SKC Full-Line Catalog

Full-Line Catalog
Stepping Motors Brushless Motors Servo Motors Blowers
Putting New Ideas In Motion

Hand-In-Hand With Our Customers.
Stepping Motors
Brushless DC Motors
Blowers
Custom Modules & Assemblies
Unparalleled approach to design and manufacturing

What distinguishes Shinano Kenshi Corporation isnt 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 cant
even consider. Such resources enable our people to devise
solutions to difficult problems related to design, manufacture,
Table of Contents
delivery and logistics. Though SKC offers the vast resources
2 Phase Hybrid Stepping Motor Lineup 3
of a global leader, we also offer the kind of careful attention to
Brushless DC Motor Lineup
2 Phase Hybrid Stepping Motor
Brushless DC Motor
25
Outer Rotor Brushless DC Motor
25
Inner Rotor Brushless DC Motor
33
Power Brushless Series
39
mechanical, electrical, software, and electro-mechanical
Brushless DC Blower Series
41
experience, including intellectual property processes in
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
module, driver and mechanical design are unsurpassed. We
Stepping Motor Operation & Theory
51
continually monitor OEM and EMS requirements to insure the
Stepping Motor Driver Information
57
Conversion Tables
58
detail that gives our customers a level of service they cant 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
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
highest level of state-of-the-art developmental, production

and manufacturing technology.
2 Phase Hybrid Stepping Motor - Lineup

STEP
ANGLE
0.9
SIZE
36mm
NEMA16
WINDINGS MODEL TORQUEmN-m
Bipolar
50
100
200
300
400
600
800
1000
1500
2000
50
100
200
300
400
600
800
1000
1500
2000
36C0
36C1
39mm
NEMA16
Unipolar
39C1
40C1
40C2
56mm
NEMA23
Unipolar
56C1
56C3
6C5
1.8
28mm
NEMA11
Unipolar
28D1
28D2
28D4
35mm
NEMA14
Bipolar
35D1
42mm
NEMA17
Unipolar
43D1
43D2
45D0
45D1
45D2
Bipolar
43D1
43D2
56mm
NEMA23
Unipolar
55D1
55D2
55D3
56mm
NEMA23
Unipolar
59D1
59D2
59D3
59D5
Bipolar
59D1
59D2
59D3
59D5
60mm
NEMA24
Unipolar
60D1
60D3
60D4
60D5
3.75
42mm
NEMA17
Unipolar
42H0
42H1
42H2
42H3
STEP
ANGLE
SIZE
WINDINGS MODEL
TORQUEmN-m
Brushless DC Motor - Lineup

Inner Rotor BLDC
SERIES
MAJOR
DIAMETER
MODEL
RATED
SPEED (*)
Inner rotor
56.4mm
DR-5236
2200
Inner rotor
68mm
DR-6638
4950
Inner rotor
79mm
DR-738
6000
Inner rotor
79mm
DR-7738
6000
Inner rotor
93mm
DR-8838
*1:1520
/*2:1800
Inner rotor
97.4mm
DR-9538
850
Inner rotor
88.2mm
DR-8538-6
6500
Inner rotor
88.2mm
DR-8538-8
6500
Inner rotor
88.2mm
DR-8538-12
5330
Inner rotor
103mm
MDR-9538
1000
Inner rotor
36mm
LA034
7700
Outer Rotor BLDC high speed

SERIES
MAJOR
DIAMETER
MODEL
TORQUEmN-m
1500
*
*
*
TORQUEmN-m
RATED
SPEED* 0
DR-20312
12000
10
RATED
TORQUEmN-m
SPEED* 0
5
10
Outer rotor
25mm
DR-24312
2200
Outer rotor
30mm
DR-29312
1400
Outer rotor
38mm
DR-38312
1200
Outer rotor
43mm
DR-4316
5400
Outer rotor
47mm
DR-4734
4000
Outer rotor
55mm
DR-55310
3000
Outer rotor
67mm
DR-67316
2400
MODEL
1000
20mm
MAJOR
DIAMETER
800
Outer rotor
SERIES
600
Outer Rotor BLDC low speed
400
11000
MODEL
300
DR-14312
MAJOR
DIAMETER
200
14mm
SERIES
100
Outer rotor
Outer Rotor BLDC low speed
50
52mm
DR-5238
1800
Outer rotor
63mm
DR-6236
1800
Outer rotor
63mm
DR-63310
1800
Outer rotor
75mm
DR-7538
3100
Outer rotor
76mm
DR-7638
1800
Outer rotor
82mm
DR-82316
2000
Outer rotor
87mm
DR-8738
1800
30
40
60
80
20
30
40
60
80
*
*
*
*
*
*
*
RATED
TORQUEmN-m
SPEED* 0
50
100
Outer rotor
20
200
300
400
600
800
*
*
*
*
*
*
*

35D SERIES
35mm (NEMA14)
1.8
Bipolar
SPECIFICATIONS

STEP ANGLE
deg.
MODEL
VOLTAGE
V
CURRENT
A/
RESISTANCE INDUCTANCE HOLDING TORQUE ROTOR INERTIA

V/
mH/
mN-m
g-cm2
MASS
g
LENGTH
mm
SST35D1045
1.8
7.5
0.4
18.8
15.0
75.5
27
110
25max
SST35D1065
1.8
5.5
0.6
9.1
7.3
78.5
27
110
25max
SST35D1085
1.8
4.2
0.8
5.2
4.1
80.4
27
110
25max
SST35D1105
1.8
3.6
1.0
3.6
3.0
82.4
27
110
25max
SST35D1125
1.8
2.6
1.2
2.2
1.8
76.5
27
110
25max
DIMENSIONS
35
15 0.5
100
0.1
200 10
26 0.2
3 0
0.013
26 0.2
4-M30.5
Depth 3 min
UL3265 AWG26
Pin No.
1234
Connector
JST:PHR-4
Mating connector JST:
1 A
3 A
B
Wiring diagram 2
NUMBER OF LEADS
Lead
B
4
B4B-PH-K-S
S4B-PH-K-S
25 max
2
TORQUE RANGE
STEP
ANGLE
1.8
*FREQUENCY at 1,000pps
SIZE
35mm
NEMA14
Bipolar
50
100
200
300
400
600
800
1000
1500
2000
35D1
PULL OUT TORQUE CURVE

SST35D1XXX
80
SST35D1045
SST35D1065
SST35D1085
SST35D1105
SST35D1125
70
TORQUE (mN-m)
60
0.4A/Phase
0.6A/Phase
0.8A/Phase
1.0A/Phase
1.2A/Phase
50
40
30
20
10
0
1000
2000
3000
4000
5000
6000
FREQUENCY (PPS)
DRIVER Chopper
SUPPLY VOLTAGE DC24V
EXCITING MODE = 2 Phase
MOUNTING with rubber damper
Modified shaft, custom winding and other modifications are available. Please feel free to contact sales office or sales agent.
Operate the motor keeping the motor surface temperature at 100 deg. C or lower.

43D SERIES
42mm (NEMA17)
1.8
Bipolar
SPECIFICATIONS
MODEL
STEP ANGLE
deg.
VOLTAGE
V
1.8
6.8
0.57
12.00
16.0
1.8
4.9
0.85
5.75
8.1
1.8
3.6
1.13
3.20
1.8
3.0
1.41
1.8
2.3
1.8
SST43D104X
SST43D106X
SST43D108X
SST43D110X
SST43D112X
SST43D115X
SST43D204X
SST43D206X
SST43D208X
SST43D210X
SST43D212X
SST43D214X
SST43D216X
CURRENT RESISTANCE INDUCTANCE HOLDING TORQUE

A/
mH/
mN-m
V /
ROTOR INERTIA
g-cm2
NUMBER OF PINS
Pin
MASS
g
LENGTH
mm
294
33
230
34
304
33
230
34
4.9
312
33
230
34
2.10
3.3
319
33
230
34
1.70
1.35
2.3
322
33
230
34
1.9
2.12
0.90
1.5
309
33
230
34
1.8
8.6
0.57
15.00
24.0
420
56
290
40
1.8
5.1
0.85
6.00
11.8
432
56
290
40
1.8
3.9
1.13
3.45
7.1
422
56
290
40
1.8
3.4
1.41
2.40
4.8
441
56
290
40
1.8
2.8
1.70
1.65
3.6
456
56
290
40
1.8
2.3
1.98
1.15
2.5
441
56
290
40
1.8
2.1
2.26
0.95
1.8
424
56
290
40
Final Number 5:Single Shaft 6:Double Shaft
DIMENSIONS
4.5 0.1
2-50
0.0.13
L 0.8
*2
15
*1
Connector
JST:S6B-PH-K-S
Pin No.
19
123456
.7
31 0.2
220
0.03
4-M30.5
Depth 4.5 min
20 0.5
15 0.2
4.5 0.1
*1
42
31 0.2
Mating connector
Housing JST:PHR-6
Contact JST:SPH-002T-P0.5S
10
*1 Dimensions apply to double shaft models.

