Brushless DC. Brush DC. Stepper. Gearhead. Encoder

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1 Brushless DC Brush DC Stepper Gearhead Encoder

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3 Table of Contents BRUSHLESS DC BRUSH DC STEPPER TURBODISC STEPPER CANSTACK STEPPER CANSTACK VECTOR STEPPER HYBRID GEARHEAD Encoders Drives & Electronics

4 What s New? Portescap is committed to helping our customers find new ways to win. We maintain our core values by listening to our customers, pursuing continuous improvement in all that we do and the motors we design, and driving excellence and innovation. What s Exciting? Portescap and our customers have been compiling a growing list of success stories in a breadth of industry categories around the world. Portescap has provided the right power in small places in a variety of applications, including medical, civil aviation, HVAC&R, aerospace and security and access, just to name a few. To find out how our motion solutions are moving life forward, go to. What Works Best? At Portescap, we optimize the relationships we create. We offer new and innovative solutions, lean supply chain management, LCR sourcing, and motor customization that helps provide our customers with a solution that meets their needs. We work closely with our customers to analyze every facet of their motion control need, and then devise smart, often unexpected ways to do the job better. We never solve problems in isolation. Instead, we step back, look at their business, and find new efficiencies or new levels of integration that translate into bigger wins.

5 Portescap is a recognized expert in miniature motors and precision motion control solutions. Portescap has been leading the way since 1931, driven by a passion for innovation, technical excellence and quality service. Originating in Switzerland, Portescap generated technology that helped to revolutionize the precision clock and watch making industry. The company then applied its motion control ingenuity to miniature motors and is now recognized as one of the global leaders in high performance electro-mechanical motion systems, including brush DC, brushless, and stepper motors as well as gearboxes, drive electronics and feedback devices. Portescap is a global company with offices in the United States, India, Malaysia, Singapore, and Switzerland. Portescap continues its legacy of innovation and builds on its growing lists of firsts in the industry.

6 Portescap finds its place among an esteemed worldwide family of motion control experts. Today, Portescap is part of a worldwide family of over 3 industryleading brands that form Danaher Motion, including Kollmorgen, Thomson, Dover, and Pacific Scientific. Danaher Motion s global infrastructure has enhanced Portescap s capabilities and level of service exponentially. Backed by a team of more than 6, people, 2,-plus distributor sites, and over 6 years of application experience and design expertise, Danaher Motion helps our customers build better machines, faster. Portescap is in good company at Danaher Motion, with fellow industryleading brands like Kollmorgen, Thomson, Pacific Scientific, and Dover. Optimizing relationships and motors: The Power of DBS Helping you build and maintain a competitive advantage is central to everything we do at Portescap. In fact, the entire Portescap team subscribes to the Danaher Business System, a highly regimented, proven set of disciplines based on teamwork, quality and listening to the customer. The Danaher Business System, or DBS, provides a structure of business practices designed to eliminate waste and continually improve manufacturing and product development processes while delivering measurable value to our client partners in the form of higher product quality, greater cost-savings, enhanced efficiencies, faster delivery times and improved overall integration.

7 What We Do Purposeful innovation through a deeper, more meaningful understanding of you and your customers. Whatever your special needs for high performance electromechanical systems, Portescap has the experience, technology and resources to develop the best solution. When you partner with Portescap, you re teaming up with a knowledge leader in the fields of electronics, electromagnetics and precision micromechanics. Our commitment to innovation focuses on the issues that mean the most to you and your customers. This is true whether we re raising the bar in autoclavability in medical and dental devices, maximizing power density for extended battery life in industrial hand tools, or dramatically increasing torque output while reducing motor size to enable miniaturization. Innovation is part of the corporate DNA at Portescap. It s what keeps us moving and improving. Our research and development teams in North America, Europe and Asia are equipped to create high-quality precision motion solutions in virtually any configuration, environment or envelope. Through our integrated global network, we offer customers over 7 years of experience in the industry. We provide customized solutions to optimize every opportunity. At Portescap, we turn your ideas into reality. Often, a miniature motion challenges quickly, accurately and costeffectively. At Portescap, you talk, we listen. Then, we build complete solution can be developed from building blocks that we ve already created. However, there s nothing we what you need to succeed. like better than putting brand new ideas in motion. In fact, customization is one of our greatest strengths. Our An important factor in our success is the highly collaborative long track record of creating unique solutions spans a wide environment we create between customers and our Sales range of industries and applications. and Application Engineering resources. By providing extraordinary access during the prototyping phase, we re Our more recent examples include customization of gear able to collaborate as true partners in the process, and be motor assemblies for an articulating surgical handtool, and a responsive to often changing needs. This approach also custom stepper motor assembly for refrigeration valves. allows us to take a more active role in the short- and longterm success of our customers. Portescap takes rapid prototyping to a more inspired, interactive level. As your design cycles get tighter, Portescap will keep you on schedule with some of the fastest turnaround times in the industry often as short as two weeks. With development teams and prototyping facilities in key locations throughout the world, Portescap can solve the most complex

8 High Quality and Consistency, Delivered. We understand that quality is an unending process that finds expression in both our products and our approach to doing business. Motion solutions from Portescap are built to provide reliable high performance in some of the most demanding applications imaginable. Thorough motor specifications and material selection, high manufacturing standards, and a total commitment to post-sales support ensure that motion solutions from Portescap will meet your exacting performance standards today and in the future. Consistently high product quality is the result of manufacturing excellence that has placed Portescap among the best in its class. Integrated manufacturing facilities, leading-edge technologies, lean manufacturing principles and a perpetual drive toward improvement in design and execution allow us to deliver highly reliable motion solutions. Superior performance also means efficiency. Portescap s global positioning saves on logistical costs and enhances value for our customers with efficiencies of supply chain optimization. Along with this, our high-volume platforms and vast experience including 1 years of Low Cost Region manufacturing experience help keep our customers a step ahead in an increasingly competitive world. As our world continues to change, Portescap continues to adapt to changing conditions throughout industrialized global markets. To help us provide superior service and support, Portescap Customer Service delivers localized customer support teams. This demonstrates Portescap s commitment to staying in step with the specialized needs of customers around the world. Customers have come to highly regard Portescap s flexibility and adaptability, and continue to rely on us to share in their success. Portescap s Manufacturing Excellence helps keep you first in quality and first to market with key competitive advantages: A culture of continuous innovation and improvement Fast customization and responsive prototyping Efficiency, cost control and on-time delivery Value added solutions and sub-assemblies to meet your needs Exceptional performance, high degree of collaboration Leading-edge platform technologies Global design, manufacturing and account management Experience in key markets and applications Worldwide service and support

9 Applications & Products MEDICAL Portescap supplies motors for pumps, analyzers and surgical hand tools used by hospitals and medical device manufacturers for the purposes of drug delivery, testing, and surgery. Surgical Instruments Dental Instruments Respirators & Ventilators Infusion, Volumetric & Insulin Pumps Pipettes Analyzers & Scanners Inoculation Guns Laboratory Automation SECURITY Among Portescap s innovations is a solution that represented a fundamental shift in commercial locking and release technology. The shift was away from conventional electrical strike method of door locking to an electromechanical approach that provides a stronger, more secure locked state. Locks Bar Code Readers Cameras Fire Doors AEROSPACE & DEFENSE Portescap provides motors for seat actuation and electric window shades on commercial and corporate jets. Lighter, more compact motors that perform at a higher efficiency over a longer period of time and deliver significant great costsavings in maintenance and fuel. Seat Actuation Missile Fin Actuation Electric Window Shades Cockpit Gauge Controls Fuel Metering Cameras HVAC&R When heating, ventilation, air conditioning or refrigeration appliances demand affordable, reliable motion control, Portescap delivers with a variety of products and motor technologies. Refrigeration & Cooling Valves Damper Actuator Control Heating, Water & Gas Valves OTHER Robotics Factory Automation Industrial Hand Tools Scientific & Measuring

10 Our motors at work. MEDICAL: Surgical Handtools HVAC&R: Refrigeration Valve Actuation CIVIL AVIATION: Seat Actuation MEDICAL: Diagnostic Analyzer Compact, lightweight, and Energy efficient and leak-proof Coreless brush DC motors from Our coreless brush DC motor high-precision handtools play a seals are critical for electric Portescap address the technologies deliver class- crucial role in a wide range of refrigeration valves. Portescap challenge of energy efficiency leading performance across a surgical procedures, increasing provides geared can stack and in commercial aviation by using range of medical device both patient safety and direct drive linear actuator state of the art magnetics and applications. From sample comfort. Delivering up to 3% solutions with custom coil design, with efficiencies draw on assays, to drug more torque than traditional subassembly capability that approaching 85 9% while delivery via pumps, these motors, Portescap s allows for streamlined reducing weight of the motors. motors offer minimal noise and autoclavable brushless motors integration into the valve body A seat actuator motor from lower joule heating, creating generate minimal heat in an and for precision flow controls Portescap can be 5% lighter sustainable performance over ultra-compact package. This of refrigerants in the valve compared to an iron core the life of your project. An means higher performance and system. Our vast experience technology with similar output unparalleled speed-to-torque better quality of use, especially working with custom valve power, thus leading to fuel performance provides high in minimally invasive solutions and our understanding savings due to reduced weight energy efficiency and superior procedures. And, with higher of refrigerant control and of the airplane. We are able to space utilization. This means acceleration and peak speed, electrical connections lets us provide custom brush DC increased turnaround times of Portescap motors help provide you with cost effective solutions with ball bearings diagnostic results and accurate minimize time required for innovative systems that are that will not only extend the dose delivery to patients and a critical procedures, meaning a environmentally protective and life of motors in such faster recovery. faster start on patient recovery. space efficient. applications, but will let the passengers relax in peace.

11 BRUSH DC motors Brush DC 8mm Motor Coil Cross Section Brush DC 16mm Brush DC 35mm Your miniature motion challenges are unique and your ideas for meeting those challenges are equally unique. From medical to aerospace or security and access, Portescap s brush DC motion solutions are moving life forward worldwide in critical applications. The following Brush DC section features our high efficiency and high power density with low inertia coreless brush DC motor technology. Why a Brush DC motor 5 Brush DC Spotlight on Innovation 51 Brush DC Motor Basics 52 Brush DC Working Principles 55 How to select your Brush DC motor 57 Brush DC Specifications 58 Where to apply Brush DC motors 59 Brush DC motors at Work 6

12 Why a Brush DC motor Models Available from 8mm to 35mm Diameter Long life Patented Commutation Sysyem Virtually Eliminates Brush Maintenance Select Either Sleeve or Ball Bearings Ironless Rotor Coil Enables High Acceleration Optional Gearboxes and Magnetic or Optical Encoders Are Easily Added Innovation & Performance Portescap s brush DC coreless motors incorporate salient features like low moment of inertia, no cogging, low friction, very compact commutation which in turn results in high acceleration, high efficiency, very low joule losses and higher continuous torque. High Efficiency Design - Ideal for Battery-Fed Applications Brush DC commutation design Longer commutator life because of the design. REE system Stands for Reduction of Electro Erosion. The electro erosion, caused by arcing during commutation, is greatly reduced in low inertia coreless DC motors because of the low inductivity of their rotors. Ideal for portable and small devices, Portescap s coreless motor technologies reduce size, weight, and heat in such applications. This results in improved motor performance in smaller physical envelopes thus offering greater comfort and convenience for endusers. In addition, the coreless design enables long-life and higher energy efficiency in battery-powered applications. NEO magnet The powerful Neodymium magnets along with enhanced air gap design thus giving higher electro-magnetic flux and a lower motor regulation factor. Coreless rotor design Optimized coil and rotor reduces the weight and makes it compact. Portescap continues innovating coreless technology by seeking design optimizations in magnetic circuit, self supporting coreless coil along with commutator and collector configurations. Get your products to market faster through Portescap s rapid prototyping and collaborative engineering. Our R&D and application engineering teams can adapt brush DC coreless motors with encoders and gearboxes to perform in different configuration, environment, or envelope. Standard Features Max continuous torque ranging from.66 to mnm Speed ranging from 11, RPM (8mm) to 5,5 RPM (35mm) Motor regulation factor(r/k 2 ) ranging from 1,9 to /Nms Your Custom Motor Shaft extension and double shaft options Custom coil design (different voltages) Mounting plates Gear pulleys and pinion Shock absorbing damper and laser welding Special lubrication for Civil aviation and medical applications EMI filtering Cables and connectors Gearboxes

13 SPOTLIGHT ON INNOVATION Innovation is a passion at Portescap. It defines your success, and defines our future. We help you get the right products to market faster, through rapid prototyping and collaborative engineering. With experienced R&D and application engineering teams in North America, Europe, and Asia, Portescap is prepared to create high-quality precision motors, in a variety of configurations and frame sizes for use in diverse environments. Demanding application? Portescap is up for the challenge. Take our latest innovation Athlonix in high power density motors. Ultra-compact, and designed for lower joule heating for sustainable performance over the life of your product, Portescap s Athlonix motors deliver unparalleled speed-to-torque performance. And better energy efficiency brings you savings while helping you achieve your green goals. Athlonix motors are available in 12, 16, and 22mm. More Endurance. Higher Power Density. Smaller Package Looking for a lighter motor with more torque? 35GLT brush dc coreless motor from Portescap might be the solution for your needs. The 35GLT provides a 4% increase in torque-to-volume ratio over most average iron core motors. A featured multi-layer coil improves performance and offers insulating reinforcement, resulting in improved heat dissipation. Weighing in at only 36 grams and providing an energy efficiency of 85%, the 35GLT offers less power draw and excellent space savings. The quest for high-resolution feedback with accuracy in speed is the essence of Portescap s innovative MR2 magneto resistive encoder. These miniature encoders accommodate motors from frame sizes of 8mm to 35mm with superior integration schemes to facilitate a compact assembly with motors. And, with a resolution of 2 to 124 lines, Portescap s MR2 encoders meet your application requirements today - while flexibly adapting to your evolving needs.

14 Brush DC Motor Basics Construction of Portescap motors with iron less rotor DC motors All DC motors, including the ironless rotor motors, are composed of three principle sub assemblies: 1. Stator 2. Brush Holder Endcap 3. Rotor Stator Tube Self Supporting High Packing Density Rotor Coil Sleeve or Ball Bearing Collector High Efficiency High Strength Rare Earth Magnet Cable Clamp Metallic Alloy Brush Commutation System 1. The stator The stator consists of the central, cylindrical permanent magnet, the core which supports the bearings, and the steel tube which completes the magnetic circuit. All three of these parts are held together by the motor front plate, or the mounting plate. The magnetic core is magnetized diametrically after it has been mounted in the magnetic system 2. The Brush Holder Endcap The Brush Holder Endcap is made of a plastic material. Depending on the intended use of the motor, the brush could be of two different types: Carbon type, using copper grahite or silver graphite, such as those found in conventional motors with iron rotors. Multiwire type, using precious metals. 3. The Rotor Of the three sub-assemblies, the one that is most characteristic of this type of motor is the ironless, bell-shaped rotor. There are primarily four different methods of fabricating these ironless armatures utilized in present-day technology. A In the conventional way, the various sections of the armature are wound separately, then shaped and assembled to form a cylindrical shell which is glass yarn reinforced, epoxy resin coated, and cured. It is of interest to note the relatively large coil heads which do not participate in the creation of any torque.

15 B A method which avoids these coil heads uses an armature wire that is covered with an outer layer of plastic for adhesion, and is wound on a mobile lozenge-shaped support. Later, the support is removed, and a flat armature package is obtained, which is then formed into a cylindrical shape (Figure 1). The difficulty with this method lies in achieving a completely uniform cylinder. This is necessary for minimum ripple of the created torque, and for a minimum imbalance of the rotor. Figure 1 - Continuous winding on mobile support 3 1 2a 1a 2 5 a) support arrangement b) armature as flat package c) forming of armature in cylindrical shape C A procedure which avoids having to form a perfect cylinder from a flat package consists of winding the wire directly and continuously onto a cylindrical support. This support then remains inside the rotor. Coil heads are reduced to a minimum. Although a large air gap is necessary to accommodate the armature support; this method is, however, easily automated. D The Skew-Wound armature method utilizes the same two-layer plastic coated wire described in Method B. This Wire is directly and continuously wound onto a cylindrical support which is later removed, thus eliminating an excessive air gap and minimizing rotor inertia. In this type of winding, inactive coil heads are non-existent. (Figure 2). This kind of armature winding does require relatively complex coil winding machines. Portescap thru its proprietary know how has developed multiple automated winding machines for different frame sizes and continues to innovate in the space so that dense coil windings can be spun in these automated machines. Figure 2

16 Features of Ironless Rotor DC Motors The rotor of a conventional iron core DC motor is made of copper wire which is wound around the poles of its iron core. Designing the rotor in this manner has the following results: A large inertia due to the iron mass which impedes rapid starts and stops A cogging effect and rotor preferential positions caused by the attraction of the iron poles to the permanent magnet. A considerable coil inductance producing arcing during commutation. This arcing is responsible on the one hand for an electrical noise, and on the other hand for the severe electro erosion of the brushes. It is for the latter reason that carbon type brushes are used in the conventional motors. A self supporting ironless DC motor from Portescap has many advantages over conventional iron core motors: high torque to inertia ratio absence of preferred rotor positions very low torque and back EMF variation with armature positions essentially zero hysteresis and eddy current losses negligible electrical time constant almost no risk of demagnetization, thus fast acceleration negligible voltage drop at the brushes (with multiwire type brushes) lower viscous damping linear characteristics REE System proven to increase motor life up to 1 percent The two biggest contributors to the commutator life in a brush DC motor are the mechanical brush wear from sliding contacts and the erosion of the electrodes due to electrical arcing. The superior surface finish, commutator precision along with material upgrades such as precious metal commutators with appropriate alloys has helped in reducing the mechanical wear of the brushes. To effectively reduce electro erosion in while extending commutator life Portescap innovated its proprietary REE (Reduced Electro Erosion) system of coils. The REE system reduces the effective inductivity of the brush commutation by optimization of the mutual induction of the coil segments. In order to compare and contrast the benefits of an REE system Portescap conducted tests on motors with and with out REE coil optimization. The commutator surface wear showed improvements ranging from 1-3 percent as shown in Figure 5. Coils 4, 5 and 6 are REE reinforced while 1, 2 & 3 are without REE reinforcement.

17 Brush DC Working Principles The electromechanical properties of motors with ironless rotors can be described by means of the following equations: 1. The power supply voltage U is equal to the sum of the voltage drop produced by the current I in the ohmic resistance R M of the rotor winding, and the voltage U i induced in the rotor : U = I x R M + U i (1) RM I U with an ironless rotor : U = M x R M + k E x ω (4) By calculating the constant k E and k T from the dimensions of the motor, the number of turns per winding, the number of windings, the diameter of the rotor and the magnetic field in the air gap, we find for the direct-current micromotor with an ironless rotor: M = U i = k (5) I ω Which means that k = k E = k T The identity k E = k T is also apparent from the following energetic considerations: Graphic express speed-torque characteristic: n n M L U To overcome the friction torque M f due to the friction of the brushes and bearings, the motor consumes a no-load current I. This gives M f = k x I I M L I M L M UI 2. The voltage U i induced in the rotor is proportional to the angular velocity ω of the rotor : U i = k E x ω (2) It should be noted that the following relationship exists between the angular velocity ω express in radians per second and the speed of rotation n express in revolutions per minute: ω = 2π n 6 3. The rotor torque M is proportional to the rotor current I: M = k T x I (3) It may be mentioned here that the rotor torque M is equal to the sum of the load torque M L supplied by the motor and the friction torque M f of the motor : M = M L + M f By substituting the fundamental equations (2) and (3) into (1), we obtain the characteristics of torque/angular velocity for the dc motor The electric power P e = U x I which is supplied to the motor must be equal to the sum of the mechanical power P m = M x ω produced by the rotor and the dissipated power (according to Joule s law) P v = I 2 x R M : P e = U x I = M x ω + I 2 x R M = P m + P v Moreover, by multiplying equation (1) by I, we also obtain a formula for the electric power P e : P e = U x I = I 2 x R M + U i x I The equivalence of the two equations gives M x ω = U i x I or U i = M and k E = k T = k ω I Quod erat demonstrandum. Using the above relationships, we may write the fundamental equations (1) and (2) as follows: U = I x R M + k x ω (6) and : U = M x R M + k x ω (7) k and: U = I x R M + k x ω where ω = 2π x n 6 hence: k = U - I x R M (8) ω Is it therefore perfectly possible to calculate the motor constant k with the no-load speed n, the no-load current I and the rotor resistance R M. The starting-current I d is calculated as follows: I d = U R M It must be remembered that the R M depends to a great extent on the temperature; in other words, the resistance of the rotor increases with the heating of the motor due to the dissipated power (Joule s law): R M = R M (1 + γ x T) Where γ is the temperature coefficient of copper (γ =.4/ C). As the copper mass of the coils is comparatively small, it heats very quickly

18 Brush DC Working Principles through the effect of the rotor current, particularly in the event of slow or repeated starting. The torque M d produced by the starting-current I d is obtained as follows: M d = I d x k - M f = (I d - I )k (9) By applying equation (1), we can calculate the angular velocity ω produced under a voltage U with a load torque M i. We first determine the current required for obtaining the torque M = M L + M f : I = M L + M f k Since M f = I k we may also write (1) I = M L + I k required for obtaining a speed of rotation n for a given load torque M L (angular velocity ω = n x 2π/6). By introducing equation (1) into (6) we obtain: U = ( M L + I ) R M + k x ω (13) k Practical examples of calculations Please note that the International System of Units (S.I.) is used throughout. 1. Let us suppose that, for a Portescap motor 23D21-216E, we wish to calculate the motor constant k, the starting current I d and the starting torque M d at a rotor temperature of 4 C. With a power supply voltage of 12V, the no-load speed is n is 49 rpm (ω = 513 rad/s), the no-load current I = 12 ma and the resistance R M = 9.5 Ω at 22 C. Using equation (1) we first calculate the current which is supplied to the motor under these conditions: I = M L + I = k.232 =.357A Equation (11) gives the angular velocity ω: ω = U I x R M = x 1.2 k.232 = 231 rad/s and the speed of rotation n: n = 6 ω = 22 rpm 2π Thus the motor reaches a speed of 22 rpm and draws a current of 357 ma. For the angular velocity ω, we obtain the relationship ω = U I x R M (11) k = U R M (M L + M f ) k k 2 In which the temperature dependence of the rotor resistance R M must again be considered; in other words, the value of R M at the working temperature of the rotor must be calculated. On the other hand, with the eqation (6), we can calculate the current I and the load torque M L for a given angular velocity ω and a given voltage U : I = U k x ω = I d k ω (12) R M R M And with equation (1) M L = (I I )k We get the value of M L : M L = (I I )k k 2 ω R M The problem which most often arises is that of determining the power supply voltage U By introducing the values ω, I, R M and U into the equation (8), we obtain the motor constant k for the motor 23D21-216E: k = x 9.5 =.232 Vs 15 Before calculating the starting-current, we must calculate the rotor resistance at 4 C. With T = 18 C and R M = 9.5Ω, we obtain R M = (1 +.4 x 18) = 9.5 x 1.7 = 1.2Ω The starting-current I d at a rotor temperature of 4 C becomes I d = U = 12 = 1.18A R M 1.2 and the starting-torque M d, according to equation (9), is M d = k(i d I ) =.232 ( ) =.27 Nm 2. Let us ask the following question: what is the speed of rotation n attained by the motor with a load torque of.8 Nm and a power supply voltage of 9V at a rotor temperature of 4 C? 3. Let us now calculate the torque M at a given speed of rotation n of 3 rpm (ω = 314 rad/s) and a power supply voltage U of 15V; equation (12) gives the value of the current: I = U k x ω = I d k x ω R M R M = x 314 =.466A 1.2 and the torque load M L : M L = k(i I ) =.232 ( ) =.15 Nm (M L = 1.5 mnm) 4. Lastly, let us determine the power supply voltage U required for obtaining a speed rotation n of 4 rpm (ω = 419 rad/s) with a load torque of M L of.8 Nm, the rotor temperature again being 4 C (R M = 1.2Ω).. As we have already calculated, the current I necessary for a torque of.8 Nm is.357 A U = I x R M + k x ω =.357 x x 419 = 13.4 volt

