stepper motors gear box brake encoder up to IP68 special versions

Transcription

1 stepper motors gear box brake encoder up to IP special versions

2 driving motion control positioning STÖGR ntriebstechnik GmbH Machtlfinger Straße D-79 München Tel: Fax: info@stoegra.de Internet: ll rights reserved Without written approval we don t allow reprint or partial copying. We reserve the right to make engineering changes, refinements and improvements to all products described herein. Mechanical and electrical ratings and dimensions are, therefore, subject to change without notice. No liability whatsoever is accepted. Edition January

3 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue index ordering key dimensions standard type 5 keyways and woodruffs overview electrical and mechanical specifications 7 series SM 5 series SM 7 series SM series SM 7 series SM 7 with WSE xx.c VDC (VC) series SM with WSE xx.c VDC (VC) serie SM 7 with WSE xx.c VDC (VC) series SM 7 9 stepper motor phase current characteristics hollow shaft motors series SMH series SMH 7 stepper motor connections standard stepper motor connections SM 7, SM, SM 7 standard stepper motor connections SM 5 and H/H5 stepper motors with connectors stepper motor with connections via circular connectors M series SM...X and SM...Y stepper motor with connections via connector Mil-C-55 option Z57 stepper motor with connections via D-Sub connector options Z5, Z59 and Z stepper motors special versions stepper motor with extended operating temperature options Z and Z shaft diameter options for SM 7 and SM options Z and Z metalic back cover for SM 7, SM and SM 7 option Z vacuum compatible stepper motors serie SM...V and SM...V Z stepper motors with protection class IP Z9 and Z77 stepper motors with special coating Z9 and Z table step motors controls / drives 9 stepper motor equipment overview: stepper motor with gear, encoder and brake planetary gear head stepper motor with planetary gear head series SM 5 PE stepper motor with planetary gear head series SM 5 PR stepper motor with planetary gear head series SM 5 PR stepper motor with planetary gear head series SM 7 PE / SM PE stepper motor with planetary gear head series SM 7 PR / SM PR stepper motor with planetary gear head series SM7 PE stepper motor with planetary gear head series SM7 PR 5 7 integrated encoder stepper motor with integrated encoder E5 stepper motor with integrated encoder H und H5 stepper motor with brake dimensions stepper motor with gear, encoder and brake cable glands 9

4 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue ordering Key STÖGR Stepper motors are designed as modular system. This enables us to provide a great variety of standard motor types and a high flexibility for customer specific solutions. SM options series 7 N shaft with keyway (SM 7 / ) (included in standard version for series SM 7 and SM ) stack ) ) ) W WN double ended shaft (not with encoder) double ended shaft with keyway F shaft with woodruff (only SM 5) type ) metric M inch J ) servo mount SRF connection ) leads L connector angled X connector straight Y cast connection box (no indication) current in /Ph WF V B E5 H H5 PE x PR x double ended shaft with woodruff (only SM 5) vacuum version until - Torr (not gased out) brake encoder x 5 pulse/rev encoder x pulse/rev.+ zero pulse encoder x 5 pulse/rev.+ zero pulse planetary gear head (x=gear ratio; e.g. PE or PR) depending on motor type until Z x special version ( x will be assigned by Stögra ) ) not for series 5 ) not for series ) IP according to DIN 5 / EN59 / IEC59 IP5 according to VDE5-5 / EN-5 / IEC-5 Please note, not all options can be combined! SM series is replaced by SM 7 series, SM and SM 9 series is replaced by SM 7 series. Cable glands are not included in standard motor deliveries! Cable glands must be ordered seperately. (See page 9) Counter connectors are not included for motors with connectors! Counter connectors must be ordered seperately. (See page ) general STÖGR motor specifications: ± % accuracy based on. motor step angle (non cumulative) operating temperature - C until C (short time until C) for standard types insulation class F according to VDE 5 dielectric motor strength vrms (series 5: vrms) high bearing thrust and overhang loads RoHs conform directive to /95/EC order examples: SM 5..JE5 PE SM 7..ML SM..MXBH SM 7..MBE5 PE SM..M

5 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue dimensions 5 leads version L5 L cast connection box version D D D D D.5 L7 D5 L L L L stepping motor D -.5 D -. D -. D D5 D L L L L L5 L L7 series type M J M J M J M J thread of cable entry 5 SM SM SM M x.5 SM SM SM 7.. () ) () ) M x.5 SM SM SM SM.. () ) () ) M x.5 SM SM SM SM SM M x.5 SM SM M x.5 ) series SM7 also available as special version with mm shaft and series SM also available with mm shaft M = metric J = inch all dimensions in mm

