VACGEN 17HS-006 Mk 3 Manual

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Operating and Maintenance Handbook
Wiring Information for Stepper Motors and SIMSTEP Controller
Revision History
Revision
Date
Comment
Initials
1
June 2019
Original Release
DRM
Copyright Notice: 2019 by VACGEN Ltd. All rights reserved. Information contained in this handbook is subject to change without notice
and does not represent a commitment on the part of VACGEN Ltd. No part of this document may be copied, distributed, transmitted,
transcribed, stored in a retrieval system or translated into any human or computer language, in any form or by any means, electronic,
mechanical, magnetic, optical, manual or otherwise or disclosed to third parties without the express written of VACGEN Ltd, Diamond
Drive, Hailsham, East Sussex, BN27 4EL, UK
1. INTRODUCTION
1.1 HEALTH AND SAFETY INFORMATION
This equipment is a component for use with vacuum systems. Whilst every effort has been made to eliminate hazards, its safe use
is also dependant on the system to which it will be connected.
The owner of the equipment must ensure that all users are aware of the Health and Safety information contained in this
handbook. If the equipment is sold or passed to another owner, this handbook must be included with the equipment. If in
doubt contact VACGEN.
Warning: This equipment must be repaired/installed by qualified personnel.
Warning: It is the responsibility of the user to consider the safety requirements of hazardous materials used with this
equipment and the consequence of any leakage, however caused. Consider possible reactions with materials of construction.
Any equipment returned to VACGEN must have the correct Declaration of Contamination securely fastened to the outside of
the packaging.
Warning: Harmful gases may be evolved if this equipment is heated to temperatures above the maximum specified
bakeout temperature.
Warning: Lubricants used in this assembly may cause irritation to sensitive skin. Wear protective clothing.
Warning: Where cryogenic liquids are used with the equipment, it is the responsibility of the user to ensure that the correct
safety precautions are taken when handling and storing these materials.
Warning: Safe disposal of the equipment is the responsibility of the user.
Warning: It is the responsibility of the user to fit emergency stops to automated equipment.
Warning: Keep clear of moving parts.
Warning: Do not use this equipment with positive internal pressure above the specified maximum.

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Warning: Some equipment may develop extreme hot or cold surfaces. Wear protective clothing.
Warning: Equipment must be fully earthed to prevent dangerous electrostatic charge build-up.
WARRANTY
Subject to fair wear and tear and the due observance of any installation, user, storage, operating or maintenance instructions
the Seller undertakes to replace or at its option repair free of charge to the Purchaser any goods which the Purchaser can
establish are defective by reason of defective workmanship or materials and which are returned to the Seller carriage paid
within 12 months of the date of dispatch by the Seller. In the event, however, that the Seller supplies spare parts either direct
or are fitted or installed or replaced by the Seller’s Service Centre such spare parts will be subject to warranty period of six
months only.
1. The Purchaser cannot return any product for warranty repair without the prior approval of VACGEN and the issue of
a Goods Return Number (GRN). This shall be obtained by contacting the service centre at VACGEN. All returned
products must be accompanied by a completed Declaration of Contamination form (see note 2 below). Overseas
customers must in the first instance contact the local selling agent.
2. We reserve the right to decline to service equipment we consider is in any way hazardous until a clearance or safety
certificate, in a form satisfactory to VACGEN, has been completed and returned by the customer.
SERVICING AND REPAIR
The following additional terms and conditions apply in the event that the customer elects to use the services of VACGEN
workshop on a chargeable basis.
1 At own cost the customer shall dispatch the equipment to the workshop, carriage paid, suitably packed, protected and
insured, bearing a Goods Return Number (GRN) and a completed Health & Safety Certificate (see note 2 below) obtained from
VACGEN in advance of shipment.
2 During the period the equipment is on VACGEN premises, VACGEN will ensure the equipment against all risks.
3 VACGEN will provide an acknowledgement of the receipt together with an estimate of the repair charges. Such estimates
are carried out on a visual basis and are therefore intended as a guide only. Formal fixed price repair quotations are available
and involve the disassembly of the equipment to determine the full extent of work necessary to restore the equipment to an
acceptable standard. In the event that the customer chooses not to proceed with the repair, VACGEN will make a charge to
cover this examination effort.
NOTE 1: The above are extracts from VACGEN Conditions of Sale. Complete copies can be obtained from: VACGEN Ltd, Diamond
Drive, Hailsham, East Sussex, BN27 4EL, UK
NOTE 2: This product is exempt from requiring a Declaration of Contamination form, but the user is nevertheless responsible
for ensuring that the product is safe for transportation and handling.
Service Department Direct Lines: Tel: [phone]