*2 Available motor length 31mm61.5mm
1 A
3 A
B
Wiring diagram 4
B
6
Lead wire type is available.
TORQUE RANGE
STEP
ANGLE
1.8
SIZE
42mm
NEMA17
Bipolar
50
100
200
300
400
600
800
1000
1500
2000
43D1
43D2

SST43D1XXX
250
SST43D1045
SST43D1065
SST43D1085
SST43D1105
SST43D1125
SST43D1155
TORQUE (mN-m)
200
150
0.57A/Phase
0.85A/Phase
1.13A/Phase
1.41A/Phase
1.70A/Phase
2.12A/Phase
100
50
2000
4000
6000
8000
10000
FREQUENCY (PPS)
DRIVER Chopper
SST43D2XXX
350
SST43D2045
SST43D2065
SST43D2085
SST43D2105
SST43D2125
SST43D2145
SST43D2165
300
TORQUE (mN-m)
250
200
0.57A/Phase
0.85A/Phase
1.13A/Phase
1.41A/Phase
1.70A/Phase
1.98A/Phase
2.26A/Phase
150
100
50
2000
4000
6000
8000
10000
FREQUENCY (PPS)
DRIVER Chopper

43D SERIES
42mm (NEMA17)
1.8
Unipolar
SPECIFICATIONS
MODEL
STEP ANGLE
deg.
VOLTAGE
V
1.8
9.6
0.4
24.0
16.0
1.8
6.9
0.6
11.5
8.1
1.8
5.1
0.8
6.4
1.8
4.2
1.0
1.8
3.2
1.8
SST43D104X
SST43D106X
SST43D108X
SST43D110X
SST43D112X
SST43D115X
SST43D204X
SST43D206X
SST43D208X
SST43D210X
SST43D212X
SST43D214X
SST43D216X

A/
mH/
mN-m
V /
ROTOR INERTIA
g-cm2
NUMBER OF PINS
Pin
MASS
g
LENGTH
mm
215
33
230
34
226
33
230
34
4.9
233
33
230
34
4.2
3.3
238
33
230
34
1.2
2.7
2.3
237
33
230
34
2.7
1.5
1.8
1.5
235
33
230
34
1.8
12.0
0.4
30.0
24.0
314
56
290
40
1.8
7.2
0.6
12.0
11.8
322
56
290
40
1.8
5.5
0.8
6.9
7.1
321
56
290
40
1.8
4.8
1.0
4.8
4.8
338
56
290
40
1.8
4.0
1.2
3.3
3.6
341
56
290
40
1.8
3.2
1.4
2.3
2.5
329
56
290
40
1.8
3.0
1.6
1.9
1.8
313
56
290
40
DIMENSIONS
4.5 0.1
2-50
0.0.13
L 0.8
*2
15
*1
Connector
JST:S6B-PH-K-S
Pin No.
19
123456
.7
31 0.2
220
0.03
4-M30.5
Depth 4.5 min
20 0.5
15 0.2
4.5 0.1
*1
42
31 0.2
Mating connector
Housing JST:PHR-6
10

Wiring diagram
COM(A)
4 A
COM(A)
5
1 A
6 2 3
Lead wire type is available.
TORQUE RANGE
STEP
ANGLE
1.8
SIZE
42mm
NEMA17
Unipolar
50
100
200
300
400
600
800
1000
1500
2000
43D1
43D2

SST43D1XXX
200
SST43D1040
SST43D1060
SST43D1080
SST43D1100
SST43D1120
SST43D1150
TORQUE (mN-m)
150
0.4A/Phase
0.6A/Phase
0.8A/Phase
1.0A/Phase
1.2A/Phase
1.5A/Phase
100
50
2000
4000
6000
8000
10000
FREQUENCY (PPS)
DRIVER Chopper
SST43D2XXX
300
SST43D2040
SST43D2060
SST43D2080
SST43D2100
SST43D2120
SST43D2140
SST43D2160
TORQUE (mN-m)
250
200
0.4A/Phase
0.6A/Phase
0.8A/Phase
1.0A/Phase
1.2A/Phase
1.4A/Phase
1.6A/Phase
150
100
50
2000
4000
6000
8000
10000
FREQUENCY (PPS)
DRIVER Chopper
10

45D SERIES
42mm (NEMA17)
High Holding Torque Model
1.8
Unipolar
SPECIFICATIONS
MODEL
STEP ANGLE
deg.
VOLTAGE
V
1.8
13.2
0.3
44
23.6
1.8
7.3
0.5
14.5
8.6
1.8
4.8
0.7
6.8
1.8
3.3
1.0
1.8
3.1
1.8
SST45D003X
SST45D005X
SST45D007X
SST45D010X
SST45D012X
SST45D015X
SST45D103X
SST45D105X
SST45D107X
SST45D110X
SST45D112X
SST45D115X
SST45D203X
SST45D205X
SST45D207X
SST45D210X
SST45D212X
SST45D215X

A/
mH/
mN-m
V /
ROTOR INERTIA
g-cm2
NUMBER OF PINS
Pin
MASS
g
LENGTH
mm
221
45
200
32
221
45
200
32
4.6
221
45
200
32
3.3
2.3
226
45
200
32
1.2
2.6
1.8
237
45
200
32
2.1
1.5
1.4
1.0
226
45
200
32
1.8
14.7
0.3
49
28
265
56
230
35
1.8
8.3
0.5
16.6
10.5
265
56
230
35
1.8
5.5
0.7
7.8
5.5
268
56
230
35
1.8
3.6
1.0
3.6
2.7
265
56
230
35
1.8
3.3
1.2
2.8
2.1
284
56
230
35
1.8
2.4
1.5
1.6
1.2
265
56
230
35
1.8
18.9
0.3
63
41.5
361
82
310
42.5
1.8
10.8
0.5
21.5
15.5
361
82
310
42.5
1.8
7.1
0.7
10.2
8.0
361
82
310
42.5
1.8
4.6
1.0
4.6
4.0
378
82
310
42.5
1.8
4.2
1.2
3.5
3.2
392
82
310
42.5
1.8
1.5
2.0
1.8
382
82
310
42.5
DIMENSIONS
Pin No.
19.4
123456
.7
31 0.2
Connector
JST:S6B-PH-K-S
Mating connector
Housing JST:PHR-6
Wiring diagram
COM(A)
4 A
COM(A)
5
1 A
11
L 0.8
*2
15
*1
220
0.03
2-50
0.0.13
4-M30.5
Depth 4.5 min
4.5 0.1
20 0.5
15 0.2
4.5 0.1
*1
42
31 0.2
6 2 3
10.8

*3 Bipolar winding is available.
TORQUE RANGE
STEP
ANGLE
1.8
SIZE
NEMA17
42mm
Unipolar
50
100
200
300
400
600
800
1000
1500
2000
45D0
45D1
45D2

SST45D0XXX
SST45D1XXX
180
250
160
TORQUE (mN-m)
140
120
0.3A/Phase
0.5A/Phase
0.7A/Phase
1.0A/Phase
1.2A/Phase
1.5A/Phase
SST45D1030
SST45D1050
SST45D1070
SST45D1100
SST45D1120
SST45D1150
200
TORQUE (mN-m)
SST45D0030
SST45D0050
SST45D0070
SST45D0100
SST45D0120
SST45D0150
100
80
60
40
150
0.3A/Phase
0.5A/Phase
0.7A/Phase
1.0A/Phase
1.2A/Phase
1.5A/Phase
100
50
20
0
1000
2000
3000
4000
5000
6000
FREQUENCY (PPS)
1000
2000
3000
4000
5000
6000
FREQUENCY (PPS)
DRIVERChopper
SUPPLY VOLTAGEDC24V
MOUNTINGWith rubber damper
DRIVERChopper
SUPPLY VOLTAGEDC24V
SST45D2XXX
350
SST45D2030
SST45D2050
SST45D2070
SST45D2100
SST45D2120
SST45D2150
300
TORQUE (mN-m)
250
0.3A/Phase
0.5A/Phase
0.7A/Phase
1.0A/Phase
1.2A/Phase
1.5A/Phase
200
150
100
50
1000
2000
3000
4000
5000
6000
FREQUENCY (PPS)
DRIVERChopper
SUPPLY VOLTAGEDC24V
12

59D SERIES
56mm (NEMA23)
1.8
Bipolar
SPECIFICATIONS
MODEL
STEP ANGLE
deg.
VOLTAGE
V
1.8
3.3
1.4
2.35
7.5
1.8
2.2
2.1
1.05
3.4
1.8
1.8
2.8
0.65
1.8
1.5
3.5
1.8
1.3
1.8
SST59D110X
SST59D115X
SST59D120X
SST59D125X
SST59D130X
SST59D210X
SST59D215X
SST59D220X
SST59D225X
SST59D230X
SST59D310X
SST59D315X
SST59D320X
SST59D325X
SST59D330X
SST59D510X
SST59D515X
SST59D520X
SST59D525X
SST59D530X

A/
mH/
mN-m
V /
ROTOR INERTIA
g-cm2
NUMBER OF PINS
Pin
MASS
g
LENGTH
mm
870
145
0.51
42
870
145
0.51
42
2.0
880
145
0.51
42
0.43
1.3
890
145
0.51
42
4.2
0.31
0.9
870
145
0.51
42
3.9
1.4
2.75
9.2
1200
210
0.62
48.5
1.8
2.5
2.1
1.20
4.1
1200
210
0.62
48.5
1.8
2.0
2.8
0.70
2.4
1220
210
0.62
48.5
1.8
1.7
3.5
0.48
1.6
1240
210
0.62
48.5
1.8
1.4
4.2
0.34
1.1
1200
210
0.62
48.5
1.8
4.4
1.4
3.15
11.1
1410
245
0.71
54.5
1.8
2.9
2.1
1.40
5.1
1410
245
0.71
54.5
1.8
2.4
2.8
0.85
3.0
1440
245
0.71
54.5
1.8
1.9
3.5
0.55
2.0
1460
245
0.71
54.5
1.8
1.7
4.2
0.41
1.3
1410
245
0.71
54.5
1.8
6.7
1.4
4.80
19
2400
470
1.11
77.5
1.8
4.4
2.1
2.10
8.4
2400
470
1.11
77.5
1.8
3.5
2.8
1.25
4.9
2440
470
1.11
77.5
1.8
3.0
3.5
0.85
3.3
2480
470
1.11
77.5
1.8
2.5
4.2
0.60
2.2
2400
470
1.11
77.5
DIMENSIONS
56.4
20.60.5
47.140.2
0
0.013
D
*
38.10.05
47.140.2
21
123456
Mating connector
Housing
JST:XHP-6
Contact
JST:SXH-001T-P0.6N
10
Pin No.
6
H JST
Connector
JST:S6B-XH-A-1
16
*
D0.013
4-4.5 0.3
0
13
L0.8
1.6
11.6
* Dimensions apply to double shaft models.
SHAFT Dia. D
D
mm
MODEL
SST59D1XXX
6.35
SST59D2XXX
6.35
SST59D3XXX
6.35
SST59D5XXX
1 A
3 A
B
Wiring diagram
B
6
TORQUE RANGE
STEP
ANGLE
SIZE
1.8
56mm
NEMA23
Bipolar
50
100
200
300
400
600
800
1000
1500
2000
59D1
59D2
59D3
59D5

