STEPPER ACTUATOR PRODUCT CATALOG · STEPPER ACTUATOR PRODUCT CATALOG and Design Guidelines...

STEPPER ACTUATOR PRODUCT CATALOGand Design Guidelines

Qualified Hardware, Innovative Solutions

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Avior Control Technologies, Inc -‐ www.AviorControls.com / [email protected] / (T) +1 720-‐491-‐3708CAGE: 6GST1 © 2014, Avior Control Technologies, Inc All Rights Reserved

http://www.AviorControls.com


mailto:[email protected]


Introduc)on Avior Control Technologies, Inc is a full service custom motor and moPon control house, specifically servicing space, high vacuum and demanding-‐environment, high reliability industries.

This catalog details the motor performance and mechanical characterisPcs, as well as integraPon requirements to aide in proper sizing and integra-‐Pon of these products into the next higher assembly.

With over three decades in the Aerospace MoPon Control business, Avior’s engineers have introduced a line of motors, sensors and gearing that have evolved beyond other products available in this market. Materials, processes and design concepts are standardized for extreme vacuum space environment. Available contract services include detailed dimensional worst case analysis for each product, SolidWorks 3D model, detailed project Schedule, statused weekly and communicated to the customer two Pmes a month. Structural and thermal modeling reports are also available de-‐liverables.

In addiPon to the state-‐of-‐the-‐art products and services, Avior engineers are recognized as leaders in the industry in innovaPve moPon control con-‐cepts and new technologies. Currently under development are drive control techniques that significantly increase performance, power output and efficiency of convenPonal stepper drive systems. Another major development we have prototyped is a controllable deployment system. This sys-‐tem will allow for synchronous controlled deployment and is insensiPve to temperature delta. Ideal mulPple hinged deployment systems. This con-‐cept offers significantly more flexibility and less staPc fricPon when compared to Eddy Current Damper technologies, and much higher flexibility and reliability when compared to fluid damper systems. Contact Avior’s engineering department for more informaPon about our development acPvi-‐Pes.

Table of Contents

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Stepper Motor Introduction:......................................................4Motor Module Data:.......................................................................5Actuator Mechanical Dimensions and ICD........................6-7Catalog Usage Description..........................................................8Instrument Actuators: ! B62-08N08..............................................................................9!! B43-08N08.............................................................................10! B62-08N36..............................................................................11! B43-08N36.............................................................................12! B62-08N64.............................................................................13! B43-08N64............................................................................14! B62-08N216...........................................................................15! B43-08N216...........................................................................16! C62-10N10.............................................................................17! C83-10N10.............................................................................18! C62-10N36.............................................................................19! C83-10N36.............................................................................20! C62-10N75.............................................................................21! C83-10N75.............................................................................22! C62-13N216...........................................................................23! C83-13N216...........................................................................24!

Performance Actuators: ! D62-10N10.............................................................................25! D83-10N10.............................................................................26! D62-10N36.............................................................................27! D83-10N36.............................................................................28! D62-10N64............................................................................29! D83-10N64.............................................................................30! D62-15N216............................................................................31! D83-15N216............................................................................32! F62-13N08..............................................................................33! F83-13N08..............................................................................34! F62-15N36...............................................................................35! F83-15N36...............................................................................36! F62-15N64..............................................................................37! F83-15N64..............................................................................38! F62-15N216............................................................................39! F86-15N216............................................................................40!Section II - Engineering Data! High Performance Gearbox Description...........................41! Gearbox Module Performance Data...................................42! Stepper Motor Performance Equations.......................43 - 44! Schematics.............................................................................45! Transducers & Brakes....................................................46 - 47!

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Stepper Motor Introduc5on: With high torque-‐to-‐mass raPo and simple control methods, Stepper Motors are the motor of choice for many incre-‐mental control applicaPons for the Aerospace industry. They are ideal com-‐ponents for posiPoning drive, focus mechanisms and other instrument con-‐trol systems. The performance affects to system load inerPa must be con-‐sidered, as stepper motors are suscepPble to missed steps in high load iner-‐Pa factor applicaPon, or torque loss at underdamped step resonance points. These issues can be predicted and performance modeled. Avior will assist the design engineer to select the proper motor and drive methods to prop-‐erly size the best actuator to the applicaPon.

Using This Catalog: The performance figure below shows an example of the key performance points, and nomenclature used in this catalog. The tables tabulated herein reflect the +25ºC performance of the actuator. For simplic-‐ity and conservaPsm, a straight line relaPonship between the Torque at Low Pulse Rate and the InerPa Factored Response Rate is assumed.

Load inerPa, re-‐flected to the out-‐put of the gearbox is an import pa-‐rameter for step-‐per motor actua-‐tors. If the re-‐flected load inerPa is too high, there will be a reducPon in the response

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Inertia Factored Response Rate (+25º C)

Torque at Low Pulse Rate (+25ºC)

+25º C Dynamic Performance

+90º C Dynamic Performance

System Performance Requirement (With Margin)

rate, and the straight line performance approximaPon is uncertain, due to overshoot and step resonances. The performance tabulated herein as-‐sumes a reflected load inerPa equal to the motor inerPa (InerPa Factor of 2.0). For higher load inerPa applicaPons, consider other Avior Stepper Ac-‐tuator opPons, or contact Avior’s engineering department for detailed analysis.

The performance simulaPon at elevated temperatures may be approxi-‐mated by determining the motor winding resistance at the elevated tem-‐perature. The Torque at Low Pulse Rate will be reduced by the raPo of the reducPon in stall current in the motor. The inerPa factored Response Rate may be esPmated by taking the square root of the elevated temperature's stall power, mulPplying this number by the No Load Response Rate Constant. EquaPons for these and other parameters may be found in the EquaPon SecPon of this catalog.

