F 2140 40 mm, Precious Metal Brushes CLL, 4 Watt,  approved

maxon special program

M 1:2
Stock program
Standard program Order Number
Special program (on request)
2140. . . . -22.112-050 (Insert winding number)
Winding number 931 932 933 934 935 936 937 939
Motor Data
Values at nominal voltage
1 Nominal voltage V 6.0 9.0 9.0 12.0 15.0 18.0 24.0 36.0
2 No load speed rpm 3940 4630 3740 4090 4080 3850 4110 4130
3 No load current mA 23.1 20.1 14.2 12.3 9.77 7.43 6.19 4.17
4 Nominal speed rpm 2270 2990 2080 2430 2410 2160 2420 2400
5 Nominal torque (max. continuous torque) mNm 13.8 13.9 13.9 13.9 13.8 13.6 13.6 13.3
6 Nominal current (max. continuous current) A 0.974 0.773 0.624 0.508 0.404 0.314 0.251 0.164
7 Stall torque mNm 32.6 39.5 31.6 34.2 33.9 31.2 33.1 31.8
8 Starting current A 2.26 2.15 1.39 1.23 0.974 0.706 0.601 0.387
9 Max. efficiency % 81 82 81 82 81 81 81 81
Characteristics
10 Terminal resistance  2.65 4.19 6.47 9.73 15.4 25.5 40.0 93.0
11 Terminal inductance mH 0.341 0.558 0.853 1.27 1.99 3.21 5.02 11.2
12 Torque constant mNm / A 14.4 18.4 22.7 27.8 34.8 44.1 55.2 82.3
13 Speed constant rpm / V 664 519 420 344 275 216 173 116
14 Speed / torque gradient rpm / mNm 122 118 120 121 122 125 125 131
15 Mechanical time constant ms 32.2 31.9 31.9 31.9 32.0 32.1 32.1 32.5
16 Rotor inertia gcm2 25.1 25.7 25.5 25.3 25.1 24.6 24.5 23.6

Specifications Operating Range Comments

Thermal data n [rpm] Continuous operation
17 Thermal resistance housing-ambient 10.4 K / W In observation of above listed thermal resistance
18 Thermal resistance winding-housing 8.8 K / W (lines 17 and 18) the maximum permissible winding
19 Thermal time constant winding 45.5 s temperature will be reached during continuous
20 Thermal time constant winding 988 s operation at 25°C ambient.
21 Ambient temperature -20 ... +65°C = Thermal limit.
22 Max. permissible winding temperature +85°C
Short term operation
Mechanical data (sleeve bearings) The motor may be briefly overloaded (recurring).
23 Max. permissible speed 6400 rpm
24 Axial play 0.2 - 0.3 mm Assigned power rating
25 Radial play 0.025 mm
26 Max. axial load (dynamic) 0.5 N
27 Max. force for press fits (static) 50 N
28 Max. radial loading, 5 mm from flange 2.5 N

Other specifications maxon Modular System Overview on page 16 - 21

29 Number of pole pairs 1
Spur Gearhead
30 Number of commutator segments 7 38 mm
31 Weight of motor 190 g 0.1 - 0.6 Nm
CLL = Capacitor Long Life Page 237
Values listed in the table are nominal.
Explanation of the figures on page 49.

Option
Ball bearings in place of sleeve bearings

Recommended Electronics:
LSC 30/2 Page 282
Notes 18

328 maxon special program May 2010 edition / subject to change

F 2140 40 mm, Graphite Brushes, 6 Watt,  approved

maxon special program

M 1:2
Stock program
Standard program Order Number
Special program (on request)
2140. . . . -22.116-050 (Insert winding number)
Winding number 931 932 933 934 935 936 937 939
Motor Data
Values at nominal voltage
1 Nominal voltage V 6.0 9.0 9.0 12.0 15.0 18.0 24.0 36.0
2 No load speed rpm 3550 4320 3500 3880 3910 3710 3990 4030
3 No load current mA 53.3 45.6 33.5 28.7 23.0 17.7 14.6 9.87
4 Nominal speed rpm 1900 2720 1880 2270 2300 2080 2360 2380
5 Nominal torque (max. continuous torque) mNm 11.1 11.7 12.1 12.3 12.5 12.5 12.6 12.5
6 Nominal current (max. continuous current) A 0.815 0.672 0.560 0.466 0.377 0.298 0.240 0.160
7 Stall torque mNm 26.3 34.4 27.9 31.2 31.6 29.5 31.9 31.1
8 Starting current A 1.83 1.87 1.23 1.13 0.909 0.669 0.578 0.378
9 Max. efficiency % 61 66 65 68 69 69 70 70
Characteristics
10 Terminal resistance  3.28 4.81 7.35 10.7 16.5 26.9 41.5 95.2
11 Terminal inductance mH 0.341 0.558 0.853 1.27 1.99 3.21 5.02 11.2
12 Torque constant mNm / A 14.4 18.4 22.7 27.8 34.8 44.1 55.2 82.3
13 Speed constant rpm / V 664 519 420 344 275 216 173 116
14 Speed / torque gradient rpm / mNm 152 136 136 132 130 132 130 134
15 Mechanical time constant ms 37.9 34.9 34.4 33.3 32.6 32.2 31.7 31.5
16 Rotor inertia gcm2 23.9 24.5 24.2 24.0 23.9 23.3 23.2 22.4

