caracteristicas motores.pdf

Full-Line Catalog Stepping Motors • Brushless Motors • Servo Motors • Blowers

Blowers

Brushless DC MotorsStepping Motors

Custom Modules & Assemblies

1

Putting New Ideas In Motion… Hand-In-Hand With Our Customers.

Table of Contents

2 Phase Hybrid Stepping Motor Lineup 3

Brushless DC Motor Lineup 4

2 Phase Hybrid Stepping Motor 5

Brushless DC Motor 25

Outer Rotor Brushless DC Motor 25

Inner Rotor Brushless DC Motor 33

Power Brushless Series 39

Brushless DC Blower Series 41

Polygon Mirror Scanner Motor 43

Motor Customization 44

Geared Motor 45

2 Phase Hybrid Stepping Motor Driver 47

Servo Motor Driver 48

Brushless DC Motor Driver 49

Stepping Motor Operation & Theory 51

Stepping Motor Driver Information 57

Conversion Tables 58

2

Unparalleled approach to design and manufacturing

What distinguishes Shinano Kenshi Corporation isn’t one

attribute over another, but the total approach to motor design

and manufacturing. We meet every job, every opportunity,

and every challenge with a total solutions methodology. That

approach, combined with SKC technology and engineering

skills, allows us to develop and build a complete solution –

allowing our customers to focus on what they do best.

The resources and people to meet any challenge

With modern and highly capitalized facilities in Asia, Europe,

and North America, we meet challenges other companies can’t

even consider. Such resources enable our people to devise

solutions to difficult problems related to design, manufacture,

delivery and logistics. Though SKC offers the vast resources

of a global leader, we also offer the kind of careful attention to

detail that gives our customers a level of service they can’t find

anywhere else.

Taking customization to new levels

Our vertical integration of design and production make it

possible to provide innovative custom assembly solutions to

all of our customers. SKC professionals have a command

of highly complex technologies based on generations of

mechanical, electrical, software, and electro-mechanical

experience, including intellectual property processes in

motor manufacturing and assembly.

Total support of your “Motion Requirements”

With our many years of manufacturing experience and

expertise we understand the importance to be in strict

compliance with the requirements within various industries,

applications, features and functions. To that end our efforts

to maintain a optimal motor solution that includes systems

module, driver and mechanical design are unsurpassed. We

continually monitor OEM and EMS requirements to insure the

highest level of state-of-the-art developmental, production

and manufacturing technology.

2 Phase Hybrid Stepping Motor - Lineup

0.9°

1.8°

3.75°

φ36mm

39mm

56mm

28mm

35mm

42mm

φ56mm

56mm

60mm

42mm

36C0

36C1

39C1

40C1

40C2

56C1

56C3

５6C5

28D1

28D2

28D4

35D1

43D1

43D2

45D0

45D1

45D2

43D1

43D2

55D1

55D2

55D3

59D1

59D2

59D3

59D5

59D1

59D2

59D3

59D5

60D1

60D3

60D4

60D5

42H0

42H1

42H2

42H3

NEMA16

NEMA16

NEMA23

NEMA14

NEMA17

NEMA23

NEMA23

NEMA17

Bipolar

Unipolar

Unipolar

Unipolar

Bipolar

Unipolar

Bipolar

Unipolar

Unipolar

Bipolar

Unipolar

Unipolar

STEPANGLE SIZE WINDINGS MODEL TORQUE （mN-m） 0 10050 200 300 400 600 800 1000 1500 2000

STEPANGLE SIZE WINDINGS MODEL TORQUE （mN-m）

0 10050 200 300 400 600 800 1000 1500 2000

NEMA24

NEMA11

3

Brushless DC Motor - Lineup

TORQUE （mN-m）

Inner rotor

Inner rotor

Inner rotor

Inner rotor

Inner rotor

Inner rotor

Inner rotor

Inner rotor

Inner rotor

Inner rotor

Inner rotor

φ56.4mm

φ68mm

φ79mm

φ79mm

φ93mm

φ97.4mm

φ88.2mm

φ88.2mm

φ88.2mm

φ103mm

φ36mm

2200

4950

6000

6000

850

6500

6500

5330

1000

7700

DR-5236

DR-6638

DR-738

DR-7738

DR-8838

DR-9538

DR-8538-6

DR-8538-8

DR-8538-12

MDR-9538

LA034

SERIES MAJORDIAMETER MODEL RATED

SPEED (*)TORQUE （mN-m） 0 10050 200 300 400 600 800 1000 1500

*1:1520/*2:1800

Inner Rotor BLDC

*

*

*

*

*1 *2

*

*

*

*

*

*

Outer rotor

Outer rotor

φ14mm

φ20mm

11000

12000

DR-14312

DR-20312

0 105 20 30 40 60 80

Outer Rotor BLDC high speedSERIES MAJOR

DIAMETER MODEL RATEDSPEED （*）

*

*

Outer rotor

Outer rotor

Outer rotor

Outer rotor

Outer rotor

Outer rotor

Outer rotor

φ25mm

φ30mm

φ38mm

φ43mm

φ47mm

φ55mm

φ67mm

2200

1400

1200

5400

4000

3000

2400

DR-24312

DR-29312

DR-38312

DR-4316

DR-4734

DR-55310

DR-67316

TORQUE （mN-m） 0 105 20 30 40 60 80

Outer Rotor BLDC low speedSERIES MAJOR


*

*

*

*

*

*

*

Outer rotor

Outer rotor

Outer rotor

Outer rotor

Outer rotor

Outer rotor

Outer rotor

φ52mm

φ63mm

φ63mm

φ75mm

φ76mm

φ82mm

φ87mm

1800

1800

1800

3100

1800

2000

1800

DR-5238

DR-6236

DR-63310

DR-7538

DR-7638

DR-82316

DR-8738

TORQUE （mN-m） 0 10050 200 300 400 600 800

Outer Rotor BLDC low speedSERIES MAJOR


*

*

*

*

*

*

*

4

MODEL

STEP ANGLE VOLTAGE CURRENT RESISTANCE INDUCTANCE HOLDING TORQUE ROTOR INERTIA NUMBER OF LEADS MASS LENGTH deg. V A/ø V/ø mH/ø mN-m g-cm2 Lead g mm

SST35D1045 1.8 7.5 0.4 18.8 15.0 75.5 27 4 110 25max

SST35D1065 1.8 5.5 0.6 9.1 7.3 78.5 27 4 110 25max

SST35D1085 1.8 4.2 0.8 5.2 4.1 80.4 27 4 110 25max

SST35D1105 1.8 3.6 1.0 3.6 3.0 82.4 27 4 110 25max

SST35D1125 1.8 2.6 1.2 2.2 1.8 76.5 27 4 110 25max

1.8° Bipolar

2 Phase Hybrid Stepping Motor

SPECIFICATIONS

UL3265 AWG26

JST:

A3

1 A

Mating connector

BB42

B4B-PH-K-SS4B-PH-K-S

Wiring diagram

4-M3×0.5Depth 3 min

26±0.2

□ 35 25 max

26±0.2

200±10

1234Pin No.

ConnectorJST:PHR-4

（2）

15±0.5

φ10

-0 -0.1

φ3-0 -0.013

DIMENSIONS

35D SERIES35mm (NEMA14)

5

TORQUE RANGE

1.8° 35mm 35D1NEMA14 Bipolar

STEPANGLE SIZE WINDINGS MODEL TORQUE （mN-m） *FREQUENCY at 1,000pps

0 10050 200 300 400 600 800 1000 1500 2000

Operatethemotorkeepingthemotorsurfacetemperatureat100deg.Corlower.

PULL OUT TORQUE CURVE

FREQUENCY (PPS)

TORQUE (mN-m)

80

70

60

50

40

30

20

10

00 1000 2000 3000 4000 5000 6000

SST35D1045 0.4A/PhaseSST35D1065 0.6A/PhaseSST35D1085 0.8A/PhaseSST35D1105 1.0A/PhaseSST35D1125 1.2A/Phase

DRIVERChopperSUPPLYVOLTAGEDC24VEXCITINGMODE=2PhaseMOUNTINGwithrubberdamper

SST35D1XXX

Modifiedshaft,customwindingandothermodificationsareavailable.Pleasefeelfreetocontactsalesofficeorsalesagent.

6

ConnectorJST:S6B-PH-K-S

*1 Dimensions apply to double shaft models.*2 Available motor length 31mm～61.5mm

A3

1 A

BB64Wiring diagram

Mating connectorHousingContact

JST:PHR-6JST:SPH-002T-P0.5S

□ 42

4-M3×0.5Depth 4.5 min

31±0.2

31±0.2

123456Pin No.

（19）

（６.7）

L ±0.8（*2）（15）（*1）20±0.515±0.2

（2）

φ22

-0 -0.03

2-φ5-0 -0.0.13

4.5 ±0.1

4.5 ±0.1（*1）

（10）

1.8° Bipolar



SPECIFICATIONS

MODELSTEPANGLE VOLTAGE CURRENT RESISTANCE INDUCTANCE HOLDINGTORQUE ROTORINERTIA NUMBEROFPINS MASS LENGTH

deg. V A/ø V /ø mH/ø mN-m g-cm2 Pin g mm

SST43D104X 1.8 6.8 0.57 12.00 16.0 294 33 4 230 34

SST43D106X 1.8 4.9 0.85 5.75 8.1 304 33 4 230 34

SST43D108X 1.8 3.6 1.13 3.20 4.9 312 33 4 230 34

SST43D110X 1.8 3.0 1.41 2.10 3.3 319 33 4 230 34

SST43D112X 1.8 2.3 1.70 1.35 2.3 322 33 4 230 34

SST43D115X 1.8 1.9 2.12 0.90 1.5 309 33 4 230 34

SST43D204X 1.8 8.6 0.57 15.00 24.0 420 56 4 290 40

SST43D206X 1.8 5.1 0.85 6.00 11.8 432 56 4 290 40

SST43D208X 1.8 3.9 1.13 3.45 7.1 422 56 4 290 40

SST43D210X 1.8 3.4 1.41 2.40 4.8 441 56 4 290 40

SST43D212X 1.8 2.8 1.70 1.65 3.6 456 56 4 290 40

SST43D214X 1.8 2.3 1.98 1.15 2.5 441 56 4 290 40

SST43D216X 1.8 2.1 2.26 0.95 1.8 424 56 4 290 40

DIMENSIONS

Leadwiretypeisavailable.