Important Note: This catalog reflects some standard motor and gearbox configuraPons. Other power motor windings, configuraPons, gearbox raPos and mechanical configuraPons are available on request. While care has been taken to assure the accuracy of the data contained herein, the data is approximate, and subject to change without noPce. It is recommended the design engineer contact Avior’s engineering department to review your spe-‐cific applicaPon and assure the stepper motor actuator is right for your ap-‐plicaPon. EquaPons to analyze performance at alternaPve step rates and load inerPa are provided herein.





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T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C )

P A R A M E T E R ( U N I T S ) U N I T S S Y M B O L

M O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EP A R A M E T E R ( U N I T S ) U N I T S S Y M B O L

B 6 2 B 4 3 C 6 2 C 8 3 D 6 2 D 8 3 F 6 2 F 8 3

Motor Diameter Inches ΦM 0.750 0.750 1.000 1.000 1.250 1.250 1.500 1.500

Motor Rotor InerPa Lb-‐In-‐sec2 JM 6.10E-‐08 6.10E-‐08 2.20E-‐06 2.20E-‐06 6.50E-‐06 6.50E-‐06 1.90E-‐05 1.90E-‐05

Step Angle at Motor Degrees ΔθM 30º 30º 30º 15º 30º 15º 30º 15º

Simplex Motor Constant Lb-‐In / √wao KM 0.060 0.060 0.13 0.12 0.31 0.30 0.53 0.50

Redundant Motor Constant Lb-‐In / √wao KM’ 0.040 0.040 0.089 0.085 0.22 0.21 0.37 0.35

Simplex No Load Response Rate Constant RPM / √wao KRR 850 850 400 400 275 275 210 175

Redundant No Load Response Rate Constant RPM / √wao KRR’ 875 875 425 425 300 300 190 190

Bearing FricPon (75 kpsi Pre-‐load) Lbf-‐In FBM 0.002 0.002 0.004 0.004 0.012 0.012 0.040 0.040

MagnePc Coulomb Torque Lbf-‐In FCM 0.008 0.010 0.015 0.018 0.038 0.042 0.075 0.090





T A B L E 2 -‐ A C T U A T O R M E C H A N I C A L D I M E N S I O N ST A B L E 2 -‐ A C T U A T O R M E C H A N I C A L D I M E N S I O N ST A B L E 2 -‐ A C T U A T O R M E C H A N I C A L D I M E N S I O N ST A B L E 2 -‐ A C T U A T O R M E C H A N I C A L D I M E N S I O N ST A B L E 2 -‐ A C T U A T O R M E C H A N I C A L D I M E N S I O N ST A B L E 2 -‐ A C T U A T O R M E C H A N I C A L D I M E N S I O N ST A B L E 2 -‐ A C T U A T O R M E C H A N I C A L D I M E N S I O N ST A B L E 2 -‐ A C T U A T O R M E C H A N I C A L D I M E N S I O N ST A B L E 2 -‐ A C T U A T O R M E C H A N I C A L D I M E N S I O N ST A B L E 2 -‐ A C T U A T O R M E C H A N I C A L D I M E N S I O N ST A B L E 2 -‐ A C T U A T O R M E C H A N I C A L D I M E N S I O N ST A B L E 2 -‐ A C T U A T O R M E C H A N I C A L D I M E N S I O N ST A B L E 2 -‐ A C T U A T O R M E C H A N I C A L D I M E N S I O N ST A B L E 2 -‐ A C T U A T O R M E C H A N I C A L D I M E N S I O N S

T Y P E

P E A K T O R Q U E

A B C D E F G H J L

M A S ST H E R M A L

C O N S T A N TT Y P E

L B F -‐ I N

A B C D E F G H J L

L B Mº C / W A T T

L O S S

B08-‐1 2.0 0.750 0.620 0.081 0.6875 0.125 0.188 1.470 0.750 0.750 2.065 0.13 7.6

B08-‐2 20 0.750 0.620 0.081 0.6875 0.125 0.188 2.200 0.750 0.750 2.795 0.19 7.6

B08-‐3 20 0.750 0.620 0.081 0.6875 0.125 0.188 2.930 0.750 0.750 3.525 0.23 7.6

C10-‐1 5.0 1.100 0.862 0.129 0.9375 0.188 0.250 1.685 0.750 1.000 2.280 0.28 6.1

C10-‐2 75 1.100 0.862 0.129 0.9375 0.188 0.250 2.462 0.750 1.000 3.057 0.44 6.1

C13-‐3 180 1.250 1.030 0.129 1.1875 0.188 0.250 3.500 0.750 1.000 4.100 0.60 6.0

D10-‐1 12 1.250 1.030 0.129 0.9375 0.188 0.250 2.062 0.750 1.250 2.657 0.47 3.0

D10-‐2 62 1.250 1.030 0.129 0.9375 0.188 0.250 2.850 0.750 1.250 3.445 0.63 3.0

D15-‐3 300 1.500 1.250 0.149 1.4375 0.250 0.313 4.125 0.750 1.250 4.745 1.20 4.5

F13-‐1 30 1.500 1.250 0.149 1.1875 0.250 0.313 2.500 1.062 1.500 3.095 0.82 2.5

F13-‐2 180 1.500 1.250 0.149 1.1875 0.250 0.313 3.250 1.062 1.500 3.850 1.00 2.5

F15-‐3 400 1.500 1.250 0.149 1.4375 0.250 0.313 4.250 1.062 1.500 4.850 1.38 4.5

Notes:1. Thermal constant at atmospheric condiPons at sea level while mounted on a 6” x 6” x 0.25” black anodized aluminum plate. 2. Data is approximate and subject to change without noPce.

