2-phase stepping motors

2-phase stepping motors

With the stepping motors from Berger Lahr, positioning and claw-pole stepping motors. These stepping motors are
problems can be solved in a precise, simple and cost-effec- being used in their millions around the world and have
tive manner. Berger Lahr provides hybrid stepping motors proved their worth.
On request we will be happy to tell you of more motor/
gearbox options besides those presented here.

Overview of 2-phase stepping motors

Step angle [°] Max. torque Max. torque Described on...

bipolar [Ncm] unipolar [Ncm]
RDM 36/6 15 1.24 0.75 Page 53
RDM 36/8 11.25 1.27 0.7 Page 55
RDM 36/10 9 1.18 0.73 Page 57
RDM 36/12 7.5 1.18 0.6 Page 59
RDM 42/12 7.5 4.1 3.1 Page 61
RDM 51/6 15 5.5 3.1 Page 63
RDM 51/8 11.25 6.8 4.1 Page 65
RDM 51/12 7.5 6.9 4.9 Page 67
RDM 63/10 9 22.5 12.5 Page 69
RDM 63/12 7.5 25.5 15 Page 71

Berger Lahr Mechatronic Basic Products 8/2004 51

2-phase stepping motors

Type code for 2-phase stepping motors

Example RDM 36/10 G A2 62 mA - L 25:1

Product family RDM 36/10 G A2 62mA - L 25:1

RDM= Reversible Digital Motor (2-Phase)

Motor size (diameter) RDM 36/10 G A2 62mA - L 25:1

Example
36 = 36 mm diameter
42 = 42 mm diameter
51 = 51 mm diameter
63 = 63 mm diameter

Number of pole pairs RDM 36/10 G A2 62mA - L 25:1

6= number of polepairs p = 6
8= number of polepairs p = 8
10 = number of polepairs p = 10
12= number of polepairs p = 12

Bearings RDM 36/10 G A2 62mA - L 25:1

G = Plain bearing

Switching / winding RDM 36/10 G A2 62mA - L 25:1

A1 = bipolar
A2 = unipolar

Max. current per winding RDM 36/10 G A2 62mA - L 25:1

Example:
62mA = 0.62 A

Gearbox type RDM 36/10 G A2 62mA - L 25:1

Gearbox type L
Gearbox type T
Gearbox type G
Gearbox type P

Gearbox reduction RDM 36/10 G A2 62mA - L 25:1

Example
25 :1

General technical information

Bearing designs Switching characteristics of the bipolar
The claw-pole stepping motors, RDM 36/x, 42/x, 51/x and design
63/x are fitted with plain bearings. The distinctive characteristic of a bipolar arrangement is
that each motor phase consists of one winding (coil). This
Temperatures means that the whole volume of copper on the coil con-
The permissible ambient temperature for the synchronous tributes to the formation of torque.
motors lies in the range from - 20GC to + 60GC.
Switching characteristics of the unipolar
In locations with poor heat dissipation, e.g. in closed
design
plastic housings, a check should be made to see if the per-
In a unipolar arrangement, each motor phase (coil) con-
missible winding temperature is being exceeded.
sists of two winding halves. In operation only one winding
Type of connection ever carries current at one time. The switching power re-
quired in the amplifier is 50% less than for the bipolar ar-
Claw-pole stepping motors are available with flying leeds.
rangement. This means that motor controls can be
The flying leads are hard-wired, bared, tin-plated and 200
realised more cost effectively.
mm in length.

52 Berger Lahr Mechatronic Basic Products 8/2004

Technical data 2-phase stepping motors
RDM 36/6

flying leads AWG26: 7x0,16 Bipolar: 4 flying leads

tin-plated Unipolar: 6 flying leads

8±2
UL-Style 1007

200±15
13
17

ø 3.2±0.1
Fq
= =
ø 8 h8
ø 2 g6

Fa

ø 36
R3
.3
R0

axial travel of spring

at Fa > 1N:
0.2 to 0.8 2 42±0.1
0,8
8±0,5 20 3.5 max.

