Aerotech SM Series User manual

Revision: 1.02.00
SM Series High Performance
Stepper Motors Hardware Manual

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To get help immediately, contact a service office or your sales representative. Include your customer order number in your
email or have it available before you call.
United States (World Headquarters)
Email: [e-mail]
Phone: [phone]
Fax: [phone]
101 Zeta Drive
Pittsburgh, PA 15238-2811
www.aerotech.com
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This manual contains proprietary information and may not be reproduced, disclosed, or used in whole or in part without the
express written permission of Aerotech, Inc. Product names mentioned herein are used for identification purposes only and
may be trademarks of their respective companies.
Copyright © 2017-2019, Aerotech, Inc., All rights reserved.

SM Hardware Manual Table of Contents
Table of Contents
SM Series High Performance Stepper Motors Hardware Manual 1
Table of Contents 3
List of Figures 4
List of Tables 5
EU Declaration of Conformity 7
Safety Procedures and Warnings 8
Chapter 1: SM Series Stepper Motor Hardware Manual 11
1.1. Environmental Specifications 13
1.2. Motor Specifications 14
1.3. Motor Dimensions 16
1.4. Motor Installation 19
1.4.1. Connector Pin Assignment 19
1.5. External Motor Wiring 21
1.5.1. Motor Power Conductors 21
1.5.2. Protective Ground 21
1.5.3. Over Current Protection 21
1.5.4. Wiring Guidelines 22
1.6. Motor Heating 22
1.7. Maintenance 22
Appendix A: Warranty and Field Service 23
Appendix B: Revision History 25
Index 27
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Table of Contents SM Hardware Manual
List of Figures
Figure 1-1: SM Series Stepper Motors 11
Figure 1-2: SM35 Model Dimensions (NEMA 17) 16
Figure 1-3: SM60 and SM100 Model Dimensions (NEMA 23) 17
Figure 1-4: SM280 and SM465 Model Dimensions (NEMA 34) 18
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SM Hardware Manual Table of Contents
List of Tables
Table 1-1: SM Stepper Motor Options 12
Table 1-2: SM35 Stepper Motor Specifications 14
Table 1-3: SM60 Stepper Motor Specifications 14
Table 1-4: SM100 Stepper Motor Specifications 15
Table 1-5: SM280 Stepper Motor Specifications 15
Table 1-6: SM465 Stepper Motor Specifications 15
Table 1-7: Motor Power Connector Pinout 19
Table 1-8: Mating Connector Part Numbers for the Motor Power Connector 19
Table 1-9: -E1 and -E2 Encoder Option Connector Pinout 20
Table 1-10: Mating Connector Part Numbers for the Encoder Option Connector 20
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Table of Contents SM Hardware Manual
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SM Hardware Manual Declaration of Conformity
EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product Stepper Motors
Model/Types SM35, SM60, SM100, SM280, SM465
This is to certify that the aforementioned product is in accordance with the applicable requirements of the
following Directive(s):
2014/35/EU Low Voltage Directive
2014/30/EU Electromagnetic Compatibility Directive
2011/65/EU RoHS2 Directive
and has been designed to be in conformity with the applicable requirements of the following Standard(s)
when installed and used in accordance with the manufacturer’s supplied installation instructions.
EN 61000-6-3:2007/A1:2011 EMC Generic standards - Emission standard for
residential, commercial and light industrial
environments.
EN 61000-6-2:2005 EMC Generic standards – Immunity for industrial
environments
EN 55014-2:1997/A2:2008 Electromagnetic compatibility – Part 2: Immunity
EN 60034:2010 Rotating electrical machines – Part 1: Rating and
performance
Authorized Representative: Simon Smith, European Director
Address: Aerotech Ltd
The Old Brick Kiln, Ramsdell, Tadley
Hampshire RG26 5PR
UK
Name
/ Alex Weibel
Position Engineer Verifying Compliance
Location Pittsburgh, PA
Date 3/27/2019
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Declaration of Conformity SM Hardware Manual
Safety Procedures and Warnings
Read this manual in its entirety before installing, operating, or servicing this product. If you do not understand
the information contained here, contact an Aerotech representative before proceeding. Strictly adhere to the
statements given in this section and other handling, use, and operational information given throughout the
manual to avoid injury to you and damage to the equipment.
