STEPPER ACTUATOR PRODUCT CATALOG

STEPPER ACTUATOR PRODUCT CATALOGand Design Guidelines

System International (Metric) Version

Qualified Hardware, Innovative Solutions

# 1

Avior Control Technologies, Inc -‐ www.AviorControls.com / [email protected] / (T) +1 720-‐491-‐3708CAGE: 6GST1 © 2014, Avior Control Technologies, Inc All Rights Reserved

http://www.AviorControls.com


mailto:[email protected]


Introduc)on Avior Control Technologies, Inc is a full service custom motor and moJon control house, specifically servicing space, high vacuum and demanding-‐environment, high reliability industries.

This catalog details the motor performance and mechanical characterisJcs, as well as integraJon requirements to aide in proper sizing and integra-‐Jon of these products into the next higher assembly.

With over three decades in the Aerospace MoJon Control business, Avior’s engineers have introduced a line of motors, sensors and gearing that have evolved beyond other products available in this market. Materials, processes and design concepts are standardized for extreme vacuum space environment. Available contract services include detailed dimensional worst case analysis for each product, SolidWorks 3D model, detailed project Schedule, statused weekly and communicated to the customer two Jmes a month. Structural and thermal modeling reports are also available de-‐liverables.

In addiJon to the state-‐of-‐the-‐art products and services, Avior engineers are recognized as leaders in the industry in innovaJve moJon control con-‐cepts and new technologies. Currently under development are drive control techniques that significantly increase performance, power output and efficiency of convenJonal stepper drive systems. Another major development we have prototyped is a controllable deployment system. This sys-‐tem will allow for synchronous controlled deployment and is insensiJve to temperature delta. Ideal mulJple hinged deployment systems. This con-‐cept offers significantly more flexibility and less staJc fricJon when compared to Eddy Current Damper technologies, and much higher flexibility and reliability when compared to fluid damper systems. Contact Avior’s engineering department for more informaJon about our development acJvi-‐Jes.

Table of Contents

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Stepper Motor Introduction:......................................................4Motor Module Data:.......................................................................5Actuator Mechanical Dimensions and ICD........................6-7Catalog Usage Description..........................................................8Instrument Actuators: # B62-08N08..............................................................................9## B43-08N08.............................................................................10# B62-08N36..............................................................................11# B43-08N36.............................................................................12# B62-08N64.............................................................................13# B43-08N64............................................................................14# B62-08N216...........................................................................15# B43-08N216...........................................................................16# C62-10N10.............................................................................17# C83-10N10.............................................................................18# C62-10N36.............................................................................19# C83-10N36.............................................................................20# C62-10N75.............................................................................21# C83-10N75.............................................................................22# C62-13N216...........................................................................23# C83-13N216...........................................................................24#

Performance Actuators: # D62-10N10.............................................................................25# D83-10N10.............................................................................26# D62-10N36.............................................................................27# D83-10N36.............................................................................28# D62-10N64............................................................................29# D83-10N64.............................................................................30# D62-15N216............................................................................31# D83-15N216............................................................................32# F62-13N08..............................................................................33# F83-13N08..............................................................................34# F62-15N36...............................................................................35# F83-15N36...............................................................................36# F62-15N64..............................................................................37# F83-15N64..............................................................................38# F62-15N216............................................................................39# F86-15N216............................................................................40#Section II - Engineering Data# High Performance Gearbox Description...........................41# Gearbox Module Performance Data...................................42# Stepper Motor Performance Equations.......................43 - 44# Schematics.............................................................................45# Transducers & Brakes....................................................46 - 47#

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# 4


Stepper Motor Introduc)on: With high torque-‐to-‐mass raEo and simple control methods, Stepper Motors are the motor of choice for many incre-‐mental control applicaEons for the Aerospace industry. They are ideal com-‐ponents for posiEoning drive, focus mechanisms and other instrument con-‐trol systems. The performance affects to system load inerEa must be con-‐sidered, as stepper motors are suscepEble to missed steps in high load iner-‐Ea factor applicaEon, or torque loss at underdamped step resonance points. These issues can be predicted and performance modeled. Avior will assist the design engineer to select the proper motor and drive methods to prop-‐erly size the best actuator to the applicaEon.

Using This Catalog: The performance figure below shows an example of the key performance points, and nomenclature used in this catalog. The tables tabulated herein reflect the +25ºC performance of the actuator. For simplic-‐ity and conservaEsm, a straight line relaEonship between the Torque at Low Pulse Rate and the InerEa Factored Response Rate is assumed.

Load inerEa, re-‐flected to the out-‐put of the gearbox is an import pa-‐rameter for step-‐per motor actua-‐tors. If the re-‐flected load inerEa is too high, there will be a reducEon in the response

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Inertia Factored Response Rate (+25º C)

Torque at Low Pulse Rate (+25ºC)

+25º C Dynamic Performance

+90º C Dynamic Performance

System Performance Requirement (With Margin)

rate, and the straight line performance approximaEon is uncertain, due to overshoot and step resonances. The performance tabulated herein as-‐sumes a reflected load inerEa equal to the motor inerEa (InerEa Factor of 2.0). For higher load inerEa applicaEons, consider other Avior Stepper Ac-‐tuator opEons, or contact Avior’s engineering department for detailed analysis.

The performance simulaEon at elevated temperatures may be approxi-‐mated by determining the motor winding resistance at the elevated tem-‐perature. The Torque at Low Pulse Rate will be reduced by the raEo of the reducEon in stall current in the motor. The inerEa factored Response Rate may be esEmated by taking the square root of the elevated temperature's stall power, mulEplying this number by the No Load Response Rate Constant. EquaEons for these and other parameters may be found in the EquaEon SecEon of this catalog.

