Lin Engineering.

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The Step Motor Specialists
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D
E
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STEP MOTOR G

GLOSSARY
H
I
J
K
L
M
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
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ABEC- U.S. standards that define tolerance classes for major D
RESOURCES
A dimensions and characteristics of steel ball bearings. Normal ABEC
ratings are single digit odd numbers from 1-9. ABEC 1 has the Motion Accuracy Problem?
E
Sort out the contributions of the step motor and driver F
loosest tolerances and ABEC 9 has the closest tolerances. here are
For more information, please click here. G
also special cases where the ABEC number is followed by a letter
to define special requirements. ABEC ratings do not specify radial H
clearance of a bearing. Aerospace - Describes the human effort in science, engineering
and business to fly in the atmosphere of Earth (aeronautics) and I
Acceleration/Angular Acceleration - The time rate of the surrounding space (astronautics). Aerospace organisations research, J
change of velocity. The rotor will accelerate due to the torque design, manufacture, operate, or maintain aircraft and/or spacecraft.
K
developed within the motor. Rotor inertia and load will resist the Aerospace activity is very diverse, with a multitude of commercial,
torque and decelerate the system. industrial and military applications. L
M
Air gap - Small concentric gap between
the rotor and stator in a motor. This is N
where the motor torque is generated, and O
A wheel of radius R = 28.2 cm, where the magnetic flux crosses to create
mass M = 2.11 kg, and moment of P
rotor movement.
inertia I is mounted on a Q
frictionless, horizontal axle as in
the figure. A light cord wrapped Ambient Temperature - R
around the wheel supports an The temperature of the cooling medium
(usually air), immediately surrounding
S
object of mass m = 0.504 kg.
Calculate the angular acceleration the motor. T
of the wheel, the linear acceleration U
of the object, and the tension in the Ampere - Unit of electrical current equal to one coulomb per
cord. second. V
W
Ampere-turns - Unit of X
Peak
Average RMS
magneto-motive force. It is
proportional to how much Y
Accuracy- The measure of difference between the expected
angular shaft position and the actual angular shaft position of a Peak to Peak torque can be generated Z
motor. from a motor.

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AmpsPeak - Maximum value of the current waveform being Automation - The use of automated equipment to manufacture D
A provided to the motor from the driver/controller. The peak
amplitude is equal to 1.414 times the root mean square amplitude.
or produce a product. E
F
Axial Play - The shaft
Amps/Phase- The root mean square amplitude of current displacement due to an axial force G
provided by the driver/ controller. This is a statistical measurement on the end of the shaft. Also called H
of the current magnitude when the values are always changing, and end play.
tells how much current each winding can handle without heating
I
up and burning the motor. This is equal to the rated current for the J
motor. K
Torque Vector Phase Diagram
Peak Torque (Phase A or Phase B) = Phase (A+B) Torque
L

Torque produced AWG - American Wire Gauge, quantifies the wire thickness of the M
Phase B
N
at peak current 1.000 Torque produced at 2-phase ON
windings.
Torque produced 1.000 40 18
at RMS current 0.707
Phase (A+B) O
P
Phase (A+B)
Q
Phase A
Torque produced
R
S
at peak current 0.707

Torque produced
at RMS current 1.000 T
Constant Torque Circle U
V
Angular transmission error - The difference between the
actual angular position and the theoretical angular position of the W
motor or gears. X

Angular velocity - Rate of change of angular position of a Y

rotating object. The units are radians per second. Z

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Back EMF - The voltage produced across a winding due to its Bipolar motor (4 lead wires) – A motor with a bipolar winding. D
B interaction with the rotating magnetic field generated by the rotor’s
motion.
Can be wound in series or parallel depending on torque and speed
requirements of the motor.
E
F
Back curve - The second quadrant portion of the hysteresis loop A A Bipolar winding- One winding per G
generated when intrinsic induction is plotted against an applied phase. To switch direction of a bipolar H
field, which is mathematically related to the normal curve; most B
wound motor, the current must be reversed
often used to determine the effects of demagnetizing or magnetizing by the driver. I
fields. J
Breakaway Torque - The torque K
Backlash- The amount of B required to start a machine in motion.
Operating pitch circles
space between the gear teeth Breakaway torque is almost always greater L
that exceeds the width of the Bipolar Winding than running torque. M
engaging gear tooth. This
value is measured at the N
Backlash
(transverse operating) operating pitch circle of the O
gears.
P
Bearing- Assembled inside the motor and supports the motor Q
shaft for smooth rotation with little friction or wearing. R
S
Bipolar Chopper Driver - A step motor driver that uses a
switch mode (chopper) technique to control motor current and T
polarity. Bipolar indicates the capability of providing motor phase U
current of either polarity. (+ or -). Bipolar drives can be used with
V
4, 6, or 8 lead motors.
W
Bipolar driver- A driver that is designed for use with a bipolar X
motor. It can change the direction of the current going into the
motor without changing the wiring. Y
Z