7

FinalNumber5:SingleShaft6:DoubleShaft

TORQUE RANGE



1.8° 42mm 43D1

43D2

NEMA17 Bipolar


0 10050 200 300 400 600 800 1000 1500 2000


FREQUENCY (PPS)

TORQUE (mN-m)

250

200

150

100

50

00 2000 4000 6000 8000 10000

SST43D1045 0.57A/PhaseSST43D1065 0.85A/PhaseSST43D1085 1.13A/PhaseSST43D1105 1.41A/PhaseSST43D1125 1.70A/PhaseSST43D1155 2.12A/Phase

FREQUENCY (PPS)

TORQUE (mN-m)

350

300

250

200

150

100

50

00 2000 4000 6000 8000 10000

SST43D2045 0.57A/PhaseSST43D2065 0.85A/PhaseSST43D2085 1.13A/PhaseSST43D2105 1.41A/PhaseSST43D2125 1.70A/PhaseSST43D2145 1.98A/PhaseSST43D2165 2.26A/Phase

SST43D1XXX

SST43D2XXX



8

1.8° Unipolar



SPECIFICATIONS

DIMENSIONS

Leadwiretypeisavailable.



SST43D104X 1.8 9.6 0.4 24.0 16.0 215 33 6 230 34

SST43D106X 1.8 6.9 0.6 11.5 8.1 226 33 6 230 34

SST43D108X 1.8 5.1 0.8 6.4 4.9 233 33 6 230 34

SST43D110X 1.8 4.2 1.0 4.2 3.3 238 33 6 230 34

SST43D112X 1.8 3.2 1.2 2.7 2.3 237 33 6 230 34

SST43D115X 1.8 2.7 1.5 1.8 1.5 235 33 6 230 34

SST43D204X 1.8 12.0 0.4 30.0 24.0 314 56 6 290 40

SST43D206X 1.8 7.2 0.6 12.0 11.8 322 56 6 290 40

SST43D208X 1.8 5.5 0.8 6.9 7.1 321 56 6 290 40

SST43D210X 1.8 4.8 1.0 4.8 4.8 338 56 6 290 40

SST43D212X 1.8 4.0 1.2 3.3 3.6 341 56 6 290 40

SST43D214X 1.8 3.2 1.4 2.3 2.5 329 56 6 290 40

SST43D216X 1.8 3.0 1.6 1.9 1.8 313 56 6 290 40

9



*1 Dimensions apply to double shaft models.*2 Available motor length 31mm～61.5mm



□ 42


31±0.2

31±0.2

123456Pin No.

（19）

（６.7）

L ±0.8（*2）（15）（*1）20±0.515±0.2

（2）

φ22

-0 -0.03

2-φ5-0 -0.0.13

4.5 ±0.1

4.5 ±0.1（*1）

（10）

A154 A

BB

326Wiring diagram

COM(A)

COM(A)

A

TORQUE RANGE



1.8° 42mm 43D1

43D2

NEMA17 Unipolar


0 10050 200 300 400 600 800 1000 1500 2000


FREQUENCY (PPS)

TORQUE (mN-m)

200

150

100

50

00 2000 4000 6000 8000 10000


SST43D1XXX


FREQUENCY (PPS)

TORQUE (mN-m)

300

250

200

150

100

50

00 2000 4000 6000 8000 10000

SST43D2040 0.4A/PhaseSST43D2060 0.6A/PhaseSST43D2080 0.8A/PhaseSST43D2100 1.0A/PhaseSST43D2120 1.2A/PhaseSST43D2140 1.4A/PhaseSST43D2160 1.6A/Phase

SST43D2XXX


10


*1 Dimensions apply to double shaft models.*2 Available motor length 31mm～47.5mm*3 Bipolar winding is available.

A154 A

BB

326Wiring diagram



□ 42


31±0.2

31±0.2

123456Pin No.

（19.4）

（６.7）

L ±0.8（*2）（15）（*1）20±0.515±0.2

（2）

φ22

-0 -0.03

2-φ5-0 -0.0.13

4.5 ±0.1

4.5 ±0.1（*1）

（10.8）

COM(A)

COM(A)

A

1.8° Unipolar


45D SERIES42mm (NEMA17)High Holding Torque Model

SPECIFICATIONS



SST45D003X 1.8 13.2 0.3 44 23.6 221 45 6 200 32

SST45D005X 1.8 7.3 0.5 14.5 8.6 221 45 6 200 32

SST45D007X 1.8 4.8 0.7 6.8 4.6 221 45 6 200 32

SST45D010X 1.8 3.3 1.0 3.3 2.3 226 45 6 200 32

SST45D012X 1.8 3.1 1.2 2.6 1.8 237 45 6 200 32

SST45D015X 1.8 2.1 1.5 1.4 1.0 226 45 6 200 32

SST45D103X 1.8 14.7 0.3 49 28 265 56 6 230 35

SST45D105X 1.8 8.3 0.5 16.6 10.5 265 56 6 230 35

SST45D107X 1.8 5.5 0.7 7.8 5.5 268 56 6 230 35

SST45D110X 1.8 3.6 1.0 3.6 2.7 265 56 6 230 35

SST45D112X 1.8 3.3 1.2 2.8 2.1 284 56 6 230 35

SST45D115X 1.8 2.4 1.5 1.6 1.2 265 56 6 230 35

SST45D203X 1.8 18.9 0.3 63 41.5 361 82 6 310 42.5

SST45D205X 1.8 10.8 0.5 21.5 15.5 361 82 6 310 42.5

SST45D207X 1.8 7.1 0.7 10.2 8.0 361 82 6 310 42.5

SST45D210X 1.8 4.6 1.0 4.6 4.0 378 82 6 310 42.5

SST45D212X 1.8 4.2 1.2 3.5 3.2 392 82 6 310 42.5

SST45D215X 1.8 3 1.5 2.0 1.8 382 82 6 310 42.5

DIMENSIONS


11

TORQUE RANGE



1.8° 42mm 45D0

45D1

45D2

NEMA17 Unipolar


0 10050 200 300 400 600 800 1000 1500 2000


FREQUENCY (PPS)

TORQUE (mN-m)

180

160

140

120

100

80

60

40

20

00 1000 2000 3000 4000 5000 6000


FREQUENCY (PPS)

TORQUE (mN-m)

250

200

150

100

50

00 1000 2000 3000 4000 5000 6000


FREQUENCY (PPS)

TORQUE (mN-m)

350

300

250

200

150

100

50

00 20001000 40003000 5000 6000


SST45D0XXX SST45D1XXX

SST45D2XXX

DRIVER：ChopperSUPPLYVOLTAGE：DC24VEXCITINGMODE=2PhaseMOUNTING：Withrubberdamper



12

1.8° Bipolar



SPECIFICATIONS



SST59D110X 1.8 3.3 1.4 2.35 7.5 870 145 4 0.51 42

SST59D115X 1.8 2.2 2.1 1.05 3.4 870 145 4 0.51 42

SST59D120X 1.8 1.8 2.8 0.65 2.0 880 145 4 0.51 42

SST59D125X 1.8 1.5 3.5 0.43 1.3 890 145 4 0.51 42

SST59D130X 1.8 1.3 4.2 0.31 0.9 870 145 4 0.51 42

SST59D210X 1.8 3.9 1.4 2.75 9.2 1200 210 4 0.62 48.5

SST59D215X 1.8 2.5 2.1 1.20 4.1 1200 210 4 0.62 48.5

SST59D220X 1.8 2.0 2.8 0.70 2.4 1220 210 4 0.62 48.5

SST59D225X 1.8 1.7 3.5 0.48 1.6 1240 210 4 0.62 48.5

SST59D230X 1.8 1.4 4.2 0.34 1.1 1200 210 4 0.62 48.5

SST59D310X 1.8 4.4 1.4 3.15 11.1 1410 245 4 0.71 54.5

SST59D315X 1.8 2.9 2.1 1.40 5.1 1410 245 4 0.71 54.5

SST59D320X 1.8 2.4 2.8 0.85 3.0 1440 245 4 0.71 54.5

SST59D325X 1.8 1.9 3.5 0.55 2.0 1460 245 4 0.71 54.5

SST59D330X 1.8 1.7 4.2 0.41 1.3 1410 245 4 0.71 54.5

SST59D510X 1.8 6.7 1.4 4.80 19 2400 470 4 1.11 77.5

SST59D515X 1.8 4.4 2.1 2.10 8.4 2400 470 4 1.11 77.5

SST59D520X 1.8 3.5 2.8 1.25 4.9 2440 470 4 1.11 77.5

SST59D525X 1.8 3.0 3.5 0.85 3.3 2480 470 4 1.11 77.5

SST59D530X 1.8 2.5 4.2 0.60 2.2 2400 470 4 1.11 77.5

H JST

φD（mm）

φ6.35

φ6.35

φ6.35

φ8

MODEL

SST59D1XXX

SST59D2XXX

SST59D3XXX

SST59D5XXX

SHAFT Dia. （φD）

123456Pin No.

6

ConnectorJST:S6B-XH-A-1

* Dimensions apply to double shaft models.

