CLC/TS 60034-20-1:2004
(Main)Rotating electrical machines - Part 20-1: Control motors - Stepping motors
Rotating electrical machines - Part 20-1: Control motors - Stepping motors
Gives the requirements for rotating control motors and describes the appropriate tests. Also gives dimensions and marking information and the details to be provided by the manufacturer in associated data sheets and catalogues. Applicable to rotating stepping motors only.
Drehende elektrische Maschinen - Teil 20-1: Servomotoren - Schrittmotoren
Machines électriques tournantes - Partie 20-1: Moteurs de commande - Moteurs pas à pas
Fournit les prescriptions pour les moteurs de commande rotatifs et décrit les essais appropriés. Donne aussi les dimensions et les informations de marquage ainsi que les précisions à apporter par le fabricant dans les catalogues et fiches techniques associés. Uniquement applicable aux moteurs pas à pas rotatifs.
Električni rotacijski stroji - 20-1. del - Krmilni motorji/servo motorji - Koračni motorji (IEC/TS 60034-20-1:2002)
General Information
Standards Content (Sample)
SLOVENSKI STANDARD
01-junij-2005
(OHNWULþQLURWDFLMVNLVWURMLGHO.UPLOQLPRWRUMLVHUYRPRWRUML.RUDþQL
PRWRUML ,(&76
Rotating electrical machines - Part 20-1: Control motors - Stepping motors (IEC/TS
60034-20-1:2002)
Drehende elektrische Maschinen - Teil 20-1: Servomotoren - Schrittmotoren (IEC/TS
60034-20-1:2002)
Machines électriques tournantes - Partie 20-1: Moteurs de commande - Moteurs pas à
pas (CEI/TS 60034-20-1:2002)
Ta slovenski standard je istoveten z: CLC/TS 60034-20-1:2004
ICS:
29.160.30 Motorji Motors
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
TECHNICAL SPECIFICATION CLC/TS 60034-20-1
SPECIFICATION TECHNIQUE
TECHNISCHE SPEZIFIKATION September 2004
ICS 29.160.30
English version
Rotating electrical machines
Part 20-1: Control motors -
Stepping motors
(IEC/TS 60034-20-1:2002)
Machines électriques tournantes Drehende elektrische Maschinen
Partie 20-1: Moteurs de commande - Teil 20-1: Servomororen -
Moteurs pas à pas Schrittmotoren
(CEI/TS 60034-20-1:2002) (IEC/TS 60034-20-1:2002)
This Technical Specification was approved by CENELEC on 2004-07-03.
CENELEC members are required to announce the existence of this TS in the same way as for an EN and to
make the TS available promptly at national level in an appropriate form. It is permissible to keep conflicting
national standards in force.
CENELEC members are the national electrotechnical committees of Austria, Belgium, Cyprus, Czech
Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia,
Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Slovakia, Slovenia, Spain, Sweden,
Switzerland and United Kingdom.
CENELEC
European Committee for Electrotechnical Standardization
Comité Européen de Normalisation Electrotechnique
Europäisches Komitee für Elektrotechnische Normung
Central Secretariat: rue de Stassart 35, B - 1050 Brussels
© 2004 CENELEC - All rights of exploitation in any form and by any means reserved worldwide for CENELEC members.
Ref. No. CLC/TS 60034-20-1:2004 E
Foreword
The text of the Technical Specification IEC/TS 60034-20-1:2002, prepared by IEC TC 2, Rotating
machinery, was submitted to the formal vote and was approved by CENELEC as CLC/TS 60034-20-1
on 2004-07-03 without any modification.
The following date was fixed:
– latest date by which the existence of the CLC/TS
has to be announced at national level (doa) 2005-01-03
Annex ZA has been added by CENELEC.
__________
Endorsement notice
The text of the Technical Specification IEC/TS 60034-20-1:2002 was approved by CENELEC as a
Technical Specification without any modification.
__________
- 3 - CLC/TS 60034-20-1:2004
Annex ZA
(normative)
Normative references to international publications
with their corresponding European publications
The following referenced documents are indispensable for the application of this document. For dated
references, only the edition cited applies. For undated references, the latest edition of the referenced
document (including any amendments) applies.
NOTE Where an international publication has been modified by common modifications, indicated by (mod), the relevant
EN/HD applies.
Publication Year Title EN/HD Year
1)
IEC 60034-1 (mod) 1996 Rotating electrical machines EN 60034-1 1998
A1 1997 Part 1: Rating and performance A1 1998
A2 1999 A2 1999
+ A11 2002
2) 3)
IEC 60034-7 - Part 7: Classification of types of EN 60034-7 1993
construction, mounting arrangements
and terminal box position (IM Code)
IEC 60072-1 1991 Dimensions and output series for - -
rotating electrical machines
Part 1: Frame numbers 56 to 400 and
flange numbers 55 to 1 080
IEC 60072-3 1994 Part 3: Small built-in motors - Flange - -
numbers BF10 to BF50
1)
EN 60034-1:1998 is superseded by EN 60034-1:2004, which is based on IEC 60034-1:2004.
