CATALOGUE STEPPER MOTORS

Transcription

1 ENG CATALOGUE STEPPER MOTORS Precision for challenging applications INDUSTRIAL HARSH EXTREME SPACE IP IP VACUUM CRYO RADIATION VIBRATION VACUUM RADIATION ZSS ZSH VSS physpace phybasic Edition 7 April Extreme. Precision. Positioning.

2 Phytron GmbH Stepper motor technology for special requirements: Stepper motor technology is particularly suitable for precision applications under extreme environmental conditions. Whether vacuum, cryo environment, high temperature or under the influence of radioactivity - the phytron motor series are tough and do precision work, because stepper motors can position very accurately without a fragile feedback encoder. Our control units perform, especially in applications that rely on very precise and smooth running behaviour. We control motors in electron microscopes, accelerator experiments or also in paper production machines - with up to / step ( positions per revolution with a step motor). From the power amplifier to the modular, cost-effective multi-axis system we offer the right control concept for your requirements. You remain flexible with phytron, because we supplement the interest in and the ability of our customised products by developing them further. Customers from different industry sectors rely on our decades of experience in highly demanding application fields. Why buying a phytron product is always a good decision: We are a customer-oriented high-technology company certified to ISO 9 and EN. We have the process know-how of more than stepper motors in space operations for the successful development of your demanding application! We offer best service we also ask the right questions at the right time. Our Competence Center guarantees targeted consultation and therefore the early identification of requirements and any potential problems. Based on our proven products used in the series, we develop solutions that provide precision work for our customers with extreme reliability. Whether for extreme environmental conditions or as a perfect fit for your particular application - phytron motors are always a good choice! phytron combines the flexibility and client-specific consulting from a niche player with the efficiency and standardised quality assurance processes of series production. As quality conscions business we produce in Gröbenzell near Munich. General Manager Catalogue / -7 EN /

3 INDUSTRIAL Environments Precise. Reliable. Dynamic. Phytron s STANDARD industrial motors are eminently suitable for applications in engineering and industry. Whether it s for the positioning of slides, the adjustment of pressure rollers or sensitive optics, the synchronised delivery and application of labels or for handling in mail sorting - fast and reliable running performances are constantly demanded. Precision, high torque and solid craftsmanship make our standard industrial motors an excellent choice for environments up to IP. The phybasic series has good speed-torque performance, high low-end torque and a solid build, while the ZSS series prides itself with balanced rotors, smooth rotation, extremely low acoustic noise and low resonance with the highest positioning accuracy. Also, the ZSS operates to an extended operating temperature of - to + C. ZSS Precision stepper motor with smooth running, IP, 9 to mm phybasic High precision and smooth running DMP Inertial damper for stepper motors DMP 9/7 HARSH Environments Robust. Powerful. Dependable. Phytron s HARSH Environment motors are particularly suited across a broad range of heavy-duty manufacturing industries. With precise running performance, high torque and its robust design to a submersible IP, the most challenging conditions are solved with our HARSH motors. In climate chambers, setting paper thickness in high humidity, the adjustment of rotor blades in aerospace or inside fuel tanks, these motors perform the most arduous of tasks accurately and reliably. ZSH Up to IP stepper motors, 7 to 7 mm EXTREME Environments Vacuum. Cryo. Radiation. The Phytron EXTREME -phase hybrid stepper motors have evolved and perfected through the use of materials and manufacturing processes optimal for unusual environmental conditions in industry or science. Vacuums up to - mbar, cryogenic environments down to -9 C, high temperatures up to + C, radiations of up to J / kg or extreme vibration loads - with minimal particulate emissions. These motors adjust optical elements in satellites, process samples in molecular analysis devices, turn filter wheels in sputtering and transport samples in liquid nitrogen. VSS Vacuum stepper motors 9 to mm SPACE Precise. Clean. Resistant. With more than years of heritage and more than motors for a wide range of space projects (CASSINI-HUYGENES, EPIC ROSETTA, STEREO, KOMPSAT, CURIOSITY, JUNO, MAVEN, ENMAP,...) we are loocking forward to solving your challenging application! Our physpace withstands vibration and high shock loads, resits vacuum up to - hpa, radiation up to J/kg, cryogenic environment down to -9 C or high temperature up to C while achieving minimal outgassing. physpace Stepper motors for the space to 7 mm CUSTOMISING Standard + Efficient Customising = cost optimised for a perfect fit Whether it s a tailored outer housing, ceramic bearings, high vibration and shock loads or rad-hard designs, the most unusual applications are solved based on a motor series with effective customisation by getting it right first time. We will assist you to combine standard components into a turnkey design that fits the bill. Catalogue / -7 EN /

4 ENG /ZSS INDUSTRIAL ZSS Stepper Motors For Applications with Extended Temperature Range The proven -phase hybrid stepper motors series ZSS combine highest precision with smooth running characteristics. With up to. approachable positions (- step motor, driven in micro stepping mode with / step resolution and encoder) the ZSS motor provides your application with highest precision positioning capabilities. The ZSS Serie differs from standard market motors by the extended ambient temperature range from - to + C. Thus, the motor is suitable for the most demanding applications in diverse areas of application. Highlights temperature Options Perfect-fit for your application: with gear - GPL low-backlash planetary gears - PLG planetary gears - HD Harmonic Drive gears - GSR worm gears with motor brake - Permanent magnet brake for V DC supply voltage with encoder - Standard resolution lines - -channel optical incremental encoder Extended Temperature Range The ZSS stepper motor not only convinces with a very balanced, smooth and low resonance running performance with maximum positioning accuracy, but also with the extended ambient temperature range of - to + C. Variety of expansion stages With a variety of options and the high level of vertical integration of phytron, the ZSS is the ideal basis for customised applications. Gears, brakes, encoders, shaft or flange adjustments or special windings - the ZSS offers the optimum basis for efficient customising. In Focus high precision temperature RoHS complient smooth running -phase hybrid stepper motors -step (step angle. ) Connection options: - -lead parallel - -lead in series - -, - or -lead connection Holding torques from. to 7 mnm Protection class IP for ZSS with free wire ends Perm. ambient temperature to + C (no frost) Max. operating voltage of the power stage (Intermediate circuit voltage: 7 V DC Insulation class F acc. to VDE Test voltage ZSS 9 to : 7 V ( min) ZSS to 7: V ( min) Optional: - nd shaft (IP ) - encoder - gear - motor brake Customised shaft design Special windings Edition 7 February Extreme. Precision. Positioning.

5 ZSS data sheet Industrial Stepper motor ZSS 9 to ZSS 7 Lg Electrical Characteristics Mechanical Characteristics ZSS Standard -steps ) Current/Phase IN Resistance/ Phase ) Inductivity/ Phase max. operating voltage ) AWG Holding torque ) Detent torque Rotor inertia Ø G Ø G Ø A Ø G Ø G Ø A M K N F D E B F F D E C B F M K ZSS 9 to with free wire ends ZSS to 7 with protective cover Standard motor flange Dimensions / Electrical and Mechanical Characteristics Loads radial axial Mass Dimensions in mm A Ω mh V DC mnm mnm kg cm N N kg A B B C D E F F G ) G ) K L M N M M )... ) )... ) ) 7... ) ) Standard -lead, motor connection see page ) Holding torque in bipolar mode with parallel windings, two phases on rated current ) The inductivity values apply for each single winding as well as for parallel connected windings. ) ZSS, and 7 with earthing screw on the terminal board. ) Shaft diameter tolerances: ZSS 9 to : -. to -.9; from ZSS : g ) max. operating voltage of the power stage (intermediate circuit voltage) All values given above refer ro room temperature. Preferred option Edition 7 February / DS-9-A EN /

6 ZSS data sheet Electrical Connection / Connection Types / Phase current The phytron stepper motors type ZSS are built in -lead windings (standard). Phase Phase YE BK BN RD BU VT WH GN W W M -lead with free wire ends W W Phase currents For ZSS phytron stepper motors, the rated current [A] per motor phase is printed on the rating plate. The last digits of the motor s type number define the rated current. Example: ZSS.., The rated current is defined for full step operation, at bipolar control mode, with parallel connected motor windings. According to the connection mode, the motor windings receive different currents. Therefore, for identical power dissipation in the motor, the allowable phase current is determined by the connection mode. For short time, double current overload is acceptable. Alternative windings such as -lead are available on request: The motors can be used with unipolar or bipolar control mode, as the windings can be differently connected. - lead or -lead connection are applicable for the unipolar control mode. In the bipolar control mode, -lead motor wiring is required, windings connected in parallel or in series. The information in the ZSS motor connection leaflet (delivered with each motor) must be regarded when wiring the motor in order to provide for EMC compliant wiring. The motor connection leaflets are also available by down-load from the phytron homepage. Phase Phase A B C D YE RD W W BU GN M W W -lead / parallel windings / bipolar mode Phase Phase A B C D YE RD W W BU GN M W W A E B C F D YE BK RD BU WH GN W W M W W A B E C D YE RD BK BU GN W W M W W -lead / serial windings / bipolar mode -lead / unipolar mode -lead / unipolar mode Control mode Bipolar control mode Full step operation Motor connection -lead parallel windings -lead serial windings Allowable phase current for identical power dissipation Unipolar control mode Full step operation -lead -lead Rated current Rated current x. Rated current x.77 Rated current x.77 Edition 7 February / DS-9-A EN /

7 ZSS data sheet Industrial Option: Stepper Motor with Encoder The stepper motors ZSS to ZSS 7 with mounted encoder are are particularly suitable for use in control actuators or for system monitoring. Motor connection by free wire ends Encoder connection with flat cable with -pin connector Protection class IP øg g N K M O M K ølg øa P D F E about mm C B about mm side view front view rear view Dimensions in mm Encoder Stepper motor A B C D E F G K L M N O P ZSS ZSS ZSS ZSS HEDL ZSS ZSS ZSS ZSS ZSS ZSS V CC + V n.c. A B I 9 n.c. GND A B I Technical characteristics of the encoder Resolution: increments Output current: ± ma Output voltage:. to. V Supply current: 9 ma (... ma) Zählfrequenz: khz Supply voltage: V (.7... V DC ) -pin IDC connector (female) Edition 7 February / DS-9-A EN /

