A
max 22 Æ22 mm, Graphite Brushes, 6 Watt

maxon DC motor

M 1:1
Stock program
Standard program Order Number
Special program (on request)

110156 110158 110159 110160 110161 110162 110163 110164 110165 110166 110167 110168
Motor Data
Values at nominal voltage
1 Nominal voltage V 6.0 9.0 9.0 12.0 12.0 15.0 18.0 24.0 24.0 36.0 48.0 48.0
2 No load speed rpm 9250 9710 8530 10200 9200 10100 9800 10500 8500 9650 9130 8220
3 No load current mA 83.2 57.9 49.7 45.9 40.5 36.0 29.0 23.7 18.4 14.2 10.0 8.85
4 Nominal speed rpm 5550 6370 5240 6990 5960 6880 6630 7430 5340 6500 5920 5020
5 Nominal torque (max. continuous torque) mNm 5.82 6.52 6.76 6.77 6.82 6.87 6.94 6.97 7.07 7.00 6.91 7.02
6 Nominal current (max. continuous current) A 1.06 0.816 0.741 0.664 0.602 0.529 0.433 0.350 0.287 0.214 0.150 0.138
7 Stall torque mNm 16.1 20.4 18.7 22.8 20.4 22.7 22.3 24.3 19.5 21.9 20.1 18.5
8 Starting current A 2.73 2.38 1.92 2.09 1.69 1.64 1.30 1.14 0.745 0.631 0.411 0.340
9 Max. efficiency % 65 70 69 72 71 72 72 73 71 72 71 70
Characteristics
10 Terminal resistance W 2.20 3.78 4.69 5.74 7.12 9.15 13.8 21.0 32.2 57.1 117 141
11 Terminal inductance mH 0.106 0.222 0.288 0.362 0.445 0.584 0.890 1.37 2.10 3.68 7.29 8.95
12 Torque constant mNm / A 5.90 8.55 9.73 10.9 12.1 13.9 17.1 21.2 26.2 34.8 48.9 54.3
13 Speed constant rpm / V 1620 1120 981 875 790 689 558 450 364 274 195 176
14 Speed / torque gradient rpm / mNm 604 494 473 461 465 455 451 445 447 450 466 458
15 Mechanical time constant ms 25.2 21.8 21.2 20.6 20.3 19.9 19.4 19.1 19.0 18.9 18.9 18.8
16 Rotor inertia gcm2 3.98 4.22 4.28 4.26 4.17 4.17 4.11 4.11 4.07 4.00 3.88 3.92

Specifications Operating Range Comments

Thermal data n [rpm]
17 Thermal resistance housing-ambient 20 K / W Continuous operation
18 Thermal resistance winding-housing 6.0 K / W In observation of above listed thermal resistance
19 Thermal time constant winding 10.1 s (lines 17 and 18) the maximum permissible winding
temperature will be reached during continuous
20 Thermal time constant motor 540 s
operation at 25°C ambient.
21 Ambient temperature -30 ... +85°C
= Thermal limit.
22 Max. permissible winding temperature +125°C
Short term operation
Mechanical data (sleeve bearings)
The motor may be briefly overloaded (recurring).
23 Max. permissible speed 9800 rpm
24 Axial play 0.05 - 0.15 mm
25 Radial play 0.012 mm
Assigned power rating
26 Max. axial load (dynamic) 1N
27 Max. force for press fits (static) 80 N
(static, shaft supported) 440 N
28 Max. radial loading, 5 mm from flange 2.8 N
maxon Modular System Overview on page 17 - 21
Mechanical data (ball bearing)
Planetary Gearhead Encoder MR
23 Max. permissible speed 9800 rpm
Æ22 mm 32 CPT,
24 Axial play 0.05 - 0.15 mm 0.1 - 0.6 Nm 2 / 3 channels
25 Radial play 0.025 mm Page 217 / 218 Page 243
26 Max. axial load (dynamic) 3.3 N
Planetary Gearhead Encoder MR
27 Max. force for press fits (static) 45 N Æ22 mm 128 / 256 / 512 CPT,
(static, shaft supported) 440 N 0.5 - 1.0 Nm 2 / 3 channels
28 Max. radial loading, 5 mm from flange 12.3 N Page 219 Page 244
Planetary Gearhead Encoder Enc
Other specifications Æ22 mm 22 mm
29 Number of pole pairs 1 0.5 - 2.0 Nm 100 CPT, 2 channels
30 Number of commutator segments 9 Page 220 Page 249
31 Weight of motor 54 g Spur Gearhead Recommended Electronics:
LSC 30/2 Page 264 Encoder MEnc
Æ24 mm EPOS 24/1 278 Æ13 mm
Values listed in the table are nominal. 0.1 Nm MIP 10 281 16 CPT, 2 channels
Explanation of the figures on page 49. Page 223 Notes 17 Page 258

Option
Ball bearings in place of sleeve bearings
Pigtails in place of terminals

112 maxon DC motor April 2006 edition / subject to change