DPM Catalogue
DPM Catalogue
DPM Catalogue
Philosophy
Delta Precision Motors ltd (DPM) is an ISO9000 professional manufacturer which is
devoted to the automation control.
Over the last years it has been world-wide recognised as a specialist in the field of high
performance electromechanical drive system.
Motor production includes a complete range of stepper motors from traditional to hybrid,
miniature, or high torque version, D.C. brush and brushless motors.
With our direct sales and our distribution network located in the major industrialised
country, DPM offers an extended sales and service network.
The personal contact, the continues training and the technical competence of the employees
ensure that the customer service remains today, as in the future, of prime importance.
Our company persists in providing good products, reasonable price, on time delivery and
efficient service. All our product are controlled in order to maintain an high standard of
quality.
Quality
DPM provides 100% quality control during manufacturing process. This process incorporates
quality checks on every item after every manufacturing process, from parts acceptance to
the finished product. Every DPM product undergoes reliability testing before it is released to
the market.
Delivery
DPM production system allows the processing of an order with little notice, in any quantity
requested. Additionally, DPM uses a "one-by-one" process where one item can be manufactured
as simply as one thousand items. Over 100 of DPM standard products are available on stock for
fast prototypes delivery.
Web
The DPM website is a valuable tool for a design engineers to gather information. There
you can find specifications on all our products, download PDF files or check the latest
news.
www.dpmotor.com
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Move innovation
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Table of contens
Hybrid Stepper Motor
20SH High Torque Hybrid 6
28SH High Torque Hybrid 7
35SH High Torque Hybrid 10
39SH High Torque Hybridr 11
42SH High Torque Hybrid 14
42SH M High Torque Hybrid 18
57S High Torque Hybrid 21
57SH High Torque Hybrid 25
57SH M High Torque Hybrid 29
60 SH High Torque Hybrid 32
86S High Torque Hybrid 33
86SH High Torque Hybrid 34
110SH High Torque Hybrid 39
Brushless Motor
22BL Brushless Motor 44
28BL Brushless Motor 45
33BL Brushless Motor 46
36BL Brushless Motor 47
42BL Brushless Motor 48
42RBL Brushless Motor 49
57BL Brushless Motor 50
86BL Brushless Motor 51
Brushless Motor SERIE IE 52
Gearbox Specification
58
Special Motor
61
Index
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DPM
Production Final Test
Appearance Testing
• Resistance/phase
• Inductance/phase
• Holding torque
• Detent torque
• Direction testing
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Stepper Motor
Codification number
42 Size in mm.
x N° Lead Wires
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Characteristics Specification
STEP ANGLE Model 20SH33-0604A 20SH42-0804A
1,8°
1 RATED VOLTAGE V 3,96 4,32
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 0,6 0,8
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 28SH32-0956A 28SH32-0674A
1,8°
1 RATED VOLTAGE V 2,66 3,8
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 0,95 0,67
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 2,8 5,6
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 28SH45-0956A 28SH45-0674A
1,8°
1 RATED VOLTAGE V 3,4 4,56
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 0,95 0,67