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A

M B.0005

.001

B

E

L

F

J H

.0005 D+-.0000

G

See Shaft Options

Optional TransducerPositionVelocityAcceleration

.010 M A B

B

B

A 4X C+-.005.001

PROHIBITED.

D

C

B

AA

B

C

D

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8 7 6 5 4 3 2 1

1 Deg.

Catalog Figure

TWO PLACE DECIMAL

SHEET 1 OF 1

Issue Description

UNLESS OTHERWISE SPECIFIED:

Appr.

Lafayette, CO

.01

DO NOT SCALE DRAWING

.0005

TOLERANCING PER: ASME Y14.5

MATERIAL

FINISH

DRAWN

CHECKED

ENG APPR.

MFG APPR.

Q.A.

COMMENTS:

DATENAME

TITLE:

SIZE

BDWG. NO. REV

INTERPRET GEOMETRIC

FOUR PLACE DECIMAL .003THREE PLACE DECIMAL

DIMENSIONS ARE IN INCHESTOLERANCES:ANGULAR: MACH

PROPRIETARY AND CONFIDENTIALTHE INFORMATION CONTAINED IN THISDRAWING IS THE SOLE PROPERTY OFAVIOR CONTROL TECHNOLOGIES, INC. ANY REPRODUCTION IN PART OR AS A WHOLEWITHOUT THE WRITTEN PERMISSION OF AVIOR CONTROL TECHNOLOGIES, INC IS

CAGE 6GST1

Mechanical ICD

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This catalog is formaoed to provide some standard opPons for motor and gearbox combinaPons to allow the design engineer to customize an applicaPon with standard modular components. While Avior has more modular frame sizes of motors available for use as a stepper motor, we classify and categorize the most pracP-‐cal sizes and configuraPons. For instance, Avior’s 3.0” diameter “N” motor may be used as a stepper motor, but as a producer of mechanical power output, it is much more effecPve to use a smaller frame size Brushless DC Motor from a cost and mass per-‐specPve.

The four frame sizes tabulated herein consist of two sizes we refer to as out “Instrument” range of Actuators (our B and C Modular

frame sizes), and our “Per-‐formance” range of Actuators, which are used to drive higher load inerPas with

higher mechanical power out-‐put. The difference in the classifi-‐

caPon for these two types of stepper motor actuators is internal to Avior. We uPlize

higher internal preloads in the bearing arrangement and addiPonal lubricaPon features for the Performance line of actuators that are not typically required for the Instrument variety.

It is important to note that the tabulated performance related

herein assumed the load inerPa reflected to the motor is less than or equal to the motor rotor inerPa. AddiPonally, the dynamic per-‐formance rate is provided at 50% of the InerPa Factored Response Rate. These assumpPons are not requirements of performance. Each applicaPon may select their operaPonal pulse rate that saPs-‐fies system requirements. In the engineering secPon of this cata-‐log, equaPons are provided to determine operaPonal performance under different condiPons. Avior does recommend, however, to keep the operaPonal velocity below 68% of the inerPa factored response rate, as a general rule.

Product Code

F83S-13N08-20

Stall Power (Watts)

Gear Ratio

Gearbox Frame Size

Motor Frame Size

No. of Poles-Phases

Simplex(S) or Redundant (R)

.0005

2

INTERPRET GEOMETRIC

PROHIBITED.

D

C

B

AA

B

C

D

12345678

8 7 6 5

SIZEAppr.

THREE PLACE DECIMAL

Description

.003


Draw2

FOUR PLACE DECIMAL

SHEET 1 OF 1


B

.01

Lafayette, CO

4 3

TITLE:

DWG. NO.TOLERANCING PER: ASME Y14.5

MATERIAL

FINISH

DRAWN

CHECKED

ENG APPR.

MFG APPR.

Q.A.

COMMENTS:

DATENAME

1

1 Deg.TWO PLACE DECIMAL

REVIssue


PROPRIETARY AND CONFIDENTIALTHE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OFAVIOR CONTROL TECHNOLOGIES, INC. ANY REPRODUCTION IN PART OR AS A WHOLEWITHOUT THE WRITTEN PERMISSION OF AVIOR CONTROL TECHNOLOGIES, INC IS

CAGE 6GST1

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I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C )

P A R A M E T E R U N I T S6 W A T T S S T A L L P O W E R6 W A T T S S T A L L P O W E R

1 2 W A T T S S T A L L P O W E R




P A R A M E T E R U N I T S

S I M P L E X R E D U N D A N T S I M P L E X R E D U N D A N T S I M P L E X R E D U N D A N T

Avior Product Code -‐ B62S-‐08N08-‐06 B62R-‐08N08-‐06 B62S-‐08N08-‐12 B62R-‐08N08-‐12 B62S-‐08N08-‐18 B62R-‐08N08-‐18

ICD Dimensions See Table 2 B08-‐1B08-‐1 B08-‐1B08-‐1 B08-‐1B08-‐1

Number of Phases -‐ 22 22 22

Number of Poles -‐ 66 66 66

Gear RaPo -‐ 8.08.0 8.08.0 8.08.0

Step Size Degrees 3.753.75 3.753.75 3.753.75

DCR (Per Phase) Ohms 192192 9696 6464

Torque Constant Lb-‐In/Amp 5.987 3.991 4.233 2.822 3.457 2.304

Response Rate with Rated Load InerPa

Pules Per Second 294 303 416 429 510 525Response Rate with Rated Load InerPa RPM 184 189 260 268 319 328

Holding Torque Lbf-‐In 1.058 0.705 1.496 0.998 1.833 1.222

Torque at Low Pulse Rate Lbf-‐In 0.583 0.346 0.877 0.542 1.103 0.693

Dynamic RatePules Per Second 147 152 208 214 255 262

Dynamic RateRPM 92 95 130 134 159 164

Pull-‐In Torque at Dynamic Rate Lbf-‐In 0.291 0.173 0.439 0.271 0.522 0.346

Rated Load InerPa Lb-‐In-‐sec2 3.90E-‐063.90E-‐06 3.90E-‐063.90E-‐06 3.90E-‐063.90E-‐06