Scale drawing RDM 36/6

Technical data

Control diagram
Bipolar Unipolar
Steps / revolution 24 24
Step angle 15 q 15 q
Step angle tolerance r 4% r 4%
Max. torque 1.24 Ncm 0.75 Ncm
Holding torque (excited) 1.9 Ncm 1.4 Ncm
Rotor moment of inertia 2 gcm 2 2 gcm 2
Max. current per winding 0.23 A 0.115 A
Resistance per winding 26 : 105 :
Permitted shaft load Axial stress F a = 1 N, radial stress F q = 3 N
Weight approx. 0.075 kg 0.075 kg
Protection grade IP 41 IP 41
Insulation class E to VDE 0530 E to VDE 0530
Insulation class Momentary test: test voltage to VDE 0530

Gearbox combinations
You will find gearbox combinations from page 127.

Berger Lahr Mechatronic Basic Products 8/2004 53

2-phase stepping motors Technical data
RDM 36/6

A B

clockwise sense of rotation

BIPOLAR UNIPOLAR
A B A B

BU RD YE WH BU BR RD YE BK WH
switching frequency switching frequency

BU BU
BR
current flow RD current flow RD
in coils YE in coils YE
BK
WH WH

Connections RDM 36/6

torque [Ncm]

2,0 Trigger circuit:

bipolar (30% ED; 1,5 IN)

1,6
bipolar (Continuous current: max. current
per winding UCH= 40VDC)
1,2
unipolar (Constant voltage
U = 12VDC )

0,8

0,4

0,0 step frequency [Hz]

10 100 1000

Characteristic curve RDM 36/6

54 Berger Lahr Mechatronic Basic Products 8/2004

Technical Data 2-phase stepping motors
RDM 36/8

flying leads AWG26: 7x0,16 Bipolar: 4 flying leads

tin-plated Unipolar: 6 flying leads

8±2
UL-Style 1007

200±15
13
17

ø 3.2±0.1
Fq
= =
ø 8 h8
ø 2 g6

Fa

ø 36
R3
.3
R0

axial travel of spring

at Fa > 1N:
0.2 to 0.8 2 42±0.1
0,8
8±0,5 20 3.5 max.

Scale drawing RDM 36/8

Technical Data

Control diagram
Bipolar Unipolar
Steps / revolution 32 32
Step angle 11.25 q 11.25 q
Step angle tolerance r 4% r 4%
Max. torque 1.27 Ncm 0.7 Ncm
Holding torque (excited) 1.6 Ncm 1.1 Ncm
Rotor moment of inertia 2 gcm 2 2 gcm 2
Max. current per winding 0.23 A 0.115 A
Resistance per winding 26 : 105 :
Permitted shaft load Axial stress F a = 1 N, radial stress q = 3 N
Weight approx. 0.075 kg 0.075 kg
Protection grade IP 41 IP 41
Insulation class E to DIN EN 60034-1 E
Insulation class Dielectric strength

Gearbox combinations
You will find gearbox combinations from page 127.

Berger Lahr Mechatronic Basic Products 8/2004 55

2-phase stepping motors Technical Data
RDM 36/8

A B

clockwise sense of rotation

BIPOLAR UNIPOLAR
A B A B

BU RD YE WH BU BR RD YE BK WH
switching frequency switching frequency

BU BU
BR
current flow RD current flow RD
in coils YE in coils YE
BK
WH WH

Connections RDM 36/8

torque [Ncm]
2,0 Trigger circuit:

bipolar (30% ED; 1,5 IN)

1,6
bipolar (Continuous current: max. current
per winding UCH= 40VDC)
1,2 unipolar (Constant voltage
U = 12VDC )

0,8

0,4

0,0 step frequency [Hz]

10 100 500 1000 2000

Characteristic curve RDM 36/8

56 Berger Lahr Mechatronic Basic Products 8/2004

Technical Data 2-phase stepping motors
RDM 36/10

flying leads AWG26: 7x0,16 Bipolar: 4 flying leads

tin-plated Unipolar: 6 flying leads

8±2
UL-Style 1007

200±15
13
17

ø 3.2±0.1
Fq
= =
ø 8 h8
ø 2 g6

Fa

ø 36
R3
.3
R0

axial travel of spring

at Fa > 1N:
0.2 to 0.8 2 42±0.1
0,8
8±0,5 20 3.5 max.

