SHINANO KENSHI CORP. - California University of Pennsylvania

1 stepping MOTORSDC BRUSHLESS MOTORSDC SERVO MOTORSSHINANO KENSHI its inception in 1918, ShinanoKenshi Co., Ltd. of Japan has foundinnovative and creative ways to meetthe challenges set by its expandingcustomer base. Recognizing theeconomic globalization, ShinanoKenshi began to quickly opendivisions in strategic locations acrossthe world, establishing factories andsoles offices in Asia and Europe, aswell as the United the establishment of its and Engineering office in 1982,SKC- SHINANO KENSHI Corporationbegan to rapidly open markets in the computer peripheral, medical,industrial and other motion controlindustries. As applications continue todemand higher performance andefficiency at increasingly competitiveprices, SKC raises its standard tobecome one of the leaders in its staff of talented individuals withdiverse experience, along with anetworked sales force across the , strives to increase customersatisfaction through superior productsand services, delivered on time at acompetitive catalog is a compilation ofstandard models in a broad productline that demonstrates the scope ofour commitment to motion control.

2 Inaddition to the products describedhere, we have extensive customdesign and manufacturing technical support staff will bepleased to help you in finding theoptimal solution to your motioncontrol & ISO-14000 CertifiedTABLE OFCONTENTS3 CONTENTSSTEPPING MOTORSS tepping motor Operation & Theory ..4 Holding Torque Range Chart ..10 SST39C/40C Series ..12 SST39D Series ..14 SST42D Series ..16 SLC42H Series ..17 SST55D Series ..18 STH56D Series ..21 SST57D Series ..22 SST58D Series ..24 SST83D Series ..275 Phase SST39A Series ..285 Phase SST60B Series ..29 Step motor Driver Information ..30DC BRUSHLESS MOTORSM odel DR-24312-001E ..31 Model DR-29306-051 ..32 Model DR-4312-007D ..33 Model DR-4834-251 ..34 Model DR-5236-271 ..35 Model DR-5238-007 ..36 Model DR-538-504 ..37 Model DR-6236-152 ..38 Model DR-6634-514 ..39 Model DR-8538 ..40 Model DR-8738-252.

3 41DC SERVO MOTORSLA Brushless Series ..42DH High Performance Series ..44DX Standard Series ..49 Conversion Tables ..51 OPERATION& THEORYSTEPMOTOR4 stepping MOTORSSKC stepping motor Part Number1. stepping motor model number description - SKC s steppingmotor model number is determined by the following:Lead Wire Configuration and Color GuideTypical Drive CircuitsFeatures of stepping Motors1. Rotational speed is proportional to the frequency of inputpulses ( stepping rate).2. Digital control of speed and Open loop system with no position feedback Excellent response to acceleration, deceleration and Noncumulative positioning error ( 5% of step angle).6. Excellent low speed/high torque characteristics withoutgear Inherent detent Holding torque when Bidirectional Can be stalled without motor No brushes for longer trouble free Precision ball stepping motor ApplicationsFor accurate positioning of X-Y tables, plotters, printers, facsimilemachines, medical applications, robotics, barcode scanners,image scanners, copiers, are three basic types of step motors: variable reluctance(VR), permanent magnet (PM) and hybrid.

4 SKC adopted thehybrid type step motor design because it has some of thedesirable features of both the VR and PM. It has high resolution,excellent holding and dynamic torque and can operate at highstepping Fig. 5-1 construction of SKC stepping motor is Fig. 5-2 the detail of rotor construction is 5-1 stepping motor ConstructionFig. 5-2 Rotor Construction5 SSTH ybrid TypeStepping MotorMotor Size( in mm) motor LengthO to 5 Construction C: Steel HousingO: No Steel HousingShaft ConfigurationO: Single1: DoubleMotor Characteristics (1-99)Step AngleC: D: G: H: BROWN (A)ORANGE (A)Front End BellBall BearingWindingBall BearingMagnetRotor LaminationsRotor LaminationsHalf Pitch Off SetMagnetMagnet PolarityRotor LaminationsRear End BellStatorRED (B)YELLOW (B)BROWN (A)BLACK (COM A)ORANGE (A)RED (B)WHITE (COM B)YELLOW (B)BROWN (A)BLACK (COM)ORANGE (A)RED (B)YELLOW (B)OPERATION& THEORYSTEPMOTOR5 stepping MOTORSS tepping motor TheoryUsing a degree, unipolar, 4-phase stepping motor as anexample, the following will explain the theory of to Fig.

5 6-1, the number of poles on the stator is 8spaced at 45 degree intervals. Each pole face has 5 teeth spacedat degree intervals. Each stator pole has a winding as shownin Fig. 6-1 StatorWhen applying the current to the windings in the followingsequence per Table 6-1, the stator can generate the rotatingmagnetic field as shown in Fig. 6-2 (steps 1 thru 4).Table 6-1 Step Phase Sequence (1 Phase Excited)Step 1 Step 26 Fig. 6-2 Rotational Magnetic Field Generated by Phase SequenceThe hybrid rotor has 2 sets (stacks) of laminations separated bya permanent magnet. Each set of lams has 50 teeth and areoffset from each other by 1 2tooth pitch. This gives the rotor 50 Nand 50 S poles at the rotor 6-3 illustrates the movement of the rotor when the phasesequence is step 1, phase A is excited so that the S pole of the rotor isattracted to pole 1,5 of the stator which is now a N pole, and theN pole of the rotor is attracted to pole 3,7 of the stator which isa S pole now.

