SIST-TS CLC/TS 60034-20-1:2005

Rotating electrical machines - Part 20-1: Control motors - Stepping motors (IEC/TS 60034-20-1:2002)

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 (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)

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

• Status: Published
• Publication Date: 31-May-2005
• ICS: 29.160.30 - Motors
• Technical Committee: ERS - Rotating machinery
• Current Stage: 6060 - National Implementation/Publication (Adopted Project)
• Start Date: 01-Jun-2005
• Due Date: 01-Jun-2005
• Completion Date: 01-Jun-2005
• Ref Project: CLC/TS 60034-20-1:2004 - Rotating electrical machines - Part 20-1: Control motors - Stepping motors

Standards Content (Sample)

SLOVENSKI STANDARD
SIST-TS CLC/TS 60034-20-1:2005
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
SIST-TS CLC/TS 60034-20-1:2005 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

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SIST-TS CLC/TS 60034-20-1:2005

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SIST-TS CLC/TS 60034-20-1:2005
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

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SIST-TS CLC/TS 60034-20-1:2005
CLC/TS 60034-20-1:2004 - 2 -
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.
__________

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SIST-TS CLC/TS 60034-20-1:2005
- 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.

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SIST-TS CLC/TS 60034-20-1:2005

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SIST-TS CLC/TS 60034-20-1:2005
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: [phone] e-mail: [e-mail] 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

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SIST-TS CLC/TS 60034-20-1:2005
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

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SIST-TS CLC/TS 60034-20-1:2005
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

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SIST-TS CLC/TS 60034-20-1:2005
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.

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SIST-TS CLC/TS 60034-20-1:2005
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.

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SIST-TS CLC/TS 60034-20-1:2005
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

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SIST-TS CLC/TS 60034-20-1:2005
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

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SIST-TS CLC/TS 60034-20-1:2005
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

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SIST-TS CLC/TS 60034-20-1:2005
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.

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SIST-TS CLC/TS 60034-20-1:2005
TS 60034-20-1  IEC:2002 – 19 –
Y
1
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

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SIST-TS CLC/TS 60034-20-1:2005
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
2
J Moment of inertia kgm
2
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

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SIST-TS CLC/TS 60034-20-1:2005
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

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SIST-TS CLC/TS 60034-20-1:2005
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
...