Hollow shaft motor/encoders

CM-2600 series, 2.6” OD BLDC hollow shaft servo motor/encoder 1

servomotor/encoder Mechanical Data:
hollow shaft ID: 0.748” (19 mm) dia through hole
shaft loading: 10 lbs axial, 5 lbs radial
shaft runout: .0005" T.I.R.
starting torque: 3 oz.in max @20°C
shaft rotation: continuous, reversible
shaft speed: 4,500 RPM max (mechnical)
shaft material: stainless steel
housing material: aluminum (stainless optional)
bearing life: manufacturer's specs
moment of inertia: 0.06 oz.in.sec2,
weight: approx. 18 oz
Description: temperature: operating: -20°C to+85°C
(extended operating range from
The CM-2600 is a high performance 0.748” (19 -40° to +85°C available)
mm) ID hollow shaft brushless DC motor with shock: 50 G's @ 11 ms
integral optical encoder characterized by a very high vibration: 5-2,000 Hz @ 20 G's
torque to inertia ratio. For different motor humidity: 98% without condensation
characteristics, please contact the factory. protection class: IP 40

The motor/encoder was designed for high Ordering information:

resolution, direct drive high speed positioning
applications. CM-2600-(linecount): sine/cosine incremental output (0.5Vpp
differential), standard linecounts:
The following encoder configurations are available: 1000, 1024, 2000, 2048, 3600, 4096, 5000, 8192 c/r.

- ultra low distortion incremental sine/cosine CM-2650-(linecount): digital incremental, standard

designed for use with interpolators, yielding up to linecounts:
144 million measuring steps/rev 720, 768, 800, 850, 960, 1000, 1024, 1152, 1200, 1440, 1700,
2000, 2048, 3600, 4000, 4096, 5000, 7200, 8192, 10000,
- digital incremental up to 1,250,000 c/r (5,000,000 11250, 12000, 16384, 25000, 25600, 31250, 32000, 50000,
measuring steps) 51200, 62500, 64000, 90000, 10000, 102400, 112500, 125000,
128000, 156250, 180000, 200000, 205800, 225000, 250000,
- 16, 18, 20 & 22 bits absolute in serial format . 256000, 312000, 360000, 400000, 409600, 450000, 500000,
Custom protocols available. 512000, 625000, 720000, 819200, 900000, 1000000, 1024000,
1250000 c/r.
Typical applications include optical instruments,
scanners, gimbal actuation and in general ‘direct CM-2650A-(bitcount): absolute, 16, 18, 20 & 22 bits/rev, serial
drive’ applications where a gearbox is unsuitable or out
not economical.

Outline: .035 (.889) (REF)

2.12 (53.54) MAX.

.081 (2.057) DIA. MTG HOLES ;

1.312 +/-.015 (33.32 +/- .38) Encoder wire color code:
1.280 +/-.015 (32.51 +/- .38) .715 +/-.015 (18.61 +/-.38)
6 PLACES EQ SPACED ON A
2.800 DIA BC. .095 +/-.010 (2.41 +/-.25)
.05 (1.27) MTG, 2X signal color
45º MTG CLEARANCE ; 2X
HALLS SENSOR .15 (3.81) ; 2X
LEADS ; AWG 28
.21 (5.33) MAX. ; 2X 30° A yellow
15°
MOTOR POWER
LEADS ; AWG 20 Ai inv orange
GRN CASE GND 10" MIN, CABLES
MOTOR POWER
AND HALLS B blue
LEAD. SENSOR CABLES B inv. violet
Index green
Index inv. brown
+ 5Vdc red
ground black
shield braid

Motor wire color code:

red phase A
white phase B
black phase C

"Hall" switch color code:

2.99 (75.95) DIA. brown C1

2.625 (66.68) DIA. (MTG)
2.625 (66.68) DIA. (MTG)
2.610 (66.29) DIA.
orange C2
2.610 (66.29) DIA. yellow C3
.7480 +.001/-.000 DIA. THRU. 1.490 (37.85) DIA. blue + 5V to + 24V
(19.0000 +.025/-.000 DIA.) ENCODER OUTPUT
CABLE : AWG 30 SHIELDED. green ground
4-40UNC-2B X .15/.20 DP ; 4 PLCS EQ SPACED
ON 1.250 DIA. BC. (ROTOR SHAFT) STATIONARY MOUNTING FACE ;
2X (AS SHOWN).

