Stepper Motor Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Introduction Quick Selection Of Motor -phase Stepper Motors Stepper Motors NEMA 8 ( mm)-phase 8-8 HY Series D NEMA( 8mm)-phase 8 - HS Series D NEMA( mm)-phase 8 - HY Series D NEMA( mm)-phase 9 - HA Series D NEMA7( mm)-phase 8-7HD Series D NEMA7( mm)-phase 9-7HA Series D 7 NEMA( mm)-phase 8 - HS Series D 8 NEMA( mm)-phase 8 - HS Power Plus Series D 9 NEMA( mm)-phase 8 - HS Series D NEMA( 8mm)-phase 8 - HD Series D NEMA( mm)-phase 8 - HS Series A NEMA( mm)-phase 8 - HS Series A NEMA( 8mm)-phase 8 - HD Series A NEMA( mm)-phase 8 - HS Series A IP Type Stepper Motors NEMA( mm)-phase 8 - HS Series D IP Type 7 NEMA( mm)-phase 8 - HS Series D IP Type 8 NEMA( 8mm)-phase 8 - HD Series D IP Type 9 Brake Type Stepper Motors NEMA7( mm)-phase 8-7HD Series D Brake Type NEMA( mm)-phase 8 - HS Series D Brake Type NEMA( mm)-phase 8 - HS Series D Brake Type NEMA( mm)-phase 8 - HS Series A Brake Type NEMA( 8mm)-phase 8 - HD Series D/A Brake Type Planetary Reducer Motors NEMA7( mm)-phase 8-7HD Series D Planetary Reducer Type NEMA( mm)-phase 8 - HS Series D Planetary Reducer Type 7 NEMA( mm)-phase 8 - HS Series D Planetary Reducer Type 8 NEMA( 8mm)-phase 8 - HD Series D Planetary Reducer Type 9 NEMA( 8mm)-phase 8 - HD Series A Planetary Reducer Type Encoder Type Stepper Motors NEMA7( mm)-phase 8-7HD Series D Encoder Type NEMA( mm)-phase 8 - HS Series D Encoder Type NEMA( mm)-phase 8 - HS Series D Encoder Type NEMA( 8mm)-phase 8 - HD Series D Encoder Type NEMA( 8mm)-phase 8 - HD Series A Encoder Type -phase Stepper Motors Stepper Motors NEMA7( mm)-phase - 7H Series D
ontents NEMA( mm)-phase - H Series D 7 Flange Demension 7 NEMA( mm)-phase - H Series D Flange Demension 8 NEMA( 8mm)-phase - H Series D 9 NEMA( 8mm)-phase - H Series A -phaseu Stepper Motors U Stepper Motors NEMA( mm)-phase 8 - HS U Series D NEMA( mm)-phase 8 - HS U Series D NEMA( 8mm)-phase 8 - HD U Series D NEMA( mm)-phase 8 - HS U Series A NEMA( mm)-phase 8 - HS U Series A NEMA( 8mm)-phase 8 - HD U Series A NEMA( mm)-phase 8 - HS U Series A 7 Power Plus Type U Stepper Motors NEMA( mm)-phase 8 - HS U Series D Power Plus8 IP Type U Stepper Motors NEMA( mm)-phase 8 - HS U Series D IP Type NEMA( mm)-phase 8 - HS U Series D IP Type NEMA( 8mm)-phase 8 - HD U Series D IP Type onfigurations Bearing ife & Shaft oading onfiguration Options Glossary onversion Factors 7 Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
Introduction of Stepping Motors What is Stepping Motor Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Stepping Motors provide precise position and speed control, without the need for feedback devices to sense position The operation of step motors is controlled through electrical pulses that the drive converts to current flowing through the windings of the motor As the current is switched the motor rotates in precise steps of a fixed angle The motor and drive constitutes a low cost control system that is precise and simple to construct Performance Features of MOONS Stepping Motors Accurate Position ontrol The number of control pulses defines the motor shaft position Position error is very small (less than /th of a degree), and non cumulative Precise Motor Speed Step motor running speed, is exactly determined by the frequency of the control pulses Because the speed is very precise and easy to control, step motors are often used where coordinated motion control is needed Forward & Reverse, Pause and Holding Function Motor torque and position control is effective throughout the entire speed range, including zero speed holding torque The zero speed holding torque locks the shaft at the desired position to hold the load in place ow Speed Operation Step motors produce a large amount of torque, and are easy to control, at low speeds This often eliminates the need for speed reduction gearboxes, reduces costs and saves space ong ife The brushless design of step motors leads to motors with a very long life Step motor life is usually determined by the life of the bearings
Basic Structure and Motor Operation Basic Structure Operating Principles In response to each individual control pulse and direction signal, the drive applies power to the motor windings to cause the rotor to take a step forward, a step in reverse, or lock in position For example, in a 8 degree two phase step motor: When both phases are energized with D current, the motor will stop rotating and hold in position The maximum torque the motor can hold in place with rated D current, is the rated holding torque If the current in one phase is reversed, the motor will move step (8 degrees) in a known direction If the current in the other phase had been reversed, the motor would move step (8 degrees) in the other direction As current is reversed in each phase in sequence, the motor continues to step in the desired direction These steps are very accurate For a 8 degree step motor, there are exactly steps in one revolution Two phase stepping motors are furnished with two types of windings: bipolar or unipolar In a bipolar motor there is one winding on each phase The motor moves in steps as the current in each winding is reversed This requires a drive with eight electronic switches In a unipolar motor there are two windings on each phase The two windings on each phase are connected in opposite directions Phase current is reversed by turning on alternate windings on the same phase This requires a drive with only four electronic switches Bipolar operation typically provides % more holding torque than unipolar, because % of the winding is energized in the bipolar arrangement + VD A B D phase step motor with bipolar driver + VD A B D phase step motor with unipolar driver Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
Technical Data and Terminology oad alculations Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations A Torque load (Tf) Tf = G r G: weight r: radius B Inertia load (TJ) TJ = J dw/dt J = M (R +R ) / (Kg cm) M: mass R: outside radius R: inside radius dw/dt: angle acceleration Speed-Torque haracteristics The dynamic torque curve is an important aspect of stepping motor s output performance The followings are some keyword explanations A Working frequency point express the stepping motors rotational speed value at this point n = q Hz / ( D) n: rev/sec Hz: the frequency value at this point D: the subdividing value of motor driver q: the step angle of stepping moto Eg: 8 stepping motor, in the condition of I/ subdividing (each step 9 ) runs at Hz its speed is r/s B Start/Stop region: the region in which a stepping motor can be directly started or stopped Slew Range: the motor cannot be started directly in this area It must be started in the start/stop region first and then accelerated to this area In this area, the motor can not be directly stopped, either Otherwise this will lead to losing-step The motor must be decelerated back to the start/stop region before it can be stopped D Maximum starting frequency point at this point, the stepping motor can reach its maximum starting speed under unloaded condition E Maximum running frequency point at this point the stepping motor can reach its maximum running speed under an unloaded condition F Pull-in Torque: the maximum dynamic torque value that a stepping motor can load directly at the particular operating frequency point G Pull-out Torque: the maximum dynamic torque value that a stepping motor can load at the particular operating frequency point when the motor has been started Because of the inertia of rotation the Pull-Out Torque is always larger than the Pull-In Torque G r R R
