Product catalog. Stepper motors Linear actuators Stepper motor drivers.

Transcription

1 Product catalo Stepper motors Linear actuators Stepper motor drivers 1

2 Overview of contents bout us 5 Facts, fiures and essential information 6 2-phase stepper motors SP SP SL3518/L ST ST ST ST ST ST ST ST ST Stepper motors in protection class P54/65 D4118 stepper motor with terminal box in protection class P54 40 D5918 stepper motor with terminal box in protection class P54 42 D8918 stepper motor with terminal box in protection class P54 46 S2818, S4118, S5918 stepper motor with terminal box in P65 50 P5918, P8918 stepper motor with terminal box in protection class P65 54 Shaft assembly options for all motors 56 Cable assembly 57 Plu & Drive stepper motors PD4-N5918 series stepper motor with interated controller 62 PD and PD series stepper motor with interated controller 64 PD series stepper motor with interated controller 66 Linear actuators Permanent manet stepper motor linear actuators LP2515-LP Linear actuators with fine thread (sizes ) 72 Linear actuators with trapezoid spindle (sizes ) 74 Linear actuators with ball screw LK2818-LK Permanent manet linear actuators LSP LSP Linear actuator LS2018-LS nti-rotation device for linear actuators L40, L42, L56, L57 82 Brushless DC motors Brushless DC motors W to 16 W 86 Brushless DC motors - 50 W to 120 W 87 Brushless DC motors - 30 W to 150 W 88 Brushless DC motors with terminal box - 30 W to150 W 89 Brushless DC motors W to 750 W 90 Brushless DC motors with terminal box W to 650 W 91 Stepper motor drivers MT microstep driver (MT-901, 902, 903) 96 Microstep drivers 100 Positionin controls 104 Options Encoder 110 Gears 115 Brakes 122 ccessories Switch-mode power supplies 126 Cables 128 Plu and socket connectors 130 Heat-dissipatin film, charin condenser 131 ttenuators 132 Threaded spindles 134 Shaft couplins

3 bout us The company Nanotec GmbH&Co. KG has been providin its customers with dependable support in the implementation of drive solutions since Our motors and drive electronics are available in a wide rane of products and offer the appropriate solution for practically all work tasks. Well thouht-out construction, compliance with tiht production tolerances and strict quality control durin all staes of the process allow us to provide top-quality and durable drive solutions. s well as compliance with the requirements of the standards and relevant sets of reulations, certification in accordance with the latest standard SO 9001:2000 by the TÜV Manaement Service documents the consistent customer orientation of our processes and the successful efforts towards continuous improvement of internal and external procedures. Our vision: Fast and easy - but still personal The requirements of drive solutions are diverse and a standard motor or power electronics out-of-the-box can only rarely be used if optimum results to be achieved. Therefore, we offer customer-specific versions of our motors and drive electronics in relatively small numbers. Our enineers develop the optimum mechanical and electronic desin of a customized solution on request. n-house production and broad-based warehousin mean we can react flexibly and quickly to customer wishes. On time and reliable Our performance shows that we do not reard reliability and timeliness as empty words, but as an obliation. For example, by adherence to schedules: Nanotec meets 98 % of all confirmed delivery dates. We endeavor to keep any delays as short as possible in the remainin 2 %. n many cases, we are even able to meet preferred delivery dates. n achievement that our customers appreciate: The more than 4000 motors and 200 drive electronics we deliver each week speak for themselves, as do the reputations of our wellknown customers: 4 5

4 Facts, fiures and essential information pplication advantaes of stepper motors Reliability Stepper motors are diitally-controlled and reulated drives that have achieved the hihest level of acceptance and prevalence since the technoloy transition (from analo to diital technoloy and current software solutions) due to favorable prices with maximum service life and little control required. ll Nanotec motors are brushless, have hih-rade ball bearins in the front and rear bearin shells, and achieve an expected service life of more than 20,000 hours of operation under admissible operatin conditions. The information on the service life is based on the test results of reputable ball bearin manufacturers as well as our own trials. The calculated L10h values are purely theoretical values for optimum operatin conditions and are not subject to any claims under uarantee. a) PC+PLC-capable (directly controllable via PC, PLC and microprocessor) The use of the PCs at the lowest, decentralized machine levels have iven the Plu & Drive motors the maximum level of productivity. Nanotec was the No. 1 supplier worldwide to fulfill the requirement for a compact, efficient and cost-effective drive system with an industrial Plu & Drive motor. Not only have the development, wirin and assembly costs of a complete drive unit been drastically reduced, the EMC compatibility and machine availability have been improved, and the coissionin and service also considerably simplified. Continuous further development of the options for customer-specific requirements allow new and close partnerships to row constantly to the advantae of a better and more economical end product. b) Speed stability No drop in speed when the load fluctuates : The stepper motor fulfills this requirement like no other motor at no extra cost. Particularly for precise closed-loop speed, synchronization or ratio controls (e.. in precision dispensin pumps), the stepper motor can reach hiher and finer resolutions thanks to diital processin. The improvement in control, process and surface quality is not only a theoretical advantae. a) Max. admissible axial and radial forces (Fa and Fr) Forces in N Radial forces (Fr) xial forces (Fa) Distance a (in ) ST20; Shafts & 5.00 ST28; SH40; ST40; DB42 ST42 Shafts & 5.00 SH56; ST57; ST58; DB57 Shafts & 6.35 SH56; ST57; ST60 Shafts & 8.00 SH86; (ST5818D..) Shafts & (10) Type Fr (distance a1) Fa SP06-SP SP10-SP SP25-SP SP42-SP ST87; DB87 Shafts & c) Direct drive Stepper motors have maximum in the lower speed rane and the Nanotec microstep drivers enable still acceptable concentricity properties of up to approx. 2 rpm. Other motors often need ears for this purpose in order to fulfill the requested speed and force requirements. Direct drives reduce system costs and, at the same time, increase operational safety and life expectancy. Naturally, if the space available is limited or the external moments of inertia are hih, ears are essential for power and force adjustment. ST110 Shafts & b) uction of the averae expected service life Neative influences on the averae expected service life L10 specified by Nanotec are: d) Positionin accuracy s well as minimum coastdown, stepper motors also have a minimum transient response because of the narrow step anle. Even without external linear or anular encoders, stepper motors are excellent at fulfillin speed and positionin tasks. The microstep chaneover of the Nanotec final output staes can, in fact, further increase the accuracy or resolution at no extra cost. ll Nanotec stepper motors are also available with competitively priced encoders for detectin any blockaes and for closed-loop applications. ntermittent loads Excessive radial and axial loads Vibration and oscillation, very hih cycl. acceleration naccurate anular and centerin alinment mbient conditions such as dust, humidity, corrosive ases, etc. Elevated workin temperature (from approx. +70 C the wear life per~+15 C is halved because of the shortened lubrication interval) e) Hih stiffness without brake Stepper motors have the maximum holdin at standstill and thus also offer hih system riidity. Because of this property, no external brakin mechanism is necessary unless safety brakin is required for the Z axis. f there are an extremely hih number of oscillatin movements within an anle of 360, suitably adapted reasin and lubricant fillins may be necessary under certain conditions. We deliver customer-specific motors with such ball bearins on request. f) voidin damae to machines and injuries The disadvantae sometimes referred to as the "loss of sync." if a motor is blocked can even be an advantae in some cases with reard to constantly increasin safety requirements. Slidin clutches and overload clutches in order to meet prescribed safety requirements are not normally necessary in association with stepper motors. c) Machinin of the motor shaft! t unduly hih radial forces or external blows, the inner shaft becomes bent and the rotor can come into contact with the stator. This can lead to damae of the rotor or stator causin microscopic particles to accumulate in the air ap and resultin in noise and blockaes. lso, in the mechanical finishin of the motor shafts, in addition to the maximum deflection, attention must be paid especially to the necessary sealin, so that no microparticles can et into the enine compartment throuh the thrust ball bearins despite the stron manetic attraction of the rotor. 6 7

5 Facts, fiures and essential information Coon specifications of the SH...; ST... types and DB motors CD library Radial play of the shaft: Max (at a radial load of 5N) xial play of the shaft: Max (at an axial load of 10N) Step anle precision:(sh,st) at full step ± 5% non cumulative (no load) nsulation resistance: 100M Ohm at normal ambient temp. and atmospheric humidity, measured between windin and motor housin Dielectric strenth: nsulation class: Temperature increase: Operatin temperature rane: Storae temperature: mbient humidity (workin area): mbient humidity (storae area): Motor size 20 (28) 41 (42) 59 (57.60) Concentricity: Parallelism: Concentricity: kV at 50Hz for min. 1 min. Class B (130 C) 80 C or less determined by measurin the chane in resistance after the rated voltae has been applied to the blocked stepper motor -10 C to +50 C -20 C to +70 C 20% to 90% non-condensin (free of corrosion) 8% to 95% non-condensin (free of corrosion) Performance calculation and appropriate motor selection The CD and PDF formats from Nanotec allow you to interate the followin product drawins quickly and efficiently in your construction: Stepper motors + BLDC motors (also in protection class P 44 and P 65) Stepper motors + brushless DC motors in special versions (with terminal box or plu&socket connection) Stepper motor + EC motor with attachment (encoder, brake) Stepper motor + servomotor ears (spur ears, worm ears, planetary ears) Plu & Drive stepper motors Controllers for the installation or on top-hat rails (microstep drive electronics, drivers, positionin controls) ll items can be called up in PDF, DXF or DWG format on the nternet at Construction, protection classes and safety considerations The necessary power capacity and size of the motor depends primarily on the external mass movements and their frictional conditions. a) General construction Practically all stepper motors are manufactured in accordance with SO 9001 and, when used as desinated, they comply with the safety requirements contained in the relevant standards and reulations. The motors have a closed construction (protection class P 20) with a throuh openin provided with a small bushin for the cords. The bearin plates are made of die-cast aluminum and carefully connected by means of a centerin rin and rotor rins. Ball bearins lubricated for the whole of their service life are chosen and their machinin and smooth runnin is checked. The metal plates of the stands between the die-cast rins are connected by means of rivets or screws at all corners. b) Protection classes (acc. to DN u. 1970) Nanotec can also offer stepper motors that are suitable for harsh ambient conditions 1) Friction force or moment of friction a) Linear : F = m μ The friction force F (N) is determined primarily by the mass = m (weiht k) and the coefficient of friction = μ. b) Rotation : Md = F r The Md (Ncm) is determined by the friction force F (N) and the lever arm r (cm) (dependin on the point of attack and distance to the force line of action). m F = m 9.81 μ m F = m 9.81 Md = F r μ Protection classes First number Protection aainst contact and forein bodies Second number Protection aainst water 2) cceleration Because of the law of inertia, the force or increases, the faster the mass is accelerated: Force determination via sprin balances dent characters P 5 4 First number Second number 0 No protection Protection aainst lare forein bodies (reater than 50 &) Protection aainst medium-size forein bodies (reater than 12.5 &) Protection aainst small forein bodies (reater than 2.5 &) Protection aainst ranular forein bodies (reater than 1 &) 5 Protection aainst heavy dust deposits 6 Protection aainst penetration of dust 0 No protection Protection aainst vertically drippin water Protection aainst drippin water fallin at an anle (up to 15 to the h) Protection aainst spray water (up to 60 to the vertical h) Protection aainst spray water (from all directions) Protection aainst hose water (12 l/min; min 0.3 bar) Protection aainst powerful hose water 100 l/min; p~1 bar 7 Protection aainst sporadic iersion 8 Protection aainst submersion a) Linear : F = m a (a = v e - v a/t) v e = end speed, v a = startin speed b) Rotation: Md = J a (J= pol. moment of inertia, e.. full cyl. m r²) (a = n e - n a/t) n e = end rpm, n a = startin rpm 3) Power ratin P 2 = Md 6.28 f/z (Md = from the motor characteristics, f = step frequency in Hz, z = steps/rev.) F1 = scale value 9.81 F2 = Md = scale value 9.81 r Force (N) with scale value in or k e = ~2 N e.. 2 k = ~ 20 N or via lever arm r = 5 cm at 2 k e.. 2 k = = 100 Ncm Torque determination via dial aue c) Safety instructions s with any form of concentrated enery, the use of electric motors is associated with possible daners. The level of daner can be considerably reduced by suitable constructive realization, the correct selection, proper installation and well thouht-out application. n terms of the load and ambient conditions, the user must pay attention to correct installation and application of the devices. Therefore, it is of utmost importance that the end user observes all electrical, thermal and mechanical safety instructions. 4) Simple determination part from the mathematical determination, the determination of force and by means of sprinbalance and aue is especially advantaeous because it takes into account the difficult-to-determine friction factor (see ccessories, Measurin equipment). Scale value in cm e.. 200cm = 2Ncm 8 9

6 Facts, fiures and essential information Controllers and switchin features Motor connection: Nanotec stepper motors Practically all stepper motors can be delivered with 4, 6 and 8 power supply cords/leads where 4 leads are suitable for bipolar operation only, 6 leads for unipolar and somewhat restricted bipolar operation, and 8 leads for unipolar and bipolar operation. With only 4 switches, unipolar operation is very easy but is used less often nowadays because of hihly-interated constant current bipolar driver Cs available with a that is approx. 30% hiher. lso constant voltae operation seldom appears on the market due to its hih power loss. 8-lead wire - parallel for hih frequency > 1 khz Current per windin x 1.4 = current per phase Example: Current/windin 1 = 1.4/phase 8-lead wire - serial for low frequency < 1 khz Current per windin x 0.7 = current per phase Example: Current/windin 1 = 0.7/phase Unipolar connection Bipolar switchin sequences Stepper motor animation e.. Constant voltae operation a) Bilevel b) Series resistor e.. constant current Operation Unipolar switchin sequences Mode Windin 1/1 1/2 \ B B\ Unipolar switchin sequences Mode Windin 1/1 1/2 B Stepper motor animation at Type: ST59.. (ST89.., ST57.., ST5918D..) Type: ST59.. (ST89.., ST57.., ST5918D..) Connection arranement of stepper motors The stepper motors offered by Nanotec can be operated in different switchin modes that ive the motor different characteristics in each case. The 4-lead version is already wired up internally so there is only one connection possibility here. Motors with 6 leads can be operated with one half of the windin or serially, the version with 8 leads can be operated in all listed switchin modes. We will only consider the bipolar control here, which is used almost exclusively today. 1. One half of the windin: Here only half of the windins of the motor are used, therefore the holdin that can be achieved is also less than in the other modes. This mode only offers advantaes in the hih speed rane of the 6-lead motors which is clearly apparent from the respective motor diarams. 2. Parallel: The hihest motor power is achieved in this mode. The low inductance keeps the of the motor constant, even at hiher speeds, althouh a hiher phase current is also required. 3. Serial: This mode is suited to the lower speed rane where hih is reached with low current. But due to the hih inductance, the drops off quickly at hiher speeds. The values specified in the datasheet always refer to one half of the windin. The followin table shows the rule for convertin the individual parameters to serial and parallel switchin mode. This function can also be listed online on the overview pae of the individual stepper motor series (under Type, Control). 6-lead wire Current per windin = current per phase Example: Current/windin 1 = 1/phase Type: ST41.., ST42.. ST28.. Current per windin x 0.7 = current per phase Example: Current/windin 1 = 0.7/phase Type: ST41.., ST42.. ST28.. Value 1 windin half as in datasheet Serial Parallel Resistor R 2 * R R/2 nductance L 4 * L L Phase current / 2 * 2 The holdin is reached at the respective nominal current. f the current deviates, the value can be calculated accordinly from the proportionality between the phase current and holdin. Half the current (in the same connection), therefore, leads to half the holdin. 4-lead wire Current per windin = current per phase Example: Current/windin 1 = 1/phase Current per windin = current per phase Example: Current/windin 1 = 1/phase Holdin M M * 2 M * 2! Note: This correlation only applies for the holdin and for the lower speed rane (where the has not yet dropped), but not for the entire motor curve. t hih speeds, the set current can no loner reach its maximum value because the switchin operations on the windin are then too fast. This (real) current reduction leads to a drop in the motor curve with increasin speed. t is also possible to operate the motor briefly with hiher current. Here, however, attention must be paid that the housin temperature does not exceed 80. Dependin on the motor, saturation is reached at times the value of the nominal current, the then no loner increases. Type: ST41.., ST42.. ST20.. Type: ST

