fax: (412) 967-6870
Email: service@aerotech.com
United Kingdom:
Phone: +44 118 940 9400
Fax: +44 118 940 9401
Email: service@aerotech.co.uk
Germany:
Phone: +49 911 967 9370
Fax: +49 911 967 93720
Email: service@aerotechgmbh.de
Revision History 1.00 March 1996

1.01 February 2000
1.02 April 2, 2001
1.03 May 23, 2002
1.04 October 26, 2006
Product names mentioned herein are used for identification purposes only and may be trademarks of their respective
companies.
© Aerotech, Inc. 2006

BM/BMS Series Hardware Manual Table of Contents
TABLE OF CONTENTS
DECLARATION OF CONFORMITY .............................................. ix
CHAPTER 1: INTRODUCTION ................................................ 1-1
1.1. Product Overview......................................................................1-1
1.1.1. BM Series.....................................................................1-1
1.1.2. BMS Series ..................................................................1-1
1.2. Warnings ...................................................................................1-2
1.3. Encoder Hall Effect Commutation.............................................1-3
1.4. Resolver Commutation .............................................................1-7
1.5. Part Number and Ordering Information ....................................1-9
1.6. Motor Specifications................................................................1-12
1.6.1. Feedback Device Specifications................................1-18
1.6.2. Connector Pin Assignments ......................................1-19
1.7. Installation ...............................................................................1-21
1.7.1. Wiring .........................................................................1-21
1.7.2. Overcurrent Protection...............................................1-22
1.7.3. Cooling .......................................................................1-22
1.8. Brushless Motor Dimensions ..................................................1-23
1.9. Environmental Specifications..................................................1-29
1.10. Preventative Maintenance ......................................................1-30
1.11. Cleaning ..................................................................................1-30
APPENDIX A: GLOSSARY OF TERMS ................................... A-1
APPENDIX B: WARRANTY AND FIELD SERVICE ................. B-1
APPENDIX C: TECHNICAL CHANGES ................................... C-1
C.1. Current Changes...................................................................... C-1
C.2. Archived Changes.................................................................... C-2
INDEX ...................................................................................Index-1
READER’S COMMENTS .............................................. Comment-1
∇ ∇ ∇
www.aerotech.com iii
Table of Contents BM/BMS Series Hardware Manual
iv www.aerotech.com
BM/BMS Series Hardware Manual List of Figures
LIST OF FIGURES
Figure 1-1: BM Series Brushless Motors.....................................................1-1
Figure 1-2: Hall Effect and Motor Phasing ..................................................1-3
Figure 1-3: Wye Resistor Test Setup Configuration....................................1-4
Figure 1-4: Motor Lead Phasing with Oscilloscope.....................................1-5
Figure 1-5: Hall Phasing with Oscilloscope.................................................1-6
Figure 1-6: Resolver and Motor Phasing.....................................................1-8
Figure 1-7: Phasing of Sine, Cosine, and Marker Channels for
Rotary Encoder .......................................................................1-18
Figure 1-8: BM75, BM130, BM200 Model Dimensions (NEMA 23) ..........1-23
Figure 1-9: BM250, BM500 Model Dimensions (NEMA 34) .....................1-24
Figure 1-10: BM800, BM1400 Model Dimensions (NEMA 42) ...................1-25
Figure 1-11: BM2000, BM3400, BM4500 Model Dimensions (IEC
142) .........................................................................................1-26
Figure 1-12: BMS60 and BMS100 Model Dimensions................................1-27
Figure 1-13: BMS280 and BMS465 Model Dimensions..............................1-28
∇ ∇ ∇
www.aerotech.com v
List of Figures BM/BMS Series Hardware Manual
vi www.aerotech.com
BM/BMS Series Hardware Manual List of Tables
LIST OF TABLES
Table 1-1: BM Motor Part Number and Ordering Example........................1-9
Table 1-2: BM Motor Options .....................................................................1-9
Table 1-3: BMS Motor Part Number and Ordering Example (BMS60
– BMS100) ..............................................................................1-10
Table 1-4: BMS Motor Options (BMS60 – BMS100) ...............................1-10
Table 1-5: BMS Motor Part Number and Ordering Example
(BMS280 – BMS465) ..............................................................1-11
Table 1-6: BMS Motor Options (BMS280 – BMS465) .............................1-11
Table 1-7: BM75, BM130, BM200 Motor Specifications (NEMA 23
Frame).....................................................................................1-12
Table 1-8: BM250 and BM500 Motor Specifications (NEMA 34
Frame).....................................................................................1-13
Table 1-9: BM800, BM1400 Motor Specifications (NEMA 42 Frame) .....1-14
Table 1-10: BM2000, BM3400, BM4500 Motor Specifications (IEC
142 Frame)..............................................................................1-15
Table 1-11: BMS60, BMS100 Motor Specifications (NEMA 23
Frame).....................................................................................1-16
Table 1-12: BMS280, BMS465 Motor Specifications (NEMA 34
Frame).....................................................................................1-17
Table 1-13: Encoder Specifications ...........................................................1-18
Table 1-14: Resolver Specifications...........................................................1-18
Table 1-15: Motor Power Connector Pin Assignment (MS3101A-
10P).........................................................................................1-19
Table 1-16: Feedback Connector Pin Assignment (MS3101A-20-
29P).........................................................................................1-19
Table 1-17: Resolver Connector Pin Assignment (MS3101A-20-29P)......1-19
Table 1-18: D-sub Connector Pin Assignment..........................................1-20
Table 1-19: Preventative Maintenance ......................................................1-30
Table C-1: Current Changes...................................................................... C-1

Table C-2: Archived Changes.................................................................... C-2
∇ ∇ ∇
www.aerotech.com vii
List of Tables BM/BMS Series Hardware Manual
viii www.aerotech.com
BM/BMS Series Hardware Manual Declaration of Conformity
DECLARATION OF CONFORMITY
Manufacturer’s Name Aerotech, Inc.
and Address: 101 Zeta Drive
Pittsburgh, PA 15238-2897
Declares that the product: BMS Motor Series

Conforms to the following product specifications with the exception of the “VAC6”
versions and the exceptions listed below.
IEC 60034-1:2004 Rotating Electrical Machines

IEC 61010-1:2001 Safety requirements for Electrical Equipment for measurement,
control, and laboratory use.
Use: This product is intended for light industrial manufacturing or

laboratory use.
and complies with 73/23/EEC low voltage directive
Notes:
Safe operation of the motor requires over speed and over current protection. This may be
done by the connected controller / amplifier combination.
Pittsburgh, PA David F. Kincel_________________________

September 2006 Quality Assurance Manager
Alex Weibel ___________________________

Engineer Verifying Compliance
www.aerotech.com ix
Declaration of Conformity BM/BMS Series Hardware Manual
∇ ∇ ∇
x www.aerotech.com
BM/BMS Series Hardware Manual Introduction
CHAPTER 1: INTRODUCTION
1.1. Product Overview
The BM/BMS series motors can replace standard brushless or brush-type motors when
superior velocity smoothness and control, and higher acceleration are required. Higher
acceleration results in higher machine throughput and performance.
Features:
• 50% more torque than brush DC servo motors
• 15 times the acceleration than brush DC servo motors
• 33% shorter length than brush DC servo motors
• Low to no maintenance
• top speeds up to 10,000 RPM
• a rated speed up to 4,000 RPM
• available with optional brake, front shaft seal, and gear reducers
• available in standard NEMA frame sizes
• choose encoder/HED or resolver feedback
1.1.1. BM Series
The BM series motors are available in ten different models with a rated power from 232
to 7,949 watts and torque ranging from 78 oz-in (0.55 N-m) to 4,480 oz-in (31.6 N-m).
The BM series are smaller and weigh less than brush or stepper motors of the same
power capacity. The motors feature standard NEMA frame sizes allowing easy
replacement of stepping motors. The motors have skewed stator laminations that provide
smooth velocity control. Signal and motor power connections are made through separate
MS-style or D sub connectors.
1.1.2. BMS Series