19 How to select your Coreless motor PRODUCT RANGE CHART FRAME SIZE 8GS 8G 13N 16C 16N28 16G Max Continuous Torque mnm (Oz-in).66 (.93).87 (.12) 3.33 (.47) 1. (.14) 2.4 (.34) 5.4 (.76) Motor Regulation R/K /Nms Rotor Inertia Kgm S 17N 22S 22N28 22V 23L Max Continuous Torque mnm (Oz-in) 2.6 (.37) 4.85 (.69) 9.5 (1.34) 7.3 (1.4) 8.13 (1.15) 6.2 (1.16) Motor Regulation R/K /Nms Rotor Inertia Kgm FRAME SIZE 23V 23GST 25GST 25GT 26N 28L 28LT Max Continuous Torque mnm (Oz-in) 13 (1.8) 22 (3.1) 27 (3.8) 41 (5.8) 17.3 (2.4) 21. (2.97) Motor Regulation R/K /Nms 3 11 (.4) Rotor Inertia Kgm D 28DT 3GT 35NT2R32 35NT2R82 35GLT Max Continuous Torque mnm (Oz-in) 33.6 (4.8) 41 (5.8) 93 (13.2) 58.3 (8.3) 115 (16.3) Motor Regulation R/K /Nms Rotor Inertia Kgm (3.23) Motor Designation 22 N 2R 2B - 21E 286 Motor diameter (in mm) Bearing type: blank = with sleeve bearings 2R = with front and rear ball bearings Coil type: nb of layer wire size type connexion Execution coding Motor generation/ length: L, C = old generation (C: short, L: long), Alnico Magnet S, N, V = middle generation (S: short, N: normal, V: very long) G, GS = new generation (high power magnet), S: short version Commutation size & type/ magnet type: Alnico/ Precious Metal = 18, 28, 48, 58 NdFeB/ Precious Metal = 78, 88, 98 Alnico/ Graphite & Copper = 12 NdFeB/ Graphite Copper = 82, 83

20 Explanation of Specifications MOTOR PART NUMBER 16N28 25E Explanation MEASURING VOLTAGE V 18 Is the DC voltage on the motor terminals and is the reference at which all the data is measured NO LOAD SPEED rpm 96 This is the the speed at which motor turns when the measuring voltage is applied with out any load STALL TORQUE mnm (oz-in) 2.9 (.41) Minimum torque required to stall the motor or stop the motor shaft from rotating at measuring voltage AVERAGE NO LOAD CURRENT ma 4.9 The current drawn by the motor at no load while operating at the measured voltage TYPICAL STARTING VOLTAGE V.45 The minimum voltage at which the motor shaft would start rotating at no load MAX RECOMMENDED VALUES MAX CONT CURRENT A.15 The maximum current that can be passed through the motor with out overheating the coil MAX CONT TORQUE mnm (oz-in) 2.5 (.35) The maximum torque that can be applied without overheating the coil MAX ANGULAR ACCELERATION 1 3 rad/s The maximum feasible rotor acceleration to achieve a desired speed INTRINSIC PARAMETERS BACK-EMF CONSTANT V/1 rpm 1.8 Voltage induced at a motor speed of 1 rpm TORQUE CONSTANT mnm/a (oz-in/a) 17.3 (2.45) Torque developed at a current of 1 A TERMINAL RESISTANCE ohm 19 Resistance of the coil at a temperature of 22 o C MOTOR REGULATION 1 3 /Nms 36 It is the slope of speed torque curve ROTOR INDUCTANCE mh 3 Measured at a frequency of 1 khz ROTOR INERTIA kgm Order of magnitude mostly dependent on mass of copper rotating MECHANICAL TIME CONSTANT ms 2 Product of motor regulation and rotor inertia 14 Speed vs Torque curve 16N28 at 18V 12 1 N (RPM) Continuous Working range Temporary Working range M (mnm)

21 Markets & Applications MEDICAL Powered surgical instruments Dental hand tools Infusion, Volumetric & Insulin Pumps Diagnostic & scanning equipment Benefits: Reduced footprint analyzers with high efficiency & precision sample positioning SECURITY & ACCESS Security cameras Locks Bar code readers Paging systems Benefits: Low Noise & Vibration, High Power & Superior Efficiency AEROSPACE & DEFENSE Cockpit gauge Indicators Satellites Optical scanners Benefits: Low Inertia, Compactness and Weight, High Efficiency ROBOTICS & FACTORY AUTOMATION Conveyors Remote controlled vehicles Benefits: High Power & Low Weight Industrial robots POWER HAND TOOLS Shears Pruning hand tools Nail guns Benefits: High Efficiency, Compactness and Weight, Low Noise OTHER Office equipment Semiconductors Model railways Document handling Optics Automotive Transportation Audio & video Benefits: Low Noise, High Power, Better Motor Regulation

22 Brush DC Motors at Work MEDICAL ANALYZERS Portescap solves multiple application needs in analyzers, from sample draw on assays to rapid scanning and detection of molecular mechanisms in liquids and gases, with its coreless brush dc motors. For high throughput applications those where over 1, assays are analyzed in an hour high efficiency and higher speed motors such as brush DC coreless motors are a suitable choice. Their low rotor inertia along with short mechanical time constant makes them ideally suited for such applications. As an example, a Portescap 22-mm motor brush coreless DC motor offers no-load speed of 8, rpm and a mechanical time constant of 6.8 milliseconds. Another analyzer function that plays a vital role in their output is collecting samples from the vials or assays, and serving them up to measurement systems based on photometry, chromatography, or other appropriate schemes. Here again, a brush DC coreless motor is highly applicable due to the power density it packs in a small frame size. You can maximize your application s productivity with a 16 or 22mm workhorse from Portescap. INFUSION PUMPS Coreless brush DC motors offer significant advantages over their iron core brush counterparts for some of the critical care pump applications where, the benefits range from improved efficiency to higher power density, in a smaller frame size. One of the factors that deteriorates motor performance over long term usage is the heating of the motor with associated Joule loss. In motor terminology this is governed by the motor regulation factor determined by the coil resistance, R, and the torque constant, k. The lower the motor regulation factor (R/k 2 ) the better would the motor perform over its life while sustaining higher efficiencies. With some of the lowest motor regulation factors Portescap s latest innovation in Athlonix motors is already benefiting applications in the infusion pump space by offering a choice of a higher performance motor with less heat loss, higher efficiency and power density in compact packages. ELECTRONICS ASSEMBLY SURFACE MOUNT EQUIPMENT Portescap s versatile 35mm coreless motors with carbon brush commutation excel in electronic assembly, robotics and automated machinery equipment and have been a work horse in some of the pick and place machinery used in surface mount technology. Our 35mm low inertia motors can provide high acceleration, low electro magnetic interference, and frequent start stops that the machines need while maintaining smaller and light weight envelopes.

23 Miniature Motors Notes 61

24 8GS61 Precious Metal Commutation System - 5 Segments.5 Watt dimensions in mm mass: 3.8 g 8GS61 3 Winding Type C Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in).42 (.6).59 (.84).64 (.91) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in).64 (.9).64 (.91).66 (.93) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 2.63 (.372) 3.92 (.55) 5.1 (.72) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Gearbox Page 8GS61 R R8 Contact Portescap Thermal resistance: rotor-body 2 C/W body-ambient 1 C/W Thermal time constant rotor/stator: 5 s/1s Max. rated coil temperature: 1 C Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Max. axial static force: 3 N End play: 1 µm Radial play: 15 µm Shaft runout: 1 µm Max. side load at 2 mm from mounting face: - sleeve bearings.5 N Motor fitted with sleeve bearings Max. Recommended Speed n (rpm) Max. Continuous Output Power.5 W M(mNm) Values at the output shaft Continuous working range Temporary working range 62

25 Miniature Motors 8G61.7 Watt Precious Metal Commutation System - 5 Segments 8 -,8 1 M 5,5 x,5 6 -,18 4,3,2 1,5 -,15 4,5 -,1,5,4 1,9 2,1 2 1,55 19,6 dimensions in mm mass: 4.5 g 8G Brushed DC Winding Type C Measured Values Measuring voltage V 3 9 No-load speed rpm Stall torque mnm (oz-in).73 (.13) 1.1 (.143) Average No-load current ma Typical starting voltage V.2.6 Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in).7 (.99).87 (.12) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm.3.75 Torque constant mnm/a (oz-in/a) 2.86 (.46) 7.2 (1.1) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh.3.16 Rotor inertia kgm Mechanical time constant ms Executions Gearbox Page 8GS61 R R8 Contact Portescap Thermal resistance: rotor-body 18 C/W body-ambient 85ºC/W Thermal time constant rotor/stator: 5 s/1s Max. rated coil temperature: 1 C Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Max. axial static force: 3 N End play: 1 µm Radial play: 15 µm Shaft runout: 1 µm Max. side load at 2 mm from mounting face: - sleeve bearings.5 N Motor fitted with sleeve bearings Max. Recommended Speed n (rpm ).7 W Max. Continuous Output Power M(mNm) Values at the output shaft Continuous working range Temporary working range 63

26 thloni 12G88 Precious Metal Commutation System - 9 Segments 2.5 Watt dimensions in mm mass: 15 g 12G88 1 Winding Type Measured Values Measuring voltage No-load speed Stall torque Average No-load current Typical starting voltage Max. Recomended Values Max. continuous current Max. continuous torque Max. angular acceleration Intrinsic Parameters Back-EMF constant Torque constant Terminal resistance Motor regulation R/k 2 Rotor inductance Rotor inertia Mechanical time constant Executions Single Shaft V rpm mnm (oz.in) ma V A mnm (oz.in) 1 3 rad/s 2 V/1 rpm mnm/a (oz.in/a) Ohms 1 3 /Nms mh kgm ms With MR2 Gearbox Page 12G88 12G88 R R E (.96) (.52) (.69) Thermal resistance : rotor-body 1 C/W body-ambient 5 C/W Thermal time constant rotor/stator: 6s / 3s Max. rated coil temperature: 1 C (21 F) Recom. Ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.4 x 1-6 Nms Max axial static force for press-fit: 15N End play: 15 μm Radial play: 3 μm Shaft runout: 1 μm Max. side load at 5mm from mounting face sleeve bearings 1.5 N Motor fitted with sleeve bearings (ball bearings optional) 211E (1.1) (.52) (1.22) Max. Recommended Speed n(rpm) Max. continuous output power M(mNm) 64

27 Miniature Motors 13N Watt Precious Metal Commutation System - 9 Segments dimensions in mm mass: 18 g 13N88 1 Brushed DC Winding Type -213E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 6.5 (.93) 8 (1.13) 8.4 (1.19) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 3.3 (.43) 3.33 (.47) 3.18 (.45) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 4.58 (.65) 9.1 (1.28) 15.9 (2.26) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Gearbox Page 13N88 13N88D12 Thermal resistance: rotor-body 1 C/W body-ambient 4 C/W Thermal time constant - rotor / stator: 6 s / 3 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: Max. Recommended Speed R C to +85 C (-22 F to +185 F) Viscous damping constant:.4 x 1-6 Nms Max. axial static force for press-fit: 15 N End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 1.5 N Motor fitted with sleeve bearings (ball bearings optional) 2.5 W Max. Continuous Output Power 65

28 16C18 Precious Metal Commutation System - 5 Segments.85 Watt 1 M 1,6 x1,4 max ,1 6 -,18 1,5 -,6 -, ,1 6 -,18 1 -, ,9 4 3,7 1 ( 6,5 ) 3,7 1 ( 5,7 ) 15 ±3 2 15,7 7,5 2 15,7 6,7 dimensions in mm mass: 13 g 16C C18 67 Winding Type Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 1.1 (.16) 1.3 (.19) 1.1 (.16) 1.2 (.17).8 (.11) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in).98 (.14) 1.13 (.16) 1. (.14) 1. (.14).79 (.11) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a).88 (.12) 2.48 (.35) 3.44 (.49) 6.68 (.95) 8.3 (1.18) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft With F16 Gearbox Page 16C18 16C18 B BA R Thermal resistance: rotor-body 15 C/W body-ambient 4 C/W Thermal time constant - rotor / stator: 4 s / 23 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.4 x 1-6 Nms Max. axial static force for press-fit: 15 N End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings.5 N - ball bearings 3 N Motor fitted with sleeve bearings (ball bearings optional) Max. Recommended Speed Max. Continuous Output Power Values at the output shaft 66

29 Miniature Motors 16N Watt Precious Metal Commutation System - 9 Segments Max screw torque 4mNm Max traction 23N 15, M 1,6 x 2,5 max ,5 1,7 5,5 28 dimensions in mm mass: 24 g 16N ,5 (6,5) Brushed DC Winding Type -111P -21E -28E -27E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 3.7 (.52) 3.7 (.52) 3.1 (.45) 3.1 (.45) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 2.9 (.44) 2.9 (.41) 2.7 (.38) 2.4 (.34) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 2.96 (.42) 7.2 (1.) 9.5 (1.35) 1.3 (1.45) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft With F16 Gearbox Page 16N28 16N28 B BA R Thermal resistance: rotor-body 7 C/W body-ambient 28 C/W Thermal time constant - rotor / stator: 7 s / 39 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.4 x 1-6 Nms Max. axial static force for press-fit: 1 N (with sleeve bearing only) End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 1.5 N - ball bearings 3 N Motor fitted with sleeve bearings (ball bearings optional) Max. Recommended Speed ) Max. Continuous Output Power 67

30 16N28 Precious Metal Commutation System - 9 Segments 2.3 Watt Max screw torque 4mNm Max traction 23N 15, M 1,6 x 2,5 max ,5 1,7 6 (6,5) 5,5 28 7,5 dimensions in mm mass: 24 g 16N28 21 Winding Type E 29E 27P Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 3.4 (.48) 2.9 (.41) 5.4(.76) 2.7(.38) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 2.7 (.38) 2.5 (.35) 3.5(.5) 2.7(.38) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 14.6 (2.7) 17.3 (2.45) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft With F16 Gearbox Page 16N28 16N28 B BA R Thermal resistance: rotor-body 7 C/W body-ambient 28 C/W Thermal time constant - rotor / stator: 7 s / 39 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.4 x 1-6 Nms Max. axial static force for press-fit: 1 N (with sleeve bearing only) End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 1.5 N - ball bearings 3 N Motor fitted with sleeve bearings (ball bearings optional) Max. Recommended Speed ) Max. Continuous Output Power 68

31 6x Miniature Motors 16G88 5 Watt Precious Metal Commutation System - 9 Segments Max screw torque 4 mnm Max traction 23 N 1 M 1,6 x2,8 max. 6 -, ,1 6 -,18 1,5 -,6 -,9 2x 1,8 x ,5 1 ( 6,5 ) ,5,5 15,3 Brushed DC dimensions in mm mass: 24 g 16G88 1 Winding Type -22P -213E -211E -21E -214E -25E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 16 (2.3) 12.7 (1.8) 12.1 (1.71) 12.2 (1.73) 12.1(1.71) 8.8 (1.25) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 5.2 (.74) 5.8 (.82) 5.4 (.76) 5.4 (.76) 5.3(.75) 4.8 (.68) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 2.58 (.36) 1.7 (1.51) 13.1 (1.85) 15.8 (2.23) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft Gearbox Page 16G88 B BA R Thermal resistance: rotor-body 8 C/W body-ambient 35 C/W Thermal time constant - rotor / stator: 6 s / 5 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.5 x 1-6 Nms Max. axial static force for press-fit: 1 N End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 1.5 N Motor fitted with sleeve bearings Max. Recommended Speed Max. Continuous Output Power 69

32 thloni 16N78 Precious Metal Commutation System - 9 Segments 4 Watt Max traction force: 13 N Max screw torque: 5 mnm dimensions in mm mass: 24 g 16N78 11 Winding Type Measured Values Measuring voltage No-load speed Stall torque Average No-load current Typical starting voltage Max. Recomended Values Max. continuous current Max. continuous torque Max. angular acceleration Intrinsic Parameters Back-EMF constant Torque constant Terminal resistance Motor regulation R/k 2 Rotor inductance Rotor inertia Mechanical time constant Executions Single Shaft V rpm mnm ma V A mnm 1 3 rad/s 2 V/1 rpm mnm/a Ohms 1 3 /Nms mh kgm ms With MR2 Gearbox Page 16N78 16N98 B BA R Thermal resistance : rotor-body 7 C/W body-ambient 28 C/W Thermal time constant rotor/stator: 7s / 39s Max. rated coil temperature: 1 C (21 F) Recom. Ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.4 x 1-6 Nms Max axial static force for press-fit: 1N (with sleeve bearing only) End play: 15 μm Radial play: 3 μm Shaft runout: 1 μm Max. side load at 5mm from mounting face sleeve bearings 1.5 N ball bearings 3 N Motor fitted with sleeve bearings (ball bearings optional) 7 212P E E E Max. Recommended Speed n(rpm) E M(mNm)

33 Miniature Motors 17S Watt Precious Metal Commutation System - 9 Segments 1 M 1,6 x 1,5 max ,4 16 1, ,7 4,5 6 5,5 18,7 1 7,5 (6,5) Brushed DC dimensions in mm mass: 19 g 17S78 1 Winding Type -28P -21E -29E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 4.3 (.61) 3.9 (.55) 5.9 (.84) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 2.6 (.37) 2.4 (.34) 2.8 (.4) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 5.4 (.77) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh.15 Rotor inertia kgm Mechanical time constant ms Executions Single Shaft With F16 Gearbox Page 17S78 17S78 B BA R Thermal resistance: rotor-body 13 C/W body-ambient 38 C/W Thermal time constant - rotor / stator: 7 s / 35 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.4 x 1-6 Nms Max. axial static force for press-fit: 1 N End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 1.5 N - ball bearings 3 N Motor fitted with sleeve bearings Max. Recommended Speed n (rpm ) Values at the output shaft Continuous working range Temporary working range Max. Continuous Output Power M(mNm) 71

34 6 17N78 Precious Metal Commutation System - 9 Segments 3.2 Watt 1 -,15 M 1,6 x 1,5 max. 15, ,1 15, ,18 1,5 -,6 -,9 6x 1,7 1,5 2,8 ±,1 6 ±,5 1 ( 6,5 ) 5,5 25,9 7,5 ±,5 dimensions in mm mass: 27 g 17N78 1 Winding Type -216E -122A -21E -28E -27E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 12.5 (1.77) 7.6 (1.8) 9.3 (1.31) 9.4 (1.33) 9.4 (1.33) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 5.69 (.81) 3.9 (.55) 4.85 (.69) 4.89 (.69) 4.79 (.68) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 6.7 (.95) (1.89) 2.1 (2.84) 25.5 (3.61) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft With F16 Gearbox Page 17N78 17N78 B BA R Thermal resistance: rotor-body 1 C/W body-ambient 3 C/W Thermal time constant - rotor / stator: 7 s / 4 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.4 x 1-6 Nms Max. axial static force for press-fit: 1 N End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 1.5 N - ball bearings 3 N Motor fitted with sleeve bearings (ball bearings optional) Max. Recommended Speed Values at the output shaft Continuous working range Temporary working range 72 n (rpm ) Max. Continuous Output Power M(mNm)

35 Miniature Motors 22S78 6 Watt Precious Metal Commutation System - 9 Segments Ø12 M 2 x2 max. 2 1 Ø Ø 15,4 7 -,22 1,5 -,6 -,9 21,8 22 -,1 Ø Ø Ø 3x ,7 6 ±,5 5, ( 6,5 ) dimensions in mm mass: 49 g 22S78 1 7,5 ±,5 Brushed DC Winding Type 28E 21E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 18.3 (2.6) 22 (3.1) Average No-load current ma Typical starting voltage V.2.1 Max. Recommended Values Max. continuous current A.3.41 Max. continuous torque mnm (oz-in) 7.7 (1.1) 8.9 Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 26.7 (3.78) 22 Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh.85 Rotor inertia kgm Mechanical time constant ms Executions Single Shaft Gearbox Page 22S78 R Thermal resistance: rotor-body 5 C/W body-ambient 3 C/W Thermal time constant - rotor / stator: 7 s / 48 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.4 x 1-6 Nms Max. axial static force for press-fit: 1 N End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 1.5 N - ball bearings 3 N Motor fitted with sleeve bearings (ball bearings optional) Max. Recommended Speed n (rpm ) 6W M(mNm) Values at the output shaft Continuous working range Temporary working range Max. Continuous Output Power 73

36 22S28 Precious Metal Commutation System - 9 Segments 2.5 Watt dimensions in mm mass: 49 g 22S28 1 Winding Type 25E 28E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 4.9 (.58) 6.3 (.89) Average No-load current ma Typical starting voltage V.3.2 Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 4.1 (.58) 4.2 (.59) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft Gearbox Page 22S28 R Thermal resistance: rotor-body 5 C/W body-ambient 3 C/W Thermal time constant - rotor / stator: 7 s / 48 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.4 x 1-6 Nms Max. axial static force for press-fit: 1 N End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 1.5 N - ball bearings 3 N Motor fitted with sleeve bearings (ball bearings optional) Max. Recommended Speed Max. Continuous Output Power

37 Miniature Motors 22N28/ Watt Precious Metal Commutation System - 9 Segments Max screw torque 13 mnm Max traction 3N M 2 x3 max ,6 -,9 22 -,1 2 -,6 -,9 4x M max. 5 1,6 x min ,22 15,4 1,5 -,6 -,9 1 -, , ,5 42 6x ,7 6 ±,5 6 ±,5 15 ±3 1 ( 6,5 ) 1 ( 6,5) 5,5 32 7,5 ±,5 12 ±,4 33,9 7,5 ±,5 dimensions in mm mass: 53 g 22N N48 38 Brushed DC Winding Type -216P -216E -213E -21E -28E -15 Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 1.9 (1.54) 1.6 (1.5) 1.7 (1.51) 8.6 (1.21) 8.2 (1.16) 4.3 (.61) Average No-load current 1) ma 12.6/27 7./14 6./11 4.5/9 3.5/7 1.4/3 Typical starting voltage 1) V.3/.25.5/.35.6/.45.8/.5.12/.7.24/.9 Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 8.1 (1.15) 8.4 (1.19) 7.5 (1.6) 7.3 (1.4) 7. (.98) 6.6 (.93) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 5.44 (.77) 1.2 (1.45) 12.2 (1.73) 19.3 (2.73) 27. (3.83) 47.3 (6.69) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms ) Single Shaft/double shaft Executions Single Shaft For F16 For E9 Gearbox Page 22N28 22N28 22N48 R M K K RG1/ RG1/ K Thermal resistance: rotor-body 6 C/W body-ambient 22 C/W Thermal time constant - rotor / stator: 9 s / 55 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: -3 C to +65 C (-22 F to +15 F) Viscous damping constant:.1 x 1-6 Nms Max. axial static force for press-fit: 15 N End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 3 N - ball bearings 6 N Motor fitted with sleeve (ball bearings optional) Max. Recommended Speed n (rpm ) Values at the output shaft Continuous working range Temporary working range Max. Continuous Output Power M( M(mNm) 75