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Block diagram B
Comparator Forward Path C
Center tap - Used with
Set Controled
D
C
Point Actuator Process variable
Controller
unipolar windings. The center tap A B Closed +loop_system – A broadly used term, relating (position)
(motor)
to any (arm)
E
provides a common power source A COM B COM system in which the
Erroroutput is measured and compared to the input.
F
to the two wires in a bifilar A B The output is then adjusted to reach the desired condition.
Feedback Sensor
In
winding, and is where power motion control, the term typically describes a system utilizing a
(potentiometer) G
Unipolar
enters the coils in a unipolar velocity and or position. H
winding. The center taps are shown
as A COM and B COM. A simple closed loop position system I
Control unit J
Chopper Drive – A step motor drive that uses switching Set
Motor
K
Point * Error
amplifiers to control motor current. Chopper drives are more
efficient than L/R drives or voltage drives. A chopper drive applies
30º
+ _ L
30º
voltage to a winding until a predetermined current is achieved. The M
voltage is shut off once the current is reached and not turned on
until the current decays to a predetermined value. Chopper drives Feedback
0º N
are also known as Constant current drives or PWM drives. * The set point is a Voltage that represents 30º potentiometer O
P
Class B Insulation – A NEMA insulation specification. Class B
insulation is rated for an operating temperature of 130 degrees C. Cogging – A term used to describe non-uniform angular Q
velocity. Cogging appears as a jerkiness especially at low speeds. R
Class F Insulation – A NEMA insulation specification. Class F S
insulation is rated for an operating temperature of 155 degrees C. Commutation – A term that refers to switching voltage or
current to the proper motor phases to produce rotation and torque. T
Class H Insulation – A NEMA insulation specification. Class U
H insulation is rated for an operating temperature of 180 degrees Chopper Voltage and Current Waveforms Constant current drive
V
C. – Also known as chopper
Voltage drive. It generates a constant W
RESOURCES current in each winding X
instead of supplying a
How to Select the Right Step motor for Y
a Medical Device
I (rated)
constant voltage. Initially, a
Getting the Right Step motor for Your Medical Device Current
high voltage is applied to a Z
For more information, please click here.
winding so the current will
Time
rise quickly, then when the
current exceeds a preset
(Continued next page)
Step Motor Glossary Page 4
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(Continued from previous page)
D
C current limit, the voltage is switched off. When the current gets
below a preset limit, the voltage is switched on again. This allows
Copper Loss – One of the major causes of motor heating,
Current flowing through the motor winding produces losses which
E
step motors to be run at higher speeds with higher torque. are approximately proportional to I2 x R. where I is the motor F
phase current, R is the motor phase resistance. G
Constant Voltage Drive – A driver that maintains a constant
H
voltage applied to the windings. The flow of current is limited only Current - The flow of charge through the step motor windings.
by the resistance/impedance of each winding. I
Current rise time - The amount of time it takes for the current J
Controller - A device or circuit that generates a DC pulse train to go from 10% to 90% of its final value.
that is sent to the step motor drive. The number and rate of pulses
K
is determined by the number and rate of steps the motor will τ1 L
1.0
ultimately execute. A typical controller consists of a DC power
supply plus. M
N
τrise = τ90% _ τ10%
Controller/driver- A combined controller and driver that 0.5
O
can be wired to a motor to provide commands and drive the motor
from the same device.
P
0.0 Q
τ10% τ90%
R
Block Diagram of a Typical Step Motor Control
S
T
Step Input U
Current &
Sequence
Logic
Power
Drivers Voltage V
Direction Input Limiting
W
X
Y
Logic Motor
Power Power
Z

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Damper- A device used on a stepper Lin Engineering drivers D
D motor to suppress step oscillations and
prevent resonances. R325P
R525-RO
Versatile Driver
E
Smooth Driver Microstepping: Full - 256x
Current: 0.1 - 5.0 Amps
F
Microstepping: Full - 256x
Demagnetization Current - The Current: 0.3 - 3.0 Amps
RoHS Compliant
RoHS Compliant
G
current level at which the motor magnets H
will start to be demagnetized. This is an
irreversible effect, which will alter the I
motor characteristics and degrade performance. J
K
Detent Torque - While all phases are de-energized, a periodic
torque ripple occurs due to the tendency of the rotor and stator R208 L
Low Cost Driver
poles aligning themselves into positions of minimal reluctance. Microstepping: Full - 8x
M
Current: 0.25 - 0.2 Amps
RoHS Compliant
N
Detent Position - The static angular position in which the rotor R701/710
of an unloaded and un-energized stepper motor comes to rest. High Power Driver
Microstepping: 10x O
Current: 1-7 Amps
RoHS Compliant P
Discrete motion- Motion in discrete angular movements.
Dynamic Torque - The maximum torque that can be applied Q
Displacement- For stepper motors, this is the angular to a motor before it stalls or loses synchronization. The maximum R
displacement in degrees of the rotor being rotated around the rotor dynamic torque of a stepper motor is about 30% less than the
S
axis. holding torque. The dynamic torque also depends on the speed of
the motor, and decreases as the motor speed increases. This is the T
Drive/Driver - An electrical device that powers a stepper torque represented on a Torque-Speed Curve. U
motor based on pulses from a controller, computer, or pulse V
generator. It converts the digital signal received to electric current RESOURCES
pulses and drives them to the appropriate motor windings. Xtreme Torque Stepper Motor W
Is Your Stepper Motor Stalling or Do You Just Need
More Torque?
X
Duty Cycle - Ratio of on time to total cycle. Normally expressed
as percentage. The following formula will calculate the duty cycle Y
as a percentage. Duty cycle (%) = [on time] / (on time + off time] x Z
100%. For more information, please click here.
Example 1: a motor that runs continuously has a 100% duty cycle