The BMS series motors are available in four different models with a rated power from
137 to 599 watts and torque ranging from 46 oz-in (0.33 N-m) to 405 oz-in (2.9 N-m).
The BMS series motors are manufactured with a slotless design and exhibit extremely
smooth velocity regulation.
Figure 1-1: BM Series Brushless Motors
www.aerotech.com 1-1
Introduction BM/BMS Series Hardware Manual
1.2. Warnings
The following warnings apply to the BM and BMS Series Motors. Failure to observe
these precautions could result in serious injury to personnel and/or damage to the
equipment.
Operators must be trained before allowing them to operate

equipment.
If the equipment is used in a manner not specified by the

manufacturer, protection of the equipment may be
impaired. The user should practice caution when following
the given procedures. Deviation from this may result in
damage to the equipment.
To minimize the possibility of electrical shock and bodily

injury when servicing the equipment, ensure that all
electrical power switches are in the off position and
disconnect main power.
Motors must be mounted securely before connecting

cables and applying power.
Allow all system components to adjust to room

temperature before installing. Do not apply power to
system components if moisture is present on them.
The motor case temperature may exceed 75°C in some

applications.
Do not disconnect motor connectors with power applied to

motor.
1-2 www.aerotech.com
1.3. Encoder Hall Effect Commutation
Aerotech brushless rotary motors are shipped from the factory with the correct motor
phase to Hall effect device relationship established. This is essential for proper motor
commutation.
Figure 1-2 shows the proper Hall effect to motor phasing for both clockwise (CW) and
counterclockwise (CCW) motor rotation (viewed looking into the mounting flange of the
motor).
Figure 1-2: Hall Effect and Motor Phasing
The waveforms created by the motor phasing can be observed using a two-channel
oscilloscope, a 5V power supply, and six (10,000 ohm, 1/4 watt) resistors (Figure 1-3).
Three resistors should be wired in a Wye configuration
Disconnect the motor from the controller and connect it in the test configuration shown
in Figure 1-3. Motor leads 1, 2, and 3 should be connected to the ends of the three
resistors wired in a Wye configuration. The Hall common lead coming from the motor
should be connected to the power supply common. The 5V Hall power lead should be
connected to the 5V power line. The three Hall signal wires should be connected through
the remaining three resistors to the 5V lead of the power supply.
Figure 1-3: Wye Resistor Test Setup Configuration
Motor voltage is monitored without power applied to the

motor. Before performing these steps, remove all
connections to the motor except the wye resistor network.
Remove all mechanical connections to the motor shaft.
All measurements should be made with the probe common of each channel of the
oscilloscope connected to a neutral reference test point (TP4, shown in Figure 1-4).
To determine the relative phasing/order of the three motor lead signals in relation to each
other, connect channel 1 of the oscilloscope to TP1. Connect channel 2 to TP2 and move
the motor in the positive direction (CW) by hand. Note the peak of the sine wave signal
of channel 1 in comparison to the peak of the sine wave signal of channel 2. Next,
disconnect channel 2 from TP2 and reconnect it to TP3 and again move the motor in the
positive direction. Note the peak of the sine wave signal of channel 3 in comparison to
the peak of the sine wave signal of channel 1.
Aerotech phasing configuration expects ØC to be the lead signal (in time), ØB to follow
it, and ØA to follow ØB. This means that whichever signal has its sine wave peak
farthest to the left should be designated as the ØC signal.
Figure 1-4: Motor Lead Phasing with Oscilloscope
After the motor leads have been tested, the next step is to determine the phase of the Hall
signals. The expected (by an Aerotech system) relationship between motor and Hall leads
is that the peak of a motor lead signal should correspond to the low voltage phase of the
Hall signal (the relationship is shown in Figure 1-5).
With channel 1 still connected to one of the motor leads, connect channel 2 of the
oscilloscope to TP5, TP6, and then TP7, while advancing the motor in the positive
direction after each connection. Note which of the three Hall signals has the
complimentary phase relationship to the motor lead that channel 1 is connected to.
Move channel 1 of the oscilloscope to the second motor lead and repeat the steps from
above. Note which Hall signal corresponds to the currently selected motor lead and
repeat the process for the 3rd motor lead
Figure 1-5: Hall Phasing with Oscilloscope
1.4. Resolver Commutation
An optional resolver can be used as the feedback device for a brushless rotary motor. The
resolver is aligned at the factory, so that the null position of the resolver corresponds to a
motor phase angle of zero degrees (refer to Figure 1-6). The null position of the resolver
is considered to be the point at which the sine feedback signal is resting at a zero level
and the cosine signal is resting at its positive peak.
The sine and cosine signals shown in Figure 1-6 represent

demodulated waveforms. In actual operation, these
signals are transmitted on a high frequency carrier (e. g., 5
KHz, 10 KHz).
The zero degree phase angle of the motor is defined as the position that the motor shaft
will align to if phase A is energized with a positive voltage with respect to phases B and
C. The 8 pole motors (4 pole pairs) have 4 zero degree points per revolution, and the 6
pole motors have 3 zero degree points per revolution.
Figure 1-6: Resolver and Motor Phasing
1.5. Part Number and Ordering Information
Order information regarding part numbers and descriptions are shown in the following
tables.
Table 1-1: BM Motor Part Number and Ordering Example

Ordering Example
BM130-MS-E2000H-BK1
Where: 130 -MS -E2000H -BK1
Motor Torque Connector Type Feedback Option Options
Table 1-2: BM Motor Options

BM Series Rotary Servo Motors
BM75 NEMA 23 – Tcont = 78.3 oz-in brushless motor
BM250 NEMA 34 – Tcont = 285 oz-in brushless motor
BM1400 NEMA 42 – Tcont = 1,366 oz-in brushless motor
BM2000 IEC 142 metric shaft & flange, Tcont = 130 lb-in brushless motor
Connector Style Option
-MS Military Style connectors for feedback and motor power (Standard)
Feedback Options (Encoder Resolution with Hall Tracks)
-E1000H Encoder, A quad B w/marker, 5 VDC, 1,000 line, line driver output
-E2000H Encoder, A quad B w/marker, 5 VDC, 2,000 line, line driver output
Encoder, A quad B w/marker, 5 VDC, 2,500 line, line driver output (brake option not
-E2500H
available on BM75, BM130)
Encoder, A quad B w/marker, 5 VDC, 5,000 line, line driver output (brake option not
-E5000H
available on BM75, BM130)
-RS Single speed brushless resolver (replaces encoder)
Options (Brushless Rotary Motors)
Brake, Holding torque = 0.8 N-m (112 oz-in), 24 VDC, 0.3 A for BM75, BM130 and
-BK1
BM200
-BK2 Brake, Holding torque = 1.7 N-m (240 oz-in), 24 VDC, 0.4 A for BM250, BM500
-BK3 Brake, Holding torque = 5.6 N-m (800 oz-in), 24 VDC, 0.7 A for BM800, BM1400
Brake, Holding torque = 40.7 N-m (360 lb-in), 24 VDC, 0.7 A for BM2000, BM3400,
-BK5
BM4500
-NS IP65 rated Nitrile front shaft seal (not available for BM75, BM130, BM200)
-VAC6 Vacuum prep for up to torr-6
Accessories
MCM1-3 Connector, MS Motor power mate (BM2000, BM3400, BM4500)
Connector, MS Motor power mate (BM75, BM130, BM200, BM250, BM500, BM800,
MCM-3
BM1400)
MCF-3 Connector, MS Motor Feedback mate for all BM motors
Table 1-3: BMS Motor Part Number and Ordering Example (BMS60 – BMS100)
Ordering Example
BMS100-A-D25-E1000H-BK1
Where: 100 -A -D25 -E1000H -BK1
Motor Motor Connector Feedback Options
Torque Winding Type Option
Table 1-4: BMS Motor Options (BMS60 – BMS100)

BMS Series Rotary Servo Motors
BMS60 NEMA 23 – Tcont = 46.2 oz-in brushless motor
Winding Options
-A Standard winding
-AH Standard Winding with Hall board, required with AS style encoders
Connectors
-DB25 25 conductor plastic D-Shell for feedback and motor power (std)
-MS Military Style connectors for feedback and motor power
-FLY-x Flying leads for feedback and motor power with custom length cable
Feedback Options
1000 line incremental squarewave encoder w/ marker & hall effect track
-E1000H
RS-422 line driver output
-E2000H
-E2500H
-E5000H
500 line incremental amplified sine encoder w/ marker, requires –AH,
-E500AS
max speed 4800rpm
-E1000AS
max speed 2400rpm
-E1250AS
max speed 1920rpm
Brake, Holding torque = 0.8 N-m (112 oz-in), 24 VDC, 0.3 A for
-BK1
BMS60, BMS100
-6
-VAC6 Vacuum prep for up to torr
Accessories
MC-HPD25-M Connector; HPD25 motor power mate for BMS60, BMS100 motors
MC-DB25-F Connector; DB25 motor feedback mate for BMS60, BMS100 motors
MCM-3 Connector; MS motor power mate for BMS60, BMS100 motors
MCF-3 Connector; MS motor feedback mate for BMS60, BMS100 motors
Table 1-5: BMS Motor Part Number and Ordering Example (BMS280 – BMS465)
Ordering Example
BMS280-AH-MS-E2000H-BK2
Where: 280 -AH -MS -E2000H -BK2
Motor Motor Connector Feedback Options
Torque Winding Type Option
Table 1-6: BMS Motor Options (BMS280 – BMS465)

BM Series Rotary Servo Motors
Winding Options
-AH Standard winding with Hall board, required with AS style encoders
Connectors
-MS Military-style connectors for feedback and motor power
Feedback Options
-E1000H
-E2000H
-E2500H
-E5000H
500 line incremental amplified sine encoder w/ marker, requires –AH, max
-E500AS
speed 4800rpm
-E1000AS
max speed 2400rpm
-E1250AS
max speed 1920rpm
Brake, Holding torque = 0.8 N-m (112 oz-in), 24 VDC, 0.3 A for BMS60,
-BK2
BMS100
-NS IP65 rated Nitrile front shaft seal
-VAC6 Vacuum prep for up to torr-6
Accessories
MCM-3 Connector; MS motor power mate for BMS280, BMS465 motors
MCF-3 Connector; MS motor feedback mate for BMS280, BMS465 motors
Aerotech also offers a variety of brushless amplifiers.

