Catalog Drive EN20180816

Integrated Step-Servo Motor
Step-Servo Motor & Drive

Integrated Stepper Motor
Stepper Drive
Stepper Motor
Dawn of MOONS' 3A Era
1st A Motion Products & Motion Control Products for Manufacturing Automation
MOONS' is a leading manufacturer of the key parts, components and system level products used in manufacturing
automation including: Stepper Motor and Drive，Brushless Motor and Drive, AC Servo Motor and Drive, Integrated solutions.
We continue to play a major role in the manufacturing automation field with us moving forward to being a system level
provider of total motion control solutions.
2nd A Intelligent LED Driver & Control Technologies for LED Lighting Management Automation
3rd A Online Asset Monitoring, Fault Detection and Diagnosis Solutions for EAM Automation
MOONS' Business Philosophies

● Customer satisfaction ● Employee satisfaction ● Partnership
MOONS' aims to enhance MOONS' values and respects our MOONS' strongly believes in a true
customer satisfaction through the employees input and encourages integrated partnership between all
provision development of them to grow together with the par tners in business including
innovative solutions, manufacture company. customers, distributors and all these
of high quality products, and We have been working to develop in supply chain. As a result of our this
ontime delivery and outstanding tools and trainings to build a thriving philosophy, we endeavor to provide
customer support. culture of excellence internally to the best value contribution to all
support the future growth of our partners, which can help our partners
employees and the company. improve their competiveness to
achieve the win-win situation.
Worldwide service map
Vasteras
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Kent Ieper
Lyon Vimercate
MiLan Gyeonggi-do
Beijing Chicago
Qingdao Watsonville
Xian Shin-Yokohama
Chengdu Shanghai
Wuhan Nanjing
Guangzhou
Shenzhen
Pune
Singapore
Sao Paulo
Headquarters Branch offices Distributors

To demostrate our commitment to our community and our customers, MOONS’ has adopted as our official slogan:
"Moving in Better Ways". These words have following meanings to MOONS’:
• MOONS’ is an excellent global manufacturer of control motor & control motor drive system
• MOONS’ is a leading global supplier of intelligent LED lighting control system and drive solutions
• MOONS’ is a well-recognized reliable provider of system solutions for the intelligent system management
in large asset-intensive industrial enterprises
We provide superior motion control systems to our global customers through optimizing of product design,
engineering, and manufacturing. This is done by strengthening process and quality control and constantly creating
solutions using motion control products that are more energy efficient and environmental friendly.
We provide leading-edge LED lighting drivers, controls and management solutions. Our leading lighting control
technology makes the drive professional, convenient to use, and more energy efficient in reducing costs and
enhancing profits for global customers.
We provide management system solutions for large asset-intensive industries including power generation,
petrochemical, metallurgy, coal and large scale agriculture.
• We are an ambitious and enterprising company

MOONS’ never stops the on-going accelerated pace to improve processes and increase efficiency. Through
scientific management methodologies and tools and incorporating advanced technology with senior management
experience, we constantly optimize management processes that enable MOONS’ to maintain on-going growth in
competitive markets.
• We are a cooperative and thriving group

All members of our team are able to incorporate the concept of moving in better ways during work, they continually
upgrade our collective values, and strive for excellence in the process of doing business to improve expertise and
gain better opportunities.
Motion Control Products and Solutions

MOONS' provides a wide range of motion control products and solutions serving the fields of printing, intelligent
stage lighting, textile machinery, consumer appliance, banking equipment, factory automation, electronics, semicon-
ductor equipment, packaging machinery, medical equipment and measuring equipment, to name a few.
Entering into the hybrid stepper motor business in 1997, MOONS' has grown to where it is now one of the top 5
global manufacturers of stepper motors, and an integrated provider of related motion control products and solutions.
MOONS' has been and is concentrating on technological advancement, product design innovation and improvement
for standard and customized motion control products and solutions. Cutting edge technologies, product improvement
and scientifically proven management systems permit MOONS' to exceed customers’ requirements around the
world. MOONS' supports our growing customer base by providing exceptional quality, application engineering, rapid
prototyping, regional warehousing and competitive pricing.
Introduction to Stepper Motors
A stepper motor is an electromechanical device which converts electrical pulses into discrete mechanical
movements. The shaft of a stepper motor rotates in discrete step increments when electrical command pulses
Integrated
Efficient
TSM
are applied to it in the proper sequence.
Stepper motors are the easiest devices for precise positioning control. They are wildly being used in various
Integrated
application for position and speed via all kinds of control signals such as digital, analog, communication etc.
SSM
Features
Step-Servo
Integrated
TXM
IP65
◇ Precise Positioning Control 1.8°
A stepper motor rotates with a fixed step angle, just like the second
Motor & Drive

RS
hand of a clock. This angle is called "basic step angle." MOONS'
offers several types of "basic step angle" as standard motors: 2-phase stepping
Motor & Drive

motors with a basic step angle of 0.9° and 1.8° and 3-phase stepping motors
SS
with a basic step angle of 1.2°.
Besides the standard motor, MOONS' also has stepper motors avalible with
Pulse Input
STM-R
other "basic step angle." They are 0.72°, 1.5°, 3.6° and 3.75°, these motors are

not listed in this catalogue, please contact MOONS' for details.
With Controller With Controller

STM
2 phase stepper motor
◇ Easy Control with Pulse Signals
A system configuration for high accuracy positioning is shown below. The rotation angle and speed of the
SWM
IP65
stepping motor can be controlled accurately using pulse signals from the controller.
Pulse Input
Controller Stepper Drive Stepper Motor
SRAC
Current
AC Input
Pulse Signal
With Controller
STAC
2-Phase Stepper Drive
Pulse Input
SR
What is a Pulse Signal?
Field Bus
DC Input
STF
A pulse signal is an electrical signal whose voltage level changes
Voltage
repeatedly between ON and OFF. 1 Pulse
With Controller
Each ON/OFF cycle is counted as one pulse. A command with one
ST
H Level
pulse causes the motor output shaft to turn by one step.
L Level
The signal levels corresponding to voltage ON and OFF conditions
AC Input
are referred to as "H" and "L," respectively. Time
DC Input
The length of Rotation is Proportional to the Number of Pulses
1 Pulse 1.8°
The length of rotation of the stepping motor is proportional to the
2-Phase
number of pulse signal (pulse number) given to the driver.
10 Pulses 18°
The relationship of the stepper motor's rotation (rotation angle of the Stepper Motor
motor output shaft) and pulse number is expressed as follows:
3-Phase
100 Pulses 180°
θ =θs X A θ: Rotation angle of the motor output shaft [deg]
θs : Step angle [deg/step]
A : Pulse number [pulses]
UL
The Speed is Proportional to the Pulse Frequency

Power Supplies
The speed of the stepper motor is proportional to the frequency of 30r/min

Accessories
100 Hz
pulse signals given to the driver.
The relationship of the pulse frequency [Hz] and motor speed [r/min] 1000 Hz 300 r/min
Cables
is expressed as follows:
θs 2000 Hz 600 r/min
N＝ h fh 60 N : Speed of the motor output shaft [r/min]
360
Software
θs : Step angle [deg/step]

Appendix
f : Pulse frequency [Hz]

(Number of pulses input per second)
Glossary
5
◇ Generating High Torque with a Compact Size
Stepper motors generate high torque with a compact size.
These features give them excellent acceleration and response, which in turn makes these motors well-suited for
torque-demanding applications where the motor must be started and stopped frequently.
To meet the need for greater torque at low speed, MOONS' also has geared motors option.
Integrated
Efficient
TSM
Frequent Starting/Stopping is Possible Speed VS Torque Characteristics comparetion between

servo and stepper with same motor size.
Integrated
SSM
2.5
3 Stacks Stepper
Step-Servo
400W Servo
Integrated
2 Stacks Stepper
TXM
IP65
2.0 200W Servo
[Motor frame size 60 mm ]

1.5
Motor & Drive
Torque [N..m]
RS
1.0
Motor & Drive
SS
0.5
0
Pulse Input
0 1000 2000 3000 4000

STM-R
Speed [RPM]
STM
◇ The Motor Holds Itself at a Stopped Position The motor holds its position
when the windings are energized.
Stepper motor has full torque at stand-still as long as External

SWM
Stepper Motor Force

IP65
the windings are energized. This means that the motor

can be held at a stopped position without using a
Pulse Input
mechanical brake.
SRAC
Coupling
AC Input
With Controller
STAC
◇ Motor with Electromagnetic Brake

Pulse Input
SR
Once the power is cut off, the self-holding torque of the

motor is lost and the motor can no longer be held at
Field Bus
DC Input
the stopped position in vertical operations or when an

STF
external force is applied. In lift and similar applications,

an electromagnetic brake type motor is required.
With Controller
ST
Brake Type Motor

AC Input
◇ Closed Loop Servo Control Stepper Motors

DC Input
The is an innovative revolution for the world of

stepping motor, it enhances the stepping motor with servo
2-Phase
technology to create a product with exceptional feature and

broad capability.
Stepper Motor
The greatly improves the performance to be much

3-Phase
more Intelligent, Efficient, Compact, Accurate, Fast and

Smooth.
UL
Power Supplies
Accessories
Controller Drive Motor

P
Pulse Signal y
os
it
Veloc
ition
Closed
Loop
Cables
Torq ue
Positioning Completion Signal

Software
Alarm Signal
Appendix
Glossary
6
Stepper Motor Category
Stepper motors come in different types including the basic type, encoder type, IP65 type, Integrated type with
drive and controller, brake type and geared type. The availability of all options can also be combined together
as the most optimize and compact motion control unit, for example, MOONS' can offer encoder and geared
Integrated
Efficient
TSM
type, IP65 integrated with drive, controller and encoder, all combinations are avalible per request.
Integrated
SSM
Step-Servo
◇ Basic Type
Integrated
TXM
IP65
A basic model that is easy to use and designed with a balanced
set of functions and characteristics.
Motor & Drive

RS
Motor & Drive
SS
◇ Encoder Type
Pulse Input
Encoder type stepper gives the possiblity for closed loop
STM-R
control, encoder feedback signals can be used for position
verification and enhanced performance as stall detection and

stall prevension depending on the features of the drive.
STM
SWM
◇ IP65 Type
IP65
IP65 type stepper motors with the feature of dust proof and
Pulse Input
resistant to low pressure water jets, are ideal for applications
SRAC
in wet factory environments such as the food and beverage
AC Input
industry or outdoor use.
With Controller
STAC
IP65 specifies a product that is dust tight (no ingress of dust;

complete protection against contact) and protected against
Pulse Input
water jets (water projected by a nozzle from any direction shall
SR
have no harmful effects).
Field Bus
DC Input
STF
◇ Integrated Type with Drive and Controller
With Controller
Integrated stepper motors offer a space-saving design that
ST
reduces wiring and saves on cost over separate motor and
drive components. For controller type, you only need cable
AC Input
connection for Power and necessory communication or sensor
depending on application, it also cost for host controller and
make it easy for you to setup sofiscated motion control system.
DC Input
2-Phase
◇ Brake Type Stepper Motor
These motors incorporate a non-excitation type electromagnetic

brake. When the power is accidentally cut off due to power 3-Phase
outage or other unexpected event, the electromagnetic brake
holds the load in position to prevent it from dropping or moving.
UL
Brake type steppers are wildly used in vertical axis application.

Power Supplies
Accessories
◇ Geared Type
Cables
These motors incorporate a dedicated position-control

gearhead with reduced backlash to make the most of the high
Software
controllability of the motors.

Appendix
The gearhead ensures highly accurate, smooth operation even

Glossary
in applications where a large torque is received.
7
Control Modes for Drives
With MOONS' advanced stepper drive technology, each stepper motor can be operated under various control
modes as position control, velocity control or torque control. MOONS' stepper drive accepts all types of control
signals including digial, analog and Industrial network communications. Built-in controller Q drive supports stand
Integrated
Efficient
alone operation for single axis motion by stored sofiscated program execution.
TSM
◇ Pulse Control
Integrated
Pulse control is a traditional way to command a stepper motor in position and velocity control.
SSM
The length of rotation is proportional to the number of pulses as well as the speed is proportional to the pulse
frequency.
Step-Servo
Integrated
TXM
IP65
Position
Motor & Drive
Control
RS
Pulse&Dir
CW/CCW
Motor & Drive
A/B Quadrature
SS
3rd Party Controller
Pulse Control
Pulse Input
STM-R
Three most popular pulse control digital signal types are Pulse & Direction, CW/CCW Pulse and A/B Quadrature.
Pulse & Direction
STM
When the Pulse input is turned ON while the DIR input is ON, the motor will Pulse Input
Pulse & Direction
High
rotate by one step in one direction. (PLS)
Low
When the Pulse input is turned ON while the DIR input is OFF, the motor will
SWM
IP65
Rotate&Direction Low High

rotate by one step the other direction. (DIR.)
Motor Motion CCW&Direction

*Direction definition of DIR input can be configured via MOONS' software.
Pulse Input
CW&Direction
SRAC
The chart below shows motor configured as while the DIR input is ON, the
AC Input
motor will rotate by CW direction.

With Controller
STAC
CW/CCW Pulse
CW/CCW Pulse
When the X1 input is turned ON, the motor will rotate by one step in One CW Pulse
High
Low
Pulse Input
direction. When the X2 input is turned ON, the motor will rotate by one step in High
SR
CCW Pulse
the other direction. Low
CCW&Direction
*Direction definition can be configured via MOONS' software. Motor Motion
Field Bus
CW&Direction
DC Input
STF
The chart below shows motor configured as while the X1 input is ON, the
motor will rotate by one step in CW direction.
With Controller
ST
A & B Quadrature
A & B Quadrature
The motor will move according to signals that are fed to the drive from a two
AC Input
High
channel increamental master encoder. Input A
Low
High
Direction definition can be configured via MOONS' software. Direction is Input B
Low
determined via which channel leads the other.

DC Input
Motor Motion
The chart below shows motor configured as while X1 Leads X2, the motor will CCW&Direction
CW&Direction
rotate by CW direction.
2-Phase
Stepper Motor
◇ Analog Control
3-Phase
MOONS' stepper drive has the ability to accept analog signal for position and analog control, can also
use analog signal for torque control.
UL
Position
5V Control
Power Supplies
Velocity
Accessories
Control
Ain Torque
Control
Analog Control only
Cables
0
Software
Appendix
Glossary
8
RS232
SCL
◇ Field Bus Control
MOONS' stepper drive supports all popular Industrial network communications including RS-485, Modbus, CAN ,
Ethernet and EtherCAT.
Integrated
Efficient
TSM
RS-485/232
SCL
Integrated
SSM
UP TO Position
ID 5 ID 4 ID 3 ID 2 ID 1
32 Control
Step-Servo
Integrated
AXES
TXM
IP65
Velocity
Control
CAN Bus Torque
Motor & Drive

Control
RS
only
Motor & Drive

SS
UP TO
112
AXES
Pulse Input
STM-R
Ethernet
eSCL

STM
SWM
IP65
Pulse Input
SRAC
◇ Stand Alone Operation
AC Input
MOONS' Built-in controller Q drive supports stand alone operation for single axis motion by stored sofiscated
With Controller
STAC
program execution. It has the ability to run up to 744 lines of stored Q program in non-volatile memory. Q

programs are created using the Q Programmer software, which provides multi-tasking, math calculations using
analog and digital parameters, conditional processing, data register manipulation, and more features in a robust
Pulse Input
SR
yet simple text-based programming language.
Field Bus
DC Input
STF
Position
Downloading Control
With Controller
Velocity
ST
Control
Torque
Motion Program Stand Alone Operation
Control
only
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
9
Overview of MOONS' Stepper Products
◇ Closed Loop
TSM Series - Integrated

Integrated
Efficient
TSM
Frame Size: 28mm, 42mm, 56mm, 60mm, 86mm

Input Voltage(Typical): TSM11:24VDC TSM17:12-48VDC
Integrated
TSM23/24:12-70VDC TSM34: 24-70VDC

SSM
Encoder: Incremental 20000 counts/rev

(only TSM11 encoder 4096 counts/rev) Position
Step-Servo
Control
Integrated
Enhanced Intelligence:
TXM
IP65
■ Automatic load inertia detection Velocity

■ Extended homing and software limit Control
Control Modes: Torque

Motor & Drive
Control
■ Pulse Control
RS
■ Analog Control
■ Field Bus Control, Daisy Chain
■ Stand alone operation
Motor & Drive
SS
Inputs and Outputs:

■ P Type- 4 Digital Inputs, 3 Digital Outputs, Encoder Outputs
■ S/Q/C/IP Type- 8 Digital Inputs, 4 Digital Outputs, 1 Analog Input

Pulse Input
STM-R
Communication:
Compliant
SCL eSCL
STM
SSM Series - Integrated

Frame Size: 42mm, 56mm, 60mm
SWM
IP65
Input Voltage(Typical): SSM17: 12-48VDC SSM23/24: 12-70VDC

Encoder: Incremental 20000 counts/rev Position
Control
Easy Wiring with Spring Connectors
Pulse Input
SRAC
Velocity
Control Modes: Control
■ Pulse Control
AC Input
■ Analog Control Torque

Control
■ Field Bus Control
With Controller
STAC

Inputs and Outputs:

■ C/S/Q Type- 3 Digital Inputs, 1 Digital Output, 1 Analog Input
Pulse Input
Communication:
SR
 SCL eSCL
Compliant
Field Bus
DC Input
STF
TXM Series - IP65 Type Integrated

With Controller
ST
Frame Size: 60mm, 86mm

Input Voltage(Typical): TXM24: 12-70VDC TXM34: 24-70VDC

AC Input
Position
Control
Control Modes:
■ Pulse Control Velocity
■ Analog Control Control
DC Input
■ Field Bus Control(Daisy Chain for RS-485 and CANopen)

Torque
■ Stand alone operation Control
Inputs and Outputs:

■ S/Q/IP Type- 3 Digital Inputs, 1 Digital Output, 1 Analog Input
2-Phase
■ C Type- 5 Digital Inputs, 3 Digital Outputs

Stepper Motor
 Communication:
3-Phase
Compliant
SCL eSCL
RS Series - Motor & Drive Package

UL
Motor Frame Size: 28mm, 42mm, 56mm, 60mm, 86mm

Input Voltage(Typical): 24-70VDC Position
Power Supplies
Control
Encoder: Magnetic 4096 counts/rev
Accessories
Enhanced Intelligence: Velocity

Control
■ Automatic load inertia detection and switch set stiffness
■ Extended homing and software limit Torque
Cables
Control
Control Modes:
■ Pulse Control
■ SCL Command Control
Software

Appendix
Inputs and Outputs:

■ S/Q Type- 4 Digital Inputs, 3 Digital Outputs
Glossary
Communication:
 SCL
Compliant
10
SS Series - Motor & Drive Package
Position
Input Voltage(Typical): 24-75VDC Control
Integrated
Efficient
(only AM11SS motor encoder 4096 counts/rev) Velocity
TSM
Control
Torque
■ Automatic load inertia detection and switch set stiffness Control
■ Extended homing and software limit
Integrated
SSM
Control Modes:
■ Pulse Control
■ Analog Control
Step-Servo
Integrated
■ Field Bus Control(Daisy Chain for RS-485, CANopen and EtherCAT)
TXM
IP65
Inputs and Outputs:
Motor & Drive

■ P/R Type- 6 Digital Inputs, 2 Digital Outputs, Encoder Outputs
■ S/Q/C/EC Type- 8 Digital Inputs, 4 Digital Outputs, 2 Analog Inputs
RS
Communication:
Motor & Drive

 SCL
SS
Compliant
Pulse Input
◇ Integrated Stepper Motor
STM-R
STM-R Series - Pluse Input Type Integrated Stepper Motor

STM
Position
Control
Input Voltage(Typical): STM17R: 12-48VDC STM23R: 12-70VDC
SWM
IP65
Encoder Option: Incremental 4000 counts/rev
Microstep Resolution: Switch set, up to 25600 steps/rev
Pulse Input
Control Modes:
SRAC
■ Pulse Control
AC Input
Inputs and Output:
With Controller
 ■ 3 Digital Inputs, 1 Digital Output
STAC
Compliant
Pulse Input
STM Series - Controller Type Integrated Stepper Motor
SR
Frame Size: 28mm, 42mm, 56mm, 60mm
Position
Field Bus
Input Voltage(Typical):
DC Input
Control
STF
■ STM11 - 24VDC
■ STM17 - 12-48VDC Velocity
Control
■ STM23/24 - 12-70VDC
With Controller
ST
■ Stall Detection
■ Stall Prevension
Microstep Resolution: Software set, up to 51200 steps/rev
AC Input
Control Modes:
■ Pulse Control
■ Analog Control
DC Input
Inputs and Outputs:
■ STM11 4 digital Inputs, 2 Outputs
2-Phase
■ SF/QF Type- 4 Configurable digital Inputs/Outputs, 1 Analog Input
■ S/Q/IP Type- 3 Digital Inputs，1Digital Output，1 Analog Input
■ C Type- 3 Digital Inputs, 1 Digital Output Stepper Motor

3-Phase
Communication:
Compliant
SCL eSCL
SWM Series - IP65 Type Integrated Stepper Motor

UL
Frame Size: 60mm

Power Supplies
Input Voltage(Typical): 12-70VDC Position

Accessories
Encoder Option: Incremental 4000 counts/rev Control

■ Stall Detection
Velocity
■ Stall Prevension Control
Cables

Control Modes:
■ Pulse Control
Software
■ Analog Control
Appendix

Inputs and Outputs:
Glossary

Communication:

Compliant
SCL eSCL
11
◇ Two Phase Stepper Drive
SRAC Series - AC Input Stepper Drive
Integrated
Efficient
TSM
Position
Input Voltage(Typical): AC120V/240V Control
Drive Output Current: Up to 8Amp(Peak of Sine)
Integrated

SSM
Control Modes:
■ Pulse Control
Step-Servo
Integrated
Inputs and Outputs:

TXM
IP65
■ 3 Digital Inputs, 1 Digital Output

Supported Motor Frame Size: 56mm, 60mm, 86mm
Motor & Drive
RS

Compliant
Motor & Drive
SS
STAC Series - AC Input Controller Type Stepper Drive

Input Voltage(Typical): AC120V/240V
Pulse Input
STM-R
Position
Drive Output Current: Up to 2.5Amp(Peak of Sine)
Control
Encoder Option: Incremental
Velocity
■ Stall Detection Control
STM

Control Modes:
■ Pulse Control
■ Analog Control
SWM
IP65

Inputs and Outputs:
Pulse Input
SRAC
■ S/Q/C Type- 4 Digital Inputs, 2 Digital Outputs, 1 Analog Input

■ Q-A/IP Type- 12 Digital Inputs, 6 Digital Outputs, 1 Analog Input
AC Input
Communication:
With Controller
STAC
SCL eSCL

Compliant
Pulse Input
SR
SR Series - DC Input Stepper Drive

Field Bus
DC Input
STF
Input Voltage(Typical): Position

Control
■ SR2/SR2-Plus/SR3-mini: 12- 48VDC
With Controller
■ SR4/SR4-Plus: 24-48VDC
ST
AC Input
Control Modes:
■ Pulse Control
Inputs and Outputs:
DC Input

Supported Motor Frame Size:
 ■ 20mm, 28mm, 35mm, 42mm, 56mm, 60mm, 86mm
Compliant
2-Phase
Stepper Motor
STF Series - Intelligent field bus control Stepper Drive

3-Phase
Input Voltage(Typical): DC12V/24V/48V Position

Control
UL
Velocity
Microstep Resolution: Software set, up to 51200 steps/rev Control
Control Modes:
Power Supplies

Accessories
Inputs and Outputs:

■ 8 Digital Inputs, 4 Digital Outputs
Cables
Communication:
Software

Appendix

■ 20mm, 28mm, 35mm, 42mm, 56mm, 60mm, 86mm
Compliant
Glossary
12
ST Series - DC Input Controller Type Stepper Drive
Input Voltage(Typical): DC24V/48V Position

Control
Integrated
Encoder Option: Incremental Velocity
Efficient
TSM
Control
■ Stall Detection
Integrated
Control Modes:
SSM
■ Pulse Control
■ Analog Control
Step-Servo
Integrated
TXM
IP65
Inputs and Outputs:
■ S type- 3 Digital Inputs, 1 Digital Output, 1 Analog Input
■ Q/C/IP- 8 Digital Inputs, 4 Digital Outputs, 2 Analog Inputs
Motor & Drive

Communication:
RS
SCL eSCL

Motor & Drive

Compliant
SS
■ 28mm, 35mm, 42mm, 56mm, 60mm, 86mm
Pulse Input
STM-R

◇ Three Phase Stepper Drive
STM
AC Input Stepper Drive and DC Input Stepper Drive
SWM
IP65
Pulse Input
SRAC
Drive Input Voltage(Typical):
AC Input
■ AC 120V/240V
■ DC 24V/48V
With Controller
STAC
Control Modes：
■ Pulse Control

■ Analog Control
Pulse Input
SR
Inputs and Outputs:
Field Bus
DC Input
Supported Motor Frame Size: 60mm, 86mm
STF
With Controller
ST
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
13
IP65 IP65 Efficient
Glossary Software Cables Power Supplies UL 3-Phase 2-Phase DC Input AC Input With Controller Field Bus Pulse Input With Controller Pulse Input With Controller With Controller Pulse Input Motor & Drive Motor & Drive Integrated Integrated Integrated
ST STF SR STAC SRAC SWM STM STM-R SS RS TXM SSM TSM
14
DC Input AC Input
Appendix Accessories Stepper Motor 3-Phase Stepper Drive 2-Phase Stepper Drive Integrated Stepper Motor Step-Servo
20mm
42mm
28mm
20mm
◇ Stepper Motor
Standard Motors
2-Phase Basic Type
2-Phase Brake Type

42mm
35mm
2-Phase Encoder Type
60mm
56mm
28mm
Planetary Reducer Motors Type
2-Phase PowerPlus Series Type
42mm
56mm
42mm
86mm
56mm
57mm(60)
60mm
60mm
56mm
60mm
2-Phase IP65 Type
3-Phase Basic Type

86mm
60mm
86mm
86mm
86mm
110mm
86mm
Stepper General Catalogue
Integrated
Efficient
TSM
Efficient Integrated TSM Series …………………25
Integrated
SSM
Integrated SSM Series………………………………60
Step-Servo
Integrated
TXM
IP65 Type Integrated TXM Series…………………69
IP65
Motor & Drive
Motor & Drive Package RS Series …………………83
RS
Motor & Drive
Motor & Drive Package SS Series …………………98
SS
Pulse Input
STM-R
Pulse Input Type STM-R…………………………137

STM
Integrated Stepper Motor Controller Type STM Series ……………………144
SWM
IP65 Controller Type SWM Series ………………158
IP65
Pulse Input
SRAC
Pulse Input Type SRAC Series ……………………171
AC Input
With Controller
STAC
With Contrller Type STAC Series …………………181
Pulse Input
Two Phase Stepper Drive DC Input SR Series ………………………………197
SR
Field Bus
DC Input
STF
Field Bus STF Series………………………………213
With Controller
DC Input Controller Type ST Series ……………222
ST
AC Input
AC Input ……………………………………………237
Three Phase Stepper Drive
DC Input
DC Input ……………………………………………239
2-Phase
Two Phase …………………………………………250
Stepper Motor
3-Phase
Stepper Motor Three Phase ………………………………………284
UL
UL………………………………………………289
Power Supplies
Power Supplies……………………………………304
Accessories
Accessories
Cables
Cables………………………………………………305
Software
Software……………………………………………307
Appendix
Appendix
Glossary
Glossary ……………………………………………313
15
Efficient IP65 IP65
Integrated Integrated Integrated Motor & Drive Motor & Drive Pulse Input With Controller With Controller Pulse Input With Controller Pulse Input Field Bus With Controller AC Input DC Input 2-Phase 3-Phase UL Power Supplies Cables Software Glossary
TSM SSM TXM RS SS STM-R STM SWM SRAC STAC SR STF ST
17
AC Input DC Input
Step-Servo Integrated Stepper Motor 2-Phase Stepper Drive 3-Phase Stepper Drive Stepper Motor Accessories Appendix
IP65 Integrated TXM
Motor & Drive RS
Motor & Drive SS

Integrated SSM
Integrated TSM
Closed Loop
The is an innovative revolution for the world of stepper motor, it enhances the stepper motors with
servo technology to create a product with exceptional feature and broad capability.
Integrated
Efficient
TSM
■ Features
Integrated
Multi-functional Capability
SSM
UP TO UP TO
32 112
RS-485
Step-Servo
AXES AXES
Integrated
TXM
IP65
Pulse&Dir
CW/CCW
Motor & Drive
A/B Quadrature
RS

Pulse Control IDn ID2 ID1
Muti-Axis Network
Motor & Drive
5V
SS
Analog Velocity
Downloading
Ain
Pulse Input
Analog Position
STM-R
Analog Control
0
Motion Program Stand Alone Operation

STM
Closed Loop
SWM
IP65
● Very tight position and velocity

Pulse Input
control for the most demanding

SRAC
Motion
Command
C Servo Motor
applications.
AC Input
Controller Amplifier Shaft

Robust servo loops that tolerate
With Controller
●
STAC
wide fluctuation in load inertia and

P Encoder
y
frictional loading.
os
it
Veloc
ition
Pulse Input
Closed
● Precise positioning to within ±1 count
SR
Loop
(0.018°) using high resolution(20000

Torq ue
counts/rev) encoder.
Field Bus
DC Input
STF
Feedback
With Controller
ST
Low Heating/High Efficiency

AC Input
● Uses only the current required by the application, generating

minimum heat output.
DC Input
● When stand-still, current can reach nearly zero for extremely low
heat output.
● Being able to use almost 100% of torque, allows for more efficient Heat
Heat
2-Phase
Loss Power
Loss Power
and compact motor usage. energy Output energy
Output
80%
30%
Stepper Motor
3-Phase
Stepper
UL
Smooth & Accurate

Power Supplies
● Space vector current control with 5000 line high resolution encoder,
Accessories
gives smooth and quiet operation, especially at low speeds.