SST59D1XXX
SST59D2XXX
700
900
600
TORQUE (mN-m)
500
1.4A/Phase
2.1A/Phase
2.8A/Phase
3.5A/Phase
4.2A/Phase
400
300
200
SST59D2105
SST59D2155
SST59D2205
SST59D2255
SST59D2305
800
700
TORQUE (mN-m)
SST59D1105
SST59D1155
SST59D1205
SST59D1255
SST59D1305
600
1.4A/Phase
2.1A/Phase
2.8A/Phase
3.5A/Phase
4.2A/Phase
500
400
300
200
100
100
0
0
2000
4000
6000
8000
10000
12000
2000
FREQUENCY (PPS)
8000
10000
12000
DRIVER Chopper
SST59D3XXX
SST59D5XXX
1000
2200
800
700
1.4A/Phase
2.1A/Phase
2.8A/Phase
3.5A/Phase
4.2A/Phase
600
500
400
300
SST59D5105
SST59D5155
SST59D5205
SST59D5255
SST59D5305
2000
1800
1600
TORQUE (mN-m)
SST59D3105
SST59D3155
SST59D3205
SST59D3255
SST59D3305
900
TORQUE (mN-m)
6000
FREQUENCY (PPS)
DRIVER Chopper
1.4A/Phase
2.1A/Phase
2.8A/Phase
3.5A/Phase
4.2A/Phase
1400
1200
1000
800
600
200
400
100
0
4000
200
2000
4000
6000
8000
FREQUENCY (PPS)
DRIVER Chopper
10000
12000
2000
4000
6000
8000
10000
FREQUENCY (PPS)
DRIVER Chopper
14

59D SERIES
56mm (NEMA23)
1.8
Unipolar
SPECIFICATIONS
MODEL
STEP ANGLE
deg.
VOLTAGE
V
1.8
4.7
1.0
4.70
7.5
1.8
3.2
1.5
2.10
3.4
1.8
2.6
2.0
1.30
1.8
2.1
2.5
1.8
1.9
1.8
SST59D110X
SST59D115X
SST59D120X
SST59D125X
SST59D130X
SST59D210X
SST59D215X
SST59D220X
SST59D225X
SST59D230X
SST59D310X
SST59D315X
SST59D320X
SST59D325X
SST59D330X
SST59D510X
SST59D515X
SST59D520X
SST59D525X
SST59D530X

A/
mH/
mN-m
V /
ROTOR INERTIA
g-cm2
NUMBER OF PINS
Pin
MASS
g
LENGTH
mm
667
145
0.51
42
667
145
0.51
42
2.0
680
145
0.51
42
0.85
1.3
692
145
0.51
42
3.0
0.62
0.9
667
145
0.51
42
5.5
1.0
5.50
9.2
925
210
0.62
48.5
1.8
3.6
1.5
2.40
4.1
925
210
0.62
48.5
1.8
2.8
2.0
1.40
2.4
936
210
0.62
48.5
1.8
2.4
2.5
0.95
1.6
947
210
0.62
48.5
1.8
2.0
3.0
0.67
1.1
925
210
0.62
48.5
1.8
6.3
1.0
6.30
11.1
1088
245
0.71
54.5
1.8
4.2
1.5
2.80
5.1
1088
245
0.71
54.5
1.8
3.4
2.0
1.70
3.0
1106
245
0.71
54.5
1.8
2.8
2.5
1.10
2.0
1126
245
0.71
54.5
1.8
2.5
3.0
0.82
1.3
1088
245
0.71
54.5
1.8
9.6
1.0
9.60
19
1847
470
1.11
77.5
1.8
6.3
1.5
4.20
8.4
1847
470
1.11
77.5
1.8
5.0
2.0
2.50
4.9
1876
470
1.11
77.5
1.8
4.3
2.5
1.70
3.3
1906
470
1.11
77.5
1.8
3.6
3.0
1.20
2.2
1847
470
1.11
77.5
DIMENSIONS
20.60.5
56.4
47.140.2
0
0.013
D
*
38.10.05
47.140.2
JST:XHP-6
Contact
JST:SXH-001T-P0.6N
SHAFT Dia. D
D
mm
MODEL
SST59D1XXX
6.35
SST59D2XXX
6.35
SST59D3XXX
6.35
SST59D5XXX
A
1
2 COMA
A
3
Wiring diagram
Housing
Mating connector
11.6
COM
B
21
123456
10
Pin No.
6
H JST
Connector
JST:S6B-XH-A-1
16
*
D0.013
4-4.5 0.3
0
15
L0.8
1.6
4 5 6
TORQUE RANGE
STEP
ANGLE
1.8
SIZE
56mm
NEMA23
Unipolar
50
100
200
300
400
600
800
1000
1500
2000
59D1
59D2
59D3
59D5

SST59D1XXX
SST59D2XXX
600
800
TORQUE (mN-m)
500
400
1.0A/Phase
1.5A/Phase
2.0A/Phase
2.5A/Phase
3.0A/Phase
SST59D2100
SST59D2150
SST59D2200
SST59D2250
SST59D2300
700
600
TORQUE (mN-m)
SST59D1100
SST59D1150
SST59D1200
SST59D1250
SST59D1300
300
200
1.0A/Phase
1.5A/Phase
2.0A/Phase
2.5A/Phase
3.0A/Phase
500
400
300
200
100
100
2000
4000
6000
8000
2000
FREQUENCY (PPS)
DRIVER Chopper
8000
SST59D5XXX
1600
900
700
600
1.0A/Phase
1.5A/Phase
2.0A/Phase
2.5A/Phase
3.0A/Phase
SST59D5100
SST59D5150
SST59D5200
SST59D5250
SST59D5300
1400
1200
TORQUE (mN-m)
SST59D3100
SST59D3150
SST59D3200
SST59D3250
SST59D3300
800
TORQUE (mN-m)
6000
DRIVER Chopper
SST59D3XXX
500
400
300
1.0A/Phase
1.5A/Phase
2.0A/Phase
2.5A/Phase
3.0A/Phase
1000
800
600
400
200
200
100
0
4000
FREQUENCY (PPS)
2000
4000
FREQUENCY (PPS)
DRIVER Chopper
6000
8000
1000
2000
3000
4000
5000
FREQUENCY (PPS)
DRIVER Chopper
16

60D SERIES
60mm (NEMA24)
1.8
Unipolar
SPECIFICATIONS
MODEL
STEP ANGLE
deg.
VOLTAGE
V
1.8
5.9
1.0
5.92
9.2
1.8
3.0
2.0
1.52
2.5
1.8
2.3
3.0
0.77
1.8
7.3
1.0
1.8
3.7
1.8
SST60D110X
SST60D120X
SST60D130X
SST60D310X
SST60D320X
SST60D330X
SST60D410X
SST60D420X
SST60D430X
SST60D510X
SST60D520X
SST60D530X

A/
mH/
mN-m
V /
ROTOR INERTIA
g-cm2
NUMBER OF PINS
Pin
MASS
g
LENGTH
mm
850
280
0.62
46.3
880
280
0.62
46.3
1.1
920
280
0.62
46.3
7.33
14.0
1320
440
0.88
55.8
2.0
1.87
3.9
1340
440
0.88
55.8
2.8
3.0
0.94
1.8
1350
440
0.88
55.8
1.8
9.2
1.0
9.20
17.4
1790
590
1.02
67.8
1.8
4.8
2.0
2.40
4.9
1850
590
1.02
67.8
1.8
3.6
3.0
1.19
2.2
1910
590
1.02
67.8
1.8
12.6
1.0
12.60
29.0
2560
920
1.40
87.8
1.8
6.4
2.0
3.20
8.0
2690
920
1.40
87.8
1.8
4.7
3.0
1.55
3.7
2800
920
1.40
87.8
DIMENSIONS
24 0.5
1.6
2-7.5 0.15
1
0.015
2-80
23
*1
2-20 0.25
*1
36 0.03
50 0.2
*2
2-7.5 0.15
60
50 0.2
*2
4-4.50.5
0
L 0.8
2-20 0.25
(*2)
Connecotr
JST:B6P-VH
Pin No.
7
654321
13max
Mating connector
Wiring diagram
17
A
2
1 COMA
A
3
COM
B
Housing JST:VHR-6N
Contact JST: SVH-21T-P1.1
SVH-41T-P1.1
4 6 5

*2 NEMA23 mount (47.14mm hole pitch and 38.1mm pilot boss) is available.
*3 Bipolar winding is available.
TORQUE RANGE
STEP
ANGLE
SIZE
1.8
60mm
Unipolar
50
100
200
300
400
600
800
1000
1500
2000
60D1
60D3
60D4
60D5

