Stepper Motors WE CREATE MOTION

Transcription

1 WE CREATE MOTIO

2 PRECIstep Technology EW Page FDM 6 Two Phase with Disc Magnet, AM 8 Two Phase,6 AM Two Phase,6 ADM S Two Phase with Disc Magnet, 6 7 AM Two Phase 6 8 AM Two Phase AM -R Two Phase

3 WE CREATE MOTIO

4 Technical Information Two phase, steps per revolution PRECIstep Technology AM-ww-ee otes on technical data ww = ominal current per phase (both phases O) ) ominal voltage per phase (both phases O) ) Phase resistance (at ) Phase inductance ( AV Current, ominal current per phase [A] The current supplied to both phases windings at an ambient temperature of that will not exceed the thermal limits of the motor. ominal voltage per phase [V] The voltage necessary to reach the nominal current per phase, measured at an ambient temperature of. Phase resistance ) [ ] The winding resistance per phase at an ambient temperature of. Tolerance +/- %, steady state. Phase inductance [mh] The winding inductance per phase measured at khz. Back-EMF amplitude ) [V/k step/s] The amplitude of the back-emf measured at steps/s. Holding torque (at nominal current in both phases) [] Is the torque of the motor at nominal current with two phases on. Holding torque (at twice the nominal current) [] Is the torque of the motor at x nominal current with two phases on. The magnetic circuit of the motor will not be affected by this boost current, however, to avoid thermal overload the motor should only be boosted intermittently. Ideally, the duty cycle should be reduced to % to avoid damage to the motor. Step angle (full step) [degree] umber of angular degrees the motor moves per full-step. Angular accuracy [% of full step] The percentage position error per full step, at no load, with identical phase current in both phases. This error is not cumulative between steps. Residual torque, max. ) [] The maximum torque applied to the shaft to rotate the shaft without current to the motor. Residual torque is useful to hold a position without any current to save battery life or to reduce heat. Rotor inertia [kgm ] This value represents the inertia of the complete rotor. Resonance frequency (at no load) [Hz] The step rate at which the motor at no load will demonstrate resonance. The resonance frequency is load dependent. For the best results the motor should be driven at a higher frequency or in half-step or microstepping mode outside of the given frequency. Electrical time constant [ms] Is the time needed to establish 67% of the max. possible phase current under a given operation point. Ambient temperature range [] Temperatures at which the motor can operate. Winding temperature tolerated max. [] Maximum temperature supported by the winding and the magnets. Thermal resistance R th / R th [K/W] R th corresponds to the value between the coil and the housing R th corresponds to the value between the housing and the ambient air R th can be reduced by enabling exchange of heat between the motor and the ambient air (for example using a heat sink or forced air cooling). Thermal time constant τw / τw [s] The thermal time constant specifies the time needed for the winding respectively the housing to reach a temperature equal to 6% of the final value. Shaft bearings Self lubricating sintered sleeve bearings or preloaded ball bearings are available. Shaft load, max. radial [] The maximum recommended radial shaft load for all bearing types. Shaft load, max. axial [] The maximum recommended axial shaft load for all bear ing types. For ball bearings this value corresponds to the axial preload. If this value is exceeded, irreversible displace ment of the shaft may occur. The allowable axial travel of the shaft without damage to the motor is approximately,mm. Shaft play max., radial [] The maximum clearance between shaft and bearing tested with the indicated force to move the shaft. Shaft play max., axial [] Represents the maximum axial play tested with the indicated force.