6 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue keyways and woodruffs keyways: Series SM 7 and SM are delivered in standard version with keyway (but not on double ended shaft). t series SM 7 the keyway is an option, which has to be indicated at the ordering key. keyway DIN 5 T stepping motor series type M J SRF SM 5.. keyway DIN 5 T type b x h x l a ) a 5 SM 5.. / x x b a I SM 5.. h 7 SM 7.. SM 7.. SM 7.. SM 7.. until x x 5 from x x 5.5 SM.. SM.. SM.. SM.. until x x 5 from x x 5.5 SM SM 7.. SM 7.. SM 7.. S S / 5 x 5 x 5 5 SM.. SM.. S / / x 7 x ) double ended shaft s woodruff DIN c d stepping motor woodruff DIN type h t series type J SRF s x h d c t SM SM 5.. x SM 5.. / = no standard stepping motor S= standard stepping motor is delivered with keyway in standard version O = option stepping motor is delivered without keyway or woodruff in standard version order examples: SM 5..JF SM 7..MN SM 7..MWN SM 7..MNWN with woodruff with keyway at front shaft with keyway only at double ended shaft with keyway at front and double ended shaft

7 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue overview electrical and mechanical specifications 7 electrical specifications mechanical specifications weight and rotor inertia are for standard versions with cast connection box without double ended shaft resistance per phase inductance / phase current / phase unipolar current / phase bipolar step angle (at full step) holding torque detent torque rotor inertia bearing thrust load bearing overhang load weight series motor type Ohm mh Nm Nm kgcm N N kg SM 5.. J ) 7 SM 5.. J.7. SM 5.. J SM 5.. J SM 5.. J. 5. SM 5.. J... SM 5.. J SM 5.. J.. SM 5.. J SM 7.. M..9.. SM 7.. M.7.. SM 7.. M SM 7.. M SM 7.. M SM 7.. M.. SM 7.. M SM 7.. M..7. SM 7.. M7. 7 SM 7.. M.55.. SM 7.. M7.. 7 SM.. M.. SM.. M.5.5 SM.. M..75 SM.. M. SM.. M SM.. M..5 SM.. M..9 SM.. M.9. SM.. M. SM.. M SM.. M.7.55 SM.. M..75 SM 7.. M ).5. SM 7.. M SM 7.. M SM 7.. M SM 7.. M ).7 9. SM 7.. M SM 7.. M SM 7.. M SM 7.. M ).5 7. SM 7.. M SM 7.. M SM 7.. M ).. SM 7.. M SM.. M SM.. M ) only with bipolar winding in standard version typical values

8 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue series SM 5 SM 5..J. I =. /Ph... SM SM 7 SM 7/ SM 5. U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. ll printed torque performance curves are measured with STÖGR drives. measured with VDC measured with VDC without boost 9 5 [rpm] SM 5..J.5 I =. /Ph..... U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] SM 5..J.5. I =. /Ph.... U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. 9 5 [rpm]

9 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue series SM 5 9 SM 5..J SM 5..J.9. I =. /Ph.. I = 5.5 /Ph. U = VDC. U = VDC. U = VDC.. U = VDC.. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm] SM 5..J SM 5..J. I =. /Ph.. I =. /Ph..... U = VDC. U = VDC U = VDC. U = VDC [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] SM 5..J SM 5..J.. I =. /Ph.. I =.5 /Ph U = VDC U = VDC. U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm]

10 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue series SM 7 SM 7..M.. I =. /Ph.. SM SM 7 SM 7/ SM 5. ll printed torque performance curves are measured with STÖGR drives. measured with VDC measured with VDC without boost. 9 5 [rpm] U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. SM 7..M.5 SM 7..M. I = 5 /Ph. I =.5 /Ph. U = VDC U = VDC U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm] SM 7..M.5 SM 7..M I = 5 /Ph. I =. /Ph. U = VDC U = VDC U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm]

11 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue series SM 7 SM 7..M SM 7..M5. I =. /Ph.. I = 7 /Ph... U = VDC. U = VDC. U = VDC. U = VDC. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] SM 7..M SM 7..M I =. /Ph. I =. /Ph. U = VDC U = VDC U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] SM 7..M7 SM 7..M7 I = /Ph. I = /Ph. U = VDC U = VDC U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm]

12 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue series SM SM..M I =, /Ph. bipolar I =, SM SM 7 SM 7/ SM5 ll printed torque performance curves are measured with STÖGR drives. rectangular current characteristics rectangular current characteristics sinus current characteristics V V V [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] SM..M SM..M I =, /Ph. bipolar I =, /Ph. bipolar I =, I =, V V V V V [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm] SM..M SM..M I =, I =, /Ph. bipolar I = 9, I =, /Ph. bipolar V V V V V V [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm]

13 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue series SM SM..M SM..M I =, /Ph. bipolar I =, /Ph. bipolar I =, I = 9, V V V V V [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] V [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] SM..M SM..M I =, /Ph. bipolar I =, /Ph. bipolar I = 9, I = 9, V V V V V V [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] SM..M SM..M I =, I =, /Ph. bipolar I =, /Ph. bipolar I =, V V V V [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm]

14 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue series SM 7 SM 7..M I = 7 /Ph. U = VDC SM SM 7 SM 7/ SM 5 U = VDC [khz] steps/rev. [khz] steps/rev. ll printed torque performance curves are measured with STÖGR drives. measured with VDC measured with VDC without boost 9 5 [rpm] SM 7..M I = /Ph. U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] SM 7..M I = /Ph. U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. 9 5 [rpm]