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 3,4 6,8
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 28SH51-0956A 28SH51-0674A
1,8°
1 RATED VOLTAGE V 4,4 6,2
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 0,95 0,67
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 4,6 9,2
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 35SH26-0284A 35SH28-0504A 35SH36-1004A
1,8°
1 RATED VOLTAGE V 7,4 10 2,7
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 0,28 0,5 1
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 39SH20-0404A 39SH20-0506A
1,8°
1 RATED VOLTAGE V 2,64 6,5
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 0,4 0,5
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 6,6 13
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 39SH34-0306A 39SH34-0654A 39SH34-0404A 39SH34-0604A
1,8°
1 RATED VOLTAGE V 12 4,55 12 9
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 0,3 0,65 0,4 0,6
INSULATION CLASS
B 3RESISTANCE/PHASE Ω 40 7 30 15
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 39SH38-0806A 39SH38-0304A 39SH38-0504A
1,8°
1 RATED VOLTAGE V 6 12 12
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 0,8 0,3 0,5
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 7,5 40 24
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 42SH33-1A 42SH33-2A 42SH33-3A 42SH33-4A
1,8°
1 RATED VOLTAGE V 4 9,6 12 2,8
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 0,95 0,4 0,31 1,33
INSULATION CLASS
B 3RESISTANCE/PHASE Ω 4,2 24 38,5 2,1
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 42SH38-1A 42SH38-2A 42SH38-3A 42SH38-4A
1,8°
1 RATED VOLTAGE V 4 6 12 2,8
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 1,2 0,8 0,4 1,68
INSULATION CLASS
B 3RESISTANCE/PHASE Ω 3,3 7,5 30 1,65
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 42SH47-1A 42SH47-2A 42SH47-3A 42SH47-4A
1,8°
1 RATED VOLTAGE V 4 6 12 2,8
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 1,2 0,8 0,4 1,68
INSULATION CLASS
B 3RESISTANCE/PHASE Ω 3,3 7,5 30 1,65
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 42SH60-1206A 42SH60-0854A
1,8°
1 RATED VOLTAGE V 7,2 10,2
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 1,2 0,85
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 6 12
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 42SH33-1AM 42SH33-2AM 42SH33-3AM 42SH33-4AM
0,9°
1 RATED VOLTAGE V 4 6 12 2,8
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 0,95 0,6 0,31 1,33
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 4,2 10 38,5 2,1
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 42SH38-1A 42SH38-2A 42SH38-3A 42SH38-4A
1,8°
1 RATED VOLTAGE V 4 6 12 2,8
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 1,2 0,8 0,4 1,68
INSULATION CLASS
B 3RESISTANCE/PHASE Ω 3,3 7,5 30 1,65
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 42SH33-1AM 42SH33-2AM 42SH33-3AM 42SH33-4AM
0,9°
1 RATED VOLTAGE V 4 6 12 2,8
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 1,2 0,8 0,4 1,68
INSULATION CLASS
B 3RESISTANCE/PHASE Ω 3,3 7,5 30 1,65
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 57S41-1A 57S41-2A 57S41-4A
1,8°
1 RATED VOLTAGE V 4 12 2,8
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 1,1 0,4 1,56
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 3,6 30 1,8
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 57S41-1A 57S41-2A 57S41-4A
1,8°
1 RATED VOLTAGE V 6 12 2,38
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 0,85 0,42 2,8
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 7,1 29 0,85