5 Isolation test voltage ) [VDC] Is the test voltage for isolation test between housing and phase windings. Mass [g] Is the motor weight in grams. ) these parameters are measured during final inspection on % of the products delivered. Torque ()..7.. Stepper Motor Selection The selection of a stepper motor requires the use of published torque speed curves based on the load parameters. It is not possible to verify the motor selection mathematically without the use of the curves. To select a motor the following parameters must be known: Motion profile Load friction and inertia Required resolution Available space Available power supply voltage. Definition of the load parameters at the motor shaft The target of this step is to determine a motion profile needed to move the motion angle in the given time frame and to calculate the motor torque over the entire cycle using the application load parameters such as friction and load inertia. The motion and torque profiles of the movement used in this example are shown below: Depending on the motor size suitable for the application it is required to recompute the torque parameters with the motor inertia as well. In the present case it is assumed that a motor with an outside diameter of maximum mm is suitable and the data has been computed with the inertia of the AM T (ms). Verification of the motor operation. The highest torque/speed point for this application is found at the end of the acceleration phase. The top speed is then n = min -, the torque is M =. Using these parameters you can transfer the point into the torque speed curves of the motor as shown here with the AM curves. To ensure the proper operation of the motor in the application, it is highly recommended to use a safety factor of % during the torque calculation. The shown example assures that the motor will correctly fulfil the requested application conditions. The use of a higher supply voltage (typically to x higher than the nominal voltage) provides a higher torque at higher speed (please refer to graph). In case that no solution is found, it is possible to adapt the load parameters seen by the motor by the use of a reduction gearhead. Torque [] Electronic settings x ominal voltage *. x ominal voltage * x ominal voltage * ominal current limiting Speed (rpm) 6 T (ms) Speed [rpm] Speed [steps/s] 6

6 . Verification of the resolution It is assumed that the application requires a angular resolution. The motor selected, the AM, has a full step angle of which is not suitable in full step mode. It can be operated either in half-step, which reduces the step angle to 7,, or in micro stepping. With micro stepping, the resolution can be increased even higher whereas the precision is reduced because the error angle without load of the motor (expressed in % of a full-step) remains the same independently from the number of micro-steps the motor is operated. For that reason the most common solution for adapting the motor resolution to the application requirements is the use of a gearhead or a lead-screw where linear motion is required.. Operation at low speed All stepper motors exhibit a resonance frequency. These are typically below Hz. When operating at this frequency stepper motors will exhibit uncontrolled perturbations in speed, direction of rotation and a reduced torque. Thus, if the application requires a speed lower or equal to the resonance frequency, it is recommended to drive the motor in microstepping mode where the higher the microstepping rate, the better performance can be achieved. This will greatly decrease the affects of the re sonant frequency and result in smoother speed control. General application notes In principle each stepper motor can be operated in three modes: full step (one or two phases on), half step or microstep. Holding torque is the same for each mode as long as dissipated power (I R losses) is the same. The theory is best presented on a basic motor model with two phases and one pair of poles where mechanical and electrical angle are equal. The two major advantages provided by microstep operation are lower running noise and higher resolution, both depending on the number of microsteps per full step which can in fact be any number but is limited by the system cost. As explained above, one electrical cycle or revolution of the field vector ( full steps) requires the driver to provide a number of distinct current values proportional to the number of microsteps per full step. For example, 8 microsteps require 8 different values which in phase A would drop from full current to zero following the cosine function from to, and in phase B would rise from zero to full following the sine function. These values are stored and called up by the program controlling the chopper driver. The rotor target position is determined by the vector sum of the torques generated in phase A and B: MA = k IA = k Io cos ϕ MB = k IB = k Io sin ϕ where M is the motor torque, k is the torque constant and Io the nominal phase current. For the motor without load the position error is the same in full, half or microstep mode and depends on distortions of the sinusoidal motor torque function due to detent torque, saturation or construction details (hence on the actual rotor position), as well as on the accuracy of the phase current values.. Verification in the application Any layout based on such considerations has to be verified in the final application under real conditions. Please make sure that all load parameters are taken into account during this test. In full step mode ( phase on) the phases are successively energised in the following way:. A+. B+. A. B. Half step mode is obtained by alternating between -phase-on and -phases-on, resulting in 8 half steps per electrical cycle:. A+. A+B+. B+. A B+. A 6. A B 7. B 8. A+B. If every half step should generate the same holding torque, the current per phase is multiplied by each time only phase is energised. 7

