Stepmotor CT
Stepmotor CT
Stepmotor CT
Danaher Motion -
Helping you build a better machine, faster
Danaher Corporation combined over 30 industry-leading brands such as Kollmorgen, Thomson, Dover, Pacific
Scientific, Portescap, Neff, Seidel and Bautz to establish a customer-focused motion control manufacturing company
called Danaher Motion. We offer this powerful set of integrated motion control technologies under the Danaher Motion
and Thomson brand names. We are a $1B+ global motion control leader, unique in our ability to marshal decades of
application experience and technical innovation to help you build better machines, faster.
Danaher Motion defines high standards of quality, innovation and technology. We enable improved machine performance
and reliability while controlling costs. Our global manufacturing footprint, rapid customization and prototyping
capabilities drive quick lead times. Unmatched application experience and design expertise empowers you to
commission machines faster.
Consider your options in today’s market for a motion control partner. Select Danaher Motion and join a team with 6100
employees, over 60 years of application experience and 2000+ distributor locations around the globe. Danaher Motion
serves industries as diverse as semiconductor, aerospace and defense, electric vehicle systems, packaging, printing,
medical and robotics. We offer an unparalleled depth and breadth of motion control product solutions through a
worldwide service and support infrastructure, field service engineers and support teams available when and where
you need them.
The Danaher Business System (DBS) was established to increase the value we bring to customers. It is a mature
and successful set of tools we use daily to continually improve manufacturing operations and product development
processes. DBS is based on the principles of Kaizen which continuously and aggressively eliminate waste in every
aspect of our business. DBS focuses the entire organization on achieving breakthrough results that create competitive
advantages in quality, delivery and performance – advantages that are passed on to you. Through these advantages
Danaher Motion is able to provide you faster times to market as well as unsurpassed product selection, service,
reliability and productivity.
Application Centers Global Manufacturing Operations Global Design & Engineering Centers
CT Series Step Motors
Table of Contents
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Construction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Model Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
CTP1 - Size 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 9
CTP2 - Size 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 - 11
CTP3 - Size 34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 - 13
Conversion Factors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
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Danaher Motion has combined high performance step motor
designs with world wide manufacturing capabilities to create
the new CT Series.
CT Series motors incorporate innovative cooling technology (patent pending), high torque magnetic designs,
rugged bearings, and high voltage insulation systems. These features provide high torque motors, which support
large mechanical loads, and can be used with all drives.
Outstanding performance is only part of the CT story. CT Series motors are available in the most popular sizes
(17, 23, and 34), and are available in a variety of lengths, windings and shafts.
Custom Motors
Danaher Motion routinely provides motors with many types of
modifications. Please contact us with your specific requirements.
Shaft Modifications
A variety of motor output shaft modifications can be supplied. These
include special flats and keyways, lengths, diameters, through holes
and similar changes which may be needed to allow mounting of
timing belts, pulleys or gears or to facilitate mounting the motor to
the equipment being driven.
Electrical Modifications
Motors can be supplied with a number of electrical modifications,
including: nonstandard lead lengths, electrical connectors and
special windings.
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CT Series Step Motors
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Basic Step Motor Operation
CT Series step motors have two windings (two phases) which are energized with DC current. When the current in one
winding is reversed, the motor shaft moves one step, or 1.8°, and the shaft is magnetically held in the new position.
By sequentially switching the current in each winding the position and speed of the motor is easily and precisely
controlled. Simple control combined with high torque output makes these motors extremely useful for many different
motion control applications.
For even finer resolution and smoother operation, micro-stepping drives divide each step into many increments by
controlling the magnitude of the current in each winding.
The performance of hybrid step motors is highly dependent on the current and voltage supplied by a drive. CT Series step
motors can be used with a variety of drives that have a broad range of voltage and current ratings.
Holding Torque
Because motor performance varies greatly with the drive, holding torque is often used as a figure of merit when comparing
hybrid step motors. Holding torque specifies the maximum torque that can be applied to a motor shaft and not cause
the shaft to rotate. It is measured with the motor at standstill and energized with rated DC current. Since the motor is
energized with pure DC current, holding torque is not dependent on specific drive characteristics.
Torque-Speed Curves
As the applied voltage and/or current to the motor is changed, motor performance is altered. Figures 1 and 2 show typical
torque-speed curves using a bipolar chopper driver.
Speed (RPM) Speed (RPM)
0 600 1200 1800 2400 3000 0 600 1200 1800 2400 3000
1.4 1.0
Normalized Torque (Unitless)
4xV
1.2
1.3 x Rated I 0.8 3xV
1.0
1.0 x Rated I (reference 2xV
0.8 curve) 0.6
1 x V (reference
.5 x Rated I curve)
0.6 0.4
.25 x Rated I
0.4
0.2
0.2
0.0 0.0
0 2000 4000 6000 8000 10000 0 2000 4000 6000 8000 10000
Speed (Full Step/Sec) Speed (Full Step/Sec)
Figure 1 Figure 2
Figure 1 shows the performance of the same motor driven Figure 2 shows the performance of the same motor driven
by a bipolar chopper drive at different current settings. All by a bipolar chopper driver with different supply voltages.
drivers have the same supply voltage. Note that high speed All drivers have the same current setting. Note that low
performance is not appreciably affected by the different speed running torque is not appreciably affected by supply
current settings. Low speed running torque, however, voltage differences. High speed performance, however,
varies considerably with changes in the drive current varies considerably with changes in supply voltage. Caution
setting. When current higher than the rated current of must be exercised when increasing supply voltage as higher
the motor is applied, torque and motor temperature will voltages will result in increased motor heating.
increase (particularly at low speeds). Very high currents
will damage the motor due to demagnetization and/or
overheating.