15 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue series SM 7 5 SM 7.. SM 7..M I = /Ph. I =.5 /Ph. U = VDC U = VDC U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] SM 7..M SM 7..M I = /Ph. I =.5 /Ph. U = VDC U = VDC U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] SM 7..M SM 7..M I =.5 /Ph. I =.5 /Ph. U = VDC U = VDC U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm]

16 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue series SM 7 with WSE xx.c SM SM 7 SM 7/ SM 5 ll printed torque performance curves are measured with STÖGR drives type WSE xx.c (VDC). rectangular current characteristics rectangular current characteristics with % boost sinus current characteristics SM..M with WSE.C SM..M with WSE.C I =, I = I =, I = I = U = VDC I = U = VDC [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm] SM..M with WSE.C SM..M with WSE.C I =, I = I =, I = I = I = U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm]

17 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue series SM with WSE xx.c 7 SM SM 7 SM 7/ SM 5 ll printed torque performance curves are measured with STÖGR drives type WSE xx.c (VDC). rectangular current characteristics rectangular current characteristics with % boost sinus current characteristics SM..M with WSE.C SM..M with WSE.C I =, I = I =, I = I = U = VDC I = U = VDC [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm] SM..M with WSE.C SM..M with WSE.C I =, I = I =, I = I = I = U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm]

18 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue series SM 7 with WSE xx.c SM SM 7 SM 7/ SM 5 ll printed torque performance curves are measured with STÖGR drives type WSE xx.c (VDC). rectangular current characteristics rectangular current characteristics with % boost sinus current characteristics SM 7..M with WSE.C SM 7..M with WSE.C I = I =, I =, I = I = U = VDC I = U = VDC [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm] SM 7..M with WSE.C SM 7..M with WSE.C I = I = 7, I = 7, I = I = I = U = VDC U = VDC [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. [khz] steps/rev. 9 5 [rpm] 9 5 [rpm]

19 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue series SM 9 SM..M I =.5 /Ph. U = VDC SM SM 7 SM 7/ SM 5 U = VDC [khz] steps/rev [khz] steps/rev. ll printed torque performance curves are measured with STÖGR drives [rpm] measured with VDC SM..M measured with VDC without boost I =.5 /Ph. U = VDC U = VDC [khz] steps/rev [khz] steps/rev [rpm]

20 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue stepping motor phase current characteristics rectangular characteristics phase current (fullstep / with boost) both phases with nominal current (bipolar) sinus-/cosinus characteristics phase current (without boost) with peak value = nominal current (bipolar) e.g. SM..M with nominal current /phase bipolar,, I [] I [] phase,9,, 5, 7, phase,9,, 5, 7, phase current rectangular characteristics phase current sinus characteristics ϑ[ ] ϑ[ ]

21 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue series SM hollow shaft series SMH series SMH 7 leads version L cast connection box version L L series type L [mm] L [mm] series type L+ - SMH..M SMH 7..M... SMH SMH..M SMH..M SMH 7 SMH 7..M... 9 SMH 7..M... SMH..M....5 SMH 7..M... 9 all dimensions in mm all dimensions in mm Type key SMH..M type 7 W Options double shaft end length (quantity of stacks) Z x customer specific version (No. x will be specified by STÖGR) connection leads L connector angled X connector straight Y cast connection box (without indication) until phase current in /Ph depending on motor type see electrical specifications examples for ordering key: SMH..ML SMH 7..M Electrical and mechanical specifications and s for series SMH are identical to series SM (see page 7 and pages to ). For series SMH 7 the specifications are identical to series SM 7.

22 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue stepper motor connections standard stepping motors connection series SM 7, SM und SM 7 brown red windings bipolar parallel 5 blue black 7 yellow white grey green SM 7/7/ terminal box windings bipolar serial brown 5 blue black 7 yellow 7 white red grey green 5 terminal box SM 7/7/... colour assignment of leads version SM 5/7/7...L.. = brown phase = white = black = red 5 = blue phase = grey 7 = yellow = green PE = yellow-green / brown / black windings bipolar parallel 5/ blue 7/ yellow SM terminal box windings unipolar brown black 5 blue 7 yellow 7 white red grey green 5 terminal box SM 7/7/... colour assignment of leads version SM...L.. phase phase / = brown / = black 5 / = blue 7 / = yellow PE = yellow-green connections stepper motors series SM 7, SM and SM 7 with brake and encoder E5 phase phase phase phase phase BB+ BB+ + - phase brake VDC PE PE encoder PE encoder brake VDC SM 7//7...B Stepper motor with brake SM 7//7...E5 Stepper motor with encoder E5 SM 7//7...BE5 Stepper motor with encoder E5 and brake The windings of types SM...B, SM...E5 and SM...B E5 are for bipolar connection only (connections correspond to bipolar parallel).

