RE-max 17 ∅17 mm, Graphite Brushes, 4.

5 Watt
maxon RE-max

M 1:1
Stock program Part Numbers
Standard program
Special program (on request)

216008 216009 269571 216010 216011 216012 216013 216014 216015 216016 216017
Motor Data
Values at nominal voltage
1 Nominal voltage V 3 4.8 9 12 15 21 24 24 30 36 48
2 No load speed rpm 11100 10100 10500 10400 10500 11100 10800 9630 10000 10700 9350
3 No load current mA 152 85.2 47.4 35.3 28.6 21.7 18.5 16.1 13.5 12.1 7.82
4 Nominal speed rpm 10300 8070 7730 7650 7760 8290 8070 6800 7200 7820 6390
5 Nominal torque (max. continuous torque) mNm 1.44 2.82 4.06 4.06 4.02 3.97 4 4.02 3.98 3.88 3.85
6 Nominal current (max. continuous current) A 0.72 0.72 0.553 0.412 0.33 0.245 0.211 0.189 0.156 0.135 0.0883
7 Stall torque mNm 20.7 14.3 15.8 15.6 15.6 16.1 15.9 14 14.4 14.8 12.5
8 Starting current A 8.19 3.24 1.97 1.45 1.17 0.911 0.773 0.605 0.518 0.473 0.262
9 Max. efficiency % 75 70 72 72 71 72 72 70 71 71 69
Characteristics
10 Terminal resistance W 0.366 1.48 4.57 8.25 12.8 23 31.1 39.7 57.9 76.1 183
11 Terminal inductance mH 0.0114 0.0348 0.114 0.205 0.313 0.557 0.758 0.955 1.37 1.75 4.03
12 Torque constant mNm/A 2.53 4.42 8 10.7 13.3 17.7 20.6 23.2 27.8 31.4 47.6
13 Speed constant rpm/V 3780 2160 1190 889 720 540 463 412 344 304 201
14 Speed / torque gradient rpm/mNm 548 723 681 683 694 703 697 706 716 739 773
15 Mechanical time constant ms 6.08 6.21 6.2 6.22 6.24 6.26 6.27 6.3 6.28 6.31 6.42
16 Rotor inertia gcm2 1.06 0.82 0.869 0.868 0.859 0.849 0.859 0.852 0.838 0.816 0.793

Specifications Operating Range Comments

Thermal data n [rpm] Continuous operation
 Thermal resistance housing-ambient
17 35 K/W In observation of above listed thermal resistance
 Thermal resistance winding-housing
18 12 K/W 12000 4.5
(lines 17 and 18) the maximum permissible winding
 Thermal time constant winding
19 9.65 s 216010
temperature will be reached during continuous op-
 Thermal time constant motor
20 343 s
-30…+85°C
21 Ambient temperature eration at 25°C ambient.
8000
+125°C
22 Max. permissible winding temperature = Thermal limit.

Mechanical data (sleeve bearings) 4000 Short term operation

23 Max. permissible speed 11 900 rpm The motor may be briefly overloaded (recurring).
 Axial play
24 0.05 - 0.15 mm
 Radial play
25 0.012 mm 1.0 2.0 3.0 4.0 5.0
 Max. axial load (dynamic)
26 0.8 N Assigned power rating
 Max. force for press fits (static)
27 35 N 0.1 0.2 0.3 0.4 0.5
 (static, shaft supported) 280 N
 Max. radial loading, 5 mm from flange
28 1.4 N

Mechanical data (ball bearings) maxon Modular System Overview on page 20–25
23 Max. permissible speed 11 900 rpm
 Axial play
24 0.05 - 0.15 mm Planetary Gearhead Encoder MR
 Radial play
25 0.025 mm ∅16 mm 32 CPT,
 Max. axial load (dynamic)
26 2.2 N 0.1 - 0.3 Nm 2 / 3 channels
 Max. force for press fits (static)
27 30 N Page 254 Page 316
 (static, shaft supported) 280 N Encoder MR
 Max. radial loading, 5 mm from flange
28 7.8 N 128 / 256 / 512 CPT,
2 / 3 channels
Other specifications Page 317
1
29 Number of pole pairs
7
30 Number of commutator segments
 Weight of motor
31 26 g Recommended Electronics:
ESCON 36/2 DC
Page 342
Values listed in the table are nominal. ESCON Module 50/5 343
Explanation of the figures on page 79. ESCON 50/5 344
EPOS2 24/2 350
Option EPOS2 Module 36/2 350
Ball bearings in place of sleeve bearings EPOS3 70/10 EtherCAT 357
Pigtails in place of terminals MAXPOS 50/5 360
Notes 22

