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STEPMOTORS/DRIVERSCatalogueNo.T12-1648N22-PHASESTEPMOTORS5-PHASESTEPMOTORS112KnowHowWhatisStepMotor?SpecialfeaturesofStepMotors34Applications5KindsofStepMotors610DefinitionsoftermsforStepMotors1112DrivingmodeofaStepMotorBlockdiagramFull-stepdrivingmodeHalf-stepdrivingmodeMicro-stepdrivingmode2-PhaseStepMotorsUnipolarBipolar5-PhaseStepMotorsWiringdiagramExcitingsequence1320SelectionproceduresforStepMotorsSelectionbytorquecalculationBasicequationsAnexampleofStepMotorselectionConversiontableformomentofinertia/Conversiontablefortorque2122Cautionsforhandling2-PhaseStepMotors/Drivers2326Listofmajorspecifications2756Specificationsofmotors5758StepMotorEncoders5964Specificationsofdrivers5-PhaseStepMotors/Drivers6566Listofmajorspecifications6780Specificationsofmotors8182StepMotorEncoders8398Specificationofdrivers2WHATISSTEPMOTOR?SPECIALFEATURESOFSTEPMOTORSRotationalspeedofstepmotorisdefinedbypulserateanditsrotationalangleisdefinedbytheamountofpulses.Thesedigitalsignalsenableopenloopcontrol,whichdoesnotrequirefeedbackstructure.Ontheotherhandtheunitstepangleisdefinedbythemechanicalstructureofarotorandastator.ThestepmotorisalsocalledSteppingMotor,StepperorPulseMotorbecausenounifiednameisestablished.TamagawaSeikiCo.,Ltd.unifiestocallitStepMotor.Stepmotorsareabletostartandstop,rotateandreverse.Rotationalangleisproportionaltothenumberofinputpulses.Rotationalspeedisproportionaltotheinputpulserate.(pulseratio)Eveninthestateofnon-exciting,someself-holdingtorque(Detenttorque)isgeneratedbecausethepermanentmagnetisused.Hightorque,highresponseandlightweight.Microstepdrive,highaccuracyandlessexpensive.Maintenace-freebecausethereisnomechanicaldefacementlikeabrushforaDCmotor.Theremaybecasesofproductionstoponthemodelslistedherewithoutnotice.KNOWHOW3APPLICATIONApplicationtoaprinterAPPLICATIONPositionTransportSpeedTransportPositionSpeedRotationPositionSpeedElevationPositionSpeedX-YTableIndextableWirebeltworkLiftingtableDrivingcircuitDatainputDatacontrolcircuitControlcircuitFreedingpapercontrolcircuitMovingheadcontrolcircuitTimingpulsegeneratingcircuitClockpulsegeneratingcircuitDrivingcircuit4ApplicationtoapressmachineKNOWHOWDrivingdeviceCountingnumberFeedingvolumePresetterTimingsignalApplicationtoafacsimileStepmotor(Vicescanning)Stepmotor(Vicescanning)TelephonenetworkDataProcessingDataProcessingRollerforfeedingpaperRecordingdevice(Mainscanning)Recordingdevice(Mainscanning)TransmittingsideReceivingsideOtherapplicationsPapertapereadersTapetracecheckersApplicationtosolarenergy:heliostatdrivingPositionsettingofaplatformforscientificinves-tigationwithaspaceshipexploringplanetCardfeedingforacardmachineDefinedvolumepumpsDisplaydevicesOriginalpaper5KINDSOFSTEPMOTORSSTEPMOTORVRVRTypeHBHBTypeHBHBType2,4,45°,90°2,4,Multi-poles/StepAngleMulti-StackTypeDistributionType34,1.8°,7.5°,15°3phases4phases/StepAngle22phases44phases20.45°,0.9°,1.8°2phases/StepAngle50.72°5phases/StepAngleVRVRTypeLinearTypeVRPMHBVRPMDetentTorqueHBVRPMTherearemanykindsofStepMotors.Onlyrotatingtypesarelistedinthiscatalogue.VR,PMandHBtypesarewidelyused.VARIABLERELUCTANCETYPEThistypewitharotorintheshapeofagearwhichismadeofanelectromagneticmaterial,absorbsandrepelswithelectro-magneticforceproducedinastatorcoil.Therotorshallrotateinaccordancewithmagneticpolerotationinthestator.PERMANENTMAGNETTYPEThistypeshallabsorbandrepelarotorformedoutofpermanentmagnetwithelectro-magneticforcegeneratedinastatorcoil.Therotorshallrotateinaccordancewithmagneticpolerotationinthestator.Sothedetenttorqueshallgenerateinthecaseofnoexcitation.HYBRIDTYPEThistypecombiningVRtypewithPMtypeconsistsofagear-teeth-shaperotormadeofanelectromagneticmaterialandamagnethavingamagneticpoleinthethrustingdirection.Thenthistypeshallabsorbandrepelwithelectromagneticforcegeneratedinthestatorcoil.Therotorshallrotateinaccordancewithmagneticpolerotationinthestator.Sothedetenttorqueshallgenerateinthecaseofnoexcitation.RotatingTypePMPMType62LmHWindinginductanceMaximumvalueofinductanceofstatorwindingforonephase1RΩWindingresistanceDCresistanceofstatorwindingforonephase3JMkg·m2RotorinertiaMomentofrotorinertiarelatedtoitsaxis4TdN·mDetenttorque6θa°Stepangle°(deg.)7θf°Basicstepangle°(deg.)8IRARatedcurrentNominalwindingcurrentdefinedinconsideringthesaturationofmagneticcircuit,temperaturerise,etc.ItemsTermsSymbolsUnitsDefinitionsGD2JM4Maximumtorquethatisgeneratedwhenanyangledeviationismadebyapplyingexternaltorqueinnon-excitingstateforthemotorusingapermanentmagnetonitsrotor.Alsoitiscallednon-excitingholdingtorqueorresidualtorque.Theoreticalrotationalangleofshaftcorrespondingtoonecommandpulseindefinedexcitingsequence.Thestepanglewhenitisdrivenby1-phaseexciting.VRForVRtype:PMHBForPMtypeandHBtype:m:Numberofphasesofstepmotorz:Numberofrotorteethornumberofpairsofmagneticpoles360°θfm·Z360°θf2m·ZDEFINITIONSOFTERMSFORSTEPMOTORSExtractedfromJEM-TR157-1996JEM-TR-157-19969RatedvoltageVRVAppliedvoltagenecessarytoflowitsratedcurrent.VRR·IR10ThN·mHoldingtorque11fppulse/sPulserateMaximumtorquethatisgeneratedwhenanyangledeviationismadebyapplyingexternalt