23 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue stepper motor conections Connections stepper motors series SM 5 standard, and connections motors series SM 5 with options brake and encoder E5 PE PE encoder E5 brake VDC encoder E5 + _ B_ B + _ B_ B Phase Bremse V + - Phase Phase Bremse V + - Phase - Schirm Schirm 5 5 phase phase phase phase phase phase PE phase PE phase brake VDC SM 5... Stepper motor with terminal box SM 5...B Stepper motor with brake SM 5...E5 Stepper motor with encoder E5 SM 5...B E5 Stepper motor with encoder E5 and brake The windings of types SM...B, SM...E5 and SM...B E5 are for bipolar connections only (connections correspond to bipolar parallel). Leads connections of motors SM 5...L.. are identical to the connections of the leads version of motors SM 7 / SM 7 at page. Connections stepper motors series SM 5, SM 7, SM and SM 7 with brake and encoder H/H5 brake VDC PE encoder H/H5 PE encoder H/H5 PE PE phase phase phase Ι Ι nc +5V B B GND shield phase phase Ι Ι + +5V B B GND - Schirm GND B B +5V 5 nc nc nc nc nc Ι Ι Schirm GND B B +5V nc nc nc Ι Ι VDC Bremse SM 5...H/H5 Stepper motor with encoder H / H5 phase encoder phase phase encoder brake H/H5 VDC H/H5 nc = not connected nc = not connected nc = not connected SM 5...B H/H5 Stepper motor with encoder H / H5 and brake SM 7//7...H/H5 Stepper motor with encoder H / H5 SM 7//7...B H/H5 Stepper motor with encoder H / H5 and brake

24 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue stepper motors versions with connectors Stepper motors with connections via circular connectors series SM...X and SM...Y STÖGR motors SM 5, SM 7, SM and SM 7 are available optionally with connections via robust industry conform circular connectors type M. The standard options»encoder«and»brake«are available for both connector versions. vailable are standard versions with angled connectors series SM...X... and with straight connectors series SM...Y... (the connector for the brake connection ist always straight). SM 5..JX,B E5 with angled connectors series SM...X... SM 5..JY with straight connector series SM...Y... SM 7..MX with angled connector series SM...X... SM 7..MY E5 with straight connectors series SM...Y... ll connectors mounted at the motor include male contacts. The necessary counter connectors include female contacts. Connector housings for the connections motor phases and encoder are metalic (zinc diecasting with nickled surface). Protection class of the connectors is IP7. The counter connectors are EMC-justed and a cable shield may be mounted. The connector for the brake is made of PVC, protection class also is IP7. Ordering examples (see also ordering key at page ): SM 5..JX E5 (with angled connectors and encoder E5) SM 7..MXB (with angled connectors and brake) SM 7..MY H (with straight connectors and encoder H) The counter connectors are not included in the deliveries. Counter connectors have to be ordered seperately. ordering no. connector angled connector straight encoder E5 / H / H5 brake motorphases crimpconnection solderingconnection cable mm GS X X X X 7 mm GS XL X X X 7 mm GS Y X X X 7 mm GS YL X X X 7 mm GS X E X X X 5 mm GS XLE X X X 5 mm GS Y E X X X 5 mm GS YLE X X X 5 mm GS X B X X X 5 mm The counter connectors for connections motor phases and encoder each include a mounting set with connector housing, connectors pin socket and connector pins (female pins).

25 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue stepper motors versions with connectors 5 Stepper motors with connections via circular connectors series SM...X and SM...Y n.c PE 5 Phase- Phase- n.c. 7 Phase+ Phase = = = B = B 5 = I (only H/H5) = I (only H/H5) 7 = GND = 5 - VDC (for E5) = 5VDC (for H/H5) 9,,, = n.c. n.c. GND +V PE connector motor phases connector encoder connector brake 5 B SM...Y and GS Y SM...Y and GS X SM...X and GS Y dimensions SM...Y and counter connector straight SM...Y and counter connector angled SM...X and counter connector straight SM SM SM 5 5 SM Dimension includes the dimensions connector and counter connector, but not connected cable. Dimension B depends on motor type and the options (with / without brake, encoder).

26 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue stepper motor versions with connectors Stepper motors with connector according to Mil-C-55 series SM... Z57 STÖGR stepper motors are available optionally with connectors according to the standard Mil-C-55, which are widely used in the industry. Connector mounted at the motor for connections motor phases (phases and PE): MSR size s, 5 pole, male connector type (MSRs-5P) Suitable female connectors are e.g. types MS, MS, MS each size s and 5 poles, female connector type Example: MSRs-5S For option brake: Mounted connector at the motor for an integrated brake: MSR size s, poles, male connector type (MSRs-P). Suitable female connectors are e.g. types MS, MS, MS each size s und -poles, female connector type Example: MSRs-S The female counter connectors are not included in the delivery. The motors need to be ordered with the type key extension»z57«. Ordering example: motor SM..MB Z57 Stepper motors series SM 5 with 9-pole D-Sub connector SM 5...Z5 with D-Sub connector SM 5...E5 Z59 with D-Sub connector SM 5... Z with D-Sub connector For series SM 5 special versions with connections for motor, encoder and brake via 9-pole D-Sub connectors are available. There are three different versions available, which are shown in above pictures. For all versions the options»brake«and»encoder E5«are possible. For the version without encoder and without brake the motor includes a D-Sub-connector (male type) for the motor connections (phases + PE). Options»encoder E5«and»brake«additionally include one D-Sub-connector (female type) for each option. ll D-Sub connectors are standard 9-pole D-Sub connectors. t the Z-version the maximum bipolar phase current may not exceed, (SM 5..J,9 and SM 5..J, are not available with a D-Sub connector version Z - for possible special versions with special D-Sub connectors please contact us). t motor stand still a phase current reduction to 5% of the running current should be activated in the motor control. Ordering example: SM 5..J Z5, SM 5..JB E5 Z59, SM 5..J,5 E5 Z

