STEP MOTORS MOONS' Technology Contents PowerPlus Technology............................................................................03 MOONS' Step Motor Advantages............................................................04 Encapsulated Motors...............................................................................05 2 Phase and 3 Phase Motors......................................... ......................... 06 MOONS' Technology Model Number System............................................................................ 07 Custom Motors........................................................................................ 08 2 Phase Step Motors Size 8 Size 10 Size 11 Size 14 Size 14 Size 14 Size 16 Size 16 Size 17 Size 17 Size 23 Size 23 Size 24 Size 34 Size 42 - 1.8 1.8 1.8 0.9 0.9 1.8 1.8 1.8 0.9 1.8 0.9 1.8 1.8 1.8 1.8 - MS08HY Series............................................................ 09 MS10HY Series............................................................ 11 MS11HS Series............................................................ 13 14HK Encapsulated Series..........................................17 MS14HA Series............................................................ 19 MS14HS Series............................................................ 23 MS16HR Series............................................................ 27 MS16HS Series............................................................ 29 MS17HA Series............................................................ 33 MS17HD Series............................................................ 37 MS23HA Series............................................................ 41 ML23HS / PL23HS -High torque / PowerPlus Series... 43 MS24HS Series............................................................ 47 ML34HD / PL34HD - High torque / PowerPlus Series..49 ML42HS Series.............................................................53 2 Phase Step Motors 3 Phase Step Motors Size 17 - 1.2 - 17HC Encapsulated Series...........................................55 Size 24 - 1.2 - ML24HC / PL24HC - High torque / PowerPlus Series..57 Size 34 - 1.2 - 34HC Series................................................................. 61 3 Phase Step Motors Technical Step Motor Basics - Applications, Structure & Operation....................... 63 Load Calculations & Tips for Using Step Motors..................................... 65 Step Sequence & Schematic Diagrams...................................................67 Bearing Life & Shaft Loading...................................................................68 Conversion Factors................................................................................. 