### Technical Supply Specifications

#### Features

- 2 linear degrees of freedom
- Robust control without feedback system
- Compact build up
- Zero backlash at high speed
- Preloaded ball bearing

#### Description

Two degrees of freedom in the x- and y-direction, and this with an outer diameter of just 6.5 mm - the ultra-compact BryleeDrive® HighAcc 6mm - type 1. Both axes of the micro positioning system can easily be operated in an open loop control, as each is driven by stepper motors with 20 steps per rotation. At the core of this multi-axis micro system are zero-backlash MaalonDrive® gears with a reduction ratio of 120:1.

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### Technical Parameter

Global system

Number | Parameter | Symbol | Value | Hint |
---|---|---|---|---|

P-004
| Self-locking | yes | ||

P-005
| Travel range | s | Ø6.5 | |

P-034
| Lifetime for rated operation | 1000 h | ||

P-035
| Radial backlash output shaft | 0 μm | ||

P-036
| Axial backlash output shaft | 0 μm | ||

P-037
| Radial stiffness | c | 0.48 ^{N}/_{μm} | |

P-038
| Axial stiffness | c | 10 ^{N}/_{μm} | |

P-039
| Max. radial load on output shaft (non-operating, constant load) | F | 1 N | |

P-040
| Max. radial load on output shaft (non-operating, impulsive load) | F | 0.2 N | |

P-041
| Max. radial load on output shaft (operating, constant load) | F | 1 N | |

P-042
| Max. radial load on output shaft (operating, impulsive load) | F | 0.2 N | |

P-043
| Max. axial load on output shaft (non-operating, constant | F | 1 N | |

P-044
| Max. axial load on output shaft (non-operating, impulsive load) | F | 1 N | |

P-045
| Max. axial load on output shaft (operating, constant load) | F | 2 N | |

P-046
| Max. axial load on output shaft (operating, impulsive load) | F | 2 N | |

P-056
| Weight | m | 7 g | |

P-057
| Min. permissible ambient temperature (non-operating) | T | -20 °C | |

P-058
| Min. permissible ambient temperature (operating) | T | 0 °C | |

P-059
| Max. permissible ambient temperature (non-operating) | T | 80 °C | |

P-060
| Max. permissible ambient temperature (operating) | T | 60 °C | |

Material information | ||||

Number | Parameter | Symbol | Value | Hint |

P-900
| RoHS compliant | yes |

Axis 1: rotational axis

Number | Parameter | Symbol | Value | Hint |
---|---|---|---|---|

P-003
| Ratio | i | 120 : 1 | |

P-008
| Repeatability unidirectional | 47 arcsec | ||

P-009
| Repeatability bidirectional | 30.9 arcmin | ||

P-010
| Accuracy | 21.8 arcmin | ||

P-011
| Transmission accuracy | 33.6 arcmin | ||

P-012
| Resolution | 0.15 ° | ||

P-013
| Torsional stiffness | 2.17 ^{Nm}/_{rad} | ||

P-014
| Lost motion | 30 arcmin | ||

P-015
| Backlash | 0 arcmin | ||

P-016
| Rated torque | T | 15 mNm | |

P-017
| Peak torque | T | 31 mNm | |

P-018
| Momentary peak torque | T | 77 mNm | |

P-021
| Rated input speed | n | 15000 rpm | |

P-022
| Maximum input speed | n | 21000 rpm | |

P-023
| Rated output speed | n | 125 rpm | |

P-024
| Maximum output speed | n | 175 rpm | |

P-026
| No-load starting torque | T | 51 μNm | |

P-027
| No-load running torque | T | 34 μNm | |

P-028
| Rated running torque | T | 364 μNm | |

P-055
| Moment of inertia | I | 52.5 * 10^{-4} gcm^{2} | |

Motor data: Schrittmotor FDM 0620-2R-V3-31 | ||||

Number | Parameter | Symbol | Value | Hint |

P-100 | Type of motor | Stepper | ||

P-102
| Maximum speed of motor | n | 21000 rpm | |

P-103
| Resonance frequency of motor | f | 60 Hz | |

P-105
| Holding torque of motor (unpowered) | T | 0.06 mNm | |

P-109
| Rated current of motor | I | 80 mA | |

P-111
| Rated voltage of motor | U | 3 V | |

P-112
| Phase resistance of motor | R | 30 ohm | |

P-113
| Inductance of motor | L | 4.5 mH | |

P-114
| Amplitude BEMF of motor | U | 0.277 mV/rpm | |

P-115
| Full step angle of motor | 18 ° | ||

P-116
| Angular accuracy of step of motor | ±0.9 ° | ||

P-117
| Electrical time constant of motor | t | 0.15 ms | |

P-118
| Max. coil temperature of motor | T | 130 °C | |

P-119
| Thermal resistance of motor between coil and housing | R_{th1} | 15 ^{K}/_{W} | |