27 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue stepper motor special versions 7 Stepper motors for extended operating temperature range options Z and Z The operating temperature range for all STÖGR standard motors is - C until C permanently (short time C). This max. allowed temperature at the motor surface (measured at stator housing - backside near the cast connection box) may not exceeded. The motor temperature reached during operation depends from various factors: e.g. motor current, motor speed, ambient temperature, duty cycle, forced draft, heat flow from motor to other bodies,... For extreme applications STÖGR offers motors with extended operating temperature: type Z Z temperature range - C until C (short time until C) - C until C (short time until C) Oerdring examples: SM 7..M Z, SM..M Z STÖGR also offers further versions, e.g. for low temperature until -5 C please contact us. Shaft diameter options for series SM 7 and SM options Z and Z The shaft diameter for series SM 7 is Ømm (dimension D in drawing page 5) for the standard»m«version (metrical dimensions). Standard shaft diameter for series SM is Ømm. Optionally motors SM 7 and SM are available with following shaft diameters (dimension D): SM 7 with Ømm: option»z«sm 7... M...Z (e.g. SM 7..M, Z) SM with Ømm: option»z«sm 7... M...Z (e.g. SM..M Z) lso other customer specific shaft diameters and modifications are possible. Metalic back cover for STÖGR stepper motor series SM 7, SM and SM 7 Option Z In standard version series SM 7, SM and SM 7 are delivered with a PVC back cover. Only SM 5 and SM are delivered in standard version with metalic back cover. But optionally series SM 7, SM and SM 7 also are available with metalic back cover (aluminium). The metalic cover may be used e.g. for mounting an external encoder at motors with second shaft end. ordering example: SM 7..M,5W Z Vacuum compatible motors series SM... V and SM... V Z For vacuum and clean room applications we offer our vacuum compatible series SM...V and SM...V Z. Specifications: vakuum compatible until - Torr blank stator surface vacuum compatible special bearing grease for leads motor versions including teflon leads metalic back cover (aluminium) motors are not gased out! Ordering example: SM 7..MV The option Z additionally includes a galvanically nickled motor surface (protection against corrosion for the blank stator). Ordering example: SM 7..MV Z These options are available for all STÖGR motor series (but not for options brake or encoder).

28 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue stepper motor special versions IP motors Z9 and Z77 L L (whith second shaft end) (L5) L.5 L L dimensions Z9 / Z77 ll motor series from STÖGR are available optionally with protection class IP. The IP motors are tested under water with bar pressure (corresponds to operation of motor in m water depth). Typical applications for IP motors are, beside underwater, any plants outside (e.g. faced to rain) or in the food industry, where motors are cleaned with water. The motors include special sealings and some special parts as special flanges. Options»brake«and»encoder«are also possible for IP motors. IP motors need to be ordered with the extension»z9«in the type designation. Ordering example: SM 7..M E5 Z9 Generally we recommend to order our IP motors with additional special coating for protection against corrosion (see also below Z9 und Z77). Ordering key for Z9 and special coated: Z77 mm L L ±.5 L ±.5 L ±.5 L5 ±.5 L motor type SM SM SM SM SM SM SM SM SM SM SM.. 9 SM SM SM SM 7.. Motors with special coating for protection against corrosion Z9 / Z77 ll STÖGR motors are available optionally with special coating. The complete motor surface will be primed two times and then specially coated. This guarantees an extremely robust protection of the complete motor surface against corrosion. Typically motors in IP version (see above Z9) or motors in IP55 (standardcast connection box version) for the food industry are ordered in special coated version. Coated motors in IP55 (standard cast connection box) must be ordered with the extension»z9«. Ordering example: SM 7..M E5 Z9 Coated motors in IP version (see above»z9«) must be ordered with the extension»z77«. Ordering example: SM 7..M E5 Z77 Motors usable in sea water environment are also available (please contact us for more informations).

