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Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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STEPPER BASICS
• Motor Dimensions• IMS Motor Part Numbers
• Wiring Configurations• 4, 6 & 8 leaded Motors
• Full Step Control• Half Step Control• Microstepping Control
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Ø 0.197 +0/-.0005(Ø 5.0 +0/-.012)
1.2 ±.02(30.44±0.5)
0.39 ±.04 (9.9±1.0)
Ø 0.156 +0/-.001(Ø 4.0 +0/-.012)
(4) 26 AWG15.75in (40 cm) Min
Optional Rear Shaft
0.95 ± 0.02(24.0 ± 0.5)
0.59 ± 0.02(14.86± 0.5)
L MAX
0.177 ± 0.002(4.5 ± 0.05 )
1.39 SQ.(35.3 SQ.)
1.02 TYP.(26.0 TYP.)
4-M3Deep 0.138 (3.5) Min
Ø 0.866 +0/-0.002(Ø 22.0 +0/-0.052)
Ø 0.197 +0/-0.005(Ø 5.0 +0/-0.012)
0.79 (2.0)
FRONT VIEW
NEMA 14
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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NEMA 14
• M-1410-0.75S• 0.75 amps per phase• S = Single shaft• D = Dual shaft• Approximately 1.0” long
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Ø 0.197 +0/-0.001(Ø 4.99 +0/-0.012)
1.67 Sq.(42.3 Sq.)
4-M3 x 0.5 Threadx 0.177 (4.5) Deep Min
1.22 Sq.(30.99 Sq.)
Ø 0.866 +0/-0.002(Ø 22.0 +0/-0.052)
LMAX FRONT VIEW
Ø
NEMA 17
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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NEMA 17
• M-1713-1.5S or D• 1.5 amps per phase• S = Single shaft• D = Dual shaft• Approximately 1.3” long
• M-1715-1.5S or D• M-1719-1.5S or D
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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NEMA 23
2.22 SQ.(56.39 SQ.)
1.85 SQ.(47.1 SQ.)
4 x Ø 0.197 (5.0)±.010 (.25) HOLESEQ. SPACED ON A2.619 (66.51) DBC.
Ø 1.500 ±.002(Ø 38.10 ±.05)(4) 22 AWG 11.8in (30 cm)
0.811 ±.02(20.57 ±0.5)
0.590 ±.008(14.86 ±.02)
0.197 (5.0)
0.060 (1.53)
LMAX
0.228 ±.009(5.8 ±.1)
OptionalRear Shaft3.0/6.0AmpMotors ONLY
Ø 0.25 +0/-.001(Ø 6.35 +0/-.013)
0.55(14)
0.228 ±.009 (5.8 ±.1)
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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NEMA 23
• M-2218-2.4S or D• 2.4 amps per phase• S = Single shaft• D = Dual shaft• Approximately 1.8” long
• M-2222-2.4S or D• M-2231-2.4S or D
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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NEMA 23
• M-2218-3.0S or D• 3.0 amps per phase• S = Single shaft• D = Dual shaft• Approximately 1.8” long
• M-2222-3.0S or D• M-2231-3.0S or D
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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NEMA 23
• M-2218-6.0S or D• 6.0 amps per phase• S = Single shaft• D = Dual shaft• Approximately 1.8” long
• M-2222-6.0S or D• M-2231-6.0S or D
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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0.512 +0/-.004(13 +0/-.10)
0.177 ±.004(4.5 ±0.1)
0.197 +0/-.0004(5.0 +0/-.011)
0.984 ±.01(25 ±0.2)
1.46 ±.04(37.0 ±1.0)
0.394 (10)
0.75 +0/-.02(19 +0/-0.5)
0.650 (16.5)
(4) 20 AWG 19.7 in (50 cm)
0.079 (2)
LMAX
OptionalRearShaft
4X Ø 0.22 (Ø 5.5) Eq. Spacedon a 3.874 (98.4) DBC.
2.739 SQ.(69.58 SQ.)
3.386 SQ.(86 SQ.)
Ø 2.87 +0/-.002(Ø 73 +0/-.05)
Ø 0.554 +0/-.0004(Ø 14 +0/-.011)
FRONT VIEW
NEMA 34
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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NEMA 34
• M-3424-6.3S or D• 6.3 amps per phase• S = Single shaft• D = Dual shaft• Approximately 2.4” long
• M-3431-6.3S or D• M-3447-6.3S or D
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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NEMA 42
• M2-4247S or D• S = Single shaft• D = Dual shaft• Approximately 4.7” long
• M2-4270S or D• M2-4288S or D
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Four Leaded Motor
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Eight Leaded Series(Six leaded)
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Eight Leaded Parallel
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Full Step Sequence
• How does a stepper motor take a full step?
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Full Step Mode (1st Step)
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
Start position 0o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Full Step Mode (2nd Step)
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
Start position 0o
1.8o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Full Step Mode (3rd Step)
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
Start position 0o
1.8o
3.6o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Full Step Mode (4th Step)
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
Start position 0o
1.8o
3.6o
5.4o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Full Step Mode (5th Step)
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
Start position 0o
1.8o
3.6o
5.4o
7.2o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Full Step Waveform
0 Amps
0 Amps
+
-
+
-ØA
ØB
1 2 3 4 1 2
Step #
CW
CCW
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Half Step Sequence
• How does a stepper motor take a half step?
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Half Step Mode (1st Step)
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
Start position 0o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Half Step Mode (2nd Half Step)
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
Start position 0o
OFF 0.9o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Half Step Mode (3rd Half Step)
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
Start position 0o
OFF 0.9o
1.8o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Half Step Mode (4th Half Step)
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
Start position 0o
OFF 0.9o
1.8o
OFF 2.7o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Half Step Mode (5th Half Step)
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
Start position 0o
OFF 0.9o
1.8o
OFF 2.7o
3.6o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Half Step Mode (6th Half Step)
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
Start position 0o
OFF 0.9o
1.8o
OFF 2.7o
3.6o
OFF 4.5o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Half Step Mode (7th Half Step)
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
Start position 0o
OFF 0.9o
1.8o
OFF 2.7o
3.6o
OFF 4.5o
5.4o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Half Step Mode (8th Half Step)
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
Start position 0o
OFF 0.9o
1.8o
OFF 2.7o
3.6o
OFF 4.5o
5.4o
OFF 6.3o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Half Step Mode (9th Half Step)
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
Start position 0o
OFF 0.9o
1.8o
OFF 2.7o
3.6o
OFF 4.5o
5.4o
OFF 6.3o
7.2o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Half Step Waveform
0 Amps
0 Amps
+
-
+
-ØA
ØB
1 2 3 4
Half Step #
CW
CCW
5 6 7 8 1 2 3 4 5 6
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Micro Stepping
0 Amps
0 Amps
+
-
+
-
ØB
1 2 3 4
Half Step #
CW
CCW
5 6 7 8 1 2 3 4 5 6
ØA
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Micro Stepping Sequence
• How does a stepper motor take a micro step?
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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4 Micro Steps/Full Step
Phase A CurrentDirection
Phase B CurrentDirection
Rotor Position
OFF 100% Start position 0o
38.3% 92.4% 0.45o
70.7% 70.7% 0.90o
92.4% 38.3% 1.35o
100% OFF 1.8o
Stepper Basics: Rev.09/04/2002© 2002 Intelligent Motion Systems, Inc.
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Micro Stepping
0 Amps
0 Amps
+
-
+
-
ØB
CW
CCW
ØA
1234
1.8°
