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Detailed Specifications For user manuals and dimensional drawings, visit the product page resources tab on ni.com.

Last Revised: 2012-07-25 22:29:08.0

Stepper Motors and Encoders

 

Overview

National Instruments offers a complete stepper motion control solution – including stepper motors, drives, controllers, and software – that is easy to set up, configure, and program. Stepper motors available from NI offer high torque, precision, and easy connectivity to stepper motor drives. Due to their ease of use, simplified control needs, and freedom from expensive feedback requirements, stepper motors are an excellent solution for applications such as machine control, manufacturing test, semiconductor positioning, biomedical machines, and lab automation.

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Application and Technology

Stepper Motors

  • NEMA 17, 23, and 34 frame sizes
  • Up to 1710 oz-in. (12.1 N · m) holding torque
  • 3000 rpm max speed
  • 1.8 deg step angle
  • Matched with P7000 drives for high performance

Encoders

  • 1000 counts/revolution resolution
  • NEMA 23 and 34 motor compatibility
  • Low profile 1 in. (25.4 mm) height design and easy mounting
  • Industrial construction

 

Hardware

Stepper motors provide very precise, extremely cost-effective motion control. The 2-phase motors inherently move in small, precise, 1.8 degree increments at 200 steps/revolution and are brushless and maintenancefree. Stepping action is simple to control and does not require complicated, expensive feedback devices. National Instruments also offers encoders matched to the motors for applications where position verification is required. Stepper motors are available from NI in three different National Electrical Manufacturers Association (NEMA) frame sizes and with either a single or a dual shaft. The motors provide optimum performance and easy connectivity when matched with the P7000 series stepper drives available from NI.


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Support and Services

System Assurance Programs

NI system assurance programs are designed to make it even easier for you to own an NI system. These programs include configuration and deployment services for your NI PXI, CompactRIO, or Compact FieldPoint system. The NI Basic System Assurance Program provides a simple integration test and ensures that your system is delivered completely assembled in one box. When you configure your system with the NI Standard System Assurance Program, you can select from available NI system driver sets and application development environments to create customized, reorderable software configurations. Your system arrives fully assembled and tested in one box with your software preinstalled. When you order your system with the standard program, you also receive system-specific documentation including a bill of materials, an integration test report, a recommended maintenance plan, and frequently asked question documents. Finally, the standard program reduces the total cost of owning an NI system by providing three years of warranty coverage and calibration service. Use the online product advisors at ni.com/advisor to find a system assurance program to meet your needs.



Calibration

NI measurement hardware is calibrated to ensure measurement accuracy and verify that the device meets its published specifications. To ensure the ongoing accuracy of your measurement hardware, NI offers basic or detailed recalibration service that provides ongoing ISO 9001 audit compliance and confidence in your measurements. To learn more about NI calibration services or to locate a qualified service center near you, contact your local sales office or visit ni.com/calibration.


Technical Support

Get answers to your technical questions using the following National Instruments resources.

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Repair

While you may never need your hardware repaired, NI understands that unexpected events may lead to necessary repairs. NI offers repair services performed by highly trained technicians who quickly return your device with the guarantee that it will perform to factory specifications. For more information, visit ni.com/repair.


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The NI training and certification program delivers the fastest, most certain route to increased proficiency and productivity using NI software and hardware. Training builds the skills to more efficiently develop robust, maintainable applications, while certification validates your knowledge and ability.

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Visit ni.com/training for more information.



Extended Warranty

NI offers options for extending the standard product warranty to meet the life-cycle requirements of your project. In addition, because NI understands that your requirements may change, the extended warranty is flexible in length and easily renewed. For more information, visit ni.com/warranty.


OEM

NI offers design-in consulting and product integration assistance if you need NI products for OEM applications. For information about special pricing and services for OEM customers, visit ni.com/oem.


Alliance

Our Professional Services Team is comprised of NI applications engineers, NI Consulting Services, and a worldwide National Instruments Alliance Partner program of more than 700 independent consultants and integrators. Services range from start-up assistance to turnkey system integration. Visit ni.com/alliance.