29 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue table stepping motors controls / drivers 9 Following table shows possible combinations for stepping motors and controls / drivers (see STÖGR-catalogue stepping motor controls). SE z.i.u... e.g. SE..5 V SERS i.u... e.g. SERS.5 V E5 z i u i u z: steps per revolution,, 5,, or P5...V i: current per phase until u: voltage supply VDC until VDC To match the right stepping motor, the important parameters in the controls designations are i and u. ) b = possible combinations series 5 series 7 series series 7 series SE z.. / SERS. SE z.. / SERS. SE z.. / SERS. SM.x stands for SM., SM., SM. and SM. SE z.. / SERS. SE z.. / SERS. SE z..5 / SERS.5 SE z.. / SERS. SE z.. / SERS. SM 5.. J b b b SM 5.. J b b b b SM 5.. J.9 b b b SM 5.. J.5 b b b SM 5.. J b b b SM 5.. J b b b b SM 5.. J.5 b b b SM 5.. J b b b b SM 5.. J. b b b b SM 7.. M. b b b SM 7.. M b b b b SM 7.. M5 b b b b SM 7.. M.5 b b b b SM 7.. M. b b b b SM 7.. M b b b b SM 7.. M.5 b b b b SM 7.. M b b b b SM 7.. M7 b b b SM 7.. M b b b b SM 7.. M7 b b b SM.x. M ) b b b b b b SM.x. M ) b b b b b b SM.x. M ) b b b b SM.. M b b SM.. M b b SM7.. M SM7.. M b b b b SM7.. M b b b b SM7.. M b b SM7.. M SM7.. M b b b SM7.. M b b SM7.. M b b SM7.. M SM7.. M b b SM7.. M b b SM7.. M SM7.. M b b b SM.. M b b b SM.. M b b b SE z..5 / SERS.5 SE z.. / SERS. SE z..5 / SERS.5 SE z.. / SERS. SE z..5 / SERS.5 SE z.. / SERS. SE z.. / SERS. WSE / WSERS. WSE / WSERS. WSE / WSERS. C b b WSE / WSERS. C b b

30 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue overview: stepping motor with gear, encoder and brake STÖGR-stepping motors are available with various equipment: permanent magnetical brake page dimensions metrical or inch special versions cast connection box stepping motor series SM to.5/phase. to 7 Nm low backlash planetary gear head : until : encoder: E5: x 5 pulses/revolution, 5 until VDC H: x pulses/revolution + zero pulse H5: x 5 pulses/revolution + zero pulse more information encoder see page to 7 optionally: vacuum version motor housing specially coated protection class until IP customer specified special versions Options for gear heads: Gear head series PE and series PR, which are described at the following pages, together with stepper motors are available optionally with special coating Z9 (see page ). Ordering example SM 7..M PE Z9 Gear heads of the serie PE are available optionally with protection class IP5. The gear bos is sealed specially, and the gear head output shaft and the keyway are made of stainless steel. Ordering indication together with a motor is e.g. SM 7..M PE Z9. Ordering indication additionally with special coating for protection against corrosion is e.g. SM 7..M PE Z77 (see also page ). Gear head series PE can also be delivered in angled version (angled gear heads series WPE). Precision gear heads series PLN with very low backlash from to 5 angular minutes are available also with STÖGR stepper motors. Detailed informations for gear head series WPE and PLN are available on request.

31 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue Stepping motor with planetary gear head series SM 5 PE degree of protection: torque shaft bearing: max. axial load: max. radial load: lubrication: operating temperature: mounting position: IP5 ball bearing N based on the center 5 N of the output shaft life time lubrication -5 C/+9 C any motor type length L ± mm inertia kgcm SM SM SM M5 x h7 7 h keyway DIN 5 T, shape, 5 x 5 x 5 5 Mx.5 L (cast connection box version) 5 centred M5 x, DIN, page, shape DS planetary gear head series PE max. torque output Nm type ratio SM 5. SM 5. SM 5. inertia referred to motor shaft - kgcm stiffness of distortion Nm/arcmin absolute backlash angular minutes efficiency approx. % length mm weight without motor kg number of stages PE...5 PE PE < PE PE PE PE PE PE < 9 7. PE PE.7... PE PE. PE.. PE 7,5. PE.. PE.. PE..5 <5 9 PE. PE5 5. PE. PE5 5. bold faced types: preferencial versions (on stock) output torques are limited by the nominal output torque of the gear heads ordering indication: (example) SM 5..J PE

32 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue Stepping motor with planetary gear head series SM 5 PR degree of protection: torque shaft bearing: max. axial load: max. radial load: lubrication: operating temperature: mounting position: IP ball bearing N based on the center N of the output shaft life time lubrication -5 C to +9 C (short time + C) any motor type length L ± mm inertia (without gear head) kgcm SM SM SM M x 5 h7 k Mx.5 keyway DIN 5 T 9 L x x (cast connection box version) centred DIN DM planetary gear head series PR max. torque output Nm type ratio SM 5. SM 5. SM 5. inertia referred to motor shaft - kgcm stiffnes of distortion Nm/arcmin absolute backlash angular minutes efficiency approx. % length mm weight without motor kg number of stages PR.5.7. PR PR < 9. PR PR. PR.5 PR PR.5.5 <5 9. PR PR PR. PR. PR. PR. 5 PR < PR5 5. PR. PR bold faced types: preferencial versions (on stock) output torques are limited by the nominal output torque of the gear heads ordering indication: (example) SM 5.. M PR

33 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue Stepping motor with planetary gear head series SM 5 PR degree of protection: torque shaft bearing: max. axial load: max. radial load: lubrication: operating temperature: mounting position: IP ball bearing N based on the center 9 N of the output shaft life time lubrication -5 C to +9 C (short time + C) any motor type length L ± mm inertia (without gear head) kgcm SM SM SM M5 x 5 h7 k 5.5 keyway DIN 5 T 5 x 5 x Mx.5 L (cast connection box version) 5 5 centred DIN DM5 planetary gear head series PR max. torque output Nm type ratio SM 5. SM 5. SM 5. inertia referred to motor shaft - kgcm stiffnes of distortion Nm/arcmin absolute backlash angular minutes efficiency approx. % length mm weight without motor kg number of stages PR...7 PR PR PR PR PR PR PR PR. 7.. PR PR..99 PR PR PR.9 PR.59 PR.59 PR.59 PR PR PR PR PR.59 bold faced types: preferencial versions (on stock) output torques are limited by the nominal output torque of the gear heads ordering indication: (example) SM 5.. M PR