Important Note: This catalog reflects some standard motor and gearbox configuraEons. Other power motor windings, configuraEons, gearbox raEos and mechanical configuraEons are available on request. While care has been taken to assure the accuracy of the data contained herein, the data is approximate, and subject to change without noEce. It is recommended the design engineer contact Avior’s engineering department to review your spe-‐cific applicaEon and assure the stepper motor actuator is right for your ap-‐plicaEon. EquaEons to analyze performance at alternaEve step rates and load inerEa are provided herein.





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T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C )

P A R A M E T E R ( U N I T S ) U N I T S S Y M B O L

M O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EP A R A M E T E R ( U N I T S ) U N I T S S Y M B O L

B 6 2 B 4 3 C 6 2 C 8 3 D 6 2 D 8 3 F 6 2 F 8 3

Motor Diameter Millimeters ΦM 19.0 19.0 25.5 25.5 31.8 31.8 38.1 38.1

Motor Rotor InerJa Kg-‐cm-‐sec2 JM 7.03E-‐08 7.03E-‐08 2.53E-‐06 2.53E-‐06 7.49E-‐06 7.49E-‐06 2.19E-‐05 2.19E-‐05

Step Angle at Motor Degrees ΔθM 30º 30º 30º 15º 30º 15º 30º 15º

Simplex Motor Constant Nm / √waj KM 0.00678 0.00678 0.0147 0.0136 0.035 0.0339 0.0599 0.0565

Redundant Motor Constant Nm / √waj KM’ 0.00452 0.00452 0.0101 0.0096 0.0249 0.0237 0.0418 0.0395

Simplex No Load Response Rate Constant RPM / √waj KRR 850 850 400 400 275 275 210 175

Redundant No Load Response Rate Constant RPM / √waj KRR’ 875 875 425 425 300 300 190 190

Bearing FricJon (75 kpsi Pre-‐load) Nm FBM 2.30E-‐05 2.30E-‐05 4.50E-‐05 4.50E-‐05 1.36E-‐04 1.36E-‐04 4.52E-‐04 4.52E-‐04

MagneJc Coulomb Torque Nm FCM 9.00E-‐05 1.13E-‐04 1.69E-‐04 2.03E-‐04 4.29E-‐04 4.74E-‐04 8.47E-‐04 1.02E-‐03





T A B L E 2 -‐ A c t u a t o r M e c h a n i c a l D i m e n s i o n s ( m m )T A B L E 2 -‐ A c t u a t o r M e c h a n i c a l D i m e n s i o n s ( m m )T A B L E 2 -‐ A c t u a t o r M e c h a n i c a l D i m e n s i o n s ( m m )T A B L E 2 -‐ A c t u a t o r M e c h a n i c a l D i m e n s i o n s ( m m )T A B L E 2 -‐ A c t u a t o r M e c h a n i c a l D i m e n s i o n s ( m m )T A B L E 2 -‐ A c t u a t o r M e c h a n i c a l D i m e n s i o n s ( m m )T A B L E 2 -‐ A c t u a t o r M e c h a n i c a l D i m e n s i o n s ( m m )T A B L E 2 -‐ A c t u a t o r M e c h a n i c a l D i m e n s i o n s ( m m )T A B L E 2 -‐ A c t u a t o r M e c h a n i c a l D i m e n s i o n s ( m m )T A B L E 2 -‐ A c t u a t o r M e c h a n i c a l D i m e n s i o n s ( m m )T A B L E 2 -‐ A c t u a t o r M e c h a n i c a l D i m e n s i o n s ( m m )T A B L E 2 -‐ A c t u a t o r M e c h a n i c a l D i m e n s i o n s ( m m )T A B L E 2 -‐ A c t u a t o r M e c h a n i c a l D i m e n s i o n s ( m m )T A B L E 2 -‐ A c t u a t o r M e c h a n i c a l D i m e n s i o n s ( m m )

T Y P E

P E A K T O R Q U E

A B C D E F G H J L

M A S ST H E R M A L

C O N S T A N TT Y P E

M N -‐ M

A B C D E F G H J L

G R A M Sº C / W A T T

L O S S

B08-‐1 0.23 19.1 15.7 2.1 17.5 3.2 4.8 37.3 19.1 19.1 52.5 58.97 7.6

B08-‐2 2.26 19.1 15.7 2.1 17.5 3.2 4.8 55.9 19.1 19.1 71.0 86.18 7.6

B08-‐3 2.26 19.1 15.7 2.1 17.5 3.2 4.8 74.4 19.1 19.1 89.5 104.33 7.6

C10-‐1 0.56 27.9 21.9 3.3 23.8 4.8 6.4 42.8 19.1 25.4 57.9 127.01 6.1

C10-‐2 8.47 27.9 21.9 3.3 23.8 4.8 6.4 62.5 19.1 25.4 77.6 199.58 6.1

C13-‐3 20.3 31.8 26.2 3.3 30.2 4.8 6.4 88.9 19.1 25.4 104.1 272.16 6.0

D10-‐1 1.36 31.8 26.2 3.3 23.8 4.8 6.4 52.4 19.1 31.8 67.5 213.19 3.0

D10-‐2 7 31.8 26.2 3.3 23.8 4.8 6.4 72.4 19.1 31.8 87.5 285.77 3.0

D15-‐3 33.9 38.1 31.8 3.8 36.5 6.4 8.0 104.8 19.1 31.8 120.5 544.32 4.5

F13-‐1 3.39 38.1 31.8 3.8 30.2 6.4 8.0 63.5 27.0 38.1 78.6 371.95 2.5

F13-‐2 20.3 38.1 31.8 3.8 30.2 6.4 8.0 82.6 27.0 38.1 97.8 453.60 2.5

F15-‐3 45.2 38.1 31.8 3.8 36.5 6.4 8.0 108.0 27.0 38.1 123.2 625.97 4.5

Notes:1. Thermal constant at atmospheric condiJons at sea level while mounted on a 6” x 6” x 0.25” black anodized aluminum plate. 2. Data is approximate and subject to change without noJce.