P-120
| Thermal resistance of motor between housing and air | R_{th2} | 96.6 ^{K}/_{W} | |

P-121
| Thermal time constant of the coil of the motor | τ_{w1} | 3200 ms | |

P-122
| Thermal time constant of the housing of the motor | τ_{w2} | 120000 ms | |

P-123
| Insulation voltage of motor | U | 100 V | |

Material information | ||||

Number | Parameter | Symbol | Value | Hint |

P-901 | Lubrication of output bearing gearbox | Longtime PD2 | ||

P-903 | Lubrication of gear component set | Molykote BR 2 plus | ||

P-904 | Lubrication of bearing motor | perfluorinated polyether oil, PTFE with thickener | ||

P-908 | Material of gear component set | NiFe | ||

P-909 | Material of output bearing gearbox | 1.4108 DIN EN | ||

P-911 | Material of bearing motor | Stainless steel | ||

P-912 | Material of gearbox output side | 1.4305 DIN EN | ||

P-914 | Material of motor housing | Anodized aluminum |

Axis 2: rotational axis

Number | Parameter | Symbol | Value | Hint |
---|---|---|---|---|

P-003
| Ratio | i | 120 : 1 | |

P-008
| Repeatability unidirectional | 47 arcsec | ||

P-009
| Repeatability bidirectional | 30.9 arcmin | ||

P-010
| Accuracy | 21.8 arcmin | ||

P-011
| Transmission accuracy | 33.6 arcmin | ||

P-012
| Resolution | 0.15 ° | ||

P-013
| Torsional stiffness | 2.17 ^{Nm}/_{rad} | ||

P-014
| Lost motion | 30 arcmin | ||

P-015
| Backlash | 0 arcmin | ||

P-016
| Rated torque | T | 15 mNm | |

P-017
| Peak torque | T | 31 mNm | |

P-018
| Momentary peak torque | T | 77 mNm | |

P-021
| Rated input speed | n | 15000 rpm | |

P-022
| Maximum input speed | n | 21000 rpm | |

P-023
| Rated output speed | n | 125 rpm | |

P-024
| Maximum output speed | n | 175 rpm | |

P-026
| No-load starting torque | T | 51 μNm | |

P-027
| No-load running torque | T | 34 μNm | |

P-028
| Rated running torque | T | 364 μNm | |

P-055
| Moment of inertia | I | 52.5 * 10^{-4} gcm^{2} | |

Motor data: Schrittmotor FDM 0620-2R-V3-31 | ||||

Number | Parameter | Symbol | Value | Hint |

P-100 | Type of motor | Stepper | ||

P-102
| Maximum speed of motor | n | 21000 rpm | |

P-103
| Resonance frequency of motor | f | 60 Hz | |

P-105
| Holding torque of motor (unpowered) | T | 0.06 mNm | |

P-109
| Rated current of motor | I | 80 mA | |

P-111
| Rated voltage of motor | U | 3 V | |

P-112
| Phase resistance of motor | R | 30 ohm | |

P-113
| Inductance of motor | L | 4.5 mH | |

P-114
| Amplitude BEMF of motor | U | 0.277 mV/rpm | |

P-115
| Full step angle of motor | 18 ° | ||

P-116
| Angular accuracy of step of motor | ±0.9 ° | ||

P-117
| Electrical time constant of motor | t | 0.15 ms | |

P-118
| Max. coil temperature of motor | T | 130 °C | |

P-119
| Thermal resistance of motor between coil and housing | R_{th1} | 15 ^{K}/_{W} | |

P-120
| Thermal resistance of motor between housing and air | R_{th2} | 96.6 ^{K}/_{W} | |

P-121
| Thermal time constant of the coil of the motor | τ_{w1} | 3200 ms | |

P-122
| Thermal time constant of the housing of the motor | τ_{w2} | 120000 ms | |

P-123
| Insulation voltage of motor | U | 100 V | |

Material information | ||||

Number | Parameter | Symbol | Value | Hint |

P-901 | Lubrication of output bearing gearbox | Longtime PD2 | ||

P-903 | Lubrication of gear component set | Molykote BR 2 plus | ||

P-904 | Lubrication of bearing motor | perfluorinated polyether oil, PTFE with thickener | ||

P-908 | Material of gear component set | NiFe | ||

P-909 | Material of output bearing gearbox | 1.4108 DIN EN | ||

P-911 | Material of bearing motor | Stainless steel | ||

P-912 | Material of gearbox output side | 1.4305 DIN EN | ||

P-914 | Material of motor housing | Anodized aluminum |