φD　　（*）

（16）（*）

（11.6）

φ38.1±0.05

φD

20.6±0.5

（1.6）

47.14±0.2

4-φ4.5

□ 56.4

47.14±0.2

（21）

（10）

L±0.8

（5）

A3

1 A

BB

64Wiring diagram

Mating connector

Housing

Contact

JST:XHP-6

JST:SXH-001T-P0.6N

＋0.30

－0－0.013

－0－0.013

DIMENSIONS


13

TORQUE RANGE




1.8° 56mm 59D1

59D2

59D3

59D5

NEMA23 Bipolar


0 10050 200 300 400 600 800 1000 1500 2000

FREQUENCY (PPS)

TORQUE (mN-m)

700

600

500

400

300

200

100

00 2000 4000 6000 8000 10000 12000


FREQUENCY (PPS)

TORQUE (mN-m)

900

800

700

600

500

400

300

200

100

00 2000 4000 6000 8000 10000 12000





FREQUENCY (PPS)

TORQUE (mN-m)

1000

900

800

700

600

500

400

300

200

100

00 2000 4000 6000 8000 10000 12000


FREQUENCY (PPS)

TORQUE (mN-m)

2200

2000

1800

1600

1400

1200

1000

800

600

400

200

00 2000 4000 6000 8000 10000





14

1.8° Unipolar



SPECIFICATIONS



SST59D110X 1.8 4.7 1.0 4.70 7.5 667 145 6 0.51 42

SST59D115X 1.8 3.2 1.5 2.10 3.4 667 145 6 0.51 42

SST59D120X 1.8 2.6 2.0 1.30 2.0 680 145 6 0.51 42

SST59D125X 1.8 2.1 2.5 0.85 1.3 692 145 6 0.51 42

SST59D130X 1.8 1.9 3.0 0.62 0.9 667 145 6 0.51 42

SST59D210X 1.8 5.5 1.0 5.50 9.2 925 210 6 0.62 48.5

SST59D215X 1.8 3.6 1.5 2.40 4.1 925 210 6 0.62 48.5

SST59D220X 1.8 2.8 2.0 1.40 2.4 936 210 6 0.62 48.5

SST59D225X 1.8 2.4 2.5 0.95 1.6 947 210 6 0.62 48.5

SST59D230X 1.8 2.0 3.0 0.67 1.1 925 210 6 0.62 48.5

SST59D310X 1.8 6.3 1.0 6.30 11.1 1088 245 6 0.71 54.5

SST59D315X 1.8 4.2 1.5 2.80 5.1 1088 245 6 0.71 54.5

SST59D320X 1.8 3.4 2.0 1.70 3.0 1106 245 6 0.71 54.5

SST59D325X 1.8 2.8 2.5 1.10 2.0 1126 245 6 0.71 54.5

SST59D330X 1.8 2.5 3.0 0.82 1.3 1088 245 6 0.71 54.5

SST59D510X 1.8 9.6 1.0 9.60 19 1847 470 6 1.11 77.5

SST59D515X 1.8 6.3 1.5 4.20 8.4 1847 470 6 1.11 77.5

SST59D520X 1.8 5.0 2.0 2.50 4.9 1876 470 6 1.11 77.5

SST59D525X 1.8 4.3 2.5 1.70 3.3 1906 470 6 1.11 77.5

SST59D530X 1.8 3.6 3.0 1.20 2.2 1847 470 6 1.11 77.5

H JST

φD（mm）

φ6.35

φ6.35

φ6.35

φ8

MODEL

SST59D1XXX

SST59D2XXX

SST59D3XXX

SST59D5XXX

SHAFT Dia. （φD）

123456Pin No.

6

ConnectorJST:S6B-XH-A-1


φD　　（*）

（16）（*）

（11.6）

φ38.1±0.05

φD

20.6±0.5

（1.6）

47.14±0.2

4-φ4.5

□ 56.4

47.14±0.2

（21）

（10）

L±0.8

（5）

Mating connector

Housing

Contact

JST:XHP-6

JST:SXH-001T-P0.6N

＋0.30

－0－0.013

－0－0.013

6

A

A

COM（A）

4

2

1

3

Wiring diagram 5

B B

COM（B）

DIMENSIONS


15

TORQUE RANGE




1.8° 56mm 59D1

59D2

59D3

59D5

NEMA23 Unipolar


0 10050 200 300 400 600 800 1000 1500 2000

FREQUENCY (PPS)

TORQUE (mN-m)

600

500

400

300

200

100

00 2000 4000 6000 8000


FREQUENCY (PPS)

TORQUE (mN-m)

800

700

600

500

400

300

200

100

00 2000 4000 6000 8000





FREQUENCY (PPS)

TORQUE (mN-m)

900

800

700

600

500

400

300

200

100

00 2000 4000 6000 8000


FREQUENCY (PPS)

TORQUE (mN-m)

1600

1400

1200

1000

800

600

400

200

00 1000 2000 3000 4000 5000





16

ConnecotrJST:B6P-VH

6 5 4 3 2 1Pin No.

*1 Dimensions apply to double shaft models.*2 NEMA23 mount (47.14mm hole pitch and 38.1mm pilot boss) is available.*3 Bipolar winding is available.

7

L±0.8

（1.6）2-7.5±0.15（※1）

23（*1）

2-20±0.25（*1）

（13max）

50±0.2（*2）

4-φ4.5 ＋0.50

□ 60

50±0.2（*2）

24±0.5

φ36±0.03

2-φ8

2-20±0.25

2-7.5±0.15

-0-0.015

Mating connector

Housing

Contact

JST:VHR-6N

JST:SVH-21T-P1.1SVH-41T-P1.1

5

A

A

COM（A）

4

1

2

3

Wiring diagram 6

B B

COM（B）

(*2)

1.8° Unipolar



SPECIFICATIONS



SST60D110X 1.8 5.9 1.0 5.92 9.2 850 280 6 0.62 46.3

SST60D120X 1.8 3.0 2.0 1.52 2.5 880 280 6 0.62 46.3

SST60D130X 1.8 2.3 3.0 0.77 1.1 920 280 6 0.62 46.3

SST60D310X 1.8 7.3 1.0 7.33 14.0 1320 440 6 0.88 55.8

SST60D320X 1.8 3.7 2.0 1.87 3.9 1340 440 6 0.88 55.8

SST60D330X 1.8 2.8 3.0 0.94 1.8 1350 440 6 0.88 55.8

SST60D410X 1.8 9.2 1.0 9.20 17.4 1790 590 6 1.02 67.8

SST60D420X 1.8 4.8 2.0 2.40 4.9 1850 590 6 1.02 67.8

SST60D430X 1.8 3.6 3.0 1.19 2.2 1910 590 6 1.02 67.8

SST60D510X 1.8 12.6 1.0 12.60 29.0 2560 920 6 1.40 87.8

SST60D520X 1.8 6.4 2.0 3.20 8.0 2690 920 6 1.40 87.8

SST60D530X 1.8 4.7 3.0 1.55 3.7 2800 920 6 1.40 87.8

DIMENSIONS


17

TORQUE RANGE




1.8° 60mm Unipolar


0 10050 200 300 400 600 800 1000 1500 2000

60D1

60D3

60D4

60D5

FREQUENCY (PPS)

TORQUE (mN-m)

900

800

700

600

500

400

300

200

100

00 2000 4000 6000 8000

SST60D1100 1.0A/PhaseSST60D1200 2.0A/PhaseSST60D1300 3.0A/Phase

FREQUENCY (PPS)

TORQUE (mN-m)

1400

1200

1000

800

600

400

200

00 2000 4000 6000 8000





FREQUENCY (PPS)

TORQUE (mN-m)

1800

1600

1400

1200

1000

800

600

400

200

00 1000 2000 3000 4000 5000


FREQUENCY (PPS)

TORQUE (mN-m)

3000

2500

2000

1500

1000

500

00 500 1000 1500 2000 2500 3000 3500





18

φ17

φ4.762

15±0.8 L±0.8

（4）（1.4）

φ36

45°

φ46

4-M2.6×0.45

φ40.6±0

.1

-0 -0.03

-0 -0.013

L variationMotor length（mm）

13.721.05

0.9° Bipolar


36C SERIESø36mm

SPECIFICATIONS

MODELSTEPANGLE VOLTAGE CURRENT RESISTANCE INDUCTANCE HOLDINGTORQUE ROTORINERTIA NUMBEROFLEADS MASS LENGTH

deg. V A/ø V /ø mH/ø mN-m g-cm2 Wires g mm

SST36C0030 0.9 5.0 0.3 16.80 8.50 41.2 7.3 4 50 12.35

SST36C0050 0.9 3.2 0.5 6.40 3.16 41.2 7.3 4 50 12.35

SST36C0060 0.9 2.6 0.6 4.30 2.23 41.2 7.3 4 50 12.35

SST36C0080 0.9 2.0 0.8 2.53 1.24 41.2 7.3 4 50 12.35

SST36C1030 0.9 8.2 0.3 27.20 20.70 100 19.6 4 90 19.7

SST36C1050 0.9 5.2 0.5 11.50 9.00 100 19.6 4 90 19.7

SST36C1060 0.9 4.1 0.6 6.90 5.35 100 19.6 4 90 19.7

SST36C1080 0.9 3.3 0.8 4.10 3.16 100 19.6 4 90 19.7

Screw protrusionUL1061 AWG28

φ36

φ16

15±0.8

φ4.762

（2.3）

L±0.8

2-（2）2-1.65max

2-（12）

50.84

φ27.1

43.84±0.3

5±3

300 min

2-M3×0.5

ABrown

B

A

B

Red

Yellow

Orange

Wiring diagram

－0－0.03

－0－0.013

Option B

Motor length（mm）13.721.05

L variation

Depth 3 min

3.8

15±0.8 L±0.8

（1.55）（2）

φ36

4-R3.54-M3×0.5□ 31 ±0.1

□ 39

φ4.762

φ22

－0－0.013

－0－0.03

DIMENSIONS

MOUNTING OPTIONOption A

19 SST36CXXX2 SST36CXXX3

TORQUE RANGE




0.9° φ36mm 36C0

36C1

NEMA16 Bipolar


0 10050 200 300 400 600 800 1000 1500 2000

FREQUENCY (PPS)

TORQUE (mN-m)

40

35

30

25

20

15

10

5

00 2000 4000 6000 8000 10000 12000 14000 16000

SST36C0030 0.3A/PhaseSST36C0050 0.5A/PhaseSST36C0060 0.6A/PhaseSST36C0080 0.8A/Phase

FREQUENCY (PPS)

TORQUE (mN-m)

100

90

80

70

60

50

40

30

20

10

00 2000 4000 6000 8000 10000 12000

SST36C1030 0.3A/PhaseSST36C1050 0.5A/PhaseSST36C1060 0.6A/PhaseSST36C1080 0.8A/Phase

SST36C0XXX

SST36C1XXX



20

UL3265 AWG22

* Dimensions apply to double shaft models.* Bipolar winding is available.