SST60D1XXX
SST60D3XXX
900
1400
SST60D1100 1.0A/Phase
800
700
1200
TORQUE (mN-m)
TORQUE (mN-m)
1000
600
500
400
300
800
600
400
200
200
100
0
2000
4000
6000
8000
2000
FREQUENCY (PPS)
DRIVER Chopper
6000
8000
DRIVER Chopper
SST60D4XXX
SST60D5XXX
1800
3000
1600
1400
2500
1200
TORQUE (mN-m)
TORQUE (mN-m)
4000
FREQUENCY (PPS)
1000
800
600
2000
1500
1000
400
500
200
0
1000
2000
3000
FREQUENCY (PPS)
DRIVER Chopper
4000
5000
500
1000
1500
2000
2500
3000
3500
FREQUENCY (PPS)
DRIVER Chopper
18

36C SERIES
36mm
0.9
Bipolar
SPECIFICATIONS
MODEL
STEP ANGLE
deg.
VOLTAGE
V
0.9
5.0
0.3
16.80
8.50
0.9
3.2
0.5
6.40
3.16
0.9
2.6
0.6
4.30
0.9
2.0
0.8
0.9
8.2
0.9
SST36C0030
SST36C0050
SST36C0060
SST36C0080
SST36C1030
SST36C1050
SST36C1060
SST36C1080

A/
mH/
mN-m
V /
ROTOR INERTIA
g-cm2
NUMBER OF LEADS
Wires
MASS
g
LENGTH
mm
41.2
7.3
50
12.35
41.2
7.3
50
12.35
2.23
41.2
7.3
50
12.35
2.53
1.24
41.2
7.3
50
12.35
0.3
27.20
20.70
100
19.6
90
19.7
5.2
0.5
11.50
9.00
100
19.6
90
19.7
0.9
4.1
0.6
6.90
5.35
100
19.6
90
19.7
0.9
3.3
0.8
4.10
3.16
100
19.6
90
19.7
DIMENSIONS
50.84
150.8
Orange
Wiring diagram
Option B
150.8
.6
L 0.8
17 0.03
0.1
36
22 0.03
21.05
4-M2.6 0.45
0
4
L variation
Motor length
mm
13.7
15 0.8
4-R3.5
46
45
3.8
36
4.762 0.013
31 0.1
L0.8
4.7620.013
39
SST36CXXX2
53
MOUNTING OPTION
Option A
19
22
Brown
Yellow
2-1.65max
Screw protrusion
UL1061 AWG28
300 min
36
16 0
0.03
212
2-M30.5
4-M30.5
Depth 3 min
L0.8
2.3
4.762 0
0.013
27.1
Red
43.840.3
L variation
Motor lengthmm
1.55
13.7
21.05
SST36CXXX3
1.4
TORQUE RANGE
STEP
ANGLE
0.9
SIZE
36mm
NEMA16
Bipolar
50
100
200
300
400
600
800
1000
1500
2000
36C0
36C1

SST36C0XXX
40
SST36C0030
SST36C0050
SST36C0060
SST36C0080
35
TORQUE (mN-m)
30
0.3A/Phase
0.5A/Phase
0.6A/Phase
0.8A/Phase
25
20
15
10
5
0
2000
4000
6000
8000
10000
12000
14000
16000
FREQUENCY (PPS)
DRIVER Chopper
SST36C1XXX
100
SST36C1030
SST36C1050
SST36C1060
SST36C1080
90
80
0.3A/Phase
0.5A/Phase
0.6A/Phase
0.8A/Phase
TORQUE (mN-m)
70
60
50
40
30
20
10
0
2000
4000
6000
8000
10000
12000
FREQUENCY (PPS)
DRIVER Chopper
20

56C SERIES
56mm (NEMA23)
0.9
Unipolar
SPECIFICATIONS
MODEL
STEP ANGLE
deg.
VOLTAGE
V
0.9
5.3
1.0
5.3
7.0
0.9
3.2
2.0
1.6
3.5
0.9
3.3
3.0
1.1
2.5
1569
SST56C110X
SST56C320X
SST56C530X

A/
mH/
mN-m
V /
ROTOR INERTIA
g-cm2
NUMBER OF LEADS
Wires
MASS
g
LENGTH
mm
460
120
0.45
39.4
1029
245
0.71
54.5
470
1.10
76
DIMENSIONS
47.14 0.2
38.1 0.03
4-4.5 0.3
300 10
1.6
5 2
UL3265 AWG22
Red
Wiring diagram
21
Blue
Green
Yellow
A
COMA
White COMB
Black
16
*
15 0.25
*
5.8 0.15
*
0.012
2-6.350
47.14 0.2
L 0.8
5.8 0.15
20 0.5
15 0.25
56.4

* Bipolar winding is available.
TORQUE RANGE
STEP
ANGLE
0.9
SIZE
56mm
NEMA23
0
Unipolar
50
100
200
300
400
600
800
1000
1500
2000
56C1
56C3
56C5

SST56C1100
SST56C3200
500
1000
SST56C1100 1.0A/Phase
800
TORQUE (mN-m)
TORQUE (mN-m)
400
300
200
100
600
400
200
1000
2000
3000
4000
5000
FREQUENCY (PPS)
1000
2000
3000
4000
5000
FREQUENCY (PPS)
DRIVER Chopper
DRIVER Chopper
SST56C5300
1500
TORQUE (mN-m)
1200
900
600
300
1000
2000
3000
4000
5000
FREQUENCY (PPS)
DRIVER Chopper
22