8 ZSS data sheet Option: Stepper Motor with Motor Brake For the stepper motors ZSS to ZSS 7 a mounted V DC permanent magnet motor brake is optionally available. ZSS to : KEB : Power W / Nominal torque. Nm; electrical connection: free wire ends ZSS to 7: KEB : Power W / Nominal torque Nm; electrical connection: circular connector K Ø L g g Ø G N M L M K Ø A D E F C B Side view Front view Motor brake Stepper motor Dimensions in mm A B C D E F G K L M N ZSS ZSS KEB ZSS ZSS ZSS ZSS KEB ZSS ZSS Option: Stepper motor with Heat Sink The ZSS stepper motors are also available with a mounted heat sink.depending on the motor s mounting position, a heat sink with radial fins (K) or axial fins (K) can be selected. K The use of a K heat sink increases the stepper motor s thermal dissipation surface by a factor of approx..9. With a K heat sink, it is increased by a factor of approx... Ø P A heat sink can be mounted subsequently, preferable by phytron. R Dimensions K Stepper motor ZSS 9 ZSS ZSS ZSS ZSS ZSS ZSS ZSS ZSS ZSS ZSS ZSS 7 Ø P P 7 7 R. 7 9 R Edition 7 February / DS-9-A EN /

9 ZSS data sheet Industrial Option: Stepper Motor with GPL Low-backlash Planetary Gear Shaft GPL u z.. z p y o GPL to GPL / GPL p o b' y b' DIN z Gaer Stepper motor t h u h u ø s øa øa' t u h h ø s øa øa' r q r q GPL GPL GPL GPL / GPL W w w w v v v v Dimensions in mm Mass (motor and gear) in kg -stage -sta- -stage Stages a a b o p q r s t u v w x y z GPL ZSS 9 ZSS ZSS ZSS M.x GPL ZSS ZSS Mx GPL ZSS ZSS Mx GPL ZSS ZSS ZSS Mx xx GPL ZSS... ZSS ZSS Mx xx Mass /Permissible Loads / Protection Class Gear Mass without motor Perm. radial load -stage -stage -stage (center of shaft) Permissible axial load Protection class Protection class gear + motor g N N GPL GPL GPL GPL GPL IP IP IP IP IP IP IP IP IP IP IP IP IP IP IP IP xx = Standard IP xx = optional (dimensions on request) Edition 7 February / DS-9-A EN /

10 ZSS data sheet GPL Gear Mechanical Characteristics Gear GPL GPL GPL GPL GPL Stepper motor ZSS 9 ZSS ZSS ZSS ZSS ZSS ZSS ZSS ZSS ZSS ZSS ZSS ZSS ZSS 7 Stages : : : : : : : :.:.: Reduction ratios.:.7: :.7:.7:.9: :.:.: : :.: : 9: 7: : : : : : : : : : : : :.:.: : :.: : 9: 7: : : : No-load backlash Mechanical gear characteristics Standard Nominal torque (S) Emergency stop torque No-load Low-backlash backlash Nominal torque (S) Emergency stop torque Torsional stiffness Average mass inertia at output Efficiency ) Nm Nm Nm/arcmin kgcm % 7: : 9: : 9: : : 7.7:.: : 99.: 7:.: : : :.: : : : : : : :.. 9 : : :.: : : :.:.: : : : : ) Valid for C ambient temperature Stepper Motor with GPL Gear Stepper motor mounted gear - to -stage planetary gear Low gear backlash - Standard: to arcmin - Low-backlash: to arcmin Maximum permanent torque. to Nm % permissible short-term overload Adapted for permanent, alternate or intermittent operation Ideal for combinations with toothed belt modules : to : reduction ratios(depending on the gear type) High efficiency Low gear inertia Perm. temperature range - to +9 C Maintenance-free permanent lubrication Gear Material Gear housing - GPL and : stainless steel - GPL to : rustprooffor normal environmental conditions Output shaft: deep groove ball bearings Gear Operating Modes : Continous operation The gear box s operating time exceeds minutes without a break or the duty cycle is more than %. In no case the gear box housing temperature may exceed 7 C. S: Cyclical operation The gear box s duty cycle is less than %. The number of operations per hour can range anywhere from a few to several thousand. If the number of operations exceeds per hour, the maximum torque occuring has to be multiplied by a shock factor to take into account the additional dynamic load. The data in this publication are based on software models and empirical values and on a shock factor of.. Shock Factor for Cyclical Operation (S) Number of operations per hour Shock factor Edition 7 February / DS-9-A EN / 7

11 ZSS data sheet Industrial ZSS Stepper motor with HD Gear The Harmonic Drive gears are based on a totally new operating principle. The transmission force is exerted by a resilient deformable toothed steel cylindre flexspline which transmits the motor rotation to the drive shaft. Drive shaft and output shaft direction is are opposed. Backlash and torsional stiffness Harmonic Drive gears have particularly low backlash. In practice, the tooth-contour backlash can be neglected (see page 9). The total gear torsion is equal to the sum of ½ backlash + torque/resillient constant. HD Gear with mounted stepper motor ZSS to ZSS Reduction ratio depending on size:, :, : High reduction ratio in a small volume Low weight Low mass inertia High permissible torque, in comparison to the size High drive speed Very low backlash in comparison to conventional gears:. to arcmin High efficiency HD to ØE ØA ØJ ØK M H G F D C B HD to HD to x N x P R S x N x P R S x 9 Edition 7 February / DS-9-A EN /

12 ZSS data sheet Dimensions and Mechanical Characteristics Gear Backlash Stepper motor Dimensions in mm Mass Motor with gear Reduction ratio Max. permissible off drive torque Max. permissible spped Massenträgheitsmoment Getriebe ) Max. zulässige Radialkraft Max. zulässige Axialkraft Zahnflankenspiel Federkonstante A B C D E F G H J K M N P R S kg Nm /min kg cm N N min Nm/ in HD ZSS ZSS h h. M..9. :. 9. x HD ZSS ZSS h h 7. M.. : : ZSS 99.. h7 h 9. M 7.. HD ZSS.. h7 h 9. M 7..9 : : ZSS. 7. h7 h 9. M 7..7 HD ZSS 7. h7 h. M 9. : : Anmerkungen: Abmessungen und technische Daten des Motors: siehe Seite. ) Massenträgheitsmoment des Motors: siehe Seite. Tooth-contour-backlash Resilient constant K F Nm Torque Edition 7 February / DS-9-A EN / 9

13 ZSS data sheet Industrial Frequency Characteristics The curves correspond to the limit values of the operational characteristics (M) as a function of the control pulses (frequency/speed), for two different supply voltages (U) The motor connection type is -leads with parallel windings. The motors are controlled by phytron stepper motor power stages in the half-step mode. Power [W] 7. Torque [mnm] T (U = V) PSHAFT (U = V) ZSS.., Power Characteristics For each frequency curve, the power characteristic (P) indicates the power delivered by the output shaft.. T (U = V) PSHAFT (U = V) 7 7 Power [W]. Torque [mnm]. T (U = V) ZSS 9.., Power [W] 7. Torque [mnm] PSHAFT (U = V) ZSS..,.. T (U = V) T (U = V).. PSHAFT (U = V) PSHAFT (U = V). PSHAFT (U = V) T (U = V) Power [W] 7. Torque [mnm] ZSS.., Power [W] 7. Torque [mnm] ZSS.., PSHAFT (U = V) PSHAFT (U = V) T (U = V) T (U = V).. PSHAFT (U = V) T (U = V) T (U = V) PSHAFT (U = V) Edition 7 February / DS-9-A EN /

14 ZSS data sheet Power [W] Torque [mnm] ZSS.., PSHAFT (U = 7 V) Power [W] Torque [mnm] PSHAFT (U = 7 V) ZSS.., PSHAFT (U = 9 V) PSHAFT (U = V) T (U = 9 V) T (U = 7 V) T (U = V) T (U = 7 V) Power [W] Torque [mnm] ZSS.., PSHAFT (U = 7 V) Power [W] 7 Torque [mnm] ZSS.., PSHAFT (U = 9 V) PSHAFT (U = 7 V) T (U = 7 V) PSHAFT (U = V) T (U = V) T (U = 9 V) T (U = 7 V) Power [W] Torque [mnm] PSHAFT (U = 7 V) ZSS.., Power [W] 7 Torque [mnm] ZSS 7.., PSHAFT (U = 9 V) PSHAFT (U = V) PSHAFT (U = 7 V) T (U = 9 V) T (U = 7 V) T (U = V) T (U = 7 V) Edition 7 February / DS-9-A EN /

15 ZSS data sheet Industrial Ordering Code Type Size Stepper motor series Rated current Optional Heat sink Getar Reduction ratio Free wire ends Ordering code ZSS.., - E - K - HD / - FD Options Size ) 9,,,,,,,,,,, 7 Rated current, ;, oder, Optional nd shaft (all typs) E Encoder (ZSS to 7) Motor brake (ZSS to 7) Heat sink K or K for ZSS 9 to 7 Gear/reduction ratio GPL: ZSS 9 to 7 PLG: ZSS to 7 HD: ZSS to GSR: on request Free wire ends FD ) ZSS to 7: with earthing screw All illustrations, descriptions and technical specifications are subject to modifications; no responsibility is accepted for the accuracy of this information. A motor connection leaflet is enclosed to every delivery of stepper motors. PDF files are available for download from the phytron homepage. Phytron GmbH Industriestraße 9 Gröbenzell T F Edition 7 February / DS-9-A EN /

16 ENG /phybasic INDUSTRIAL phybasic TM Precision Stepper Motor with High Torque and Smooth Running Our motor series phybasic TM combines the advantages of a price-optimised design with excellent operating characteristics. That makes the phybasic TM motors particularly suitable for standard applications in the manufacturing industries. Good running performance, high torque and solid craftsmanship make the phybasic TM an excellent choice for environments up to IP when it comes to quick precise positioning tasks. Through the -step design, the optimised metal sheet cut and the smooth running the motor is also suitable for high precision applications. More than just a standard To help you find the perfect solution for your project, we offer you the opportunity to realise individual changes on the basis of our motor series. If phybasic TM or the VSS in vacuum series is not sufficiently adapted to your application, we will develop one of our motors to the perfect fit for your application. Combined with our modular motion con- troller phymotion TM, the driver -STEP -Drive (for SIMATIC ET S) or our amplifiers you will receive a perfectly tuned system of high quality motors, power amplifiers and controllers. Through a careful selection of suppliers and our certified quality system (ISO 9), we make sure that phybasic TM motors meet our high quality requirements and can be reliably used together with our electronics. You receive accustomed high phytron quality at good prices - bundled with our excellent support! With our vast application experience of drives e.g. in paper production or even satellite optics we have the know-how to move your application. In Focus high precision RoHS complient high torque smooth running -phase stepper motors Holding torques from mnm to 7. Nm Edge dimension from to mm Number of steps (standard) Step accuracy % for. stepper motors Operating voltage phybasic TM,, (NEMA,,7): V DC phybasic TM, (NEMA /): 7 V DC Standard connection: -lead parallel Protection class IP Insulation class B, C Insulation resistance MΩ Operating temperature range - to + C (non-freezing) Cable with mating connector included Options - Gear - Rear shaft Edition June Extreme. Precision. Positioning.