Stall Power at 24 VDC Waos 6.06.0 12.012.0 18.018.0

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Gear RaPo -‐ 8.08.0 8.08.0 8.08.0


DCR (AB-‐C) Ohms 9696 4848 3232







Dynamic RateRPM 97 100 138 142 169 173




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Gear RaPo -‐ 3636 3636 3636


DCR Per Phase Ohms 192192 9696 6464







Dynamic RateRPM 20 21 29 30 35 36




! 11


















Gear RaPo -‐ 3636 3636 3636


DCR (AB-‐C) Ohms 9696 4848 3232











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I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 6 4 ( D A T A A T + 2 5 º C )

N O T E


N O T E


N O T E


N O T E


N O T E


N O T E


N O T E


N O T E












Gear RaPo -‐ 6464 6464 6464













! 13


















Gear RaPo -‐ 6464 6464 6464


DCR (AB-‐C) Ohms 9696 4848 3232











! 14






I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 2 1 6 ( D A T A A T + 2 5 º C ) N O T E : T O R Q U E R A T I N G S T H E O R E T I C A L -‐ D O N O T E X C E E D G E A R B O X T O R Q U E R A T I N G S



















Gear RaPo -‐ 216216 216216 216216



Torque Constant Lb-‐In/Amp 161 107 114 76.2 93.32 62.22










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I N S T R U M E N T A C T U A T O R -‐ T Y P E B 4 3 -‐ 0 8 N 2 1 6 ( D A T A A T + 2 5 º C ) N O T E -‐ T O R Q U E R A T I N G S T H E O R E T I C A L -‐ D O N O T E X C E E D G E A R B O X T O R Q U E R A T I N G S












1 8 W A T T S S T A L L P O W E RP A R A M E T E R U N I T S






Gear RaPo -‐ 216216 216216 216216


DCR (AB-‐C) Ohms 9696 4848 3232

Torque Constant Lb-‐In/Amp 114 76 81 54 66 44










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I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C )










Avior Product Code -‐ C62S-‐10N10-‐10 C62R-‐10N10-‐10 C62S-‐10N10-‐20 C62R-‐10N10-‐20 C62S-‐10N10-‐30 C62R-‐10N10-‐30

ICD Dimensions See Table 2 C10-‐1C10-‐1 C10-‐1C10-‐1 C10-‐1C10-‐1



Gear RaPo -‐ 1010 1010 1010

Step Size Degrees 33 33 33

DCR Per Phase Ohms 115.2115.2 57.657.6 38.438.4











! 17




















Gear RaPo -‐ 1010 1010 1010


DCR (AB-‐C) Ohms 57.657.6 28.828.8 19.219.2











! 18




















Gear RaPo -‐ 3636 3636 3636













! 19




















Gear RaPo -‐ 3636 3636 3636


DCR (AB-‐C) Ohms 57.657.6 28.828.8 19.219.2









Rated Load InerPa Lb-‐In-‐sec2 .2.85E-‐03.2.85E-‐03 2.85E-‐032.85E-‐03 2.85E-‐032.85E-‐03


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Gear RaPo -‐ 7575 7575 7575











Rated Load InerPa Lb-‐In-‐sec^2 1.24E-‐021.24E-‐02 1.24E-‐021.24E-‐02 1.24E-‐021.24E-‐02


! 21




















Gear RaPo -‐ 7575 7575 7575


DCR (AB-‐C) Ohms 57.657.6 28.828.8 19.219.2











! 22






I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 3 N 2 1 6 ( D A T A A T + 2 5 º C ) N O T E -‐ T O R Q U E R A T I N G S T H E O R E T I C A L -‐ D O N O T E X C E E D G E A R B O X T O R Q U E R A T I N G S














3 0 W A T T S S T A L L P O W E RP A R A M E T E R U N I T S






Gear RaPo -‐ 216216 216216 216216






Holding Torque Lbf-‐In 76.8 54.1 109 76.5 133 93.7







! 23



























Gear RaPo -‐ 216216 216216 216216


DCR (AB-‐C) Ohms 57.657.6 28.828.8 19.219.2



Pules Per Second 358 380 506 538 620 658Response Rate with Rated Load InerPa RPM 4.1 4.4 5.9 6.2 7.2 7.6

Holding Torque Lbf-‐In 76.8 54.1 109 76.5 133 93.7







! 24






P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C )










Avior Product Code -‐ D62S-‐10N10-‐15 D62R-‐10N10-‐15 D62S-‐10N10-‐30 D62R-‐10N10-‐30 D62S-‐10N10-‐45 D62R-‐10N10-‐45

ICD Dimensions See Table 2 D10-‐1D10-‐1 D10-‐1D10-‐1 D10-‐1D10-‐1



Gear RaPo -‐ 1010 1010 1010













! 25




















Gear RaPo -‐ 1010 1010 1010


DCR (AB-‐C) Ohms 38.438.4 19.219.2 12.812.8











! 26




















Gear RaPo -‐ 3636 3636 3636













! 27




















Gear RaPo -‐ 3636 3636 3636


DCR (AB-‐C) Ohms 38.438.4 19.219.2 12.812.8











! 28






P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 6 4 ( D A T A A T + 2 5 º C ) N O T E -‐ T O R Q U E R A T I N G S T H E O R E T I C A L -‐ D O N O T E X C E E D G E A R B O X T O R Q U E R A T I N G S





