154 maxon DC motor April 2014 edition / subject to change

 Planetary Gearhead GP 16 A ∅16 mm, 0.1–0.3 Nm
Technical Data
Planetary Gearhead straight teeth
Output shaft stainless steel, hardened
Bearing at output sleeve bearing
maxon gear

Radial play, 6 mm from flange max. 0.06 mm

Axial play 0.02–0.10 mm
Max. permissible axial load 8N
Max. permissible force for press fits 100 N
Sense of rotation, drive to output =
Recommended input speed < 8000 rpm
Recommended temperature range -30…+100°C
Extended range as option -40…+100°C
Number of stages 1 2 3 4 5
Max. radial load, 6 mm
from flange 8 N 12 N 16 N 20 N 20 N
M 1:1
Stock program Part Numbers
Standard program
Special program (on request)
110321 110322 110323 118186 110324 134782 110325 134785
Gearhead Data
1 Reduction 4.4 : 1 19 : 1 84 : 1 157 : 1 370 : 1 690 : 1 1621 : 1 3027 : 1
2 Reduction absolute 57
⁄ 13 3249
⁄ 169 185193
⁄ 2197 ⁄ 125
19683 10556001
⁄ 28561 1121931
⁄ 1625 601692057
⁄ 371293 63950067
⁄ 21125
3 Max. motor shaft diameter mm 2 2 2 1.5 2 2 2 2
Part Numbers 118184 134777 134778 134780 118187 134783 134786
1 Reduction 5.4 : 1 24 : 1 104 : 1 455 : 1 850 :1 1996 : 1 3728 : 1
2 Reduction absolute 27
⁄5 1539
⁄ 65 87723
⁄ 845 5000211
⁄ 10985 531441
⁄ 625 285012027
⁄142805 30292137
⁄ 8125
3 Max. motor shaft diameter mm 1.5 2 2 2 1.5 2 2
Part Numbers 118185 134779 134781 134784 118188
1 Reduction 29 : 1 128 : 1 561 : 1 2458 : 1 4592 : 1
2 Reduction absolute 729
⁄ 25 41553
⁄ 325 2368521
⁄4225 135005697
⁄ 54925 14348907
⁄ 3125
3 Max. motor shaft diameter mm 1.5 2 2 2 1.5
4 Number of stages 1 2 3 3 4 4 5 5
5 Max. continuous torque Nm 0.10 0.15 0.20 0.20 0.25 0.25 0.30 0.30
6 Intermittently permissible torque at gear output Nm 0.150 0.225 0.300 0.300 0.375 0.375 0.450 0.450
7 Max. efficiency % 90 81 73 73 65 65 59 59
8 Weight g 20 23 27 27 31 31 35 35
9 Average backlash no load ° 1.4 1.6 2.0 2.0 2.4 2.4 3.0 3.0
10 Mass inertia gcm2 0.07 0.05 0.05 0.04 0.05 0.05 0.05 0.05
11 Gearhead length L1 mm 15.5 19.1 22.7 22.7 26.3 26.3 29.9 29.9

overall length overall length

maxon Modular System

+ Motor Page + Sensor/Brake Page Overall length [mm] = Motor length + gearhead length + (sensor/brake) + assembly parts
RE 16, 2 W 102 37.9 41.5 45.1 45.1 48.7 48.7 52.3 52.3
RE 16, 2 W 102 MR 315/317 43.6 47.2 50.8 50.8 54.4 54.4 58.0 58.0
RE 16, 3.2 W 103/104 56.0 59.6 63.2 63.2 66.8 66.8 70.4 70.4
RE 16, 3.2 W 104 MR 315/317 61.0 64.6 68.2 68.2 71.8 71.8 75.4 75.4
RE 16, 3.2 W 104 MEnc 13 334 62.1 65.7 69.3 69.3 72.9 72.9 76.5 76.5
RE 16, 4.5 W 105/106 59.0 62.6 66.2 66.2 69.8 69.8 73.4 73.4
RE 16, 4.5 W 106 MR 315/317 64.0 67.6 71.2 71.2 74.8 74.8 78.4 78.4
RE 16, 4.5 W 106 MEnc 13 334 65.2 68.8 72.4 72.4 76.0 76.0 79.6 79.6
A-max 16 121-124 41.0 44.6 48.2 48.2 51.8 51.8 55.4 55.4
A-max 16 122/124 MR 315/317 46.0 49.6 53.2 53.2 56.8 56.8 60.4 60.4
A-max 16 122/124 MEnc 13 334 49.1 52.7 56.3 56.3 59.9 59.9 63.5 63.5
RE-max 17 151-154 41.0 44.6 48.2 48.2 51.8 51.8 55.4 55.4
RE-max 17 152/154 MR 315/317 46.0 49.6 53.2 53.2 56.8 56.8 60.4 60.4
EC 16, 30 W 178 55.6 59.2 62.8 62.8 66.4 66.4 70.0 70.0
EC 16, 30 W 178 MR 318 66.3 69.9 73.5 73.5 77.1 77.1 80.7 80.7
EC-max 16, 5 W 199 39.6 43.2 46.8 46.8 50.4 50.4 54.0 54.0
EC-max 16, 5 W 199 MR 318 46.9 50.5 54.1 54.1 57.7 57.7 61.3 61.3
EC-max 16, 2-wire 200 49.1 52.7 56.3 56.3 59.9 59.9 63.5 63.5

Option Ball Bearing Part Numbers Technical Data

4.4 : 1 138333
5.4 : 1 138334
19 : 1 138335
24 : 1 138336
29 : 1 138337
84 : 1 138338
104 : 1 138339
128 : 1 138340
157 : 1 138341
370 : 1 138342
455 : 1 138343
561 : 1 138344
690 : 1 138345
850 : 1 138346
1621 : 1 138347
1996 : 1 138348
2458 : 1 138349
3027 : 1 138350
3728 : 1 138351
4592 : 1 138352
Planetary Gearhead straight teeth
Output shaft stainless steel, hardened
Bearing at output preloaded ball bearings
Radial play, 6 mm from flange max. 0.08 mm
Axial play at axial load < 4 N 0 mm
> 4 N max. 0.05 mm
Max. permissible axial load 8N
Max. permissible force for press fits 25 N
Sense of rotation, drive to output =
Recommended input speed < 8000 rpm
Recommended temperature range -15…+100°C
Extended range as option -40…+100°C
Number of stages 1 2 3 4 5
Max. radial load, 6 mm
from flange 10 N 15 N 20 N 20 N 20 N
Gearhead values according to sleeve bearing version

254 maxon gear April 2014 edition / subject to change

Encoder MR  Type M, 128–512 CPT, 2/3 Channels, with Line Driver
Cycle C = 360°e
Pulse P = 180°e

UHigh

maxon sensor
Channel A
ULow
Phase shift 90°e
UHigh
Channel B
ULow
UHigh
Channel I
ULow
s3 s4 s1 s2 s 1..4 = 90°e
∆ s < 45°e
Direction of rotation cw (definition cw p. 78)
Stock program Part Numbers
Standard program
Special program (on request)
228179 228177 228181 228182 201937 201940
Type
Counts per turn 128 128 256 256 512 512
Number of channels 2 3 2 3 2 3
Max. operating frequency (kHz) 80 80 160 160 320 320
Max. speed (rpm) 37 500 37 500 37 500 37 500 37 500 37 500

overall length overall length

maxon Modular System

+ Motor Page + Gearhead Page + Brake Page Overall length [mm] / • see Gearhead
RE 16, 2 W 102 28.0 28.0 28.0 28.0 28.0 28.0
RE 16, 2 W 102 GP 16, 0.1 - 0.6 Nm 254/255 • • • • • •
RE 16, 2 W 102 GP 16 S 296/297 • • • • • •
RE 16, 3.2 W 104 45.4 45.4 45.4 45.4 45.4 45.4
RE 16, 3.2 W 104 GP 16, 0.1 - 0.6 Nm 254/255 • • • • • •
RE 16, 3.2 W 104 GP 16 S 296/297 • • • • • •
RE 16, 4.5 W 106 48.4 48.4 48.4 48.4 48.4 48.4
RE 16, 4.5 W 106 GP 16, 0.1 - 0.6 Nm 254/255 • • • • • •
RE 16, 4.5 W 106 GP 16 S 296/297 • • • • • •
A-max 16 122/124 30.4 30.4 30.4 30.4 30.4 30.4
A-max 16 122/124 GS 16, 0.01 - 0.1 Nm 250-253 • • • • • •
A-max 16 122/124 GP 16, 0.1 - 0.6 Nm 254/255 • • • • • •
A-max 16 122/124 GP 16 S 296/297 • • • • • •
A-max 19, 1.5 W 126 34.0 34.0 34.0 34.0 34.0 34.0
A-max 19, 1.5 W 126 GP 19, 0.1 - 0.3 Nm 257 • • • • • •
A-max 19, 1.5 W 126 GP 22, 0.5 - 2.0 Nm 262/264 • • • • • •
A-max 19, 1.5 W 126 GS 24, 0.1 Nm 269 • • • • • •
A-max 19, 1.5 W 126 GP 22 S 299/300 • • • • • •
A-max 19, 2.5 W 128 35.8 35.8 35.8 35.8 35.8 35.8
A-max 19, 2.5 W 128 GP 19, 0.1 - 0.3 Nm 257 • • • • • •
A-max 19, 2.5 W 128 GS 20 0.06 - 0.25 Nm 259 • • • • • •
A-max 19, 2.5 W 128 GP 22, 0.5 - 2.0 Nm 262/264 • • • • • •
A-max 19, 2.5 W 128 GS 24, 0.1 Nm 269 • • • • • •
A-max 19, 2.5 W 128 GP 22 S 299/300 • • • • • •
A-max 22 130/132 36.9 36.9 36.9 36.9 36.9 36.9
A-max 22 130/132 GP 22, 0.1 - 0.6 Nm 260/261 • • • • • •
A-max 22 130/132 GP 22, 0.5 - 2.0 Nm 262/264 • • • • • •
A-max 22 130/132 GS 24, 0.1 Nm 269 • • • • • •
A-max 22 130/132 GP 22 S 299/300 • • • • • •
RE-max 17 152/154 30.4 30.4 30.4 30.4 30.4 30.4
RE-max 17 152/154 GP 16, 0.1 - 0.3 Nm 254 • • • • • •

Technical Data Pin Allocation Connection example

Supply voltage VCC  5 V ± 5% 1 Motor + Line receiver
Encoder, Line Driver

Output signal TTL compatible 2 1 2 VCC VCC

Recommended IC's:
Phase shift Φ  90°e ± 45°e 3 GND GND - MC 3486
4 Motor – - SN 75175
Index pulse width 90°e ± 45°e 5 Channel A - AM 26 LS 32
Operating temperature range  -25…+85 °C 6 Channel A Channel A
R
Moment of inertia of code wheel  ≤ 0.09 gcm2 7 Channel B
Output current per channel  max. 5 mA 10 9 8 Channel B Channel A C

156 ± 10 9* Channel I (Index)

10* Channel I (Index)
Channel B
R
DIN Connector 41651/
EN 60603-13 Channel B
C

flat band cable AWG 28

*version with 3 channels
Channel I
R

Channel I C

Terminal resistance R = typical 120 Ω

The index signal I is synchronized with channel A or B. Capacitor C ≥ 0.1 nF per m line length

April 2014 edition / subject to change maxon sensor 317