Scale drawing RDM 36/10

Technical Data

Control diagram
Bipolar Unipolar
Steps / revolution 40 40
Step angle 9q 9q
Step angle tolerance r 5% r 6%
Max. torque 1.18 Ncm 0.73 Ncm
Holding torque (excited) 1.6 Ncm 1.0 Ncm
Rotor moment of inertia 2 gcm 2 2 gcm 2
Max. current per winding 0.23 A 0.115 A
Resistance per winding 26 : 105 :
Permitted shaft load Axial stress F a = 1 N, radial stress F q = 3 N
Weight approx. 0.075 kg 0.075 kg
Protection grade IP 41 to DIN EN 60529 IP 41
Insulation class E to DIN EN 60034-1 E
Dielectric strength Momentary test: test voltage to DIN EN 60034-1

Gearbox combinations
You will find gearbox combinations from page 127.

Berger Lahr Mechatronic Basic Products 8/2004 57

2-phase stepping motors Technical Data
RDM 36/10

A B

clockwise sense of rotation

BIPOLAR UNIPOLAR
A B A B

BU RD YE WH BU BR RD YE BK WH
switching frequency switching frequency

BU BU
BR
current flow RD current flow RD
in coils YE in coils YE
BK
WH WH

Connections RDM 36/10

torque [Ncm]

Trigger circuit:
1,6 bipolar (30% ED; 1,5 IN)

bipolar (Continuous current: max. current

per winding UCH= 40VDC)
1,2
unipolar (Constant voltage
U = 12VDC )
0,8

0,4

0,0 step frequency [Hz]

10 100 500 1000 2000

Characteristic curve RDM 36/10

58 Berger Lahr Mechatronic Basic Products 8/2004

Technical Data 2-phase stepping motors
RDM 36/12

flying leads AWG26: 7x0,16 Bipolar: 4 flying leads

tin-plated Unipolar: 6 flying leads

8±2
UL-Style 1007

200±15
13
17

ø 3.2±0.1
Fq
= =
ø 8 h8
ø 2 g6

Fa

ø 36
R3
.3
R0

axial travel of spring

at Fa > 1N:
0.2 to 0.8 2 42±0.1
0,8
8±0,5 20 3.5 max.

Scale drawing RDM 36/12

Technical Data

Control diagram
Bipolar Unipolar
Steps / revolution 48 48
Step angle 7.5 q 7.5 q
Step angle tolerance r 5% r 6%
Max. torque 1.18 Ncm 0.6 Ncm
Holding torque (excited) 1.6 Ncm 0.9 Ncm
Rotor moment of inertia 2 gcm 2 2 gcm 2
Max. current per winding 0.23 A 0.115 A
Resistance per winding 26 : 105 :
Permitted shaft load Axial stress F a = 1 N, radial stress F q = 3 N
Weight approx. 0.075 kg 0.075 kg
Protection grade IP 41 to DIN EN 60529 IP 41
Insulation class E to DIN EN 60034-1 E
Dielectric strength Momentary test: test voltage to DIN EN 60034-1

Gearbox combinations
You will find gearbox combinations from page 127.

Berger Lahr Mechatronic Basic Products 8/2004 59

2-phase stepping motors Technical Data
RDM 36/12

A B

clockwise sense of rotation

BIPOLAR UNIPOLAR
A B A B

BU RD YE WH BU BR RD YE BK WH
switching frequency switching frequency

BU BU
BR
current flow RD current flow RD
in coils YE in coils YE
BK
WH WH

Connections RDM 36/12

torque [Ncm]

Trigger circuit:
1,6
bipolar (30% ED; 1,5 IN)

bipolar (Continuous current: max. current

1,2 per winding UCH= 40VDC)

unipolar (Constant voltage

U = 12VDC )
0,8

0,4

0,0 step frequency [Hz]

10 100 500 1000 2000

Characteristic curve RDM 36/12

60 Berger Lahr Mechatronic Basic Products 8/2004

Technical Data 2-phase stepping motors
RDM 42/12

flying leads AWG 26: 7x0,16 Bipolar: 4 flying leads

tin-plated Unipolar: 6 flying leads

8±2
UL-Style 1007

200±15
19 14

2
Fq

ø 3.4±0.1
= =
ø 10 h8
ø 3 h6

R4

ø 42
Fa
.3
R0

axial travel of spring

at Fa > 1.5 N:
0.2 to 0.8
1 49,5±0,1
2
12±0.5 23 1.5 max.

