Superior StepMotors

STEP MOTORS
Distribution Coast-To-Coast www.DanaherMotion.com
and International
The Superior Electric brand is a global leader in
the engineering, manufacturing, and marketing
of precision motion and control products for
industrial applications. All Superior motors and
controls are backed by highly specialized
engineers and service people who can help solve
your production challenges. Superior Electrics
capabilities and products have improved
operations for companies around the world.
Through Danaher Motion's extensive authorized

distributor network, Superior Electric products
are available worldwide. These distributors
provide convenient services by offering technical
support, replacement parts, and literature, as
well as an extensive inventory of models off-the-
shelf for the fastest possible delivery.
Call Superior Electric customer service for
ordering and application information or for the
address of the nearest authorized distributor for Danaher Motion
Superior Electric products.
Customer Support Center
13500-J South Point Blvd.
Charlotte, NC 28273
Tel: 704-588-5693
Fax: 704-588-5695
Support email: sales2@DanaherMotion.com
Web: www.DanaherMotion.com
In Europe
Danaher Motion GmbH & Co. KG
Robert-Bosch-Strae 10
64331 Weiterstadt, Germany
Tel: +49 (0) 6151-8796-10
Fax: +49 (0) 6151-8796-123
Internet: www.DanaherMotion.de
13500-J South Point Blvd. Charlotte, NC 28273 www.DanaherMotion.com

TEL: 704-588-5693 FAX: 704-588-5695
2003 Superior Electric- Printed in U.S.A. SP-20,000-08/2003 SUP-01-01-S100

STEP MOTORS STEP MOTORS
Danaher Motion Your partner in Motion Control

Definitions (Continued)
and Superior Electric Danaher Motion has extensive experience customizing
1.37.2 THERMAL RESISTANCE (FRAME TO AIR): This is the same
as 1.37.1 except that the temperature difference is between the
1.42.1 INCREMENTAL UNENERGIZED WINDING INDUCTANCE:
An inductance bridge having a test frequency of 1 kHz is used for
Superior Electric is a Danaher Motion brand, and is motors to meet our customers specific design requirements. winding and the surface of the motion O.D. midpoint and the air this test. The bridge voltage should be 1 v RMS applied to the motor.
surrounding the motor. The air shall be still, the motor suspended The inductance measurement should be made with the rotor
recognized worldwide as the leading manufacturer of step Our engineering staff will work with you to achieve your
in the air to prevent heat sink effect of bench surfaces, etc. locked in the aligned or unaligned position, with no DC current
motor positioning systems. Over 40 years ago, Superior product performance goals. We provide motion control applied to any of the windings. The figure reported should state
Electric developed and patented their Superior step motor solutions for a wide variety markets and applications 1.37.3 THERMAL RESISTANCE (FRAME TO HEAT SINK): This is whether the aligned or unaligned position is used.
including: the same as 1.37.1 except that the temperature differential is that
products. which exists between motor frame and a heat sink. The heat sink 1.42.2 INCREMENTAL ENERGIZED WINDING INDUCTANCE: This
shall be sufficiently large and sufficiently thick to be (effectively) an is the same as 1.42.1 except that the inductance measurement is
The Superior Electric family of automation products Semiconductor manufacturing infinite heat sink to the motor in question. made at some value of winding excitation. Unless otherwise stated,
includes: Packaging the winding excitation shall be that of rated current.
Printing 1.38 THERMAL TIME CONSTANT: This is the time required for the
Step Motors winding temperature of a motor to reach 63% of its steady state 1.42.3 INCREMENTAL ENERGIZED WINDING INDUCTANCE BY
Step Motor Drives Industrial Automation
temperature RISE with constant POWER applied to the motor. It is CURRENT RISE TIME METHOD: This measurement provides
Motion Controls Testing and measurement measured by allowing the motor to reach steady state temperature, and information from which incremental inductance can be calculated at
Synchronous Motors then disconnecting the electrical power input. The winding temperature is any level of excitation up to the level of steady state energization. It
Flexible manufacturing capabilities enable us to deliver recorded as a function of time, zero time being the time at which the is similar in nature to the inductance obtainable by paragraph 1.42.2
power source was disconnected. The time required to drop to 37% of the except that it does not suffer from the effects of the 1 kHz test
This catalog highlights the latest selection of high torque specialized product quickly helping you meet your
steady state temperature rise is the thermal time constant. It is usually frequency. Measurements are made with the rotor locked in the
step motors from Superior Electric. Our new line of NEMA development cycle objectives. expressed in seconds, but any unit of time may be used. aligned and/or the unaligned position. As in 1.42.2 a constant DC
size 42 high torque motors complements and extends the voltage is applied to a phase winding. The voltage shall be of such
Danaher Motion offers a comprehensive line of motors, 1.39 TORQUE GRADIENT: Torque gradient (sometimes called stiffness magnitude that the steady state current is 10% higher than the
range of our size 23 and 34 high torque motors. These high torque) is the slope of the torque displacement curve at the no-load highest value of current at which inductance information is desired.
torque motors provide world-class performance, and drives, controls, and actuators designed to optimize the
www.DanaherMotion.com 704-588-5693
quiescent point. The rise of current with time is recorded (storage oscilloscope,
represent the best value ever offered by Superior Electric. performance of motion control systems. These address a digitized data on floppy disk, oscilloscope photograph, etc.) The
They provide twice the torque (and in some cases more than wide array of requirements, ranging from simple repetitive 1.40 TRANSLATOR LOGIC: Translator logic translates the input pulse derivative of the current vs. time curve (di/dt) is that used to
moves to complex multi-axis motion. On-going product train into the selected mode pattern to be applied to a step motor. compute the inductance at the value of excitation of interest from
twice the torque) of older conventional step motors.
development enables Danaher Motion to provide innovative,
1.41 WINDING: A winding is an aggregate of magnet wire turns all on the
leading edge solutions to our customers. poles of a given phase. Where there are two windings per phase, they may L = V-I*R
be connected in series or parallel. In the case of the series connection, the di/dt
One of the best reasons to select a Superior Electric product connection between the two windings of a phase (5-lead or 6-lead motors),
the motor is referred to as a bifilar wound motor, but a winding consists Where:
is Danaher Motion's superior service and support. Our
of the magnet wire turns from the center tap to either end and not end to V = Applied voltage
products are available globally through the industrys most end. I = Current in amperes at which di/dt is
extensive and experienced distributor network. These measured
trained distributors provide valuable technical assistance, in 1.42 WINDING INDUCTANCE: The winding inductance of a step motor R = Total circuit resistance (including current
winding varies both with rotor position and with excitation current. monitoring shunt if used) in ohms
addition to fast delivery and service. A team of application Measurements can also be affected by the rate of change of current; thus di/dt = Rate of change of current with voltage in
engineers backs our distributor network. The combined when a figure for inductance is given, the conditions under which the amps/sec
experience of this support system ensures that our measurements were taken must be quoted. The following three types of L = Inductance in henries
customers receive prompt, quality attention to their needs, inductance measurements each have their advantage and disadvantage.
That of 1.42.1 is the simplest and fastest measurement to make, and 1.43 WINDING RESISTANCE: Winding resistance is the lead-to-lead
no matter where they are located. requires the least equipment, but is least representative of actual operation (terminal-to-terminal) ohmic resistance measured with the windings at
conditions. The method of 1.42.3 on the other hand is the most 25 Celsius. A winding is defined in paragraph 1.41. The method used for
Further assistance and support is provided on the web at representative of actual operating conditions, but is the most difficult and measurement of resistance shall be accurate to four significant figures, and
www.DanaherMotion.com. Visitors to this site will find time-consuming of the methods and requires the most specialized the value reported to three significant figures, the minimum value
equipment. The method of 1.42.2 is a compromise, perhaps leaning rounded down, and the maximum value rounded up.
product information, technical specifications, and towards 1.42.3 as being representative of actual operating conditions.
information on our distribution network. In addition,
2 MOTIONEERING Motor Selection Software is available as a 35
free download. This Windows based program makes it easy
to select the best stepper system for an application.
STEP MOTORS
Table of Contents
Introduction to Step Motors 4 How To Use This Catalog
Typical Applications 4
STEP M
www.D
OTORS
Features of a High Torque Step Motor
anaherMo
tion.com
4
Sizing and Selection Software 4
Quick Selection Guide 5
KM06 Series - NEMA 23 6-9
MH172 Series - NEMA 66 18-19
MX09 Series - NEMA 34 Hazardous Duty Motors 20
MX11 Series - NEMA 42 Hazardous Duty Motors 21 The quick selection guide on
Encoders 22-23 page 5 gives an overview of the
entire product offering. Sections
MOTIONEERING Application Software 24
for each frame size are in order of
Application Assistance 24-28 increasing motor frame sizes.
Each frame size section includes
Technical Notes 29-31
detailed motor specifications and
Connection Diagrams 31 speed torque curves of motor / drive
Options and Modifications 32 system combinations. For easy
comparison, the speed torque
Definitions 33-35
curves are arranged by drive voltage
and motor length.
Hazardous duty motors, add on

options, and overall technical
information are towards the back
of the catalog.
The table of contents at the left will

help you find more information on
each of our products.
Additional information on all our

products can be found by visiting
our website at:
www.DanaherMotion.com
3
STEP MOTORS
Introduction High Torque Motor Construction