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CT Series Step Motors
CTP 2 1 N L F 10 N AA 00
Series Customization
CTP Cool Torque Performance Series 00 Standard Motor
Other numbers serially assigned
Frame Size for special motors
1 Size 17 / 4.2cm
2 Size 23 / 5.7cm Rear Options
3 Size 34 / 8.5cm AA None
EE English rear shaft & encoder
Length mounting holes - Size 23 & 34 Only
0 Short Stack MA Metric rear shaft - Size 17 Only
1 1 Stack SS Special
2 2 Stack
3 3 Stack Front Shaft Options
N Round smooth shaft - Size 23 Only
Mounting F Flat - Size 23 Only
N NEMA Through Holes K Straight Keyway - Size 34 Only
E English Tapped Holes - Size 17 Only M Metric - Size 17 Only
M Metric Tapped Holes - Size 17 Only S Special
BLACK
ORG
RED YEL
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CTP1-Size 17
• High torque
• Inch or metric mounting
• RoHS Compliant
• Custom Motors
Phases 2
Full Steps per Revolution 200
Step Angle 1.8°
Step Accuracy ±5%
Operating Temperature -20°C to +40°C
Insulation Class Class B, 130°C
Insulation Voltage Rating 100 VDC
Insulation Resistance 100 Megohms
Shaft Load (20,000 hrs at 1,500 rpm)
Radial 15 lbs (6.8 kg) at shaft center
Axial 6 lbs (2.7 kg) push
15 lbs (6.8) pull
∅ .866 (22.00)
.864 (21.95)
∅ .1969 (5.000)
.1964 (5.988)
OPTIONAL REAR
SHAFT EXTENSION
∅ .1956 (5.000)
OPTIONAL MOUNTING .1964 (5.988)
N Mount = 4 x M3 x 0.5 - 6H 12” [305] MIN LEAD LENGTH
E Mount = 4 x UNC #4-40 2B .002 (0.051) #22 AWG [0.35mm2] or
-A- #20 AWG [0.56mm2]
Series Motor Torque Detent Torque Thermal Rotor Inertia Net Weight
Motor Mounted Resistance
Bipolar Unipolar Typical Mounted oz-in-S2 kg-cm2 lbs kg
oz-in N-m oz-in N-m oz-in N-m °C/watt
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CT Series Step Motors
CTP 1 M L M 00
Rated current is per phase, with the motor mounted, and winding temperature rise ΔT = 90°C.
Resistance is with winding at 20°C.
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CTP2-Size 23
• High torque
• Heavy duty bearings - excellent for use with leadscrews
• High voltage insulation system
• RoHS Compliant
• Custom Motors
Phases 2
Full Steps per Revolution 200
Step Angle 1.8°
Step Accuracy ±3%
Operating Temperature -20°C to +40°C
Insulation Class Class B, 130°C
Insulation Voltage Rating 340 VDC
Insulation Resistance 100 Megohms
Shaft Load (20,000 hrs at 1,500 rpm)
Radial 20 lbs. (9 kg) at shaft center
Axial 50 lbs. (23 kg) both directions
Series Motor Torque Detent Torque Thermal Rotor Inertia Net Weight
Motor Mounted Resistance
Bipolar Unipolar Typical Mounted oz-in-S2 kg-cm2 lbs kg
oz-in N-m oz-in N-m oz-in N-m °C/watt
CTP20 100 0.71 75 0.53 4 0.03 3.99 0.0026 0.19 1.0 0.45
CTP21 200 1.41 160 1.13 7 0.05 3.57 0.0035 0.24 1.4 0.65
CTP22 360 2.54 285 2.01 10 0.07 2.62 0.0068 0.48 2.4 1.10
10
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CT Series Step Motors
CTP 2 N L 00
Rated current is per phase, with the motor mounted, and winding temperature rise ΔT = 90°C.
Resistance is with winding at 20°C.