Refer to Aerotech’s Motion Control Product Guide for more
information.
1.6. Motor Specifications
The specifications for the BM series brushless motors are listed in Table 1-7, Table 1-8,
Table 1-9, and Table 1-10. The specifications for the BMS series brushless motors are
listed in Table 1-11 and Table 1-12.
Table 1-7: BM75, BM130, BM200 Motor Specifications (NEMA 23 Frame)

Motor Model Units BM75 BM130 BM200
Performance Specifications(1,5)
Stall Torque, Continuous(2,8) N-m (oz-in) 0.55 (78.3) 1.00 (141.5) 1.20 (170.0)
Peak Torque(3) N-m (oz-in) 1.4 (196) 2.5 (354) 3.0 (425)
Rated Speed rpm 4,000 4,000 4,000
Rated Power Output, Continuous watts 232 419 503
Electrical Specifications(5)
BEMF Constant (Line-Line, Max) Voltspk/krpm 6.7 16.0 14.5
Continuous Current, Amppk 10.0 7.5 10.0
(2,8)
Stall Amprms 7.1 5.3 7.1
Amppk 25.0 18.9 25.0
Peak Current, Stall(3)
Amprms 17.7 13.3 17.7
N-m/Amppk 0.06 0.13 0.12
oz-in/Amppk 7.8 18.8 17.0
Torque Constant(4,9)
N-m/Amprms 0.08 0.19 0.17
oz-in/Amprms 11.1 26.5 24.0
N-m/√W 0.052 0.088 0.107
Motor Constant(2,4)
oz-in/√W 7.33 12.43 15.18
Resistance, 25°C (Line-Line) ohms 1.0 2.0 1.1
Inductance (Line-Line) mH 0.80 1.80 1.10
Maximum Bus Voltage VDC 340 340 340
Thermal Resistance C/W 1.14 1.00 1.04
Number of Poles P 8 8 8
Mechanical Specifications
kg 1.1 1.5 2.0
Motor Weight
lb 2.42 3.30 4.40
2 -6
kg-m 5.20x10 9.20x10-6 1.30x10-5
Rotor Moment of Inertia
oz-in-s2 0.0007 0.0013 0.0018
Max Radial Load N (lb) 89 (20) 89 (20) 89 (20)
Max Axial Load N (lb) 89 (20) 89 (20) 89 (20)
Notes:
1. Performance is dependent upon heat sink configuration, system cooling conditions, and ambient temperature.
2. Values shown @ 130°C rise above a 25°C ambient temperature, with motor mounted to a 250 mm x 250 mm x 6 mm
aluminum heat sink.
3. Peak torque assumes correct rms current; consult Aerotech.
4. Torque constant and motor constant specified at stall.
5. All performance and electrical specifications ±10%.
6. Maximum winding temperature is 155°C.
7. Ambient operating temperature range 0°C - 25°C; consult Aerotech for performance in elevated ambient temperatures.
8. De-rate continuous torque and continuous current by 10% when using an encoder.
9. All Aerotech amplifiers are rated Apk; use torque constant in N-m/Apk when sizing.
Table 1-8: BM250 and BM500 Motor Specifications (NEMA 34 Frame)

Motor Model Units BM250 BM500
Stall Torque, Continuous(2,8) N-m (oz-in) 2.0 (285) 3.6 (506)
Peak Torque(3) N-m (oz-in) 5.0 (712) 8.9 (1,264)
Rated Speed rpm 4,000 4,000
Rated Power Output, Continuous watts 843 1496
(5)
Electrical Specifications
BEMF Constant (Line-Line, Max) Voltspk/krpm 23.2 24.7
Amppk 10.5 17.5
Continuous Current, Stall(2,8)
Amprms 7.4 12.4
Amppk 26.3 43.8
Amprms 18.6 30.9
N-m/Amppk 0.19 0.20
oz-in/Amppk 27.1 28.9
N-m/Amprms 0.27 0.29
oz-in/Amprms 38.4 40.9
(2,4) N-m/√W 0.171 0.270
Motor Constant
oz-in/√W 24.24 38.28
Resistance, 25°C (Line-Line) ohms 1.1 0.5
Inductance (Line-Line) mH 1.30 2.80
Maximum Bus Voltage VDC 340 340
Thermal Resistance C/W 0.94 0.74
Number of Poles P 8 8
Motor Weight kg (lb) 3.6 (7.92) 5.0 (11.0)
2 -5
kg-m 7.85x10 1.39x10-4
oz-in-s2 0.0111 0.0197
Max Radial Load N (lb) 178 (40) 178 (40)
Max Axial Load N (lb) 89 (20) 89 (20)
Note:
aluminum heat sink.
Table 1-9: BM800, BM1400 Motor Specifications (NEMA 42 Frame)
Motor Model Units BM800 BM1400

Electrical Specifications(1,5)
Stall Torque, Continuous(2,8) N-m (oz-in) 5.6 (787) 9.4 (1336)
Peak Torque(3) N-m (oz-in) 13.9 (1966) 23.6 (3339)
Rated Power Output, Continuous watts 1744 2962
(2,8) Amppk 10.6 18.0
Continuous Current, Stall
Amprms 7.5 12.7
Amppk 26.5 45.0
Amprms 18.7 31.8
N-m/Amppk 0.52 0.52
N-m/√W 0.448 0.694
Motor Constant(2,4)
oz-in/√W 63.44 98.28
2 -4
kg-m 3.00x10 5.60x10-4
oz-in-s2 0.0425 0.0793
Max Radial Load N (lb) 222 (50) 222 (50)
Max Axial Load N (lb) 89 (20) 89 (20)
Note:
aluminum heat sink.
Table 1-10: BM2000, BM3400, BM4500 Motor Specifications (IEC 142 Frame)
Motor Model Units BM2000 BM3400 BM4500
Stall Torque, Continuous(2) N-m (lb-in) 14.7 (130) 23.7 (210) 31.6 (280)
Peak Torque(3) N-m (lb-in) 44.1 (390) 71.2 (630) 94.9 (840)
Rated Speed(6) rpm 2,400 2,400 2,400
Rated Power Output, Continuous watts 3691 5962 7949
BEMF Constant (Line-Line, Max) Voltspk/krpm 70.0 70.0 80.0
(2) Amppk 16.5 26.7 31.1
Continuous Current, Stall
Amprms 11.7 18.9 22.0
Amppk 49.7 80.3 93.5
Amprms 35.1 56.7 66.1
N-m/Amppk 0.89 0.89 1.01
(4,8) lb-in/Amppk 7.9 7.9 9.0
Torque Constant
N-m/Amprms 1.25 1.25 1.43
lb-in/Amprms 11.1 11.1 12.7
N-m/√W 1.13 1.86 2.31
Motor Constant(2,4)
oz-in/√W 10.0 16.5 20.5
Resistance, 25°C (Line-Line) ohms 0.54 0.20 0.17
Inductance (Line-Line) mH 3.50 1.60 1.50
Maximum Bus Voltage VDC 340 340 340
Thermal Resistance C/W 0.78 0.80 0.69
Number of Poles P 6 6 6
Motor Weight kg (lb) 15 (33.0) 23 (49.9) 30 (66.9)
2 -3
2.23x10-3 -3
kg-m 1.25x10 3.24x10
lb-in-s2 0.0111 0.0197 0.0287
Max Radial Load N (lb) 668 (150) 668 (150) 668 (150)
Max Axial Load N (lb) 223 (50) 223 (50) 223 (50)
Note:
2. Values shown @ 130°C rise above a 25°C ambient temperature, with motor mounted to a 305 mm x 305 mm x 12.7 mm
aluminum heat sink.
Table 1-11: BMS60, BMS100 Motor Specifications (NEMA 23 Frame)