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 57S56-1A 57S56-2A 57S56-4A
1,8°
1 RATED VOLTAGE V 6 12 2,8
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 1,2 0,6 2,55
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 5 20 1,1
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 57S76-1A 57S76-2A 57S76-4A
1,8°
1 RATED VOLTAGE V 5,4 12 2,7
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 1,5 0,68 3,3
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 3,6 17,7 0,85
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 57SH41-1A 57SH41-2A 57SH41-3A 57SH41-4A
1,8°
1 RATED VOLTAGE V 5,7 2,8 1,9 2
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 1 2 3 2,8
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 5,7 1,4 0,63 0,7
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 57SH51-1A 57SH51-2A 57SH51-3A 57SH51-4A
1,8°
1 RATED VOLTAGE V 6,6 3,3 2,2 2,3
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 1 2 3 2,8
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 6,6 1,65 0,74 0,83
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 57SH56-1A 57SH56-2A 57SH56-3A 57SH56-4A
1,8°
1 RATED VOLTAGE V 7,4 3,6 2,3 2,5
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 1 2 3 2,8
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 7,4 1,8 0,75 0,9
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 57SH76-1A 57SH76-2A 57SH76-3A 57SH76-4A
1,8°
1 RATED VOLTAGE V 8,6 4,5 3 3,2
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 1 2 3 2,8
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 8,6 2,25 1 1,13
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 57SH41-1AM 57SH41-2AM 57SH41-3AM 57SH41-4AM
0,9°
1 RATED VOLTAGE V 5,7 2,8 1,9 2
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 1 2 3 2,8
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 5,7 1,4 0,63 0,7
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 57SH56-1AM 57SH56-2AM 57SH56-3AM 57SH56-4AM
0,9°
1 RATED VOLTAGE V 7,4 3,6 2,3 2,5
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 1 2 3 2,8
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 7,4 1,8 0,75 0,9
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 57SH76-1AM 57SH76-2AM 57SH76-3AM 57SH76-4AM
0,9°
1 RATED VOLTAGE V 8,6 4,5 3 3,2
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 1 2 3 2,8
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 8,6 2,25 1 1,13
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 60SH45-2008AF 60SH56-2008AF 60SH65-2008AF 60SH86-2008AF
1,8° UNIPOLAR PARALLEL SERIES UNIPOLAR PARALLEL SERIES UNIPOLAR PARALLEL SERIES UNIPOLAR PARALLEL SERIES
STEP ANGLE ACCURACY 1 RATED VOLTAGE V 3 2,1 4,2 3,6 2,52 5,04 4,8 3,36 6,72 6 4,17 8,4
± 5%
2 CURRENT/PHASE A 2 2,8 1,4 2 2,8 1,4 2 2,8 1,4 2 2,8 1,4
INSULATION CLASS
3 RESISTANCE/PHASE Ω 1,5 0,75 3 1,8 0,9 3,6 2,4 1,2 4,8 3 1,5 6
B
4 INDUCTANCE/PHASEMH 2 2 8 3,6 3,6 14,4 4,6 4,6 18,4 6,8 6,8 27,2
AMBIENT TEMPERATURE
-20°C +50°C 5 HOLDING TORQUE NM 0,78 1,1 1,1 1,17 1,65 1,65 1,5 2,1 2,1 2,2 3,1 3,1
2
TEMP.RISE 6 ROTOR INERTIA G-CM - 275 - - 400 - - 570 - - 840 -
80°C MAX (RATED CURRENT, 2 PHASE ON)
7 WEIGHT KG - 0,6 - - 0,77 - - 1,2 - - 1,4 -
INSULATION RESISTANCE
8NUMBER OF LEADS N° - 8 - - 8 - - 8 - - 8 -
100 M OHM MIN. 500 VDC
9 LENGTH MM - 45 - - 56 - - 65 - - 86 -
DIELECTRIC STRENGTH
500 VAC FOR ONE MINUTE
Connection
LEAD N° COLOR GAUGE FUNCTION
1 BLUE/WHITE UL1430 AWG22 PHASE A
2 BLUE UL1430 AWG22 PHASE A-
3 RED/WHITE UL1430 AWG22 PHASE C-
4 RED UL1430 AWG22 PHASE C
5 GREEN/WHITE UL1430 AWG22 PHASE B
6 GREEN UL1430 AWG22 PHASE B-
7 BLACK/WHITE UL1430 AWG22 PHASE D-