7 Notizen 2-phase stepper motors 12 13

8 2-phase stepper motors Permanent manet stepper motors, , types SP SP5575 Speed-Torque curves Option Pin confiuration SP0618M0204 SP0818M0204 SP1018M0204 White Bipolar ` B B` Blue Yellow SP1518M0104 SP1518M0204 SP2018M0506 White Black Unipolar ` B B` Blue Brown Yellow SP2515M0406 SP2575M0206 SP2575M with molded-on plu - with hih-quality plain bearins on both sides Because of their simple construction (stator windins consist of only 2 rin coils and the current flow then enerates a manetic flow via vertically punched out pole shoes), the SP permanent manet motors are used in countless low-priced device applications where bier step anles are sufficient. SP 3515 S = one shaft end B = two shaft ends for encoder or brake (on request) SP2575M0704 SP3575S0506 SP3575M0906 vailable power sizes (other version of windin, shaft and flane on request) Type Step resolution Current per windin /windin Voltae per windin V/windin Holdin N cm Resistor per windin Ohm/windin nductance per windin mh/windin Rotor inertia cm2 Weiht k Diam eter () SP0618M SP0818M SP1018M SP4275S0606 SP4275M0806 SP5575M0106 SP1518M SP1518M SP2018M SP2515M SP2575M SP2575M SP2575M SP3575S SP5575M0604 SP3575M SP4275S SP4275M SP5575M SP5575M ll data refer to 1 half of the windin or unipolar! 14 15

9 2-phase stepper motors Permanent manet stepper motors, , types SP SP5575 SP2515M Front view and mountin Outline drawin (in ) SP0618M Front view and mountin SP2575M Front view and mountin SP0818M Front view and mountin SP3575S Front view and mountin SP1018M Front view and mountin SP4275S Front view and mountin SP1518M Front view and mountin SP4275M Front view and mountin SP2018M Front view and mountin SP5575M Front view and mountin 16 17

10 2-phase stepper motors Type SL size X / Type SL size X, S -1.8 Speed-Torque curves Option Pin confiuration SL3518X0504 SL3518X0804 Blue Bipolar ` White (ray) B White (ray) B` White (ray) The SL.. series uses double-sided hih-quality plain bearins lubricated for their entire service life. The SL.. stepper motors present an extremely low-cost challene to the 1.8 hybrid motors as well as the 7.5 or 15 dosin motors. With a similar price structure to the dosin motors, the SL.. motors fulfill practically the same performance data as the 1.8 hybrid motors. Extremely reasonably priced, similar to dosin motors Hih performance data, practically the same as hybrid motors Flat ribbon cable with molded-on plu enables fast and error-free connection SL 3518 X = one shaft end SL4218X0504 SL4218X1204 Outline drawin (in ) Front view and mountin Front view and mountin SL4218S0704 SL4218S1204 vailable power sizes (others on request) Type Current per windin /windin Holdin N cm Resistor per windin Ohm/windin nductance per windin mh/windin Rotor inertia cm 2 Weiht k Lenth SL3518X SL3518X SL4218X SL4218X SL4218S SL4218S ll data refer to 1 half of the windin or unipolar! 18 19

11 2-phase stepper motors Type ST sizes S, M, L Speed-Torque curves Option Pin confiuration ST2018S0604 Black Bipolar ` Green B B` Blue Where until now only the smallest DC motors are used, the new miniature stepper motors with hih input s and speeds of more than 6000 rpm offer completely new alternative and cost-effective drive possibilities. Unlike DC motors, the ST2018 series already has a very hih at low speed and often ears are not required which leads to considerably more economical drive solutions. ST 2018 S = one shaft end B = two shaft ends for encoder ST2018M0804 Outline drawin (in ) Front view and mountin ST2018L0804 vailable power sizes (others on request) Type Current per windin /windin Holdin Ncm Resistor per windin Ohm/windin nductance per windin mh/windin Rotor inertia cm 2 Weiht k Lenth "" ST2018S ST2018M ST2018L

12 2-phase stepper motors Type ST sizes S, M, L Speed-Torque curves Option Pin confiuration ST2818S1006 Black Unipolar Yellow ` Green B White B` Blue The small size stepper motor ST2818 is suited to applications where hih precision is required with small construction volumes and a lon service life. t a resolution of 1.8 /step, existin controllers can also be used for this step motor. The standardized shaft diameter of 5 makes it possible to install a cost-effective encoder in the double shaft version in order to monitor the rotation. ST 2818 S = one shaft end B = two shaft ends for encoder or brake ST2818M1006 Outline drawin (in ) Front view and mountin ST2818L1006 vailable power sizes (others on request) Type Current per windin /windin Holdin N cm Resistor per windin Ohm/windin nductance per windin mh/windin Rotor inertia cm 2 Weiht k Lenth "" ST2818S ST2818M ST2818L ll data refer to 1 half of the windin or unipolar! 22 23

13 2-phase stepper motors Type ST sizes X, S, M, L Speed-Torque curves Option Pin confiuration ST4209X1004 ST4209S0404 Brown Unipolar Black ` Orane B B` White Yellow Brown Bipolar ` Orane B B` ST4209S1006 ST4209S1404 Yellow With the hihest possible and small dimensions, the ST4209 stepper motor series offers a hih resolution and is employed with economically priced drivers for precision applications. n conjunction with a microstep driver of the SMC series and with the same or even reater resolution of <0.09, it constitutes an extremely cost-effective alternative to the multiphase stepper motors. ST 4209 S = one shaft end B = two shaft ends for encoder or brake Outline drawin (in ) Front view and mountin ST4209M1206 ST4209M1704 Type Current per windin /windin Holdin N cm vailable power sizes (others on request) Resistor per windin Ohm/windin nductance per windin mh/windin Rotor inertia cm 2 Weiht k Lenth "" ST4209L1206 ST4209L1704 ST4209X ST4209S ST4209S ST4209S ST4209M ST4209M ST4209L ST4209L ll data refer to 1 half of the windin or unipolar! 24 25

14 2-phase stepper motors Type ST sizes S, M, L, D Speed-Torque curves Option Pin confiuration ST4118X1404 ST4118S0206 ST4118S0406 Brown Unipolar Black ` Orane B B` White Yellow ST4118S0706 ST4118S1006 ST4118S1404 With the hihest possible and also small dimensions, the ST4118 stepper motor series offers hih resolution and is employed with economically priced drivers for precision applications. n conjunction with a microstep drivers of the MT.. and SMC.. series and with the same or even reater resolution of <0.36, it constitutes an extremely cost-effective alternative to the multiphase stepper motors. The ST41.. motor is a priority item, technically identical with the ST4018 but at a considerably more favorable price! Brown ` Orane Bipolar B B` Yellow ST4118M0406 ST4118M0706 ST4118M0906 Outline drawin (in ) Front view and mountin ST 4118 S = one shaft end ST4118M1206 ST4118M1404 ST4118M1804 B = two shaft ends for encoder or brake vailable power sizes (others on request) Type Current per windin /windin Holdin N cm Resistor per windin Ohm/windin nductance per windin mh/windin Rotor inertia cm 2 ST4118X Weiht k Lenth " ST4118L0804 ST4118L1206 ST4118L1804 ST4118X ST4118S ST4118S ST4118S ST4118S ST4118S ST4118M ST4118M ST4118M ST4118D1804 ST4118M ST4118M ST4118M ST4118L ST4118L ST4118L ST4118D ll data refer to 1 half of the windin or unipolar! 26 27

15 2-phase stepper motors Type ST sizes X, S, M, L, C Speed-Torque curves Option Pin confiuration Bipolar /white Black/white ST5709X1108 ST5709X2508 ST5709S1208 Black Green Green/white Yellow/white Yellow Compared with the predecessor series SH... - C, the new compact hih stepper motorseries ST5709 delivers a that is hiher by up to 40% (output ). s well as the increase in, operational characteristics with reard to vibrations, noise and microstep resolutionwere improved at the same time. lso the new ST5709 hih 0.9 stepper motor has stepped windins for the most diverse speed requirements. controller of the SMC series enables an adjustable step anle of 0.9 to 0.09 per step, hence providin a real alternative to multiphase stepper motors. ST 5709 X = one shaft end B = two shaft ends for encoder or brake ST5709S2608 ST5709M1208 ST5709M2608 Outline drawin (in ) Front view and mountin ST5709L1108 ST5709L4008 ST5709C3008 vailable power sizes (others on request) Type Current per windin /windin Holdin Ncm Resistor per windin Ohm/windin nductance per windin mh/windin Rotor inertia cm 2 Weiht k Lenth "" ST5709X ST5709X ST5709S ST5709S ST5709M ST5709M ST5709L ST5709L ST5709C ll data refer to 1 half of the windin or unipolar! 28 29

16 2-phase stepper motors Types ST sizes X, S, M, L, D Speed-Torque curves Option Pin confiuration ST5918X1008 ST5918X2008 ST5918X3008 ST5918X-L Black Bipolar Black/white Green/white Green /white Blue/white Blue ST5918D Bipolar ST5918S1008 ST5918S2008 ST5918S3008 With the hihest possible as well as compact dimensions, the ST5918 stepper motor series offers a hih resolution and is employed with economically priced drivers for precision speed and positionin applications. n conjunction with the microstep drivers MT.. and SMC.. and with the same resolution of <0.36, it constitutes an extremely cost-effective alternative to the multiphase stepper motors. The ST5918D4208 is currently the most powerful stepper motor of the 56 series on the market and was primarily developed for users with only restricted installation space available, but which is too lare for the next bier series, ST8918. /white Black/white Black Green Green/white Yellow/white Yellow Outline drawin (in ) ST5918M1008 ST5918M2008 ST5918M3008 Front view and mountin ST 5918 X = one shaft end B = two shaft ends for encoder or brake ST5918L1008 ST5918L2008 ST5918L3008 vailable power sizes (others on request) Type Current per windin /windin Holdin N cm Resistor per windin Ohm/windin nductance per windin mh/windin Rotor inertia cm 2 Weiht k Lenth " ST5918X ST5918X ST5918X ST5918S ST5918S ST5918S ST5918D4208 ST5918M ST5918M ST5918M ST5918L ST5918L ST5918L ST5918D ll data refer to 1 half of the windin or unipolar! 30 31

17 2-phase stepper motors Type ST sizes X, M, L Speed-Torque curves Option Pin confiuration Blue/white Bipolar ST6018X2008 ST6018X3008 Blue /white Green/white Green Black/white Black ST 6018 X With only slihtly larer dimensions, motors of the ST6018 series are more powerful than the motors of the ST5918 series, hence offerin a cost-effective alternative for constructors who cannot employ a motor of the ST8718 series due to reasons of space. = one shaft end B = two shaft ends for encoder or brake ST6018M2008 ST6018M3008 Outline drawin (in ) Front view and mountin ST6018K2008 ST6018L3008 vailable power sizes (others on request) Type Current per windin /windin Holdin N cm Resistor per windin Ohm/windin nductance per windin mh/windin Rotor inertia cm 2 Weiht k Lenth "" ST6018X ST6018X ST6018M ST6018M ST6018K ST6018L ll data refer to 1 half of the windin or unipolar! 32 33

18 2-phase stepper motors Type ST sizes S, M, L Speed-Torque curves Option Pin confiuration ST8918S4508 ST8918M4508 Bipolar /white Black/white Black Green Green/white Yellow/white Yellow With the hihest possible as well as compact dimensions, the ST8918 stepper motor series offers a hih resolution and is employed with economically priced drivers for precision speed and positionin applications. n conjunction with a microstep driver of the SMC series and with the same resolution of <0.36, it constitutes an extremely cost-effective alternative to the multiphase stepper motors. The ST8918 series is the cost-effective successor to the ST8718 series of motors. ST 8918 M = one shaft end B = two shaft ends for encoder or brake ST8918M6708 ST8918L4508 Outline drawin (in ) Front view and mountin ST8918L6708 ST8918D vailable power sizes (others on request) Type Current per windin /windin Holdin N cm Resistor per windin Ohm/windin nductance per windin mh/windin Rotor inertia cm 2 Weiht k Lenth "" ST8918S ST8918M ST8918M ST8918L ST8918L ST8918D ll data refer to 1 half of the windin or unipolar! 34 35

19 2-phase stepper motors Type ST sizes S, M, L Speed-Torque curves Option Pin confiuration ST11018S5504 Bipolar ` White B Yellow B` Green Compared with the standard 110 stepper motors, the new compact, hih- ST11018 stepper motor delivers an output up to 50% hiher. mproved operatin characteristics with reard to vibration, smooth operation and microstep resolution were achieved at the same time. This improvement was achieved by optimized stator eometry, more favorable manetic characteristics and special production processes. The ST11018 hih stepper motor was primarily developed for users who have only restricted installation space available with increased and who cannot use any ears because of the backlash. Resolutions of up to <36 are possible with the SMC46 microstep driver. ST M = one shaft end B = two shaft ends for encoder or brake ST11018M6504 Outline drawin (in ) Front view and mountin ST11018L8004 vailable power sizes (others on request) Type Current per windin /windin Holdin N cm Resistor per windin Ohm/windin nductance per windin mh/windin Rotor inertia cm 2 Weiht k Lenth "" ST11018S ST11018M ST11018L ll data refer to 1 half of the windin or unipolar! 36 37