38 22V28/48 Precious Metal Commutation System - 9 Segments 4.5 Watt Max screw torque 13 mnm Max traction 3N dimensions in mm mass: 68 g 22V V48 24 Winding Type -213P -216E -213E -21E -28E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 16. (2.27) 17.1 (2.42) 15. (2.13) 11.5 (1.63) 11.5 (1.62) Average No-load current 1) ma 15/22 9/ /11 6./9 3.2/4.8 Typical starting voltage 1) V.8/.3.1/.4.15/.6.24/1..4/1.6 Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 9.9 (1.29) 9.66 (1.37) 8.48 (1.2) 7.4 (1.5) 8.13 (1.15) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 8. (1.13) 12.7 (1.8) 14.9 (2.11) 18.8 (2.66) 35,8 (5.7) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms ) Single Shaft/double shaft Executions Single Shaft For F16 For E9 Gearbox Page 22V28 22V28 22V48 R M K K RG1/ RG1/ K Thermal resistance: rotor-body body-ambient 22 C/W Thermal time constant - rotor / stator: 1 s / 46 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.1 x 1-6 Nms Max. axial static force for press-fit: 15 N End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 3 N - ball bearings 6 N Motor fitted with sleeve bearings (ball bearings optional) Max. Recommended Speed 6 C/W n (rpm ) M(mNm) Values at the output shaft Continuous working range Temporary working range W Max. Continuous Output Power

39 Miniature Motors thloni 22N78/98 9 Watt Precious Metal Commutation System - 9 Segments Max traction force: 3 N Max screw torque: 13 mnm dimensions in mm mass: 53 g 22N N98 15 Brushed DC Winding Type Measured Values Measuring voltage No-load speed Stall torque Average No-load current Typical starting voltage Max. Recomended Values Max. continuous current Max. continuous torque Max. angular acceleration Intrinsic Parameters Back-EMF constant Torque constant Terminal resistance Motor regulation R/k 2 Rotor inductance Rotor inertia Mechanical time constant V rpm mnm ma V A mnm 1 3 rad/s 2 V/1 rpm mnm/a Ohms 1 3 /Nms mh kgm ms 324P P P P E E E Executions Single Shaft With MR2 With E9 Gearbox Page 22N78 22N98 22N98 R M K K RG1/ RG1/ K Thermal resistance : rotor-body 6 C/W body-ambient 22 C/W Thermal time constant rotor/stator: 9s / 55s Max. rated coil temperature: 1 C (21 F) Recom. Ambient temperature range: -3 C to +65 C (-22 F to +15 F) Viscous damping constant:.1 x 1-6 Nms Max axial static force for press-fit: 15N (with sleeve bearing only) End play: 15 μm Radial play: 3 μm Shaft runout: 1 μm Max. side load at 5mm from mounting face sleeve bearings 3 N ball bearings 6 N Motor fitted with sleeve bearings (ball bearings optional) Max. Recommended Speed n(rpm) M(mNm) 77

40 6x 23L21 Precious Metal Commutation System - 9 Segments 4.2 Watt 17 M 2 x2,2 -, ,22 3 -,6 -,9 6 4,6 4,7 34,1 1 1,5 ( 11 ) 12,5 dimensions in mm mass: 7 g 23L21 1 Winding Type -216E -213E -28E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 16.9 (2.39) 14.9 (2.11) 11.1 (1.57) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 9.2 (1.3) 8.2 (1.16) 7.6 (1.8) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 12.4 (1.76) 14.8 (2.1) 34.6 Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Thermal resistance: rotor-body 7 C/W body-ambient 16 C/W Thermal time constant - rotor / stator: 12 s / 46 s Max. rated coil temperature: 1 C Recom. ambient temperature range: -3 C to +85 C (-22 F to 285 F) Max. axial static force for press-fit: 25 N End play: 15 µm Radial play: 18 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 6 N - ball bearings 8 N Motor exec. 1 fitted with sleeve bearings (ball bearings optional) Max. Recommended Speed n (rpm ) 4.2 Max. Continuous Output Power Values at the output shaft Continuous working range Temporary working range M(mNm ) 78

41 Miniature Motors 23LT Watt Graphite/Copper Commutation System - 9 Segments dimensions in mm mass: 7 g 23LT12 1 Brushed DC Winding Type 216E 213E Measured Values Measuring voltage V No-load speed rpm 88 9 Stall torque mnm (oz-in) 22 (3.1) 18.3 (2.6) Average No-load current ma 9 8 Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 1.3 (1.46) 9 (1.27) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh.4.55 Rotor inertia kgm Mechanical time constant ms Executions Single Shaft Gearbox Page 23LT12-- R K K K RG1/ RG1/ Thermal resistance: rotor-body 7 C/W body-ambient 16 C/W Thermal time constant - rotor / stator: 12s/46s Max. rated coil temperature: 155 C Recom. ambient temperature range: -3 C to +125 C (-22 F to +257 F) Max. axial static force for press-fit: 25 N End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face - sleeve bearings 6 N Motor fitted with ball bearings Max. Recommended Speed n (rpm) M(mNm) Values at the output shaft Continuous working range Temporary working range 79

42 23V58 & 23V48 Precious Metal Commutation System - 9 Segments 6.5 Watt 17 18,5 M 2 x 2,3max. 23 -,1 1 -,22 3 -,6 -, ,6 23 -,1 1 -,22 max. 5 4x M 1,6 x min ,6 -, ,5 38 6x 6 1,8 2,7 1,5 1,6 ( 11 ) 1,5 1,6 ( 11 ) 15 ±3 3,2 48,8 12,5±,5 12 ±,4 47,6 12,5±,5 dimensions in mm mass: 1 g 23V V48 9 Winding Type -216P -216E -21E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 31 (4.4) 29 (4.1) 23 (3.3) Average No-loadcurrent ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 18.2 (2.6) 17.2 (2.4) 13 (1.84) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 12.5 (1.7) 23.5 (3.33) 34.8 Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft For E9 Gearbox Page 23V58 23V48 R M K K RG1/ RG1/ K Thermal resistance: Max. Recommended Speed rotor-body 5 C/W body-ambient 12 C/W Thermal time constant - rotor / stator: n (rpm ) 1 s / 58 s Max. rated coil temperature: 1 C Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.45 x 1-6 Nms Max. axial static force for press-fit: 25 N End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 6 N - ball bearings 8 N Motor fitted with sleeve bearings (ball bearings optional) With rear output shaft, the N-load current is 5% higher 6.5 W Values at the output shaft Continuous working range Temporary working range Max. Continuous Output Power M(mNm ) 8

43 Miniature Motors 23GST82 18 Watt Graphite/Copper Commutation System - 9 Segments 23GST.1 23GST.2 23GST2R.3 17 M2 x 2,2 max. 3 -,6 -,9 23 -,1 2 -,6 3 -,6 -,9 3 -,6 -,9 18,5 23 -,1 1 -,22 1 -, ,1 23 -,1 1 -,22 max. 2,8 4x M 1,6 min x 4 1 5,1 1 5, ,5 ( 11 ) 12,5 ±,3 35,1 1,5 ( 6 ) 7,5 ±,3 1,5 ( 11 ) 12 ±,3 39,2 12,5 ±,3 168 ±3 dimensions in mm mass: 8 g 23GST2R GST2R GST2R82 3 Brushed DC Winding Type -216P -216E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 8 (11.3) 87 (12.3) Average No-load current ma 9 6 Typical starting voltage V - - Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 21 (3.) 22 (3.1) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 13 (1.84) 25 (3.53) Terminal resistance ohm Motor regulation R/k /Nms 12 (.1) 11 (.4) Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft For E9 Gearbox Page 23GST82 23GST82 R M K RG1/ RG1/ K Thermal resistance: rotor-body 7 C/W body-ambient 16 C/W Thermal time constant - rotor / stator: 12 s / 46 s Max. rated coil temperature: 155 C Recom. ambient temperature range: -3 C to +125 C (-22 F to +257 F) Max. axial static force for press-fit: 25 N End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 6 N Motor fitted with ball bearings Max. Recommended Speed n (rpm ) 18 W Max. Continuous Output Power M(mNm) Continuous working range Temporary working range 81

44 23HL Precious Metal Commutation System - 9 Segments 4.2 Watt dimensions in mm mass: 184 g 23HL 21. (1) 1 Winding Type -216E -213E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 16.9 (2.39) 14.9 (2.11) Average No-load current ma 3 28 Typical starting voltage V.1.2 Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 9.2 (1.31) 8.2 (1.16) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 12.4 (1.76) 14.8 (2.1) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh.4.55 Rotor inertia kgm Mechanical time constant ms 19 2 Contact Portescap for Tacho specifications. Thermal resistance: rotor-body 7 C/W body-ambient 16 C/W Thermal time constant - rotor / stator: 12 s / 46 s Max. rated coil temperature: 1 C Recom. ambient temperature range: -3 C to +85 C (-22 F to 285 F) Max. axial static force for press-fit: 25 N End play: 15 µm Radial play: 18 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 6 N - ball bearings 8 N Motor exec. 1 fitted with sleeve bearings (ball bearings optional) Max. Recommended Speed n (rpm ) 4.2 Max. Continuous Output Power Values at the output shaft Continuous working range Temporary working range M(mNm ) 82

45 Miniature Motors 25GST2R82 27 Watt Graphite/Copper Commutation System - 9 Segments 17 25GST 2R.1 25GST 2R.2 M2 x 2,7 max. 1 -,2 5,5,5 25 -,1 1 -,2 3 -,6 -,9 1 -,2 2,8 18, ,6 -, x6,7 3 1 ( 11,5 ),7 3 4x 1,2 x 4,8 43,5 12,5 ±,1 12 ±,2 43,5 dimensions in mm mass: 111 g 25GST2R GST2R82 2 Brushed DC Winding Type -219P -23E -216P -216E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 172 (24) 26 (29) 16 (25) 161 (23) Average No-load current 1) ma Typical starting voltage 1) V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 3 (4.2) 33 (4.7) 3 (4.2) 3 (4.2) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 15.3 (2.16) 14.9 (2.11) 22 (3.11) 42 (5.9) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms ) Single Shaft/double shaft Executions Single Shaft For E9 HED5 Gearbox Page 25GST2R82 25GST2R82 25GST2R82 RG1/ RG1/ K R M Thermal resistance: Max. Recommended Speed rotor-body 6 C/W body-ambient 13 C/W Max. Continuous Thermal time constant - rotor / stator: Output Power 1 s / 45 s Max. rated coil temperature: 155 C Recom. ambient temperature range: -3 C to +125 C (-22 F to +257 F) Max. axial static force for press-fitting without holding shaft (sleeve/ball b.) 5 N/68N Axial/radial play (ball bearings) neglectable Max axial/radial play (sleeve b.) 15µm/3µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 6 N - ball bearings 12 N Motor fitted with ball bearings 83 Communication is recommended for servo applications For filter add `f ` to designation before the coil 83

46 25GT2R82 Graphite/Copper Communication System - 9 Segments 4 Watt 2 M3 x 3,3 max. 1 -,2,5 2, ,1 14 -,2 4 -,6 -,9 3 -,6 1 -,2 25 -,1 14 -,2 4 -,6 -,9 18, x,7 3 1 ( 11,5 ) 11 5,5 53,45 12,5 ±,1,7 3 1 ( 11,5 ) 4x 1,2 x4,8 12 ±,2 53,45 12,5 ±,1 dimensions in mm mass: 145 g 25GT2R GT2R82 2 Winding Type -222E -222P -219P -219E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 129 (18.3) 249 (35) 258 (37) 2(28) Average No-load current 1) ma Typical starting voltage 1) V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 48 (6.8) 42 (5.9) 41 (5.8) 41 (5.8) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 34.4 (4.87) 18 (2.54) 22 (3.11) 41.1 (5.89) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms ) Single Shaft/double shaft Executions Single Shaft For E9 HED5 Gearbox Page 25GT2R82 25GT2R82 25GT2R82 K R R Thermal resistance: Max. Recommended Speed rotor-body 5 C/W body-ambient 11 C/W Max. Continuous Thermal time constant - rotor / stator: n (rpm ) Output Power 1 s / 45 s Max. rated coil temperature: 155 C Recom. ambient temperature range: 4 W -3 C to +125 C (-22 F to +257 F) Max. axial static force for press-fitted without holding shaft (sleeve/ball b.) 5 N / 1N Axial/radial play (ball bearings) neglectable Max axial/radial play (sleeve b.) 15µm/3µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 8 N - ball bearings 25 N M(mNm) Motor fitted with ball bearings (sleeve bearings optional) Communication is recommended Values at the output shaft for servo applications Continuous working range Temporary working range 84

47 Miniature Motors 26N58/26N Watt Precious Metal Commutation System - 9 Segments 17 18,5 M2 x 2,3 max. 26 -,1 1 -,22 3 -,6 -, ,1 1 -,22 3 -,6 -,9 4xM 1,6 x max. 5 min ,5 2 -,6 38 6x 6 1,8 2,7 1,5 1,6 ( 11 ) 1,5 1,6 ( 11 ) 15 ±3 3,2 43,3 12,5 ±,5 12 ±,4 42,1 12,5±,5 dimensions in mm mass: 114 g 26N N48 6 Brushed DC Winding Type -216P -216E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 29.6 (4.19) 28.6 (4.6) 25 (3.5) 25 (3.54) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 17.9 (2.5) 17.3 (2.4) 15.1 (2.1) 13.3 (1.88) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 12.3 (1.74) 23.9 (3.38) 25.8 (3.65) 33.5 (4.74) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft Double Shaft for E9 Gearbox Page 26N N48-- R M K K RG1/ RG1/ K Thermal resistance: Max. Recommended Speed rotor-body 5 C/W body-ambient 12 C/W Thermal time constant - n (rpm) rotor / stator: 1 s / 64 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.45 x 1-6 Nms Max. axial static force for press-fit: 25 N End play: 15 µm Radial play: 3 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face: - sleeve bearings 6 N - ball bearings 8 N Motor fitted with sleeve bearings (ball bearings optional) Max. Continuous Output Power M(mNm ) Values at the output shaft Continuous working range Temporary working range 85

48 6 28L28 Precious Metal Commutation System - 9 Segments 11 Watt 17 M2 x 3,6 max. 28 -,1 1 -, ,1 3 -,6 -,9 1 -,15 2 -,6 6x 2 7 1,5 (11) 2 43, ,5 ±,2 43,5 7,5 ±,2 5,1 1,5 ( 6 ) 15 ±3 dimensions in mm mass: 125 g 28L L Winding Type E -413E -41E -41 Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 43 (6.11) 5 (7.8) 42 (5.96) 34 (4.87) 34 (4.87) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 19.9 (2.82) 21. (2.97) 19.7 (2.78) 18.3 (2.58) 18.3 (2.58) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 21.4 (3.3) 4.7 (5.76) 49.7 (7.3) 67.8 (9.6) 67.8 (9.6) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft Double Shaft for E9 Gearbox Page 28L28 28L18 R M RG1/ RG1/ R K K Thermal resistance: rotor-body 5 C/W body-ambient 12 C/W Thermal time constant - rotor / stator: 2 s / 76 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.5 x 1-6 Nms Max. Recommended Speed Max. Continuous Output Power 86

49 Miniature Motors 28LT12 21 Watt Graphite/Copper Commutation System - 9 Segments dimensions in mm mass: 135 g 28LT LT Brushed DC Winding Type E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 63 (8.86) 65 (9.26) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 22.8 (3.23) 24.2 (3.42) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 21.4 (3.3) 4.7 (5.76) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft Double Shaft for E9 Gearbox Page 28LT LT12-- R M RG1/ RG1/ R K K Thermal resistance: Max. Recommended Speed rotor-body 5 C/W body-ambient 12 C/W Thermal time constant - rotor / stator: 17s / 76 s Max. rated coil temperature: 155 C (21 F) Recom. ambient temperature range: -3 C to +125 C (-22 F to +257 F) Viscous damping constant:.5 x 1-6 Nms Max. axial static force for press-fit: 25 N End play: 15 µm Radial play: 18 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face - sleeve bearings 6 N - ball bearings 8 N Motor fitted with sleeve bearings (ball bearings optional) Optional RFI filters Max. Continuous Output Power 87

50 28D11 Precious Metal Commutation System - 13 Segments 15 Watt dimensions in mm mass: 19 g 28D11 1 Winding Type -219P -219E Measured Values Measuring voltage V No-load speed rpm 58 6 Stall torque mnm (oz-in) 94 (13.27) 95 (13.47) Average No-load current ma Typical starting voltage V.15.3 Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 28.4 (4.) 33.6 (4.8) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 19.5 (2.76) 37.7 (5.33) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft Gearbox Page 28D11-- R Thermal resistance: rotor-body 4 C/W body-ambient 8 C/W Thermal time constant - rotor / stator: 18s / 63 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant: 1 x 1-6 Nms Max. axial static force for press-fit: 5 N End play: 15 µm Radial play: 25 µm Shaft runout: 1 µm Max. side load at 5 mm from mounting face - sleeve bearings 8 N - ball bearings 1 N Motor fitted with sleeve bearings (ball bearings optional) Max. Recommended Speed Max. Continuous Output Power 88

51 Miniature Motors 28DT12 37 Watt Graphite/Copper Commutation System - 13 Segments dimensions in mm mass: 2 g 28DT DT12 98 Brushed DC Winding Type -222P -219P -222E -219E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 12 (14.4) 11 (14.3) 126 (17.8) 17 (15.1) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 37 (5.2) 35 (5.) 41 (5.8) 37 (5.2) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 14.9 (2.11) 19.5 (2.76) 32.5 (4.6) 37.7 (5.33) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft Double Shaft for E9 Gearbox Page 28DT DT12-- R R Max. Recommended Speed Max. Continuous Output Power Thermal Resistance: rotor-body 4 C/W, body-ambient 8 C/W Thermal time constant - rotor / stator: 18s / 63 s Max. rated coil temperature: 155 C (21 F) Recom. ambient temperature range: -3 C to +125 C (-22 F to +257 F) Viscous damping constant: 1 x 1-6 Nms Max. axial static force for press-fit: 5 N End play: 15 µm Radial play: 25 µm Shaft runout: 1 µm Max. side load at 1 mm from mounting face - sleeve bearings 8 N - ball bearings 1 N Motor fitted with sleeve bearings (ball bearings optional) Optional RFI filter 89

52 28HL Precious Metal Commutation System - 9 Segments 11 Watt dimensions in mm mass: 125 g 28HL 49 28HL 164 Winding Type E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 43 (8.86) 5 (7.8) Average No-load current ma Typical starting voltage V.1.15 Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 19.9 (2.82) 21. (2.97) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 21.4 (3.3) 4.7 (5.76) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft Double Shaft for E9 Gearbox Page 28HL-- 28HL-- R M RG1/ RG1/ R K K Thermal resistance: rotor-body 5 C/W body-ambient 12 C/W Thermal time constant - rotor / stator: 2s / 76 s Max. rated coil temperature: 1 C (21 F) Recom. ambient temperature range: -3 C to +85 C (-22 F to +185 F) Viscous damping constant:.5 x 1-6 Nms Max. Recommended Speed n (rpm) W 2 M(mNm) Values at the output shaft Continuous working range Temporary working range Max. Continuous Output Power Contact Portescap for Tacho specifications. 9

53 Miniature Motors 3GT2R82 83 Watt Graphite/Copper Commutation System - 13 Segments dimensions in mm mass: 31 g 3GT2R82 4 3GT2R82 5 Brushed DC Winding Type -234P -234E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 628 (89) 847 (121) Average No-load current ma 18 9 Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 87 (12.3) 93 (13.2) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 2.1 (2.84) 38.7 (5.5) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh.6.24 Rotor inertia kgm Mechanical time constant ms Executions Single Shaft For E9 Gearbox Page 3GT2R82 R R Thermal Resistance: rotor-body 4.5 C/W body-ambient 9. C/W Thermal time constant - rotor / stator: 4s / 92 s Max. rated coil temperature: 155 C Recom. ambient temperature range: -3 C to +125 C (-22 F to +257 F) Max. axial static force for press-fit: 1 N End play: negligible Radial play: negligible Shaft runout: 1 µm Max. side load at 1 mm from mounting face - ball bearings 35 N Motor fitted with ball bearings 83 Commutation is recommended for servo applications For filter add F to designation before coil On request available with HP encoder and brake Max. Recommended Speed Max. Continuous Output Power 91

54 35NT2R32 Graphite/Copper Commutation System - 13 Segments 52 Watt scale: 3:4 dimensions in mm mass: 31 g 35NT2R NT2R32 5 Winding Type -228P -228E -416SP Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 151 (21) 148 (2.89) 149 (21.11) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 52 (7.4) 57.9 (8.2) 58.3 (8.3) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 16.8 (2.38) 32.5 (4.6) 51.6 (7.3) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft For E9 HED5 Gearbox Page 35NT2R32 35NT2R32 35NT2R32 R K R Thermal Resistance: rotor-body 4 C/W body-ambient 8 C/W Thermal time constant - rotor / stator: 4s / 92 s Max. rated coil temperature: 155 C Recom. ambient temperature range: -55 C to +125 C (-31 F to +257 F) Max. axial static force for press-fit: 1 N shaft supported: 1N End play: negligible Radial play: negligible Shaft runout: 1 µm Max. side load at 5 mm from mounting face - ball bearings 35 N Motor fitted with ball bearings For filter add `F` to designation before coil On request available with HP encoder and brake Max. Recommended Speed n (rpm) Max. Continuous Output Power 52 W Values at the output shaft Continuous working range Temporary working range M (mnm) 92

55 Miniature Motors 35NT2R82 12 Watt Graphite/Copper Commutation System - 13 Segments scale: 3:4 dimensions in mm mass: 31 g 35NT2R NT2R82 5 Brushed DC Winding Type 426P 426SP 426E 226E Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 838 (117) 756 (17) 782 (111) 676 (96) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 18 (15.3) 115 (16.3) 114 (16.1) 97 (13.7) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 25.4 (3.6) 52 (7.3) 99 (14.1) 38.4 (5.4) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms Executions Single Shaft For E9 HED5 Gearbox Page 35NT2R82 35NT2R82 35NT2R82 R R Thermal Resistance: rotor-body body-ambient 8 C/W Thermal time constant - rotor / stator: 4s / 92 s 4 C/W n (rpm) Max. rated coil temperature: 155 C Recom. ambient temperature range: -55 C to +125 C (-31 F to +257 F) Max. axial static force for press-fit: 1 N shaft supported: 1N End play: negligible Radial play: negligible Shaft runout: 1 µm Max. side load at 5 mm from mounting face - ball bearings 35 N Motor fitted with ball bearings For filter add `F` to designation before coil On request available with HP encoder and brake Max. Recommended Speed Max. Continuous Output Power 12 W Values at the output shaft Continuous working range Temporary working range M (mnm)