7 Two phase 6 7 Stepper Motor 8 Retaining ring Washer PCB Ball bearing Rear cover / stator 6 Coil, Phase A 7 Inner stator 8 Rotor Magnets Shaft Housing Coil, Phase B Front cover / stator Features PRECIstep stepper motors are two phase multi-polar motors with permanent magnets. The use of rare-earth magnets provides an exceptionally high power to volume ratio. Precise, open-loop, speed control can be achieved with the application of full step, half step, or microstepping electronics. The rotor consists of an injection moulded plastic support and magnets which are assembled in a or pole configuration depending on the motor type. The large magnet volume helps to achieve a very high torque density. The use of high power rare-earth magnets also enhances the available temperature range of the motors from extremely low temperatures up to 8 as a special configuration. The stator consists of two discrete phase coils which are positioned on either side of the rotor. The inner and outer stator assemblies provide the necessary radial magnetic field. Benefits Cost effective positioning drive without an encoder High power density Long operational lifetimes Wide operational temperature range Speed range up to 6 min - using a current mode chopper driver Possibility of full step, half step and microstep operation Product Code AM Motor series R Bearing type V-- Coil type 7 Motor version AM-R-V---7 8

8 Two phase with Disc Magnet Stepper Motor 6 Retaining ring PCB Rear cover / stator Coil Housing 6 Sleeve 7 Disc Magnet 8 Shaft Front cover Sintered bearing 7 8 Features The rotor consists of a thin magnetic disc. The low rotor inertia allows for highly dynamic acceleration. The rotor disc is precisely magnetized with pole pairs which helps the motor achieve a very high angular accuracy. The stator consists of four coils, two per phase, which are located on one side of the rotor disc and provide the axial magnetic field. Special executions with additional rotating back-iron are available for exceptionally precise micro-stepping performance. Benefits Extremely low rotor inertia High power density Long operational lifetimes Wide operational temperature range Ideally suited for micro-stepping applications Product Code ADMS Motor series R Bearing type V Coil type Motor version ADMS-R-V-

9 Two phase, steps per revolution PRECIstep Technology, FDM6-ww-ee ominal current per phase (both phases O) ominal voltage per phase (both phases O) ww = V Current Voltage Drive mode,8 A V DC Phase resistance (at ) Phase inductance (khz) Back-EMF amplitude,,8 Ω mh V/k step/s Holding torque (at nominal current in both phases) Holding torque (at twice the nominal current) Step angle (full step) Angular accuracy Residual torque, max. Rotor inertia Resonance frequency (at no load) Electrical time constant,, 8 ±,6, 6, degree % of full step. - kgm Hz ms 6 7 Ambient temperature range Winding temperature tolerated, max. Thermal resistance Thermal time constant Rth / Rth w / w / 6,6, / /W s 8 Shaft bearings Shaft load, max.: radial ( mm from bearing) axial Sintered sleeve bearing (standard),,,, ball bearings (optional) Shaft play, max.: radial (,) axial (,) ~ ~ Isolation test voltage V DC Mass, g ) On PWM drivers or chopper (current mode), the current is set to the nominal value and the supply voltage is typically to x higher than the nominal voltage. Microstepping is recommended below steps/s. Curves measured with a load inertia of.- kgm. Torque [] Driver settings ).x nominal voltage *,,,6 C Phase A + + Phase B + +.x nominal voltage * x nominal voltage, + A * Current limited to its nominal value,8, C Front face view Rotor + B 6 8 Speed [rpm] 6 7 Speed [steps/s] Edition

