Design Features

Slotless, brushless ring motors with high torque output and zero cogging
Frameless design for easy integration into OEM machines
Various winding options available
Includes Hall effect sensors for commutation
Follows the 2011/65/EU RoHS 2 Directive

The S-series motors are Aerotech's high-performance brushless, frameless torque motors. The motors feature rare-earth magnets for maximum torque and acceleration in a compact assembly.

High-Performance Design

The S-series motors utilize a slotless stator design and high pole-count rotor to provide zero cogging for exceptional velocity stability. The laminations contain no slots, eliminating torque ripple and cogging torque that produces velocity disturbance. The S-series motors are well-suited for direct-drive applications such as printing and scanning where velocity ripple cannot be tolerated.

Wide Range of Output Torque and Sizes

The S-series slotless motors cover a wide range of torque and package sizes. Continuous torque ranges from 0.20 N·m to 29.09 N·m. Peak torque ranges from 0.82 N·m to 116.37 N·m. The open design of the S-series motors allows for custom winding or mechanical variations to meet any application need.

The S-series motors are designed for applications in OEM machines. The S-50 (50 mm diameter) motor is ideal for small, tight spaces such as spindles or small feed rolls. The S-180 (180 mm diameter) and S-240 (240 mm diameter) can accelerate large print drums or precision positioning tables.

Easy Machine Integration

All S-series motors are supplied as two pieces – a slotless stator and a permanent magnet rotor. The stator is a standard 3-phase winding assembly with Hall-effect devices. They can be driven using a simple six-step or sinusoidal commutation algorithm. Aerotech’s Ndrive series amplifiers are performance-matched to the S-series motors for easy integration. The hollow rotor mounts directly to a drive axis with no gearing required.

Custom variations can be engineered to your requirements with minimal lead time.

Need help sizing your motor? Try Aerotech's Motor Sizer software to specify the ideal motor for your application.

Specifications

S Series Specifications

Motor Model	Units	S-50-39		S-50-52		S-50-86		S-76-35		S-76-85		S-76-149
Winding Designation		A	B	A	B	A	B	A	B	A	B	A	B
Performance Specifications^(1,2)
Stall Torque, Continuous⁽³⁾	N·m	0.20		0.33		0.56		0.48		1.60		2.86
Peak Torque⁽⁴⁾	N·m	0.82		1.31		2.26		1.92		6.41		11.43
Rated Speed	rpm	4,000	8,000	4,000	8000	3,000	8000	3,000	5,000	3,000	4,000	2,000	1,500
Power Output, Continuous	W	82.1	157.1	117.7	198.0	131.9	149.5	143.3	230.5	381.6	453.2	459.1	369.9
Electrical Specifications⁽²⁾
BEMF Const., Line-Line, Max	V_pk/krpm	10.3	3.4	19.0	6.3	40	13.3	29.1	14.5	57	38	79	118.5
Continuous Current, Stall⁽³⁾	A_pk	2.4	7.2	2.3	6.9	2.1	6.3	2.0	4.0	3.80	5.70	4.90	3.27
Continuous Current, Stall⁽³⁾	A_rms	1.7	5.1	1.6	4.9	1.5	4.5	1.4	2.8	2.7	4.0	3.5	2.3
Peak Current, Stall⁽⁴⁾	A_pk	9.6	28.8	9.2	27.6	8.4	25.2	8.0	16.0	15.2	22.8	19.6	13.1
Torque Constant^(5,6)	N·m/A_pk	0.09	0.03	0.14	0.05	0.27	0.09	0.24	0.12	0.42	0.28	0.58	0.87
Torque Constant^(5,6)	N·m/A_rms	0.12	0.04	0.20	0.07	0.38	0.13	0.34	0.17	0.60	0.40	0.82	1.24
Motor Constant^(3,5)	N·m/√W	0.034		0.050		0.076		0.075		0.179		0.280
Resistance, 25°C, Line-Line	Ω	6.6	0.7	8.4	0.9	12.9	1.4	10.5	2.6	5.7	2.5	4.4	10.0
Inductance, Line-Line	mH	1.50	0.17	1.30	0.14	2.40	0.27	1.40	0.35	1.10	0.49	0.87	1.96
Maximum Bus Voltage	V_DC	340
Thermal Resistance	°C/W	2.02		1.73		1.35		1.83		0.93		0.72
Number of Poles	-	8						14
Mechanical Specifications
Frameless Motor Weight	kg	0.32		0.48		0.90		0.64		2.20		4.30
Frameless Rotor Inertia	kg·m²	1.11x10^-5		1.70x10^-5		3.40x10^-5		1.06x10^-4		4.20x10^-4		8.30x10^-4
Length of Winding, Frameless Motor	mm	39.1		51.8		85.8		35.0		84.8		149.0
Outside Diameter, Frameless Motor	mm	50.8						76.0
Rotor Bore Diameter	mm	9.5						30.0
Standards		2011/65/EU RoHS 2 Directive

Performance is dependent upon heat sink configuration, system cooling conditions, and ambient temperature.
All performance and electrical specifications ±10%.
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.
Peak torque assumes correct rms current; consult Aerotech.
Torque constant and motor constant specified at stall.
All Aerotech amplifiers are rated A_pk; use torque constant in N·m/A_pk when sizing.