Step Motor Glossary Page 6

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Eddy Current - Current that is generated in a transformer due End Cap - A component designed to cover the windings and in D
E to induced voltage in in each lamination. It is proportional to the
square of the lamination thickness and to the square of the
most cases position a bearing in relationship to the stator in a step
motor. Also known as bearing bracket or end bell.
E

frequency. F
End Play - See axial play G
Efficiency- The ratio of power output to power input, typically H
given as a percentage. End taps -The lead ends that terminate a winding. They are
used to connect a motor to an application, and with 8 leads, can be I
RESOURCES wired together to create a parallel or series winding. J
Innovative Technology for Small Space K
and Higher Efficiency Motors Energize/excite - To send current through a phase or phases of
For more information, please click here. a step motor. L
M
Electromotive Force (EMF) - Voltage generated by a time Engraving and printing - An industry that depends on the
N
use of stepper motors on multiple axes to print or engrave using
varying magnetic field that induces an electric current.
many different mediums and techniques. O
Electronic Time Constant- The time needed for a motor’s P
windings to charge to 63% of their rated current value. Q
R
Encoder - An electromechanical feedback device that monitors
position and/or velocity by translating mechanical motion into S
electronic signals and feeding those values back to the controller. T
U
V
W
X
Y
Z
For more Encoder information, Please click here.

Step Motor Glossary Page 7

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Feedback – The process of sending the measured output of a Friction (coulomb)- A resistance to motion between D
F system (ie speed or position of a motor) back to the controller for
comparison with the input during closed loop operations.
non-lubricated surfaces. This force remains constant with velocity. E
Friction (viscous) - A resistance to motion between lubricated F
surfaces. This force is proportional to the relative velocity between G
the surfaces. H
Full Step Angle - The size of an incremental move made by I
a step motor determined solely by the motor’s construction. Also J
known as step angle.
K
Full Stepping - A method of driving a step motor in which L
each incremental movement is equal to the motor’s full step angle.
For more Encoder information, Please click here. M
2 PHASE ON Full Step
N
PHASE B
Flux path - Direction of magnetic field lines. In a step motor, Vector sum
of A and B =
2 Phase On PHASE B
Current Waveform

O
the energized flux path is three dimensional, and is what causes the
100%
1 4

P
1.41 Amp time
0%

motor torque. PHASE A

-100%

Q
1 Amp

PHASE A
POSITION
1 2 3 4

R
1 Amp
1.8° 3.6° 5.4° 7.2°

2 3

S
Figure A: this phase diagram depicts when Figure B: Phase diagram for full stepping. Figure C: Full Stepping Waveform
Phase A is “on” and when Phase B is “on”. and Position. T
U
V
W
Force - The mass of an object multiplied by its acceleration. It is RESOURCES X
the push or pull on an object with respect to its size and movement,
How To Use Microstepping To Get Y
and is the capacity to do work or cause a physical change.
More Torque
A Fair Comparison Reveals some Surprises Z
For more information, Please click here.

Step Motor Glossary Page 8

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Gearbox – Allows amplified output torque from a motor Spur and Planetary Available D
G depending on the gear ratio, but requires an increased motor
speed. The ratio of gearbox torque output to motor torque
• Available in multiple ratios
• Available for NEMA 17 and NEMA 23
E
output is the inverse ratio of the gearbox speed to the motor speed. F
Therefore, if the gearbox increases the motor torque by 5 times, the
G
gearbox output speed will be 5 times less than the motor speed.
H
I
J
K
L
M
N
Gearbox ratio - The ratio of the pitch diameters of two meshing O
gears, or the ratio of the numbers of teeth. This is the multiplier for NEW!
Slim Planetary Gearbox P
gearbox torque output, and the divider for gearbox speed output • High efficiency
with respect to the motor torque and motor speed. Q
• Shortest Planetary Gear box
• 5:1 gear ratio R
Gravitational operation - A vertical driven load using a • Cost effective S
stepper motor and pulley system. • Standard NEMA 17 Mount
• Powder Metal Gears T
U
r
V
W
X
Y
W
Z
mg

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Half Stepping- Driving a stepper Half Stepping Phase Diagram
Holding Torque- The maximum torque that can be externally D
H motor in increments equal to half the
motor’s full step angle. It is done by 1
8
PHASE B