56 35HNT2R82 Graphite/Copper Commutation System - 13 Segments 52 Watt scale: 3:4 dimensions in mm mass: 415 g 35HNT2R82 2 Winding Type -426SP -416SP Measured Values Measuring voltage V No-load speed rpm Stall torque mnm (oz-in) 756 (17) 149 (21.11) Average No-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in) 115 (16.3) 58.3 (8.3) Max. angular acceleration 1 3 rad/s Intrinsic Parameters Back-EMF constant V/1 rpm Torque constant mnm/a (oz-in/a) 52 (7.3) 51.6 (7.3) Terminal resistance ohm Motor regulation R/k /Nms Rotor inductance mh Rotor inertia kgm Mechanical time constant ms 6 16 Executions Single Shaft For E9 HED5 Gearbox Page 35NT2R32 35NT2R32 35NT2R32 R K R Contact Portescap for Tacho specifications Thermal Resistance: Max. Recommended Speed rotor-body 4 C/W body-ambient 8 C/W Max. Continuous Thermal time constant - Output Power rotor / stator: 4s / 92 s n (rpm) Max. rated coil temperature: 155 C Recom. ambient temperature range: 9 12 W -55 C to +125 C (-31 F to +257 F) 8 Max. axial static force for press-fit: 7 1 N 6 shaft supported: 1N 5 End play: negligible 4 Radial play: negligible 3 Shaft runout: 1 µm 2 Max. side load at 5 mm from 1 mounting face M (mnm) - ball bearings 35 N Motor fitted with ball bearings For filter add `F` to designation Values at the output shaft before coil On request available with HP Continuous working range encoder and brake Temporary working range 94

57 Miniature Motors 35GLT2R82 15 Watt Graphite/Copper Commutation System - 13 Segments scale: 3:4 dimensions in mm mass: 36g 35GLT2R82 1 Winding Type Measured Values Measuring voltage No-load speed Stall torque Average No-load current Typical starting voltage Max. Recomended Values Max. continuous current Max. continuous torque Max. angular acceleration Intrinsic Parameters Back-EMF constant Torque constant Terminal resistance Motor regulation R/k 2 Rotor inductance Rotor inertia Mechanical time constant V rpm mnm ma V A mnm 1 3 rad/s 2 V/1 rpm mnm/a Ohms 1 3 /Nms mh kgm ms 426P P E SP E Executions Single Shaft For E9 HED5 Gearbox Page 25GT2R82 35GLT2R82 25GT2R82 R R Thermal resistance : rotor-body 4 C/W body-ambient 8 C/W Thermal time constant rotor/stator: 4s / 92s Max. rated coil temperature: 155 C Recom. Ambient temperature range: -55 C to +125 C (-31 F to +257 F) Max axial static force for press-fit: 1N Shaft supported: 1N End play: negligible Radial play: negligible Shaft runout: 1μm Max. side load at 5mm from mounting face ball bearings 35N Motor fitted with ball bearings For filter add F to designation before coil. On request available with HP encoder and brake Max. Recommended Speed n(rpm) 15W M(mNm) 95

58 Notes 96

59 Why an high-torque housed hybrid stepper motor O-Ring Aluminum Housing Neodymium-Iron-Boron High Energy Magnets Larger Bearings Stator Enhanced Magnets Captured Front Bearing Innovation & Performance The Stepper (High-Torque Housed Hybrid) innovates the traditional hybrid stepper motor by offering several unique design enhancements that expand the possibilities of the motor s applications. motors incorporate innovative cooling technology (patent pending), high torque magnetic design, rugged and captured bearings, and optimized torque density through enhancing magnets. The Portescap engineering team provides quick prototype delivery and optimization of windings based on application requirements. Higher-level customization is also available to reduce customer assembly time and inventory levels. Thanks to the combination of features on the Stepper, it s able to provide best in class performance. Portescap can customize the Stepper to provide an easier manufacturing process, with options including shaft modifications, windings, connectors, shaft adders (gear/pinions), and encoders. Let Portescap work with your design engineers to create the ideal motion solution for your application needs. Standard Features Holding torque NEMA 17 up to 73 oz-in/.51 N-m NEMA 23 up to 524 oz-in/3.7 N-m NEMA 34 up to 1,613 oz-in/11.39 N-m UL and CE agency certified RoHS Compliant Higher Torque Neodymium-Iron-Boron High Energy Magnets g Optimized torque density Cooler Aluminum Housing g Superior heat dissipation for improved torque output, allowing heat to be distributed along the length of the motor Quieter O-Ring g Prevents bearing spinout and decreases motor noise by minimizing contact between bearing and end bell Enhanced Torque Stator Enhanced Magnets g Deliver up to 4% more torque in the same package through optimized torque density Mechanical Stability Captured Front Bearing g Minimized motor noise, prevents spinout and eliminates shaft axial play from bearing axial movement Your Custom Motor Available in sizes NEMA 17, 23 and 34 Unipolar and bipolar windings available Various stack lengths available in each frame size Shaft modifications, including hollow shafts Lead length modifications and connectors Encoders

60 How to select your motor PRODUCT RANGE CHART NEMA 17 NEMA 23 Nema 34 Standard Enhanced Standard Enhanced Standard Enhanced Short Stack 1 Stack 2 Stack 3 Stack Short Stack Linear Actuator 1 Stack Linear Actuator 2 Stack Linear Actuator 3 Stack Linear Actuator Motor Designation 17 H 18 D 1 B Frame size H = Hybrid Stepper Motor Motor Lengths (see drawing) = Short Stack 1 = 1 Stack 2 = 2 Stack 3 = 3 Stack 18 = 1.8 Per Step With 2 Phases Energized B = Bipolar Coil U = Unipolar Coil Rated Current Per Phase 5 =.5 A, 1 = 1. A, 15 = 1.5 A, 2 = 2. A 3 = 3. A, 5 = 5. A D = Neodymium Rotor Magnet E = Enhanced

61 Basic Stepper Motor Operation series step motors have two windings (two phases) that are energized with DC current. When the current in one winding is reversed, the motor shaft moves one step, or 1.8. By reversing the current in each winding, the position and speed of the motor is easily and precisely controlled, making these motors extremely useful for many different motion control applications. Portescap finds its place among an esteemed worldwide family of motion control experts. For even finer resolution and smoother operation, micro-stepping drives divide each step into many increments by controlling the magnitude of the current in each winding. The performance of hybrid step motors is highly dependent on the current and voltage supplied by a drive. Stepper motors are available with a variety of windings so they can be used with drives that have a broad range of voltage and current ratings. Performance curves are included in this catalog for many common motor drive combinations. AC POWER POWER SUPPLY DC POWER DRIVE MOTOR CURRENT Enhancing Technology Smaller drives = Lower system cost More torque = Smaller, faster machines Higher efficiency = Lower operating costs Through the use of enhancing technology, Stepper motors provide the maximum performance available. This patent pending technology boosts torque up to 4% across the operating speed range and allows machines to be designed that are smaller and move faster. Initial system costs are often less with enhanced motors because the additional torque is produced without the need for larger drives or power supplies. The additional output power is produced through higher efficiency. The higher efficiency reduces energy usage by 25% and lowers operating costs. Enhanced motors use additional magnets inserted between each stator tooth. These magnets block the magnet fields from flowing around the stator teeth. This forces more of the magnetic field to flow through each tooth where it produces torque. Standard Stepper Motor N S Stator Non-torque producing flux Torque producing flux Rotor Typical paths of flux transfer in an energized conventional hybrid step motor. Some flux leakage occurs in normal operation. S N STEP MOTOR Holding Torque Because motor performance at speed varies greatly with the drive, holding torque is used to rate hybrid step motors. Holding torque specifies the maximum torque that can be applied to a motor shaft and not cause the shaft to rotate. It is measured with the motor at standstill and energized with rated DC current. Since the motor is energized with pure DC current, holding torque is not dependent on specific drive characteristics. Enhanced Stepper Motor N S S N Stator Rare earth magnet inserts Focusing flux Concentrated torque producing flux Rotor Patented enhancing technology redirects magnetic flux to inhibit leakage and optimize torque production. Torque Enhancement Percentages NEMA 23 up 25% NEMA 34 up 3%

62 Basic Stepper Motor Operation Typical hybrid stepper motors are constructed with a spring washer that pushes on the ball bearings (preloads the bearings). This is done to reduce bearing noise, increase bearing life, and keep the rotor in position. Spring Washer If the front bearing is not retained, limited axial force can be applied to the front shaft and not cause the rotor to move in the motor. As the axial load force becomes greater than the spring washer force, the rotor moves in the stator. This causes whatever is attached to the motor shaft to also shift position. This can cause a number of problems. For example, if a leadscrew is attached to the motor shaft the linear load will not be in position. To prevent this unwanted shaft movement, all size 23 & size 34 series motors are provided with a snap ring behind the front bearing that locks the bearing in place even under very heavy axial loads. This snap ring, combined with the oversized bearings used in the series, is a great feature. Snap Ring series construction are ideal for leadscrew applications because it often allows the customer to eliminate separate leadscrew thrust bearings and support structures. This construction is also very beneficial when the motors are used with encoders. The captured bearing prevents shaft movement that causes the encoder disc to rub and fail.

63 Explanation of Specifications MOTOR PART NUMBER 23HX18D1B Explanation RESISTANCE PER PHASE, ± 1% ohms 5.7 Winding resistance dictated by magnet wire diameter and # of turns INDUCTANCE PER PHASE, TYP mh Winding inductance dictated by magnet wire diameter and # of turns RATED CURRENT PER PHASE * amps 1. Current rating of motor motor can be run continuously at this current HOLDING TORQUE, MIN * oz-in / N-m 75 /.53 When energized, the amount of torque to move from one mechanical step to the next DETENT TORQUE, MAX oz-in / N-m 6. /.42 When un-energized, the amount of torque to move from one mechanical step to the next THERMAL RESISTANCE o C/watt 3.99 ROTOR MOMENT OF INERTIA oz-in-s2/ kg-cm2.26 /.19 Inertia of the rotor STEP ANGLE, ± 5% * degrees deg / number of mechanical steps of the motor STEPS PER REVOLUTION * - 2. Number of mechanical steps of the motor AMBIENT TEMPERATURE RANGE OPERATING o C -2 ~ +4 Temperature range which the motor will operate STORAGE -4 ~ +85 Storage temperature where the motor will operate BEARING TYPE - BALL BEARING Dual ball bearings INSULATION RESISTANCE AT 5VDC DIELECTRIC WITHSTANDING VOLTAGE Mohms vac 1 MEGOHMS 18 FOR 1 SECOND WEIGHT lbs / kg 1. /.45 Weight of the motor SHAFT LOAD RATINGS, MAX lbs / kg RADIAL 2 / 9 (AT SHAFT CENTER) Maximum load that can be applied against the shaft AXIAL 5 / 23 (BOTH DIRECTIONS) Maximum load that can be applied directly down the shaft LEADWIRES - AWG 22, UL 3266 Rating of the lead wires TEMPERATURE CLASS, MAX - B (13 C) Maximum temperature of the winding insulation RoHS - COMPLIANT 23H218DxB Pull-Out Torque vs Speed at 24vdc, 1-2 step, constant current, bipolar chopper Pull-Out Torque Torque Pull-In Torque (rep) Speed Definitions Pull-Out Torque The amount of torque that the motor can produce at speed without stalling Pull-In Torque The amount of torque that the motor can produce from zero speed without stalling Speed # of pulses per second provided to the motor, also stated in revolutions per minute Voltage Voltage applied to the drive Current Current applied to the drive Drive Chopper type drive - current controlled to the motor winding

64 Where to apply your MEDICAL & LAB Automation Peristaltic & syringe pumps Analyzers Optical scanners Pharmacy dispensing machines Dental imaging stepper The Stepper (High-Torque Housed Hybrid) is designed to meet the broad spectrum of stepper motor applications in various markets: Focus on: MEDICAL PUMP The requirement of the application was to operate smoothly, without resonance, over the entire speed range (1 to 1, RPM). A hybrid stepper running roughly would cause the incorrect amount of medicine to be dispensed. Many hybrids were tested, but the Stepper provided smooth operation over the entire speed range, a minimal resonance band and higher output torque. Now the medicine dispensing speed can be varied as designed, without need to compensate for motor roughness. Fluid handling & movement systems TEXTILE Yarn monitoring system Carpet tufting pattern machine Rotor or ring spinning Electronic wire winding XY garment cutting table Factory Automation Semiconductor equipment Electronic assembly Packaging equipment Conveyors TELECOMMUNICATION Cell phone masts GPS Antenna positioning Radar array OTHER Printer & copier automation Ticketing Office automation Electronic assembly Engraving

65 17HX18D 17H18 = 34.3±.38/1.35±.15 17H118 = 4.4±.38/1.59±.15 17H218 = 48.3±.38/1.9± Ø Ø MAX ± ±.5 (4x) 2.7±.5.79±.2 2.3±.13.8±.5 14.± ±.4 +. Ø Ø Ø43.82 REF Ø1.725 (2x) M3x.5-6H 4.5/.177 MIN DEPTH +. Ø Ø /.2 A -A MIN 12. OPTIONAL REAR SHAFT EXTENSION (17HX18DXX-D) 12.7±3.18 1/2±1/8 STRIP 198

66 Miniature Motors 17HX18D Motor Part Number 17HX18D5B 17HX18D1B 17HX18D15B 17HX18D5B-D 17HX18D1B-D 17HX18D15B-D Resistance per phase, ± 1% Short Stack ohms Stack ohms Stack ohms Inductance per phase, typ Short Stack mh Stack mh Stack mh Rated current per phase * amps Holding torque, typical * Short Stack oz-in / Nm 3 /.21 1 Stack oz-in / Nm 51 /.36 2 Stack oz-in / Nm 65 /.46 Thermal resistance Short Stack ºC/watt Stack ºC/watt Stack ºC/watt 4.71 Detent torque, typical Short Stack oz-in / Nm 1.6 /.11 1 Stack oz-in / Nm 2.5 /.17 2 Stack oz-in / Nm 3.2 /.23 Rotor moment of inertia Short Stack oz-in-s 2 / kg-cm 2.51 /.4 1 Stack oz-in-s 2 / kg-cm 2.75 /.5 2 Stack oz-in-s 2 / kg-cm 2.16 /.7 Step angle, ± 5% * degrees 1.8 Steps per revolution * 2 Ambient temperature range Operating ºC -2 ~ +4 Storage ºC -4 ~ +85 Bearing type Ball bearing Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 12 for 1 second Weight Short Stack lb / kg.45 /.2 1 Stack lb / kg.57 /.26 2 Stack lb / kg.76 /.34 Shaft load ratings, max at 15 rpm Radial lb / kg 15 / 6.8 (at shaft center) Axial lb / kg 6 / 2.7 (Push) Axial lb / kg 15 / 6.8 (Pull) Leadwires AWG 26 UL 3266 Temperature class, max B (13 C) RoHS COMPLIANT Stepper ALL MOTOR DATA VALUES AT 2ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON 199

67 17HX18D (Contd..) Motor Part Number 17HX18D5U 17HX18D1U 17HX18D15U 17HX18D5U-D 17HX18D1U-D 17HX18D15U-D Resistance per phase, ± 1% Short Stack ohms Stack ohms Stack ohms Inductance per phase, typ Short Stack mh Stack mh Stack mh Rated current per phase * amps Holding torque, typical * Short Stack oz-in / Nm 21 /.15 1 Stack oz-in / Nm 38 /.27 2 Stack oz-in / Nm 47 /.33 Thermal resistance Short Stack ºC/watt Stack ºC/watt Stack ºC/watt 4.71 Detent torque, typical Short Stack oz-in / Nm 1.6 /.11 1 Stack oz-in / Nm 2.5 /.17 2 Stack oz-in / Nm 3.2 /.23 Rotor moment of inertia Short Stack oz-in-s 2 / kg-cm 2.51 /.4 1 Stack oz-in-s 2 / kg-cm 2.75 /.5 2 Stack oz-in-s 2 / kg-cm 2.16 /.7 Step angle, ± 5% * degrees 1.8 Steps per revolution * 2 Ambient temperature range Operating ºC -2 ~ +4 Storage ºC -4 ~ +85 Bearing type Ball bearing Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 12 for 1 second Weight Short Stack lb / kg.45 /.2 1 Stack lb / kg.57 /.26 2 Stack lb / kg.76 /.34 Shaft load ratings, max at 15 rpm Radial lb / kg 15 / 6.8 (at shaft center) Axial lb / kg 6 / 2.7 (Push) Axial lb / kg 15 / 6.8 (Pull) Leadwires AWG 26 UL 3266 Temperature class, max B (13 C) RoHS COMPLIANT ALL MOTOR DATA VALUES AT 2ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON 2

68 Miniature Motors 23HX18D 23H18D = 1.62±.15 [4.69±.38] 23H118D = 2.115±.15 [53.72±.38] 23H218D = 3.297±.15 [83.74±.38] 23H318D = 4.479±.15 [113.77±.38] 2.25 MAX [57.15 MAX] SQUARE.81±.2 [2.57±.5] 4 x 1.856±.5 [47.14±.13] Ø1.5±.1 [Ø38.1±.25].6±.5 [1.52±.13] 2 x Ø REF [Ø66.68 REF] Ø [Ø6.35 ] x Ø.2±.5 4 x.2±.5 [5.8±.13] 12. MIN [34.8 MIN] Stepper [Ø5.8±.13] 1/2±1/8 [12.7±3.18] STRIP 21

69 23HX18D Motor Part Number 23HX18D1B 23HX18D2B 23HX18D3B Rated voltage Short Stack vdc Stack vdc Stack vdc Stack vdc Resistance per phase, ± 1% Short Stack ohms Stack ohms Stack ohms Stack ohms Inductance per phase, typ Short Stack mh Stack mh Stack mh Stack mh Rated current per phase * amps Holding torque, typical * Short Stack oz-in / Nm 75 /.53 1 Stack oz-in / Nm 18 / Stack oz-in / Nm 33 / Stack oz-in / Nm 4 / 2.82 Detent torque, typical Short Stack oz-in / Nm 6. /.42 1 Stack oz-in / Nm 9. /.64 2 Stack oz-in / Nm 15. /.16 3 Stack oz-in / Nm 18. /.127 Thermal resistance Short Stack ºC/watt Stack ºC/watt Stack ºC/watt Stack ºC/watt 1.58 Rotor moment of inertia Short Stack oz-in-s 2 / kg-cm 2.26 /.19 1 Stack oz-in-s 2 / kg-cm 2.35 /.24 2 Stack oz-in-s 2 / kg-cm 2.68 /.48 3 Stack oz-in-s 2 / kg-cm 2.12 /.72 Step angle, ± 5% * degrees 1.8 Steps per revolution * 2 Ambient temperature range Operating ºC -2 ~ +4 Storage ºC -4 ~ +85 Bearing type Ball bearing Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 12 for 1 second Weight Short Stack lb / kg 1. /.45 1 Stack lb / kg 1.4 /.64 2 Stack lb / kg 2.4 / Stack lb / kg 3.4 / 1.55 Shaft load ratings, max at 15 rpm Radial lb / kg 2 / 9 (at shaft center) Axial lb / kg 5 / 23 (Both directions) Leadwires AWG 22 UL 3266 Temperature class, max B (13 C) RoHS COMPLIANT ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON 22

70 Miniature Motors 23HX18D Motor Part Number 23HX18D1U 23HX18D2U 23HX18D3U Rated voltage Short Stack vdc Stack vdc Stack vdc Stack vdc Resistance per phase, ± 1% Short Stack ohms Stack ohms Stack ohms Stack ohms Inductance per phase, typ Short Stack mh Stack mh Stack mh Stack mh Rated current per phase * amps Holding torque, typical * Short Stack oz-in / Nm 6 /.42 1 Stack oz-in / Nm 135 /.95 2 Stack oz-in / Nm 235 / Stack oz-in / Nm 3 / 2.12 Detent torque, typical Short Stack oz-in / Nm 6. /.42 1 Stack oz-in / Nm 9. /.64 2 Stack oz-in / Nm 15. /.16 3 Stack oz-in / Nm 18. /.127 Thermal resistance Short Stack ºC/watt Stack ºC/watt Stack ºC/watt Stack ºC/watt 1.58 Rotor moment of inertia Short Stack oz-in-s 2 / kg-cm 2.26 /.19 1 Stack oz-in-s 2 / kg-cm 2.35 /.24 2 Stack oz-in-s 2 / kg-cm 2.68 /.48 3 Stack oz-in-s 2 / kg-cm 2.12 /.72 Step angle, ± 5% * degrees 1.8 Steps per revolution * 2 Ambient temperature range Operating ºC -2 ~ +4 Storage ºC -4 ~ +85 Bearing type Ball bearing Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 12 for 1 second Weight Short Stack lb / kg 1. /.45 1 Stack lb / kg 1.4 /.64 2 Stack lb / kg 2.4 / Stack lb / kg 3.4 / 1.55 Shaft load ratings, max at 15 rpm Radial lb / kg 2 / 9 (at shaft center) Axial lb / kg 5 / 23 (Both directions) Leadwires AWG 22 UL 3266 Temperature class, max B (13 C) RoHS COMPLIANT Stepper ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON 23

71 23HX18E Motor Part Number 23HX18E1B 23HX18E2B 23HX18E3B Rated voltage Short Stack vdc Stack vdc Stack vdc Stack vdc Resistance per phase, ± 1% Short Stack ohms Stack ohms Stack ohms Stack ohms Inductance per phase, typ Short Stack mh Stack mh Stack mh Stack mh Rated current per phase * amps Holding torque, typical * Short Stack oz-in / Nm 84 /.59 1 Stack oz-in / Nm 227 / Stack oz-in / Nm 426 / Stack oz-in / Nm 524 / 3.7 Detent torque, typical Short Stack oz-in / Nm 1. /.71 1 Stack oz-in / Nm 15. /.16 2 Stack oz-in / Nm 26. / Stack oz-in / Nm 31. /.219 Thermal resistance Short Stack ºC/watt Stack ºC/watt Stack ºC/watt Stack ºC/watt 1.58 Rotor moment of inertia Short Stack oz-in-s 2 / kg-cm 2.26 /.19 1 Stack oz-in-s 2 / kg-cm 2.35 /.24 2 Stack oz-in-s 2 / kg-cm 2.68 /.48 3 Stack oz-in-s 2 / kg-cm 2.12 /.72 Step angle, ± 5% * degrees 1.8 Steps per revolution * 2 Ambient temperature range Operating ºC -2 ~ +4 Storage ºC -4 ~ +85 Bearing type Ball bearing Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 12 for 1 second Weight Short Stack lb / kg 1. /.45 1 Stack lb / kg 1.5 /.68 2 Stack lb / kg 2.5 / Stack lb / kg 3.6 / 1.64 Shaft load ratings, max at 15 rpm Radial lb / kg 2 / 9 (at shaft center) Axial lb / kg 5 / 23 (Both directions) Leadwires AWG 22 UL 3266 Temperature class, max B (13 C) RoHS COMPLIANT ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON 24