Motor Model	Units	S-130-39		S-130-60		S-130-81		S-130-102		S-130-123
Winding Designation		A	B	A	B	A	B	A	B	A	B
Performance Specifications^(1,2)
Stall Torque, Continuous⁽³⁾	N·m	2.36		4.18		5.89		7.69		8.65
Peak Torque⁽⁴⁾	N·m	9.42		16.73		23.55		30.75		34.61
Rated Speed	rpm	2,000	4,000	1,000	2,000	750	1,500	500	1,000	375	750
Power Output, Continuous	W	454.5	862.5	412.1	773.4	453.2	815.7	389.7	752.8	327.5	630.6
Electrical Specifications⁽²⁾
BEMF Const., Line-Line, Max	V_pk/krpm	75.1	37.5	148.9	74.4	222.7	111.4	300.2	150.1	374.1	187.0
Continuous Current, Stall⁽³⁾	A_pk	3.8	7.6	3.4	6.8	3.2	6.4	3.1	6.2	2.8	5.6
Continuous Current, Stall⁽³⁾	A_rms	2.7	5.4	2.4	4.8	2.3	4.5	2.2	4.4	2.0	4.0
Peak Current, Stall⁽⁴⁾	A_pk	15.2	30.4	13.6	27.2	12.8	25.6	12.4	24.8	11.2	22.4
Torque Constant^(5,6)	N·m/A_pk	0.62	0.31	1.23	0.62	1.84	0.92	2.48	1.24	3.09	1.55
Torque Constant^(5,6)	N·m/A_rms	0.88	0.44	1.74	0.87	2.60	1.30	3.51	1.75	4.37	2.18
Motor Constant^(3,5)	N·m/√W	0.265		0.446		0.586		0.710		0.816
Resistance, 25°C, line-line	Ω	5.6	1.4	7.8	2.0	10.1	2.5	12.5	3.1	14.7	3.7
Inductance, line-line	mH	1.70	0.43	1.80	0.45	2.80	0.70	3.67	0.92	4.60	1.15
Maximum Bus Voltage	V_DC	340
Thermal Resistance	°C/W	0.95		0.85		0.74		0.64		0.67
Number of Poles	-	18
Mechanical Specifications
Frameless Motor Weight	kg	1.87		3.60		5.30		7.00		8.70
Frameless Rotor Inertia	kg·m²	1.60x10^-3		3.00x10^-3		4.70x10^-3		6.20x10^-3		7.80x10^-3
Length of Winding, Frameless Motor	mm	38.7		59.7		80.7		101.7		122.7
Outside Diameter, Frameless Motor	mm	128.9
Rotor Bore Diameter	mm	50.8
Standards		2011/65/EU RoHS 2 Directive

Performance is dependent upon heat sink configuration, system cooling conditions, and ambient temperature.
All performance and electrical specifications ±10%.
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.
Peak torque assumes correct rms current; consult Aerotech.
Torque constant and motor constant specified at stall.
All Aerotech amplifiers are rated A_pk; use torque constant in N·m/A_pk when sizing.

