Allied Motion's CM-6000 brushless DC motors are high performance brushless DC motors based on Allied Motion's Megaflux series torque motors, and are characterized by a very high torque-to-inertia ratio. The motors have a large hollow shaft, rare-earth magnet rotor supported by a robust precision ball bearing. Five different sizes with three different winding voltages are available. For alternate or modified motor characteristics, please contact Allied Motion. CM-6000 series motors incorporate an integral optical encoder. Several choices of encoder type and a large selection of resolutions are available. Applications include semiconductor fabrication, handling and test systems and turret scanners. The CM-6000 series was specifically designed for high speed, high resolution positioning applications and is available with the following encoder configurations: Ultra low distortion incremental sine/cosine, specifically designed for use with interpolators, yielding up to 144 million measuring steps Digital incremental up to 18,000 c/r (72,000 measuring steps) Digital incremental with built-in interpolation from 225,000 (900,000 measuring steps) up to 2,250,000 c/r (9 million measuring steps) 18, 20 or 22 bits absolute in serial output format Features & Benefits 88.9 mm (3.5 in) ID through hole shaft High torque-to-inertia ratio Ultra high resolution up to 9 million measuring steps per rev Integrated precision optical encoder; choice of type including absolute Low profile design Options Alternate encoder output formats Stainless steel housing Special cabling and connector arrangements Brushless DC servo drive

Housed BLDC torque motor with integral optical encoder Six models with continuous torque rated from 3.5 up to 27.6 Nm (31 up to 244 lb-in) High positioning resolution to over 2,250,000 c/r

Mechanical Data

Parameter	Value
Shaft ID	88.9 ±0.0076 mm (3.500 in ±0.0003 in)
Shaft Loading	445 N axial, 223 N radial (100 lb axial, 50 lb radial)
Shaft Runout	0.01 mm (0.0004 in) TIR
Starting Torque	31.8 mNm (4.5 oz-in) max @20°C
Shaft Rotation	Continuous, reversible
Shaft Speed	2500 RPM max
Shaft Material	416 stainless
Housing Material	Aluminum (stainless optional)
Bearing Life	Manufacturer specification
Temperature	Operating -20°C to +90°C
Shock	50 G @ 11 ms
Vibration	5 - 2000 Hz @ 20 G
Humidity	98% without condensation

Motor Constants @ 25°C Ambient

Parameter	Unit	-1	-2	-3	-4	-5
Maximum Rated Torque @temperature rise of 80°C	lb-ft	14.3	37.5	86.8	130	172.6
	Nm	19.4	51.1	117.7	176.2	234.1
Maximum Continuous Stall Torque @temperature rise of 80°C	lb-ft	2.5	6.7	11.2	15.7	20.3
	Nm	3.5	9.1	15.3	21.3	27.6
Motor Constant	lb-ft/√W	0.33	0.73	1.07	1.38	1.64
	Nm/√W	0.44	0.99	1.46	1.88	2.23
Electrical Time Constant	ms	2.13	3.50	3.56	3.89	4.08
Mechanical Time Constant	ms	5.05	2.75	2.54	2.29	2.17
Thermal Resistance(1)	°C/Watt	1.25	0.85	.070	0.60	0.50
Max. Cogging Torque	lb-ft	0.25	0.62	1.17	1.81	2.39
	Nm	0.33	0.84	1.59	2.18	3.24
Viscous Damping	lb-ft/rpm	0.5E-4	1.4E-4	2.8E-4	4.3E-4	6.0E-4
	Nm/rpm	.67E-4	1.9E-4	3.8E-4	5.9E-4	8.2E-4
Number of Poles	-	24
Inertia	lb-ft-s²	1.5E-4	4E-3	8E-3	12E-3	15.8E-3
	kg-m²	2E-3	5.4E-1	10.8E-3	16.2E-3	22E-3
Weight	lb	5	12	24	35	57
	kg	2.25	5.5	10.8	15.75	25.6
(1) TPR with motor mounted to aluminum 12.1" x 12.1" x 0.50 heatsink, still air, 20°C ambient