Motor Model Units BMS60 BMS100
Winding Designation -A -A
Stall Torque, Continuous(2) N-m (oz-in) 0.33 (46.2) 0.56 (80.0)
Peak Torque(3) N-m (oz-in) 1.31 (184.9) 2.26 (320.0)
Rated Power Output, Continuous watts 136.7 177.5
Amppk 2.3 2.1
Continuous Current, Stall (2)
Amprms 1.6 1.5
Amppk 9.2 8.4
Peak Current, Stall (3)
Amprms 6.5 5.9
N-m/Amppk 0.14 0.27
N-m/√W 0.050 0.076
Motor Constant(2,4)
oz-in/√W 7.02 10.74
2 -5
kg-m 1.96x10 3.71x10-5
oz-in-s2 0.0028 0.0053
Max Radial Load N (lb) 89 (20)
Max Axial Load N (lb) 89 (20)
Notes:
2. Values shown @ 75°C rise above a 25°C ambient temperature, with housed motor mounted to a 250 mm x 250 mm x 6 mm
aluminum heat sink.
6. Maximum winding temperature is 100°C; thermistor trips at 100°C.
7. Ambient operating temperature range 0°C - 25°C. Consult Aerotech for performance in elevated ambient temperatures.
Table 1-12: BMS280, BMS465 Motor Specifications (NEMA 34 Frame)

Motor Model Units BMS280 BMS465
Winding Designation -A -A
Stall Torque, Continuous(2) N-m (oz-in) 1.60 (227.0) 2.86 (404.8)
Peak Torque(3) N-m (oz-in) 6.41 (908.0) 11.43 (1619.2)
Rated Power Output, Continuous watts 503.5 598.5
Amppk 3.8 4.9
Continuous Current, Stall (2)
Amprms 2.7 3.5
Amppk 15.2 19.6
Peak Current, Stall (3)
Amprms 10.7 13.9
N-m/Amppk 0.42 0.58
N-m/√W 0.179 0.280
Motor Constant(2,4)
oz-in/√W 25.34 39.70
2 -4
kg-m 4.66x10 9.28x10-4
oz-in-s2 0.0660 0.1314
Max Radial Load N (lb) 178 (40)
Max Axial Load N (lb) 89 (20)
Notes:
2. Values shown @ 75°C rise above a 25°C ambient temperature, with housed motor mounted to a 250 mm x 250 mm x 6
mm aluminum heat sink.
6. Maximum winding temperature is 100°C; thermistor trips at 100°C.
7. Ambient operating temperature range 0°C - 25°C. Consult Aerotech for performance in elevated ambient temperatures.
1.6.1. Feedback Device Specifications

Table 1-13 contains the encoder specifications for the BM series brushless motors and
Figure 1-7 shows the phasing of sine, cosine, and marker channels for rotary encoders.
Table 1-13: Encoder Specifications

Parameters Values
Input Power 5VDC @ 400 mA max
Sink/Source Current 20 mA
Output Configuration Differential line driver (26LS31)
Output Frequency 100KHz (all channels)
Operating Temperature -10°C to 85°C
Storage Temperature -30°C to 110°C
Resolution 1000 Cycles/Rev.
Commutation 4 Cycles/Rev.
Figure 1-7: Phasing of Sine, Cosine, and Marker Channels for Rotary Encoder
Table 1-14 contains the resolver specifications; for phase relationships of resolver
feedback signals, refer to Figure 1-6.
Table 1-14: Resolver Specifications

Parameters Units 5 kHz Operation 10 kHz Operation
Input Voltage Voltsrms 7 7
Input Current mA 70 Max 50 Max
Input Power Watts 0.31 Max 0.20 Max
Transformer Ratio Output/Input 0.5 0.5
Phase Shift Deg ° 17 +/- 3 4 Max
Rotor DC Resistance Ohms 40 40
Stator DC Resistance Ohms 77 77
Null Voltage mV 20 20
Electrical Error Arc Min +/- 15 +/- 15
Output Voltage Voltsrms 3.5 3.5
Operating Temp °C -55 to 155 -55 to 155
1.6.2. Connector Pin Assignments

This section contains the pin assignment for the MS motor connector (Table 1-15), MS
feedback connector (Table 1-16), and the optional resolver MS connector (Table 1-17) as
well the D-sub motor and feedback connector (Table 1-18)
Table 1-15: Motor Power Connector Pin Assignment (MS3101A-10P)

Pin Function
A Motor Phase A
B Motor Phase B
C Motor Phase C
D Motor Frame Ground
Table 1-16: Feedback Connector Pin Assignment (MS3101A-20-29P)

Pin Function Pin Function
A Cosine L Hall Effect A-N (optional) **
B Cosine-N M Hall Effect B
C Sine N Hall Effect B-N (optional) **
D Sine-N P Hall Effect C
E Marker R Hall Effect C-N (optional) **
F Marker-N S Brake + (optional)*
G Common T Brake – (optional)*
H +5V
Shield (no connection
J
to frame)
K Hall Effect A
* 24 VDC @ 1 A max
** Not used on BMS280, BMS465 or with an AS encoder
Table 1-17: Resolver Connector Pin Assignment (MS3101A-20-29P)

Pin Function Pin Function
A Sine + L
B Sine – M
C Cosine + N Sine Shield (no connection to frame)
D Cosine – P Cosine Shield (no connection to frame)
E Ref + R Reference Shield (no connection to frame)
F Ref – S Brake + (optional)*
G T Brake – (optional)*
H
J
K
* 24 VDC @ 1 A max
Table 1-18: D-sub Connector Pin Assignment
A1 A2 A3 1 2 A4
3 4 5
Pin Description Pin Description

A1 Motor Phase A 3 Reserved
A2 Motor Phase B 4 Reserved
A3 Motor Phase C 5 Reserved
1 Shield A4 Motor Frame Ground
2 Reserved
1 5 9 13
B
14 18 22 25
Pin Description Pin Description

1 Shield 14 Cosine
2 External Shutdown (optional)** 15 Cosine-N
3 +5V 16
4 17 Sine
5 Hall Effect B 18 Sine-N
6 Marker-N 19
7 Marker 20
8 21 Common
9 22
10 Hall Effect A 23
11 Hall Effect C 24
12 25 Brake + (optional)*
13 Brake - (optional)*
* Used with –BK option
** BMS60/BMS100 with thermistor connected
1.7. Installation
Motors are installed by bolting the motor flange to a mounting surface using four holes
on the motor flange. The load is connected to the motor shaft using keyways and/or flats
(See motor drawing for additional information and availability).
1.7.1. Wiring
External wiring to the motor must meet certain requirements. Wiring must be able to
carry the rated current without overheating. The insulation of the wire must be rated for
the voltage at which the motor will be operating. The Protective Ground must meet rated
current requirements. Signal wiring (Encoder, Hall, etc…) must have the proper
insulation voltage rating and current carrying capacity.
The motor power conductors must be sized to handle the maximum current of the motor.
The motor fuse or other protective device typically determines this current. The
insulation must be rated for the maximum voltage applied to the motor (300V wire
insulation typical). As a minimum requirement the motor wiring must be shielded to
reduce electromagnetic emissions.
The Protective Ground is a safety conductor that is used to ground the motor case. The
Protective Ground conductor must have a current capacity that is at least equal to the
motor wires. The insulation of the Protective Ground wire is standard Green/Yellow and
must be rated for the maximum voltage that will be applied to the motor. The Protective
Ground wire is usually bundled along with the motor wires, but system requirements may
require that a separate Protective Ground wire is needed.
Signal wires should have a current capacity of at least 1 Amp. The insulation of the wires
should have a rating of at least the maximum voltage (300 V typical) that will be applied
to the motor. As minimum requirements the signal wires need to be bundled together
within a shielded cable and signal and motor wires must not be bundled together. Motor
wires must be shielded separately from the signal wires to prevent EMI interference.
1.7.2. Overcurrent Protection

Motors need to be provided with overcurrent protection to prevent motors from
overheating. Overcurrent protection can be accomplished using programmable current
limits, traps, overcurrent protection circuitry, or fusing. Typically, when the motor is part
of an Aerotech integrated system, the motor will be overcurrent protected by at least one
of these methods. If the motor is being installed in a system that was not configured by
Aerotech the user is responsible for providing over current protection for the motor.
Fuses can be used to protect the motor against severe overloads. Fuse values should be
selected according to the RMS current rating of the motor. For most applications slow-
blow type fuses should be used. Fuse replacement information for Aerotech systems can
be found in the document package for the system.
1.7.3. Cooling
Motors do not require cooling when operating within rated temperature range. External
cooling directed at the motors can be beneficial in cases where the motor is operating
near its maximum rating. The motor will also run cooler if it is kept clean of grease, dirt,
and other accumulated material.
1.8. Brushless Motor Dimensions
The following figures show the outline dimensions of each model in BM series brushless
motors.
2 Flats At 90° Apart
47.1 [1.86] Ø5.0 [Ø0.20] 0.5[0.02] A **
4 Holes Typ.
16.0 [0.63] 53.1 [2.09]
Shaft Dia. C
47.142 [1.86] 57.2 [2.25]* 38.1 [1.50]

Square
25.4 [1.00]
2.5 [0.10]
8.6 [0.34] 15.0 [0.59]
Cable, Motor Cable, Sensors (Feedback) B**
**
77.3 [3.04]
380[15]
MS3101A-18-10P MS3101A-20-29P
63.5 [2.50]
Square
Brake (Optional)
Dimensions - millimeters [inches]
Motor
Model No. A** B ** C
*Add 3.2[0.13 IN,] Per Side For Optional Brake.
**Add 77.2[3.04 IN.] To Length For Optional Brake.
157.5 132.1 Ø 6,345 +0.000, -0.013
BM75 6.20" 5.20" 0.2498" +0.0000", -0.0005"
187.9 162.6 Ø 9,517 +0.000, -0.013

BM130 7.40" 6.40" 0.3747" +0.0000", -0.0005"
218.4 193.0 Ø 9,517 +0.000, -0.013
BM200
8.60" 7.60" 0.3747" +0.0000", -0.0005"
Figure 1-8: BM75, BM130, BM200 Model Dimensions (NEMA 23)
82.6 [3.25] Sq.

