X15.xxx.02.SP.E M-S Motor X15.

xxx 1

M-S Motor X15.xxx

Description Features
The Miniature Stepper Motor M-S X15.xxx series was - 1/3∞resolution per step
developed primarily as an indicator drive for
dashboard instrumentation and other indicator - low current consumption
equipment. The inherent properties of torque, current
consumption, robust construction, etc. extend its use - small dimensions: ÿ 30 x 9 mm
also to a number of other applications. The motor can
operate directly from a numerical, i.e. digital, driving - can be directly driven by a µ-controller
signal to move and position a pointer to visualise any
parameter required. A fine analogue representation of - large temperature range: -40∞C ˜ 105∞C
its value and its changes is made without the need for
a digital to analogue conversion. - high speed: >600 ∞/s
The miniature stepper motor consists of a motor and
gear train with a reduction ratio of 1/180. It is - qualified for automotive applications
produced with the advanced wide range technologies
of the SWATCH GROUP. These technologies assure
a high quality product as proven by the success of the Motor versions
famous SWATCH watch. The motor is robust and
simple in construction without concessions to This specification applies only to the following motor
versatility or longevity. versions.
Each half revolution of the rotor, defined as a full step,
is converted to a one degree rotation of the pointer Without stop : X15.156, X15.158, X15.559, X15.579
shaft. The full step itself again is divided into three With stop : X15.166, X15.168, X15.569, X15.589
partial steps, i.e. a 360 degree rotation of the pointer
shaft consists of 1080 partial steps. Full steps can be For more details on the differences between those
carried out up to 600 Hz resulting in a 600 ∞/s angular motors, please refer to the buyer's guide.
speed. Such characteristics allow a large dynamic
range for indicator applications.

Typical Application

System Microprocessor
SYSTEM MICROPROCESSOR

M-S QUAD
M-S DUAL DRIVER
DRIVER M-S CLOCK DRIVER LCD
LCD Driver
DRIVER

M-SStd
Motor M-SStd
Motor M-SStd
Motor M-SStd
Motor Std
ACC M-S

RPM FUEL OIL SPEED CLOCK

 M-S Products

Analogue/Digital Instrument Cluster Concept Fig. 1

 
  


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2 M-S Motor X15.xxx X15.xxx.02.SP.E

Pin Connection

Schematic Front contacts Rear contacts

1 4 1 4 4 1

2 3 2 3 3 2

Fig. 2

Absolute Maximum Ratings

Parameter Symbol Conditions Stresses beyond these listed maximum ratings may
cause permanent damage to the M-S X15.xxx.
Driving voltage Ub 10 V Exposure to conditions beyond specified operating
ESD tolerance (MIL 883) UESD 10'000 V conditions may affect the M-S X15.xxx reliability or
EMI tolerance (1 kHz; E 80 V/m cause malfunction.
AM 80%; 100 kHz - 2 GHz)
Storage temperature Tstg 95 ∞C
Solder temperature (10 sec) Ts 260 ∞C
Table 1

Electrical and Mechanical Characteristics

Tamb = 25∞C and Ub = 5 V; unless otherwise specified.
Parameter Symbol Test Conditions Min. Type Max. Units
Operating temperature Ta -40 105 ∞C
Coil resistance Rb 260 290 320 Ω
Operating current im @ fz = 200 Hz 15 20 mA
Magnetic saturation voltage Ubs 9 V
Start-Stop Frequency fss @ JL = 0,2x10-6kgm2 200 Hz
Maximum driving frequency fm @ JL = 0,2x10-6kgm2 600 Hz
Dynamic torque M200 @ fz = 200 Hz 1.0 1.3 mNm
M600 @ fz = 600 Hz 0.35 mNm
Static torque Ms @ Ub = 5V 3.5 4.0 mNm
Gear play 0.5 1 Degree
Forces allowed on the pointer
shaft :
Axial force FA 150 N
Perpendicular force FQ 12 N
Imposed acceleration αp see p. 5 1'000 rad/s2
Noise level SPL (conditions : see p. 11) 45 50 dBA
Angle of rotation fl motors with internal stop 315 Degree
Table 2