------A feature never found with traditional stepping motors
Cables
● High stiffness due to the nature of the stepping motor combined with
Stepper
the highly responsive servo control ±1 Count Error
Software
(20000 counts/rev)
------Accurate position control both while running and static positioning
Appendix
Glossary
18
Fast Response
Step Servo ● When performing fast point-to-point moves, the high torque output
Distance
Integrated
Typical
Efficient
and advanced servo control provides a very responsive system far
TSM
Application
for exceeding what can be done with a conventional stepper system.
Integrated
SSM
Velocity
Step-Servo
Integrated
TXM
IP65
High Torque
150%
● Because the operates in full servo mode, all the available Boost
Motor & Drive

RS
torque of the motor can be used.
● The motor can provide as much as 50% more torque in many applications.
Motor & Drive

High torque capability often eliminates the need for gear reduction. 100%
SS
70% Continuous
● Boost torque capability can provide as much as 50% more torque for short,
Stepper Rated
quick moves.
Pulse Input
STM-R
Torque

Motion Monitoring

STM
● For difficult control situations where performing a precise move is
necessary, the Quick Tuner provide an easy to use interface for
SWM
IP65
performing and monitoring the motion profile.
● Many common parameters such as Actual Speed or Position Error can be
Pulse Input
monitored to evaluate system performance.
SRAC
The monitoring is interactive with the servo tuning capability so that
AC Input
●
optimum performance can be achieved.
With Controller
STAC
Pulse Input
Easy Tunning
SR
● Pre-defined tuning parameters for maximum control performance
1:10 1:5 1:1 and stability.
Field Bus
DC Input
STF
● Easy selection list provides the level of control desired.
● In most cases NO extra manual tuning is required.
With Controller
ST
Load Inertia
AC Input
PC Based Software
DC Input
MOONS' products support following software application
make it easy to configure, tuning, testing and evaluation.
● Quick Tuner
2-Phase
● Q Programmer Stepper Motor
● RS-485 Bus Utility

CANopen Test Tool 3-Phase
● UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
19
■ Overview of Closed Loop
TSM Series - Integrated

Frame Size: 28mm, 42mm, 56mm, 60mm, 86mm
Integrated
Efficient
TSM
Input Voltage(Typical): TSM11:24VDC TSM17:12-48VDC

TSM23/24:12-70VDC TSM34: 24-70VDC
(only TSM11 encoder 4096 counts/rev)
Integrated
SSM
■ Automatic load inertia detection
Position
Step-Servo
Control
Integrated
TXM
IP65
Control Modes: Velocity

■ Pulse Control Control
■ Analog Control
■ Field Bus Control, Daisy Chain Torque
Motor & Drive
Control
RS
Inputs and Outputs:

Motor & Drive
■ S/Q/C/IP Type- 8 Digital Inputs, 4 Digital Outputs, 1 Analog Input

SS

Compliant
Communication:
eSCL
Pulse Input
SCL
STM-R
SSM Series - Integrated

STM
Frame Size: 42mm, 56mm, 60mm

Input Voltage(Typical): SSM17: 12-48VDC SSM23/24: 12-70VDC
SWM
IP65
Easy Wiring with Spring Connectors

Control Modes: Position
■ Pulse Control Control
Pulse Input
■ Analog Control
SRAC
Velocity
■ Field Bus Control Control
AC Input
Torque
Inputs and Outputs: Control
With Controller
■ C/S/Q Type- 3 Digital Inputs, 1 Digital Output, 1 Analog Input

STAC
Communication:

SCL
Pulse Input
Compliant
eSCL
SR
Field Bus
DC Input
TXM Series - IP65 Type Integrated

STF

With Controller
Input Voltage(Typical): TXM24: 12-70VDC TXM34: 24-70VDC

ST

Control Modes:
■ Pulse Control
AC Input
Position
■ Analog Control Control
■ Stand alone operation Velocity
Control
DC Input
Inputs and Outputs: Torque

■ S/Q/IP Type- 3 Digital Inputs, 1 Digital Output, 1 Analog Input Control
■ C Type- 5 Digital Inputs, 3 Digital Outputs

2-Phase
Communication:
Compliant
SCL eSCL
Stepper Motor
3-Phase
RS Series - Motor & Drive Package

Input Voltage(Typical): 24-70VDC
UL
Encoder: Magnetic 4096 counts/rev

Enhanced Intelligence: Position
Power Supplies

Accessories
Velocity
Control
Control Modes:
■ Pulse Control Torque
Cables
■ SCL Command Control Control

Inputs and Outputs:
Software
■ S/Q Type- 4 Digital Inputs, 3 Digital Outputs

Appendix
Communication:

Glossary
Compliant
SCL
20
SS Series - Motor & Drive Package
Position
Input Voltage(Typical): 24-75VDC Control
Integrated
Efficient
(only AM11SS motor encoder 4096 counts/rev) Velocity
TSM
Control
Torque
Integrated
SSM
Control Modes:
■ Pulse Control
■ Analog Control
Step-Servo
Integrated
■ Field Bus Control(Daisy Chain for RS-485, CANopen and EtherCAT)
TXM
IP65
Inputs and Outputs:
Motor & Drive

■ P/R Type- 6 Digital Inputs, 2 Digital Outputs, Encoder Outputs
■ S/Q/C/EC Type- 8 Digital Inputs, 4 Digital Outputs, 2 Analog Inputs
RS
Communication:

Motor & Drive

Compliant SCL
SS
Pulse Input
STM-R

STM
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
STAC
Pulse Input
SR
Field Bus
DC Input
STF
With Controller
ST
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
21
Software
Quick Tuner
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
Software Features
RS
● Friendly Interface
Motor & Drive
● Easy setup within just three steps

SS
● Drive setup and configuration

Pulse Input
● Servo Tuning and Sampling

STM-R
● Built-in Q Programmer to create and edit stand-alone programs

for Q-compatible drivers
STM
● Motion testing and monitoring

● Write and save SCL command scripts
SWM
IP65
● Online help integrated

● Support all products in TSM/SSM/TXM/SS/RS Series
Pulse Input
SRAC
AC Input
With Controller
STAC
About this software

Quick Tuner is the PC based software application used

Pulse Input
to configure, and perform servo tuning, drive testing and evaluation

SR
of the . System servo control gains, drive functionality,

and I/O configuration are set with Quick Tuner. It also
Field Bus
DC Input
STF
contains an oscilloscope function to help set the servo control gains.

The Quick Tuner provides seamless communication with
With Controller
all models whether they have RS-232, RS-485, CANopen or

ST
Ethernet communications.
AC Input
System Requirements
DC Input
Microsoft Windows 7, Windows 8, Windows 10, 32-bit or 64-bit,

Windows XP.
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
FREE DOWNLOAD
Cables
Our software and user manuals can be

FREE
DOWNLOAD
WNL
downloaded from our website:
Software
Appendix
www.moonsindustries.com
Glossary
22
RS-485 Bus Utility Software
Software Features
Integrated
Efficient
Stream SCL commands from the command line
TSM
●
● Simple interface with powerful capability
Integrated
● Easy setup with RS-485 for 32 axis network motion control
SSM
● Monitoring Status of I/O, drive, alarm and the other nine most
Step-Servo
useful motion parameters
Integrated
TXM
IP65
● Write and save SCL command scripts
Online help integrated
Motor & Drive

●
RS
● Supports all RS-485 drives
Motor & Drive

SS
About this software
Pulse Input
If you plan to stream serial commands to MOONS’ drive using
STM-R
the Serial Command Language (SCL), to build an RS-485 multi-
axis network, you’ll need a simple terminal emulator to get familiar

STM
with and test your command strings and test the network. RS-485
Bus Utility is the ideal choice because it sends command strings
as a packet, with minimal delay between characters, and properly
SWM
IP65
terminated with a carriage return. Other terminal applications send
each character as it’s typed, making them difficult to use with SCL
Pulse Input
SRAC
commands.
AC Input
With Controller
System Requirements
STAC
Microsoft Windows 7, Windows 8, 32-bit or 64-bit, Windows XP.
Pulse Input
SR
CANopen Test Tool
Field Bus
DC Input
STF
Software Features
With Controller
ST
● Friendly User Interface
● Multiple operation Mode Support
AC Input
● Multi-Thread, High Performance
● CAN bus monitor and log function
DC Input
● Kvaser/PEAK/ZLG adapter support
2-Phase
System Requirements
Stepper Motor
3-Phase
Windows XP.
UL Power Supplies
Accessories
FREE DOWNLOAD
Cables

FREE
DOWNLOAD
WNL
Software
Appendix
Glossary
23
TSM Integrated
Step-Servo
New
Integrated
Efficient
rd
TSM
3 Generation Step-Servo
Integrated
SSM
Closed
Muti-axis field bus control Loop
Step-Servo
Integrated
Compact all-in-one solution
TXM
IP65
Intelligent built-in controller
Motor & Drive

Efficient Smooth Accurate Fast
RS
Enhanced motor Optimized design
Motor & Drive

SS
Pulse Input
STM-R
TSM is MOONS’ 3rd generation integrated and compact motor+drive+encoder+controller all-in-one

STM
solution. With improved technology, TSM upgrades significant key features based on 2nd generation SSM and
operates more efficient and intelligent.
SWM
IP65
Features
Pulse Input
SRAC
AC Input
UP TO UP TO
RS-485 32
AXES
112
AXES
With Controller
STAC
Pulse&Dir
CW/CCW
Pulse Input
A/B Quadrature
SR
IDn ID2 ID1
Pulse Control
Muti-Axis Network
Field Bus
DC Input
5V
STF
Q
Analog Velocity
Downloading
Analog Position Ain
With Controller
ST
Analog Control
Motion Program
0 Stand Alone Operation
AC Input
Closed Loop
DC Input
Very tight position and velocity control for

the most demanding applications. Motion Servo Motor
2-Phase
Amplifier
Robust servo loops that tolerate wide Command Controller
Compliant
fluctuations in load inertia and frictional
Stepper Motor
loading. Encoder
3-Phase
ity
c
Po
Velo
sition
The TSM17/23/24/34 achieve precise positioning to within ±1 Closed

Loop
count (0.018°) using a high resolution (20000 counts/rev) encoder.
UL
The TSM11 achieves precise positioning to within ±1 count (0.2°) Torq ue
using a high resolution (4096 counts/rev) encoder.

Power Supplies
Feedback
Accessories
Smooth & Accurate

Cables
Space vector current control with 5000 line high resolution encoder,
Software

Appendix
High stiffness due to the nature of the stepping motor combined with Stepper
±1Count Error
Glossary
the highly responsive servo control (20000 count/re)

TSM
25
The TSM uses only the current required by the application,
generating minimum heat output.
Integrated
When the motor is not moving, the current can be nearly zero
Efficient
TSM
resulting in extremely low heat output.

Being able to use almost 100% of the available torque allows for
Integrated
Heat Heat
SSM
more efficient operation and may allow a smaller motor size. Loss Power Loss Power
Output energy Output
energy 30% 80%
Step-Servo
Integrated
TXM
IP65
Stepper TSM
Motor & Drive
RS
Fast Response
Motor & Drive
SS
Step Servo
Distance
When performing fast point-to-point moves, the high torque output

Pulse Input
Typical
STM-R
and advanced servo control provides a very responsive system far

Application
for
exceeding what can be done with a conventional stepper system.
STM
Velocity
SWM
IP65
High Torque
150%
Boost
Pulse Input
Because the TSM operates in full servo mode, all the available torque of
SRAC
the motor can be used.

AC Input
The motor can provide as much as 50% more torque in many applications.
With Controller
STAC
70%
Continuous
Boost torque capability can provide as much as 50% more torque for short,
quick moves. Stepper Rated TSM
Pulse Input
Torque
SR
Field Bus
DC Input
Motion Monitoring
STF
For difficult control situations where performing a precise move is

With Controller
necessary, the Quick Tuner provide an easy to use interface

ST
for performing and monitoring the motion profile.

Many common parameters such as Actual Speed or Position Error can be
AC Input

The monitoring is interactive with the servo tuning capability so that opti-
mum performance can be achieved.
DC Input
2-Phase
Easy Tunning
Pre-defined tuning parameters for maximum control performance
Stepper Motor
1:10 1:5 1:1

and stability.
3-Phase
Easy selection list provides the level of control desired.

In most cases NO extra manual tuning is required.
UL
Load Inertia
Power Supplies
Accessories
Key Enhancement based on SSM family(2nd Generation)

Cables
Up to 8 digital inputs, 4 digital outputs and 1 analog input for S/Q/C types (TSM17/23/24/34 only)
A/B/Z differential encoder signal output supported for P type (TSM17/23/24/34 only)
Automatic load inertia detection
Software
On board daisy chain connection for field bus control (RS-485, Modbus/RTU, CANopen, TSM17/23/24/34 only)
Appendix
On board daisy chain over Ethernet on TSM34 only

Multiple homing features for S/Q types
Glossary
Software limit for S/Q types

Auxiliary power input for Keep Alive function (TSM34 only)
26
TSM Lineup
◇ Torque and Frame size
Model Frame Size(mm) Torque(N•m) Supply Voltage(VDC)
TSM11□-1RM 0.065
Integrated
Efficient
TSM
TSM11□-2RM 28 0.08 24
TSM11□-3RM 0.125
TSM17□-1□G 0.26
Integrated
SSM
TSM17□-2□G 0.42
42 12-48
TSM17□-3□G 0.52
Step-Servo
TSM17□-4□G 0.7
Integrated
TXM
IP65
TSM23□-2□G 0.95
TSM23□-3□G 56 1.5
12-70
TSM23□-4□G 2.4
Motor & Drive

RS
TSM24□-3□G 60 2.5
TSM34□-1□G 2.7
TSM34□-3□G 5.2
Motor & Drive

86 24-70
SS
TSM34□-5□G 7.0
TSM34□-6□G 8.2
Pulse Input
STM-R
Controller

◇ Control Modes
-P Pulse Input type(Only TSM17/23/24/34)

PLC
STM
Controlled via pulse generator.
Main Features
SWM
Accepts three types of pulse signal input as Pulse&Direction,
IP65
Motion Control Card
CW/CCW and A/B Quadrature
Encoder signal output, A/B/Z differential TSM□□P Type Drive
Pulse Input
SRAC
AC Input
PC
-S Basic type with serial communication(Only TSM17/23/24/34)
With Controller
STAC
Controlled via pulse signals, analog signal or MOONS' SCL Controller

streaming series commands.
Pulse Input
PLC
Main Features
SR
Pulse control
Analog control
Field Bus
DC Input
STF
Host real time control using SCL via RS-232/RS-485 Motion Control Card
Up to 32 axes per channel for RS-485
With Controller
TSM□□S Type Drive
ST
PC
-Q Built-in programmable motion controller
AC Input
Controller
(Includes Modbus/RTU Type)
Run stand-alone with sophisticated and functional programs. PLC
DC Input
Commands for controlling motion, inputs & outputs, drive
configuration and status, as well as math operations, register
manipulation, and multi-tasking.
2-Phase
Motion Control Card
Main Features Stepper Motor
Stand-alone operation plus Serial host control

3-Phase
TSM□□Q Type Drive
Math operations
Senser、I/O
Register manipulation
Multi-tasking
UL
Includes all features of S type

Modbus/RTU network, up to 32 axes per channel
Power Supplies
Dual port Ethernet communication, eSCL network (TSM34 only)

Accessories
-C CANopen type CANopen

Cables
Master Controller
Operates on a CANopen communication network and conforms
PC PLC
to CiA301 and CiA402. It supports runing stored Q programs via
MOONS'-specific CANopen objects.
Software
Appendix
Main Features
CANopen network
Glossary
Up to 112 axes per channel

Objects for Q programming
Senser、I/O
TSM□□C Type Drive 27

-IP EtherNet/IP type EtherNet/IP
Operates on a EtherNet/IP communication network. It supports Master Controller
runing stored Q programs via MOONS' specific EtherNet/IP PC PLC

objects.
Integrated
Main Features
Efficient
TSM
EtherNet/IP network
Integrated
SSM
Senser、I/O
Step-Servo
Integrated
TXM
IP65
TSM□□IP Type Drive

System configuration
Motor & Drive
RS
◇ -P Pulse Input type(TSM17/23/24/34 only)

Motor & Drive
SS
Pulse Input
STM-R
USB-RS-232 Converter
P/N: MS-USB-RS-232-01
PC/Configuration
RS-232 Communication Cable

STM
P/N:2101-150
SWM
IP65
I/O Cable(2 meters)

Pulse Input
SRAC
P/N: 1101-200(unshielded) PLC

P/N: 1102-200(shielded) Motion control card
AC Input
Pulse generator
With Controller
STAC
AC
Source
Pulse Input
SR
Supply Voltage AUX Voltage(TSM34 only)

TSM17: 12 - 48VDC TSM34: 12 - 48VDC
Field Bus
DC Input
TSM23: 12 - 70VDC
STF
TSM24: 12 - 70VDC
TSM34: 24 - 70VDC
With Controller
ST
AC
Source
AC Input
DC Power Supply Regeneration Clamp

DC Power Supply
DC Input
Ordering Information
P/N: RC880
2-Phase
◇ Optional Accessories
Stepper Motor
P/N Catagory Technical Specification

3-Phase
RC880 Regenaration Clamp 80VDC Max. 50W

MS-USB-RS-232-01 USB Converter USB to RS-232
UL
MS-USB-CAN-01 USB Converter USB to CAN

1101- □□□ Cable I/O cable, unshielded
Power Supplies
1116- □□□ Cable I/O cable, shielded

Accessories
2101-150 Cable RS-232 communication cable (P/Q type)

2113-150 Cable RS-232 communication cable (C type)
Cables
2111- □□□ Cable RS-485 Daisy Chain

2112- □□□ Cable CANopen Daisy Chain
Software
2012-030 Cable CAT5e UTP 0.3m

Appendix
2012-300 Cable CAT5e UTP 3m

Glossary
2013-030 Cable CAT5e STP 0.3m

2013-300 Cable CAT5e STP 3m
* □□□stands for length, unit:cm, ex.100 stands for 100cm
28
◇ -S Basic type with series communication(TSM11/17/23/24 only)
Integrated
Efficient
TSM
Configuration
PC
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Serial realtime control
Motor & Drive

USB-RS-232 Converter MOONS’ SCL Motion Control
RS
P/N: MS-USB-RS-232-01 Host controller
USB-RS-485 Converter with serial port
Motor & Drive

SS
*RS-485 Version
Pulse Input
connect to another
STM-R
RS-485 device or

terminal resistor

STM
SWM
IP65
I/O Cable (2 meters)
Pulse Input
P/N: 1101-200(unshielded)
SRAC
P/N: 1102-200(shielded) PLC,Sensor,I/O
AC Input
With Controller
STAC
Supply Voltage
TSM11S: 24VDC
Pulse Input
TSM17S: 12 - 48VDC
SR
TSM23S: 12 - 70VDC
TSM24S: 12 - 70VDC
Field Bus
DC Input
STF
With Controller
AC
ST
Source
DC Power Supply

Regeneration Clamp
AC Input
P/N: RC880
DC Input
2-Phase
Stepper Motor
3-Phase
UL

Power Supplies

Accessories

Cables

Software

Appendix

Glossary

29
◇ -Q Built-in programmable motion controller(Includes Modbus/RTU Type)
Integrated
Efficient
DownLoad Q program
TSM
Modbus/RTU
PC
Host Controller
Integrated
SSM
Step-Servo
Serial real time control

Integrated
（when needed）
TXM
IP65
P/N: MS-USB-RS-232-01 Host controller
Motor & Drive
with serial port

RS
USB-RS-485 Communication cable

Motor & Drive
SS
*RS-485 Version
connect to another
RS-485 device or
Pulse Input
STM-R
terminal resistor
STM
SWM
IP65

P/N: 1101-200(unshielded) PLC,Sensor,I/O
Pulse Input
P/N: 1102-200(shielded)
SRAC
AC Input
With Controller
STAC
AC
Source
Pulse Input
Supply Voltage AUX Voltage (TSM34 only)

SR
TSM11: 24VDC TSM34: 12 - 48VDC

TSM17: 12 - 48VDC
TSM23: 12 - 70VDC
Field Bus
DC Input
TSM24: 12 - 70VDC
STF
TSM34: 24 - 70VDC
With Controller
ST
AC
Source
AC Input
DC Power Supply Regeneration Clamp DC Power Supply

DC Input
P/N: RC880
2-Phase
Stepper Motor

3-Phase

UL

Power Supplies

Accessories

Cables

Software

Appendix

Glossary

30
◇ -C CANopen type(TSM17/23/24/34 only)
Integrated
Efficient
TSM
DownLoad Q program
PC
Integrated
SSM
Step-Servo
Integrated
TXM
CANopen real time control
IP65
Motor & Drive
CANopen Master
RS
USB-CAN Converter
P/N: MS-USB-CAN Couverter
Motor & Drive

SS
Connect to another
CANopen slave node
Pulse Input
or terminal resistor
STM-R

STM
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
STAC
AC

Source
Pulse Input
TSM17: 12 - 48VDC TSM34: 12 - 48VDC
SR
TSM23: 12 - 70VDC
TSM24: 12 - 70VDC
TSM34: 24 - 70VDC
Field Bus
DC Input
STF
With Controller
ST
AC
Source
AC Input
DC Input
P/N: RC880
2-Phase
P/N Catagory Technical Specification Stepper Motor
3-Phase
UL

1116- □□□ Cable
Power Supplies
I/O cable, shielded

2101-150 Cable
Accessories
RS-232 communication cable (P/Q type)

2111- □□□ Cable
Cables
RS-485 Daisy Chain

Software

Appendix

Glossary

31
◇ -IP EtherNet/IP type(TSM34 only)
Integrated
Efficient
TSM
DownLoad Q program
PC
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Real time control

Motor & Drive
EtherNet/IP Master
RS
Motor & Drive
SS
Connect to another
EtherNet/IP slave
node
Pulse Input
STM-R

STM
SWM
IP65

Pulse Input
SRAC
AC Input
With Controller
STAC
AC
Source
Pulse Input

SR
TSM34: 24 - 70VDC TSM34: 12 - 48VDC

Field Bus
DC Input
STF
With Controller
ST
AC
Source
AC Input
DC Input
P/N: RC880
2-Phase

Stepper Motor

3-Phase

UL

Power Supplies

Accessories

Cables

Software

Appendix

Glossary

32
Numbering System
TSM 17 S-2 A G
Integrated
Efficient
Feedback
TSM
TSM Series
G=5000-line encoder
Frame Size M=1024-line encoder
11, 17, 23, 24, 34
Integrated
SSM
Control Mode Communication
P=Pulse Type A=RS-232
Step-Servo
S=Basic Type R=RS-485
Integrated
Motor Size
Q=Q Program Type
TXM
C=CANopen
IP65
1 = 1 Stack
(Modbus/RTU Type)
2 = 2 Stack D=Dual port Ethernet - 34 frame only
C=CANopen Type 3 = 3 Stack
IP=EtherNet/IP Type
Motor & Drive

4 = 4 Stack
RS
5 = 5 Stack
6 = 6 Stack
Motor & Drive

SS
Pulse Input
STM-R
Model Torque Control I/O(*) RS-232 RS-485/422 Modbus/RTU CANopen Ethernet EtherNet/IP
TSM11S-1RM 0.065N·m √

STM
TSM11S-2RM 0.08N·m S √
TSM11S-3RM 0.125N·m √
4DI, 2DO
TSM11Q-1RM 0.065N·m √ √
SWM
IP65
TSM11Q-2RM 0.08N·m Q √ √
TSM11Q-3RM 0.125N·m √ √
Pulse Input
SRAC
TSM17P-1AG P 4DI, 3DO, EO √
√
AC Input
TSM17S-1AG
S 8DI, 4DO, 1AI
√
With Controller
TSM17S-1RG
STAC
0.26N·m
TSM17Q-1AG √ √
Q 8DI, 4DO, 1AI

TSM17Q-1RG √ √
Pulse Input
TSM17C-1CG C 8DI, 4DO, 1AI √ √
SR
TSM17S-2AG √
Field Bus
DC Input
S 8DI, 4DO, 1AI
STF
TSM17S-2RG √
0.42N·m
TSM17Q-2AG √ √
Q 8DI, 4DO, 1AI
With Controller
TSM17Q-2RG √ √
ST
AC Input
TSM17S-3AG √
S 8DI, 4DO, 1AI
TSM17S-3RG √
0.52N·m
TSM17Q-3AG √ √
DC Input
Q 8DI, 4DO, 1AI
TSM17Q-3RG √ √
√
2-Phase
TSM17P-4AG P 4DI, 3DO, EO
TSM17S-4AG √
S 8DI, 4DO, 1AI
Stepper Motor
TSM17S-4RG √
0.7N·m
3-Phase
TSM17Q-4AG √ √
Q 8DI, 4DO, 1AI
TSM17Q-4RG √ √
TSM17C-4CG C 8D, 4DO, 1AI √ √
UL

TSM23S-2AG √
Power Supplies
S
TSM23S-2RG √
Accessories
0.95N·m
TSM23Q-2AG 8DI, 4DO, 1AI, EO √ √
Q
TSM23Q-2RG √ √
Cables
TSM23C-2CG C √ √
Software
TSM23S-3AG √
S
Appendix
TSM23S-3RG √
1.5N·m
Glossary
Q
TSM23Q-3RG √ √
33
TSM23S-4AG √
S
TSM23S-4RG √
2.4N·m
Integrated
√ √
Efficient
TSM23Q-4AG 8DI, 4DO, 1AI, EO

TSM
Q
TSM23Q-4RG √ √
Integrated
SSM

TSM24S-3AG √
S
Step-Servo
Integrated
TSM24S-3RG √
TXM
IP65
2.5N·m
Q
TSM24Q-3RG √ √
Motor & Drive
RS

TSM34Q-1AG √ √
Motor & Drive
SS
TSM34Q-1RG Q √ √
2.7N.m
TSM34Q-1DG 8DI, 4DO, 1AI, EO √
Pulse Input
STM-R
TSM34IP-1DG IP √ √
STM
TSM34Q-3AG √ √
5.2N.m
SWM
IP65
Pulse Input
SRAC