To Step Motors Reliable High Temperature Insulation
Rugged Square Frame
Special All Copper Windings Construction
Superior Electric step motors provide very precise, cost
effective, motion control. Leads Locked in Place
Stainless
Superior step motors inherently move in small, very Robust Brushless Design Steel Shaft
precise, 1.8 increments (200 / revolution). This stepping
action is simple to control and does not require Screw for Ground
complicated, expensive feedback devices. With micro- Connection
stepping drives, each 1.8 step can be broken into even
smaller increments. And, if position verification is
required, motors are available with encoders. Laminated Rotors with
Permanent Magnets Long Life Double
Shielded Ball Bearings
Due to their ease of use, simplified control needs and
freedom from expensive feedback requirements, Superior
step motors are excellent alternatives to pneumatic,
Sizing and Selection Software for
hydraulic and servo motor systems. Superior Electric Products
Step motor systems are often used in high performance
Typical Applications positioning systems. The correct motor and drive are
equally important for the system to meet performance and
Automation and inspection cost goals. To select a motor and drive for a given
Conveyor transfer situation requires an analysis of the load, mechanical
Cut-to-length metal, plastic, system and desired cycle times or speeds.
fabric, etc.
Industrial HVAC
Material handling MOTIONEERING Software for
Medical equipment
Office peripheral equipment
Superior Electric, makes the selection
Packaging systems process easy.
Pick-and-place applications MOTIONEERING is a menu driven, Windows-based
Printing systems program that automatically takes into
Robotics account load, motor and drive
Semiconductor manufacturing parameters. A wide variety of
mechanisms are accommodated
including: lead screw, rack and
pinion, conveyor (belt and pulley),
nip rolls, and rotary, as well as direct
data entry.
MOTIONEERING provides a versatile environment for

choosing the optimum system for your application, and is
available free of charge.
4
STEP MOTORS
Quick Selection Guide

Holding Rotor Inertia
NEMA
Page # Model Torque oz-in-s2 Relative Torque
Frame
oz-in (N-cm) (kg-cm2)
KMO60 68 (48) 0.00154 (0.108)
KMO61 170 (120) 0.0034 (0.24)
23 6-9
KMO62 250 (177) 0.0056 (0.395)
KMO63 350 (247) 0.0084 (0.593)
KMO91 385 (272) 0.016 (1.13)
34 10-13 KMO92 770 (544) 0.031 (2.19)

KMO93 1,155 (816) 0.047 (3.32)
KM111 1,450 (1,020) 0.078 (5.5)
42 14-17 KM112 2,750 (1,940) 0.155 (10.9)

KM113 3,750 (2,650 0.229 (16.2)
66 18-19 MH172 5,330 (3,764) 0.870 (61.4)
Holding Torque
5
STEP MOTORS
KM06
High Torque 60mm Frame Size
(NEMA Size 23)
Performance Envelope
(see page 9 for detailed torque-speed curves)
[1.8 Steps/Sec]
0 2000 4000 6000 8000 10000
350
(N-cm)
300 212
250 KM063 177
TORQUE oz-in
200 141
KM062
150 106
100 KM061 71
50 35
KM060
0 0
0 10 20 30 40 50
Motor Speed (rps)
Up to 200% rated torque reserve capacity

2% typical step accuracy

Terminal box, encoders, precision gearheads
and rear shafts available
Available with four or six leads
Customized configurations available
Minimum Holding Torque *Weight Maximum Shaft Load Minimum

Rotor
Unipolar Bipolar Residual
Motor Inertia Net Ship Overhang Thrust
2 on 2 on Torque
Frame
oz-in oz-in oz-in-s2 lb lb lb lb oz-in
(N-cm) (N-cm) (kg-cm2) (kg) (kg) (kg) (kg) (N-cm)
54 68 0.00154 1.03 1.1 15 25 2.0
KMO60
(38) (48) (0.108) (0.47) (0.050) (6.8) (11) (1.4)
128 170 0.0034 1.6 1.7 15 25 3.0
KMO61
(90.4) (120) (0.24) (0.73) (0.77) (6.8) (11) (2.1)
188 250 0.0056 2.3 2.5 15 25 6.0
KMO62
(133) (177) (0.395) (1.04) (1.1) (6.8) (11) (4.2)
263 350 0.0084 3.2 3.4 15 25 7.0
6 KMO63
(186) (247) (0.593) (1.45) (1.5) (6.8) (11) (4.9)
* Weight for motor with leads (add approximately 0.2 lbs for terminal box).
STEP MOTORS
KM06
KM 06
0 short stack XX total current E Rear shaft extension
Connections
L leads 1 single stack C2 200 line, six output encoder
F four leads
T terminal box 2 double stack C4 400 line, six output encoder
S six leads C5 500 line, six output encoder
3 triple stack
C12 1250 line, six output encoder
See next page for additional KM06 information

4-CONNECTION STEP MOTORS
Model Number Winding Specifications
See Next page for options Voltage (VDC) Current (amperes) Resistance (ohms) Inductance (mH)
KM 060F02 3.8 1.1 3.6 16
KM 060F05 1.7 2.7 0.64 2.5
KM 060F08 1.1 4.0 0.28 1.0
KM 060F11 1.0 5.3 0.19 0.63
KM 061F02 5.2 1.1 4.9 30
KM 061F03 4.2 1.4 3.0 16
KM 061F05 2.3 2.7 0.85 4.6
KM 061F08 1.4 4.1 0.33 1.8
KM 061F11 1.2 5.4 0.23 1.1
KM 062F03 4.4 1.5 2.9 17
KM 062F05 3.1 2.5 1.3 7.1
KM 062F07 2.5 3.3 0.75 3.4
KM 062F08 2.0 4.1 0.49 2.5
KM 062F13 1.3 6.6 0.20 0.85
KM 063F03 6.1 1.5 4.1 24
KM 063F04 5.0 1.8 2.8 17
KM 063F07 3.4 3.3 1.0 6.2
KM 063F08 2.6 4.1 0.64 3.9
KM 063F13 1.9 6.6 0.28 1.5

Winding Specifications
Model Number
Unipolar Bipolar Series
See Next page Voltage Current Resistance Inductance Voltage Current Resistance Inductance
for options (VDC) (amperes) (ohms) (mH) (VDC) (amperes) (ohms) (mH)
KM 060S03 2.9 1.5 1.9 4.0 4.0 1.0 3.9 16
KM 060S08 1.3 3.8 0.34 0.63 1.8 2.7 0.67 2.5
KM 061S02 6.4 1.0 6.4 18 9.0 0.70 13 70
KM 061S04 3.0 2.1 1.5 3.5 4.2 1.4 2.9 14
KM 061S08 1.7 3.8 0.46 1.1 2.4 2.7 0.92 4.4
KM 062S04 3.1 2.1 1.5 4.2 4.4 1.5 2.9 17
KM 062S06 2.8 3.0 0.94 2.5 3.9 2.1 1.9 10
KM 062S09 1.8 4.7 0.38 0.85 2.5 3.3 0.75 3.4 7
KM 063S04 4.3 2.1 2.0 6.0 6.0 1.5 4.0 24
KM 063S09 2.5 4.7 0.54 1.6 3.5 3.3 1.1 6.3
STEP MOTORS
KM06: Motor Dimensions
Add E to model number for double ended shaft. Example: M062-LS03E
Encoder
Add to Model Number:
C2 200 lines per rev.
Outputs: A, B, Index,
A, B, Index,
Differential Line Drivers supplied
Example: KML063S09C5
For encoder specifications see pages 22-23
Terminal Box
Change to Model Number:
Example: KMT063S09 (triple stack, terminal
box, six leads, 4.7 amp winding)
8
STEP MOTORS
KMO6
24 V Bipolar - Full Step 36 V Bipolar - Full Step 72 V Bipolar - Microstep
24 volt data measured with 36 volt data measured with 72 volt data measured with
SS2000MD4 drive. SS2000MD4 drive. MD808 drive
The curves do not show system

resonances which will vary with
system mechanical parameters.
Duty cycle is dependent on torque,
speed, drive parameters, and heat
KM060 sink conditions. Maximum case
temperature is 100C.
KM 060F02 - 1.0 A peak KM 060F05 - 1.0 A peak KM 060F05 - 2.5 A peak KM 060F08 - 3.5 A peak
KM 060F05 - 2.5 A peak KM 060F11 - 3.5 A peak
KM061
KM 061F02 - 1.0 A peak KM 061F04 - 1.0 A peak KM 061F05 - 2.5 A peak KM 061F08 - 2.5 A peak KM 061F05 - 3.0 A peak KM 061F08 - 6.0 A peak
KM 061F08 - 3.5 A peak KM 061F08 - 3.5 A peak KM 061F11 - 7.5 A peak
[1.8 S teps/Sec] [1.8 S teps/Sec]

[1.8 S teps/Sec]
0 2000 4000 6000 8000 10000 0 2000 4000 6000 8000 10000
250 250 (Ncm) 0 2000 4000 6000 8000 10000
(Ncm) 250 (Ncm)
225 159 225 159 225 159
200 141 200 141 200 141
175 124 175 124 175 124
TO RQUE - o z i n
TO RQUE - o z i n
TO RQUE - o z i n
150 106 150 106 150 106

125 88 125 88 125 88
KM062 100 71 100 71 100 71

75 53 75 53 75 53
50 35 50 35 50 35
25 18 25 18 25 18
0 0 0 0 0 0
0 10 20 30 40 50 0 10 20 30 40 50
0 10 20 30 40 50
Motor Speed (rps) Motor Speed (rps)
Motor Speed (rps)
350 350 350
300 212 300 212 300 212
250 177 250 177 250 177
200 141 200 141 200 141
KM063 150
100
106
71
150
100
106
71
150 106
100 71
50
9
35 50 35 50 35
0 0 0 0 0 0
STEP MOTORS
KM09
High Torque 90mm Frame Size (NEMA Size 34)


Standard terminal box, encoders, and precision
gearheads available
Available with four or six leads

Rotor
2 on 2 on Torque
Frame
305 385 .016 3.8 4.0 25 50 10
KMO91
(215) (272) (1.13) (1.73) (1.81) (11) (23) (7.1)
610 770 .031 6.2 6.4 25 50 15
KMO92
(431) (544) (2.19) (2.82) (2.90) (11) (23) (11)
10 KMO93
915 1155 .047 8.7 8.9 25 50 23
(646) (816) (3.32) (3.95) (4.03) (11) (23) (16)
* Weight for motor with leads.