69 Technical www.moonsindustries.com 2 40 MOONS' Torque (mNm) 35 30 Competitor 1 25 20 Competitor 2 15 10 5 12 VDC, Rated Current 0 0 1000 2000 3000 Speed (0.9 steps / sec) 4000 5000 Models starting with M or P Stator - Series M P M S 17 HD 2 P 4 040 -M Standard Step Motor PowerPlus Step Motor Rotor S L Standard Inertia Lower Inertia Size 8, 10, 11, 14, 16, 17, 23, 24 Size 23, 24, 34, 42 ## 08, 10, 11, 14, 16, 17, 23, 24, 34, 42 Frame Size Motor Technology HA Hybrid Step Motor, 2 Phase 0.9 degree HY, HD, HS, HR Hybrid Step Motor, 2 Phase 1.8 degree HC Hybrid Step Motor, 3 Phase 1.2 degree Length Code # Non significant number or letter Connection Construction / IP Rating L Leads P, F, R Plug In Connector - Standard IP40 IP40 Number of connections / Winding Type 4 Bipolar 6 Unipolar (can be used bipolar) 8 Can be connected any way Winding Current ### X## Current rating x 100. 050 = 0.5 amps, 500 = 5 amps for 11 to 19 amps: X10= 11 amps, X40 = 14 amps Options Omit -E -M No Options Standard English rear shaft Standard Metric rear shaft 14 HK 0 Other Models - 14HK, 17HC & 34HC Frame Size ## Motor Technology HK HC 14, 17,34 2 Phase 0.9 degree Hybrid Step Motor, 3 Phase 1.2 degree Length Code # Non significant number or letter Connection Construction / IP Rating 0 Plug In Connector - Standard 3, 4, 8 Number of Leads Winding Current ## Non significant number Optional Construction Code -## N IP40 IP40 4 05 N MS08HY 3 P 4 065 Basic Motor Length (Max) 1 29.5mm(1.16in.) 3 39.5mm(1.56in.) 5 46.5mm(1.83in.) Electrical Connection P F R Plug-In Connector(Side Facing) Font Facing Connector Rear Facing Connector Winding ### Current rating x 100 Number of Connections 4 4 Lead-Bipolar 6 6 Lead-Unipolar (or Bipolar) MS10HY 2 F 4 052 Basic Motor Length (Max) 0 23.5mm(0.92in.) 2 33mm(1.3in.) Winding ### Current rating x 100 Number of Connections Electrical Connection F Font Facing Connector 4 4 Lead-Bipolar 6 6 Lead-Unipolar (or Bipolar) MS11HS 3 P 4 040 Basic Motor Length (Max) 1 32mm(1.26) 3 41mm(1.62) 5 52mm(2.05) Electrical Connection P Plug-in Connector Winding ### Current rating x 100 Number of Connections 4 4 Lead-Bipolar 6 6 Lead-Unipolar (or Bipolar) 150.5 (0.5910.020) 2.5 (0.1) 0 O16 -0.01 0 (O0.63 -0.0004 ) 0 O5 -0.012 0 (0.177 -0.0005 ) L Max. 14HK0=12.8(0.51) 14HK2=20.2(0.80) 43.83 (1.726) 2-R3.5 2-R0.138 2-M3 O36 (O1.417) AWG28 UL1886 30010(11.80.4) MS14HA 5 P 4 040 Winding Basic Motor Length (Max) 1 27.3mm(1.07 in.) 3 36mm (1.42 in. ) 5 55.5mm (2.19 in.) ### Number of Connections Electrical Connection P Current rating x 100 Plug-in Connector 4 4 Lead-Bipolar 6 6 Lead-Unipolar (or Bipolar) 240.5 