11
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CTP3-Size 34
• High torque
• Captured front bearing - excellent for use with leadscrews
• High voltage insulation system
• RoHS Compliant
• Custom Motors
Phases 2
Full Steps per Revolution 200
Step Angle 1.8°
Step Accuracy ±3%
Operating Temperature -20°C to ±40°C
Insulation Class Class B, 130°C
Insulation Voltage Rating 340 VDC
Insulation Resistance 100 Megohms
Shaft Load (20,000 hrs at 1,500 rpm)
Radial 65 lbs. (29 kg) at shaft center
Axial 100 lbs. (45 kg) both directions
Series Motor Torque Detent Torque Thermal Rotor Inertia Net Weight
Motor Mounted Resistance
Bipolar Unipolar Typical Mounted oz-in-S2 kg-cm2 lbs kg
oz-in N-m oz-in N-m oz-in N-m °C/watt
CTP31 565 4.0 460 3.3 22 0.16 2.02 0.0185 1.31 4.0 1.8
CTP32 1100 7.8 890 6.3 30 0.21 1.55 0.0370 2.61 6.5 3.0
CTP33 1570 11 1250 8.8 38 0.27 1.36 0.0555 3.92 9.1 4.1
12
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CT Series Step Motors
CTP 3 N L K 00
Rated current is per phase, with the motor mounted, and winding temperature rise ΔT = 90°C.
Resistance is with winding at 20°C.
13
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Conversion Factors
Length Force
B B
mm cm m inch feet g kg oz lb Newton
A A
mm --- 0.1 0.001 0.03937 0.003281 g --- 0.001 0.03527 0.002205 0.0098
cm 10 --- 0.01 0.3937 0.03281 kg 1000 --- 35.27 2.205 9.807
m 1000 100 --- 39.37 3.281 oz 28.35 0.02835 --- 0.0625 0.278
inch 25.4 2.54 0.0254 --- 0.08333 lb 453.6 0.4536 16 --- 4.448
feet 304.8 30.48 0.3048 12 --- Newton 102 0.102 3.597 0.2248 ---
Multiply units of “A” by indicated factor to obtain units of “B” Multiply units of “A” by indicated factor to obtain units of “B”
Inertia
B lb-ft-sec2
kgm2 kgcm2 gcm2 oz-in2 oz-in-sec2 lb-in2 lb-in-sec2 lb-ft2
A (slug ft2)
kgm2 --- 10,000 1 x 107 54,670 141.6 3,418 8.851 23.73 0.7376
kgcm 2
0.0001 --- 1,000 5.457 0.01416 0.3418 0.000885 0.002373 7.376 x 10-5
gcm2 1.00 x 10-7 0.001 --- 0.005467 1.416 x 10-5 0.000342 8.851 x 10-7 2.373 x 10-6 7.376
oz-in 2
1.829 x 10 -5
0.1829 182.9 --- 0.00259 0.0625 0.000162 0.000434 1.349 x 10-5
oz-in-sec2 0.00706 70.61 70,610 386.1 --- 24.13 0.0625 0.1676 0.00521
lb-in2 0.000293 2.926 2,926 0.16 0.04144 --- 0.00259 0.006944 0.000216
lb-in-sec2 0.113 1,130 1.13 x 106 6,177 16 386.1 --- 2.681 0.0833
lb-ft 2
0.04214 421.4 4.214 x 10 5
2,304 5.968 144 0.373 --- 0.0318
lb-ft-sec2
1.356 13,560 1.356 x 107 74,130 192 4.633 x 105 12 32.17 ---
(slug ft2)
Multiply units of “A” by indicated factor to obtain units of “B”
Torque
B
Nm Ncm dyn cm kgm (1) kgcm (1) gcm (1) oz-in lb-ft lb-in
A
14
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United Kingdom Sweden
Danaher Motion Danaher Motion Stockholm AB
Chartmoor Road, Chartwell Business Park Solkraftsvägen 13
Leighton Buzzard, Bedfordshire 135 70 Stockholm
LU7 4WG; United Kingdom Sweden
Phone : +44 (0)1525 243 243 Phone : +46 (0) 8-682 64 00
Fax : +44 (0)1525 243 244 Fax : +46 (0) 8-682 65 805
E-mail : [email protected] E-mail : [email protected]
Germany Switzerland
Danaher Motion GmbH Danaher Motion SA
Sales Office North La Pierreire 2
Wacholderstr. 40-42 1029 Villars-Ste-Croix
40489 Düsseldorf Switzerland
Germany Phone : +41 (0) 21 631 33 33
Phone : +49 (0) 203 9979 214 Fax : +41 (0) 21 636 05 09
Fax : +49 (0) 203 9979 3214 E-mail : [email protected]
E-Mail : [email protected]
USA, Canada and Mexico
Danaher Motion GmbH Danaher Motion
Sales Office South West 203A West Rock Road
Lessingstr. 41 Radford, VA 24141 USA
75015 Bretten Phone : 1-540-633-3400
Germany Fax : 1-540-639-4162
Phone : +49 (0) 7252 97390 56 E-mail : [email protected]
Fax : +49 (0) 7252 97390 55
E-Mail : [email protected] China
Danaher Motion
Danaher Motion GmbH Rm 2205, Scitech Tower
Sales Office South East 22 Jianguomen Wai Street
Kiesgräble 7 Beijing, China, 100004
89129 Langenau Phone : +86 10 6515 0260
Germany Fax : +86 10 6515 0263
Phone : +49 (0) 7471 62 23 23 E-mail : [email protected]
Fax : +49 (0) 7471 62 23 26
E-Mail : [email protected] Japan