Resistance/ Phase [Ohm] Inductance/ Phase [mh] HECM213-F0.5 (A/B)

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2 STEPPING MOTORS SPECIFICATIONS Full Step Series 1.8 HECM mm 1.8 HECM 8 mm 1.8 SECM 8 mm 1.8 HECM 4 mm 1.8 SECM 4 mm.9 ECM 4 mm mm 1.8 SECM 4 mm Bipolar Unipolar HECM13-F.5 (A/B) HECM13-F.4 (A/B) only bipolar drive available 33.5 HECM-F.5 (A/B) nur in bipolarer Ausführung erhältlich 46.5 HECM-F.4 (A/B) HECM3-F1. (A/B) HECM3-F.7 (A/B) only bipolar drive available 33.5 HECM5-F1. (A/B) nur in bipolarer Ausführung erhältlich 47.5 HECM5-F.7 (A/B) SECM3-S1.5 (A/B) SECM3-S1. (A/B) SECM5-S1.4 (A/B) HECM44-F1.3 (A/B) HECM44-F.9 (A/B) HECM45-F1.3 (A/B) only bipolar drive available 49 HECM45-F.9 (A/B) nur in bipolarer Ausführung erhältlich 49 HECM46-F1.3 (A/B) HECM46-F.9 (A/B) SECM43-S1. (A/B) SECM43-S.4 (A/B) SECM43-S.3 (A/B) SECM43-F1.3 (A/B) only bipolar drive available 33 SECM44-S1. (A/B) SECM44-S.8 (A/B) SECM44-S.4 (A/B) SECM44-S. (A/B) SECM44-F1.1 (A/B) nur in bipolarer Ausführung erhältlich 39 SECM45-S1. (A/B) SECM45-S.8 (A/B) SECM45-S.4 (A/B) ECM43M-S.9 (A/B) ECM43M-S.3 (A/B) ECM3M-F.3 (A/B) only bipolar drive available ECM3N-F.3 (A/B) nur in bipolarer Ausführung erhältlich Stepping Motor with Encoder SECM43-S1.H SECM43-S1.P SECM44-S1.H SECM44-S1.P SECM45-S1.H SECM45-S1.P Planetary Gear see Page 13 - Driver Electronics see Page 16 Planetengetriebe siehe Seite 13 - Treiberelektronik siehe Seite 16 Length [mm] Page 4 / 5 6 / 7 8 / 9 1 / 11 1 Our quality system for motion control components has been examined and officially certified by TÜV Germany according to DIN EN ISO 91: Unser Qualitätssystem wurde hinsichtlich des Bereiches Vertrieb von Antriebskomponenten hin überprüft und offiziel mit dem TÜV Zertifikat DIN EN ISO 91: ausgezeichnet. Our stepping motors are certified according to EN 61-6-:1 and EN :1. EMC standards. TÜV Rheinland Unsere Schrittmotoren wurden zertifiziert nach EMV-Standard EN61-6-:1 und EN61-6-3:1.

3 SCHRITTMOTOREN PRODUCT NUMBER CODE S E C M 4 3 M - S 1. A Shaft Type: P = Encoder Current per phase Strom pro S = 6 Leadwires / Anschlußdrähte F = 4 Leadwires / Anschlußdrähte Full Step Angle: No Letter = 1.8, M =.9, N =.45 Vollschrittwinkel: Ohne Buchstabe = 1,8, M =,9, N =,45 Length of Motor: ex. = approx. mm Motorlänge: z. B. = ca. mm Mounting Size: 1 = x mm, = 8x8 mm, 3 = 39x39 mm, 4 = 4x4 mm Flanschmaß: 1 = x mm, = 8x8 mm, 3 = 39x39 mm, 4 = 4x4 mm Number of phase: = phase motor Anzahl der n: = nmotor EC Motion Stepping Motor S or H = High Series S oder H = Drehmomentverstärkte Serie No Letter = Standard Series Ohne Buchstabe = Standardserie Welle: A = Einzelwelle B = Doppelwelle P = Encoder Operation of phase Stepping Motor Stepping Motors operate on -Switched DC Power. The motor shaft advances (4, 8) steps per revolution with 1.8 (.9,.45 ) motor when a Full-Step mode is used. When a Half-Step mode is used, 4 (8, 16) steps per revolution with 1.8 (.9,.45 ) motor. Arbeitsweise der -n Schrittmotoren Schrittmotoren benötigen zum Betrieb eine geschaltete Gleichspannung. Die Motorwelle eines 1,8 (,9,,45 ) Schrittmotors führt beim Vollschrittbetrieb (4, 8) Schritte pro Umdrehung aus. Bei Halbschrittbetrieb verdoppeln sich die oben angegebenen Schritte auf 4 (8, 16) Schritte bei einem 1,8 (,9,,45 ) Schrittmotor. Bi-POLAR (4 Leads) DRIVE CIRCUIT Bi-POLAR (6 Leads Series) DRIVE CIRCUIT UNI-POLAR DRIVE CIRCUIT Bipolar (4 Leads/6 Leads Series) Drive Circuit for: Stepping Motor with 4 or 6 Leadwires Bipolarer (4 Leiter/6 Leiter Seriell) Treiberanschluß für: Schrittmotoren mit 4 oder 6 Anschlußdrähten Unipolar Drive Circuit for: Stepping Motor with 6 Leadwires Unipolarer Treiberanschluß für: Schrittmotoren mit 6 Anschlußdrähten 3