48 V Winding Constants ("A" winding)

Parameter	Symbol	Unit	-1	-2	-3	-4	-5
Peak Current, ±15%	Ip	Ampere	56.1	130.5	163.8	218.1	207.2
Torque Sensitivity, ±10%	Kt	lb-ft/A	0.253	0.288	0.530	0.596	0.792
		Nm/A	0.343	0.390	0.718	0.808	1.074
No-load Speed	Snl	rpm	1293	136	617	549	413
		rad/s	135.4	119.0	64.6	57.53	43.25
Voltage Constant	Kb	V/krpm	35.96	40.8	75.23	84.58	112.46
		V/rad/s	0.343	0.390	0.718	0.808	1.074
Terminal Resistance, ±12%	Rm	Ohm	0.584	0.154	0.242	0.184	0.232
Terminal Inductance, ±30%	Lm	mH	1.250	0.54	0.861	0.716	0.946

150 V Winding Constants ("B" winding)

Parameter	Symbol	Unit	-1	-2	-3	-4	-5
Peak Current, ±15%	Ip	Ampere	56.1	65.2	131.0	145.4	145.3
Torque Sensitivity, ±10%	Kt	lb-ft/A	0.519	0.575	0.682	0.894	1.188
		Nm/A	0.703	0.780	0.898	1.212	1.611
No-load Speed	Snl	rpm	1973	1775	1544	1144	860
		rad/s	206.7	185.9	161.7	119.8	90.14
Voltage Constant	Kb	V/krpm	73.63	81.67	94.04	126.87	168.69
		V/rad/s	0.703	0.780	0.898	1.212	1.611
Terminal Resistance, ±12%	Rm	Ohm	2.52	0.615	0.360	0.414	0.521
Terminal Inductance, ±30%	Lm	mH	5.24	2.15	1.346	1.612	2.125

300 V Winding Constants ("C" winding)

Parameter	Symbol	Unit	-1	-2	-3	-4	-5
Peak Current, ±15%	Ip	Ampere	17.7	48.7	81.9	109.0	109.0
Torque Sensitivity, ±10%	Kt	lb-ft/A	0.808	0.757	1.060	1.191	1.584
		Nm/A	1.096	1.040	1.437	1.615	2.148
No-load Speed	Snl	rpm	2533	2663	1930	1716	1291
		rad/s	265.3	278.9	202.1	179.8	135.22
Voltage Constant	Kb	V/krpm	114.70	108.90	150.46	169.16	224.92
		V/rad/s	1.096	1.040	1.437	1.615	2.148
Terminal Resistance, ±12%	Rm	Ohm	5.93	1.084	0.988	0.736	0.926
Terminal Inductance, ±30%	Lm	mH	12.71	3.83	3.445	2.865	3.783

Encoder Specifications

Model:	CM-6000	CM-6050	CM-6050-HHC
Output Format	A/B sine/cosine, incremental	A/B quadrature, incremental, digital
Standard Linecounts (c/r)	2250, 4500	2250, 4500, 9000	56250, 112500, 225000, 450000, 562500, 900000, 1125000
Frequency Response	Flat up to 100 kHz	150 kHz min. @ 85°C	4.0 MHx min. @ 85°C
Absolute Accuracy	±12 arcsec (typ.)
Output	Default Vout = differential, 0.5V peak-to-peak	Line driver/26LS31, EIA std. RS422 & DIN 66259 compatible
Power Supply (VDC)	±5 Vdc @ 60mA max.	+5 Vdc ±10% @ 100mA max. (no load)	+5 Vdc ±10% @ 250mA max. (no load)

NOTE: Please consult the MF0150 series torque motor series for CM-6000 torque-speed performance graphs. MF0150

Motor Exitation Sequence and Hall Switch Outputs


Encoder Waveforms
Sine/Cosine

Digital Incremental

Linecount	CM-6000	CM-6050	CM-6050-HHC
1000		X
2000		X
3600		X
7200		X
9000	X	X
18000		X
225000			X
281250			X
400000			X
450000			X
562500			X
900000			X
1125000			X
1800000			X
2250000			X

NOTE:
To OPEN a document in a new browser window, click the document's Type text.
To SAVE (download) a document without opening it, right-click the document's Type text, and select "Save Target As..." (IE) or "Save Link As..." (FireFox).

Item No.	Description	Type	Size
N/A	CM-6000 Series Brushless DC Motor-Encoder Specifications	PDF	715 kB