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Detailed Specifications

NEMA 17 Motor

Electrical

Step angle

  1.8 deg

Steps per revolution

  200

Angular accuracy

  ±3%

Phases

  2

Industry Standards

Industrial standards

  CE, UR

Sealing standards

  IP40

RoHS Compliance

  Yes
Physical

Operating temperature

  -20 to 40 °C

Shaft load (20,000 hours at 1,500 rpm)

Radial

  15 lb (6.8 kg) at shaft center

Axial push

  6 lb (2.7 kg)

Axial pull

  15 lb (6.8 kg)

Recommended heat sink size

  10 x 10 x 1/4 in. aluminum plate

 

NI Part Number Manufacturer Part Number Dual Shaft Drive Amps/Phase Holding
Torque
oz-in. (N . m)
Rotor Inertia
oz-in.-s2
(kg-m2 x 10-3)
Phase
Inductance
mH
Phase
Resistance

Ω ±10%
Detent Torque
oz-in. (N . m)
Thermal
Resistance
°C/watt
Max Speed rpm
780067-01 CTP10ELF10MAA00 no P70530 1.0 43 
(0.30)
0.0005 
(0.0040)
7.7 5.25 1.98 
(0.014)
6.21 3000
780068-01 CTP10ELF10MMA00 yes
780069-01 CTP11ELF11MAA00 no 1.1 63 
(0.44)
0.0008 
(0.0050)
11 5.19 2.55 
(0.018)
5.44
780070-01 CTP11ELF11MMA00 yes
780071-01 CTP12ELF10MAA00 no 1.0 80 
(0.56)
0.0011 
(0.0070)
12 6.51 2.97 
(0.021)
4.71
780072-01 CTP12ELF11MAA0 yes

 

Torque versus Speed

780067-01 and 780068-01
Torque versus Speed at 1.0 A

780069-01 and 780070-01
Torque versus Speed at 1.1 A

780071-01 and 780072-01
Torque versus Speed at 1.0 A

Dimensions and Wiring

 

NI Part Number Manufacturer Part Number Dual Shaft Max Length A
in. (mm)
Net Weight
lb (kg)
780067-01 CTP10ELF10MAA00 no 1.37
(34.7)
0.441
(0.200)
780068-01 CTP10ELF10MMA00 yes
780069-01 CTP11ELF11MAA00 no 1.61
(40.9)
0.573
(0.260)
780070-01 CTP11ELF11MMA00 yes
780071-01 CTP12ELF10MAA00 no 1.92
(48.8)
0.750
(0.340)
780072-01 CTP12ELF11MAA0 yes

 

NEMA 23 Motor

Electrical

Step angle

  1.8 deg

Steps per revolution

  200

Angular accuracy

  ±3%

Phases

  2

Industry Standards

Industrial standards

  CE, cUR, UR

RoHS Compliance

  Yes
Physical

Operating temperature

  -20 to 40 °C
Rated ambient temperature   40 °C

Shaft load (20,000 hours at 1,500 rpm)

Radial

  20 lb (9.1 kg) at shaft center

Axial push

  6 lb (2.7 kg)

Axial pull

  50 lb (22.7 kg)

Recommended heat sink size

  10 x 10 x 1/4 in. aluminum plate
Recommended encoder   780251-01

 

NI Part Number Manufacturer Part Number Dual Shaft Drive Amps/Phase Holding
Torque
oz-in. (N . m)
Rotor Inertia
oz-in.-s2
(kg-m2 x10-3)
Phase
Inductance
mH
Phase
Resistance