0.22[5.6] Dia. A*
69.6 [2.74] Thru 4 Holes
1/8[3.2] Sq. Keyway Square 30.2 [1.19]
By 0.88[22.4] Lg. C 11.4 [0.45]
Shaft Dia.
73.0 [2.87] 108.0 [4.25]
1.0 [0.04] Typ.

2 Flats 90° Apart
23.8 [0.94]
Motor Cable Sensor (Feedback)

Connector Optional Brake 2.5 [0.10]
MS3102R18-10P Cable Connector 22.2 [0.88]
MS3102R20-29P
*
B
19.9 [0.78] 18.3 [0.72]
*
55.6 [2.19]
Motor
Model No. A * B * C
220.3 190.0 Ø 12.69 +0.000, -0.013 82.6 [3.25]

BM250 Square
8.67" 7.48" 0.4997" +0.0000", -0.0005"
275.1 244.9 Ø 12.69 +0.000, -0.013

BM500
10.83" 9.64" 0.4997" +0.0000", -0.0005"
*Add 55.6[2.19 IN.] To Length For Optional Brake. Brake(Optional)
Figure 1-9: BM250, BM500 Model Dimensions (NEMA 34)
108.0 [4.25]
Square Ø7.1 [Ø0.28] A *
Thru 4 Holes
88.9 [3.50] 50.8 [2.00]
Square
13.2 [0.52]
C
Shaft Dia.
44.5 [1.75]
Ø55.6 [Ø2.19] 2 Flats
90° Apart
Typ.
130.2 [5.13]
1.0 [0.04]
4.8[0.187] Sq. Keyway
By 38[1.50] Lg.
2.4 [0.09]
Motor
Cable Connector Sensor (Feedback) 22.2 [0.87]
B*
MS3102A18-10P Cable Connector
MS3102A20-29P
20.6 [0.81] 22.2 [0.87]

*
68.9 [2.71]
Motor
Model No. A* B* C
108.0 [4.25]
238 187 Ø 19.04 +0.000, -0.013 Square
BM800
9.37" 7.37" 0.7497" +0.0000", -0.0005"
318 267.2 Ø 19.04 +0.000, -0.013
BM1400
12.52" 10.52" 0.7497" +0.0000", -0.0005"
*Add 68.9[2.71 IN.] To Length For Optional Brake.

Brake (Optional)
Figure 1-10: BM800, BM1400 Model Dimensions (NEMA 42)
FEEDBACK CONNECTOR
MS3102R-20-29P
MATING CONNECTOR
MS3102F-20-29S
MOTOR CONNECTOR
44.1 [1.74] MS3102E-22-22P
Ø11.0 (.43) Thru
MATING CONNECTOR
(4) Eq. Spd. As Shown MS3102R-22-22S
On Ø165.00 (6.496) B.C.
B Shaft Dia.
95[3.7]
Keyway Max.
Width
37.0 [1.46]
Min.
18.0 [.71]
116.7 [4.59] 3.6 [.14]
Square
49.9 [1.96] A*
Ø130.0 [5.12]
142.0 [5.59]
Model No. *
A B Keyway
Square 255.5 24.000 / 23.988 7.985 / 7.949

BM2000 10.06" 0.9449" / 0.9444" 0.3144" / 0.3130"
Dimensions - millimeters [inches] 331.7 24.000 / 23.988 7.985 / 7.949
BM3400 13.06" 0.9449" / 0.9444" 0.3144" / 0.3130"
BM4500 408.0 32.000 / 31.984 9.985 / 9.949

16.06" 1.2598" / 1.2592" 0.3931" / 0.3917"
*Add 76[3.0] To Length For Optional Brake.

Figure 1-11: BM2000, BM3400, BM4500 Model Dimensions (IEC 142)
2 Flats At 90° Apart

47.1 [1.86] Ø5.0 [Ø0.20] 0.5[0.02] A **
4 Holes Typ.
16.0 [0.63] 53.1 [2.09]
Shaft Dia. C
47.142 [1.86] 57.2 [2.25]* 38.1 [1.50]

Square
25.4 [1.00]
2.5 [0.10]
8.6 [0.34] 15.0 [0.59]
Cable, Motor Cable, Sensors (Feedback) **

B
**
77.3 [3.04]
380[15]
63.5 [2.50]
Square
9 Pin
High Power 25 Pin D Connector
D Connector
Brake (Optional)
Motor
Model No. A** B ** C
*Add 3.2[0.13 IN,] Per Side For Optional Brake.
**Add 77.2[3.04 IN.] To Length For Optional Brake.
157.5 132.1 Ø 6,345 +0.000, -0.013
BMS60 6.20" 5.20" 0.2498" +0.0000", -0.0005"
187.9 162.6 Ø 9,517 +0.000, -0.013

BMS100
7.40" 6.40" 0.3747" +0.0000", -0.0005"
Figure 1-12: BMS60 and BMS100 Model Dimensions
82.6 [3.25] Sq.

5.6 [0.22]Dia. A*
69.6 [2.74] Sq. Thru 4 Holes
30.2 [1.19]
C 11.4 [0.45]
Shaft Dia.
73.0 [2.87]
108.0 [4.25]
1.0 [0.04] Typ.
2 Flats 90° Apart
23.8 [0.94]
Motor Cable Sensor (Feedback)

Connector Optional Brake 2.5 [0.10]
MS3102R18-10P Cable Connector 22.2 [0.87]
MS3102R20-29P
19.9 [0.78] 18.3 [0.72]

B *
*
55.6 [2.19]
Motor
Model No. A* B * C
82.5 [3.25]
220.3 190.0 Ø 12.69 +0.000, -0.013 Square
BMS280
8.67" 7.48" 0.4997" +0.0000", -0.0005"
275.1 244.9 Ø 12.69 +0.000, -0.013

BMS465
10.83" 9.64" 0.4997" +0.0000", -0.0005"
*Add 55.6[2.19 IN.] To Length For Optional Brake. Brake(Optional)
Figure 1-13: BMS280 and BMS465 Model Dimensions
1.9. Environmental Specifications
Ambient
Operating:
0° to 25°C, consult Aerotech for performance deration
Temperature:
for ambient temperatures above 25°C
Storage:
-20°C to 85°C
Ambient conditions need to be such that condensation
Humidity:
on the motor does not occur.
Altitude Up to 1000 m.
Pollution degree I (normally only non-conductive
Pollution
pollution).
Use Indoor use only.
1.10. Preventative Maintenance
The motor and external wiring should be inspected monthly. Inspections may be required
at more frequent intervals, depending on the environment and use of the system.
Table 1-19 lists the recommended checks that should be made during these inspections.
Aerotech equipment is not to be used in a manner not

specified by Aerotech, Inc.
Table 1-19: Preventative Maintenance

Check Action to be Taken
Inspect motor for dirt, grease and other Clean and remove any accumulated material
accumulated material. from motor.
Visually Check motor for loose or Correct and repair as required.
damaged parts / hardware.
Note: Internal inspection is not required.
Clean. Fluids or electrically conductive
material must not be permitted to enter the
Check for fluids or electrically motor.
conductive material exposure.
Note: Disconnect power to avoid shock
hazard.
Tighten or re-secure any loose connections.
Visually inspect all cables and
Replace worn or frayed cables. Replace
connections.
broken connectors.
1.11. Cleaning
Motors should be wiped clean with a clean dry cloth to remove any grease, dirt or other
material that has accumulated on the motor. Fluids and sprays are not recommended
because of the chance for internal contamination which may result in electrical shorts
and/or corrosion. The electrical power must be disconnected from the motor while
cleaning. Do not allow cleaning substances to enter into the motor or onto any of the
connectors. Cleaning labels should be avoided to prevent removal of label information.
∇ ∇ ∇
BM/BMS Series Hardware Manual Appendix A
APPENDIX A: GLOSSARY OF TERMS

The positioning error resulting from angular motion and an offset
Abbe Error between the measuring device and the point of interest.
The value of the offset between the measuring device and the
Abbe Offset point of interest.
Absolute Move A move referenced to a known point or datum.
A positioning coordinate reference where all positions are