AC Input
TSM34Q-5AG √ √
With Controller
STAC
7.0N.m
Pulse Input
SR

TSM34Q-6AG √ √
Field Bus
DC Input
STF
8.2N.m
With Controller
ST
* DI: Digital Input; DO: Digital Output; EO: Encoder Output; AI: Analog Input
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
34
Specifications—Frame size 28mm
Basic type TSM11S-1RM TSM11S-2RM TSM11S-3RM
Q program type(Includes Modbus/RTU type) TSM11Q-1RM TSM11Q-2RM TSM11Q-3RM
Torque N•m 0.065 0.08 0.125
Integrated
Efficient
TSM
Rotor Inertia g•cm2 9 12 18
Supply Voltage VDC 24
Integrated
Encoder Resolution counts/rev 4096 4096 4096
SSM
Maximum Speed RPM 3600 3600 3600
Mass g 118 168 218
Step-Servo
Integrated
TXM
IP65
Torque Curves
Motor & Drive

RS
TSM11□-1RM TSM11□-2RM TSM11□-3RM
Continuous 24V Continuous 24V Continuous 24V
Boost 24V Boost 24V Boost 24V
Motor & Drive

100 150 200
SS
80 120 160
Torque(mN·m)
Torque(mN·m)
Torque(mN·m)
60 90 120
Pulse Input
STM-R
40 60 80

20 30 40
0 0 0

0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps)
STM
Speed(rps) Speed(rps)
Input Current Curves Characteristics
SWM
IP65
TSM11□-1RM 24V Power Supply TSM11□-2RM 24V Power Supply TSM11□-3RM 24V Power Supply
0.1 1 0.14 1.5 0.2 1.5
Pulse Input
SRAC
0.12
0.08 0.8 1.2 0.16 1.2
0.1
Torque(N·m)
Torque(N·m)
Torque(N·m)
Torque Torque Torque
Current(A)
Current(A)
Current(A)
Continuous Continuous Continuous

0.06 0.6 0.9 0.12 0.9
AC Input
Boost 0.08 Boost Boost
Supply Current Supply Current Supply Current
0.04 0.4 0.06 0.6 Full Load
0.08 0.6 Full Load
Full Load
With Controller
No Load 0.04 No Load No Load
STAC
0.02 0.2 0.3 0.04 0.3
0.02
0 0 0 0 0 0

0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps) Speed(rps) Speed(rps)
Pulse Input
SR
Field Bus
DC Input
STF
With Controller
ST
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
35
Electrical Specifications—Frame size 28mm
Basic type Q program type
TSM11S-■RM TSM11Q-■RM
Pulse input
Integrated
Efficient
TSM
Pulse input SCL

Control Command
SCL Q Program
Modbus/RTU
Integrated
Pulse+Direction Pulse+Direction
SSM
Pulse signal type CW/CCW Pulse CW/CCW Pulse

A/B Quadrature A/B Quadrature
Step-Servo
Integrated
Maximum Input Pulse 2MHz, 2MHz,

TXM
IP65
Frequency Minimum Pulse Width=250ns Minimum Pulse Width=250ns
Digital Input 4 4
Motor & Drive
Digital Output 2 2
RS
Analog Input - -
Encoder Output - -
Motor & Drive
SS
Digital Input Specification 5-24VDC

Digital Onput Specification 30VDC/100mA
Pulse Input
Supply Voltage 15 - 30 VDC min/max (typical 24VDC)

STM-R
Protection Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-to-ground)

Communication RS-485/422
STM
Protocol SCL Modbus/RTU or SCL
Enter motor length 1, 2, 3 in the box(■) within the model name

SWM
IP65
◇ RS-485 or Modbus/RTU Specifications

Pulse Input
SRAC
Interface RS-485 or Modbus/RTU

AC Input
Baud Rate(bps) 9600/19200/38400/57600/115200

With Controller
Maximum Distance Due to transmission baud rate

STAC
Maximum
32 axes per channel

Connections
Communication
Twisted Shielded Cable
Pulse Input
Cable
SR
Address Setting Via Quick Tuner

Field Bus
DC Input
STF
With Controller
ST

AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
36
Pulse input type TSM17P-1AG TSM17P-2AG TSM17P-3AG TSM17P-4AG
Basic type TSM17S-1□G TSM17S-2□G TSM17S-3□G TSM17S-4□G
Model
Q program type(Includes Modbus/RTU type) TSM17Q-1□G TSM17Q-2□G TSM17Q-3□G TSM17Q-4□G
Integrated
Efficient
TSM
CANopen type TSM17C-1CG TSM17C-2CG TSM17C-3CG TSM17C-4CG
Torque N•m 0.26 0.42 0.52 0.7
Integrated
Rotor Inertia g•cm2 38 57 82 123
SSM
Supply Voltage VDC 12-48
Encoder Resolution counts/rev 20000 20000 20000 20000
Step-Servo
Integrated
TXM
Maximum Speed RPM 3600 3600 3600 3600
IP65
Mass g 390 440 520 760
Enter A(RS-232) or R(RS-485) in the box(□) within the model name
Motor & Drive

RS
Torque Curves
Motor & Drive

SS
TSM17□-2□G
12V 24V 48V 12V 24V 48V 12V 24V 48V
TSM17□-1□G　　　　 Boost 12V 24V 48V Boost 12V 24V 48V
TSM17□-3□G Boost 12V 24V 48V
Pulse Input
STM-R
0.4 0.6 0.7

0.5 0.6
0.3
0.5
0.4
Torque(N·m)
Torque(N·m)
Torque(N·m)
0.4

0.2 0.3
0.3
STM
0.2
0.2
0.1
0.1 0.1
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
SWM
IP65
Pulse Input
TSM17□-4□G
Continuous 24V 48V
SRAC
Boost 24V 48V
1.0
AC Input
0.8
With Controller
0.6
Torque(N·m)
STAC
0.4

0.2
Pulse Input
0
SR
0 10 20 30 40 50
Speed(rps)
Field Bus
DC Input
STF
With Controller
TSM17□-1□G 12V Power Supply TSM17□-1□G 24V Power Supply TSM17□-1□G 48V Power Supply
ST
0.4 1.5 0.4 1.5 0.4 1.5
0.3 0.3 0.3

Torque(N·m)
Torque(N·m)
Torque(N·m)

Current(A)
1
Current(A)
1 1 Current(A)
AC Input
Boost Boost Boost
0.2 0.2 0.2
Full Load Full Load Full Load
0.5 0.5 0.5
No Load 0.1 No Load No Load
0.1 0.1
0 0 0 0 0 0
DC Input
0 10 20 30 40 50 10 20 30 40 50 0 10 20 30 40 50
Speed(RPS) Speed(RPS) Speed(RPS)
2-Phase
0.6 1.5 0.6 1.5 0.6 1.5
Stepper Motor
0.5 0.5 0.5
Torque
Torque(N·m)
0.4 1 Torque Torque

Torque(N·m)
0.4 1
3-Phase
0.4 1
Torque(N·m)
Current(A)
Current(A)
Current(A)

Boost Boost Boost
0.3 0.3 0.3
0.2 0.5 0.2 0.5 0.2 0.5
No Load No Load No Load
0.1 0.1 0.1
0 0 0 0 0 0
0 10 20 30 40 50
UL
0 10 20 30 40 50 0 10 20 30 40 50
Power Supplies
Accessories
0.7 1.5 0.7 1.5 0.7 1.5
0.6 0.6 0.6
Cables
0.5 Torque 0.5 0.5

Torque(N·m)
Torque(N·m)
1 Torque Torque
Current(A)
Torque(N·m)
Current(A)
1 1
Current(A)

0.4 Boost 0.4 Boost 0.4 Boost
0.3 0.3 0.3
0.5 0.5 0.5
0.2 No Load
0.2 No Load 0.2 No Load
Software
0.1 0.1 0.1

0 0 0 0 0 0
Appendix
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Glossary
37
Pulse input type Basic type Q program type CANopen type
TSM17P-■AG TSM17S-■□G TSM17Q-■□G TSM17C-■CG
Pulse input
Integrated
Pulse input Analog signal

Efficient
TSM
Q program
Control Command Pulse input Analog signal SCL
CANopen
SCL Q Program
Modbus/RTU
Integrated
SSM
Pulse+Direction Pulse+Direction Pulse+Direction

Pulse signal type CW/CCW Pulse CW/CCW Pulse CW/CCW Pulse -
A/B Quadrature A/B Quadrature A/B Quadrature
Step-Servo
Integrated
TXM
IP65
Maximum Input Pulse 2MHz, 2MHz, 2MHz,

-
Frequency Minimum Pulse Width=250ns Minimum Pulse Width=250ns Minimum Pulse Width=250ns
Digital Input 4 8 8 8
Motor & Drive
RS
Digital Output 3 4 4 4
Analog Input - 1 1 1
Motor & Drive
20,000 counts/rev
Encoder Output - - -
SS
A/B/Z Differential
Optical Isolated
Digital Input Specification
5-24VDC
Pulse Input
STM-R
Optical Isolated
Digital Onput Specification

30VDC/100mA
AIN referenced to GND, Range 0–5VDC,
Analog Input Specification
Resolution:12bits
STM
Supply Voltage 12-48VDC

Communication RS-232 RS-232 or RS-485 RS-232 or RS-485 RS-232&CANopen
SWM
IP65
Protocol - SCL Modbus/RTU or SCL CANopen

Enter motor length 1,2,3,4 in the box(■) within the model name
Pulse Input
SRAC
AC Input
◇ RS-485 or Modbus/RTU Specifications ◇ CANopen Specifications

With Controller
STAC
Interface RS-485 or Modbus/RTU Interface CANopen CiA301 CiA402

Baud Rate(bps) 9600/19200/38400/57600/115200 Bit Rate(bps) 1M/800K/500K/250K/125K/50K/20K/12.5K

Pulse Input
Maximum Distance Due to transmission baud rate Maximum Distance Due to transmission bit rate
SR
Maximum Maximum Slave

32 axes per channel 112 axes per channel
Connections Nodes
Communication Communication
Field Bus
Twisted Shielded Cable Twisted Shielded Cable

DC Input
Cable Cable
STF
Address Setting Via Quick Tuner On Board Rotary Switch: Lower 4 bits 0H-FH
Node ID Setting
Quick Tuner: Upper 3 bits 00H-7FH
With Controller
ST

AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
38
Specifications—Frame size 56mm, 60mm
Basic type TSM23S-2□G TSM23S-3□G TSM23S-4□G TSM24S-3□G
Model
Q program type(Includes Modbus/RTU type) TSM23Q-2□G TSM23Q-3□G TSM23Q-4□G TSM24Q-3□G
Integrated
Efficient
TSM
Torque N•m 0.95 1.5 2.4 2.5
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Mass g 850 1250 1090 1650
Motor & Drive

RS
Torque Curves
Motor & Drive

SS
Continuous
TSM23□-2□G
24V 48V 70V Continuous
TSM23□-4□G
24V 48V 70V
TSM23□-3□G
Continuous 24V 48V 70V
Boost 24V 48V 70V Boost 24V 48V 70V 24V 48V 70V
Boost
1.5 2.5 3.5
Pulse Input
STM-R
1.2 3

2
2.5
Torque(N·m)
0.9
Torque(N·m)
1.5
Torque(N·m)
2

0.6 1 1.5
STM
1
0.3 0.5
0.5
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
SWM
IP65
TSM24□-3□G Boost 24V 48V 70V
Pulse Input
3.5
SRAC
3
2.5
AC Input
Torque(N·m)
With Controller
1.5
STAC
1

0.5
0
0 10 20 30 40 50
Pulse Input
Speed(rps)
SR
Field Bus
DC Input
STF
1.5 3.5 1.5 3.5 1.5 3.5
3 3 3
With Controller
1.2 1.2 1.2
2.5 2.5 2.5
Torque(N·m)
Torque
Torque(N·m)
Current(A)
Torque
ST
Current(A)
0.9 0.9 0.9

Torque(N·m)
Torque
Current(A)
2 Continuous 2 Continuous 2
Boost Continuous
Boost
1.5 1.5 1.5 Boost
0.6 Supply Current 0.6 Supply Current 0.6
Supply Current
Full Load Full Load
1 1 No Load
1 Full Load
No Load
0.3 0.3 0.3 No Load
0.5 0.5 0.5
AC Input
0 0 0 0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
DC Input
2.5 3.5 2.5 3.5 2.5 3.5
3 3 3
2 2 2
2.5 2.5 2.5
Torque(N·m)
Torque(N·m)
Torque Torque
2-Phase
Current(A)
Torque(N·m)
Current(A)
1.5 1.5 1.5 Torque

Current(A)
2 Continuous 2 Continuous 2 Continuous

Boost Boost Boost
1 1.5 1 1.5 Supply Current 1 1.5
Supply Current Supply Current
1 Full Load 1 Full Load 1 Full Load
No Load No Load
0.5 0.5 0.5 No Load Stepper Motor
0.5 0.5 0.5
0 0 0 0 0 0
3-Phase
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
UL
3.5 5 3.5 5 3.5 5

4.5 4.5 4.5
3 3 3
4 4 4
2.5 3.5 2.5 3.5 2.5 3.5
Power Supplies
3 Torque 3 Torque 3 Torque

2
Torque(N·m)
Torque(N·m)
Torque(N·m)
2 2
Current(A)
Current(A)
Current(A)

2.5 Boost 2.5 Boost 2.5 Boost
1.5 1.5 1.5
Accessories
2 Supply Current 2 Supply Current 2 Supply Current

1 1.5 1 1.5 1 1.5
1 1 1
0.5 0.5 0.5
0.5 0.5 0.5
0 0 0 0 0 0
Cables
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Software
3.5 5 3.5 5 3.5 5
Appendix
4.5 4.5 4.5

3 3 3
4 4 4
2.5 3.5 2.5 2.5 3.5
3.5 Torque
Torque(N·m)
Torque
Current(A)
Glossary
Torque
Torque(N·m)
3 3 Continuous
Current(A)
3
Torque(N·m)
2 Continuous 2
2
Current(A)
Continuous Boost
2.5 Boost
Boost 2.5 2.5 Supply Current
1.5 Supply Current 1.5
2 Supply Current 1.5 2 2 Full Load
Full Load
Full Load No Load
1 1.5 1.5 No Load 1 1.5
No Load 1
1 1 1
0.5 0.5 0.5
0.5 0.5 0.5
0 0 0 0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
39
Electrical Specifications—Frame size 56mm, 60mm
Pulse input type Basic type Q program type CANopen type
TSM2◇P-■AG TSM2◇S-■□G TSM2◇Q-■□G TSM2◇C-□CG
Pulse input
Integrated
Efficient

TSM
Q program
Control Command Pulse input Analog signal SCL
CANopen
SCL Q Program
Modbus/RTU
Integrated
SSM
Pulse+Direction Pulse+Direction Pulse+Direction

Pulse signal type CW/CCW Pulse CW/CCW Pulse CW/CCW Pulse -
A/B Quadrature A/B Quadrature A/B Quadrature
Step-Servo
Integrated
Maximum Input Pulse 2MHz, 2MHz, 2MHz, 2MHz,

TXM
IP65
Frequency Minimum Pulse Width=250ns Minimum Pulse Width=250ns Minimum Pulse Width=250ns Minimum Pulse Width=250ns
Motor & Drive
RS
Motor & Drive
20,000 counts/rev 20,000 counts/rev 20,000 counts/rev 20,000 counts/rev

Encoder Output
A/B/Z Differential A/B/Z Differential A/B/Z Differential A/B/Z Differential
SS
Optical Isolated
5-24VDC
Pulse Input
STM-R
Optical Isolated
30VDC/100mA
Resolution: 12bits
STM

Communication RS-232 RS-232 or RS-485 RS-232 or RS-485 RS-232&CANopen
SWM
IP65
Protocol - SCL Modbus/RTU or SCL CANopen

Enter frame size 3(56mm)or 4(60mm)in the box(◇) within the model name
Enter motor length 2,3,4 in the box(■) within the model name
Pulse Input
SRAC

AC Input
With Controller
STAC


Pulse Input
SR

Field Bus

DC Input

STF
Connections Nodes
Cable Cable
With Controller
ST
Node ID Setting
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
40
Q program type (Includes Modbus/RTU,
TSM34Q-1□G TSM34Q-3□G TSM34Q-5□G TSM34Q-6□G
Model Ethernet type)
Integrated
Efficient
TSM
EtherNet/IP type TSM34IP-1DG TSM34IP-3DG TSM34IP-5DG TSM34IP-6DG
Torque N-m 2.7 5.2 7.0 8.2
Integrated
SSM
Rotor Inertia g-cm2 915 1480 2200 3660
Step-Servo
Integrated
TXM
IP65
Mass g 4600 6800 9000 11400
Motor & Drive

RS
Torque Curves
Motor & Drive

SS
TSM34□-1□G
24V 48V 70V 24V 48V 70V 24V 48V 70V
Boost
TSM34□-3□G Boost
TSM34□-5□G Boost
24V 48V 70V 24V 48V 70V 24V 48V 70V
3.5 7 9
Pulse Input
3 6
STM-R
7.5

2.5 5
6
Torque(N.m)
Torque(N.m)
Torque(N.m)
2 4
4.5
1.5 3

3
1 2
STM
0.5 1 1.5
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps)
SWM
IP65
Continuous 48V 70V
TSM34□-6□G Boost 48V 70V
Pulse Input
10
SRAC
8
AC Input
Torque(N.m)
With Controller
STAC
4

2
Pulse Input
0
0 10 20 30 40 50
SR
Speed(rps)
Field Bus
DC Input
STF
TSM34□-1□G 24V Power Supply Current TSM34□-1□G 48V Power Supply Current TSM34□-1□G 70V Power Supply Current
3.5 6 3.5 6 3.5 6
With Controller
3 3 3
5 5 5
ST
2.5 2.5 2.5
4 4 4
2 2 2
Torque(N·m)
Torque(N·m)
Torque(N·m)
Current(A)
Current(A)
Current(A)
1.5 Full Load 1.5 Full Load 1.5 Full Load

2 2 2
AC Input
1 1 1
1 1 1
0.5 0.5 0.5
0 0 0
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
DC Input
6 7 7
6 6 6
5 6 6
5 5 5
2-Phase
4 5 5
4 4 4
Torque(N·m)
Torque(N·m)
Torque(N·m)
4 4
Current(A)
Current(A)
Current(A)

3
3 3 Stepper Motor
2 2 2 2
2 2
3-Phase
1 1 1
1 1 1
0 0 0 0
0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
UL
8 6 8 6 8 6
7 7 7
5 5 5
Power Supplies
6 6 6
4 4 4
5 Torque 5 Torque 5 Torque
Torque(N·m)
Torque(N·m)
Torque(N·m)
Current(A)
Current(A)
Current(A)
Accessories

4 4 4
3 2 No Load 3 2 No Load 3 2 No Load
2 2 2
1 1 1
1 1 1
Cables
0 0 0
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Software
TSM34□-6□G 48V Power Supply Current TSM34□-6□G 70V Power Supply Current
9 6 9 6
Appendix
8 8
7 5 7 5
6 4 6 4
Torque Torque
Glossary
Torque(N·m)
Torque(N·m)
5 5
Current(A)
Current(A)
3 Supply Current 3 Supply Current

4 Full Load 4 Full Load
No Load No Load
3 2 3 2
2 1 2 1
1 1
0 0
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Speed(RPS) Speed(RPS)
41
Pulse input type Basic type CANopen type EtherNet/IP type
TSM34P-■AG TSM34Q-■□G TSM34C-■CG TSM34IP-■DG
Pulse input
Integrated
Efficient
TSM
Analog signal Q program Q program

Control Command Pulse input
SCL or eSCL CANopen EtherNet/IP
Q Program, Modbus/RTU
Integrated
SSM
Pulse signal type CW/CCW Pulse CW/CCW Pulse - -
Step-Servo
Integrated

TXM
IP65
- -
Motor & Drive
RS
Motor & Drive
20,000 counts/rev 20,000 counts/rev 20,000 counts/rev 20000 counts/rev

Encoder Output
A/B/Z Differential A/B/Z Differential A/B/Z Differential A/B/Z Differential
SS
Optical Isolated
5-24VDC
Pulse Input
STM-R
Optical Isolated
30VDC/100mA
Resolution: 12bits
STM

Communication RS-232 RS-232, RS-485 or Ethernet RS-232&CANopen Ethernet
SWM
IP65
Protocol - eSCL CANopen EtherNet/IP

Enter motor length 1, 3, 5, 6 in the box ( ■ ) within the model name
Enter A (RS-232) or R (RS-485) or D (Dual port Ethernet) in the box (□) within the model name
Pulse Input
SRAC
AC Input
With Controller
STAC


Pulse Input
SR

Field Bus

DC Input

STF
Connections Nodes
Cable Cable
With Controller
ST
Node ID Setting
◇ Ethernet Specifications
AC Input
Interface Ethernet (eSCL)

Baud Rate(bps) 100Mbps
DC Input
Maximum Distance 100 meters between 2 devices

Communication
Shielded twisted pair cable (CAT5e or CAT6)
Cable
2-Phase
Address Setting Via Step-Servo Quick Tuner software

Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
42
General Specifications
TSM Integrated
Insulation Class Class B(130oC)
Integrated
Insulation Resistance 100MΩ/DC500V
Efficient
TSM
Dielectric Strength 500VAC 1 minute
Ambient
0~+40oC(non-freezing)
Temperature
Integrated
SSM
Operating Ambient
Environment 90% or less(non-condensing)
Humidity
Atmosphere No corrosive gases, dust, water or oil
Step-Servo
Integrated
TXM
IP65
Degree of Protection IP20
Motor & Drive

RS
Permissible Overhung Load and Permissible Thrust Load(Unit:N)
Motor & Drive

Permissible Overhung Load Permissible
SS
Frame Size Model Distance(L) from Shaft End(mm) Thrust
0 5 10 15 20 Load
Pulse Input
TSM11□-1RM
STM-R
28mm TSM11□-2RM 20 25 34 52 -
TSM11□-3RM

STM
Overhung Load
TSM17□-1□G
TSM17□-2□G
42mm 35 44 58 85 -
TSM17□-3□G
SWM
Thrust Load
IP65
TSM17□-4□G
Less than the motor
TSM23□-2□G
mass
Pulse Input
SRAC
56mm TSM23□-3□G 63 75 95 130 190
TSM23□-4□G
AC Input
L
60mm TSM24□-3□G 90 100 130 180 270
With Controller
STAC
TSM34□-1□G

TSM34□-3□G
86mm 260 290 340 390 480
Pulse Input
TSM34□-5□G
SR
TSM34□-6□G
Field Bus
DC Input
STF
With Controller
ST
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
43
Dimensions (Unit:mm)
◇ Frame Size 28mm ◇ Frame Size 42mm
front shaft front shaft
Model Length “L” Model Length “L” Length “M”
Integrated
diameter diameter
Efficient
TSM
TSM11□-1RM 45.9 TSM17□-1□G 69.5 26.6

TSM11□-2RM 55 5 TSM17□-2□G 75 32.1
6*
Integrated
TSM11□-3RM 66.2 TSM17□-3□G 83.5 40.6

SSM
TSM17□-4□G 98 55
Step-Servo
* 5 mm diameter shaft available upon request

Integrated
TXM
IP65
4-M2.5 L±1 20 42.3 Max.

Motor & Drive
28
L 15 Depth 2.5 Min 4-M3 深 4.5 31
23 L±1 15 20 42.3 Max.
RS
10
4-M3 深 4.5 31
15
42.3 Max.
31
Ø22
Ø6
42.3 Max.
61
Motor & Drive
23
28
Ø22
31
Ø22
Ø6
74
Ø5
SS
5.5 Flat
61
74
4.5 Flat
5.5 Flat
2 2
2
Pulse Input
STM-R
M 43.5
M 43.5
L±1 24 56.4 Max.

20 47.14
STM
L±1 24 56.4 Max.4-Ø5.1

20 47.14
4-Ø5.1
56.4 Max.
Ø38.1
47.14
◇ Frame Size 56mm ◇ Frame Size 60mm
Ø8
SWM
56.4 Max.
L±1 20 42.3 Max.
IP65
75
Ø38.1
47.14
Ø8
4-M3 深 4.5 31
15 88
75
7.5 Flat
1.6
front shaft front shaft
88
Model Length “L” Length “M” Model “L”
7 “M”
42.3 Max.
Pulse Input
7.5 Flat
diameter 1.6 diameter
SRAC
31
Ø22
Ø6
7
TSM23□-2□G 95.2 24.5 TSM24□-3□G 129.15 58.5 10*
61
74
AC Input
M 50.9
5.5 Flat
TSM23□-3□G 117.2
2
46.5 8* * 8 mm diameter shaft available
M upon request 50.9
With Controller
TSM23□-4□G 120.6 49.9

STAC
* 6.35 mm diameter shaft available

M
upon request43.5
Pulse Input
L±1 24 60.5 Max.

47.14 4-Ø4.5
SR
L±1 24 56.4 Max. L±1 24 60.5 Max.

20 47.14 20 47.14 4-Ø4.5
4-Ø5.1
20
60.5 Max.
Field Bus
47.14
DC Input
Ø38.1
Ø10
STF
56.4 Max.
60.5 Max.
Ø38.1
47.14
47.14
90
77
Ø38.1
Ø8
Ø10
75
90
77
1.5
88
9.5 Flat
With Controller
8 1.5
7.5 Flat
1.6
9.5 Flat
7
ST
M 50.9
M 50.9 M 50.9
AC Input
DC Input
L±1 24 60.5 Max.