L±0.8 （16）（*）

5.8±0.15（*）

15±0.25（*）

2-φ6.35

5.8±0.154-φ4.5±0.3

47.14 ±0.2

47.14±0.2

□ 56.4

5±2

300±10

15±0.2520±0.5

Ø38.1±0.03

（1.6）（5）

White

Blue

Yellow

Black

Red

Green

A

COM（A）

A

Wiring diagram

B

COM（B）

B

-0 -0.012

0.9° Unipolar


56C SERIES56mm (NEMA23)

SPECIFICATIONS

MODELSTEPANGLE VOLTAGE CURRENT RESISTANCE INDUCTANCE HOLDINGTORQUE ROTORINERTIA NUMBEROFLEADS MASS LENGTH

deg. V A/ø V /ø mH/ø mN-m g-cm2 Wires g mm

SST56C110X 0.9 5.3 1.0 5.3 7.0 460 120 6 0.45 39.4

SST56C320X 0.9 3.2 2.0 1.6 3.5 1029 245 6 0.71 54.5

SST56C530X 0.9 3.3 3.0 1.1 2.5 1569 470 6 1.10 76

DIMENSIONS


21

TORQUE RANGE




0.9° 56mm 56C1

56C3

56C5

NEMA23 Unipolar


0 10050 200 300 400 600 800 1000 1500 2000

FREQUENCY (PPS)

TORQUE (mN-m)

500

400

300

200

100

00 1000 2000 3000 4000 5000

SST56C1100 1.0A/Phase

FREQUENCY (PPS)

TORQUE (mN-m)

1000

800

600

400

200

00 1000 2000 3000 4000 5000


FREQUENCY (PPS)

TORQUE (mN-m)

1500

1200

900

600

300

00 1000 2000 3000 4000 5000


SST56C1100 SST56C3200

SST56C5300




22


1.8°

0.9°

Unipolar

Unipolar


Depth 3.5 min

ConnectorMolex:53254-0670

654321Pin No.（8）

4.5±0.15（*）

（10）（*）

（2）

4.5±0.15

L±0.75

4-M2.5×0.45

23 ±0.2

□ 28

（18）

23±0.2

（6）

2-φ5

φ22

15±0.25

20±0.5

4

A

ACOM（A）

6

21

3

Wiring diagram 5

B BCOM（B）


Molex:51065-0600Molex:50212-8000


31.539.550.5

－0－0.033

－0－0.013


UL3265 AWG26


（10）（*）

φ5　　（*）

φ5

φ22

31±0.2

31±0.2

□ 38.8

5±3

300min

L±0.824±0.5（2）

White

Yellow

Black

Brown

Red

Orange

A

COM（A）

A

Wiring diagram

B

COM（B）

B


3137

－0－0.03

－0－0.012

－0－0.012


39C SERIES39mm (NEMA16)

DIMENSIONS

DIMENSIONS

23

*Bipolarwiringisavailable.



3.75°

1.8°

Unipolar

Unipolar

Depth 4.5 min4-M3×0.5

UL3265 AWG26


4.5±0.1（*）

（15）（*）

4.5±0.1

2-φ5

φ22

20±0.5

15±0.2

31±0.2

31±0.2

□ 42

5±3

300min

（2）

L±0.8

White

Yellow

Black

Brown

Red

Orange

A

COM（A）

A

Wiring diagram

B

COM（B）

B


28313844.5

－0－0.03

－0－0.013

UL3265 AWG22


φ56.4

φ6.35　　（*）

（19）（*）

φ38.1±0.025

φ6.35

（1.6）

20.6±0.5

47.14±0.2

4-φ5

47.14±0.2

□ 56.4

（φ66.67）

5±3

300min

（4.8）

L±0.8

White

Yellow

Black

Brown

Red

Orange

A

COM（A）

A

Wiring diagram

B

COM（B）

B


3849.555.5

－0－0.013 －0－0.013

＋0.30

42H SERIES42mm (NEMA17)


DIMENSIONS

DIMENSIONS

24



Outer Rotor Brushless DC Series

pDR-14312

pDR-20312

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (mA)

15000

12500

10000

7500

5000

2500

0

600

500

400

300

200

100

00.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5

I

N

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (mA)

15000

12500

10000

7500

5000

2500

0

600

500

400

300

200

100

00.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5

I

N

φ8

2.4

φ4

φ11.4

φ13.8

2-M2×0.4 6H

2

2-R2.5

2318

12.11.6

3×M2PCD 13.5

0.9 11.2

φ3

φ20

5

15

φ20

φ9.4

RATEDVOLTAGE RATEDTORQUE RATEDSPEED RATEDCURRENT

DC12V 0.5mN-m 11000r/min 180mA


DC12V 1mN-m 12000r/min 250mA

25

TORQUE RANGE

Outer rotor

Outer rotor

Outer rotor

Outer rotor

φ14mm

φ20mm

φ25mm

φ30mm

11000

12000

2200

1400

DR-14312

DR-20312

DR-24312

DR-29312


SPEED (*)TORQUE （mN-m） 0 105 20 30 40 60 80

*

*

*

*

Thesespecificationsareforreferenceonly.Formoredetails,pleasefeelfreetocontactsalesofficeorsalesagent.

pDR-24312

pDR-29312

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (mA)

4000

3000

2000

1000

0

400

300

200

100

00.0 2.0 4.0 6.0 8.0 10.0

I

N

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (mA)

3000

2500

2000

1500

1000

500

0

300

250

200

150

100

50

00.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0

I

N

32

25

22

φ2

φ11

14

Ø25

40

2-φ2.3

38

46

30

28

φ15

φ2

2 15

φ30

2-φ3.2





26


pDR-38312

pDR-4316

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (mA)