 
  


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Typical Performance Characteristics

Dynamic Torque Md = f(ω)

2.0
Dynamic Torque in mNm

1.5 Ub = 5V

1.0

0.5

0.0
0 50 100 150 200 250 300 350 400 450 500 550 600
Angular Speed in ∞/s

Fig. 3a

Dynamic Torque Md = f(Ub)

2.0
Dynamic Torque in mNm

1.5

1.0 200∞/s

0.5

0.0
2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0 10.0
Coil Voltage in V

Fig. 3b

Dynamic Torque Md = f(Ta)

2.0
Dynamic Torque in mNm

1.5
50∞/s
1.0 200∞/s
600∞/s
0.5

0.0
-40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90
Temperature in ∞C

Fig. 3c

 
  


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Typical Performance Characteristics (continued)

Noise Emission SPL = f(ω)

50
Noise Emission in dBA (SPL)

45

40

35

30 1/3∞per step
25 1/12∞per step (µ-step)

20
10 100 1000
Angular Speed in ∞/s

Fig. 3d

Product Identification
Coding for production date Coding for prototypes

Each motor is marked with the product number and its The coding for prototypes and special motor types is
manufacturing date. printed above or below the production date.

Hour Day Manufact. place Week . Year Sample Variant

| |
00 1 Line 1 - Zhuhai 01 0 A 1
| | > = Normal prod. | | | |
23 7 \ = Special trace. 52 9 Z 9
< = Special trace.
Example:
Line 2 - Zhuhai
} = Normal prod. A1 A-sample, variant 1
# = Special trace. 145>26.9 14th hour (14:00 - 14:59), Friday,
{ = Special trace. Line 1 Zhuhai, normal production,
week 26, 1999

Example:

145>26.9 14th hour (14:00 - 14:59), Friday,

Line 1 Zhuhai, normal production, Patents
week 26, 1999

US PAT 4371821
OTHER PATENTS IN:
DE, GB, FR, JP, CH, HK

 
  


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X15.xxx.02.SP.E M-S Motor X15.xxx 5

Installation and Dimensions

Motor Mounting
The Miniature Stepper Motors can be secured in place As a general rule, screws are unnecessary and should
by a variety of methods. For all automotive be avoided as much as possible, both for cost and
applications even when the motor is exposed to very process capability reasons. The motor has a robust
strong vibrations, the soldering of the contact pins is design but normal care should be taken that
sufficient provided the versions with mounting pegs excessive forces do not deform the housing.
are used. The mounting pegs have been developed to For further details, refer to the application note
allow screw-free fixing in ALL applications. ìMounting the M-S/ACC Motorî X15.002.02.AN.E.

Examples for Motor Mounting

M-S with rear contacts M-S with front contacts

Copper pads

Bend contacts for

surface mounting

Self threading screw for

hot melt plastics
PT ÿ 2.2

Fig. 4

Mounting Load on Pointer Shaft

The load mounting on the pointer shaft, such as a Forces on the Pointer Shaft
pointer, gear, etc. is usually done in a pressing
operation. When using this technique, care should be
taken that the forces (FA and FQ) do not exceed those FQ
given in the specifications (table 2). FA

Caution
αp
Care should be taken not to impose excessive
acceleration onto the pointer shaft. A kick on the
mounted pointer might damage the gear and cause
permanent damage to the M-S motor! Fig. 5

 
  