Absolute Programming specified relative to a reference or “home” position.
A servomotor with stationary windings in the stator assembly

AC Brushless Servo and permanent magnet rotor. AC brushless generally refers to a
sinusoidally wound motor (such as BM series) to be commutated
via sinusoidal current waveform. (see DC brushless servo)
Acceleration The change in velocity as a function of time.
An absolute measurement defining the difference between

Accuracy actual and commanded position.
In reference to an encoder grating, accuracy grade is the

Accuracy Grade tolerance of the placement of the graduations on the encoder
scale.
American Standard Code for Information Interchange. This code

ASCII assigns a number to each numeral and letter of the alphabet.
Information can then be transmitted between machines as a
series of binary numbers.
Positioning error of the rotary stage in the vertical direction when

Axial Runout the tabletop is oriented in the horizontal plane. Axial runout is
defined as the total indicator reading on a spherical ball
positioned 50 mm above the tabletop and centered on the axis
of rotation.
Axis of Rotation A centerline about which rotation occurs.
The voltage generated when a permanent magnet motor is

Back emf, Kemf rotated. This voltage is proportional to motor speed and is
present whether or not the motor windings are energized.
A component of bidirectional repeatability, it is the non-

Backlash responsiveness of the system load to reversal of input
command.
A precision device for translating rotary motion into linear

Ball Screw motion. A lead screw is a low-cost lower performance device
performing the same function. Unit consists of an externally
threaded screw and an internally threaded ball nut.
The linear distance a carriage will travel for one revolution of the
Ball Screw Lead ball screw (lead screw).
A measurement, expressed in frequency (hertz), of the range

Bandwidth which an amplifier or motor can respond to an input command
from DC to -3dB on a frequency sweep.
The number of bits transmitted per second on a serial

Baud Rate communication channel such as RS-232 or modem.
Binary Coded Decimal - A number system using four bits to

BCD represent 0-F (15).
www.aerotech.com A-1
Appendix A BM/BMS Series Hardware Manual
A support mechanism allowing relative motion between two

Bearing surfaces loaded against each other. This can be a rotary ball
bearing, linear slide bearing, or air bearing (zero friction).
Bidirectional Repeatability See Repeatability.
A technique used to perform nonlinear motion that is

CAM Profile electronically similar to the motion achieved with mechanical
cams.
Cantilevered Load A load not symmetrically mounted on a stage.
A broad term relating to any system where the output is

Closed Loop measured and compared to the input. Output is adjusted to
reach the desired condition.
Computer Numerical Control. A computer-based motion control

CNC device programmable in numerical word address format.
Defined as the ratio of the force required to move a given load to

Coefficient of Friction the magnitude of that load.
Nonuniform angular/linear velocity. Cogging appears as a

Cogging jerkiness, especially at low speeds, and is due to magnetic poles
attracting to steel laminations.
The action of steering currents to the proper motor phases to

Commutation produce optimum motor torque/force. In brush-type motors,
commutation is done electromechanically via the brushes and
commutator. A brushless motor is electronically commutated
using a position feedback device such as an encoder or Hall
effect devices. Stepping motors are electronically commutated
without feedback in an open-loop fashion.
Also referred to as trapezoidal commutation. The process of

Commutation, 6-Step switching motor phase current based on three Hall effect signals
spaced 120 electrical degrees beginning 30 degrees into the
electrical cycle. This method is the easiest for commutation of
brushless motors.
Also referred to as modified sine commutation. The process of

Commutation, switching motor phase current based on three Hall effect signals
spaced 120 electrical degrees beginning at 0 electrical degrees.
Modified 6-Step This method is slightly more difficult to implement than standard
6-step, but more closely approximates the motor’s back emf.
The result is smoother control and less ripple. Aerotech’s BA
series self-commutate using this method.
The process of switching motor phase current based on motor

Commutation, Sinusoidal position information, usually from an encoder. In this method,
the three phase currents are switched in very small increments
that closely resemble the motor’s back emf. Sinusoidal
commutation requires digital signal processing to convert
position information into three-phase current values and,
consequently, is most expensive to implement. The result,
however, is the best possible control. All Aerotech controllers, as
well as the BAS series amplifiers, commutate using this method.
Multi-axis motion where the position of each axis is dependent

Coordinated Motion on the other axis, such that the path and velocity of a move can
be accurately controlled. Drawing a circle requires coordinated
motion.
A term used in the specification of a lead screw or ball screw

Critical Speed indicating the maximum rotation speed before resonance
occurs. This speed limit is a function of the screw diameter,
distance between support bearings, and bearing rigidity.
A-2 www.aerotech.com
Motor driver or amplifier configuration where the input signal is

Current Command commanding motor current directly, which translates to motor
torque/force at the motor output. Brushless motors can be
commutated directly from a controller that can output current
phase A and B commands.
An allowable current to run a motor above its rated load, usually

Current, Peak during starting conditions. Peak current listed on a data sheet is
usually the highest current safely allowed to the motor.
Root Mean Square. Average of effective currents over an

Current, rms amount of time. This current is calculated based on the load and
duty cycle of the application.
When motion is repeated (move and dwell) such as repetitive

Cycle back-and-forth motion.
A servomotor with stationary windings in the stator assembly

DC Brushless Servo and permanent magnet rotor. (See AC Brushless Servo)
Deceleration The change in velocity as a function of time.
For a repetitive cycle, the ratio of “on” time to total cycle time
Duty Cycle used to determine a motor’s rms current and torque/force.
Time in a cycle at which no motion occurs. Used in the

Dwell Time calculation of rms power.
Efficiency Ratio of input power vs. output power.
Technique used to electrically simulate mechanical gearing.

Electronic Gearing Causes one closed loop axis to be slaved to another open or
closed loop axis with a variable ratio.
Once-per-revolution signal provided by some incremental

Encoder Marker encoders to accurately specify a reference point within that
revolution. Also known as Zero Reference Signal or Index Pulse.
Measure of the smallest positional change which can be

Encoder Resolution detected by the encoder. A 1000-line encoder with a quadrature
output will produce 4000 counts per revolution.
Position encoding device in which the output is a series of

Encoder, Incremental pulses relative to the amount of movement.
Signal that provides process or loop information such as speed,

Feedback torque, and position back to the controller to produce a “closed
loop” system.
Measure of the vertical deviation of a stage as it travels in a

Flatness (of travel) horizontal plane.
The value of force that a particular motor can produce in a

Force, Continuous continuous stall or running (as calculated by the rms values)
condition.
The maximum value of force that a particular motor can

Force, Peak produce. When sizing for a specific application, the peak force is
usually that required during acceleration and deceleration of the
move profile. The peak force is used in conjunction with the
continuous force and duty cycle to calculate the rms force
required by the application.
The resistance to motion between two surfaces in contact with

Friction each other.
A standard protocol, analogous to RS-232, for transmitting

G.P.I.B. digital information. The G.P.I.B. interface (IEEE-488) transmits
data in parallel instead of serial format. (See IEEE-488)
Comparison or ratio of the output signal and the input signal. In

Gain general, the higher the system gain, the higher the response.
Grating Period Actual distance between graduations on an encoder.
Feedback device (HED) used in a brushless servo system to

Hall Effect Sensors provide information for the amplifier to electronically commutate
the motor.
HED Hall Effect Device. (See Hall Effect Sensors)
Human Machine Interface. Used as a means of getting operator

HMI data into the system. Also, refered to as an MMI.
Reference position for all absolute positioning movements.

Home Usually defined by a home limit switch and/or encoder marker.
A sensor used to determine an accurate starting position for the

Home Switch home cycle.
A component of bidirectional repeatability. Hysteresis is the

Hysteresis deviation between actual and commanded position and is
created by the elastic forces in the drive systems.
Input / Output. The reception and transmission of information

I/O between control devices using discrete connection points.
A set of codes and formats to be used by devices connected via

IEEE-488 a parallel bus system. This standard also defines communication
protocols that are necessary for message exchanges, and
further defines common commands and characteristics. (See
G.P.I.B.)
Incremental Move A move referenced from its starting point (relative move).
The physical property of an object to resist changes in velocity

Inertia when acted upon by an outside force. Inertia is dependent upon
the mass and shape of an object.
The deviation of a lead screw or ball screw from its nominal

Lead Error pitch.
A device for translating rotary motion into linear motion. Unit

Lead Screw consists of an externally threaded screw and an internally
threaded carriage (nut). (See Ball Screw)
The minimum rated lifetime of a stage at maximum payload

Life while maintaining positioning specifications.
A sensor used to determine the end of travel on a linear motion

Limit Switch assembly.
Sensors called limits that alert the control electronics that the
Limits physical end of travel is being approached and motion should
stop.
A motor consisting of 2 parts, typically a moving coil and

Linear Motor stationary magnet track. When driven with a standard servo
amplifier, it creates a thrust force along the longitudinal axis of
the magnet track.
The maximum recommended payload that does not degrade the