DIMENSIONS
28mm (NEMA11)
28
4-M2.50.45
Depth 3.5 min
18
654321
Pin No.
22 0
0.033
23 0.2
230.2
Connector
Molex:53254-0670
10
*
4.50.15
*
Unipolar
L0.75
150.25
2-5 0
0.013
1.8
200.5
4.50.15
28D SERIES
Molex:51065-0600
Motor length
mm
Contact
Molex:50212-8000
31.5
39.5
50.5
DIMENSIONS
39mm (NEMA16)
240.5
10
*
5 0
0.012
4-M30.5
Depth 4.5 min
L0.8
2
22 0
0.03
Unipolar
38.8
310.2
310.2
0.9
6 5 4
0
5
*
0.012
39C SERIES
Wiring diagram
Housing
COM
B
A
1
2 COMA
A
3
L variation
Mating connector
300min
Brown
31
Black
COM
A
37
Orange
*Bipolar wiring is available.
23
Red
Wiring diagram
Yellow
L variation
Motor length
mm
White COMB
53
UL3265 AWG26
DIMENSIONS
15
*
150.2
310.2
2-5 0
0.013
Unipolar
L0.8
200.5
22 0
0.03
310.2
3.75
42
4-M30.5
Depth 4.5 min
4.50.1
*
42mm (NEMA17)
4.50.1
42H SERIES
28
Brown
Black
COM
A
Orange
31
Wiring diagram
DIMENSIONS
56mm (NEMA23)
Unipolar
L0.8
19
*
56.4
1.6
4.8
0
0.013
47.140.2
47.140.2
38.10.025
6.35
4-5 0.3
0
56.4
1.8
20.60.5
0
6.35
*
0.013
55D SERIES
Red
44.5
38
53
L variation
Motor length
mm
Yellow
UL3265 AWG26
White COMB
300min
66.67
Black
55.5
Wiring diagram
Orange
Yellow
49.5
A
COM
A
53
38
Brown
White COMB
L variation
Motor length
mm
Red
300min
UL3265 AWG22
24
Outer Rotor Brushless DC Series
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 12 V
0.5 mN-m
11000 r/min
180 mA
2-R2.5
2.4
12.1
1.6
11.4
13.8
2-M20.4 6H
15000
600
12500
500
10000
400
7500
300
5000
200
2500
0
0.0
N
0.5
1.0
1.5
2.0
2.5
3.0
CURRENT I (mA)
23
18
RATED VOLTAGE
SPEED N (r/min)
pDR-14312
100
0
3.5
TORQUE (mN-m)
3M2
PCD 13.5
0.9
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 12 V
1 mN-m
12000 r/min
250 mA
11.2
15000
20
400
7500
300
5000
200
2500
100
0
0.0
0.5
1.0
1.5
2.0
TORQUE (mN-m)
25
500
10000
SPEED N (r/min)
20
12500
9.4
15
5
600
2.5
3.0
0
3.5
CURRENT I (mA)
pDR-20312
TORQUE RANGE
SERIES
MAJOR
DIAMETER
MODEL
RATED
SPEED (*)
TORQUEmN-m
Outer rotor
14mm
DR-14312
11000
Outer rotor
20mm
DR-20312
12000
Outer rotor
25mm
DR-24312
2200
Outer rotor
30mm
DR-29312
1400
pDR-24312
14
10
20
30
40
60
80
*
*
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 12 V
3 mN-m
2200 r/min
110 mA
40
4000
400
32
SPEED N (r/min)
25
22
11
2-2.3
I
2000
200
1000
100
CURRENT I (mA)
300
3000
N
0
0.0
25
pDR-29312
15
2.0
4.0
6.0
0
10.0
8.0
TORQUE (mN-m)
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 12 V
6 mN-m
1400 r/min
160 mA
46
3000
38
300
2500
250
2000
200
1500
150
1000
100
500
0
0.0
30
N
2.0
4.0
6.0
8.0
10.0
12.0
CURRENT I (mA)
28
2-3.2
SPEED N (r/min)
30
15
50
0
14.0
TORQUE (mN-m)
These specifications are for reference only. For more details, please feel free to contact sales office or sales agent.
26
24.5
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 12 V
10 mN-m
1200 r/min
240 mA
57
3000
600
28
SPEED N (r/min)
38
14
49.5
2-3
2500
500
2000
400
1500
300
1000
200
500
100
N
0
21.7max
20
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 24 V
60 mN-m
5400 r/min
2.0 A
10000
4.00
9000
3.50
8000
3.00
7000
43
4
26
27
43.2
6000
5000
4000
3000
2.50
2.00
1.50
1.00
2000
0.50
1000
0
20
40
60
TORQUE (mN-m)
27
0
25
RATED VOLTAGE
SPEED N (r/min)
5-6
5-M3P0.5-6H
PCD 36
15
TORQUE (mN-m)
28
pDR-4316
10
CURRENT I (mA)
RATED VOLTAGE
80
0.00
100
CURRENT I (A)
pDR-38312
TORQUE RANGE
MODEL
RATED
SPEED (*)
Outer rotor
38mm
DR-38312
1200
Outer rotor
43mm
DR-4316
5400
Outer rotor
67mm
DR-67316
2400
Outer rotor
47mm
DR-4734
4000
TORQUEmN-m
10
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 12 V
58.8 mN-m
2400 r/min
2.2 A
6.8
SPEED N (r/min)
7.00
3000
6.00
2500
5.00
2000
4.00
1500
3.00
1000
2.00
500
3-M2-6H
Depth 5.5min
1.00
N
0
50
100
150
0.00
250
200
TORQUE (mN-m)
26
pDR-4734
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 14 V
30 mN-m
4000 r/min
1.5 A
120
48
27.7
8.7
6000
6.00
5000
5.00
SPEED N (r/min)
80
4000
4.00
N
3000
3.00
2000
2.00
I
1000
CURRENT I (A)
13
3500
20
8.00
4000
71.5
67
38
10
20
3-1
95
80
RATED VOLTAGE
74
3-
60
12
51
40
11.3
8.25
2.3
M3-6H
DEPTH 8min
83
BOLT CIRCLE
30
pDR-67316
7-8
20
CURRENT I (A)
MAJOR
DIAMETER
SERIES
1.00
10
20
30
0.00
40
TORQUE (mN-m)
80
28
pDR-5238
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 24 V
70 mN-m
1800 r/min
1.0 A
56
38
23.3
2500
2.50
23.3
2000
2.00
4-3.5
1500
1.50
1000
1.00
500
0.50
20
40
60
80
CURRENT I (A)
20
52
SPEED N (r/min)
0.00
120
100
pDR-55310
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 14 V
40 mN-m
3000 r/min
1.4 A
120
80
32.74
8.7
SPEED N (r/min)
54.6
6000
6.00
5000
5.00
4000
4.00
3000
3.00
N
2000
2.00
I
1000
1.00
20
40
TORQUE (mN-m)
80
29
0.00
60
CURRENT I (A)
TORQUE (mN-m)
TORQUE RANGE
RATED
SPEED (*)
Outer rotor
52mm
DR-5238
1800
Outer rotor
55mm
DR-55310
3000
Outer rotor
63mm
DR-6236
1800
Outer rotor
63mm
DR-63310
1800
pDR-6236
TORQUEmN-m
50
100
150
200
250
300
*
*
*
*
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 24 V
160 mN-m
1800 r/min
2.1 A
43
64
25.46
2500
3.00
25.46
2.50
2000
SPEED N (r/min)
63
20
pDR-63310
1.50
1000
1.00
500
4-4.5
0.50
50
100
150
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 24 V
110 mN-m
1800 r/min
1.7 A
64
25.46
2500
2.50
25.46
63
SPEED N (r/min)
2000
20
0.00
250
200
TORQUE (mN-m)
34.5
4-4.5
2.00
1500
CURRENT I (A)
MODEL
1500
2.00
1.50
I
1000
1.00
500
0.50
50
100
CURRENT I (A)
MAJOR
DIAMETER
SERIES
0.00
150
TORQUE (mN-m)
30
pDR-7538
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 12 V
100 mN-m
3100 r/min
4.3 A
134
6000
74.9
34.05
6.00
8.7
5000
5.00
4000
4.00
3000
3.00
2000
2.00
1000
1.00
20
40
60
80
TORQUE (mN-m)
CURRENT I (A)
90
SPEED N (r/min)
0.00
120
100
90
pDR-7638
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 24 V
250 mN-m
1800 r/min
3.4 A
80
43
34
2500
3.50
34
3.00
2000
1500
2.50
2.00
1.50
1000
1.00
500
0.50
0
46
4-5.5
31
50
100
150
200
TORQUE (mN-m)
250
0.00
300
CURRENT I (A)
SPEED N (r/min)
76
26
TORQUE RANGE
MAJOR
DIAMETER
SERIES
RATED
SPEED (*)
MODEL
Outer rotor
75mm
DR-7538
3100
Outer rotor
76mm
DR-7638
1800
Outer rotor
82mm
DR-82316
2000
Outer rotor
87mm
DR-8738
1800
pDR-82316
48
27
TORQUEmN-m
50
100
200
300
400
600
800
*
*
*
*
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 24 V
230 mN-m
2000 r/min
3.7 A
2max
3500
7.00
3000
6.00
57.5
88
3-15
12.8
40
5.00
2000
4.00
1500
3.00
1000
2.00
500
1.00
100
200
CURRENT I (A)
SPEED N (r/min)
25
10
101.5
82
2500
30
30
44
3-M5-6H
DEPTH 5max
0.00
400
300
TORQUE (mN-m)
pDR-8738
60
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 24 V
440 mN-m
1800 r/min
5.8 A
100
37
2500
7.00
37
6.00
2000
1500
5.00
4.00
3.00
1000
2.00
CURRENT I (A)
SPEED N (r/min)
96
87
26
500
1.00
0
100
200
300
400
500
0.00
600
TORQUE (mN-m)
4-4.5
32
pDR-5236
56.4
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 12 V
5 mN-m
2200 r/min
0.2 A
33
SPEED N (r/min)
3.18
23
33
4000
0.80
3500
0.70
3000
0.60
2500
0.50
0.40
2000
1500
0.30
1000
0.20
500
0.10
0
0.0
2.0
4.0
6.0
8.0
CURRENT I (A)
Inner Rotor Brushless DC Series
0.00
12.0
10.0
TORQUE (mN-m)
7.5
15
34.20.2
RATED VOLTAGE
MAX TORQUE
RATED SPEED
MAX CURRENT
DC 24~48 V
45 mN-m
4950 r/min
1.2 A
36.6
32
1.6
8000
1.60
7000
1.40
SPEED N (r/min)
78
0.
37
37
68.4
0.5
7
23.6
0.8
23.6
8
8
6
6000
1.00
5000
4000
0.80
3000
0.60
2000
0.40
1000
0.20
10
20
TORQUE (mN-m)
33
1.20
30
0.00
40
CURRENT I (A)
pDR-6638
TORQUE RANGE
MODEL
RATED
SPEED(*)
Inner rotor
56.4mm
DR-5236
2200
Inner rotor
68mm
DR-6638
4950
Inner rotor
79mm
DR-738
6000
Inner rotor
79mm
DR-7738
6000
TORQUEmN-m
pDR-738
3-4.2
P.C.D. 102 120
316
50
100
200
400
600
800
1000
1500
*
*
*
RATED VOLTAGE
MAX TORQUE
RATED SPEED
RATED CURRENT
DC 24 (48) V
45 mN-m
6000 r/min
1.2 A
10000
35.8max
8max
300
1.50
32.8max
SPEED N (r/min)
79
24
8
1
9
24
55
8000
1.20
6000
0.90
N
4000
0.60
2000
0.30
10
20
30
40
CURRENT I (A)
MAJOR
DIAMETER
SERIES
0.00
60
50
TORQUE (mN-m)
2-4.2
P.C.D.102 120
316
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 24~48 V
65 mN-m
6000 r/min
1.4 A
39.1 max
7.4 max
10000
34 max
2.50
9000
79
24
24
SPEED N (r/min)
7000
10
56
8000
6000
2.00
1.50
5000
4000
1.00
3000
2000
CURRENT I (A)
pDR-7738
0.50
1000
0
20
40
60
80
0.00
100
TORQUE (mN-m)
34
pDR-8538-6type
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 140 (280) V
75 mN-m
6500 r/min
0.6 (0.3) A
35.8max
3-4.2
P.C.D. 102 120
316
RATED VOLTAGE
8.4max
0.80
8000
32.8max
0.70
7000
0.60
0.50
5000
4000
0.40
3000
0.30
2000
0.20
1000
0.10
10
20
30
40
50
60
70
CURRENT I (A)
SPEED N (r/min)
25.2
88.2
1
9
25.2
55
6000
0.00
80
TORQUE (mN-m)
pDR-8538-8type
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 140 (280) V
90 mN-m
6500 r/min
0.6 (0.3) A
0.80
8000
39.2max
7.9max
36.8max
0.70
7000
87
SPEED N (r/min)
24
24
100
89.4
56
6000
0.60
5000
0.50
4000
0.40
3000
0.30
2000
0.20
1000
0.10
10
20
30
40
50
60
70
CURRENT I (A)
3-4.2
P.C.D. 102 120
316
RATED VOLTAGE
0.00
80
TORQUE (mN-m)
3-4.2
P.C.D. 102 120
3-16
RATED VOLTAGE
RATED TORQUE
RATED SPEED
RATED CURRENT
DC 140 (280) V
115 mN-m
5330 r/min
0.7 (0.4) A
45.8max
8.5max
37.8max
8000
0.80
7000
0.70
SPEED N (r/min)
88.2
25.2
1
9
25.2
R5
6000
0.50
5000
4000
0.40
3000
0.30
2000
0.20
1000
0.10
35
0.60
10
20
30
40
50
TORQUE (mN-m)
60
70
0.00
80
CURRENT I (A)
pDR-8538-12type
TORQUE RANGE
RATED
SPEED(*)
MODEL
Inner rotor
88.2mm
DR-8538-6
6500
Inner rotor
88.2mm
DR-8538-8
6500
Inner rotor
88.2mm
DR-8538-12
5330
Inner rotor
93mm
DR-8838
*1:1520
/*2:1800
Inner rotor
97.4mm
DR-9538
850
pDR-8838
TORQUEmN-m
50
100
200
300
400
600
800
1000
1500
*
*
*
*1
*2
*
RATED VOLTAGE
MAX TORQUE
RATED SPEED
RATED CURRENT
DC 140 (280) V
250 (200) mN-m
1520 (1800) r/min
0.36 (0.17) A
39
3000
1.20
2500
1.00
SPEED N (r/min)
93
2000
0.80
1500
0.60
1000
0.40
500
CURRENT I (A)
MAJOR
DIAMETER
SERIES
0.20
50
100
150
200
250
300
0.00
350
TORQUE (mN-m)
pDR-9538
RATED VOLTAGE
MAX TORQUE
RATED SPEED
RATED CURRENT
DC 280 V
400 mN-m
850 r/min
0.2 A
106
2-89.8
2500
0.50
2000
0.40
57.6
0.30
N
1000
0.20
500
0.10
100
200
300
400
500
CURRENT I (A)
SPEED N (r/min)
97.4
2-89.8
I
1500
0.00
600
TORQUE (mN-m)
4-5
36
MDR-9538
p
[RESIN MOLD]
MAJOR
DIAMETER
SERIES
Inner rotor
RATED
SPEED(*)
MODEL
103mm
MDR-9538
RATED VOLTAGE
MAX TORQUE
RATED SPEED
MAX CURRENT
DC 240 (380) V
1000 mN-m
1000 r/min
0.6 A
TORQUEmN-m
50
100
200
300
600
800
1000
1500
104.9
3000
75.4
1.00
29.5
14.5
142
11.5
SPEED N (r/min)
103
12
74
36.2
99
2000
I
0.50
N
1000
200
400
600
800
CURRENT I (A)
4
-
36
4-6
P.C.D.127
400
1000
0.00
1200
1000
TORQUE (mN-m)
pLA034
MAJOR
DIAMETER
SERIES
Inner rotor
VOLTAGE
MAX OUTPUT
TORQUE
SPEED
CURRENT
DC 140 V
80 W
100 mN-m
7700 r/min
0.9 A
RATED
SPEED(*)
MODEL
36mm
LA034
TORQUEmN-m
50
100
200
300
400
600
800
1000
1500
7700
1.00
14000
12000
14.6
1
11.4
0.80
10000
0.60
8000
6000
0.40
4000
0.20
2000
0
20
40
60
80
TORQUE (mN-m)
37
100
0.00
120
CURRENT I (A)
18
36
60
SPEED N (r/min)
30
4-M3 depth 3max
P.C.D.26
LA052
p
Standard model
54
20.2
20.2
2.5
0
7
P.C.D. 60
4-M4-6H
Encoder model
25
50
2.5
MOTOR TYPE
STANDARD L
LA052-040E
67.6
ENCODER L
86.1
LA052-080E
67.6
86.1
LA052-110E
89.6
106.1
SPECIFICATIONS
MODEL
NAME
RATED RATED RATED RATED RATED