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2. Introduction
This manual will cover all the Stepper Motor range as sold by VACGEN
More detail information for the SIMSTEP can be found at: < https://vacgen.com/operating-instructions >
Basic SIMSTEP software, McTerminal can be found at: < https://vacgen.com/operating-instructions >
3. Motors
This chart is a guide for the motor type for the component it is mounted on.
Component
Motor Part Code
Description
Motor/Encoder
Part Code
Description
ZLVM
XMOT05A
MOTOR STEPPER 23HSX-
102E
Not Used
ZRD91
XMOT05W
STEP/MOT 23HS-108E
XMOT38AW
STEP/MOT 23HS-108E +
CI500I
ZRD6, 7
XMOT33W
STEP/MOT 23HS-309E
XMOT35AW
STEP/MOT 23HS-309E +
CI500I
ZRD1, 2 Primary
XMOT05W
STEP/MOT 23HS-108E
XMOT38AW
STEP/MOT 23HS-108E +
CI500I
ZRD2 Secondary
XMOT05W
STEP/MOT 23HS-108E
XMOT38AW
STEP/MOT 23HS-108E +
CI500I
DPRF25
XMOT05W
STEP/MOT 23HS-108E
XMOT38AW
STEP/MOT 23HS-108E +
CI500I
DPRF55
XMOT33W
STEP/MOT 23HS-309E
XMOT35AW
STEP/MOT 23HS-309E +
CI500I
ZLTM
XMOT12W
STEP/MOT 23HS-108E 10:1
S60
XMOT41AW
STEP/MOT 23HS-108E 10:1
S60 + CI500I
ZLTM Wide Bore
XMOT33W
STEP/MOT 23HS-309E
XMOT35AW
STEP/MOT 23HS-309E +
CI500I
ZRP100
XMOT33W
STEP/MOT 23HS-309E
XMOT35AW
STEP/MOT 23HS-309E +
CI500I
ZLDS
XMOT05W
STEPPER MOTOR 23HS-
108E
XMOT38AW
STEP/MOT 23HS-108E +
CI500I
ZTR (Z Only)
XMOT02AW
STEP/MOT 23HS-409E
XMOT44AW
STEP/MOT 23HS-409E +
CI500I
HPT-RX/WX - X,Y & Z
XMOT05W
STEP/MOT 23HS-108E
XMOT38AW
STEP/MOT 23HS-108E +
CI500I
Transax - Z
XMOT02AW
STEP/MOT 23HS-409E
XMOT44AW
STEP/MOT 23HS-409E +
CI500I
Transax - X&Y
XMOT33W
STEP/MOT 23HS-309E
XMOT35AW
STEP/MOT 23HS-309E +
CI500I
Omniax - Z
XMOT31W
STEP/MOT 34HS-209
XMOT37W
STEP/MOT 34HS-209 + CI500I
Omniax - Z Later Version
XMOT94W
STEP/ MOT 23HSX-306E
XMOT95AW
STEP/MOT 23HSX 306 +
CI500l
Omniax - X&Y
XMOT33W
STEP/MOT 23HS-309E
XMOT35AW
STEP/MOT 23HS-309E +
CI500I
Centiax - Z
XMOT56AW
STEP/MOT 34HSX312
Not Used
Centiax - X&Y
XMOT33W
STEP/MOT 23HS-309E
WIRED
XMOT35AW
STEP/MOT 23HS-309E WIRED
+ CI500I*
*Encoders are CI500l 500-line count encoders