6 At this point there is an angle difference betweenthe rotor and stator teeth of 1/4 pitch ( degrees). Forinstance, the stator teeth of poles 2,6 and 4,8 are offset from the rotor step 2, there is a stable position when a S pole of the rotor islined up with pole 2,6 of the stator and a N pole of the rotor linesup with pole 4,8 of stator. The rotor has moved degrees ofrotation from step switching of phases per steps 3, 4 etc. produces degreesof rotation per 6-3 1 Phase Excitation SequenceDrive PulsePhase AStep 1 ONOFFStep 2 Step 3 Step 4 Phase APhase BPhase B342876 SNNS15342876 SNSN15342876 NSSN15342876 NSNS15 WindingStator PolePole 1,5 Step 1 StatorRotorStep 2 StatorRotorStep 3 StatorRotorPole 2,6 Pole 3,7 Pole 4,8 OPERATION& THEORYSTEPMOTOR6 stepping MOTORST echnical Data and Terminology7-1 Holding TorqueThe maximum steady torque that can be applied to theshaft of an energized motor without causing Detent TorqueThe maximum torque that can be applied to the shaft of anon-energized motor without causing continuous Speed-Torque CurveThe speed-torque characteristics of a stepping motor are afunction of the drive circuit.

7 Excitation method and 7-1 Speed - Torque Curve7-4 Maximum Slew FrequencyThe maximum rate at which the step motor will run andremain in Maximum Starting FrequencyThe maximum pulse rate (frequency) at which anunloaded step motor can start and run without missingsteps or stop without taking more steps than Pull-out TorqueThe maximum torque that can be applied to the shaft of astep motor (running at constant speed) and not cause it tolose Pull-in TorqueThe maximum torque at which a step motor can start, stopand reverse the direction of rotation without losing maximum torque at which an energized step motorwill start and run in synchronism, without losing steps, atconstant Slewing RangeThis is the area between the pull-in and pull-out torquecurves where a step motor can run without losing step,when the speed is increased or decreased gradually.

8 Motormust be brought up to the slew range with accelerationand deceleration technique known as Start-Stop RangeThis is the range where a stepping motor can start, stopand reverse the direction of rotation without losing is defined as the difference between the theoreticaland actual rotor position expressed as a percentage of the step angle. Standard is 5%. An accuracy of 3% isavailable on special request. This positioning error ErrorThis is the maximum accumulated error from theoreticalposition for both forward and backward direction ofrotation. See Fig 7-2 Step Angle Accuracy7-12 ResonanceA step motor operates on a series of input pulses, eachpulse causing the rotor to advance one step. In this timethe motor s rotor must accelerate and then decelerate to astop. This causes ringing, overshoot and vibration. Thereare some speeds at which the motor will not run.

9 This iscalled its resonant frequency. The objective is to design thesystem so that no resonant frequencies appear in theoperating speed range. This problem can be eliminated bymeans of using mechanical dampers or Methods8-1 Drive CircuitsThe operation of a step motor is dependent upon anindexer (pulse source) and driver. The indexer feeds pulsesto the driver which applies power to the appropriate motorwindings. The number and rate of pulses determines thespeed, direction of rotation and the amount of rotation ofthe motor output shaft. The selection of the proper driveris critical to the optimum performance of a step motor . shows some typical drive circuits also illustrate some of the methods used toprotect the power switches against reverse TorqueDynamic Torque(Resonance point is not included herein.)Driving Frequency (Speed)Max.

10 No LoadResponse (PPS)Max. Response(PPS)BackwardStart-Stop RangePull-out TorqueTorque (kgf-cm)Angle ErrorPull-in TorqueForwardTheoreticalAngleNeg. Max. ErrorPositive RangeHysteresisOPERATION& THEORYSTEPMOTOR7 stepping MOTORS8-1-1 Damping MethodsThese circuits can also be used to improve the dampingand noise characteristics of a step motor . However, thetorque at higher pulse rates (frequency) can be reduced socareful consideration must be exercised when selecting oneof these :1. Diode MethodFig. 8-1 (a)2. Diode +Resistance MethodFig. 8-1 (b)3. Diode +Zener Diode MethodFig. 8-1 (c )4. Capacitor MethodFig. 8-1 (d)Fig. 8-18-1-2 stepping RateA step motor operated at a fixed voltage has a decreasingtorque curve as the frequency or step rate increases. Thisis due to the rise time of the motor winding which limits thevalue of the coil current. This is determined by the ratio ofinductance to resistance (L/R) of the motor and driver asillustrated in Fig 8-2 (a).