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Functional Description

General
The M-S series consist of a "Lavet" type stepper Schematic Layout
motor and a gear train. The integrated two step gear
train reduces the rotation by a factor of 180 whereby a
full step driving pulse results in a one degree rotation Rotor Shaft
of the pointer shaft.
As mentioned earlier, the motor rotor makes one half Gear Reduction
revolution for each full step with each full step again (1:180)
divided into three partial steps. The steps are carried
out according to the applied pulse sequence and Contacts
driving diagram shown in fig. 8 and 9 respectively.
The bit map (fig. 8) shows the logic levels at the
contacts 1˜ 4 (fig. 7) and the corresponding coil Pointer Shaft
Coil
voltage pulses.
The direction of rotation is determined by the bit map
sequence chosen. The rotation can immediately and Fig. 6
at any point be reversed up to the maximum start-stop Pin Configuration
frequency fss without loosing a step. The frequency
fss is dependent on the mechanical load applied and Front contacts Rear contacts
can be calculated using the formulae given below.
The driving diagram (fig. 9) shows how the M-S can
be driven using standard logic components capable of
supplying 20 mA output current at Vdd of 5 volts.
For applications where very little current is available,
such as for battery powered devices, the motors can
be supplied with an optional currentless static torque
(see p.4). Here the full step positions 1 and 4 provide
a static torque even in the absence of the coil current
Ib. Fig. 7

Rotor Positions

Pulse Sequence: Rotor Position:

Rotor position 1 2 3 4 5 6 1 2 3 4 5
+ + + + counterclockwise clockwise
Coil Voltage Ub1 - - - -
1
partial step
Coil Voltage Ub2 + + + 6
- - - - 0∞ 2
300∞
60∞
full step

Bit Map:
1
Contact 1
0 120∞
1 240∞
Contact 2,3 5 3
0
1 180∞
Contact 4 4
0
clockwise counterclockwise
Fig. 8

 
  


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Driving Diagram

im
VDD 1 ib

Ub 1 4
2
Ub Ub
1 2 3 4
ib ib 3

Ub 2 3
4
GND ib

Fig. 9

Start-Stop-Frequency FSS
As is normally the case for stepper motors, a shift acceleration torque Mα is equal to the effective
register type driver supplies the clock frequency which dynamic torque Md at this angular velocity :
determines the rotational speed of the motor. Up to
the start-stop frequency fss a reverse rotation and a 3∞) Mα = Md
full stop is possible without missing, i.e. failing to carry
out a driving step. The dynamic behaviour of the The value of Md as a function of the full step
system (i.e. fss) is influenced by the inertia of the load. frequency fz is determined by measurements directly
The fss of the M-S X15.xxx loaded with an inertial on the motor. The acceleration torque Mα must also
mass of 200 gmm2 is approximately 200 Hz. be determined as a function of fz. The angular
acceleration α is:
The following example shows how the fss of a motor
can be calculated.
ω
4∞) α= = ω ⋅ fz
The parameters needed are: tα

- dependence of torque on the frequency (fig. 3) π

5∞) Mα = J ⋅ f 2 ⋅ (J = JM-S + JL)
z 180
- motor gear inertia JM-S
The start-stop frequency fss is given by the
- load inertia JL
intersection of the plot of these two curves as shown
- number of steps z in 360 ∞ in fig. 10.
The calculation of fss using the indicator norm mass
results:
- full step frequency fz

The angular velocity is ω:

JM-S = 480 10-9 kgm2

1∞) ω = fz ⋅
2π
= fz ⋅
π JL = 200 10-9 kgm2
z 180
J = 680 10-9 kgm2
The acceleration torque Mα needed to move the sum
of the inertial masses JM-S + JL = J with the angular Mα100 = 0.118 mNm
acceleration α is: Mα200 = 0.475 mNm
Mα300 = 1.068 mNm
2∞) Mα = J ⋅ α
Then, from fig. 10 => fss = 235 Hz
Also for an acceleration from zero to the applied
velocity, i.e. the applied full step frequency fz, the

 
  


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Graphic Determination of fss

M α 300
1.0
(mNm)
.75
1/2 Torque Md

1/2 Torque Md= f ( fz )