N O T E : Aerotech continually improves its product offerings; listed options may be superseded at any
time. All drawings and illustrations are for reference only and were complete and accurate as of this
manual’s release. Refer to www.aerotech.com for the most up-to-date information.
N O T E :
D A N G E R : The motor temperature can pose a burn hazard. Do not touch the motor until it
has cooled sufficiently.
D A N G E R : These motors are not rated for use in explosive atmospheres. They are not to be
operated in the presence of potentially explosive mixtures of air-borne dust or combustible
vapors.
D A N G E R : Motors and their associated drive, cabling, etc. are sources of electromagnetic
fields. Persons with implanted medical devices need to evaluate the risks associated with
these devices before entering an area where they are in use.
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SM Hardware Manual Declaration of Conformity
W A R N I N G : To minimize the possibility of electrical shock, bodily injury or death the
following precautions must be followed.
1. Operators must be trained before operating this equipment.
2. All service and maintenance must be performed by qualified personnel.
3. Moving parts can cause crushing or shearing injuries. Access to all stage and motor parts
must be restricted while connected to a power source.
4. Cables can pose a tripping hazard. Securely mount and position all system cables to avoid
potential hazards.
5. SM motors are not intended to be directly connected to an electrical power distribution
system. They are meant to be part of a drive package consisting of an amplifier and
controller. The motor relies on the drive package for all manners of fault protection.
Aerotech, Inc. does not approve their motors for use in any other manner.
6. Equipment grounds must be in place and maintained to reduce the risk of potentially fatal
or serious injury from electrical shock.
7. Disconnect electrical power to the motor before performing maintenance procedures. In
addition, uncouple or otherwise prevent motor-coupled machinery from moving the motor
during service.
8. Do not expose this product to environments or conditions outside of the listed
specifications. Exceeding environmental or operating specifications can cause damage to
the equipment.
9. Never install or operate equipment that appears to be damaged.
10. If the product is used in a manner not specified by the manufacturer, the protection
provided by the product can be impaired and result in damage, shock, injury, or death.
11. This product is intended for light industrial manufacturing or laboratory use. Use of this
product for unintended applications can result in injury and damage to the equipment.
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Declaration of Conformity SM Hardware Manual
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SM Hardware Manual Overview
Chapter 1: SM Series Stepper Motor Hardware Manual
The SM series of stepper motors brings efficiency of motion to Aerotech’s line of rotary motor products. With
ample torque at high velocities, the SM series is a perfect stand-in for DC brushed or brushless rotary motors
in nearly any medium-accuracy motion application. With multiple offerings in frame sizes from NEMA 17 to
NEMA 34, the SM series provides additional options to meet our customers’ needs.
Design and Integration Flexibility
The SM series motors have been designed with optional direct encoder feedback, a holding brake, or even a
viscous damper to improve the dynamic response of the rotor. These standard options allow the SM series
to adapt to many common motion applications and extend their capabilities for use in a wider array of
processes than a general stepper motor.
Line Voltage Capable
The NEMA 23 and NEMA 34 frame size SM series motors are available in a high-voltage optimized design.
This produces optimum performance at both North American and European/Asian line voltages without the
need for a transformer, further streamlining the system solution.
Figure 1-1: SM Series Stepper Motors
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Overview SM Hardware Manual
Table 1-1: SM Stepper Motor Options
Permanent Magnet Stepper Motors
SM35 NEMA 17 stepper motor
SM60 NEMA 23 stepper motor
SM100 NEMA 23 stepper motor, high torque
SM280 NEMA 34 stepper motor
SM465 NEMA 34 stepper motor, high torque
Add Ons (Optional)
-CN1 Standard connectorized motor
-BK
Holding brake
lNEMA17:Holding Torque = 0.2 N·m (28.8 oz·in), 24 VDC, 0.2 A
lNEMA 23:Holding Torque = 0.8 N·m (112 oz·in), 24 VDC, 0.3 A
lNEMA34:Holding Torque = 1.7 N·m (240 oz·in), 24 VDC, 0.4 A
-E1 1000-line incremental square-wave encoder with marker (RS-422 line-drive output)
-E2 1000-line incremental 1 Vpp amplified sine-wave encoder with marker
-D Viscous damper (only available on NEMA 17 and NEMA 23 SM motors.)