34 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue Stepping motor with planetary gear head series SM 7 PE / SM PE degree of protection: torque shaft bearing: max. axial load: max. radial load: lubrication: operating temperature: mounting position: IP5 ball bearing N based on the center 95 N of the output shaft life time lubrication -5 C to +9 C any motor type Length L ± mm inertia (without gear head) kgcm SM SM SM SM SM SM SM SM M x h7 5 h7.5 7 keyway DIN 5 T x x Mx.5 L (cast connection box version) centred M x, DIN, page, shape DS planetary gear head series PE type ratio SM 7. SM. max. torque output Nm SM 7. SM. SM 7. SM. SM 7. SM. inertia referred to motor shaft - kgcm stiffnes of distortion Nm/arcmin absolute backlash angular minutes efficiency approx. % Length mm weight without motor kg number of stages PE PE PE PE PE PE PE PE PE PE PE PE 5. 9 PE PE 5 PE PE 5 PE PE PE PE5 5 PE PE <7 9 7 (9.5) (at SM.).5 <9 9 9 (.5) (at SM.). < 9.5 (7) (at SM.)... bold faced types: preferencial versions (on stock) output torques are limited by the nominal output torque of the gear heads ordering indication: (example) SM SM 7.. M PE

35 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue Stepping motor with planetary gear head series SM 7 PR / SM PR 5 degree of protection: torque shaft bearing: max. axial load: max. radial load: lubrication: operating temperature: mounting position: IP ball bearing N based on the center 77 N of the output shaft life time lubrication -5 C to +9 C (short time + C) any motor type Length L ± mm inertia (without gear head) kgcm SM SM SM SM SM SM SM SM Mx 5 55 h7 5 k.5.5 keyway DIN 5 T x x 9 Mx.5 L (cast connection box version) 7 centred DIN DM planetary gear head series PR type ratio SM 7. SM. max. torque output Nm SM 7. SM. SM 7. SM. SM 7. SM. inertia referred to motor shaft - kgcm stiffnes of distortion Nm/arcmin absolute backlash angular minutes efficiency approx. % Length mm weight without motor kg number of stages PR PR PR PR PR PR PR PR PR PR PR PR PR PR PR PR PR PR PR PR PR PR bold faced types: preferencial versions (on stock) output torques are limited by the nominal output torque of the gear heads ordering indication: (example) SM SM 7.. M PR

36 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue Stepping motor with planetary gear head series SM 7 PE degree of protection: torque shaft bearing: max. axial load: max. radial load: lubrication: operating temperature: mounting position: IP5 ball bearing N based on the center N of the output shaft life time lubrication -5 C to +9 C any motor type Length L ± mm inertia (without gear head) kgcm SM 7.. SM 7.. SM 7.. SM M x 5 h7 5 5 h7 keyway DIN 5 T x 7 x Mx.5 L (cast connection box version) 5 centred M x, DIN, page, shape DS planetary gear head series PE max. torque output Nm type ratio SM 7. SM 7. SM 7. SM 7. inertia referred to motor shaft - kgcm stiffnes of distortion Nm/arcmin absolute backlash angular minutes efficiency approx. % Length mm weight without motor kg number of stages PE PE PE < PE PE PE PE PE PE 7.5 <9 9 9 PE PE 9 9. PE. PE. PE 9.57 PE 5.5 PE.5 PE.5 PE. < 9.5 PE. PE5 5. PE. PE5 5. bold faced types: preferencial versions (on stock) output torques are limited by the nominal output torque of the gear heads ordering indication: (example) SM 7.. M PE

37 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue Stepping motor with planetary gear head series SM 7 PR 7 degree of protection: torque shaft bearing: max. axial load: max. radial load: lubrication: operating temperature: mounting position: IP ball bearing 7 N based on the center N of the output shaft life time lubrication -5 C to +9 C (short time + C) any motor type Length L ± mm inertia (without gear head) kgcm SM 7.. SM 7.. SM 7.. SM 7.. M x h7 5 k keyway DIN 5 T x 7 x 5 Mx.5 L (cast connection box version) centred DIN DM planetary gear head series PR max. torque output Nm type ratio SM 7. SM 7. SM 7. SM 7. inertia referred to motor shaft - kgcm stiffnes of distortion Nm/arcmin absolute backlash angular minutes efficiency approx. % Length mm weight without motor kg number of stages PR PR PR PR PR 9..9 PR 5..9 PR. PR PR 95.. PR PR. PR5 5.9 PR PR PR. PR. PR. PR5 5. PR PR5 5. PR PR bold faced types: preferencial versions (on stock) output torques are limited by the nominal output torque of the gear heads ordering indication: (example) SM 7.. M PR

