Foreword
1 Scope
2 Normative references
3 Definitions
  3.1 Terms common to motion control
      3.1.1 Acceleration definitions
      3.1.2 Current definitions
      3.1.3 Dielectric strength
      3.1.4 Direction of rotation
      3.1.5 Duty cycle
      3.1.6 Efficiency
      3.1.7 Electrical noise
      3.1.8 Electrical noise immunity
      3.1.9 Electromagnetic interference
      3.1.10 Input impedance
      3.1.11 Lead
      3.1.12 Moment of inertia
      3.1.13 Motion control system
      3.1.14 Pitch
      3.1.15 Power dissipation
      3.1.16 Thermal resistance
      3.1.17 Rotor
      3.1.18 Temperature definitions
      3.1.19 Time constant definitions
      3.1.20 Torque definitions
      3.1.21 Torsional resonance
      3.1.22 Velocity definitions
  3.2 Terms common to control motors
      3.2.1 General terms
      3.2.2 Terms specific to servo motors
      3.2.3 Terms specific to stepping motors
  3.3 Terms common to feedback devices
      3.3.1 General terms
      3.3.2 Terms specific to encoders
      3.3.3 Terms specific to resolvers
  3.4 Terms common to control systems
      3.4.1 General terms
      3.4.2 Terms specific to servo motor controls
      3.4.3 Terms specific to stepping motor controls
4 Control motors
  4.1 Requirements common to all control motors
      4.1.1 Ratings
      4.1.2 Dimensions, tolerances, mounting, and measurement
             techniques
      4.1.3 Enclosures
      4.1.4 Functional tests and performance
  4.2 Requirements common to all servo motors
      4.2.1 Nameplate markings
      4.2.2 Maximum allowable winding temperature rating
      4.2.3 Functional tests and performance
  4.3 Requirements common to all stepping motors
      4.3.1 Nameplate markings
      4.3.2 Maximum allowable winding temperature rating
      4.3.3 Functional tests and performance
      4.3.4 Alternative test method for stepping motors
  4.4 Requirements for brush type servo motors only
      4.4.1 Functional tests and performance
  4.5 Requirements for brushless servo motors only
      4.5.1 Functional tests and performance
5 Controls
  5.1 Ratings
      5.1.1 Ambient temperature
      5.1.2 Basis of rating
      5.1.3 Input voltage and frequency rating
      5.1.4 Range of operating voltage and frequency
      5.1.5 Input current ratings
  5.2 Enclosures
  5.3 Spacings
  5.4 Nameplate markings
  5.5 Application information
      5.5.1 Stepping motor-drive configurations
      5.5.2 Electronically commutated (brushless) motor-drive
             configurations
6 Position and velocity feedback devices
  6.1 Rotary encoders
      6.1.1 Common requirements
      6.1.2 Requirements specific to bearing type encoders
      6.1.3 Requirements specific to bearingless type encoders
  6.2 Resolvers
      6.2.1 Space and mounting requirements
      6.2.2 Connections and terminations
      6.2.3 Markings and data sheets
      6.2.4 Application information
      6.2.5 Tests and performance
7 Safety requirements for construction, and guide for selection,
  installation, and operation of motion control systems
  7.1 General considerations
  7.2 Motion control system
  7.3 Construction
      7.3.1 Rating and identification plates
      7.3.2 Operating and maintenance data
      7.3.3 Supply circuit disconnecting devices
      7.3.4 Protection
Annex A Symbols for quantities and their units
Annex B Index of defined terms