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A

M B.0005

.001

B

E

L

F

J H

.0005 D+-.0000

G

See Shaft Options

Optional TransducerPositionVelocityAcceleration

.010 M A B

B

B

A 4X C+-.005.001

PROHIBITED.

D

C

B

AA

B

C

D

12345678

8 7 6 5 4 3 2 1

1 Deg.

Catalog Figure

TWO PLACE DECIMAL

SHEET 1 OF 1

Issue Description

UNLESS OTHERWISE SPECIFIED:

Appr.

Lafayette, CO

.01

DO NOT SCALE DRAWING

.0005

TOLERANCING PER: ASME Y14.5

MATERIAL

FINISH

DRAWN

CHECKED

ENG APPR.

MFG APPR.

Q.A.

COMMENTS:

DATENAME

TITLE:

SIZE

BDWG. NO. REV

INTERPRET GEOMETRIC

FOUR PLACE DECIMAL .003THREE PLACE DECIMAL

DIMENSIONS ARE IN INCHESTOLERANCES:ANGULAR: MACH

PROPRIETARY AND CONFIDENTIALTHE INFORMATION CONTAINED IN THISDRAWING IS THE SOLE PROPERTY OFAVIOR CONTROL TECHNOLOGIES, INC. ANY REPRODUCTION IN PART OR AS A WHOLEWITHOUT THE WRITTEN PERMISSION OF AVIOR CONTROL TECHNOLOGIES, INC IS

CAGE 6GST1

Mechanical ICD

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This catalog is formajed to provide some standard opJons for motor and gearbox combinaJons to allow the design engineer to customize an applicaJon with standard modular components. While Avior has more modular frame sizes of motors available for use as a stepper motor, we classify and categorize the most pracJ-‐cal sizes and configuraJons. For instance, Avior’s 3.0” diameter “N” motor may be used as a stepper motor, but as a producer of mechanical power output, it is much more effecJve to use a smaller frame size Brushless DC Motor from a cost and mass per-‐specJve.

The four frame sizes tabulated herein consist of two sizes we refer to as out “Instrument” range of Actuators (our B and C Modular

frame sizes), and our “Per-‐formance” range of Actuators, which are used to drive higher load inerJas with

higher mechanical power out-‐put. The difference in the classifi-‐

caJon for these two types of stepper motor actuators is internal to Avior. We uJlize

higher internal preloads in the bearing arrangement and addiJonal lubricaJon features for the Performance line of actuators that are not typically required for the Instrument variety.

It is important to note that the tabulated performance related

herein assumed the load inerJa reflected to the motor is less than or equal to the motor rotor inerJa. AddiJonally, the dynamic per-‐formance rate is provided at 50% of the InerJa Factored Response Rate. These assumpJons are not requirements of performance. Each applicaJon may select their operaJonal pulse rate that saJs-‐fies system requirements. In the engineering secJon of this cata-‐log, equaJons are provided to determine operaJonal performance under different condiJons. Avior does recommend, however, to keep the operaJonal velocity below 68% of the inerJa factored response rate, as a general rule.

Product Code

F83S-13N08-20

Stall Power (Watts)

Gear Ratio

Gearbox Frame Size

Motor Frame Size

No. of Poles-Phases

Simplex(S) or Redundant (R)

.0005

2

INTERPRET GEOMETRIC

PROHIBITED.

D

C

B

AA

B

C

D

12345678

8 7 6 5

SIZEAppr.

THREE PLACE DECIMAL

Description

.003


Draw2

FOUR PLACE DECIMAL

SHEET 1 OF 1


B

.01

Lafayette, CO

4 3

TITLE:

DWG. NO.TOLERANCING PER: ASME Y14.5

MATERIAL

FINISH

DRAWN

CHECKED

ENG APPR.

MFG APPR.

Q.A.

COMMENTS:

DATENAME

1

1 Deg.TWO PLACE DECIMAL

REVIssue


PROPRIETARY AND CONFIDENTIALTHE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OFAVIOR CONTROL TECHNOLOGIES, INC. ANY REPRODUCTION IN PART OR AS A WHOLEWITHOUT THE WRITTEN PERMISSION OF AVIOR CONTROL TECHNOLOGIES, INC IS

CAGE 6GST1

# 8






I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 0 8 ( D A T A A T + 2 5 º C )

P A R A M E T E R U N I T S6 W A T T S S T A L L P O W E R6 W A T T S S T A L L P O W E R

1 2 W A T T S S T A L L P O W E R




P A R A M E T E R U N I T S

S I M P L E X R E D U N D A N T S I M P L E X R E D U N D A N T S I M P L E X R E D U N D A N T

Avior Product Code -‐ B62S-‐08N08-‐06 B62R-‐08N08-‐06 B62S-‐08N08-‐12 B62R-‐08N08-‐12 B62S-‐08N08-‐18 B62R-‐08N08-‐18