STEP MOTORS
KM09
KM 09
1 single stack XX total current E Rear shaft extension
Connections
L leads 2 double stack C2 200 line, six output encoder
F four leads
T terminal box 3 triple stack C4 400 line, six output encoder
See next page for additional KM09 information

KM 091F05 3.0 2.7 1.1 11
KM 091F07 2.5 3.3 0.76 7.5
KM 091F13 1.3 6.6 0.19 1.9
KM 092F07 3.5 3.3 1.1 11
KM 092F13 1.7 6.5 0.27 2.9
KM 093F07 4.9 3.4 1.4 18
KM 093F08 4.0 4.0 0.99 13
KM 093F10 3.2 5.1 0.63 8.3
KM 093F14 2.5 6.8 0.36 4.5

Model Number
Unipolar Bipolar Series
KM 091S02 9.3 1.0 9.3 47 13 0.70 19 190
KM 091S06 2.9 3.1 0.94 4.7 4.1 2.2 1.9 19
KM 091S08 2.1 3.8 0.55 2.9 2.9 2.7 1.1 11
KM 091S09 1.8 4.7 0.38 1.9 2.5 3.3 0.76 7.5
KM 092S09 2.5 4.6 0.54 2.8 3.4 3.2 1.1 11
KM 093S07 4.4 3.5 1.3 8.3 6.2 2.5 2.5 3.3
KM 093S10 3.5 4.8 0.72 4.5 4.8 3.4 1.4 18
11
STEP MOTORS
Add E to model number for double ended shaft. Example: KML092F07E
Encoder
Add to Model Number:
C2, C4, C500 Encoders Outputs: A, B, Index,

A, B, Index,
Differential Line Drivers supplied
Example: KML093S07C5 (triple stack,

leaded, six leads, 3.5 amp winding)
For encoder specification see page 22-23
C12 Encoder
Terminal Box Change to Model Number:

Example: KMT093S07 (triple stack, terminal box,
six leads, 3.5 amp winding)
Terminal Box Change to Model Number:

12 w/Encoder Example: KMT092F07C12 (double stack, terminal box,
four leads, 3.3 amp winding,
C12 encoder)
STEP MOTORS
KM09
36 V Bipolar - Full Step 72 V Bipolar - Microstep 170 V Bipolar - Microstep
36 volt data measured with 72 volt data measured with 170 volt data measured with
the SS2000MD4 Modular MD808 Modular Drive SS2000D3, D3i, D6, or D6i
Drive. Packaged Drive
400 400 400
350 247 350 247 350 247
300 212 300 212 300 212
250 177 250 177 250 177
200 141 200 141 200 141
KM091 150 106 150 106 150 106
100 71 100 71 100 71
50 35 50 35 50 35
0 0 0 0 0 0
KM 091F13 - 3.5 A peak KM 091F13 - 8.0 A peak
800 800 800
700 494 700 494 700 494
600 424 600 424 600 424
500 353 500 353 500 353
KM092 400 282 400 282 400 282
300 212 300 212 300 212
200 141 200 141 200 141
100 71 100 71 100 71
0 0 0 0 0 0
KM 092F13 - 2.5 A peak KM 092F13 - 3.5 A peak KM 092F13 - 8.0 A peak KM 092F13 - 3.0 A peak KM 092F13 - 6.0 A peak
1200 1200 1200
1000 706 706 706

1000 1000
800 565 800 565 565

800
KM093 600 424 600 424 600 424
400 282 282 282

400 400
200 141 200 141 141

200
0 0 0 0 0 0
KM 093F14 - 3.5 A peak KM 093F14 - 8.0 A peak KM 093F14 - 3.0 A peak KM 093F14 - 6.0 A peak
13
The curves do not show system resonances which will vary with system mechanical parameters.
Duty cycle is dependent on torque, speed, drive parameters, and heat sink conditions.
Maximum case temperature is 100C.
STEP MOTORS
KM11
3000
2500
2000 KM113
1500
KM112
1000
500
KM111

Standard terminal box, encoders, and precision

gearheads available
Available with four, six, or eight leads

Rotor
2 on 2 on Torque
Frame
1,030 1,450 0.078 11.0 12.2 75 130 42
KML111
(730) (1,020) (5.5) (5.0) (5.5) (34.0) (59.0) (30)
1,950 2,750 0.155 18.4 19.6 75 160 84
KML112
(1,380) (1,940) (10.9) (8.3) (8.9) (34.0) (72.6) (59)
2,650 3,750 0.229 25.7 26.9 75 160 106
KML113
(1,870) (2,650) (16.2) (11.7) (12.2) (34.0) (72.6) (75)
14
STEP MOTORS
KM11
KM 11
1 single stack XX total current E Rear shaft extension
Connections
L leads 2 double stack C2 200 line, six output encoder
F four leads
T terminal box 3 triple stack C4 400 line, six output encoder
E eight leads C12 1250 line, six output encoder

KM 111F05 6.3 2.7 2.33 40.4
KM 111F09 4.1 4.4 0.93 15.8
KM 111F11 3.2 5.5 0.58 10.1
KM 111F17 2.0 8.7 0.23 3.9
KM 111F21 1.7 10.7 0.16 2.8
KM 112F06 7.7 3.2 2.41 51.1
KM 112F08 6.0 4.0 1.51 31.2
KM 112F10 5.0 4.9 1.02 22
KM 112F13 3.2 7.9 0.41 8.4
KM 112F16 3.8 6.4 0.6 12.8
KM 112F20 2.5 9.9 0.25 5.5
KM 112F32 1.6 15.8 0.1 2.1
KM 113F06 10.2 3.1 3.29 78.5
KM 113F08 7.9 4.0 1.98 44.2
KM 113F10 6.5 4.9 1.32 30.7
KM 113F12 5.1 6.2 0.82 19.6
KM 113F16 4.0 8.0 0.5 11
KM 113F20 3.3 9.9 0.33 7.7
KM 113F31 2.2 15.4 0.14 3.2

Model Number
Bipolar Series Bipolar Parallel
KM 111E08 6.3 2.7 2.33 40.4 3.2 5.5 0.58 10.1
KM 111E12 4.1 4.4 0.93 15.8 2.0 8.7 0.23 3.9
KM 111E15 3.3 5.3 0.63 11.1 1.7 10.7 0.16 2.8
KM 112E09 7.7 3.2 2.41 51.1 3.8 6.4 0.6 12.8
KM 112E11 6.0 4.0 1.51 31.2 3.1 8.1 0.38 7.8
KM 112E14 5.0 4.9 1.02 22 2.5 9.9 0.25 5.5
KM 112E22 3.2 7.9 0.41 8.4 1.6 15.8 0.1 2.1
KM 113E09 10.2 3.1 3.29 78.5 5.1 6.2 0.82 19.6 15
KM 113E11 7.9 4.0 1.98 44.2 4.0 8.0 0.5 11
KM 113E14 6.5 4.9 1.32 30.7 3.3 9.9 0.33 7.7
KM 113E22 4.2 7.7 0.55 13 2.2 15.4 0.14 3.2
STEP MOTORS

4.325 MAX. LENGTH
[109.85] 2.19 [55.63]
1.25 .06 KM111 SERIES 3.89 [98.81]
3.500 [31.75 1.52] KM112 SERIES 5.91 [150.1]
1.375 [34.93]
[88.90] KM113 SERIES 7.92 [201.2]
4 MTG HOLES .7500
.328 [8.33] .48 [12.19] .7495
[19.050] .830
[19.037] .813
[21.08]
[20.65]
2.186 .002
[ 55.524 0.051]
.5000 [12.700] .1875

.4995 [12.687] .1855
[4.763]
[4.712]
DOUBLE ENDED SHAFT .06 [1.52]

12" [305] MIN
LEAD LENGTH
#18 AWG [ 0.96 mm 2 ]
Encoder MAX. LENGTH

KM111 SERIES 4.89 [124.2]
KM112 SERIES 6.91 [175.5]
KM113 SERIES 8.92 [126.6] Add to Model Number:
Outputs: A, B, Index,
C2, C4, C500 Encoders MAX. LENGTH A, B, Index,
KM111 SERIES 5.39 [136.9]
KM112 SERIES 7.41 [188.2]
KM113 SERIES 9.42 [239.3] Differential Line Drivers supplied
Example: KML113F08C5
For encoder specification see pages 22-23
C12 Encoder
Terminal Box
MAX. LENGTH
KM111 SERIES 5.20 [132.1] Change to Model Number:
KM112 SERIES 7.22 [183.4]
KM113 SERIES 9.23 [234.4]
Example: KMT113F08 (triple stack, terminal box,
four leads, 4 amp winding)
16
STEP MOTORS
KM11
72 V Bipolar - Microstep 170 V Bipolar - Microstep 340 V Bipolar - Microstep
72 volt data measured with 170 volt data measured with
MD808 Modular Drive SS2000D3, D3i, D6, or D6i
Packaged Drive
1400 1400 1400
1200 1200 1200
1000 1000 1000
800 800 800
KM111
600 600 600
400 400 400
250 250 250
0 0 0
KM 111F09 - 5.7 A peak - or KM 111E12 series KM 111F09 - 6 A peak - or KM 111E12 series KM 111F05 - 3.9 A peak - or KM 111E08 series
KM 111F11 - 7.1 A peak - or KM 111E08 parallel KM 111F05 - 3 A peak - or KM 111E08 series KM 111F05 - 3 A peak - or KM 111E08 series
KM 111F11 - 5.7 A peak - or KM 111E08 parallel KM 111F09 - 4 A peak - or KM 111E12 series
2500 2500
2500
2000 2000
2000
1500 1500
1500
KM112
1000 1000
1000
500 500
500
0 0
0
KM 112F10 - 6 A peak - or KM 112E14 series KM 112F08 - 6 A peak - or KM 112E11 series