17 phybasic TM data sheet Industrial Stepper motor phybasic TM to (NEMA to ) F B F B Z K M N Z K M N Mechanical characteristics NEMA Size Current/Phase Resistance/ Phase Inductivity/ Phase AWG Ø L A Ø G K M Ø L A Ø G K M Key D E F D E F..9 U NEMA to NEMA U Ø.7.7 Dimensions / Electrical and mechanical characteristics max. voltage Holding torque Detent torque Rotor mass inertia Bearing load axial ) radial Mass Dimensions in mm Edge dim. Length A Ω mh V mnm mnm kg cm N N kg A7) B ) D E F ) F ) G ) K 7) L ) M N U ) U ) Z M M / M / M / / / / Valid for C ambient temperature and atmospheric pressure. ) axial bearing load push / pull ) tolerance: /-. ) tolerance: ±. ) tolerance: ± ) tolerance: ±. ) tolerance: Nema to 7: /-.; NEMA : ±.; NEMA : ±. 7) Nema to : maximum; Nema : tolerance: ±. ) maximum Edition June / DS-7-A EN /

18 phybasic TM data sheet Frequency characteristics Torque [mnm] phybasic - / NEMA T (U = V) Torque [mnm] phybasic - / NEMA T (U = V) T (U = V) Frequency [khz] Frequency [khz] phybasic - / NEMA 7.. phybasic - / NEMA 7. T (U = V). T (U = V). T (U = V). T (U = V)... T (U = V). T (U = V) Frequency [khz] Frequency [khz] T (U = V) phy BASIC - / NEMA.. T (U = V) phybasic - / NEMA...9 T (U = 7 V).9 T (U = 7 V)... T (U = V ). T (U = V ) Frequency [khz] Frequency [khz] phybasic - / NEMA.. phybasic - / NEMA T (U = V) T (U = V).. T (U = V) T (U = V) Frequency [khz] Frequency [khz] Edition June / DS-7-A EN /

19 phybasic TM data sheet Industrial Connectors and Mating connectors Motor Connector on the motor (pin) Housing Mating connector Crimp contact phybasic JST BB-ZR(LF)(SN) JST ZHR- JST SZH-T-P, phybasic MOLEX -7 P/N MOLEX - P/N MOLEX - phybasic JST SB-PH-K (LF)(SN) JST PHR- JST SPH-T-P, phybasic JST SB-XH-A- (LF)(SN) JST XHP- JST SXH-T-P, phybasic Wire leads Nema Nema Nema 7 / Nema L A Mating connector JST-/ Pin Pin Pin BK GN RD BU L A rear view Phase front view front view front view Phase Mating connector MOLEX- All illustrations, descriptions and technical specifications are subject to modifications; no responsibility is accepted for the accuracy of this information. Ordering Code Motor connection Type Edge dimension Length Number of steps Nominal current Winding Motor cable Rear shaft Pin () () Phase W W Ordering code example phybasic , - Lp - JST- - E Options Edge dimension [mm](nema) Ordering code (NEMA ) (NEMA ) (NEMA 7) phybasic----,-lp-jst- phybasic----,-lp-molex- phybasic----,-lp-jst- phybasic----,-lp-jst- (NEMA ) phybasic----,-lp-jst- phybasic----,-lp-jst- (NEMA ) phybasic----,-lp- phybasic----,-lp- Edition June / DS-7-A EN / () Phase () W -lead bipolar Equipment Cable with mating connector included W Phytron GmbH Industriestraße 9 Gröbenzell T F

20 ENG /DMP INDUSTRIAL DMP / 9 / 7 Inertial damper for stepper motors of size / / (NEMA / / 7) DMP is an inertial damper for stepper motors. It delivers an excellent performance over a wide frequency because of its specific structure. This minimises settling times in the start-stop operating region and avoids system resonances. Thus, the DMP prevents not only vibrationinduced material fatigue and vibration-induced positioning errors, but also significantly reduces the acoustic noise. If certain perturbances are not adequately compensated for, the motor can lose steps. The resulting loss of torque and precision can drastically affect the application s performance. phytron s stepper motors run very smoothly due to their construction, hence a damper is Decay Process not needed for most precision applications. However, should a Phytron motor operate in a resonance range, the damper is easily deployed to further enhance the motor s characteristics and stability. Application Greater requirements for smooth running and precision are often necessary, especially in optics. When moving samples or optics via a joystick, the improvements in the move quality for smoothness, very low acoustic noise and precision are visibly and audibly attained. Accurate and consistent movements with fast settling times of the driven system are significantly improved. In Focus Inertial damper for stepper motors size / / (NEMA / / 7) External diameter, 9 or 7 mm Mounts onto shafts of.; ; ; mm or customised Materials - Allows fitting to aluminium / plastic - Stainless steel fixing screws Applicable standards - Protection class IP (IEC ) - Headless screws for mounting ISO 7 (DIN 9/A) Environmental conditions - Ambient temperature to + C - Storage temperature - to +7 C Housing Silicon gel Shaft coupling Symmetric rational Load carrier without damper with damper Damper design Edition July Extreme. Precision. Positioning.

21 DMP data sheet Industrial Characteristics Damper DMP Dimensions in mm Weight Mass inertia Headless screws A Section A-A B C D E F G in g in kg cm... /+.. / x M C D 9. / /+. 7. / /+.. x M... x M A B Section drawing EF G Torque Characteristic Vibration Characteristic Torque [Ncm] Example measurement Motor ZSS... Vibration[V] Example measurement Motor ZSS... without damper with damper without damper with damper Frequency [Hz] Natural resonances of the stepper motor Frequency [Hz] Ordering code The variable elements of the product are displayed in colour. Type Diameter Motor shaft Version Application Ordering code DMP 7.. A - X Options External diameter [mm] 9 7 Motor size /NEMA Motor size /NEMA Motor size /NEMA 7 Motor shaft [mm]. Version A for standard motors Application X customized Edition July / DS--A EN / Phytron GmbH Industriestraße 9 Gröbenzell T F

22 ENG /ZSH HARSH ZSH Stepper Motor Robust. Powerful. Reliable. Phytron s HARSH-Environment motors are particularly suitable for challenging applications in mechanical engineering and industry. Challenging conditions are solved with the precise running performance, high torque and the motor s robust design for environments up to IP. Inside climate chambers, adjusting the paper thickness in paper machines, Highlights IP temperature Options adjusting rotor blades in aviation or directly in a fuel tank: In those and other environments Phytron s stepper motors and controllers for HARSH Environments provide precise and reliable work. The ZSH stepper motor convinces with its robust housing with high-strength cable gland. The motor is waterproof up to m with the IP option. Extended Temperature Range The ZSH stepper motor not only convinces with a very balanced, smooth and low resonance running performance with maximum positioning accuracy, but also with the optional extended ambient temperature range of - to + C (briefly up to C). Overview: Extensions Stepper motor with brake: Permanent magnet brake for VDC supply Stepper motor with encoder: Resolution, or lines, - or -channels Stepper motor with encoder and motor brake Stepper motor with low-backlash planetary gear: -, - or -stages, Reduction ratios from : to : In Focus RoHS complient high precision temperature smooth running -phase hybrid stepper motor Number of steps: / step angle:. Standard version: -lead, parallel windings, with terminal box Holding torques from. to 7 Nm Protection class: IP, optional: IP Permiss. ambient temperature: to + C (optional: + C) (up to C for short time) Design voltage: V AC acc. to EN Insulation class F acc. to VDE Test voltage: V AC ( sec) High permissible axial and radial bearing loads Step accuracy: ± % (ref. to. step angle, not cumulative) Optional: - nd shaft (IP ) - Free wire ends (IP ) - Different types of flange and shaft (mm or inch) - Motor brake - Encoder - Low-backlash planetary gear Edition July Extreme. Precision. Positioning.

23 ZSH data sheet Harsh Dimensions Stepper motor ZSH 7 to ZSH 7 / Key / Flange / Shaft E C H H C E H H N Ø M A N M Ø A D K B ) Standard: ZSH with terminal box Rear View: Motor with terminal box P F G Q K D Q K B ) A Option: ZSH Stepper motor with free wire ends ) Required space for terminal box cover fixing screws: up to mm Standard flange Dimensions Key Flange and shaft: Flange and shaft: Stepper motor A ±. B ±. B C C D E F ±. K G H H -. M -. N -. P Q -. M -. N -. P Q mm mm mm mm (inch) ZSH 7/ ZSH 7/ ZSH 7/ ). (.). (.). (.) 7 (.) ZSH 7/ ZSH 7/ ZSH 7/ up to Ø: Axx from Ø: Axx (.7) 9. (.7) 7 (.7) 7 (.7) ZSH / ZSH / ZSH / up to Ø: Axx from Ø: Axx (.7) 9. (.7) 7 (.7) 7 (.7) ZSH 7/ ZSH 7/ ZSH 7/ ZSH 7/ Axx 9.7 (.).7 (.).7 (.).7 (.).7 (.). (.).9 (.) blue = standard version ) Optional for size 7: Woodruff key x. DIN Edition July / DS-9-A EN /

24 ZSH data sheet Mechanical and Electrical Characteristics ZSH 7 to ZSH 7 Stepper motor type Phase current bipolar )) Phase current unipolar )) Resistance per winding )) Inductivity per winding )) Holding torque ) Detent torque Rotor mass inertia Permissible bearing load axial radial Mass A A Ω mh Nm Nm - kg m N N kg ZSH 7/ ZSH 7/ ZSH 7/. /. /.. /. /.. /. /. / /.9. / /. / /.. /.7 /,. /. /.. /. /. 9 / /. 9 / /. 9 / / ZSH 7/ ZSH 7/ ZSH 7/. /. / 7 /. /. /. /. / /. /. /. / / 7 /, /.. /. /.. /. /. /. /.7 /. / /.7 / ZSH / ) ZSH / ZSS / / / / / / / -. /. /.. /.7 /.. /.9 /.. /. /.7 /. /..9 /. / ZSH 7/ ZSH 7/ ZSH 7/ ZSH 7/ 7 / /. / /. /.. /.7 /..7 / 7. /. 7. /. / -.. /. /.. /. /.. /... /. /.. /. /..7 /.9 / blue=popular types ) Size for bipolar operation only ) Standardwicklung // ) The current value given in the ordering data (e. g. ZSH 7/..) refers to the bipolar mode (parallel windings). ) Current in unipolar mode =.7 x current in bipolar mode ) Resistance per phase in bipolar mode =. x resistance per winding ) The inductivity values apply for each single winding as well as for two parallel windings. For series mounted windings, the inductivity is multiplied by. Edition July / DS-9-A EN /