Bus Voltage Selection (Optional for NEMA 23 and NEMA 34 Motors Only)
-VT1 Low voltage model
-VT2 High voltage model
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SM Hardware Manual Overview
1.1. Environmental Specifications
The environmental considerations for motor operation are given below. Deviating from these specifications
may lead to motor failure or an unsafe operating condition. Contact Aerotech for information concerning
motor operations under conditions deviating from these environmental specifications.
Temperature: Operating: 0° to 25°C, consult Aerotech for operation outside of this range.
Storage: -20°C to 85°C
Humidity: Ambient conditions need to be such that condensation on the motor does not occur.
Do not use the motors in wash-down environments.
Dust Exposure: The SM motors are rated IP40.
Altitude: Up to 2000 m. Consult Aerotech for deration considerations for altitudes above
2000 m
Use: Indoor use only.
Atmosphere: Do not use in hydrogen atmospheres
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Overview SM Hardware Manual
1.2. Motor Specifications
The specifications for the SM series stepper motors are listed in Table 1-2,Table 1-3,Table 1-4,Table 1-5,
and Table 1-6.
Table 1-2: SM35 Stepper Motor Specifications
SM35
NEMAMotor Frame Size NEMA 17
Stall Torque 0.78 N·m (111 oz·in)
Rated Amps Per Phase 3.0 A
Phase Inductance 2.4 mH
Phase Resistance 1.1 Ω
Maximum Voltage Across the Motor 35 V
Rotor Inertia 1.02E-05 kg·m2
(0.0014 oz·in·s2)
Full Step Angle 1.8°
Accuracy ±0.09°
Maximum Radial Load 2.9 kg (6.3 lb)
Maximum Thrust Load 1.0 kg (2.2 lb)
Weight 0.50 kg (1.1 lb)
Table 1-3: SM60 Stepper Motor Specifications
SM60-VT1 SM60-VT2
NEMAMotor Frame Size NEMA 23 NEMA 23
Stall Torque 1.23 N·m (175 oz·in) 1.41 N·m (200 oz·in)
Rated Amps Per Phase 2.8 A 0.84 A
Phase Inductance 2.6 mH 40.74 mH
Phase Resistance 0.9 Ω 13.25 Ω
Maximum Voltage Across the Motor 35 V 160 V
Rotor Inertia 3.00E-05 kg·m2
(0.0042 oz·in·s2)
3.00E-05 kg·m2
(0.0042 oz·in·s2)
Full Step Angle 1.8° 1.8°
Accuracy ±0.09° ±0.09°
Maximum Radial Load 7.7 kg (17 lb) 7.7 kg (17 lb)
Maximum Thrust Load 1.5 kg (3.4 lb) 1.5 kg (3.4 lb)
Weight 0.70 kg (1.54 lb) 0.70 kg (1.54 lb)
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SM Hardware Manual Overview
Table 1-4: SM100 Stepper Motor Specifications
SM100-VT1 SM100-VT2
NEMAMotor Frame Size NEMA 23 NEMA 23
Stall Torque 1.85 N·m (262 oz·in) 2.50 N·m (354 oz·in)
Rated Amps Per Phase 3.5 A 0.99 A
Phase Inductance 2.4 mH 40.08 mH
Phase Resistance 0.7 Ω 11.82 Ω
Maximum Voltage Across the Motor 35 V 160 V
Rotor Inertia 4.80E-05 kg·m2
(0.0068 oz·in·s2)
5.21E-05 kg·m2
(0.0074 oz·in·s2)
Full Step Angle 1.8° 1.8°
Accuracy ±0.09° ±0.09°