ICD Dimensions See Table 2 B08-‐1B08-‐1 B08-‐1B08-‐1 B08-‐1B08-‐1

Number of Phases -‐ 22 22 22

Number of Poles -‐ 66 66 66

Gear RaJo -‐ 8.08.0 8.08.0 8.08.0

Step Size Degrees 3.753.75 3.753.75 3.753.75

DCR (Per Phase) Ohms 192192 9696 6464

Torque Constant Nm/Amp 0.68 0.45 0.48 0.32 0.39 0.26

Response Rate with Rated Load InerJa

Pules Per Second 294 303 416 429 510 525Response Rate with Rated Load InerJa RPM 184 189 260 268 319 328

Holding Torque Nm 0.12 0.08 0.17 0.11 0.21 0.14

Torque at Low Pulse Rate Nm 0.07 0.04 0.10 0.061 0.12 0.08

Dynamic RatePules Per Second 147 152 208 214 255 262

Dynamic RateRPM 92 95 130 134 159 164

Pull-‐In Torque at Dynamic Rate Nm 0.03 0.02 0.05 0.03 0.06 0.04

Rated Load InerJa kg-‐cm-‐sec2 4.49E-‐064.49E-‐06 4.49E-‐064.49E-‐06 4.49E-‐064.49E-‐06

Stall Power at 24 VDC Wajs 6.06.0 12.012.0 18.018.0

# 9


















Gear RaJo -‐ 8.08.0 8.08.0 8.08.0


DCR (AB-‐C) Ohms 9696 4848 3232







Dynamic RateRPM 97 100 138 142 169 173




# 10


















Gear RaJo -‐ 3636 3636 3636


DCR Per Phase Ohms 192192 9696 6464







Dynamic RateRPM 20 21 29 30 35 36




# 11


















Gear RaJo -‐ 3636 3636 3636


DCR (AB-‐C) Ohms 9696 4848 3232











# 12






I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 6 4 ( D A T A A T + 2 5 º C )

N O T E


N O T E


N O T E


N O T E


N O T E


N O T E


N O T E


N O T E












Gear RaJo -‐ 6464 6464 6464













# 13


















Gear RaJo -‐ 6464 6464 6464


DCR (AB-‐C) Ohms 9696 4848 3232











# 14






I N S T R U M E N T A C T U A T O R -‐ T Y P E B 6 2 -‐ 0 8 N 2 1 6 ( D A T A A T + 2 5 º C ) N O T E : T O R Q U E R A T I N G S T H E O R E T I C A L -‐ D O N O T E X C E E D G E A R B O X T O R Q U E R A T I N G S



















Gear RaJo -‐ 216216 216216 216216













# 15






I N S T R U M E N T A C T U A T O R -‐ T Y P E B 4 3 -‐ 0 8 N 2 1 6 ( D A T A A T + 2 5 º C ) N O T E -‐ T O R Q U E R A T I N G S T H E O R E T I C A L -‐ D O N O T E X C E E D G E A R B O X T O R Q U E R A T I N G S












1 8 W A T T S S T A L L P O W E RP A R A M E T E R U N I T S






Gear RaJo -‐ 216216 216216 216216


DCR (AB-‐C) Ohms 9696 4848 3232











# 16






I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C )










Avior Product Code -‐ C62S-‐10N10-‐10 C62R-‐10N10-‐10 C62S-‐10N10-‐20 C62R-‐10N10-‐20 C62S-‐10N10-‐30 C62R-‐10N10-‐30

ICD Dimensions See Table 2 C10-‐1C10-‐1 C10-‐1C10-‐1 C10-‐1C10-‐1



Gear RaJo -‐ 1010 1010 1010

Step Size Degrees 33 33 33

DCR Per Phase Ohms 115.2115.2 57.657.6 38.438.4











# 17




















Gear RaJo -‐ 1010 1010 1010


DCR (AB-‐C) Ohms 57.657.6 28.828.8 19.219.2











# 18




















Gear RaJo -‐ 3636 3636 3636













# 19




















Gear RaJo -‐ 3636 3636 3636


DCR (AB-‐C) Ohms 57.657.6 28.828.8 19.219.2











# 20




















Gear RaJo -‐ 7575 7575 7575













# 21




















Gear RaJo -‐ 7575 7575 7575


DCR (AB-‐C) Ohms 57.657.6 28.828.8 19.219.2











# 22






I N S T R U M E N T A C T U A T O R -‐ T Y P E C 6 2 -‐ 1 3 N 2 1 6 ( D A T A A T + 2 5 º C ) N O T E -‐ T O R Q U E R A T I N G S T H E O R E T I C A L -‐ D O N O T E X C E E D G E A R B O X T O R Q U E R A T I N G S














3 0 W A T T S S T A L L P O W E RP A R A M E T E R U N I T S






Gear RaJo -‐ 216216 216216 216216



Torque Constant Nm/Amp 29488 20788 20901 14687 17060 11976



Holding Torque Nm 8677 6112 12315 8643 15026 10586

Torque at Low Pulse Rate Nm 4680 3130 6842 4655 8499 5830



Pull-‐In Torque at Dynamic Rate Nm 2340 1570 3421 2327 4248 2915



# 23



























Gear RaJo -‐ 216216 216216 216216


DCR (AB-‐C) Ohms 57.657.6 28.828.8 19.219.2











# 24






P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 1 0 ( D A T A A T + 2 5 º C )










Avior Product Code -‐ D62S-‐10N10-‐15 D62R-‐10N10-‐15 D62S-‐10N10-‐30 D62R-‐10N10-‐30 D62S-‐10N10-‐45 D62R-‐10N10-‐45

