Hybrid Stepper Linear Actuator

Size 8 21mm Double Stack

Size 8 Double Stack Stepper Motor Linear Actuator

The Size 8 double stack by Haydon Kerk Motion Solutions is a 21mm stepper motor linear actuator. Size 8, 21000 double stack series linear actuators are available in three designs - captive, non-captive and external linear versions. Available in a variety of resolutions, ranging from 0.0025mm to 0.04mm per step. The size 8 double stack series stepper motor linear actuator delivers force of up to 17 lbs (75N). Typical applications include medical equipment, semiconductor handling, valve control, X-Y tables, handheld instruments, or wherever precise linear motion is required.

Specifications +

Part No.	Captive	21M4(X)-V
	Non-captive	21L4(X)-V
	External Lin.	E21M4(X)-V
Wiring	Units	Bipolar
Step Angle	Degree	1.8°
Winding Voltage	VDC	2.5	5	7.5
Current/Phase	A rms	1.32	0.65	0.43
Resistance/Phase	ohms (Ω)	1.9	7.7	17.3
Inductance/Phase	mH	0.8	3.2	6.1
Power Input	Watts	6.5
Rotor Inertia	gcm²	2.6
Insulation Class		Class B (Class F available)
Weight	oz (g)	2.4 (68)
Insulation resistance	M(Ω)	20

Standard motors are Class B rated for a maximum temperature of 130°C (155°C for Class F)

Linear Travel / Step
Screw Ø	inches	mm	Code ID
0.14" (3.56 mm)	0.000098*	0.0025	AA
	0.00012	0.0030*	N
	0.00019*	0.005	AB
	0.00024	0.006*	K
	0.00039*	0.01	AC
	0.00048	0.0121*	J
	0.00078*	0.02	AD
	0.00157*	0.04	AE

* Values Truncated

Dimensional Drawings +

CAPTIVE STEPPER MOTOR

Size 8 Double Stack Series 21000 Captive Lead-Screw Linear Actuator

NON-CAPTIVE STEPPER MOTOR

Size 8 Series 21000 Non-Captive Linear Actuator

EXTERNAL STEPPER MOTOR

Size 8 Series 21000 External Linear Actuator

Performance Curves +

FORCE vs. PULSE RATE
Chopper, Bipolar, 100% Duty Cycle Ø .14 (3.56) Lead Screw
8:1 Motor Coil to Drive Supply Voltage

FORCE vs. LINEAR VELOCITY
Chopper, Bipolar, 100% Duty Cycle Ø .14 (3.56) Lead Screw
8:1 Motor Coil to Drive Supply Voltage

* Care should be taken when utilizing these screw pitches to ensure that the physical load limits to the motor are not exceeded. Please consult the factory for advice in selecting the proper pitch for your application.

NOTE: All chopper drive curves were created with a 5 volt motor and a 40 volt power supply.

Ramping can increase the performance of a motor either by increasing the top speed or getting a heavier load accelerated up to speed faster. Also, deceleration can be used to stop the motor without overshoot.

With L/R drives peak force and speeds are reduced, using a unipolar drive will yield a further 30% force reduction.

Lubrication Options +

Haydon® Super Slick Greases

Haydon offers a wide selection of greases designed to meet any application requirements. Please contact Haydon Kerk Motion Solutions for assistance in selecting the most effective lubrication option.

	Grease Type	Chemical Compatibility	Temp. Range	Comments	Cost
HSS-03	Polyolester	Good	-54°C to +150°C	Moderate Load	$
HSS-17	Synthetic Hydrocarbon	Good	-20°C to +125°C	Standard	$
HSS-06	Perfluoropolyether	Best	-65°C to +250°C	Tough Environments	$$
HSS-16	Perfluoropolyether	Better	-80°C to +204°C	Vacuum compatible	$$$
HSS-20	Perfluoropolyether	Best	-65°C to +250°C	High Repeatability	$$$

HSS-03

is a light viscosity, polyolester based grease thickened with PTFE. It is an economical alternative to premium PFPE (perfluoropolyether) types where low temperature performance is a primary requirement as it provides low starting torque.

HSS-17

is a medium viscosity synthetic hydrocarbon grease thickened with lithium soap. It is fortified with EP (extreme pressure) modifiers to increase load carrying capabilities and TFE to increase lubricity and reduce friction. Rated temperature capacity is -20°C to +125°C. HSS-17 has the highest load characteristics.

HSS-06

is a TFE thickened heavy viscosity perfluoropolyether grease. It is designed to operate in chemically harsh environments and provides excellent operating properties for light to medium loads. Rated temperature capacity is -65°C to +250°C. Standard on Hybrid Actuators.

HSS-16

is a perfluoropolyether grease developed for use in vacuum environments good to 4x10–13 torr at 20°C. Rated temperature capacity is -80°C to +204°C.

HSS-20

is an ultrafiltered version of HSS-06, meaning that the grease it put through a ‘cleaning’ process to remove any particles greater than 35 microns in size. It is designed for use when accuracy and repeatability are of utmost concern.

Black Ice® and Kerkote® TFE Coatings

Black Ice and Kerkote TFE coatings are available in some of our actuator designs depending on the nut polymer used. Please consult the applications engineering team to discuss lead screw nut / TFE coating compatibility.