47.14 4-Ø4.5
◇ Frame Size 86mm

86 Max.
20 L 37
69.6
4- Ø6.5
2-Phase
front shaft
60.5 Max.
B
47.14
Model “L”
Ø38.1
Ø10
diameter
90
77
Stepper Motor
TSM34□-1□G 112.5 1.5

3-Phase
9.5 Flat
86 Max.
Ø 73
TSM34□-3□G 143
69.6
8
14
121
TSM34□-5□G 172.5 25
136.7
M 50.9
TSM34□-6□G 203
UL
2 B-B
B
13
10
Power Supplies
Ø14
Accessories
13
86
Cables
Software
Appendix
Glossary
44
◇ General Purpose I/O Cable(unshielded) ◇ General Purpose I/O Cable(shielded)
(TSM17/23/24/34) (TSM17/23/24/34)
Housing:PUDP-28V-S(JST) Housing:PUDP-28V-S(JST) UL2464 AMG24 10Pair
Crimp:SPUD-001T-P0.5(JST)
P/N Length (L) P/N Length (L) Crimp:SPUD-001T-P0.5(JST)
27 28 27 28
1101-100 1m 1116-100 1m
Integrated
Efficient
TSM
1101-200 2m 1116-200 2m
10
1101-500 5m 1116-300 3m 20±3
1 2 1 2
30±3
L±50 1116-500 5m
Integrated
2000±100
SSM
Pin No. Assignment Description Color Pin No. Assignment Description Color
Step-Servo
1 X1+/STEP+ BLU 1 X1+/STEP+ BLU/WHT
Integrated
High Speed Digital Input High Speed Digital Input
TXM
IP65
2 X1-/STEP- BLU/WHT 2 X1-/STEP- BLU/BLK
3 X2+/DIR+ YEL 3 X2+/DIR+ GRN/WHT
4 X2-/DIR- GRN/BLK
Motor & Drive

4 X2-/DIR- YEL/WHT
RS
5 X3 X3 Digital Input GRN 5 X3 X3 Digital Input BLU
6 X4 X4 Digital Input ORG 6 X4 X4 Digital Input PUR
Motor & Drive

7 X5 X5 Digital Input GRY 7 X5 X5 Digital Input YEL
SS
8 X6 X6 Digital Input PUR 8 X6 X6 Digital Input GRN
9 XCOM X Digital Input COM WHT 9 XCOM X Digital Input COM ORG
Pulse Input
10 +5V +5V Analog Voltage RED 10 +5V +5V Analog Voltage RED
STM-R
11 AIN Analog Input BLU 11 AIN Analog Input WHT
12 GND Analog Input Ground BLK 12 GND Analog Input Ground BLK

13 X7+ ORG 13 X7+ BRN/WHT
STM
X7 Digital Input X7 Digital Input
14 X7- ORG/WHT 14 X7- BRN/BLK
15 X8+ GRN 15 X8+ GRY/WHT
16 X8- GRN/WHT 16 X8- GRY/BLK
SWM
IP65
17 Y1 Y1 Digital Output BLU 17 Y1 Y1 Digital Output BRN
18 Y2 Y2 Digital Output YEL 18 Y2 Y2 Digital Output GRY
Pulse Input
SRAC
19 Y3 Y3 Digital Output BRN 19 Y3 Y3 Digital Output PNK
20 YCOM Y Output COM BLK 20 YCOM Y Output COM YEL/GRN
AC Input
21 Y4+ RED 21 Y4+ PUR/WHT
With Controller
Y4 Digital Output Y4 Digital Output
STAC
22 Y4- RED/WHT 22 Y4- PUR/BLK

23 Z+ Encoder Output Z BLK 23 Z+ Encoder Output Z YEL/WHT
24 Z- (if applicable) BLK/WHT 24 Z- (if applicable) YEL/BLK
Pulse Input
25 B+ Encoder Output B ORG/WHT
SR
25 B+ Encoder Output B GRN
26 B- (if applicable) GRN/WHT 26 B- (if applicable) ORG/BLK
27 A+ Encoder Output A ORG 27 A+ Encoder Output A RED/WHT
Field Bus
DC Input
STF
28 A- (if applicable) ORG/WHT 28 A- (if applicable) RED/BLK
◇ Power + Comm + I/O Cable (Flying leadsTSM11 only)
With Controller
Pin No. Assignment Description Color
ST
300±20 4 X3 X3 Digital Input BRN
P/N Length (L) 5
Connector: (JST)
Housing: GHR-12V-S
Crimp: SSHL-002T-P0.2 C 5 X2 High Speed Digital Input YEL
1109-030 0.3m 1 b
AC Input
C 6 X1 High Speed Digital Input GRY
Fly leads
12 7 RXD- RS-422/485 Data Receive- GRN/WHT
φ0.7MAX
8 RXD+ RS-422/485 Data Receive+ GRN
DC Input
Pin No. Assignment Description Color 9 TXD- RS-422/485 Data Transmit- BLU/WHT
1 Y2 Y2 Digital Output PUR 10 TXD+ RS-422/485 Data Transmit+ BLU
2 Y1 Y1 Digital Output ORN 11 V+ Power Supply + RED
2-Phase
3 X4 X4 Digital Input WHT 12 V- Power GND BLK
◇ CANopen Daisy Chain Communication Cable

Stepper Motor
◇ RS-485 Daisy Chain Communication Cable
3-Phase
(TSM17/23/24/34) (TSM17/23/24/34)
P/N Length (L) Housing: ZER-05V-S(JST)
Crimp: SZE-002T-P0.3(JST)
Housing: ZER-05V-S(JST)
P/N Length (L) Housing: ZER-05V-S(JST)
Crimp: SZE-002T-P0.3(JST)
Housing: ZER-05V-S(JST)
Crimp: SZE-002T-P0.3(JST) Crimp: SZE-002T-P0.3(JST)
2111-025 0.25m 2112- 025 0.25m

UL
1 5 1
2111-050 0.5m J1
5
J2
2112- 050 0.5m J1 J2
5 1 5
2111-100 1m
1
2112-100 1m
Power Supplies
L±100 L±100
2111-300 3m 2112-300 3m
Accessories
◇ RS-232 Communication Cable(P/S/Q Type) ◇ RS-232 Communication Cable(C Type)

Cables
(TSM23/24/34) (TSM17/23/24/34)
B L±20
L±20
P/N Length (L) 9 5 15±2
1
A 9
B
5 15±2
B
A
P/N Length (L)
Software
1 DGND
2101-150 1.5m
J1 J2 2 TX B 1
3 VCC J1
4 RX J2
6
2113-150 1.5m
1 10 5
20 1 10
Appendix
6
DB/9PFemale Connector(JST) 20
Housing:ZER-04-S DB/9P Female Connector(JST)
Crimp:SZE-002T-P0.3 Housing: ZER-05-S
Crimp: SZE-002T-P0.3
Glossary
◇ Ethernet Daisy Chain Communication Cable (Q/IP Type) (TSM34 only)

L
L
Common Type Shielded Type Length(L)
8 1 8 1
2012-030 2013-030 0.3m
2012-300 2013-300 3m
45
◇ Regeneration Clamp
P/N: RC880
When using regulated power supply you may encounter a problem with regeneration. The kinetic
energy caused by regeneration is transferred back to the power supply. This can trip the overvoltage
protection of a switching power supply, causing it to shut down.
Integrated
Efficient
TSM
MOONS' offer the RC880 “regeneration clamp” to solve this problem. If in doubt, use an RC880 for
your first installation. If the “regen” LED on the RC880 never flashes, you don’t need the clamp.
Integrated
SSM
Dimensions(Unit:mm)
28.6 76
Step-Servo
Integrated
45
TXM
IP65
Motor & Drive
RS
Motor & Drive
85
94
85
SS
Pulse Input
STM-R

STM
USB Converter
SWM
IP65
Model: MS-USB-RS-232-01 Model: MS-USB-RS-485-01 Model: MS-USB-CAN-01

Description: USB-RS-232 converter Description: USB-RS-485 converter Description: USB-CAN converter
Pulse Input
SRAC
AC Input
With Controller
STAC

Pulse Input
SR
Field Bus
DC Input
STF
With Controller
ST

AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
46
Connection and Operation(-P Pulse Input Type)
◇ Names and Functions of Parts
TSM17P TSM23/24P TSM34P
Integrated
Efficient
TSM
①
Integrated
SSM
② ③
② ①
Step-Servo
①
Integrated
③
TXM
IP65
② ③
④ ④
Motor & Drive

RS
Motor & Drive
① LED Displays ④ I/O Signal Connector
SS
Indication Color Function When Activated 27 28
Pulse Input
A+ A-
STM-R
Operation Green Power on indication When driver is powered up

B+ B-
Alarm Red Alarm indication Flashes when in protection Z+ Z-
NC NC
Auxiliary Power on

Operation Yellow When AUX powered up Y3 YCOM
indication Y1 Y2
STM
NC NC Housing P/N: JST PUDP-28V-S
LED Error Codes NC NC Crimp P/N: JST SPUD-001T-P0.5
NC NC
TSM uses red and green LEDs to indicate status. When XCOM NC
SWM
IP65
the motor is enabled, the green LED flashes slowly. When NC NC
X3 X4
the green LED is solid, the motor is disabled. Errors are DIR+ DIR-
indicated by combinations of red and green flashes as shown
Pulse Input
STEP+ STEP-
SRAC
in Page of Alarm information. 1 2
AC Input
Apart from the main power supply, TSM34 also has an
With Controller
auxiliary power input (AUX power) for keep alive function of Pin no. Assignment Description
STAC
the drive. When the main power supply is off, the AUX power 1 STEP+

will keep the logic power on, allowing the drive to remember High Speed Digital Input
2 STEP-
its state data (motor position, etc.). This allows the motor to
Pulse Input
resume operation from its previous position without a homing 3 DIR+
SR
Direction Input
routine when the main power is switched back on. 4 DIR-
5 X3 X3 Digital Input
② Power Connector
Field Bus
DC Input
STF
TSM17/23/24
7 NC
P/N: Weidmuller 1615780000 N/C
With Controller
8 NC
ST
Description 9 XCOM Digital Input COM
+ Power Supply + 10 NC
AC Input
- Power Supply - 11 NC
TSM34 12 NC
13 NC N/C
DC Input
P/N: Phoenix Contact 5452570
14 NC
Description
15 NC
V+ Power Supply +
2-Phase
V- Power Supply - 16 NC
AUX+ Auxiliary Power Supply+ 17 Y1 Y1 Digital Output Stepper Motor
AUX- Auxiliary Power Supply- 18 Y2 Y2 Digital Output
3-Phase
19 Y3 Y3 Digital Output
③ Communication Connector 20 YCOM Digital Output COM
TSM17P 21 NC
UL
N/C
P/N: Phoenix 1881354 22 NC
TSM23/24/34P 23 Z+
Power Supplies
Encoder Output Z
Housing P/N: JST ZER-04-S 24 Z-
Accessories
Crimp P/N: JST SZE-002T-P0.3 25 B+

Encoder Output B
TSM17P TSM23/24/34P 26 B-
Cables
RXD 27 A+
GND
Encoder Output A
+5V 28 A-
TXD
Software
TXD
+5V
Appendix
GND RXD
GND
Glossary
Pin. Description Pin. Description

RXD Data Receive RXD Data Receive
+5V +5V Power Supply +5V +5V Power Supply
TXD Data Transmit TXD Data Transmit
GND Ground GND Ground
47
◇ Wiring Diagram ● Pulse Input Mode
Pulse & Direction
User Control Drives
1 X1/STEP+
When the Pulse input is turned ON while the DIR input is
2 X1/STEP- ON, the motor will rotate by one step in one direction.
Integrated
Efficient
3 X2/DIR+
TSM
4 X2/DIR-
OFF, the motor will rotate by one step the other direction.
5-24VDC
*Direction definition of DIR input can be configured via

0VDC 9 XCOM
Integrated
SSM
5 X3/SERVO ON
Quick Tuner.
6 X4/ALARM RESET
The chart below shows motor configured as while the DIR
Step-Servo
input is ON, the motor will rotate by CW direction

Integrated
100mA Limit
10 +5V
TXM
IP65
0VDC
Signal
11 AIN Conditioning
Under 30V 12 GND

Pulse & Direction
Pulse Input High
(PLS)
Motor & Drive
17 Y1/ALARM Low
RS

18 Y2/IN POSITION
(DIR.)
CCW&Direction
Motor & Drive
Motor Motion
19 Y3/BRAKE CW&Direction
SS
20 YCOM
CW/CCW Pulse
0VDC
Pulse Input
STM-R
23 ENC Z+
When the X1 input is turned ON, the motor will rotate by one
24 ENC Z-
25 ENC B+
step in One direction. When the X2 input is turned ON, the
26 ENC B-
motor will rotate by one step in the other direction.
27 ENC A+
STM
28 ENC A-
*Direction definition can be configured via Quick
Tuner.
The chart below shows motor configured as while the X1
SWM
IP65
◇ Description of Input/Output Signals input is ON, the motor will rotate by one step in CW direction
CW/CCW Pulse
Pulse Input
SRAC
Input (output) "ON" indicates that the current is sent CW Pulse

High
Low
into the photocoupler (transistor) inside the driver. Input
AC Input
High
CCW Pulse
(output) "OFF" indicates that the current is not sent into the Low
With Controller
STAC
photocoupler (transistor) inside the driver. The input/output Motor Motion CCW&Direction
remains "OFF" if nothing is connected. CW&Direction
Circuit above shows when pulse input is line driver type A & B Quadrature
Pulse Input

SR
Pulse singal input range 5-24VDC The motor will move according to signals that are fed to the
Digital singal input range 5-24VDC drive from a two channel increamental master encoder.
Field Bus
DC Input
Use a multi-core, twisted-pair shielded wire of AWG28 to

STF
Direction definition can be configured via Quick

24 for the control input/output signal line, and keep wiring Tuner. Direction is determined via which channel leads the
as short as possible other.
With Controller
Provide safty distance between the control I/O signal lines

ST
The chart below shows motor configured as while X1 Leads

and power lines X2, the motor will rotate by CW direction.
● Pulse Input Circuit and Sample Connection
AC Input
A & B Quadrature
With Open Collector Output Input A

High
Low
High
DC Input
User Control Drives

Input B
Low
5-24VDC
STEP+

STEP-
2-Phase
CW&Direction
DIR+
DIR-
● Digital Input Circuit and Sample Connection
Stepper Motor
3-Phase
0VDC
With Open Collector Output
User Control Drives
With Line Driver Output 5-24VDC
UL
XCOM
User Control Drives
X3
STEP+
Power Supplies
STEP-
Accessories
X4
DIR+
DIR- 0VDC
Cables
0VDC
Software
Appendix
Glossary
48
With NPN type Sensor Alarm Output
Drives Y1 can be configured as signal output if a fault occurs,
5-24VDC meanwhile the red LED will flash.
XCOM
X3
In Position Output
Integrated
+
Efficient
Y2 can be configured as signal output when position error
TSM
NPN
Sensor
-
X4 less than a user-defined count value.

0VDC
Moving Output
Integrated
SSM
Y2 can be configured as signal output when motor is moving.
With PNP type Sensor
Step-Servo
Brake Output
Integrated
TXM
IP65
Drives
5-24VDC
Y3 can be configured as signal output to release brake.
+ X3
PNP
Timing Output
Sensor
Motor & Drive

-
XCOM
RS
0VDC
Y3 can be configured as Timing signal output, it will turn ON
every time the motor output shaft rotates by 7.2°.50 pulses
output with one rotation.
Motor & Drive

Servo ON Input
SS
X3 can be configured as Enable signal to excite the motor. Tach Output
Y3 can be configured as Tach signal output, tach output
Pulse Input
Alarm Reset Input
STM-R
produces pulses relative to the motor position with

X4 can be configured as Reset signal to clear the alarm and
configurable resolution:100,200,400,800,1600.
turns to normal stutus as Servo OFF.

Caution: Please make sure there's no error in system before ● Encoder Output
STM
you clear an Alarm. Differential pulse output with channel A/B/Z
◇ Connecting using Digital Outputs While motor rotates one revelotion, A-Phase/B Phase
SWM
IP65
generate total 20,000 counts, Z-Phase generates one
● Output Circuit and Sample Connection signal.
Pulse Input
Open Collector Output
SRAC
The B-Phase output has a 90° phase difference with
respect to the A-Phase output. Phase A Leads B 90°while
AC Input
User Control Drives
motor rotates by CW direction, phase B leads A 90°while
With Controller
5-24VDC
STAC
motor rotates by CCW direction.

Y1
Pulse Output Signal Chart
Pulse Input
YCOM
SR
Y2
A Pulse
Field Bus
DC Input
Y3
STF
B Pulse
0VDC
With Controller
Encoder Output Circuit
ST
Driving external load
AC Input
A+
A-
Load
5-24VDC Y1
+ B+
Power Supply
DC Input
YCOM B-
-
Y2 Z+
Z-
2-Phase
Y3
Note: If the controller cannot support differential signal input,

Stepper Motor
you can choose the module that it can convert the differential
3-Phase
signal into open-collector output.
Module part number: DOC3
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
49
Connection and Operation(-S/Q Controller Type)
TSM17S/Q TSM23/24S/Q TSM34Q
Integrated
Efficient
TSM
①
Integrated
SSM
② ③
① ①
Step-Servo
②
Integrated
③
TXM
IP65
② ③
④
④
④
Motor & Drive
RS
Motor & Drive
① LED Displays
SS
③ Communication Connector
Indication Color Function When Activated TSM17 S/Q
Pulse Input
STM-R
Operation Green Power on indication When driver is powered up P/N: Phoenix 1881354
Alarm Red Alarm indication Flashes when in protection

TSM23/24/34 S/Q(RS-232)
Auxiliary Power on
Operation Yellow
indication
When AUX powered up Housing P/N: JST ZER-04-S
STM
Crimp P/N: JST SZE-002T-P0.3

LED Error Codes TSM23/24/34 S/Q(RS-485)
TSM uses red and green LEDs to indicate status. When Housing P/N: JST ZER-05V-S
SWM
IP65
the motor is enabled, the green LED flashes slowly. When Crimp P/N: JST SZE-002T-P0.3
the green LED is solid, the motor is disabled. Errors are
TSM17S/Q
Pulse Input
SRAC
in Page of Alarm information. RS-232 RS-485

AC Input
Apart from the main power supply, TSM34 also has an RXD
With Controller
RX+
auxiliary power input (AUX power) for keep alive function of +5V
STAC
RX-
the drive. When the main power supply is off, the AUX power
TXD
TX+
will keep the logic power on, allowing the drive to remember GND
TX-
its state data (motor position, etc.). This allows the motor to GND
Pulse Input
GND
resume operation from its previous position without a homing
SR

routine when the main power is switched back on.
RXD Data Receive RX+ Data Receive +
Field Bus
DC Input
② Power Connector
STF
+5V +5V Power Supply RX- Data Receive -
TSM17/23/24 TXD Data Transmit TX+ Data Transmit +

With Controller
P/N: Weidmuller 1615780000 GND Ground TX- Data Transmit -

ST
GND Ground GND Ground

Description
+ Power Supply + TSM23/24/34S/Q
AC Input
- Power Supply -
RS-232 RS-485
TSM34
RX+
DC Input
GND
P/N: Phoenix Contact 5452570 RX-
TXD
TX+
Description +5V
TX-
RXD
2-Phase
V+ Power Supply + GND

V- Power Supply -
Stepper Motor

AUX+ Auxiliary Power Supply+
3-Phase
GND Ground RX+ Data Receive +

AUX- Auxiliary Power Supply-
TX Data Transmit RX- Data Receive -
+5V +5V Power Supply TX+ Data Transmit +
UL
RX Data Receive TX- Data Transmit -

GND Ground
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
50
④ TSM17S/Q I/O Signal Connector ④ TSM23/24/34S/Q I/O Signal Connector
27 28 27 28
NC NC A+ A-
NC NC B+ B-
NC NC Z+ Z-
Integrated
Y4+ Y4- Y4+ Y4-
Efficient
TSM
Y3 YCOM Y3 YCOM
Y1 Y2 Y1 Y2
X8+ X8- X8+ X8-
Housing P/N: JST PUDP-28V-S Housing P/N: JST PUDP-28V-S
X7+ X7- X7+ X7-
Integrated
Crimp P/N: JST SPUD-001T-P0.5 Crimp P/N: JST SPUD-001T-P0.5
SSM
AIN GND AIN GND
XCOM +5V XCOM +5V
X5 X6 X5 X6
Step-Servo
X3 X4 X3 X4
Integrated
X2+ X2- X2+ X2-
TXM
IP65
X1+ X1- X1+ X1-
1 2 1 2
Motor & Drive

RS
Pin no. Assignment Description Pin no. Assignment Description
1 X1+/STEP+ 1 X1+/STEP+
Motor & Drive

2 X1-/STEP- 2 X1-/STEP-
SS
3 X2+/DIR+ 3 X2+/DIR+
4 X2-/DIR- 4 X2-/DIR-
Pulse Input
STM-R
5 X3 X3 Digital Input 5 X3 X3 Digital Input


STM
9 XCOM Digital Input COM 9 XCOM Digital Input COM
10 +5 +5V OUT 100mA max. 10 +5 +5V OUT 100mA max.
SWM
IP65
11 AIN Analog Input 11 AIN Analog Input
12 GND Aanlog Ground 12 GND Aanlog Ground
Pulse Input
SRAC
13 X7+ 13 X7+
AC Input
14 X7- 14 X7-
With Controller
15 X8+ 15 X8+
STAC
16 X8- 16 X8-

17 Y1 Y1 Digital Output 17 Y1 Y1 Digital Output
Pulse Input
SR
20 YCOM Digital Output COM 20 YCOM Digital Output COM
Field Bus
DC Input
STF
21 Y4+ 21 Y4+
Y4 Digital Output Y4 Digital Output
22 Y4- 22 Y4-
With Controller
23 NC 23 Z+
ST
Encoder Output Z
24 NC 24 Z-
25 NC 25 B+
N/C
AC Input
Encoder Output B
26 NC 26 B-
27 NC 27 A+
Encoder Output A
28 NC 28 A-
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
51
◇ Wiring Diagram ◇ Description of Input/Output Signals
● TSM17S/Q Input (output) "ON" indicates that the current is sent
User Control TSM17S/Q (output) "OFF" indicates that the current is not sent into the
photocoupler (transistor) inside the driver. The input/output
1 X1/STEP+
Integrated
Efficient
2 X1/STEP-
TSM
3 X2/DIR+ remains "OFF" if nothing is connected.

4 X2/DIR-
Circuit above shows when pulse input is line driver type
9 XCOM
Pulse singal input range 5-24VDC

Integrated
5-24VDC

0VDC
SSM
5 X3/SERVO ON
6 X4/ALARM RESET Digital singal input range 5-24VDC

Step-Servo
7 X5
Integrated
24 for the control input/output signal line, and keep wiring

TXM
IP65
8 X6
10 +5V
100mA Limit as short as possible
Signal
11 AIN Conditioning
0VDC
Motor & Drive
12 GND
and power lines

RS
5-24VDC
13 X7/CW LIMIT+
+
NPN 14 X7/CW LIMIT-

Sensor
-
Motor & Drive
5-24VDC
15 X8/CCW LIMIT+

SS
+
NPN 16 X8/CCW LIMIT-
Sensor
-
User Control Drives

Under 30V
5-24VDC
Pulse Input
STM-R
17 Y1/ALARM STEP+
STEP-
18 Y2/IN POSITION
DIR+
STM
19 Y3/BRAKE DIR-
20 YCOM
0VDC
0VDC
Under 30V
SWM
IP65
21 Y4+
22 Y4-
0VDC With Line Driver Output

Pulse Input
SRAC
User Control Drives
● TSM23/24/34S/Q STEP+
AC Input
STEP-
User Control TSM23/24S/Q
With Controller
STAC
1 X1/STEP+ DIR+
2 X1/STEP-
DIR-
3 X2/DIR+
0VDC
Pulse Input
4 X2/DIR-
SR
9 XCOM
5-24VDC
0VDC
5 X3/SERVO ON
● Pulse Input Mode
6 X4/ALARM RESET
Pulse & Direction
Field Bus
DC Input
STF
7 X5
8 X6
ON, the motor will rotate by one step in one direction.
With Controller
100mA Limit
10 +5V

ST
Signal
11 AIN Conditioning
0VDC
5-24VDC
12 GND
13 X7/CW LIMIT+
+
14 X7/CW LIMIT-
AC Input
NPN
Sensor
-
5-24VDC
15 X8/CCW LIMIT+
Quick Tuner.
+
NPN
Sensor
16 X8/CCW LIMIT-

-
DC Input
Under 30V
17 Y1/ALARM Pulse & Direction

Pulse Input High
(PLS)
Low
2-Phase
18 Y2/IN POSITION

Stepper Motor
19 Y3/BRAKE (DIR.)
20 YCOM CCW&Direction
3-Phase
Motor Motion
0VDC CW&Direction
Under 30V
21 Y4+
22 Y4- CW/CCW Pulse

UL
0VDC
23 ENC Z+
24 ENC Z-
step in One direction. When the X2 input is turned ON, the
Power Supplies
25 ENC B+
26 ENC B-
Accessories

27 ENC A+
28 ENC A-
Tuner.
Cables
0VDC 0VDC
input is ON, the motor will rotate by one step in CW direction
Software
CW/CCW Pulse
High
Appendix
CW Pulse Low
High
CCW Pulse
Glossary
Low

CW&Direction
52
A & B Quadrature Driving external load
The motor will move according to signals that are fed to the
drive from a two channel increamental master encoder. 5-24VDC +
Load
Y1
Power Supply
Direction definition can be configured Quick -

YCOM
Tuner. Direction is determined via which channel leads the
Integrated
Y2
Efficient
TSM
other. Y3
The chart below shows motor configured as while X1 Leads
Integrated
X2, the motor will rotate by CW direction.
SSM
A & B Quadrature Alarm Output
Step-Servo
High
Y1 can be configured as signal output if a fault occurs,
Integrated
Input A
Low
TXM
IP65
High meanwhile the red LED will flash.
Input B
Low
In Position Output
Motor & Drive

Motor Motion
RS
CCW&Direction
CW&Direction
less than a user-defined count value.
Motor & Drive

● Digital Input Circuit and Sample Connection Moving Output
SS
Pulse Input
Brake Output
STM-R
User Control Drives
5-24VDC Y3 can be configured as signal output to release brake.

XCOM
Timing Output

X3
STM
X4 every time the motor output shaft rotates by 7.2°.50 pulses
SWM
IP65
0VDC
Tach Output
With NPN type Sensor
Pulse Input
SRAC
Drives
AC Input
5-24VDC
XCOM
With Controller
● Encoder Output
STAC
X3
+
NPN

Differential pulse output with channel A/B/Z
Sensor
-
X4
While motor rotates one revelotion, A-Phase/B Phase
Pulse Input
0VDC
SR
signal.
Field Bus
With PNP type Sensor
DC Input
STF
Drives
5-24VDC
With Controller
+
PNP
X3 motor rotates by CCW direction.
ST
Sensor

-
XCOM
0VDC
AC Input
A Pulse
Servo ON Input
B Pulse
X3 can be configured as Enable signal to excite the motor.
DC Input
Alarm Reset Input
X4 can be configured as Reset signal to clear the alarm and A+
2-Phase
turns to normal stutus as Servo OFF. A-
Caution: Please make sure there's no error in system before B+
B-
Stepper Motor
you clear an Alarm.
3-Phase
Z+
CW/CCW Limit Input Z-
X7 can be configured as CW limit signal input, X8 can be

configured as CCW limit signal input. Note: If the controller cannot support differential signal input,
UL
When either limit signal actives, motor will stop immediately you can choose the module that it can convert the differential
and indicate an Alarm.(Unless motors works in Homing signal into open-collector output.
Power Supplies
mode and defined otherwize) Module part number: DOC3

Accessories
◇ Connecting using Digital Outputs

Cables
● Output Circuit and Sample Connection

Software
User Control Drives

Appendix
5-24VDC
Y1
Glossary
YCOM
Y2
Y3
0VDC
53
Connection and Operation(-C CANopen Type)
TSM17C TSM23/24C TSM34C
Integrated
Efficient
TSM
①
Integrated
SSM
② ③
①
①
Step-Servo
②
Integrated
②
TXM
IP65
④ ③ ③
④
④
Motor & Drive
RS
Motor & Drive
SS
① LED Displays ④ I/O Signal Connector(TSM17)

27 28
Indication Color Function When Activated
Pulse Input
STM-R
NC NC
NC NC
NC NC
Alarm Red Alarm indication Flashes when in protection
Y4+ Y4-
Auxiliary Power on Y3 YCOM

Operation Yellow When AUX powered up
STM
indication Y1 Y2
X8+ X8-
Housing P/N: JST PUDP-28V-S
Crimp P/N: JST SPUD-001T-P0.5
LED Error Codes X7+ X7-
AIN GND
TSM uses red and green LEDs to indicate status. When
SWM
XCOM +5V
IP65
X5 X6
the motor is enabled, the green LED flashes slowly. When X3 X4
the green LED is solid, the motor is disabled. Errors are X2+ X2-
Pulse Input
indicated by combinations of red and green flashes as shown X1+ X1-

SRAC
in Page of Alarm information. 1 2

AC Input
Apart from the main power supply, TSM34 also has an Pin no. Assignment Description
With Controller
auxiliary power input (AUX power) for keep alive function of

STAC
1 X1+
the drive. When the main power supply is off, the AUX power X1 Digital Input
2 X1-
will keep the logic power on, allowing the drive to remember
3 X2+
Pulse Input
its state data (motor position, etc.). This allows the motor to X2 Digital Input
SR
resume operation from its previous position without a homing 4 X2-

routine when the main power is switched back on. 5 X3 X3 Digital Input
Field Bus
DC Input
② Power Connector 6 X4 X4 Digital Input

STF
TSM17/23/24
With Controller
P/N: Weidmuller 1615780000

ST
9 XCOM Digital Input COM

Description 10 +5 +5V OUT
+ Power Supply +
11 AIN Analog Input

AC Input
- Power Supply - 12 GND Aanlog Ground

13 X7+
TSM34 X7 Digital Input
DC Input
14 X7-
P/N: Phoenix Contact 5452570
15 X8+
Description X8 Digital Input
16 X8-
2-Phase
V+ Power Supply +
V- Power Supply -
Stepper Motor
AUX+ Auxiliary Power Supply+
3-Phase
AUX- Auxiliary Power Supply-
20 YCOM Digital Output COM
③ Communication Connector 21 Y4+
Y4 Digital Output
Housing P/N: JST ZER-05V-S
UL
22 Y4-
Crimp P/N: JST SZE-002T-PO.3 23 NC
Power Supplies
24 NC
CANopen Type
Accessories
25 NC
TXD N/C
RXD 26 NC
Cables
CAN_H 27 NC
CAN_L
28 NC
GND
Software
Pin. Description
Appendix
TXD RS-232 Data Transmit