Ω ±10%
Detent
Torque
oz-in. (N . m)
Thermal
Resistance°C/watt
Max
Speed
rpm
780073-01 T21NRLC-LNN-NS-00 no P70360 0.40 180
(1.27)
0.0034
(0.0248)
209 42.9 2.97
(0.021)
4.64 3000
780074-01 T21NRLC-LDN-NS-00 yes
780075-01 T22NRLC-LNN-NS-00 no 0.46 280
(1.98)
0.0056
(0.0408)
209 41.4 5.95
(0.042)
3.69
780076-01 T22NRLC-LDN-NS-00 yes
780077-01 T23NRLC-LNN-NS-00 no 0.67 380
(2.68)
0.0084
(0.0612)
136 23.5 6.94
(0.049)
3.04
780078-01 T23NRLC-LDN-NS-00 yes
780079-01 T21NRLH-LNN-NS-00 no P70530 2.7 180
(1.27)
0.0034
(0.0248)
4.6 0.85 2.97
(0.021)
4.64
780080-01 T21NRLH-LDN-NS-00 yes
780081-01 T22NRLG-LNN-NS-00 no 2.5 280
(1.98)
0.0056
(0.0408)
7.1 1.23 5.95
(0.042)
3.69
780082-01 T22NRLG-LDN-NS-00 yes
780083-01 T23NRLH-LNN-NS-00 no 3.0 380
(2.68)
0.0034
(0.0248)
6.2 1.00 6.94
(0.049)
3.04
780084-01 T23NRLH-LDN-NS-00 yes
Torque versus Speed

780073-01 and 780074-01
Torque versus Speed at 0.36 A

780075-01 and 780076-01
Torque versus Speed at 0.40 A

780077-01 and 780078-01
Torque versus Speed at 0.52 A

780079-01 and 780080-01
Torque versus Speed at 2.7 A

780081-01 and 780082-01
Torque versus Speed at 2.5 A

780083-01 and 780084-01
Torque versus Speed at 3.0 A

Dimensions and Wiring

 

 

NI Part Number Manufacturer Part Number Dual Shaft Max Length A
in. (mm)
B Diameter
in. (mm)
Net Weight
lb (kg)
780073-01 T21NRLC-LNN-NS-00 no 2.21
(56.1)
0.2500 (6.350)
0.2495 (6.337)
1.6
(0.7)
780074-01 T21NRLC-LDN-NS-00 yes
780075-01 T22NRLC-LNN-NS-00 no 3.06
(77.7)
0.2500 (6.350)
0.2495 (6.337)
2.3
(1.0)
780076-01 T22NRLC-LDN-NS-00 yes
780077-01 T23NRLC-LNN-NS-00 no 4.06
(103.1)
0.313 (7.940) 3.2
(1.5)
780078-01 T23NRLC-LDN-NS-00 yes
780079-01 T21NRLH-LNN-NS-00 no 2.21
(56.1)
0.2500 (6.350)
0.2495 (6.337)
1.6
(0.7)
780080-01 T21NRLH-LDN-NS-00 yes
780081-01 T22NRLG-LNN-NS-00 no 3.06
(77.7)
0.2500 (6.350)
0.2495 (6.337)
2.3
(1.0)
780082-01 T22NRLG-LDN-NS00 yes
780083-01 T23NRLH-LNN-NS00 no 4.06
(103.1)
0.313 (7.940) 3.2
(1.5)
780084-01 T23NRLH-LDN-NS00 yes

 

NEMA 34 Motor

Electrical

Step angle

  1.8 deg

Steps per revolution

  200

Angular accuracy

  ±3%

Phases

  2

Industry Standards

Industrial standards

  CE, cUR, UR

RoHS Compliance

  Yes
Physical

Operating temperature

  -20 to 40 °C
Rated ambient temperature   40 °C

Shaft load (20,000 hours at 1,500 rpm)

Radial

N31, N32

  65 lb (29.5 kg)

N33

  110 lb (49.9 kg)

Axial

N31, N32, N33

  305 lb (138.3 kg)

Recommended heat sink size

  10 x 10 x 1/4 in. aluminum plate
Recommended encoder   780252-01

 