72 Miniature Motors 23HX18E Motor Part Number 23HX18E1U 23HX18E2U 23HX18E3U Rated voltage Short Stack vdc Stack vdc Stack vdc Stack vdc Resistance per phase, ± 1% Short Stack ohms Stack ohms Stack ohms Stack ohms Inductance per phase, typ Short Stack mh Stack mh Stack mh Stack mh Rated current per phase * amps Holding torque, typical * Short Stack oz-in / Nm 72 /.51 1 Stack oz-in / Nm 17 / Stack oz-in / Nm 33 / Stack oz-in / Nm 393 / 2.78 Detent torque, typical Short Stack oz-in / Nm 1. /.71 1 Stack oz-in / Nm 15. /.16 2 Stack oz-in / Nm 26. / Stack oz-in / Nm 31. /.219 Thermal resistance Short Stack ºC/watt Stack ºC/watt Stack ºC/watt Stack ºC/watt 1.58 Rotor moment of inertia Short Stack oz-in-s 2 / kg-cm 2.26 /.19 1 Stack oz-in-s 2 / kg-cm 2.35 /.24 2 Stack oz-in-s 2 / kg-cm 2.68 /.48 3 Stack oz-in-s 2 / kg-cm 2.12 /.72 Step angle, ± 5% * degrees 1.8 Steps per revolution * 2 Ambient temperature range Operating ºC -2 ~ +4 Storage ºC -4 ~ +85 Bearing type Ball bearing Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 12 for 1 second Weight Short Stack lb / kg 1. /.45 1 Stack lb / kg 1.5 /.68 2 Stack lb / kg 2.5 / Stack lb / kg 3.6 / 1.64 Shaft load ratings, max at 15 rpm Radial lb / kg 2 / 9 (at shaft center) Axial lb / kg 5 / 23 (Both directions) Leadwires AWG 22 UL 3266 Temperature class, max B (13 C) RoHS COMPLIANT Stepper ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON 25

73 34HX18D 34H118D = 2.521±.15 [64.3±.38] 34H218D = 3.782±.15 [96.6±.38] 34H318D = 5.43±.15 [128.9±.38] 3.43 MAX [87.12 MAX] SQUARE 4 x 2.74±.5 [69.6±.13] Ø2.875±.1 [Ø73.25±.25] 1.46±.2 [37.8±.5] 1.16±.5 [29.46±.13].8±.1 [2.3±.25] 2 x.453±.3 [11.51±.76] x 9 APART Ø x Ø REF [Ø98.43 REF] 4 x Ø.26±.5 [Ø6.6±.13] +. [Ø12.7 ] x.39±.5 [9.91±.13] 12. MIN [34.8 MIN] 1/2±1/8 [12.7±3.18] STRIP 26

74 Miniature Motors 34HX18D Motor Part Number 34HX18D1B 34HX18D3B 34HX18D5B Rated voltage 1 Stack vdc Stack vdc Stack vdc Resistance per phase, ± 1% 1 Stack ohms Stack ohms Stack ohms Inductance per phase, typ 1 Stack mh Stack mh Stack mh Rated current per phase * amps Holding torque, typical * 1 Stack oz-in / Nm 46 / Stack oz-in / Nm 82 / Stack oz-in / Nm 129 / 9.11 Detent torque, typical 1 Stack oz-in / Nm 23 /.16 2 Stack oz-in / Nm 3 /.21 3 Stack oz-in / Nm 44 /.31 Thermal resistance 1 Stack ºC/watt Stack ºC/watt Stack ºC/watt 1.36 Rotor moment of inertia 1 Stack oz-in-s 2 / kg-cm / Stack oz-in-s 2 / kg-cm 2.37 / Stack oz-in-s 2 / kg-cm / 3.92 Step angle, ± 5% * degrees 1.8 Steps per revolution * 2 Ambient temperature range Operating ºC -2 ~ +4 Storage ºC -4 ~ +85 Bearing type Ball bearing Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 12 for 1 second Weight 1 Stack lb / kg 4. / Stack lb / kg 6.5 / 3. 3 Stack lb / kg 9.1 / 4.1 Shaft load ratings, max at 15 rpm Radial lb / kg 65 / 29 (at shaft center) Axial lb / kg 1 / 34 (Both directions) Leadwires AWG 22 UL 3266 Temperature class, max B (13 C) RoHS COMPLIANT ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON Stepper 27

75 34HX18D Motor Part Number 34HX18D1U 34HX18D3U 34HX18D5U Rated voltage 1 Stack vdc Stack vdc Stack vdc Resistance per phase, ± 1% 1 Stack ohms Stack ohms Stack ohms Inductance per phase, typ 1 Stack mh Stack mh Stack mh Rated current per phase * amps Holding torque, typical * 1 Stack oz-in / Nm 37 / Stack oz-in / Nm 66 / Stack oz-in / Nm 95 / 6.71 Detent torque, typical 1 Stack oz-in / Nm 23 /.16 2 Stack oz-in / Nm 3 /.21 3 Stack oz-in / Nm 44 /.31 Thermal resistance 1 Stack ºC/watt Stack ºC/watt Stack ºC/watt 1.36 Rotor moment of inertia 1 Stack oz-in-s 2 / kg-cm / Stack oz-in-s 2 / kg-cm 2.37 / Stack oz-in-s 2 / kg-cm / 3.92 Step angle, ± 5% * degrees 1.8 Steps per revolution * 2 Ambient temperature range Operating ºC -2 ~ +4 Storage ºC -4 ~ +85 Bearing type Ball bearing Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 12 for 1 second Weight 1 Stack lb / kg 4. / Stack lb / kg 6.5 / 3. 3 Stack lb / kg 9.1 / 4.1 Shaft load ratings, max at 15 rpm Radial lb / kg 65 / 29 (at shaft center) Axial lb / kg 1 / 34 (Both directions) Leadwires AWG 22 UL 3266 Temperature class, max B (13 C) RoHS COMPLIANT ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON 28

76 Miniature Motors 34HX18E Motor Part Number 34HX18E1B 34HX18E3B 34HX18E5B Rated voltage 1 Stack vdc Stack vdc Stack vdc Resistance per phase, ± 1% 1 Stack ohms Stack ohms Stack ohms Inductance per phase, typ 1 Stack mh Stack mh Stack mh Rated current per phase * amps Holding torque, typical * 1 Stack oz-in / Nm 552 / Stack oz-in / Nm 19 / Stack oz-in / Nm 1613 / Detent torque, typical 1 Stack oz-in / Nm 28 /.2 2 Stack oz-in / Nm 37 /.26 3 Stack oz-in / Nm 55 /.39 Thermal resistance 1 Stack ºC/watt Stack ºC/watt Stack ºC/watt 1.36 Rotor moment of inertia 1 Stack oz-in-s 2 / kg-cm / Stack oz-in-s 2 / kg-cm 2.37 / Stack oz-in-s 2 / kg-cm / 3.92 Step angle, ± 5% * degrees 1.8 Steps per revolution * 2 Ambient temperature range Operating ºC -2 ~ +4 Storage ºC -4 ~ +85 Bearing type Ball bearing Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 12 for 1 second Weight 1 Stack lb / kg 4.1 / Stack lb / kg 6.6 / 3. 3 Stack lb / kg 9.3 / 4.2 Shaft load ratings, max at 15 rpm Radial lb / kg 65 / 29 (at shaft center) Axial lb / kg 1 / 45 (Both directions) Leadwires AWG 22 UL 3266 Temperature class, max B (13 C) RoHS COMPLIANT ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON Stepper 29

77 34HX18E Motor Part Number 34HX18E1U 34HX18E3U 34HX18E5U Rated voltage 1 Stack vdc Stack vdc Stack vdc Resistance per phase, ± 1% 1 Stack ohms Stack ohms Stack ohms Inductance per phase, typ 1 Stack mh Stack mh Stack mh Rated current per phase * amps Holding torque, typical * 1 Stack oz-in / Nm 444 / Stack oz-in / Nm 812 / Stack oz-in / Nm 1188 / 8.39 Detent torque, typical 1 Stack oz-in / Nm 28 /.2 2 Stack oz-in / Nm 37 /.26 3 Stack oz-in / Nm 55 /.39 Thermal resistance 1 Stack ºC/watt Stack ºC/watt Stack ºC/watt 1.36 Rotor moment of inertia 1 Stack oz-in-s 2 / kg-cm / Stack oz-in-s 2 / kg-cm 2.37 / Stack oz-in-s 2 / kg-cm / 3.92 Step angle, ± 5% * degrees 1.8 Steps per revolution * 2 Ambient temperature range Operating ºC -2 ~ +4 Storage ºC -4 ~ +85 Bearing type Ball bearing Insulation resisitance at 5vdc Mohms 1 megohms Dielectric withstanding voltage vac 12 for 1 second Weight 1 Stack lb / kg 4.1 / Stack lb / kg 6.6 / 3. 3 Stack lb / kg 9.3 / 4.2 Shaft load ratings, max at 15 rpm Radial lb / kg 65 / 29 (at shaft center) Axial lb / kg 1 / 45 (Both directions) Leadwires AWG 22 UL 3266 Temperature class, max B (13 C) RoHS COMPLIANT ALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED * ENERGISE AT RATED CURRENT, 2 PHASE ON 21

78 Miniature Motors 17H18D_B Pull-Out Torque vs Speed 24 vdc, full step, bipolar constant current, J COUPLING =.174 oz-in 2 (.319 kg-cm 2 ), J DYNAMOMETER = 5.96 oz-in 2 (1.9 x 1-4 kg-m 2 ) oz-in N-m H18D5B.5A phase current 17H18D1B 1.A phase current 17H18D15B 1.5A phase current. pps rpm 17H118D_B Pull-Out Torque vs Speed 24 vdc, full step, bipolar constant current, J COUPLING =.174 oz-in 2 (.319 kg-cm 2 ), J DYNAMOMETER = 5.96 oz-in 2 (1.9 x 1-4 kg-m 2 ) oz-in N-m Stepper pps rpm 17H118D5B.5A phase current 17H118D1B 1.A phase current 17H118D15B 1.5A phase current 17H218D_B Pull-Out Torque vs Speed 24 vdc, full step, bipolar constant current, J COUPLING =.174 oz-in 2 (.319 kg-cm 2 ), J DYNAMOMETER = 5.96 oz-in 2 (1.9 x 1-4 kg-m 2 ) oz-in N-m pps rpm 17H218D5B.5A phase current 17H218D1B 1.A phase current 17H218D15B 1.5A phase current 211

79 17H18D_U Pull-Out Torque vs Speed 24 vdc, full step, unipolar constant current, J COUPLING =.174 oz-in 2 (.319 kg-cm 2 ), J DYNAMOMETER = 5.96 oz-in 2 (1.9 x 1-4 kg-m 2 ) oz-in 12.8 N-m pps rpm 17H18D5U.5A phase current 17H18D1U 1.A phase current 17H18D15U 1.5A phase current 17H118D_U Pull-Out Torque vs Speed 24 vdc, full step, unipolar constant current, J kg-m 2 COUPLING =.174 oz-in 2 (.319 kg-cm 2 ), J DYNAMOMETER = 5.96 oz-in 2 (1.9 x 1-4 ) oz-in 25 N-m pps rpm 17H118D5U.5A phase current 17H118D1U 1.A phase current 17H118D15U 1.5A phase current 17H218D_U Pull-Out Torque vs Speed 24 vdc, full step, unipolar constant current, J COUPLING =.174 oz-in 2 (.319 kg-cm 2 ), J kg-m 2 DYNAMOMETER = 5.96 oz-in 2 (1.9 x 1-4 ) oz-in 2.15 N-m pps rpm 17H218D5U.5A phase current 17H218D1U 1.A phase current 17H218D15U 1.5A phase current 212

80 Miniature Motors 24 vdc, full step, bipolar constant current, J H18D_B Pull-Out Torque vs Speed COUPLING =.76 oz-in 2 (.139 x 1-4 kg-m 2 ), J DYNAMOMETER = oz-in 2 (7.47 x 1-4 kg-m 2 ) oz-in N-m kpps krpm 23H18D1B-D, 1.A phase current 23H18D2B-D, 2.A phase current 23H18D3B-D, 3.A phase current vdc, full step, bipolar constant current, J 23H118D_B Pull-O ut Torque vs Speed COUPLING =.76 oz-in 2 (.139 x 1-4 kg-m 2 ), J DYNAMOMETER = oz-in 2 (7.47 x 1-4 kg-m 2 ) Stepper 1.7 oz-in N-m kpps krpm 23H118D1B, 1.A phase current 23H1 18D2B, 2.A phase current 23H118D3 B, 3.A phase current vdc, full step, bipolar constant current, J 23H218D_B Pull-Out Torque vs Speed COUPLING =.76 oz-in 2 (.139 x 1-4 kg-m 2 ), J DYNAMOMETER = oz-in 2 (7.47 x 1-4 kg-m 2 ) oz-in N-m kpps krpm 23H218D1B, 1.A phase current 23H2 18D2B, 2.A phase current 23H218D3B, 3.A phase current 213

81 4 24 vdc, full step, bipolar constant current, J 23H318D_B Pull-O ut Torque vs Speed COUPLING =.76 oz-in 2 (.1 39 x 1-4 kg-m 2 ), J DYNAMOMETER = oz-in 2 (7.47 x 1-4 kg-m 2 ) oz-in N-m kpps krpm 23H318D1B, 1.A phase current 23H318D2B, 2.A phase current 23H318D3B, 3.A phase current vdc, full step, unipolar constant current, J 23H18D_U Pull-O ut Torque vs Spee d COUPLING =.76 oz-in 2 (.139 x 1-4 kg-m 2 ), J DYNAMOMETER = oz-in 2 (7.4 7 x 1-4 kg-m 2 ) oz-in N-m H18D1U, 1.A phas e current 23H18D2U, 2.A phase current 23H18D3U, 3.A phase curent. kpps krpm vdc, full step, unipolar constant current, J 23H118D_U Pull-O ut Torque vs Speed COUPLING =.76 oz-in 2 (.139 x 1-4 kg-m 2 ), J DYNAMOMETER = oz-in 2 (7.47 x 1-4 kg-m 2 ) oz-in 4.3 N-m kpps krpm 23 H118D1U, 1.A phase current 23H118D2U, 2.A phase current 23H118D3U, 3.A phase current 214

82 Miniature Motors 23H2 18D_U Pull-Out Torque vs Speed 2 24 vdc, full step, unipolar cons tant current, J COUPLING =.76 oz-in 2 (.139 x 1-4 kg-m 2 ), J DYNAMOMETER = oz -in 2 (7.47 x 1-4 kg-m 2 ) oz-in N-m H218D1U, 1.A phase curent 23H218D2U, 2.A phase current 23H218D3U, 3.A phase current. kpps krpm vdc, full step, unipolar constant current, J 23H318D_U Pull-Out Torque vs Speed COUPLING =.76 oz-in 2 (.139 x 1-4 kg-m 2 ), J DYNAMOMETER = oz-in 2 (7.47 x 1-4 kg-m 2 ) Stepper oz-in 1 N-m H318D1U, 1.A phase current 23H318D2U, 2.A phase current 23H318D3U, 3.A phase current. kpps krpm 24 vdc, full step, bipolar constant current, J 23H18E_B Pull-Out Torque vs Speed COUPLING =.76 oz-in 2 (.139 x 1-4 kg-m 2 ), J DYNAMOMETER = oz-in 2 (7.47 x 1-4 kg-m 2 ) oz-in N-m kpps krpm 23H18E1B, 1.A phase current 23H18E2B, 2.A phase current 23H18E3B, 3.A phase current 215

83 2 24 vdc, full step, bipolar constant curr ent, J 23H1 18E_B Pull-Out Torque vs Speed COUPLING =.76 oz -in 2 (.139 x 1-4 kg-m 2 ), J DYNAMO METER = oz-i n 2 (7.47 x 1-4 kg-m 2 ) oz-in N-m kpps krpm 23H118E1B, 1.A phas e current 23 H118 E2B, 2.A phase current 23H1 18E3B, 3.A phase current 24 vdc, full step, bipolar constant current, J 23H218E_B Pull-Out Torque vs Speed COUPLING =.76 oz-in 2 (.139 x 1-4 kg-m 2 ), J DYNAMOMETER = oz-in 2 (7.47 x 1-4 kg-m 2 ) oz-in N-m kpps krpm 23H218E1B, 1.A phase current 23H218E2B, 2.A phase current 23H218E3B, 3.A phase current dc, vfull step, bipolar constant current, J 23H3 18E_B Pull-Out Torque vs Spee d COUPLING =.76 oz -in 2 (.139 x 1-4 kg-m 2 ), J DYNA MOMETER = oz-i n 2 (7.47 x 1-4 kg-m 2 ) oz-in N-m kpps krpm 23H318E 1B, 1.A phase current 23H318E2B, 2.A phase current 23H318E3B, 3.A phase current 216

84 Miniature Motors 7 24 vdc, full step, unipolar constant current, J 23H18 E_U Pull-Out Torque vs Speed COUPLING =.76 oz-in 2 (.139 x 1-4 kg-m 2 ), J DYNAMOMETER = oz-in 2 (7.47 x 1-4 kg-m 2 ) oz-in N-m kpps krpm 23H18E1U, 1.A phase current 23H18E2U, 2.A phase current 23H18E3U, 3.A phase current vdc, full step, un ipolar constant current, J 23H118 E_U Pull-Out Torque vs Speed COUP LING =.76 oz -in 2 (.139 x 1-4 kg-m 2 ), J DYNAMO METER = oz-in 2 (7.4 7 x 1-4 kg-m 2 ) Stepper oz-in N-m kpps krpm 23H118E1U, 1.A phase current 23H118E2U, 2.A phase current 23H118E3U, 3.A phase current 3 24 vdc, full step, unipolar constant current, J 23H318E_U Pull-Out Tor que vs Speed COUPLING =.76 oz-in 2 (.139 x 1-4 kg-m 2 ), J DYNAMOMETE R = oz -in 2 (7.47 x 1-4 kg-m 2 ) oz-in 1 N-m kpps krpm 23H318E 1U, 1. A phas e current 23H318E2 U, 2.A phase current 23H318E3U, 3.A phase current 217

85 55 48 vdc, full step, bi polar cons tant current, J 34H1 18D_ B Pull-Out Torque vs Speed CO UPLING = oz-in 2 (.755 x 1-4 kg-m 2 ), J DYNAMOMETER = 65.6 oz-in 2 (119 x 1-4 kg-m 2 ) oz-in N-m kpps H118D1B, 1.A phase current 34H118D3B, 3.A phase current 34H1 18D5 B, 5.A phase current krpm vdc, full step, bipolar constant current, J 34H218D_ B Pull-Out Torque vs Speed COUPLING = oz-in 2 (.755 x 1-4 kg-m 2 ), J DYNAMOMETER = 65.6 oz-in 2 (119 x 1-4 kg-m 2 ) oz-in N-m kpps krpm 34H218D1B, 1.A phase current 34H218D3B, 3.A phase curent 34H218D5B, 5.A phase current vdc, full step, bipolar consta nt current, J 34H318D_B Pull-Out Torque vs Speed COUPLING = oz-in 2 (.755 x 1-4 kg-m 2 ), J DYNAMOMETER = 65.6 oz-in 2 (119 x 1-4 kg-m 2 ) oz-in N-m kpps krpm 34H318D1B, 1.A phase current 34H3 18D3B, 3.A phase current 34H318D5B, 5.A phase current 218

86 Miniature Motors 34H118D_ U Pull-O ut Torque vs Speed 48 vdc, full step, unipolar cons tant current, J COUPLING = oz-in 2 (.755 x 1-4 kg-m 2 ), J DYNAMO METER = 65.6 oz -in 2 (119 x 1-4 kg-m 2 ) oz-in 25 N-m kpps krpm 34H11 8D1 U, 1.A phase current 34H1 18D3 U, 3.A phase current 34H118D5U, 5.A phase current 8 48 vdc, full step, unipolar constant current, J 34H2 18D_U Pull-O ut Torque vs Speed COUPLING = oz-in 2 (.755 x 1-4 kg-m 2 ), J DYNAMOMETER = 65.6 oz-in 2 (119 x 1-4 kg-m 2 ) Stepper 4 3. oz-in N-m kpps krpm 34H21 8D1U, 1.A phase curent 34H2 18D3U, 3.A phase current 34 H218D5 U, 5.A phase current vdc, full step, unipolar constant current, J 34H318D_U Pull-Out Torque vs Speed COUPLING = oz-in 2 (.755 x 1-4 kg-m 2 ), J DYNAMOMETER = 65.6 oz-in 2 (1 19 x 1-4 kg-m 2 ) oz-in 4 3. N-m kpps krpm 34 H318D1U, 1.A phase current 34H318D3U, 3.A phase current 34H318D5U, 5.A phase current 219

87 6 48 vdc, full step, bipola r constant current, J 34 H118E_B Pull -Out To rque vs Speed COUPL ING = oz-in 2 (.755 x 1-4 kg-m 2 ), J DYNAMO METER = 65.6 oz-in 2 (1 19 x 1-4 kg-m 2 ) oz-in 3 2. N-m kpps krpm 34H1 18 E1B, 1.A phase current 34H118E3B, 3.A phase current 34 H1 18E5B, 5.A phas e current 34H218 E_B Pull-Out Torque vs Spee d 48 vdc, full step, bipolar constant current, J COUPLING = oz-in 2 (.755 x 1-4 kg-m 2 ), J DY NAMOMETE R = 65.6 oz-in 2 (119 x 1-4 kg-m 2 ) oz-in 6 4. N-m kpps H218E1B, 1.A phase current 34H218E3B, 3.A phase current 34H218E5B, 5.A phase current krpm vdc, full step, bipo lar constant curr ent, J 34 H3 18 E_B Pull -Out Torque vs Spee d COUPLING = oz-in 2 (.7 55 x 1-4 kg-m 2 ), J DYNAMOMETE R = 65.6 oz-in 2 (119 x 1-4 kg-m 2 ) oz-in N-m kpps krpm 34 H3 18E1B, 1.A phase current 34H318E3B, 3.A phase current 34H318E5B, 5.A phase current 22

88 Miniature Motors 34H118E_U Pull-O ut Torque vs Speed 48 vdc, full step, unipol ar constant current, J COUPLING = oz-in 2 (.755 x 1-4 kg-m 2 ), J DYNAMOMETER = 65.6 oz-in 2 (119 x 1-4 kg-m 2 ) oz-in N-m H1 18E1U, 1.A phase current 34H118E3U, 3.A phas e current 34H1 18E5U, 5.A phase current kpps krpm 9 48 vdc, full step, unipolar cons ta nt current, J 34H218E_U Pull-Out Torque vs Speed COUPLI NG = oz-i n 2 (.755 x 1-4 kg-m 2 ), J DY NA MO ME TER = 65.6 oz -i n 2 (119 x 1-4 kg-m 2 ) Stepper oz-in N-m kpps H2 18E1U, 1.A phase current 34H218E3U, 3.A phase current 34H2 18E5U, 5.A phase current krpm vdc, full step, unipolar consta nt curr ent, J 34H31 8E_U Pull-Out Torque vs Speed COUPLING = oz-in 2 (.755 x 1-4 kg-m 2 ), J DYNAMOMETER = 65.6 oz-in 2 (119 x 1-4 kg-m 2 ) oz-in 8 6. N-m kpps H318E1U, 1.A phase current 34H318E3U, 3.A phase current 34H318E5 U, 5.A phase current krpm 221

89 Notes 222

90 GEARHEADS R16 R4 R32 M22 Portescap manufactures some of the highest performance miniature gearheads in the industry that are subjected to rigorous quality tests during manufacturing. With a range of planetary and spur gearheads from 8 mm to 4 mm in diameter, Portescap can offer an entire drive train based on its motor gearbox solutions. Resident experts in gear technology can assemble the gears at Portescap with metal or plastic gears based on an application need. Why a Gearhead 224 Basic Gearhead Operation 225 How to select your Gearhead 226 Gearhead Specifications 228

91 Why a Gearhead Efficient Performance Every application has power requirements in terms of specific values of speed and torque. With a load demanding high torque at low speed, use of a large motor capable of developing the torque would be uneconomic, and system efficiency would be very low. In such cases, a better solution is to introduce some gearing between the motor and the load. Gearing adapts the motor to the load, be it for speed, torque, or inertia. The motor-and-gearbox assembly will provide greater efficiency and will be an economic solution. Reduction Gearboxes using Spur Gears This gear technology offers advantages in current-limited applications where lowest input friction and high efficiency are essential. The broad range of Portescap spur gearboxes is well adapted to our motor lines, and includes integrated gearmotors. Planetary Gearboxes The main advantages of Portescap planetary gearboxes are their high rated torque and a high reduction ratio per gear train. Both types use high quality composite materials. The all-metal planetary gearboxes, have a very compact design with excellent performance and lifetime. Gearhead Designation R Gearbox Type Gearbox diameter in mm Gearbox execution code Reduction ratio High Speed Planetary Gearboxes This high performance product line was designed for use on BLDC motors with iron core windings. The gearboxes tolerate input speeds in the range of 1, to 7, rpm and output speeds of several 1, rpm. This facilitates a motor-gearbox unit of very small dimensions that can provide extremely high values of speed and torque.