2)
Undated reference.
3)
Valid edition at date of issue.
SPÉCIFICATION CEI
TECHNIQUE IEC
TS 60034-20-1
TECHNICAL
Première édition
SPECIFICATION
First edition
2002-01
Machines électriques tournantes –
Partie 20-1:
Moteurs de commande –
Moteurs pas à pas
Rotating electrical machines –
Part 20-1:
Control motors –
Stepping motors
IEC 2002 Droits de reproduction réservés Copyright - all rights reserved
Aucune partie de cette publication ne peut être reproduite ni No part of this publication may be reproduced or utilized in
utilisée sous quelque forme que ce soit et par aucun procédé, any form or by any means, electronic or mechanical,
électronique ou mécanique, y compris la photocopie et les including photocopying and microfilm, without permission in
microfilms, sans l'accord écrit de l'éditeur. writing from the publisher.
International Electrotechnical Commission 3, rue de Varembé Geneva, Switzerland
Telefax: +41 22 919 0300 e-mail: inmail@iec.ch IEC web site http://www.iec.ch
CODE PRIX
Commission Electrotechnique Internationale
W
PRICE CODE
International Electrotechnical Commission
Pour prix, voir catalogue en vigueur
For price, see current catalogue
TS 60034-20-1 IEC:2002 – 3 –
CONTENTS
FOREWORD .7
1 Scope.11
2 Normative references .11
3 Definitions .13
4 Symbols for quantities and their units .21
5 Dimensions .23
5.1 Type 1 motors (based on metric dimensions).23
5.2 Type 2 motors (based on imperial dimensions).25
6 Test methods and acceptance criteria .31
6.1 Shaft extension run-out, concentricity of spigot diameter and perpendicularity
of mounting face to shaft .31
6.2 Moment of inertia of rotor .31
6.3 Voltage withstand test .31
6.4 Thermal resistance R and thermal time constant τ .33
th th
6.5 Back e.m.f. constant.33
6.6 Motor inductance.33
6.7 DC resistance.33
6.8 Step angle error .33
6.9 Detent torque .33
6.10 Holding torque.35
7 Special tests.35
7.1 General .35
7.2 Winding temperature rise .35
7.3 Torque displacement curve.35
7.4 Single step response, natural frequency and settling time .35
7.5 Maximum slew rate.35
7.6 Pull-in rate.37
7.7 Pull-out torque.37
7.8 Maximum reversing rate .37
7.9 Resonance .37
8 Rating plate and other information.37
8.1 Rating plate.37
8.2 Typical modes .39
8.3 Values to be indicated by the manufacturer .39
8.4 Lead identification and terminal numbering.41
8.5 Catalogue presentation .43
8.6 Basic performance curves .45
9 EMC requirements.45
10 Safety requirements .45
Annex A (Informative) Test procedures .47
Annex B (Informative) Special tests .61
TS 60034-20-1 IEC:2002 – 5 –
Figure 1 – Overshoot and settling time.19
Figure 2 – Mounting dimensions of claw pole stepping motors .23
Figure 3 – Dimensions of motors with IEC 60034-7 IM B5 classification mounting
arrangement .29
Figure 4 – Dimensions of motors with IEC 60034-7 IM B14 classification mounting
arrangement .31
Figure 5 – Winding connections for bipolar drives .41
Figure 6 – Basic performance curves .45
Figure A.1 – Double wire hanging method.49
Figure A.2 – Test circuit for determining R and τ .51
th th
Figure A.3 – Clarification of test procedure quantities .53
Figure A.4 – Test arrangements for determining back e.m.f. constant .53
Figure A.5 – Typical circuit for measuring inductance by an inductance bridge .57
Figure A.6 – Circuit for measuring inductance by the current discharge method.59
Figure B.1 – Arrangement for determining pull-in rate .63
Figure B.2 – Test rig for pull-out torque measurement using torque transducer and
particle brake.67
Figure B.3 – Test rig for pull-out torque measurement using dynamometer .67
Figure B.4 – Method of pull-out torque measurement using cord and spring balance .69
Figure B.5 – Method of pull-out torque measurement using cord and two spring
balances .69
Table 1 – List of symbols .21
Table 2 – Installation dimensions for claw pole stepping motors .25
Table 3 – Installation dimensions for type 2 motors with IM B14 mounting .25
Table 4 – Installation dimensions for type 2 motors with IM B5 mounting .27
Table 5 – Shaft dimensions for type 2 motors .29
Table 6 – Withstand voltage test for type 2 motors frame sizes up to and including 42.33
Table 7 – Typical modes for a three-phase stepping motor .39
Table 8 – Lead identification and terminal numbering.43
TS 60034-20-1 IEC:2002 – 7 –
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
ROTATING ELECTRICAL MACHINES –
Part 20-1: Control motors – Stepping motors
FOREWORD
1) The IEC (International Electrotechnical Commission) is a worldwide organization for standardization comprising
all national electrotechnical committees (IEC National Committees). The object of the IEC is to promote
international co-operation on all questions concerning standardization in the electrical and electronic fields. To
this end and in addition to other activities, the IEC publishes International Standards. Their preparation is
entrusted to technical committees; any IEC National Committee interested in the subject dealt with may
participate in this preparatory work. International, governmental and non-governmental organizations liaising
with the IEC also participate in this preparation. The IEC collaborates closely with the International
Organization for Standardization (ISO) in accordance with conditions determined by agreement between the
two organizations.