Gear RaPo -‐ 6464 6464 6464



Torque Constant Lb-‐In/Amp 151 111 107 78.5 87.4 64.1



Holding Torque Lbf-‐In 66.9 49.1 94.6 69.4 116 85.0







! 29



























Gear RaPo -‐ 6464 6464 6464


DCR (AB-‐C) Ohms 38.438.4 19.219.2 12.812.8

Torque Constant Lb-‐In/Amp 107 78.5 75.7 55.5 61.8 45.3

Response RatePules Per Second 301 329 426 465 522 569

Response RateRPM 12 13 17 18 20 22








! 30






P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 5 N 2 1 6 ( D A T A A T + 2 5 º C ) N O T E -‐ T O R Q U E R A T I N G S T H E O R E T I C A L -‐ D O N O T E X C E E D G E A R B O X T O R Q U E R A T I N G S





















Gear RaPo -‐ 216216 216216 216216






Holding Torque Lbf-‐In 225 165 319 234 391 287

Torque at Low Pulse Rate Lbf-‐In 121 86.1 177 127 220 159



Pull-‐In Torque at Dynamic Rate Lbf-‐In 60.5 43.1 88.6 63.9 110 79.5



! 31



























Gear RaPo -‐ 216216 216216 216216


DCR (AB-‐C) Ohms 38.438.4 19.219.2 12.812.8



Pules Per Second 301 329 426 465 522 569Response Rate with Rated Load InerPa RPM 3.5 4 4.9 5 6.0 7


Torque at Low Pulse Rate Lbf-‐In 122 86.1 179 127 222 159



Pull-‐In Torque at Dynamic Rate Lbf-‐In 61.2 43.1 89.2 63.7 111 79.5



! 32






P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C )










Avior Product Code -‐ F62S-‐13N08-‐20 F62R-‐13N08-‐20 F62S-‐13N08-‐40 F62R-‐13N08-‐40 F62S-‐13N08-‐60 F62R-‐13N08-‐60

ICD Dimensions See Table 2 F13-‐1F13-‐1 F13-‐1F13-‐1 F13-‐1F13-‐1



Gear RaPo -‐ 88 88 88













! 33




















Gear RaPo -‐ 88 88 88


DCR (AB-‐C) Ohms 28.828.8 14.414.4 9.69.6











! 34




















Gear RaPo -‐ 3636 3636 3636













! 35




















Gear RaPo -‐ 3636 3636 3636


DCR (AB-‐C) Ohms 28.828.8 14.414.4 9.69.6











! 36




















Gear RaPo -‐ 6464 6464 6464



Torque Constant Lb-‐In/Amp 188 135 133 95.8 109 78.3

Response RatePules Per Second 133 142 188 201 230 246

Response RateRPM 10 11 15 16 18 19

Holding Torque Lbf-‐In 111 80.0 157 113 192 138

Torque at Low Pulse Rate Lbf-‐In 63.1 43.5 92.3 64.5 115 80.6






! 37




















Gear RaPo -‐ 6464 6464 6464


DCR (AB-‐C) Ohms 28.828.8 14.414.4 9.69.6



Pules Per Second 221 240 313 340 383 416Response Rate with Rated Load InerPa RPM 8.6 9.4 12 13 15 16

Holding Torque Lbf-‐In 111 79.9 157 113 192 138

Torque at Low Pulse Rate Lbf-‐In 63.1 43.4 92.3 64.5 115 80.6






! 38






P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 5 N 2 1 6 ( D A T A A T + 2 5 º C ) N O T E -‐ T O R Q U E R A T I N G S T H E O R E T I C A L -‐ D O N O T E X C E E D G E A R B O X T O R Q U E R A T I N G S





















Gear RaPo -‐ 216216 216216 216216







Torque at Low Pulse Rate Lbf-‐In 200 137 293 204 364 256



Pull-‐In Torque at Dynamic Rate Lbf-‐In 100 68.6 146 102 182 128



! 39



























Gear RaPo -‐ 216216 216216 216216


DCR( AB-‐C) Ohms 28.828.8 14.414.4 9.69.6



Pules Per Second 221 240 313 340 383 416Response Rate with Rated Load InerPa RPM 2.6 2.8 3.6 3.9 4.4 4.8


Torque at Low Pulse Rate Lbf-‐In 200 137 293 204 364 255



Pull-‐In Torque at Dynamic Rate Lbf-‐In 100 68.6 146 102 182 127



! 40






Notes: 1. ConPnuous torque raPngs dependent on gear raPo, lubricaPon system, output velociPes, operaPng condiPons and life requirements. For iniPal esPmates of conPnuous

torque raPngs, 50% of the intermioent raPng is reasonable iniPal assumpPon. Contact Avior’s engineering department for a detailed conPnuous torque raPng assess-‐ment.

2. Torsional sPffness dependent on output shax configuraPon and gear raPo. 3. OperaPng efficiencies approximately 95% per stage of gearing. 4. Tighter backlash opPon is available. 5. In-‐line or right angle drives are available in each gearbox frame size. Contact Avior’s Engineering Department for Right-‐Angle Drive ICD informaPon. 6. Dry-‐film lubricaPon available for temperature extreme applicaPons. 7. Gearbox data is approximate. Data subject to change without noPce. 8. Output shax configuraPon is customized for each applicaPon.