4 STEPPING MOTORS and 8 mm HECM-/SECM-SPECIFICATIONS 1.8 HIGH- PHASE STEPPING MOTOR Bipolar (4 Leads) HECM13-F.5 (A/B) A1 HECM13-F.4 (A/B) A HECM-F.5 (A/B) A3 HECM-F.4 (A/B) A4 HECM13 HECM HECM13 HECM HECM13 HECM 4.5 kg.8 kg 3 mm 46.5 mm 1.9 x 1-7 kgm 4 x 1-7 kgm Resistance / (Ω) = ± 1%, Inductance / (mh) = ± % Bipolar (4 Leads) HECM3-F1. (A/B) B1 HECM3-F.7 (A/B) B HECM5-F1. (A/B) B3 HECM5-F.7 (A/B) B4 HECM3 HECM5 HECM3 HECM5 HECM3 HECM5 4.1 kg.17 kg 33.5 mm 47.5 mm 8 x 1-7 kgm 18 x 1-7 kgm Resistance / (Ω) = ± 1%, Inductance / (mh) = ± % Bipolar (Series) SECM3-S1.5 (A/B) C1 SECM3-S1. (A/B) C SECM5-S1.4 (A/B) C3 SECM3 SECM5 SECM3 SECM5 SECM3 SECM5 6.1 kg.17 kg 33.5 mm 47.5 mm 8 x 1-7 kgm 18 x 1-7 kgm Resistance / (Ω) = ± 1%, Inductance / (mh) = ± % HECM / SECM-Series GENERAL SPECIFICATIONS Items Specifications Shaft Runout Shaft Radial Play Shaft Axial Play.5 mm Max. T.I.R..3 mm Max. (.5 kgf).75 mm Max. (.5 kgf) A.5.5 ø Ø.75.5 A Insulation Resistance 1 M Ω (DC 5 V) Dielectric Strength Insulation Class 5 V AC (1 Minute) CLASS B.75.5 A Temperature Rise 8 C MAX. ( PHASE ON) Working Temperature - C ~ + 5 C 4

5 SCHRITTMOTOREN VS. CHARACTERISTIC Nm/KPPS (1 PULSE/SECOND) DIMENSIONS UNIT = mm HECM 13/ A4 Bipolar Chopper Supply 4 V Full step 1.8 (JL = gcm ) 8 L A3 A A1 ƒƒ Ø , 3 MIN. 7 Ø 4.1 Ø.5 HECM 13 L = 3. mm HECM L = 46.5 mm 3.5 ±. Ø 7 4-M HECM 3/5 B4 Bipolar Chopper Supply 4 V Full step 1.8 (JL = gcm ) 1 L M B1 B B3 Ø 5.1 Ø 5.1 Ø.5.4 Ø ƒƒ MIN. HECM 3 L = 33.5 mm HECM 5 L = 47.5 mm SECM 3/5 C3 Bipolar Chopper Supply 4 V Full step 1.8 (JL = gcm ) 1 L M C C1 Ø 5.1 Ø 5.1 Ø.5 Ø ƒƒ MIN. SECM 3 L = 33.5 mm SECM 5 L = 47.5 mm COLOR OF LEAD WIRES Bipolar (4 Leads) Bipolar (Series) 5