2) The formal decisions or agreements of the IEC on technical matters express, as nearly as possible, an
international consensus of opinion on the relevant subjects since each technical committee has representation
from all interested National Committees.
3) The documents produced have the form of recommendations for international use and are published in the form
of standards, technical specifications, technical reports or guides and they are accepted by the National
Committees in that sense.
4) In order to promote international unification, IEC National Committees undertake to apply IEC International
Standards transparently to the maximum extent possible in their national and regional standards. Any
divergence between the IEC Standard and the corresponding national or regional standard shall be clearly
indicated in the latter.
5) The IEC provides no marking procedure to indicate its approval and cannot be rendered responsible for any
equipment declared to be in conformity with one of its standards.
6) Attention is drawn to the possibility that some of the elements of this technical specification may be the subject
of patent rights. The IEC shall not be held responsible for identifying any or all such patent rights.
The main task of IEC technical committees is to prepare International Standards. In
exceptional circumstances, a technical committee may propose the publication of a technical
specification when
• the required support cannot be obtained for the publication of an International Standard,
despite repeated efforts, or
• The subject is still under technical development or where, for any other reason, there is
the future but no immediate possibility of an agreement on an International Standard.
IEC 60034-20-1, which is a technical specification, has been prepared by IEC technical
committee 2: Rotating machinery.
The text of this technical specification is based on the following documents:
Enquiry draft Report on voting
2/1111/DTS 2/1153A/RVC
Full information on the voting for the approval of this technical specification can be found in
the report on voting indicated in the above table.
This publication has been drafted in accordance with the ISO/IEC Directives, Part 2.
Annexes A and B are for information only.
TS 60034-20-1 IEC:2002 – 9 –
The committee has decided that the contents of this publication will remain unchanged until
2005. At this date, the publication will be
• transformed into an International Standard;
• reconfirmed;
• withdrawn;
• replaced by a revised edition, or
• amended.
TS 60034-20-1 IEC:2002 – 11 –
ROTATING ELECTRICAL MACHINES –
Part 20-1: Control motors – Stepping motors
1 Scope
This technical specification gives the requirements for rotating control motors and describes
the appropriate tests. It also gives dimensions and marking information and the details to be
provided by the manufacturer in associated data sheets and catalogues.
This technical specification is applicable to rotating stepping motors only.
It is not applicable to:
• induction motors;
• hydraulic and ratchet type stepping motors;
• linear motors;
• mechanically commutated motors;
• synchronous motors.
2 Normative references
The following referenced documents are indispensable for the application of this document.
For dated references, only the edition cited applies. For undated references, the latest edition
of the referenced document (including any amendments) applies.
IEC 60034-1:1996, Rotating electrical machines – Part 1: Rating and performance
IEC 60034-7, Rotating electrical machines – Part 7: Classification of types of construction,
mounting arrangements and terminal box position (IM code)
IEC 60072-1:1991, Dimensions and output series for rotating electrical machines – Part 1:
Frame numbers 56 to 400 and flange numbers 55 to 1080
IEC 60072-3:1994, Dimensions and output series for rotating electrical machines – Part 3:
Small built-in motors – Flange numbers BF10 to BF50
TS 60034-20-1 IEC:2002 – 13 –
3 Definitions
For the purpose of this technical specification, the following definitions apply.
3.1
axial thrust
force applied to a shaft along its axis of rotation
3.2
bipolar drive
stepping motor drive system in which the excitation applied is such that the torque generating
current reverses in the windings
3.3
canstack construction (claw pole)
permanent magnet motor having two or more coils held in position by a pair of endshields
having interlaced claws or teeth
3.4
cogging torque
cyclic torque in an unenergized motor resulting from the tendency of the rotor and stator to
align themselves in a position of minimum magnetic reluctance
3.5
commutation
process of sequentially exciting the windings of a motor such that the relative angle between
the magnetic fields of the stator and rotor is maintained within specified limits
NOTE Commutation is accomplished either mechanically or electronically.