3000

2500

2000

1500

1000

500

0

600

500

400

300

200

100

00 5 10 15 20 25

I

N

（57）

49.5

28

28

2-φ3

φ4

φ14

2 24.5

φ38



TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

10000

9000

8000

7000

6000

5000

4000

3000

2000

1000

0

4.00

3.50

3.00

2.50

2.00

1.50

1.00

0.50

0.000 20 40 60 80 100

I

N

PCD 36

φ43

φ4

5-M3×P0.5-6H

φ43.2

27

5-60°

φ26

21.7max


DC24V 60mN-m 5400r/min 2.0A

27

TORQUE RANGE


pDR-67316

pDR-4734

Outer rotor

Outer rotor

Outer rotor

Outer rotor

φ38mm

φ43mm

φ67mm

φ47mm

1200

5400

2400

4000

DR-38312

DR-4316

DR-67316

DR-4734


SPEED (*)TORQUE （mN-m） 0 105 20 30 40 60 80

*

*

*

*

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

4000

3500

3000

2500

2000

1500

1000

500

0

8.00

7.00

6.00

5.00

4.00

3.00

2.00

1.00

0.000 50 100 150 200 250

I

N

M3-6HDEPTH 8min 2.3

8.2511.3

12 6.8

φ74

φ83BOLT CIRCLE

φ51

7-φ8

6

1326

20°3-M2-6HDepth 5.5min

3-95°

3-120°

φ10

φ38φ67

φ71.5


DC12V 58.8mN-m 2400r/min 2.2A

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

6000

5000

4000

3000

2000

1000

0

6.00

5.00

4.00

3.00

2.00

1.00

0.000 10 20 30 40

I

N

80

（φ120）

φ48

80

φ6

8.727.7



28


pDR-5238

pDR-55310

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

2500

2000

1500

1000

500

0

2.50

2.00

1.50

1.00

0.50

0.000 20 40 60 80 100 120

I

N

23.3□ 56

23.338

φ52

φ20

4-φ3.5



TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

6000

5000

4000

3000

2000

1000

0

6.00

5.00

4.00

3.00

2.00

1.00

0.000 20 40 60

I

N

80

（φ120）

φ54.6

80

φ5

8.732.74



29

TORQUE RANGE


pDR-6236

pDR-63310

Outer rotor

Outer rotor

Outer rotor

Outer rotor

φ52mm

φ55mm

φ63mm

φ63mm

1800

3000

1800

1800

DR-5238

DR-55310

DR-6236

DR-63310


SPEED (*)TORQUE （mN-m） 0 50 100 150 200 250 300

*

*

*

*

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

2500

2000

1500

1000

500

0

3.00

2.50

2.00

1.50

1.00

0.50

0.000 50 100 150 200 250

I

N

25.4625.46

□ 64

φ20

43

φ63

4-φ4.5


DC24V 160mN-m 1800r/min 2.1A

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

2500

2000

1500

1000

500

0

2.50

2.00

1.50

1.00

0.50

0.000 50 100 150

I

N

25.4625.46□ 6434.5

φ20

φ63

4-φ4.5


DC24V 110mN-m 1800r/min 1.7A

30


pDR-7538

pDR-7638

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

6000

5000

4000

3000

2000

1000

0

6.00

5.00

4.00

3.00

2.00

1.00

0.000 20 40 60 80 100 120

I

N

90

（φ134）

φ74.9

90

φ8

8.734.05


DC12V 100mN-m 3100r/min 4.3A

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

2500

2000

1500

1000

500

0

3.50

3.00

2.50

2.00

1.50

1.00

0.50

0.000 50 100 150 200 250 300

I

N

4×6

34 34

80

43

φ26

φ76

4-φ5.5


DC24V 250mN-m 1800r/min 3.4A

31

TORQUE RANGE


pDR-82316

pDR-8738

Outer rotor

Outer rotor

Outer rotor

Outer rotor

φ75mm

φ76mm

φ82mm

φ87mm

3100

1800

2000

1800

DR-7538

DR-7638

DR-82316

DR-8738


SPEED (*)TORQUE （mN-m） 0 10050 200 300 400 600 800

*

*

*

*

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

3500

3000

2500

2000

1500

1000

500

0

7.00

6.00

5.00

4.00

3.00

2.00

1.00

0.000 100 200 300 400

I

N

DEPTH 5max

27 2max

（12.8）

φ82

30°

3-M5-6H

φ88

φ10

30°

4457.5

（101.5）

40

φ48

3-φ15

φ25

3


DC24V 230mN-m 2000r/min 3.7A

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

2500

2000

1500

1000

500

0

7.00

6.00

5.00

4.00

3.00

2.00

1.00

0.000 100 200 300 400 500 600

I

N

37

100

37

60

φ26

φ96

φ87

4-φ4.5


DC24V 440mN-m 1800r/min 5.8A

32

Inner Rotor Brushless DC Series

33

pDR-5236

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

4000

3500

3000

2500

2000

1500

1000

500

0

0.80

0.70

0.60

0.50

0.40

0.30

0.20

0.10

0.000.0 2.0 4.0 6.0 8.0 10.0 12.0

I

N

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

8000

7000

6000

5000

4000

3000

2000

1000

0

1.60

1.40

1.20

1.00

0.80

0.60

0.40

0.20

0.000 10 20 30 40

I

N

23

（φ3.18）

φ56.4

33

33

1.6

7.5 36.632

φ8

φ68.4

φ23.6

15

0.8

3

3×φ4.2±0.2

37°

φ78±0.3

φ86

37°

φ70.5

φ23.6



RATEDVOLTAGE MAXTORQUE RATEDSPEED MAXCURRENT

DC24~48V 45mN-m 4950r/min 1.2ApDR-6638

TORQUE RANGE


pDR-738

pDR-7738

34

Inner rotor

Inner rotor

Inner rotor

Inner rotor

φ56.4mm

φ68mm

φ79mm

φ79mm

2200

4950

6000

6000

DR-5236

DR-6638

DR-738

DR-7738


SPEED(*)TORQUE （mN-m） 0 10050 200 300 400 600 800 1000 1500

*

*

*

*

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

10000

8000

6000

4000

2000

0

1.50

1.20

0.90

0.60

0.30

0.000 10 20 30 40 50 60

I

N

P.C.D. 102 120°32.8max

35.8max

（φ8）

8max

（φ24）

（φ79）

（φ24）

3-φ4.2

3-（16）

（φ91）

（R55）

RATEDVOLTAGE MAXTORQUE RATEDSPEED RATEDCURRENT

DC24(48)V 45mN-m 6000r/min 1.2A

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

10000

9000

8000

7000

6000

5000

4000

3000

2000

1000

0

2.50

2.00

1.50

1.00

0.50

0.000 20 40 60 80 100

I

N

P.C.D.102 120° 7.4 max

39.1 max

34 max

（φ8）

（φ24）

（φ24）

（φ79）

2-φ4.2

3-（16）

（R56）

（φ100）


DC24~48V 65mN-m 6000r/min 1.4A

P.C.D. 102 120°39.2max

36.8max7.9max

（φ89.4）

（φ87）

（φ8）

（φ24）

（φ24）

3-φ4.2

3-（16）

（R56）

（φ100）


pDR-8538-6type

pDR-8538-8type

pDR-8538-12type

TORQUE (mN-m)SPEED N (r/min)

CURRENT I (A)

8000

7000

6000

5000

4000

3000

2000

1000

0

0.80

0.70

0.60

0.50

0.40

0.30

0.20

0.10

0.000 10 20 30 40 50 60 70 80

I

N

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

8000

7000

6000

5000

4000

3000

2000

1000

0

0.80

0.70

0.60

0.50

0.40

0.30

0.20

0.10

0.000 10 20 30 40 50 60 70 80

I

N

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

8000

7000

6000

5000

4000

3000

2000

1000

0

0.80

0.70

0.60

0.50

0.40

0.30

0.20

0.10

0.000 10 20 30 40 50 60 70 80

I

N

P.C.D. 102 120° 32.8max8.4max

（φ25.2）

（φ8）

（φ88.2）

（φ25.2）

3-（16）

（φ91）

（R55）

3-φ4.2 35.8max

P.C.D. 102 120° 8.5max45.8max37.8max

（φ25.2）

（φ25.2）（φ8）

（φ88.2）

3-φ4.23-（16）

（R55）

（φ91）


DC140(280)V 75mN-m 6500r/min 0.6(0.3)A


DC140(280)V 90mN-m 6500r/min 0.6(0.3)A


DC140(280)V 115mN-m 5330r/min 0.7(0.4)A

35

TORQUE RANGE


pDR-8838

pDR-9538

Inner rotor

Inner rotor

Inner rotor

Inner rotor

Inner rotor

φ88.2mm

φ88.2mm

φ88.2mm

φ93mm

φ97.4mm

6500

6500

5330

850

DR-8538-6

DR-8538-8

DR-8538-12

DR-8838

DR-9538


SPEED(*)TORQUE （mN-m） 0 10050 200 300 400 600 800 1000 1500

*1:1520/*2:1800 *1 *2

*

*

*

*

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

3000

2500

2000

1500

1000

500

0

1.20

1.00

0.80

0.60

0.40

0.20

0.000 50 100 150 200 250 300 350

I

N

39

（φ8）

（φ93）


DC140(280)V 250(200)mN-m 1520(1800)r/min 0.36(0.17)A

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

2500

2000

1500

1000

500

0

0.50

0.40

0.30

0.20

0.10

0.000 100 200 300 400 500 600

I

N

（φ97.4）（φ8）

57.6

□106

2-89.8

2-89.8

4-φ5


DC280V 400mN-m 850r/min 0.2A

36


pMDR-9538[RESINMOLD]

pLA034

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

3000

2000

1000

0

1.00

0.50

0.000 200 400 600 800 1000 1200

I

N

P.C.D.127 11.5

14.5

（29.5）

104.9

75.4

（φ12）

（φ103）

4-φ6

4-（36）

（φ142）

（φ36.2）

（φ99）

（φ74）

RATEDVOLTAGE MAXTORQUE RATEDSPEED MAXCURRENT

DC240(380)V 1000mN-m 1000r/min 0.6A

Inner rotor φ103mm 1000MDR-9538


SPEED(*)TORQUE （mN-m） 0 10050 200 300 400 600 800 1000 1500

*

TORQUE (mN-m)

SPEED N (r/min)

CURRENT I (A)

14000

12000

10000

8000

6000

4000

2000

0

1.00

0.80

0.60

0.40

0.20

0.000 20 40 60 80 100 120

I

N

P.C.D.26（14.6）（1）

（11.4）

6

30

φ18

4-M3 depth 3max

（φ36）

（φ5）

60

VOLTAGE MAXOUTPUT TORQUE SPEED CURRENT

DC140V 80W 100mN-m 7700r/min 0.9A

Inner rotor φ36mm 7700LA034


SPEED(*)TORQUE （mN-m） 0 10050 200 300 400 600 800 1000 1500

*

37

4-M4-6HP.C.D. 60

□ 54

5 2±0.2（2.5）

φ8

φ70

2±0.2

L

2.5

L25

φ8

φ50


pLA052Standardmodel

Encodermodel

SPECIFICATIONS

MODELNAME

RATEDPOWER

RATEDVOLTAGE

RATEDSPEED

RATEDTORQUE

RATEDCURRENT

TORQUECONSTANT

BACKEMFCONSTANT

PHASERESISTANCE

PHASEINDUCTANCE

INSTANTAN-EOUSPEAK

TORQUE

MAX.SPEED

ROTORINERTIA

POWERRATE

MECHANICALTIME

CONSTANT

ELECTRICALTIME

CONSTANTMASS

W V-DC r/min N-m A N-m/A V-s/rad V mH N-m r/min g-cm2 kW/s ms ms kg

LA052-040E 4024

30000.127 2.5 0.05 5.0×10-2 1.18 4.4 0.382 5000 110 1.48 5.2 3.7 0.6

75 0.127 0.9 0.148 14.8×10-2 11.0 42 0.382 5000 110 1.48 5.5 3.8 0.6

LA052-080E 8024

30000.255 4.6 0.059 5.9×10-2 0.60 1.4 0.765 5000 117 5.56 2.0 2.3 0.6

75 0.255 1.8 0.191 19.1×10-2 6.2 14 0.765 5000 117 5.56 2.0 2.3 0.6

LA052-110E 110 75 3000 0.353 2.1 0.196 19.6×10-2 3.71 9.1 1.059 5000 185 6.74 1.8 2.5 0.6

TYPE OUTPUTCIRCUIT

RESOLUTION NUMBEROFCHANNELS

POWERSUPPLY

CONSUMPTIONCURRENT

OUTPUTVOLTAGE

PHASEOFFSET

FREQUENCYRESPONSE

OPERATINGTEMP.RANGE

P/R V-DC mA V-DC kHz

HALL SENSOR OPENCOLLECTOR − C1,C2,C3 5±5% 40max. 14.4min.

(Isink=15mAmax.) − − 07c~607c

(TEMPERATUREINSIDEOFENCODER)ENCODER TTL

COMPATIBLE 200,400 A,B 5±10% 50max.VOH=2.4min.VOL=0.4max.

(Isink=3.2A)

a,b,c,d =90°±45° 20min.

