➂
Specifications
43
Motor Specifications—Compumotor SM Series Servo Motors
Symbol
Units
SM161A
SM162A SM231A SM232A SM232B SM233A SM233B
Continuous Stall Torque
1
T
CS
oz-in
24
44
46
92
92
140
140
N-m
0.17
0.31
0.32
0.65
0.65
0.99
0.99
Continuous Stall Current
1
I
CS
amps-rms
2.1
2.1
2.1
2.1
4.1
2.1
4.1
Rated Speed
2
ω
T
rpm
7,500
7,500
7,500
4,500
7,500
2,800
7,500
rps
125
125
125
75
125
47
125
Peak Torque
1
T
pk
oz-in
72
132
138
276
276
420
420
N-m
0.51
0.83
0.97
1.95
1.95
2.97
2.97
Peak Current, rms
1
I
pk
amperes
6.3
6.3
6.3
6.3
12.3
6.3
12.3
Torque @ Rated Speed
1
T
C
oz-in
20
41
38
78
84
134
114
N-m
0.14
0.29
0.27
0.55
0.59
0.95
0.81
Rated Power-Output Shaft
1
Po
Watts
110
222
205
260
362
277
505
Resistance
4
Ω
ohms
4.53
6.50
5.22
7.50
2.01
9.65
2.58
Inductance
3
L
millihenries
0.808
1.39
1.64
2.9
0.78
4.08
1.06
Thermal Resistance
1
R
th
°
C/watt
2.75
2.00
2.23
1.58
1.50
1.25
1.26
Thermal Time Constant
T
th
minutes
30
30
30
35
35
40
40
Electrical Time Constant
T
te
milliseconds
0.178
0.21
0.31
0.39
0.39
0.42
0.41
Mechanical Time Constant
T
m
milliseconds
9.2
5.0
13.7
8.6
8.8
5.4
7.0
Rotor Inertia
J
lb-in-sec
2
0.000094
0.00016
0.00046
0.00082
0.00082
0.00117
0.00117
oz-in
2
(mass)
0.58
0.99
2.84
5.07
5.07
7.23
7.23
kg-m
2
x 10
-6
10.62
18.07
51.97
92.65
92.65
132.19
132.19
Weight
#
pounds (kg)
1.1 (0.5)
1.6 (0.7)
2.6 (1.2)
3.5 (1.6)
3.5 (1.6)
4.4 (2.0)
4.4 (2.0)
Data listed is for SM motors alone. Drive specifications may change some values.
1
@25
°
C ambient with 10 x 10 x 0.25 in. mounting plate, 90
°
C winding
3
±
30%, line-to-line, inductance bridge measurement method @ 1 kHz
temperature. For 40
°
C ambient operation, reduce values by 12%.
4
±
10%, line-to-line, at 25
°
C
2
With 500 ppr encoders. For 1,000 ppr encoders, derate to 6000 rpm.
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