25 ZSH data sheet Harsh Elektrischer Anschluss / Schaltungsarten / Phase current Terminal Box The phytron stepper motors type ZSH are built in -lead parallel windings (standard). Phase Phase Phase BN BK PE ZSH 7 -lead parallel M Phase BU YE GN/YE 7 PE Phase () () 7 () () Phase -lead parallel / winding bipolar PE ZSH7//7 -lead parallel Alternative windings like -lead are available on request: The motors can be used with unipolar or bipolar control mode, as the windings can be differently connected. - lead connection is applicable for the unipolar control mode. In the bipolar control mode, -lead motor wiring is required, windings connected in parallel or in series. The information in the ZSS motor connection leaflet (delivered with each motor) must be regarded when wiring the motor in order to provide for EMC compliant wiring. The motor connection leaflets are also available by down-load from the phytron homepage. Phase Phase BN BK M M Phase 7 Phase BU YE GN/YE 7 PE -lead / serial windings / bipolar -lead / free wire ends / serial windings / bipolar Phase BN BK WH RD Phase BN BK / /7 M 7 Phase GN GY YE BU GN/YE M 7 PE Phase BU YE GN/YE M 7 PE -lead / unipolar mode -lead / free wire ends -lead / free wire ends / parallel windings / bipolar Edition July / DS-9-A EN /

26 ZSH data sheet Dimensions ZSH Stepper Motor with Brake / Encoder E H Stepper motor Ø Motor ZSH + KEB ±. ZSH + E M Ø A D K B ) Optional: ZSH Stepper motor with brake Rear view: Motor with brake/encoder E H M Ø A D K B ) Optional: ZSH Stepper motor with encoder Rear view: Motor with encoder and brake ) Required space for terminal box cover fixing screws: up to mm Dimensions Stepper Motor / Brake / Encoder Metric Cable Glands ±. ZSH + H/ ±. ZSH + KEB + E ±. ZSH + KEB + H/ ±. ±. Dimensions in mm Stepper motor connection Cable Ø Wrench size 9- ZSH 7/ ZSH 7/ ZSH 7/ A... B 7 B B 9 B B7 C C D E F K Encoder connection Motor brake connection ZSH 7/ ZSH 7/ ZSH 7/ ZSH / ZSH / ZSH / ZSH 7/ ZSH 7/ ZSH 7/ ZSH 7/ For shielded cables Material: nickel plated brass Protection class: IP up to bar Nitril rubber sealing rings Nitril rubber O-ring on external thread Test standard EN / UL B Dimensions in mm Dimensions in mm Edition July / DS-9-A EN /

27 Harsh ZSH Stepper motor with integrated encoder In non disturbed operation the stepper motor runs synchronously to the pulses coming from the controller, that means the motor rotation (= rotation of the rotor) runs synchronously to the pulse frequency (= rotating stator field in the motor). In case of an extreme load at the motor (e.g. via a static load at the motor shaft or by accelerating of the motor) the step frequency of the motor will shortly differ from the pulse frequency within a certain maximum range. This results in changing the load angle (= difference between the real position of the rotor and its target position). For applications homing mode for monitoring the motor movement, we recommend to use a motor with an integrated encoder. ZSH Stepper motor with integrated encoder E Electrical Characteristics Supply voltage Current consumption Operating temperature - to C Outputs The encoder series E monitors the motion of the motor. Together with a phytron controller (e.g. MCC- or phymotion series) the load angle of the stepper motor can be controlled and monitored. When the max. admissible load angle is exceeded (e.g. when the motor run is breaking down) the control unit will create an error signal. Special Characteristics Simple and robust low cost version no changes of the motor dimensions in comparison to the standard version with cast connection box (except ZSH ) the encoder is integrated in the motor housing available up to protection class IP all requirements for mechanical and climatical ambient conditions (vibration-, shock resistance, temperature and humidity) are fullfilled. evaluation of the encoder signals and realisation of a step angle control with generating an error signal can be done by using a phytron controller of the MCC or phymotion series. to V DC typ. approx. ma (no load at outputs) max. load at outputs ma / output x pulses per revolution signals A and B with rectangular shape and inverted signals A and B duty cycle : ± max. % error bipolar - switching to VCC and GND short circuit protected signals against GND RS line driver (LS) pulse frequency min. khz Signal outputs Connection connection via screw terminals for nominal cross section max. mm ( - AWG) optionally also available with connector dimensions as standard motor types! - exception: ZSH : see table page Edition July / DS-9-A EN /

28 ZSH Stepper motor with integrated encoder H and H The H and H is characterized by its high resolution; H with x pulse per revolution and the H with x pulse per revolution. It fulfills as an extremely robust encoder also the high requirements for mechanical and climatic environmental conditions (vibration, shock, shock resistance, temperature and humidity). Special Characteristics optical encoder the encoder is integrated in the motor housing. available up to protection class IP all requirements for mechanical and climatical ambient conditions (vibration-,shock resistance, temperature and humidity) are fullfilled evaluation of the encoder signals and realisation of a step angle control with generation of an error signal can be done by using a phytron controller of the MCC or phymotion series Technical Characteristics Optical encoder Supply voltage V DC Operating temperature - to C Outputs x pulse per revolution for H x pulse per revolution for H rectangular shape signals Aund B, with inverted signals A and B H and H: zero pulse and inverted zero pulse - pulse per revolution duty cycle : +max. % error RS line driver (LS) short circuit protected signals against GND pulse frequency min. khz Signal outputs Dimensions the modified dimensions compared to the standard motors ZSH without encoder can be found in the table on page. Connection connection via screw terminals for nominal cross section max. mm ( - AWG) optionally also available with connector Edition July / DS-9-A EN / 7

29 ZSH data sheet Harsh Stepper Motor ZSH 7 / 7 / / 7 with PLE Planetary Gear ø T S S V W Dimensions in mm Gear Stages A Total length gear/motor with terminal box S S S S S S7 T T øt øt ø ø T T øa T S7 S S S D ) Z ) Required space for terminal box cover fixing screws: up to mm W: Key DIN T, type A Z: Centering bore DIN, type DS Dimensions Stepper Motor with Gear h7 T h7 T T T V W Z ZSH 7/ ZSH 7/ ZSH 7/ PLE M x x x M x PLE ZSH 7/ ZSH 7/ ZSH 7/ ZSH / ZSH / ZSH / 9. 7 M x x x M x ZSH 7/ ZSH 7/ ZSH 7/ ZSH 7/ PLE M x x 7 x M x Edition July / DS-9-A EN /

30 ZSH data sheet Motor/Gear Output Torque The output torque of the motor/gear combination can be calculated as follows: Motor torque at the required speed (see frequency characteristics) multiplied with reduction ratio and gear efficiency. Mechanical Characteristics: Motor with PLE PLE Planetary Gear Torsional stiffness Absolute backlash Efficiency Mass without motor Gear Gear Stages Reduction Ratio Permissible gear output torque Mass inertia (without motor) ) Gear Stages Reduction Ratio Permissible gear output torque PLE PLE Mass inertia (without motor) ) Maximum axial load ) Maximum radial load ) blue=popular type : : : : 9: : : : : : : : : : : : : : : : : : : : : : 9: : : : : : : : : : : : : : : : : : Nm ZSH 7 - kg m Nm - kg m PLE : : : : 9: : : : : : : : : : : : : : : : : : ZSH ZSH 7 ZSH 7 PLE : : : : 9: : : : : : : : : : : : : : : : : : 9 ) Mass inertia referred to motor shaft : PLE PLE PLE Stages Nm/arcmin..... angular minutes < < < < <7 < < < < % (approx.) kg N N 9 ) referred to center of output shaft PLE Planetary Gear Low-backlash / high efficiency Torque shaft bearing: ball bearing Lifetime lubrication Recommended operation temperature range: - to +9 C Mounting position: any Standard protection class: IP Optional: protection class: IP These gears are specially sealed. Output shaft and keyway are made of stainless steel. Angled gears on request Edition July / DS-9-A EN / 9

31 ZSH data sheet Harsh Frequency Characteristics The curves correspond to the limit values of the operational characteristics (T) as a function of the control pulses (frequency/speed), for two different supply voltages (U). The motor connection type is -leads with parallel windings. The motors are controlled by phytron stepper motor power stages in the half-step mode... ZSH 7/..,.. ZSH 7/..,. T (U = 7 V). T (U = 7 V).. T (U = V). T (U = V) ZSH 7/..,.. ZSH 7/..,.... T (U = 7 V). T (U = V) T (U = 7 V). T (U = V) ZSH 7/..,.. ZSH 7/..,. T (U = 7 V).7 T (U = 7 V). T (U = V). T (U = V) Edition July / DS-9-A EN /

32 ZSH data sheet.. ZSH 7/..,.. ZSH 7/..,.7.7 T (U = 7 V). T (U = 7 V)... T (U = V) T (U = V) ZSH 7/..,.. ZSH 7/..,.7.7 T (U = V)... T (U = 9 V). T (U = 9 V) T (U = V) ZSH 7/..7 T (U = V).. ZSH 7/.. T (U = V).7.. T (U = 9 V). T (U = 9 V) Edition July / DS-9-A EN /

33 ZSH data sheet Harsh.. ZSH 7/.., T (U = V).. ZSH 7/.., T (U = V). T (U = 9 V). T (U = 9 V) ZSH 7/.. ZSH 7/.., T (U = V) T (U = V) T (U = 9 V) T (U = 9 V) T (U = V) ZSH 7/.. ZSH /.. T (U = V) T (U = 9 V) T (U = 9 V) Edition July / DS-9-A EN /

34 ZSH data sheet ZSH /.. ZSH /.. T (U = V) T (U = V) T (U = 9 V) T (U = 9 V) ZSH /.. ZSH 7/.., T (U = V) T (U = V) T (U = 9 V) T (U = 9 V) ZSH 7/.. ZSH 7/.. T (U = V) T (U = V) T (U = 9 V) T (U = 9 V) Edition July / DS-9-A EN /

35 ZSH data sheet Harsh ZSH 7/..,. ZSH 7/.. T (U = V) 7. T (U = V) T (U = 9 V). T (U = 9 V) ZSH 7/..,. ZSH 7/.., T (U = V) T (U = V). T (U = 9 V). T (U = 9 V) Edition July / DS-9-A EN /

36 ZSH data sheet Harsh Ordering Code Type Edge dimension Length Number of steps Nominal current Option Gear Reduction ratio Protection class Connection of the windings Ordering Code ZSH 7 H PLE : IP s Options Edge dimension 7 / 7 / / 7 Length / / / Nominal current available windings see page Option Gear nd shaft Free wire ends Motor brake Encoder Encoder and motor brake Ø Shaft/Flange (not specified = standard design) E FD B E / H / H E-B / H-B / H-B PLE Reduction ratio see page 7 Protection class not specified = standard protection class IP IP Connection of the windings -lead/serial windings -lead -lead not specified = standard wiring scheme: -lead/parallel windings s A motor connection leaflet is enclosed to every delivery of stepper motors. PDF files are available for download from the phytron homepage. All illustrations, descriptions and technical specifications are subject to modifications; no responsibility is accepted for the accuracy of this information. Phytron GmbH Industriestraße 9 Gröbenzell T F Edition July / DS-9-A EN /