3.6
continuous stall torque, T
cs
maximum continuous output torque that the stalled motor can develop under specified
conditions
3.7
counter e.m.f. (back e.m.f.), E
g
generated voltage produced by the relative movement between the magnetic field and the
armature winding
NOTE 1 It is normally stated as a peak (pk) or a root mean square (r.m.s.) value.
NOTE 2 The nature of the voltage value, i.e. whether peak, or r.m.s. should be declared.
3.8
counter e.m.f. constant (back e.m.f. constant), K
E
counter e.m.f. per unit of speed at a specified motor temperature
3.9
detent position
position where the rotor of a permanent magnet motor or hybrid stepping motor comes to rest
when unenergized and unloaded
3.10
detent torque
maximum steady torque that can be applied to the shaft of an unenergized permanent magnet
or hybrid stepping motor without causing continuous rotation
TS 60034-20-1 IEC:2002 – 15 –
3.11
direction of rotation
direction observed when facing the shaft extension associated with the mounting surfaces.
Counter-clockwise rotation of the shaft is regarded as positive and clockwise rotation as
negative.
3.12
drive circuit
combination of the translator logic and a power amplifier that switches the phases of the
stepping motor in a predetermined sequence
3.13
friction torque, T
f
frictional resistance to rotation within the machine
3.14
holding torque, T
H
maximum steady torque that can be applied to the shaft of a stepping motor energized by a
specific current without causing continuous rotation
3.15
hybrid (HY) stepping motor
stepping motor with permanent magnets for the polarization of rotor pole pieces of low
residual magnetic material
3.16
maximum reversing rate
maximum pulse rate at which an unloaded stepping motor is able to reverse and remain in
synchronism under specified drive conditions
3.17
maximum safe operating temperature
maximum temperature that a stepping motor can sustain either continuously or intermittently
without damage to any of its components for a given lifetime
3.18
maximum slew rate
maximum pulse rate at which an unloaded stepping motor can remain in synchronism under
specified drive conditions
3.19
mode or step sequence
particular sequence of excitation pulses produced by a drive circuit
3.20
moment of inertia of rotor (about an axis), J
r
the sum (integral) of the products of the mass elements of a body and the squares of their
distances from a given axis
3.21
overshoot or transient overshoot
amount by which the shaft of the stepping motor rotates beyond the final commanded step
position
TS 60034-20-1 IEC:2002 – 17 –
3.22
peak current, I
pk
maximum intermittent current that under specified conditions does not cause motor damage,
or irreversible degradation of motor performance
3.23
peak torque, T
pk
maximum torque developed by a motor under specified conditions when the maximum
allowable peak current is applied
3.24
permanent magnet (PM) stepping motor
stepping motor having rotor poles of permanent magnetic material
3.25
positional error
no-load deviation from the theoretical final position after a sequence of steps, expressed as a
percentage of the basic step angle
3.26
pull-out torque
maximum torque that can be applied to the rotating shaft of a stepping motor driven at a given
pulse rate under specified drive conditions, without causing the motor to miss steps
3.27
pulse rate
rate at which successive steps are initiated
3.28
radial load
force applied to the motor shaft perpendicular to the axis of rotation, expressed as the
equivalent value applied at the middle of the shaft extension
3.29
rated current
r.m.s. current developed at rated voltage and rated speed without exceeding the temperature
rating
3.30
resolution
reciprocal of the number of steps per revolution of the motor shaft
3.31
settling time
total time from the first arrival at the commanded position until the amplitude of the oscillatory
motion of the rotor has diminished to 1 % of the single step or as otherwise specified (see
figure 1)
3.32
single step response
response to a single step command as shown in figure 1
NOTE The single step response will be controller dependent.
TS 60034-20-1 IEC:2002 – 19 –
Y
X
3 2
IEC 199/02
Key
X axis – time
Y axis – angular position
1 – overshoot
2 – settling time
3 – single step time
Figure 1 – Overshoot and settling time
3.33
stalled motor (locked rotor)
condition where the rotor is held stationary while voltage is applied to the motor terminals
3.34
step
movement of the rotor from one energized position to the next in sequence
3.35
step angle
angle through which the shaft of an unloaded stepping motor can be made to turn when two
adjacent phases are energized, singly in sequence
3.36
step angle error
maximum percentage deviation from the theoretical step angle
3.37
stepping motor
motor, the rotor of which rotates in discrete angular increments when its stator windings are
energized in a programmed manner
3.38
steps per revolution
number of discrete steps for one revolution
3.39
step position
angular position that the shaft of an unloaded stepping motor assumes when it is energized
without causing continuous rotation
NOTE The step position is not necessarily the same as the detent position.