NI Part Number Manufacturer Part Number Dual Shaft Drive Amps/Phase Holding
Torque
oz-in. (N . m)
Rotor Inertia
oz-in.-s2
(kg-m2 x 10-3)
Phase
Inductance

mH
Phase
Resistance

Ω ±10%
Detent
Torque
oz-in. (N . m)
Thermal
Resistance
°C/watt
Max Speed rpm
780085-01 N31HRLG-LNK-NS-00 no P70360 0.86 641 (4.52) 0.0202 (0.1430) 138 16.2 18.0 (0.127) 2.65 2400
780086-01 N31HRLG-LEK-M2-00 yes
780087-01 N32HRLG-LNK-NS-0 no 0.95 1240 (8.76) 0.0380 (0.2680) 206 17.6 36.0 (0.254) 2.00 1800
780088-01 N32HRLG-LEK-M2-00 yes
780089-01 N33HRLG-LNK-NS-0 no 1.24 1710 (12.08) 0.0567 (0.4000) 144 13.0 54.0 (0.381) 1.61 1800
780090-01 N33HRLG-LEK-M2-00 yes
780091-01 N31HRHJ-LNK-NS-0 no P70530 5.5 645 (4.55) 0.0202 (0.1430) 3.5 0.42 18.0 (0.127) 2.65 3000
780092-01 N31HRHJ-LEK-M2-0 yes
780093-01 N32HRHJ-LNK-NS-0 no 5.1 1195 (8.43) 0.0380 (0.2700) 6.5 0.63 36.0 (0.254) 2.00 3000
780094-01 N32HRHJ-LEK-M2-0 yes
780095-01 N33HRHJ-LNK-NS-0 no 5.0 1710 (12.07) 0.0567 (0.4000) 9.0 0.83 54.0 (0.381) 1.61 3000
780096-01 N33HRHJ-LEK-M2-0 yes
Torque versus Speed

780085-01 and 780086-01
Torque versus Speed at 0.81 A

780087-01 and 780088-01
Torque versus Speed at 0.88 A

780089-01 and 780090-01
Torque versus Speed at 1.24 A

780091-01 and 780092-01
Torque versus Speed at 5 A

780093-01 and 780094-01
Torque versus Speed at 5 A

780095-01 and 780096-01
Torque versus Speed at 5 A

Dimensions and Wiring

 

NI Part Number Manufacturer Part Number Dual Shaft Max Length A in. (mm) B
max and min
in. (mm)
C
max and min
in. (mm)
D
max and min

in. (mm)
Net Weight
lb (kg)
780085-01 N31HRLG-LNK-NS-00 no 3.13
(79.502)
0.5000 (12.700) 0.4995 (12.687) 0.1250 (3.175) 0.1230 (3.124) 0.555 (14.097) 0.538 (13.665) 5.0
(2.27)
780086-01 N31HRLG-LEK-M2-00 yes
780087-01 N32HRLG-LNK-NS-00 no 4.65
(118.11)
0.5000 (12.700) 0.4995 (12.687) 0.1250 (3.175) 0.1230 (3.124) 0.555 (14.097) 0.538 (13.665) 8.4
(2.27)
780088-01 N32HRLG-LEK-M2-00 yes
780089-01 N33HRLG-LNK-NS-00 no 6.13
(155.70)
0.6250 (15.875) 0.6245 (15.862) 0.1875 (4.763) 0.1855 (4.712) 0.705 (17.907) 0.688 (17.475) 11.9
(5.39)
780090-01 N33HRLG-LEK-M2-00 yes
780091-01 N31HRHJ-LNK-NS-00 no 3.13
(79.502)
0.5000 (12.700) 0.4995 (12.687) 0.1250 (3.175) 0.1230 (3.124) 0.555 (14.097) 0.538 (13.665) 5.0
(2.27)
780092-01 N31HRHJ-LEK-M2-00 yes
780093-01 N32HRHJ-LNK-NS-00 no 4.65
(118.11)
0.5000 (12.700) 0.4995 (12.687) 0.1250 (3.175) 0.1230 (3.124) 0.555 (14.097) 0.538 (13.665) 8.4
(2.27)
780094-01 N32HRHJ-LEK-M2-00 yes
780095-01 N33HRHJ-LNK-NS-00 no 6.13
(155.70)
0.6250 (15.875) 0.6245 (15.862) 0.1875 (4.763) 0.1855 (4.712) 0.705 (17.907) 0.688 (17.475) 11.9
(5.39)
780096-01 N33HRHJ-LEK-M2-00 yes
Encoders for NEMA 23 and NEMA 34 Motors