10 Dimensional drawing (,) Stiffener zone B- B+ A- A+, ±, ±,,, 7 ±, 8 ±, ø6 -, -,8 B- B+ A+ A- ±,, ø -,8 M,x, ø -,7 -, ø,7 -, -, DI 8 m=, z= x=+,,8,, ±,, ±,, ±, Flex PCB thickness:, mm Bending radius mm min. Thickness of pads area (stiffener), mm (±,), not flexible Flex PCB for cables Pads (x) ø, Holes (x) ø,6 FDM6 for Gearhead 6/ Recommended connectors Pitch: mm - FPC/FFC, poles JST FM-SMT-A-TF or similar Pitch:,mm - FPC/FFC, poles Molex 7 or similar Combinations Drive Electronics Encoders Cables Gearheads / Lead screws MCST6 Complete list available on request 6/ Lead screws M, - M,6 Ordering information Example: FDM6-R-V- Motor type Bearings (rr) FDM = Motor design 6 = Motor diameter (mm) Special lubricant = Steps per revolution options available FDM6 - (sleeve bearing) -R ( ball bearings) Winding (ww) Motor execution (ee) Only front With double -V - (Flex PCB 8mm p=mm) - (Flex PCB 8mm p=mm) -76 (Flex PCB 8mm p=mm) -78 (Flex PCB 8mm p=mm) - (Flex PCB 8mm p=mm) -6 (Flex PCB 8mm p=mm) -7 (Flex PCB 8mm p=mm) -77 (Flex PCB 8mm p=mm) Front output shaft Plain shaft Ømm Pinion 6/ Shaft Ø.6mm for lead screw M, Shaft Ø.8mm for lead screw M,6 ote : Standard version is delivered with a flex PCB of 8mm that the user can cut himself as indicated on the drawing above. A version with pre-cut PCB is available on request. Edition

11 Two phase, steps per revolution PRECIstep Technology,6 AM8-ww-ee ominal current per phase (both phases O) ) ominal voltage per phase (both phases O) ) ww = A-,-7 V--8 V--6 Current Voltage Current Voltage Current Voltage Drive mode,,,8 A V DC Phase resistance (at ) Phase inductance (khz) Back-EMF amplitude 7, 8 6,,,6,8,, Ω mh V/k step/s Holding torque (at nominal current in both phases) Holding torque (at twice the nominal current) Step angle (full step) Angular accuracy ) Residual torque, max. Rotor inertia Resonance frequency (at no load) Electrical time constant,6 8 ±,7,7 7, degree % of full step. - kgm Hz ms 6 7 Ambient temperature range Winding temperature tolerated, max. Thermal resistance Thermal time constant Rth / Rth w / w... +7, / 6,, / 6 /W s 8 Shaft bearings Shaft load, max.: radial ( mm from bearing) axial sintered bronze sleeves (standard),,,, ball bearings, preloaded (optional) Shaft play, max.: radial (,) axial (,) ~ Isolation test voltage V DC Mass, g ) Relevant for phases O only. On PWM drivers or chopper (current mode), the current is set to the nominal value and the supply voltage is typically to x higher than the nominal voltage. ) Curves meas ured with a load in er tia of 6 - kgm, in half-step mode for the x nominal voltage curve, in / micro-stepping mode for the other curves. Torque [] ) ) Driver settings x nominal voltage *.x nominal voltage * x nominal voltage,7,6,,, C Phase A + + Phase B A * Current limited to its nominal value, +, 6 8 Speed [rpm] 6 7 Speed [steps/s] Front face view C Rotor B Edition

12 Dimensional drawing ø8 -,6 ø6 -, ø M,x, -,7 -, -, -, ø,-, ø,-,6 DI 8 m=,6 z= x=+, DI 8 m=, z= x=+,,7,8, (,) (,8), -,,,8,7,,8 ±, 6 ±,, ±,, ±,,8 x pads for cable assembly AM8 for Gearhead 8/ for Gearhead 8/, 8/ Combinations Drive Electronics Encoders Cables Gearheads / Lead screws MCST6 Available on request List available on request 8/ 8/ 8/* / Lead screws M, - M,6 Lead screws M - M, - M * Zero Backlash Gearheads Ordering information Example: AM8-R-V--8-8 Motor type Bearings (rr) Winding (ww) AM = Motor design 8 = Motor diameter (mm) Special lubricant = Steps per revolution options available AM8 - (sleeve bearings) -V--8 -R ( ball bearings) -V--6 -A-,-7 Motor execution (ee) Only front With double Front output shaft Plain shaft Pinion 8/ Pinion / Pinion 8/, 8/ Shaft for lead screw M, Shaft for lead screw M - M, - M Shaft for lead screw M,6 Edition