alculate the Acceleration Torque How to accelerate or decelerate in the shortest time is the most important when the system s operating frequency point is in the slew range of the dynamic torque curve graph Tm It is shown by the following graph: the dynamic torque s performance of stepping motor will always keep a horizontal straight line in low speed But in high speed, the curve will slope A Accelerated Motion of Straight ine Motor s load value is known as T, it has to be accelerated from F to F in the shortest time (tr), what is the value of tr? () Generally TJ = 7%Tm () tr = 8 - J q (F-F)/(TJ-T) () F (t) = (F-F) t/tr + F, <t<tr B Exponential Acceleration () Generally TJ = 7%Tm, TJ = 7%Tm, T = %Tm () tr = F In [(TJ-T)/(TJ-T)] () F (t) = F [ e^(-t/f)] + F, <t<tr F = (T-TJ) (F-F)/(FJ-TJ) F = 8 - J q F/(TJ-T) Note: J is the torque inertia of motor rotor plus its load, q is the angle of each step, it equals to the step angle of stepping motor when motor runs in full step As for the control of deceleration, it can be realized by turning the accelerate pulse frequency above-mentioned Reduction of Vibration and Noise In a non-loading condition, stepping motors may appear to have vibration or even lose steps when the motor is running at or close to resonant frequency Solutions for these conditions A Have the motor operate outside of this speed range B By adopting the micro-step driving method, you can divide one step into multiple steps thereby reducing the vibration, Micro-step is used for increasing a motor s step resolution This is accomplished by controlling the motor s phase current ratio Micro-step does not increase step accuracy However it will allow a motor to run more smoothly and with less noise When the motor runs in half step mode the motor torque will be % less than running in full step mode If the motor is controlled by sine wave current the motor torque will be reduced by % Tm TJ T Tm TJ TJ T F F F Tm F Tm F F F Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations 7
Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Numbering System AM 7 HD - 7 Motion ontrol Standard Series Size: Motor outside diameter in tenths of an inch (Ex: size 7 = 7 ) (8:mm; :8mm; :mm; 7:mm; :mm; :mm; :8mm; :mm) Series: HA: step angle 9 HY,HS,HD: step angle 8 H: step angle ength of stator Number of lead wires : onnector type : lead wires : lead wires : lead wires 8: 8 lead wires Electric variation: variety of current, torque, etc 7 Mechanical variation: variety of shaft, lead wires, screws, etc 8
Wiring Diagrams A - EAD BIPOAR DRIVE B -8 EAD BIPOAR -PARAE -8 EAD BIPOAR SERIES Black A Green Red B Blue D D- EAD PHASE SERIES Red A White EAD MOTOR Green B Generall Specifications Step Accuracy Specifications Insulation lass Ambient Temperature Operating Ambient Humidity Environment Atmosphere Temperature Rise Shaft Runout Radial Play Axial Play oncentricity Perpendicularity Green Brown White Yellow Gray Brake wiring 8 EAD MOTOR Blue V+ V- Red Black Pink Red Parameter White A Brown Green Yellow Gray B Pink Blue Red D 8 EAD MOTOR ±%(Tested by: onstant urrent Drive/V/Two Phase On/Rated urrent/full Step:rps) lass B( ) -~+ (non-freezing) 8% or less (non-condensing) No corrosive gases, dust, water or oil Temperature rise of windings is 8 ( F) or less measured by the resistance change method (at rated voltage, at standstill, two phases excited) TIR(mm) mm Max(gf) 8mm Max(gf) 7TIR(mm) TIR(mm) Permissible Overhung oad and Permissible Thrust oad(unit:n) Permissible Overhung oad Type Distance() from Shaft End(mm) mm mm mm mm mm 8HY --- --- HS - - - HA/HY - - - 7HD/7HA/7H - - - HS 7 HS/H 7 9 HD/H 9 9 8 HS 9 8 7 Permissible Thrust oad ess than the motor mass Thrust oad Overhung oad Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations 9
Motor Installation Mounting Direction Motors can be mounted freely in any direction as shown below Regardless of how the motor is mounted, take care not to apply an overhung load or thrust load on the shaft Make sure the cable does not contact the mounting surface causing undesirable force on the cable Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Mounting Method onsidering heat radiation and vibration isolation as much as possible, mount the motor tightly against a metal plane Mounting Method for Through Hole Type Mounting Method for Tapped Hole Type Flange Pilot Spot Facing or Throgh Hole Mounting Plate Installation onditions Through Holes Flange Pilot Spot Facing or Throgh Hole Tapped Holes Mounting Plate Install the motor in a location that meets the following conditions, or the product may be damaged Indoors (This product is designed and manufactured to be installed within another device) Ambient temperature: -~+ (non-freezing) Ambient humidity: 8% or less (non-condensing) Not exposed to explosive, flammable or corrosive gases Not exposed to direct sunlight Not exposed to dust Not exposed to water or oil A place where heat can escape easily Not exposed to continuous vibration or excessive impact Notes: When installing the motor in an enclosed space such as a control box, or somewhere close to a heat-radiating object, vent holes should be used to prevent the motor from overheating Do not install the motor in a location where a source of vibration will cause the motor to vibrate
QUIK SEETION OF MOTOR step angle ( ) 9 8 Base Thickness mm) mm 8 8 Size Series NEMA AMHA7A 8 AMHAA SR / AM7HAA 98 NEMA7 ST AM7HAA 8 AM7HAA NEMA7 AM7HA AM7HA AMH AMH 7 NEMA AMH SR AMH8 7 / AMH8 ST AMH AMH 7 NEMA AMH AMH AMH 7 AMH7 NEMA8 AM8HY 7 AM8HY AMHS8 NEMA AMHS7 AMHS8 NEMA AMHYB 7 8 AM7HD 98 NEMA7 AM7HD8 8 AM7HD 8 AM7HDB AMHS AMHS9 7 AMHS SR / AMHS ST AMHS 7 NEMA AMHS 9 AMHSA AMHS8A 77 AMHSAA 9 AMHSB AMHS8B 77 AMHSAB NEMA AMHS 8 AMHS AMHD 9 NEMA AMHD Recommended Driver Model AMHD AMHD 7 NEMA AMHS9 7 AMHS 8 NEMA AMHS AMHD8 7 SRA AMHD8 8 9 NEMA / AMHD8 STA AMHD8 AMHD8 98 AMHSA 9 NEMA AMHSA AMHSA The torque range (mn M); Speed range ~ RPS 8 8 8 8 Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors Moment range (Nm); Speed range ~ RPS onfigurations
NEMA8( mm) -phase D8-8HY Series Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads AM8HY-N AM8HY-N AM8HY-N AM8HY-N A Ø + - Ø + - AM8HY Ø - ± ± AM8HY Ø + - ± ± Max () Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg 7 7 9 Max ± Ø + - () AWG U =7 + -M Depth min HOUSING:JST ZHR- TERMINA:JST SZH-T-P 7Max 8± 7 (9) Ø + - -M Depth min JST SB-ZR(F)(SN) HOUSING:JST ZHR- TERMINA:JST SZH-T-P AWG U ± Max These dimensions are for the double shaft models For the single shaft models, ignore the ( Max ± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SR or ST) AM8HY Microstep steps/rev urrent A Peak 8 Torque(N m) AM8HY Microstep steps/rev urrent A Peak Torque(N m) Phases Steps / Revolution ±% Step Accuracy N ( bs)push N ( bs) Pull Radial 8 N ( bs) At End of Shaft IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms () 7 + ± Max ± Max ) area ) area VA minute
NEMA( 8mm) -phase D 8 - HS Series Model Shaft Wiring eads AMHS8-7 Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg 9 AMHS7- A 8 7 AMHS8-8 + Ø- ± ± ± ± (9) ± Housing P/N : MOEX - rimp P/N : MOEX -8 AWG U PIN No + Ø- Torque urves(recommended Driver: SR or ST) Torque(N m) AMHS8 Microstep steps/rev urrent A Peak 8 AMHS7 Microstep steps/rev urrent A Peak 8 Torque(mN m) Phases Steps / Revolution ±% Step Accuracy N ( bs)push N ( bs) Pull Radial N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms 8Max ± () () - : ± 8Max MOEX -7 ± -M Depth Min VA minute AMHS8 Microstep steps/rev urrent A Peak 9 Torque(mN m) Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
NEMA( mm) -phase D 8 - HY Series Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg AMHYB- A VA minute + Ø- ± ± ± + Ø- - ± AWG U Torque urves (Recommended Driver: SR or ST) Torque(N m) AMHYB Microstep steps/rev urrent A Peak 9 Phases Steps / Revolution ±% Step Accuracy N ( bs)push N ( bs) Pull Radial N ( bs) At End of Shaft IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms Max ± ± -M Depth Min ± Max
NEMA( mm) -phase D 9 - HA Series Model Shaft Wiring eads AMHA7A-N AMHA7A-N AMHAA-N AMHAA-N A Ø + - ± Ø + - ± -(:) Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg ± ± ± 9 9 8 8 9 -M Depth Min AWG U Max ± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SR or ST) AMHA7A Microstep steps/rev urrent A Peak AMHAA Microstep steps/rev urrent A Peak 8 Phases Steps / Revolution ±% Step Accuracy N ( bs)push N ( bs) Pull Radial N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms ± ± Max ) area VA minute Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
NEMA7( mm) -phase D 8-7HD Series Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads AM7HD-N AM7HD-N AM7HD8-N AM7HD8-N AM7HD-N AM7HD-N AM7HDB-N AM7HDB-N A + Ø- ± ± ± + Ø- -(:) ± Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg 8 98 9 7 8 8 8 8 8 8 ± AWG U Torque urves (Recommended Driver: SR or ST) Torque(N m) Torque(N m) AM7HD Microstep steps/rev urrent 8A Peak AM7HDB Microstep steps/rev urrent 8A Peak 7 Torque(N m) Phases Steps / Revolution ±% Step Accuracy N ( bs)push N ( bs) Pull Radial N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms Max ± ± -M Depth Min ± Max These dimensions are for the double shaft models For the single shaft models, ignore the ( ) area AM7HD8 Microstep steps/rev urrent 8A Peak Torque(N m) VA minute AM7HD Microstep steps/rev urrent 8A Peak