37 ENG /vss-vsh EXTREME VSS / VSH Stepper Motor For Applications up to Ultra-high-vacuum Motors for use in vacuum should not only withstand the vacuum (no bursting of air inclusions), they must not contaminate the vacuum either. By selecting suitable materials and optimised conditioning processes phytron VSS/VSH stepper motors are ideally suited for use in a vacuum. Through many years of experience with special materials for use in Space, we have put a focus on materials with minimal molecular outgassing and high heat resistance. This is the prerequisite for a high vacuum quality and genuine measurement results in scientific and medical applications. For exact positioning in vacuum, stepper motors are therefore particularly suitable because they can precisely position even without Highlights Performance & Lifetime sensitive feedback providers. Therefore phytron VSS/VSH stepper motors can be used in particularly challenging environmental conditions (radiation, cryo-temperatures and in a modified design even in Space). Since stepper motors do not generate jitter effects while holding a position, this technology is ideal for precisely aligning optical instruments, mirrors, antennas or samples e.g. in high-resolution microscopes, particle accelerators or molecular analysis devices. The VSS/VSH series is completely manufactured in Germany. You have special requirements? We are pleased to develope a tailored design for your application. phytron in-vacuum motors are based on a technology that can also be found in the most challenging projects of our time. From a variety of satellites up to the Mars rover Curiosity: phytron motors drive applications in distant worlds - highly accurate, reliable and durable. Driven within their specification range, high quality components and a proven design make sure: These motors don t let you down! Cleanliness phytron motors for use in ultra high vacuum (UHV) contain only materials that also meet the requirements of the ECSS (European Space regulations). Thus, each material has a maximum TML (Total Mass Loss) value < % and a maximum CVCM (Volatile Mass Losses) value <. %. You will receive your UHV motor, double-wrapped and vacuum sealed. In Focus RoHS complient High Temperature Radiation Resistance Vacuum -phase stepper motors Holding torques from. mnm to Nm Diameters from 9 to mm Number of steps (standard) Step accuracy % for. Operating voltage (power stage) Size 9 to 7: 7 V DC Size to : V DC Outgassing holes to avoid pockets of trapped gas Options VGPL precision planetary gear or Harmonic Drive gear Thermocouple type KTC/ Pt resistor sensor Resolver Double shaft Customised solutions Operating in an agressive environment Clean room applications to clean room class ISO (acc. to ISO -) Motors with spindle Edition 7 April Extreme. Precision. Positioning.

38 VSS / VSH data sheet Extreme phytron VSS/VSH Stepper Motor Vacuum Conditioning The combination of high quality materials and a special conditioning process allow minimal outgassing rates. So a vacuum of - hpa can be achieved depending on the application. For this purpose, individual components of the UHV motors, such as the wound stator, are specially conditioned before installation, so that outgassing materials cannot be deposited in the ball bearings or inside the motor. The fully assembled motor is outgassed by a phytron process at least C in vacuum chambers. Increased outgassing temperatures are available on request. The rule of thumb: the outgassing rate decreases with a decimal power for every C increase of the outgassing temperature. In the actual application the motor should always be driven at least C below the outgassing temperature. High Temperature Temperature Management All materials selected for the UHV motors can withstand a short-term winding temperature of up to C. Due to the lack of convection in vacuum, the motors can heat up very quickly and often work at a high temperature level - depending on the duty-cycle. In our UHV motors we integrate a thermocouple to allow monitoring of the exact winding temperature. All vacuum motors can be ordered as an alternative to the hermocouple also with platinum probes (PT) or customer- specific sensors. This is how you protect your motors safe from overheating. Adhesives The adhesives represent an optimum of strength, ductility, low outgassing rates and thermal resistance. The outgassing rates (TML, CVCM) comply with the European and US-American Space standards. While the first adhesive is not brittle even at K, the second adhesive retains sufficient strength even at a winding temperature of C for short periods without taking damage. Bearings The usage of un-lubricated ball bearings can cause so-called cold welding, and thus degrade and completely block the bearing. Therefore, it is advisable to use lubricated ball bearings whenever the application permits. For this purpose a special vacuum grease is necessary to provide not only low outgassing rates but also an extended life-time for the bearing. There is special lubrication for temperatures down to - C or even -7 C. However, the viscosity is so high that the efficiency decreases considerably. In low temperatures, the use of dry-lubricated bearings is recommended. Radiation Resistance Radiation resistance With ascending vacuum class motors are equally designed for higher radiation dose to be used in the vicinity of radiation sources (e.g. in medicine and research). While a fine vacuum motor can be safely used only up to a dose of J/kg, a UHV motor may be safely operated up to a dose of J/kg. A motor not designed for radiation will not only suffer degradation of the insulation and the adhesives - especially the grease of the ball bearing degrades, reduces the efficiency and ultimately blocks the motor. Edition 7 April / DS-7-A EN /

39 VSS / VSH data sheet Structure design As is commonly done in high vacuum class all structural elements such as housing, flanges and shafts are made of stainless steel. Outgassing holes in the rear flange also allow rapid evacuation and purging of the motors and make sure that no gas inclusions may occur. All structural elements of the magnetic circuit are basically protected against corrosion. This also allows temporarily handling in normal environment. Handling phytron VSS/VSH motors are primarily designed for use in vacuum. Although the components of the magnetic circuit are basically protected against corrosion, the motors should ideally be handled in clean rooms and clean boxes. A storage is permitted only in phytron s original packaging. The motors are to be handled with suitable gloves. Since the rotor is magnetic, it must necessarily be handled in a clean environment so that no metal particles may be drawn into the motor. That could lead to an impairment of operation, reduce the life time or even cause the failure of the motor by blocking. Service, Consulting and Customising Of course we are happy if you are satisfied by our standard! But even if our in-vacuum motor series contains the application experience of several decades - sometimes the standard is just not enough. We like to fit our motor for your application, because sometimes even small changes make all the difference. Special applications require special support: Our service experts are available even after the purchase. Vacuum Classes Winding temperature [ C] Vacuum class [ha] Temperature sensor Radiationresistant up to [J/kg] Conditioning of the components First outgassing at phytron TML [%] CVCM [%] HV option option UHVS solid lubrication ) - type K ) yes yes < <. UHVG grease lubrication ) - type K ) yes yes < <. UHVC Cryo solid lubrication option yes < <. UHVC Cryo solid lubrication option yes < <. ) short-term ) Pt as an option Edition 7 April / DS-7-A EN /

40 VSS / VSH data sheet Extreme Configuration guide START Dynamics Duty Cycle Resolution Size / Type Use bigger motor size Use motor with gear Current >.*IN is only needed for a short time? no no yes no no no no Select motor size yes yes yes yes yes { { { { { Preliminary assessment based on the required torque at max. speed (motor characteristics) and the available installation space. (Note: available voltage limits the max. speed) Is a full step resolution of. ( step motor) enough? (The resolution can be increased by electronic control systems like micro step mode.) Torque at the operating point (max. speed, max. load) at.*in current (current is proportional to torque)? (Background: overheating of the motor windings) For direct-drive (gearless motor): If external mass inertia <x to <x inertia of the rotor? (here you must accelerate with very long ramps in the micro step mode.) For direct-drive (gearless motor): High dynamics/acceleration required?: If external mass inertia <x to <x inertia of the rotor? For direct-drive and for motor gear units: Max. motor speed < rev./min? for dry lubrication < rev./min? (background: rotor heating) Motor (if necessary gear selection) is suitable Derating - Duty-Cycle-Design for Applications in Vacuum Motors driving in a vacuum heat up very quickly depending on their duty cycle. Driven with nomal current the maximum temperature will be reached within several minutes. Therefore it is necessary to monitor the motor s temperature (K-element) or to design a duty cycle with enough off-time to always keep the motor on a safe temperature level. The shown curve is set at an environmental temperature of C. To give you an idea of how the chosen current influences the motor temperature we drew two curves of a VSS 7 motor. Driven with rpm at. of the nominal current, the motor takes longer to heat up due to less ohmic losses then driven with the full nominal current. The third curve (VSS ) with. nominal current and rmp only leads to a steady state temperature within the safe temperature limits. A higher rotational speed increases the magnetic losses. Therefore high speeds should be avoided as far as possible to reduce heat losses and to protect the bearings. winding temperature (in vacuum), environment C C VSS 7 / nominal current, V, rpm cooling down VSS 7 VSS 7 short time operation only (HV motor) after min. steadystate temperature continuous operation possible / nominal current, V, rpm cooling down / nominal current, V, rpm min Edition 7 April / DS-7-A EN /

41 VSS / VSH data sheet Stepper Motor VSS 9 to VSS 7, VSH to VSH L g Option: radial ØG ) ØA ØG ) I J H F D E B F ØG ) VSH to Key H I J VSH. VSH VSH. Dimensions / Electrical and Mechanical Characteristics Electrical Characteristics Mechanical Characteristics VSS/VSH Standard -steps lead parallel ) Current/ Phase IN Resistance/ Phase Inductivity/ Phase max. operating voltage AWG ) Holding torque Detent torque Rotor inertia axial Loads radial Mass Dimensions in mm A Ω mh V DC mnm mnm kg cm N N kg A B D E F F G ) G ) K L M N 9... ) 9... ) M M ) ) ) ).... ) ) ) ) Preferred options: HV and UHVG in small quantities are available from stock ) Holding torque in bipolar mode with parallel windings, two phases on at rated current ) other step resolutions on demand (with different mechanical characteristics!) ) Shaft diameter tolerances: VSS 9 to : -. to -.9; from VSS : g All values given above refer to room temperature and atmospheric pressure. Edition 7 April / DS-7-A EN /

42 VSS / VSH data sheet Extreme Stepper Motor with VGPL Gear VGPL to. VGPL to Z P Y O B' Shaft VPGL U Z.. X Key DIN P Y O B' Th Uh U ø S øa øa' T U h h ø S øa øa' R Q R Q VGPL to VGPL VGPL to W W W V V V Dimensions Gear Stepper motor VSS/ VSH Dimensions in mm Mass Stages Stages A A B O P Q R S T U V W X Y (Motor and gear) in kg VGPL M x VGPL 9 / / 9. 9 / / /.. / 7. 7 / 7.. / 77. /.. /... M.x -. /.. /.. /.. /.. /.7. /. VGPL / / 9 / 7. 7 /. 7 / M x -. /..7 /..9 /. VGPL / / 9. /. 7. / /. M x -. /.. /.. /. VGPL / / 9 /. /. / 7. M x xx. /..7 /.7.7 /.9 VGPL / 7 / / 7 9. / 9 7. /.. /.7 7 M x xx.. /.9.. /...7 /.9 VGPL 7 9. M x xx...9. VGPL M x xx VGPL M x x7x.9.. Edition 7 April / DS-7-A EN /