Maximum Radial Load 7.7 kg (17 lb) 7.7 kg (17 lb)
Maximum Thrust Load 1.5 kg (3.4 lb) 1.5 kg (3.4 lb)
Weight 1.0 kg (2.2 lb) 1.2 kg (2.6 lb)
Table 1-5: SM280 Stepper Motor Specifications
SM280-VT1 SM280-VT2
NEMAMotor Frame Size NEMA 34 NEMA 34
Stall Torque 4.50 N·m (637 oz·in) 8.75 N·m (1238 oz·in)
Rated Amps Per Phase 7.1 A 3.04 A
Phase Inductance 1.7 mH 3.04 mH
Phase Resistance 0.2 Ω 2.34 Ω
Maximum Voltage Across the Motor 48 V 160 V
Rotor Inertia 1.41E-04 kg·m2
(0.020 oz·in·s2)
2.70E-04 kg·m2
(0.038 oz·in·s2)
Full Step Angle 1.8° 1.8°
Accuracy ±0.09° ±0.09°
Maximum Radial Load 22.5 kg (50 lb) 22.5 kg (50 lb)
Maximum Thrust Load 6.1 kg (14 lb) 6.1 kg (14 lb)
Weight 2.3 kg (5.1 lb) 3.8 kg (8.4 lb)
Table 1-6: SM465 Stepper Motor Specifications
SM465-VT1 SM465-VT2
NEMAMotor Frame Size NEMA 34
Stall Torque 12.0 N·m (1700 oz·in) 11.5 N·m (1637 oz·in)
Rated Amps Per Phase 7.1 A 2.94 A
Phase Inductance 3.55 mH 33.14 mH
Phase Resistance 0.4 Ω 3.05 Ω
Maximum Voltage Across the Motor 48 V 160 V
Rotor Inertia 4.02E-04 kg·m2(0.057 oz·in·s2)
Full Step Angle 1.8°
Accuracy ±0.09°
Maximum Radial Load 22.5 kg (50 lb)
Maximum Thrust Load 6.1 kg (14 lb)
Weight 5.4 kg (12 lb) 5.3 kg (11.7 lb)
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Overview SM Hardware Manual
1.3. Motor Dimensions
N O T E : Aerotech continually improves its product offerings; listed options may be superseded at any
time. All drawings and illustrations are for reference only and were complete and accurate as of this
manual’s release. Refer to www.aerotech.com for the most up-to-date information.
17.5 .69
23.9±0.8 .94±.03
2 .08
5
-
0
0.01 .1968
+
-
.0000
.0005
"A"
12 .47
"B"
29.5 1.16
380 15
MOTOR CABLE
-E1, -E2 ONLY
FEEDBACK CABLE
25-PIN D
CONNECTOR
9-PIN HIGH-POWER D
CONNECTOR
4X M3X0.5
.15 31 1.22
42.2 1.66
4.6±0.3 .18±.01
FLAT
22
-
0
0.05 .866
+
-
.000
.002
DIMENSIONS: MILLIMETERS [INCHES]
MOTOR A B
SM35 NO BRAKE 114.9 [4.53] 42.2 [1.66]
SM35 WITH BRAKE 119.9 [4.72] 44.4 [1.75]
Figure 1-2: SM35 Model Dimensions (NEMA 17)
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SM Hardware Manual Overview
6.350
-
0
0.013 .2500
+
-
.0000
.0005
15 .59
1.5 .06
20.6±1.1 .81±.04 "A"
"B"
12 .47
29.5 1.16
380 15
MOTOR CABLE
-E1, -E2 ONLY
FEEDBACK CABLE
25-PIN D
CONNECTOR
9-PIN HIGH-POWER D
CONNECTOR
4X
5 .20
56.1 2.21
47.1 1.86
5.8±0.3 .23±.01
FLAT
38.10±0.03 1.500±.001
DIMENSIONS: MILLIMETERS [INCHES]
MOTOR A B
SM60 NO BRAKE (-VT1/VT2) 110.9 [4.37] 56.1 [2.21]
SM60 WITH BRAKE (-VT1/VT2) 111.9 [4.41] 63.5 [2.50]
SM100 NO BRAKE (-VT1) 131.2 [5.17] 56.1 [2.21]
SM100 WITH BRAKE (-VT1) 132.2 [5.20] 63.5 [2.50]
SM100 NO BRAKE (-VT2) 140.1 [5.52] 56.1 [2.21]
SM100 WITH BRAKE (-VT2) 141.1 [5.56] 63.5 [2.50]