NEMA7( mm) -phase D 9-7HA Series Model Shaft Wiring eads AM7HAA-N AM7HAA-N AM7HAA-N AM7HAA-N AM7HAA-N AM7HAA-N A Ø + - Ø + - ± ± ± -(:) ± Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg 8 98 7 8 8 8 ± -M Depth Min AWG U Max ± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SR or ST) AM7HAA Microstep steps/rev urrent A Peak AM7HAA Microstep steps/rev urrent A Peak Phases Steps / Revolution ±% Step Accuracy N ( bs)push N ( bs) Pull Radial N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms ± ± Max ) area AM7HAA Microstep steps/rev urrent A Peak VA minute Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations 7
NEMA( mm) -phase D 8 - HS Series Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations 8 Model Shaft Wiring eads AMHS- AMHS- AMHS9- AMHS9- AMHS- AMHS- AMHS- AMHS- AMHS- AMHS- AMHS- AMHS- A Ø8± ± 8± Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg 8 7 8 9 ± ± ± + Ø- -(:) 8± 8 7 8 7 ± AWG U Max 7± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SR or ST) AMHS Microstep steps/rev V 8V urrent A Peak AMHS Microstep steps/rev V 8V 7V urrent A Peak Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms AMHS9 Microstep steps/rev V 8V urrent A Peak 8 AMHS Microstep steps/rev V 8V 7V urrent A Peak 8 ± 8 Torque(N m) -Ø + - 7± Max ) area AMHS Microstep steps/rev urrent A Peak AMHS Microstep steps/rev V 8V 7V urrent A Peak 8 9 VA minute
NEMA( mm) -phase D 8 - HS PowerPlus Series (mm Shaft) Model Shaft Wiring eads AMHSA- AMHSA- AMHS8A- AMHS8A- AMHSAA- AMHSAA- AMHSB- AMHSB- AMHS8B- AMHS8B- AMHSAB- AMHSAB- A Ø8± ± ± ± 8± Ø- -(:) Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg 8± 9 8 8 77 9 8 8 77 7 ± ± AWG U 7± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SR or ST) Torque(N m) AMHSB Microstep steps/rev urrent A Peak Torque(N m) AMHSB Microstep steps/rev V 8V urrent A Peak V 8V AMHS8A Microstep steps/rev urrent A Peak 9 Torque(N m) Torque(N m) Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms AMHS8B Microstep steps/rev urrent A Peak 9 ± Torque(N m) -Ø + 7± Max ) area AMHSAA VA minute Microstep steps/rev V 8V urrent A Peak 8 8 Torque(N m) AMHSAB Microstep steps/rev urrent A Peak Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations 9
NEMA( mm) -phase D 8 - HS PowerPlus Series (8mm Shaft) Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads AMHSB- AMHSB- AMHS8B- AMHS8B- AMHSAB- AMHSAB- A Ø8± Ø8 + - ± ± ± 8± -(:) 7± Ø Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg ± 9 8 8 77 7 + - D-D(:) ± ± D 8± AWG U 7± ± ± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SR or ST) Torque(N m) AMHSB Microstep steps/rev urrent A Peak V 8V AMHS8B Microstep steps/rev urrent A Peak 9 Torque(N m) Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms 8 Torque(N m) AMHSAB Microstep steps/rev urrent A Peak -Ø + 7± Max ) area VA minute
NEMA( mm) -phase D 8 - HS Series Model Shaft Wiring eads AMHS-8N AMHS-N AMHS-N AMHS-N A Ø8± ± ± ± 7± + Ø8-7± -(:) 7± 9 Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg 8 8 9 + Ø- ± ± D D D-D(:) AWG U 8± Max 7± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SR or ST) Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs)at Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms ± -ر 7± Max ) area VA minute Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors AMHS Microstep steps/rev urrent A Peak V 8V 7V AMHS Microstep steps/rev urrent A Peak V 8V 7V 8 8 onfigurations
Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations NEMA( 8mm) -phase D 8 - HD Series Model Shaft Wiring eads AMHD-8 AMHD-9 AMHD- AMHD-7 AMHD-7 AMHD-8 AMHD- AMHD- A Ø7± 7± ± ± - ± Holding Torque urrent Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg AWG U ± () 9 9 8 7 7 7 9 7 8 ± ± () D D D-D(:) 8Max 9± + Ø9- + Ø- ± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SR or ST) Torque(N m) Torque(N m) AMHD Microstep steps/rev V 8V 7V urrent 7A Peak AMHD Microstep: steps/rev urrent: 7A(Peak) 8 V 8V 7V ± Torque(N m) AMHD Microstep steps/rev urrent 7A Peak Phases Steps / Revolution ±% Step Accuracy N ( bs)push N ( bs) Pull Radial N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms 8± V 8V 7V () Torque(N m) -ر 9± 8Max ) area VA minute AMHD Microstep: steps/rev V 8V 7V urrent: 7A(Peak) 8 7
NEMA( mm) -phase A8 - HS Series Model Shaft Wiring eads Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg AMHS9- VA A AMHS- 7 8 minute Ø8± + Ø8- ± ± ± 8± -(:) 7± AWG U Torque urves (Recommended Driver: SRA or STA) AMHS9 Microstep steps/rev urrent A Peak 9 V Torque(mN m) AMHS Microstep steps/rev urrent A Peak 8 Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms V 7± -Ø + - ± 7± Max Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
NEMA( mm) -phase A8 - HS Series Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg AMHS-N A 8 9 Ø + -9 Ø + - ± ± ± 7± -(:) 9± AWG U ± ± Torque urves (Recommended Driver: SRA or STA) AMHS Microstep steps/rev urrent A Peak V Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms ± -ر ± ± VA minute
NEMA( 8mm) -phase A 8 - HD Series Model Shaft Wiring eads Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg AMHD8- AMHD8- AMHD8-7 8 (V Series 9 AMHD8- connection) B(Parallel) 8 9 / AMHD8- (Series) 8 7 AMHD8- (V Parallel connection) AMHD8-7 7 8 AMHD8- Wiring Diagram / B See Page 9 + Ø- + Ø9- - ± D-D(:) 8± 9 ± Ø7± 7± ± ± ± AWG U ± () ± ± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SRA or STA) Torque(N m) Torque(N m) AMHD8 Microstep steps/rev V / V urrent 8A / A Peak AMHD8 Microstep steps/rev V / V urrent 8A / A Peak Torque(N m) Torque(N m) Phases Steps / Revolution ±% Step Accuracy N ( bs)push N ( bs) Pull Radial N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms () AMHD8 Microstep steps/rev V / V urrent 8A / A Peak AMHD8 Microstep steps/rev V / V urrent 8A / A Peak 7 D D Torque(N m) 8Max 9± () ) area VA minute -ر 9± 8Max AMHD8 Microstep steps/rev V / V urrent 8A / A Peak Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
NEMA( mm) -phase A 8 - HS Series Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads AMHSA- Holding Torque urrent Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg 98 8 AMHSA- A 9 9 8 AMHSA- 7 Ø - - : 8 + -8 - M Min ر ± + ± ± Ground AWG8 U ± () () Torque urves (Recommended Driver: SRA or STA) AMHSA Microstep: steps/rev urrent: A(Peak) 8 V AMHSA Microstep: steps/rev urrent: A(Peak) 8 Phases Steps / Revolution ±% Step Accuracy N ( bs)push N ( bs) Pull Radial N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms V Max 89± () AMHSA Microstep: steps/rev urrent: 7A(Peak) V 89± Max VA minute -Ø8 +
NEMA( mm) -phase D8 - HS Series IP Type Model Shaft Wiring eads Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg AMHS- 7 VA A AMHS- 87 8 7 minute Ø8± ± ± ± 7± + Ø- -(:) 8± ± Oil AWG U7 Torque urves (Recommended Driver: SR or ST) AMHS Microstep steps/rev urrent A Peak 8 V 8V 7V Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms AMHS Microstep steps/rev V 8V 7V urrent A Peak 8 9 7± -Ø + - 7± Max Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations 7
NEMA( mm) -phase D8 - HS Series IP Type Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg AMHS-N A 9 9 Ø8± ± ± ± 8± + Ø8- -(:) 7± Oil AWG U7 Torque urves (Recommended Driver: SR or ST) urrent A Peak 8 AMHS Microstep steps/rev V 8V 7V Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms ± 7± ± -ر 7± ± VA minute 8
NEMA( 8mm) -phase D8 - HD Series IP Type Model Shaft Wiring eads Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg AMHD- 98 8 7 VA A 7 AMHD- 7 7 9 7 8 minute ± Ø7± ± + Ø- 7± ± ± - 9 ± ± AWG U7 Torque urves (Recommended Driver: SR or ST) Torque(N m) AMHD Microstep steps/rev urrent 7A Peak AMHD V 8V 7V Microstep: steps/rev urrent: 7A(Peak) Torque(N m) Phases Steps / Revolution ±% Step Accuracy N ( bs)push N ( bs) Pull Radial N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms ± oil V 8V 7V 8 7 8± 9± -ر 9± 8± Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations 9
NEMA7( mm) -phase D8-7HD Series Brake type ± ± Brake Max ± Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Ø - Ø - ± - Model Shaft Wiring eads ength Holding Torque AM7HD-BR : ± AWG U Red(V+) Black(V-) Drive current Resistance () Rotor Inertia -M Depth Min Brake Torque AWG U Brake Power mm Nm A/Phase Ω/Phase g cm Nm V(W) Kg AM7HD8-BR Single 8 8 9 7 () A AM7HD-BR Shaft 7 8 8 () Mass 8 8 () 8 AM7HDB-BR 88 8 8 () 7 Torque urves (Recommended Driver: SR or ST) Torque(N m) Torque(N m) AM7HD Microstep steps/rev urrent 8A Peak AM7HDB Microstep steps/rev urrent 8A Peak 7 Torque(N m) AM7HD8 Microstep steps/rev urrent 8A Peak Torque(N m) ± ± Max Dielectric VA minute AM7HD Microstep steps/rev urrent 8A Peak