Allied Motion Technologies Corporation / Computer Optical Products, Inc. (800)340-0404 sales@opticalencoder.com www.opticalencoder.com
Hollow shaft motor/encoders
CM-2600 series, 2.6” OD BLDC hollow shaft servo motor/encoder 2
Motor specifications
size constants

maximum rated torque Tmax oz.in 329

Nm 2.32
maximum continuous stall torque Tc oz.in 30
Nm 0.215
maximum continuous power Pout W 56
motor constant Km oz.in/vwatt 7.9
Nm/vwatt 0.056
electrical time constant Te msec 0.34
mechanical time constant Tm msec 5.3
thermal resistance TPR °C/Watt 3.7
hysteresis drag torque Th oz.in 1.05
Nm 0.007
viscous damping coefficient Fi oz.in 8.2E-4
Nm 5.8E-6
maximum cogging torque Tr oz.in 1.9
Nm 0.01
irotor + shaft inertia Jm oz.in.s2 6.0E-3
kg.m2 4.3E-5
number of poles n 12

winding constants @ 20°C ambient*:

design voltage Vp Volt 24

peak torque, ± 25% Tp in-oz 97
Nm 0.68
peak current, ± 25% Ip Ampere 6.2
torque sensitivity, ±10% Kt in-oz/A 15.6
Nm/A 0.11
no-load speed Snl rpm 2027
rad/s 212
voltage constant Kb V/krpm 11.6
V/rad/s 0.11
terminal resistance, ± 12% Rm Ohm 3.89
terminal inductance, Lm mH 1.32

Allied Motion Technologies Corporation / Computer Optical Products, Inc. (800)340-0404 sales@opticalencoder.com www.opticalencoder.com
Hollow shaft motor/encoders
CM-2600 series, 2.6” OD BLDC hollow shaft servo motor/encoder 3
Encoder specifications

90°± 2°

channel A Vpp default:

0.5 Vpp)
sine/cosine:

channel A inv. power supply: +5 Vdc ± 5% @ 60 mA max.

code: incremental, sine/cosine
output format: A and B chanel in
quadrature, index
output: default Vout = ± 0.5 V , zero-centered
channel B
frequency response: flat up to 100 kHz
absolute accuracy of
zero-crossings: ± 12 arcseconds typ.
channel B inv. distortion: less than 5% (Rmax/Rmin)

340° (electrical) typ.,

index (linedriver) centered on A+ and B+
index inv.

360°
90°±30° 180°±10° digital, incremental:
channel A
5% typ power supply: + 5Vdc ± 5% @ 150 mA max (no load)
channel B output format: incremental, digital
frequency response: up to 16,384 c/r 150 kHz min. @ 85 °C
index channel 90° over 16,384 c/r 4.0 MHz min. @ 85°C
270° linedriver output: 26LS31,EIA std. RS 422 & DIN 66259
channel A inv.
compatible
absolute accuracy: ± 12 arcseconds typ.
channel B inv.

index channel inv.

500 µs min.
digital, absolute:
2 µs typ.
power supply: + 5Vdc ± 5% @ 200 mA max (no load)
data request
output format: serial binary, 8-N-1 @ 230 k BPS
500 ns min. output: LVDS
absolute accuracy ± 12 arcseconds typ.
330 µs
serial out

high byte low byte

16 bit version shown

Allied Motion Technologies Corporation / Computer Optical Products, Inc. (800)340-0404 sales@opticalencoder.com www.opticalencoder.com