TORQUE BACK EMF PHASE
PHASE INSTANTAN- MAX. ROTOR POWER MECHANICAL ELECTRICAL
EOUS PEAK
TIME
TIME
MASS
POWER VOLTAGE SPEED TORQUE CURRENT CONSTANT CONSTANT RESISTANCE INDUCTANCE TORQUE SPEED INERTIA RATE CONSTANT CONSTANT
V
W
V-DC r/min
N-m
A
N-m/A V-s/rad
ms
ms
kg
mH
N-m
r/min g-cm2 kW/s
LA052-040E
40
LA052-080E
80
LA052-110E
110
24
75
24
75
75
3000
3000
3000
0.127
2.5
0.05
5.010 -2
1.18
4.4
0.382
5000
110
1.48
5.2
3.7
0.6
0.127
0.9
0.148 14.810 -2
11.0
42
0.382
5000
110
1.48
5.5
3.8
0.6
0.255
4.6
0.059
5.910 -2
0.60
1.4
0.765
5000
117
5.56
2.0
2.3
0.6
0.255
1.8
0.191 19.110 -2
6.2
14
0.765
5000
117
5.56
2.0
2.3
0.6
0.353
2.1
0.196 19.610 -2
3.71
9.1
1.059
5000
185
6.74
1.8
2.5
0.6
RESOLUTION
NUMBER OF
CHANNELS
TYPE
OUTPUT
CIRCUIT
HALL SENSOR
OPEN
COLLECTOR
C1, C2, C3
ENCODER
TTL
COMPATIBLE
200, 400
A, B
P/R
POWER
SUPPLY
CONSUMPTION
CURRENT
OUTPUT
VOLTAGE
PHASE
OFFSET
FREQUENCY
RESPONSE
V-DC
mA
V-DC
55%
40 max.
14.4 min.
(I sink=15mA max.)
510%
50 max.
VOH=2.4 min.
VOL=0.4 max.
(I sink=3.2A)
a, b, c, d =
9045
20 min.
OPERATING
TEMP. RANGE
kHz
07c~607c
(TEMPERATURE
INSIDE OF
ENCODER)
*The values above are measured with aluminum mounting plate of 2002006mm
38
Power Brushless Series
pDR-83310 (100W)
RATED TORQUE
RATED SPEED
AC 200-240 V
0.32 N-m
3000 r/min
90
30
6000
3.5
8.6
4h9
4h9
5000
4000
04
1
90
SPEED N (r/min)
20
83 0
0.035
12 0
0.018
85
RATED VOLTAGE
3000
2000
1000
0
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
TORQUE (N-m)
pDR-83310 (200W)
RATED TORQUE
RATED SPEED
AC 200-240 V
0.64 N-m
3000 r/min
90
5000
8.6
4500
4000
04
1
3500
SPEED N (r/min)
4
5h9
5h9
20
90
30
83 0
0.035
14 0
0.018
105
RATED VOLTAGE
3000
2500
2000
1500
1000
500
0
0.00
0.10
0.20
0.30
0.40
0.50
0.60
TORQUE (N-m)
39
0.70
0.80
0.90
1.00
pDR-113310 (400W)
RATED TORQUE
RATED SPEED
AC 200-240 V
1.72 N-m
3000 r/min
40
5000
10
4500
126
25
Parallel keys
4R11
8.6
126
32.1
5h9
11
1100
0.035
14 0
0.018
4000
145
3500
SPEED N (r/min)
93.5
39.45
RATED VOLTAGE
5h9
3000
2500
2000
1500
1000
500
0
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
TORQUE (N-m)
pDR-113310 (750W)
RATED TORQUE
RATED SPEED
AC 200-240 V
2.39 N-m
3000 r/min
40
10
5000
5
5
4000
145
4R11
8.6
126
5h9
32.1
11
110 0
0.035
16 0
0.018
4500
126
25
Parallel keys
5h9
3500
SPEED N (r/min)
118.5
39.45
RATED VOLTAGE
3000
2500
2000
1500
1000
500
0
0.00
0.50
1.00
1.50
2.00
2.50
3.00
TORQUE (N-m)
40
Brushless DC Blower Series
[OUTER ROTOR]
DRF-28208
RATED VOLTAGE
MAX AIR FLOW
MAX PRESSURE
MAX CURRENT
FAN
DC 12 V
0.6 m3/min
196 Pa
0.6 A
Sirocco Fan
99.2
48
28
VOLTAGE=12
VFIXED
250
38
38.3
28.4
103
45
46
STATIC PRESSURE (Pa)
44.9
56.9
200
150
100
50
0
0.0
3-4.3
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
AIR FLOW (m3/min)
pDRF-6338
29.9
46.7
RATED VOLTAGE
MAX AIR FLOW
MAX PRESSURE
MAX CURRENT
FAN
DC 24 V
2.3 m3/min
470 Pa
1.3 A
Sirocco Fan
VOLTAGE=24
VFIXED
58
500
48
60.4
38
60.4
53
57.4
2-28
60.4
15
60.4
55.5
159
73
400
300
200
100
0
0.0
40
75.2
59
143
0.5
1.0
1.5
2.0
2.5
AIR FLOW (m3/min)
[INNER ROTOR]
DRF-738
50
127.1
RATED VOLTAGE
MAX AIR FLOW
MAX PRESSURE
MAX CURRENT
FAN
DC 30 V
1.5 m3/min
750 Pa
1.4 A
Sirocco Fan
SPEED=5000
r/minFIXED
36
800
2-8
18
42
58.4
48.4
3-3.6
Burring
24
600
79
30
138.5
LABEL
700
500
400
300
200
100
0
0.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
AIR FLOW (m3/min)
41
1.6
1.8
2.0
[INNER ROTOR]
DRF-8538 A type
35
32
RATED VOLTAGE
MAX AIR FLOW
MAX PRESSURE
MAX CURRENT
FAN
DC 120 V
3.5 m3/min
440 Pa
1.3 A
Sirocco Fan
109.2max
87max
50
SPEED=4900
r/minFIXED
500
400
54
124.8max
25.2
88.2
pDRF-8538 B type
200
100
0
0.0
122.5max
48.4
300
1.0
2.0
3.0
RATED VOLTAGE
MAX AIR FLOW
MAX PRESSURE
MAX CURRENT
FAN
DC 120 V
2.0 m3/min
1300 Pa
1.2 A
Turbo Fan
157.6max
SPEED=6000
r/minFIXED
92.7max
46.7
4.0
AIR FLOW (m3/min)
45
2000
37
25.2
48
62
182.3max
88.2
54
1500
56
95.9max
pDRF-8538 C type
500
0
0.0
26
162.3 max
1000
0.5
1.0
1.5
2.0
AIR FLOW (m3/min)
RATED VOLTAGE
MAX AIR FLOW
MAX PRESSURE
MAX CURRENT
FAN
DC 120 V
1.7 m3/min
1650 Pa
1.8 A
Turbo Fan
202max
SPEED=6000
r/minFIXED
95max
47.5
45
2000
37
202max
88.2
52.6
218max
25.2
54
.5
1500
1000
500
0
0.0
32.5
0.5
1.0
1.5
2.0
AIR FLOW (m3/min)
42
Polygon Mirror Scanner Motor
SPECIFICATIONS
MODEL
RATED VOALTAGE
V-DC
RATED SPEED
r/min
STARTING CURRENT
A
REFLECTION
%
24
45000
2.5
80
24
35000
2.5
80
DR-24312
DR-30312
STANDARD MIRROR SPEC