7
applied to a stopped, energized motor without causing the rotor to
rotate continuously.
E
alternating the amount of current sent
F
PHASE A

to the motor’s phases. 2 6

Hysteresis (positional) - The difference between step G
positions when moving CW and the step position when stepping H
Hall sensor (BLDC) - Sensors 3 5
CCW. A step motor may stop slightly short of the true position,
inside BLDC motors that directly
4

thus creating a slight difference in position CW to CCW. I

measure the rotor position based on the J
production of a voltage difference across an electrical conductor. Hybrid Motor - A stepper motor that uses a permanent magnet K
rotor and variable reluctance stator.
Heatsink- a component designed to lower the temperature of an L
electronic device by dissipating heat into the surrounding air. M
N
Henry - The SI unit of inductance. It is equal to the
electromotive force of one volt in a closed circuit with a rate of O
change of one ampere per second. P
Q
Hold current - The minimum current which must pass through
the device in order for it to remain in the ‘ON’ state after a coil is R
energized. S
t peak t hold T
10 U
Actuating current [A]

8 V
6 I peak W
4
X
2
I hold Y
0
0 5 10 15 Z
Actuating time [ms]

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Inaccurate Stepping - When the motor step error does not larger torques to accelerate and decelerate. Inertia is dependent on D
I meet mechanical or electrical tolerances and causes inaccuracies in
stepping. This can be due to phase imbalance in inductance, pole
the mass and shape of the object. E
or rotor misalignment, inconsistent air gap between the rotor and Inertial Match - For most efficient operation, the system F
stator, stator and tooth relationship, and torque stiffness. coupling ratio should be selected so that the reflected inertia of the G
load is equal to the rotor inertia of the motor. H
RESOURCES I
IP rating - Stands for Ingress Protection rating, and is a system
Is your Step Motor and Driver Contributing
to the Inaccuracy of Your System? of environmental protection rating where the first number J
For more information, please click here. represents protection against dust/exposure to solids (0 to 6), and K
the last number represents protection against liquids (0 to 8). For
example, our IP65 motor is 100% dust resistant and protected L
Indexer - Electronic device which converts motion commands
against low pressure jets of water, and our IP X7 motor is not
into pulse and direction signals for use by a step motor. M
protected against dust, but is submersible in water for up to 30
minutes.
N
Inductance (mutual) - When two coils are kept close to each
O
other and a varying current flows through one, the intensity of the
magnetic field due to the current will vary. Hence flux through RESOURCES P
the other coil will keep on changing with time producing an EMF. Extreme Stepper Motor Applications Q
This process is called mutual-induction and is measured in units of A Fair Comparison Reveals some Surprises
Henrys [H]. R
For more information, please click here. S
Inductance (self) - The property of an electric conductor or T
circuit that causes an electromotive force (emf) to be generated by Iron Loss - The power loss in a motor due to hysteresis and eddy
a change in current flowing. The emf causes an opposing current losses. It is one of the major causes of motor heating, and is
U
current to be generated in the wire, which slows the incoming confined mainly to the laminated core of the staor and rotor. V
current flow.The inductance is proportional to the number of turns
W
per coil squared. Low inductance motors will run better at fast ITAR - International Traffic in Arms
speeds whereas high inductance motors will work better at low Regulations. This is a set of government X
speeds. regulations that control importing and Y
exporting defense related articles and services
Inertia- The property of an object to resist change in velocity on the United States Munitions List. Z
unless acted upon by an outside force. Higher inertia loads require

Step Motor Glossary Page 11

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Lead - A wire of the stepper motor that is internally connected to D
L the motor phase windings and externally connected to the driver
output terminals.
E
F
Leadscrew - A screw G
used as a linkage in a H
machine, to translate
turning motion provided I
by stepper motor in to linear motion. J
K
Linear Actuator –
An actuator that creates L
motion in a straight line.
President Ted T. Lin is one of the foremost step motor designers in M
Linear motion (Force)- the industry. In 1984, Warner Electric named him. “Father of New N
Motion along a straight line. Step Motor Technology” at their Motion Control System O
The force is one dimensional. Division, where he directed the design of the step motors for early
disk drive applications. P
Lin Engineering - A Reputation of Excellence in Step Motor Q
Manufacturing and Service. Lin Engineering has earned the L/R drive - A drive that uses external resistance to allow a higher R
reputation as the technical leader in step motor design with the voltage than that of a voltage drive. L/R drives have better
performance than constant voltage drives, but less performance S
ability to “Maximize Torque at Desired Speed”.
and efficiency than a chopper drive. L is for inductance and R is for T
Founded by Ted T. Lin in 1987, Lin Engineering began as a resistance.
U
consulting company specializing in step motor applications.
Throughout its history, Lin Engineering has continued to develop V
its capabilities in the areas of design engineering, manufacturing, W
and customer service. In 1991, Lin Engineering expanded its
X
operatings to include the manufacturing of its own hybrid step
motors. Since then, the company has developed its product line to Y
include drivers, optical encoders, spur and planetary gearboxes,
Z
and step motor drives.