RXD RS-232 Data Receive
Glossary
CAN_H CAN+
CAN_L CAN-
GND Ground
54
④ I/O Signal Connector(TSM23/24/34) ◇ Wiring Diagram
27 28
● TSM17C
A+ A-
B+ B-
User Control Drives
Z+ Z-
Integrated
1 X1
Y4+ Y4-
Efficient
TSM
Y3 YCOM 2 X1
Y1 Y2 Housing P/N: JST PUDP-28V-S 3 X2
X8+ X8- Crimp P/N: JST SPUD-001T-P0.5 4 X2
X7+ X7-
Integrated
9 XCOM
5-24VDC
SSM
0VDC
AIN GND 5 X3/SERVO ON
XCOM +5V
X5 X6 6 X4/ALARM RESET
Step-Servo
X3 X4
Integrated
7 X5
X2+ X2-
TXM
IP65
X1+ X1- 8 X6
1 2 10 +5V
100mA Limit
Motor & Drive

Signal
11 AIN Conditioning
0VDC
12 GND
Pin no. Assignment Description
RS
5-24VDC
13 X7/CW LIMIT+
1 X1+ NPN
+
14 X7/CW LIMIT-
X1 Digital Input
Sensor
-
Motor & Drive

2 X1-
5-24VDC
15 X8/CCW LIMIT+
SS
3 X2+ NPN
+
16 X8/CCW LIMIT-
X2 Digital Input
Sensor
-
4 X2- Under 30V
Pulse Input
STM-R

17 Y1/ALARM
18 Y2/IN POSITION

STM
8 X6 X6 Digital Input 19 Y3/BRAKE
9 XCOM Digital Input COM 20 YCOM
0VDC
Under 30V
10 +5 +5V OUT
SWM
IP65
21 Y4+
11 AIN Analog Input 22 Y4-
12 GND Aanlog Ground 0VDC
Pulse Input
SRAC
13 X7+
X7 Digital Input ● TSM23/24/34C
AC Input
14 X7-
With Controller
15 X8+ User Control Drives
STAC
1 X1
X8 Digital Input
16 X8- 2 X1

3 X2
4 X2
Pulse Input
18 Y2 Y2 Digital Output 9 XCOM
SR
5-24VDC
0VDC
5 X3/SERVO ON
6 X4/ALARM RESET
Field Bus
DC Input
STF
7 X5
21 Y4+
Y4 Digital Output
22 Y4- 8 X6
With Controller
100mA Limit
10 +5V
23 Z+ 11 AIN
Signal
ST
Encoder Output Z 0VDC Conditioning
12 GND
24 Z- 5-24VDC
13 X7/CW LIMIT+
25 B+
+
NPN 14 X7/CW LIMIT-
Sensor
Encoder Output B
AC Input
-
26 B- 5-24VDC
15 X8/CCW LIMIT+
27 A+
+
NPN
Sensor
16 X8/CCW LIMIT-
Encoder Output A -
28 A- Under 30V
DC Input
17 Y1/ALARM
18 Y2/IN POSITION
2-Phase
19 Y3/BRAKE
20 YCOM
Stepper Motor
0VDC
3-Phase
Under 30V
21 Y4+
22 Y4-
0VDC
23 ENC Z+
UL
24 ENC Z-
25 ENC B+
26 ENC B-
Power Supplies
27 ENC A+
28 ENC A-
Accessories
0VDC 0VDC
Cables
Software
Appendix
Glossary
55
◇ Description of Input/Output Signals Driving external load
Input (output) "ON" indicates that the current is sent
into the photocoupler (transistor) inside the driver. Input 5-24VDC +
Load
Y1
Power Supply
(output) "OFF" indicates that the current is not sent into the -
YCOM
photocoupler (transistor) inside the driver. The input/output Y2

Integrated
Efficient
TSM
remains "OFF" if nothing is connected. Y3

Integrated

SSM
Digital singal input range 5-24VDC Alarm Output

Step-Servo
Y1 can be configured as signal output if a fault occurs,

Integrated

TXM
IP65
meanwhile the red LED will flash.

as short as possible
Provide safty distance between the control I/O signal lines In Position Output
Motor & Drive
and power lines Y2 can be configured as signal output when position error
RS

Motor & Drive
With Open Collector Output Moving Output

SS
User Control Drives Y2 can be configured as signal output when motor is moving.
5-24VDC
Pulse Input
Brake Output
STM-R
XCOM
X3 Y3 can be configured as signal output to release brake.

Timing Output
STM
X4

0VDC every time the motor output shaft rotates by 7.2°.50 pulses
SWM
IP65
With NPN type Sensor

Tach Output
Drives
Pulse Input

SRAC
5-24VDC
XCOM produces pulses relative to the motor position with
AC Input
X3 configurable resolution:100,200,400,800,1600.
+
With Controller
NPN
● Encoder Output
STAC
Sensor
-
X4
0VDC
Pulse Input

SR
With PNP type Sensor signal.

Field Bus
DC Input
Drives
5-24VDC
STF

+ X3
PNP
Sensor motor rotates by CW direction, phase B leads A 90°while
With Controller
-
XCOM
ST
0VDC Pulse Output Signal Chart

Servo ON Input
AC Input
A Pulse

B Pulse
Alarm Reset Input

DC Input

A+
2-Phase
Caution: Please make sure there's no error in system before A-
you clear an Alarm. B+

Stepper Motor
B-
CW/CCW Limit Input
3-Phase
Z+
X7 can be configured as CW limit signal input, X8 can be Z-
configured as CCW limit signal input.

When either limit signal actives, motor will stop immediately Note: If the controller cannot support differential signal input,
UL
and indicate an Alarm.(Unless motors works in Homing you can choose the module that it can convert the differential
mode and defined otherwize) signal into open-collector output.
Power Supplies
◇ Connecting using Digital Outputs Module part number: DOC3

Accessories

Cables

User Control Drives
5-24VDC
Software
Y1
Appendix
YCOM
Y2
Glossary
Y3
0VDC
56
Connection and Operation(-IP EtherNet/IP Type)
TSM34Q/IP Ethernet version
Integrated
Efficient
TSM
Integrated
SSM
①
②
Step-Servo
Integrated
TXM
IP65
③
④
Motor & Drive

RS
Motor & Drive
SS
① LED Displays ④ I/O Signal Connector
Indication Color Function When Activated 27 28
Pulse Input
STM-R
A+ A-

B+ B-
Alarm Red Alarm indication Flashes when in protection Z+ Z-
Y4+ Y4-

Auxiliary Power on
Operation Yellow When AUX powered up Y3 YCOM
STM
indication
Y1 Y2 Housing P/N: JST PUDP-28V-S
X8+ X8- Crimp P/N: JST SPUD-001T-P0.5
LED Error Codes X7+ X7-
AIN GND
TSM uses red and green LEDs to indicate status. When
SWM
IP65
XCOM +5V
the motor is enabled, the green LED flashes slowly. When X5 X6
the green LED is solid, the motor is disabled. Errors are X3 X4
Pulse Input
X2+ X2-
SRAC
X1+ X1-
in Page of Alarm information.
AC Input
1 2
Apart from the main power supply, TSM34 also has an
With Controller
auxiliary power input (AUX power) for keep alive function of Pin no. Assignment Description
STAC
the drive. When the main power supply is off, the AUX power 1 X1+

X1 Digital Input
will keep the logic power on, allowing the drive to remember 2 X1-
Pulse Input
its state data (motor position, etc.). This allows the motor to
3 X2+
SR
resume operation from its previous position without a homing X2 Digital Input
routine when the main power is switched back on. 4 X2-
Field Bus
DC Input
② Power Connector
STF
P/N: Phoenix Contact 5452570 7 X5 X5 Digital Input
With Controller
Description 8 X6 X6 Digital Input
ST
V+ Power Supply + 9 XCOM Digital Input COM
V- Power Supply - 10 +5 +5V OUT
AC Input
AUX+ Auxiliary Power Supply+ 11 AIN Analog Input
AUX- Auxiliary Power Supply- 12 GND Aanlog Ground
DC Input
③ Communication Connector 13 X7+
X7 Digital Input
14 X7-
Dual port Ethernet (RJ45 connector)
15 X8+
X8 Digital Input
2-Phase
EtherNet/IP Type 16 X8-
17 Y1 Y1 Digital Output Stepper Motor
3-Phase
21 Y4+
UL
Y4 Digital Output
22 Y4-
Power Supplies
23 Z+
Encoder Output Z
24 Z-
Accessories
25 B+
Encoder Output B
26 B-
Cables
27 A+
Encoder Output A
28 A-
Software
Appendix
Glossary
57
◇ Wiring Diagram With PNP type Sensor
Drives
5-24VDC
User Control Drives
1 X1 +
PNP
X3
2 X1 Sensor
-
3 X2 XCOM
Integrated
Efficient
4 X2
TSM
0VDC
9 XCOM
5-24VDC
0VDC
5 X3/SERVO ON
Servo ON Input
Integrated
6 X4/ALARM RESET
SSM
7 X5
8 X6
Alarm Reset Input
Step-Servo
Integrated
100mA Limit
10 +5V
TXM
IP65
Signal
11 AIN Conditioning
0VDC
5-24VDC
12 GND
13 X7/CW LIMIT+
+
Caution: Please make sure there's no error in system before

Motor & Drive
NPN 14 X7/CW LIMIT-

Sensor
you clear an Alarm.

-
RS
5-24VDC
15 X8/CCW LIMIT+
CW/CCW Limit Input

+
NPN
Sensor
16 X8/CCW LIMIT-
Motor & Drive
X7 can be configured as CW limit signal input, X8 can be

Under 30V
SS
17 Y1/ALARM configured as CCW limit signal input.

When either limit signal actives, motor will stop immediately
Pulse Input
STM-R
18 Y2/IN POSITION
and indicate an Alarm.(Unless motors works in Homing

19 Y3/BRAKE mode and defined otherwize)

20 YCOM

STM
0VDC
Under 30V
21 Y4+
22 Y4-
0VDC
SWM
IP65
23 ENC Z+
24 ENC Z- User Control Drives

25 ENC B+
5-24VDC
26 ENC B-
Pulse Input
27 ENC A+
SRAC
Y1
28 ENC A-
YCOM
AC Input
Y2
0VDC
With Controller
0VDC
STAC
Y3
◇ Description of Input/Output Signals 0VDC

Pulse Input
Input (output) "ON" indicates that the current is sent Driving external load
SR

(output) "OFF" indicates that the current is not sent into the
Field Bus
DC Input
photocoupler (transistor) inside the driver. The input/output Load

STF
5-24VDC Y1
+
Power Supply
remains "OFF" if nothing is connected. -
YCOM
Circuit above shows when pulse input is line driver type Y2

With Controller

ST
Y3
Digital singal input range 5-24VDC

AC Input

Alarm Output
Provide safty distance between the control I/O signal lines Y1 can be configured as signal output if a fault occurs,
meanwhile the red LED will flash.
DC Input
and power lines

● Digital Input Circuit and Sample Connection In Position Output
2-Phase

User Control Drives
Stepper Motor
5-24VDC
Moving Output
3-Phase
XCOM
X3
Brake Output
X4
UL
Y3 can be configured as signal output to release brake.

0VDC
Timing Output
Power Supplies
With NPN type Sensor Y4 can be configured as Timing signal output, it will turn ON
Accessories
Drives
every time the motor output shaft rotates by 7.2°.50 pulses
5-24VDC
Cables
XCOM
Tach Output
X3
+
NPN
Software
Sensor
-
X4
Appendix
0VDC
Glossary
58
● Encoder Output Note: If the controller cannot support differential signal input,
generate total 20,000 counts, Z-Phase generates one Module part number: DOC3
signal.
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
A Pulse
Motor & Drive

B Pulse
RS
Motor & Drive

SS
A+
A-
B+
Pulse Input
STM-R
B-

Z+
Z-

STM
SWM
IP65
Alarm Information
Pulse Input
SRAC
Status Display via LEDs
AC Input
TSM uses red and green LEDs to indicate status. When the motor is enabled, the green LED flashes slowly.
With Controller
When the green LED is solid, the motor is disabled. Errors are indicated by combinations of red and green
STAC
flashes as shown below.
Pulse Input
Code Error
SR
Solid green No alarm, motor disabled
Flashing green No alarm, motor enabled
Field Bus
DC Input
STF
1 red, 1 green Position limit
1 red, 2 green Move while disabled
With Controller
ST
2 red, 1 green CCW limit
2 red, 2 green CW limit
AC Input
3 red, 1 green Drive over temperature
3 red, 2 green Internal voltage out of range
DC Input
3 red, 3 green Blank Q segment
4 red, 1 green Power supply over voltage
2-Phase
4 red, 2 green Power supply under voltage
4 red, 3 green Non-volatile double error Stepper Motor
5 red, 1 green Over current
5 red, 2 green Current foldback 3-Phase
6 red, 1 green Open winding

UL
6 red, 2 green Bad encoder
7 red, 1 green Communication error

Power Supplies
Accessories
7 red, 2 green Flash memory error
Show Red; Show Green.

Cables
NOTE: Items in bold italic represent drive faults, which automatically disable the motor.
Software
Auxiliary Power (AUX) LED (only TSM34)

Appendix
If the auxiliary power is connected, this yellow LED will be solid when the power is on.
Glossary
59
Integrated -SSM Series
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
The SSM line of integrated motors combines servo technology with an integrated motor to create a
product with exceptional feature and broad capability.
Motor & Drive
SS
Features
Pulse Input
STM-R
UP TO UP TO
32 112
RS-485 AXES AXES

STM
Pulse&Dir
CW/CCW
SWM
IP65
A/B Quadrature
3rd Party Controller IDn ID2 ID1
Pulse Control Muti-Axis Network
Pulse Input
SRAC
5V
Q
AC Input
Analog Velocity
Downloading
With Controller
Analog Position Ain

STAC
Analog Control
0 Motion Program
Stand Alone Operation
Pulse Input
SR
Field Bus
DC Input
STF
With Controller
ST
ID5 ID4 ID3 ID2 ID1

AC Input
Closed Loop
DC Input
Very tight position and velocity

2-Phase
Motion Servo Motor

control for the most demanding Amplifier
Command Controller
applications
Stepper Motor
Robust servo loops that tolerate

3-Phase
Encoder
wide fluctuation in load inertia and ity
c
Po
Velo
frictional loading
sition
Closed
Loop
UL
Precise positioning to within ±1 count (0.018°) using high

resolution (20000 counts/rev) encoder Torq ue
Power Supplies
Accessories
Feedback
Cables
Easy Tuning
Software

Appendix
1:10 1:5 1:1

and stability.
Glossary

Load Inertia
60
Lower Heating/High Efficiency
Uses only the current required by the application, generating
Integrated
Efficient
TSM
When stand-still, current can reach nearly zero for extremely low
Integrated
heat output.
SSM
Being able to use almost 100% of torque, allows for more efficient Heat
Loss Power
Heat
Loss Power
and compact motor usage. energy
Step-Servo
30% 80%
Integrated
TXM
IP65
Stepper SSM
Motor & Drive

RS
Motor & Drive
Smooth&Accurate
SS
Space vector current control with 5000 line high resolution encoder,
Pulse Input
STM-R
High stiffness due to the nature of the stepping motor combined with

Stepper
the highly responsive servo control
STM
±1Count Error
SSM (20000 count/re)
SWM
IP65
Fast Response
Pulse Input
SRAC
AC Input
Step Servo
With Controller
When performing fast point-to-point moves, the high torque output
Distance
STAC
Typical and advanced servo control provide a very responsive system far

Application exceeding what can be done with a conventional stepper system.
Pulse Input
for
SR
Velocity
Field Bus
DC Input
STF
With Controller
High Torque
ST
150%
Because the SSM operates in full servo mode, all the available Boost
AC Input
The motor can provide as much as 50% more torque in many
applications. High torque capability often eliminates the need for 100%
DC Input
gear reduction. 70% Continuous
Boost torque capability can provide as much as 50% more torque Stepper Rated SSM
Torque
for short, quick moves.
2-Phase
Stepper Motor
3-Phase
Motion Monitoring
necessary, the Quick Tuner provide an easy to use
UL
interface for performing and monitoring the motion profile.

Power Supplies
Many common parameters such as Actual Speed or Position Error

Accessories
can be monitored to evaluate system performance.

The monitoring is interactive with the servo tuning capability so
Cables
that optimum performance can be achieved.

Software
Appendix
Glossary
61
System Configuration
Communications Port:
Model RS-232
RS-485 Ethernet
Integrated
Efficient
RXD
TSM
+5V
SSM17 TXD
GND
TXD GND
GND
RXD TX-
Integrated
CAN_H TX+
SSM
CAN_L RX-
SSM23 GND RX+
RJ45
RX 仅SSM23支持
Step-Servo
GND
SSM24
Integrated
TX
RJ11
TXM
IP65
DC Power Supply
SSM17: 12 - 48V I/O Connector:
SSM23: 12 - 70V
Model C Version S/Q/IP Version
Motor & Drive
SSM24: 12 - 70V
RS
(To use with a switch power supplier,

Motor & Drive
a RC880 regen must be connected in system) IN1+ STEP+

SSM17
SS
IN1 - STEP -
IN2+ DIR+
IN2 - DIR -
IN3+ EN+
Pulse Input
IN3 - EN -
STM-R
OUT+ OUT+
OUT - OUT -
+5V +5V
AIN AIN
SSM23 GND GND
STM
SSM24
SWM
IP65
Numbering System
Pulse Input
SRAC
AC Input
SSM 17 S-2 A G
With Controller
STAC
Step Servo Motor

Feedback
Pulse Input
Frame Size G=5000-line encoder

SR
17,23,24
Control Communication
Field Bus
DC Input
STF
S=Basic Version A=RS-232

Q=Q Programmer R=RS-485
(Modbus/RTU Type) C=CANopen
With Controller
C=CANopen Motor Size E=Ethernet

ST
IP=EtherNet/IP 1 = 1Stack
2 = 2Stack
3 = 3Stack
AC Input
4 = 4Stack
DC Input
Model Torque Control RS-232 RS-485 Modbus/RTU CANopen Ethernet Model Torque Control RS-232 RS-485 Modbus/RTU CANopen Ethernet
SSM17S-1AG  SSM23C-2CG C  
S 0.95N·m
 
2-Phase
SSM17S-1RG SSM23IP-2EG IP
SSM17Q-1AG 0.26N·m   SSM23S-3AG 
Q
  
Stepper Motor
SSM17Q-1RG SSM23S-3RG S
SSM17C-1CG C   SSM23S-3EG 
3-Phase
SSM17S-2AG  SSM23Q-3AG  
S 1.5N·m
SSM17S-2RG  SSM23Q-3RG Q  
SSM17Q-2AG 0.42N·m   SSM23Q-3EG 
Q
UL
SSM17Q-2RG   SSM23C-3CG C  
SSM17C-2CG C   SSM23IP-3EG IP 
Power Supplies
SSM17S-3AG  SSM23S-4AG 
S
SSM17S-3RG  SSM23S-4RG S 
Accessories
SSM17Q-3AG 0.52N·m   SSM23S-4EG 

Q
SSM17Q-3RG   SSM23Q-4AG  
2.4N·m
Cables
SSM17C-3CG C   SSM23Q-4RG Q  
SSM17S-4AG  SSM23Q-4EG 
S
SSM17S-4RG  SSM23C-4CG C  
Software
SSM17Q-4AG 0.7N·m   SSM23IP-4EG IP 

Q
Appendix
SSM17Q-4RG   SSM24S-3AG 
S
SSM17C-4CG C   SSM24S-3RG 
Glossary
SSM23S-2AG  SSM24Q-3AG 2.5N·m  

Q
SSM23S-2RG S  SSM24Q-3RG  
SSM23S-2EG  SSM24C-3CG C  
0.95N·m
SSM23Q-2AG  
SSM23Q-2RG Q  
62
SSM23Q-2EG 
SSM17 - Integrated
Features
Integrated
Efficient
TSM
Power Amplifier
Amplifier Type Dual H-Bridge, 4 Quadrant
Integrated
Current Control 4 state PWM at 20 KHz
SSM
SSM17□-1□G: Up to 0.26N•m Continuous(0.35 N•m Boost)
Step-Servo
Integrated
Output Torque
TXM
IP65
Motor & Drive

Power Supply External 12 - 48 VDC power supply required
RS
Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-
Protection
to-phase, phase-to-ground)
Motor & Drive

SS
Controller
Electronic Gearing Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
Pulse Input
STM-R
Encoder Resolution 20000 counts/rev

Speed Range Up to 3600rpm

S/Q Model: Digital input noise filter, Analog input noise filter, Smoothing filter, PID filter, Notch filter
STM
Filters
C Model: PID filter, Notch filter
Non-Volatile Storage Configurations are saved in FLASH memory on-board the DSP
SWM
IP65
SSM17S: Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator, joystick),
streaming commands(SCL)
Modes of Operation
Pulse Input
SSM17Q: All SSM17S modes of operation plus stored Q program execution
SRAC
SSM17C: CANopen slave node with stored Q Program execution
AC Input
With Controller
S/Q Model:
STAC
Digital Inputs Adjustable bandwidth digital noise rejection filter on all inputs

STEP+/-: Optically isolated, 5-24 volt. Minimum pulse width = 250 ns, Maximum pulse frequency = 2 MHz
Pulse Input
Function: Step, CW step, A quadrature (encoder following), CW limit, CW jog, start/stop (oscillator
SR
mode), or general purpose input
DIR+/- : Optically isolated, 5-24 volt. Minimum pulse width = 250 ns, Maximum pulse frequency = 2 MHz
Field Bus
DC Input
Function: Direction, CCW step, B quadrature (encoder following), CCW limit, CCW jog, direction
STF
(oscillator mode), or general purpose input
With Controller
EN+/- : Optically isolated, 5-24 volt. Minimum pulse width = 50 μs, Maximum pulse frequency = 10 KHz
Digital Inputs
ST
Function: Enable, alarm/fault reset, speed 1/speed 2 (oscillator mode), or general purpose input
C Model:

AC Input
IN1+/- : Optically isolated, 5-24 volt. Minimum pulse width = 250 ns, Maximum pulse frequency = 2 MHz
Function: CW limit, CW jog, or general purpose input
DC Input
Function: CCW limit, CCW jog, or general purpose input
IN3+/- : Optically isolated, 5-24 volt. Minimum pulse width = 50 μs, Maximum pulse frequency = 10 KHz
2-Phase
Function: general purpose input Stepper Motor
OUT+/-: Optically isolated, 30V/100 mA max.
Digital Output
3-Phase
Function: Fault, motion, tach, in position, brake, or general purpose programmable
Analog Input AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits
S Model: RS-232 or RS-485
Communication
UL
Q Model: RS-232 , RS-485 or Modbus/RTU

Interface
C Model: CANopen & RS-232
Power Supplies
Physical
Accessories
Ambilent Temperature 0 - 40 °C (32 -104°F)When mounted to a suitable heatsink

Cables
Humdity 90% Max., non-condensing

SSM17□-1□G: 280 g
SSM17□-2□G: 360 g
Software
Mass
SSM17□-3□G: 440 g
Appendix
SSM17□-4□G: 760 g
SSM17□-1□G: 38 g•cm2
Glossary
SSM17□-2□G: 57 g•cm2
Rotor Inertia
SSM17□-3□G: 82 g•cm2
SSM17□-4□G: 123 g•cm2
63
L±1 24 42.3 MAX

Integrated
31
Efficient
2 15 4-M3 Depth 4.5

TSM
Integrated
SSM
42.3 MAX
Ø22
31
62
Step-Servo
Integrated
TXM
IP65
Ø5
Motor & Drive
M 4.5 Flat 43.5

RS
Motor & Drive
Model Length“L” Length“M”

SS
SSM17 -1 G 67.5 24.6

SSM17 -2 G 73 30.1
SSM17 -3 G
Pulse Input
81.5 38.6
STM-R
SSM17 -4 G 96 53
STM
Torque Curves
SWM
IP65
Continuous
SSM17□-1□G　　 SSM17□-2□G　　 SSM17□-3□G　　
Continuous 12V 24V 48V Continuous 12V 24V 48V 12V 24V 48V
Boost 12V 24V 48V Boost 12V 24V 48V Boost 12V 24V 48V
0.4 0.6 0.7

Pulse Input
0.5 0.6
SRAC
0.3 0.5
Torque(N·m)
0.4
Torque(N·m)
Torque(N·m)
AC Input
0.4
0.2 0.3
0.3
With Controller
0.2
0.2
STAC
0.1
0.1 0.1
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Pulse Input

SR
SSM17□-4□G
Continuous 24V 48V
Boost 24V 48V
Field Bus
DC Input
1.0
STF
0.8
Torque(N·m)
0.6
With Controller
0.4
ST
0.2
0
0 10 20 30 40 50
AC Input
Speed(rps)
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
64
SSM23 - Integrated
Features
Integrated
Efficient
TSM
Power Amplifier
Integrated
SSM
Step-Servo
Output Torque SSM23□-3□G: Up to 1.5N•m Continuous(2.0 N•m Boost)
Integrated
TXM
IP65
Motor & Drive

Over-voltage, under-voltage, over-temp, motor/wiring shorts
RS
Protection
(phase-to-phase, phase-to-ground)
Motor & Drive

Controller
SS
Pulse Input
STM-R
Speed Range Up to 3600 rpm
S/Q Model: Digital input noise filter, Analog input noise filter, Smoothing filter, PID filter, Notch filter

Filters
C Model: PID filter, Notch filter
STM
SWM
IP65
Modes of Operation SSM23Q: All SSM23S modes of operation plus stored Q program execution
Pulse Input
SSM23C: CANopen slave node with stored Q Program execution
SRAC
SSM23IP: EtherNet/IP with stored Q Program execution
AC Input
With Controller
S/Q Model:
STAC

Pulse Input
SR
DIR+/- : Optically isolated, 5-24 volt. Minimum pulse width = 250 ns, Maximum pulse frequency = 2 MHz
Field Bus
DC Input
STF
With Controller
EN+/- : Optically isolated, 5-24 volt. Minimum pulse width = 50 μs, Maximum pulse frequency = 10 KHz
Digital Inputs
ST
C/IP Model:
AC Input
DC Input
2-Phase
IN3+/- : Optically isolated, 5-24 volt. Minimum pulse width = 50 μs, Maximum pulse frequency = 10 KHz
Function: general purpose input Stepper Motor

3-Phase
Digital Output
Function: Fault, motion, tach, in position, brake, or general purpose programmable
S Model: RS-232, RS-485 or Ethernet
UL
Communication Q Model: RS-232 , RS-485, Modbus/RTU or Ethernet

Interface C Model: CANopen & RS-232
Power Supplies
IP Model: EtherNet/IP
Accessories
Physical
Cables
Ambilent Temperature 0 - 40 °C (32 -104°F) When mounted to a suitable heatsink

Software
SSM23□-2□G: 850 g
Mass SSM23□-3□G: 1200 g
Appendix
SSM23□-4□G: 1090g
Glossary
SSM23□-2□G: 260 g•cm2

Rotor Inertia SSM23□-3□G: 460 g•cm2
SSM23□-4□G: 365 g•cm2
65
L±1 20 56.4 MAX L±1 24 56.4 MAX
15 47.14 20 47.14
Integrated
56.4 MAX
Efficient
56.4 MAX
TSM
Ø38.1
47.14
Ø38.1
47.14
82
75
82
75
Integrated
5.85 Flat
SSM
4- 4-
Ø6.35
7.5 Flat
1.6 Ø5 1.6 Ø5
Ø8
4.8 50.9 7 50.9
Step-Servo
Integrated
M M
TXM
IP65

SSM23S/Q-2AG 92.4 22 Model Length“L” Length“M”
Motor & Drive
SSM23S/Q-3AG 114.4 44 SSM23S/Q-4AG 117.8 47.4