KM 112F10 - 7.1 A peak - or KM 112E14 series KM 112F06 - 3.9 A peak - or KM 112E09 series
KM 112F08 - 4 A peak - or KM 112E11 series
KM 112F16 - 7.1 A peak - or KM 112E22 series KM 112F10 - 5 A peak - or KM 112E14 series
KM 112F13 - 6 A peak - or KM 112E09 parallel
KM 112F08 - 3.9 A peak - or KM 112E11 series
3500 3500 3500
3000 3000 3000
2500 2500 2500
2000 2000 2000
KM113 1500 1500 1500
1000 1000 1000
500 500 500
0 0 0
KM 113F10 - 7.1 A peak - or KM 113E14 series KM 113F10 - 6 A peak - or KM 113E14 series KM 113F06 - 3.9 A peak - or KM 113E09 series
KM 113F16 - 7.1 A peak - or KM 113E11 parallel KM 113F12 - 6 A peak - or KM 113E09 parallel KM 113F10 - 6 A peak - or KM 113E14 series
KM 113F20 - 8 A peak - or KM 113E14 parallel KM 113F12 - 6 A peak - or KM 113E09 parallel 17
KM 113F10 - 3.9 A peak - or KM 113E14 series
Duty cycle is dependent on torque, speed, drive parameters, and heat sink conditions.
STEP MOTORS
MH172
[1.8 S teps/Sec]
0 2000 4000 6000 8000 10000
5000
4500 3176
4000 2824
3500 2471
3000 2118
2500 1764
2000 1412
1500 170 V 340 V 1059
1000 706
500 353
0 0
0 10 20 30 40 50
Motor Speed (rps)
Can withstand up to 2-1/2 time rated

current (instantaneous)
Available with eight connections
Class F insulation system
Standard keyway
MH172 Specifications
Minimum *Weight Maximum Shaft Load Minimum
Rotor
Holding Torque Residual
Bipolar 2 On Torque
Frame
oz-in oz-in-s2 lb lb lb lb oz-in
(N-cm) (kg-cm2) (kg) (kg) (kg) (kg) (N-cm)
5,330 0.870 53 62 100 150 50
MH172
(3,764) (61.4) (24) (28) (45.4) (68) (35)
MH 172 FD 8030
E Rear shaft extension
18 C4 400 line, six output encoder
STEP MOTORS
MH172
Model Number
Bipolar Series Bipolar Parallel
See below Voltage Current Resistance Inductance Voltage Current Resistance Inductance
MH172-FD-8030 3.25 10.6 0.31 8.5 1.6 21 0.077 2.1
Motor Dimensions*
* Encoder if applicable, fits inside terminal box
170 V Bipolar - Microstep 340 V Bipolar - Microstep

[1.8 Steps/Sec] [1.8 S teps/Sec]
0 2000 4000 6000 8000 10000 0 2000 4000 6000 8000 10000
5000 (Ncm) 5000 (Ncm)
4500 3177 4500 3177
4000 2824 4000 2824

TORQUE - o z i n
TORQUE - o z i n
3500 2471 3500 2471

3000 2118 3000 2118
MH172
2500 1765 2500 1765
2000 1412 2000 1412
1500 1059 1500 1059

1000 706 1000 706
500 353 500 353
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50
Motor Speed (rps) Motor Speed (rps)
MH172-FD-8030 series - 12.0 A peak MH172-FD-8030 parallel -12.0 A peak MH172-FD-8030 series - 12.0 A peak MH172-FD-8030 parallel - 12.0 A peak
Duty cycle is dependent on torque, speed, drive parameters, and heat sink conditions. 19
STEP MOTORS
MX09
Hazardous Duty 90mm Frame Size
Hazardous Duty:
UL Class 1, Division 1, Group D

Min. Holding Winding Specifications Rotor Inertia Maximum Shaft Load Min. Residual
Torque Bipolar Weight -Ship
*Model Number 2 on Voltage Current Resistance Inductance oz-in-s2 Overhang Thrust Torque
lb (kg) oz-in (N-cm)
oz-in (N-cm) (VDC) (amperes) (ohms) (mH) (kg-cm 2
) lb (kg) lb (kg)
MX91-FF-206U 3.0 3.0 1.0 10

180 0.0095 6 25 50 2.0
MX91-FF-402U 2.9 4.0 0.72 6.0
(127) (0.67) (2.7) (11) (23) (1.4)
MX91-FF-403U 1.1 6.0 0.18 1.5
MX92-FF-206U 370 4.0 4.0 1.0 11 0.0174 9 25 50 4.0
MX92-FF-401U (261) 1.9 7.0 0.28 2.8 (1.23) (4.1) (11) (23) (2.8)
MX93-FF-206U 3.9 4.0 0.90 13
550 0.0265 11 25 50 7.0
MX93-FF-401U 3.2 5.0 0.65 8.0
(388) (1.87) (5) (11) (23) (4.9)
MX93-FF-402U 1.1 7.0 0.16 2.0
* Change U to EU for double-ended shaft
NOTE: Refer to MOTIONEERING for speed torque curves
20
STEP MOTORS
MX11
Hazardous Duty 110mm Frame Size
Hazardous Duty:
UL Class 1, Division 1, Group D

Min. Holding Winding Specifications Rotor Inertia Weight - Maximum Shaft Load Min. Residual
Torque Bipolar
*Model Number 2 on Voltage Current Resistance Inductance oz-in-s2 Ship Overhang Thrust Torque
oz-in (N-cm) (VDC) (amperes) (ohms) (mH) (kg-cm2) lb (kg) lb (kg) lb (kg) oz-in (N-cm)
MX111-FF-401U 850 (600) 3.8 1.1 3.6 16 0.055 (3.93) 10 (4.5) 25 (11.3) 50 (22.7) 6 (4.24)
MX112-FF-401U 1390 (981) 1.7 2.7 0.64 2.5 0.114 (8.06) 18 (8.2) 25 (11.3) 50 (22.7) 12 (8.47)
* Change U to EU for double-ended shaft
NOTE: Refer to MOTIONEERING for speed torque curves
Dimensions
21
STEP MOTORS
Encoders
Incremental Rotar y Optical Kit Encoders
200, 400, 500 lines per revolution

NOTE: 1250 lines per revolution
1250 lines per revolution
EK - 21 - 25 - 200 - 2
Encoder Kit Encoder Body Shaft Size Pulses Per Number of Outputs
Diameter 25 = 1/4 Inch Diameter Revolution: 200, 2 = Single-Ended (A, B only)
(2.1 inches) 38 = 3/8 Inch Diameter 400, 500, 1250
3 = A, B, & Index
6 = A, B, & Index
A, B, & Index
22 (With Differential Line Drivers)
STEP MOTORS
Encoders
SPECIFICATIONS 200/400/500 LINES PER REV 1250 LINES PER REV
Weight 2.1 ounces 6 ounces
Moment of Inertia 2.6 x 10-4 oz-in-sec2 max 5.0 x 10-4 oz-in-sec2
MECHANICAL
Bearing Life L10 = 2 billion revolutions

Acceleration 100,000 rad/sec2 100,000 rad/sec2
Bore size 0.250 in or 0.375 in 0.250 in or 0.375 in
Slew Speed 15,000 rpm max 7,000 rpm max
Strain Relief Withstands 10 lb pull on cable or wire bundle Withstands 10 lb pull on cable or wire bundle
Mounting Holes 2 x #4-40 at 180 on a 1.812 dia bolt circle 2 x #4-40 at 180 on a 1.812 dia bolt circle
MOTOR INTERFACE
Perpendicularity (Shaft-to-Mount) 0.005 in TIR

Shaft Endplay 0.010 in 0.060 in
Shaft Diameter 0.2495 / 0.2500 in 0.2495 / 0.2500 in
Required 0.3745 / 0.3750 in 0.3745 / 0.3750 in
Minimum Usable Shaft Length 0.056 in Minimum Required 0.70 in
Code Incremental Incremental
Cycles Per Revolution 200, 400, 500, as specified 1250
Supply Voltage 5 VDC 5 VDC
Output Format Dual channel quadrature, 45 min. edge separation Dual channel quadrature, 45 min. edge separation
Output Format Options Index and complementary ouputs Index and complementary ouputs
ELECTRICAL
Output Type, Square wave TTL compatible short-circuited Square wave TTL compatible short-circuited
Less Complements protected capable of sinking 10 ma protected capable of sinking 10 ma
Output Type, Differential line drivers (26LS31) Differential line drivers (26LS31)
With Complements capable of sinking 20 ma capable of sinking 20 ma
Frequency Response 100 kHz 100 kHz
Frequency Modulation 0.5% max. @ 50 kHz 1% max.
Frequency Adulation 3.0 arc min. max. (zero runout) 3.0 arc min. max. (zero runout)
Operation Temperature -10 C to +80 C (less complements)
0 C to + 85 C
ENVIRONMENTAL
-10 C to +100 C (with complements)

Storage Temperature -20 C to +100 C (less complements)
-30 C to +110 C
-40 C to +100 C (with complements)
Enclosure Unsealed housing, Unsealed housing,
(must be protected from harsh environments) (must be protected from harsh environments)
23
STEP MOTORS
MOTIONEERING Application Software

Sizing and Selection Software All common metric and English units can be used; and
the program converts data into the other available units
Step motor systems are often used in high performance Application and system data is organized in project
positioning systems. The correct motor and drive are folders that can be exported or imported for sharing with
equally important for the system to meet other users
performance and cost goals. To select a An extensive database of system combinations is
motor and drive for a given situation incorporated. These include NEMA size 23, 34, 42,
requires an analysis of the load, and 66 motors combined with drives having input
mechanical system and desired cycle voltages from 12 VDC to 240 VAC
times or speeds. On-line help explains the programs functions, terms
and equations.
MOTIONEERING Software for Superior Electric, makes
the selection process easy. MOTIONEERING software provides a versatile
environment for choosing the optimum step system for
Menu driven, Windows-based program your application and is available free of charge.
Automatically takes into account load,
motor and drive parameters.
Accommodates a wide variety of mechanisms: lead screw,
rack and pinion, conveyor (belt and pulley), nip rolls,

and rotary, as well as direct data entry
Application Assistance
There are two basic conditions that must be met for a step Once the load requirements are known:
motor system to successfully drive a given load: Compare the required torque at speed, to the available
The available motor torque must be greater than the torque for a given motor drive combination. The
required maximum load torque. As with all motors, the available motor torque must be greater than the
system will stall if the load torque is greater than the maximum load torque.
motor can produce.
In general, the load inertia, as presented to the motor,
The inertia of the load must be within the motors should be no more than 10 times the motor rotor
capability. This is required for the motor to reliably start inertia.
and control the load.
The temperature of the motor in a particular application
The first step in the selection process is to determine the depends on the duty cycle, ambient temperature, drive
load torque and inertia as they appear to the motor. Gear current, drive voltage, operating speed and heat sink
reducers, leadscrews, pulleys, etc. change the speed, torque conditions. Maximum case temperature of the motor is
24 and inertia requirements presented to the motor. The 100C (212F).
following pages show how to calculate these for various
applications.
STEP MOTORS
Application Assistance (Continued)
Leadscrew System Cylinder/Rod System
Variable Definitions: Variable Definitions:

2
L = length (in) g = 386 in/sec r = radius (in) ri= inner radius (in)
d = diameter (in) F = Force (lb) ro= outer radius (in)
J = inertia (lb-in2) E = Efficiency (as a decimal) L = length (in) L = length (in)
= Screw lead (in/rev) w = weight of load (lb) w = weight of cyl (lb) w = weight of cyl (lb)
J = inertia (lb-in2) J = inertia (lb-in2)
Step 1: Calculate Load Inertia (Jtotal load): Vb= Base speed (steps/sec) Vb= Base speed (steps/sec)
Jload= w * 2 *( 1/2 )2 Vf= Final speed (steps/sec) Vf= Final speed (steps/sec)
Jscrew= / 32 * d4 * L * r or 1/2 * w * r2
Jtotal load= Jload+ Jscrew Step 1: Calculate Load Inertia (Jload):
Solid Cylinder:
Step 2: Calculate Total Inertia (Jtotal): Inertia at Axis A: Jload= 1/2 * w * r2
Jtotal= Jtotal load+ Jmotor Inertia at Axis B: Jload= 1/12 * w(3r2 + L2)
Jmotor is found in the Rotor Inertia table at the end of this Hollow Cylinder:
www.DanaherMotion 704-588-5693
section. Inertia at Axis A: Jload= 1/2 * w(ro2 + ri2)
Note: If Jtotal load> 10 * Jmotor, then this motor will not be Inertia at Axis B: Jload= 1/4 * w(ro2 + ri2 + h / 3)
applicable.
Step 2: Calculate Total Inertia (Jtotal):
Step 3: Calculate the Torque in the System (TL): Very simply: Jtotal= Jload+ Jmotor
For a Horizontal leadscrew application, the formula for the Jmotor is found in the Rotor Inertia table at the end of this
system torque is: TL= (F * ) / (E * 2) section.
For a Vertical leadscrew application, the formula for the Note: If Jload> 10 * Jmotor, then this motor will not be
system torque is: TL= (((g * w) +/- F) * ) / (E * 2) applicable.
where E is the efficiency of the system and F any force that
opposes the movement of the load with the Step 3: Calculate the Torque
exception of friction or gravity. in System (TL):
TL= F * r where F is the
Step 4: Calculate the Torque Required to Obtain Base Force in Pounds.
Speed (Tb):
Tb= Jtotal* Vb2 * 0.00032
Step 4: Calculate Torque Required to Reach Base Speed(Tb):
Step 5: Calculate Torque Required to Accelerate the System Tb= Jtotal* Vb2 * 0.00032
(Ta):
Ta= Jtotal((Vf Vb) / tacc)* 0.00064 Step 5: Calculate Torque Required to Accelerate the System 25
tacc is the rate of acceleration. (Ta):
Ta= Jtotal((Vf Vb) / tacc)* 0.00064
STEP MOTORS
Disc/Pulley System Nip Roller System

r1= radius motor pulley (in) r2= radius load pulley (in) F = Force (lb) J = inertia (lb-in2)
w1= weight motor pulley (lb) w2= weight load pulley (lb) r = radius (in) w = weight (lb)
Vb= Base speed (steps/sec) Vf= Final speed (steps/sec) Vb= Base speed (steps/sec) Vf= Final speed (steps/sec)
J = inertia (lb-in2) F = Force required to F = Force required to
rotate system (lb) rotate system (lb)
Step 1: Calculate Load Inertia (Jtotal load): Step 1: Calculate Load Inertia (Jtotal load):
Jmotor pulley= 1/2 * w1 * r12 Inertia of a roller or disc is calculated as:
Jload pulley= 1/2 * w2 * r22 Jroll= 1/2 * w * r2
Jtotal load= Jmotor pulley+ Jload pulley Repeat the above formula for each roller or disc that must
be rotated as the load progresses.
Step 2: Calculate Total Inertia (Jtotal): Jtotal load= Jspool+ Jroll 1+ Jroll 2+ Jroll 3+ Jroll 4 etc.
Jtotal= Jtotal load+ Jmotor
Jmotor is found in the Rotor Inertia table at the end of this Step 2: Calculate Total Inertia (Jtotal):
section. Jtotal= Jtotal load+ Jmotor
Note: If Jtotal load> 10 * Jmotor, then this motor will not be Jmotor is found in the Rotor Inertia table at the end of this
applicable. section.
Note: If Jtotal load> 10 * Jmotor, then this motor will not be
Step 3: Calculate the Torque in System (TL): applicable.
TL= F * r1
Step 3: Calculate the Torque in System (TL):
Step 4: Calculate Torque Required to Reach Base Speed TL= F * r
(Tb): Where r represents the radius of the roller or disc driven
Tb= Jtotal* Vb2 * 0.00032 directly by the motor.
Step 5: Calculate Torque Required to Accelerate the Step 4: Calculate Torque Required to Reach Base Speed
System (Ta): (Tb):
Ta= Jtotal((Vf Vb) / tacc)* 0.00064 Tb= Jtotal* Vb2 * 0.00032
Step 5: Calculate Torque Required to Accelerate the

System (Ta):
26
STEP MOTORS
Rack and Pinion System Conveyer System

w = weight of load (lb) r = radius of pinion gear (in) w = weight (lb) r = radius (in)
F = Force (lb) g = 386 in/sec2 J = inertia (lb-in2) Vb= Base speed (steps/sec)
J = inertia (lb-in2) Vb= Base speed (steps/sec) Vf= Final speed (steps/sec) F = Force required to move
Vf= Final speed (steps/sec) = Coefficient of friction the system (lb)
between 2 surfaces.
Step 1: Calculate Load Inertia (Jtotal load):
Step 1: Calculate Load Inertia (Jtotal load): Jmotor roll= 1/2 * wmotor roll* rmotor roll2
Jpinion= 1/2 * w * r2 Jdriven roll= ( 1/2 * wdriven roll*rdriven roll2) / (rdriven roll/ rmotor roll)2
Jrack= w * r2 Jbelt= wbelt* rmotor roll2
Jtotal load= Jpinion+ Jrack Jload= wload* rmotor roll2
Additional driven roll inertias must be added to the
Step 2: Calculate Total Inertia (Jtotal): calculation as required.
Jtotal= Jtotal load+ Jmotor Jtotal load= Jmotor roll+ Jdriven roll+ Jbelt+ Jload
Jmotor is found in the Rotor Inertia table at the end of this
section. Step 2: Calculate Total Inertia (Jtotal):
Note: If Jtotal load> 10 * Jmotor, then this motor will not be Jtotal= Jtotal load+ Jmotor
applicable. Jmotor is found in the Rotor Inertia table at the end of this
section.
Step 3: Calculate the Torque in System (TL): Note: If Jtotal load> 10 * Jmotor, then this motor will not be
For or horizontally positioned Rack and Pinion applicable.
applications, Torque for the system is calculated as:
TL= w * * r Step 3: Calculate the Torque in System (TL):
The value for can be found on the Coefficient of Friction TL= F * r
table at the end of this section. Where r represents the radius of the roller or disc driven
For vertically positioned Rack and Pinion applications, directly by the motor.
Torque for the system is calculated as:
TL= ((g * w) + (w * )) * r Step 4: Calculate Torque Required to Reach Base Speed
(Tb):
Step 4: Calculate Torque Required to Reach Base Speed Tb= Jtotal* Vb2 * 0.00032
(Tb):
Tb= Jtotal* Vb2 * 0.00032 Step 5: Calculate Torque Required to Accelerate the
System (Ta):
Step 5: Calculate Torque Required to Accelerate the Ta= Jtotal((Vf Vb) / tacc)* 0.00064 27
System (Ta):
STEP MOTORS
Application Assistance (Continued) Length Conversion Factors

B mm cm m inch feet
Rotor Inertia A
mm ===== 0.1 0.001 0.03937 0.003281
Rotor Inertia
Model cm 10 ===== 0.01 0.3937 0.03281
oz-in-s2 lb-cm2 lb-in2
m 1000 100 ===== 39.37 3.281
KM060 0.0015 0.109 0.037
KM061 0.0034 0.240 0.082 inch 25.4 2.54 0.0254 ===== 0.08333
KM062 0.0056 0.395 0.135 feet 304.8 30.48 0.3048 12 =====
KM063 0.0084 0.593 0.203
KM091 0.016 1.13 0.386 Force Conversion Factors
KM092 0.031 2.19 0.748 B
A g kg oz lb Newton
KM093 0.047 3.32 1.134
KM111 0.078 5.5 1.882 g ===== 0.001 0.03527 0.002205 0.0098
KM112 0.155 10.9 3.740 kg 1000 ===== 35.27 2.205 9.807
KM113 0.229 16.2 5.526 oz 28.35 0.02835 ===== 0.0625 0.278
KM172 0.87 61.4 20.993
lb 453.6 0.4536 16 ===== 4.448
Density of Materials Newton 102 0.102 3.597 0.2248 =====
Material
lb/in3
Density
g/cc Inertia Conversion Factors
Acryl .0433 1.199
B kgm2 kgcm2 oz-in-sec2 lb-in2 lb-in-sec2 lb-ft-sec2
Aluminum .0975 2.700 A (slug ft2)
Bakelite .0469 1.299 kgm2 ===== 1.00 x 10 4 1.416 x 10 2 3.418 x 10 3 8.851 7.376 x 10 1
Brass .3069 8.498 kgcm 2
1.00 x 10 -4
===== 1.416 x 10 -2 3.418 x 10 -1 8.851 x 10 -4 7.376 x 10 -5
Bronze .3213 8.897
oz-in-sec2 7.062 x 10 -3 7.061 x 10 ===== 2.413 x 10 6.250 x 10 -2 5.208 x 10 -3