8 BLACK UL1430 AWG22 PHASE D
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Characteristics Specification
STEP ANGLE Model 86S67-2808A 86S94-2808A 86S125-3508A
1,8°
UNIPOLAR PARALLEL SERIES UNIPOLAR PARALLEL SERIES UNIPOLAR PARALLEL SERIES
STEP ANGLE ACCURACY 1 RATED VOLTAGE V 3,64 2,54 5 4,76 2,54 6,6 4,97 3,47 6,95
± 5%
2 CURRENT/PHASE A 2,8 3,92 1,96 2,8 3,92 1,96 3,5 4,9 2,45
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 1,3 0,65 2,6 1,7 0,85 3,4 1,42 0,71 2,84
4 INDUCTANCE/PHASE MH 5,1 5,1 20,4 7,7 7,7 30,8 7,9 7,9 31,6
AMBIENT TEMPERATURE
-20°C +50°C 5 HOLDING TORQUE NM 2,3 2,8 2,8 3,8 4,8 4,8 6,2 7,6 7,6
TEMP.RISE 6 ROTOR INERTIA G-CM 2
- 660 - - 1200 - - 1800 -
80°C MAX (RATED CURRENT, 2 PHASE ON)
7 WEIGHT KG - 1,6 - - 2,4 - - 3,6 -
INSULATION RESISTANCE
8 NUMBER OF LEADS N° - 8 - - 8 - - 8 -
100 M OHM MIN. 500 VDC
9 LENGTH MM - 67 - - 94 - - 125 -
DIELECTRIC STRENGTH
820 VAC FOR ONE MINUTE
Connection
LEAD N° COLOR GAUGE FUNCTION
1 ORANGE UL3266 AWG20 PHASE A
2 ORANGE/WHITE UL3266 AWG20 PHASE A-
3 BLACK/WHITE UL3266 AWG20 PHASE C-
4 BLACK UL3266 AWG20 PHASE C
5 RED UL3266 AWG20 PHASE B
6 RED/WHITE UL3266 AWG20 PHASE B-
7 YELLOW/WHITE UL3266 AWG20 PHASE D-
8 YELLOW UL3266 AWG20 PHASE D
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Characteristics Specification
STEP ANGLE Model 86SH65-4208A
1,8°
UNIPOLAR PARALLEL SERIES
Connection
LEAD N° COLOR GAUGE FUNCTION
1 RED UL1430 AWG20 PHASE A
2 YELLOW UL1430 AWG20 PHASE A-
3 BLUE UL1430 AWG20 PHASE C-
4 BLACK UL1430 AWG20 PHASE C
5 WHITE UL1430 AWG20 PHASE B
6 ORANGE UL1430 AWG20 PHASE B-
7 BROWN UL1430 AWG20 PHASE D-
8 GREEN UL1430 AWG20 PHASE D
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Characteristics Specification
STEP ANGLE Model 86SH80-5504A
1,8°
1 RATED VOLTAGE V 2,3 - - -
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 5,5 - - -
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 0,42 - - -
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 86SH96-5504A
1,8°
1 RATED VOLTAGE V 2,56 - - -
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 5,5 - - -
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 0,465 - - -
Connection
LEAD N° COLOR GAUGE FUNCTION
36
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Characteristics Specification
STEP ANGLE Model 86SH118-6004A
1,8°
1 RATED VOLTAGE V 2,7 - - -
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 6 - - -
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 0,45 - - -
Connection
LEAD N° COLOR GAUGE FUNCTION
37
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Characteristics Specification
STEP ANGLE Model 86SH156-6204A
1,8°
1 RATED VOLTAGE V 3,5 - - -
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 6,2 - - -
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 0,75 - - -
Connection
LEAD N° COLOR GAUGE FUNCTION
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Characteristics Specification
STEP ANGLE Model 110SH99-5504A
1,8°
1 RATED VOLTAGE V 4,95 - - -
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 5,5 - - -
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 0,9 - - -
Connection
LEAD N° COLOR GAUGE FUNCTION
39
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Characteristics Specification
STEP ANGLE Model 110SH150-6504A
1,8°
1 RATED VOLTAGE V 5,2 - - -
STEP ANGLE ACCURACY
± 5% 2 CURRENT/PHASE A 6,5 - - -
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 0,8 - - -
Connection
LEAD N° COLOR GAUGE FUNCTION
40
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Characteristics Specification