NEMA( mm) -phase D8 - HS Series Brake type ± Brake 7± -Ø + - Ø8± Ø8 - Model Shaft Wiring eads Holding Torque ± ID ID ± 8± D-D : Drive current 7± Resistance = AWG U Red(V+) Black(V-) Rotor Inertia Brake Torque AWG U Brake Power mm Nm A/Phase Ω/Phase g cm Nm V(W) Kg AMHSB-BR 8 8 8 () AMHS8B-BR Single Shaft A 9 () 8 AMHSAB-BR 8 7 () Torque urves (Recommended Driver: SR or ST) Torque(N m) AMHSB Microstep steps/rev urrent A Peak V 8V AMHS8B Microstep steps/rev urrent A Peak 9 Torque(N m) 8 Torque(N m) AMHSAB Microstep steps/rev urrent A Peak ± Mass 7± Max Dielectric VA minute Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
NEMA( mm) -phase D8 - HS Series Brake type ± Brake ± 7± -ر Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Ø8 - ± I I ± 7± Ø8-7± - : 9 ' 7± Holding Torque Drive urrent = AWG U Red(V+) Black(V-) Rotor Inertia AWG U Brake Torque ± Brake Power Resistance Mass Model Shaft Wiring eads mm Nm A/Phase Ω/Phase g cm Nm V(W) Kg AMHS-BR Single 9 A () AMHS-BR Shaft 9 Torque urves (Recommended Driver: SR or ST) AMHS Microstep steps/rev V 8V 7V urrent A Peak 8 AMHS Microstep steps/rev V 8V 7V urrent A Peak 8 7± ± Dielectric VA minute
NEMA( mm) -phase A8 - HS Series Brake type ± ± ± -Ø + Brake Ø - Ø - ± ± - : 7± Model Shaft Wiring eads Holding Torque AMHS-BR Single Shaft 9± Drive current Resistance Ground = AWG U7 Yellow/Green AWG U Red(V+)/Black(V-) Rotor Inertia AWG U Brake Torque Brake Power 9± mm Nm A/Phase Ω/Phase g cm Nm V(W) Kg A 9 () Torque urves (Recommended Driver: SRA or STA) AMHS Microstep steps/rev urrent A Peak V ± Mass ± ± Dielectric VA minute Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
NEMA( 8mm) -phase D8 / -phase A8 -HD Series Brake type 7± 8± 9± -ر ± Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Ø7± Model Shaft Wiring eads AMHD-BR ± ± Ø - AWG U - ± 9 ± ± ± Red(V+)/Black(V-) () Rotor Drive urrent Resistance Holding Torque Inertia Brake Torque Brake Power mm Nm A/Phase Ω/Phase g cm Nm V(W) Kg 8 AMHD-BR A 8 7 8 AMHD-BR 77 7 9 7 () AMHD8-BR 8 AMHD8-BR 8 8 8(VA) 8 AMHD8-BR 77 7 7 Torque urves (Recommended Driver: SR or ST) Torque(N m) AMHD Microstep steps/rev V 8V 7V urrent 7A Peak Torque(N m) AMHD Microstep steps/rev urrent 7A Peak V 8V 7V Torque urves (Recommended Driver: SRA or STA) Torque(N m) AMHD8 Microstep steps/rev V / V urrent 8A / A Peak Torque(N m) AMHD8 Microstep steps/rev V / V urrent 8A / A Peak Torque(N m) Torque(N m) () Mass AMHD Microstep: steps/rev V 8V 7V urrent: 7A(Peak) 8 7 AMHD8 Microstep steps/rev V / V urrent 8A / A Peak 7 9± 8± Dielectric VA minute VA minute
NEMA7( mm) -phase D8-7HD Series Planetary Reducer Motor Type Ø -8 ± Ø Ø - Ø AWG U ± -M Depth M Depth Model Wiring Drive Maximum Maximum Rotor current Reduction Accuracy Noise Mass Series output torque load torque Inertia Efficiency ratio mm A/Phase arc-min Nm Nm gcm db Kg AM7HD-PG 8 9 9% AM7HD-PG 8 8 9% AM7HD-PG 8 9% A 8 < AM7HD8-PG 7 9% AM7HD8-PG 7 7 9% AM7HD8-PG 8 8 9% 8 Torque urves 8 8 AM7HD-PG Microstep steps/rev urrent 8A(Peak) V 8V 8 AM7HD8-PG Microstep: steps/rev V 8V urrent: 8A(Peak) 8 (Recommended Driver: SR or ST) AM7HD-PG Microstep steps/rev urrent 8A(Peak) V 8V AM7HD8-PG Microstep: steps/rev urrent: 8A(Peak) V 8V 8 AM7HD-PG Microstep: steps/rev urrent: 8A(Peak) V 8V AM7HD8-PG Microstep: steps/rev urrent: 8A(Peak) V 8V Ø Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
NEMA7( mm) -phase D8-7HD Series Planetary Reducer Motor Type Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model AM7HD-PG Wiring Ø -8 ± Ø Ø - Ø AWG U ± -M Depth M Depth Drive current Series Reduction Maximum Maximum Rotor Accuracy Noise Mass output torque load torque Inertia Efficiency ratio mm A/Phase arc-min Nm Nm gcm db Kg 8 9% AM7HD-PG 8 8 8 9% 8 AM7HD-PG 88 8 9% 7 A < AM7HDB-PG 7 9% 9 AM7HDB-PG 8 9% 9 AM7HDB-PG 7 9 9% Torque urves AM7HD-PG Microstep steps/rev urrent 8A(Peak) V 8V 8 AM7HDB-PG Microstep steps/rev urrent 8A(Peak) V 8V 8 (Recommended Driver: SR or ST) AM7HD-PG Microstep: steps/rev urrent: 8A(Peak) V 8V AM7HDB-PG Microstep steps/rev urrent 8A(Peak) V 8V 8 8 AM7HD-PG Microstep: steps/rev urrent: 8A(Peak) V 8V AM7HDB-PG Microstep steps/rev urrent 8A(Peak) V 8V Ø 8
NEMA( mm) -phase D8 - HS Series Planetary Reducer Motor Type ± ± Ø -8 Ø Model AMHSB-PG Wiring Ø7 Ø - Ø M Depth Ø AWG U ± ± -M DEPTH 8 Drive current Series Reduction Maximum Maximum Rotor Accuracy Noise Mass output torque load torque Inertia Efficiency ratio mm A/Phase arc-min Nm Nm gcm db Kg 9% < AMHSB-PG 8 9% < AMHSB-PG 9% < AMHS8B-PG 8 7 7 9% < AMHS8B-PG A 8 9% < AMHS8B-PG 8 9% < AMHSAB-PG 9 9% < 8 AMHSAB-PG 9% < 8 AMHSAB-PG 9% < 7 Torque urves 8 AMHSB-PG Microstep steps/rev urrent A(Peak) V 8V 8 AMHS8B-PG Microstep steps/rev urrent A(Peak) 8 AMHSAB-PG Microstep: steps/rev urrent: A(Peak) V V 8V 8V (Recommended Driver: SR or ST) 7 8 8 AMHSB-PG Microstep steps/rev urrent A(Peak) V 8V AMHS8B-PG Microstep steps/rev urrent A(Peak) V 8V AMHSAB-PG Microstep: steps/rev urrent: A(Peak) V 8V 8 AMHSB-PG Microstep steps/rev urrent A(Peak) V 8V AMHS8B-PG Microstep steps/rev urrent A(Peak) V 8V AMHSAB-PG Microstep: steps/rev V 8V urrent: A(Peak) Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors 8 onfigurations 7
NEMA( mm) -phase D8 - HS Series Planetary Reducer Motor Type ± ± Ø -8 Ø Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model AMHS-PG Wiring Ø7 Ø - Ø M Depth Ø AWG U ± ± -M DEPTH 8 Drive current Series Reduction Maximum Maximum Rotor Accuracy Noise Mass output torque load torque Inertia Efficiency ratio mm A/Phase arc-min Nm Nm gcm db Kg 7 9% < AMHS-PG 7 9% < AMHS-PG 8 9% < 87 A AMHS-PG 8 9% < AMHS-PG 8 9 9% < AMHS-PG 7 9% < Torque urves 8 AMHS-PG Microstep steps/rev urrent A(Peak) V 8V 8 AMHS-PG Microstep steps/rev urrent A(Peak) V 8V 8 (Recommended Driver: SR or ST) 8 AMHS-PG Microstep steps/rev urrent A(Peak) V 8V AMHS-PG Microstep steps/rev urrent A(Peak) V 8V AMHS-PG Microstep steps/rev urrent A(Peak) V 8V AMHS-PG Microstep steps/rev urrent A(Peak) V 8V 8
NEMA( 8mm) -phase D8 - HD Series Planetary Reducer Motor Type Model AMHD-PG Wiring Ø - ± 8 Ø Ø - Ø8 () -M Depth Ø7 8± AWG8 U ± () () 8± M Depth 8 Drive current Series Reduction Maximum Maximum Rotor Accuracy Noise Mass output torque load torque Inertia Efficiency ratio mm A/Phase arc-min Nm Nm gcm db Kg 7 7 9% AMHD-PG 7 9% 7 AMHD-PG 88 9% AMHD-PG 9% 8 AMHD-PG A 7 8 9% < 8 AMHD-PG 8 7 9% AMHD-PG 9 87 9% 9 AMHD-PG 9 7 7 9% 9 AMHD-PG 7 9% Torque urves 8 AMHD-PG Microstep steps/rev urrent 7A(Peak) 8 AMHD-PG Microstep steps/rev urrent 7A(Peak) (Recommended Driver: SR or ST) V 8V 7V 8 AMHD-PG Microstep: steps/rev urrent: 7A(Peak) V 8V 7V V 8V 7V 8 AMHD-PG Microstep steps/rev urrent 7A(Peak) V 8V 7V AMHD-PG Microstep: steps/rev V 8V 7V urrent: 7A(Peak) AMHD-PG Microstep: steps/rev urrent: 7A(Peak) V 8V 7V 8 AMHD-PG Microstep steps/rev urrent 7A(Peak) V 8V 7V AMHD-PG Microstep: steps/rev V 8V 7V urrent: 7A(Peak) AMHD-PG Microstep: steps/rev urrent: 7A(Peak) V 8V 7V 7 Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors 8 8 onfigurations 9
NEMA( 8mm) -phase A8 - HD Series Planetary Reducer Motor Type Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model AMHD8-PG Wiring Ø - ± 8 Ø Ø - Ø8 () -M Depth Ø7 8± AWG8 U ± () () 8± M Depth 8 Drive current Series Reduction Maximum Maximum Rotor Accuracy Noise Mass output torque load torque Inertia Efficiency ratio mm A/Phase arc-min Nm Nm gcm db Kg 7 7 9% AMHD8-PG 7 9% 7 AMHD8-PG 88 9% AMHD8-PG 9% 8 AMHD8-PG 8 8 9% < 8 AMHD8-PG 8 7 9% AMHD8-PG 9 87 9% 9 AMHD8-PG 9 7 7 9% 9 AMHD8-PG 7 9% Wiring Diagram See Page 9 Torque urves 8 AMHD8-PG Microstep steps/rev urrent 8A(Peak) 8 AMHD8-PG Microstep steps/rev urrent 8A(Peak) (Recommended Driver: SRA or STA) V 8 AMHD8-PG Microstep steps/rev urrent 8A(Peak) V V 8 7 AMHD8-PG Microstep steps/rev urrent 8A(Peak) V AMHD8-PG Microstep: steps/rev urrent: 8A(Peak) V AMHD8-PG Microstep steps/rev urrent 8A(Peak) V 8 8 AMHD8-PG Microstep steps/rev urrent 8A(Peak V AMHD8-PG Microstep: steps/rev urrent: 8A(Peak) V AMHD8-PG Microstep steps/rev urrent 8A(Peak) V 7