Copper .3213 8.897
lb-in 2
2.926 x 10 -4
2.926 4.144 x 10 -2
===== 2.590 x 10 -3 2.158 x 10 -4
Glass .0939 2.600
Iron .2852 7.897 lb-in-sec2 1.130 x 10 -1 1.130 x 10 3 1.600 x 10 3.861 x 10 2 ===== 8.333 x 10 -2
Iron (cast) .2635 7.296 lb-ft-sec2 1.356 1.356 x 10 4 1.920 x 10 2 4.633 x 10 5 1.200 x 10 1 =====
(slug ft2)
Magnesium .0614 1.700
Nickel .3177 8.797
Nylon .0412 1.141 Torque Conversion Factors
Rubber .0433 1.199 B
A N-m N-cm kgm* oz-in lb-ft lb-in
Steel .2816 7.798
Teflon .0794 2.199 N-m ===== 1.00 x 10 2
1.020 x 10 -1
1.416 x 10 2
7.376 x 10 -1
8.851
N-cm 1.000 x 10 -2 ===== 1.020 x 10 -3 1.416 7.376 x 10 -3 8.851 x 10 -2
Coefficients of Static Friction kgm* 9.807 9.807 x 102 ===== 1.389 x 103 7.233 8.680 x 101
oz-in 7.062 x 10 -3
7.062 x 10 -1
7.201 x 10 -4
===== 5.283 x 10 -3
6.250 x 10-2
Dry Contact Unless Noted
lb-ft 1.356 1.356 x 102 1.383 x 10-1 1.920 x 102 ===== 1.200 x 101
Steel on Steel 0.58
Steel on Steel (lubricated) 0.15 lb-in 1.130 x 10-1 1.130 x 101 1.152 x 10-2 1.600 x 101 8.330 x 10-2 =====
Aluminum on Steel 0.45
* Also written as kpm, kpcm, and pcm, respectively, to denote the force equivalent of the kg and g mass.
Copper on Steel 0.22
Brass on Steel 0.19
Teflon on Steel 0.04 Speed Conversion Factors
B
Leadscrew Efficiencies A rpm rps Rad / sec * step / sec
Type High Median Low rpm ===== 0.01667 0.1047 3.333

Ball - Nut 95% 90% 85% rps 60 ===== 6.283 200
28 Acme with metal nut ** 55% 40% 35% Rad /sec 9.552 0.1592 ===== 31.83
Acme with plastic nut 85% 65% 50%
* step / sec 0.3 0.005 0.03142 =====
** Since metallic nuts usually require a viscous lubricant, * Step rates are for 1.8 step motors (200 steps / Rev)
the coefficient of friction is both speed and temperature
dependent.
Multiply units of "A" by indicated factor to obtain units of "B".
STEP MOTORS
Technical Notes
Characteristics of Superior Electric Comparison of Servomotors versus
Step Motors Step Motors
Brushless, permanent magnet motors Often, when a motion control system is being specified, the
Operate in full-step (1.8) or half-step (0.9) increments designer must choose between a step motor system and a
Microstepping provides increments as small as 0.0072 servomotor system. In most cases, a well designed step motor
Accuracies of 2% (0.036) for size 23 and 34 motors, system will perform as well or better than a servomotor, and at
and 5% (0.09) for size 42 and 66 motors lower cost. The following comparison of the characteristics of
Speeds up to 20,000 steps per second (6,000 rpm) the two types of motors outlines some of the advantages of step
Holding torque ratings from 54 to 5,330 oz-in (38 to motors for motion control.
3,764 N-cm)
Wide range of configurations and frame sizes Servomotor Characteristics
Easily adapted to different control types, including Require complex, expensive control systems
microprocessor based systems Position sensing devices needed for feedback to control
Class B insulation, operate at ambient temperatures from Relatively low torque for size
-40C to +65C (-40F to +149F) Thermally inefficient
No brushes, ratchets or detents to wear out Control system must be tuned to load; must be retuned
Lubricated-for-life ball bearings if load is changed
Brushes on DC servomotors subject to wear
Superior Electric Step Motor Characteristics
Construction of Step Motors
Relatively inexpensive
A Superior Electricstep motor is a brushless motor consisting of Can be operated open-loop (no position feedback required)
a rotor and a stator assembly. The illustration shows the Noncumulative step error
internal construction and tooth alignment of the motor. The Simple control electronics can be used
fine teeth, evenly spaced around the entire diameter, provide the Brushless construction aids reliability
incremental angular rotation that results in mechanical motion. Maintenance free
Superior Electric step motors are constructed with a 48-50 or a Will not be damaged if stalled
52-50 tooth pitch configuration. The second number, 50, refers High torque for size
to the number of teeth on the rotor. The 50 teeth, combined Maintain position when at rest
with the two phase winding configuration and permanent
magnet construction, deliver a 1.8 step angle. Both
configurations have a slightly different tooth pitch
on the stator (48 or 52) to provide smoother
operation and softer step-to-step motion with
less resonance or mechanical instability at
low speed. The 52 tooth stator design is
used in the new KM motors to provide
extra torque. Superior Electric holds the
original patent on the 48-50 design.
29
STEP MOTORS
Technical Notes (Continued)

Stepping Techniques Switching Sequence For Operation From
The terms full-step, half-step and microstep are commonly used in
the discussion of step motors.
Bipolar Drives
Full-Step (Two-Phase On) Full-Step (One-Phase On)
A standard 1.8 step motor has 200 discrete positions in a full 360 Energizing Sequence* Energizing Sequence*
revolution. Since 360 divided by 200 equals 1.8, the motor shaft Phase Phase
will advance 1.8 each time the motor is given a digital command to Step Step
A B A B
take one step. This is known as a full-step. 1 +1 +1 1 +1
2 +1 -1 2 -1
The term half-step indicates a 0.9 step angle (half of a full 1.8 3 -1 -1 3 -1
step). This is achieved with a switching technique that alternately 4 -1 +1 4 +1
applies positive current, no current, and negative current to each 1 +1 +1 1 +1
winding in succession.
Half-Step Phase Energizing Sequence*
The term microstep refers to a more sophisticated form of control Phase
which goes beyond the simple switching of power between phase A Step
A B
and phase B of the motor windings, and takes control of the 1 +1 +1
amount of current being sent to the individual windings. 2 +1
Microstepping permits the shaft to be positioned at places other 3 +1 -1
than the 1.8 or 0.9 locations provided by the full-step and half- 4 -1
5 -1 -1
step methods. Microstepping positions occur between these two
6 -1
angular points in the rotation of the rotor. 7 -1 +1
8 +1
The most commonly used microstep increments are 1/5, 1 +1 +1
1/10,1/16,1/32, 1/125 and 1/250 of a full step. Microstep increments Rotation is clockwise as viewed from label end of motor.
*
chosen by Superior Electric simplify control of both US and metric For counterclockwise rotation, sequence should go from bottom to top of chart.
units of measurement, and also allow finer positioning resolution.
While a full step of 1.8 will give a 0.001 inch resolution when the Switching Sequence For Operation From
motor is driving through a lead screw which has a 0.2000 inch lead,
resolutions of 0.000008 inch or less are possible using Unipolar Drives
microstepping. Four Step Input Sequence (Full-Step Mode)*
A major benefit of microstepping is that it reduces the amplitude of Step SW1 SW2 SW3 SW4
the resonance that occurs when the motor is operated at its natural 1 ON OFF ON OFF
2 ON OFF OFF ON
frequency or at sub-harmonics of that frequency. The improved
3 OFF ON OFF ON
step response and reduced amplitude of the natural resonances
4 OFF ON ON OFF
result from the finer step angle. 1 ON OFF ON OFF
Eight Step Input Sequence (Half-Step Mode)*
Step SW1 SW2 SW3 SW4
1 ON OFF ON OFF
2 ON OFF OFF OFF
3 ON OFF OFF ON
4 OFF OFF OFF ON
5 OFF ON OFF ON
6 OFF ON OFF OFF
7 OFF ON ON OFF
8 OFF OFF ON OFF
1 ON OFF ON OFF
* Rotation is clockwise as viewed from label end of motor. For counterclockwise

30 rotation, sequence should go from bottom to top of chart.
STEP MOTORS
Technical Notes (Continued)

Torque vs. Speed Characteristics Angular Position Deviation
Many factors determine the torque vs. speed characteristics of a When a load is applied to a
Step Motor. These include the design of the drive system and the step motor shaft, the shaft
voltage supplied to the motor, as well as the inductance rating of will rotate slightly from the
the motor used. no load position. The
Effects of Drive Design Angular Position Deviation
Drive design is an important factor in determining the overall curve shows shaft deviation
performance which will be obtained. The types of drives, and their from the no load position
effects on motor performance, are as follows: vs. percent of rated holding
torque. This curve is valid
L/R Drives This design was the basis for most older drives and is for all Superior Electric
still used on some existing drives. It allows half-or full-step motor
1.8 step motors.
operation, but does not permit variable control of current level.
L/R drives also require dropping resistors, which reduce motor NOTE: Proper construction
efficiency. L/R drives provide satisfactory performance at lower of the mechanism of the
stepping rates, but do not have good high speed capabilities. This driven load is essential in order to accurately achieve a true
is the most basic drive design. versus theoretical position.
Constant Current Chopper Drives These drives maintain
relatively constant current to the motor at all speeds, and therefore
offer good stepping performance at rates up to approximately
Connection Diagrams
10,000 steps per second. Although more costly and complex than
L/R drives, they allow use of features such as closed-loop control,
microstepping, current boost, and stabilization that improve motor
performance.
Line Operated, High Voltage Chopper Drives These drives deliver
higher voltage to the motor for optimum high speed performance.
They are also able to operate larger motors to provide high
performance and excellent efficiency. Since they do not need bulky
stepdown transformers, line operated drives are more compact
than other chopper drives.
Effects of Motor Voltage

Motor performance at mid-range and high-range speeds can be
improved by increasing the voltage to the motor. However, the
motor will operate at a high temperature when the voltage is
increased, so some means of cooling may be necessary. In general,
motor supply voltage does not affect operation at lower speeds.
Motor Inductance Effects

For a given supply voltage, a low inductance motor will give better
performance at high speeds than a high inductance motor, but will
operate at a higher temperature. This is true because current will
increase faster in a low inductance winding, each time the winding
power is switched. High inductance motors yield higher
maximum torque and operate cooler, but their top speed is limited
and torque falls off more rapidly as speed rises, versus a lower 31
inductance motor.
NOTE: Numbers identify terminal board connections.