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Magnetic Flux - A measure of the quantity of magnetism, being D
M the total number of magnetic lines of force passing through a
specified area in a magnetic field.
Momentum - The amount of motion of a moving body.
Momentum is the product of mass and velocity of an object.
E
F
Mass - The quantity of matter in an object. The SI unit of mass is Motor Mounting Face - A flat surface on the front end cap of G
kilograms. a motor that provides features for assembly of a motor onto a mating H
piece in a system.
Mechanical Damper - A vibration reducing device that is I
physically attached to a stepper motor. Motor Mounting Pilot - A cylindrical protrusion extending J
from the motor mounting face that allows for relative axial K
Medical Industry - The medical device industry is considered a positioning of a motor output shaft in relationship to the system.
hub of innovation for good reason; with constantly improving L
designs and processes, the possibilities seem endless. Over the past A A M
20 years, stepper motors from Lin Engineering have played a role in AB AB
N
this innovation. In fact, you may find our stepper motors in
applications such as plate readers, liquid and specimen handling B B B B O
systems, chromatography, and In Vitro diagnostic machines. P
AB AB
Q
Microstepping - An electronic control technique that A A

proportions the current in the motor’s windings to provide Full Step Half Step R
additional intermediate positions (steps) between poles. Produces S
smooth rotation and high positional resolution. A A
AB AB AB AB
T
U
RESOURCES B B B B

How To Use Microstepping To Get More Torque V

A Fair Comparison Reveals some Surprises AB AB AB AB W
A A

For more information, please click here. Quarter Step Eight Step
X
(Microstepping) (Microstepping)
Y
Z
Misstep - When a step motor skips a step or loses synchronization
with the input pulses because of a large inertia mismatch and lack of
motor torque.

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NEMA - Stands for National Electrical Manufacturer’s Association. D
N They establish the standard for motor dimensions, which are used by
Lin Engineering.
E
F
Neodymium Iron Boron - A type of rare-earth permanent G
magnet material. At the present Neodymium magnets are the H
strongest commercially available magnets, however they are also
very brittle. I
J
Noise - Stepper motors can run very quietly. They need not make K
any more noise when attached to the scope as when held in your
hand. It’s common star party etiquette to run a quiet operation, and L
you will make a good impression of your system.
M
N
RESOURCES
O
Reduce Step Motor Noise and Vibration
Revised motor winding smooths stepper operation P
Q
For more information, please click here.
R
Non-Condensing Humidity - An environmental condition S
that allows for humidity, but does not allow any condensation inside T
the motor. Condensation is normally caused by extreme fluctuation
in temperature. U
V
Non-cumulative error - Error that does not add or accumulate W
over multiple steps or incremental moves.
X
Y
Z

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Online Stepper Motor Selection Tool - Tool designed to D
O help user select the best stepper motor based on their specification
requirements.
Oscillator - Something that causes an object to move back and
forth, or oscillate.
E
F
RESOURCES Overshoot - The amount (in degrees) that the rotor moves G
beyond the desired position. H
Online Step Motor Selection Tool
Unique algorithm uses voltage, current and speed
I
to choose step motors
For more information, please click here. J
K
Open loop system - A system of control in which the motor L
operates without feedback.
M
Operating temperature - The temperature range at which N
the stepper motor can operate effectively.
O
Operating Speed - The speed range at which the stepper P
motor can operate effectively. The speed of operation determines Q
how much torque the motor will be able to provide, and this
correlation is represented on the Torque-Speed curve for each R
motor. S
T
Optimal Winding - The best motor winding for a specific
application to maximize torque at the desired speed. Lin Engineer- U
ing will create a new motor winding to optimize performance for V
an application if an existing motor winding is not sufficient.
W
X
RESOURCES Y
Step Motors 101:
5 Common Problems and Solutions Archive Webinar Z
For more information, please click here.

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Parallel winding - A way of winding a PM Motor - A stepper motor whose rotor is a permanent D
P bipolar motor so that there are two coils per
pole that are wired together in parallel. Twice
magnet. E
F
as much current needs to be supplied to give Poles - A coil of the stator, where an electromagnetic force is
the same Ampereturns as a series winding, and generated by passing current through the coil windings. G
the parallel winding has half the resistance and H
the same inductance as a half coil winding. 8 Lead
Positional Accuracy - The maximum error in one revolution
Bipolar (Parallel) Connection
of a full step in 360 degrees. Expressed as a percentage of a full step.
I
Permanent Magnet Step Motor - A step motor having a J
permanent magnet rotor and wound stator. The rotor has a Power - A supply of mechanical or electrical energy. Power must K
permanent magnet sandwiched between the top and bottom halves be supplied to a step motor to make it run. The power supplied to
of the rotor, and is magnetized axially with north and south poles. a step motor is equal to the input current multiplied by the input L
Both the rotor and the stator have mechanically formed or stamped voltage. The units of power are Watts, or a Joule/second. M
teeth.
N
Power loss - Loss of power within a motor due to resistance
RESOURCES and heat loss. The power losses in a step motor are due to Copper O
Step Motor Terminology Got You Stumped? losses, which depend on resistance of the windings and the current P
Lin Engineering explains the differences between going through them, and the Iron losses, which have to do with
Q
Amps/Phase and Amps Peak Current. hysteresis caused by the magnetic field.
For more information, please click here. R
Pre-load - A condition where an axial force is applied to either S
the inner race or outer race of a ball bearing to remove excess play
Peak Current - The maximum current that can be input into a T
in the bearing.
motor without exceeding the motor’s RMS current rating. The peak
U
current is equal to 1.414 multiplied by the motor’s rated current. If
the peak current is exceeded, the coils can burn and cause Pre-load force - The amount of force applied to a bearing to V
remove manucturing excess play in the bearing. Pre-load force is
permanent damage to the motor. W
measured at a minimum axial shaft movement. Normally 0.001”.
Phase current - See Amps/phase X
Pull-in Torque - The maximum torque the motor develops
without losing synchronization when instantaneously started. The
Y
Phase/Winding - A group of electrically connected coils.
pull-in torque will change with any change in inertia. Z