NEMA7( mm) -phase D 8-7HD Series Encoder Type ± 9± Max ± () + Ø - -(:) Encode Electrical Specification Resolution Supply urrent (no load) Output Voltage ow Output Voltage High ± ounts/rev( ine) Typ ma/max 9mA V@mA Max V@-mA Min A leads B for clockwise shaft rotation, and B leads A for counterclockwise rotation viewed from direction H Mating onnectors Housing: Molex# -- rimp: Molex# --8 rimp Tool: Molex# -7 omponent model: E-onnector (8) A Ø + - ± PIN 9 ± View A PIN PIN PIN H Encoder -M Depth Min AWG U ± ± Max Pin Signal N Ground Index- Index+ A- Pin 7 8 9 Signal A+ +V D N B- B+ Accessories(Sold Separately) General encoder able P/N: - ength: m P/N: 9- ength: m Encoder cable used with MOONS drive P/N: - ength: m P/N: - ength: m Holding Torque Drive current Model Wiring eads Resistance Rotor Inertia Motor Mass mm N m A/Phase Ω/Phase g cm Kg AM7HD-ED 8 8 AM7HD8-ED 98 8 9 7 8 A AM7HD-ED 8 8 8 AM7HDB-ED 8 8 Torque urves (Recommended Driver: SR or ST) Torque(N m) AM7HD Microstep steps/rev urrent 8A Peak Torque(N m) AM7HD8 Torque(N m) AM7HD Microstep steps/rev urrent 8A Peak Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors Torque(N m) AM7HDB Microstep steps/rev urrent 8A Peak 7 onfigurations
NEMA( mm) -phase D 8 - HS Series Encoder Type ± 9± 7± -Ø + - Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations () Ø - -(:) Encode Electrical Specification Resolution Supply urrent (no load) Output Voltage ow Output Voltage High 8± ounts/rev( ine) Typ ma/max 9mA V@mA Max V@-mA Min A leads B for clockwise shaft rotation, and B leads A for counterclockwise rotation viewed from direction H Mating onnectors Housing: Molex# -- rimp: Molex# --8 rimp Tool: Molex# -7 omponent model: E-onnector arameters A (8) Ø8± ± ± 8± PIN 9 View A PIN PIN PIN H Encoder AWG U ± 7± Max Pin Signal N Ground Index- Index+ A- Pin 7 8 9 Signal A+ +V D N B- B+ Accessories(Sold Separately) General encoder able P/N: - ength: m P/N: 9- ength: m Encoder cable used with MOONS drive P/N: - ength: m P/N: - ength: m Holding Torque Drive current Resistance Rotor Inertia Motor Mass Model Wiring eads mm N m A/Phase Ω/Phase g cm Kg AMHS-ED 8 AMHS9-ED AMHS-ED 7 8 9 A AMHS-ED 8 AMHS-ED AMHS-ED 7 8 7 Torque urves (Recommended Driver: SR or ST) AMHS Microstep steps/rev V 8V urrent A Peak AMHS Microstep steps/rev V 8V 7V urrent A Peak AMHS9 Microstep steps/rev V 8V urrent A Peak 8 AMHS Microstep steps/rev V 8V 7V urrent A Peak 8 8 Torque(N m) AMHS Microstep steps/rev urrent A Peak AMHS Microstep steps/rev V 8V 7V urrent A Peak 8 9
NEMA( mm) -phase D 8 - HD Series Encoder Type ± 9± Max 7± -ر () + Ø8-7± -(:) Encode Electrical Specification Resolution Supply urrent (no load) Output Voltage ow Output Voltage High 9 7± ounts/rev( ine) Typ ma/max 9mA V@mA Max V@-mA Min A leads B for clockwise shaft rotation, and B leads A for counterclockwise rotation viewed from direction H Mating onnectors Housing: Molex# -- rimp: Molex# --8 rimp Tool: Molex# -7 omponent model: E-onnector A (8) Ø8± ± ± PIN 9 View A PIN PIN PIN H Encoder AWG U Pin Signal N Ground Index- Index+ A- Pin 7 8 9 Signal A+ +V D N B- B+ Accessories(Sold Separately) General encoder able P/N: - ength: m P/N: 9- ength: m Encoder cable used with MOONS drive P/N: - ength: m P/N: - ength: m Holding Torque Drive current Model Wiring eads Resistance Rotor Inertia Motor Mass mm N m A/Phase Ω/Phase g cm Kg AMHS-ED 8 A AMHS-ED 8 9 Torque urves (Recommended Driver: ST or SR) AMHS Microstep: steps/rev V 8V 7V urrent: A(Peak) 8 AMHS Microstep steps/rev V 8V 7V urrent A Peak 8 ± 7± Max Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
NEMA( 8mm) -phase D8 - HD Series Encoder Type 8REF 7± ± 9± 8± 9± -ر Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations () ± Ø + - -(:) Encode Electrical Specification Resolution ounts/rev( ine) Supply urrent (no load) Typ ma/max 9mA Output Voltage ow V@mA Max Output Voltage High V@-mA Min A leads B for clockwise shaft rotation, and B leads A for counterclockwise rotation viewed from direction H Mating onnectors Housing: Molex# -- rimp: Molex# --8 rimp Tool: Molex# -7 omponent model: E-onnector A (8) 9 ± ± 8REF Ø7± ± AWG U ± ± PIN 9 ± View A PIN PIN PIN () () Encoder H () 9± 8± Pin Signal N Ground Index- Index+ A- Pin 7 8 9 Signal A+ +V D N B- B+ Accessories(Sold Separately) General encoder able P/N: - ength: m P/N: 9- ength: m Encoder cable used with MOONS drive P/N: - ength: m P/N: - ength: m Model Wiring eads Drive Rotor Holding Torque current Resistance Inertia (Ω/Phase) Motor Mass mm N m A/Phase g cm Kg AMHD-ED AMHD-ED A 9 7 8 7 AMHD-ED 7 9 7 8 Torque urves (Recommended Driver: ST or SR) Torque(N m) AMHD Microstep steps/rev V 8V 7V urrent 7A Peak Torque(N m) AMHD Microstep steps/rev urrent 7A Peak V 8V 7V Torque(N m) Dielectric VA minute AMHD Microstep: steps/rev V 8V 7V urrent: 7A(Peak) 8 7
NEMA( 8mm) -phase A8 - HD Series Encoder Type 8REF 7± ± 9± 8± 9± -ر () ± Ø + - -(:) Encode Electrical Specification Resolution ounts/rev( ine) Supply urrent (no load) Typ ma/max 9mA Output Voltage ow V@mA Max Output Voltage High V@-mA Min A leads B for clockwise shaft rotation, and B leads A for counterclockwise rotation viewed from direction H Mating onnectors Housing: Molex# -- rimp: Molex# --8 rimp Tool: Molex# -7 omponent model: E-onnector A (8) 9 ± ± Holding Torque 8REF Ø7± ± AWG U ± ± PIN 9 ± View A PIN PIN PIN () () Encoder H () Pin Signal N Ground Index- Index+ A- Pin 7 8 9 Signal A+ +V D N B- B+ Accessories(Sold Separately) General encoder able P/N: - ength: m P/N: 9- ength: m Encoder cable used with MOONS drive P/N: - ength: m P/N: - ength: m Drive current (A/Phase) Resistance (Ω/Phase) Rotor Inertia Motor Mass Model Wiring eads mm N m Series Parallel Series Parallel g cm Kg AMHD8-ED 9 8(When (When B(Parallel) AMHD8-ED 8 9 drive by drive by 9 8 7 (Series) VA) VA) AMHD8-ED 7 7 8 Wiring Diagram AB See Page 9 Torque urves (Recommended Driver: SRA or STA) Torque(N m) AMHD8 Microstep steps/rev V / V urrent 8A / A Peak Torque(N m) AMHD8 Microstep steps/rev V / V urrent 8A / A Peak Torque(N m) 9± 8± Dielectric VA minute AMHD8 Microstep steps/rev V / V urrent 8A / A Peak 7 Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
NEMA7( mm) -phase D - 7H Series Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads AM7HA-N AM7HA-N AM7HA-N AM7HA-N Wiring Diagram D See Page 9 D Ø - ± ± ± Ø + - ØMax -(:) ± Holding Torque Drive urrent Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg ± (7) 9 7 8 () () (Ø) () () 8± ± These dimensions are for the double shaft models For the single shaft models, ignore the ( Housing P/N:JST PHR- rimp P/N:JST SPH-T-PS Torque urves (Recommended Driver: ST or SR) AM7HA Microstep steps/rev urrent A Peak AM7HA Microstep: steps/rev urrent: A(Peak) Phases Steps / Revolution ±% Step Accuracy N ( bs) Push N ( bs) Pull Radial 9 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms PIN NO ± -M DEPTH Min () AWG U ) area VA minute
NEMA( mm) -phase D - H Series 7 Flange Demension Model Shaft Wiring eads AMH- Holding Torque Drive urrent Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg 8 AMH- D 9 8 8 AMH- 7 Wiring Diagram D See Page 9 Ø8± ± ± ± ± + Ø8- -(:) 7± AWG U Torque urves (Recommended Driver: ST or SR) Torque (N m) AMH Microstep steps/rev urrent 7A Peak V 8V 7V Torque (N m) AMH Microstep steps/rev urrent 7A Peak Phases Steps / Revolution ±% Step Accuracy N (9 bs) Push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms V 8V 7V Max 7 ± Torque (N m) ± -Ø + - 7 ± Max AMH Microstep steps/rev V 8V 7V urrent 7A Peak VA minute Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations 7
NEMA( mm) -phase D - H Series Flange Demension Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads AMH- Holding Torque Drive urrent Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg 8 AMH8- D 9 8 8 AMH-7 7 Wiring Diagram D See Page 9 + Ø- + Ø8- ± ± ± ± -(:) ± AWG U Torque urves (Recommended Driver: ST or SR) AMH V 8V 7V Torque(N m) AMH8 V 8V 7V 8 Torque(N m) Phases Steps / Revolution ±% Step Accuracy N (9 bs) Push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms Max 98± ± -Ø + - 98± Max AMH V 8V 7V 9 Torque(N m) VA minute 8
NEMA( 8mm) -phase D - H Series Model Shaft Wiring eads AMH- Holding Torque Drive urrent Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg AMH- D 9 7 8 8 7 AMH- 9 7 8 Wiring Diagram D See Page 9 ± Ø7± ± + Ø- 7± ± ± () AWG8 U ± () -(:) 9 ± ± Torque urves (Recommended Driver: ST or SR) Torque (N m) AMH Microstep steps/rev urrent 7A Peak V 8V 7V Torque (N m) AMH Microstep steps/rev urrent 7A Peak Phases Steps / Revolution ±% Step Accuracy N ( bs) Push N ( bs) Pull Radial N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms V 8V 7V Torque (N m) 8± 9± () -ر 9± 8± AMH Microstep steps/rev V 8V 7V urrent 7A Peak VA minute Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations 9