13 Two phase, steps per revolution PRECIstep Technology,6 AM-ww-ee ominal current per phase (both phases O) ) ominal voltage per phase (both phases O) ) ww = A-,-8 V--6 V-6-6 V-- Current Voltage Current Voltage Current Voltage Current Voltage Drive mode,,8,, A 6 V DC Phase resistance (at ) Phase inductance (khz) Back-EMF amplitude 8 6 6,,, 8,,8,6,, Ω mh V/k step/s Holding torque (at nominal current in both phases) Holding torque (at twice the nominal current) Step angle (full step) Angular accuracy ) Residual torque, max. Rotor inertia Resonance frequency (at no load) Electrical time constant,6, 8 ±,, degree % of full step. - kgm Hz ms 6 7 Ambient temperature range Winding temperature tolerated, max. Thermal resistance Thermal time constant Rth / Rth w / w... +7, /,8, / /W s 8 Shaft bearings Shaft load, max.: radial ( mm from bearing) axial sintered sleeve bearings (standard),,,, ball bearings, preloaded (optional) Shaft play, max.: radial (,) axial (,) ~ Isolation test voltage V DC Mass, g ) Relevant for phases O only. On PWM drivers or chopper (current mode), the current is set to the nominal value and the supply voltage is typically to x higher than the nominal voltage. ) Curves meas ured with a load in er tia of 6 - kgm, in half-step mode for the x nominal voltage curve, in / micro-stepping mode for the other curves. Torque [] ) ) Driver settings,6,, C Phase A + + x nominal voltage *, Phase B + +.x nominal voltage * x nominal voltage,8,6 + A * Current limited to its nominal value, +, 6 8 Speed [rpm] 6 7 Speed [steps/s] C Front face view Rotor B Edition

14 Dimensional drawing ø -,7 ø6 -, M,x, ø, -,7 -, -, -,6 Z. m=, x=+, DI 8 ø, ø,8 -, -, Z. m=, x=+, DI 8,6, 6,8 (,6) (,6), -, +,8,,,8±, M,x, 6, ±,,8 (,),, ±,,±,, x pads for cable assembly AM for Gearhead / for Gearhead /, / Combinations Drive Electronics Encoders Cables Gearheads / Lead screws MCST6 Available on request List available on request / / /* Lead screws M, M,6 Lead screws M - M, - M * Zero Backlash Gearheads Ordering information Example: AM-R-V--6-8 Motor type Bearings (rr) Winding (ww) AM = Motor design = Motor diameter (mm) Special lubricant = Steps per revolution options available AM - (sleeve bearings) -V--6 -R ( ball bearings) -V-6-6 -V-- -A-,-8 Only front Motor execution (ee) With double Front output shaft Plain shaft Pinion / Pinion / Plain shaft, Rear =,7mm for encoder Pinion /, Rear =,7mm for encoder Pinion /, Rear =,7mm for encoder Plain shaft for lead screw M, Plain shaft for lead screw M - M, - M Plain shaft for lead screw M,6 Edition