STEP ANGLE Model 110SH201-8004A
1,8°
1 RATED VOLTAGE V 5,36 - - -
STEP ANGLE ACCURACY
± 5%
2 CURRENT/PHASE A 8 - - -
INSULATION CLASS
B 3 RESISTANCE/PHASE Ω 0,67 - - -
Connection
LEAD N° COLOR GAUGE FUNCTION
41
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DPM
Production Final Test
Appearance Testing
• Resistance/phase
• Inductance/phase
• Running torque
• Direction testing
42
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Brushless Motor
Codification number
57 Size in mm.
43
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Characteristics Specification
HALL EFFECT ANGLE Model 22BL45 22BL70
120° electric angle
44
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Characteristics Specification
HALL EFFECT ANGLE MODEL 28BL26 28BL38 28BL77
120 ° ELECTRIC ANGLE
INSULATION CLASS
2 N° OF PHASE 3 3 3
B
RADIAL PLAY
0,02 MM 450G LOAD 3 RATED VOLTAGE V 15 24 24
AXIAL PLAY
0,08 MM 450G LOAD 4 RATED SPEED RPM 8000 3100 3100
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Characteristics Specification
WINDING TYPE Model 33BL38
Star connection
INSULATION CLASS
B 3 RATED VOLTAGE V 24
RADIAL PLAY
0,02 mm 450g load 4 RATED SPEED RPM 4500
AXIAL PLAY
0,08 mm 450g load 5 RATED TORQUE NM 0,022
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Characteristics Specification
HALL EFFECT ANGLE MODEL 36BL
120 ° electric angle
INSULATION CLASS
2 N° OF PHASE 3
B
RADIAL PLAY
0,02 mm 450g load 3 RATED VOLTAGE V 24
AXIAL PLAY
0,08 mm 450g load 4 RATED SPEED RPM 2600
47
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Characteristics Specification
HALL EFFECT ANGLE Model 42BL41 42BL61 42BL81 42BL100
120 ° ELECTRIC ANGLE
INSULATION CLASS
2 N° OF PHASE 3 3 3 3
B
RADIAL PLAY
0,02 MM 450G LOAD 3 RATED VOLTAGE V 24 24 24 24
AXIAL PLAY
0,08 MM 450G LOAD 4 RATED SPEED RPM 4000 4000 4000 4000
48
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Characteristics Specification
HALL EFFECT ANGLE Model 42RBL60 42RBL85
120° electric angle
INSULATION CLASS
2 N° OF PHASE 3 3
B
RADIAL PLAY
0,02 mm 450g load 3 RATED VOLTAGE V 24 24
AXIAL PLAY
0,08 mm 450g load 4 RATED SPEED RPM 4000 4000
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Characteristics Specification
HALL EFFECT ANGLE MODEL 57BL45 57BL54 57BL74 57BL94 57BL116
120 ° ELECTRIC ANGLE
INSULATION CLASS
2 N° OF PHASE 3 3 3 3 3
B
RADIAL PLAY
0,02 MM 450G LOAD 3 RATED VOLTAGE V 36 36 36 36 36
AXIAL PLAY
0,08 MM 450G LOAD 4 RATED SPEED RPM 4000 4000 4000 4000 4000
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Characteristics Specification
HALL EFFECT ANGLE Model 86BL58 86BL71 86BL98 86BL125
120 ° ELECTRIC ANGLE
MAX RADIAL FORCE 5 LINE TO LINE INDUCTANCE MH - 2,02 - - 1,05 - - 0,48 - - 0,03 -
220 N (20 MM FROM FLANGE)
9 RATED SPEED 3000 6000 3000 6000 3000 6000 3000 6000
Connection 10 RATED TORQUE NM 0,35 0,175 0,7 0,35 1,4 0,7 2,1 1,05
LEAD N° COLOR GAUGE FUNCTION
1 RED UL1430 AWG26 VCC HALLSENSOR
- - +5 TO +24 VDC
2 BLUE UL1430 AWG26 HALL A
11 MAX PEAK TORQUE NM 1,05 0,52 2,1 1,05 4,2 2,1 6,3 3,2
3 GREEN UL1430 AWG26 HALL B
4 WHITE UL1430 AWG26 HALL C
5 BLACK UL1430 AWG26 GND HALL
SENSOR GROUND
12 TORQUE CONSTANT NM/A 0,104 0,06 0,11 0,07 0,13 0,077 0,11 0,075
6 YELLOW
YELLOW/WHITE UL1430 AWG20 PHASE U
7 RED UL1430 AWG20 PHASE V
RED/WHITE
13 MAX PEAK CURRENT A 11 10 19 17 33 30 55 46
8 BLACK UL1430 AWG20 PHASE W
BLACK/WHITE
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Characteristics Specification
HALL EFFECT ANGLE Model 28BL38IE
120 ° electric angle
INSULATION CLASS
2 N° OF PHASE 3
B
RADIAL PLAY
0,02 mm 450g load 3 RATED VOLTAGE V 24
AXIAL PLAY
0,08 mm 450g load 4 RATED SPEED RPM 6000
13 WEIGHT KG 82
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Characteristics Specification
HALL EFFECT ANGLE Model 28BL38IE2
120 ° electric angle
INSULATION CLASS
2 N° OF PHASE 3
B
RADIAL PLAY
0,02 mm 450g load 3 RATED VOLTAGE V 24
AXIAL PLAY
0,08 mm 450g load 4 RATED SPEED RPM 6000
13 WEIGHT KG 82
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Characteristics Specification
WINDING TYPE Model 33BL38IE
Star connection
INSULATION CLASS
B 3 RATED VOLTAGE V 24
RADIAL PLAY
0,02 mm 450g load 4 RATED SPEED RPM 4500
AXIAL PLAY
0,08 mm 450g load 5 RATED TORQUE NM 0,022
13 WEIGHT KG 0,2
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Characteristics Specification
HALL EFFECT ANGLE Model 42BL-IE 42BL61-IE 42BL81-IE 42BL100-IE