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17 & 23 frame size hybrid stepper motors HS series
The hybrid stepper motors in the range conform to the international
NEMA standard and provide 200 steps /rev when used with full step drives
or 400 steps per revolution in the preferred half step drive mode. The
internal construction has also been optimised for microstepping resulting
in improved smoothness of operation. Where increased torque and
resolution is required at reduced speed a range of gearheads are available.
The motors are suitable for use with either Uni-polar or Bi-polar drive
circuits, the 23HS series having 8 leads to provide the choice of parallel or
series connection. Despite the high quality of the latest generation HS
series, the units remain competitively priced. The 23HS series offer a
choice of single or double shaft when encoders or parking brakes are
required and a wide range of drive and control modules are available to
construct complete high performance systems.
Dimensions mm
17HS: Style A Style B Style C
23HS Series
Specification: 17HS & 23HS series 1.8 degree stepper motors
motor type
length ‘L’
mm
Style
holding
torque
Ncm
rotor
inertia
Kgcm2
resistance
per phase
ohms
current per
phase
amps
inductance
per phase
mH
number
of leads
mass
Kg
17HS-006 Mk 3
34
A
11.2
0.018
36
0.26
17
6
0.2
17HS-008
34
B
1.2
0.018
15.6
0.4
11.9
6
0.2
17HS020E
34
A
9.0
0.019
2
1.0
1.1
6
0.2
17HS020E Mk 2
34
C
14
0.018
5.6
1.0
8.5
4
0.2
23HS-030
38.7
25
0.077
1.6
1.5
1.6
6
0.36
23HS-104** Mk 2
52
52
0.124
1.1
2.0
1.7
8
0.5
23HS-104 E
50.8
38
0.115
1.1
2.0
2.0
8
0.5
23HS-108 **Mk 2
52
52
0.124
0.37
3.9
0.59
8
0.5
23HS-108 E
50.8
38
0.115
0.37
3.9
0.59
8
0.5
23HS-202 E
56
50
0.135
5.0
1.0
9.5
8
0.55
23HS-304 **Mk 2
67
89
0.200
1.8
2.0
3.3
8
0.7
23HS-309 **Mk 2
67
87
0.200
0.33
4.7
0.50
8
0.7
23HS-309 **
76.2
95
0.239
0.37
4.7
0.73
8
0.95
Note ** Rear shaft may be specified by adding ‘E’ to part number EXAMPLE: 23HS-304E Mk 2
‘L’ 20
2

22
‘L’
2
24

22
 5
2 studs
M3 x 5.5 long
11 ‘L’
2
Optional Rear shaft
( add ‘E’ to Pt.No.)
20

22
 5
2 studs
M3 x 5.5 long
42 11
31 Optional Rear shaft
( add ‘E’ to Pt.No.)
 5
4 x M3 x 4.5
deep
42
31
42
31

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34 frame size hybrid stepper motors 34HS series
The 34HS series hybrid stepper motors in the range conform to
the international NEMA standard and provide 200 steps /rev
when used with full step drives or 400 steps per revolution in
the preferred half step drive mode. Where increased torque and
resolution at reduced speed is required a comprehensive range
of planetary gearheads may be specified. The internal
construction has also been optimised for microstepping
resulting in improved smoothness of operation. Suitable for use
with either Uni-polar or Bi-polar drive circuits, the motors
incorporate design features such as loop-less termination of the
motor windings to internal circuit boards for increased
reliability. Despite the high quality of the latest generation 34HS
series, the units remain competitively priced and offer a choice
of single or double shaft when encoders or parking brakes are
required.
A comprehensive range of drive and control modules are available for use with HS series motors. These conform to the
International Eurocard standard and may be purchased in modular form or as a complete racked system depending on
customer choice.
Dimensions mm
Specifications: 34HS 1.8 degree stepper motors
motor type
length ‘L’
mm
holding
torque
Ncm
rotor
inertia
Kgcm2
resistance
per phase
ohms
current per
phase
amps
inductance
per phase
mH
number
of leads
mass
Kg
34HS-106
**
62.3
120
0.63
0.95
3.1
3.2
8
1.5
34HS-109
**
62.3
120
0.63
0.45
4.7
1.3
8
1.5
34HS-209
**
94.25
220
1.33
0.55
4.6
2.5
8
2.58
Note ** Rear shaft may be specified by adding ‘E’ to part number EXAMPLE: 34HS-209E
+ 0
34 HS
Series

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Typical HS series stepper motor performance
Uni-polar drive with 24 Vdc supply Bi-polar drive with coils in parallel
Bi-polar drive with coils in parallel Bi-polar drive with coils in parallel
Bi-polar drive with coils in parallel
For increased torque at low speed the motors may be connected with their coils in series
0 4000 8000 12000 16000
half steps per sec. ( 0.9 degrees )
34HS-106
34HS-109
90
80
70
60
50
40
30
Single stack34HSseries
halfstepsper sec.( 0.9degrees)
12000
9000
6000
3000
23HS-304
23HS-309
60
50
40
30
20
10
halfstepspersec.( 0.9 degrees)
2000 4000 6000 8000 10000
0
0
35V-3.5 A/phase
50
50V-4.0A/phase
100
70V-5.5A/phase
200
Doublestack34HS-209
3000 6000 9000 12000
23HS-104
23HS-102X
23HS-108
40
35
30
25
20
15
10
Singlestack23HSseries
Torque ( Ncm )
Torque ( Ncm )
Torque ( Ncm )
Torque ( Ncm )
Torque ( Ncm)