15 Two phase, steps per revolution microstepping motor (low residual torque), PRECIstep Technology, ADMS-ww-ee ominal current per phase (both phases O) ) ominal voltage per phase (both phases O) ) ww = V V V6 V Current Voltage Current Voltage Current Voltage Current Voltage Drive mode,,,, A 6 V DC Phase resistance (at ) Phase inductance (khz) Back-EMF amplitude,, 68,, 7,7,6,, Ω mh V/k step/s Holding torque (at nominal current in both phases) Holding torque (at twice the nominal current) Step angle (full step) Angular accuracy ) Residual torque, max. Rotor inertia Resonance frequency (at no load) Electrical time constant,, 8 ±, 8, 8,8 degree % of full step. - kgm Hz ms 6 7 Ambient temperature range Winding temperature tolerated, max. Thermal resistance Thermal time constant Rth / Rth w / w... +7, / 6, / /W s 8 Shaft bearings Shaft load, max.: radial ( mm from bearing) axial sintered bronze sleeves (standard), 6,,, ball bearings, preloaded (optional) Shaft play, max.: radial (,) axial (,) ~ ~ Isolation test voltage V DC Mass g ) Relevant for phases O only. On PWM drivers or chopper (current mode), the current is set to the nominal value and the supply voltage is typically to x higher than the nominal voltage. ) Curves meas ured with a load in er tia of - kgm, in half-step mode for the x nominal voltage curve, in / micro-stepping mode for the other curves. Torque [] ) ) Driver settings x nominal voltage *.x nominal voltage * x nominal voltage * Current limited to its nominal value,8,6,,,,8,6,, 6 7 Speed [rpm] Speed [steps/s] C Phase A + + Phase B A C Front face view Rotor + B Edition 6

16 Dimensional drawing ø, ø -,7 ø6-,8 ø, -,7 -, -, -, ø,-,6 -, ø,8 -, ø,6 -,6 Round PCB M,x, DI 8 m=, z= x=+, DI 8 m=, z= x=+, DI 8 m=, z= x=+, ø7, x pads for cable assembly (,),, (,),8 (,),,,±,, ±, 6, ±, Solder tag PCB (,) 7,±, ADMS 6±, for Gearhead / for Gearhead /, / for Gearhead / ø, (x) ø, (x) ø,6 6,7 connections (x) over ø,7 Combinations Drive Electronics Encoders Cables Gearheads / Lead screws MCST6 List available on request / / / /* Lead screws M - M, - M * Zero Backlash Gearheads Ordering information Example: ADMS-R-V- Motor type ADM = Motor design = Motor diameter (mm) = Steps per revolution Bearings (rr) Special lubricant options available ADMS - (sleeve bearings) -V -R ( ball bearings) -V -V6 -V Winding (ww) Motor execution (ee) Only front - (Round PCB) - (Round PCB) -7 (Round PCB) - (Round PCB) -8 (Round PCB) - (Solder tag PCB) - (Solder tag PCB) -7 (Solder tag PCB) - (Solder tag PCB) - (Solder tag PCB) With double - (Round PCB) -6 (Round PCB) -8 (Round PCB) -6 (Round PCB) -8 (Round PCB) - (Solder tag PCB) - (Solder tag PCB) -6 (Solder tag PCB) -8 (Solder tag PCB) - (Solder tag PCB) Front output shaft Plain shaft, plain shaft for lead screw M Pinion / Pinion /, / Pinion / Plain shaft for lead screw M - M, Plain shaft, plain shaft for lead screw M Pinion / Pinion /, / Pinion / Plain shaft for lead screw M - M, Edition 7

17 Two phase, steps per revolution PRECIstep Technology 6, AM-ww-ee ominal current per phase (both phases O) ) ominal voltage per phase (both phases O) ) ww = A-,-,6 A-,-, V-6- V-- Current Voltage Current Voltage Current Voltage Current Voltage Drive mode,,,,7 A, 6 V DC Phase resistance (at ) Phase inductance (khz) Back-EMF amplitude,6, 8, 6, 6, 7,6,, 7,,7 Ω mh V/k step/s Holding torque (at nominal current in both phases) Holding torque (at twice the nominal current) Step angle (full step) Angular accuracy ) Residual torque, max. Rotor inertia Resonance frequency (at no load) Electrical time constant 6, ±,, degree % of full step. - kgm Hz ms 6 7 Ambient temperature range Winding temperature tolerated, max. Thermal resistance Thermal time constant Rth / Rth w / w... +7, /,6 6 / /W s 8 Shaft bearings Shaft load, max.: radial ( mm from bearing) axial sintered bronze sleeves (standard), 6,,, ball bearings, preloaded (optional) Shaft play, max.: radial (,) axial (,) ~ Isolation test voltage V DC Mass g ) Relevant for phases O only. On PWM drivers or chopper (current mode), the current is set to the nominal value and the supply voltage is typically to x higher than the nominal voltage. ) Curves meas ured with a load in er tia of - kgm, in half-step mode for the x nominal voltage curve, in / micro-stepping mode for the other curves. Torque [] C ) ) Driver settings Phase A + + x nominal voltage *.x nominal voltage * Phase B + + x nominal voltage + A * Current limited to its nominal value Front face view Speed [rpm] 6 7 Speed [steps/s] C Rotor B Edition 8