120 ° ELECTRIC ANGLE
INSULATION CLASS
2 N° OF PHASE 3 3 3 3
B
RADIAL PLAY
0,02 MM 450G LOAD 3 RATED VOLTAGE V 2 24 24 24
AXIAL PLAY
0,08 MM 450G LOAD 4 RATED SPEED RPM 4000±5% 4000±5% 4000±5% 4000±5%
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Characteristics Specification
HALL EFFECT ANGLE Model 42RBL-IE
120° electric angle
INSULATION CLASS
2 N° OF PHASE 3
B
RADIAL PLAY
0,02 mm 450g load 3 RATED VOLTAGE V 24
AXIAL PLAY
0,08 mm 450g load 4 RATED SPEED RPM 4000
13 WEIGHT KG 0,5
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Characteristics Specification
HALL EFFECT ANGLE MODEL 57BL54IE 57BL74-IE 57BL94-IE 57BL116-IE
120° electric angle
INSULATION CLASS
2 N° OF PHASE 3 3 3 3
B
RADIAL PLAY
0,02 mm 450g load 3 RATED VOLTAGE V 36 36 36 36
AXIAL PLAY
0,08 mm 450g load 4 RATED SPEED RPM 4000±5% 4000±5% 4000±5% 4000±5%
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LENGTH (L) MM 45 45 45 45 45 60 60 60 60 60 60 60
PEAK TORQUE NM 25
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LENGTH (L) mm 32 32 32 32 42 42 42 42 42 42 42 42
PEAK TORQUE Nm 5
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There are many different requirements for motor solutions, and rarely specific customer needs
and wants can be achieved through the use of a standard motor.
This is the reason why DPM offers customized designs on all commercialized motors, even if
small amounts of motors are requested.
The customization of DPM motors include simple modifications such as special shafts, wirings,
connectors, pulleys, gears and encoders. In some specific situations, DPM is also available for
the development of a totally new motor.
DPM means innovation, and that is why we are concentrated on research and development.
Being constantly up-to-date with new technologies, DPM offers the very best products at
some of the most competitive prices in the market.
No matter how fast technology is moving, with DPM you will always find the perfect allay for
your business.
DPM gives a new idea of what is feasible, meaning that the customer is able to have totally
personalized motors.
DPM’s team is at the customer’s service in order to find out the best technical and commercial
solutions.
A B C D
E F G H
I L M N
O P
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Special motor
A - SPECIAL COUPLING
B - SPECIAL CHAMFER
D - CONNECTORS
E - HOLLOW SHAFT
H - SPECIAL CABLING
L - CUSTOMIZED INTERFACE
M - KNURLING
N - INTERFERENCE SUPRESSOR
O - GEARBOX
P - ENCODER
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A stepper motor is an electromechanical device which converts electrical pulses into discrete mechanical movements.
The shaft or spindle of a stepper motor rotates in discrete step increments when electrical command pulses are applied to it in the proper
sequence. The motors rotation has several direct relationships to these applied input pulses.
The sequence of the applied pulses is directly related to the direction of motor shafts rotation. The speed of the motor shafts rotation is directly related
to the frequency of the input pulses and the length of rotation is directly related to the number of input pulses applied.
Variable-reluctance (vr)
variable-reclutance (VR) motor.
This type of stepper motor has been around for a long time. It is probably the easiest to
Fig. 1 - Cross-section of a
cost and low resolution type motor with typical step angles of 7.5∞ to 15∞.
(48 - 24 steps/revolution) PM motors as the name implies have permanent magnets added to the
motor structure. The rotor no longer has teeth as with the VR motor.Instead the rotor is
magnetized with alternating north and south poles situated in a straight line parallel to the rotor
shaft. These magnetized rotor poles provide an increased magnetic flux intensity and because
of this the PM motor exhibits improved torque characteristics when compared with the VR type.
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Fig. 3 - Cross-section of
a hybrid stepper motor.
Typical step angles for the HB stepper motor range from 3.6∞ to 0.9∞ (100 - 400 steps per
revolution).
The hybrid stepper motor combines the best features of both the PM and VR type stepper
motors. The rotor is multi-toothed like the VR motor and contains an axially magnetized
concentric magnet around its shaft.