43 VSS / VSH data sheet Mechanical Characteristics Gear Stepper motor Gear backlash )))7) Rated torque ) )) Gear inertia Radial load ) Axial load Efficiency at full load ) arc-min Nm kg cm N N % reduction ratio i [:] Stage Stage Stage Stage VSS/VSH Stage Stage Stage VGPL 9... / 9 / / / / / / 7 9 VGPL VGPL 9 / / / /. / /. /.7 /. / / 9 /.7 /.7.9 / 99. VGPL VGPL /... /. / /. / 9 /.. / / / /.7. / 7 / / / / 9 / / 7 / / /. / 9.9 VGPL /.. /.. / /. / 9 /. / / 7 / / / / / VGPL...7. /. / / / /.7 /. 9 / / 7 / / / /. / 9.9 VGPL.. VGPL. /. /. / / / /.7.. / / /.7 9 / / 7 / / /. / / / 7 / / /. VGPL.7... /. / / / 9 / / 7 / / ) ) ) ) no load center of the shaft in grease-lubricated operation continuous operation ) ) 7) ) applies to FV, HV, UHVG for type reduced backlash applies to FV, HV, UHVG for type low backlash applies to UHVS, UHVC type standard backlash type standard backlash Edition 7 April / DS-7-A EN / 7

44 VSS / VSH data sheet Extreme Stepper Motor with Resolver In comparison to other resolvers with variable differential rotary transformer, the resolvers R and R use a constant air gap. They are less sensitive to eccentricity and magnetic stray fields and can directly be connected to standard resolver-to-digital-(r/d)- converters. The resolver is suitable for the use in ultra high vacuum and cryogenic environment UHVC (K) class available on request. Accuracy: ± arcmin ( ) Sense of Rotation Positive when CCW seen from leads outlet red/white R Primary (Reference) red S Secondary (Cosine) Kapton leads, mm long No R Ref+ R Ref S Cos+ S Cos S Sin+ S Sin C R S yellow/white black Electrical Characteristics Resolver Stepper motor A A S yellow Secondary (Sine) S blue X Motor with resolver RO Resolver Specification A A C X Excitation amplitude [V r.m.s. ] Excitation frequency [khz] Transformation ratio Rotor inertia [gcm ] Mass [g] (Resolver) R R VSS VSS VSS VSS.. 9. R VSS VSS. 7. R VSS VSS VSS to to. ± %.9 R VSH. R VSH 7. R VSH. Edition 7 April / DS-7-A EN /

45 VSS / VSH data sheet Resolver - Encoder Converter The position data converter controls autonomously the resolver sensor and converts the output signals of the resolver to incremental output signals (square wave signal). Phytron ID: # Resolution: increments Output reference signal: V PP (diff.) ma max. khz Input SIN/COS: V PP (max.) Resolver transformation factor: K=. Supply voltage: V (... V DC ) Encoder OUT Resolver IN Supply n.c. +Vs(opt.) B B+ 7 9 GND Z Z+ A A+ Ref n.c. n.c. n.c. SIN+ 7 9 SIN Ref+ COS+ COS + VS + VS GND GND phytron s modular phymotion TM controller evaluates the resolver signals directly with the newly developed resolver evaluation module ECMS. Thermocouple Type K and Resistance Temperature Detektor Pt The insulated temperature sensor in phytron motors is integrated in the motor windings. The response time to temperature changes of the windung is very short, compared to temperature sensors mounted outside the motor housing. The temperature is measured all the time (even only one motor phase is powered at any time), because the sensors are always mounted between the phases. Thermocouple element type K phytron uses with the Type K (NiCr-Ni) in-vacuum and cryo stepper motors, thermal elements in the temperature range from 7 to +7 C, accuracy class. The Type K is a metal thermal element with nickel-based alloy conductors. Temperature ranges, accuracy and characteristics of thermal elements for industrial use are defined in the IEC standard (temperature measuring with thermal elements) The accuracy of the temperature measuring depends on the temperature of the reference point. Resistance temperature detector (RTD) Pt phytron uses Pt resistor sensors in in-vacuum and cryo stepper motors in the temperature range to + C. These precise sensors are used in extreme industrial and laboratory conditions. They consist of a wound resistance wire that is mounted and unsupported inside a cylindrical ceramic case The evaluation of the temperature measuring is possible with the corresponding module in the phymotion TM controller. For the K type variations to some degree are possible. Phytron devices and controllers for the evaluation of Pt resistor sensors and thermal element type K -axis controller MCC- -axes controller MCC- Multi-axes controller phymotion TM Edition 7 April / DS-7-A EN / 9

46 VSS / VSH data sheet Extreme Option: Shaft design with flat surface G H I Dimensions Stepper motor Dimensions in mm Typ G H I VSS9,, VSS VSS,, VSS VSS, VSS VSS VSS VSS VSS 7,,, More shaft options on demand. Edition 7 April / DS-7-A EN /

47 VSS / VSH data sheet Torque Characteristics Power [W].. Torque [mnm]. T (U = 7 V) VSS 9.., Power [W].. Torque [mnm] T (U = 7 V) VSS.., PSHAFT (U = 7 V). PSHAFT (U = 7 V) Power [W].. Torque [mnm] T (U = 7 V) VSS.., Power [W]. Torque [mnm] 7.. T (U = 7 V) VSS..,... PSHAFT (U = 7 V). PSHAFT (U = 7 V) Power [W]. Torque [mnm] VSS.., Power [W]. Torque [mnm] T (U = 7 V) VSS..,. T (U = 7 V). PSHAFT (U = 7 V) PSHAFT (U = 7 V) Power [W] Torque [mnm] T (U = 7 V) VSS.., Power [W] Torque [mnm] 7 T (U = 7 V) VSS.., PSHAFT (U = 7 V) 7 PSHAFT (U = 7 V) Edition 7 April / DS-7-A EN /

48 VSS / VSH data sheet Extreme Torque Characteristics Power [W] Torque [mnm] T (U = 7 V) VSS.., Power [W] Torque [mnm] T (U = 7 V) VSS.., 9 9 PSHAFT (U = 7 V) PSHAFT (U = 7 V) Power [W] Torque [mnm] T (U = 7 V) VSS 7.., Power [W]. VSH.. T (U = V). PSHAFT (U = V) PSHAFT (U = 7 V) Power [W] VSH.. Power [W] VSH.. T (U = V) T (U = V) PSHAFT (U = V) PSHAFT (U = V) U= 7 V DC / V DC : Operating voltage of the power stage (intermediate circuit voltage) Edition 7 April / DS-7-A EN /

49 VSS / VSH data sheet Efficient Customising - the perfect fit Combine efficiently standard components, modifications & specials For years we have used our know-how in a lot of successful space projects to optimise our vacuum series for industrial and scientific applications in the matter of performance and cost efficiency. The specific designs of the two-phase hybrid stepper motors have been designed for use in vacuum up to - hpa. Phytron vacuum stepper motors are conditionend at up to C for use in the high- (HV) or ulta-high vacuum (UHV) and are designed dependent on the applications for the low-temperature range up to -9 C (N), -9 C (He), or high-temperature range (winding temperature up to + C) and, if necessary, also for radiation up to J/kg. Starting from the VSS/VSH series we have already implemented a number of customer specific projects. Performance, housings, flanges, materials, shaft machining in the common specification process, the VSS/VSH platform can be optimised for your project. With our high in-house production depth we are not only technologically very flexible, we can also produce small quantities. Applications Our vacuum motors, power stages or controllers are driving in a lot of different applications: Particle accelerators and X-ray measuring systems (PETRA III, PANTER, FERMI, PAL, SOLEIL,...) Devices for molecular analysis Electron microscope Sputtering systems Cryostats Mass spectrometry Stepper motor spindle version for a particle accelerator (Cavity Tuner) Adjustment of particle accelerator cavities stepper motor with steps/revolution (. ), with integrated gear : (: steps/revolution) designed for N axial force spindle and nut system, non-magnetic material for housing, flanges and internal parts stainless steel or titanium dry lubricated for usage under vacuum at -7 C up to + C (also as grease lubricated version for environments > C) optional EMC cable shielding thermocouple K-type in winding Edition 7 April / DS-7-A EN /

50 VSS / VSH data sheet Extreme Motion controller for vacuum application: phymotion TM Modular stepper motor controller for in-vacuum applications The phymotion TM controller is ideally equipped for the demands of in-vacuum projects. Beside the encoder evaluation (differential incremental encoder with quadrature signals, absolute encoder acc. to SSI standard, EnDat-encoder) a resolver and temperature sensor evaluation of each axis is possible for monitoring of the driven motors. This functions can be integrated as optional submodules of each axis in addition to the default limit switch evaluations of each axis. So, you pay only what you really need. The better part of cabling effort is eliminated because the power stages are already integrated. You can combine with to modules of each housing up to power stages with different functions (axis modules, digital I/O, analogue I/O, -axis indexer for interpolation, integrated display) Via freely selectable HOST interface (ProfiBus, ProfiNet, Ethernet, RS, RS, USB, Bluetooth) and provided drivers and protocols (LabVIEW VI, EPICS) you can seamlessly integrate the phymotion TM also below existing systems. Operate the phymotion TM as free programable stand-alone controller, as distributed intelligence, or also as a slave system i.e. below existing PLC systems. Encoder types suitable for the encoder evaluation: Differential incremental encoder with Quadratic signals Absolute encoder acc. to SSI standard EnDat encoder Resolver Temperature evaluation module for stepper motor temperature monitoring Thermal elements type K or Pt resistor sensors can be used. The insulated temperature sensor in phytron motors is integrated in the motor windings. The response time is very short. The temperature is measured all the time, even if only one motor phase is powered at any one time. Control via Android-based integrated touch panel (TPM) or via Android-based tablets (from version V.) As user interface i.e. for parameter selection For support, parameterisation and diagnostics LabVIEW -VI VIs for phymotion TM simulation software with graphical style Use the VIs (Virtual instruments) generated by Phytron and integrate them in your LabVIEW project. So you can easily control the phytron controller phymotion TM from your usual programming environment. Software environment to develop and realise distributed control systems for large-scale experiments such as telescopes and accelerators. EPICS provides the SCADA support. Phytron delivers the source code to integrate the phytron controller phymotion TM into EPICS environment. Also in multi-axis operation: positioning, limit-switches, encoder evaluation Edition 7 April / DS-7-A EN /