MOTORTYPE STANDARDL ENCODERL

LA052-040E 67.6 86.1

LA052-080E 67.6 86.1

LA052-110E 89.6 106.1

*Thevaluesabovearemeasuredwithaluminummountingplateof200×200×6mm

38

Power Brushless Series

pDR-83310(100W)

pDR-83310(200W)

TORQUE (N-m)

SPEED N (r/min)

6000

5000

4000

3000

2000

1000

00.00 0.05 0.10 0.15 0.20 0.25 0.30 0.35 0.40 0.45 0.50

220

30

φ83

φ12

φ104

3.54h9

4h9

φ8.6

90

9085

－0－0.018

－0－0.035

RATEDVOLTAGE RATEDTORQUE RATEDSPEED

AC200-240V 0.32N-m 3000r/min

TORQUE (N-m)

SPEED N (r/min)

5000

4500

4000

3500

3000

2500

2000

1500

1000

500

00.00 0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00

220

φ83

φ14

30

5h9

4 5h9

φ104

φ8.6

90

90105

－0－0.035

－0－0.018


AC200-240V 0.64N-m 3000r/min

39


pDR-113310(400W)

pDR-113310(750W)

TORQUE (N-m)

SPEED N (r/min)

5000

4500

4000

3500

3000

2500

2000

1500

1000

500

00.00 0.20 0.40 0.60 0.80 1.00 1.20 1.40 1.60 1.80 2.00

Parallel keys4-（R11）

φ145

（11）

φ8.6

40

5（25）

126

126

（32.1） 5h9

5h9

φ14

φ110

（39.45） 10

93.5

－0－0.035

－0－0.018

4


AC200-240V 1.72N-m 3000r/min

TORQUE (N-m)

SPEED N (r/min)

5000

4500

4000

3500

3000

2500

2000

1500

1000

500

00.00 0.50 1.00 1.50 2.00 2.50 3.00

Parallel keys4-（R11）

φ145

φ8.6

10 5

（11）

126

5h9φ110

126

（25）

40

φ16

（32.1） 5h9

（39.45）

118.5

－0－0.035

－0－0.018

5


AC200-240V 2.39N-m 3000r/min

40

Brushless DC Blower Series

[OUTER ROTOR]

pDRF-28208

pDRF-6338

[INNER ROTOR]

pDRF-738

AIR FLOW (m3/min)

VOLTAGE=12（V） FIXED

STATIC PRESSURE (Pa)

250

200

150

100

50

00.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8

28

2

3-φ4.3

（103）

38

44.9

φ46

48

29.9

38.3

56.9

28.4

45

46.7

（99.2）

RATEDVOLTAGE MAXAIRFLOW MAXPRESSURE MAXCURRENT FAN

DC12V 0.6m3/min 196Pa 0.6A SiroccoFan

AIR FLOW (m3/min)

VOLTAGE=24（V） FIXED


500

400

300

200

100

00.0 0.5 1.0 1.5 2.0 2.5

（2-28）

（57.4）

（53）

（38）

（58）

（48）

（3）

（40）

（60.4）

（59）

（15）（60.4）

（55.5）

（73）

（159）

（60.4）

（60.4）

（75.2）

（143）



AIR FLOW (m3/min)

SPEED=5000（r/min） FIXED


800

700

600

500

400

300

200

100

00.0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0

3-φ3.6Burring

LABEL

（φ24）

42

18

2-8

（φ79）

5

（50）（127.1）

（48.4）

8

30

（58.4）

（138.5）

（36）



41


pDRF-8538Atype

pDRF-8538Btype

pDRF-8538Ctype

AIR FLOW (m3/min)



500

400

300

200

100

00.0 1.0 2.0 3.0 4.0

122.5max

（φ63）

109.2max

124.8max

（32）（35）

87max（50）

（54）

（48.4）

（φ25.2）

（φ88.2）



AIR FLOW (m3/min)



2000

1500

1000

500

00.0 0.5 1.0 1.5 2.0

（37）

（45）（46.7）

92.7max

（62）

（26）

（48）

（56）

（φ25.2）

（φ88.2）

95.9max

182.3max

（φ54）

157.6max

162.3 max


DC120V 2.0m3/min 1300Pa 1.2A TurboFan

AIR FLOW (m3/min)



2000

1500

1000

500

00.0 0.5 1.0 1.5 2.0

（45）

（37）

（47.5）

（52.6）

（32.5）

（φ25.2）

95max

（φ88.2）

218max

202max

202max

φ54.5


DC120V 1.7m3/min 1650Pa 1.8A TurboFan

42

[INNER ROTOR]


Polygon Mirror Scanner Motor

SPECIFICATIONS

MODELRATEDVOALTAGE RATEDSPEED STARTINGCURRENT REFLECTION

V-DC r/min A %

DR-24312 24 45000 2.5 80

DR-30312 24 35000 2.5 80

STANDARD MIRROR SPEC

FACE INNERDIAMETER(ø) THICKNESS(mm) PLANEFLATNESS

6 facets25.98 t2 l/4

24.64 t2 l/4

36.00 t2 l/4

DIMENSIONS [EXAMPLE]

DR-24312

DR-30312

11.538

68

11.548

68

43

DR-24312(MiniPolygon)

*atl=632.8nm

Motor Customizations

Shaft Machining Helicalgear

Knurl

Keygroove

Flat/Doubleflat

Pressfitgear/pulley

Mounting Attachmentplate

Customizedbracket

Mountdamper

Others Rolldamper

Motorwithencoder

NEMA 23 gear boxNEMA 17 gear box

Driver and Controller Integrated Stepping Motor

Geared Stepping Motor

Hollow shaft Stepping Motor Gear Assembly

Inadditiontocustomwinding,harnessandpostconnector,

belowcustomizationsareavailable.Pleasefeelfreetocontactsalesofficeorsalesagent.

44

Motor Customization

Geared Motor

45

BRUSHLESSDCWITH42mmGEARBOX

□42

3

2161

12

φ5

φ17.4

4-M3active length 8min

33.94

4.5

33.94

8

MODEL SIZE VOLTAGE GEARRATIO SPEED PERMISSIVE

TORQUEPERMISSIVE

OVERHANGLOADPERMISSIVE

THRUSTLOAD

DRG-38312P42 DC24V 1/12 240rpm 0.45N-m (15mmfrommountingsurface)

49N 14.7N

P42 DC24V 1/50 21rpm 1N-m (15mmfrommountingsurface)49N 14.7N


46

BRUSHLESSDCWITH60mmGEARBOX

4-φ4.5 through

7.5

□60

10

25

L 32

4

φ10

φ24

4

T

L+5

49.5

49.5

MODEL SIZE VOLTAGE GEARRATIO SPEED PERMISSIVE

TORQUEPERMISSIVE

OVERHANGLOADPERMISSIVE

THRUSTLOAD

LA052-

040E-xxx

P60 DC24V 1/20 150rpm 2.2N-m (22mmfrommountingsurface)150N 39.2N




T= 93.1~113.1mm

L= 1/5,1/10,1/15,1/20 34mm

1/30,1/50,1/100 38mm

1/200 43mm

2 Phase Hybrid Stepping Motor Driver

3-33

2-27.1

33R1.75

R1.75

59 3

59 3

44.1

6.4

3.5

65

2-3.5

CN2

CN1

CN3

11

1

3.5

31

11

3-33

2-27.1

33

CN3

CN2

CN1

1

R1.75

R1.75

3.5

31

59 3

59 3

44.1

6.4

3.5

65

2-3.5

MODELNAMEUNIPOLAR BIPOLAR

SDU22C701 SDB21C702

Specification items

PowerInputvoltage DC24V DC24V

Currentconsumption 3A 1.5A

Drivingmethod Unipolarchopperdrive Bipolarchopperdrive

Functionswitch

Pulseinputmode 1pulseinputmode/2pulseinputmode

Runningcurrent 0-2.73A(16steps) 0-1.5A(16steps)

Holdingcurrent 0-2.09A(10steps) 0-1.5A(16steps)

Stepdivision Full,Half,1/4,1/8,1/16

Input

•CW/CCWsignal(Pulseanddirectionsignal)•MotorEnable/Disable•StepdivisionEnable/Disable•AutopowerdownEnable/Disable*Photocouplerinsulation

Output Excitationtimingsignal

Indicator LED PowerX1StatusX1

Protectivefunctions Excessivecurrentprotection&Excessivetemperatureprotection

OperatingconditionAmbienttemperature 0-45deg.C

Ambienthumidity 85%orless(Nocondensingandnofreezing)

SDU22C701 SDB21C702

DIMENSIONS

47

Servo Motor Driver

11

111

1

CN11CN5CN1 CN6CN4CN374

115108

307

6-φ3 8-R23.5

75

37.5

683.5

8

MODELNAMESTANDARD

DDB38T711

Specification items

PowerOutputPower 100W

InputVoltage DC24V

Control

Torquecontrol Internalsetting(0-400%)/Analoginput(Optional)

Speedcontrol Internalsetting(0-100%)/Analoginput(Optional)

PositioncontrolReferencepulseinput1.90deg.phasedifferencemode2.2pulseinputmode3.1pulseinputmode

Communication RS-485

ParametersettingControlmode,Pulseinputmode,Electricalgear,Gain,Positioncompletion,Speederror,Torquecontrollock,Accelerationtime,Decelerationtime,Speed,Positionandothers

Input

2channels(ReferencePulse) Pulse(CW/PLS)/(CCW/DIR)

7channels(Multipurpose)

Thesignalallocationandlogiccanbemodified

•ServoOn/Off•Positionclear•Externalerror•Directionlogic•Start/Stop

•Controlmode•Alarmreset•Presetmemory•Initialdrive•Others

Analog1channel(0-5VDC)Thesignalallocationcanbemodified•Torquecontrol•Speedcontrol

•Others

Output

2channels(Encoderpulse) Motorencoderpulseoutput(400ppr/1000ppr)

4channels(Multipurpose)

Thesignalallocationandlogiccanbemodified•ServoOn/Off•Errors•Status

•Ready/busy•Others

Functionswitch Dipswitch 8bit

Indicator LED PowerX1StatusX2

ProtectivefunctionsOvervoltage,Undervoltage,Motortemperature,Hallsensorsignalerror,Encodersignalerror,Overcurrent,Speederror,Servodeviation,Initialdriveerror

OperatingconditionAmbienttemperature 0-50deg.C

Ambienthumidity 85%orless(Nocondensingandnofreezing)

STANDARD(DDB38T711)

DIMENSIONS

200WversionandDC24-48Vinputversionsareavailable.Othercustomization,pleasefeelfreetocontactasalesofficeorsalesagent.