6 STEPPING MOTORS 4 mm HECM-SPECIFICATIONS 1.8 HIGH- PHASE STEPPING MOTOR Bipolar (4 Leads) HECM44-F1.3 (A/B) G1 HECM44-F.9 (A/B) G 4.5 kg 41 mm 57 x 1-7 kgm Resistance / (Ω) = ± 1%, Inductance / (mh) = ± % Bipolar (4 Leads) HECM45-F1.3 (A/B) H1 HECM45-F.9 (A/B) H 4.35 kg 49 mm 76 x 1-7 kgm Resistance / (Ω) = ± 1%, Inductance / (mh) = ± % Bipolar (4 Leads) HECM46-F1.3 (A/B) I1 HECM46-F.9 (A/B) I 4.45 kg 61 mm 114 x 1-7 kgm Resistance / (Ω) = ± 1%, Inductance / (mh) = ± % HECM-Series GENERAL SPECIFICATIONS Items Specifications Shaft Runout Shaft Radial Play Shaft Axial Play.5 mm Max. T.I.R.. mm Max. (.5 kgf).75 mm Max. (1 kgf) A.5.5 ø.75 A.75 Insulation Resistance 1 M Ω (DC 5 V) Dielectric Strength Insulation Class 5 V AC (1 Minute) CLASS B.75 A Temperature Rise 8 C MAX. ( PHASE ON) Working Temperature - C ~ + 5 C 6

7 SCHRITTMOTOREN VS. CHARACTERISTIC Nm/KPPS (1 PULSE/SECOND) DIMENSIONS UNIT = mm.7.6 HECM 44 Bipolar Chopper Supply 4 V Full step 1.8 (JL = gcm ) G G1 Ø 5.1 Ø 5.1 Ø ±..1. ƒƒ MIN MIN. 4-M3 Ø HECM 45 Bipolar Chopper Supply 4 V Full step 1.8 (JL = gcm ) H H1 Ø 5.1 Ø 5.1 Ø ±..1. ƒƒ MIN MIN. 4-M3 Ø HECM 46 Bipolar Chopper Supply 4 V Full step 1.8 (JL = gcm ) I I1 Ø 5.1 Ø 5.1 Ø ±..1. ƒƒ MIN MIN. 4-M3 Ø 53 COLOR OF LEAD WIRES Bipolar (4 Leads) The HECM-Series are a new generation of high performance Stepping Motor up to 1 Nm holding torque in size 4 mm, full step angle 1.8, half step angle.9. This excellent torque characteristic is made up of new magnet technologies and precise manufacturing. Small in size, but big in performance. Die Schrittmotoren der HECM-Serie sind eine neue Generation von leistungsstarken High-- Schrittmotoren mit 1,8 Vollschrittwinkel und bis zu 1 Nm Haltemoment. Erreicht wurde dies durch den konsequenten Einsatz neuster Magnet- und Produktionstechnologien. Zum Einsatz kommen diese Schrittmotoren überall dort, wo bei einer stetigen Verkleinerung der Anwendungen immer leistungsstärkere Schrittmotoren benötigt werden. 7