The teeth on the rotor provide an even better path which helps guide the magnetic flux to
preferred locations in the airgap. This further increases the detent, holding and dynamic torque
characteristics of the motor when compared with both the VR and PM types.
The two most commonly used types of stepper motors are the permanent magnet and the hybrid
types. If a designer is not sure which type will best fit his applications requirements he should
There also exist some special stepper motor designs. One is the disc magnet motor.
Here the rotor is designed as a disc with rare earth magnets, See fig. 4.
This motor type has some advantages such as very low inertia and a optimized magnetic flow
path with no coupling between the two stator windings. These qualities are essential in some
applications.
right hand with the fingers pointing in the direction of the current in the winding (the thumb is extended at a
with a lag between the rotor
Fig. 5 - Magnetic flux path
90∞ angle to the fingers), then the thumb will point in the direction of the magnetic field.” Figure 5 shows the
magnetic flux path developed when phase B is energized with winding current in the direction shown. The
rotor then aligns itself so that the flux opposition is minimized. In this case the motor would rotate clockwise
so that its south pole aligns with the north pole of the stator B at position 2 and its north pole aligns with the
and stator.
south pole of stator B at position 6. To get the motor to rotate we can now see that we must provide a
sequence of energizing the stator windings in such a fashion that provides a rotating magnetic flux field
which the rotor follows due to magnetic attraction.
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Torque Generation
The torque produced by a stepper motor depends on several factors.
• The step rate
• The drive current in the windings
• The drive design or type
In a stepper motor a torque is developed when the magnetic fluxes of the rotor and stator are displaced from each other.
The stator is made up of a high permeability magnetic material.
The presence of this high permeability material causes the magnetic flux to be confined for the most part to the paths defined by the stator
structure in the same fashion that currents are confined to the conductors of an electronic circuit.
This serves to concentrate the flux at the stator poles.
The torque output produced by the motor is proportional to the intensity of the magnetic flux generated when the winding is energized.
The basic relationship which defines the intensity of the magnetic flux is defined by:
H = (N · i) / l where:
H = Magnetic field intensity
N = The number of winding turns
i = current
l = Magnetic flux path length
This relationship shows that the magnetic flux intensity and consequently the torque is proportional to the number of winding turns and the
current and inversely proportional to the length of the magnetic flux path.
From this basic relationship one can see that the same frame size stepper motor could have very different torque output capabilities simply by
changing the winding parameters.
If the rotor and stator tooth pitch is unequal, a more-complicated relation-ship exists.
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angular position.
shaft. When you apply an external force Ta to the motor shaft you in essence create an angular displacement,
Qa.
This angular displacement, Qa, is referred to as a lead or lag angle depending on wether the motor is actively
accelerating or decelerating. When the rotor stops with an applied load it will come to rest at the position
defined by this displacement angle. The motor develops a torque, Ta, in opposition to the applied external
force in order to balance the load. As the load is increased the displacement angle also increases until it
reaches the maximum holding torque, Th, of the motor. Once Th is exceeded the motor enters an unstable
region. In this region a torque is the opposite direction is created and the rotor jumps over the unstable point
to the next stable point. The displacement angle is determined by the following relationship:
Therefore if you have a problem with the step angle error of the loaded motor at rest you can improve
this by changing the “stiffness” of the motor. This is done by increasing the holding torque of the motor.
We can see this effect shown in the figure 8. Increasing the holding torque for a constant load causes a
shift in the lag angle from Q2 to Q1.
of a stepper motor.
Typically stepper motors will have a step angle accuracy of 3-5% of one step. This error is also
noncumulative from step to step.
The accuracy of the stepper motor is mainly a function of the mechanical precision of its parts and
assembly. Figure 9 shows a typical plot of the positional accuracy of a stepper motor.
Position Error
The motor is stepped N times from an initial position (N = 360∞/step angle) and the angle from the initial position is measured at
each step position. If the angle from the initial position to the N-step position is QN and the error is DQN where: DQN = DQN -
(step angle) · N.
The positional error is the difference of the maximum and minimum but is usually expressed with a ± sign.
That is: positional error = ±1.2 (DQMax - DQMin)
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Holding Torque
The maximum torque produced by the motor at standstill.
Pull-In Curve
The pull-in curve defines a area refered to as the start stop region.