Specifications Operating Range Comments

Thermal data n [rpm] Continuous operation
17 Thermal resistance housing-ambient 10.4 K / W In observation of above listed thermal resistance
18 Thermal resistance winding-housing 8.8 K / W (lines 17 and 18) the maximum permissible winding
19 Thermal time constant winding 45.5 s temperature will be reached during continuous
20 Thermal time constant winding 988 s operation at 25°C ambient.
21 Ambient temperature -20 ... +65°C = Thermal limit.
22 Max. permissible winding temperature +85°C
Short term operation
Mechanical data (sleeve bearings) The motor may be briefly overloaded (recurring).
23 Max. permissible speed 11000 rpm
24 Axial play 0.2 - 0.3 mm Assigned power rating
25 Radial play 0.014 mm
26 Max. axial load (dynamic) 0.5 N
27 Max. force for press fits (static) 50 N
28 Max. radial loading, 5 mm from flange 2.5 N

Mechanical data (ball bearings) maxon Modular System Overview on page 16 - 21

23 Max. permissible speed 11000 rpm
Spur Gearhead
24 Axial play 0.2 - 0.3 mm 38 mm
25 Radial play 0.025 mm 0.1 - 0.6 Nm
26 Max. axial load (dynamic) 1.5 N Page 237
27 Max. force for press fits (static) 50 N
28 Max. radial loading, 5 mm from flange 7.5 N

Other specifications
29 Number of pole pairs 1
30 Number of commutator segments 7
31 Weight of motor 190 g

Values listed in the table are nominal. Recommended Electronics:

LSC 30/2 Page 282
Explanation of the figures on page 49. Notes 18
Option
Ball bearings in place of sleeve bearings

May 2010 edition / subject to change maxon special program 329

 F 2140 40 mm, Graphite Brushes, 6 Watt,  approved
maxon special program

M 1:2
Stock program
Standard program Order Number
Special program (on request)
2140. . . . -58.236-050 (Insert winding number)
Winding number 931 932 933 934 935 936 937 939
Motor Data
Values at nominal voltage
1 Nominal voltage V 6.0 9.0 9.0 12.0 15.0 18.0 24.0 36.0
2 No load speed rpm 3540 4310 3490 3880 3900 3710 3980 4030
3 No load current mA 55.5 46.6 34.9 29.7 23.7 18.4 15.1 10.2
4 Nominal speed rpm 1900 2730 1880 2270 2300 2080 2360 2380
5 Nominal torque (max. continuous torque) mNm 11.0 11.6 12.0 12.2 12.4 12.5 12.5 12.4
6 Nominal current (max. continuous current) A 0.814 0.671 0.559 0.465 0.377 0.298 0.240 0.160
7 Stall torque mNm 26.3 34.4 27.9 31.2 31.6 29.5 31.9 31.1
8 Starting current A 1.83 1.87 1.23 1.13 0.909 0.669 0.578 0.378
9 Max. efficiency % 61 66 65 67 68 68 69 70
Characteristics
10 Terminal resistance  3.28 4.81 7.35 10.7 16.5 26.9 41.5 95.2
11 Terminal inductance mH 0.341 0.558 0.853 1.27 1.99 3.21 5.02 11.2
12 Torque constant mNm / A 14.4 18.4 22.7 27.8 34.8 44.1 55.2 82.3
13 Speed constant rpm / V 664 519 420 344 275 216 173 116
14 Speed / torque gradient rpm / mNm 152 136 136 132 130 132 130 134
15 Mechanical time constant ms 37.9 34.9 34.4 33.3 32.6 32.2 31.7 31.5
16 Rotor inertia gcm2 23.9 24.5 24.2 24.0 23.9 23.3 23.2 22.4

Specifications Operating Range Comments

Thermal data n [rpm] Continuous operation
17 Thermal resistance housing-ambient 10.4 K / W In observation of above listed thermal resistance
18 Thermal resistance winding-housing 8.8 K / W (lines 17 and 18) the maximum permissible winding
19 Thermal time constant winding 45.5 s temperature will be reached during continuous
20 Thermal time constant winding 988 s operation at 25°C ambient.
21 Ambient temperature -20 ... +65°C = Thermal limit.
22 Max. permissible winding temperature +85°C
Short term operation
Mechanical data (ball bearings) The motor may be briefly overloaded (recurring).
23 Max. permissible speed 11000 rpm
24 Axial play 0.2 - 0.3 mm Assigned power rating
25 Radial play 0.025 mm
26 Max. axial load (dynamic) 1.5 N
27 Max. force for press fits (static) 50 N
(static, shaft supported) 700 N
28 Max. radial loading, 5 mm from flange 7.5 N
maxon Modular System Overview on page 16 - 21
Other specifications
Spur Gearhead Encoder Enc
29 Number of pole pairs 1 38 mm 22 mm
30 Number of commutator segments 7 0.1 - 0.6 Nm 100 CPT, 2 channels
31 Weight of motor 190 g Page 237 Page 265
Values listed in the table are nominal.
Explanation of the figures on page 49.