ICD Dimensions See Table 2 D10-‐1D10-‐1 D10-‐1D10-‐1 D10-‐1D10-‐1



Gear RaJo -‐ 1010 1010 1010













# 25




















Gear RaJo -‐ 1010 1010 1010


DCR (AB-‐C) Ohms 38.438.4 19.219.2 12.812.8











# 26




















Gear RaJo -‐ 3636 3636 3636













# 27




















Gear RaJo -‐ 3636 3636 3636


DCR (AB-‐C) Ohms 38.438.4 19.219.2 12.812.8











# 28






P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 0 N 6 4 ( D A T A A T + 2 5 º C ) N O T E -‐ T O R Q U E R A T I N G S T H E O R E T I C A L -‐ D O N O T E X C E E D G E A R B O X T O R Q U E R A T I N G S





















Gear RaJo -‐ 6464 6464 6464













# 29



























Gear RaJo -‐ 6464 6464 6464


DCR (AB-‐C) Ohms 38.438.4 19.219.2 12.812.8


Response RatePules Per Second 301 329 426 465 522 569

Response RateRPM 12 13 17 18 20 22








# 30






P E R F O R M A N C E A C T U A T O R -‐ T Y P E D 6 2 -‐ 1 5 N 2 1 6 ( D A T A A T + 2 5 º C ) N O T E -‐ T O R Q U E R A T I N G S T H E O R E T I C A L -‐ D O N O T E X C E E D G E A R B O X T O R Q U E R A T I N G S





















Gear RaJo -‐ 216216 216216 216216













# 31



























Gear RaJo -‐ 216216 216216 216216


DCR (AB-‐C) Ohms 38.438.4 19.219.2 12.812.8











# 32






P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C ) P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 3 N 0 8 ( D A T A A T + 2 5 º C )










Avior Product Code -‐ F62S-‐13N08-‐20 F62R-‐13N08-‐20 F62S-‐13N08-‐40 F62R-‐13N08-‐40 F62S-‐13N08-‐60 F62R-‐13N08-‐60

ICD Dimensions See Table 2 F13-‐1F13-‐1 F13-‐1F13-‐1 F13-‐1F13-‐1



Gear RaJo -‐ 88 88 88













# 33




















Gear RaJo -‐ 88 88 88


DCR (AB-‐C) Ohms 28.828.8 14.414.4 9.69.6











# 34




















Gear RaJo -‐ 3636 3636 3636













# 35




















Gear RaJo -‐ 3636 3636 3636


DCR (AB-‐C) Ohms 28.828.8 14.414.4 9.69.6











# 36




















Gear RaJo -‐ 6464 6464 6464




Response RatePules Per Second 133 142 188 201 230 246

Response RateRPM 10 11 15 16 18 19








# 37




















Gear RaJo -‐ 6464 6464 6464


DCR (AB-‐C) Ohms 28.828.8 14.414.4 9.69.6











# 38






P E R F O R M A N C E A C T U A T O R -‐ T Y P E F 6 2 -‐ 1 5 N 2 1 6 ( D A T A A T + 2 5 º C ) N O T E -‐ T O R Q U E R A T I N G S T H E O R E T I C A L -‐ D O N O T E X C E E D G E A R B O X T O R Q U E R A T I N G S





















Gear RaJo -‐ 216216 216216 216216











Rated Load InerJa kg-‐cm-‐sec2 1.02E+001.02E+00 1.02E+001.02E+00 1.02E+001.02E+00


# 39



























Gear RaJo -‐ 216216 216216 216216


DCR( AB-‐C) Ohms 28.828.8 14.414.4 9.69.6









Rated Load InerJa kg-‐cm-‐sec2 1.02E+001.02E+00 1.02E+001.02E+00 1.02E+001.02E+00


# 40






Notes: 1. ConJnuous torque raJngs dependent on gear raJo, lubricaJon system, output velociJes, operaJng condiJons and life requirements. For iniJal esJmates of conJnuous

torque raJngs, 50% of the intermijent raJng is reasonable iniJal assumpJon. Contact Avior’s engineering department for a detailed conJnuous torque raJng assess-‐ment.

2. Torsional sJffness dependent on output shat configuraJon and gear raJo. 3. OperaJng efficiencies approximately 95% per stage of gearing. 4. Tighter backlash opJon is available. 5. In-‐line or right angle drives are available in each gearbox frame size. Contact Avior’s Engineering Department for Right-‐Angle Drive ICD informaJon. 6. Dry-‐film lubricaJon available for temperature extreme applicaJons. 7. Gearbox data is approximate. Data subject to change without noJce. 8. Output shat configuraJon is customized for each applicaJon.

High Performance Planetary Gearboxes # 41


P l a n e t a r y G e a r b o x M o d u l e P e r f o r m a n c e D a t a ( + 2 5 º C )P l a n e t a r y G e a r b o x M o d u l e P e r f o r m a n c e D a t a ( + 2 5 º C )P l a n e t a r y G e a r b o x M o d u l e P e r f o r m a n c e D a t a ( + 2 5 º C )P l a n e t a r y G e a r b o x M o d u l e P e r f o r m a n c e D a t a ( + 2 5 º C )P l a n e t a r y G e a r b o x M o d u l e P e r f o r m a n c e D a t a ( + 2 5 º C )P l a n e t a r y G e a r b o x M o d u l e P e r f o r m a n c e D a t a ( + 2 5 º C )P l a n e t a r y G e a r b o x M o d u l e P e r f o r m a n c e D a t a ( + 2 5 º C )P l a n e t a r y G e a r b o x M o d u l e P e r f o r m a n c e D a t a ( + 2 5 º C )P l a n e t a r y G e a r b o x M o d u l e P e r f o r m a n c e D a t a ( + 2 5 º C )P l a n e t a r y G e a r b o x M o d u l e P e r f o r m a n c e D a t a ( + 2 5 º C )P l a n e t a r y G e a r b o x M o d u l e P e r f o r m a n c e D a t a ( + 2 5 º C )