Encoders +

All Haydon hybrid linear actuators are available with a specifically designed encoder for applications that require feedback. The compact optical incremental encoder design is available with two channel quadrature TTL squarewave outputs. An optional index is also available as a 3rd channel. The size 8 encoder provides resolutions for applications that require 250 and 300 counts per revolution. The size 11, 14 and 17 encoder provides resolutions for applications that require 200, 400 and 1,000 counts per revolution. The size 23 and 34 encoder is offered in resolutions of 200, 400, 1,000 and 2,000 counts per revolution. Encoders are available for all motor configurations — captive, non-captive and external linear.

Simplicity and low cost make the encoders ideal for both high and low volume motion control applications. The internal monolithic electronic module converts the real-time shaft angle, speed, and direction into TTL compatible outputs. The encoder module incorporates a lensed LED light source and monolithic photodetector array with signal shaping electronics to product the two channel bounceless TTL outputs.

Electrical Specifications

	Minimum	Typical	Maximum	Units
Input Voltage	4.5	5.0	5.5	VDC
Output Signals	4.5	5.0	5.5	VDC

2 channel quadrature TTL squarewave outputs
Channel B leads A for a clockwise rotation of the rotor viewed from the encoder cover
Tracks at speeds of 0 to 100,000 cycles/sec.
Optional index available as a 34d channel (one pulse per revolution).

Single Ended Encoder Pinout Size 8

Connector Pin #	Description
1	+5 VDC Power
2	Channel A
3	Ground
4	Channel B

Operating Temperature

Minimum	Maximum
-10°C (14°F)	85°C (185°F)

Mechanical Specifications

	Maximum
Acceleration	250,000 rad/sec²
Vibration (5 Hz to 2 kHz)	20g

Resolution
4 standard Cycles Per Revolution (CPR) or Pulses Per Revolution (PPR)

CPR	250	300
PPR	1000	1200

Others are available

Encoder Dimensional Drawing
Dimensions = (mm) inches

21mm 21000 Series Size 8

Size 8 Linear Actuator Encoder
Note A: Lead screw extends beyond encoder on specific captive and non-captive motors. External linear shaft extension is available upon request.

Please note: Metric numbers are for reference only.

Home Position Switch and Proximity Sensor +

Proximity Sensor

Haydon offers a miniature hall effect sensor capable of monitoring the end position of Can-Stack and Hybrid captive linear actuators.The sensor incorporates a hall effect device, which is activated by a rare earth magnet embedded in the end of the internal screw. The compact profile of the sensor allows for installation in limited space applications.The sensor has virtually unlimited cycle life. Special cabling and connectors can be provided. Haydon's end of stroke proximity sensor, and all Haydon Kerk Motion Solutions products are backed by a technical team which provides extensive customer support and applications assistance.

Technical Data:

Supply Voltage (VDC):	3.8 min. to 24 max.
Current consumption:	10 mA max.
Output voltage (operated)	0.15 typ., 0.40 max.; Sinking 20 mA max.
Output current	20 mA max.
Output leakage current (released)	10µA max. @ Vout = 24 VDC; Vcc = 24 VDC
Output switching time
Rise, 10 to 90%: .05 µs typ., 1.5 µs max. @ Vcc = 12 V, RL = 1.6 KOhm	Fall, 90 to 10%: .15 µs typ., 1.5 µs max. @ CL = 20 pF
	Fall, 90 to 10%: .15 µs typ., 1.5 µs max. @ CL = 20 pF
Temperature	-40 to 150C

Suggested Interface Diagram

Note: Sensor is category 2 ESD sensitive per DOD-STD-1686A. Assembly operations should be performed at workstations with conductive tops and operators grounded.

PLEASE NOTE THAT A PULL-UP RESISTOR IS REQUIRED FOR THE SENSOR TO OPERATE CORRECTLY.

Please note: Metric numbers are for reference only.

Wiring Diagram and Stepping Sequence +

Stepping Sequence- Hybrid Linear Actuator

Bipolar	Q2-Q3	Q1-Q4	Q6-Q7	Q5-Q8
Step	.	.	.	.
1	ON	OFF	ON	OFF
2	OFF	ON	ON	OFF
3	OFF	ON	OFF	ON
4	ON	OFF	OFF	ON
1	ON	OFF	ON	OFF

Part Number Guide +

2.5

910

Prefix
(include only when
using the following)

Series Number
Designation

Style

Coils

Code ID
Resolution Travel/Step

Voltage

Suffix

A=A Coil (See AC Synchronous Data Sheet)
E=External
K=External with
40° thread form
P=Proximity Sensor

21=21000 (Series numbers
represent approximate width of motor body)

L=1.8° Non-captive
M=1.8° Captive or External (use “E” or “K” Prefix for External version)

4=Bipolar
(4 wire)

AA*=.000098-in (.0025)

N=.00012-in (.0030)

AB=.00019-in (.005)

K=.00024-in (.006)

AC=.00039-in (.01)

J=.00048-in (.0121)

AD=.00078-in (.02)

AE=.00157-in (.04)

*TFE not available

2.5=2.5 VDC

05=5 VDC
7.5=7.5VDC
Custom V available

Example:
910=1in
(Refer to Stroke chart on Captive motor series product page.)
Suffix also represents:
800=Metric
900=External Linear with grease and flanged nut-XXX=Proprietary suffix assigned to a specific customer application. The identifier can apply to either a standard or custom part.

NOTE: Dashes must be included in Part Number (–) as shown above. For assistance call our Engineering Team at 203 756 7441.