20 Notes Stepper motors in protection class P54/

21 Stepper motors in protection class D4118L stepper motor with terminal box in protection class P54 Outline drawin (in ) D41 for flane size 42 with 1.8 /full step Option Connector confiuration D4118L1804 D4118L1804-E MOTOR D-SUB-9 Pin assinment 1 2 \ 3 B 4 B\ 5 NC 6 NC 7 NC (brake) 8 NC (brake/gnd) 9 NC Housin GND/shieldin ENCODER M12 Pin assinment 1 2 \ 3 B 4 B\ 5 GND 6 7 \ 8 Vcc Housin GND/shieldin Top view Top view D-SUB-9 M12 connector D4118L1804-B D4118L1804-EB Top view Top view Throuh their electrical and mechanical interchaneability with the standard motors, the machine-compliant stepper motors up to a protection class of P 54 (except for shaft output) offer a consistent drive concept. The extremely compact terminal box is only 16 loner and provides the constructor with an easy, fast and economic expansion option with hih availability at the same time. n addition to use under extreme ambient conditions as well as reduced filterin and EMC effort, prefabricated cables enable fast and faultless wirin and coissionin. D4118L Without option = with terminal box E = with encoder B = with brake EB = with encoder and brake Other sizes, M12 connectors, or cable screw connections are possible on request. Encoders used: 3-channel with 500 pulses/rev and line driver, 5V TTL sinal each (for 24V, please contact us!) Brakin mechanism used: Brakin power 0.4Nm, 24V, 11W Correspondin connectin cable: Motor: ZKDB9-xx Encoder: ZK-M12-8-xx For further information, see section on "Cables" Speed-Torque curves Outline drawin (in ) D4118L1804-E with D-SUB-9 with D-SUB-9 and M12 Front view and mountin Front view and mountin vailable performance cateories (others on request) Type Current /phase Holdin N cm Resistor Ohm/phase + -10% nductance mh + -20% Rotor inertia cm 2 Weiht k Lenth "" Encoder Brakes D4118L D4118L1804-E X D4118L1804-B X D4118L1804-EB X X 40 41

22 Stepper motors in protection class D5918 stepper motor with terminal box in protection class P54 Outline drawin D59 for flane size 56 with 1.8 /full step Option Connector confiuration D5918M6404 Top view Throuh their electrical and mechanical interchaneability with the standard motors, the machine-compliant stepper motors up to a protection class of P 54 (except for shaft output) offer a consistent drive concept. The extremely compact terminal box is only 16 loner and provides the constructor with an easy, fast and economic expansion option with hih availability at the same time. n addition to use under extreme ambient conditions as well as reduced filterin and EMC effort, prefabricated cables enable fast and faultless wirin and coissionin. Other sizes, M12 connectors or PG lands are possible on request. MOTOR D-SUB-9 Pin assinment 1 2 \ 3 B 4 B\ 5 NC 6 NC 7 NC (brake) 8 NC (brake/gnd) 9 NC Housin GND/shieldin D-SUB-9 ENCODER M12 Pin assinment 1 2 \ 3 B 4 B\ 5 GND 6 7 \ 8 Vcc Housin GND/shieldin M12 connector D5918M6404-E Top view Encoders used: 3-channel with 500 pulses/rev and line driver, 5V TTL sinal each (for 24V, please contact us!) Brakin mechanism used: Brakin power 0.4Nm, 24V, 8W for D5918M.. 1Nm, 24V, 10W for D5918L. Outline drawin (in ) with D-SUB-9 Front view and mountin Front view and mountin with D-SUB-9 and M12 D5918L Without option = with terminal box E = with encoder B = with brake EB = with encoder and brake Correspondin connectin cable: Motor: ZKDB9-xx D5918M6404-B Top view Encoder: ZK-M12-8-xx For further information, see section on "Cables" vailable performance cateories (others on request) Type Current /phase Holdin Ncm Resistor Ohm/phase nductance mh Rotor inertia cm 2 Weiht k Lenth "" Encoder Brakes D5918M D5918M2804-E X D5918M2804-B X D5918M2804-EB X X D5918M D5918M6404-E X D5918M6404-EB Top view D5918M6404-B X D5918M6404-EB X X D5918L D5918L28044-E X D5918L2804-B X D5918L2804-EB X X D5918L D5918L6404-E X D5918L6404-B X D5918L6404-EB X X 42 43

23 Stepper motors in protection class Speed-Torque curves Speed-Torque curves D5918M2804 D5918L2804 D5918M6404 D5918L

24 Stepper motors in protection class D8918 stepper motor with terminal box in protection class P54 Outline drawin D89 for flane size 86 with 1.8 /full step Option Connector confiuration D8918S6404 Top view Throuh their electrical and mechanical interchaneability with the standard motors, the machine-compliant stepper motors up to a protection class of P 54 (except for shaft output) offer a consistent drive concept. The extremely compact terminal box is only 16 loner and provides the constructor with an easy, fast and economic expansion option with hih availability at the same time. n addition to use under extreme ambient conditions as well as reduced filterin and EMC effort, prefabricated cables enable fast and faultless wirin and coissionin. Correspondin connection cables can be found on this website under ccessories MOTOR D-SUB-15 Pin assinment \ 4 \ 5 B 6 B 7 B\ 8 B\ 9 NC 10 NC 11 NC (brake) 12 NC (brake/gnd) 13 NC 14 NC 15 NC Housin GND/shieldin D-SUB-15 ENCODER M12 Pin assinment 1 2 \ 3 B 4 B\ 5 GND 6 7 \ 8 Vcc Housin GND/shieldin M12 connector D8918S6404-E Top view Encoders used: 3-channel with 500 pulses/rev and line driver, 5V TTL sinal each (for 24V, please contact us!) Brakin mechanism used: Brakin power: 2Nm, 24V, 11W Outline drawin (in ) with D-SUB-15 Front view and mountin with D-SUB-15 and M12 Front view and mountin D8918L Without option = with terminal box E = with encoder B = with brake EB = with encoder and brake D8918S6404-B Top view Correspondin connectin cable: Motor: ZKDB152-xx Encoder: ZK-M12-8-xx For further information, see section on "Cables" vailable performance cateories (others on request) Type Current /phase Holdin (Ncm) Resistor Ohm/phase nductance mh Rotor inertia cm 2 Weiht k Lenth "" Encoder Brakes D8918S D8918S6404-E X D8918S6404-EB Top view D8918S6404-B X D8918S6404-EB X X D8918M D8918M9504-E X D8918M9504-B X D8918M9504-EB X X D8918L D8918L9504-E X D8918L9504-B X D8918L9504-EB X X 46 47

25 Stepper motors in protection class Speed-Torque curves Notes D8918S6404 D8918M9504 D8918L

26 Stepper motors in protection class S2818, S4118, S5918 stepper motor with terminal box in P65 Outline drawin S28, S41, S59 for flane size 28, 42 and 56 S2818 Option Connector confiuration S2818 M12-5-pole (MOTOR) Pin assinment 1 \ 2 3 B 4 B\ 5 Housin M12-8-pole (ENCODER) Pin assinment 1 2 \ 3 B 4 B\ 5 GND 6 7 \ 8 Vcc Front view and mountin Housin GND/shieldin M12-Stecker connector M12-Stecker connector S5918 S4118 Front view and mountin with Encoder S 5918S S = M12 plu connection The machine-compliant stepper motors up to a protection class of P 65 (except for shaft output) offer a consistent drive concept. Because they have the same flane dimensions, they are electrically and mechanically interchaneable with the standard motors. The terminal box on the rear panel makes the motors only slihtly loner! They are distinuished in particular by their wide rane of powers and applications as well as by their hih availability. Encoders used: 3-channel with 500 pulses/rev. and line driver, 5V TTL sinal each (for 24V, please contact us!) Without option = with terminal box E = with encoder Correspondin connectin cable: Motor: ZK-M12-5-xx Encoder: ZK-M12-8-xx For further information, see section on "Cables" S5918 Front view and mountin with Encoder vailable performance cateories (others on request) Type Current /phase Holdin (Ncm) Resistor Ohm/phase nductance mh Rotor inertia cm 2 Weiht k Lenth "" Encoder S2818S S2818L S4118L S4118L1804-E X S5918S S5918S2804-E X 50 51

27 Stepper motors in protection class Speed-Torque curves Speed-Torque curves S2818S0604 S4118L1804 S2818L0604 S5918S

28 Stepper motors in protection class P5918, P8918 stepper motor with terminal box in protection class P65 Outline drawins () P5918 and P8918 for flane sizes 56 and 86 Option Connector confiuration P5918 Cable connector M16 (MOTOR) Cable no. Color assinment 1 2 BLCK \ 3 (MRKED WTH B 4 CBLE NO.) B\ 5 Housin Front view and mountin with Encoder Cable connector M16 (ENCODER) Cable no. Color assinment 1 White 2 Brown \ 3 Green B 4 Yellow B\ 5 Gray GND 6 Pink 7 Blue \ 8 Vcc P 8918M P8918 P = PG land Without option = with terminal box Front view and mountin with Encoder E = with encoder Throuh their electrical and mechanical interchaneability with the standard motors, the machine-compliant stepper motors up to a protection class of P 65 (except for shaft output) offer a consistent drive concept. The extremely compact terminal box is only 16 loner and provides the constructor with an easy, fast and economic expansion option with hih availability at the same time. n addition to use under extreme ambient conditions as well as reduced filterin and EMC effort, prefabricated cables enable fast and faultless wirin and coissionin. The motors are delivered with a 5-pole, shielded cable and an 8-pole shielded cable for the encoder as standard. The cable lenth is 2m in each case. Encoders used: 500 increments/rev., line driver and index (one pulse at 360 ), 5V TTL sinal (others available on request!) Speed-Torque curves P5918L6404 P8918M6404 P8918L9504 vailable performance cateories (others on request) Type Current /phase Holdin (Ncm) Resistor Ohm/phase nductance mh Rotor inertia cm 2 Weiht k Lenth "" Encoder P5918L P5918L6404-E X P8918M P8918M6404-E X P8918L P8918L9504-E X 54 55

29 Stepper motors - special versions Shaft assembly options for all motors Cable assembly dapted, ready to assemble shaft versions allow the constructor and assembly team fast, economic and reliable machine and device adaptation. For other example and details, see the website. Dependin on the complexity of the machine settin, we offer machinin from 1, 25 or 250 pieces. Not all machinin options are available for all motor series. Customer-specific connector versions and cable assembly provide the constructor and assembly team with an easy, fast, economic and reliable electric connection to the machine. Nanotec offers a lare number of different connectors for the most favorable and secure solution in each case. For orders of more than 100 pieces, the connector or cable assembly can be carried out very economically. with differently attached connectors Shorter (loner) shaft Flat-sided shaft (D-cut) Lathe-machined shaft JST connectors JST connectors Ber connectors Lumber connectors MP connectors Shaft with wede sprin notch Shaft with Woodruff key notch Motor shaft with side-drilled hole Wao connectors nsulation displacement connectin technoloy Sub-D connectors Sub-D connectors M12 connectors Bier shaft Shaft with roove Hollow shaft Larer or thicker shafts are used primarily to enable hiher radial forces. Possible for all motors of the ST and DB series. Motors with shaft roove facilitate the attachment of safety disks for axial fixin of timin pulleys, spur ears, etc. Possible for all motors of the ST and DB series. Besides the actual drive, hollow shafts also enable the feedin of cables, tubes or even laser beams throuh the motor. Possible for selected motors of the ST series. with different cable assemblies Heat shrink sleevin Protective braid Braidin Motor shaft with timin belt wheel Shaft with metric thread Toothed shaft Motors with attached belt pulley (or direct earin on the motor shaft) facilitate direct attachment to existin reduction ratios as well as ears, linear axes, etc. thread is useful not only for attachin rotatin parts on the motor shaft, but also for the realization of a linear actuator with low positionin speed. Motors with a toothed shaft facilitate direct attachment to existin reduction ratios, ears, etc. Direct earin is the best technical and most economical solution for many applications. with interated plu Special transmission elements Shaft with spur ear/pinion Shaft with worm ear M17 connectors M12 connectors Sub D-9 or D-15 JST connectors M12 connectors n addition to standard drive elements, Nanotec also offers its stepper and servomotors with a lare number of other transmissionelements made from the most diverse materials. Motors with attached pinion or direct earin on the motor shaft considerably facilitate direct attachment of existin reduction ratios, ears, timin bars, etc. Motors with attached worm ear can be installed at an anle of 90 to the load which has an extremely favorable effect on some applications. n addition, they offer hih reduction ratios in the smallest space

30 Notes Plu & Drive Stepper motors 58 59

31 Plu & Drive stepper motors Stepper motor with interated power and positionin control Complete positionin unit starts up in 60 minutes Plu & Drive motors with interated control are the most effective and most economic drive solution for all constructors who must combine precision speed and positionin tasks with low expense and maximum user benefits. For the interated functional advantaes and options, see below. Two different series are available for various requirements: PD- They considerably reduce not only the development and installation effort as well as the space and component requirement, but also increase the flexibility, system characteristics as well as the availability of a complete drive unit at the same time. Throuh their electrical and mechanical interchaneability with the standard motors, the replacement of existin drive solutions is possible without any problem. Ready-assembled cables also ensure fast and faultless wirin and coissionin. nterated positionin control via RS232/485 allows standalone operation, up to 32 motors can be networked. nalo input 0-10V/0-5V or +/-10V enables speed reulation with external voltae. clock/direction input also offers synchronous runnin with superordinate axles. For the first time, the PDx- (Plu & Drive) motors make it the possibility to confiure the relevant motor to your requirements. Finally, a drive unit with such a compact form that planners, developers and constructors can use it to create speed and positionin tasks easily and quickly. lso mountin, coissionin and machine settins can be carried out conveniently and clearly within the specified budet. n addition to the PWM-MOS driver with the lowest RDS(On), the PD4-57 series includes a powerful microprocessor, speed monitorin and an RS485 input in order to employ the most diverse operatin modes. total of up to 16 motors can be networked so that synchronous and time-critical multiple axle applications can be implemented fast and conveniently with even the smallest PLC. Easy and fast prorain n the PDx-, a choice can be made between the speed, position, and fla position operatin modes (see below). Machine-related parameters can be saved, such as feed rate in /s, frequency or rpm, precision feed control constant in /rev as well as any possible ear reduction ratio and backlash on reversal. lso motor-related parameters such as phase current and a step resolution of (0.09 ) can be set. Three adjustable reference modes (external, internal and referred to 360 ) allow automatic machine settins where external reference switches may be omitted in the case of a 360 adjustment. This means the device settins can easily be checked and the coissionin time reatly reduced. With the same, very clear and operator friendly interface for the most diverse operatin modes, the user can very easily and quickly create and test his task accordinly - even complex axle movements - on a laptop, for example - and transfer it to the PD motor. Thus access to each individual movement profile (part of a complex multi-axle application) is transparent and can then be controlled accordin to the machinin, either as a standalone solution or via a superordinate, simple PLC. Even when stepper motors lose no steps durin normal operation, interated rotation monitorin brins the customer additional security, e.. aainst motor blockae or other external sources of error. fter 20 steps at the latest, the monitorin function detects a loss of one step or a motor blockae. Malfunctions are quickly detected and displayed for necessary corrective measures on the error output. Speed mode Positionin mode Fla positionin mode PD-N (all-in-one) With the same functions as the PD- (but 2 / Os), the PD-N is the most compact Plu&Drive stepper motor in the world. n speed mode, up to 8 different speeds from 5 Hz to 20 khz and ramps with slopes from 100Hz/ms to 0.4 Hz/ms can be proraed and then freely selected via 4 inputs. This is used in preference for dispensin pumps, conveyors and the like. n positionin mode, the correspondin movement and positional settins (absolute or relative) are made via the set parameters. total of 16 sets, and hence 16 movement profiles, can be selected via 4 inputs which is sufficient for most machinin and positionin tasks. The fla positionin mode supports all users who want to accelerate first to a preselected speed or to a synchronous speed. n external coand or markin sinal can then actuate the preset positionin. This operatin mode is suitable for the labelin area as well as, in particular, for all types of band and cuttin-tolenth tasks. nterated functional advantaes Direct connection to PC, PLC or diverse controllers without additional hardware expense Microstep chaneover from steps/rev. enables quiet, uniform runnin behavior with a hih resolution of up to 0.09 /step at the same time Optimum system adaptation throuh optocoupler input. Homoeneous EMC solution with electronic interation in the motor Temperature and transient overvoltae protection No stabilized supply voltae necessary utomatic current reduction decreases power dissipation and heatin when the motor is at a standstill nterated encoder (optional) enables rotation monitorin and close loop control for automatic error detection and automatic error correction. Several operatin modes such as speed positionin, fla positionin, reference travel, analo and clock/direction turns the Plu&Drive stepper motor into a universal, flexible and extremely compact drive for the most varied applications