RS
56.4 MAX
Motor & Drive
L±1 20 L±1 24 56.4 MAX

SS
15 47.14 20 47.14
Pulse Input
56.4 MAX
STM-R
56.4 MAX
47.14
47.14
Ø38.1
Ø38.1
77
75
77
75
5.85 Flat
STM
4-
Ø6.35
7.5 Flat
1.6 Ø5 1.6 4-
Ø8
Ø5
4.8 50.9 7 50.9
M M
SWM
IP65

SSM23S/Q-2RG 92.4 22 Model Length“L” Length“M”
Pulse Input
SSM23S/Q-3RG 114.4 44 SSM23S/Q-4RG 117.8 47.4

SRAC
AC Input
With Controller
L±1 20 56.4 MAX L±1 24 56.4 MAX

STAC
15 47.14 47.14
20
56.4 MAX
Pulse Input
56.4 MAX
Ø38.1
47.14
47.14
Ø38.1
SR
77
75
77
75
5.85 Flat
Field Bus
DC Input
Ø6.35
1.6 4-
STF
7.5 Flat
Ø5 1.6 4-
Ø8
4.8 50.9 Ø5
7 50.9
M
With Controller
M
ST
Model “L” “M” Model Length“L” Length“M”

SSM23C-2CG 92.4 22
SSM23C-4CG 117.8 47.4
SSM23C-3CG 114.4 44
AC Input
L±1 20 56.4 MAX L±1 24 56.4 MAX

DC Input
15 47.14 20 47.14
56.4 MAX
56.4 MAX
Ø38.1
Ø38.1
47.14
47.14
2-Phase
77
75
77
75
Stepper Motor
5.85 Flat
4-
7.5 Flat
Ø6.35
1.6 4-
3-Phase
1.6
Ø8
Ø5 Ø5
4.8 50.9 7 50.9
M M
UL

SSM23IP-2EG 92.4 22 Model Length“L” Length“M”
SSM23IP-3EG 114.4 44 SSM23IP-4EG 117.8 47.4
Power Supplies
Accessories
Torque Curves
Cables
SSM23□-4□G
Continuous
SSM23□-2□G　　 SSM23□-3□G　　
Continuous 24V 48V 70V 24V 48V 70V Continuous 24V 48V 70V
1.5 2.5 3.5

Software
3
1.2 2
Appendix
2.5
Torque(N·m)
Torque(N·m)
Torque(N·m)
0.9 1.5 2
Glossary
1.5
0.6 1
1
0.3 0.5
0.5
0 0 0
0 10 20 30 40 50
0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps)
66
SSM24 - Integrated
Features
Integrated
Efficient
TSM
Power Amplifier
Integrated
SSM
Output Torque SSM24□-3□G: Up to 2.5N•m Continuous(3.0 N•m Boost)
Step-Servo
Integrated
TXM
IP65
Over-voltage, under-voltage, over-temp, motor/wiring shorts
Protection
(phase-to-phase, phase-to-ground)
Motor & Drive

RS
Controller
Motor & Drive

SS
Speed Range Up to 3600 rpm
Pulse Input
STM-R
S/Q Type: Digital input noise filter, Analog input noise filter, Smoothing filter, PID filter, Notch filter
Filters
C Type: PID filter, Notch filter

STM
SWM
IP65
Modes of Operation SSM24Q: All SSM24S modes of operation plus stored Q program execution
SSM24C: CANopen CiA 301 CiA 402, with runing stored Q programs via MOONS'-specific CANopen
Pulse Input
objects.
SRAC
AC Input
S/Q Type:
With Controller
Adjustable bandwidth digital noise rejection filter on all inputs
STAC

Pulse Input
mode), general purpose input
SR
DIR+/-: Optically isolated, 5-24 volt. Minimum pulse width = 250 ns, Maximum pulse frequency = 2 MHz
Field Bus
DC Input
STF
(oscillator mode), general purpose input
Digital Inputs EN+/-: Optically isolated, 5-24 volt. Minimum pulse width = 50 μs, Maximum pulse frequency = 10 KHz
With Controller
Function: Enable, alarm/fault reset, speed 1/speed 2 (oscillator mode), general purpose input
ST
C Type:
IN1+/-: Optically isolated, 5-24 volt. Minimum pulse width = 250 ns, Maximum pulse frequency = 2 MHz
AC Input
Function: CW limit, CW jog, general purpose input
Function: CCW limit, CCW jog, general purpose input
DC Input
IN3+/-: Optically isolated, 5-24 volt. Minimum pulse width = 50 μs, Maximum pulse frequency = 10 KHz
Function: CCW limit, CCW jog, general purpose input
2-Phase
Digital Output
Function: Fault, motion, tach, in position, brake, or general purpose programmable Stepper Motor

S Model: RS-232 or RS-485 3-Phase
Communication
Q Model: RS-232 , RS-485 or Modbus/RTU
Interface
C Model: CANopen & RS-232
UL
Physical
Power Supplies
Ambient Temperature 0 to 40°C (32 to 104°F) When mounted to a suitable heatsink

Accessories

Mass SSM24□-3□G: 1580 g
Cables
Rotor Inertia SSM24□-3□G: 900 g•cm2

Software
Appendix
Glossary
67
IP65 IP65 Efficient
ST STF SR STAC SRAC SWM STM STM-R SS RS TXM SSM TSM
68
DC Input AC Input
Torque(N·m) 79 84
0.5
1.5
2.5
3.5
0
1
2
3
77 77
0
10
SSM24□-3□G
SSM24C-3CG
125.5±1
125.5±1
SSM24S/Q-3AG
Torque Curves
20
55
55
Boost
7
Continuous
15
15
1.5
1.5
20.6
20.6
Speed(rps)
Ø 7.5 Flat
30
Ø 7.5 Flat
24V
24V
Ø8
Ø8
Ø 38.1
Ø 38.1
48V
48V
40
51
60
60
47.14
51
70V
70V
47.14
47.14
50
4-Ø
47.14
4-Ø 5
5 60
60
79
77
125.5±1
SSM24S/Q-3RG
55
7
1.5
15
20.6
Ø 7.5 Flat
Ø8
Ø 38.1
51
60
47.14
47.14
4-Ø
5
60
IP65 Type Integrated -TXM Series
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Features
Motor & Drive

RS
HUB 444
1
4
Motor & Drive

UP TO UP TO
32
eSCL RS-485 112
SS
AXES AXES
Pulse Input
STM-R
Pulse&Dir

CW/CCW
A/B Quadrature

STM
5V
Q
Analog Velocity
SWM
Downloading
IP65
Analog Position Ain
Pulse Input
Analog Control
SRAC
Motion Program
AC Input
With Controller
STAC
Closed Loop
Pulse Input
SR
the most demanding applications. Motion Servo Motor
Amplifier
Command Controller
Field Bus
DC Input
STF
the most demanding applications.
Encoder
Robust servo loops that tolerate wide ity
With Controller
c
Po
Velo
fluctuation in load inertia and frictional
ST
sition
Closed
loading. Loop
For TXM24/34, precise positioning to within ±1 count (0.018°)
AC Input
Torq ue
using high resolution(20000 counts/rev) encoder.
Feedback
DC Input
Easy Tuning
2-Phase
1:10 1:5 1:1
and stability. Stepper Motor

In most cases NO extra manual tuning is required. 3-Phase
Load Intertia
UL Power Supplies
Lower Heating/High Efficiency

Accessories
Uses only the current required by the application, generating minimum

Cables
heat output.
When stand-still, current can reach nearly zero for extremely low heat
Software
output.
Appendix
Heat Heat
Loss Power Loss Power
Being able to use almost 100% of torque, allows for more efficient and energy
Glossary
30% 80%
compact motor usage.
Stepper TXM
69
Smooth & Accurate
Space vector current control with 5000 line high resolution encoder, gives
smooth and quiet operation, especially at low speeds.
Integrated
Efficient
TSM
High stiffness due to the nature of the stepper motors combined with the
Stepper
highly responsive servo control ±1Count Error
Integrated
(20000 count/re)
SSM
------Accurate position control both while running and static positioning TXM
Step-Servo
Integrated
TXM
IP65
Fast Response
Motor & Drive
RS
Step Servo When performing fast point-to-point moves, the high torque output and
Distance
Motor & Drive
advanced servo control provides a very responsive system far exceeding

SS
Typical
Application what can be done with a conventional stepper system.
for
Pulse Input
STM-R
Velocity
STM
High Torque
SWM
IP65
150%
Boost
Because the TXM operates in full servo mode, all the available torque
Pulse Input
of the motor can be used. The motor can provide as much as 50% more
SRAC
torque in many applications. High torque capability often eliminates the

AC Input
need for gear reduction. 100%

With Controller
70% Continuous
STAC
quick moves. Stepper Rated

Torque
TXM
Pulse Input
SR
Motion Monitoring
Field Bus
DC Input
STF

With Controller

ST


AC Input
DC Input
2-Phase
Key Enhancement
Stepper Motor
Up to 3 digital inputs, 1 digital outputs and 1 analog inputs for TXM24S/Q/IP type
3-Phase
Up to 5 digital inputs, 3 digital outputs and 1 analog inputs for TXM34Q/C type
A/B/Z differential encoder signal output supported for TXM34P type
On board daisy chain connection for field bus control(RS-485, Modbus/RTU, CANopen)
UL
On board daisy chain connection for Ethernet control (TXM34 only)

Power Supplies
Multiple homing features

Accessories
Software limit
AUX Power supply, when the main power cut off, the AUX power can make the control circuits working normally
Cables
(TXM34 only)
IP65 protection class
Software
Appendix
Glossary
70
TXM Lineup
◇ Torque and Frame size
Model Frame Size(mm) Torque(N•m) Supply Voltage(VDC)
TXM24□-3□G 60 2.5 12-70
Integrated
Efficient
TSM
TXM34□-1□G 2.7
TXM34□-3□G 5.2
86 24-70
Integrated
TXM34□-5□G 7.0
SSM
TXM34□-6□G 8.2
Step-Servo
Integrated
◇ Control Modes
TXM
Controller
IP65
-P Pulse Input type ( TXM34 only )
Motor & Drive

PLC
RS
Main Features
Motor & Drive

SS
Motion Control Card
Encoder signal output, A/B/Z differential TXM□□P Type Drive
Pulse Input
STM-R
PC
-S Basic Type (TXM24 only)

Controlled via pulse signals, analog signal or MOONS' SCL Controller
STM
PLC
Main Features
SWM
IP65
Pulse control
Analog control
Pulse Input
SRAC
AC Input
Host real time control using SCL via Ethernet UDP/TCP TXM□□S Type Drive
With Controller
STAC
-Q Built-in programmable motion controller PC
Controller
Pulse Input
(Includes Modbus/RTU Type)
SR
(Includes Ethernet TCP/UDP type)
PLC
Run stand-alone with sophisticated and functional programs.
Field Bus
DC Input
STF
manipulation, and multi-tasking. Motion Control Card
With Controller
Main Features
ST
Stand-alone operation plus Serial host control TXM□□Q Type Drive Senser、I/O
Math operations
AC Input
Multi-tasking
DC Input
Host real time control using SCL via Ethernet UDP/TCP
CANopen
2-Phase
-C CANopen type Master Controller
PC PLC
Operates on a CANopen communication network and conforms Stepper Motor
to CiA301 and CiA402. It supports runing stored Q programs via
3-Phase
Main Features
CANopen network
UL
Up to 112 axes per channel Senser、I/O

Power Supplies
Accessories
TXM□□C Type Drive

Cables
EtherNet/IP
- IP EtherNet/IP type Master Controller
PC PLC
Operates on a EtherNet/IP communication network. It supports
Software
runing stored Q programs via MOONS'-specific EtherNet/IP objects.

Appendix
Main Features
EtherNet/IP network
Glossary

Senser、I/O
TXM□□IP Type Drive

71
◇ -P Pulse Input type(TXM34 only)
Integrated
Efficient
TSM
Integrated
SSM
USB-RS232 Converter
P/N: MS-USB-RS232-01 PC/Configuration
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Motor & Drive
SS
Pulse Input
STM-R

I/O Cable
STM
PLC
Motion control card
Pulse generator
SWM
IP65
AC
Source
Pulse Input
SRAC
AC Input
AUX Voltage
TXM34: 12 - 48VDC
With Controller
STAC
Supply Voltage
TXM34: 24 - 70VDC
Pulse Input
SR
Field Bus
AC
DC Input
STF
Source

With Controller
DC Power Supply
ST
P/N: RC880
AC Input
DC Input
2-Phase

Stepper Motor
MS-USB-RS-232-01 USB Converter USB-RS-232

3-Phase

MS-USB-CAN-01 USB Converter USB-CAN
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
72
◇ -S Basic type with series communication(TXM24 only)
Integrated
Efficient
TSM
*RS485 Version
connect to another
RS-485 device or
Integrated
terminal resistor
SSM
PC
Step-Servo
Integrated
（when needed）
TXM
IP65
USB-RS232 Converter
Motor & Drive

P/N: MS-USB-RS232-01
RS
USB-RS485 Converter
Host controller P/N: MS-USB-RS485-01
with serial port
Motor & Drive

SS
Pulse Input
STM-R

STM
SWM
IP65
I/O Cable
Pulse Input
SRAC
PLC,Sensor,I/O
AC Input
With Controller
STAC
Supply Voltage
Pulse Input
TXM24: 12 - 70VDC
SR
Field Bus
DC Input
STF
With Controller
AC
ST
Source
AC Input
P/N: RC880
DC Input
2-Phase
Stepper Motor
3-Phase
UL

Power Supplies
Accessories
Cables
Software
Appendix
Glossary
73
◇ -Q Built-in programmable motion controller
( Includes Modbus/RTU Type )
(Includes Ethernet TCP/UDP type))
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
Modbus/RTU USB-RS232 Converter

TXM
IP65
Host Controller P/N: MS-USB-RS232-01

USB-RS485 Converter
Motor & Drive
P/N: MS-USB-RS485-01 *RS485 Version

RS
connect to another
RS-485 device or
terminal resistor
Motor & Drive
SS
PC
Pulse Input
STM-R
DownLoad Q program
STM
SWM
IP65
Host controller
with serial port
Pulse Input
SRAC

（when needed）
AC Input
PLC,Sensor,I/O
With Controller
I/O Cable
STAC

Pulse Input
AC
SR
Source
Field Bus
DC Input
STF
AUX Voltage
TXM34: 12 - 48VDC ( TXM34 only )
Supply Voltage
TXM24: 12 - 70VDC
With Controller
TXM34: 24 - 70VDC
ST

AC Input
AC
Source
DC Input

DC Power Supply
2-Phase
P/N: RC880
Stepper Motor
3-Phase
UL

Power Supplies

Accessories

Cables
Software
Appendix
Glossary
74
◇ -C CANopen type
Integrated
Efficient
TSM
USB-CAN Converter
P/N: MS-USB-CAN Couverter
Connect to another
Integrated
CANopen slave node
SSM
CANopen Master or terminal resistor
CiA301/CiA402
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
PC
Motor & Drive

SS
DownLoad Q program
Pulse Input
STM-R

STM
I/O Cable PLC,Sensor,I/O
SWM
IP65
AC
Source
Pulse Input
SRAC
AC Input
AUX Voltage
TXM34: 12 - 48VDC ( TXM34 only )
With Controller
STAC
Supply Voltage

TXM24: 12 - 70VDC
TXM34: 24 - 70VDC
Pulse Input
SR
Field Bus
AC
DC Input
STF
Source
With Controller
DC Power Supply
ST

P/N: RC880
AC Input
DC Input
2-Phase
MS-USB-RS-232-01 USB Converter USB-RS-232 Stepper Motor
MS-USB-RS-485-01 USB-RS-485
3-Phase
USB Converter
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
75
◇ -IP EtherNet/IP Type
Integrated
Efficient
TSM
DownLoad Q program
Integrated
PC
SSM
Step-Servo
Integrated
TXM
IP65
Real time control

Motor & Drive
Connect to another
RS
EtherNet/IP Master EtherNet/IP slave

node
Motor & Drive
SS
Pulse Input
STM-R

STM
SWM
IP65
I/O Cable
Pulse Input
SRAC
AC Input
PLC,Sensor,I/O
With Controller
STAC

Pulse Input
SR
AC
Field Bus
DC Input
Source
STF
Supply Voltage AUX Voltage

TXM34: 24 - 70VDC TXM34: 12 - 48VDC
With Controller
ST

AC Input
AC
DC Input
Source

2-Phase
Stepper Motor
P/N: RC880
3-Phase
UL

Power Supplies

Accessories

Cables
Software
Appendix
Glossary
76
Numbering System
TXM 34 P - 1 A G
Integrated
Efficient
TSM
TXM Series
Feedback
Frame Size G=5000-line encoder
Integrated
SSM
24,34
Control Mode
P=Pulse Type Communication
Step-Servo
Integrated
S=Basic Type A=RS-232
TXM
IP65
Q=Q Program Type Motor Size R=RS-485
(Modbus/RTU Type) 1 = 1 Stack C=CANopen
C=CANopen Type D=Dual Port Ethernet
Motor & Drive

3 = 3 Stack
IP=EtherNet/IP Type E=Ethernet
RS
5 = 5 Stack
6 = 6 Stack
Motor & Drive

SS
Pulse Input
STM-R
TXM24S-3AG √

STM
TXM24S-3RG S √
TXM24S-3EG √
TXM24Q-3AG 3DI,1DO,1AI √ √
SWM
IP65
2.5N.m
TXM24Q-3RG Q √ √
TXM24Q-3EG √
Pulse Input
SRAC
TXM24IP-3EG IP √ √
AC Input
TXM24C-3CG C 5DI,3DO √ √
With Controller
STAC
TXM34P-1AG P 4DI,3DO,EO √

TXM34Q-1AG √ √
Pulse Input
2.7N.m
SR
TXM34Q-1DG 5DI,3DO,1AI √
TXM34C-1CG C √ √
Field Bus
DC Input
STF
TXM34IP-1DG IP √ √
With Controller
TXM34Q-3AG √ √
ST
5.2N.m
AC Input
DC Input
TXM34Q-5AG √ √
2-Phase
7.0N.m
TXM34Q-5DG 5DI,3DO,1AI √ Stepper Motor
3-Phase
TXM34Q-6AG √ √
UL
8.2N.m
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
77
Frame size 60mm
Basic type TXM24S-3□G
Q program type (Includes Modbus/RTU type) TXM24Q-3□G
Model
Integrated
Efficient
CANopen type TXM24C-3CG

TSM
EtherNet/IP type TXM24IP-3EG

Torque N•m 2.5
Integrated
SSM
Rotor Inertia g•cm2 900

Step-Servo
Integrated
Encoder Resolution counts/rev 20000

TXM
IP65
Maximum Speed RPM 3600

Mass g 2090
Motor & Drive
RS
Enter A(RS-232) or R(RS-485) or E(Ethernet) in the box(□) within the model name
Motor & Drive
Torque Curves
SS
Pulse Input

TXM24□-3□G
STM-R
Boost 24V 48V 70V

3.5
3
2.5
Torque(N·m)
STM
1.5
1
SWM
IP65
0.5
0
0 10 20 30 40 50
Pulse Input
Speed(rps)
SRAC
AC Input
Electrical Specifications
With Controller
STAC
Basic Type Q program Type CANopen Type EtherNet/IP Type

TXM24S-3 □ G TXM24Q-3 □ G TXM24C-3CG TXM24IP-3EG
Pulse Input
Pulse input
SR

Q program Q program
Control Command Analog signal SCL/eSCL
CANopen EtherNet/IP
SCL/eSCL Q Program
Field Bus
DC Input
Modbus/RTU
STF
Communication RS-232 or RS-485 or Ethernet RS-232 or RS-485 or Ethernet RS-232&CANopen Ethernet

With Controller
Protocol SCL Modbus/RTU or SCL CANopen EtherNet/IP

ST
AC Input

- -
DC Input
Analog Input 1 1 - 1
Digital Input Specification Optical Isolated, 5-24VDC

2-Phase
Digital Onput Specification Optical Isolated, 30VDC/100mA

Stepper Motor
AIN referenced to GND, Range

Analog Input Specification 0–5VDC,
3-Phase
-
Resolution: 12bits
Resolution: 12bits
Protection Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-toground)

UL
Enter A(RS-232) or R(RS-485) or E(Ethernet) in the box(□) within the model name
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
78
Frame size 86mm
Pulse input type TXM34P-1AG TXM34P-3AG TXM34P-5AG TXM34P-6AG
Q program type (Includes Modbus/RTU type) TXM34Q-1□G TXM34Q-3□G TXM34Q-5□G TXM34Q-6□G
Model
Integrated
CANopen type TXM34C-1CG TXM34C-3CG TXM34C-5CG TXM34C-6CG
Efficient
TSM
EtherNet/IP type TXM34IP-1DG TXM34IP-3DG TXM34IP-5DG TXM34IP-6DG
Torque N•m 2.7 5.2 7.0 8.2
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Mass g 4600 6800 9000 11400
Motor & Drive

Enter A(RS-232) or R(RS-485) or D(Dual port Ethernet) in the box(□) within the model name
RS
Motor & Drive
Torque Curves
SS
Continuous Continuous 24V 48V 70V
TXM34□-3□G
24V 48V 70V
Pulse Input
TXM34□-1□G
STM-R
Boost 24V 48V 70V Boost 24V 48V 70V

3.5 7
3 6

2.5 5
Torque(N·m)
STM
Torque(N·m)
2 4
3
1.5
2
1
SWM
IP65
1
0.5
0
0
0 10 20 30 40 50
0 10 20 30 40 50
Pulse Input
Speed(rps)
SRAC
Speed(rps)
Continuous Continuous 48V 70V

24V 48V 70V
AC Input
TXM34□-5□G TXM34□-6□G Boost
Boost 24V 48V 70V 48V 70V
With Controller
9 10
STAC
7.5 8

6
Torque(N·m)
Torque(N·m)
Pulse Input
4.5
SR
4
3
2
1.5
Field Bus
DC Input
STF
0 0
0 10 20 30 40 50 0 10 20 30 40 50
With Controller
ST
Pulse input type Q program type CANopen type Ethernet IP type
AC Input
TXM34P-■AG TXM34Q-■□G TXM34C-■CG TXM34IP-■DG
Pulse input
Analog signal
Q program Q program
DC Input
Control Command Pulse input SCL/eSCL
CANopen EtherNet/IP
Q Program
Modbus/RTU
Communication RS-232 RS-232 or RS-485 or Ethernet RS-232&CANopen Ethernet
2-Phase
Protocol - Modbus/RTU or SCL or eSCL CANopen EtherNet/IP
Stepper Motor
3-Phase
2MHz, 2MHz,
Maximum Input Pulse Frequency - -
Minimum Pulse Width=250ns Minimum Pulse Width=250ns
UL
Power Supplies
Accessories
20,000 counts/rev
Encoder Output - - -
A/B/Z Differential
Digital Input Specification Optical Isolated, 5-24VDC
Cables
Digital Onput Specification Optical Isolated, 30VDC/100mA
Analog Input Specification - AIN referenced to GND, Range 0–5VDC, Resolution: 12bits
Software
Supply Voltage Main power: 24-70VDC AUX power: 12-48VDC

Appendix
Protection Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-toground)

Glossary
Enter motor length 1,3,5,6 in the box(■) within the model name
Enter A(RS-232) or R(RS-485) or D(Dual port Ethernet) in the box(□) within the model name
79
Communication Specifications
◇ General Specifications ◇ RS-485 or Modbus/RTU Specifications
TXM Integrated Interface RS-485 or Modbus/RTU
Integrated
Efficient
TSM
Insulation Class Class B(130oC) Baud Rate(bps) 9600/19200/38400/57600/115200

Insulation Resistance 100MΩ/DC500V Maximum Distance Due to transmission baud rate
Dielectric Strength 500VAC 1 minute Maximum Connections 32 axes per channel
Integrated
SSM
Ambient Temperature 0~+40oC(non-freezing) Communication Cable Twisted Shielded Cable

Operating
Ambient Humidity 90% or less(non-condensing) Address Setting Via Quick Tuner
Environment
Step-Servo
Integrated

TXM
IP65
Degree of Protection IP65

Motor & Drive
RS
◇ CANopen Specifications ◇ Ethernet Specifications

Motor & Drive
Interface CANopen CiA301 CiA402 Interface Ethernet(eSCL)

SS
Bit Rate(bps) 1M/800K/500K/250K/125K/50K/20K/12.5K Baud Rate(bps) 100Mbps

Maximum Distance Due to transmission bit rate Maximum Distance 100 meters between 2 devices
Pulse Input
STM-R
Maximum Slave Nodes 112 axes per channel Communication Cable Twisted Shielded Cable
Communication Cable Twisted Shielded Cable IP Address Setting Via Quick Tuner
Node ID Setting Via Quick Tuner

STM
Dimensions(Unit:mm)
SWM
IP65
◇ Frame size 60mm

Pulse Input
SRAC
Model “L” “M” Shaft

AC Input
TXM24□-3□G 131.3 60.5 10

With Controller
* 8mm diameter shaft available per request

STAC
131.3 24 47.14
4-Ø4.5
Pulse Input
20
SR
Field Bus
DC Input
47.14
Ø10
60
STF
9.5Flat
111
95.5
Ø38.1
With Controller
ST
8
1.5
AC Input
60.5
Unit:mm
DC Input
◇ Frame size 86mm

Model “L” Shaft
2-Phase
TXM34□-1□G 112.5
Stepper Motor
TXM34□-3□G 143
14
3-Phase
TXM34□-5□G 172.5
TXM34□-6□G 203
UL
L 1 37 86 MAX.
B 69.6
Power Supplies
Accessories
25 4- 6.5
86 MAX.
73
69.6
Cables
137
121
Software
2 B-B
Appendix
10 14
B
Glossary
13 FLAT
13 FLAT
65 86
Unit:mm
80
TXM24 Series Cable
◇ I/O Cable
P/N Vendor Description
Integrated
Efficient
1430048 Phoenix Contact
TSM
12pin，1.5m，shielded，A-coded
Integrated
SSM
-S/Q/IP Type -C Type
Step-Servo
1 X1+ BN
Integrated
1 Step+ BN
TXM
High Speed Digital Input
IP65
3 Step- WH 3 X1- WH
5 Dir+ PK 5 X2+ PK
Motor & Drive

8 Dir- GY 8 X2- GY
RS
6 En+ YE 4 X3 X3 Digital Input GN
X3 Digital Input
6 X4 X4 Digital Input YE
Motor & Drive

4 En- GN
SS
11 OUT+ GY/PK 7 X5 X5 Digital Input BK
Digital Output
12 OUT- RD/BU 10 XCOM X Input COM VT
Pulse Input
STM-R
9 +5V +5V Analog Voltage RD 11 Y1 Y1 Digital Output GY/PK

10 AIN Analog Input VT 12 Y2 Y2 Digital Output RD/BU
7 GND Analog Input Ground BK 9 Y3 Y3 Digital Output RD

STM
2 N/C - BU 2 YCOM Y Output COM BU
◇ Power Cable
SWM
IP65
Pulse Input
1536285 Phoenix Contact 1.5m, unshielded, A-coded
SRAC
AC Input
With Controller
STAC
◇ RS-232/RS-485/CANopen Communication Cable
Pulse Input
SR
1518960 Phoenix Contact 1.5m, unshielded, A-coded
Field Bus
DC Input
◇ Ethernet Communication Cable
STF
4 3 47.3
With Controller
Ø14.8
M12
Ø12
ST
1407356 Phoenix Contact 1m, CAT5e shielded, D-coded
1 2
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
81
TXM34 Series Cable
◇ I/O Cable 13 3 2 12 46.7
4
P/N Vendor Description 17 1
5
Integrated
11
Efficient
1430200 Phoenix Contact 14

TSM
17 PIN, 1.5m, shielded, A-coded
14.1
10
14.8
6
15 9
7 8 16
Integrated
SSM
-P Type -Q/C/IP Type

Step-Servo
Integrated
1 X1+ BN 1 X1+ BN
TXM
IP65

3 X1- WH 3 X1- WH
6 X2+ YE 6 X2+ YE
Motor & Drive

RS
4 X2- GN 4 X2- GN
5 X3 X3 Digital Input PK 5 X3+ PK
X3 Digital Input
Motor & Drive
8 X4 X4 Digital Input GY 8 X3- GY

SS
7 XCOM X Digital Input COM BK 7 X4+ BK

X4 Digital Input
10 YCOM Y Digital Output COM VT 10 X4- VT
Pulse Input
STM-R
9 ENC A+ RD 9 X5+ RD
Encoder Output A X5 Digital Input

2 ENC A- BU 2 X5- BU
11 ENC B+ GY/PK 11 Y1 Y1 Digital Output GY/PK

STM
Encoder Output B
12 ENC B- RD/BU 12 Y2 Y2 Digital Output RD/BU
13 ENC Z+ WH/GN 13 Y3 Y3 Digital Output WH/GN
Encoder Output Z
SWM
14 ENC Z- BN/GN 14 YCOM Y Digital Output COM BN/GN

IP65
15 Y1 Y1 Digital Output WH/YE 15 GND Analog Input Ground WH/YE

16 Y2 Y2 Digital Output YE/BN 16 +5V +5V Analog Voltage YE/BN
Pulse Input
SRAC
17 Y3 Y3 Digital Output WH/GY 17 AIN Analog Input WH/GY

AC Input
With Controller
◇ Power Cable 54.8

STAC
5
Ø15.4
1 3
Pulse Input
1408835 Phoenix Contact 1m, shielded, S-code 2

SR
◇ RS-232/RS-485/CANopen Communication Cable

Field Bus
DC Input
STF
P/N Vendor Description COM Port

With Controller
1407805 3m, plug, shielded, A-code COM1

ST
Phoenix Contact
1407788 3m, Socket, shielded, A-code COM2
AC Input
44.5 4 3 47.3
3 4
5
5
Ø14.8
M1 2
Ø12
Ø14.8
DC Input
M1 2
Ø12
1 2
2 1
2-Phase
◇ Ethernet Communication Cable 4 3 47.3

Stepper Motor
3-Phase

Ø14.8
M12
Ø12
1407356 Phoenix Contact 1m, CAT5e shielded, D-code

1 2
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
82
Motor & Drive Package-RS Series
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Motor & Drive

Features
SS
Pulse Input
STM-R

STM
Downloading
Pulse&Dir
CW/CCW
SWM
A/B Quadrature
IP65
Motion Program
Pulse Control
Pulse Input
Stand Alone Operation
SRAC
AC Input
With Controller
Closed Loop
STAC
Pulse Input
the most demanding applications.
Motion Servo Motor
SR
Amplifier
Field Bus
DC Input
Encoder
STF
loading. ity
c
Po
Velo
Precise positioning to within ± 0.2° count

sition
Closed
With Controller
Loop
using high resolution(4096 counts/rev)
ST
Torq ue
encoder.
Feedback
AC Input
DC Input
2-Phase
heat output.
Stepper Motor
Heat Heat
output.
3-Phase
energy 30% 80%
Being able to use almost 100% of torque, allows for more efficient and
UL
Stepper RS
Power Supplies
Smooth & Accurate

Accessories
Cables

High stiffness due to the nature of the stepping motor combined with the
Software
Stepper
±1Count Error
highly responsive servo control
Appendix
RS (4096 count/re)
Glossary
83
Fast Response
Step Servo
Distance
Typical
When performing fast point-to-point moves, the high torque output and
Integrated

Efficient
Application
TSM
for RS
what can be done with a conventional stepper system.
Integrated
Velocity
SSM
Step-Servo
High Torque
Integrated
TXM
IP65
150%
Boost
Because the operates in full servo mode, all the available
Motor & Drive
RS
70% Continuous
Motor & Drive
SS
Stepper Rated RS
quick moves. Torque
Pulse Input
STM-R
Motion Monitoring
STM
For difficult control situations where performing a precise move is necessary,

the Quick Tuner provide an easy to use interface for performing
and monitoring the motion profile.
SWM
IP65

Pulse Input
SRAC
The monitoring is interactive with the servo tuning capability so that optimum
AC Input
performance can be achieved.