92 Basic Spur and Planetary Gearhead Operation Principle of the spur gearhead: The pinion of radius r1 and number of teeth z1, drives the input wheel of radius r2 and number of teeth z2. The reduction ratio per train i is z2:z1 which is equal to r2:r1. Principle of the planetary gearhead: The pinion S (= sun) having s teeth is driving the planets P (3 or 4 per train) which have p teeth and are fixed to the planet carrier. A = stationary annulus with a teeth. The reduction ratio per train is i = (a:s) +1. Concept Detail Gearhead Characteristics Advantages for the Application Spur gear concept: Only 1 transmission point per train Input wheel made of high grade plastic generated at high motor speeds Planetary concept: 3 or 4 transmission points per train Low friction per train Arrangement of several trains as intended by the designer Input and output shaft not necessarily in line Two output shafts possible Reduction of mechanical noise Reduction ratio per train is higher but so is friction Can transmit higher torques Input and output of a train have the same direction of rotation Less backlash Good efficiency, about.9 per train Long gearhead of small diameter or short gearhead of large diameter Free choice for placing the motor relative to the output shaft Mounting of a sensor, a potentiometer Silent operation Less trains for a given reduction ratio Efficiencies about.85 per train Very compact gearbox for its performance For any number of trains, the load always rotates in the same direction as the motor Smaller shock in case of a paid reversal of motor rotation

93 How to select your gearhead In addition to the dynamic output torque, the factors that should be considered when selecting a gearhead to be operated in conjunction with a Portescap motor are defined below: Direction of rotation It indicates the direction of the output shaft relative to the motor (= or ). In planetary gearboxes, the direction is always the same at input and output, for any number of trains. Efficiency It depends mainly on the number of trains. It is an average value, measured at an ambient temperature of 2 to 25 C. A new gearbox has lower values which will reach the normal value after the run-in period. Max. static torque It is the peak torque supported at stall; beyond this limit value the gearbox may be destroyed. Max. recommended input speed It has a large influence on the noise level and life time of the gearbox and, depending on the application, should be considered when selecting the reduction ratio. Backlash This is the angle a gearbox output shaft can rotate freely with the input blocked. It is mainly due to gear play necessary to avoid jamming, plus shaft play and the elastic deformation of teeth and shafts under load. As it is load-dependent, two values are given, with and without a load torque. In fact, backlash of the preceding gear trains appears at the output shaft diminished by the reduction ratio. Contrary to this, output shaft backlash appears at the input multiplied by the ratio. With a 1: 1 ratio, a backlash of 1 represents a rotation of 1 at the input, and at each reversal of the motor, the output only starts rotating once these 1 are caught up.

94 Standard features of a range of Portescap gear heads are given below. Detailed specifications can be found in the catalog page for each of the gearbox. GEARBOX R1 R13 B16 BA16 Diameter mm Length (range) mm Ratio (range) Nominal Torque Nm Efficiency (ratio dependent) PRODUCT RANGE CHART GEARBOX R16 R22 M22 K24 K27 Diameter mm Length (range) mm Ratio (range) Nominal Torque Nm Efficiency (ratio dependent) GEARBOX R32 RG1/8 RG1/9 K4 R4 Diameter mm Length (range) mm Ratio (range) Nominal Torque Nm Efficiency (ratio dependent)

95 Planetary Gearhead - Size 5 Size 5 Standard Modular Planetary Gearhead Gear Max Max Efficiency Max Mech Backlash Envelope Integral Rotation Addition Ratio Torque Input Range Power Max Diagram Shaft Input to Length for Output Speed % Output Minutes Below Seal Output Shaft Seal oz-in (Nm) rpm Watt of Angle Available inch (mm) (.29) 8, single yes same.156 (3.96) (.29) 8, dual yes same.156 (3.96) (.29) 8, dual yes same.156 (3.96) Gearhead Length - L Single Stage Dual Stage.432±.2. 63±.3 (1.973±.51) (15.316±.76) (-) denotes millimeters Please contact us to learn about other available ratios 228

96 Miniature Motors Planetary Gearhead - Size 9 Size 9 Standard Modular Planetary Gearhead Gear Max Max Efficiency Max Mech Backlash Envelope Integral Rotation Addition Ratio Torque Input Range Power Max Diagram Shaft Input to Length for Output Speed % Output Minutes Below Seal Output Shaft Seal oz-in (Nm) rpm Watt of Angle Available inch (mm) (1.1) 6, single yes same.175 (4.45) (1.1) 6, single yes same.175 (4.45) (1.1) 6, single yes same.175 (4.45) (1.1) 6, dual yes same.175 (4.45) (1.1) 6, dual yes same.175 (4.45) (1.1) 6, dual yes same.175 (4.45) (1.1) 6, dual yes same.175 (4.45) (1.1) 6, dual yes same.175 (4.45) (1.1) 6, dual yes same.175 (4.45) (1.1) 6, dual yes same.175 (4.45) (1.1) 6, dual yes same.175 (4.45) (1.1) 6, dual yes same.175 (4.45) Gearhead Gearhead Length - L Single Stage Dual Stage.747± ±.3 (18.974±.51) (27.35±.76) (-) denotes millimeters Please contact us to learn about other available ratios 229

97 Planetary Gearhead - Size 11 Size 11 Standard Modular Planetary Gearhead Gear Max Max Efficiency Max Mech Backlash Envelope Integral Rotation Addition Ratio Torque Input Range Power Max Diagram Shaft Input to Length for Output Speed % Output Minutes Below Seal Output Shaft Seal oz-in (Nm) rpm Watt of Angle Available inch (mm) (2.6) 5, single yes same.25 (6.35) (2.6) 5, single yes same.25 (6.35) (2.6) 5, single yes same.25 (6.35) (2.6) 5, dual yes same.25 (6.35) (2.6) 5, dual yes same.25 (6.35) (2.6) 5, dual yes same.25 (6.35) (2.6) 5, dual yes same.25 (6.35) (2.6) 5, dual yes same.25 (6.35) (2.6) 5, dual yes same.25 (6.35) (2.6) 5, dual yes same.25 (6.35) (2.6) 5, dual yes same.25 (6.35) (2.6) 5, dual yes same.25 (6.35) Gearhead Length - L Single Stage Dual Stage.826± ±.3 (2.981±.51) (31.64±.76) (-) denotes millimeters Please contact us to learn about other available ratios 23

98 Miniature Motors Planetary Gearhead - Size 15 Size 15 Standard Modular Planetary Gearhead Gear Max Max Efficiency Max Mech Backlash Envelope Integral Rotation Addition Ratio Torque Input Range Power Max Diagram Shaft Input to Length for Output Speed % Output Minutes Below Seal Output Shaft Seal oz-in (Nm) rpm Watt of Angle Available inch (mm) (9.5) 4, single yes same.313 (7.95) (9.5) 4, single yes same.313 (7.95) (9.5) 4, single yes same.313 (7.95) (9.5) 4, dual yes same.313 (7.95) (9.5) 4, dual yes same.313 (7.95) (9.5) 4, dual yes same.313 (7.95) (9.5) 4, dual yes same.313 (7.95) (9.5) 4, dual yes same.313 (7.95) (9.5) 4, dual yes same.313 (7.95) (9.5) 4, dual yes same.313 (7.95) (9.5) 4, dual yes same.313 (7.95) (9.5) 4, dual yes same.313 (7.95) Gearhead Gearhead Length - L Single Stage Dual Stage 1.453± ±.3 (37.52±.51) (54.381±.76) (-) denotes millimeters Please contact us to learn about other available ratios 231

99 M77L61 Gearmotor with Spur Gears.12 Nm Gearhead Specifications M77 L61 Ratio No. of gear stages Direction of Rotation = = = = = = Efficiency L (mm) Length Mass (g) Max. recom. dynamic mnm (oz-in) 12 (1.7) at 2 rpm output torque mnm (oz-in) 8 (1.1) at 15 rpm Bearing type sleeve bearings Max. static torque mnm (oz-in) 5 (7.8) Max. side load at 3 mm from mount. face N (lb) 1 (.225) Max. axial load N (lb) 1 (.225) Max. force for press-fit N (lb) 5 (1.12) Average backlash at no-load 2º Average backlash at 12mNm 3º Radial Play µm 3 Axial Play µm 1 Max. recom input speed rpm 75 Temperature range ºC (ºF) ( ) Motor Specifications Winding Types Measured Values Measuring Voltage V No-Load speed rpm Stall torque mnm (oz-in).31 (.4).37 (.5).23 (.3) Average no-load current ma Typical starting voltage V Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in).46 (.7).48 (.7).36 (.47) Intrinsic Parameters Torque constant mnm/a (oz-in/a) 1.7 (.24) 2.8 (.39) 3.3 (.47) Terminal resistance ohm Motor regulation R/k /Nms Thermal inductance mh Rotor inertia kgm Thermal Parameters Mechanical time constant ms Thermal time constant rotor s Thermal resistance body-ambient ºC/W

100 Miniature Motors M915L61 MU915L.3 Nm Gearmotor with Spur Gears and Right Angle Output M915 L61 4 MU915 L61 4 Gearhead Specifications Ratio No. of gear stages Direction of Rotation = = = = = Efficiency L (mm) Length Mass (g) 1/B 1/A 11/B 11/B 12/A 12/A 13/B 13/B 13/A 13/A Max. recom. dynamic output torque mnm (oz-in) 3 (4.25) at 2 rpm mnm (oz-in) 2 (2.83) at 15 rpm Bearing type sleeve bearings Max. static torque mnm (oz-in) 7 (9.87) Max. side load at 3 mm from mount. face N (lb) 1.5 (.34) Max. axial load N (lb) 1 (.225) Max. force for press-fit N (lb) 5 (1.12) Average backlash at no-load 2º Average backlash at 12mNm 3º Radial Play µm 3 Axial Play µm 15 Max. recom input speed rpm 75 Temperature range ºC (ºF) ( ) Motor Specifications Winding Types Measured Values Measuring Voltage V 2 3 No-Load speed rpm 83 8 Stall torque mnm (oz-in).52 (.7).35 (.5) Average no-load current ma 8 6 Max. Recommended Values Max. continuous current A Max. continuous torque mnm (oz-in).59 (.8).5 (.7) Intrinsic Parameters Torque constant mnm/a (oz-in/a) 2.2 (.31) 3.2 (.46) Terminal resistance ohm Motor regulation R/k /Nms Thermal inductance mh.5.1 Rotor inertia kgm Thermal Parameters Mechanical time constant ms 7 7 Thermal time constant rotor s 3 3 Thermal resistance body-ambient ºC/W 6 6 Gearhead 233

101 R1 Planetary Gearhead.1 Nm 7 M 1,6 x1,5 4 -,22 3,8 2 -,6 -,12 1,8 -,5 1 -, ,1 5,65 L 7,5 dimensions in mm R1 Ratio No. of gear stages Direction of Rotation = = = = = = Efficiency L (mm) Mass (g) Available with motor 8GS61 7 8G61 5 PO1 2 Characteristics R1 Bearing Type sleeve bearing Max. static torque Nm (oz-in).15 (21.4) Max. radial force at 8 mm from mounting face N (lb) 2 (.45) Max. axial force N (lb) 5 (1.125) Force for press-fit N (lb) 1 (2.25) Average backlash at no-load 1º Average backlash at.1 Nm 3º Radial play µm 5 Axial play µm 5-15 Max. recom. input speed rpm 1 Operating temperature range ºC (ºF) ( ) n (rpm) Dynamic torque Values at the output shaft Continuous working range Temporary working range M (Nm) 234

102 Miniature Motors R13.25 Nm Planetary Gearhead 9,5 M 1,6 x2,5 13 -,1 7 -,15 3 -,6 -,12 2,8 -,5 6 8,2 1 ( 9 ) dimensions in mm R13 L 1 Ratio No. of gear stages Direction of Rotation = = = = = = = = = = Efficiency L (mm) Mass (g) Available with motor 13N88 1 Gearhead Characteristics R13 R13 2R Bearing Type sleeve ball Max. static torque mnm (oz-in).5 (71).5 (71) Max. radial force at 8 mm from mounting face N (lb) 5 (1.12) 2 (4.5) Max. axial force N (lb) 8 (1.8) 1 (2.2) Force for press-fit N (lb) 1 (23) 1 (23) Average backlash at no-load 1.25º 1.25º Average backlash at.25 Nm 2º 2º Radial play µm 2 1 Axial play µm Max. recom. input speed rpm Operating temperature range ºC (ºF) ( ) n (rpm) Dynamic torque M (Nm) Values at the output shaft Continuous working range Temporary working range 235

103 B16 Reduction Gearhead with Spur Gears.12 Nm 7 -,22 4,7 -,5 3 -,6 -,12 2,7 -,5 11, ,5 16 -,1 5 M 2 x4,5 1,5 6,5 11 2,5 L 1 1,1 ( 7,9 ) 9 dimensions in mm B16 Ratio No. of gear stages Direction of Rotation = = = = = = Efficiency L (mm) Mass (g) Available with motor 16C18 67, 76 16N ) 16G S N78 5 P11 8 1) with 16N motor, use B16 2 (short version) Characteristics B16 B16 2R Bearing Type sleeve ball Max. static torque Nm (oz-in).4 (56).4 (56) Max. radial force at 8 mm from mounting face N (lb) 5 (1.1) 1 (2.2) Max. axial force N (lb) 5 (1.1) 1 (2.2) Force for press-fit N (lb) 1 (23) 1 (23) Average backlash at no-load 1.5º 1.5º Average backlash at.1 Nm 3º 3º Radial play µm 2 1 Axial play µm Max. recom. input speed rpm 8 8 Operating temperature range ºC (ºF) ( ) n (rpm) Dynamic torque Values at the output shaft Continuous working range Temporary working range M (N m) 236

104 Miniature Motors BA16.2 Nm Reduction Gearhead with Spur Gears and Planetary Output M dimensions in mm BA16 Ratio No. of gear stages Direction of Rotation = = = = = = = Efficiency L (mm) Mass (g) Available with motor 16C18 67, 76 16N ) 16G S N78 5 P11 8 1) with 16N motor, use BA16 2 (shorter version) Gearhead Characteristics BA16 BA16 2R Bearing Type sleeve ball Max. static torque Nm (oz-in).4 (57).4 (57) Max. radial force at 5 mm from mounting face N (lb) 5 (1.1) 15 (3.3) Max. axial force N (lb) 5 (1.1) 1 (2.2) Force for press-fit N (lb) 2 (44) 2 (44) Average backlash at no-load 1.5º 1.5º Average backlash at.1 Nm 3º 3º Radial play µm 3 1 Axial play µm 15 1 Max. recom. input speed rpm 8 8 Operating temperature range ºC (ºF) ( ) Values at the output shaft Continuous working range Temporary working range 237

105 R16 Planetary Gearhead.3 Nm dimensions in mm R16 Ratio No. of gear stages Direction of Rotation = = = = = = = = = = Efficiency L (mm) Mass (g) Available with motor 16C N G S N78 1 P11 12 Characteristics R16 R16 2R Bearing Type sleeve ball Max. static torque Nm (oz-in) 1 (141) 1 (141) Max. radial force at 8 mm from mounting face N (lb) 5 (1.12) 2 (4.5) Max. axial force N (lb) 8 (1.8) 1 (2.2) Force for press-fit N (lb) 1 (23) 1 (23) Average backlash at no-load 1.25º 1.25º Average backlash at.3 Nm 2º 2º Radial play µm 2 1 Axial play µm Max. recom. input speed rpm Operating temperature range ºC (ºF) ( ) n (rpm) Dynamic torque M (Nm) Values at the output shaft Continuous working range Temporary working range 238

106 Miniature Motors R22.6 Nm Planetary Gearhead dimensions in mm R22 Ratio No. of gear stages Direction of Rotation = = = = = = = = = = = = = = Efficiency L (mm) Mass (g) Available with motor 22S N28 286/22N V28 22/22V GST V58 4/23V N58 5/26N L / 28L LT P31 9 Gearhead Characteristics R22 R22 2R Bearing Type sleeve ball Max. static torque Nm (oz-in) 2 (283) 2 (283) Max. radial force at 8 mm from mounting face N (lb) 1 (2.2) 15 (3.3) Max. axial force N (lb) 1 (2.2) 1 (2.2) Force for press-fit N (lb) 3 (67.4) 3 (67.4) Average backlash at no-load 1.5º 1.5º Average backlash at.3 Nm 3º 3º Radial play µm 25 1 Axial play µm Max. recom. input speed rpm 5 5 Operating temperature range ºC (ºF) ( ) n (rpm) Dynamic torque Values at the output shaft Continuous working range Temporary working range M (Nm)

107 M22 Planetary Gearhead 1.5 Nm dimensions in mm M22 M22 2 Ratio No. of gear stages Direction of Rotation = = = = = = = = = = = = = = = Efficiency L (mm) Mass (g) Available with motor 22N28 286/ 22N V28 21/22V GST82 5/6 / 23GST V58 4/23V N58 5/26N L / 28L LT Characteristics M22. /. 2 Bearing Type sleeve Max. static torque Nm (oz-in) 4 (556) Max. radial force at 8 mm from mounting face N (lb) 5 (11) Max. axial force N (lb) 7 (16) Force for press-fit N (lb) 1 (22) Average backlash at no-load 2º Average backlash at 1 Nm 3º Radial play µm <2 Axial play µm 5-15 Max. recom. input speed rpm 75 Operating temperature range ºC (ºF) ( ) n (rpm) Dynamic torque M (Nm) Values at the output shaf Continuous working range Temporary working range 24

108 Miniature Motors K24.17 Nm Reduction Gearhead with Spur Gears dimensions in mm K24 Ratio No. of gear stages Direction of Rotation = = = = = = = = = Efficiency L (mm) Mass (g) Available with motor 22N28 286/22N V28 22/22V V58 4/23V N58 5/26N48 9 P Gearhead Characteristics K24 K24 2R Bearing Type sleeve ball Max. static torque Nm (oz-in).7 (1).7 (1) Max. radial force at 8 mm from mounting face N (lb) 5 (1.1) 2 (4.5) Max. axial force N (lb) 8 (1.8) 1 (2.2) Force for press-fit N (lb) 3 (6.7) 3 (6.7) Average backlash at no-load 1.5º 1.5º Average backlash at.12 Nm 2.5º 2.5º Radial play µm 4 1 Axial play µm Max. recom. input speed rpm 5 5 Operating temperature range ºC (ºF) ( ) n (rpm) Dynamic torque M (Nm) Values at the output shaft Continuous working range Temporary working range 241

109 K27 Reduction Gearhead with Spur Gears.4 Nm dimensions in mm K27 Ratio No. of gear stages Direction of Rotation = = = = = = = = Efficiency L (mm) Mass (g) Available with motor 22N28 286/ 22N V28 22/22V GST V58 4/23V N58 5/26N48 9 P31 9 Characteristics K27 K27 2R Bearing Type sleeve ball Max. static torque Nm (oz-in).7 (1).7 (1) Max. radial force at 8 mm from mounting face N (lb) 2 (4.5) 25 (5.5) Max. axial force N (lb) 8 (1.8) 4 (9) Force for press-fit N (lb) 3 (67.5) 6 (13.5) Average backlash at no-load 2º 2º Average backlash at.2 Nm 3º 3º Radial play µm 6 2 Axial play µm Max. recom. input speed rpm 4 4 Operating temperature range ºC (ºF) ( ) n (rpm) Dynamic torque M (Nm) Values at the output shaft Continuous working range Temporary working range 242

110 Miniature Motors R Nm Planetary Gearhead 26 M 3 x5,5 7,1 32 -, ,21 -,8 -,17 15, ( 16,5 ) L 2,5 dimensions in mm R32 Ratio ) ) ) ) No. of gear stages Direction of Rotation = = = = = = = = = = = = = Efficiency L (mm) Mass (g) Available with motor 25GST82 1/2/3 25GT82 6/8 28L28 49/28L LT12 49/316 28D DT12 4/ 16 3GT82 4/5 35NT32/82 1/5/35 1) Ratio on request only Gearhead Characteristics R32 Bearing Type ball Max. static torque Nm (oz-in) 2 (2832) Max. radial force at 8 mm from mounting face N (lb) 18 (4.5) Max. axial force N (lb) 15 (33.75) Force for press-fit N (lb) 5 (112.5) Average backlash at no-load 1º Average backlash at 3 Nm 2º Radial play µm 1 Axial play µm 1 Max. recom. input speed rpm 6 Operating temperature range ºC (ºF) ( ) n (rpm) Dynamic torque Values at the output shaft Continuous working range Temporary working range M (Nm) 243

111 RG 1/8 Reduction Gearhead with Spur Gears.6 Nm dimensions in mm RG 1/8 1 Ratio No. of gear stages Direction of Rotation = = = = = = = Efficiency L (mm) Mass (g) Available with motor 22N28 24/22N V28 21/22V GST82 1/3 23V58 1/23V GST82 1/2/4 / 26N58 1/26N L28 49/28L LT12 49/316 P Characteristics RG1/8 1 RG1/8 2R 1 Bearing Type sleeve ball Max. static torque Nm (oz-in) 1 (14) 1 (14) Max. radial force at 8 mm from mounting face N (lb) 5 (11.25) 5 (33.75) Max. axial force N (lb) 5 (11.25) 25 (56) Force for press-fit N (lb) 2 (45) 3 (67.51) Average backlash at no-load 1.5º 1.5º Average backlash at.6 Nm 3º 3º Radial play µm 6 2 Axial play µm Max. recom. input speed rpm 5 5 Operating temperature range ºC (ºF) ( ) n (rpm) Values at the output shaft Continuous working range Temporary working range Dynamic torque M (Nm)