32 Plu & Drive stepper motors PD4-N5918 series stepper motor with interated controller Outline drawin (in ) Option Pin confiuration Pin confiuration D-SUB 15 Front view and mountin Top view Technical data Operatin voltae: DC 24 to 48 V Phase current: Nominal current 3.2; djustable to max. 4.8 /phase nterface: RS485, (optional CN from 2009) Operatin mode: Position, speed, fla position, clock direction, analo, joystick, analo position Step resolution: 1/1, 1/2, 1/4, 1/5, 1/8, 1/10, 1/32, adaptive (1/128) Step frequency: 0 to 50kHz in the clock/direction mode, 0 to 25 khz in all other modes nputs: 2 optocoupler inputs (24 V) Output: 1 transistor output (open collector) Position monitorin: utomatic error correction to 0.9 (variation E) Current reduction: adjustable 0-100% Protection circuit: Overvoltae, undervoltae and heatsink temperature > 80 C Temperature rane: 0 to + 40 C Delivery condition: RPM mode, 25% phase current PN NME COLOR () 1 NPUT 2 Yellow (0.1) 2 NPUT 1 Pink (0.1) 3 N.C. Gray (0.1) 4 (RxTx+) (0.5) 5 (RxTx) Blue (0.5) V Yellow (0.5) 7 N.C. White (0.1) 8 NLOG Purple (0.1) 9 SGN GND Orane (0.1) 10 POWER GND (OV) Green (0.5) V Brown (0.5) 12 N.C. Black (0.1) 13 OUTPUT 1 Green (0.1) 14 N.C. Brown (0.1) 15 POWER GND (OV) White (0.5) * OUTER SHELDNG PN 6 and 11 or PN 10 and 15 must be connected Encoders used: 3-channel with 500 pulses/revolution and line driver, 5V TTL sinal each (for 24V, please contact us!) Speed-Torque curves! Note: n intermediate circuit capacitor of at least 4,700 μf (Z-K4700/50) must be provided on the supply voltae. nput circuits Output circuits PD4-N5918M6404 PD4-N5918L6404 nput circuits Optocoupler 24V, =10m R=2.2 kohm Output circuits Open collector max. 30V/30m PD4-N5918M6404- E = with encoder vailable power sizes (others on request) Type Holdin (duration) Ncm Holdin (max.) Ncm Weiht k "" Encoder PD4-N5918M PD4-N5918M6404-E X PD4-N5918L PD4-N5918L6404-E X 62 63

33 Plu & Drive stepper motors PD and PD series stepper motor with interated controller Speed-Torque curves Option Pin confiuration D-SUB 15 Pin confiuration D-SUB 15 PD4-5709X3008-P PD4-5709L4008-P Technical data Operatin voltae: DC 24 V to 70 V Phase current: Rated current 4.2; djustable to max. 6.3 /phase nterface: RS485, (optional CN) Operatin mode: Position, speed, fla position, clock direction, analo, joystick, analo position Step resolution: 1/1, 1/2, 1/4, 1/5, 1/8, 1/10, 1/32, adaptive (1/128) Step frequency: 0 to 50kHz in the clock/direction mode, 0 to 25 khz in all other modes nputs: 6 optocoupler inputs (24 V), or analo input Outputs: 3 transistor outputs (open collector) Position monitorin: utomatic error correction up to 0.9 Current reduction: adjustable 0-100% Protection circuit: Overvoltae, undervoltae and heatsink temperature > 80 C Temperature rane: 0 to + 40 C Delivery condition: D-SUB 15 for /O and power, D-SUB 9 for RS-485! Note: n intermediate circuit capacitor of at least 4,700 μf (Z-K4700/50) must be provided on the supply voltae. PN NME 1 nput 5 2 nput 4 3 nput 3 4 nput 2 5 nput V 7 nput 6 8 Output 3 9 COM 10 GND V 12 N.C. 13 Output 2 14 Output 1 15 GND (OV) PN 6 and 11 or PN 10 and 15 must be connected Pin confiuration D-SUB-9 Pin confiuration D-SUB 9 PN OBSERVTONS 1 not assined 2 RS-485 Rx+ 3 +5V output 4 RS-485 Tx+ 5 not assined 6 not assined 7 RS-485 Rx- 8 GND output (OV) 9 RS-485 Tx- PD4-5918X3008-P PD4-5918L3008-P PD4-5918M4508-P PD4-5918L4508-P Outline drawin () nput circuits nput circuits Optocoupler 24V, =10m Front view and mountin Top view Output circuits R=2.2 kohm Output circuits Open collector max. 30V/30m PD4-5918D4208-P vailable power sizes (others on request) Type Holdin (duration) Ncm Holdin (max.) Ncm Weiht k "" PD4-5709X3008-P PD4-5709L4008-P PD4-5918X3008-P PD4-5918M4508-P PD4-5918L3008-P PD4-5918L4508-P PD4-5918D4208-P

34 Plu & Drive stepper motors PD series stepper motor with interated controller Speed-Torque curves Option Pin confiuration D-SUB 15 Pin confiuration D-SUB 15 PD6-8918S4508-P Technical data Operatin voltae: DC 24 V to 70 V Phase current: Rated current 6.0; djustable to max. 9 /phase nterface: RS485, (optional CN) Operatin mode: Position, speed, fla position, clock direction, analo, joystick Step resolution: 1/1, 1/2, 1/4, 1/5, 1/8, 1/10, 1/32, adaptive (1/128) Step frequency: 0 to 50kHz in the clock/direction mode, 0 to 25 khz in all other modes nputs: 6 optocoupler inputs (24 V), or analo input Outputs: 3 transistor outputs (open collector) Position monitorin: utomatic error correction up to 0.9 Current reduction: adjustable 0-100% Protection circuit: Overvoltae, undervoltae and heatsink temperature > 80 C Temperature rane: 0 to + 40 C Delivery condition: D-SUB 15 for /O and power, D-SUB 9 for RS-485! Note: n intermediate circuit capacitor of at least 4,700 μf (Z-K4700/50) must be provided on the supply voltae. PN NME 1 nput 5 2 nput 4 3 nput 3 4 nput 2 5 nput V 7 nput 6 8 Output 3 9 COM 10 GND V 12 N.C. 13 Output 2 14 Output 1 15 GND (OV) PN 6 and 11 or PN 10 and 15 must be connected Pin confiuration RS485 Pin confiuration D-SUB-9 PN OBSERVTONS 1 not assined 2 RS-485 Rx+ 3 +5V output 4 RS-485 Tx+ 5 not assined 6 not assined 7 RS-485 Rx- 8 GND output (OV) 9 RS-485 Tx- PD6-8918M6708-P Outline drawin () nput circuits nput circuits Optocoupler 24V, =10m Front view and mountin Top view PD6-8918L6708-P Output circuits R=2.2 kohm Output circuits Open collector max. 30V/30m vailable power sizes (others on request) Type Holdin (duration) Ncm Holdin (max.) Ncm Weiht k "" PD6-8918S4508-P PD6-8918M6708-P PD6-8918L6708-P

35 General information on linear actuators Linear actuators dvantaes The universally usable linear drives from Nanotec offer a multiplicity of new, low-priced and powerful application possibilities. Simple and flexible motor construction considerably reduces the system costs Stroke-independent movement to any position Hihly reproducible resolutions (<1μm) and fast feeds (>1000 /sec.) for the same construction volume are achieved throuh uniform construction platforms Direct force couplin to the load requires no additional components, thus offerin riid and liht mechanics Static spindles enable hihly dynamic and riid machine constructions as well as multimotor operation Due to low enery requirements, even hih forces can be delicately reulated Partly self-lockin so no additional brake is necessary Stroke is only dependent on the available spindle lenth. Replacement for hydraulic and pneumatic cylinders with considerably hiher flexibility The achievable resolution, precision feed control speeds and forces are calculated on the basis of the pitch of screw (p in ), propellin flow characteristics (Md in Ncm) and efficiency ( ) as follows: 1) Resolution in /step = p/(360 /step anle) e.. 1 /(360 /0.9 ) = /step 2) Feed rate = f resolution e /s = 5 /sec 3) Thrust in N = M dmot 2π /p e.. L5609X approx. 15 Ncm at 2 khz = /0.1 cm = 94 N (peak ) 4) Efficiency = ccordin to DN Sheet 1; the efficiency is: fine-pitch screw thread approx. 0.; trapezoidal spindle approx. 0.4; ball screw spindle approx n addition, the static and rollin friction (0.9 to 0.7), the surface structure (rouhness/hardness of the spindle and nut), material pairin (steel/ steel), (steel/copper bronze), (steel/pom plastic), pollution severity and concentric spindle uide must be taken into account in the calculation of the service life estimate. t is imperative to determine the operational stability and possible service life in a real trial. (n empirical efficiency for the overall system of approx. 0.3 results for the trapezoidal spindle, and approx. 0.7 for the ball screw)! Note: t is important to ensure that no lateral forces affect the spindle and that the spindle runs concentrically to the motor shaft. To achieve linear motion, twistin of the spindle must be prevented. The force and power ratins specified in the datasheets are based on a power-up time of approx. 10% - 20% and must be reduced accordinly for hiher values. The axial play in the direction of the motor is approx. 0.1 to 0.7 at 20N With various procedures for surface treatment (e.. from Balzers, Mifa, kos) in the meantime coefficients of friction can be reatly reduced and the resistance to abrasion considerably improved. Normally the spindles are weded or fixed into the movin part. For all other applications in which this fixin is not possible or a free spindle end must move the load, appropriate antirotation devices are offered by Nanotec and delivered in part already mounted on the motor. The displacement distance must then be specified (see ccessories, Spindle). Linear adjustin mechanisms and movements are a frequent task definition for many constructors. For quite some time the linear actuator and stepper motor family L... has been successfully deployed in numerous applications (such as control, dosin, levelin, stroke, positionin, adjustment and closin tasks, path independent pressure and tractive force adjustment and many more) due to their versatility as related to force and positionin speeds

36 Linear actuators Permanent manet stepper motor linear actuator LP2515-LP The rotary motion can be converted into linear motion by the thread bushin interated in the motor without costly desin. This compact construction therefore allows space and weiht-savin linear adjustment which the LP.. provides at very low cost in terms of force and speed. Simple linear adjustment tasks with fine resolution can also be realized in conjunction with the MT.. microstep driver.! Note: The LP.. motors are delivered includin spindle. Type thrust N Resolution /step vailable versions (others on request) Pitch of screw Travel distance Current /windin Resistor per windin Ohm/windin Step anle LPVD2515S0104-TR LP2515S0104-TR3.5X LP3575S0504-TR3.5X ll data refer to 1 half of the windin or unipolar! Data in full step Weiht k lenth LPV2515S0104 Connector confiuration LPV2515S0104 outline drawin (in ) Front view and mountin White Bipolar ` B Blue B` Yellow LP2515S0104 Connector confiuration LP2515S0104 outline drawin (in ) Front view and mountin White Bipolar ` B Blue B` Yellow LP3575S0504 Connector confiuration Outline drawin LP3575S0504 (in ) Front view and mountin White Bipolar ` B Blue B` Yellow 70 71

37 Linear actuators Linear actuators with fine thread (sizes ) L L56.. precision linear actuators are used for a very wide rane of applications where fewer lare adjustin forces and speeds but hih resolution properties are demanded at the lowest price possible, construction volume and constructive assembly effort. The adjustment path is only limited by the spindle lenth so that extremely flexible, path-independent linear motion tasks can be realized. Resolutions of < /step for very fine positionin are possible with the compact microstep drivers such as SMC.. nterated encoders are also optionally available (see ccessories). Type Max. thrust N Resolution /step vailable versions (others on request) Max. precision feed control Data in full step Current /windin Resistor Ohm/windin L2818L1006-M6x L4018X1006-M4x L4018S1204-M6x L4018S1618-M6x Weiht k lenth L4218M1404-M6x L4218L1806-M6x ! Note: Matchin thread spindles and lubricant directions for the interated bronze nuts can be found under ccessories (please order spindle separately). L5609X2008-M6x L5609X1108-M6x L5618X1408-M5x L5618X1408-M6x L5618X2508-M6x ll data refer to 1 half of the windin or unipolar! L28 Connector confiuration L28.. outline drawin (in ) Front view and mountin Black (COM) yellow ` Green Unipolar B B` (COM) white Blue L40, L42 Connector confiuration L40.. outline drawin (in ) (L4218 outline drawin, see L4218 with trapezoidal spindle) Front view and mountin White Bipolar White Unipolar Brown ` ` B B` B B` Blue Yellow Blue Brown Yellow L56 Connector confiuration L56.. outline drawin (in ) Front view and mountin White ` Bipolar /white Black/white Black Bipolar B B` Blue Yellow Green Green/white Yellow/white Yellow 72 73

38 Linear actuators Linear actuators with trapezoid spindle (sizes ) L2818L1006 outline drawin (in ) Connector confiuration Front view and mountin The combination of the hih- stepper motor with a low-cost trapezoidal spindle with a pitch of 2.5 to 20 not only ives the linear actuators L28, L42 and L57 an extremely hih adjustment speed of 1m/sec. (or extremely short manipulatin time) but its compact form also enables hih thrust and tractive forces. Even hiher service lifetimes have been achieved at the same time as well as the improvement in performance due to the relatively hih service life. Resolutions of < 0.01 /step are also possible with the compact microstep drivers, hence also makin the linear motors ideal for precision linear axes.the linear actuators are also available with interated encoder (or encoder + line driver) for position feedback (see ccessories). Black (COM) yellow ` Green Unipolar B B` (COM) white Blue vailable versions (others on request) L outline drawin (in ) Connector confiuration Type thrust max. F precision feed control Max. /s Pitch of screw Resolution /step Data in full step Current/ windin Resistor Ohm/wind. nductance mh Weiht k Bushin lenth L Motor lenth Front view and mountin L2818L1006 -T5X Brown (white) Bipolar Black Unipolar (COM) ` Orane (red) ` Brown L2818L1006 -T5X B B` B B` (blue) White (???) Yellow (COM) Blue Orane L4218M1404 -T6x L4218M1404 -T5x L5718L3008 outline drawin (in ) Connector confiuration L4218M1404 -T5x Front view and mountin L4218L1806 -T6x L4218L1806 -T5x /white Black/white Black Bipolar L4218L1806 -T5x Green Green/white Yellow/white Yellow L5718L3008-T10x LT5718L3008-T10X LT5718L3008 outline drawin (in ) Connector confiuration ll data refer to 1 half of the windin or unipolar! Front view and mountin Bipolar /white Black/white Black! Note: Matchin thread spindles and lubricant directions for the interated PEEK nuts can be found in the ccessories section (please order spindle separately). Green Green/white Yellow/white Yellow 74 75