3.40
synchronism
state that exists when at each command pulse, the rotor rotates by only one step
TS 60034-20-1 IEC:2002 – 21 –
3.41
thermal resistance, R
th
opposition to the flow of heat
3.42
thermal time constant, ττττ
th
time required for a motor winding to reach 0,632 p.u. of its continuous steady state
temperature rise with constant load under specified conditions
3.43
torque ripple
variation of torque, excluding cogging torque, within one shaft revolution under specified test
conditions, expressed as the ratio of half of the peak-to-peak torque amplitude to the average
torque
3.44
translator logic
logic that translates the input pulse train into the selected mode pattern to be applied to a
stepping motor
3.45
viscous damping factor (at infinite source impedance), D
v
measure of rotational losses in torque that are approximately proportional to speed
ΔT
D ∝
V
Δω
4 Symbols for quantities and their units
Table 1 – List of symbols
Quantity Symbol Quantity SI unit symbols
D Viscous damping factor Nms
v
Eg Counter e.m.f. V
f
Frequency Hz
I
Current A
I
pk Peak current A
J Moment of inertia kgm
J Moment of inertia with respect to the rotational axis of the rotor kgm
r
K Back e.m.f. constant Vs
E
–1
K Torque constant NmA
T
L Inductance H
m Mass kg
P Output power W
o
P Power W
R Resistance
Ω
R Motor terminal resistance Ω
mt
–1
R Thermal resistance KW
th
TS 60034-20-1 IEC:2002 – 23 –
Quantity Symbol Quantity SI unit symbols
T Torque Nm
T Continuous stall torque Nm
cs
T Friction torque Nm
f
T Holding torque Nm
H
T Peak torque Nm
pk
V Voltage V
V Peak voltage V
pk
V Supply voltage V
s
θ Temperature at time t Cº
t
Ambient temperature Cº
θ
a
Final temperature at thermal equilibrium Cº
θ
f
τ Thermal time constant s
th
-1
s
ω Angular velocity ω = dφ/dt
5 Dimensions
5.1 Type 1 motors (based on metric dimensions)
Motors, excluding claw pole stepping motors shall have dimensions in accordance with:
IEC 60072-3 for flange sizes up to and including BF50;
IEC 60072-1 for flange sizes above BF50.
Claw pole stepping motors shall have dimensions in accordance with table 2, see figure 2
45º
S
∅
∅D
∅N
∅M
∅S
M
T
IEC 200/02
Figure 2 – Mounting dimensions of claw pole stepping motors
TS 60034-20-1 IEC:2002 – 25 –
Table 2 – Installation dimensions for claw pole stepping motors
Dimensions in mm
Size MN S Holes DT
(See note 1)
2,0 25,0 6 2,3 2 1,5 1,0
2,2 25,0 6 2,3 2 1,5 1,0
2,5 32,0 8 3,0 2 2,0 1,5
2,8 32,0 8 3,0 2 1,5
3,2 42,0 10 3,2 2 2,0 1,5
3,6 42,0 10 3,2 2 2,0 1,5
4,0 49,5 10 3,5 2 3,0 1,5
4,5 49,5 10 3,5 2 3,0 1,5
5,0 60,0 11 3,5 2 3,0 2,0
5,6 65,0 11 3,5 2 4,0 2,0
6,3; 7,1 52,0 14 4,5 4 4,0 2,0
NOTE 1 Size is equal to the motor diameter divided by 10.
NOTE 2 Although the flange may not be circular, it shall not exceed
diameter P.
NOTE 3 Motors may have mounting arrangements according to
IEC 60034-7 IM B5 or IM B14 classification.
5.2 Type 2 motors (based on imperial dimensions)
The mounting dimensions of type 2 motors shall be in accordance with table 3 for motors with
mounting arrangement according to IEC 60034-7 IM B5 classification and table 4 for motors
with mounting arrangement according to IEC 60034-7 IM B14 classification. Shaft details shall
be in accordance with table 5. For dimensional sketches, see figure 3 and figure 4.
NOTE Type 2 stepping motors are based on inch dimensions and are applicable only to existing designs. New
designs should conform with the requirements of type 1 motors as described in 5.1.
Table 3 – Installation dimensions for type 2 motors with IM B14 mounting
Dimensions in mm (inches)
Frame NT AC M SX
size (Note 1) (Note 2)
23 38,151 (1,502) 1,956 (0,077) 60,20 (2,370) 47,269 (1,861) 5,461 (0,215) 4
38,049 (1,498) 1,194 (0,047) max max 47,015 (1,851) 4,953 (0,195)
34 73,076 (2,877) 3,302 (0,130) 86,36 (3,400) 69,723 (2,745) 5,918 (0,233) 4
72,974 (2,873) max max 69,469 (2,735) 5,410 (0,213)
42 55,575 (2,188) 1,702 (0,067) 109,22 (4,300) 89,027 (3,505) 6,858 (0,27) 4
55,474 (2,184) 1,448 (0,057) max max 88,773 (3,495) min min
NOTE 1 IEC 60034-7 classification IM B14 mountings have square flanges having a side dimension equal to
dimension AC. The hole centres indicated by dimension M are square co-ordinates.
NOTE 2 X indicates the number of equi-spaced clearance holes in the flange.