112 Miniature Motors RG 1/9 1.2 Nm Reduction Gearhead with Spur Gears dimensions in mm RG 1/9 1 Ratio No. of gear stages Direction of Rotation = = = = = Efficiency L (mm) Mass (g) Available with motor 22N28 24/22N V28 21/22V GST82 1 /2/3 23V58 1/23V GST82 1/2/4 / 23GST82 1/3 26N58 1/26N L28 49/28L LT12 49/316 Gearhead Characteristics RG1/9 1 RG1/9 2R 1 Bearing Type sleeve ball Max. static torque Nm (oz-in) 2 (28) 2 (28) Max. radial force at 8 mm from mounting face N (lb) 6 (13.5) 15 (33.75) Max. axial force N (lb) 5 (11.25) 25 (56.25) Force for press-fit N (lb) 25 (56.25) 3 (67.5) Average backlash at no-load 2.5º 2.5º Average backlash at 1 Nm 3º 3º Radial play µm 6 2 Axial play µm Max. recom. input speed rpm 5 5 Operating temperature range ºC (ºF) ( ) n (rpm) Values at the output shaft Continuous working range Temporary working range Dynamic torque M (Nm)

113 K4 Reduction Gearhead with Spur Gears 3 Nm dimensions in mm K4 1 Ratio No. of gear stages Direction of Rotation = = = = = = = Efficiency L (mm) Mass (g) Available with motor 25GT2R82 6 / 8 28LT12 49 / L28 49 / D NT2R32 54 / 66 Characteristics K4 1 K4 2R 1 Bearing Type sleeve ball Max. static torque Nm (oz-in) 6 (85) 6 (85) Max. radial force at 8 mm from mounting face N (lb) 8 (18) 15 (33.75) Max. axial force N (lb) 8 (18) 15 (33.75) Force for press-fit N (lb) 2 (45) 2 (45) Average backlash at no-load 1º 1º Average backlash at.3 Nm 1.5º 1.5º Radial play µm 5 1 Axial play µm Max. recom. input speed rpm 4 4 Operating temperature range ºC (ºF) ( ) n (rpm) Values at the output shaft Continuous working range Temporary working range Dynamic torque M (Nm) 246

114 Miniature Motors R4 Planetary Gearhead 1 Nm L dimensions in mm R4 Ratio No. of gear stages Direction of Rotation = = = = = = = = = = = Efficiency L (mm) , Mass (g) Available with motor 25GT82 1 / 2 / 4 28DT12 1/98 3GT82 4 / 5 35NT32/82 1/5/69 Gearhead Characteristics R4 Bearing Type ball Max. static torque Nm (oz-in) 4 (57) Max. radial force at 8 mm from mounting face N (lb) 6 (135) Max. axial force N (lb) 4 (9) Force for press-fit N (lb) 6 (135) Average backlash at no-load 1º Average backlash at.3 Nm 1.3º Radial play µm 1 Axial play µm 1 Max. recom. input speed rpm 6 Operating temperature range ºC (ºF) ( ) n (rpm) Values at the output shaft Continuous working range Temporary working range Dynamic torque M (Nm) 247

115 Notes 248

116 Encoders Feedback mechanisms for gauging motor position and speed are highly essential for a wide range of applications in medical, industrial automation, security and access. Portescap s encoder technologies spanning from the simplest tachogenerators to highly sophisticated MR encoders provide a bundle of solutions for positioning and speed related feedback to facilitate the needs of motion in a variety of applications. Why an Encoder 25 Spotlight on MR2 Encoder 251 Encoder Specifications 254

117 Why an Encoder Asic LED Codewheel Feedback & Positioning D.C. TACHOGENERATORS MAGNETIC ENCODERS The combination of an ironless rotor, a high grade permanent The integrated Portescap type D magnetic encoder consists of magnet, and a commutation system made of precious metals, a multipolar magnet mounted directly on the motor shaft. As results in Portescap DC tachogenerators having a truly linear the motor shaft turns, magnetic flux variations are detected by relationship between angular velocity and induced voltage, a Hall sensors which generate two TTL-CMOS compatible output very low moment of inertia and negligible friction. signals having a 9 phase shift between both channels. The OPTICAL ENCODERS simple and robust design of this sensor makes it ideally suited to applications with severe operating conditions, such as high The incremental optical encoders from Portescap have three temperature, dust, humidity, and vibration. Integrated into output channels. It uses a dedicated ASIC having a matrix of Portescap motors, these units are intended for applications optoelectronic sensors which receives infrared light from an requiring compact and reliable high performance systems for LED after its passage through a metal codewheel. The mask speed and position control. determining the phase angle and index position is directly integrated onto the circuit, ensuring very high precision. The differential measure of the light modulated by the codewheel generates digital output signals insensitive to temperature drift with an electrical phase shift of 9 between channels A and B. The standard version of the encoder provides CMOS compatible complementary signals for improved signal transmission and noise rejection. Besides the detection of the direction of rotation and signal transitions in channel A and B for direct control of a counter or a microprocessor, the integration of this particular circuit offers additional functions such as a stand-by mode for reduced current consumption in battery powered equipment.

118 Spotlight on MR2 encoder Magnetoresistance effect which was first discovered in 1857 can be seen in three different configurations:- 1.R(M(T)) Resistance changes due to indirect manipulation of magnetization through thermal changes 2.R(M) Resistance changes due to direct manipulation of the magnetization. 3.R(θ M,I ) Resistance changes due to the angle between the magnetization and current The third effect, also referred to as anisotropic magnetoresistance is exploited in Portescap s high resolution MR encoders. This resistance variation responds to the following equation: ρ(θ M,I ) = ρ + ρ cos 2 (θ M,I ) where ρ is the zero-field resistivity, ρ is the minimal resistivity and θ M,I is the angle between the magnetic field and the current. The relation between resistivity and magnetic angle governs the design of the MR encoder and as such the encoder signals have negligible effect on variation in magnetic field strength. Using interpolation techniques, several output lines per revolution are generated with only one period of analog signal coming out from the sensor magnet system, in incremental magnet encoders. The pulse signal from MR encoder as shown below is proportional to speed and distance traveled by the shaft and can be used for effective feedback. A B State: Permanent Magnet As the MR technology is not needed to have physically all the output lines (poles in case of a magnetic encoder) on the encoder disc, the MR encoder can be made very compact, even for high resolution. The magnetic field inside the encoder can be maximized by having a low number of relatively big magnetic poles. The strong field so obtained makes this encoder very resistant against any unwanted external field. Also, with this compact design the encoder disc magnet remains very small thus sustaining the motor s high dynamic performances. Finally, as this encoder is made around a magnetic angle sensor, it is not sensitive to vertical position changes and, hence, ball bearings in a motor are not a prerequisite to achieve high resolution.

119 Motor End cap Encoder Chip Encoder Chip Concept Detail Encoder Characteristics Advantages for the Application Interpolated lines Field angle sensor Low thickness high field density magnet Physical line count on the encoder disc is much lower than encoder resolution High magnet field obtained with simple bipolar magnet No sensitivity to axial movement of the encoder magnet Ultra low encoder inertia Ultra compact design for high resolution Very low sensitivity to unwanted external field Ball bearing motor not required even for high resolution High dynamic performance of the motor stays intact

120 Miniature Motors Notes 253

121 Type D / Type F Integrated Magnetic Encoders dimensions in mm Encoder Type D and F connections 1) 1 Motor + 6 Motor - 2 Vcc 7 NC 3 Channel A 8 NC 4 Channel B 9 NC 5 GND 1 NC Characteristics at 22ºC D F Number of pulses per rev Supply voltage Vcc V Supply current typical at 5 V ma 4 6 Rise time t4 µs Fall time t5 µs.5.2 Output signal 2) Two channels / square wave in quadrature Electrical phase shift between U1 and U2 t3/t1 x 36 degree 9 ± 4 Signal ratio 3) t2/t1 % 5 ± 25 Max. count frequency khz 1 15 Operating temperature range ºC Inertia 1-7 x kgm 2.1 Temperature ºC 22 Measuring conditions Supply voltage V 5 Load resistance Mohm 1 Load capacity pf 25 Encoder F available on motor types 16C 16N 17S 17N 22N 22V L1 = length (mm) L2 = length (mm) 3, D = motor diameter (mm) Encoder D available on motor types 13N P11.19 L = length (mm) D = motor diameter (mm) Typical Encoder Output Signal 1) Connector Dupont type Quikie II or equivalent t1: Period t2/t1: Signal ratio t3: Phase shift t4 Rise time t5 Fall time 2) Internal pull-up resistor: 1 kohm only available with the F type encoder 3) Over the entire frequency and temperature range 254

122 Miniature Motors Encoder E9 3 Channel Optical Encoder Connector Quikie II, Dupont or equivalent (on request) dimensions in mm mass: 6.2g E9 Characteristics at 22ºC Number of lines available 1, 144, 2, 5 1) typical ma 1 Supply current max ma 2 stand-by µa 5 Output signal CMOS compatible Electrical phase shift between A and B degree 9 ± 2 Duty cycle % 5 ± 1 Max. count frequency khz 2 Operating temperature range at 9% humidity ºC -4 to + 85 Code wheel moment of inertia 1-7 x kgm 2.12 Supply voltage Vcc V 5 ± 1% Pin Out Version 1 GND Vcc dir. stand-by A A B B Z Z Version 2 GND Vcc dir. stand-by up A down B pulse Z 13 BC 16 BS 16BL 22BS 22BM 22BL. Available on Motor Types 22N48 22V48 23GST82 23V48 25GST/GT 26N48 28L18 28LT12 28DT12 3GT 35NT32 L = length (mm) / Page # / /73 1) ask for a 2R motor type for use with the E9 in 5 lines; other number of lines on request ; other number of lines on request 2) E9 Encoder is available for P53, P532, P85 and P852 models. Visit for product details. 3) Dimensions with brushless motors not given. Visit for product details. Encoder Typical Encoder Output Signal Features 2 channel quadrature output and index pulse Small size Integrated direction of rotation detection Stand-by function with latched state of channels (to de-activate the stand-by mode, connect the pin 4 to the ±5V) Complimentary outputs Up/down pulse signals (on request) CMOS compatible. to V DC or +5V DC Single 5V DC supply 1) The input stand-by has to be connected 255

123 HEDS 55/554 Optical Encoder 3 26,2 41,1 18,3 dimensions in mm L2 L1 Pin Function 1. Mass 2. N.C Channel A 4. Vcc 5. Channel B Characteristics at 22ºC 55/554 Measured Values Standard number of lines 96 to 124 Supply voltage V 5 ± 1% Supply current, typical value ma Output signals 2 channels, square wave in quadrature 3 channels (with index) Electrical phase angle between channels 9 ± 1º Output current per channel ma >5, TTL compatible Frequency response khz 1 Moment of inertia kgm 2.6 x 1-7 Operating temperature ºC -4 to 1 Connections 5 pins HEDS 55/54 L1 L2 25GST GT NT2R NT2R On request HP encoder available on other motors. Encoder also available with line-driver HP encoders are available for mounting on shaft diameters of 2,3,4 and 5. For more information, please ask for the Hewlett-Packard data sheet. 256

124 Miniature Motors MR2 Encoder Magneto-resistive Encoder Specification unit value tolerance Encoder specifications (Vcc = 5.V / 22 C) Output: 2-3 channels, square wave in quadrature, optional reference, 4 to 512 pulses per revolution, TTL and CMOS compatible. All following resolution are available: 512, 5, 4, 256, 25, 2, 16, 128, 1, 8, 64, 5, 4, 32, 2, 16, 8 & 4. Supply voltage min / max V 4.5 / 5.5 Min / Max Supply current nominal / max ma 2 / 25 Typical / Max Rise/fall time (CL=5pF) ns 6 / 6 Rise / Fall Max Output frequency MHz 1.28 Max Electrical phase shift 9 ± 45 Pulse width Channel A % 5 ± 15 Pulse width Channel B % 5 ± 15 Max. 512 [ppr] rpm 3 Max Operating temperature -25 / 85 Min / max Motor Type 8G / GS 12G 13N 16N 16G 17N/S/V 22N/S/V 23GST 25GST/GT 35NT Encoder additional length [mm] Output signals: fall time rise time t1 = 1 line = 36 electrical Ch A Ch B Output connector: 1. Motor + 2. Vcc 3. Channel A 4. Channel B 5. GND 6. Motor - 7. Channel Z Connector 1 poles type Quickie II or equivalent DIN A (UL E688) Encoder t2 t3 t2 / t1 = duty cycle t3 = shift phase 257

125 Notes 258

126 DRIVES AND ELECTRONICS EBL-H-5-3 Portescap electronics are especially designed to take full advantage of Portescap miniature motors. EBL-H

127 Notes 26

128 Miniature Motors EBL-H-5-3 The EBL-H5-3 is a small sized 4 quadrants speed controller for brushless DC motors (up to 15 Watts) with Hall Sensors Specification and connection Inputs Power J1 GND PWR Motor connection J6 PH1-2-3 Vcc GND H1 H2 H3 Logic connection J2 GND DIR SPD FO ENA OE Te- / Te+ Other specifications Connection Mechanical data Ground power In Power Supply Motor winding Voltage RMS current Peak current acceleration Peak current deceleration Hall sensor supply Hall sensor supply Hall sensor signal (Integrated pull up resistor of 1Kohm connected to internal 5V) Ground logic voltage Direction Speed control, analog input or PWM Speed out Enable Not used External temperature sensor optional Switching current bridge frequency Max speed (2 poles) Min Speed (2 poles) Max speed (4 poles) Min Speed (4 poles) Max speed (8 poles) Min Speed (8 poles) speed control resolution Power bridge temperature protection Wire gage Weight Dimensions (L x W x H) unit V V V A A A V ma V V V Sensor type KHz RPM RPM RPM RPM RPM RPM Steps C AWG g mm value 5.5 / V TTL Signal V à CCW 5V à CW V KHZ / 5 1 min / max min TTL Signal, one period per pair pole revolution TTL Signal V à Off PTC or NTC Thermistor 7 9, x 92 x 15 tolerance Min / Max Max Max Max Max Typ Max Typ Max typ Max Min Max Min Max Min Typ Max typ typ typ Drives order p/n: (EBL-H-5-3-5) for size 5, 16BH and 22BH motors order p/n: (EBL-H-5-3-6) for size 6, 9, 11, 15 and nuvodisc series motors Please contact us for any motor not listed above or for any custom request (PID settings, peak current limitation...) ROHS compliant 261

129 Miniature Motors Notes 262

130 Engineers appendix Engineers appendix 264

131 Engineering Section Examples of DC Coreless Motor calculations This chapter aims to provide all the information necessary to select a DC Coreless Motor and to calculate the values at the desired operating point. Example: Direct Drive without a gearhead attached to the motor. For this application we are looking for a DC Coreless Motor for a continuous duty application. The application requirements are: Available voltage: Available current: 1 vdc 1 Amp Motor operating point 2, rpm [rpm] desired motor speed 6 mnm [M] desired output shaft torque 3 C [T amb ] operating temperature environment Continuous operation Motor dimensions 25mm maximum allowable length 4mm maximum allowable diameter The escap DC Coreless motor 22N is the smallest motor capable of delivering a torque of 6 mnm continuously. Lets examine the motor series 22N E.286, which has a nominal voltage of 9 vdc. The characteristics we are mostly interested in is the torque constant (k) of 12.2 mnm/a, and the terminal resistance (R) is 1.3Ω. Neglecting the no-load current (lo), for a load torque (M) of 6 mnm the motor current is: M I = K [A] (1) 6mNm I = =. 49 A 12.2mNm / A Now we can calculate the drive voltage (U) required to run the motor at 22º C, for running a speed of 2, rpm with a load torque of 6 mnm: U = R * I + K *ϖ n 2 ϖ = 2π * = 2 π * = rad / s U = 1.3* (12.2*1 )*29.44 = Vdc [Vdc] (2) [rad/s] (3) 264

132 Miniature Motors Engineering Section We note the current of.492 A, is quite close to the rated continuous current of.62 A. We therefore need to calculate the final rotor temperature (T r ) to make sure it stays below the rated value of 1 ºC and the voltage required is within the 1 Vdc available. P diss is the dissipated power, R Tr is the rotor resistance at the final temperature and α is the thermal coefficient of the copper wire resistance. ΔT = T T = P * R r amb diss th [ C] (4) P diss = R th * I 2 [W] (5) R Tr = r R22 *(1 + α( T 22)) [Ω] (6) α =.39 [1/ C] (7) R = R + R th th1 th2 [ C/W] (8) The catalog values for the thermal resistance rotor-body and body-ambient are 6º C/W and 22º C/W, respectively. They are indicators for unfavorable conditions. Under <<normal>> operating conditions (mounted to a metal surface, with air circulating around it) we may take half the value for R th2. By solving equations (4) (5) and (6) we obtain the final rotor temperature T r : rpm R T = r 22 2 * I * Rth *(1 22* α) + T 2 1 α * R * I * R 22 th a [ C] (9) 65 With current of.48 A the rotor reaches a temperature of: n t T r = C At that temperature and according to equation (6), the rotor resistance is R82.4 = 12.73Ω, and requires a drive voltage of 7.62 Vdc Power =.492 A*7.62 Vdc = W The motor requires an electrical power of 3.75 watts mnm The problem is now solved. The DC Coreless motor series 22N E.286 would be a good choice for the application. In case the application requires a particularly long motor life, use of the next larger motor (series 22V) could possibly be considered. 265

133 Engineering Section Examples of DC Coreless Gearmotor calculation Example: Direct Drive with a gearhead attached to the motor. For this application we are looking for a DC Coreless Motor & Gearhead for a continuous duty application. The application requirements are: Available voltage: Available current: 15 vdc 1.5 Amp Motor operating point 3 rpm [rpm] desired motor speed 5 mnm [M] desired output shaft torque 22 C [T amb ] operating temperature environment Continuous operation Motor dimensions 8mm maximum allowable length 25mm maximum allowable diameter The gearhead specification page for the R22 shows this torque can be achieved with this planetary gearhead. When choosing the reduction ratio we should keep in mind the recommended maximum input speed of the R22 gearhead should remain below 5, rpm in order to assure low wear and low audible noise. n i max n ch [-] (1) 5 rpm i = rpm 3 rpm The catalog indicates the closest ratio to the desired one calculated above is 111:1, the efficiency for this ratio is.6 (or 6%). We may now calculate the motor speed (n m ) and the reflected torque (M m ) on the motor shaft. M M m = i *η [mnm] (11) mnm M 5 m = = 7.51*1 3 Nm = mnm 111 *.6 nm = nch * i = 3 *111 = 3, 33 rpm [rpm] (12) The motor table shows the 22V28 series motor can deliver torque of 7.5 mnm continuously. The 22V28 series motor is available as a standard combination with the planetary gearhead R22. After choosing a voltage winding we can calculate the motor current and voltage the same way as in the previous example. The motor having a load torque value (M) of 7.5 mnm is required to be driven at a speed of 3,33 rpm. The ambient temperature (T amb ) is 22º. The available voltage in the application is 12 vdc. Lets examine the motor series 22V E.22, which has a nominal voltage of 12 vdc. The characteristics we are mostly interested in are the torque constant (k) of 14.9 mnm/a, and the terminal resistance is 11.9Ω. Neglecting the no-load current (lo), for a torque load of 7.51 mnm the motor current is: I M 7.51mNm = = =. A k 14.9mNm / A 5 [A] 266

134 Miniature Motors Engineering section Now we can calculate the drive voltage required to run the motor at 22º C, for a desired speed of 3,3 rpm with a load torque of 7.5 mnm: U = R * I + K *ϖ [[Vdc] ϖ n 3,33 = 2 π * = 2π * = [rad/s] 3 U = 11.9*.5 + (14.9*1 ) * = Vdc We note the current of the motor under load is.5, which is quite close to the rated continuous current of.58 A. We therefore calculate the final rotor temperature (T f ) to make sure it stays below the rated value of 1º C and the voltage required is within the 12 Vdc available. P diss is the dissipated power, R Tr is the rotor resistance at the final temperature and α is the thermal coefficient of the copper wire resistance. ΔT = Tr Tamb = Pdiss * R [ C] P diss = R th * I 2 [W] R Tr = r R22 *(1 + α( T 22)) [Ω] α =.39 R = R + R th th1 th2 [1/ C] [ C/W] The catalog values for the thermal resistance rotor-body and body-ambient are 6º C/W and 22º C/W, respectively. They are indicators for unfavorable conditions. Under <<normal>> operating conditions (mounted to a metal surface and with air circulating around it) we may take half the value for R th2. By solving equations (4), (5) and (6) we obtain the final rotor temperature T r : T R * I * R *(1 22* α) + T 11.9*.5 *17 *(1 22*.39) th a r = = = α * R22 * I * R 1.39*11.9*.5 *17 th With a current of.5 A the rotor reaches a temperature of T r = 85 C At that temperature and according to equation (6), the rotor resistance is R 85 = 14.82Ω, and we need a drive voltage of 12.6 Vdc. Power =.5 A*12.6 Vdc = 6. 3W The motor requires an electrical power of 6.3 watts. The problem is now solved. The gearmotor series 22V28 213E.22 R would be a good choice for the application. In case the application requires a particularly long motor life, use of the next larger motor (type 23V) could possibly also be considered. 267

135 Engineering Section Examples of DC Motor calculation Example: Positioning with a DC Coreless Motor. In this application we are looking for a DC Coreless Motor to move a load inertia (J ch ) of 4 * 1-7 kgm 2 to be moved by an angle of 1 rad in 2 ms The application requirements are: Available voltage: Available current: 48 vdc 4 Amp Motor operating point 1 rad [radian] desired motor movement 4*1-7 kgm 2 [J ch ] motor load inertia on the output shaft 2 msec [msec] desired move time 4 C [T amb ] operating temperature environment Intermittent operation Motor dimensions 68mm maximum allowable length 35mm maximum allowable diameter Friction is negligible, with this incremental application we consider a duty cycle of 1% and a triangular speed profile. 1 ms 1 ms The motor must rotate.5 rad (θ) in 1 ms while accelerating, then another.5 rad in 1 ms while decelerating. First let us calculate the angular acceleration α : α=2 t θ2 [rad/s 2 ] (14).5 α = 2 = 1, rad / s 2.1 The torque necessary to accelerate the load is: 2 M ch = J ch *α [mnm] (15) 7 M ch = 4*1 *1, = 4 mnm If the motor inertia equaled the load inertia, torque would be twice that value. We then speak of matched inertia s where the motor does the job with the least power dissipation. If we consider that case, the motor torque becomes: M = ( J + J )*α m m ch [mnm] (16) M m = 2 * M ch = 2* 4 mnm = 8 mnm 268

136 Miniature Motors Engineering section According to the motor overview, the type 35NT2R 82 can deliver 9 mnm continuously. As an example, let us examine the -426P coil with a resistance (@ 22 C) of.85ω and a torque constant of 25.4 mnm/a. Consider a total thermal resistance of: rotor-body 4 C/W - body-ambient 8 C/W. The rotor inertia is 71.4 * 1-7 kgm 2 From equation (1) we obtain: M 8mNm I = = = A k 25.4mNm / A From equation (9) and (4) we obtain: T r = C = 1. 11Ω For the triangular profile we then calculate the peak motor speed: R Tr ϖ max = α *t [rad/s] (17) ϖ max = 1,*.1 = 1 rad / s According to the equation (3), we obtain: n = 1 rad / s * rpm max = We then apply equation (2) 3 U = R * I + K * ϖ = (.85*3.15) + ((25.4*1 ) *1 = vdc This is the minimum output voltage required by a chopper driver. The problem is now solved. It is possible to reach the operating point with the DC Coreless motor series 35NT2R P.1, which could make the desired move quite easily. 269