STEP MOTORS
Standard Options
Double End Shafts Gearheads
These motors have an output shaft at both ends. Motors with Motors are available with precision gearheads.
double end shafts are used with an encoder, to mount a knob Contact factory for details.
for turning the motor shaft manually, etc. NEMA size 23 and NEMA Size 23, 34, 42
34 motors with double end shafts have two tapped holes in Ratio from 3:1 to 100:1
the rear end bell for mounting encoders. Motors with shafts Continuous output torque up to 25,600 oz-in
at both ends are identified with a letter E suffix added to the (18,000 N-cm)
type number. See individual sections for detailed ordering Peak output torque up to 42,500 oz-in (30,000 N-cm)
information. Backlash less than 30 arc-minutes
Minimum efficiency 85%
Encoders
Superior Electric offers encoders which can be supplied as
kits for mounting to existing NEMA 23 or 34 motors with
double end shafts, or which can be supplied as an integral
part of all size motors. The encoders are available with
outputs of 200, 400, 500 or 1250 pulses-per-revolution.
See individual motor sections for information on ordering a
motor with an integral encoder. For kit type numbers and
encoder specifications, see pages 22-23.
Modifications
Many types of modifications are available.
Please contact us with your specific requirements.
Shaft Modifications
A variety of motor output shaft modifications can be supplied.
These include special flats and keyways, lengths, diameters,
through holes and similar changes which may be needed to
allow mounting of timing belts, pulleys or gears or to
facilitate mounting the motor to the equipment being driven.
Electrical Modifications
Motors can be supplied with a number of electrical
modifications, including nonstandard lead lengths, electrical
connectors and special windings.
32
STEP MOTORS
Definitions
1.1 COMMAND PULSE RATE: Command pulse rate is the rate at which 1.10 MAXIMUM REVERSING COMMAND PULSE RATE: The maximum
successive command pulses are applied to the motor by the drive circuit. reversing pulse rate is the maximum pulse rate at which the unloaded step
motor is able to reverse and remain in synchronism under the specified
1.2 DETENT TORQUE: Detent torque is the lowest value of torque (for a drive conditions.
complete revolution) which can be applied to the motors shaft which
causes the rotor to advance to the next detent position with the stator 1.11 MAXIMUM SLEW PULSE RATE: The maximum slew pulse rate is the
winding de-energized and not connected to one another in any way maximum pulse rate at which the unloaded step motor can remain in
electrically. synchronism under the specified drive conditions.
1.3 DIELECTRIC WITHSTAND VOLTAGE: Dielectric withstand voltage is 1.12 MECHANICAL HYSTERESIS: The angle (mechanical) between the
the maximum RMS value of a 50 to 60 Hz voltage which may be applied to unloaded quiescent point when moving CW and the unloaded quiescent
the motor (winding to winding, or winding to frame, as specified) without point (of the same step position) when moving in the CCW direction.
avalanche breakdown of the insulation occurring within 60 seconds from
the time of the application of the test voltage. Reactive components of 1.13 MOUNTING SURFACE PERPENDICULARITY:
current are to be disregarded. Avalanche breakdown is defined as a sudden Mounting surface perpendicularity is the difference between the maximum
discontinuity in the rate of change of current with change in voltage reading and the minimum reading of the dial indicator probing the surface
(di/dv). of a flat ground parallel surface metal plate (a minimum of 6 mm thick)
mounted to the mounting surface of the motor. The motor shaft is held
1.4 DIRECTION OF ROTATION: The direction of rotation of the shaft is stationary and the motor with its test plate rotated about the shaft. The
determined by viewing the stepping motor facing the shaft extension test plate shall have a surface finish of 1 micrometer (32 microinch) or
associated with the mounting surface. The standard (positive) direction of better, and shall be parallel within 0.0025 mm (0.0001 inch) TIR over the
shaft rotation is CW. surface. The indicator probe shall be applied at a diameter equal to the
body diameter of the motor.
1.6 GENERATED EMF: Generated EMF is the counter-electromotive force
(CWMF), also called back EMF (EMF), generated by the rotation of the 1.14 OVERSHOOT (TRANSIENT): The overshoot (transient) is the
rotor of a hybrid or Permanent Magnet motor when the phase windings amount the shaft of the step motor rotates beyond the final position.
are not energized and are open circuited. It is measured as the peak-to-
peak value of the generated voltage of one winding when the rotor is 1.15 (MOTOR) PHASE: A motor phase is a set of electrically excited stator
driven at a constant angular velocity or 1000 rpm. It is reported as peak poles, consisting of one or more pairs of oppositely polarized poles. The
volts (half of the peak-to-peak value measured) per 1000 rpm. magnetic polarity of these poles is sequentially reversed when the number
of phases are even integers, in which case the electrical angle between
Note: This does not apply to V.R. motors as they have no rotor magnets. phases is 180/number of phases. When the number of phases are odd
integers, the polarity of the poles does not reverse and the electrical angle
1.7 HOLDING TORQUE: Holding torque is the peak resistance (at a between phases is 360/number of phases.
specified current) to rotation of a gradually rotated shaft of an energized
stepping motor. There are two n such torque peaks (half positive, half NOTE: A bifilar wound set of poles constitutes one motor phase, not two,
negative) in a motor rated at n steps/revolution. The mode and applied since the flux reverses in the pole albeit the pole has two windings and the
current shall be specified. The torque shall be considered positive when current in each is unidirectional. The number of phases is not dependent
the rotor resists rotation of the shaft by an externally applied torque, and on the number of windings, but rather on the electrical angle between
negative when it requires the external torque to retard the shaft. poles.
1.8 LOAD: Any external static or dynamic resistance to motion that is 1.16 POSITIONAL ERROR: Positional error (sometimes designated
applied to the motor. The character of the load must be defined (e.g. Absolute Accuracy) is the deviation from the theoretically correct angular
Coulomb Friction, Viscous Friction, etc.). position of any step position in a complete revolution. The zero position
used in determining the theoretically correct angular position shall be the
1.9 LOAD ANGLE midpoint between the two extremes of position error. It is expressed as a
% of the angle of the rated incremental angular motion per step, measured
1.9.1 STATIC LOAD ANGLE: Static Load Angle is the angle through at no load, with rated current applied to the winding(s), the step sequence
which the rotor is displaced from its energized no load position by a specified, and measured at 25 Celsius. In the 2-on step sequence the
given applied torque at a Command Pulse Rate of zero, at a specified phase currents shall be balanced to within 1% of each other.
current. 33
1.17 PULL-IN STEP RATE: The pull-in step rate is the maximum
1.9.2 DYNAMIC LOAD ANGLE: The Dynamic Load Angle is the angle command pulse rate (constant) at which the energized step motor can
between the loaded and unloaded position of the rotor (at a given accelerate an applied load from standstill to command pulse step rate,
instant) under otherwise identical conditions at a specified command synchronously without missing steps.
Pulse Rate & Phase Current.
STEP MOTORS
1.18 PULL-IN TORQUE: The pull-in torque is the maximum positive 1.29 STEP ANGLE (BASIC): Is the rated angular increment of rotor
coulomb friction torque at which an energized step motor will accelerate position, at no load between any two adjacent quiescent states when the
to command pulse step rate, and run in synchronism with the command phases are energized singly in sequence.
pulse rate without losing steps, on application of a fixed specified inertial
load and drive circuit conditions. 1.30 STEP ANGLE ERROR: (Sometimes designated Incremental Step
Accuracy.) This is the maximum + or - deviation from the rated
1.19 PULL-OUT STEP RATE: The pull-out step rate is the maximum incremental angular motion per step, for any adjacent steps in a complete
command pulse rate (constant) at which the energized step motor can run revolution without reversing direction. It is expressed as a % of the angle
in synchronism with the command pulse rate at a specified position of the rated incremental angular motion per step, measured at no load,
coulomb friction load. Conditions of measurement shall exclude viscous with rated current applied to the winding(s), the step sequence specified,
friction and any other form of speed dependent torque. and measured at 25 Celsius. In the 2-on step sequence the phase currents
shall be balanced to within 1% of each other. (Also see positional error.)
1.20 PULL-OUT TORQUE: Pull-out torque is the maximum positive
coulomb friction torque which can be applied to the rotating shaft of a step 1.31 STEP POSITION: A step position is the static angular position which
motor (already running in synchronism with the command pulse rate) at a the shaft of an unloaded step motor assumes when it is energized without
given command pulse rate and conditions of drive circuit, without missing a causing continuous rotation. The step sequence shall be specified.
step. Conditions of measurement shall exclude viscous friction and any
other form of speed dependent torque. 1.32 STEP SEQUENCE: The sequence of excitation defined by the drive
circuit, which when applied to the motor provides a repeatable cyclic
1.21 RESOLUTION: The resolution is the reciprocal of the number of (full) pattern by which the windings are energized.
steps per revolution of the motor shaft.
1.33 STEPPING MOTOR: A step motor is a polyphase synchronous
1.22 RESONANT STEP RATES: Resonant step rates are those step rates at inductor motor, the rotor of which rotates in discrete angular increments
which there are definitive peaks on the curve of velocity modulation when the stator windings thereof are energized in a programmed manner
amplitude vs step rate. The severity of a given resonant range is dependent either by appropriately timed DC pulses or by a polyphase alternating
on: (a) the velocity modulation amplitude and (b) the bandwidth of the current. Rotation occurs because of the magnetic interaction between the
step-rates in the range. rotor poles and the poles of the sequentially energized stator phases. The
rotor has no electrical winding but rather salient or magnetized poles.
1.23 RESPONSE RANGE: Response range is the command pulse range
over which the unloaded motor can accelerate to command pulse rate 1.33.1 PERMANENT MAGNET (PM): A permanent magnet step
from standstill, decelerate from command pulse rate to standstill, or motor utilizes a rotor which has permanently magnetized poles.
reverse direction (on command) without missing steps.
1.33.2 VARIABLE RELUCTANCE (VR) STEP MOTORS: A variable
1.25 SETTLING TIME: Settling time is the total time from the application of reluctance step motor utilizes a rotor which has pole salients (soft
the command signal until the amplitude of the oscillatory motion of the rotor iron) without magnetic bias in the de-energized state.
has diminished to 10% of the amplitude of the greatest oscillatory excursion
in a given step. 1.33.3 HYBRID (HY): A hybrid step motor utilizes a permanent
magnet to polarize soft iron pole pieces.
1.26 SHAFT RUN-OUT: Shaft run-out is the difference between the
maximum reading and the minimum reading of a dial indicator when 1.34 STEPPING RATE: The stepping rate is the number of step angles
located on the shaft surface. When the distance from the mounting through which the step motor shaft rotates in a specified time.
surface is not specified, the extremity of the shaft shall be used by default.
The motor frame is stationary during such measurement. 1.37 THERMAL RESISTANCE: Thermal resistance is the opposition to the
flow of heat in the materials of which the motor is constructed. It is
1.27 SLEW RANGE: Slew range is the range of command pulse rates over expressed as degrees Celsius per watt. All measurements are taken after
which the motor can remain unidirectionally in synchronism with the steady state conditions have been achieved.
command pulse rate but cannot start, or reverse at a fixed command pulse
rate without missing steps. The drive circuit conditions shall be specified. 1.37.1 THERMAL RESISTANCE (WINDING TO FRAME): This is the
measured difference in temperature between the winding and the
1.28 STEP: A (full) step is the increment in angular position of the rotor surface of the motor O.D. (midpoint) divided by the total electrical
between any two adjacent quiescent states when the phases are energized power (watts) input to the motor at the time and two temperature
34 singly and in sequence. A step is always associated with two phases readings are taken.
energized at all times or with one phase energized at all times. Alternate
1-on, 2-on energization is termed half-stepping.
STEP MOTORS
1.37.2 THERMAL RESISTANCE (FRAME TO AIR): This is the same 1.42.1 INCREMENTAL UNENERGIZED WINDING INDUCTANCE:
as 1.37.1 except that the temperature difference is between the An inductance bridge having a test frequency of 1 kHz is used for
winding and the surface of the motion O.D. midpoint and the air this test. The bridge voltage should be 1 v RMS applied to the motor.
surrounding the motor. The air shall be still, the motor suspended The inductance measurement should be made with the rotor
in the air to prevent heat sink effect of bench surfaces, etc. locked in the aligned or unaligned position, with no DC current
applied to any of the windings. The figure reported should state
1.37.3 THERMAL RESISTANCE (FRAME TO HEAT SINK): This is whether the aligned or unaligned position is used.
the same as 1.37.1 except that the temperature differential is that
which exists between motor frame and a heat sink. The heat sink 1.42.2 INCREMENTAL ENERGIZED WINDING INDUCTANCE: This
shall be sufficiently large and sufficiently thick to be (effectively) an is the same as 1.42.1 except that the inductance measurement is
infinite heat sink to the motor in question. made at some value of winding excitation. Unless otherwise stated,
the winding excitation shall be that of rated current.
1.38 THERMAL TIME CONSTANT: This is the time required for the
winding temperature of a motor to reach 63% of its steady state 1.42.3 INCREMENTAL ENERGIZED WINDING INDUCTANCE BY
temperature RISE with constant POWER applied to the motor. It is CURRENT RISE TIME METHOD: This measurement provides
measured by allowing the motor to reach steady state temperature, and information from which incremental inductance can be calculated at
then disconnecting the electrical power input. The winding temperature is any level of excitation up to the level of steady state energization. It
recorded as a function of time, zero time being the time at which the is similar in nature to the inductance obtainable by paragraph 1.42.2
power source was disconnected. The time required to drop to 37% of the except that it does not suffer from the effects of the 1 kHz test
steady state temperature rise is the thermal time constant. It is usually frequency. Measurements are made with the rotor locked in the
expressed in seconds, but any unit of time may be used. aligned and/or the unaligned position. As in 1.42.2 a constant DC
voltage is applied to a phase winding. The voltage shall be of such
1.39 TORQUE GRADIENT: Torque gradient (sometimes called stiffness magnitude that the steady state current is 10% higher than the
torque) is the slope of the torque displacement curve at the no-load highest value of current at which inductance information is desired.
quiescent point. The rise of current with time is recorded (storage oscilloscope,
digitized data on floppy disk, oscilloscope photograph, etc.) The
1.40 TRANSLATOR LOGIC: Translator logic translates the input pulse derivative of the current vs. time curve (di/dt) is that used to
train into the selected mode pattern to be applied to a step motor. compute the inductance at the value of excitation of interest from
1.41 WINDING: A winding is an aggregate of magnet wire turns all on the