TS 60034-20-1 IEC:2002 – 27 –
Table 4 – Installation dimensions for type 2 motors with IM B5 mounting
Dimensions in mm (inches)
Frame NT AC M S X
size (Note 1) (Note 2)
05 9,525 (0,3750) 1,092 (0,043) 12,700 (0,500) 4
9,512 (0,3745) 0,940 (0,037) 12,624 (0,497)
08 12,700 (0,5000) 1,143 (0,045) 19,126 (0,753) 4
11,417 (0,4495) 0,889 (0,035) 18,923 (0,745)
11 25,400 (1,0000) 1,702 (0,067) 27,051 (1,065) 20,701 (0,815) 4
25,387 (0,9995) 1,448 (0,057) 26,848 (1,057) 20,549 (0,809)
15 33,325 (1,3120) 3,480 (0,137) 36,576 (1,440) 28,016 (1,103) 4
33,312 (1,3115) 3,226 (0,127) 36,373 (1,432) 27,864 (1,097)
18 39,675 (1,5620) 3,480 (0,137) 44,526 (1,753) 4
39,662 (1,5615) 3,226 (0,127) 44,323 (1,745)
20 44,501 (1,7520) 6,731 (0,265) 51,054 (2,010) 4
44,399 (1,7480) 5,969 (0,235) 50,546 (1,990)
23 50,800 (2,0000) 5,207 (0,205) 57,150 (2,250) 4
50,775 (1,9990) 4,953 (0,195) 57,023 (2,245)
NOTE 1 Where no values are given for dimension S, the pitch circle diameter of the tapped holes should be
specified by the manufacturer.
NOTE 2 X indicates the number of equi-spaced tapped holes in the flange, the size of the tapped holes should
be specified by the manufacturer.
TS 60034-20-1 IEC:2002 – 29 –
Table 5 – Shaft dimensions for type 2 motors
Dimensions in mm (inches)
Frame E + R D Number Diametrical
size of teeth pitch
05 9,779 (0,385) 3,1674 (0,1247) 10 96
9,271 (0,365) 3,1547 (0,1242)
08 9,779 (0,385) 3,1674 (0,1247) 13 120
9,271 (0,365) 3,1547 (0,1242)
08 9,779 (0,385) 3,1674 (0,1247) --- ---
9,271 (0,365) 3,1547 (0,1242)
11 9,779 (0,385) 3,1674 (0,1247) 13 120
9,271 (0,365) 3,1547 (0,1242)
11 9,779 (0,385) 3,1674 (0,1247) --- ---
9,271 (0,365) 3,1547 (0,1242)
15 11,481 (0,452) 4,4958 (0,1770) 15 96
10,719 (0,422) 4,4704 (0,1760)
15 11,481 (0,452) 4,4958 (0,1770) 15 96
10,719 (0,422) 4,4704 (0,1760)
15 11,481 (0,452) 4,7625 (0,1875) --- ---
10,719 (0,422) 4,7371 (0,1865)
18 14,656 (0,577) 4,4958 (0,1770) 15 96
13,894 (0,547) 4,4704 (0,1760)
20 16,637 (0,655) 6,3500 (0,2500) --- ---
15,113 (0,595) 6,3373 (0,2495)
23 14,732 (0,580) 6,3424 (0,2497) 22 96
13,970 (0,550) 6,3170 (0,2487)
23 21,336 (0,840) 6,3500 (0,2500) --- ---
19,812 (0,780) 6,3170 (0,2490)
34 30,925 (1,2175) 9,5250 (0,3750) --- ---
29,401 (1,1575) 8,8265 (0,3475)
42 35,687 (1,405) 12,7000 (0,5000) --- ---
34,163 (1,345) 12,6873 (0,4995)
42 35,814 (1,410) 14,6558 (0,577) --- ---
34,290 (1,350) 13,8938 (0,547)
NOTE Where there are no entries in the 'number of teeth' and 'diametrical pitch'
columns, a plain shaft is indicated.
LA
45º
∅D
∅P ∅N
∅M
∅S
T
E
R
IEC 201/02
Figure 3 – Dimensions of motors with IEC 60034-7 IM B5 classification
mounting arrangement
TS 60034-20-1 IEC:2002 – 31 –
E
T
M
∅S
∅M
∅N ∅D
∅P
LA
P
IEC 202/02
Figure 4 – Dimensions of motors with IEC 60034-7 IM B14 classification
mounting arrangement
6 Test methods and acceptance criteria
6.1 Shaft extension run-out, concentricity of spigot diameter and perpendicularity of
mounting face to shaft
Type 1 control motors shall comply with requirements 8.1 and 8.2 of IEC 60072-1.
Type 2 control motors shall comply with the following requirements:
The run-out of the mounting spigots with the shaft extension shall not exceed the following:
• frame sizes 05, 08, 11, 15, 18 and 20: 0,0254 mm (0,001 in) in total indicator reading;
• frame sizes 23, 34 and 42: 0,0762 mm (0,003 in) in total indicator reading.