FACE
6 facets
INNER DIAMETER ()
THICKNESS (mm)
PLANE FLATNESS
25.98
t2
l/4
24.64
t2
l/4
36.00
t2
l/4
* at l= 632.8nm
DIMENSIONS [EXAMPLE]
DR-24312 (Mini Polygon)
11.5
68
38
DR-24312
DR-30312
11.5
68
48
43
Motor Customizations
Customization
Motor
In addition to custom winding, harness and post connector,
below customizations are available. Please feel free to contact sales office or sales agent.
Shaft Machining

Helical gear
Knurl
Key groove
Flat / Double flat
Press fit gear / pulley
Mounting

Attachment plate
Customized bracket
Mount damper
Others

Roll damper
Motor with encoder
Driver and Controller Integrated Stepping

Motor
Geared Stepping Motor
NEMA 17 gear box
Hollow shaft Stepping Motor
NEMA 23 gear box
Gear Assembly
44
Geared Motor
MODEL
SIZE
VOLTAGE
GEAR
RATIO
SPEED
PERMISSIVE
TORQUE
P42
P42
DC 24 V
1/12
240 rpm
0.45 N-m
DRG-38312
DC 24 V
1/50
21 rpm
1 N-m
33.94
4-M3
active length 8min
17.4
4.5
12
3
61
45
21
42
33.94
BRUSHLESS DC WITH
42mm GEAR BOX
PERMISSIVE
PERMISSIVE
OVERHANG LOAD
THRUST LOAD
(15mm from mounting surface)
14.7 N
49 N
14.7 N
49 N
MODEL
LA052-
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
040E-xxx
SIZE
VOLTAGE
GEAR
RATIO
SPEED
PERMISSIVE
TORQUE
P60
P60
P60
P60
DC 24 V
1/20
150 rpm
2.2 N-m
DC 24 V
1/50
60 rpm
4.6 N-m
DC 24 V
1/100
30 rpm
4.1 N-m
DC 24 V
1/200
15 rpm
4.1 N-m
PERMISSIVE
PERMISSIVE
OVERHANG LOAD
THRUST LOAD
39.2 N
150 N
39.2 N
200 N
39.2 N
200 N
39.2 N
200 N
60
32
49.5
7.5
10
10
24
25
49.5
BRUSHLESS DC WITH
60mm GEAR BOX
L+5
4-4.5 through
46
2 Phase Hybrid Stepping Motor Driver
MODEL NAME
UNIPOLAR
BIPOLAR
SDU22C701
SDB21C702
DC 24 V
DC 24 V
Specification items
Input voltage
Power
Current consumption
Driving method
3A
1.5 A
Unipolar chopper drive
Bipolar chopper drive
Pulse input mode

Function switch
1pulse input mode / 2 pulse input mode
Running current
0 - 2.73A (16 steps)
0 - 1.5A (16 steps)
Holding current
0 - 2.09A (10 steps)
0 - 1.5A (16 steps)
Step division
Full, Half, 1/4, 1/8, 1/16

CW/CCW
signal (Pulse and direction signal)

Motor Enable / Disable
Step division Enable / Disable
Auto power down Enable / Disable * Photocoupler insulation
Input
Output
Excitation timing signal
Indicator
LED
Power X1 StatusX1
Protective functions
Operating condition
Excessive current protection & Excessive temperature protection

Ambient temperature
0-45 deg. C
Ambient humidity
85% or less (No condensing and no freezing)
DIMENSIONS
SDB21C702
33
33
R1.75
3.5
3.5
R1.75
CN3
65
59
3-33
2-3.5
2-27.1
3-33
65
59
R1.75
59
2-3.5
59
CN2
6.4
R1.75
3.5
CN2
47
CN1
2-27.1
31
CN1
3.5
31
44.1
44.1
CN3
6.4
SDU22C701
Servo Motor Driver

STANDARD
MODEL NAME
DDB38T711
Specification items
Output Power
Power
Control
100 W
Input Voltage
DC 24 V
Torque control
Internal setting (0 - 400%) / Analog input (Optional)
Speed control
Internal setting (0 - 100%) / Analog input (Optional)

Reference pulse input
1. 90deg. phase difference mode 2. 2 pulse input mode
3. 1 pulse input mode
Position control
Communication
RS-485
Control mode, Pulse input mode, Electrical gear, Gain, Position
completion, Speed error, Torque control lock, Acceleration time,
Deceleration time, Speed, Position and others
Parameter setting
2 channels (Reference Pulse)
7 channels (Multi purpose)
Analog 1 channel (0-5VDC)
The signal allocation can be modified

Torque control
Others
Speed control
2 channels (Encoder pulse)
Motor encoder pulse output (400ppr / 1000ppr)
4 channels (Multi purpose)
The signal allocation and logic can be modified

Servo On/ Off
Ready/busy
Errors
Others
Status
Input
Output
Function switch
Dip switch
Indicator
LED
8 bit
Power X1 Status X 2
Over voltage, Under voltage, Motor temperature, Hall sensor
signal error, Encoder signal error, Over current, Speed error, Servo
deviation, Initial drive error
Protective functions
Operating condition
Pulse (CW/PLS) / (CCW/DIR)

The signal allocation and logic can be modified
Servo On/ Off
Control mode
Position clear
Alarm reset
External error
Preset memory
Direction logic
Initial drive
Start / Stop
Others
Ambient temperature
Ambient humidity
0 - 50deg. C
85% or less (No condensing and no freezing)
200W version and DC24-48V input versions are available. Other customization, please feel free to contact a sales office or sales agent.
DIMENSIONS
STANDARD (DDB38T711)
115
108
3.5
8-R2
68
CN3
CN4
CN1
1
CN5
CN6
CN11
74
30
75
37.5
3.5
6-3
48
Brushless DC Motor Driver
MODEL NAME
ENTRY
STANDARD
ADVANCED
DDB33V700 SERIES
DDB38V700 SERIES A
DDB38V700 SERIES B
60W
100W
100W
Specification items
Power
Output power
Input voltage
DC 24 V
DC 24 V
DC 24 V
Speed control
Digital PI
Digital PI
Digital PI
Speed range
400-3000rpm
400-3000rpm
400-3000rpm
Speed fluctuation
Control
Speed control mode
Acceleration time
1%
1. Variable resistor
2. External DC voltage (0-5V)
250-3000 msec.
(0-3000 rpm)
(Variable resistor)
Regenerative circuit
Serial Communication
Interface
Input
Output
250-3000 msec.
(0-3000 rpm) Preset
(Serial communication)
Optional
Optional
Original
Original / RS485
Open collector
Open collector
Photocoupler
Run / Brake
CW / CCW
Alarm reset
INT VR / EXT
VRM (Analog)
EXT VR / EXT FR
External frequency
Multi function 0
(Current limit)
Multi function 1
(Current limit)
Speed
FG pulse
FG pulse
A/B channel
Alarm
Speed error
4
LED
Power X1
Status X 2
Power X 1
Status X 2
Over voltage
Under voltage
Over load
Over current
Hall sensor signal error
Current monitor
Regenerative detection
Thermal protection
Ambient temperature
Operating
condition
250-3000 msec.
(0-3000 rpm) Preset
(Serial communication)
Original
Multi function 1
Protective
function
1%
3. External frequency
Start / Stop
Multi function 0
Indicator
1%
3. External frequency
Ambient humidity
0-50 deg. C
0-50 deg. C
0-50 deg. C
85% or less
(No condensing and
no freezing)
85% or less
(No condensing and
no freezing)
85% or less
(No condensing and
no freezing)
200W version and DC12-48V input versions are available. Other customization and detailed specificaion, please feel free to contact sales office or sales
agent.
49
DIMENSIONS
ENTRY
5max
DDB33V700 SERIES
38
33
72
66
CN4
2-3.5
2-R4
CN3
CN1
CN5
CN2
64
C4
2-24.6
C2
15
STANDARD
42
DDB38V700 SERIES A
115
108
3.5
68
75
37.5
3.5
4-3
CN4
CN1
CN5
CN6
CN11
30
CN3
1
1
ADVANCED
DDB38V700 SERIES B
115
108
3.5
8-R2
68
CN3
CN4
CN1
1
CN5
74
CN6
CN11
30
75
37.5
3.5
6-3
50

SKC Stepping Motor Part Number
5.
Noncumulative positioning error ( 5% of step angle).
1. Stepping motor model number description - SKCs

stepping motor model number is determined by the following:
6.

Excellent low speed/high torque characteristics

without gear reduction.
7.
Inherent detent torque.
8.
Holding torque when energized.
9.
Bidirectional operation.
SST
Hybrid Type
Stepping Motor
SST
Shaft Configuration
O: Single
1: Double
Shaft Configuration
O: Single
Motor
Characteristics (1-99)
1: Double
Hybrid
Type
Motor
Size
Stepping
(O.D. inMotor
mm)
Motor Size Step Angle
(O.D. in mm)
C: 0.9
D: 1.8
Step
G: Angle
3.6
C: H:
0.93.75
D: 1.8
G: 3.6
H: 3.75
Construction
Motor
Characteristics
C: Steel
Housing (1-99)
O: No Steel Housing
Construction
Motor
Length
C: Steel
Housing
to 5 Housing
O: NoO Steel
Motor Length
OBROWN
to 5 (A)
Lead Wire Configuration and Color Guide

BROWN (A)
ORANGE (A)
WHITE (COM B)
YELLOW (B)
RED (B)
WHITE (COM B)
RED (B)
YELLOW (B)
YELLOW (B)
RED (B)
RED (B)
ORANGE (A)
YELLOW (B)
BLACK (COM)
BLACK (COM A)
ORANGE (A)
ORANGE (A)
11. No brushes for longer trouble free life.