Scale drawing RDM 42/12

Technical Data

Control diagram
Bipolar Unipolar
Steps / revolution 48 48
Step angle 7.5 q 7.5 q
Step angle tolerance r4% r5%
Max. torque 4.1 Ncm 3.1 Ncm
Holding torque (excited) 5.3 Ncm 3.9 Ncm
Rotor moment of inertia 7.2 gcm 2 7.2 gcm 2
Max. current per winding 0.335 A 0.165 A
Resistance per winding 18 : 72 :
Permitted shaft load Axial stress F a = 1.5 N, radial stress F q = 5 N
Weight approx. 0.143 kg 0.143 kg
Protection grade IP 41 to DIN EN 60529 IP 41
Insulation class E to DIN EN 60034-1 E
Dielectric strength Momentary test: test voltage to DIN EN 60034-1

Gearbox combinations
You will find gearbox combinations from page 127.

Berger Lahr Mechatronic Basic Products 8/2004 61

2-phase stepping motors Technical Data
RDM 42/12

A B

clockwise sense of rotation

BIPOLAR UNIPOLAR
A B A B

BU RD YE WH BU BR RD YE BK WH
switching frequency switching frequency

BU BU
BR
current flow RD current flow RD
in coils YE in coils YE
BK
WH WH

Connections RDM 42/12

torque [Ncm]
6
Trigger circuit:

5 bipolar (30% ED; 1,5 IN)

bipolar (Continuous current: max. current

4 per winding UCH= 40VDC)

unipolar (Constant voltage

3 U = 12VDC )

0 step frequency [Hz]

10 100 500 1000

Characteristic curve RDM 42/12

62 Berger Lahr Mechatronic Basic Products 8/2004

Technical Data 2-phase stepping motors
RDM 51/6

flying leads AWG 26: 7x0,16 Bipolar: 4 flying leads

tin-plated Unipolar: 6 flying leads

8±2
UL-Style 1007

200±15
22 14

2
Fq

ø 3.4±0.1
= =
ø 3 h6
ø 11 h6

R4
Fa

ø 50
,5
R0

axial travel of spring

at Fa > 1.5 N:
0.2 to 0.8 1
60±0,1
2
12±0.5 26 3 max.

Scale drawing RDM 51/6

Technical Data

Control diagram
Bipolar Unipolar
Steps / revolution 24 24
Step angle 15 q 15 q
Step angle tolerance r 3% r 4%
Max. torque 5.5 Ncm 3.1 Ncm
Holding torque (excited) 7.2 Ncm 5 Ncm
Rotor moment of inertia 17 gcm 2 17 gcm 2
Max. current per winding 0.4 A 0.2 A
Resistance per winding 15 : 60 :
Permitted shaft load Axial stress F a = 2 N, radial stress F q = 5 N
Weight approx. 0.2 kg 0.2 kg
Protection grade IP 41 to DIN EN 60529 IP 41
Insulation class E to DIN EN 60034-1 E
Dielectric strength Momentary test: test voltage to DIN EN 60034-1

Gearbox combinations
You will find gearbox combinations from page 127.

Berger Lahr Mechatronic Basic Products 8/2004 63

2-phase stepping motors Technical Data
RDM 51/6

A B

clockwise sense of rotation

BIPOLAR UNIPOLAR
A B A B

BU RD YE WH BU BR RD YE BK WH
switching frequency switching frequency

BU BU
BR
current flow RD current flow RD
in coils YE in coils YE
BK
WH WH

Connections RDM 51/6

torque [Ncm]

10
Trigger circuit:

bipolar (30% ED; 1,5 IN)

8
bipolar (Continuous current: max. current
per winding UCH= 40VDC)
6
unipolar (Constant voltage
U = 12VDC )

0 step frequency [Hz]

10 100 500 1000 2000

Characteristic curve RDM 51/6

64 Berger Lahr Mechatronic Basic Products 8/2004

Technical Data 2-phase stepping motors
RDM 51/8

flying leads AWG 26: 7x0,16 Bipolar: 4 flying leads

tin-plated Unipolar: 6 flying leads

8±2
UL-Style 1007

200±15
22 14

2
Fq

ø 3.4±0.1
= =
ø 3 h6
ø 11 h6

R4
Fa

ø 50
,5
R0

axial travel of spring

at Fa > 1.5 N:
0.2 to 0.8 1
60±0,1
2
12±0.5 26 3 max.