8 STEPPING MOTORS 4 mm SECM-SPECIFICATIONS 1.8 HIGH- PHASE STEPPING MOTOR Bipolar (Series) SECM43-S1. (A/B) D1 SECM43-S.4 (A/B) D SECM43-S.3 (A/B) D3 SECM43-F1.3 (A/B) D4 S = 6 F = 4. kg 33 mm 35 x 1-7 kgm Resistance / (Ω) = ± 1%, Inductance / (mh) = ± %. Bipolar (4 Leads)se (mh) = ± % Bipolar (Series) SECM44-S1. (A/B) E1 SECM44-S.8 (A/B) E SECM44-S.4 (A/B) E3 SECM44-S. (A/B) , E4 SECM44-F1.1 (A/B) E5 S = 6 F = 4.5 kg 39 mm 54 x 1-7 kgm Resistance / (Ω) = ± 1%, Inductance / (mh) = ± %. Bipolar (4 Leads)se Bipolar (Series) SECM45-S1. (A/B) F1 SECM45-S.8 (A/B) F SECM45-S.4 (A/B) F3 6.3 kg 47 mm 68 x 1-7 kgm Resistance / (Ω) = ± 1%, Inductance / (mh) = ± %Resistance / (Ω) = ± 1%, (* ± %), Inductance / (mh) = ± % 8 SECM-Series GENERAL SPECIFICATIONS Items Specifications Shaft Runout.5 mm Max. T.I.R. Shaft Radial Play.5 mm Max. (.5 kgf) Shaft Axial Play.75 mm Max. (1 kgf) Insulation Resistance 1 M Ω (DC 5 V) Dielectric Strength 5 V AC (1 Minute) Insulation Class CLASS B Temperature Rise 8 C MAX. ( PHASE ON) Working Temperature - C ~ + 5 C

9 SCHRITTMOTOREN VS. CHARACTERISTIC Nm/KPPS (1 PULSE/SECOND) DIMENSIONS UNIT = mm.3.5 SECM 43 Unipolar Chopper Bipolar Chopper D4 Supply 4 V Full step 1.8 (JL = gcm ) D4 D1 D D3 ƒƒ Ø MIN. 4-M3 4.5 MIN. Ø 5.13 Ø ±. Ø SECM 44 E5 Unipolar Chopper Bipolar Chopper E5 Supply 4 V Full step 1.8 (JL = gcm ) E E1 E4 ƒƒ E Ø MIN. 4-M3 4.5 MIN. Ø 5.13 Ø ±. Ø SECM 45 Unipolar Chopper Supply 4 V Full step 1.8 (JL = gcm ) F F1 Ø 5.13 Ø 5.13 Ø ±..5 F3 ƒƒ MIN. 4-M3 4.5 MIN. Ø 5 COLOR OF LEAD WIRES Bipolar (4 Leads) Bipolar (Series) 9

10 STEPPING MOTORS 4 and 39 mm ECM-SPECIFICATIONS.9 and.45 PHASE STEPPING MOTOR Bipolar (Series) ECM43M-S.9 (A/B) J1 ECM43M-S.3 (A/B) J 6. kg 33 mm 19 x 1-7 kgm Full Step Angle =.9, Resistance / (Ω) = ± 1%, Inductance / (mh) = ± % General Specifications see page 8 Bipolar (4 Leads) ECM3M-F.3 (A/B) K1 4.1 kg mm 1 x 1-7 kgm Full Step Angle =.9, Resistance / (Ω) = ± 1%, Inductance / (mh) = ± % Bipolar (4 Leads) ECM3N-F.3 (A/B) L1 4.1 kg mm 1 x 1-7 kgm Full Step Angle =.45, Resistance / (Ω) = ± 1%, Inductance / (mh) = ± % ECM-Serie GENERAL SPECIFICATIONS Items Shaft Runout Shaft Radial Play Shaft Axial Play Specifications. mm Max. T.I.R.. mm Max. (.5 kgf). mm Max. (1 kgf). Insulation Resistance 1 M Ω (DC 5 V) Dielectric Strength Insulation Class Temperature Rise Working Temperature 5 V AC (1 Minute) CLASS B 8 C MAX. ( PHASE ON) - C ~ + 5 C 1

11 SCHRITTMOTOREN VS. CHARACTERISTIC Nm/KPPS (1 PULSE/SECOND) DIMENSIONS UNIT = mm.1.1 ECM 43M Unipolar Chopper Supply 4 V Full step.9 (JL = gcm ) J J1 ø5-.1 ø-.5. ƒƒ MIN. 4-M3 4.5 MIN. ø ECM 3M Bipolar Chopper Supply 3 V Full step.9 (JL = 5 gcm ) K1. ƒƒ ECM 3N Bipolar Chopper Supply 3 V Full step.45 (JL = 5 gcm ) L1. ƒƒ COLOR OF LEAD WIRES Bipolar (4 Leads) Bipolar (Series) 11