39 Linear actuators Linear actuators with ball screw LK LK5718 Recoendations for use / life calculation for the LK series Option Lubrication: The standard roller bearin lubrication reulations apply for ball screws. One-time fillin with rease as lifetime lubrication is, however, not sufficient in most cases. Needs-based reular lubrication is crucial to the lifetime of a ball screw. Calculations at dynamic loads: Critical speed n dmiss. The new linear actuators with interated ball screw achieve hih thrust up to 1.8 kn with excellent accuracy and very lon service life due to the enerously-dimensioned antifriction bearin. Simple assembly due to same flane size as the standard motors (excludin LK4218L1806, special flanes upon request) Rolled ball screw, accuracy class better than G9 Standard axial play (max. 0.05) can be compensated Encoder version possible as well as Plu & Drive Hih-precision actuator with spindle accuracy up to G5 and axial play <=0.01 and wipers The admissible speeds must be sufficiently distant from the natural frequency of the spindle. d n dm. = KD * * * S n [min -1 ] n dm. = admissible speed [min -1 ] K D = characteristic constant dependin on the bearin case [-] See below = spindle core diameter [] d 2 l a l a 2 = bearin clearances [] See below (the max. possible l a must always be included in the calculation) S n = safety factor i.a.s n = [-] Outline drawin () Connector confiuration LK2818L1006 Front view and mountin Black (COM) yellow ` Green Unipolar Bearin case 1 Solid-solid K D = 276 B B` (COM) White Blue LK4218L1806 Front view and mountin Black (COM) ` Brown Unipolar Bearin case 2 Solid-free K D = 190 B B` Yellow (COM) Blue Orane Nominal service life L 10 or L h C dyn F m L 10 = ( ) 3 * 10 6 [U] L 10 L h = n m *60 [h] LK5718L3008 Front view and mountin () /white Black/white (\) Black Bipolar L 10 = service life in revolutions [U] C dyn = dynamic loadin factor [N] F 1...n = load per time quota [N] n 1...n = speed per time quota [min -1 ] 100 = q (sum of time quotas q 1...n) [%] L h = service life in hours [h] F m = mean axial load [N] n m = mean rotational speed [min -1 ] q 1...n = time quota [%] (B) Green Green/white Yellow/white (B\) Yellow Mean axial load F m at constant speed n Constant and dynamic loadin capacity C dyn Type Flane Max. thrust N Max. precision feed control /s Resolution /step vailable versions (others on request) Positionin accuracy Pitch of screw Stroke Current /windin nductance per windin mh/windin Resistor per windin Ohm/windin LK2818L LK4218L LK5718L ll data refer to 1 half of the windin or unipolar! Weiht k Lenth "" q 1 F 10 = F 1 +F 2 +F [N] q 2 C L 10 = ( ) 3 dyn F * 10 6 m [U] L 10 L h = n m *60 [h] q

40 Linear actuators Permanent manet linear positionin drive types LSP LSP4275 Outline drawin () Option Pin confiuration LSP0818M0104 Front view and mountin Holder with Nut LSP08.., 10.., 15.. White Bipolar ` LSP1018M0204 Front view and mountin Holder with Nut Blue B B` Yellow LSP25.., 35.., 42.. LSP1518M0104 Front view and mountin White (COM) Black Unipolar ` The LSP linear control drives are based on a permanent manet stepper motor with a metric thread on the motor shaft so that any rotation of the motor shaft with a matchin nut is translated into a linear motion. The actuators allow finely raduated linear adjustments, e.. for adjustin and positionin sensors and mirrors in medical and optical equipment. They are also suitable for constructional tasks in the field of clampin, openin and closin as well as precision adjustment of valve and flap adjustments in conditionin and control systems. Blue B (COM) Brown B` Yellow LSP2575M0506 Front view and mountin Type thrust max. F (N) Max. precision feed control /sec. Resolution /step Data in full step vailable power sizes (others on request) Pitch of screw () Thread lenth Current /windin Resistor per windin Ohm/windin nductance per windin mh/windin Weiht k Lenth "" LSP3575M0206 Front view and mountin LSP0818M0104-M2X LSP1018M0204-M2X LSP1518M0104-M2X LSP4275M0205 Front view and mountin LSP2575M0506-M2X LSP3575M0206-M3X LSP4275M0206-M3X ll data refer to 1 half of the windin or unipolar! 78 79

41 Linear actuators Linear control drive LS LS4218 Outline drawin () Connector confiuration Option LS2018 Front view and mountin Black Bipolar ` Green B B` Blue The LS.. linear positionin drives not only considerably reduce the cost and space requirements of a linear system (couplin, a bearin support point and assembly cost are dispensed with) but also increase the system characteristics and availability of a complete miniature linear axis. Even the linear uide can be omitted for small loads and load ratins (such as for scannin optical, mechanical, acoustic measurements). Other motor, threaded nut and spindle versions (>100 pieces) also enable simple, fast and low-cost system expansion. Delivery: ncl. threaded nut Standard stroke: 55 Spindle material: M6x (V2) Tr6x (V4) LS2818 Threaded nut Material: Black PEEK, for LS2018, LS2818, LS4209 Front view and mountin Black (COM) yellow ` Green Unipolar B B` (COM) white Blue Spindle material: Tr6x (V4) LS4209 Material: Dupont Delrin 500F for LS4218 Front view and mountin Brown Bipolar ` Orane B B` Yellow Spindle material: M6x (V2) Type thrust (N) Max. precision feed control /sec. vailable power sizes (others on request) Resolution μm/step Data in full step Current /windin Resistor Ohm/windin Weiht k Lenth "" LS4218 Front view and mountin White Bipolar LS2018S0604-M6X LS2018S0604-TR6X ` LS2818L1006-TR6X B B` LS4209S1404-M6X LS4218S1404-6X LS4218L1804-6X ll data refer to 1 half of the windin or unipolar! Spindle material: SUS or C3603 with 5μm nickel coatin (min) Blue Yellow 80 81

42 Linear actuators nti-rotation device for linear actuators L40, L42, L56, L57 Notes dvantaes No spindle fixin required Thrusts up to 1 KN Resolution to 1μm Twistin of the spindle must be prevented to achieve linear motion. f this is not ensured by the mechanical construction of the customer application, such as with spindle-fixed linear axes, the linear actuator with interated anti-rotation device allows quick and low-cost realization of linear applications. The standard stroke for the anti-rotation device available for the L40, L42, L56 and L57 series is 55. Other stroke lenths are also available upon request. Outline drawin () L42 Front view and mountin L57 Front view and mountin 82 83

43 General information on brushless DC motors Brushless DC motors dvantaes Sinificantly hiher efficiency and power density than induction motors (by approx. 35% volume and weiht reduction at the same load) Lonest expected service life and quiet runnin in brushless technoloy with precision ball race The linear characteristic allows an extremely wide speed rane at full motor power, and hence better coordination to the required load conditions uced electrical interference emission alon with excellent thermal properties Mechanically interchaneable with stepper motors, and hence less construction expense and reater parts variety Technical data The low-price electronically coutated 3-phase brushless motors (EC motors) are ideally suited for applications with hihly smooth operation and service life. The hihly eneretic permanent manets enable hih acceleration and speeds of up to 14,000 rpm with excellent efficiency. The rotor position is fed back electronically via three 60 or 120 offset Hall sensors. Optional encoders to 2000 pulses/ rev. enable hih-resolution positionin controllers. Peak : Ncm Operatin voltae: DC V Rated speed: rpm. Temperature rane: 0 to 40 Properties TORQUE/CURRENT CHRCTERSTCS TORQUE/SPEED CHRCTERSTCS 84 85

44 Brushless DC motors Brushless DC motors W to 16 W Brushless DC motors - 50 W to 120 W Option Option Connector confiuration DB57 DB57 Color Function Blue U Motor Hall White V Brown W Orane +5V Black GND Yellow H1 Gray H2 Green H3 Outline drawin () Connector confiuration DB22 DB22 Front view and mountin DB22 Color Function U Motor Brown V Black W Blue +5V Green GND Hall H1 Yellow H2 Brown H3 ccessories Encoder: HEDS...; HEDL... with pulses Brake: Possible on request. Outline drawin () Connector confiuration DB28 DB57 - sizes S, L, C DB28 Front view and mountin DB28 Color Function Green U Motor V Black W Yellow +5V White GND Hall Blue H1 Orane H2 Brown H3 Front view and mountin vailable power sizes (others on request) Type Rated power W Rated/peak Ncm Rated/peak current Rated voltae/turnin speed V/rpm Torque Constant Ncm/ Resistor Ohm/windin nductance mh/windin Rotor inertia cm 2 Weiht k Lenth "" vailable power sizes (others on request) DB22M / /1.1 24/ DB22L / /1.5 24/ Type Rated power W Rated/peak Ncm Rated/peak current Rated voltae/rpm V/rpm Torque Constant Ncm/ Resistor Ohm/windin nductance mh/windin Rotor inertia cm 2 Weiht k Lenth "" DB28S / /2.5 15/ DB28M / /2.8 24/ DB28L / /3.0 24/ DB57S / / / DB57L / / / DB57C / / /

45 Brushless DC motors Brushless DC motors - 30 W to 150 W Brushless DC motors with terminal box - 30 W to 150 W Option Connector confiuration DB42 Option Connector confiuration DB42 DB42 Color Function Yellow U Motor V Black W +5V Black GND Hall Blue H1 White H2 Green H3 8-pole connector DB42 PN Color Function 1 White +5V 2 Brown 0V 3 Green H1 Hall 4 Yellow H2 5 Green H3 6 Pink Encoder 7 Blue B 8 5-pole connector DB42 PN Color Function Hall 1 Brown U 2 White V 3 Blue W 4 Black GND 5 ccessories Encoder: HEDS...; HEDL... with pulses Brake: Possible on request. Outline drawin () Outline drawin () ccessories DB42 Front view and mountin DB42 Front view and mountin Encoder: HEDS...; HEDL... with 500 pulses. Brake: Possible on request. vailable power sizes (others on request) vailable power sizes (others on request) Type Rated power W Rated/peak Ncm Rated/peak current Rated voltae/rpm V/rpm Torque Constant Ncm/ Resistor Ohm/windin nductance mh/windin Rotor inertia cm 2 Weiht k Lenth "" Type Rated power W Rated/peak Ncm Rated/peak current Rated voltae/rpm V/rpm Torque Constant Ncm/ Resistor Ohm/windin nductance mh/windin Rotor inertia cm 2 Weiht k Lenth "" DB42S / / / DB42S / / / DB42S / /5.4 24/ DB42M / / / DB42M / / / DB42M / / / DB42L / / / DB42C / / / DB42C / / / DB42C / /20 24/ DB42S / / / DB42S / / / DB42S / /5.4 24/ DB42M / / / DB42M / / / DB42M / / / DB42L / / / DB42C / / / DB42C / / / DB42C / /20 24/

46 Brushless DC motors Brushless DC motors W to 750 W Brushless DC motors with terminal box W to 650 W Option Connector confiuration DB87 Option Connector confiuration DB87 DB87 Color Function Yellow U Motor V Black W +5V Blue H1 Hall White H2 Green H3 Black GND DB87 PN Color Function 1 +5V 2 Black GND 3 Blue H1 Hall 4 White H2 5 Green H3 6 Yellow 7 Brown \ Encoder 8 Gray B 9 Gray/pink B\ 10 Violet 11 /blue \ DB87 PN Color Function Motor 1 White U 2 Yellow V 3 Green W 4 Brown GND ccessories Encoder: HEDS...; HEDL... with pulses ccessories Brake: Possible on request. Encoder: HEDS...; HEDL... with 500 pulses. Brake: Possible on request. Outline drawin () Outline drawin () DB87 - sizes S, M, L DB87 - sizes S, M, L Front view and mountin Front view and mountin vailable power sizes (others on request) vailable performance cateories (others on request) Type Rated power W Rated/peak Ncm Rated/peak current Rated voltae/rpm V/rpm Torque Constant Ncm/ Resistor Ohm/windin nductance mh/windin Rotor inertia cm 2 Weiht k Lenth "" Type Rated power W Rated/peak Ncm Rated/peak current Rated voltae/rpm V/rpm Torque Constant Ncm/ Resistor Ohm/windin nductance mh/windin Rotor inertia cm 2 Weiht k Lenth "" DB87S01-S / / / DB87M01-S / / / DB87L01-S / / / DB87S01-S / / / DB87M01-S / / / DB87L01-S / / /

47 Notes Stepper motor drivers 92 93

48 Stepper motor drivers MT-901 microstep driver MT-901 PN assinment Function table Block diaram (+ external circuit) Correspondin insulation heat-dissipatin film (see ccessories) The MT-901 is a PWM, microstep, constant current driver. sinusoidal-like microstep is enerated by hardware in the MT 901 module and provided at the power output by pulse inputs. Complete information on the nternet at: dvantaes Only one C for power and loic (to 2.5 /phase) considerably reduces the space requirement, equippin expense, and hence the costs of a complete microstep driver with a minimum of external structural elements and a maximum of functions 1/1, 1/2, 1/4, 1/8 step switchin enables an individual application-related microstep chaneover with smooth, uniform runnin performance and reduced system resonances Current reduction or current zeroin reduces or eliminates power dissipation and heatin when the motor is at a standstill Outline drawin () Max. rated values (at 25 C) Supply voltae V CC: V M: Output current, lout: Power dissipation P d: Max. clock frequency: 5.5 V 40 V 1.5 (averae) 2.5 (peak) 5 W/43 W With/without heatsink T C=85 C 50kHZ Workin temp.: -40 C to 85 C Storae temp.: -55 C to 150 C Full/half step mode Quarter/eihth step mode nput Mode M1 M2 L L 1/1 step H L 1/2 step L H 1/4 step H H 1/8 step Sinal switchin times t1: Pulse width >10μs t2: Pulse pause >10μs t3: > 5μs t4: >10μs Electrical parameters 1 (Ta=25, V CC =5V, V M =24V) Electrical parameters 2 (Ta=25, V CC =5V, V M =24V) Temperature behavior nputs nput/output sinals 94 95

49 Stepper motor drivers MT-902 driver for 2 motors 1/16 step MT-902 PN assinment pplication data full step Temperature behavior Ready-made driver board with additional features: See SMC21 The MT-901 is a microstep PWM constant current drive. Two bipolar stepper motors can be operated by one sinle low-loss and hihly interated SMD C. Further data can be found on the nternet: dvantaes Only one C for 2 motors (up to 1.5 /phase) enables reat space and cost savins with a maximum of functions and a minimum of external structural elements Microstep chaneover in 1/1, 1/2, 1/4, 1/8, 1/16 steps provides quiet, uniform runnin and reduces system resonances Low R DSON = 0.5 Ohm considerably reduces the power loss Serial transmission protocol (e.. SP) reduces the PN count Sixteenth mode Block diaram (internal circuit) Outline drawin () Max. rated values (at 25 C) Supply voltae V DD: 5.5 V V M: 40 V Output current, lout: 1.3 (averae) 1.1 (peak) 1.5 Power dissipation P d: 3.2 W Workin temp.: -40 C to 85 C Storae temp.: -50 C to 150 C Data inputs CLK, DT, STROBE inputs Electrical parameters (Ta=25, V DD =5V, V M =24V) Block diaram (+ external circuit) Serial data input Reset inputs 96 97