Option
Preloaded ball bearings

Recommended Electronics:
LSC 30/2 Page 282
Notes 18

330 maxon special program May 2010 edition / subject to change

 Spur Gearhead GS 38 A 38 mm, 0.1 - 0.6 Nm
Technical Data
Spur Gearhead straight teeth
Output shaft stainless steel
Bearing at output sleeve bearing
Radial play, 12 mm from flange max. 0.1 mm

maxon gear
Axial play 0.03 - 0.2 mm
Max. radial load, 12 mm from flange 50 N
Max. permissible axial load 30 N
Max. permissible force for press fits 500 N
Recommended input speed < 5000 rpm
Recommended temperature range -5 ... +80°C

M 1:2
Stock program
Standard program Order Number
Special program (on request)
110451 110452 110453 110454 110455 110456 110457 110458 110459
Gearhead Data
1 Reduction 6:1 10 : 1 18 : 1 30 : 1 60 : 1 100 : 1 200 : 1 500 : 1 900 : 1
2 Reduction absolute 6 10 18 30 60 100 200 500 900
3 Max. motor shaft diameter mm 3 3 3 3 3 3 3 3 3
4 Number of stages 2 2 3 3 4 4 5 6 6
5 Max. continuous torque Nm 0.1 0.1 0.2 0.2 0.3 0.3 0.6 0.6 0.6
6 Intermittently permissible torque at gear output Nm 0.3 0.3 0.6 0.6 0.9 0.9 1.8 1.8 1.8
12 Sense of rotation, drive to output = =   = =  = =
7 Max. efficiency % 81 81 73 73 66 66 59 53 53
8 Weight g 55 55 60 60 65 65 70 75 75
9 Average backlash no load ° 1.0 1.0 1.5 1.5 2.0 2.0 2.5 3.0 3.0
10 Mass inertia gcm2 0.7 0.6 0.4 0.4 0.3 0.3 0.2 0.2 0.2
11 Gearhead length L1* mm 20.6 20.6 23.1 23.1 25.6 25.6 28.1 30.6 30.6
*for EC 32 flat L1 is + 2.0 mm

overall length overall length

maxon Modular System

+ Motor Page + Sensor / Brake Page Overall length [mm] = Motor length + gearhead length + (sensor / brake) + assembly parts
A-max 26 101-108 65.4 65.4 67.9 67.9 70.4 70.4 72.9 75.4 75.4
A-max 26 102-108 MEnc 13 274 72.5 72.5 75.0 75.0 77.5 77.5 80.0 82.5 82.5
A-max 26 102-108 MR 262 74.2 74.2 76.7 76.7 79.2 79.2 81.7 84.2 84.2
A-max 26 102-108 Enc 22 265 79.8 79.8 82.3 82.3 84.8 84.8 87.3 89.8 89.8
A-max 26 102-108 HED_ 5540 267/269 84.2 84.2 86.7 86.7 89.2 89.2 91.7 94.2 94.2
A-max 32 109/111 83.6 83.6 86.1 86.1 88.6 88.6 91.1 93.6 93.6
A-max 32 110/112 82.2 82.2 84.7 84.7 87.2 87.2 89.7 92.2 92.2
A-max 32 110/112 MR 263 93.4 93.4 95.9 95.9 98.4 98.4 100.9 103.4 103.4
A-max 32 110/112 HED_ 5540 267/269 103.0 103.0 105.5 105.5 108.0 108.0 110.5 113.0 113.0
RE-max 21 123/124 49.6 49.6 52.1 52.1 54.6 54.6 57.1 59.6 59.6
RE-max 21, 3.5 W 124 MR 259/261 54.7 54.7 57.2 57.2 59.7 59.7 62.2 64.7 64.7
RE-max 21 125/126 52.2 52.2 54.7 54.7 57.2 57.2 59.7 62.2 62.2
RE-max 21, 6 W 126 MR 259/261 56.5 56.5 59.0 59.0 61.5 61.5 64.0 66.5 66.5
RE-max 24 127-130 52.6 52.6 55.1 55.1 57.6 57.6 60.1 62.6 62.6
RE-max 24 128/130 MR 259/261 57.6 57.6 60.1 60.1 62.6 62.6 65.1 67.6 67.6
EC 32 flat, 15 W 188 38.6 38.6 41.1 41.1 43.6 43.6 46.1 48.6 48.6
EC 32 flat, IE, IP 00 189 48.7 48.7 51.2 51.2 53.7 53.7 56.2 58.7 58.7
EC 32 flat, IE, IP 40 189 50.4 50.4 52.9 52.9 55.4 55.4 57.9 60.4 60.4

May 2010 edition / subject to change maxon gear 237