Scale drawing RDM 51/8

Technical Data

Control diagram
Bipolar Unipolar
Steps / revolution 32 32
Step angle 11.25 q 11.25 q
Step angle tolerance r 3% r 4%
Max. torque 6.8 Ncm 4.1 Ncm
Holding torque (excited) 8.2 Ncm 5.7 Ncm
Rotor moment of inertia 17 gcm 2 17 gcm 2
Max. current per winding 0.4 A 0.2 A
Resistance per winding 15 : 60 :
Permitted shaft load Axial stress F a = 2 N, radial stress F q = 5 N
Weight approx. 0.2 kg 0.2 kg
Protection grade IP 41 to DIN EN 60529 IP 41
Insulation class E to DIN EN 60034-1 E
Dielectric strength Momentary test: test voltage to DIN EN 60034-1

Gearbox combinations
You will find gearbox combinations from page 127.

Berger Lahr Mechatronic Basic Products 8/2004 65

2-phase stepping motors Technical Data
RDM 51/8

A B

clockwise sense of rotation

BIPOLAR UNIPOLAR
A B A B

BU RD YE WH BU BR RD YE BK WH
switching frequency switching frequency

BU BU
BR
current flow RD current flow RD
in coils YE in coils YE
BK
WH WH

Connections RDM 51/8

torque [Ncm]
12
Trigger circuit:

10 bipolar (30% ED; 1,5 IN)

bipolar (Continuous current: max. current

8 per winding UCH= 40VDC)

unipolar (Constant voltage

6 U = 12VDC )

0 step frequency [Hz]

10 100 500 1000

Characteristic curve RDM 51/8

66 Berger Lahr Mechatronic Basic Products 8/2004

Technical Data 2-phase stepping motors
RDM 51/12

flying leads AWG 26: 7x0,16 Bipolar: 4 flying leads

tin-plated Unipolar: 6 flying leads

8±2
UL-Style 1007

200±15
22 14

2
Fq

ø 3.4±0.1
= =
ø 3 h6
ø 11 h6

R4
Fa

ø 50
,5
R0

axial travel of spring

at Fa > 1.5 N:
0.2 to 0.8 1
60±0,1
2
12±0.5 26 3 max.

Scale drawing RDM 51/12

Technical Data

Control diagram
Bipolar Unipolar
Steps / revolution 48 48
Step angle 7.5 q 7.5 q
Step angle tolerance r 3% r 4%
Max. torque 6.9 Ncm 4.9 Ncm
Holding torque (excited) 8.8 Ncm 6.2 Ncm
Rotor moment of inertia 17 gcm 2 17 gcm 2
Max. current per winding 0.4 A 0.2 A
Resistance per winding 15 : 60 :
Permitted shaft load Axial stress F a = 2 N, radial stress F q = 5 N
Weight approx. 0.2 kg 0.2 kg
Protection grade IP 41 to DIN EN 60529 IP 41
Insulation class E to DIN EN 60034-1 E
Dielectric strength Momentary test: test voltage to DIN EN 60034-1

Gearbox combinations
You will find gearbox combinations from page 127.

Berger Lahr Mechatronic Basic Products 8/2004 67

2-phase stepping motors Technical Data
RDM 51/12

A B

clockwise sense of rotation

BIPOLAR UNIPOLAR
A B A B

BU RD YE WH BU BR RD YE BK WH
switching frequency switching frequency

BU BU
BR
current flow RD current flow RD
in coils YE in coils YE
BK
WH WH

Connections RDM 51/12

torque [Ncm]
12
Trigger circuit:

10 bipolar (30% ED; 1,5 IN)

bipolar (Continuous current: max. current

8 per winding UCH= 40VDC)

unipolar (Constant voltage

6 U = 12VDC )

0 step frecuency [Hz]