Load Carrying Capability listed specifications for a mechanical stage.
Type of coordinated motion control where the master axis

Master-Slave position is used to generate one or more slave axis position
commands.
Man Machine Interface used as a means of getting operator

MMI data into the system. (See HMI)
A method of describing a process in terms of velocity, time, and

Motion Profile position.
The conductive element in a DC brush-type motor used to

Motor Brush transfer current to the internal windings.
Type of direct current motor that utilizes electronic commutation

Motor, Brushless rather than brushes to transfer current.
Specialized motor that allows discrete positioning without

Motor, Stepping feedback. Used for noncritical, low power applications, since
positional information is easily lost if acceleration or velocity
limits are exceeded.
Numerical Control. Automated equipment or process used for

NC contouring or positioning (See CNC). Also, Normally Closed,
referring to the state of a switch.
National Electrical Manufacturer’s Association. Sets standards

NEMA for motors and other industrial electrical equipment.
Memory in a system that maintains information when power is

Non-Volatile Memory removed.
A signal output that is performed with a transistor. Open

Open Collector collector output acts like a switch closure with one end of the
switch at circuit common potential and the other end of the
switch accessible.
Control circuit that has an input signal only, and thus cannot
Open Loop make any corrections based on external influences.
Device that allows the operator to communicate with a machine.

Operator Interface A keyboard or thumbwheel is used to enter instructions into a
machine. (See HMI or MMI)
A linear or angular position feedback device using light fringes to

Optical Encoder develop position information.
System or circuit that transmits signal with no direct electrical

Opto-isolated connections, using photoelectric coupling between elements.
The condition of a surface or axis perpendicular (offset 90°) to a

Orthogonality second surface or axis. Orthogonality specification refers to the
error from 90° from which two surfaces of axes are aligned.
In a servo system, referred to the amount of velocity and/or

Overshoot position overrun from the input command. Overshoot is a result
of many factors including mechanical structure, tuning gains,
servo controller capability, and inertial mismatch.
A group of gain terms in classical control theory (Proportional

PID Integral Derivative) used in compensation of a closed-loop
system. The terms are optimally adjusted to have the output
response equal the input command. Aerotech controllers utilize
the more sophisticated PID FVFA loop which incorporates
additional terms for greater system performance.
Angular motion of a carriage around an axis perpendicular to the

Pitch (of travel) motion direction and perpendicular to the yaw axis.
Pitch Error Positioning error resulting from a pitching motion.
Programmable Logic Controller. A programmable device that

PLC utilizes “ladder logic” to control a number of input and output
discrete devices.
Pulse Width Modulation. Switch-mode technique used in

PWM amplifiers and drivers to control motor current. The output
voltage is constant and switched at the bus value (160 VDC with
a 115 VAC input line).
Refers to the property of position transducers that allows them to

Quadrature detect direction of motion using the phase relationship of two
signal channels. A 1000-line encoder will yield 4000 counts via
quadrature.
Positioning error of the rotary stage in the horizontal direction

Radial Runout when the tabletop is oriented in the horizontal plane. Radial
runout is defined as the total indicator reading on a spherical ball
positioned 50 mm above the tabletop and centered on the axis
of rotation.
Ramp Time Time it takes to accelerate from one velocity to another.
Range The maximum allowable travel of a positioning stage.
Resolver to Digital Converter. Electronic component that

RDC converts the analog signals from a resolver (transmitter type)
into a digital word representing angular position.
The maximum deviation from the mean (each side) when

Repeatability repeatedly approaching a position. Unidirectional repeatability
refers to the value established by moving toward a position in
the same direction. Bidirectional repeatability refers to the value
established by moving toward a position in the same or opposite
direction.
Resolution The smallest change in distance that a device can measure.
An optical element with the property that an input light beam is

Retroreflector reflected and returns along the same angle as the input beam.
Used with laser interferometers.
Angular motion of a carriage around an axis parallel to the

Roll (of travel) motion direction and perpendicular to the yaw axis.
Roll Error Positioning error resulting from a roll motion.
The rotating part of a magnetic structure. In a motor, the rotor is

Rotor connected to the motor shaft.
Industry standard for sending signals utilizing a single-ended

RS-232C driver/receiver circuit. As such, the maximum distance is limited
based on the baud rate setting but is typically 50-100 feet. This
standard defines pin assignments, handshaking, and signal
levels for receiving and sending devices.
Industry standard programming language. Also referred to as G-

RS-274 code machine programming. A command set specific for the
machine tool industry that defines geometric moves.
Industry communication standard for sending signals over

RS-422 distances up to 4000 feet. Standard line driver encoder
interfaces utilize RS-422 because of the noise immunity.
The deviation from the desired form of a surface during full

Runout rotation (360 degrees) about an axis. Runout is measured as
total indicated reading (TIR). For a rotary stage, axis runout
refers to the deviation of the axis of rotation from the theoretical
axis of rotation.
Refers to a closed loop control system where a command is

Servo System issued for a change in position and the change is then verified
via a feedback system.
Time required for a motion system to cease motion once the

Settling Time command for motion has ended.
Maximum radial load that can be applied to the end of the motor
Shaft Radial Load shaft at maximum motor speed.
Shaft Runout Deviation from straight line travel.
Describes the type of laminations used in a motor that eliminates

Slotless cogging torque due to magnetic attraction of the rotor to the
stator slots.
Non-rotating part of a magnetic structure. In a motor, the stator

Stator usually contains the mounting surface, bearings, and non-
rotating windings.
Friction encountered when accelerating an object from a

Stiction stationary position. Static friction is always greater than moving
friction, and limits the smallest possible increment of movement.
Measure of the side-to-side deviation of a stage as it travels in a

Straightness of Travel horizontal plane.
Rotary equivalent to force. Equal to the product of the force

Torque perpendicular to the radius of motion and distance from the
center of rotation to the point where the force is applied.
Torque, Continuous Torque needed to drive a load over a continuous time.
Maximum amount of torque a motor can deliver when the

Torque, Peak highest allowable peak currents are applied.
Root Mean Square is a mathematical method to determine a

Torque, rms steadfast or average torque for a motor.
Torque, Stall The maximum torque without burning out the motor.
The full indicator reading observed when a dial indicator is in

Total Indicated Reading contact with the part surface during one full revolution of the part
(TIR) about its axis of rotation.
In a servo system, the process of optimizing loop gains (usually

Tuning PID terms) to achieve the desired response from a stage or
mechanism from an input command.
Unidirectional See Repeatability

Repeatability
Motor driver or amplifier configuration where the input signal is
Velocity Command commanding motor velocity. Motors with analog tachometers are
normally driven by this driver configuration.
An irregular, non-repeatable rocking or staggering motion of the

Wobble table top of a rotary stage. Wobble is defined as an angular error
between the actual axis of rotation and the theoretical axis of
rotation.
Rotation about the vertical axis, perpendicular to the axis of

Yaw (of travel) travel. Angular movement (error) that affects straightness and
positioning accuracy.
Yaw Error Positioning error resulting from a yaw motion.
∇ ∇ ∇
BM/BMS Series Hardware Manual Appendix B
APPENDIX B: WARRANTY AND FIELD SERVICE