Electrical

Resolution

  1000 counts/revolution

Input voltage

  5 V ±10%

Input current

  100 mA max (65 mA typical) with no output load

Channel configuration

  Quadrature A, B, and Index
Output type   Differential line driver
Noise immunity   Tested to BS EN61000-6-2; BS EN50081-02; BS EN61000-4-2; BS EN61000-4-3; BS EN61000-4-6; BS EN500811
Symmetry   180 deg (±18 deg) electrical
Quadrature phasing   90 deg (±22.5 deg) electrical
Minimum edge separation   67.5 deg electrical
Accuracy   Within 0.017 deg mechanical or 1 arc-minute from true position

Industry Standards

Industrial standards

  CE

Sealing standards

  IP40

RoHS Compliance

  Yes
Physical

Operating temperature

  -20 to 85 °C
Model type   Thru-bore
Bore size   1/4 in. (780251-01), 8 mm (780252-01)
Mounting   1.812 in. (46 mm) two-hole flex mount
Maximum frequency   200 kHz

Operating temperature

  20 to 85 °C
Max shaft speed   8000 rpm
Bore tolerance   -0.0000 in./+0.0006 in.

User shaft tolerances

Radial runout

  0.008 in. max

Axial endplay

  ±0.030 in. max

Starting torque

  0.300 oz-in. (0.212 N . m)
Moment of inertia   6.7 x 10-5 oz-in.-sec2 (4.8 gm-cm2)
Max acceleration   1 x 105 rad/sec2
Weight   3 oz typical
Storage temperature   -25 to 85 °C
Humidity   98% RH noncondensing
Vibration   10 g @ 58 to 500 Hz
Shock   80 g @ 11 ms duration
Dimensions, Wiring and Timing Diagrams

 

Note: All dimensions have a tolerance of ±0.005 in. or ±0.01 in. unless otherwise specified.

Wire Description
Quadrature Waveform
Glossary

amps/phase

  The maximum amount of current allowed through a phase of the stepper motor. Holding torque, the speed versus torque curve, andso on are determined when the motor is excited by this value. The specifications listed in this data sheet are adjusted for the winding configuration.

angular accuracy

  A percentage of the step angle that defines the accuracy of each full step.

detent torque (cogging torque)

  The amount of torque necessary to rotate the stepper motor one full step when the motor is deenergized.

differential line driver

  A type of electrical digital output that can transmit digital data over a long distance. It consists of a complementary
pair of digital lines.
electrical symmetry   How close each quadrature channel is to a 50 percent duty cycle when at a constant speed.
holding torque   The amount of torque necessary to rotate the stepper motor one full step (microstepping turned off) when the motor is energized at the rated amps/phase of that motor.
minimum edge separation   Defines in degrees how close (electrically) an edge on channel A can be to an edge on channel B.
NEMA   National Electrical Manufacturers Association (NEMA). NEMA is a U.S.-based association that creates standards for mountings.The NEMA size of a motor defines its shaft size and mounting configuration.
phase inductance   The inductance of each phase of the stepper motor. The specifications listed in this data sheet are already adjusted
for the winding configuration.
phases   A wound wire in the stepper motor that is excited with current to produce electromagnetic force. Two or more phases work together by alternating between positively energized, deenergized, and negatively energized states to rotate the stepper motor.
quadrature phasing   The electrical phase shift between channels A and B in a quadrature encoder.
step angle   The distance the motor rotates each full step of the stepper motor. Also defined as 360 degrees divided by the steps per revolution.

 

 

 


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