High Performance Planetary Gearboxes ! 41


P L A N E T A R Y G E A R B O X M O D U L E P E R F O R M A N C E D A T A ( + 2 5 º C )P L A N E T A R Y G E A R B O X M O D U L E P E R F O R M A N C E D A T A ( + 2 5 º C )P L A N E T A R Y G E A R B O X M O D U L E P E R F O R M A N C E D A T A ( + 2 5 º C )P L A N E T A R Y G E A R B O X M O D U L E P E R F O R M A N C E D A T A ( + 2 5 º C )P L A N E T A R Y G E A R B O X M O D U L E P E R F O R M A N C E D A T A ( + 2 5 º C )P L A N E T A R Y G E A R B O X M O D U L E P E R F O R M A N C E D A T A ( + 2 5 º C )P L A N E T A R Y G E A R B O X M O D U L E P E R F O R M A N C E D A T A ( + 2 5 º C )P L A N E T A R Y G E A R B O X M O D U L E P E R F O R M A N C E D A T A ( + 2 5 º C )P L A N E T A R Y G E A R B O X M O D U L E P E R F O R M A N C E D A T A ( + 2 5 º C )P L A N E T A R Y G E A R B O X M O D U L E P E R F O R M A N C E D A T A ( + 2 5 º C )P L A N E T A R Y G E A R B O X M O D U L E P E R F O R M A N C E D A T A ( + 2 5 º C )

G E A R B O X

D E S I G N A-‐T I O N

G E A R B O X B E A R I N G F R I C T I O N

D I A M E T E RD I A M E T E R M A S S ( P E R M O D U L E )M A S S ( P E R M O D U L E ) M A X I N T E R M I T T E N T

T O R Q U E

M A X I N T E R M I T T E N T

T O R Q U ET O R S I O N A L S T I F F N E S ST O R S I O N A L S T I F F N E S S B A C K L A S HG E A R B O X

D E S I G N A-‐T I O N

L B F -‐ I N I N C H E S M M L B M K G L B F -‐ I N N ML B F -‐ I N /

R A DN M / R A D A R C -‐ M I N

08 0.005 0.75 19.05 0.09 0.04 20 2.3. 6.00E+03 680 ±5

10 0.012 1.00 25.40 0.19 0.09 75 8.5 1.50E+04 1,700 ± 3

13 0.030 1.25 31.75 0.34 0.16 180 20 2.00E+04 2,250 ± 3

15 0.050 1.50 38.10 0.56 0.26 400 45 4.00E+04 4,500 ±3

20 0.100 2.00 50.80 1.25 0.57 1,000 113 7.00E+04 8,000 ±2

25 0.200 2.50 63.5 1.56 0.71 2,000 225 1.50E+05 17,000 ±2

30 0.500 3.00 76.20 1.88 0.85 4,000 450 3.00E+05 34,000 ±2





! 42


Avior’s high efficiency planetary gearing modules feature high grade mate-‐rials, precision machining tolerances, fully preloaded ball bearing ar-‐rangements and criPcal process. These design features help contribute to the industries premium performance gearing modules. Avior’s criPcal gearbox parts are inventoried in blank form so that customizaPon may be accommodated with responsive service, without compromising the integ-‐rity of the hardware.

Our selecPon of MSFC-‐SPEC-‐522, Table I Ma-‐terials assures resis-‐tance to Stress Corro-‐sion Cracking, and speeds the process during reviews. Avior may provide low out-‐gassing space qualified lubricaPon systems complainant with JSC-‐SPEC-‐SPR-‐0022 (<0.1% CVCM, <1% TML). Cleaning, parPcle counts and applicaPon of barrier film migraPon inhibitor are standard processes for applicaPons used in a space environment.

Our fully preloaded ball bearing arrangements for the planetary cage car-‐rier bearings as well as the the bearing arrangement on each of the plane-‐tary gears provides full bearing rolling element contact with no “bouncing balls” during launch. These features significantly increases efficiency, reli-‐

ability, radial load capacity and life of the criPcal gearbox components, while reducing backlash.

Avior may incorporate an in-‐line or right angle gearbox uPlizing our stan-‐dard modular design concept. Although this catalog only delineates our in-‐line actuator product line, right angle versions are available in all frame sizes. Our right angle catalog is being developed and is esPmated for re-‐lease in Summer of 2014. Contact Avior’s engineering department for right angle drive opPons and configuraPons in the mean Pme.

The Table above delineates Avior’s Standard Planetary Gearbox Perform-‐ance Data.

Avior’s 8,000 Lbf-‐In Right Angle Drive Gearbox





The design engineer may use these equaPons to

determine performance at other pulse rates, gear raPos, load inerPa or temperatures. To calculate

the performance at other temperature, calculate or

find the motor +25º C DC resistance and Torque Constant. Calculate your DC Resistance at other

temperature (t2). From here, you may calculate your new holding torque, torque at low pulse rate

and No Load Response rate, with the current and

power input numbers by calculaPng the current at t2. Contact Avior’s Engineering Department with

any quesPons. [email protected]

Where:N = Gear RaPo

PPS = ApplicaPon Specific Pulses Per SecondV = Supply Voltage (Minimum)

RR = Response Rate

JL = Load InerPa (Lb-‐In-‐sec2)JM = Motor InerPa (Lb-‐In-‐sec2)

ηG = Gearbox efficiency (assume 95% per stage) FCM = Motor MagnePc Coulomb FricPon (Lbf-‐In)

FBM = Motor Bearing FricPon (Lbf-‐In)

FBG = Gearbox Bearing FricPon (Lbf-‐In)FL = Load FricPon (Nominal Lbf-‐In)

Δt = Time between pulses (1/PPS)x subscript = don’t care

S t eppe r Mo to r P e r f o rmance Equa t i on sS t eppe r Mo to r P e r f o rmance Equa t i on sS t eppe r Mo to r P e r f o rmance Equa t i on sS t eppe r Mo to r P e r f o rmance Equa t i on s