51 VSS / VSH data sheet Extreme Electrical Connection -lead bipolar control Standard A B C D yellow red W W blue green Windings parallel W W A B C D yellow red W W blue green Windings in series W W -lead unipolar or bipolar control Phase Phase A E G B C H F D yellow black brown red blue violet white green W W W W Begin of the winding All illustrations, descriptions and technical specifications are subject to modifications; no responsibility is accepted for the accuracy of this information. Ordering Code The variable elements of the product are displayed in colour. Type Size Step resolution Rated current Option E Option VPGL Vacuum class Options Ordering code VSS / VSH.., - E - VGPL / - HV - KTC Phase currents Options Size 9 - Rated current (A/Phase),,, for VSS 9 to for VSS 9 to 7 for VSS to 7 for VSH for VSH to VSH Option E E Double shaft no double shaft Option VGPL VGPL xx/xx Low backlash gear: size / reduction ratio no gear Admissible phase currents for identical power dissipation -lead motor parallel windings rated current Bipolar control mode Full step operation -lead motor series windings % of the rated current Vacuum class HV UHVS UHVG UHVC UHVC High vacuum Ultra high vacuum dry coated bearing Ultra high vacuum greased bearing Ultra high vacuum Cryo temperature down to liquid Nitrogen Ultra high vacuum Cryo temperature down to liquid Helium Options R KTC Pt RS X *) Standard for vacuum class UHVS and UHVG. Radial wire outlet Thermocouple type K *) Resistance temperature detector Resolver customised no Phytron GmbH Industriestraße 9 Gröbenzell T F Edition 7 April / DS-7-A EN /

52 ENG / physpace SPACE phy SPACE TM Stepper Motor Series for SPACE applications, Standard and Customised solutions With years of space heritage and over motors in space we know how to optimise weight, power consumption, thermal dissipation and stray magnetic flux without sacrificing precision or reliability. physpace TM represents a standard stepper motor series for SPACE applications. This series comes with features essential to usage in extreme environments. Beyond that it is also the basis for customised projects - to optimise motor-load coupling. Highlights Performance & Lifetime Our physpace TM stepper motors are costefficient, clean and reliable even within extreme environments. The physpace TM series is developed and built to resist vacuum, vibrations, low/high temperature and radiation while maintaining high performance, precise positioning, long life. phytron physpace TM motors are based on a technology that can also be found in the most challenging projects of our time. From a variety of satellites up to the Mars rover Curiosity: phytron motors drive applications in distant worlds - highly accurate, reliable and durable. Driven within their specification range, high-quality components and a proven design make sure: These motors won t let you down! Cleanliness phytron motors for use in space contain only materials that also meet the requirements of the ECCS (European Cooperation for Space Standardisation). Thus, each material has a maximum TML (Total Mass Loss) value of % and a maximum CVCM (Collected Volatile Condensable Materials) value of. %. You will receive your space motor, double-wrapped and vacuum-sealed. In Focus Vacuum Radiation Resistance Standard -phase stepper motors holding torques from. to mnm without gearing diameters from to 7 mm steps (. per full step) designed for high shock and vibration loads leads parallel preconditioned, protection IP embedded K-type thermocouple Ambient temp. - C... + C up to + C (winding) radiation up to J/kg bake-out temperature up to C ( h) outgassing TML < %, CVCM <.% (at < C) Options light weight upgrade (Titan) space-testing upgrade (vibration, shock, thermal cycling) Winding cold redundant for Cryo applications up to -9 C Customised Solutions special designs based on the physpace series Gears Edition 7 March Extreme. Precision. Positioning.

53 physpace TM data sheet Space physpace stepper motor Structure design The structure design of the physpace TM motors presents an optimum of lightweight, stiffness and surface protection. As is commonly done in high-vacuum class all structural elements such as housing, flanges and shafts are made of stainless steel. Even the standard version in stainless steel is optimised in terms of weight: The quadratic flange is reduced to flange lugs and the flanges are hollowed to save additional weight. In order to save even more weight the physpace TM comes with the option for a lightweight -material like titanium. Bearings The shock and vibration loads of a rocket launch can stress or damage the ball bearings significantly - resulting in reduced life under certain circumstances - when the motor hasn t even been put into operation. The physpace TM standard motor is equipped with special ABEC 7 bearings. A duplex bearing assembly in the front flange dissipates the vibration loads safely into the housing structure. Especially when in a vacuum, unlubricated ball bearings can be affected by cold welding, and thus degrading and even binding the bearings. Adhesives The adhesives used are qualified for space applications according to ECSS Q-7-A. They represent an optimum of strength, ductility, low outgassing rates and thermal resistance. The outgassing rates (TML, CVCM) comply with the European Space Standards and American space standard. Radiation Resistance The physpace TM motors are designed for radiation of up to J/kg for use in space applications. A motor not designed for radiation will not only suffer degradation of the insulation and the adhesives - especially the grease of the ball bearing reducing the efficiency and will eventually cause the motor to fail. Radiation Resistance High Temperature Temperature Management All materials selected for the physpace TM motors can withstand a short-term winding temperature of up to C. Due to the lack of convection in a vacuum, the motors can heat up very quickly and often work at a high temperature level - depending on the duty-cycle. In our physpace TM motors we integrate a thermocouple to allow monitoring of the exact winding temperature. This is how you protect your motors from overheating. Edition 7 March / DS--A EN /

54 physpace TM data sheet Vacuum Preconditioning The selected materials and components are outgassed by a phytron process at up to C in vacuum chambers, so that outgassing materials cannot deposit in the ball bearings or inside the motor. This way we provide a minimum molecular contamination of the surrounding system so that the motors can even operate close to optical systems. Handling and Storage physpace TM motors are primarily designed for use in a vacuum. For this reason the motors must always be handled under controlled conditions: On the ground at C +/- C and relative humidity <=%, in clean rooms and clean boxes. Long-term storage is permitted only in unopened original phytron packaging. After storage, or not rotating for more than months, a running-in is highly recommended in order to distribute the grease evenly again. The motors are to be handled with suitable gloves. Since the rotor is magnetic, it must be handled in a clean environment so that no metal particles can be pulled through the opening at the at the rear of the motor into the motor. Particles in the motor lead to an impairment of operation, the lifetime, or even failure of the motor due to binding. Service, Consulting and Customising Of course we are happy if our standard already fulfills your application s needs! Although our physpace TM series integrates our application experience of the last decades - sometimes the standard is just not enough. We offer to create customised solutions to make our motor a perfect fit for your application, because sometimes even small changes make the difference. Road-Map & Milestones phytron project partnership: receive the perfect space motor for your application. customer Start Customising? no Test by Customer Test by Customer Qualification by Customer Release of QM yes yes documents Standard Spec + Offer Modified Spec + Offer Final Spec + Offer ICD (DML if requ.) EIDP+ CoC to spec EIDP + CoC to spec EIDP+ CoC to QM Request Order ref. to Offer motors BreadBoard (BB) Engineering Model (EM) Qualification Model QM same batch Flight Model FM phytron Competence Center Modification Production, Test, Pre-qualification of (BB), (EM), QM Production, test and pre-qualification of FM Edition 7 March / DS--A EN /

55 physpace TM data sheet Space Technical Characteristics Standard Number of steps / step angle /. Physical step accuracy (non accumulating) to % Upgrade Options General Characteristics Speed (typical for continuous operation) Preferred direction Bearing quality / arrangement rpm clockwise (facing the motor shaft) ABEC7 / Duplex (front)+ floating bearing (rear) Lubrication space grade compatible non / dry Housing stainless steel light weight titan Protection class IP Expected lifetime (typical) x revolutions Operating voltage up to V Electrical Control bipolar Leads: amount / wiring / wire exit -leads bipolar / parallel / axial cold redundant Lead insulation Kapton Temperature sensor type K Dielectric strength Insulation resistance (depending on diameter) Pre-Conditioning > V AC with Hz > MΩ with up to V DC first outgassing by phytron Cleanliness CVCM (Collected volatile condensable materials) at <, % TML (Total Mass Loss) at < % Magnetic emission upon request Surrounding Environment vacuum (UHV) atmosphere (with restrictions) Radiation resistant up to a dose of J/kg Environemntal Environment temperature (operating) C higher temperature upgrade/ Environment temperature (non operating) C Temperature max. (winding) max. + C Cryo temperature upgrade Environment (storage) C; original packing Humidity (max.) <= % Vibration GRMS Test Test: electric / mechanic / dynamic / climate standard Test: Vibration / Shock / Thermal Vacuum Cycling space-testing EIDP (End Item Data Package) standard Edition 7 March / DS--A EN /

56 physpace TM data sheet Stepper motor space TM 9- to - K N M x 9 K L g G g A physpace TM 9- to - x K D E M N C F B physpace TM - and - Dimensions / Electrical and Mechanical Charcteristics physpace TM Standard -step lead parallel bipolar Current/ Phase IN Electrical Characteristics Resistance/ Phase ) Max. operating voltage ) AWG Holding torque ) Mechanical Charcteristics Power-OFF torque Rotor inertia axial Loads ) radial Mass ) Dimensions in mm A Ω V DC mnm mnm kg cm N N g A B C D E F G g K L g M N ) Holding torque in bipolar mode with parallel windings. Two phases on at rated current ) Axial radial loads are for mounting purposes only. A flexible coupling must be used in operation. ) The use of titanium parts reduces the overall weight by %. ) differently with redundant winding ) max. operating voltage of the power stage (intermediate circuit voltage) All values given above refer to room temperature and atmospheric pressure. Other sizes available upon request Edition 7 March / DS--A EN /

57 physpace TM data sheet Space Option: Shaft Design Dimensions Stepper motor Dimensions in mm G H I Size G H I physpace 9.. physpace.. physpace. physpace physpace. More shaft options upon request. Derating - Duty-Cycle-Design for Applications in Vacuum Motors operating in a vacuum heat up very quickly depending on their duty cycle. Driven with nominal current the maximum temperature will be reached within several minutes. Therefore it is necessary to monitor the motor s temperature (K-element) or to design a duty cycle with enough off-time to always keep the motor a safe temperature level. The shown curve is set at an environmental temperature of C. To give you an idea of how the chosen current influences the motor temperature we drew two curves of a motor similar to the physpace TM. Driven with rpm at % of the nominal current, the motor takes longer to heat up due to less ohmic losses then driven with the full nominal current. The third curve (physpace TM -) with. nominal current and rmp only leads to a steady state temperature within the safe temperature limits. A higher rotational speed increases the magnetic losses. Therefore high speeds should be avoided as far as possible to reduce heat losses and to protect the bearings. The cooling down speed during the off-time depends on the temperature delta in between the current motor temperature and the environmental temperature and the connected structure s thermal capacity. winding temperature (in vacuum), environment C C physpace - physpace - physpace - 7 short time operation only after min. steadystate temperature continuous operation possible min / nominal current, V, rpm cooling down / nominal current, V, rpm cooling down / nominal current, V, rpm Edition 7 March / DS--A EN /