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Pull-Out Torque - The pull-out torque is the maximum torque D
P which can be applied to the stepper motor at a desired speed
without losing synchronization. When the pull-out torque has
E
been exceeded, the motor stalls (stops). Pull-out torque values are F
used to produce dynamic torque-speed curves for individual G
stepper motors. H
Pulse (step) - A single current impulse sent into the motor I
windings to move the rotor from one energized position to the J
next.
K
Pulse frequency - The number of times a pulse occurs every L
second. In a step motor, the input pulses are what make the M
motor change phase and cause rotation, so a higher pulse
frequency would correlate to a faster motor speed. N
O
Pulses Per Second (PPS)/Step Rate - The rate, in steps P
per second, at which a stepper motor is commanded to operate.
Q
PWM - Pulse Width Modulation. A method of controlling the R
average current in a motors phase windings by varying the S
on-time of transistor switches.
T
Packaging- An industry that specializes in packaging products U
for distribution, storing, and selling.
V
W
X
Y
Z

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Radial Play - Side to side movement of the shaft due to Resolver - A feedback device with a construction similar to a D
R clearances between the shaft and bearing, bearing to housing and
bearing internal clearances for ball bearings and roller bearings.
motor’s construction (stator and rotor). A resolver provides
velocity and position information into a drive’s microprocessor or
E
(Also called Side Play) DSP to electronically commutate the motor. F
G
Ramping - Accelerating or decelerating the motor gradually to a Resistance - An electrical conductor’s (i.e. a motor’s windings) H
desired speed to prevent de-synchronization. opposition to the passage of current through it. Measured in units
of ohms [Ω]. I
J
Resonance - A phenomena where excessive vibration occurs due K
Output to the motor operating at a frequency at or near the natural
frequency of the entire system. This can lead to a decrease in torque L
or loss of synchronism.
M
RESOURCES N
Rapid Prototyping - a group of techniques used to quickly
fabricate a scale model of a physical part or assembly using three How To Take Vibration Out of Step Motors O
dimensional computer aided design. The best way to handle resonance in stepmotors usually P
involves moving troublesome areas out of harm’s way.
For more information, please click here.
Q
Rated Current - The maximum allowable current that a motor
can handle without exceeding its temperature rating. It is also the R
current at which the holding torque is derived. Measured in units of Resonant Range - The range where a motor’s step rate is near S
Amperes [A]. the natural frequency of the motor. T
Rated Voltage - The voltage at which the rated torque of the Ringing - Oscillation of a system following a sudden change in U
motor is generated. Its value is the product of rated current and state. V
winding resistance. Measured in units of volts [V].
W
RMS Current - Root Mean Square Current. In an
Repeatability - The degree to which a parameter such as intermittent duty cycle application, the RMS current is equal to the X
position or velocity can be duplicated value of steady state torque which would produce the equivalent Y
motor heating over a period of time.
Resolution - Division of movement into small increments. Z
The resolution tells how many intervals of movement for a certain Rotational speed- The velocity of a rotating object in terms of
distance. radians per second.

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D
R Rotor - The rotating part of the motor that
takes part in generating torque.
RESOURCES
Step Motor Terminology got you stumped?
E
Lin Engineering explains the differences between F
Rotor teeth - The teeth on the rotor that Amps/Phase and Amps Peak Current.
G
are attracted to and repelled from the stator For more information, please click here.
teeth. The number of rotor teeth determines H
the step angle and the step error. I
J
R-Winding - A motor winding created to reduce noise and
vibration for lower torque applications. This winding operates with K
two phases always “on” at a time. L
M
N
O
P
Q
R
S
T
U
V
W
X
Y
Z

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Security and surveillance systems - An industry that stator’s magnetic circuit flow. D
S specializes in motion sensing cameras and technology.
Speed Stability - A test that measures accuracy of a step
E
Semiconductor - A substance that is halfway between a motor’s position in relation to various speeds. The graph generated F
conductor and an insulator, and is used in electric circuitry. by a speed stability test is used to identify speeds where resonance is G
The manufacturing of semiconductors requires very precise and greater than normal.
H
accurate movement and machining.
Spike Accuracy - Sudden but regular torque spikes caused by I
RESOURCES geometric and electrical imperfections. J
Step Motors in the Semi-Conductor Industry K
RESOURCES
For more information, please click here. L
Stepmotor spikes: Cause and prevention
For more information, please click here. M
Series winding - A way of N
winding a bipolar motor so that
there are two coils per pole that O
Spur Gears - Spur gears are the simplest and most common type
are wired together in series. P
of gear. They are generally a cylinder or disk with teeth projecting
This doubles the Ampereturns Q
6 lead 8 lead
out radially, parallel to the axis of rotation. These gears will
Bipolar (Series) Connection Bipolar (Series)Connection
per coil, which increases mo-
commonly mesh together correctly if they are fitted to parallel axles. R
tor torque without having to increase the input current. The series
winding has double the resistance and four times the inductance of S
a half-coil winding. Static holding - See Holding torque
T
Settling Time - The time needed for a motor to reach its desired Stator - The stationary part of U
position after oscillation has diminished. the motor that encompasses the
rotor and helps create the V
magnetic pole. W
Shaft - The rotating part of the motor that gives the usable output
speed and torque. The shaft is connected to the rotor and can be X
modified for coupling with many different applications. Stator teeth - The teeth on
the stator that attract and repel Y
the rotor teeth when the stator Z
Slew Range - The region between the pull-in and pull-out
coils are magnetized.
torque curves. It represents the movement of the rotor in the range
of continuous and smooth rotation-synchronous motion with the