12 HECM4... Baureihe -n-schrittmotor mit Encoder [1,8 High--Version] P = Line Driver Pulse/Umd. [ Nm ] Bipolar (4 Leads) Current / [ A ] Resistance / [ Ohm ] Inductance / [ mh ] [ Nm ] Current / [ A ] Unipolar Resistance / [ Ohm ] Inductance / [ mh ] HECM44-F1.3P G1 HECM45-F1.3P H1 HECM46-F1.3P I1 Speed Number of Leads Weight of Motor & Encoder Size Length Rotor Inertia HECM kg 61 mm 57 x 1-7 kgm² HECM kg 69 mm 76 x 1-7 kgm² HECM kg 81 mm 114 x 1-7 kgm² EC Motion GmbH - Auf den Steinen Erkelenz Tel.: +49 () Fax. : +49 () Internet: info@ec-motion.de Seite 1 / 3

13 Schrittmotoranschluss Optional sind für unsere Schrittmotoren auch Planetengetriebe erhältlich. EC Motion GmbH - Auf den Steinen Erkelenz Tel.: +49 () Fax. : +49 () Internet: info@ec-motion.de Seite / 3

14 STEPPING MOTORS 4 mm ENCODER-SPECIFICATIONS 1.8 PHASE STEPPING MOTOR H-Type: --Step Motor with Encoder TTL Output CPR Ø 5 Article Name Motor Length Output SECM43-S1.H L = 5 mm TTL Output CPR SECM44-S1.H L = 56 mm TTL Output CPR SECM45-S1.H L = 64 mm TTL Output CPR Motor Specification and -Curve see Pages: SECM43-S1.H SECM43-S1.A Page 8 and Page 9 SECM44-S1.H SECM44-S1.A Page 8 and Page 9 SECM45-S1.H SECM45-S1.A Page 8 and Page 9 Required Connector for Encoder: Hewlett Packard: HEDS-89, Molex: 695 series with 759 series term. AMP: , , Dupont/Berg: with 485X- term. P-Type: --Step Motor with Encoder Line Driver Output CPR Article Name Motor Length Output SECM43-S1.P L = 53 mm Line Driver Output CPR SECM44-S1.P L = 59 mm Line Driver Output CPR SECM45-S1.P L = 67 mm Line Driver Output CPR Ø 5 Motor Specification and -Curve see Pages: SECM43-S1.P SECM43-S1.A Page 8 and Page 9 SECM44-S1.P SECM44-S1.A Page 8 and Page 9 SECM45-S1.P SECM45-S1.A Page 8 and Page 9 Line Driver Specification Encoder Performance (Line Driver Output): Operating Temperature Range: C up to 85 C Supply: DC 5V ± 5%, 1mA max. Resolution: Counts / Turn [CPR] Frequence Response: 1KHz max. A phase difference: 1/4 P ± 1/8 P Code: Incremental A. B. ( CH.) Output Signal when output is high: DC.4V min. Output Signal when output is low: DC.4V max. Sinking & Output Current: Typical ± ma max. Rise & Fall Times: 1 µsec max. Moment of Inertia: 5 g-cm max. Encoder only Output Circuit: Line Driver AM6C3IIDB Encoder Connection Type A Encoder Connection Type B Function Color Function Color DC 5 V Red DC 5 V Red GND Blue GND Black A Brown A Brown A Orange A Orange B Yellow B Yellow B Gray B White 1

15 PLANETENGETRIEBE PLANETARY GEAR PRODUCT OVERVIEW: i Stages max. for Step Motor Size from to Page 1-stage / 1-stufig Nm SECM43 45 PLI4 -stage / -stufig Nm HECM stage / 3-stufig Nm i Stages max. for Step Motor Size from to Page 1-stage / 1-stufig Nm SECM43 45 PLD4 -stage / -stufig Nm HECM stage / 3-stufig 64 1 Nm PLANETARY GEAR PRODUCT CODE: PLI Gear Flange: = for SECM43-45 and HECM44-46 Getriebeflansch: = for SECM43-45 und HECM44-46 Number of Gear Ratio: = from i = 3 up to i = 1 Untersetzung: = von i = 3 bis i = 1 Gear-Size: = PLI4 approx. Ø 4cm PLD4 approx. Ø 4cm Getriebedurchmesser: = PLI4 ca. Ø 4cm PLD4 ca. Ø 4cm Planetary Gear Type: = PLI = non integer Gear Ratio PLD = integer Gear Ratio Planetengetriebetyp: = PLI = kein ganzzahliges PLD = ganzzahliges PLI = Untersetzungsverhältnis Untersetzungsverhältnis 13