Pa r ame te r S ymbo l Un i t s E qua t i on

Step Angle at Motor ΔθM Degrees/Step See Page 4

Step Angle at Actuator Output ΔθA Degrees ΔθA = ΔθM / N

Motor Inertia JM Lb-‐in-‐sec2 See Page 4

Load Inertia Reflected to Motor JLM Lb-‐in-‐sec2 JLM = JL / N2

Inertia Factor JF -‐ JF = (JM + JLM) / JM

Total Power Input at Holding (at +25º C) PH25 Watts PH25 = (TH25 / KM)2

Motor Constant KM Lbf-‐In / √Watt

TH25 / √PH25

Motor Constant (alternate equation) KM Lbf-‐In / √Watt

KT / √ Ω25

Response Rate Constant KRR RPM / √Watt See Page 4

DC Resistance (Two Phase at +25º C) Ω2Ohms Per Phase

Ω2 = (2 * V2 ) / PH

DC Resistance (Three Phase at +25º C) Ω3 Ohms (AB-‐C) Ω3 = V2 / PH

DC Resistance at other Temperature (t2) Ωt2 Ohms Ωt2 = ΩX( 1 + 0.004 (t2-‐25))

DC Current at Holding (+25º C) I2 Amps Per Phase

I2 = V / Ω2

DC Current at Holding (+25º C) I3 Amps I3 = V / Ω3

Torque Constant (Two Phase) KT Lbf-‐In/ Amp KT = TH25 / (1.414 * I25)

Torque Constant (Three Phase) KT3 Lbf-‐In / Amp KT3 = TH3 / I3

Holding Torque at Motor at +25º C (Two Phase) TH2 Lbf-‐In TH2 = 1.414 * KT2* I2

Holding Torque at Motor at +25º C (Three Phase) TH3 Lbf-‐In TH3 = KT3* I3

Holding Torque at Actuator Output at +25º C THA Lbf-‐In THA =(N* ηG)*THX

Torque at Low Pulse Rate at Actuator Output (+25ºC) TPPS-‐0

Lbf-‐In TPPS-‐0 = ( THX* 0.707 ) -‐ N( FBM + FCM + FBG )

! 43










S t eppe r Mo to r P e r f o rmance Equa t i on sS t eppe r Mo to r P e r f o rmance Equa t i on sS t eppe r Mo to r P e r f o rmance Equa t i on sS t eppe r Mo to r P e r f o rmance Equa t i on s

Pa r ame te r S ymbo l Un i t s E qua t i on

No Load Response Rate at Actuator Output RRA Deg/Sec RRA = (KRR *6 *√PH25) / N

Inertia Factored Response Rate at Actuator Out-‐put RRJF

Deg/Sec RRJF = (KRR * 6 * √PH25) / ( N* √JF )

Available Pull In Torque at Required Pulse Rate at Actuator Output TPPSA

Lbf-‐In TPPSM = ((RRJF -‐ ωA) * TPPS-‐0 ) / RRJF

Acceleration Torques, Reflected to Load TαL Lbf-‐In TαL = (JM *KC * N 2 * ΔθA / Δt2) + (JL * KC* ΔθA / ( Δt2 + ηG) )

Required Pull-‐In Torque at Operational Pulse Rate (Per NASA-‐STD-‐7000) TPPS_Min

Lbf-‐In TPPS_Min = (FL* KV) + (FL(1-‐ηG)(KV-‐1) + (TαL (KC -‐1)) + (N(KV-‐1)(FBM + FBG)) + (N(KC -‐ 1 )FCM)

Margin of Safety (must be >0) MoS -‐ MoS = (TPPSA /TPPS_Min ) -‐ 1

Velocity at Actuator Output ωA Deg/Sec ωA = ΔθM * PPS / N

! 44


Variable torque components (Kv) are values that may vary from unit to unit or may increase over Pme, such as fricPon. Known torque components (Kc) are much more stable and cannot increase over Pme. Examples of these torque com-‐ponents are Motor Coulomb Torque and torque to accelerate inerPas. The strict interpretaPon of the GEVS requires high safety factors at early stages of the program. These factors are intended to apply to new development efforts. Most Pmes for actuator applicaPons, characterisPc fricPons and performance are characterized on standard motor and gearbox frame sizes. For applicaPons that have funcPonally tested or qualified components, it is enPrely appropriate to use CDR level factors for early program margins, and use Acceptance / QualificaPon levels for the specificaPon and final deliverable product. This approach has been accepted by NASA Engineers.

Recommended Factors of Safety to Torque Components per NASA-‐STD-‐7000Recommended Factors of Safety to Torque Components per NASA-‐STD-‐7000Recommended Factors of Safety to Torque Components per NASA-‐STD-‐7000

Program Phase Known Factor of Safety (KC) Variable Factor of Safety (KV)

Preliminary Design Review 2.00 4.0

CriPcal Design Review 1.50 3.0

Acceptance / QualificaPon Test 1.50 2.0





T W O P H A S E S T E P P E R M O T O RT W O P H A S E S T E P P E R M O T O RT W O P H A S E S T E P P E R M O T O RT W O P H A S E S T E P P E R M O T O RT W O P H A S E S T E P P E R M O T O R

S T E P S E Q U E N C E F O R C W R O T A T I O NS T E P S E Q U E N C E F O R C W R O T A T I O NS T E P S E Q U E N C E F O R C W R O T A T I O NS T E P S E Q U E N C E F O R C W R O T A T I O NS T E P S E Q U E N C E F O R C W R O T A T I O N

S T E P Y E L W H T R E D B L K

1 + -‐ + -‐

2 -‐ + + -‐

3 -‐ + -‐ +

4 + -‐ -‐ +

5 + -‐ + -‐

SHEET 1 OF 2

D

C

B

AA

B

C

D

12345678

8 7 6 5 4 3 2 1

1 Deg.

Schematics -1

TWO PLACE DECIMAL


Issue Description

PROHIBITED.

Appr.

Lafayette, CO

.01


.0005


MATERIAL

FINISH

DRAWN

CHECKED

ENG APPR.

MFG APPR.

Q.A.