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Step resolution - Gives how many motor steps for one rotation of D
S Step - The movement of the rotor from one energized position to
the next position
the motor shaft. The step resolution increases with microstepping. E
Step sequence - The order in which current pulses are sent to the F
Step Accuracy - A measure of a step motor’s maximum different phases of a motor. The step sequence determines the G
deviation from it’s desired or indicated position. Step accuracy is direction of the motor. H
non-cumulative or the deviation found in any number of steps is no
greater than the maximum deviation for a single step. Step to Step Accuracy - The maximum error that occurs I
between any adjacent steps. It is normally expressed as a percentage J
of one full step.
RESOURCES K
Stepping Out Stepper Motor - An actuator that translates discrete input pulses L
Higher step counts do not automatically mean better into pulses of motion composed of discrete incremental commands. M
accuracy mor more torque.
For more information, please click here. N
RESOURCES
O
Step angle - The nominal angle through which a step motor shaft Stepper Motors: In & Out
rotates between two adjacent step positions. The step angle is P
For more information, please click here.
dependent on if a motor is being full, half or microstepped. Q

Step Error - See step accuracy Stiffness - The ability to resist movement induced by an applied R
torque. It is often specified as a torque displacement curve, indicating S
Step oscillations -The how much the shaft will rotate upon application of a known external T
oscillation that occurs each force when stopped.
time the motor takes a step. U
This value is greater for full Switching Sequence - The sequence and polarity of voltages V
stepping motors, and is applied to the coils of a step motor that result in a specified direction
W
reduced with microstepping. of rotation.
X
Step rate – The rate at Synchronism - The condition is which a rotor’s rotation matches Y
which a stepper motor moves the rotation of the magnetic field created by the stator’s windings. In
from one step position to the synchronism, the motor’s step rate equals the controller’s input pulse Z
next step position. A higher rate. When synchronism is lost, the motor will stall or miss-step.
step rate corresponds to a higher angular velocity.

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T-Connection - A bipolar connection that is good for reducing D
T noise and vibration at low speeds. It uses the same current and twice
the inductance of a bipolar half-coil winding, and has less holding
RESOURCES E
Selecting the Best Step Motors (Torque)
torque than series or parallel windings. F
For more information, please click here.
G
RESOURCES H
Torque - The tendency of a force to rotate an object about an axis. I
How To Take Vibration Out of Step Motors
The best way to handle resonance in stepmotors usually Usually measured in units [oz-in] or [N-m].
J
involves moving troublesome areas out of harm’s way.
For more information, please click here.
50

45
0.35
K
0.30
40
L
Teeth - Projections on the rotor and stator of a hybrid step motor.
0.25
35 Pull-out/Dynamic

Torque (oz-in)
Torque Curve

Torque (N-m)
M
30 0.20
Y-axis 25 Y-axis

Thermal resistance - The amount that material resists heat flow.

0.15
N
represents represents
torque (oz-in) 20 torque (N-m)
15
It is the difference in temperature between two surfaces that induces
0.10
10
O
heat flow rate per area. 5
0.05

0
0 2000 4000 6000 8000 10000 12000
0.00
14000
P
F Applied
force  = rF sin  Speed (pps), 1 pulse=0.9º
Q
0 5 10 15 20 25 30 35

If the fingers of the right hand Speed (rps) R

are curled from the direction
Radius r of r toward the direction of F, X-axis
represents the speed of the motor’s shaft
S
then the thumb point in the
from axis
T
(in PPS and RPS).

direction of the torque.

Torque gradient - The change in holding torque with respect to U

changes in shaft position in an energized motor. V
Torque W
direction Torque margin - A torque safety factor used in case the intended
r X
  application differs slightly from the actual application of a step motor.
F Y
The torque is in the direction along the Torque Ripple - The cyclical variation of generated torque at a
axis of the spin angular velocity which
 frequency given by the product of motor angular velocity and number Z
would be produced by it.
of commutated segments or magnetic poles.