LMax. (0.9450.020) MS14HA1=27.3(1.07) MS14HA3=36(1.42) 15 MS14HA5=55.5(2.19) (0.591) 35.3Max. (1.390) 26 (1.024) 0 O22 -0.052 0 (O0.866 -0.002 ) 4.50.1 (0.1770.004) 0 O5 -0.012 0 (O0.1969 -0.0005 ) 2.8 (0.11) 2 (0.08) 4-M3 Depth 3(0.12)Min 8 (0.31) Pin 1 JST S11B-ZR(LF)(SN) 21.6(0.85) 6 Lead Part Number 4634 1402 04489 4 Lead Part Number 4634 1402 04581 30010 (11.80.4) 30010 (11.80.4) 1 BLACK 5 7 GREEN RED 11 BLUE Housing:JST ZHR-11 AWG26 UL1061 Terminal:JST-SZH-002T-P0.5 1 3 5 7 9 11 BLACK YELLOW GREEN RED WHITE BLUE Housing:JST ZHR-11 AWG26 UL1061 Terminal:JST-SZH-002T-P0.5 MS14HS 3 P 4 040 Winding Basic Motor Length (Max) 1 27.3mm ( 1.07 in. ) 3 36mm (1.42 in. ) 5 55.5mm (2.19 in.) ### Number of Connections Electrical Connection P Current rating x 100 Plug-in Connector 4 4 Lead-Bipolar 6 6 Lead-Unipolar (or Bipolar) 240.5 LMax. (0.9450.020) MS14HS1=27.3(1.07) MS14HS3=36(1.42) 15 MS14HS5=55.5(2.19) (0.591) 35.3Max. (1.390) 26 (1.024) 0 O22 -0.052 0 (O0.866 -0.002 ) 4.50.1 (0.1770.004) 0 O5 -0.012 0 (O0.1969 -0.0005 ) 3.7 (0.15) 2 (0.08) 4-M3 Depth 3(0.12)Min 8 (0.31) Pin 1 JST S11B-ZR(LF)(SN) 21.6(0.85) 4 Lead Part Number 4634 1402 04581 6 Lead Part Number 4634 1402 04489 30010 (11.80.4) 30010 (11.80.4) 1 BLACK 5 7 GREEN RED 11 BLUE Housing:JST ZHR-11 Terminal:SZH-002T-P0.5 AWG26 UL1061 BLACK YELLOW GREEN RED WHITE BLUE 1 3 5 7 9 11 Housing:JST ZHR-11 Terminal:SZH-002T-P0.5 AWG26 UL1061 MS16HR 7 P 4 070 Winding Basic Motor Length (Max) 7 20.5mm ( 0.81 in. ) 0 25.1mm (0.99 in. ) 4 32mm ( 1.26 in. ) Electrical Connection P Plug-in Connector ### Current rating x 100 Number of Connections 4 4 Lead-Bipolar MS16HS 7 P 4 040 Winding Basic Motor Length (Max) 7 20.8mm ( 0.82 in. ) 0 26mm (1.02 in. ) 4 33mm ( 1.30 in. ) Electrical Connection P Plug-in Connector ### Current rating x 100 Number of Connections 4 4 Lead-Bipolar 6 6 Lead-Unipolar (or Bipolar) MS17HA 4 P 4 040 -M Basic Motor Length (Max) Options 4 34.3mm ( 1.35 in. ) Short 2 39.8mm (1.57 in. ) 1 Stack 6 48.3mm ( 1.90 in. ) 2 Stack Omit -M With Encoder Mounting Holes Electrical Connection P No Options 5 mm Diameter Rear Shaft Winding Plug-in Connector ### Current rating x 100 Number of Connections 4 4 Lead-Bipolar 6 6 Lead-Unipolar(or Bipolar) 240.5 (0.9450.020) 15 (0.591) L Max. MS17HA4=34.3(1.35) MS17HA2=39.8(1.57) MS17HA6=48.3(1.90) 42.3 (1.665) 131 (0.5120.04) 31 (1.220) 0 O5 -0.012 0 (O0.1969 -0.0005 ) OPTIONAL REAR SHAFT EXTENSION,INCLUDES ENCODER MOUNTING: 2-M2.5,DEPTH 2.5(0.1)Min. ON O19.05(0.75) BOLT CIRCLE (IN REAR ENDBELL) 0 O22 -0.052 0 (O0.866 -0.002 ) 4.50.1 (0.1770.004) 0 O5 -0.012 0 (O0.1969 -0.0005 ) 7 (0.28) 4-M3 Depth 4.5(0.18)Min. 2 (0.08) 11 (0.43) 16(0.63) Pin 1 JST