.50 M α 200

.25
M α100
0.0 Full step frequency fz
0

100

150

200

350

450

500

550

600

750
50

250

300

400

650

700
(Hz)
fss Fig. 10

Acceleration to Frequencies > FSS

In order to determine the maximum acceleration step and the angular acceleration
∆f, the same type of calculation can be made as for
fss. The difference is that instead of the angular ∆ω ( fi − fi −1) ⋅ fi ⋅ π
velocity ω, the change in the angular velocity ∆ω is 8∞) α= =
tα 180
used in the calculation. The intersection of the two
curves is again used to determine the next higher step
frequency fi. the acceleration torque Mα needed to accelerate J to
fi can be calculated.
( f − f ) ⋅ π ∆fi ⋅ π
6∞) ∆ω = ωi − ωi −1 = i i −1 = J ⋅ ( fi − fi −1) ⋅ fi ⋅ π J ⋅ fi ⋅ ∆fi ⋅ π
180 180 9∞) Mα = J ⋅ α = =
180 180
Using the acceleration time
The intersection of the curves gives the maximum
driving frequency or the shortest period which is
1
7∞) tα = needed to drive the motor with a maximum
fi acceleration.

Determination of the Acceleration Steps

M α 300
1.0
(mNm)
.75
1/2 Torque Md= f ( fz )
1/2 Torque Md

.50 M α 200

.25
M α 100
0.0 Full step frequency fz
0

50

150

200

250

300

400

500

550

650
100

350

450

600

700

750

(Hz)
fZ5
fss fZ1 fZ2 fZ3 fZ4 fZ6 Fig. 11

 
  


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Control Circuits

M-S Quad Driver X12.017

The M-S Quad Driver X12.017 is a monolithic CMOS
device intended to be used as an interface circuit to System µ-processor

ease the use of the Miniature Stepping Motors

RESET OUT
X15.xxx. The circuit allows the user to drive four M-S

motors as it contains four identical drivers on the f(scx) A-B/D A

Control Bus
same chip.
CW/CCW A-B/D
OUT M-S

M-S Quad Driver

B

X12.017
OUT M-S

OUT M-S

Fig. 13

Microstepping Mode of Operation

The M-S Quad Driver convert a pulse train into a A partial step is an angular rotation of 1/3∞of the M-S
current level sequence sent to the two motor coils of shaft or 60∞on the rotor shaft.
the M-S. This sequence of 24 current levels per rotor The microstepping allows for a continuous smooth
revolution is used to produce the microstepping movement of a pointer if the M-S is used as pointer
movement of the rotor. drive. It is not intended as a precise positioning. The
A microstep is an angular rotation of 1/12∞of the M-S precision of the angular position is given by the
shaft or 15∞on the rotor shaft. resolution of the partial step.

Partial Microsteps
step 15∞
60∞ Gear reduction
1/180

1 4
Partial step = 1/3∞
Coil Coil
1 2 Microstep = 1/12∞

2 3

Fig. 14

 
  


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Tests and Test Conditions

General Conditions Specific Test Conditions

Indicator Norm Load Temperature Cycling Test (400 h)

- mass m : 2.5 g - defect free functioning after passing 50 times

- inertia JL : 0.2 x 10 kgm2
-6 the eight hour cycle shown in fig. 15.
- two functional tests per cycle are carried out.
- unbalance Mu : 0.01 mNm 1. driving cycle II for 20 minutes at -40∞ C after
one hour at -40 ∞C.
Driving Cycle I 2. driving cycle I from 20∞ C to 105∞ C is
continued at 105∞C for one hour.
The driving cycle I consists of three sequential move- - Ub voltage is applied during the entire test
ments A, B and C: period.