Figure 1-3: SM60 and SM100 Model Dimensions (NEMA 23)
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Overview SM Hardware Manual
12.700
-
0
0.012 .5000
+
-
.0000
.0005
1.5 .06
31.8±1 1.25±.04 "A"
15 .59
37 1.46
380 15
MOTOR CABLE
-E1, -E2 ONLY
FEEDBACK CABLE
25-PIN D
CONNECTOR
9-PIN HIGH-POWER D
CONNECTOR
69.6 2.74
85.9 3.38
73.03±0.03 2.875±.001
4X 5.5 .22
.12 [3.2] KEYWAY
BY .95 (-VT1 ONLY)
DIMENSIONS: MILLIMETERS [INCHES]
MOTOR A
SM280 NO BRAKE (-VT1) 139.0 [5.47]
SM280 WITH BRAKE (-VT1) 149.0 [5.87]
SM280 NO BRAKE (-VT2) 177.1 [6.97]
SM280 WITH BRAKE (-VT2) 187.1 [7.37]
SM465 NO BRAKE (-VT1) 215.0 [8.46]
SM465 WITH BRAKE (-VT1) 225.0 [8.86]
SM465 NO BRAKE (-VT2) 215.0 [8.46]
SM465 WITH BRAKE (-VT2) 225.0 [8.86]
Figure 1-4: SM280 and SM465 Model Dimensions (NEMA 34)
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SM Hardware Manual Overview
1.4. Motor Installation
Motors are installed by bolting the motor flange to a mounting surface using four holes on the motor flange.
The load is connected to the motor shaft using keyways and/or flats. Refer to Section 1.3. Motor
Dimensions for the size and location of the mounting holes.
1.4.1. Connector Pin Assignment
The pin assignment for the motor power connector is displayed in Table 1-7. The optional -E1/-E2 encoder
connector is shown in Table 1-9.
W A R N I N G : Do not allow motor connection cables to contact the motor frame while the
motor is in operation.
Table 1-7: Motor Power Connector Pinout
Pin Description Connector
A1 Motor Phase A
A4A3A2A1 21
54
3
A2 Motor Phase B
A3 Motor Phase A Return
1 Brake - (with the -BKOption)
2 Brake + (with the -BKOption)
3 Reserved
4 Frame ground (motor protective ground)
5 Frame ground (motor protective ground)
A4 Motor Phase B Return
Table 1-8: Mating Connector Part Numbers for the Motor Power Connector
Mating Connector Aerotech P/N Third Party P/N
Backshell ECK00656 Amphenol #17E-1726-2
Sockets [QTY. 4] ECK00659 ITT Cannon #DM53744-6
Connector ECK00657 ITT Cannon #DBM9W4SA197
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Overview SM Hardware Manual
Table 1-9: -E1 and -E2 Encoder Option Connector Pinout
Pin Description Connector
1 Signal shield connection
13
25
1
14
2 Reserved
3 Encoder +5 V
4 Reserved
5 Reserved
6 Marker-N
7 Marker
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Cosine
15 Cosine-N
16 Limit +5 V
17 Sine
18 Sine-N
19 Reserved
20 Limit Common
21 Encoder Common
22 Reserved
23 Reserved
24 Reserved
25 Reserved
Table 1-10: Mating Connector Part Numbers for the Encoder Option Connector
Mating Connector Aerotech P/N Third Party P/N
Backshell ECK00656 Amphenol #17E-1726-2
Connector ECK00300 FCI DB25S064TLF
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