18 Dimensional drawing Round PCB, 8 6 -,7 ø -,7 ø, -, ø6 -,8 ø,8 -, Z= m=, x=+, DI 8 B A x pads for cable assembly Solder tag PCB ø ±, xm,6x,max. 6 (6,8) (,6),, (,) 6, ±, 8, ±,, ±, x ø,7 B A 8, 8º, AM Combinations Drive Electronics Encoders Cables Gearheads / Lead screws MCST6 Available on request List available on request A /(S) /8* / 6/7 7/ Lead screws M - M, - M * Zero Backlash Gearheads Ordering information Example: AM-R-V-6--7 Motor type Bearings (rr) Winding (ww) AM = Motor design = Motor diameter (mm) Special lubricant = Steps per revolution options available AM - (sleeve bearings) -V-6- -R ( ball bearings) -V-- -A-,-, -A-,-,6 Motor execution (ee) Only front - (Round PCB) -7 (Round PCB) -7 (Round PCB) -8 (Round PCB) - (Solder tag PCB) -7 (Solder tag PCB) -7 (Solder tag PCB) - (Solder tag PCB) With double (Round PCB) (Round PCB) (Round PCB) (Round PCB) (Solder tag PCB) (Solder tag PCB) (Solder tag PCB) (Solder tag PCB) Front output shaft Plain shaft, L=8, mm for /,6/7, 7/, M Pinion /(S), /8 Plain shaft, L=, mm for gearhead A Plain shaft for lead screw M - M, Plain shaft, L=8, mm for /,6/7, 7/, M Pinion /(S), /8 Plain shaft, L=, mm for gearhead A Plain shaft for lead screw M - M, Idem - & for encoder Idem -6 & for encoder Idem -7 & for encoder Edition

19 Two phase, steps per revolution PRECIstep Technology AM-ww-ee ominal current per phase (both phases O) ) ominal voltage per phase (both phases O) ) ww = AV-, AV-,8 AV-8 V--7 Current Voltage Current Voltage Current Voltage Current Voltage Drive mode,,,, A, 6 V DC Phase resistance (at ) Phase inductance (khz) Back-EMF amplitude,,8 8 7,, 6, 6,6,8 8, 6,,7 Ω mh V/k step/s Holding torque (at nominal current in both phases) Holding torque (at twice the nominal current) Step angle (full step) Angular accuracy ) Residual torque, max. Rotor inertia Resonance frequency (at no load) Electrical time constant 7 ±,7 degree % of full step. - kgm Hz ms 6 7 Ambient temperature range Winding temperature tolerated, max. Thermal resistance winding-ambient air Thermal time constant Rth / Rth w / w... +7,8 /, / 6 /W s 8 Shaft bearings Shaft load, max.: radial ( mm from bearing) axial sintered bronze sleeves (standard with mm shaft), 8,,, ball bearings, preloaded (optional) Shaft play, max.: radial (,) axial (,) ~ Isolation test voltage V DC Mass g ) Relevant for phases O only. On PWM drivers or chopper (current mode), the current is set to the nominal value and the supply voltage is typically to x higher than the nominal voltage. ) Curves meas ured with a load in er tia of 6 - kgm, in half-step mode for the x nominal voltage curve, in / micro-stepping mode for the other curves. Torque [] ) ) Driver settings 8x nominal voltage * x nominal voltage * x nominal voltage C Phase A + + Phase B A * Current limited to its nominal value + Front face view 7 Speed [rpm] Speed [steps/s] C Rotor B Edition