With Controller
STAC
Easy Tunning
Pulse Input
1:10 1:5 1:1 Pre-defined tuning parameters for maximum control performance
SR
and stability.
Field Bus
DC Input
STF

Load Inertia
With Controller
ST
Other Key Features

AC Input
Up to 4 digital inputs, 3 digital outputs for P/S/Q type

A/B/Z differential encoder signal outputs for P type
DC Input

Multiple homing methods for S/Q type
Software limit for S/Q type
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
84
◇ Control Modes
PC
Configuration
-P Software Setting Pulse Input type Controller
Integrated
Efficient
TSM
PLC
Main Features
Integrated
SSM
Motion Control Card
Encoder Outputs
Step-Servo
Integrated
TXM
IP65
RS-P Type Drive
Motor & Drive

RS
PC
Motor & Drive

SS
-S Basic type with series communication Controller
Controlled via pulse signals, analog signal or MOONS' SCL streaming
Pulse Input
STM-R
series commands.
PLC
Main Features

STM
Pulse control
Host real time control using SCL via RS-232
Motion Control Card
SWM
IP65
RS-S Type Drive
Pulse Input
SRAC
AC Input
With Controller
STAC

(Includes Modbus/RTU type) Controller
Pulse Input
PC
SR
Commands for controlling motion, inputs & outputs, drive PLC
Field Bus
DC Input
STF
With Controller
Main Features
ST
Motion Control Card
Math operations
AC Input
Multi-tasking Senser、I/O
RS-Q Type Drive
With all features in S type
DC Input

2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
85
Dimensions(Unit:mm)
Visit www.moonsindustries.com to get the 3D drawing.
◇ Motor(Unit:mm)
Integrated
Efficient
TSM
AM11RS AM17RS
B 42.3 4-M3 Depth
B1 31 4.5Min
28 4-M2.5
Integrated
Depth 2.5 Min

23
SSM
15
A
4.5 FLAT
4 2.3
31
A 1 FLAT
10
23
28
Step-Servo
φ22
Integrated
TXM
IP65
L 2
2 33 300
L
Motor & Drive
RS
22
36
64
Motor & Drive
SS
Motor Type L
AM11RS1DMA 43.8
Motor Type A A1 B B1 L
Pulse Input
AM11RS2DMA 52.9
STM-R
AM11RS3DMA 64.1 AM17RS1DMA φ6 5.5 20 15 59.5

AM17RS1DMB φ5 4.5 24 15 59.5

AM17RS2DMA φ6 5.5 20 15 65
AM17RS2DMB φ5 4.5 24 15 65
STM
AM17RS3DMA φ6 5.5 20 15 73.5

AM17RS3DMB φ5 4.5 24 15 73.5
AM17RS4DMA φ6 5.5 20 15 89
AM17RS4DMB φ5 4.5 24 15 89
SWM
IP65
AM23RS AM24RS
B 60
Pulse Input
B1 47.14 4-φ4.5
SRAC
B 56.3
B1 4-φ5.1
47.14
AC Input
4 7.14
With Controller
A
A 1 FLAT
4 7.14
STAC
A
A 1 FLAT
8 φ38.1
7 φ38.1 L 1.5
Pulse Input
L 1.6
SR
33 300 300
33
Field Bus
DC Input
STF
7 3.6
7 7.4
With Controller
ST
AC Input
AM23RS2DMA φ8 7.5 24 20 77.5
AM24RS3DMA φ10 9.5 24 20 110
AM23RS2DMB φ6.35 5.85 20 15 77.5
AM24RS3DMB φ8 7.5 20.6 15 110
AM23RS3DMA φ8 7.5 24 20 99.5
DC Input
AM23RS3DMB φ6.35 5.85 20 15 99.5

AM23RS4DMA φ8 7.5 24 20 102.5
AM34RS
2-Phase
37 86
25 69.6
4-Φ6.5
Stepper Motor
3-Phase
Φ14
69.6
13FLAT
UL
10 Φ73.025
Power Supplies
L 2
Accessories
38 300
Cables
Software
103
Appendix
Motor Type L
AM34RS1DMA 88
AM34RS3DMA 117.5
Glossary
AM34RS5DMA 147
86
Efficient IP65 IP65
Integrated Integrated Integrated Motor & Drive Motor & Drive Pulse Input With Controller With Controller Pulse Input With Controller Pulse Input Field Bus With Controller AC Input DC Input 2-Phase 3-Phase UL Power Supplies Cables Software Glossary
87
AC Input DC Input
4-R2.1
4- R2.1
4.2
4.2
RS10-Q-A
RS10-P-A
RS10-S-A
Motor Type
Motor Type
RS06-Q-A
RS06-P-A
RS06-S-A
115
107
107
107
115
107
RS03-Q-A
RS03-P-A
RS03-S-A
4
4
4
4
M3
4
37 15.5 37
15.5
M3
70 25 70
25
◇ Drive(Unit:mm)
RS03/06/10-S/Q
RS03/06/10-P
Numbering System-Motor Numbering System-Drive
AM17 RS 1 D M A RS 03 - P - A
Mechanical Option
Frame Size A=Output shaft size Step Servo A = RS-232
11:φ5
Integrated
11,17,23,24,34
Efficient
TSM
17:φ6 Output Current

Step Servo 23:φ8 03-3A
24:φ10 Control Option
06-6A
Motor Size 34:φ14 P=Pulse Input Type
Integrated
10-10A
1 = 1Stack S=Basic Type
SSM
B=Output shaft size

2 = 2Stack 17:φ5 Q=Q Type
3 = 3Stack D=DC Input 23:φ6.35
4 = 4Stack
Step-Servo
24:φ8
Integrated
5 = 5Stack
TXM
Encoder
IP65
M=1024-Line
Motor & Drive
RS
Control Drive Type Motor Type Torque

Motor & Drive
AM11RS1DMA 0.065N·m
SS
AM11RS2DMA 0.08N·m
Pulse Input
STM-R
RS03-P-A AM17RS1DM □ 0.26N·m

AM17RS2DM □ 0.42N·m
P Type AM17RS3DM □ 0.52N·m

STM
Pulse Input Type

RS-232 Communication AM17RS4DM □ 0.7N·m
4 Digital Inputs AM23RS2DM □ 0.95N·m
3 Digital Outputs
SWM
Encoder Output AM23RS3DM □

IP65
1.5N·m
RS06-P-A
AM23RS4DMA 2.4N·m
Pulse Input
SRAC
AM34RS1DMA 2.7N·m
AC Input
RS10-P-A AM34RS3DMA 5.2N·m

With Controller
STAC
AM34RS5DMA 7.0N·m

Pulse Input
SR
AM11RS2DMA 0.08N·m
Field Bus
DC Input
AM17RS1DM □
STF
RS03-S-A 0.26N·m
With Controller
S Type AM17RS3DM □ 0.52N·m

ST
Basic Type AM17RS4DM □ 0.7N·m

RS-232 Communication
3 Digital Outputs
AC Input
RS06-S-A
AM23RS4DMA 2.4N·m
DC Input
AM34RS1DMA 2.7N·m
RS10-S-A AM34RS3DMA 5.2N·m
AM34RS5DMA 7.0N·m
2-Phase

Stepper Motor
3-Phase
AM11RS2DMA 0.08N·m
RS03-Q-A AM17RS1DM □ 0.26N·m
UL
Q Type AM17RS3DM □ 0.52N·m

Power Supplies
Programm Type AM17RS4DM □ 0.7N·m

Accessories
RS-232 Communication
3 Digital Outputs AM23RS3DM □ 1.5N·m
Cables
RS06-Q-A
AM23RS4DMA 2.4N·m
Software
AM34RS1DMA 2.7N·m
Appendix
RS10-Q-A AM34RS3DMA 5.2N·m

AM34RS5DMA 7.0N·m
Glossary
□: Enter A(Enhanced Shaft) or B(Standard) in the box(□) within the model name
88
◇ -P Pulse input type
Integrated
Efficient
TSM
Integrated
SSM
USB-RS232 Converter
Step-Servo
Integrated
PC/Configuration
TXM
IP65
P/N:2101-150
Motor & Drive

RS
Motor & Drive
SS
Pulse Input
STM-R
Encoder Outputs

PLC
STM
Motion control card
Pulse generator
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
STAC
Pulse Input
SR
AC
Source
Field Bus
DC Input
STF
DC Power Supply Regen Clamp
With Controller
ST
P/N: RC880
AC Input
DC Input
◇ Standard Accessories
2-Phase
1103-200 Cable Power Supply Cable, 2M
2101-150 Cable RS-232 Communication Cable, 1.5M
Stepper Motor
3-Phase
◇ Optional Accessories (Sold separately)
Regenaration Clamp
UL
RC880 80VDC Max. 50W

Power Supplies
1108-□□□ Cable RS-S/Q Standard I/O Cable, Shield

Accessories
1115-□□□ Cable RS-P Standard I/O Cable, Shield

2103-□□□ Cable Motor Extension Cable for AM17/23/24RS motor
Cables
2109-□□□ Cable Motor Extension Cable for AM11RS motor

2116-□□□ Cable Encoder Extension Cable for AM17/23/24RS motor
2118-□□□ Cable Encoder Extension Cable for AM11RS motor
Software
Appendix
Glossary
89
◇ -S Basic type with serial communication
Integrated
Efficient
TSM
Integrated
SSM
PC/Configuration
Step-Servo
P/N:2101-150
Integrated
TXM
IP65
Motor & Drive
RS
Motor & Drive
SS
Pulse Input
STM-R
PLC
Motion control card
Pulse generator
STM
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
STAC

Pulse Input
AC
SR
Source
Field Bus
DC Input
STF

With Controller
ST
P/N: RC880
AC Input
DC Input

2-Phase

Stepper Motor
◇ Optional Accessories (Sold separately)

3-Phase

UL

Power Supplies

Accessories

Cables

Software
Appendix
Glossary
90
◇ -Q Built-in programmable motion controller
Integrated
Efficient
TSM
Integrated
SSM
PC/Configuration
P/N:2101-150
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Motor & Drive
SS
Pulse Input
STM-R
PLC

Motion control card
Pulse generator

STM
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
STAC
AC
Pulse Input
SR
Source
Field Bus
DC Input
STF
With Controller
P/N: RC880
ST
AC Input
DC Input
2-Phase
◇ Optional Accessories (Sold separately) Stepper Motor
3-Phase
UL

Power Supplies

Accessories

Cables

Software
Appendix
Glossary
91
Motor Specifications
Rotor Encoder Maximum Frame Permissible Overhung Load(N) Permissible
Torque Mass
Motor P/N Drive P/N Inertia Resolution Speed Size Distance(L) from Shaft End(mm) Thrust
N•m g•cm2 counts/rev RPM g 0 5 10 15 20 Load

Integrated
Efficient
9 118
TSM
AM11RS1DMA 0.065
AM11RS2DMA 0.08 12 168 28 20 25 34 52 -
AM11RS3DMA 0.125 18 218
Integrated
38 390
SSM
AM17RS1DM □ RS03-■-A 0.26

AM17RS2DM □ 57 440
Overhung Load
0.42
42 35 44 58 85 -
AM17RS3DM □ 0.52 82 520
Step-Servo
Integrated
123 760 Less than

TXM
AM17RS4DM □
IP65
0.7
4096 3600 the motor Thrust Load
AM23RS2DM □ 0.95 260 850 mass
AM23RS3DM □ 1.5 460 1250 56 63 75 95 130 190
Motor & Drive
RS06-■-A
AM23RS4DMA 2.4 365 1090
RS
AM24RS3DM □ 2.5 900 1650 60 90 100 130 180 270 L

AM34RS1DMA 2.7 915 2000
Motor & Drive
AM34RS3DMA RS10-■-A 5.2 1480 3100 86 260 290 340 390 480
SS
AM34RS5DMA 7.0 2200 4200

□: A or B, refer to motor part numbering system; ■: P, S or Q, refer to driver part numbering system;
Pulse Input
STM-R
◇ Torque Curves
STM
AM11RS Series
TSM11□-3RM
Continuous 24V Continuous 24V
AM11RS1DMA Boost 24V AM11SS2DMA Boost 24V
Continuous 24V
Boost 24V
SWM
100 150
IP65
200
80 120
160
Torque(mN·m)
Torque (mN·m)
Torque(mN·m)
60 90
120
Pulse Input
40 60
80
SRAC
20 30
40
AC Input
0 0
0
0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps) 0 10 20 30 40 50
Speed (rps)
Speed(rps)
With Controller
STAC
AM17RS Series
Pulse Input
Continuous 24V 48V

AM17RS2DM□　
Continuous 24V 48V
AM17RS1DM□　 AM17RS3DM□
Continuous 24V 48V Continuous 24V 48V
SR
Boost 24V 48V Boost 24V 48V Boost 24V 48V AM17RS4DM□
Boost 24V 48V
0.4 0.6 0.7
1.0
0.5 0.6
0.8
0.3 0.5
Torque(N·m)
0.4
Torque(N·m)
Torque(N·m)
Torque(N·m)
Field Bus
0.4 0.6
DC Input
0.2 0.3
STF
0.3
0.4
0.2
0.2
0.1
0.1 0.2
0.1
0 0 0 0
With Controller
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps)
ST
AM23RS Series AM24RS Series

AC Input
Continuous Continuous 24V 48V 70V

AM24RS3DM□
24V 48V 70V Continuous
AM23RS2DM□ AM23RS3DM□
Continuous 24V 48V 70V 24V 48V 70V
AM23RS4DM□
Boost Boost 24V 48V 70V Boost 24V 48V 70V
Boost 24V 48V 70V 24V 48V 70V
1.5 2.5 3.5 3.5
3 3
1.2 2
2.5
2.5
DC Input
Torque(N·m)
Torque(N·m)
Torque(N.m)
Torque(N·m)
0.9 1.5 2
2
1.5
0.6 1 1.5
1
1
0.3 0.5 0.5
0.5
0
0 0 0 10 20 30 40 50 0
2-Phase
0 10 20 30 40 50 0 10 20 30 40 50 Speed(rps) 0 10 20 30 40 50
Stepper Motor
AM34RS Series
3-Phase
AM34RS3DMA-N
Continuous
AM34RS1DMA-N AM34RS5DMA-N
Continuous 24V 48V 70V 24V 48V 70V Continuous 24V 48V 70V
4.0 7.0 10
6.0
UL
8.0
3.0 5.0
Torque(N·m)
Torque(N·m)
Torque(N·m)
4.0 6.0
2.0
3.0 4.0
Power Supplies
2.0
1.0
2.0
1.0
Accessories
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Cables
Software
Appendix
Glossary
92
Drive Specifications
Power Amplifier
Integrated
Efficient
TSM
RS03: Continuous Current 3A max, Boost Current 4.0A max (1.5s), current limitation auto set-up by attached motor
Output Current RS06: Continuous Current 6A max, Boost Current 7.5A max (1.5s), current limitation auto set-up by attached motor
Integrated
SSM
RS06: Continuous Current 10A max, Boost Current 12A max (1.5s), current limitation auto set-up by attached motor
Power Supply External nominal 24 - 70 volt DC power supply required, Absolute maximum input voltage range 18 - 75 VDC
Step-Servo
Integrated
Protection Over-voltage, under-voltage, over-temp, motor/winding shorts (phase-to-phase, phase-to-ground)
TXM
IP65
Controller
Motor & Drive

RS
Filters Digital input noise filter, Smoothing filter, PID filter, Notch filter
Motor & Drive

P type: Position Mode(Pulse & Direction, CW & CCW Pulse, A/B Quadrature)
SS
S type: Position Mode(Pulse & Direction, CW & CCW Pulse, A/B Quadrature); Torque Mode, Velocity Mode, SCL Mode
Modes of Operation
Q type: Position Mode(Pulse & Direction, CW & CCW Pulse, A/B Quadrature); Torque Mode, Velocity Mode, SCL Mode,
Pulse Input
STM-R
Q Programming

P/S/Q type: X1/STEP, X2/DIR, Optically isolated, differential, 5-24VDC; Minimum pulse width = 250 ns,
Maximum pulse frequency = 2 MHz;

Digital Inputs
X3,X4:optically isolated, single-ended, sinking or souring, 5-24VDC, minimum pulse width 50μs,
STM
maximum pulse frequency 10KHz;
Digital Outputs P/S/Q type: Y1/Alarm, Y2/In Position, Y3/Brake; Optically isolated, 30V/100 mA max
SWM
IP65
Encoder Outputs P type: Differential encoder outputs (AOUT±, BOUT±, ZOUT±), 26C31 line driver, 20 mA sink or source max
Communication RS-232
Pulse Input
SRAC
Physical
AC Input
Ambient Temperature 0 to 40°C (32 to 104°F) when mounted to a suitable heatsink
With Controller
Ambient Humdity 90% Max., non-condensing
STAC
Mass Approx 0.2 Kg
Pulse Input
SR
Field Bus
DC Input
STF
With Controller
ST
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
93
Connection and Operation
(P type) (S type and Q type)
Integrated
Efficient
TSM
Integrated
LED
SSM
LED
RS232 Connector
RS232 Connector
Step-Servo
Integrated
TXM
IP65
I/O Connector I/O Connector

Motor & Drive
RS
Encoder Connector Encoder Connector

Motor & Drive
SS
Motor Connector
Pulse Input
Motor Connector
STM-R
Power Connector Power Connector

STM
Grounding Screw Grounding Screw

SWM
IP65
Power Connector Encoder Connector

J3
Pulse Input
SRAC
2 1 2 1
A- A+
AC Input
V+ V- 3
4
B- B+
6 5
With Controller
Z- Z+
STAC
8 7
GND +5V
PIN Description 10 9
Shield NC
12 11
1 Power Supply - U- U+
Pulse Input
14 13
V- V+
SR
2 Power Supply + 16 15
W- W+
Motor Connector
Field Bus
DC Input
STF
Pin. Description
3 1
MA - MB - 1 Encoder A+
With Controller
4 2 2 Encoder A-
MA+ MB+
ST
3 Encoder B+
4 Encoder B-
AC Input
Pin. Description
5 Encoder Z+
1 Motor Phase B-
6 Encoder Z-
2 Motor Phase B+
7 +5V Power Supply for Encoder
DC Input
3 Motor Phase A-
8 GND
4 Motor Phase A+
9 NC
2-Phase
10 Earth GND
11 Encoder U+
Stepper Motor
12 Encoder U-
3-Phase
13 Encoder V+
14 Encoder V-
15 Encoder W+
UL
16 Encoder W-
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
94
J4 Type)
I/O Connector(-P I/O Connector(-S/Q
J4
Type)
2 1
STEP - 2 1 STEP + STEP- STEP+
4 3 DIR- 4 3 DIR+
DIR - DIR +
6 5 X4 6 5 X3
X4 X3 8 7
8 7 XCOM Shield
Integrated
XCOM Shield
Efficient
10 9
TSM
10 9 Y1- Y1+
Y1- Y1+ 12 11
12 11 Y2- Y2+
Y2 - Y2 + Y3- 14 13 Y3+
14 13
Y3 - Y3 +
Integrated
16 15
SSM
GND NC
18 17
AOUT - AOUT + Pin. Description
BOUT - 20 19 BOUT + 1 X1/STEP+ Digital Input 1/Step+
Step-Servo
ZOUT - 22 21
Integrated
ZOUT +
TXM
IP65
2 X1/STEP- Digital Input 1/Step-
3 X2/DIR+ Digital Input 2/DIR+
Motor & Drive

Pin. Description 4 X2/DIR- Digital Input 2/DIR-
RS
1 X1/STEP+ Digital Input 1/Step Input+ 5 X3 Digital Input 3
2 X1/STEP- Digital Input 1/Step Input- 6 X4 Digital Input 4
Motor & Drive

3 X2/DIR+ Digital Input 2/Direction Input+ 7 Shield Shielded Ground
SS
4 X2/DIR- Digital Input 2/Direction Input- 8 XCOM Digital Input COM for X3, X4
5 X3 Digital Input 3 9 Y1+ Digital Output 1+
Pulse Input
STM-R
6 X4 Digital Input 4 10 Y1- Digital Output 1-
7 Shield Shielded Ground 11 Y2+ Digital Output 2+

8 XCOM Digital Input COM for X3, X4 12 Y2- Digital Output 2-
STM
9 Y1+ Digital Output 1+ 13 Y3+ Digital Output 3+
10 Y1- Digital Output 1- 14 Y3- Digital Output 3-
SWM
IP65
11 Y2+ Digital Output 2+
12 Y2- Digital Output 2-
Communication Connector
Pulse Input
13 Y3+ Digital Output 3+
SRAC
AC Input
GND
15 NC No Connection
With Controller
TX
STAC
16 GND Digital Groud +5V

17 AOUT+ Encoder Output A+ RX
18 AOUT- Encoder Output A-
Pulse Input
SR
19 BOUT+ Encoder Output B+ Pin. Description
20 BOUT- Encoder Output B- GND GND
Field Bus
DC Input
21 ZOUT+ Encoder Output Z+ TX RS-232 Data transmit
STF
22 ZOUT- Encoder Output Z- +5V +5V
RX RS-232 Data receive
With Controller
ST
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
95
Pulse & Direction
User Control
1 X1/STEP+
Drives
2 X1/STEP-
Integrated

Efficient
3 X2/DIR+
TSM
4 X2/DIR-
5-24VDC
8 XCOM
Integrated
Quick Tuner.
5 X3
SSM

6 X4

Step-Servo
Integrated
TXM
Under 30VDC
IP65
9 Y1+
Pulse & Direction
Pulse Input ON
10 Y1- (PLS)
OFF
Motor & Drive
11 Y2+
RS
12 Y2-
Rotate&Direction
13 Y3+ (DIR.) ON OFF
14 Y3-
Motor & Drive
17 AOUT+ CW&Direction
SS
18 AOUT-
19 BOUT+
CW/CCW Pulse
20 BOUT-
Pulse Input
STM-R
21 ZOUT+
22 ZOUT- step in one direction. When the X2 input is turned ON, the
0VDC 0VDC

STM
The encoder output function in the dashed box is only supported by P type
Tuner.
◇ Description of Input/Output Signals input is ON, the motor will rotate by one step in CW direction
SWM
IP65
Input (Output) "ON" indicates that the current is flowing into

or out of an input or output. A & B Quadrature
Pulse Input
The motor will move according to signals that are fed to the
SRAC
Input (Output) "OFF" indicates that there is no current flowing

into or out of an input or output. drive from a two channel increamental master encoder.
AC Input

With Controller
Circuit above shows when pulse input is line driver type Tuner. Direction is determined via which channel leads the
STAC
other. The chart below shows motor configured as while X1

Pulse signal input range 5-24VDC

Leads X2, the motor will rotate by CW direction.
Digital signal input range 5-24VDC
Pulse Input
A & B Quadrature
SR
ON
24 for the control input/output signal line, and keep wiring X1
OFF
as short as possible ON
Field Bus
DC Input
X2
STF
OFF
Provide safety distance between the control I/O signal
wires and power wires. CCW&Direction
With Controller
Motor Motion
● Pulse Input Circuit and Sample Connection CW&Direction

ST
With Open Collector Output ● Digital Input Circuit and Sample Connection
AC Input
User Control
5-24VDC
Drives
STEP+
User Control Drives
DC Input
STEP-
5-24VDC
DIR+
XCOM
DIR-
X5
2-Phase
0VDC
X6
Stepper Motor
With Line Driver Output

3-Phase
0VDC
User Control Drives
STEP+
UL
STEP-
DIR+
Power Supplies
DIR-
Accessories
0VDC
Cables
Software
Appendix
Glossary
96
5-24VDC meanwhile the LED will display the error code.
XCOM
X5
In Position Output
Integrated
+
Efficient
Y2 or Y3 can be configured as signal output when position
TSM
NPN
Sensor
-
X6 error is less than a user-defined count value.