16 PLANETARY GEARS SPECIFICATIONS Size / Baugröße PLI4 i i (1) z () Size Page Nominal Output TN Abtriebs- Drehmoment TN initial speed/ Eingangsdrehzahl = 3 min (3.7) 3 3. (4.8) 4 3. (5.18) 5 3. (6.75) (13.73) (.88) (18.36) (19.) (.) 7.5 (5.1) (6.85) (8.93) (34.97) (45.56) 46 (5.89) 51 (58.85) 59 (68.6) 68 (71.16) 71 (78.71) 79 (9.7) 93 (95.17) 95 (99.5) 1 (17.) 17 (1.7) 1 (13.97) 14 (19.6) 13 (139.13) 139 (149.9) (168.84) 169 (181.4) 181 (195.6) 195 (36.9) 36 (37.54) Size / Baugröße PLD4 i z () Size Page Nominal Output TN Abtriebs- Drehmoment TN initial speed/ Eingangsdrehzahl = 3 min (1) = Ratios Rounded (1) = Übersetzungen gerundet () = Number of Stages () = Anzahl der Getriebestufen Reduction ratios printed in bold Standard Series Fett gedruckte Untersetzungen Vorzugsreihe

17 PLANETENGETRIEBE DIMENSIONS UNIT = mm PLI 4 Ø 36 Ø 3 a h d DIN A 3x3x16 Ztr. DIN 33 - D M3x for SECM4... Stepping Motor a = 69.5 mm (1 stage / 1 stufig) a = 8.5 mm ( stage / stufig) a = 95.5 mm (3 stage / 3 stufig) b = 3.5 mm e = 8 h 7 c = 17.1 mm f = 5 h 9 d = 5. mm h = mm 3 3 M4x1 M3x1 g b Ø 4 c Ø e Ø f Ø 3. Ø J7 for HECM4... Stepping Motor a = 69.5 mm (1 stage / 1 stufig) a = 8.5 mm ( stage / stufig) a = 95.5 mm (3 stage / 3 stufig) b = 3.5 mm e = 8 h 7 c = 17.1 mm f = 5 h 9 d = 5. mm h = mm PLD 4 M4x8 TK Ø 33 b a Ø DIN 6885 A3x3x18 3 Ø 1 k6 Ø 5 h7 DIN 33 DM4 Ø 3,5 TK Ø 43,8 for SECM4... Stepping Motor a = 95 mm (1 stage / 1 stufig) a = 111 mm ( stage / stufig) a = 14 mm (3 stage / 3 stufig) b = 7 mm (1+ stage / 1+ stufig) b = 4 mm (3 stage / 3 stufig) for HECM4... Stepping Motor a = 95 mm (1 stage / 1 stufig) a = 111 mm ( stage / stufig) a = 14 mm (3 stage / 3 stufig) b = 7 mm (1+ stage / 1+ stufig) b = 4 mm (3 stage / 3 stufig) 46 Size / Baugröße PLI4 PLD stage / 1-stufig efficiency / Wirkungsgrad stage / -stufig stage / 3-stufig stage / 1-stufig weight / Gewicht [ kg ].5.4 -stage / -stufig stage / 3-stufig max. radial load / max. Radialkraft [ N ] 16 max. axial load / max. Axialkraft [ N ] stage / 1-stufig max. radial load / max. Radialkraft [ N ] 3 max. axial load / max. Axialkraft [ N ] stage / -stufig max. radial load / max. Radialkraft [ N ] 3 max. axial load / max. Axialkraft [ N ] stage / 3-stufig stage / 1-stufig backlash / Verdrehspiel [ deg ] stage / -stufig stage / 3-stufig initial speed / Eingangsdrehzahl 3 min -1 3 min -1 operating temp. / Betriebstemp. [ C ] lubrication / Schmierung PLI4 = -3 up to +14 / -3 bis +14 PLD4 = -5 up to +9 shortly + 1 / -5 bis +9 kurzfristig + 1 Life time grease lubrication / Lebensdauer-Fettschmierung

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