poles of a given phase. Where there are two windings per phase, they may L = V-I*R
be connected in series or parallel. In the case of the series connection, the di/dt
connection between the two windings of a phase (5-lead or 6-lead motors),
the motor is referred to as a bifilar wound motor, but a winding consists Where:
of the magnet wire turns from the center tap to either end and not end to V = Applied voltage
end. I = Current in amperes at which di/dt is
measured
1.42 WINDING INDUCTANCE: The winding inductance of a step motor R = Total circuit resistance (including current
winding varies both with rotor position and with excitation current. monitoring shunt if used) in ohms
Measurements can also be affected by the rate of change of current; thus di/dt = Rate of change of current with voltage in
when a figure for inductance is given, the conditions under which the amps/sec
measurements were taken must be quoted. The following three types of L = Inductance in henries
inductance measurements each have their advantage and disadvantage.
That of 1.42.1 is the simplest and fastest measurement to make, and 1.43 WINDING RESISTANCE: Winding resistance is the lead-to-lead
requires the least equipment, but is least representative of actual operation (terminal-to-terminal) ohmic resistance measured with the windings at
conditions. The method of 1.42.3 on the other hand is the most 25 Celsius. A winding is defined in paragraph 1.41. The method used for
representative of actual operating conditions, but is the most difficult and measurement of resistance shall be accurate to four significant figures, and
time-consuming of the methods and requires the most specialized the value reported to three significant figures, the minimum value
equipment. The method of 1.42.2 is a compromise, perhaps leaning rounded down, and the maximum value rounded up.
towards 1.42.3 as being representative of actual operating conditions.
35
STEP MOTORS
Distribution Coast-To-Coast www.DanaherMotion.com
and International
The Superior Electric brand is a global leader in
the engineering, manufacturing, and marketing
of precision motion and control products for
industrial applications. All Superior motors and
controls are backed by highly specialized
engineers and service people who can help solve
your production challenges. Superior Electrics
capabilities and products have improved
operations for companies around the world.
Through Danaher Motion's extensive authorized

distributor network, Superior Electric products
are available worldwide. These distributors
provide convenient services by offering technical
support, replacement parts, and literature, as
well as an extensive inventory of models off-the-
shelf for the fastest possible delivery.
Call Superior Electric customer service for
ordering and application information or for the
address of the nearest authorized distributor for Danaher Motion
Superior Electric products.
Customer Support Center
13500-J South Point Blvd.
Charlotte, NC 28273
Tel: 704-588-5693
Fax: 704-588-5695
Support email: sales2@DanaherMotion.com
Web: www.DanaherMotion.com
In Europe
Danaher Motion GmbH & Co. KG
Robert-Bosch-Strae 10
64331 Weiterstadt, Germany
Tel: +49 (0) 6151-8796-10
Fax: +49 (0) 6151-8796-123
Internet: www.DanaherMotion.de
13500-J South Point Blvd. Charlotte, NC 28273 www.DanaherMotion.com

TEL: 704-588-5693 FAX: 704-588-5695
2003 Superior Electric- Printed in U.S.A. SP-20,000-08/2003 SUP-01-01-S100

Superior StepMotors

Uploaded by

Copyright:

Available Formats

Superior StepMotors

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Superior StepMotors

Uploaded by

Copyright:

Available Formats

STEP MOTORS

Distribution Coast-To-Coast www.DanaherMotion.com

Through Danaher Motion's extensive authorized

13500-J South Point Blvd. Charlotte, NC 28273 www.DanaherMotion.com

2003 Superior Electric- Printed in U.S.A. SP-20,000-08/2003 SUP-01-01-S100

Danaher Motion Your partner in Motion Control

Sizing and Selection Software 4

Quick Selection Guide 5

KM06 Series - NEMA 23 6-9

KM09 Series - NEMA 34 10-13

KM11 Series - NEMA 42 14-17

MH172 Series - NEMA 66 18-19

MX09 Series - NEMA 34 Hazardous Duty Motors 20

Hazardous duty motors, add on

The table of contents at the left will

Additional information on all our

Introduction High Torque Motor Construction

MOTIONEERING provides a versatile environment for

Quick Selection Guide

34 10-13 KMO92 770 (544) 0.031 (2.19)

42 14-17 KM112 2,750 (1,940) 0.155 (10.9)

66 18-19 MH172 5,330 (3,764) 0.870 (61.4)

250 KM063 177

Up to 200% rated torque reserve capacity

2% typical step accuracy

Minimum Holding Torque *Weight Maximum Shaft Load Minimum

See next page for additional KM06 information

6-CONNECTION STEP MOTORS

KM06: Motor Dimensions

Add E to model number for double ended shaft. Example: M062-LS03E

Differential Line Drivers supplied

For encoder specifications see pages 22-23

The curves do not show system

[1.8 S teps/Sec] [1.8 S teps/Sec]

150 106 150 106 150 106

KM062 100 71 100 71 100 71

350 350 350

300 212 300 212 300 212

250 177 250 177 250 177

200 141 200 141 200 141

Up to 200% rated torque reserve capacity

2% typical step accuracy

Minimum Holding Torque *Weight Maximum Shaft Load Minimum

* Weight for motor with leads.

See next page for additional KM09 information

6-CONNECTION STEP MOTORS

KM09: Motor Dimensions

Add E to model number for double ended shaft. Example: KML092F07E

C2, C4, C500 Encoders Outputs: A, B, Index,

Differential Line Drivers supplied

Example: KML093S07C5 (triple stack,

Terminal Box Change to Model Number:

Terminal Box Change to Model Number:

400 400 400

350 247 350 247 350 247

300 212 300 212 300 212

250 177 250 177 250 177

200 141 200 141 200 141

KM091 150 106 150 106 150 106

100 71 100 71 100 71