58 physpace TM data sheet Torque Characteristics Power [W]... Torque [mnm]. T (U = V) physpace 9-., Power [W].. Torque [mnm] T (U = V) physpace -.,..... PSHAFT (U = V).. PSHAFT (U = V) Power [W]. Torque [mnm] physpace -., Power [W] Torque [mnm] physpace -., T (U = V). T (U = V) PSHAFT (U = V) PSHAFT (U = V) Power [W] Torque [mnm] T (U = V) physpace -., 9 PSHAFT (U = V) Motor Temperature Sensors: K-type Thermocouple The insulated temperature sensor in phytron motors is integrated in the motor windings. The response time to temperature changes of the windung is very short, compared to temperature sensors mounted outside the motor housing. The temperature is measured all the time (even if only one motor phase is powered at a time), because the sensor is always mounted between the phases. Edition 7 March / DS--A EN / 7

59 physpace TM data sheet Efficient Customising - the Perfect Fit We proudly contribute to projects of: Tailored Stepper Motors for Space Applications BepiColombo - MERTIS (due to launch in ) MErcury Radiometer and Thermal Infrared Spectrometer Instrument: tabid-9/ Mission: for: Polish Academy of Science (PAS), DLR, ESA Bepi Colombo image: NASA MAVEN () Launch date: Nov., ; mission target: mars - explore its upper atmosphere; orbit insertion date: Sept., grating flip mechanism, 9 deflecting angle moving in hard end stops cleanliness for optics motor: size, hybrid stepper steps/rev gear: integrated planetary gear ratio :, 9 deg travel structural parts titanium, hybrid bearings, lubrication titanium coupling: compensation of an axial length reduction during deformation without additional stress for LASP / NASA LASP MAVEN image: NASA/Goddard Space Flight Center Edition 7 March / DS--A EN /

60 physpace TM data sheet Tailored Stepper Motors for Space Applications Mars rover CURIOSITY for NASA () phytron stepper motor focuses laser and the analysis camera focuses the laser light and the analysis camera inside the ChemCam instrument on the sample. excels in reliability, durability, vacuum compatibility and minimal outgassing rates. optimised for mechanical friendly smooth running and is capable of precise positioning even without feedback or complex electronics Mars rover CURIOSITY - ChemCam image: NASA JUNO () Mirror rotation in Ultraviolet Imaging Spectrograph phytron s stepper motor : VSS Instrument: abs/agufmsmb7g Mission: main/index.html NASA / ESA Juno image by NASA/JPL MIRIS () Multi-purpose infrared imaging system (MIRIS) Instrument: for: Astronomy and Space Technology R&D Division, Korea Astronomy and Space Science Institute Edition 7 March / DS--A EN / 9

61 physpace TM data sheet Space Tailored Stepper Motors for Space Applications EnMAP mission Shutter calibration mechanism as part of the scientific payload of the German EnMAP mission. customised titanium gear shaft for low weight and strength tailored magnet arrangement to minimise stray magnetic flux redundant windings cater for loss of primary coils Harmonic Drive gears for space conditions duplex bearings to better absorb shock and vibration central housing configuration for optimised force transmission (hybrid assembly technology) for: Kayser-Threde and HTS A perfect fit for EADS Astrium. High precision positional actuator for the X-Band Downlink Antenna for the KOMPSAT S/C: customised titanium main structure for low weight and optimal strength integrated Harmonic Drive gear unit duplex bearings to withstand shock and vibration special lubrication system to prolong lifetime customised leadwire exit to meet project constraints motor model endurance tested in vacuum and N atmosphere (bearings, lubrication system, gears) SOLACES () stepper motor with steps/revolution (, ) designed for N axial force holding torque 7 mnm / driving torque mnm spindle system, non-magnetic special grease; designed for ultra high vacuum at - C to + C for: IPM Freiburg Edition 7 March / DS--A EN /

62 physpace TM data sheet Tailored Stepper Motors for Space Applications Rosetta - Cosima () Cometary Secondary Ion Mass Analyser motor: stepper motors VSS9 Instrument: Mission: for: Max-Max-Planck-Institut, Extraterrestrische Physik München STEREO () The sun in D Mission: for: NASA + The Johns Hopkins University XMM-Newton - EPIC () European Photon Imaging Camera (EPIC) Instrument: Mission: for: Max-Max-Planck-Institut, Extraterrestrische Physik München, ESA Cassini-Huygens (997) Exploring Saturn Mission: ESA: Mission: NASA: for: Max-Planck-Institut, Heidelberg, ESA, NASA MOS-IRS-P (99) Indian Remote Sensing Satellite-P Mission: irs-p für: DLR Edition 7 March / DS--A EN /

63 physpace TM data sheet Space Electrical Connection -lead bipolar control Standard A B C D yellow red W W blue green Windings parallel W W All illustrations, descriptions and technical specifications are subject to modifications; no responsibility is accepted for the accuracy of this information. Ordering Code The variable elements of the product are displayed in colour. Type Diameter Motor length Rated current Option Ti Option red Option F Ordering code physpace - -, - Ti - red - F Options Diameter - Motor size Rated current (A/Phase),,, for physpace 9 to for physpace 9 to for physpace to Option Ti Titanium housing Option red Winding cold redundant Option F Shaft design flat (front) Edition 7 March / DS--A EN / Phytron GmbH Industriestraße 9 Gröbenzell T F

64 phytron INTERNATIONAL Extreme. Precision. Positioning.

65 phytron international Representatives Germany PLZ //9/9-99 PLZ /-/7/// Dr. Reinhard Siebert Tel Fax +9 9 Industrievertretung Friedrich-Naumann-Str. Stahnsdorf Hr. Kevin Bücker k.buecker@phytron.de Tel Fax +9 9 Phytron Nord-West Erftstr. 7 Kerpen PLZ -//7//9-97 Hr. Meinolf Mester m.mester@phytron.de Tel Fax +9 7 Phytron Süd Friedrich-Ebert-Str. a 7 Beerfelden International Hr. Gerd Zöhling info@phytron.at Tel Fax Belarus Austria/Hungary Phytron GmbH Kaltenleutgebner Str. 9 Wien AUSTRIA Denmark Mr. Björn Davidson bd@gearcentralen.dk Tel + 7 Fax France GCM A/S Redstedsgade Sønderborg DENMARK Mr. Alexander Semionov a.semionov@fek.by Tel Fax FEK Company Pushkin ave. 9B Minsk BELARUS Mr. Bernard Bizeul bbizeul@tsa.fr Tel + - Fax + - Z.A.E du Parc, rue Condorcet 97 Taverny, Cedex FRANCE Belgium / Luxembourg Great Britain Mr. Dirk Benoit info@benoit.be Tel + 9 Fax + Benoit Elektronika Industrie Lindestraat 9 79 Waregem BELGIUM Mr. Carl Huntington sales@aautomation.co.uk Tel + 9 Fax A Automation Ltd. 7 Kingsway, Caversham Park Reading, Berkshire, RG RA GREAT BRITAIN China India Mr. Gao Wei info@servodynamics.com.cn Tel Fax Mr. Radek Kanovsky info@raveo.cz Tel Czech Republic/Slovakia Servo Dynamics Co. Ltd. th Floor, Block No. ISND Holding Ind. Park East Jiangxing Road Wujiang Economic Development Zone Suzhou PR CHINA Raveo s.r.o Trida Romase Bati 7 Otrokovice CZECH REPUBLIC Mr. Ranjit Kambil sales@orbitalsystems.net Tel +9 7 o. 79 Fax Israel Mr. Zeev Shaked bruno@brunocorp.co.il Tel Fax Orbital Systems (Bombay) Pvt. Ltd F-9, Ansa Indl. Estate Saki Naka Mumbai 7 INDIA Bruno International Corp., Bar Kochba st. P.O. Box Bney Berak ISRAEL Representatives / 7-- EN /

66 phytron international International Italy Switzerland Mr. Guido Giorgi Tel +9-9 Fax Vacuum FAB Srl. Via S. Protaso 9 Bareggio (Mi) ITALY Hr. Hans Vogt info@zivotron.ch Tel + 7- Fax Zivotron GmbH Morgenstrasse Thundorf SWITZERLAND Korea Singapore Mr. Jason Yoon jyoon@atcu.co.kr Tel Fax Malaysia Mr. Ng Shan Wee advancemation@yahoo.com Tel + Fax + 7 Netherlands Mr. Frans Nijman frans.nijman@ morskateaandrijvingen.nl Tel Fax Poland Dr. Reinhard Siebert r.siebert@phytron.de Tel Fax +9 9 Russia Mr. Alexander G.Gordyuk info@microprivod.ru Tel +7 9 Fax +7 9 Advanced Technology Corp. 7, Bizenter, SK Techno Park 9- Sangdaewon-Dong Jungwon-Gu -7 Gyeonggi-Do Seongnam-City KOREA Advancemation Technology Sdn. Bhd. No. 7, Jalan TPP / Taman Industri Puchong, Bt 7 Puchong, Selangor MALAYSIA Morskate Aandrijvingen B.V. Oosterveldsingel 7A 7 PJ Hengelo (Ov) NETHERLANDS Industrievertretung Friedrich-Naumann-Str. Stahnsdorf GERMANY Microprivod Ltd. (bldg.) Shosse Enthus. - Moscow RUSSIA Mr. Andrew Tan umccst@singnet.com.sg Tel Fax Slowenia Mr. Brane Ozebek brane.ozebek@domel.si Tel + 7- Fax Spain Mr. Jose M. a Sitges Carreño jmsitges@sinerges.com Tel Fax Turkey Mr. Ahmet Üzümcü main@yrmotomasyon.com Tel Fax Mr. Wahid Lahmadi wahid@phytron.com Tel Fax Unimotion Controls Pte. Ltd. Kaki Bukit Avenue, KB- #- 7 Singapore SINGAPORE DOMEL d.o.o. Otoki Zelezniki SLOVENIA Sinerges Tecmon SA. Ronda de Santa Eulalia, -7 Naves - 7 Pallejà (Barcelona) SPAIN YRM Otomasyon as. Atalar Cad Dolunay Sok. No: Kartal, Istanbul TURKEY USA/Canada/Mexico Phytron, Inc. Blair Park Road Suite Williston, VT 9 USA Sweden/Norway/Finland Mr. Oscar Nyström info@motor.oem.se Tel + 7 Fax OEM Motor AB Fredriksbergsgatan 79 Tranås SWEDEN Representatives / 7-- EN /