10 100 500 1000

Characteristic curve RDM 51/12

68 Berger Lahr Mechatronic Basic Products 8/2004

Technical Data 2-phase stepping motors
RDM 63/10

flying leads AWG 26: 7x0,16 Bipolar: 4 flying leads

tin plated Unipolar: 6 flying leads

8±2
UL-Style 1007

200±15
7

R4
Fq

4. .1
5
ø 14 h6

0
ø 4 h6

Fa

ø 64
axial travel of spring
at Fa > 3N:
0,2 bis 0,8
3
42 4 max 64
±0.5
Scale drawing RDM 63/10

Technical Data

Control diagram
Bipolar Unipolar
Steps / revolution 40 40
Step angle 9q 9q
Step angle tolerance r 3% r 4%
Max. torque 22.5 Ncm 12.5 Ncm
Holding torque (excited) 29 Ncm 20 Ncm
Rotor moment of inertia 150 gcm 2 150 gcm 2
Max. current per winding 0.65 A 0.31 A
Resistance per winding 9.6 : 41 :
Permitted shaft load Axial stress F a = 3 N, radial stress F q = 10 N
Weight approx. 0.46 kg 0.46 kg
Protection grade IP 41 to DIN EN 60529 IP 41
Insulation class E to DIN EN 60034-1 E
Dielectric strength Momentary test: test voltage to DIN EN 60034-1

Gearbox combinations
You will find gearbox combinations from page 127.

Berger Lahr Mechatronic Basic Products 8/2004 69

2-phase stepping motors Technical Data
RDM 63/10

A B

clockwise sense of rotation

BIPOLAR UNIPOLAR
A B A B

BU RD YE WH BU BR RD YE BK WH
switching frequency switching frequency

BU BU
BR
current flow RD current flow RD
in coils YE in coils YE
BK
WH WH

Connections RDM 63/10

torque [Ncm]
35
Trigger circuit:

30 bipolar (30% ED; 1,5 IN)

bipolar (Continuous current: max. current

25
per winding UCH= 40VDC)

20 unipolar (Constant voltage

U = 12VDC )
15

10

0 step frecuency [Hz]

10 100 500 1000

Characteristic curve RDM 63/10

70 Berger Lahr Mechatronic Basic Products 8/2004

Technical Data 2-phase stepping motors
RDM 63/12

flying leads AWG 26: 7x0,16 Bipolar: 4 flying leads

tin plated Unipolar: 6 flying leads

8±2
UL-Style 1007

200±15
7

R4
Fq

4. .1
5
ø 14 h6

0
ø 4 h6

Fa

ø 64
axial travel of spring
at Fa > 3N:
0,2 bis 0,8
3
42 4 max 64
±0.5
Scale drawing RDM 63/12

Technical Data

Control diagram
Bipolar Unipolar
Steps / revolution 48 48
Step angle 7.5 q 7.5 q
Step angle tolerance r 3% r 4%
Max. torque 25.5 Ncm 15 Ncm
Holding torque (excited) 32 Ncm 22 Ncm
Rotor moment of inertia 150 gcm 2 150 gcm 2
Max. current per winding 0.65 A 0.31 A
Resistance per winding 9.6 : 41 :
Permitted shaft load Axial stress F a = 3 N, radial stress F q = 10 N
Weight approx. 0.47 kg 0.47 kg
Protection grade IP 41 to DIN EN 60529 IP 41
Insulation class E to DIN EN 60034-1 E
Dielectric strength Momentary test: test voltage to DIN EN 60034-1

Gearbox combinations
You will find gearbox combinations from page 127.

Berger Lahr Mechatronic Basic Products 8/2004 71

2-phase stepping motors Technical Data
RDM 63/12

A B

clockwise sense of rotation

BIPOLAR UNIPOLAR
A B A B

BU RD YE WH BU BR RD YE BK WH
switching frequency switching frequency

BU BU
BR
current flow RD current flow RD
in coils YE in coils YE
BK
WH WH

Connections RDM 63/12

torque [Ncm]

Trigger circuit:
35
bipolar (30% ED; 1,5 IN)
30
bipolar (Continuous current: max. current
25 per winding UCH= 40VDC)

unipolar (Constant voltage

20 U = 12VDC )

15

10

0 step frequency [Hz]

10 100 500 1000

Characteristic curve RDM 63/12

72 Berger Lahr Mechatronic Basic Products 8/2004