Motor Model	Units	S-180-44		S-180-69		S-180-94		S-240-43		S-240-63		S-240-83
Winding Designation		A	B	A	B	A	B	A	B	A	B	A	B
Performance Specifications^(1,2)
Stall Torque, Continuous⁽³⁾	N·m	5.99		11.12		15.93		10.73		19.71		29.09
Peak Torque⁽⁴⁾	N·m	23.98		44.47		63.70		42.90		78.82		116.37
Rated Speed	rpm	500	1000	500	1000	250	500	600	1200	250	500	200	400
Power Output, Continuous	W	302.2	581.2	570.5	1117.7	408.6	799.6	663.2	1303.4	507.1	996.7	599.0	1117.2
Electrical Specifications⁽²⁾
BEMF Const., Line-Line, Max	V_pk/krpm	268.7	134.4	263.9	131.9	393.4	196.7	209.4	104.7	404.3	202.2	607.2	303.6
Continuous Current, Stall⁽³⁾	A_pk	2.7	5.4	5.1	10.2	4.9	9.8	6.2	12.4	5.9	11.8	5.8	11.6
Continuous Current, Stall⁽³⁾	A_rms	1.9	3.8	3.6	7.2	3.5	6.9	4.4	8.8	4.2	8.3	4.1	8.2
Peak Current, Stall⁽⁴⁾	A_pk	10.8	21.6	20.4	40.8	19.6	39.2	24.8	49.6	23.6	47.2	23.2	46.4
Torque Constant^(5,6)	N·m/A_pk	2.22	1.11	2.18	1.09	3.25	1.63	1.73	0.87	3.34	1.67	5.02	2.51
Torque Constant^(5,6)	N·m/A_rms	3.14	1.57	3.08	1.54	4.60	2.30	2.45	1.22	4.72	2.36	7.09	3.55
Motor Constant^(3,5)	N·m/√W	0.628		1.053		1.391		0.845		1.405		1.893
Resistance, 25°C, Line-Line	Ω	12.8	3.2	4.4	1.1	5.6	1.4	4.3	1.1	5.8	1.5	7.2	1.8
Inductance, Line-Line	mH	3.40	0.85	1.70	0.43	2.60	0.65	2.15	0.54	2.90	0.73	4.30	1.08
Maximum Bus Voltage	V_DC	340
Thermal Resistance	°C/W	0.82		0.67		0.57		0.47		0.38		0.32
Number of Poles	-	18						26
Mechanical Specifications
Frameless Motor Weight	kg	4.24		8.10		11.90		5.80		11.00		16.20
Frameless Rotor Inertia	kg·m²	7.40x10^-3		1.48x10^-2		2.20x10^-2		2.30x10^-2		4.50x10^-2		7.00x10^-2
Length of Winding, Frameless Motor	mm	43.2		68.2		93.2		42.7		62.7		82.7
Outside Diameter, Frameless Motor	mm	180.0						239.2
Rotor Bore Diameter	mm	86.4						120.6
Standards		2011/65/EU RoHS 2 Directive

Performance is dependent upon heat sink configuration, system cooling conditions, and ambient temperature.
All performance and electrical specifications ±10%.
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.
Peak torque assumes correct rms current; consult Aerotech.
Torque constant and motor constant specified at stall.
All Aerotech amplifiers are rated A_pk; use torque constant in N·m/A_pk when sizing.

S Series Torque Curves 1
S Series Torque Curves 2
S Series Torque Curves 3
S Series Torque Curves 4
S Series Torque Curves 5
S Series Torque Curves 6

Ordering Information

Slotless Torque Ring "Kit" Servomotors

Option	Description
S-50-39-A	Slotless motor, rotor, and stator, 50 mm O.D., 39 mm length.
S-50-52-A	Slotless motor, rotor, and stator, 50 mm O.D., 52 mm length.
S-50-86-A	Slotless motor, rotor, and stator, 50 mm O.D., 86 mm length.
S-76-35-A	Slotless motor, rotor, and stator, 76 mm O.D., 35 mm length.
S-76-85-A	Slotless motor, rotor, and stator, 76 mm O.D., 85 mm length.
S-76-149-A	Slotless motor, rotor, and stator, 76 mm O.D., 149 mm length.
S-130-39-A	Slotless motor, rotor, and stator, 130 mm O.D., 39 mm length.
S-130-60-A	Slotless motor, rotor, and stator, 130 mm O.D., 60 mm length.
S-130-81-A	Slotless motor, rotor, and stator, 130 mm O.D., 81 mm length.
S-130-102-A	Slotless motor, rotor, and stator, 130 mm O.D., 102 mm length.
S-130-123-A	Slotless motor, rotor, and stator, 130 mm O.D., 123 mm length.
S-180-44-A	Slotless motor, rotor, and stator, 180 mm O.D., 44 mm length.
S-180-69-A	Slotless motor, rotor, and stator, 180 mm O.D., 69 mm length.
S-180-94-A	Slotless motor, rotor, and stator, 180 mm O.D., 94 mm length.
S-240-43-A	Slotless motor, rotor, and stator, 240 mm O.D., 43 mm length.
S-240-63-A	Slotless motor, rotor, and stator, 240 mm O.D., 63 mm length.
S-240-83-A	Slotless motor, rotor, and stator, 240 mm O.D., 83 mm length.

Note: S-Series torque ring motors include the stator w/flying leads, adjustable-phase Hall bd., and rotor w/magnets

Winding Designation (Required)

Option	Description
-A	76 cm (2.5 ft) flying leads std
-B	Optional winding.

Integration (Required)

Aerotech offers both standard and custom integration services to help you get your system fully operational as quickly as possible. The following standard integration options are available for this system. Please consult Aerotech if you are unsure what level of integration is required, or if you desire custom integration support with your system.

Option	Description
-TAS	Integration - Test as system Testing, integration, and documentation of a group of components as a complete system that will be used together (ex: drive, controller, and stage). This includes parameter file generation, system tuning, and documentation of the system configuration.
-TAC	Integration - Test as components Testing and integration of individual items as discrete components that ship together. This is typically used for spare parts, replacement parts, or items that will not be used together. These components may or may not be part of a larger system.