S6B-PH-K-S(LF)(SN) or MOLEX 89401-0610 6 Lead Part Number 4634 1402 00922 4 Lead Part Number 4634 1402 00723 30010 (11.80.4) 30010 (11.80.4) 6 BLUE 4 3 RED GREEN 1 BLACK Housing:JST PHR-6 Terminal:SPH-002T-P0.5S AWG26 UL3266 BLUE WHITE RED GREEN YELLOW BLACK 6 5 4 3 2 1 Housing:JST PHR-6 Terminal:SPH-002-P0.5S AWG26 UL3266 MS17HD 4 P 4 040 -M Basic Motor Length (Max) Options 5 25.3mm ( 1.0 in. ) 4 34.3mm ( 1.35 in. ) 2 39.8mm ( 1.57 in. ) 1 Stack 6 48.3mm ( 1.90 in. ) 2 Stack B 62.8mm ( 2.47 in. ) Omit -M 3 Stack Electrical Connection P Plug-in Connector Number of Connections 4 4 Lead-Bipolar 6 6 Lead-Unipolar(or Bipolar) No Options 5 mm Diameter Rear Shaft With Encoder Mounting Holes Winding ### Current rating x 100 MS23HA 0 P 4 100 -E Basic Motor Length (Max) Options 0 39mm ( 1.54 in. ) 8 55mm ( 2.17 in. ) 1 Stack A 77mm ( 3.03 in. ) 2 Stack Omit 0.25 inch diameter rear shaft With Encoder Mounting Holes Winding Electrical Connection P No Options -E ### Plug-in Connector Current rating x 100 Number of Connections 20.60.5 (0.8110.020) 4 4 Lead-Bipolar 6 6 Lead-Unipolar(or Bipolar) L Max. MS23HA0=39(1.54) MS23HA8=55(2.17) MS23HAA=77(3.03) 15 (0.591) 0 O6.35 -0.012 0 (O0.25 -0.0005 ) O38.10.05 (O1.50.002) 5 (0.20) 0 O6.35 -0.012 0 (O0.25 -0.0005 ) 5.80.1 (0.2280.004) 1.6 (0.06) 5.08 (0.2) 11.5 (0.45) 56.4 (2.220) 131 (0.5120.040) 4-O5.1 +0.2 0 47.14 (1.856) (4-O0.2 +0.008 ) 0 OPTIONAL REAR SHAFT EXTENSION,INCLUDES ENCODER MOUNTING: 2-M2.5 ON O19.05(0.75) BOLT CIRCLE (IN REAR ENDBELL) 21(0.83) Pin 1 JST S6B-XH-A-1(LF)(SN) M L23HS 0 P 4 100 -E Motor Technology Options M High Torque Step Motor P PowerPlus Step Motor Omit -E No Options 0.25 inch Diameter Rear Shaft with Encoder Mounting Holes Basic Motor Length (Max) Winding 0 39mm ( 1.54 in. ) 4 45mm (1.77 in. ) 8 55mm ( 2.17 in. ) 1 Stack A 77mm ( 3.03 in. ) 2 Stack C 112mm (4.41 in. ) 3 Stack ### Electrical Connection Current rating x 100 Number of Connections L Leads 4 4 Lead-Bipolar P Plug-in Connector 6 6 Lead-Unipolar(or Bipolar) MS24HS 1 P 4 150 -E Basic Motor Length (Max) Options 1 46mm ( 1.81 in. ) Omit 2 56mm ( 2.21 in. ) -E 3 67mm ( 2.64 in. ) 5 87MM ( 3.43IN. ) No Options 0.25 inch diameter rear shaft With Encoder Mounting Holes Winding Electrical Connection ### L Leads P Plug-in Connector Current rating x 100 Number of Connections 4 4 Lead-Bipolar 6 6 Lead-Unipolar(or Bipolar) For MS24HS5 20.60.5 (0.8110.020) L Max. MS24HS1=46.5(1.83) MS24HS2=56.5(2.22) MS24HS3=67.5(2.66) MS24HS5=87.5(3.44) 0 O8 -0.012 0 (O0.315 -0.0005 ) 7.50.1 (0.2950.004) 15 (0.591) 131 (0.5120.040) 0 ) (O0.25 -0.0005 O38.10.05 (O1.50.002) 7 (0.28) 0 O6.35 -0.012 0 (O0.25 -0.0005 ) 5.80.1 (0.2280.004) 1.5 (0.06) 7 (0.28) 