50 Stepper motor drivers MT-903 microstep driver MT-903 PN assinment Electrical parameters Ready-made driver board with additional features: See SMC11-2 With < 0.7 cm², the MT-903 provides the hihest function and power density for the lowest power loss. Further data can be found on the nternet: dvantaes Only 1 C for power and loic up to 2.5 and 35V allows maximum space and cost savin at very low external circuit expense Microstep up to 1/16 enables quiet and uniform runnin behavior and also reduces the system resonances utomatic decay switchin (slow, mixed and fast) sinificantly reduces the power loss and motor noise, increasin the steppin accuracy at the same time Hih operational reliability throuh interated overcurrent protection, undervoltae detection and crossover current protection Outline drawin () Sixteenth step mode Block diaram Dimensions in brackets = in (reference JEDEC MO-153 ET) Dimensions exclusive of mold flash, ate burrs, and dambar protrusions Exact case and lead confiuration at supplier discretion within limits shown Terminal #1 mark area nput Mode MS1 MS2 L L 1/1 step H L 1/2 step L H 1/4 step H H 1/16 step Exposed thermal pad (bottom surface) 98 99

51 Stepper motor drivers Compact microstep driver, SMC11 Compact microstep driver, SMC11G, SMC11GE nput confiuration, X1: nput confiuration, X1: 1= Phase 2= Phase \ 3= Phase B 4= Phase B\ 1= Phase 2= Phase \ 3= Phase B 4= Phase B\ nput confiuration, X2: nput confiuration, X2: 1= Operatin voltae, VSS 2= Enable (L=active, H or open = disable) 3= Direction 4= Clock 5= Operatin voltae (0 V GND) 6= Current drop 1= Operatin voltae, VSS 2= Enable (L=active, H or open = disable) 3= Direction 4= Clock 5= Operatin voltae (0 V GND) 6= Current drop Technical data nput circuits Technical data nput circuits Operatin voltae: DC 12 V to 35 V Max. phase current: 1.0 /full step (1.25 with coolin block) 1.4 /microstep (1.8 with coolin block) Current settin: via potentiometer Operatin mode: Bipolar Operatin mode: Full (1/1), half, quarter, eihth step (preset) Protection function: Overcurrent, overvoltae and overtemperature Step frequency: 0 to 200 khz Current drop: Switchable to 40% nput sinals: 0 V active (L< 0.8 V; 3.5 V < H < 6 V or open) Temperature rane: 0 to + 40 C Connection type: JST plu connector Weiht: 10 Mountin type: 2 boreholes on Ø for M2.5 - mounted directly on stepper motor! Note: charin capacitor of at least 4,700 μf (Z-K4700/50) must be provided on the supply voltae so that the admissible voltae is not exceeded durin the brakin process. The connection to the motor must not be disconnected durin operation! f the power supply or motor is not correctly connected, this can destroy the controller! +5V +24V SMC /16 step automatic current reduction Step switchin Confiuration: The module is confiured to 1/8 step in the factory. Operatin voltae: DC 12 V to 35 V Max. phase current: 1.0 /full step (1.25 with coolin block) 1.4 /microstep (1.8 with coolin block) Current settin: via potentiometer Operatin mode: Bipolar Operatin mode: Full (1/1), half, quarter, sixteenth step (preset) Protection function: Overcurrent, overvoltae and overtemperature Step frequency: 0 to 200 khz Current drop: Switchable to 40% nput sinals: 0 V active (L< 0.8 V; 3.5 V < H < 6 V or open) Temperature rane: 0 to + 40 C Connection type: JST plu connector Weiht: 90 Mountin type: On DN rail EN 50022, ! Note: charin capacitor of at least 4,700 μf (Z-K4700/50) must be provided on the supply voltae so that the admissible voltae is not exceeded durin the brakin process. The connection to the motor must not be discontinued durin operation! f the power supply or motor is not correctly connected, this can destroy the controller! +5V +24V Outline drawin () Step mode J1 J2 1/1 step X X 1/2 step X 1/4 step X 1/8 or 1/16 step Outline drawin () Current settin Max. phase current: (microstep) P1 * Step mode Step switchin SMC11G - * SMC11GE 1.4 (without coolin block) Confiuration: The module is confiured to 1/16 step in the factory. P1 Step mode J1 J2 1/1 step X X 1/2 step X 1/4 step X 1/16 step 1.8 (with coolin block only)

52 Stepper motor driver Compact microstep driver, SMC42 Compact microstep driver, SMC61 Pin assinment: (WG 26-16) nput circuits 1= GND (sinal round) 2= + 5 V (unused measurin point) 3= Direction (DR) 4= Clock 5= Enable (H or open=enable/l=disable) 6= VSS operatin voltae 7= GND (power round) 8= Not assined f the phase current is set to below 1.5, Ri must be = 2.7 kohm as otherwise the red LED displays an error messae. (Ri standard 12 kohm); Position Ri - see sketch Current settin nput circuits The current values in the table reflect the eometric sum motor= ( a2 + b2 ) of the two phase currents a and b. Technical data Operatin voltae: DC 21 V to 37 V Max. phase current: 2 /phase Current settin: Via sense resistors Operatin mode: Bipolar chopper driver Operatin mode: Full (1/1), half, quarter, eihth step Step frequency: 0 to 50 khz Current drop: utomatically to 65% nput sinals: 0 V active (L< 0.8 V; 3.5 V< H < 24 V or open) LED: Error messae (overvoltae; heatsink temp.>80 C) Temperature rane: 0 to + 40 C Connection type: Via screw terminals Option (screw plu terminals) Mountin type: For DN mountin rail EN x 7.5 Weiht: 130! Note: charin capacitor of at least 4,700 μf (Z-K4700/50) must be provided on the supply voltae so that the admissible voltae is not exceeded durin the brakin process. The connection to the motor must not be disconnected durin operation! f the power supply or motor is not correctly connected, this can destroy the controller! Phase current Rsens1 Rsens2 Ohm Ohm 0.3 nc nc nc nc SMC Current data, e = 0.8 /phase Technical data Operatin voltae: DC 24 V to 80 or 130 V Max. phase current: 5 or 10 /phase (heatsink required dependin on ambient temperature) Current settin: Via BCD switch 0-F Operatin mode: Bipolar chopper driver Operatin mode: Full, half, quarter, fifth, eihth step Step frequency: 0 to 150 khz Current drop: utomatically to 60% nputs: Optocoupler 5 V (24 V) LED: Current reduction, zero position, power, excess temperature, overvoltae, overcurrent, short circuit Connection type: Screw plu terminals (motor), D-Sub (sinal) Mountin type: Wall mountin Weiht: 490! Note: charin capacitor of at least 6800 μf (see ccessories) must be provided on the supply voltae so that the admissible voltae is not exceeded durin the brakin process Position SMC61-1 SMC B C D E F Step switchin Step resolution (steps/rev.) Full step 1/1 Outline drawin () Connection type terminal 1-8: 1 = standard screw terminal 2 = screw plu terminal Outline drawin () Connection desination Half step 1/2 Quarter step 1/4 Step switchin Confiuration: The module is confiured to 1/8 step in the factory. Step mode Width 1 Width 2 1/1 step X X 1/2 step X 1/4 step X 1/8 step Eihth step 1/8 Fifth step 1/5 2.5th step 1/2.5 Current settin SMC version: nput circuit: 1 = 80 V, 5 2 = 130 V, 10 3 = 80 V, 10 5 = 5 V 24 = 24 V ccessories: Optional heat sink SMC61-KK

53 Stepper motor drivers Positionin controller for two stepper motors up to 0.9 /phase, SMC21 Positionin controller with encoder input, SMC32 Power supply (X1) nputs/outputs (X1) Pin Desination Observations 1 Operatin voltae U b = V Optional 2 +5V input 3 GND Not taken into consideration in standard version Pin Function 1 nput1 2 nput2 3 nput3 4 nput4 5 nput5 6 nput6 7 Sinal GND 8 Output 1 9 Output 2 10 Output 3 11 naloue 12 GND Technical data RS485 connection (X2) Technical data Encoder (X2) Operatin voltae: DC 12 V to 32 V Phase current: 0.7 /phase (for 2 motors in microstep mode) Operatin mode: Positionin, rotatin speed operation Operatin mode: 1/1, 1/2, 1/4, 1/8, 1/16 Step settin: Via RS485 Step frequency: 10 khz, automatic adjustment of the microstep rate Current drop: djustable via RS485 nput sinals: HTL level 24 V, Low < 3 V, Hih > 12 V LED: Green power on LED Temperature rane: 0 to + 40 C Connection type: JST connector type XH Mountin type: 4 * M3 Weiht: 50 Pin Desination Observations 1 RS-485 Rx+ 2 B RS-485 Rx- 3 Y RS-485 Tx+ 4 Z RS-485 Tx- 5 Optional +5V output 6 GND For supplyin external RS485 adapter, current load max=100m, short circuit-proof Operatin voltae: DC 24 to 48 V Phase current: Nominal current 2, adjustable up to max. 3 /phase nterface: RS485 or USB Operatin mode: Position, speed, fla position, clock direction, analo, joystick Step resolution: 1/1, 1/2, 1/4, 1/5, 1/8, 1/10, 1/32, adaptive (1/128) Step frequency: 0 to 50kHz in the clock/direction mode, 0 to 25 khz in all other modes nputs: 6 optocoupler inputs (5V) Outputs: 3 transistor outputs (open collector) Position monitorin: utomatic error correction up to 0.9 Current drop: djustable 0-100% Protection circuit: Overvoltae, undervoltae and heatsink temperature > 80 C Temperature rane: 0 to + 40 C * Phoenix connectors are included in the delivery. Pin Function 1 +5V 2 CH-B 3 CH- 4 NDEX 5 GND Motor connection (X3) Pin Function 1 Motor coil 2 Motor coil \ 3 Motor coil B 4 Motor coil B\ nput circuits! Note: charin capacitor of at least 4,700 μf (Z-K4700/50) must be provided on the supply voltae so that the admissible voltae is not exceeded durin the brakin process. nputs (X3 and X6) Pin Desination 1 Ext. reference switch Observations H level = 12...U b V L level = V = 3 m No alvanic isolation! Note: charin capacitor of at least 4,700 μf (Z-K4700/50) must be provided on the supply voltae so that the admissible voltae is not exceeded durin the brakin process. Optocoupler Supply (X4) Pin Function 1 UB24-48V 2 GND Outline drawin () 2 Start input H level = 12...Ub V L level = V = 3 m No alvanic isolation Outline drawin () SMC32-2: RS485 (X5) Pin Function 1 NC 2 RX+ 3 +5V 4 TX+ 5 N.C. 6 N.C. 7 RX- 8 GND 9 TX- SMC32-1: USB (X5) USB standard Motor connection (X4 and X5) Pin Desination 1 Motor coil + 2 Motor coil - 3 Motor coil B + 4 Motor coil B - X1-X4: Phoenix connectors Type MCRO COMBCON X5: Mini-USB, type B (SMC32-1) Sub-D 9-pole (SMC32-2) SMC32-1= USB 2= RS

54 Stepper motor drivers Positionin controller with encoder input, SMC33 Positionin controller with encoder input, SMC47 nputs/outputs (X1) nputs/outputs (X1) Pin Function 1 nput1 2 nput2 3 nput3 4 nput4 5 nput5 6 nput6 7 Com 8 Output 1 9 Output 2 10 Output 3 11 naloue n 12 GND Pin Function 1 nput1 2 nput2 3 nput3 4 nput4 5 nput5 6 nput6 7 Sinal GND 8 Output 1 9 Output 2 10 Output 3 11 naloue 12 GND Technical data Encoder (X2) Technical data Encoder (X2) Operatin voltae: DC 24 to 48 V Phase current: Nominal current 2, adjustable up to max. 3 /phase nterface: RS485 or USB Operatin mode: Position, speed, fla position, clock direction, analo, joystick Step resolution: 1/1, 1/2, 1/4, 1/5, 1/8, 1/10, 1/32, adaptive (1/128) Step frequency: 0 to 50kHz in the clock/direction mode, 0 to 25 khz in all other modes nputs: 6 optocoupler inputs (5-24V) Outputs: 3 transistor outputs (open collector) Position monitorin: utomatic error correction up to 0.9 Current drop: djustable 0-100% Protection circuit: Overvoltae, undervoltae and heatsink temperature > 80 C Temperature rane: 0 to + 40 C * Phoenix connectors are included in the delivery. Pin Funktion 1 +5V 2 CH-B 3 CH- 4 NDEX 5 GND Motor connection (X3) Pin Function 1 Motor coil 2 Motor coil \ 3 Motor coil B\ 4 Motor coil B Operatin voltae: DC 24 to 48 V Phase current: Nominal current 7.5, adjustable to max. 12 /phase nterface: RS485 Operatin mode: Position, speed, clock direction, analo, joystick, Step resolution: 1/1, 1/2, 1/4, 1/5, 1/8, 1/16, 1/32, adaptive (1/128) Step frequency: 0 to 50kHz in the clock/direction mode, 0 to 25 khz in all other modes nputs: 6 optocoupler inputs (5V) Outputs: 3 transistor outputs (open collector) Position monitorin: utomatic error correction up to 0.9 Current drop: djustable 0-100% Protection circuit: Overvoltae, undervoltae and heatsink temperature > 80 C Temperature rane: 0 to + 40 C * Phoenix connectors are included in the delivery. Pin Function 1 +5V 2 CH-B 3 CH- 4 NDEX 5 GND Motor connection (X3) Pin Function 1 Motor coil 2 Motor coil \ 3 Motor coil B 4 Motor coil B\! Note: charin capacitor of at least 4,700 μf (Z-K4700/50) must be provided on the supply voltae so that the admissible voltae is not exceeded durin the brakin process. nput circuits Optocoupler Supply (X4) Pin Function 1 UB24-48V 2 GND SMC33-2: RS485 (X5)! Note: charin capacitor of at least 4,700 μf (Z-K4700/50) must be provided on the supply voltae so that the admissible voltae is not exceeded durin the brakin process. nput circuits Optocoupler Supply (X4) Pin Function 1 UB24-48V 2 GND SMC47-2: RS485 (X5) Outline drawin () Pin Function 1 NC 2 RX+ 3 +5V 4 TX+ 5 N.C. 6 N.C. 7 RX- 8 GND 9 TX- Outline drawin () Pin Function 1 NC 2 RX+ 3 +5V 4 TX+ 5 NC+ 6 NC- 7 RX- 8 GND 9 TX- SMC33-1: USB (X5) USB standard X1-X4: Phoenix connectors Type MCRO COMBCON X5: Mini-USB, type B (SMC32-1) Sub-D 9-pole (SMC32-2) SMC33-1= USB 2= RS485 SMC47-2= RS