48

Brushless DC Motor Driver

MODELNAMEENTRY STANDARD ADVANCED

DDB33V700SERIES DDB38V700SERIESA DDB38V700SERIESB

Specification items

PowerOutputpower 60W 100W 100W

Inputvoltage DC24V DC24V DC24V

Control

Speedcontrol DigitalPI DigitalPI DigitalPI

Speedrange 400-3000rpm 400-3000rpm 400-3000rpm

Speedfluctuation ±1% ±1% ±1%

Speedcontrolmode1.Variableresistor2.ExternalDCvoltage(0-5V)

1.Variableresistor2.ExternalDCvoltage(0-5V)3.Externalfrequency

1.Variableresistor2.ExternalDCvoltage(0-5V)3.Externalfrequency

Accelerationtime250-3000msec.

(0-3000rpm)(Variableresistor)

250-3000msec.(0-3000rpm)Preset

(Serialcommunication)

250-3000msec.(0-3000rpm)Preset

(Serialcommunication)

Regenerativecircuit Optional Optional

SerialCommunication Original Original Original/RS485

Interface Opencollector Opencollector Photocoupler

Input

Start/Stop 4 4 4

Run/Brake 4 4 4

CW/CCW 4 4 4

Alarmreset 4 4 4

INTVR/EXT 4 4 4

VRM(Analog) 4 4 4

EXTVR/EXTFR 4 4

Externalfrequency 4 4

Multifunction0(Currentlimit) 4 4

Multifunction1(Currentlimit) 4 4

Output

Speed FGpulse FGpulse A/Bchannel

Alarm 4 4 4

Speederror 4 4

Multifunction0 4 4 4

Multifunction1 4

Indicator LEDPowerX1StatusX2

PowerX1StatusX2

Protectivefunction

Overvoltage 4 4 4

Undervoltage 4 4 4

Overload 4 4 4

Overcurrent 4 4 4

Hallsensorsignalerror 4 4 4

Currentmonitor 4 4

Regenerativedetection 4 4

Thermalprotection 4 4

Operatingcondition

Ambienttemperature 0-50deg.C 0-50deg.C 0-50deg.C

Ambienthumidity85%orless

(Nocondensingandnofreezing)

85%orless(Nocondensingand

nofreezing)

85%orless(Nocondensingand

nofreezing)

200WversionandDC12-48Vinputversionsareavailable.Othercustomizationanddetailedspecificaion,pleasefeelfreetocontactsalesofficeorsalesagent.

49

CN1CN5CN3

CN4

CN2

（C4）（C2）

2-R42-Ø3.5

4215

2-24.6

644

3872

66

335max

111


111

4-φ3

1151083.5

75

37.5

683.5

8

307

6-φ3 8-R2

1151083.5

75

37.5

683.5

8

307

11

111

1


DIMENSIONS

DDB38V700SERIESBADVANCED

DDB38V700SERIESASTANDARD

DDB33V700SERIESENTRY

50

Stepping Motor Operation & Theory

SKC Stepping Motor Part Number1. Stepping motor model number description - SKC’s stepping motor model number is determined by the following:

Lead Wire Configuration and Color Guide

Typical Drive Circuits

Features of Stepping Motors2. Digital control of speed and position.

3. Open loop system with no position feedback required.

4. Excellent response to acceleration, deceleration and stecommands.

5. Noncumulative positioning error (± 5% of step angle).

6. Excellent low speed/high torque characteristics without gear reduction.

7. Inherent detent torque.

8. Holding torque when energized.

9. Bidirectional operation.

10. Can be stalled without motor damage.

11. No brushes for longer trouble free life.

12. Precision ball bearings.

Typical Stepping Motor ApplicationsFor accurate positioning of X-Y tables, plotters, printers, facsimile machines, medical applications, robotics, barcode scanners, image scanners, copiers, etc.

ConstructionThere are three basic types of step motors: variable reluctance (VR), permanent magnet (PM) and hybrid. SKC adopted the hybrid type step motor design because it has some of the desirable features of both the VR and PM. It has high resolution, excellent holding and dynamic torque and can operate at high stepping rate.

In Fig. 5-1 construction of SKC stepping motor is shown.

In Fig. 5-2 the detail of rotor construction is shown.

Fig. 5-1 Stepping Motor Construction

Fig. 5-2 Rotor Construction

S S T

Hybrid TypeStepping Motor

Motor Size(O.D. in mm)

Motor LengthO to 5

Construction –C: Steel HousingO: No Steel Housing

Shaft ConfigurationO: Single1: Double

Motor Characteristics (1-99)

Step Angle

C: 0.9ºD: 1.8ºG: 3.6ºH: 3.75º

BROWN (A)

ORANGE (A)

RED

(B)

YELL

OW

(B)

BROWN (A)

BLACK (COM A)

ORANGE (A)

RED

(B)

WH

ITE

(CO

MB)

YELL

OW

(B)

BROWN (A)

BLACK (COM)

ORANGE (A)

RED

(B)

YELL

OW

(B)

S S T

Hybrid TypeStepping Motor

Motor Size(O.D. in mm)

Motor LengthO to 5

Construction –C: Steel HousingO: No Steel Housing

Shaft ConfigurationO: Single1: Double

Motor Characteristics (1-99)

Step Angle

C: 0.9ºD: 1.8ºG: 3.6ºH: 3.75º

BROWN (A)

ORANGE (A)

RED

(B)

YELL

OW

(B)

BROWN (A)

BLACK (COM A)

ORANGE (A)

RED

(B)

WH

ITE

(CO

MB)

YELL

OW

(B)

BROWN (A)

BLACK (COM)

ORANGE (A)

RED

(B)

YELL

OW

(B)

Winding

Front End Bell

Ball Bearing

Ball Bearing

Magnet

Stator

Rear End Bell

Rotor Laminations

Rotor Lamintations

Rotor Lamintations

MagnetHalf PitchOff Set

51

Stepping Motor TheoryUsing a 1.8 degree, unipolar, 4-phase stepping motor as an example, the following will explain the theory of operation. Referring to Fig. 6-1, the number of poles on the stator is 8 spaced at 45 degree intervals. Each pole face has 5 teeth spaced at 7.2 degree intervals. Each stator pole has a winding as shown in Fig. 6-1.

Fig. 6-1 Stator

When applying the current to the windings in the following sequence per Table 6-1, the stator can generate the rotating magnetic field as shown in Fig. 6-2 (steps 1 thru 4).

Table 6-1 Step Phase Sequence (1 Phase Excited)

Step 1 Step 2

Fig. 6-2 Rotational Magnetic Field Generated by Phase Sequence

The hybrid rotor has 2 sets (stacks) of laminations separated by a permanent magnet. Each set of lams has 50 teeth and are offset from each other by 1⁄2 tooth pitch. This gives the rotor 50 N and 50 S poles at the rotor O.D.

Fig. 6-3 illustrates the movement of the rotor when the phase sequence is energized.

In step 1, phase A is excited so that the S pole of the rotor is attracted to pole 1,5 of the stator which is now a N pole, and the N pole of the rotor is attracted to pole 3,7 of the stator which is a S pole now. At this point there is an angle difference between the rotor and stator teeth of 1/4 pitch (1.8 degrees). For instance, the stator teeth of poles 2,6 and 4,8 are offset 1.8 degrees from the rotor teeth.

In step 2, there is a stable position when a S pole of the rotor is lined up with pole 2,6 of the stator and a N pole of the rotor lines up with pole 4,8 of stator. The rotor has moved 1.8 degrees of rotation from step 1.

The switching of phases per steps 3, 4 etc. produces 1.8 degrees of rotation per step.

Fig. 6-3 1 Phase Excitation Sequence

Drive Pulse

Phase A Step 1 ON OFF

Step 2

Step 3

Step 4

Phase A

Phase B

Phase B

Winding

Stator Pole

3

4

28

7

6

N

S S

N

1

5

3

4

28

7

6

N S

NS

1

5

3

4

28

7

6

S

N N

S

1

5

3

4

28

7

6

S N

SN

1

5

3

4

28

7

6

N

S S

N

1

5

3

4

28

7

6

N S

NS

1

5

3

4

28

7

6

S

N N

S

1

5

3

4

28

7

6

S N

SN

1

5

Step 1Stator

Rotor

Step 2Stator

Rotor

Step 1Stator

Rotor

Pole 1,5 Pole 2,6 Pole 3,7 Pole 4,8

52

Technical Data and Terminology

7-1 Holding Torque The maximum steady torque that can be applied to the shaft of an energized motor without causing continuous rotation.

7-2 Detent Torque The maximum torque that can be applied to the shaft of a non-energized motor without causing continuous rotation.

7-3 Speed-Torque Curve The speed-torque characteristics of a stepping motor are a function of the drive circuit, excitation method and load inertia.

Fig. 7-1 Speed - Torque Curve

7-4 Maximum Slew Frequency The maximum rate at which the step motor will run and remain in synchronism.

7-5 Maximum Starting Frequency The maximum pulse rate (frequency) at which an unloaded step motor can start and run without missing steps or stop without taking more steps than pulses.

7-6 Pull-out Torque The maximum torque that can be applied to the shaft of a step motor (running at constant speed) and not cause it to lose step.

7-7 Pull-in Torque The maximum torque at which a step motor can start, stop and reverse the direction of rotation without losing step. The maximum torque at which an energized step motor will start and run in synchronism, without losing steps, at constant speed.

7-8 Slewing Range This is the area between the pull-in and pull-out torque curves where a step motor can run without losing step, when the speed is increased or decreased gradually. Motor must be brought up to the slew range with acceleration and deceleration technique known as ramping.

7-9 Start-Stop Range This is the range where a stepping motor can start, stop and reverse the direction of rotation without losing step.

7-10 Accuracy This is defined as the difference between the theoretical and actual rotor position expressed as a percentage of the step angle. Standard is ±5%. An accuracy of ±3% is available on special request. This positioning error is noncumulative.

7-11 Hysteresis Error This is the maximum accumulated error from theoretical position for both forward and backward direction of rotation. See Fig 7-2.