11.5 (0.45) 60 (2.362) 0 O6.35 -0.012 4-O4.5 +0.5 0 (4-O0.177 +0.02 ) 0 47.14 (1.856) OPTIONAL REAR SHAFT EXTENSION,INCLUDES ENCODER MOUNTING: 2-M2.5 ON O19.05(0.75) BOLT CIRCLE (IN REAR ENDBELL) 39(1.54) Pin 1 JST S11B-XH-A-1(LF)(SN) M L34HD 0 L 8 350 -E Options Motor Technology M High Torque Step Motor P PowerPlus Step Motor Omit -E No Options 0.375 inch Diameter Rear Shaft with Encoder Mounting Holes Basic Motor Length (Max) 0 67mm ( 2.64 in. ) 1 Stack 1 97mm ( 3.82 in. ) 2 Stack 2 126mm ( 4.96 in. ) 3 Stack 3 157mm ( 6.18 in. ) 4 Stack L Leads Winding ### X## Current rating x 100 for 11 to 19 amps: X10= 11 amps, X40 = 14 amps Number of Connections 4 4 Lead-Bipolar 8 8 Lead-Unipolar(or Bipolar) 31.750.5 (1.250.020) Shaft for ML34HD3 220.25 0 17.907 -0.432 (0.8660.01) 0 (0.705 -0.017 ) L Max. ML34HD0=67.5(2.66) ML34HD1=97(3.82) ML34HD2=126.5(4.98) ML34HD3=157(6.18) 0 O9.525 -0.012 0 (O0.375 -0.0005 ) 4-O6.50.2 (4-O0.2560.008) 0 4.763 -0.051 0 (0.1875 -0.002 ) O73.0250.025 (O2.8750.001) OPTIONAL REAR SHAFT EXTENSION, INCLUDES ENCODER MOUNTING: 2-M2.5 ON O46 BOLT CIRCLE (IN REAR ENDBELL) 0 O15.875 -0.012 0 (O0.625 -0.0005 ) 19.051 (0.750.04) 0 O12.7 -0.012 0 (O0.5 -0.0005 ) 10 (0.394) 2 (0.08) AWG18 UL3266 30010(11.80.4) 860.5 (3.386) 69.6 (2.740) 0 3.175 -0.051 0 (0.125 -0.002 ) 0 O14.097 -0.432 0 (O0.555 -0.017 ) M L42HS 0 L 8 350 Motor Technology M High Torque Step Motor P PowerPlus Step Motor Winding ### X## Basic Motor Length (Max) 0 100mm ( 3.94 in. ) 1 Stack 151mm ( 5.95 in. ) 2 Stack 3 202mm ( 7.95 in. ) 3 Stack L Leads for 11 to 19 amps: X10= 11 amps, X40 = 14 amps 2 Electrical Connection Current rating x 100 Number of Connections 4 4 Lead-Bipolar 8 8 Lead-Unipolar(or Bipolar) 55.60.5 (2.1890.020) 34.90.25 (1.3740.010) L Max. ML42HS0=100(3.94) ML42HS2=151(5.94) ML42HS3=202(7.95) O8.3 +0.3 0 110 (4.331) 89 (3.504) (O0.327 +0.012 ) 0 0 4.763 -0.051 0 (0.1875 -0.002 ) O55.520.05 (O2.1860.002) 0 21.08 -0.432 0 O19.05 -0.012 0 ) (O0.75 -0.0005 0 ) (O0.830 -0.017 1.52 (0.06) AWG18 UL3266 30010(11.80.4) L Max. 17HC2=34(1.34) 17HC6=43(1.69) 15 (0.591) 0 O22 -0.052 0 (O0.866 -0.002 ) 43.8 (1.724) 2-M3 Depth 4.5(0.18)Min 4.50.1 (0.1770.004) 0 (O0.1969 -0.0005 ) 11.1 (0.44) 3 Lead Part Number 4634 1402 04496 30010 (11.80.4) 3 2 1 GREEM WHITE RED Housing: JST PHR-3 Terminal: JST SPH-002T-P0.5S O44.3Max. (O1.744 Max.) 2 (0.08) 0 O5 -0.012 AWG26 UL3266 12(0.47) Pin 1 JST S3B-PH-K-S(LF)(SN) 30 (1.18) 240.5 (0.9450.020) M L24HC 4 P 3 150 -E Motor Technology M High Torque Step Motor P PowerPlus Step Motor Options Omit -E Basic Motor Length (Max) 4 No Options 0.25 inch Diameter Rear Shaft with Encoder Mounting Holes 45.5mm ( 1.79 in. ) 8 55.5mm ( 