55 Closed loop positionin controller with encoder input, SMC47-S nputs/outputs (X1) Options Pin Function 1 nput1 2 nput2 3 nput3 4 nput4 5 nput5 6 nput6 7 Sinal GND 8 Output 1 9 Output 2 10 Output 3 11 naloue n 12 GND Technical data * Phoenix connectors are included in the delivery.! Note: charin capacitor of at least 4,700 μf (Z-K4700/50) must be provided on the supply voltae so that the admissible voltae is not exceeded durin the brakin process. nput circuits Optocoupler Brake (X2) Pin Function 1 Brake connection: 2 GND Encoder (X3) Pin Function 1 +5V 2 CH-B 3 CH- 4 NDEX 5 GND Motor connection (X4) Pin Function 1 Motor coil 2 Motor coil \ 3 Motor coil B\ 4 Motor coil B Supply (X5) Outline drawin () Pin Function 1 UB24-48V 2 GND SMC47-S-2: CN (X6) Pin Function 1 NC 2 CN low (CN-) 3 CN Ground (internally connected with pin 6) 4 NC 5 Shield 6 CN Ground (internally connected with pin 3) 7 CN hih (CN+) 8 NC Supply Vcc to 30V 9 (used for safety feature) Operatin voltae: DC 24 to 48 V Phase current: Nominal current 7.5, adjustable to max /phase nterface: RS485, CN Operatin mode: Position, speed, fla position, clock direction, analo, joystick CNOPEN: Profile position; Homin mode; Velocity mode Step resolution: 1/1, 1/2, 1/4, 1/5, 1/8, 1/10, 1/32, adaptive (1/128) Step frequency: 0 to 50kHz in the clock/direction mode, 0 to 25 khz in all other modes nputs: 6 optocoupler inputs: (5V to 24 V) Outputs: 3 transistor outputs (open collector) 1 output for brake mechanism Position monitorin: utomatic error correction up to 0.9 Current drop: djustable 0-100% Protection circuit: Overvoltae, undervoltae and heatsink temperature > 80 C Temperature rane: 0 to + 40 C SMC47-S- 2= RS485 3= CNOPEN

56 Options Encoder (optical pulse transducer) Encoder (optical pulse transducer) n addition to its compact shape and extremely low inherent mass, the 3-channel encoder is distinuished primarily by the quick and easy assembly. Technical data: Operatin voltae: DC 4.5 V to 5.5 V Max. current consumption: (at 5V) 57 m Pulse width: 180±35 derees (HEDM±45 derees) Sinal phase anle: (channel to B) 90±15 derees Sinal rise/fall time: 0.25/0.25 μs Limit frequency: Up to 100 khz Output sinals: Square 2+1 zero pulse (HEDM 2) Pulses per revolution: 200, 400, 500, 1000, 2000 dditional option: with interated line drive Operatin temperature: 0 C to +70 C nstallation instructions: NCREMENTL ENCODER HEDS... connector confiuration Connector plu: MP / ; Molex 2695/2759; Ber /4825X-000 Encoder assembly Connector confiuration HEDL PNOUTS 10 PN CONNECTOR NO. COLOR PRMETER 1 NC 2 Gray Vcc (+ 5V) 3 Gray GND 4 Gray NC 5 Gray \ 6 Gray 7 Gray B\ 8 Gray B 9 Gray \ 10 Gray 10 POSTON DC CONNECTOR CENETER POLRZED Optical encoder: Standard encoder for stepper motor mountin Pulses per revolution for shaft diameter () ndex Type HEDS-5540 E x HEDS-5540 E x HEDS-5540 H x HEDS-5540 H x HEDS-5545 H x Hollow shaft HEDS x HEDS x HEDS x HEDS x HEDS x Hollow shaft HEDS x Hollow shaft HEDS-5540 B x HEDS-5540 B x HEDS-6545 H x Hollow shaft HEDS x Hollow shaft HEDS-6545 C x Hollow shaft HEDM-5500 B HEDM-5500 B Encoder with line driver (for extremely interference-proof operatin conditions or lon supply cables) HEDL-5540 E x HEDL-5540 H x HEDL-5540 H x HEDL-5545 H x Hollow shaft HEDL x HEDL x HEDL x HEDL x HEDL x Hollow shaft HEDL-5540 B x HEDL-5540 B x Connectin cable (suitable for HEDS...) Cable HEDS-8903 (connector with sinle leads, 150 lon) Other pulses/rev. or for other shaft diameters on request

57 Options Outline drawin () Miniature optical pulse transducer HEDS5540 Connection The HEDM1660 requires 2.7 kohm (±10%) Load resistances on the contacts 2 and 4 (channels and B). n addition to its compact shape and extremely low inherent mass, the 2-channel encoder is distinuished primarily by its quick and easy assembly. They are suitable for motors with 3 shaft, such as ST20... (optionally also ST28...) HEDS5545 Technical data Operatin voltae: DC - 4.5V to 5.5V Max. current consumption: (up to 5 V) 18 m Pulse width: 180 ±75 derees Sinal phase anle: (channel to B) 90 ±60 derees Sinal rise/fall time: 0.5/0.1 µs Limit frequency: up to 60kHz Output sinals: Square 2 Pulses per revolution: 200 Operatin temperature: -20 C to +85 C Outline drawin () HEDS65... HEDM 1600-E03 Encoder assembly HEDM1600 Output sinals HEDL

58 Options Optical pulse transducer - NEDS/NEDL series Gears NEDS NEDL pplication fields: dvantaes The compact and proven ears from Nanotec are ideal for use in the followin tasks: Lare speed reduction bandwidth n addition to their compact shape (flatter than HED..) and low inherent mass, the 3-channel encoders are primarily distinuished by their quick and easy assembly (they are also less expensive than HED..). The 24 V version is suitable for direct connection to PLC drive electronics. ncrease and matchin of the output s Mdear= MdMot x i x uction of the output n 2 = nmot/i Quadratic reduction of ext. moments of inertia Jred = Jex/i 2 uction of the step anle aoutp = amot/i Wide spectrum Hih runnin smoothness Maintenance-free due to permanent lubrication Versatile combination options Technical data NEDS NEDL Operatin voltae: Max. current consumption: Pulse width: Sinal phase anle: Sinal rise/fall time: Limit frequency: Output sinals: Pulses per revolution: Operatin temperature: DC 4.5 V to 5.5 V (to 8 V) 60 m 180 ±75 (Channel to B) 90 ±60 0.5/0.2 μs to 100 khz Channel /B and index 500 (2000 quadrature) 0 C to +85 C DC 12 V to 32 V 40/25/20m at 12/24/32V Output voltae H/L: Vcc - 0.6V/0-0.5V) Output current H/L: Max. 50/50 m 180 ± ±60 0.8/0.5 μs up to 60 khz (4500 rpm) Channel /B and index 500 (2000 quadrature) 0 C to +85 C! Note: n the selection of the ears, it is essential to pay attention to the followin criteria: a) Output s Output s rise in proportion to the speed reduction and can lead to damae of the earin (do not exceed max. admissible power takeoff values!) NEDS outline drawin () NEDL outline drawin () b) Radial and axial forces Radial and axial forces mainly impair the expected service life of the bearin and the shaft strenth in some cases. c) Workin temperatures Workin temperatures affect the thermal loadin of the bearin. d) Load types Various types of load lead to hih ear, shaft and bearin stresses and hence reduce the service life. ENCODER NEDS... connector confiuration Correspondin connection cable for NEDL: Order identifier: NEDL cable, 300 lenth ENCODER NEDL... output sinals/connector confiuration Loads Operatin factor 5 h/day 8 h/day 24 h/day 1) Constant load ) Sliht impact (frequent startin of the motor) ) Moderate shock (fast chane of the direction of rotation) ) Severe impact (vibrations and sudden stoppin of the motor) ENCODER NEDS... Line driver for 8 connections Line driver (push-pull driver with 5 connections) n our experience the expected service life with the spur ear units and when maintainin the admissible operatin and load conditions is approximately 5000 hours. Load type 2 and an operatin period of 24 hours/day reduces the expected service life by a half. PN assinment NO. COLOR PRMETER Black GND 3 Orane B 4 Yellow B\ 5 Blue 6 Brown \ 7 Green 8 White \ NEDL connector plu: Connector: JST-ZHR-8 Contact: SZH-002T-P0.5 Cable: NEDL cable Which type of ear is advantaeous? 1) Spur ear 2) Planetary ear 3) Worm ear still have ood efficiency and first-rate cost effectiveness even at hih reduction ratios. due to the triple meshin, offer the hihest at comparable volume and have the hihest efficiency with concentric shaft output enable smooth runnin performance and, due to the 90 force transfer, have a low installation depth and offer a self-lockin due to continuous power transmission at hiher reduction ratios

59 Options Spur ear units The spur ear units have been developed for the simple assembly of our motors with helically-toothed pinion ears. This allows the primary noise source to be reduced by 7 db. GN..K ears have the same diameter as the motors which considerably facilitates installation.hih axial and radial forces can be achieved throuh the use of ball bearins. Thus the developers are provided with an extremely powerful and low-cost earin unit. ST4218S1006-GN...+GER-1GN..K, ST4218M1404-GN...+GER-1GN..K Front view and mountin Order identifier: GER-1GN..K, e.. GER-1GN9K 3-stae 4-stae 5-stae 6-stae uction ratio i = max. admissible output (Ncm) 25/40 30/50 45/70 60/100 (respectively at input speed 1000/>500 rpm) Efficiency Weiht (k) 72% 62% 52% % (anle play approx. 1 ) Perm. axial/radial shaft loadin - Fa = 20 N/Fr = 30 N at a distance of 10 from the earbox SH5618M2608-GN...+GER-2GN..K, SH5618M2608-GNB...+GER-2GN..K GER-2GN..K 1-stae 2-stae 3-stae uction ratio i = Front view and mountin max. admissible output (Ncm) Efficiency 81% 73% 66% Weiht (k) 0.45 Perm. axial/radial shaft loadin - Fa = 30 N/Fr to 18:1 = 70 N, at > 25:1 = 140 N (distance 15 ) GER-4GN..K 1-stae 2-stae 3-stae uction ratio i = SH8618S4508-GN...+GER-4GN..K, SH8618S4508-GNB...+GER-4GN..K max. admissible output (Ncm) Front view and mountin Efficiency 81% 73% 66% Weiht (k) 0.70 Max. perm. casin temperature 80 (176 F), bearin 5000 operatin hours Perm. axial/radial shaft loadin - Fa = 50 N/Fr to 18:1 = 120 N, at > 25:1 = 240 N (distance 15 ) The ears identified with quantities). are preferred types. Other reduction ratios also ratios that are not listed are available on request (for lare

60 Options Precision GPLE planetary earin Precision GPLE planetary earin The low-play planetary earin from Nanotec are developed to state of the art in earin technoloy and are manufactured to DN/SO The desiners have a powerful earin unit available throuh minimizin and standardization of the earin parts. dvantaes Hih drivin s Hih torsional riidity Low circumferential backlash Hih admissible axial and radial shaft loadin Low runnin noise Easy motor/ear assembly Protection class P54 30,000 hours service life, 10,000 hours for GPLE22 GPLE22 GPLE40 GPLE60 GPLE80 Outline drawin () Outline drawin () Outline drawin () Outline drawin () Size 1S = 1-stae 2S = 2-stae 3S = 3-stae uction ratio i GPLE Type Backlash Minutes of arc Efficiency at full load % Weiht k vailable versions (others on request) Lenth L GPLE22 2-stae < GPLE40 GPLE60 GPLE80 1-stae < stae < stae < stae < stae < stae < stae < stae < stae < uction ratio Output Nm Moment of inertia K 2 ntermediate flane L1 Combination option with motor 9 ST20, ST ST41, ST ST41, ST42, DB ST57, ST59, DB ST57, ST59, DB ST89, DB ST dmissible radial/axial shaft loadin (N) 10,000h service life (30,000h service life) 20/20 200/200 (160/160) 500/600 (340/450) 950/1200 (650/900) Lon-term earin rated, hardened Workin temperature: -25 to 90 Life time lubrication: Protection class P

61 Options Economy planetary ear GPLL Outline drawin () The GPLL series economy planetary ear is ideal for applications in which the increased of a motor with earin is needed with the same construction volumes. The slihtly hiher circumferential backlash is not relevant for many applications such as transport drives or positionin in one rotation direction, many control systems also already offer automatic play compensation (such as SMC..) and hence compensates the backlash electronically. GPLL12 Front view and mountin GPLL22 Front view and mountin Gears Circumferential backlash: xial/radial play: GPLL12 3 < = 0.2/< = 0.05 GPLL < = 0.3/< = 0.04 GPLL40 3 < = 0.3/< = 0.04 GPLL52 3 < = 0.3/< = 0.04 Service life Lh10 > 1000h Size uction ratio i GPLL40 - GPLL40 Front view and mountin Type uction ratio Torque Nomin. Ncm Torque Max. Ncm vailable versions (others on request) Efficiency Weiht k Lenth GPLL12-4 4:1(4:1) % { GPLL :1(16:1) % SP15 GPLL :1(63:1) % GPLL :1(256:1) % ntermediate flane L1 Combination possibility with motor axial/radial force N 5.5 { GPLL22-5 5:1(42/3:1) % without DB28 GPLL :1(251/5:1) % ST20, GPLL :1(89121/169:1) % GPLL52 Front view and mountin { GPLL :1(14:1) % ST40, 41, 42 GPLL :1(24:1) % DB42 30/80 GPLL :1(49:1) % GPLL52-4 4:1(41/3:1) % { 6.0 ST40, 41, 42 ST57, 58, GPLL :1(151/6:1) % , 60 GPLL :1(531/12:1) % DB57 GPLL :1(1002/7:1) % (on request) DB87 100/

62 Options Brakes Brakes The safety brakes from Nanotec have a compact flane construction, are low wear, are fitted with asbestos-free friction linins and offer easy and quick assembly due to the permanently set air ap. The brakes are electromanetically ventilated and can be used anywhere where movin masses are to be slowed in a very short time or defined to be maintained and the brake moment enerated must be available even if there is a power failure. The brakin force is applied with the aid of a pressure sprin (BW and BL brakes) or a permanent manet (BKE brake). voltae of 24V DC must be applied to all brakes for ventin. nterated brakes with plu connection allow operation in touh environmental conditions (P54) and ensure fast and mistake-free wirin. The BKE brakes with the Nano brake module are used for this purpose. The Nano brake module (PWM controller) reduces the power and heat losses of the brake by 35% thus enablin a hiher stoppin and activation time of the motor. The anti-sure diode for the brake is also already interated in the module. Brake type BL Technical data Technical data Outline drawin (in ) Electrical data: DC24 V/5 W Moment of inertia: 0.01 kcm 2 Switch-on/switch-off time: 11 ms/17 ms Nominal : 0.24 Nm Hub: Borehole &5H7 with 2 M3 rub screws Mountin: with 3 screws M2.5 Connection: Lead L=400 Weiht 0.1 k Mountin possibilities: 40-series motor with B shaft BRKE-BL = D hub borehole 5.0 Electrical data: DC24 V/8 W Moment of inertia: 0.013kcm 2 Switch-on/switch-off time: 10 ms/6 ms Nominal : 0.4 Nm Hub: Borehole... H8 with 2 M3x4 rub screws Mountin: with 4 screws M3 Connection: Lead L = 400 Weiht 0.08 k Outline drawin (in ) BRKE-BKE = D hubs, borehole 5.0 Technical data Outline drawin (in ) Brake type BW Technical data Electrical data: DC24 V/10 W Moment of inertia: kcm 2 Switch-on/switch-off time: 12 ms/6 ms Nominal : 1 Nm Hub: Borehole... H8 with 2 rub screws M3x4 Mountin: with 4 screws M3 Connection: Lead L = 400 Weiht 0.11k Electrical data: DC24 V/10 W Moment of inertia: 0.1 kcm 2 Switch-on/switch-off time: 35 ms/25 ms Nominal : 1.4 Nm Hub: Borehole... H7 with 2 M4 rub screws Mountin: With 2 stud screws M3 or M4 Connection: Lead L = 600 Weiht 0.5 k Mountin possibilities: 56-series motor with B shaft Outline drawin (in ) BRKE-BW = hub borehole = hub borehole BRKE-BKE = D hubs, borehole 6.35 Technical data Electrical data: DC24 V/11 W Moment of inertia: kcm 2 Switch-on/switch-off time: 25 ms/6 ms Nominal : 2 Nm Hub: Borehole... H8 with 2 rub screws M4x6 Mountin: with 4 screws M3 Connection: Lead L = 400 Weiht k Outline drawin (in ) BRKE-BKE = D hubs, borehole = D hubs, borehole