NEMA( 8mm) -phase A - H Series Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads AMH- Holding Torque Drive urrent Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg 8 8 AMH- D 9 7 8 7 AMH7-7 8 Wiring Diagram D See Page 9 ± Ø7± ± + Ø- 7± ± ± () AWG8 U ± () -(:) 9 ± ± Torque urves (Recommended Driver: SRA) N m) Torque ( AMH V N m) Torque ( AMH Phases Steps / Revolution ±% Step Accuracy N ( bs) Push N ( bs) Pull Radial N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms V N m) Torque ( 8± 9± () -ر 9± 8± AMH7 V VA minute
NEMA( mm) -phase D 8 - HS U Series Model Shaft Wiring eads MSHS8A- MSHS8A- MSHS88A- MSHS88A- MSHSA8A- MSHSA8A- MSHSl7A- MSHS7A- MSHS87A- MSHS87A- MSHSA7A- MSHSA7A- A Ø8± ± 8± Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg 8 7 8 9 ± ± ± + Ø- -(:) 8± 8 7 8 7 ± AWG U Max 7± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SR or ST) AMHS Microstep steps/rev V 8V urrent A Peak MSHSl7A Microstep steps/rev V 8V 7V urrent A Peak Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms MSHS88A Microstep steps/rev V 8V urrent A Peak 8 MSHS87A Microstep steps/rev V 8V 7V urrent A Peak 8 ± 8 Torque(N m) -Ø + - 7± Max ) area MSHSA8A Microstep steps/rev urrent A Peak MSHSA7A Microstep steps/rev V 8V 7V urrent A Peak 8 9 VA minute Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
NEMA( mm) -phase D 8 - HS U Series Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads MSHSA- MSHSA- MSHSA- MSHSA- A Ø8± ± ± ± 7± + Ø8-7± -(:) 7± 9 Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg 8 8 9 + Ø- ± ± D D D-D(:) AWG U 8± Max 7± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SR or ST) MSHSA Microstep steps/rev urrent A Peak 8 V 8V 7V Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs)at Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms MSHSA Microstep steps/rev V 8V 7V urrent A Peak 8 ± -ر 7± Max ) area VA minute
NEMA( 8mm) -phase D 8 - HD U Series Model Shaft Wiring eads MSHD77- MSHD77- MSHD7- MSHD7- MSHD- MSHD- A Ø7± 7± ± ± - ± Phases Steps / Revolution ±% Step Accuracy N ( bs)push N ( bs) Pull Radial N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg AWG U ± () + Ø- 9 ± 9 7 8 7 7 9 7 8 + Ø9- ± ± () D D D-D(:) 8Max 9± () ± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SR or ST) Torque(N m) MSHD77 Microstep steps/rev V 8V 7V urrent 7A Peak Torque(N m) MSHD7 Microstep steps/rev urrent 7A Peak 8± V 8V 7V Torque(N m) -ر 9± 8Max ) area VA minute MSHD Microstep steps/rev V 8V 7V urrent 7A Peak 8 7 Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
NEMA( mm) -phase A8 - HS U Series Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg MSHS- VA A MSHS- 7 8 minute Ø8± + Ø8- ± ± ± 8± -(:) 7± AWG U Torque urves (Recommended Driver: SRA or STA) MSHS Microstep steps/rev urrent A Peak 9 V Torque(mN m) MSHS Microstep steps/rev urrent A Peak 8 Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms V 7± -Ø + - ± 7± Max
NEMA( mm) -phase A8 - HS U Series Model Shaft Wiring eads Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg MSHS8- A 8 9 Ø + -9 Ø + - ± ± ± 7± -(:) 9± AWG U ± ± Torque urves (Recommended Driver: SRA or STA) MSHS8 Microstep steps/rev urrent A Peak V Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms ± -ر ± ± VA minute Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
NEMA( 8mm) -phase A 8 - HD U Series Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg MSHD8- MSHD8- MSHD8-7 8 (V Series 9 MSHD8- connection) B(Parallel) 8 9 / MSHD8- (Series) 8 7 MSHD8- (V Parallel connection) MSHD88-7 7 8 MSHD88- Wiring Diagram / B See Page 9 + Ø- + Ø9- - ± D-D(:) 8± 9 ± Ø7± 7± ± ± ± AWG U ± () ± ± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SRA or STA) Torque(N m) Torque(N m) MSHD8 Microstep steps/rev V / V urrent 8A / A Peak MSHD8 Microstep steps/rev V / V urrent 8A / A Peak Torque(N m) Torque(N m) Phases Steps / Revolution ±% Step Accuracy N ( bs)push N ( bs) Pull Radial N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms () MSHD8 Microstep steps/rev V / V urrent 8A / A Peak MSHD88 Microstep steps/rev V / V urrent 8A / A Peak 7 D D Torque(N m) 8Max 9± () ) area VA minute -ر 9± 8Max MSHD8 Microstep steps/rev V / V urrent 8A / A Peak
NEMA( mm) -phase A 8 - HS U Series Model Shaft Wiring eads MHS- Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg 98 8 MHS- A 9 9 8 MHS7-7 Ø - - : 8 + -8 - M Min ر ± + ± ± Ground AWG8 U ± () () Torque urves (Recommended Driver: SRA or STA) MHS Microstep: steps/rev urrent: A(Peak) 8 V MHS Microstep: steps/rev urrent: A(Peak) 8 Phases Steps / Revolution ±% Step Accuracy N ( bs)push N ( bs) Pull Radial N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms V Max 89± () MHS7 Microstep: steps/rev urrent: 7A(Peak) V 89± Max VA minute -Ø8 + Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations 7
NEMA( mm) -phase D 8 - HS PowerPlus U Series (mm Shaft) Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations 8 Model Shaft Wiring eads MHS8- MHS8- MHS88- MHS88- MHSA8- MHSA8- MHS7- MHS7-7 MHS87-9 MHS87- MHSA7- MHSA7- A Ø8± ± ± ± 8± Ø- -(:) 8± Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg 9 8 8 77 9 8 8 77 7 ± ± AWG U 7± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SR or ST) Torque(N m) MHS8 Microstep steps/rev urrent A Peak Torque(N m) MHS7 Microstep steps/rev V 8V urrent A Peak V 8V MHS88 Microstep steps/rev urrent A Peak 9 Torque(N m) Torque(N m) Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms MHS87 Microstep steps/rev urrent A Peak 9 ± Torque(N m) Torque(N m) -Ø + 7± Max ) area MHSA8 VA minute Microstep steps/rev V 8V urrent A Peak 8 8 MHSA7 Microstep steps/rev urrent A Peak
NEMA( mm) -phase D 8 - HS PowerPlus U Series (8mm Shaft) Model Shaft Wiring eads MHS7-8 MHS7-9 MHS87- MHS87- MHSA7-7 MHSA7- A Ø8± Ø8 + - ± ± ± 8± -(:) 7± Ø ± Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm N m A/Phase Ω/Phase g cm Kg 9 8 8 77 7 + - D-D(:) ± ± D 8± AWG U 7± ± ± These dimensions are for the double shaft models For the single shaft models, ignore the ( Torque urves (Recommended Driver: SR or ST) Torque(N m) MHS7 Microstep steps/rev urrent A Peak V 8V MHS87 Microstep steps/rev urrent A Peak 9 Torque(N m) Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms 8 Torque(N m) MHSA7 Microstep steps/rev urrent A Peak -Ø + 7± Max ) area VA minute Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations 9
NEMA( mm) -phase D8 - HS U Series IP Type Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg MHS7A- 7 VA A MSHS7-87 8 7 minute Ø8± ± ± ± 7± + Ø- -(:) 8± ± Oil AWG U7 Torque urves (Recommended Driver: SR or ST) MHS7A Microstep steps/rev urrent A Peak 8 V 8V 7V Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms MSHS7 Microstep steps/rev V 8V 7V urrent A Peak 8 9 7± -Ø + - 7± Max
NEMA( mm) -phase D8 - HS U Series IP Type Model Shaft Wiring eads Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg MSHSA- A 9 9 Ø8± ± ± ± 8± + Ø8- -(:) 7± Oil AWG U7 Torque urves (Recommended Driver: SR or ST) urrent A Peak 8 MSHSA Microstep steps/rev V 8V 7V Phases Steps / Revolution ±% Step Accuracy N (9 bs)push N ( bs) Pull Radial 7 N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms ± 7± ± -ر 7± ± VA minute Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
NEMA( 8mm) -phase D8 - HD U Series IP Type Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Model Shaft Wiring eads Holding Torque Drive current Resistance Rotor Inertia Mass Dielectric mm Nm A/Phase Ω/Phase g cm Kg MHD- 98 8 7 VA A 7 MHD- 7 7 9 7 8 minute ± Ø7± ± + Ø- 7± ± ± - 9 ± ± AWG U7 Torque urves (Recommended Driver: SR or ST) Torque(N m) MHD Microstep steps/rev urrent 7A Peak MHD V 8V 7V Microstep steps/rev urrent 7A Peak Torque(N m) Phases Steps / Revolution ±% Step Accuracy N ( bs)push N ( bs) Pull Radial N ( bs) At Flat enter IP Rating Operating Temp - to + Insulation lass B, Insulation Resistance MegOhms ± oil V 8V 7V 8 7 8± 9± -ر 9± 8±