2.19 in. ) 1 Stack A 77.5mm ( 3.05 in. ) 2 Stack Winding ### Electrical Connection Number of Connections L Leads P Plug-In Connector 20.60.5 (0.8110.020) 3 L Max. ML24HC4=45.5(1.79) ML24HC8=55.5(2.19) ML24HCA=77.5(3.05) 15 (0.591) 60 (2.362) 0 O6.35 -0.012 0 (O0.25 -0.0005 ) 50 (1.969) 4-O4.5 +0.5 0 (4-O0.177 +0.02 ) 0 5.1 (0.20) 0 O6.35 -0.012 5.80.1 (0.2280.004) 3 Lead-Bipolar 131 (0.5120.040) O360.05 (O1.4170.002) 0 (O0.25 -0.0005 ) Current rating x 100 1.5 (0.06) 6 (0.24) 11.5 (0.45) OPTIONAL REAR SHAFT EXTENSION,INCLUDES ENCODER MOUNTING: 2-M2.5 ON O19.05(0.75) BOLT CIRCLE (IN REAR ENDBELL) 19.9(0.78) Pin 1 JST S7B-XH-A-1(LF)(SN) 3 Lead Part Number 4634 1402 04485 30010 (11.80.4) 7 GREEN 3 1 WHITE RED HOUSING:JST XHP-7 TERMINAL:JST SXH-001T-P0.6 AWG22 UL3266 31.750.5 (1.250.020) 220.25 (0.8660.01) L Max. 34HC0=67.5(2.66) 34HC1=97(3.82) 34HC2=126.5(4.98) 19.051 (0.750.04) 86 (3.386) 0 O9.525 -0.012 0 (O0.375 -0.0005 ) 69.6 (2.740) 4-O6.50.2 (4-O0.2560.008) O73.0250.025 (O2.8750.001) 0 O12.7 -0.012 0 (O0.5 -0.0005 ) OPTIONAL REAR SHAFT EXTENSION, INCLUDES ENCODER MOUNTING: 2-M2.5 ON O46 BOLT CIRCLE (IN REAR ENDBELL) 10 (0.394) 2 (0.08) AWG18 UL3266 30010(11.80.4) 0 3.175 -0.051 0 (0.125 -0.002 ) 0 O14.097 -0.432 0 (O0.555 -0.017 ) Screw Spring Washer Stator Laminations Ball bearing Magnet Shaft Rear Endbell Front endbell Winding Insulator Winding Insulator Rotor Laminations Rotor Laminations Ball bearing Stator Assembly + VDC A C B D 2 phase step motor with bipolar driver + VDC A C B D 2 phase step motor with unipolar driver L R1 r R2 G Torque F. Pull out Torque C. Slew Range G. Pull in Torque B. Start/stop region A. Working frequency point D. Maximum starting frequency point E. Maximum running frequency point Pules Rate Tm F Tm TJ TL F0 Tm F1 F Tm0 Tm1 TJ0 TJ1 TL F0 F1 F STEP 1 2 3 4 CW Lead Color Phase 1 A C Phase 2 B D + + + + - + + - Connector Pin # Motor Motor Size Size 8, 11, 17 14,16 1 1 1 + + CW & CCW rotation w hen seen CCW from flange side of the motor. BLK STEP A Phase 1 O C - 2 3 4 CW - - - BLK 1 1 A YEL 2 3 O 3 5 C GRN 3 5 C RED 4 7 B RED 4 7 B WHT 5 9 M BLU 6 11 D 6 Bipolar Series A 11 D Bipolar Parallel A Unipolar A + + + + CCW Connector Pin # Motor Motor Size Size 8, 11, 17 14,16 GRN BLU Phase 2 M D CW & CCW rotation w hen seen from flange side of the motor. Lead Color A + + + + B Lead Color Connector Pin # BLK YEL 3 7 A A ORG GRN 4 8 C C RED WHT 6 2 B B BRN BLU 5 1 D D O C C C B B B M D D STEP 1 A + 2 3 4 5 - D Phase B + + Connector Pin # Size 17 Size 23 C + + - 6 + CW CW & CCW rotation w hen seen CCW from flange side of the motor. Lead Color A 1 1 RED B 2 3 WHT C 3 7 GRN Radial Loads Distance from Mounting Axial Loads