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Hybrid stepper motors with integral encoders HS series
The 23HS & 34HS stepper motors are available fitted with dual
track encoders to provide feedback of motor position. Motors
thus equipped are therefore ideally suited for use with motion
systems employing closed loop controllers such as PM341 &
PM600.
Two encoders types CI & RI series are available, which may be
specified with the 23HS motors & 34HS types as shown below.
Since the controllers monitor each signal transition on each of
the encoder’s A & B tracks, a line count of 100 ppr provides a
measuring resolution of 400 steps/rev while a 500 ppr encoder is
used with 2000 step per rev. microstepping drives.
Where customers require an encoder for use with control systems not supplied by Mclennan and which require
alternative line-counts, the model ‘RI’ encoder is available with any line count required up to a maximum value of 2,000
ppr. resulting in a measuring resolution of 8,000 steps/rev.
Encoder signals:
The CI...T encoder provides a 5V TTL output signal and is suitable for instrumentation applications where the encoder is
to be sited no further than 5 meters from the measuring electronics.
The CI...L & RI ...L encoders are equipped with a 5V line driver output suitable for industrial installations where the
motor- encoder may be up to 50 meters away from the measuring electronics providing the encoder lead is correctly
screened.
Stepper motor fitted with CI encoder RI…L encoder
Dual track
output
pulses/rev
index
motor
steps/rev
motor type
Encoder type
A B
100
-
400
23HS...
CI 100T
A B
500
-
2000
23HS...
CI..500T
A A B B
500
CC
2000
23HS...
CI 500L
A A B B
100
CC
400
34HS.
RI 100L
A A B B
500
CC
2000
34HS...
RI 500L

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6. Wiring Motor and Microswitches

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7. Wiring Encoder
Latest 500-line count

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Old Style Encoders
8. Wiring leads

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Old Style Lemo Plug Wiring Diagram

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Additional information for HSX Motors
High performance size 23 hybrid stepper motors HSX series
The high performance 23HSX series hybrid stepper motors
conform to the international NEMA standard and provide 200
steps/rev when used with full step drives or 400 steps per
revolution in the preferred half step drive mode.
Features:
• High energy Neodymium magnets for increased performance
• 50% more torque than conventional hybrid types
• Choice of single or double shaft options
• Optional encoder or parking brake.
• High quality & Economical prices
• Available with a choice of precision planetary gearheads for
increased torque and resolution at reducedspeed.
• 8 leads provide the choice of Uni-polar or Bi-polaroperation
• Non-standard customised executions available to special order
• Wide range of matched drives and control modules enable
complete systems to be economically constructed based on
'in-service proven'technology.
Mechanical Specifications: 1.8 degree high performance stepper motors
Electrical Specification:
motor type
Resistance
per phase
ohms
Current
per phase
Amps
Inductance
per phase
mH
23HSX-102
23HSX-202
23HSX-206
23HSX-306
4.6
6.2
0.7
1.1
1.0
1.0
3.0
3.0
4.6
8.8
0.9
1.7
Uni-polar operation Bi-polar operation
Note ** Read shaft may be specified by adding ‘E’ to part number EXAMPLE: 23HSX-206E
motor type
length
'L'
mm
Shaft
diameter
'Ds'
Mm
number
of leads
mass
Ko
Uni-polar
Holding
Torque
Nern
Bi-polar
Holding
Torque
Nern
Rotor
Inertia
Ko cm2
23HSX-102
41
6.35
8
0.5
37
47
0.077
23HSX-202
23HSX-206
55
6.35
8
0.7
75
98
0.22
23HSX-306
78.5
8.0
8
1.0
125
163
0.34
Current / phase
Series connection
Amps
Current / phase
Parallel connection
mH
0.7
0.7
2.1
2.1
1.4 max
1.4 max
4.2 max
4.2 max

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23HSX stepper motor lead colours:
Motor Types
lead or terminal identification
Lead identity
1
1' 2'
2
3
3' 4'
4
23HSX102
23HSX 202
23HSX 206
23HSX 306
Red
Red/ Yellow/
White White
Yellow
Orange
Orange/ Brown/
White White
Brown
Typical Performance