G e a r b o x D e s i g n a-‐

t i o n

G E A R B O X B E A R I N G F R I C T I O N

D i a m e t e rD i a m e t e r M a s s ( p e r m o d u l e )M a s s ( p e r m o d u l e ) M a x I n t e r m i t t e n t T o r q u e

M a x I n t e r m i t t e n t T o r q u e

T o r s i o n a l S t i f f n e s sT o r s i o n a l S t i f f n e s s B a c k l a s hG e a r b o x D e s i g n a-‐

t i o nm N -‐ m I n c h e s m m L b m k g L b f -‐ I n N m

L b f -‐ I n /R a d N m / R a d A r c -‐ M i n

08 0.565 0.75 19.05 0.09 0.04 20 2.3 6.00E+03 680 ±5

10 1.356 1.00 25.40 0.19 0.09 75 8.5 1.50E+04 1,700 ± 3

13 3.39 1.25 31.75 0.34 0.16 180 20 2.00E+04 2,250 ± 3

15 5.65 1.50 38.10 0.56 0.26 400 45 4.00E+04 4,500 ±3

20 11.3 2.00 50.80 1.25 0.57 1,000 113 7.00E+04 8,000 ±2

25 22.6 2.50 63.5 1.56 0.71 2,000 225 1.50E+05 17,000 ±2

30 56.5 3.00 76.20 1.88 0.85 4,000 450 3.00E+05 34,000 ±2





# 42


Avior’s high efficiency planetary gearing modules feature high grade mate-‐rials, precision machining tolerances, fully preloaded ball bearing ar-‐rangements and criEcal process. These design features help contribute to the industries premium performance gearing modules. Avior’s criEcal gearbox parts are inventoried in blank form so that customizaEon may be accommodated with responsive service, without compromising the integ-‐rity of the hardware.

Our selecEon of MSFC-‐SPEC-‐522, Table I Ma-‐terials assures resis-‐tance to Stress Corro-‐sion Cracking, and speeds the process during reviews. Avior may provide low out-‐gassing space qualified lubricaEon systems complainant with JSC-‐SPEC-‐SPR-‐0022 (<0.1% CVCM, <1% TML). Cleaning, parEcle counts and applicaEon of barrier film migraEon inhibitor are standard processes for applicaEons used in a space environment.

Our fully preloaded ball bearing arrangements for the planetary cage car-‐rier bearings as well as the the bearing arrangement on each of the plane-‐tary gears provides full bearing rolling element contact with no “bouncing balls” during launch. These features significantly increases efficiency, reli-‐

ability, radial load capacity and life of the criEcal gearbox components, while reducing backlash.

Avior may incorporate an in-‐line or right angle gearbox uElizing our stan-‐dard modular design concept. Although this catalog only delineates our in-‐line actuator product line, right angle versions are available in all frame sizes. Our right angle catalog is being developed and is esEmated for re-‐lease in Summer of 2014. Contact Avior’s engineering department for right angle drive opEons and configuraEons in the mean Eme.

The Table above delineates Avior’s Standard Planetary Gearbox Perform-‐ance Data.

Avior’s 8,000 Lbf-‐In Right Angle Drive Gearbox





The design engineer may use these equaJons to

determine performance at other pulse rates, gear raJos, load inerJa or temperatures. To calculate

the performance at other temperature, calculate or

find the motor +25º C DC resistance and Torque Constant. Calculate your DC Resistance at other

temperature (t2). From here, you may calculate your new holding torque, torque at low pulse rate

and No Load Response rate, with the current and

power input numbers by calculaJng the current at t2. Contact Avior’s Engineering Department with

any quesJons. [email protected]

Where:N = Gear RaJo

PPS = ApplicaJon Specific Pulses Per SecondV = Supply Voltage (Minimum)

RR = Response Rate

JL = Load InerJa (kg-‐cm-‐sec2)JM = Motor InerJa (kg-‐cm-‐sec2)

ηG = Gearbox efficiency (assume 95% per stage) FCM = Motor MagneJc Coulomb FricJon (Nm)

FBM = Motor Bearing FricJon (Nm)

FBG = Gearbox Bearing FricJon (Nm)FL = Load FricJon (Nominal Nm)

Δt = Time between pulses (1/PPS)x subscript = don’t care

S t eppe r Mo to r P e r f o rmance Equa t i on sS t eppe r Mo to r P e r f o rmance Equa t i on sS t eppe r Mo to r P e r f o rmance Equa t i on sS t eppe r Mo to r P e r f o rmance Equa t i on s