This is the maximum frequency at which the motor can start/stop instantaneously, with a load applied, without loss of synchronism.
Pull-Out Curve
The pull-out curve defines an area refered to as the slew region. It defines the maximum frequency at which the motor can operate
without losing synchronism.
Since this region is outside the pull-in area the motor must ramped (accelerated or decelerated) into this region.
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angular position.
(load) as well as the type of driver used.
Since the torque is a function of the displacement it follows that the acceleration will also be.
Therefore, when moving in large step increments a high torque is developed and consequently a
high acceleration. This can cause over shots and ringing as shown. The settling time T is the time it
takes these oscillations or ringing to cease. In certain applications this phenomena can be
undesirable. It is possible to reduce or eliminate this behaviour by microstepping the stepper motor.
Stepper motors can often exhibit a phenomena refered to as resonance at certain step rates.
This can be seen as a sudden loss or drop in torque at certain speeds which can result in missed
steps or loss of synchronism. It occurs when the input step pulse rate coincides with the natural
oscillation frequency of the rotor. Often there is a resonance area around the 100 – 200 pps region
and also one in the high step pulse rate region. The resonance phenomena of a stepper motor
comes from its basic construction and therefore it is not possible to eliminate it completely. It is
also dependent upon the load conditions. It can be reduced by driving the motor in half or
microstepping modes.
Magnetics_1
If current is caused to flow in the armature conductors, torque is produced.
There is an application of a law of physics which is expressed as: F = KBli
Where:
F = force - K = a constant - B = air gap flux density - l = length of the conductor - i = current in a conductor
If more than one conductor is carrying the same current (multiple turns per coil), than F = KBliz
Where Z = number of conductors is series.In a motor the conductors rotate abput a central shaft (see figure
1). Than torque, T = FR, where R = radius at the air gap. So, T = KRBliz
Fig. 1 - Simplified illustration
Figure 1 shows the coil in the zero torque position. The maximum torque position is 90 electrical degrees from of how torque is generated
in a permanent magnet DC motor
the position shown. As the conductors ratate from the maximum torque position, torque drops off in a
sinusoidal fashion and becomes zero when the coil has moved 90 degrees.
Magnetics_2
A brush type motor has more than one coil. Each coil is angularly displaced from one another
so that when the torque from one coil has dropped off, current is automatically switched to another coil wich
is properly located to produce maximum torque. The switching is accomplished mechanically with brushes and
a commutator as shown in Figure 2
In a brushless motor, the position of the coils (phases) , with respect to the permanent magnet field, is sensed
electronically and the current is switched, or commutated, to the appropriate pahases. The commutation is
effected by means of transistor switches.
Fig. 2 - Brush DC MOTOR
A brush type motor may be converted into a brushless motor by bringing out all the leads that are attached to
the mechanical commutator and providing switches for each lead; however, this approach would involve a
large number of switches.
Instead, a polyphase winding similar to that used in AC motors is utilized. In this design,
the phases are commutated as a function of shaft position.
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This configuration optimizes performance even though it requires more electronic components. Three types of three phase windings are
available: Delta bipolar, wye unipolar and wye bipolar. These three winding configurations and their transistor orientation are shown in Figure 3
unipolar configuration
Fig. 3 - Bipolar and
Graph 2
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SPEED OF OPERATION
Speed of operation is also dictated bythe configuration of the mechanical system that is coupled to the motor shaft, and by
the type of move that is to be effected. For example, a single speed application would require a motor with rated speed
equal to the average move speed. A point to point positioning application would require a motor with a rated speed higher
than the average move speed.
(The higher speed would account for acceleration , deceleration and run times of the motion profile).
Figure 8A and 8B relate rated operating speed to average move speed for point to point positioning move profiles.
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In Changzhou, China, DPM and Fulling Motor have merged into one
location in order to face the market with reduced production times and
a higher production capacity. Consequently the combined knowledge
and research and development resources (R&D) of the two companies
will be restructured to work more efficiently as a dedicated team for
the design and study of the stepper and brushless motor technologies.
The sales in Europe also been combined entrusting Delta Line Europe
(already co-proprietor of both companies) with the promotion and sales
of the two brands as a single range.
Through its diffused sales organization, present on all European
countries, Delta Line Europe will become the commercial point of
reference of the new structure.
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Note
3-2009
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