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Torque-Speed Curve - A curve plotting the dynamic/pull-out D
T torque at different operating speeds. RESOURCES
Comparing the Step Accuracy of
E
Torque stiffness (K)-The change in torque over the change in Two-Phase vs. Five-Phase Step Motors F
Count stator and rotor teeth, not phases
angle. It affects the resonance frequency of a motor, and when G
increased, will increase the resonance frequency of a system. For more information, please click here.
H
Torque stiffness also determines step accuracy.
I
J
K
L
M
N
O
P
Q
R
S
T
Torque to Inertia Ratio - A motor’s holding torque divided U
by the inertia of it’s rotor. The higher the ratio, the higher a motor’s
maximum acceleration capability. V
W
X
Y
Z

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Undershoot - The amount (in degrees) that the rotor is short of direction does not. This is different than a bipolar winding because D
U the desired position. a bipolar winding can change direction using only one coil by
changing the current direction.
E
F
Unipolar Driver - The motor phase winding current is
switched in one direction only. The polarity of the applied voltage G
to each winding is always the same. Uni-polar drives require 6 or 8 H
lead wires.
I
J
K
L
M
N
O
P
6 lead Unipolar 8 lead Unipolar Q
Connection Connection
R
S
COM Unipolar winding - A motor
A A T
wound with two coils on each pole
with a center tap, where only one of U
B the coils is being used at a time. The
two coils allow the motor to rotate in V
COM both directions, and using one coil W
will rotate the motor forward, while
B switching power to the other coil will
X
Unipolar Winding rotate the motor backward. To switch Y
directions using a unipolar winding,
Z
the wiring changes but the current

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Vacuum rating - Measurement of how capable a motor is of changes. This damper only responds when the velocity between the D
V running in a very low pressure environment. The units of vacuum
rating are in Torr.
damper inertia and the motor shaft changes. At steady state speed
there is no effect from the damper.
E
F
Variable Reluctance Motor - A step motor having wound Voltage - A measure of electric potential difference across a G
stator or stators with salient poles working with a soft iron rotor circuit or winding. The units are in volts.
H
having salient poles on the periphery. A VR motor does not use a
permanent magnet. Voltage Constant - A constant of the BEMF generated by a I
DC motor at a defined speed. Usually quoted in volts per 1000rpm. J
Velocity - A vector that gives a speed magnitude and a direction. K
Vibration - Also known as motor resonance caused by step L
oscillation and when operating speed matches the natural M
frequency of the motor. Too much vibration can cause the motor to
N
misstep or lose synchronization.
O

RESOURCES P
How To Take Vibration Out of Step Motors
Q
The best way to handle resonance in stepmotors usually R
involves moving troublesome areas out of harm’s way.
For more information, please click here.
S
T
U
Viscous Damping - A damper which provides drag or
friction torque proportional to speed. At zero speed the drag V
torque is reduced to zero. W

Viscous Inertia Damper - A damper with an inertia coupled X

to the motor shaft, through a thin film of viscous fluid, usually Y
silicone oil to minimize viscosity variations due to temperature
Z

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Wave drive - A driver that energizes one motor phase or winding D
W at a time. E

Winding-Bifilar - Two windings wound (in parallel) on the same F

pole. Bifilar winding allows reversal of the poles magnetic polarity G
using a simple switching device. Bifilar windings are required for a H
unipolar drive.
I
J
K
L
M
N
O
Winding-Unfilar - A single winding is wound a pole. Unifilar
P
windings are used with a bipolar drive.
Q
R
S
T
U
V
W
Wire gauge - A measure of wire thickness, usually measured in
X
AWG (American Wire Gauge).
Y
Z

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X-Ray Machine - Common medical application D
X E
RESOURCES F
How to Select the Right Step motor for a G
Medical Device
Appears in Print As: Getting the Right Stepmotor for
H
Your Medical Device I
For more information, please click here.
J
K
Xtreme torque motor - Lin Engineering’s NEMA 17 motor L
that gives up to 35% more torque than standard size NEMA 17
motors. M
N
O
P
Q
R
S
T
U
V
W
X
Y
Z

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WHY LIN? Over the past decade, Lin Engineering has gained a tremendous
amount of market share and earned a reputation as the D
“Leader in Step Motor Technology.”
E
Why are more and more engineers choosing Lin Engineering? F
G
Versatile Product Lines Proven Application Support, Performance and Quality
H
I

sm th
Unrivaled Application Support
• 98% application success rate J
• 95% of prototypes shipped in less than 1 week
K
High Torque and Extreme Torque Get high accuracy, low resonance, and
L
stepper motors that will help you quiet performance from these s High Performance
avoid stalling and skipping steps. tepper motors.
• Highest torque output
M
• High accuracy = no skipping steps N

o
• Reduced vibration and resonance
• Versatile Product Lines to accommodate O
many applications
P
Q
Stepper motors specifically designed
Reliable Quality
to weather extreme environments like
Small stepper motors perfect for
applications with compact space and • Consistent Performance
R
high/low temperatures, clean rooms,
dust and water.
size constraints. • 4.5 Sigma System S
• ISO 9001 Certified
• Continuous Improvement T
U
Growing Market Share V
W
Contact:
16245 Vineyard Blvd.,
X
Morgan Hill, CA 95037
Tel. (408) 919-0200
Y
Fax: (408) 919-0201
Email: sales@linengineering.com
Z
Website: www.linengineering.com

Customers in 2004 Customers in 2014

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