Fig. 7-2 Step Angle Accuracy

7-12 Resonance A step motor operates on a series of input pulses, each pulse causing the rotor to advance one step. In this time the motor’s rotor must accelerate and then decelerate to a stop. This causes ringing, overshoot and vibration. There are some speeds at which the motor will not run. This is called its resonant frequency. The objective is to design the system so that no resonant frequencies appear in the operating speed range. This problem can be eliminated by means of using mechanical dampers or external electronics.

Drive Methods

8-1 Drive Circuits The operation of a step motor is dependent upon an indexer (pulse source) and driver. The indexer feeds pulses to the driver which applies power to the appropriate motor windings. The number and rate of pulses determines the speed, direction of rotation and the amount of rotation of the motor output shaft. The selection of the proper driver is critical to the optimum performance of a step motor. These circuits also illustrate some of the methods used to protect the power switches against reverse voltage transients.


Holding TorqueDynamic Torque (Resonance point is not included herein.)

Driving Frequency (Speed)

Max. No LoadResponse (PPS)

Max. Response(PPS)Start-Stop Range

Pull-out Torque

Torq

ue(k

gf-c

m)

Pull-in Torque

Slew Range

Backward

Angl

eEr

ror

Forward

Theoretical Angle

Neg. Max. Error

Positive Max.Error

Hysteresis

53

8-1-1 Damping Methods These circuits can also be used to improve the damping and noise characteristics of a step motor. However, the torque at higher pulse rates (frequency) can be reduced so careful consideration must be exercised when selecting one of these methods.

Examples:1. Diode Method Fig. 8-1 (a)2. Diode + Resistance Method Fig. 8-1 (b)3. Diode + Zener Diode Method Fig. 8-1 (c)4. Capacitor Method Fig. 8-1 (d)

Fig. 8-1

Fig. 8-1

Fig. 8-1

8-1-2 Stepping Rate A step motor operated at a fixed voltage has a decreasing torque curve as the frequency or step rate increases. This is due to the rise time of the motor winding which limits the value of the coil current. This is determined by the ratio of inductance to resistance (L/R) of the motor and driver as illustrated in Fig 8-2 (a).

Compensation for the L/R of a circuit can be accomplished as follows:

a) Increase the supply voltage and add a series resistor, Fig 8-2 (b), to maintain rated motor current and reduce the L/R of the circuit.

b) Increase the supply voltage, Fig 8-2 (c), improving the time constant (L/R) of the circuit. However, it is necessary to limit the motor current with a bi-level or chopped supply voltage.

Examples:1. Constant Voltage Drive Fig. 8-1 (e)2. Dual Voltage (Bi-level) Drive Fig. 8-1 (f)3. Chopper Driver Fig. 8-1 (g)

Fig. 8-2

(c) : τ = L/RSupply Voltage = 2

V0

(b) : τ = L/2RSupply Voltage = 2

V0

(a) : τ = L/RSupply Voltage =V0(a)

(b)

(c)2 I0

I0

Cur r

e nt

54

8-2 Excitation Methods In Table 8-1 are descriptions and features of each method.

Table 8-1

8-3 Bipolar and Unipolar Operation All SKC stepper motors are available with either two coil bipolar or four coil unipolar windings.

Bipolar Winding - the stator flux is reversed by reversing the current in the winding. It requires a push-pull bipolar drive as shown in Fig. 8-3. Care must be taken to design the circuit so that the transistors in series do not short the power supply by coming on at the same time. Properly operated, the bipolar winding gives the optimum performance at low to medium step rates.

Fig. 8-3 Bipolar Method Fig. 8-4 Unipolar Method

Unipolar Winding - has two coils wound on the same bobbin per stator half. Flux is reversed by energizing one coil or the other coil from a single power supply. The use of a unipolar winding, sometimes called a bifilar winding, allows the drive circuit to be simplified. Not only are one-half as many power switches required (4 vs. 8), but the timing is not as critical to prevent a current short through two transistors as is possible with a bipolar drive. Unipolar motors have approximately 30% less torque at low step rates. However, at higher rates the torque outputs are equivalent.

Step Motor Load Calculations and SelectionTo select the proper step motor, the following must be determined:

1. Load Conditions 1-a. Friction Load 1-b. Load Inertia

2. Dynamic Load Conditions 2-a. Drive Circuit 2-b. Maximum Speed (PPS/Frequency) 2-c. Acceleration/Deceleration Pattern With the above load information the proper step motor can be selected.

9-1 Load Inertia The following is an example for calculating the inertia of a hollow cylinder.

Fig. 9-1

J = 1⁄8 . M . (D12 + D22) (kg-cm2)

Where M: mass of pulley (kg) D1: outside diameter (cm) D2: inside diameter (cm)

9-2 Linear systems can be related to rotational systems by utilizing the kinetic energy equations for the two systems. For linear translations:

Energy = 1⁄2 M v2 = 1⁄2 J w2

Where M: mass v: velocity J: inertia w: angular velocity

1) Gear drive system When gears are used to drive a load, the inertia reflected to the motor is expressed by the following equation:

J = (Z1/Z2)2 . (J2 + J3) + J1

Where Z1, Z2: No. of gear teeth J1, J2, J3: inertia (kg-cm2) J: reflected inertia, (kg-cm2)


Excitation MethodSingle Phase

Switchingsequence

Features

Pulse

phase A

phase B

phase A

phase B

Hold & runningtorque reducedby 39%

Increased efficiency.

Poor step accuracy.

High torque

Good stepaccuracy.

Poor step accuracy.

Good resonancecharacteristics.

Higher pulse rates.

Half stepping

Dual Phase 1-2 Phase

D1 D2

55

Fig. 9-2

2) Pulley & belt system. A motor and belt drive arrangement is used for linear load translation

J = 2 J1 + 1⁄4 M D2

Where J: Total inertia reflected to motor J1: inertia of pulley (kg-cm2) D: diameter of pulley (cm2) M: weight of load (kg)

Fig. 9-3

9-3 Determination of load acceleration/deceleration pattern.

9-3-1 Load Calculation To determine the torque required to drive the load the following equation should be satisfied.

Tm = Tf + Tj Where: Tm: Pullout torque (kgf-cm) Tf: Friction torque (kgf-cm) Tj: Inertia load (kgf-cm)

TJ = (JR + JL)/g . (p . q . s)/180 . df/dt

JR: Rotor inertia [kg-cm2] JL: Load inertia [kg-cm2] q: Step angle [deg] g: Gravity acceleration = 980 [cm/ sec2] f: Drive frequency [PPS]

Example: A 1.8 degree step motor is to be accelerated from 100 to 1,000 pulses per second (PPS) in 50 ms, JR = 100 g-cm2, J1 = 1 kg-cm2. The necessary pullout torque is:

TJ = (0.1 + 1)/980 . (p . 1.8)/180 . (1000 - 100)/0.05 = 0.635 (kgf-cm)

9-3-2 Linear acceleration For linear acceleration as shown in Fig. 9-4 frequency f(t), inertial system frequency fj(t) and inertia load Tj are expressed as follows:

f(t) = (f1 - f0)/t1 . t + f0 TJ = (JR + JL)/g . (p . q . s)/180 . (f1 - f0)/t1

Fig. 9-4 Linear Acceleration

9-3-3 Exponential acceleration For exponential as shown in Fig. 9-5, drive frequency f(t) and inertia load Tj are expressed as follows:

f(t) = f1 . (1 - e^-(t/t)) + f0 TJ = (JR + JL)/g . (p . q . s)/180 . f1/t . e^-(t/t)

Fig. 9-5 Exponential Acceleration

t1 Time

f0

f1

Time

Exponential off0

f1

56

Stepper Motor Wiring Diagram

A = BROWN, A = ORANGE, B = RED, B = YELLOWBLACK = A COMMON in unipolar 6-lead configuration, and A/B COMMON for unipolar 5-lead wire configurationWHITE = B COMMON

Bipolar Unipolar

CW* CCW* PHASEA PHASEB PHASE-A PHASE-B CW* CCW* PHASEA PHASEB PHASE-A PHASE-B COMMON

1 5 + + – – 1 5 – – +

2 4 – + + - 2 4 – – +

3 3 – – + + 3 3 – – +

4 2 + – – + 4 2 – – +

5 1 + + – – 5 1 – – +

*Viewedfromshaftside *Viewedfromshaftside

Excitation Table – Bipolar Excitation Table – Unipolar

Excitation Tables

Step Motor Drive Circuit

Type AUnipolar, Constant V

Type BUnipolar, Constant I

Type CBipolar, Constant V

Type DBipolar, Constant I

Stepping Motor Driver Information

57

Conversion Tables

BA oz-in2 oz-in-s2 lb-in2 lb-in-s2 Nms2 g-cm2 kg-m-s2

oz-in2 1 386.08 16 6.18x103 5.46x104 5.46x10-3 5.35x105

lb-in2 1/16 24.13 1 386.08 3.41x103 3.41x10-4 3.35x104

Nms2 1.83x10-5 7.06x10-3 2.93x10-4 0.113 1 1x107 9.807

g-cm2 182.9 7.06x104 2.93x103 1.13x106 1x107 1 9.807x107

INERTIA B = A x constant

BA g-cm oz-in ft-lbf Ws(Nm) Ncm kg-cm

g-cm 1 72.0077 1.38x104 1.02x104 101.963 1x103

oz-in 0.0139 1 192 141.6 1.416 13.9

ft-lbf 7.233x10-5 1/192 1 0.737 7.37x10-3 7.23x10-2

Ws(Nm) 9.807x10-5 7.06x10-3 1.356 1 1x10-2 9.8x10-2

TORQUE B = A x constant

BA oz lbf N kg g

oz 1 16 3.6 35.27 35.27x10-3

lbf 1/16 1 0.225 2.205 2.205x10-3

N 0.278 4.448 1 9.807 9.807x10-3

kg 0.028 0.454 0.102 1 1x10-3

FORCE B = A x constant

58

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Documents

caracteristicas motores.pdf