Pa r ame te r S ymbo l Un i t s E qua t i on

Step Angle at Motor ΔθM Degrees/Step See Page 4

Step Angle at Actuator Output ΔθA Degrees ΔθA = ΔθM / N

Motor Inertia JM kg-‐cm-‐sec2 See Page 4

Load Inertia Reflected to Motor JLM kg-‐cm-‐sec2 JLM = JL / N2

Inertia Factor JF -‐ JF = (JM + JLM) / JM

Total Power Input at Holding (at +25º C) PH25 Watts PH25 = (TH25 / KM)2

Motor Constant KM Nm / √Watt TH25 / √PH25

Motor Constant (alternate equation) KM Nm / √Watt KT / √ Ω25

Response Rate Constant KRR RPM / √Watt See Page 4

DC Resistance (Two Phase at +25º C) Ω2Ohms Per Phase

Ω2 = (2 * V2 ) / PH

DC Resistance (Three Phase at +25º C) Ω3 Ohms (AB-‐C) Ω3 = V2 / PH

DC Resistance at other Temperature (t2) Ωt2 Ohms Ωt2 = ΩX( 1 + 0.004 (t2-‐25))

DC Current at Holding (+25º C) I2 Amps Per Phase

I2 = V / Ω2

DC Current at Holding (+25º C) I3 Amps I3 = V / Ω3

Torque Constant (Two Phase) KT Nm/ Amp KT = TH25 / (1.414 * I25)

Torque Constant (Three Phase) KT3 Nm/ Amp KT3 = TH3 / I3

Holding Torque at Motor at +25º C (Two Phase) TH2 Nm TH2 = 1.414 * KT2* I2

Holding Torque at Motor at +25º C (Three Phase) TH3 Nm TH3 = KT3* I3

Holding Torque at Actuator Output at +25º C THA Nm THA =(N* ηG)*THX

Torque at Low Pulse Rate at Actuator Output (+25ºC) TPPS-‐0

Nm TPPS-‐0 = ( THX* 0.707 ) -‐ N( FBM + FCM + FBG )

No Load Response Rate at Actuator Output RRA Deg/Sec RRA = (KRR *6 *√PH25) / N

# 43










S t eppe r Mo to r P e r f o rmance Equa t i on sS t eppe r Mo to r P e r f o rmance Equa t i on sS t eppe r Mo to r P e r f o rmance Equa t i on sS t eppe r Mo to r P e r f o rmance Equa t i on s

Pa r ame te r S ymbo l Un i t s E qua t i on

Inertia Factored Response Rate at Actuator Out-‐put RRJF

Deg/Sec RRJF = (KRR * 6 * √PH25) / ( N* √JF )

Available Pull In Torque at Required Pulse Rate at Actuator Output TPPSA

Nm TPPSM = ((RRJF -‐ ωA) * TPPS-‐0 ) / RRJF

Acceleration Torques, Reflected to Load TαL Nm TαL = (JM *KC * N 2 * ΔθA / Δt2) + (JL * KC* ΔθA / ( Δt2 + ηG) )

Required Pull-‐In Torque at Operational Pulse Rate (Per NASA-‐STD-‐7000) TPPS_Min

Nm TPPS_Min = (FL* KV) + (FL(1-‐ηG)(KV-‐1) + (TαL (KC -‐1)) + (N(KV-‐1)(FBM + FBG)) + (N(KC -‐ 1 )FCM)

Margin of Safety (must be >0) MoS -‐ MoS = (TPPSA /TPPS_Min ) -‐ 1

Velocity at Actuator Output ωA Deg/Sec ωA = ΔθM * PPS / N

# 44


Variable torque components (Kv) are values that may vary from unit to unit or may increase over Jme, such as fricJon. Known torque components (Kc) are much more stable and cannot increase over Jme. Examples of these torque com-‐ponents are Motor Coulomb Torque and torque to accelerate inerJas. The strict interpretaJon of the GEVS requires high safety factors at early stages of the program. These factors are intended to apply to new development efforts. Most Jmes for actuator applicaJons, characterisJc fricJons and performance are characterized on standard motor and gearbox frame sizes. For applicaJons that have funcJonally tested or qualified components, it is enJrely appropriate to use CDR level factors for early program margins, and use Acceptance / QualificaJon levels for the specificaJon and final deliverable product. This approach has been accepted by NASA Engineers.

Recommended Factors of Safety to Torque Components per NASA-‐STD-‐7000Recommended Factors of Safety to Torque Components per NASA-‐STD-‐7000Recommended Factors of Safety to Torque Components per NASA-‐STD-‐7000

Program Phase Known Factor of Safety (KC) Variable Factor of Safety (KV)

Preliminary Design Review 2.00 4.0

CriEcal Design Review 1.50 3.0

Acceptance / QualificaEon Test 1.50 2.0





T W O P H A S E S T E P P E R M O T O RT W O P H A S E S T E P P E R M O T O RT W O P H A S E S T E P P E R M O T O RT W O P H A S E S T E P P E R M O T O RT W O P H A S E S T E P P E R M O T O R

S T E P S E Q U E N C E F O R C W R O T A T I O NS T E P S E Q U E N C E F O R C W R O T A T I O NS T E P S E Q U E N C E F O R C W R O T A T I O NS T E P S E Q U E N C E F O R C W R O T A T I O NS T E P S E Q U E N C E F O R C W R O T A T I O N

S T E P Y E L W H T R E D B L K

1 + -‐ + -‐

2 -‐ + + -‐

3 -‐ + -‐ +

4 + -‐ -‐ +

5 + -‐ + -‐

SHEET 1 OF 2

D

C

B

AA

B

C

D

12345678

8 7 6 5 4 3 2 1

1 Deg.

Schematics -1

TWO PLACE DECIMAL


Issue Description

PROHIBITED.

Appr.

Lafayette, CO

.01


.0005


MATERIAL

FINISH

DRAWN

CHECKED

ENG APPR.

MFG APPR.

Q.A.