A. A cycle of 1 second consisting of: Temperature Cycle

- 0∞to 60∞
200 full steps/s

B. Five cycles of 2 seconds each consisting of: (∞C) 105

- 60∞to 120∞ Driving cycle I
200 full steps/s 60 1h
- 120∞to 60∞
Temperature

40
Acceleration up to 600 full steps/s. 1 ±0.2 ∞C/min
- After the last cycle back to 0∞ 20

0 0.7 ±0.2 ∞C/min

C. A cycle of 2 seconds consisting of: Driving cycle II
- 0∞ to 360∞(300∞for motors with internal stop) -20 1h
Acceleration to 600 full steps/s
- 360∞(300∞for motors with internal stop) to 0∞ -40
Acceleration to 600 full steps/s 0 1 2 3 4 5 6 7 8
(h)
- Hold at 0∞until end of the 2 s cycle. 1.5 h
1 Test cycle = 8h
Driving Cycle II Fig. 15

Cycle II also consists of three sequential movements 5000 Hour Test

but which are carried out at one half the frequency
used for Cycle I: - 5000 hours standard functions with no step loss
- Tamb= 20 ˜ 25 ∞C
A. A cycle of 2 seconds consisting of: - motors equipped with indicator norm load
- 0∞to 60∞ - continuous driving test cycle I carried out
100 full steps/s
1000 Hour Test
B. Five cycles of 4 seconds each consisting of:
- 60∞to 120∞ - 1000 hours standard functions with no step loss
100 full steps/s - Ta= 105 ∞C
- 120∞to 60∞ - motors equipped with indicator norm load
Acceleration up to 300 full steps/s - alternatively 8 hours continuously driving test
- After the last cycle back to 0∞ cycle I and 8 hours resting

C. A cycle of 4 seconds consisting of:

- 0∞ to 360∞(300∞for motors with internal stop)
Acceleration to 300 full steps/s
- 360∞(300∞for motors with internal stop) to 0∞
Acceleration to 300 full steps/s
- Hold at 0∞until end of the 4 s cycle.

 
  


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Specific Test Conditions (continued) Acoustic Measurements

Humidity Test Test Configuration

- 144 h storage at 50 ∞C and 93±3 % rel. humidity

- after one hour at ambient conditions the motor 1
must function with no defects. No corrosion
which could hamper operation must be present. 2

Temperature Shock Test

3
4cm
- operation with no defects after 10 shock tests
- motors were subjected alternately to a hot 4
(80 ∞C) and a cold (-40 ∞C) environment. The
temperature change occurred within one minute.
The motors remained at the test temperatures for 6
5
two hours.

Shock Test Fig. 17

- The motors withstand the shocks which occur 1. reflection free room
during normal handling. 2. microphone 1/2" omni-directional Larson-Davis,
- Motors with no visible damage after a fall of one Typ. 2541
meter onto hard wood, still comply with the 3. sonometer Larson-Davis Typ. 800B
specifications. 4. motor under test
- The test was carried out according to ISO 1413. 5. Foam cube
6. M-S control unit in µ-stepping mode (1/12∞/ step)
Vibration Test
Test Conditions
- operation with no step loss during the test
- motors equipped with indicator norm load - temperature Tamb : 25 ∞C
- amplitude 10 mm (5˜ 12 Hz) - measurement distance L m : 4 cm
- acceleration up to 6 g. (12˜ 250 Hz fig. 16) - measurement range : 20 ˜ 20k Hz
- 8 hours test per orientation - measurement time tm : 4 s
(axis parallel; axis perpendicular)
- one octave/minute - angular speed ω : 600 ∞/s
- driving cycle I - motor not mounted and without load.

Vibration Test Cycle Instrument Parameters

The noise level SPL was determined using the

instrument settings (Larson-Davis Typ. 800B) :
10
(g) - weighting : "A"
- integration time : " Slow "
- detection : " RMS "
Acceleration

Amplitude
= 10mm

1
1 10 100 1000
Frequency (Hz)
Fig. 16

 
  