38 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue stepping motor equipment Stepping motor with integrated encoder In non disturbed operation the stepping motor runs synchronously to the pulses coming from the control, that means the motor rotation (= rotation of the rotor) is synchronously to the pulse frequency (= rotating stator field in the motor). In case of a load at the motor (e.g. via a static load at the motor shaft or because of accelerating the motor dynamical load) the running of the motor will differ from the pulse frequency within a short time and within a certain max range. This results in changing the load angle (= difference between the real position of the rotor and its position command value). Stepping motor with integrated encoder E5 The encoder series E5 monitors the motion of the motor. Together with a STÖGR-drive series SE... E5 or SERS.. E5 the load angle of the stepping motor can be controlled. When exceeding the max. load angle allowed (e.g. in case of the motor running is interrupted because of a mechanical overload) the drive will create an error signal. special characteristics simple and robust low cost version no changes of the motor dimensions in comparison to the standard version with cast connection box (except SM 5) the encoder is integrated in the motor housing. There is no additional measure necessary for protection available until IP all requirements for mechanical and climatical ambient condtions (vibration-, shock resistence, temperature and humidity) are fullfilled. evaluation of the encoder signals and realisation of a step angle control with generating an error signal can be done by using standard STÖGR. Specifications E5 electrical specifications voltage supply: 5 to VDC current consumption: typ. approx 5m (no load at outputs) max. load at outputs m / output operating temperature: - to 5 C outputs x 5 pulses per revolution signals and B with rectangular shape and inverted signals Ā and B duty cycle : ± max. % error Bipolar switching to VCC and GND short circuit protected signals against GND pulse frequency min. khz signal outputs _ B B _ connections connection via screw terminals for nominal cross section max. mm ( WG) optionally also available with connector (see pages ) dimensions as standard motor types! (except series SM5 see table page 9)

39 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue stepping motor equipment 9 Stepping motor with integrated encoder H and H5 special characteristics the encoder is integrated in the motor housing. There is no additional measure necessary for protection available until protection class IP all requirements for mechanical and climatical ambient conditions (vibration-, shock resistance, temperature and humidity) are fullfilled evaluation of the encoder signals and realisation of a step angle control with generation of an error signal can be done by using standard STÖGR controls SERS...E5... Technical specifications H and H5 general specifications H and H5 optical encoder voltage supply: 5 VDC operating temperature: - to C outputs x pulse per revolution for H x 5 pulse per revolution for H5 rectangular shape signals und B, with inverted signals Ā and B H and H5: zero pulse and inverted zero pulse pulse per revolution duty cycle : ± max. % error RS-line driver short circuit protected signals against GND pulse frequency min. khz signal outputs _ B B _ I _ I dimensions the modified dimensions compared to the standard motors without encoder can be found in the table at page 9 connections connection via screw terminals for nominal cross section max. mm ( WG) optionally also available with connector (see pages )

40 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue stepping motor equipment Stepping motor with holding brake brake type: permanent magnetical brake voltage supply: VDC (-% / +5%) protection: as motor protection until IP the brake is integrated in the motor housing Holding brakes are used as emergency brakes in vertical axis (Z-axis). If the motor current is switched off or in case of a power line fault the motor shaft will be retarded. The brake must be supplied by VDC to release the motor shaft. The dimensions of the different motor types with brake can be found in the table of page 9. stepping motor with holding brake brake series type weight kg total kgcm rotor inertia brake kgcm holding torque Nm switching time ON ms OFF ms electr. power / consumption at VDC W / m SM 5...B..5 SM 5...B..7 SM 5...B.. SM 7...B.. SM 7...B.5 SM 7...B. SM 7...B 5.75 SM...B..5 SM...B..5 SM...B.. SM...B SM 7...B 5..5 SM 7...B..5 SM 7...B.7.5 SM 7...B / / / /75 Connections brake relay, switch, semiconductor phase brake phase +brake -V phase recovery diode + VDC - brake - phase SM 5 SM 7, SM, SM 7

41 STÖGR NTRIEBSTECHNIK GMBH stepper motors catalogue stepping motor equipment Dimensions stepping motor with gear box, encoder and brake L SM 7. with brake SM 7. with encoder H SM 7. with brake and encoder H total length L ±.5 mm standard cast connection box brake E5 H/H5 brake and E5 brake and H/H5 SM SM SM SM SM SM SM SM SM SM SM SM 7. 9 SM 7. SM 7. 9 SM 7. SM SM. 5 5 SM cable gland thread for cable mm type key width across flats mm connections cast connection box M x KV M x.5 7 encoder and brake M x KV M x.5 stepper motor phases metric EMC cabel glands: protection type IP up to 5 bar material brass nickel plated for shielded cables sealing insert made of neoprene O-ring on external thread

42 Stuttgart 9 Nürnberg Mittlerer Ring Lindau 9 Fürstenrieder Strasse München Zentrum Isar Passau 9 utobahnausfahrt M-Kreuzhof Boschetsrieder Strasse Machtlfinger Strasse Mittlerer Ring Drygalski llee 95 Garmisch- Partenkirchen Salzburg 995 Salzburg/ Kufstein STÖGR NTRIEBSTECHNIK GMBH Machtlfinger Strasse D-79 München Tel Fax info@stoegra.de Internet presented by: