CMC (Cleveland Motion Controls, Torque Systems) T0604B9100 MDM-5000 Series BLDC Servo Motor

I've been interested in MDM5000 motors for a long time; when Excess Solutions had some for sale, I snapped up a couple.

CMC is now part of ITT. I believe Torque Systems was a division of CMC, but it looks ITT has changed all the motor branding from CMC to Torque Systems. Anyway, the documentation for the MDM-5000 series is at the Torque Systems website.

The T0604B9100 is a quadruple stack 60mm metric mount servo motor. I suspect it has a custom winding, since the second part ("B9100") of the part number isn't similar to any current standard part numbers. The winding appears similar to the B3 winding.

The encoder is a Torque Systems Datatorque 14414-805 with 8000 quadrature counts per revolution. I can't find that part number, either, but it appears to be similar to the Datatorque HS15, with the same pin out.

The motor is a high density motor, with a lot of torque for its size. However, it seems to have substantial cogging torque; if you need a super-smooth motor, you're best off looking elsewhere.

Motor Specifications

Mechanical Specifications

Cont Stall Torque214oz-in
Peak Torque992oz-in
Rated Power504W
Max Speed8000RPM
Motor Inertia0.00496oz-in-sec-sec

B3 Winding Constants

Torque Constant24.6oz-in/A
Ke Voltage Constant21.0Vpeak/KRPM
Winding Resistance0.99Ohm
Winding Inductance1.5mH

Motor Connections


PhaseWire Color
Case GroundGreen/White

Hall Sensor

The motor uses a commutating encoder; see below for commutation signals.


My standard is positive is when the motor, when viewed from the front, is turning clockwise. (My A+/A- connections are flipped when compared to the Datatorque HS15 wire colors). When possible, my commutation sensor order is chosen to work with an AMC BE15 analog servo amplifier.

SignalWire Color
+5VDC Red
A+ White
A- Brown
B+ Blue
B- Green
Hall U+Purple (Violet)
Hall U-Gray
Hall V+Orange/White
Hall V-Yellow/White
Hall W+Brown/White
Hall W-Red/White
Case GroundBlack/White
Last modified 6 years ago Last modified on Jun 20, 2013 9:17:48 PM