COMMENTS:

DATENAME

TITLE:

SIZE

BDWG. NO. REV

INTERPRET GEOMETRIC




CAGE 6GST1

S1

Blk

A

Blu

Scope Ch 2: C+, B-

A

-

Blk/

Wh

t

B

C

For Electrical Zero (EZ) Null Position.

Yel

S3

ADC

Yel

A

R1

M

Red

Wht

S2

Excite Motor with 1 ADC, B+, C - B

Scope Ch 3: S2+, S4-Scope Ch 2: S1+, S3-

R2

Yel+

C

S4

E/0°

Wht

Yel

M

Red

RX

Re

dR

ed

/Wh

t

Scope Ch 1: R1+, R2-

Scope Ch 1: A+, B-

M

Wht

Blk

Re

d

T H R E E P H A S E S T E P P E R M O T O R T H R E E P H A S E S T E P P E R M O T O R T H R E E P H A S E S T E P P E R M O T O R T H R E E P H A S E S T E P P E R M O T O R

S T E P S E Q U E N C E F O R C W R O T A T I O NS T E P S E Q U E N C E F O R C W R O T A T I O NS T E P S E Q U E N C E F O R C W R O T A T I O NS T E P S E Q U E N C E F O R C W R O T A T I O N

S T E P Y E L R E D W H T

1 -‐ + -‐

2 -‐ + +

3 -‐ -‐ +

4 + -‐ +

5 + -‐ -‐

6 + + -‐

7 -‐ + -‐

SHEET 1 OF 2

D

C

B

AA

B

C

D

12345678

8 7 6 5 4 3 2 1

1 Deg.

Schematics -1

TWO PLACE DECIMAL


Issue Description

PROHIBITED.

Appr.

Lafayette, CO

.01


.0005


MATERIAL

FINISH

DRAWN

CHECKED

ENG APPR.

MFG APPR.

Q.A.

COMMENTS:

DATENAME

TITLE:

SIZE

BDWG. NO. REV

INTERPRET GEOMETRIC




CAGE 6GST1

S1

Blk

A

Blu

Scope Ch 2: C+, B-

A

-

Blk/

Wh

t

B

C

For Electrical Zero (EZ) Null Position.

Yel

S3

ADC

Yel

A

R1

M

Red

Wht

S2

Excite Motor with 1 ADC, B+, C - B

Scope Ch 3: S2+, S4-Scope Ch 2: S1+, S3-

R2

Yel+

C

S4

E/0°

Wht

Yel

M

Red

RX

Re

dR

ed

/Wh

t

Scope Ch 1: R1+, R2-

Scope Ch 1: A+, B-

M

Wht

Blk

Re

d

! 45


SchemaPcs





Transducers and Brakes! 46


Avior&offers&&a&full&line&of&complementary&func4on&devices&for&use&in&step&verifica4on&or&servo&control&systems.&Avior&also&provides&exper4se&and&hardware&op4ons&for&energy&absorp4on,&fail>safe&and&controlled&braking&applica4ons.&&&





! 47


M A G N E T I C D E T E N T B R A K E

P E R F O R M A N C E







D E T E N T B R A K E

C O D EU N I T S

0 8 D 1 1 DD E T E N T B R A K E

C O D EU N I T S

V A L U E V A L U E

Diameter Inches 0.75 1.062

Mass Lbm 0.06 0.10

Peak Torque Lbf-‐In 0.375 1.0

Added Length Inches 0.575 0.575

Added InerPa Lbf-‐In-‐sec2 1.30E-‐07 4.50E-‐07

D C F R I C T I O N B R A K E P E R F O R M A N C E ( + 2 5 º C ) D C F R I C T I O N B R A K E P E R F O R M A N C E ( + 2 5 º C ) D C F R I C T I O N B R A K E P E R F O R M A N C E ( + 2 5 º C ) D C F R I C T I O N B R A K E P E R F O R M A N C E ( + 2 5 º C ) D C F R I C T I O N B R A K E P E R F O R M A N C E ( + 2 5 º C )

F R I C T I O N B R A K E

C O D EU N I T S

0 8 F 1 1 F 1 5 FF R I C T I O N B R A K E

C O D EU N I T S

V A L U E V A L U E V A L U E

Diameter Inches 0.75 1.062 0.375

Mass Lbm 0.10 0.20 0.4

Holding Torque Lbf-‐In 0.375 1.0 3.0

Added Length Inches 0.850 0.850 1.25

Added InerPa Lbf-‐In-‐sec2 1.30E-‐07 4.20E-‐07 1.60E-‐06

Rated Voltage VDC 28 28 28

Pull In Voltage VDC, Max 18 18 18

Drop Out Voltage VDC, Min 1.0 1.0 1.0MagnePc Detent Brakes are passive variable reluctance devices that provide staPonary holding. Extremely popular in stepper motor actuators, these devices are useful for providing inherent launch-‐lock characterisPcs. The advantage of the MagnePc De-‐tent Brake is no power excitaPon is required and there are no fricPonal parts in contact.

The detent brake stable null points coincide with the motor step angle. The Peak Torque may be calibrated for each applicaPon to the maximum values tabulated in the table above.

DC FricPon Brakes are powered devices that provide power-‐off holding. The advantage of a FricPon Brake over a MagnePc Detent Brake is that the Motor Torque at low pulse rate does not need to overcome the brake torque.

There is no need to align the torque of the DC FricPon Brake to the motor step angle. The Holding Torque may be calibrated from the maximum value listed in the table above.





STEPPER ACTUATOR PRODUCT CATALOG · STEPPER ACTUATOR PRODUCT CATALOG and Design Guidelines...

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Transcript of STEPPER ACTUATOR PRODUCT CATALOG · STEPPER ACTUATOR PRODUCT CATALOG and Design Guidelines...