COMMENTS:

DATENAME

TITLE:

SIZE

BDWG. NO. REV

INTERPRET GEOMETRIC




CAGE 6GST1

S1

Blk

A

Blu

Scope Ch 2: C+, B-

A

-

Blk/

Wh

t

B

C

For Electrical Zero (EZ) Null Position.

Yel

S3

ADC

Yel

A

R1

M

Red

Wht

S2

Excite Motor with 1 ADC, B+, C - B

Scope Ch 3: S2+, S4-Scope Ch 2: S1+, S3-

R2

Yel+

C

S4

E/0°

Wht

Yel

M

Red

RX

Re

dR

ed

/Wh

t

Scope Ch 1: R1+, R2-

Scope Ch 1: A+, B-

M

Wht

Blk

Re

d

T H R E E P H A S E S T E P P E R M O T O R T H R E E P H A S E S T E P P E R M O T O R T H R E E P H A S E S T E P P E R M O T O R T H R E E P H A S E S T E P P E R M O T O R

S T E P S E Q U E N C E F O R C W R O T A T I O NS T E P S E Q U E N C E F O R C W R O T A T I O NS T E P S E Q U E N C E F O R C W R O T A T I O NS T E P S E Q U E N C E F O R C W R O T A T I O N

S T E P Y E L R E D W H T

1 -‐ + -‐

2 -‐ + +

3 -‐ -‐ +

4 + -‐ +

5 + -‐ -‐

6 + + -‐

7 -‐ + -‐

SHEET 1 OF 2

D

C

B

AA

B

C

D

12345678

8 7 6 5 4 3 2 1

1 Deg.

Schematics -1

TWO PLACE DECIMAL


Issue Description

PROHIBITED.

Appr.

Lafayette, CO

.01


.0005


MATERIAL

FINISH

DRAWN

CHECKED

ENG APPR.

MFG APPR.

Q.A.

COMMENTS:

DATENAME

TITLE:

SIZE

BDWG. NO. REV

INTERPRET GEOMETRIC




CAGE 6GST1

S1

Blk

A

Blu

Scope Ch 2: C+, B-

A

-

Blk/

Wh

t

B

C

For Electrical Zero (EZ) Null Position.

Yel

S3

ADC

Yel

A

R1

M

Red

Wht

S2

Excite Motor with 1 ADC, B+, C - B

Scope Ch 3: S2+, S4-Scope Ch 2: S1+, S3-

R2

Yel+

C

S4

E/0°

Wht

Yel

M

Red

RX

Re

dR

ed

/Wh

t

Scope Ch 1: R1+, R2-

Scope Ch 1: A+, B-

M

Wht

Blk

Re

d

# 45


SchemaEcs





Transducers and Brakes# 46


Avior&offers&&a&full&line&of&complementary&func4on&devices&for&use&in&step&verifica4on&or&servo&control&systems.&Avior&also&provides&exper4se&and&hardware&op4ons&for&energy&absorp4on,&fail>safe&and&controlled&braking&applica4ons.&&&





# 47


M A G N E T I C D E T E N T B R A K E

P E R F O R M A N C E







D E T E N T B R A K E

C O D EU N I T S

0 8 D 1 1 DD E T E N T B R A K E

C O D EU N I T S

V A L U E V A L U E

Diameter mm 19 27

Mass grams 27 45

Peak Torque mN-‐m 42 113

Added Length mm 14.6 14.6

Added InerJa kg-‐cm-‐sec2 1.50E-‐07 5.18E-‐07

D C F R I C T I O N B R A K E P E R F O R M A N C E ( + 2 5 º C ) D C F R I C T I O N B R A K E P E R F O R M A N C E ( + 2 5 º C ) D C F R I C T I O N B R A K E P E R F O R M A N C E ( + 2 5 º C ) D C F R I C T I O N B R A K E P E R F O R M A N C E ( + 2 5 º C ) D C F R I C T I O N B R A K E P E R F O R M A N C E ( + 2 5 º C )

F R I C T I O N B R A K E

C O D EU N I T S

0 8 F 1 1 F 1 5 FF R I C T I O N B R A K E

C O D EU N I T S

V A L U E V A L U E V A L U E

Diameter mm 19 27 37

Mass grams 45 91 454

Holding Torque mN-‐m 42 113 339

Added Length mm 22 22 32

Added InerJa kg-‐cm-‐sec2 1.50E-‐07 4.84E-‐07 1.84E-‐06

Rated Voltage VDC 28 28 28

Pull In Voltage VDC, Max 18 18 18

Drop Out Voltage VDC, Min 1.0 1.0 1.0MagneJc Detent Brakes are passive variable reluctance devices that provide staJonary holding. Extremely popular in stepper motor actuators, these devices are useful for providing inherent launch-‐lock characterisJcs. The advantage of the MagneJc De-‐tent Brake is no power excitaJon is required and there are no fricJonal parts in contact.

The detent brake stable null points coincide with the motor step angle. The Peak Torque may be calibrated for each applicaJon to the maximum values tabulated in the table above.

DC FricJon Brakes are powered devices that provide power-‐off holding. The advantage of a FricJon Brake over a MagneJc Detent Brake is that the Motor Torque at low pulse rate does not need to overcome the brake torque.

There is no need to align the torque of the DC FricJon Brake to the motor step angle. The Holding Torque may be calibrated from the maximum value listed in the table above.





# 48

Avior Control Technologies, Inc -‐ www.AviorControls.com / [email protected] / (T) +1 720-‐491-‐3708CAGE: 6GST1 © 2014, Avior Control Technologies, Inc All Rights Reserved April 2014, V_SI_3.0





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STEPPER ACTUATOR PRODUCT CATALOG