12. Precision ball bearings.
Typical Stepping Motor Applications

For accurate positioning of X-Y tables, plotters, printers,
facsimile machines, medical applications, robotics, barcode
scanners, image scanners, copiers, etc.
Construction
BLACK (COM)
BLACK (COM A)
YELLOW (B)
BROWN (A)
ORANGE (A)
YELLOW (B)
BROWN (A)
ORANGE (A)
RED (B)
BROWN (A)
RED (B)
BROWN (A)
10. Can be stalled without motor damage.
There 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.
Typical Drive Circuits
In Fig. 5-2 the detail of rotor construction is shown.

Winding
Front End Bell
Stator
Rear End Bell
Ball Bearing
Rotor Laminations
Ball Bearing
Magnet
Fig. 5-1 Stepping Motor Construction

Rotor Lamintations
Rotor Lamintations
Features of Stepping Motors
51
2.
Digital control of speed and position.
3.
Open loop system with no position feedback required.
4.

Excellent response to acceleration, deceleration and

stecommands.
Magnet
Half Pitch
Off Set
Fig. 5-2 Rotor Construction
N
7
N
6
S
7
Stepping Motor Theory

Using 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.
S
7
Winding
S
6
4
5
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 12 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.
Stator Pole
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).
Drive Pulse
Step 1
Phase A
Step 2
Phase B
Pole 1,5
Step 3
Phase A
2
S
N
6
6
5
Step 1
Step 2
1
8
S
N
S
Rotor
Fig. 6-3 1 Phase Excitation Sequence
1
2
Step 1
Stator
Rotor
Pole 4,8
Step 2
Stator
1
2
Pole 3,7
Rotor
Table 6-1 Step Phase Sequence (1 Phase Excited)
Pole 2,6
Step 1
Stator
Step 4
Phase B
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.
OFF
ON
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.
2
N
52

Technical Data and Terminology
7-2

Detent Torque
The maximum torque that can be applied to the
shaft of a non-energized motor without causing
continuous rotation.
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.
7-3

Speed-Torque Curve
The speed-torque characteristics of a stepping
motor are a function of the drive circuit, excitation
method and load inertia.
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.
Holding Torque
Dynamic Torque
(Resonance point is not included herein.)
Pull-in Torque
Pull-out Torque
Angle Error
Holding Torque
The maximum steady torque that can be applied to
the shaft of an energized motor without causing
continuous rotation.
Torque (kgf-cm)
7-1

Slew Range
Start-Stop Range
Driving Frequency
(Speed)
53
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.
Backward
Positive Max.
Error
Theoretical
Angle
Neg. Max. Error
Max. Response
(PPS)
Hysteresis
Forward
Max. No Load
Response (PPS)
Fig. 7-1 Speed - Torque Curve
Fig. 7-2 Step Angle Accuracy
7-4 Maximum Slew Frequency

The maximum rate at which the step motor will

run and remain in synchronism.
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 motors 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.
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.
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.
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
2. Diode + Resistance Method
3. Diode + Zener Diode Method
4. Capacitor Method
Fig. 8-1 (a)

Fig. 8-1 (b)
Fig. 8-1 (c)
Fig. 8-1 (d)
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).
Fig. 8-1
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.
Current
Examples:
1. Constant Voltage Drive
2. Dual Voltage (Bi-level) Drive
3. Chopper Driver
Fig. 8-1
2 I0
Fig. 8-1 (e)

Fig. 8-1 (f)
Fig. 8-1 (g)
(c) : = L/R
Supply Voltage = 2
V0
(c)
(b)
I0
(a)
(b) : = L/2R
Supply Voltage = 2
V0
(a) : = L/R
Supply Voltage =
V0
Fig. 8-2
54

8-2 Excitation Methods

In Table 8-1 are descriptions and features of each

method.
Excitation Method
Single Phase
Dual Phase
1-2 Phase
Pulse
phase A
Switching
sequence phase B
phase A
phase B
Hold & running

torque reduced
by 39%
Features
Increased
efficiency.
Poor step
accuracy.
High torque
Poor step accuracy.
Good step
accuracy.
Good resonance
characteristics.
Step Motor Load Calculations and Selection

To 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.
Higher pulse rates.

Half stepping
Table 8-1
9-1 Load Inertia

The following is an example for calculating the

inertia of a hollow cylinder.
8-3 Bipolar and Unipolar Operation

All SKC stepper motors are available with either

two coil bipolar or four coil unipolar windings.
D2
D1
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. 9-1
J = 18 . M . (D12 + D22)

Where

M:
D1:
D2:
(kg-cm2)
mass of pulley (kg)

outside diameter (cm)
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:

Fig. 8-3 Bipolar Method
55
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.
Energy = 12 M v2 = 12 J w2

Where

M:
v:
J:
w:
mass
velocity
inertia
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:
J1, J2, J3:
J:
No. of gear teeth

inertia (kg-cm2)
reflected inertia, (kg-cm2)
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:
Fig. 9-2
f(t) = (f1 - f0)/t1 . t + f0

TJ = (JR + JL)/g . (p . q . s)/180 . (f1 - f0)/t1
2)

f1
Pulley & belt system. A motor and belt drive

arrangement is used for linear load translation
J = 2 J1 + 14 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)
f0
t1
Fig. 9-4 Linear Acceleration
Time
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. 9-3
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:

Tf:

Tj:

Pullout torque (kgf-cm)

Friction torque (kgf-cm)
Inertia load (kgf-cm)
f1
f0
Exponential of
Fig. 9-5 Exponential Acceleration
Time
TJ = (JR + JL)/g . (p . q . s)/180 . df/dt

JR:

JL:

q:

g:

f:
Rotor inertia [kg-cm2]

Load inertia [kg-cm2]
Step angle [deg]
Gravity acceleration = 980 [cm/
sec2]
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)
56
Stepping Motor Driver Information

Stepper Motor Wiring Diagram
Unipolar
Bipolar
A = BROWN, A = ORANGE, B = RED, B = YELLOW

BLACK = A COMMON in unipolar 6-lead configuration, and A/B COMMON for unipolar 5-lead wire configuration
WHITE = B COMMON
Excitation Tables
Excitation Table Bipolar
CW*
Excitation Table Unipolar
CCW*
PHASE A
PHASE B
PHASE -A
PHASE -B
PHASE A
PHASE B
*Viewed from shaft side
*Viewed from shaft side
CW* CCW*
PHASE -A PHASE -B COMMON
Step Motor Drive Circuit
57
Type A
Type B
Type C
Type D
Unipolar, Constant V
Unipolar, Constant I
Bipolar, Constant V
Bipolar, Constant I
Conversion Tables
INERTIA B = A x constant
B A
oz-in2
oz-in-s2
lb-in2
lb-in-s2
Nms2
g-cm2
kg-m-s2
oz-in
386.08
16
6.18 x 103
5.46 x 104
5.46 x 10-3
5.35 x 105
lb-in2
1 / 16
24.13
386.08
3.41 x 103
3.41 x 10-4
3.35 x 104
Nms2
1.83 x 10-5
7.06 x 10-3
2.93 x 10-4
0.113
1 x 107
9.807
g-cm2
182.9
7.06 x 104
2.93 x 103
1.13 x 106
1 x 107
9.807x107
TORQUE B = A x constant
B A
g-cm
g-cm
oz-in
ft-lbf
Ws (Nm)
Ncm
kg-cm
72.0077
1.38 x 104
1.02 x 104
101.963
1 x 103
oz-in
0.0139
192
141.6
1.416
13.9
ft-lbf
7.233 x 10-5
1 / 192
0.737
7.37 x 10-3
7.23 x 10-2
Ws (Nm)
9.807 x 10-5
7.06 x 10-3
1.356
1 x 10-2
9.8 x 10-2
FORCE B = A x constant
B A oz
lbf
kg
oz
16
3.6
35.27
35.27 x 10-3
lbf
1 / 16
0.225
2.205
2.205 x 10-3
0.278
4.448
9.807
9.807 x 10-3
kg
0.028
0.454
0.102
1 x 10-3
A company that keeps its promises

Today any industrial manufacturer knows that growth,
of Kaizen - constant improvement. Dedication to constant
even survival, depends upon bringing more to the
improvement has earned SKC several manufacturing and
customer. Pricing, service, quality, and solid engineering
quality certifications including ISO 9001, ISO 14001
are all expected.
and the stringent automotive TS 16949 certification. The
SKC blends our engineering strength, our international

presence, and our technical support together to create
an evolving environment for the newest and most robust
manufacturing techniques and project design fulfillment.
The SKC brand of Kanban, lean manufacturing, and just
in time (JIT) delivery, are based on the whole concept
application of all these principles allows SKC to increase

the level of service and value to all of our customers.
Quality, effort, involvement of all employees, willingness to
change, and communication are the key Kaizen concepts
SKC applies to the flow of services the company provides.
All of which allows SKC to deliver on our promise time
and time again.
58
Shinano Kenshi
Corporate Headquarters
6065 Bristol Parkway
Culver City, CA 90230
Tel: (310) 693-7600
Fax: (310) 693-7599
Shinano Kenshi
Eastern Sales Office
5000 Tilghman Street, Suite 330
Allentown, PA 18104
Tel: (610) 481-9888
Fax: (610) 491-9777
www.shinano.com

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