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Parameter Definitions

Parameter Description Unit

E EMI tolerance V/m
FA axial force on the pointer shaft N
FQ perpendicular force on the pointer shaft N
fAM amplitude modulated carrier frequency Hz
fm maximum driving frequency Hz
fss start-stop frequency Hz
fz full step frequency Hz
Gnd ground -
Ib coil current A
im M-S ac-current A
J total inertia = JM-S + JL kgm2
JL inertia of the load kgm2
JM-S inertia of the M-S kgm2
Lm noise measurement distance cm
m mass of the driven load g
Mα acceleration torque mNm
M200 dynamic torque at 200 Hz full step frequency mNm
Md dynamic torque mNm
M0 static torque at Ub = 0 V mNm
Ms static torque at Ub > 0 V mNm
Mu unbalance of the load mNm
Rb coil resistance Ω
SPL noise level of the motor (sound pressure level) dB
Ta temperature ∞C
Tamb ambient temperature ∞C
Ts solder temperature ∞C
Tstg storage temperature ∞C
tα acceleration time s
tm noise measurement time s
Ub coil voltage V
Ubs magnetic saturation voltage V
UESD Electro Static Discharge tolerance V
Vdd operating voltage V
z number of full steps per revolution (=360) -
α angular acceleration (= Mα/J) rad/s2
αp angular acceleration imposed to the pointer shaft rad/s2
fl possible angle of rotation of the internal stop version degrees
ω angular speed ∞/s (rad/s)

 
  


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Table of Contents
M-S Motor X15.xxx ..................................................... 1 Start-Stop-Frequency FSS ......................................7
Description............................................................. 1 Graphic Determination of fss ............................8
Features ................................................................ 1 Acceleration to Frequencies > FSS.........................8
Motor versions ....................................................... 1 Determination of the Acceleration Steps ..........8
Typical Application ................................................ 1 Control Circuits............................................................9
Pin Connection ...................................................... 2 M-S Quad Driver X12.017......................................9
Absolute Maximum Ratings................................... 2 Microstepping Mode of Operation..........................9
Electrical and Mechanical Characteristics............. 2 Tests and Test Conditions ........................................10
Typical Performance Characteristics .................... 3 General Conditions ..............................................10
Dynamic Torque Md = f(ω) ............................... 3 Indicator Norm Load .......................................10
Dynamic Torque Md = f(Ub)............................. 3 Driving Cycle I.................................................10
Dynamic Torque Md = f(Ta) ............................. 3 Driving Cycle II................................................10
Noise Emission SPL = f(ω)............................... 4 Specific Test Conditions ......................................10
Product Identification............................................. 4 Temperature Cycling Test (400 h) ..................10
Coding for production date............................... 4 Temperature Cycle .........................................10
Coding for prototypes ....................................... 4 5000 Hour Test ...............................................10
Patents .................................................................. 4 1000 Hour Test ...............................................10
Installation and Dimensions ....................................... 5 Humidity Test ..................................................11
Motor Mounting...................................................... 5 Temperature Shock Test ................................11
Examples for Motor Mounting .......................... 5 Shock Test ......................................................11
Mounting Load on Pointer Shaft............................ 5 Vibration Test..................................................11
Caution ............................................................. 5 Vibration Test Cycle........................................11
Forces on the Pointer Shaft ............................. 5 Acoustic Measurements.......................................11
Functional Description................................................ 6 Test Configuration...........................................11
General.................................................................. 6 Test Conditions ...............................................11
Schematic Layout............................................. 6 Instrument Parameters ...................................11
Pin Configuration.............................................. 6 Parameter Definitions ...............................................12
Rotor Positions ................................................. 6 Table of Contents......................................................13
Driving Diagram..................................................... 7

The information and specifications given here are correct and valid to the best of our knowledge. However

 assumes no liability for damages which may arise through the incorrect use of this information or for
eventual damages to existing patents or to the rights of third parties. The general purchase conditions for
electrical and mechanical products of
 apply to all commercial transactions.

 reserves the right to make changes in the products contained in this document in order to improve
design or performance and to supply the best possible products.

 is a trade mark of the Swatch Group Management Services AG.


 a division of Micro-Components SA2001SR-11/07/01

 
  


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