20 Dimensional drawing 6 ø-,8 ø7 -, -,7 ø-, -, ø,-,6 z= m=, x=+, DI 867 B A 7, (x)mx, max. ø 6 (,7) (,) (6,) 7,6 ±, 8,±, 6, 8,±, 7,6, x pads for cable assembly AM for Gearheads /, / Combinations Drive Electronics Encoders Cables Gearheads / Lead screws MCST6 PE - List available on request E EKV / /* /7 / * Zero Backlash Gearheads Ordering information Example: AM-R-AV-8- Motor type Bearings (rr) Winding (ww) AM = Motor design = Motor diameter (mm) Special lubricant = Steps per revolution options available AM - (sleeve bearings) -AV-, -R ( ball bearings) -AV-,8 -AV-8 -V--7 Motor execution (ee) Only front With double Front output shaft Plain shaft, L=8, mm ø mm for /7, / Plain shaft, L=6,6 mm ø, for E, EKV Pinion /, / Plain shaft for /7, /, encoder PE- Plain shaft for E, encoder PE- Pinion /, /, encoder PE- Edition

21 Two phase, steps per revolution PRECIstep Technology AM-R-ww-ee ominal current per phase (both phases O) ) ominal voltage per phase (both phases O) ) ww = AV-, AV-,8 AV-8 V--7 Current Voltage Current Voltage Current Voltage Current Voltage Drive mode,,,, A, 6 V DC Phase resistance (at ) Phase inductance (khz) Back-EMF amplitude,,8 8 7,, 6, 6,6,8 8, 6,,7 Ω mh V/k step/s Holding torque (at nominal current in both phases) Holding torque (at twice the nominal current) Step angle (full step) Angular accuracy ) Residual torque, max. Rotor inertia Resonance frequency (at no load) Electrical time constant 7 ±, degree % of full step. - kgm Hz ms 6 7 Ambient temperature range Winding temperature tolerated, max. Thermal resistance Thermal time constant Rth / Rth w / w... +7,8 /, / 6 /W s 8 Shaft bearings Shaft load, max.: radial ( mm from bearing) axial ball bearings, preloaded (standard with mm shaft),, Shaft play, max.: radial (,) axial (,) ~ Isolation test voltage V DC Mass, g ) Relevant for phases O only. On PWM drivers or chopper (current mode), the current is set to the nominal value and the supply voltage is typically to x higher than the nominal voltage. ) Curves meas ured with a load in er tia of 6 - kgm, in half-step mode for the x nominal voltage curve, in / micro-stepping mode for the other curves. Torque [] ) ) Driver settings 8x nominal voltage * x nominal voltage * x nominal voltage C Phase A + + Phase B A * Current limited to its nominal value + Front face view 7 Speed [rpm] Speed [steps/s] C Rotor B Edition

22 Dimensional drawing ø -,8 ø -,7 -,7 ø -, 7 B A (x)mxmax. 6 6 (,) (,) ø7 (6,), ±,, ±,, 7,6 7, x pads for cable assembly AM-R Combinations Drive Electronics Encoders Kabel Gearheads / Lead screws MCST6 PE- List available on request 6/(S) Lead screws M Ordering information Example: AM-R-AV-8- Motor type Bearings (rr) Winding (ww) AM = Motor design = Motor diameter (mm) Special lubricant = Steps per revolution options available AM -R ( ball bearings) -AV-, -AV-,8 -AV-8 -V--7 Motor execution (ee) Only front - -8 With double Front output shaft Plain shaft for 6/(S) Plain shaft for lead screw M Plain shaft for encoder PE- Plain shaft for lead screw M, PE- Edition