Aerotech, Inc. warrants its products to be free from defects caused by faulty materials
or poor workmanship for a minimum period of one year from date of shipment from
Aerotech. Aerotech's liability is limited to replacing, repairing or issuing credit, at its
option, for any products that are returned by the original purchaser during the warranty
period. Aerotech makes no warranty that its products are fit for the use or purpose to
which they may be put by the buyer, where or not such use or purpose has been
disclosed to Aerotech in specifications or drawings previously or subsequently
provided, or whether or not Aerotech's products are specifically designed and/or
manufactured for buyer's use or purpose. Aerotech's liability or any claim for loss or
damage arising out of the sale, resale or use of any of its products shall in no event
exceed the selling price of the unit.
Aerotech, Inc. warrants its laser products to the original purchaser for a minimum Laser Products
period of one year from date of shipment. This warranty covers defects in
workmanship and material and is voided for all laser power supplies, plasma tubes and
laser systems subject to electrical or physical abuse, tampering (such as opening the
housing or removal of the serial tag) or improper operation as determined by Aerotech.
This warranty is also voided for failure to comply with Aerotech's return procedures.
Claims for shipment damage (evident or concealed) must be filed with the carrier by the Return Procedure
buyer. Aerotech must be notified within (30) days of shipment of incorrect materials.
No product may be returned, whether in warranty or out of warranty, without first
obtaining approval from Aerotech. No credit will be given nor repairs made for
products returned without such approval. Any returned product(s) must be accompanied
by a return authorization number. The return authorization number may be obtained by
calling an Aerotech service center. Products must be returned, prepaid, to an Aerotech
service center (no C.O.D. or Collect Freight accepted). The status of any product
returned later than (30) days after the issuance of a return authorization number will be
subject to review.
After Aerotech's examination, warranty or out-of-warranty status will be determined. If Returned Product
upon Aerotech's examination a warranted defect exists, then the product(s) will be Warranty
repaired at no charge and shipped, prepaid, back to the buyer. If the buyer desires an Determination
airfreight return, the product(s) will be shipped collect. Warranty repairs do not extend
the original warranty period.
After Aerotech's examination, the buyer shall be notified of the repair cost. At such Returned Product
time, the buyer must issue a valid purchase order to cover the cost of the repair and Non-warranty
freight, or authorize the product(s) to be shipped back as is, at the buyer's expense. Determination
Failure to obtain a purchase order number or approval within (30) days of notification
will result in the product(s) being returned as is, at the buyer's expense. Repair work is
warranted for (90) days from date of shipment. Replacement components are warranted
for one year from date of shipment.
At times, the buyer may desire to expedite a repair. Regardless of warranty or out-of- Rush Service
warranty status, the buyer must issue a valid purchase order to cover the added rush
service cost. Rush service is subject to Aerotech's approval.
www.aerotech.com B-1
Appendix B BM/BMS Series Hardware Manual
On-site Warranty If an Aerotech product cannot be made functional by telephone assistance or by sending
Repair and having the customer install replacement parts, and cannot be returned to the
Aerotech service center for repair, and if Aerotech determines the problem could be
warranty-related, then the following policy applies:
Aerotech will provide an on-site field service representative in a reasonable amount of
time, provided that the customer issues a valid purchase order to Aerotech covering all
transportation and subsistence costs. For warranty field repairs, the customer will not
be charged for the cost of labor and material. If service is rendered at times other than
normal work periods, then special service rates apply.
If during the on-site repair it is determined the problem is not warranty related, then the
terms and conditions stated in the following "On-Site Non-Warranty Repair" section
apply.
On-site Non- If any Aerotech product cannot be made functional by telephone assistance or
warranty Repair purchased replacement parts, and cannot be returned to the Aerotech service center for
repair, then the following field service policy applies:
Aerotech will provide an on-site field service representative in a reasonable amount of
time, provided that the customer issues a valid purchase order to Aerotech covering all
transportation and subsistence costs and the prevailing labor cost, including travel time,
necessary to complete the repair.
Company Address Aerotech, Inc. Phone: (412) 963-7470

101 Zeta Drive Fax: (412) 963-7459
Pittsburgh, PA
15238-2897
∇ ∇ ∇
B-2 www.aerotech.com
BM/BMS Series Hardware Manual Appendix C
APPENDIX C: TECHNICAL CHANGES
C.1. Current Changes
Table C-1: Current Changes

Revision Section(s) Affected Description
1.04 All Revised, updated with new graphics.
www.aerotech.com C-1
Appendix C BM/BMS Series Hardware Manual
C.2. Archived Changes
Table C-2: Archived Changes

Version Section(s) Description
Affected
1.03 Changes not recorded
∇ ∇ ∇
C-2 www.aerotech.com
BM/BMS Series Hardware Manual Index
INDEX
B H
BM Hardware overview .......................................1-3, 1-21
Brake Options..................................1-9, 1-10, 1-11
Cable Options ..................................1-9, 1-10, 1-11
Connector Accessories ....................1-9, 1-10, 1-11
M
Connector Options...........................1-9, 1-10, 1-11 Motor phasing ........................................................1-3
Feedback Options ............................1-9, 1-10, 1-11 Motor Power
Motor Dimensions (BM250, Connector Pinouts............................................1-19
BM500) ....................................................... 1-24 Motor rotation ........................................................1-3
Motor Dimensions (BM800, Motor Specifications
BM1400) ..................................................... 1-25 BM...................................................................1-14
Motor Options ................................................... 1-9
Motor Specifications (BM75 –
BM500) ....................................................... 1-14 O
Vacuum Preparation ........................1-9, 1-10, 1-11 Order information...................................................1-9
C P
Connector Pinouts..............................1-19, 1-22, 1-30 Part Number Information .......................................1-9
Motor Power.................................................... 1-19 Preventative Maintenance ....................................1-30
Resolver........................................................... 1-19 Product overview....................................................1-2
Product Overview...................................................1-1
D
Dimensions R
Motor (BM250, BM500) ................................. 1-24 Resolver
Motor (BM800, BM1400) ............................... 1-25 Connector Pinouts............................................1-19
Specifications...................................................1-18
E Resolver commutation............................................1-7
Revision History.................................................... C-1
Encoder
Specifications .................................................. 1-18
Encoder Hall effect commutation .......................... 1-3 S
Environmental Specifications Specifications
Humidity.......................................................... 1-29 Encoder ............................................................1-18
Temperature..................................................... 1-29 Feedback Device..............................................1-18
Operating..................................................... 1-29 Motor (BM) .....................................................1-14
Storage ........................................................ 1-29 Resolver ...........................................................1-18
F
Feedback Devices ................................................ 1-18
∇ ∇ ∇
www.aerotech.com Index-1
Index BM/BMS Series Hardware Manual
Index-2 www.aerotech.com
READER’S COMMENTS
BM/BMS Series Hardware Manual
P/N EDA135, October 26, 2006
Revision 1.04
Please answer the questions below and add any suggestions for improving this document.
Is the manual:
Yes No
Adequate to the subject
Well organized
Clearly presented
Well illustrated
How do you use this document in your job? Does it meet your needs? What improvements, if any, would
you like to see? Please be specific or cite examples.
Name
Title
Company Name
Address
Mail your comments to: or Fax to:

AEROTECH, INC.
Technical Writing Department
101 Zeta Drive 412-967-6870
Pittsburgh, PA.
15238 U.S.A.

BM-BMS Series Brushless Motors Manual PDF

Uploaded by

Copyright:

Available Formats

BM-BMS Series Brushless Motors Manual PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

BM-BMS Series Brushless Motors Manual PDF

Uploaded by

Copyright:

Available Formats

Over 100 years cumulative experience

24 hour rush turnaround / technical support service

Visit us on the web:

Scroll down to view your document!

For 24/7 repair services :

USA: 1 (888) 932 - 9183

Emergency After hours: 1 (416) 624 0386

Servicing USA and Canada

Dedicated to the Science of Motion

Technical Support United States Headquarters:

Revision History 1.00 March 1996

© Aerotech, Inc. 2006

Table C-1: Current Changes...................................................................... C-1

Declares that the product: BMS Motor Series

IEC 60034-1:2004 Rotating Electrical Machines

Use: This product is intended for light industrial manufacturing or

and complies with 73/23/EEC low voltage directive

Pittsburgh, PA David F. Kincel_________________________

Alex Weibel ___________________________

1.1. Product Overview

1.1.2. BMS Series

Figure 1-1: BM Series Brushless Motors

Operators must be trained before allowing them to operate

If the equipment is used in a manner not specified by the

To minimize the possibility of electrical shock and bodily

Motors must be mounted securely before connecting

Allow all system components to adjust to room

The motor case temperature may exceed 75°C in some

Do not disconnect motor connectors with power applied to

1.3. Encoder Hall Effect Commutation

Figure 1-2: Hall Effect and Motor Phasing

Figure 1-3: Wye Resistor Test Setup Configuration

Motor voltage is monitored without power applied to the

Figure 1-4: Motor Lead Phasing with Oscilloscope

Figure 1-5: Hall Phasing with Oscilloscope

1.4. Resolver Commutation

The sine and cosine signals shown in Figure 1-6 represent

Figure 1-6: Resolver and Motor Phasing

1.5. Part Number and Ordering Information

Table 1-1: BM Motor Part Number and Ordering Example

Table 1-2: BM Motor Options

Table 1-4: BMS Motor Options (BMS60 – BMS100)

Table 1-6: BMS Motor Options (BMS280 – BMS465)

Aerotech also offers a variety of brushless amplifiers.

1.6. Motor Specifications

Table 1-7: BM75, BM130, BM200 Motor Specifications (NEMA 23 Frame)

Table 1-8: BM250 and BM500 Motor Specifications (NEMA 34 Frame)

Table 1-9: BM800, BM1400 Motor Specifications (NEMA 42 Frame)

Motor Model Units BM800 BM1400

Table 1-11: BMS60, BMS100 Motor Specifications (NEMA 23 Frame)

Table 1-12: BMS280, BMS465 Motor Specifications (NEMA 34 Frame)

1.6.1. Feedback Device Specifications

Table 1-13: Encoder Specifications

Table 1-14: Resolver Specifications

1.6.2. Connector Pin Assignments

Table 1-15: Motor Power Connector Pin Assignment (MS3101A-10P)

Table 1-16: Feedback Connector Pin Assignment (MS3101A-20-29P)

Table 1-17: Resolver Connector Pin Assignment (MS3101A-20-29P)

Table 1-18: D-sub Connector Pin Assignment