137 Engineering Section Examples of BLDC Motor calculation Introduction and objective: This chapter aims to provide all the information necessary to select a BLDC motor and to calculate the values at the desired operating point. The following examples are for motor applications running in continuous operation. 1) Example: Brushless application requirements For this application we are looking for a BLDC motor with high speed capabilities in a continuous duty operation. The motor will be controlled by an amplifier for motor with Hall Effect sensors. Available voltage: Available current: 3 vdc 3 Amps Motor operating point 2, rpm desired motor speed 1 mnm motor shaft output torque 22 C operating temperature Continuous operation Motor physical dimensions 6mm maximum allowable length 25mm maximum allowable diameter Motor pre-selection - Using the information found on the specification page on the speed torque curve and Maximum allowable operating specifications, it is possible to select the potentially correct motor solution. Upon looking at the speed torque charts and the maximum allowable operation specifications we find the BLDC motor series 22BHM capable of operating at the desired operating point. n 6' Power Curve 22BHM Speed (RPM) 5' 4' 3' 2' 1' 5 W figure Torque (mnm) Values at the output shaft Continuous working range Temporary working range The operating point is shown in figure 1. The motor 22BHM is available in 4 different windings. All being 24 vdc windings, the differences are the amount of torque and the speeds of the motor. Since the desired motor speed is 2, rpm we will investigate the 22BHM 8B H.1 motor. This motor winding having a no load speed of 28,3 rpm. Calculating for the motor current we find: I T 1mNm = = = 1. A k 8.3mNm / A 2 T= mnm motor shaft output torque k= mnm/a motor torque constant 27

138 Miniature Motors Engineering section The supply current of the system in question is 3 amps and therefore there should be no difficulties. Calculating the voltage required to run the motor at 2, rpm follows the formula: U = R * I + k *ϖ ϖ n 2, = 2 π * = 2π * = rad / s U =.99*1.2*8.3*1 * = vdc The problem is now solved. Since the voltage required is less than the available voltage, it is possible to reach the operating point with the BLDC slotless motor series 22BHM 8B H.1, which could do the job quite easily. The amplifier able to accomplish this is the EBL-5-H-3, which has: Speed control via hall sensors Voltage inputs from vdc Maximum continuous current 3 Amps Mechanical power at the motor shaft: P mech = T *ϖ T= mnm motor shaft output torque n= rpm Motor shaft speed P mech = 1 mnm * = 2. 94watt Motor efficiency (ignoring core losses): P η = P mech elec Pmech = U * I = *1.2 = 84.5% U = vdc motor voltage I = Amp Motor current 271

139 Engineering Section Examples of BLDC Motor calculation 2) Example: Brushless motor with a Gearhead For this application we want to drive a load at an extremely low constant speed. The customer needs a combination of a Brushless DC-Servomotor with a gearhead. Available voltage: Available current: 2 vdc 2 Amps Gearmotor operating point 6 rpm desired gearmotor speed 15 mnm gearmotor shaft output torque 22 C operating temperature Continuous operation Motor physical dimensions 12mm maximum allowable length 2mm maximum allowable diameter Gearhead pre-selection Before selecting a motor we must first determine which gearhead is suitable for the application. The two important parameters for this are the specifications relating to the operating point at the shaft of the gearhead. Once an appropriate gearhead has been determined, the working point at the motor shaft can be calculated. From here the motor type can be defined using the same procedure as in the previous example for motor only. By comparing the desired gearhead output torque with the data of the various gearheads in continuous operation as listed in the catalog specification pages, it is possible to start the elimination process. We find the R16 planetary gearhead (16mm diameter) capable of operating at the desired operating point n (rpm) Dynamic torque figure Values at the output shaft Continuous working range Temporary working range M (Nm) For continuous operation, one of the most important gearhead parameters to be considered is the maximum recommended input speed into the gearhead (n max iput-gearhead ). This specification allows us to calculate the maximum reduction ratio (i max ) to use for the application. 7,5 = 6 max input gearhead max = = noutput gearhead i n 125 R16 ==> i max = 125 (n max input-gearhead = 7,5 rpm) 272

140 Miniature Motors Engineering section The actual reduction ratio can be chosen by selecting the nearest lower value to the above results. By reviewing the catalog we choose the following gearhead and ratio. R16 ==> i = 121 Motor speed at the shaft nmotor = i * noutput gearhead = 121* 6 = 7, 26 rpm Motor torque at the shaft Tgearhead T = i * η η = gearhead efficiency 15 mnm = = *.65 motor 91 mnm Since the gearhead has a diameter of 16mm we will be looking at a 16mm brushless DC motor. On verifying above the load torque (T motor ) the motor will be required to turn we select the 16BHS figure3 Speed (RPM) 7' 6' 5' 4' 3' 2' 1' Power Curve 16BHS 13 W Values at the output shaft Continuous working range Temporary working range Torque (mnm) The motor 16BHS is available in 4 different windings. All being 12 vdc windings, the differences are the amount of torque and the speeds of the motor. Since the desired motor speed is 7,26 rpm we will investigate the 16BHS 8B E.1 motor. This motor winding having a no load speed of 8,15 rpm. Calculating for the motor current we find: T 1.91 mnm I = = =. 14 A K 13.5 mnm / A T= 1.91 mnm motor shaft output torque k= 13.5 mnm/a motor constant The system is able to supply 2 Amp, therefore there are no problems with the current. The voltage required to run the motor at 7,26 rpm follows the formula: U = R * I + k *ϖ ϖ n 7,26 = 2 π * = 2π * = 76.3 rad / s U = 19.4*.14*(13.5*1 ) *76.3 = vdc The problem is now solved. Thanks to the BLDC slotless technology, the motor series 16BHS 8B H.1 with the planetary gearhead series R16 121, could do the job quite easily. The voltage required is less than the available voltage, therefore it is possible to reach the operating point with the BLDC motor series 16BHS 8B E.1. The amplifier able to accomplish this is the EBL-5-H-3, which has: Speed control via hall sensors Voltage inputs from vdc Maximum continuous current 3 Amps 273

141 Engineering Section Examples of BLDC (Slotted) Motor calculation Introduction and objective: This chapter aims to provide all the information necessary to select a BLDC motor and to calculate the values at the desired operating point. The following examples are for motor applications running in continuous operation. 1) Example: Brushless application requirements For this application we are looking for a BLDC motor with high speed capabilities in a continuous duty operation. The motor will be controlled by an amplifier for motor with Hall Effect sensors. We will consider the same example as discussed for slotless design and select a slotted motor that meets the requirements (below). Available voltage: Available current: 3 vdc 3 Amps Motor operating point 2, rpm desired motor speed 1 mnm (1.42 oz-in) motor shaft output torque 22 C operating temperature Continuous operation Motor physical dimensions 6mm (2.36 ) maximum allowable length 25mm (.98 ) maximum allowable diameter Motor pre-selection: Since the maximum allowable diameter is 25 mm (.98 ), we will look at motor sizes 9 and smaller that meet the operating point per their corresponding torque-speed charts. Upon looking at the speed torque charts, we find the motor B61-24B capable of easily meeting the desired operating point with its continuous operating torque being more than 15 mnm at 3, rpm. This is the smallest motor capable of meeting the above requirements. A customized motor can be made even smaller for these requirements. Speed-Torque Curve Size B A B Speed (RPM) (.6) (1.1) (1.7) (2.3) (2.8) Torque mnm (oz-in) figure1 274

142 Miniature Motors Engineering section The motor B61-24 is available in 2 different windings. Both being 24 VDC windings, the differences are the amount of torque and the speeds of the motor. Since the desired motor speed is 2, rpm we will investigate the B61-24B motor having a no load speed of 29,197 rpm. Calculating for the motor current we find: I T 1mNm = = = 1. A k 7.84mNm / A 28 T= mnm motor shaft output torque k= mnm/a motor torque constant The supply current of the system in question is 3 amps and therefore there should be no difficulties. Calculating the voltage required to run the motor at 2, rpm follows the formula: U = R * I + k *ϖ ϖ n 2, = 2 π * = 2π * = rad / s U = 1.57 * *1 * = vdc The problem is now solved. Since the voltage required is less than the available voltage, it is possible to reach the operating point with the BLDC slotted motor B61-24B, which could do the job quite easily. Mechanical power at the motor shaft: P mech = T *ϖ T= mnm motor shaft output torque n= rpm Motor shaft speed P mech = 1 mnm * = 2. 94Watts Motor efficiency (ignoring core losses): P η = P mech elec P mech = U * I = *1.28 = 88.8% U = vdc I = Amp motor voltage Motor current 275

143 Engineering Section Examples of BLDC Motor calculation 2) Example: Brushless motor with a Gearhead For this application we want to drive a load at a low constant speed. The customer needs a combination of a Brushless DC-Servomotor with a gearhead. Available voltage: Available current: 5 vdc 1 Amp Gearmotor operating point 25 rpm desired gearmotor speed 4 mnm gearmotor shaft output torque 1.5 Watts output power at the gearhead 22 C operating temperature Continuous operation Motor physical dimensions 7mm maximum allowable length 15mm maximum allowable diameter Gearhead pre-selection Before selecting a motor we must first determine which gearhead is suitable for the application. The two important parameters for this are the specifications relating to the operating point at the shaft of the gearhead. Once an appropriate gearhead has been determined, the working point at the motor shaft can be calculated. From here the motor type can be defined using the same procedure as in the previous example for motor only. By comparing the desired gearhead output torque and envelope requirements with the data of the various gearheads in continuous operation as listed in the catalog specification pages, it is possible to start the elimination process. We find the Size 5 planetary gearhead (12.7 mm diameter) capable of operating at the desired operating point For continuous operation, one of the most important gearhead parameters to be considered is the maximum recommended input speed into the gearhead (n max input-gearhead ). This specification allows us to calculate the maximum reduction ratio (i max ) to use for the application. n 8 = 25 max input gearhead max = = noutput gearhead i 32 Size 5 Gearhead ==> i max = 32 (n max input-gearhead = 8, rpm) The actual reduction ratio can be chosen by selecting the nearest lower value to the above results. By reviewing the catalog we choose the following gearhead and ratio. R16 ==> i = 25 Motor speed at the shaft nmotor = i * noutput gearhead = 25* 25 = 62, 5 rpm Motor torque at the shaft T Tgearhead = i * η 4 mnm = = 1. 25*.825 motor 94 mnm 276

144 Miniature Motors Engineering section Since the gearhead has a diameter of 12.7mm we will be looking at a 12.7mm or smaller BLDC motor. The motor B58-5A from the catalog can easily run at the load torque (T motor ) calculated above at 62,5 rpm (per Speed-Torque chart below). Speed-Torque Curve Size B A B Speed (RPM) figure (.283) 4. (.566) 6. (.85) Torque mnm (oz-in) The motor B58-5 is available in 2 different windings. Since the desired rated motor speed is 62,5 rpm we will investigate the B58-5A motor. Calculating for the motor current we find: I T 1.94 mnm = = =. A K 6.71 mnm / A 29 T= 1.94 mnm motor shaft output torque k= 13.5 mnm/a motor constant The system is able to supply 1 Amp, therefore there are no problems with the current. The voltage required to run the motor at 62,5 rpm follows the formula: U = R * I + k *ϖ ϖ n 625 = 2 π * = 2π * = 6,545 rad / s U = 7.28*.29 + (6.71*1 ) *6545 = 46 vdc The problem is now solved. Thanks to the BLDC technology, the motor B58-5A with the Size 5 Planetary gearhead (25:1 Ratio), could do the job quite easily. The voltage required is less than the available voltage; therefore it is possible to reach the operating point with the BLDC motor series B

145 Engineering Section Examples of Disc Magnet Motor (DMM) calculation Example: Positioning with a Stepper Motor For this application we are looking for a Stepper motor for an intermittent duty application. The application requirements are: Available voltage: Available current: 24 vdc 2 Amp Motor operating point.5 rad [radian] desired motor position 2*1-7 kgm 2 [J ch ] motor load inertia on the output shaft 2 msec [msec] desired move time 4 C [T amb ] operating temperature environment Intermittent operation Motor dimensions 68mm maximum allowable length 35mm maximum allowable diameter The load inertia of 2 * 1-7 kgm 2 has to be moved by an angle of.5 rad (θ) in 2 ms. With a triangular speed profile we find using an acceleration time of 1msec for a shaft movement of.25 rad, the speed required is calculated as follows: α=2 t θ2 [rad/s2] (14).25 α = 2 = 5 rad / s ϖ = (5,rad / s ) *.1s = 5rad / s Rpm = 5 rad / s * = rpm 1 ms 1 ms The torque necessary to accelerate the load is: M ch = J ch *α [Nm] (15) 7 M ch = 2*1 *5, = 1 mnm With a triangular speed profile this requires a peak speed up to rpm, with a load torque of 1 mnm, as calculated using equations (14) and (15). At that speed, the mechanical power for the load alone is.5 W. 3 P = M * ω = 1*1 Nm *5 rad / s =. 5 watts Now we must evaluate the motor size necessary, and we find two possible solutions. 278

146 Miniature Motors Engineering section Direct Drive The stepper motor P43 makes 1 steps/rev and has a holding torque of 6 mnm at nominal current. In combination with a simple L/R type driver this is quite adequate for the application, as peak speed is only 5 rad/s. 5 rad / s *1 steps / rev = 769 steps / s 2π Let us determine if the move can be accomplished within the motor pull-in torque range. If yes, we would not need to generate ramps for acceleration and deceleration, and the controller would be substantially simplified. In order to move the load.5 radians with a stepper motor that has a 3.6 / step, it will take the motor 8 steps to make this move..5 rad = = 8 steps of the motor 3.6 In that case we have in fact a rectangular speed profile and the move requires a constant step rate which is obtained by dividing the distance by the time:.5*1 = 2π * steps / s We must make sure the motor can start at that frequency. The curves on the motor specification page for the Disc Magnet Motor P43 shows with load inertia equal to the rotor inertia of 3 gcm 2, the motor can start at about 17 steps/s. With load inertia of 2 * 1-7 kgm 2 this pull-in frequency becomes: f 1 = f 2J m J + J m ch [Hz] (18) 6 f 1 = 1,7 = steps / s 23 The problem is now solved. Thanks to the disc magnet technology, the P43 motor can do the job quite easily, without needing a ramp, using a very simple controller and an economic driver. 279

147 Engineering Section Examples of Disc Magnet Motor (DMM) calculation Use of a gearhead The stepper motor P31 makes 6 steps/rev and has a holding torque 12mNm at nominal current. This is too small for moving the load in a direct drive. However, its mechanical power is more than sufficient. A reduction gearhead can adapt the requirements of the application to the motor capabilities. Choosing a gearhead and reduction ratio A first choice consists of matching inertias and then making sure that with the selected ratio, the motor speed remains within a reasonable range, where the necessary torque can be delivered. With incremental motion, an inertial match assures the shortest move time, with the motor providing constant torque over the speed range considered. In our example this asks for a desired ratio i of: i = J J ch m [-] (19) i 2.86 = = 4.82 From the various gearhead models available for combination with the P31 stepper motor, we select the K24. This gearhead offers the smallest ratio of 5:1. Using equations (14), (15) and (19) we find: load inertia reflected to the motor shaft of 4.71*1-7 kgm 2 Motor acceleration = equation [14].5 α = 2 = 25 rad / s ϖ 2 = (2,5rad / s ) *.2s = 5rad / s 5 rad / s *1 steps / rev = 769 steps / s 2π Motor peak speed of 5 rad/s = 477 rpm = 769 steps/s Necessary motor torque = equation [15] 4.71*1 7 * 2,5rad / s = 1. 2 mnm The problem is now solved. With the drive circuit at 24V the Disc Magnet gearmotor series P K24 5 with coils in parallel can perform with adequate safety margin. At low step rates the available torque is substantially above the 1.2 mnm required for the triangular speed profile. By adapting this profile to the motor capabilities, the move time can be further reduced. The smaller P11 motor with the gearhead R16 could also make the move, but would require a driver of very high performance and would be less cost effective for the application. 28

148 Miniature Motors Engineering section Examples of Canstack Stepper motor calculation Note: Use the PULL IN curves if the control circuit provides no acceleration and the load is frictional only. Example: Drive with a Canstack stepper motor with a frictional torque load For this application we are looking for a Stepper motor for an intermittent duty application. The application requirements are: Available voltage: Available current: 24 vdc 2 Amp Motor operating point 67.5 [degree] - desired motor position 15 mnm [M] - desired motor torque <.6 [second] - desired move time Intermittent operation Using a Torque wrench, a frictional load is measured to be 15 mnm. The move profile desired is 67.5 in.6 sec. or less. If a 7.5 /step motor is used, then the motor would have to take nine steps to move = 9steps 7.5 9steps v = = 15steps / sec.6sec In figure 1 below the maximum PULL IN error rate with a torque of 15 mnm is 275 steps/s (it is assumed that no acceleration control is provided). figure1 The problem is now solved. The Canstack motor series 42M48C1U motor could be used at 15 steps/sec allowing for a safety factor. Use the PULL OUT curve, in conjunction with a Torque = Inertia x Acceleration (T=Jπ), when the load is inertial and/or acceleration control is provided. In this equation acceleration or ramping is in rad/s 2 Δv α = = Δt 2 rad / s 281

149 Engineering Section Ramping Acceleration control or ramping is normally accomplished by gating on a voltage controlled oscillator (VCO) and the associated charging capacitor. Varying the RC time constant will give different ramping times. A typical VCO acceleration control frequency plot for an incremental movement with equal acceleration and deceleration time would be as shown below. figure2 Acceleration also may be accomplished by changing the timing of the input pulses (frequency). For example, the frequency could start at a ¼ rate; go to ½ rate, ¾ rate and finally the running rate. Applications where: Ramping acceleration or deceleration control time is allowed. Δv T J ( mnm) = J T * * K Δt Where JT = Rotor inertia (gm 2 ) plus load inertia (gm 2 ) Δv = Step rate change Δt = Time allowed for acceleration in seconds 2α K = steps / rev K=.13 for steps/rev. K=.26 for steps/rev. K=.314 for 18-2 steps/rev. In order to solve an application problem using acceleration ramping, it is usually necessary to make several estimates avoiding a procedure similar to the one used to solve the following example: 282

150 Miniature Motors Example: Frictional torque plus inertial load with acceleration control Engineering section For this application we are looking for Stepper motor for an intermittent duty application. The application requirements are: Available voltage: Available current: 24 vdc 3 Amp Motor operating point 67.5 [degree] - desired motor position 15 mnm (T f ) [M] frictional load <.5 [second] - desired move time Intermittent operation Motor dimensions 6mm maximum allowable length 6mm maximum allowable diameter An assembly device must move 4 mm in less than.5 seconds; the motor will drive a leadscrew through a gear reduction. The leadscrew and gear ratio were selected so that 1 steps of a 7.5 /step motor = 4mm. The total inertial load (rotor + gear + screw) = 25 * 1 4 gm 2. The frictional load = 15 mnm (1) Select a stepper motor PULL OUT curve which allows a torque in excess of 15 mnm at a step rate greater than 1steps v = = 2steps /sec.5sec Referring to the figure below, determine the maximum possible friction load only. figure3 (2) Make a first estimate of a working rate (a running rate less than the maximum) and determine the torque available to accelerate the inertia (excess over T F ) T A = Torque available TA TF = 2 mnm 15 mnm = 5 mnm 283

151 Engineering Section (3) Using a 6% safety margin 5 mnm *.6 = 3 mnm Calculate Δt to accelerate. (refer to figure 2) From the equation: Δv T J ( mnm) = J T * * K Δt Δt = J T * Δv * K T j =.27 To accelerate Δt =.27 sec (note: the same amount of time is allowed to decelerate the load) (4) The number of steps used to accelerate and decelerate < OR > 4 25*1 *25*.13 T J = = 3 mnm.27 N N A A + N D v = * Δt *2 2 + N = v* Δt = 25 *.27 = 7steps D (5) The time to move at the run rate N T = Total steps/revolution Step to make the desired move. N T = 1 7 = 93 Δt run = N T N + N A D 93 =.37 sec (6) The total time to move is as follows: Δt + Δt + Δt = t run accel decel total =.42 sec The problem is now solved. The Canstack stepper motor series 42M48C1U is the first estimate. This motor can be moved slower if more of a safety factor is desired. 284

152 Miniature Motors Example: No ramping acceleration or deceleration control is allowed. Engineering section Even though no acceleration time is provided, the stepper can lag a maximum of two steps or 18 electrical degrees. If the motor goes from zero steps/sec to v steps/sec the lag time Δt would be 2 Δ t = = sec v The torque equation for no acceleration or deceleration is: 2 v TJ ( torque mnm) = JT * * K 2 Where : J T = Rotor inertia (gm 2 ) + load inertia (gm 2 ) = 25*1 4 gm 2 v = steps / sec rate = 25 2π 2π K = = =.13 step / rev 48 Example: Friction plus Inertia No acceleration ramping. For this application we are looking for Stepper motor for a continuous duty application. The application requirements are: A tape capstan is to be driven by a stepper motor. Motor operating point 15.3 mnm (T f ) [M] frictional load 1*1 4 (J L ) [gm 2 ] load inertia continuous operation The capstan must rotate in 7.5 increments at a rate of 2 steps/sec. Since a torque greater than 15.3 mnm at 2 steps/sec is required, consider the CanStack stepper motor series 42M48C1U. (refer to figure 4) The total inertia= motor rotor inertia + load inertia J = J + J T = R L ( 12.5*1 + 1*1 ) gm 4 =13.5*1 gm 2 285

153 Engineering Section (1) Since non acceleration ramping will be utilized, use the following equation: T J T J 2 v = JT * * K ( K =.13) = 13.5*1 * *.13 2 T J = 3. 5 mnm (2) Total torque T = T + T T F J T T = 15.3 mnm mnm = mnm (3) Refer to the PULL OUT curve figure (4) at a speed of 2 steps/s, where the available torque is 26 mnm. figure4 The problem is now solved. The Canstack stepper motor series 42M48C1U can perform in this application adequately, with a safety margin factor. 286

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158 29, Portescap, A Danaher Motion Company. All rights reserved. Information and specifications subject to change at any time. All trademarks are property of their respective owners. Lit code: 123

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160 R8 Planetary Gearhead.5 Nm ( 3,6 ) Ø8 -,5 Ø3 -,1 Ø5 +,1 -,8 ( 1 ) 4,95 ±,2 Ø1,5 -,6 -,9 L 5,95 ±,2 dimensions in mm R8 3 Ratio No. of gear stages Direction of Rotation = = = = Efficiency L (mm) Mass (g) Available with motor 8 G GS 61 7 PO1 2 8 mm BLDC(Std) Characteristics R8 3 R8 2R 3 Bearing Type sleeve ball Max. static torque mnm (oz-in).15 (21.4).15 (21.4) Max. radial force at 4 mm from mounting face N (lb) 5 (1.1) 1 (2.2) Max. axial force N (lb) 5 (1.1) 1 (2.2) Force for press-fit N (lb) 1 (23) 1 (23) Average backlash at no-load 1º 1º Average backlash at.1 Nm 3º 3º Radial play µm 5 5 Axial play µm Max. recom. input speed rpm Operating temperature range ºC (ºF) ( ) n (rpm) Dynamic torque Values at the output shaft Continuous working range Temporary working range M (Nm)