63 Notes ccessories

64 ccessories Switch-mode power supplies for DN top hat rail W (sealed construction) Switch-mode power supply 400 W to 130 V Pin assinment NTS-24 V-5 ; NTS-24 V-10 NTS-48 V-2.5 ; NTS-48 V-5 Technical data (all values related to 230 V C/25 C) Pin Desination 1 2 RDY 3 V + DC out 4 V + DC 5 V-DC 6 V-DC 7 PE, roundin 8 in L 9 N other DC On DC Lo V out dj. nput voltae: 180 VC to 264 VC Output voltae: 24 V, 48 V Safety: Softstart Protection circuit: Overload/overvoltae protection, power system failure bufferin 20ms at full load, short circuit-proof Temperature rane: -10 C to +50 C (up to +70 C at 60% load) Certifications: CE/UL/TÜV Efficiency: 86% Connection type: Screw terminals Mountin type: DN mountin rails Outline drawin () NTS-24V-5 NTS-48V-2.5 NTS-48 V-10 TB1 = C input 1 = FG roundin 2 = C/N 3 = C/L TB2 = DC output 1.2 = +V 3.4 = -V NTS-48V-10 Technical data Output: (230 VC in) Voltae: V Current: Power output: 400 W Tolerance: +/- 2% Residual ripple: [mvp-p] 150 mvp-p Overvoltae protection: 150 V Undervoltae detection: 90 V Efficiency: 85% Short-circuit current: 7 pulsin, D < 5% Overload protected: % Power system failure bufferin: > 15 ms (230 V) tmosphere: Operatin temperature rane: C Storae temperature rane: C Protection: P30 Dewin: Not admissible Weiht: 1 k Temperature monitorin utomatic fan active: > approx. 60 Protective shut-down: > approx. 70 NTS-48V-5 NTS-130V-3 NTS-24V-10 NTS-48V-5 nput: nput voltae rane: VC nput frequency rane: Hz Power factor: > 0.95 Nominal input current: (230 V) 2 nrush current: (230 V) < 15 Connection type: Protection circuit: Certification: Mountin type: Screw plu terminals Overload/overvoltae protection, short circuit proof, excess temperature, No-load operation, Power system failure bufferin to 20 ms, CE Wall mountin, DN rails Outline drawin () Outline drawin () Technical data NTS-24V-5(120W) NTS-48V-2.5(120W) NTS-24V-10(240W) NTS-48V-5(240W) NTS-48V-10(480W) Nominal input current: 1.4 /230 V 1.4 /230 V 2.2 /230 V 2.2 /230 V 4.0 /230 V nput current (cold start): 24 /115 V 48 /230 V 24 /115 V 48 /230 V 24 /115 V 48 /230 V 24 /115 V 48 /230 V 30 / /230 V Output voltae: 24 ~ 32 V 46 ~ 57 V 24 ~ 32 V 46 ~ 57 V 48 ~ 53 V Power output: 120 W (24 V/5 ) 120 W (48 V/2.5 ) 240 W (24 V/10.0 ) 240 W (48 V/5 ) 480 W (48 V/10 ) Weiht: 0.64 k 0.64 k 1.0 k 1.0 k 2.2 k

65 ccessories Connectin cable Connectin cable nterface converter M12 cable for S.. and D.. motors with encoder M12 motor connection for S.. motors ZK-RS485-RS232 Converter from RS232 to RS485, 4-wire ZK-M12-8-2M-1-PUR-S 8 pole, 2m, straiht connector, shielded ZK-M12-5-2M-1-PUR-S 5 pole, 2m, straiht connector, shielded ZK-RS485-USB Converter from USB to RS485, 4-wire ZK-M12-8-5M-1-PUR-S 8 pole, 5m, straiht connector, shielded ZK-M12-5-5M-1-PUR-S 5 pole, 5m, straiht connector, shielded ZK-RS485-USB-2D Converter from USB to RS485, 2-wire ZK-M12-8-2M-2-PUR-S 8-pole, 2m, anled connector, shielded ZK-M12-5-2M-2-PUR-S 5-pole, 2m, anled connector, shielded ZK-M12-8-5M-2-PUR-S 8-pole, 5m, anled connector, shielded ZK-M12-5-5M-2-PUR-S 5-pole, 5m, anled connector, shielded ZK-RS485-RS232 ZK-RS485-USB No. COLOR 1 Brown 2 White 3 Blue 4 Black 5 Gray No. COLOR 1 White 2 Brown 3 Green 4 Yellow 5 Gray 6 Pink 7 Blue 8 Shield placed on union nut Shield placed on union nut Sub-D cable for D.. and PD.. motors M17 motor cable for DB87 motors M17 sinal cable for DB87 motors ZKDB9-2M-10S 9-pole, 2m, shielded ZK-M17-4-2M Motor cable, 4-pole, 2m ZK-M M Sinal cable, 12-pole, 2m ZKDB9-5M-10S 9-pole, 5m, shielded ZK-M17-4-5M Motor cable, 4-pole, 5m ZK-M M Sinal cable, 12-pole, 5m ZKDB152-2M-15-S 15-pole, 2-row, 2m, shielded ZK-M17-4-7M Motor cable, 4-pole, 7m ZK-M M Sinal cable, 12-pole, 7m ZKDB152-5M-15-S 15-pole, 2-row, 5m, shielded ZK pole, 3-row, HD, 2m, shielded ZK-M17 Outline drawin () Connector confiuration: ZK-DB.., ZK10000 ZKDB9 M17-17-pole ZK10000 ZKDB9 Pin COLOR 1 White 2 Brown 3 Green 4 Yellow ZK No. COLOR 1 White 2 Brown 3 Green 4 Yellow 5 Gray 6 Pink 7 Blue ZK-DB152 No. COLOR 1 White 2 Brown 3 Green 4 Yellow 5 Gray 6 Pink 7 Blue M17-4-pole No. COLOR 1 White 2 Yellow 3 Green 4 Brown No. COLOR 1 2 Black 3 Blue 4 White 5 Green 6 Yellow 7 Brown 8 Gray 9 Gray/pink 10 Purple 11 /blue 12 White/reen N.C Gray Pink 9 Black 10 Purple 9 Black 10 Purple 7 Blue 11 Gray/pink 12 White/yellow 11 Gray/pink 12 White/yellow Various cable sets ZK-SMC11 Pre-assembled cable set for SMC11/G/GE, L= Black 13 /blue 14 White/reen 15 Brown/reen 13 /blue 14 White/reen 15 Brown/reen ZK-USB ZK-SMC21 Prorain cable for SMC32-1 Connector set for SMC21 HOUSNG GND/SHELDNG HOUSNG GND/SHELDNG HOUSNG GND/SHELDNG ZK-RS485-SMC21 dapter for SMC21 (the ZK-RS485-RS232 converter is required for prorain the SMC)

66 ccessories Plu connector Heat-dissipatin film for MT901 Socket housin JST-XHP Pin assinment Pins X Size Size B Size C Outline drawin (in ) Material: Transterm T Thickness: 0.25 (± ) Thermal resistance: 0.23 C/Watt Continuous operation temp. rane: -60 to 180 C Thermal conductivity: 2 W/mK Breakdown voltae (min. at C): 4000 V Construction: Silicone/lass fabrics (under normal circumstances no silicone vapors can escape) ZCJST-XHP - x Z-SOMT901 (VPE 100 pcs.) Contact sprins WG22-26 Charin condenser ZCJST-SXH Parallel to the operatin voltae, charin capacitors are required on drivers or Plu&Drive stepper motors so that the admissible voltae is not exceeded durin the brakin process. Crimpin tool for individual contact sprins ZC2WC-110 Outline drawin (in ) Charin capacitor 4,700μF nsulation displacement connection technoloy, connector for WG24 Pin assinment Pins X Size Size B 4 04NR NR NR NR Capacity: 4,700 μf/50 V Temperature rane: -40 to +85 C Dimensions: Round cylindrical aluminum case, 25X35 Capacity tolerance: ± 20% Contact spacin: 10 Order identifier: Z-K4700/50 ZCJST - x Outline drawin (in ) Charin capacitor 10,000μF Pin connector for RM print assembly 2.54 (JST-XHP) Pin assinment Pins X Size Size B Size C 4 SL SL SL ZC2 x Capacity: 10,000 μf/100 V Temperature rane: -40 to +105 C Dimensions: Round cylindrical aluminum case, 40 x 95 Capacity tolerance: -10% ~ 30% Contact spacin: 20 Order identifier: Z-K10000/

67 ccessories Damper Damper for mountin flane The D28, D40 and D56 dampers from Nanotec can be mounted on all stepper motors with a second shaft end (28-58 construction size). n addition to the improved settlin time system resonances are suppressed as well as vibrations and motor noise reatly reduced. The equipment coissionin is made considerably easier for equipment-specific resonance and noise problems by attachin the silencer. The rubber vulcanized onto the 2 flane rins is used primarily by the ZD-.. silencer for attenuatin the structure-borne noise* which can be reduced to approx db() compared to direct flane mountin and its size, construction and stability and dependin on the frequency. The different noise velocities - steel/air/rubber = 5000/331/50 m/s as well as the attenuatin vibration tendency of the ZD-DF.. silencer enable low-cost noise attenuation. ZD-D28 Outline drawin (in ) Compared to the well-known rubber silencer, the ZD silencer still provides an acceptable settin of the often important axis spacin between motor shaft and shaft to be driven. The interrupted flane coolin surface (additional coolin surface that is often utilized for direct flane mountin) must be taken into account at the permissible motor temperature. * The eneration of noise arises initially as structure-borne noise and are only then emitted as air noise. f these air noise waves strike a component, such as a casin wall, this causes it to vibrate. The vibration of this wall (smallest bendin vibrations) causes the air present in the room to be excited in turn which develops into air noise that is perceptible to the human hearin. s each component has its own resonant frequency, countless other noise sources can be excited and hence amplified too. For all stepper motors with a shaft diameter of 5.0 and B shaft, weiht: 26. dapted for stepper motor size ST28.. ZD-DF56 ZD-DF40 ZD-D28 ZD-D40 Outline drawin (in ) For all stepper motors with a shaft diameter of 5.0 and B shaft, weiht: 40. dapted for stepper motor size SH40.., ST40.., ST42.. ZD-D40 ZD-DF56 ZD-D56 Outline drawin (in ) ZD-DF56 For all stepper motors with a shaft diameter of 6.35 and B shaft, weiht: 100. dapted for stepper motor size SH56.., ST57.., ST58.. ZD-D

68 ccessories Threaded spindles Shaft couplins Operatin factors Thread type M = metric, T = trapezoidal ZS M Maximum s based on drives with no displacement or axial movement. The operatin ratios are multiplied by the load moments as explained, e.. Load moment of the application = 1 Nm Operatin factor = 2 Required = 2 Nm Fast and economic for complete module To realize easy and fast linear movements with a stepper motor, we offer the matchin lead screw for every linear actuator or linear motor. Not only is the order and delivery cost reduced, compliance with the specified tolerances is also increased. Lubrication: The lubrication intervals depend on external operatin conditions. n principle, bronze nuts mustbe lubricated reularly (e.. Klüber - Microhube GBUY131 or Klüber UNMOLY C 220 dry-film lubricant). Thread size Pitch of screw Spindle lenth 200 = 200 (standard) (others on request) The Oldham couplins from Nanotec are easy to install due the short construction and can transfer hih forces with low shaft offset. Damae to the shaft is excluded by the clamp fastenin. nylon transmission disc attenuates noise and provides excellent insulation properties (3 kv between two shafts) with potential-free mountin. Load duration Operatin factor Momentary load 1 1 hours per day 2 3 hours per day 4 6 hours per day 6 12 hours per day 8 Metric-thread spindles, p = Spindle material Material no = (V4) all outer metric threaded spindles except for M6X0.2 (1.4301) Tensile strenth 800 N/² Property SO thread (rolled) DN 13 Sheet 21 acc. to tolerance class 6 (6h nut) Spindle with fine thread Use Wherever play-free power transmission is needed: Stepper motors, servomotors, encoders, tacho enerator, etc. Temperature rane: -20 C to +60 C Materials: 2011T3 and 2011T8 BS4300/5FC1 aluminum alloy hub Transmission disc: Nylon 11 (colorless) Blind hole: Lenth of the parallel hole ±0.2. Holes end with 118 anle ZW-X (e.. ZW ) Order 2 hubs + 1 transmission disc From 50 pcs, special boreholes are possible! for special hub boreholes: e = ZW Hubs with blind hole Outline drawin (in ) Couplin-specific parameters Trapezoidal spindles p = 2-20 Spindle with trapezoidal screw threads The pitch of p = 2, 5 and 20 enables an extended application rane where larer strokes are required in a very short time. Spindle material Material no.: = rust-free (not acid and saltwater resistant) ll trapezoidal, threaded spindles except T6X2 (1.4401) Tensile strenth 760 N/² Size mpact Nm Max. rpm. nle ± Radial ± xial ± Static fracture Nm vailable spindles vailable shaft couplins Thread size & Pitch p Thread pitch delay /on section Outside & d Core & d1 Default axial play for linear actuator vailable spindle lenths () M ± 0.2/ L...-M4x Hubs Size Hub borehole +0.03/ 0 Dimensions Fixin screws Transmission disc & D L L1 L2 Set screw tihtenin Nm Moment of inertia km 2 x10-8 Weiht M ± 0.1/ L...-M5x M ± 0.02/ L...-M6x M ± 0.02/ L...-M6x , 300 M ± 0.05/ L...-M6x1 200, max Tr6x ± 0.1/ L...-T6x2 200, max Tr5x ± 0.1/ L...-T5x5 200, max Tr5x ± 0.1/ L...-T5x20 200, max Tr10x ± 0.1/ L...-T10x2 200, max M X M M M X M M M X M