The run-out of squareness of the flange mounting faces to the shaft extension shall not
exceed the following:
• frame size 05: 0,0254 mm (0,001 in) in total indicator reading;
• frame sizes 08, 11, 15, 18 and 20: 0,508 mm (0,002 in) in total indicator reading;
• frame sizes 23, 34 and 42: 0,0762 mm (0,003in ) in total indicator reading.
The maximum shaft extension run-out at a distance of 6,35 mm (0,25in) from the bearing,
shall not exceed 0,02 mm (0,0008 in).
6.2 Moment of inertia of rotor
Where the moment of inertia of a rotor cannot be calculated from standard formulae, a
practical method shall be used. Examples of suitable test methods are given in clauses A.2
and A.3.
The moment of inertia shall be declared by the manufacturer, see 8.5.
6.3 Voltage withstand test
For motors of imperial frame sizes up to and including frame size 42, see tables 3 and 4, the
normal test voltages shall be those given in table 6.
TS 60034-20-1 IEC:2002 – 33 –
Table 6 – Withstand voltage test for type 2 motors
frame sizes up to and including 42
Frame size Test voltage V
r.m.s.
Below 11 250
11 to 42 500
For control motors below the flange size 55 as listed in IEC 60072-1, the test voltage shall be
by agreement.
All other control motors shall comply with the requirements in 8.1 of IEC 60034-1
6.4 Thermal resistance R and thermal time constant ττττ
th th
Examples of suitable test methods are given in clause A.4.
The thermal resistance and thermal time constant shall not exceed the values quoted by the
manufacturer.
6.5 Back e.m.f. constant
An example of a suitable test method is given in clause A.5.
The back e.m.f. constant shall conform to the value quoted by the manufacturer.
6.6 Motor inductance
Examples of suitable test methods are given in clause A.6.
The inductance of the motor shall be within the tolerance band quoted by the manufacturer.
6.7 DC resistance
The d.c. resistance of each winding shall be measured and corrected if necessary to the
equivalent resistance value at a temperature of 20 °C, see IEC 60034-1 clause 7.6.2.2. The
value of d.c. resistance shall be declared by the manufacturer, see 8.3.
6.8 Step angle error
Examples of suitable test methods are given in clause A.7.
The step angle error shall conform to the value quoted by the manufacturer, see 8.3.
6.9 Detent torque
Energize the motor for 0,5 s to determine the step position for a particular step. Remove the
energizing source and determine the detent torque using a torque watch.
———————
Typically involving operation up to and including 28 V
TS 60034-20-1 IEC:2002 – 35 –
The detent torque shall be within the tolerance band quoted by the manufacturer.
6.10 Holding torque
The motor shall be at room temperature unless measurement at operating temperature has
been specified.
Apply the rated current or particular voltage values, see note 2, to the winding or windings
and maintain this value throughout the test. Apply a torque to the motor shaft by any
convenient means. Increase the torque until continuous rotation commences. Take all
readings as quickly as possible as, even with a constant current supply, the torque may fall
due to increasing temperature.
NOTE 1 The angle through which the shaft rotates from no torque to peak torque varies according to the design
of the motor and allowance should be made for the torque loading device to make a sufficient rotation without
impairing the accuracy of the reading.
NOTE 2 It is often of value to quote the peak holding torque at various terminal voltages. Generally,
measurements are taken at 25 %, 50 %, 75 % and 100 % of rated supply and the results are presented as a curve.
The holding torque shall conform to the value declared by the manufacturer, see 8.3.
7 Special tests
7.1 General
The following tests are to be regarded as special tests to be performed when specified by the
customer. When these tests are specified the manufacturer shall quote the appropriate
parameters.
7.2 Winding temperature rise
An example of a suitable test method is given in clause B.2.
The winding temperature rise of the motor shall be within the tolerance band quoted by the
manufacturer.
7.3 Torque displacement curve
An example of a suitable test method is given in clause B.3.
The torque displacement curve of the motor shall be within the tolerance band quoted by the
manufacturer.
7.4 Single step response, natural frequency and settling time
An example of a suitable test method is given in clause B.4.
The single step response, natural frequency and settling time of the motor shall be within the
tolerance band quoted by the manufacturer.
7.5 Maximum slew rate
An example of a suitable test method is given in clause B.5.
The maximum slew rate of the motor shall not be smaller than the value quoted by the
manufacturer.
TS 60034-20-1 IEC:2002 – 37 –
7.6 Pull-in rate
An example of a suitable test method is given in clause B.6.
The pull-in rate of the motor shall be within the tolerance band quoted by the manufacturer.
7.7 Pull-out torque
Examples of suitable test methods are given in clause B.7.
The pull-out torque of the motor shall be within the tolerance band quoted by the
manufacturer.