Bearing ife & Shaft oading Moons uses heavy duty long life bearings for long life from every motor Most motors can be provided with larger bearings and custom construction to meet the most demanding applicatons Rodial oads These bearing life curves represent the maximum axial and radial loads for, hours bearing life at various speeds The shaft radial load limit (and bearing load ratings) are highly dependent on the the distance from the mounting face where the load is appliced These curves were calculated with the radial load applied at the distance from the mounting face shown on the curve (usually the center of the flat / keyway) A common cause for shaft (and bearing) failure, are high radial loads that are created when a pulley is attached to the motor shaft at a large distance from the motor mounting face, and the belt has high tension To avoid this condition mount pulleys and gears as close to the face of the motor as possible, and avoid over tightening belts This will dramatically reduce the shaft stress, and increases the life of the bearings Distance From Mounting Axial oads Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
onfigurations Besides all standard motors above, we also provide all kinds of customized motors per request Shaft onfiguration Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations ross Drilled Shaft Gear Plastic Pulley Single Flat Double Flat Key Way Knurl Hobbed Gear Screw Hollow Shaft Dowel Worm Shaft Hollow Shaft onnection onfiguration Encoder Option Gearbox Option Brake Option Integrated ead Wire ead Wire with onnector onnector with harness
Accessory Flange Demension Model Application of screw Maximum oad Scope Of Application AMJZ7-9N(kgf) NEMA7 M(X) AMJZ7-9N(kgf) NEMA7 Ø Flange Demension K -Ø + AMJZ7- K-K ± Ø + Mounting Surface AMJZ- -M 8± K K -ر 8± -M Ø - -8 Ø ± AMJZ7- K-K ± Mounting Surface Ø + 8± K -M K 8± -Ø + Model Application of screw Maximum oad Scope Of Application AMJZ- 9N(kgf) NEMA/NEMA(-phase) M(X) AMJZ- 9N(kgf) NEMA/NEMA(-phase) K K 7± 7± Ø97 ± K-K Instructions for use: reducing mechanical noise 7± Ø8 + + Install motor -ر Ø8 + -R AMJZ- 7± K K 7± K-K Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations
Glossary Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Absolute Position Position referenced to a fixed zero or home position Absolute Programming A positioning coordinate reference wherein all positions are specified relative to some reference or home position; this is different from incremental programming where distances are specified relative to the current position Ambient Temperature The temperature of the medium immediately surrounding a device Amplifier Electronic device that converts command signals (analog or digital) to high power voltages and currents for the operation of the motor ASII American Standard ode for Information Interchange; this code assigns a number to each numeral and letter of the alphabet allowing information to be transmitted between machines as a series of binary numbers Axial Play(End play) The axial shaft displacement due to a reversal of an axial force on the shaft Baud Rate The number of binary bits transmitted per second for serial communications such as RS- Bi-level Drive (Dual Voltage Drive) A driver where two levels of voltage are used to drive a step motor; a high (over drive) voltage is applied to the winding each time it is switched on; the high voltage stays on until the current reaches a predetermined level; the high voltage is turned off after a time period determined experimentally or by sensing winding current; the low voltage maintains the desired current Bipolar Drive A drive that reverses the magnetic polarity of a pole by electronically switching the polarity of the current to the winding (+ or -); bipolar drives can be used with,, or 8 lead motors; with and 8 lead motors, bipolar drives are usually more efficient than unipolar drives and generally produce more torque Brushless Servo Drive A servo drive used to control a permanent magnet synchronous A motor hopper Drive A step motor drive that uses switching amplifiers to control motor current lass B Insulation Specifies motor insulation that is rated for operation up to lass H Insulation Specifies motor insulation that is rated for operation up to 8 losed oop A system that uses some form of feedback device to monitor the system output; the signal from the device is used to correct any errors between actual and demanded output ogging Term used to describe uneven velocity in motors usually at low speeds ommutation Refers to the action of steering currents or voltage to the proper motor phases to produce optimum motor torque In brush type motors, commutation is done electromechanically via the brushes and commutator In brushless motors, commutation is done by the switching electronics using rotor position information typically obtained from hall sensors, tachometers, resolvers or encoders ontroller (Step Motor) A system consisting of a D power supply and power switches plus associated circuits to control the switches in the proper sequence Damping An indication of the rate of decay of a signal to its steady state value; related to settling time Dead Band A range of input signals for which there is no system response Detent Torque The maximum torque required to slowly rotate a step motor shaft with no power applied to the windings; this applies only to permanent magnet or hybrid motors; the leads are separated from each other Drive (PWM) A motor drive utilizing Pulse-Width Modulation techniques to control current to the motor; typically a high efficiency drive that can be used for high response applications Drive (Servo) A motor drive that utilizes motor position feedback with a control loop for accurate control of motor position and/or velocity Drive (Stepper) An electronic package to convert digital step and direction inputs to currents to drive a step motor Duty ycle The percentage of ON time vs OFF time; a device that is always on has a % duty cycle; half on and half off is a % duty cycle
Dynamic Braking A passive technique for stopping a permanent magnet brush or brushless motor; the motor windings are shorted together through a resistor, which results in a motor braking with an exponential decrease in speed Encoder A device used to translate motion into electrical signals used to provide position information; often used as a position/motion feedback device in closed loop systems Encoder Marker Pulse A once-per-revolution signal that is provided by some incremental encoders to specify a reference point within that revolution End Play The axial shaft motion due to the reversal of an axial force acting on a shaft with axial clearance or low axial pre-load Following Error The positional error during motion between a load s actual position and the commanded position Friction - oulomb A resistance to motion between non-lubricated surfaces; this force remains constant with velocity Friction - Viscous A resistance to motion between lubricated surfaces; this force is proportional to the relative velocity between the surfaces Hall Sensors A feedback device built into a motor used by a servo amplifier to electronically commutate the motor Holding Torque (Static Torque) The maximum restoring torque that is developed by the energized motor when the shaft is slowly rotated by external means Hybrid Step Motor A type of step motor comprising a permanent magnet and variable reluctance stator and rotor structures; it uses a double salient pole construction Hysteresis (Positional) The difference between the step positions when moving W and the step position when moving W; a step motor may stop slightly short of the true position thus producing a slight difference in position W to W I/O (Inputs/Outputs) The reception and transmission of information between control devices; I/O has two distinct forms: Digital - switches, relays, etc which are either in an On or Off state; Analog a continuous signal such as speed, temperature, low, etc Idle urrent Reduction Reduction of phase current to a step motor when no motion is required Indexer An electronic control device that sends pulse and direction signals for use by a step motor driver Inductance (Mutual) The property that exists between two current carrying conductors or coils when magnetic lines of flux from one link with those of the other Inductance (Self) The constant by which the rate of change of the coil current must be multiplied to give the selfinduced counter EMF Inertia Measure of resistance of an object to changes in velocity; the larger the inertia, the more torque required to accelerate and decelerate the load Inertial Match Ratio of reflected load inertia to motor inertia Instantaneous START/STOP Rate The maximum switching rate that an unloaded step motor will follow without missing steps when starting from rest or stopping from moving /R Drive A drive that uses external resistance to allow a higher voltage than that of a voltage drive; / R drives have better performance than voltage drives, but have less performance and efficiency than a chopper drive oop, PID A high performance control loop that uses Proportional, Integral and Derivative type control parameters oop, Position A feedback control loop in which the controlled parameter is motor position oop, Velocity A feedback control loop in which the controlled parameter is velocity Maximum Reversing Rate The maximum stepping rate at which an unloaded motor will reverse direction of rotation without missing steps Maximum Slew Rate The maximum stepping rate at which a step motor with no load will run and remain in synchronism Microstepping A technique in which motor steps are electronically divided by the drive into smaller steps; the most common microstep resolutions are, and steps per full step, but many resolutions ranging from to microsteps per full step are available Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations 7
Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Open Frame Drive Refers to amplifiers where a separate D power source must be provided to the unit Open-oop A system with no feedback; most step motor systems are run in this mode Oscillator A device that is used to produce pulses for driving a step motor at a preset speed Overshoot The amount a motor shaft rotates beyond the commanded stopping position Packaged Drive Refers to amplifiers where the power supply is included in the enclosure and /VA is used to power the unit Permanent Magnet Step Motor A step motor having a permanent magnet rotor and wound stator Pull-In Rate (Response Rate) The maximum switching rate at which an unloaded motor can start without losing step positions Pull-In Torque The maximum torque load at which a step motor will start and run in synchronism with a fixed frequency stepping rate without losing step positions Pull-out Torque The maximum torque load that can be applied to a motor running at a fixed stepping rate while maintaining synchronism; any additional load torque will cause the motor to stall or miss steps Pulse Rate The rate at which successive steps are initiated or the windings switched; the pulse rate divided by the resolution of the motor/drive combination (in steps per revolution) equals the rotational speed of the motor in revolutions per second PWM (Pulse Width Modulation) A method of controlling motor voltage and current used in servo and step motor drivers Radial Play (Side play) The side-to-side movement of the shaft due to clearances between the shaft and bearing, bearing to housing, and bearing internal clearance for ball and roller bearings Ramping The acceleration and deceleration of a motor; may also refer to the change in frequency of the step pulse train Rated Torque The torque producing capability of a motor at a given speed; this is the maximum continuous torque the motor can deliver to a load Regeneration The action during deceleration, in which the motor acts as a generator and takes kinetic energy from the load, converts it to electrical energy, and returns it to the amplifier Repeatability The degree to which the positioning accuracy for a given move performed repetitively can be duplicated Resolution The smallest positioning increment that can be achieved; frequently defined as the number of steps or feedback units required for a motor s shaft to rotate one complete revolution Resonance The effect of a periodic driving force that causes a large amplitude increase at a particular frequency Response Rate (Pull-In Rate) The stepping rate an unloaded motor can follow from a standing start without missing steps Ringing Oscillation of a system following a sudden change in state RS-, RS-/8 Serial communication hardware definitions Serial Port A digital data communications port that uses a serial bit stream for data transfer Servo Amplifier/Servo Drive An electronic device that converts a control signal into a current that is fed into the motor windings to produce torque in the motor Servo System A feedback control system for mechanical motion in which the controlled output is position or velocity; servo systems are closed loop systems Settling Time The elapsed time starting the instant the rotor reaches the commanded step position and the oscillations settle to within a specified displacement band around the final position 8
Si MOONS Simple Indexer operating environment; sequences for machine operation are programmed by the use of point and click instructions Slew The portion of a move made at a constant nonzero velocity Stall Torque (holding or static) The torque available from a motor at stall or zero rpm Step Angle The nominal angle through which the step motor shaft rotates between adjacent step positions Step or Stepping Rate (Speed) The number of steps a shaft rotates during a specified time interval Step-to-step Accuracy (relative accuracy) The maximum error that occurs between any adjacent step, expressed as a percentage of one full step Switching Amplifier A device that switches a high voltage on and off to control current; some amplifiers (PWM types) switch at a constant frequency and adjust duty cycle to control current, others have a fixed off time and adjust the frequency Switching Sequence (Energizing Sequence) The sequence and polarity of voltages applied to coils of a step motor that result in a specified direction of rotation Thermal Time onstant The time required for the motor winding to reach % of its final temperature Thermal Resistance The resistance to the flow of energy between two surfaces of the same body or different bodies; thermal resistance = degrees /watt in the winding Torque The rotary equivalent of force; equal to the product of the force perpendicular to the radius of motion and distance from the center of rotation to the point where the force is applied Torque onstant A number representing the relationship between motor input current and motor output torque, usually expressed in units of torque/amp Torque Displacement urve The holding (restoring) torque plotted as a function of rotor angular displacement with the motor energized Torque Gradient (Stiffness) The ratio of the change in holding torque to a particular change in shaft position when the motor is energized Torque Ripple The cyclical variation of generated torque given by the product of motor angular velocity and number of commutator segments Torque-to-inertia Ratio Ratio of a motor s torque divided by the motor s rotor inertia; the higher the ratio, the higher the acceleration may be Unipolar Drive The motor phase winding current is switched in one direction only; the polarity of the applied voltage to each winding is always the same; unipolar drives require or 8 lead motors Variable Reluctance Step Motor (V/R) A step motor having a wound stator or stators with salient poles working with a soft iron rotor having salient poles on the periphery Velocity The change in position as a function of time; velocity has both magnitude and direction Viscous Damping A damper that provides a drag or friction torque proportional to acceleration; a quality used to damp unwanted oscillations of a step motor Voltage Drive A drive operated at the minimum voltage required to safely limit motor current; motors used with voltage drives produce less torque at higher speeds than when used with /R or chopper drives Wave Drive Energizing the phases one at a time; driving the motor one phase or winding at a time Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations 9
onversion Factors ength Introduction Quick Selection -phase Stepper Motors -phase Stepper Motors UStepper Motors onfigurations Force A Torque A Inertia A A B g kgf oz lb Newton g -- 7 98 kgf, -- 7 987 oz 8 8 -- 78 lb -- 8 Newton 97 8 -- B Nm Ncm mnm kgm kgcm gcm oz-in lb-ft lb-in Nm --,, 77 88 Ncm -- 77 88 mnm -- 78 88 kgm 987 987 987 --,,89 7 88 kgcm 987 987 987 --, 89 7 88 gcm 98E- 987 987 -- 89 7E- 88 oz-in 7 7 7 7 7 7 -- lb-ft 8 8,8 9 -- lb-in, 8 -- B kgm kgcm gcm oz-in oz-in-sec lb-in lb-in-sec lb-ft lb-ft-sec (slug ft ) kgm --,,,,7, 88 7 78 kgcm --, 7 88 7 78E- gcm E-7 -- 7 E- 88E-7 7E- 78E-8 oz-in 8E- 89 8 -- 9 E- oz-in-sec 7 7 7, 8 -- 8 lb-in 9 9,9 -- 9 9 lb-in-sec,,,,8 8 -- 8 8 lb-ft,, 97 7 -- 8 lb-ft-sec (slug ft ) B mm cm m inch feet mm -- 97 8 cm -- 97 8 m, -- 97 8 inch -- 8 feet 8 8 8 -- Multiply "A" units by conversion factor to obtain "B" units,,, 7, 9, -- 7
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