7.8 Maximum reversing rate
An example of a suitable test method is given in clause B.8.
The maximum reversing rate of the motor shall not be less than the value quoted by the
manufacturer.
7.9 Resonance
Examples of suitable test methods are given in clause B.9.
The resonance of the motor shall not be less than the value quoted by the manufacturer.
8 Rating plate and other information
8.1 Rating plate
The rating plate shall contain the following minimum information:
a) Manufacturer's name;
b) Type indication, if appropriate (e.g. PM or HY);
c) Manufacturer's serial number and/or date code;
d) Nominal voltage or peak current;
e) Number of phases;
f) Part number of this standard, or national standard number;
g) Nominal diameter;
h) Mounting type;
i) Distance from the mounting surface of the flange to the end of the motor;
j) Phase current;
k) Insulation class;
l) Phase voltage rating.
If it is possible to include additional information, it is recommended that the following should
be given:
a) Resistance per phase;
b) Modification state;
TS 60034-20-1 IEC:2002 – 39 –
c) Number of steps per revolution or step angle (basic);
d) Winding (external connection);
e) Diagram of lead colours.
8.2 Typical modes
There are four preferred sequences of excitation, mode A, mode B, mode AB and micro
stepping.
Table 7 shows the three typical modes for a three-phase stepping motor and the preferred
sequences of excitation, mode A, mode B and mode AB. Where a three-phase rotor is being
driven, the sequence designation is prefixed by the digit 3 and, for a four-phase rotor, by the
digit 4. For example, a three-phase motor driven in mode B would have the drive circuit
designated mode 3B, and a four-phase motor mode 4B.
Table 7 – Typical modes for a three-phase stepping motor
Mode A
Step Phase 1 Phase 2 Phase 3
11 00
20 10
30 01
11 00
Mode B
Step Phase 1 Phase 2 Phase 3
11 10
20 11
31 01
11 10
Mode AB
Step Phase 1 Phase 2 Phase 3
11 00
21 10
30 10
40 11
50 01
61 01
11 00
NOTE Logic 1 represents the energized phase.
Logic 0 represents the unenergized phase.
The sequence can be extended for any
number of phases.
8.3 Values to be indicated by the manufacturer
The manufacturer shall indicate values, together with appropriate tolerances, for the
parameters listed below. These shall be confirmed, where appropriate, by the tests specified
in clauses 6 and 7. Where the parameters are affected by the drive circuit or load, details of
that drive circuit or load shall be included in the declaration. The parameters are the following:
a) Detent torque;
b) Step angle (basic);
TS 60034-20-1 IEC:2002 – 41 –
c) Step angle error;
d) Steps per revolution;
e) Volts or amperes per phase;
f) Inductance per phase;
g) D.C. resistance per phase at 20 °C;
h) Holding torque;
i) Volts (peak to peak) per thousand revolutions per minute as generator (where applicable);
j) Moment of inertia of rotor;
k) Insulation class;
l) Maximum safe operating temperature.
8.4 Lead identification and terminal numbering
For motors with loose leads, the colours of the leads (or marker sleeves fitted to the leads)
shall be as given in table 8. Colours in parenthesis are non-preferred alternatives. Motors with
terminal boards or strips shall have the terminals identified by number as given in table 8.
Where bipolar drives are used in conjunction with eight-lead motors, it is necessary to
connect the windings so that the torques associated with each winding are added, not
subtracted; in compliance with table 8, the winding connections will then be shown in figure 5
where the lead colouring is as follows:
A
B E F A B C D
AA
A
C D G H E F G H
IEC 203/02
Key
A – Brown B – Brown-white C – Orange-white D – Orange
E – Red F – Red-white G – Yellow-white H – Yellow
Figure 5 – Winding connections for bipolar drives
TS 60034-20-1 IEC:2002 – 43 –
Table 8 – Lead identification and terminal numbering
a) No star point or common connection
Phase Phase start colour Phase finish colour
1Brown Brown / white
2 Red Red / white
3 Orange Orange / white
4 Yellow Yellow / white
5 Green Green / white
6 Blue Blue / white
7 Violet Violet / white
8 Grey Grey / white
b) With star point or common connection
Phase Colour Terminal number
Three phase with star point
1Brown 1
2Red 2
3 Orange 3
Star point Black (white) 4
Four phase with star point
1Brown 1
2Red 2
3 Orange 3
4 Yellow 4
Star point Black (white) 5
Four phase with common connections
1Brown 1
3 Orange 3
2Red 2
4 Yellow 4
Common connections Brown / orange (black) 5
Red / yellow ( white) 6
8.5 Catalogue presentation
It is recommended that for uniformity of presentation and ease of comparison, the following
information should be given in manufacturers' catalogues:
a) The values to be indicated by the manufacturer in accordance with 8.4;
b) Maximum permissible axial thrust;
c) Maximum permissible radial load (at a specified position);
d) Mass of the motor.
...
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