0VDC
Timing Output
Integrated
SSM
With PNP type Sensor every time the motor output shaft rotates by 7.2°, 50 pulses
Step-Servo
Integrated
TXM
Drives
IP65
5-24VDC
+
PNP
X5 Tach Output
Sensor
Motor & Drive

-
XCOM Y2 can be configured as Tach signal output. Tach output
RS
0VDC
configurable resolution: 100, 200, 400, 800, 1600.
Motor & Drive

Servo On Input ● Encoder Output
SS
Alarm Reset Input
Pulse Input
While motor rotates one revolution, A-Phase/B-Phase
STM-R
X4 can be configured as Reset signal to clear the alarm. generate total 20,000 counts, Z-Phase generates one
Caution: Please make sure there's no error in system before signal.

you clear an Alarm. The B-Phase output has a 90°phase difference with
STM
SWM
IP65
● Output Circuit and Sample Connection Pulse Output Signal Chart
Pulse Input
SRAC
AC Input
A Pulse
User Control Drives
With Controller
STAC
Under 30VDC
B Pulse

Y+
Pulse Input
Y- Encoder Output Circuit
SR
Field Bus
DC Input
STF
A+
A-
Driving external load B+
With Controller
B-
ST
V+ Y+
Z+
5-24VDC
Power Supply V- Z-
Y-
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
97
Motor & Drive Package-SS Series
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Motor & Drive
SS
Features
Pulse Input
STM-R
UP TO UP TO
RS-485 32
AXES
112
AXES
STM
Pulse&Dir
CW/CCW
A/B Quadrature
SWM
IP65

Q
Pulse Input
5V
SRAC
Analog Velocity
Downloading
AC Input
Analog Position Ain

With Controller
Analog Control
STAC
Motion Program

Pulse Input
SR
Closed Loop
Very tight position and velocity control
Field Bus
DC Input
STF
for the most demanding applications. Motion Servo Motor

Amplifier
Command Controller
Robust servo loops that tolerate wide
With Controller

ST
Encoder
loading. ity
c
Po
Velo
Precise positioning to within ±1 count

sition
Closed
AC Input
Loop
(0.018°) using high resolution(20000
counts/rev) encoder. Torq ue
DC Input
Feedback
2-Phase

Stepper Motor
3-Phase

heat output.
UL
output. Heat
Loss Power
Heat
Loss Power
Being able to use almost 100% of torque, allows for more efficient and energy 30% 80%
Power Supplies

Accessories
Stepper
Cables
Smooth & Accurate

Software
Appendix

Glossary
High stiffness due to the nature of the stepping motor combined with the Stepper
±1Count Error
highly responsive servo control (20000 count/re)
98
Fast Response
Step Servo
Distance
When performing fast point-to-point moves, the high torque output and
Integrated
Typical
Efficient
TSM
Application
for what can be done with a conventional stepper system.
Integrated
SSM
Velocity
Step-Servo
Integrated
High Torque
TXM
IP65
150%
Boost
Motor & Drive

RS
100%
High torque capability often eliminates the need for gear reduction.
Motor & Drive

70% Continuous
SS
Boost torque capability can provide as much as 50% more torque for short, Stepper Rated SS
Torque
quick moves.
Pulse Input
STM-R
Motion Monitoring

STM
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
STAC
Easy Tunning
Pulse Input
1:10 1:5 1:1 Pre-defined tuning parameters for maximum control performance
SR
and stability.
Field Bus
DC Input
STF
Load Inertia
With Controller
ST
Other Key Features
AC Input
Up to 8 digital inputs, 4 digital outputs and 2 analog inputs for S/Q/C type
A/B/Z differential encoder signal output supported for P/R type
DC Input

On board daisy chain connection for field bus control(RS-485, Modbus/RTU & CANopen)
Multiple homing methods for S/Q type
2-Phase
Software limit for S/Q type
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
99
◇ Control Modes
Controller
-R Switch Setting Pulse Input type
PLC
Main Features
Integrated
Efficient
TSM

Integrated
Motion Control Card

SSM
Encoder signal output, A/B/Z differential

Configutaion and Tuning via switches SS-R Type Drive
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
-P Software Setting Pulse Input type

Motor & Drive
SS
Main Features
Pulse Input
STM-R


STM
SWM
IP65
PC
-S Basic type with series communication
Controller
Pulse Input
Controlled via pulse signals, analog signal or MOONS'

SRAC
SCL streaming series commands.

AC Input
PLC
With Controller
Main Features
STAC
Pulse control
Analog control
Pulse Input
SR

SS-S Type Drive
Field Bus
DC Input
STF
-Q Built-in programmable motion controller PC

With Controller
(Includes Modbus/RTU type) Controller

ST

Commands for controlling motion, inputs & outputs, drive PLC
AC Input

Main Features
DC Input
Motion Control Card

Math operations
2-Phase
Register manipulation SS-Q Type Drive

Multi-tasking
Stepper Motor
Senser、I/O

3-Phase

UL
-C CANopen type CANopen

Power Supplies
Operates on a CANopen communication network and conforms Master Controller

Accessories
to CiA301 and CiA402. It supports runing stored Q programs via PC PLC

Cables
Main Features
CANopen network
Software

Appendix
Senser、I/O
Glossary
SS-C Type Drive
100
Dimensions(Unit:mm)
◇ Motor
AM24SS
Integrated
B 60
Efficient
TSM
B1 47.14 4-φ4.5
AM11SS
28 4-M2.5
Depth 2.5 Min
15 23
4.5 FLAT
10
Integrated
4 7.14
A
SSM
A 1 FLAT
23
28
Motor Type L 2
L
AM11SS1DMA 43.8 8 φ38.1
Step-Servo
Integrated
110 1.5
AM11SS2DMA 52.9
TXM
IP65
AM11SS3DMA 64.1 300
22
36
33
Motor & Drive

RS
Motor & Drive
AM17SS
7 7.4
B 42.3
SS
4-M3 Depth
B1 31 4.5Min
A
Pulse Input
4 2.3
STM-R
31
Motor Type A A1 B B1
A 1 FLAT

AM24SS3DGA φ10 9.5 24 20
φ22
L 2 AM24SS3DGB φ8 7.5 20 15

33 300
STM
37 86
AM34SS 25 69.6
4-6.5
SWM
IP65
φ14
64
6 9.6
1 3 FLAT
Pulse Input
SRAC
AC Input
10 φ73.025
L 2
AM17SS1DGA φ6 5.5 20 15 59.5
With Controller
AM17SS1DGB φ5 4.5 24 15 59.5 300
STAC
AM17SS2DGA φ6 5.5 20 15 65

38
AM17SS2DGB φ5 4.5 24 15 65
AM17SS3DGA φ6 5.5 20 15 73.5
Pulse Input
AM17SS3DGB φ5 4.5 24 15 73.5
SR
AM17SS4DGA φ6 5.5 20 15 89
Motor Type L
AM17SS4DGB φ5 4.5 24 15 89
AM34SS1DGA 88
1 02.7
AM23SS AM34SS3DGA 117.5
Field Bus
DC Input
B 56.3
STF
B1 47.14
4-φ5.1 AM34SS5DGA 147
1 3 FLAT
With Controller
4 7.14
A
ST
A 1 FLAT
7 φ38.1
AC Input
L 1.6
33 300
DC Input
7 3.6
2-Phase
Stepper Motor
3-Phase
AM23SS2DGA φ8 7.5 24 20 77.5
AM23SS2DGB φ6.35 5.85 20 15 77.5
AM23SS3DGA φ8 7.5 24 20 99.5
AM23SS3DGB φ6.35 5.85 20 15 99.5
UL
AM23SS4DGA φ8 7.5 24 20 102.5
◇ Drive
Power Supplies
Ø4 Ø4 Ø4
.5 .5 .5
Accessories
39 4 30 39 4 30 39 4 30
4
4
Cables
DIP Switch Setting **

SW1
DIP Switch Setting **

SW1
SW4-1 Pulse Mode Optional RS485 Board

SW1 SW4-1 Pulse Mode
OFF Pulse & Dir
BAUD RATE
SS SW2 OFF Pulse & Dir
SW2
OPT
ON CW & CCW
SS
SW2
OPT
SW1 SW2 SW3 bps SW3 ON CW & CCW

SW4-2 Default Dir
Serial No. SS
OPT
OFF CW
OFF OFF OFF 9600 SW4 SW4-2 Default Dir
ON CCW ON OFF OFF 19200
Serial No. OFF CW Serial No.
SW3
ON CCW
SW3
OFF ON OFF 38400

SW4-3 Drive Setting
ID
OFF by Software ON ON OFF 57600 SW4-3 Drive Setting
ON by Switches OFF OFF ON 115200 OFF by Software
SW4-4 Reserved X1/STEP+
1 14
NC ON OFF ON Null ON by Switches
2 15 1 14
X1/STEP - NC OFF ON ON Null 1 14 SW4-4 Reserved X1/STEP+ NC
3 16 X1/STEP+ AIN1 2 15
X2/DIR+ NC 2 15 X1/STEP - NC
X1/STEP -
Rotary Switch Setting ** X2/DIR -
4
5
17
18
Y1/ALM+ ON ON ON Null X2/DIR+
3 16
AIN2
GND X2/DIR+
3 16
NC
X3/CWLMT+ Y1/ALM - X2/DIR -
4 17
Y1/ALM+ Rotary Switch Setting ** X2/DIR -
4 17
Y1/ALM+
126
6 19
135
X3/CWLMT - Y2/INP+ 5 18 5 18
126
SW1 PID SW2 EGearing SW3 PErr 7 20 TERMINATING RESISTOR X3/CWLMT+ Y1/ALM - X3/CWLMT+ 6 19
Y1/ALM -
X4/CCWLMT+ 8 Y2/INP - 6 19 X3/CWLMT -
135
21 X3/CWLMT - Y2/INP+ SW1 PID SW2 EGearing SW3 PErr Y2/INP+

0 0* 0 200 0 0* X4/CCWLMT - 9 22
AOUT+ SW4
OFF Disconnected
X4/CCWLMT+
7 20
Y2/INP - X4/CCWLMT+ 8
7 20
Y2/INP -
AOUT - 21
1 1* 1 400 1 1*
X5/EN 10 23
ON Connected
X4/CCWLMT -
8 21
Y3+ 0 0* 0 200 0 0* X4/CCWLMT - 9 AOUT+
126
X6/AR BOUT+ 22
Software
9 22
135
X5/EN Y3 - X5/EN AOUT -

2 2* 2 500 2 2* ZOUT+
11 24
BOUT - 10 23 1 1* 1 400 1 1* X6/AR
10 23
BOUT+
12 25 X6/AR Y4+
ZOUT - +5V Optional CANopen Board X7
11 24
Y4 - 2 2* 2 500 2 2* ZOUT+
11 24
BOUT -
3 3* 3 800 3 3* XCOM
13 26
GND X8
12 25
+5V ZOUT -
12 25
+5V
4 4* 4 1000 4 4* BAUD RATE XCOM
13 26
GND 3 3* 3 800 3 3* XCOM
13 26
GND
5 5* 5 1600 5 5* 4 4* 4 1000 4 4*
SW1 SW2 SW3 bps
6 6* 6 2000 6 6* 5 5* 5 1600 5 5*
OFF OFF OFF 1M
7 7* 7 3200 7 7* A-
2 1
A+ 6 6* 6 2000 6 6*
ON OFF OFF 800K 2 1 2 1
8 8* 8 3600 8 8* B-
4 3
B+ A- A+ 7 7* 7 3200 7 7* A- A+
OFF ON OFF 500K 4 3 4 3
6 5 8 8* 8 3600 8 8*
Appendix
9 9* 9 4000 9 9* Z- Z+ B- B+ B- B+
ON ON OFF 250K 6 5 6 5
A A* A 5000 A A* GND
8 7
+5V Z- Z+ 9 9* 9 4000 9 9* Z- Z+
OFF OFF ON 125K 8 7 8 7
B B* B 6400 B B*
10 9 GND +5V A A* A 5000 A A* GND +5V
ON OFF ON 50K 10 9 10 9
C C* C 7200 C C* U-
12 11
U+ B B* B 6400 B B*
OFF ON ON 20K 12 11 12 11
D D* D 8000 D D* V-
14 13
V+ U- U+ C C* C 7200 C C* U- U+
ON ON ON 12.5K 14 13 14 13
E E* E 10000 E E* W-
16 15
W+ V- V+ D D* D 8000 D D* V- V+
16 15 16 15
F F* F 20000 F F* TERMINATING RESISTOR W- W+ E E* E 10000 E E* W- W+
* Refer to Manual for Details. OFF Disconnected F F* F 20000 F F*
SW4
ON Connected * Refer to Manual for Details.
** Available on Optional Switch Board.
3 1 ** Available on Optional Switch
MA- MB- Board.
RoHS MA-
3 1
MB - MA-
3 1
MB-
MA+
4 2
MB+ RoHS 4 2
RoHS 4 2
Glossary
Made in China MA+ MB+ MA+ MB+

Made in China Made in China
2 1
V+ V-
2 1 2 1
V+ V- V+ V-
4.5 4.5 4.5
Drive Type Drive Type Drive Type

SS03-P-A SS05-P-A SS10-P-A SS03-S-R SS05-S-R SS10-S-R SS03-R-A
SS03-S-A SS05-S-A SS10-S-A SS03-Q-R SS05-Q-R SS10-Q-R SS05-R-A
SS03-Q-A SS05-Q-A SS10-Q-A SS03-C-C SS05-C-C SS10-C-C SS10-R-A
101
94.5 94.5 94.5
Numbering System-Motor Numbering System-Drive
AM17 SS 1 D G A SS 03 P - A
Mechanical Option
Frame Size A=Output shaft size Step Servo A=RS-232
Integrated
Efficient
11:φ5 R=RS-485
TSM
11,17,23,24,34
17:φ6 C=CANopen
Step Servo 23:φ8 Output Current
24:φ10 03-3A R=Switch Setting Type
Integrated
Motor Size 34:φ14 05-5A

SSM
P=Pulse Input Type

1 = 1Stack B=Output shaft size 10-10A S=Basic Type
2 = 2Stack 17:φ5 Q=Q Type(Modbus/RTU Type)
3 = 3Stack D=DC Input
Step-Servo
23:φ6.35 C=CANopen Type

Integrated
4 = 4Stack 24:φ8
TXM
IP65
5 = 5Stack Encoder
G=5000-Line
M=1024-Line
Motor & Drive
RS
Motor & Drive
Control Drive Type Motor Type Torque Control Drive Type Motor Type Torque
SS
AM11SS1DMA 0.065N·m AM11SS1DMA 0.065N·m

SS03-R-A AM11SS2DMA 0.08N·m SS03-P-A AM11SS2DMA 0.08N·m
Pulse Input

STM-R
AM17SS1DG□ 0.26N·m AM17SS1DG□ 0.26N·m

R Type AM17SS2DG□ AM17SS2DG□
SS03-R-A / 0.42N·m P Type SS03-P-A / 0.42N·m
Pulse Input Type
SS05-R-A Pulse Input Type SS05-P-A
Selectable Switch & AM17SS3DG□ 0.52N·m AM17SS3DG□ 0.52N·m

RS-232 Software
STM
RS-232 AM17SS4DG□ 0.7N·m AM17SS4DG□ 0.7N·m

6 Digital Inputs
Communication AM23SS2DG□ 0.95N·m AM23SS2DG□ 0.95N·m
2 Digital Outputs
6 Digital Inputs SS05-R-A AM23SS3DG□ SS05-P-A AM23SS3DG□
1.5N·m Encoder Output 1.5N·m
2 Digital Outputs
SWM
AM23SS4DGA 2.4N·m AM23SS4DGA 2.4N·m

IP65
Encoder Output
SS10-R-A SS10-P-A
Pulse Input

SRAC

AC Input
With Controller

STAC
SS03-S-A AM11SS2DMA SS03-S-R AM11SS2DMA

0.08N·m 0.08N·m
Pulse Input

S Type S Type
SR
SS03-S-A / AM17SS2DG□ 0.42N·m SS03-S-R / AM17SS2DG□ 0.42N·m

Basic Type Basic Type
SS05-S-A AM17SS3DG□ 0.52N·m SS05-S-R AM17SS3DG□ 0.52N·m
RS-232 RS-485
Communication AM17SS4DG□ 0.7N·m Communication AM17SS4DG□ 0.7N·m
Field Bus
DC Input
STF
8 Digital Inputs AM23SS2DG□ 0.95N·m 8 Digital Inputs AM23SS2DG□ 0.95N·m

4 Digital Outputs SS05-S-A AM23SS3DG□ 4 Digital Outputs SS05-S-R AM23SS3DG□
1.5N·m 1.5N·m
2 Analog Inputs 2 Analog Inputs
With Controller

ST

SS10-S-A SS10-S-R
AM34SS5DGA AM34SS5DGA
7.0N·m 7.0N·m
AC Input
SS03-Q-A AM11SS2DMA SS03-Q-R AM11SS2DMA
DC Input
0.08N·m 0.08N·m
Q Type AM17SS2DG□ Q Type AM17SS2DG□
SS03-Q-A / 0.42N·m SS03-Q-R / 0.42N·m
2-Phase
Programm Type Programm Type

SS05-Q-A AM17SS3DG□ 0.52N·m SS05-Q-R AM17SS3DG□ 0.52N·m
RS-232 RS-485
Communication AM17SS4DG□ 0.7N·m Communication AM17SS4DG□ 0.7N·m
Stepper Motor
Modbus/RTU AM23SS2DG□ 0.95N·m Modbus/RTU AM23SS2DG□ 0.95N·m

3-Phase
8 Digital Inputs SS05-Q-A AM23SS3DG□ 8 Digital Inputs SS05-Q-R AM23SS3DG□

1.5N·m 1.5N·m
4 Digital Outputs 4 Digital Outputs
2 Analog Inputs AM23SS4DGA 2.4N·m 2 Analog Inputs AM23SS4DGA 2.4N·m
SS10-Q-A SS10-Q-R
UL

Power Supplies

Accessories
AM11SS1DMA 0.065N·m
SS03-C-C AM11SS2DMA 0.08N·m
AM11SS3DMA 0.125N·m
Cables
AM17SS1DG□ 0.26N·m
SS03-C-C / AM17SS2DG□ 0.42N·m
C Type SS05-C-C AM17SS3DG□ 0.52N·m
Software
CANopen AM17SS4DG□ 0.7N·m

8 Digital Inputs
Appendix
4 Digital Outputs AM23SS2DG□ 0.95N·m

2 Analog Inputs SS05-C-C AM23SS3DG□ 1.5N·m
Glossary
AM23SS4DGA 2.4N·m
AM24SS3DG□ 2.5N·m
AM34SS1DGA 2.7N·m
SS10-C-C
AM34SS3DGA 5.2N·m
AM34SS5DGA 7.0N·m
102 □: Enter A(Enhanced Shaft) or B(Standard) in the box(□) within the model name
◇ -R Pulse input type, switch setting
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Motor & Drive
SS
PLC
Motion control card
Pulse generator
Pulse Input
STM-R

STM
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
AC
STAC
Source
Pulse Input
DC Power Supply
SR
Field Bus
DC Input
STF
◇ Stand Accessories
With Controller
ST
AC Input
DC Input
2103-100 Cable AM17/23/24/34SS Motor Extension Cable, 1M
2-Phase
Stepper Motor
3-Phase
2109-100 Cable AM11SS Motor Extension Cable, 1M
UL

Power Supplies
2104-100 Cable AM17/23/24/34SS Encoder Extension Cable, 1M

Accessories

Cables
2108-100 Cable AM11SS Encoder Extension Cable, 1M

Software

Appendix

Glossary
103
◇ -P Pulse input type
Integrated
Efficient
TSM
Integrated
PC/Configuration
SSM
RS232 Communication Cable

P/N:2101-150
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Motor & Drive
SS
Pulse Input
PLC
STM-R
Motion control card

Pulse generator
STM
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
STAC
AC
Pulse Input
Source
SR
DC Power Supply
Field Bus
DC Input
STF
With Controller
ST

AC Input

DC Input
2-Phase

Stepper Motor
3-Phase

UL

Power Supplies

Accessories

Cables

Software

Appendix

Glossary
104
◇ -S Basic type with serial communication
Integrated
Efficient
TSM
P/N: MS-USB-RS-232-01 PC/Configuration
Integrated
SSM
P/N:2101-150
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Motor & Drive
SS
PLC
Motion control card
Pulse generator
Pulse Input
STM-R
RS-485
Daisy Chain
Connection

STM
SWM
IP65
Pulse Input
SRAC
AC Input
AC
With Controller
Source
STAC
DC Power Supply
Pulse Input
SR
Field Bus
DC Input
STF
With Controller
ST
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL

Power Supplies

Accessories

Cables

Software

Appendix
Glossary
105
◇ -Q Built-in programmable motion controller (Includes Modbus/RTU type)
Integrated
Efficient
TSM
Integrated
SSM

P/N:2101-150
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Motor & Drive
SS
PLC
Motion control card
Pulse generator
Pulse Input
STM-R
RS-485 or
Modbus/RTU
Daisy Chain
Connection
STM
SWM
IP65
Pulse Input
SRAC
AC Input
AC
Source
With Controller
STAC
DC Power Supply
Pulse Input
SR
Field Bus
DC Input
STF
With Controller

ST

AC Input
DC Input

2-Phase

Stepper Motor

3-Phase

UL

Power Supplies

Accessories

Cables

Software

Appendix

Glossary
106
◇ -C CANopen type
Integrated
Efficient
TSM
Integrated
SSM
P/N:2101-150
Step-Servo
Integrated
TXM
IP65
Motor & Drive
CANopen Master
RS
Motor & Drive
SS
PLC,Sensor,I/O
Pulse Input
STM-R
CANopen
Daisy Chain

Connection
STM
SWM
IP65
Pulse Input
SRAC
AC Input
AC
With Controller
STAC
Source

DC Power Supply
Pulse Input
SR
Field Bus
DC Input
STF
With Controller
ST
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL

Power Supplies

Accessories

Cables

Software

Appendix

Glossary
107
Torque Mass
Integrated
Efficient
AM11SS1DMA 0.065 9 118

TSM
AM11SS2DMA SS03-■-◇ 0.08 12 4096 168 28mm 20 25 34 52 -

AM11SS3DMA 0.125 18 218
Integrated
Overhung Load
AM17SS1DG□ 38 390
SSM
0.26
AM17SS2DG□ SS03-■-◇or 0.42 57 440
42mm 35 44 58 85 -
AM17SS3DG□ SS05-■-◇ 0.52 82 520
Step-Servo
Thrust Load
Integrated
AM17SS4DG□ 123 760 Less than

TXM
0.7
IP65
3600 the motor

AM23SS2DG□ 0.95 260 850 mass
AM23SS3DG□ SS05-■-◇ 1.5 460 20000 1250 56mm 63 75 95 130 190
Motor & Drive
AM23SS4DGA 2.4 365 1090 L

RS
AM24SS3DG□ 2.5 900 1650 60mm 90 100 130 180 270

AM34SS1DGA 2.7 915 2000
Motor & Drive
SS10-■-◇
AM34SS3DGA 5.2 1480 3100 80mm 260 290 340 390 480
SS
AM34SS5DGA 7.0 2200 4200

□: A or B, refer to motor part numbering system; ■: R, P, S, Q, or C, refer to driver part numbering system; ◇：A, R or C, refer to driver part numbering system
Pulse Input
STM-R
◇ Torque Curves
AM11SS Series
STM

AM11SS1DMA Continuous 24V
AM11SS2DMA AM11SS3DMA Boost 24V
Boost 24V
Boost 24V
150 200
100
120 160
80
Torque(mN·m)
Torque(mN·m)
Torque(mN·m)
SWM
IP65
90 120
60
60 80
40
30 40
20
Pulse Input
SRAC
0 0
0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps)
AC Input
With Controller
AM17SS Series
STAC
AM17SS4DG□　
Continuous 12V 24V 48V Continuous 24V 48V
AM17SS1DG□　 AM17SS2DG□　
Continuous 12V 24V 48V Continuous 12V 24V 48V
Boost 12V 24V 48V AM17SS3DG□ Boost 24V 48V
Pulse Input

0.4 0.6 0.7 1.0
SR
0.5 0.6 0.8

0.3
0.5
0.4
Torque(N·m)
Torque(N·m)
Torque(N·m)
Torque(N·m)
0.6
0.4
0.2 0.3
0.3 0.4
Field Bus
DC Input
0.2
0.2
STF
0.1
0.2
0.1 0.1
0 0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps) Speed(rps) Speed(rps) Speed(rps)
With Controller
AM23SS Series
ST

AM23SS3DG□-N
AM23SS2DG□-N
Continuous 24V 48V 70V AM23SS4DGA-N
Boost 24V 48V 70V

AC Input
2.5 3.5
1.5
3
2
1.2 2.5
Torque(N·m)
Torque(N·m)
Torque(N·m)
0.9
1.5 2
1.5
1
0.6
DC Input
0.3 0.5 0.5
0
0
0 0 10 20 30 40 50
0 10 20 30 40 50
0 10 20 30 40 50 Speed(rps)
2-Phase
AM24SS Series
Stepper Motor
3-Phase
AM24SS3DG□-N
Boost 24V 48V 70V
3.5
2.5
Torque(N·m)
2
UL
1.5
0.5
0
Power Supplies
0 10 20 30 40 50
Speed(rps)
Accessories
AM34SS Series
Cables
Continuous Continuous
AM34RS3DMA-N
24V 48V 70V Continuous 24V 48V 70V 24V 48V 70V
4.0 7.0 10
6.0
8.0
Software
3.0
5.0
Torque(N·m)
Torque(N·m)
Torque(N·m)
6.0
4.0
2.0
Appendix
3.0 4.0
1.0 2.0
2.0
1.0
Glossary
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
108
Power Amplifier
Integrated
Efficient
TSM
SS03: Continuous Current 3A max, Boost Current 4.5A max (1.5s)
current limitation auto set-up by attached motor
Integrated
SS05: Continuous Current 5A max, Boost Current 7.5A max (1.5s)
SSM
Output Current
SS10: Continuous Current 10A max, Boost Current 15A max (1.5s)
Step-Servo
Integrated
TXM
IP65
External nominal 24 - 70 volt DC power supply required, Absolute maximum input voltage
Power Supply
range 18 - 75 VDC
Motor & Drive

RS
Protection Over-voltage, under-voltage, over-temp, motor/winding shorts (phase-to-phase, phase-to-ground)
Controller
Motor & Drive

SS
Filters Digital input noise filter, Analog input noise filter, Smoothing filter, PID filter, Notch filter
Pulse Input
STM-R
R/P type
Position Mode(Pulse & Direction, CW & CCW Pulse, A/B Quadrature)

S type
STM
Position Mode(Pulse & Direction, CW & CCW Pulse, A/B Quadrature);
Torque Mode, Velocity Mode, SCL Mode
Modes of Operation
Q type
SWM
Position Mode(Pulse & Direction, CW & CCW Pulse, A/B Quadrature);
IP65
Torque Mode, Velocity Mode, SCL Mode, Q Programming, Modbus/RTU
C type
Pulse Input
SRAC
CANopen, CiA301, CiA402, Q Programming
AC Input
Position Table(S type only) Built-in Position Table, up to 63 positions
With Controller
R/P type
STAC
X1/STEP, X2/DIR, X3/CW Limit, X4/CCW Limit; Optically isolated, differential, 5-24VDC;

Minimum pulse width = 250 ns, Maximum pulse frequency = 2 MHz; X5/Enable, X6/Alarm Reset;
Optically isolated, single-ended, 5-24VDC
Pulse Input
Digital Inputs
SR
S/Q/C type
X1/STEP, X2/DIR, X3/CW Limit, X4/CCW Limit; Optically isolated, differential, 5-24VDC;
Minimum pulse width = 250 ns, Maximum pulse frequency = 2 MHz;
Field Bus
DC Input
X5/Enable, X6/Alarm Reset, X7, X8; Optically isolated, single-ended, 5-24VDC
STF
R/P type
Y1/Alarm, Y2/In Position; Optically isolated, 30V/100 mA max
With Controller
Digital Outputs
ST
S/Q/C type
Y1/Alarm, Y2/In Position, Y3, Y4; Optically isolated, 30V/100 mA max
Analog Inputs Two analog inputs
AC Input
(S/Q/C type only) Each input can accept a signal range of 0 to 5 VDC, ±5 VDC, 0 to 10 VDC or ±10 VDC
Encoder Outputs
Differential encoder outputs (A±, B±, Z±), 26C31 line driver, 20 mA sink or source max
(R/P type only)
DC Input
+5V Output 4.8~5V, 100 mA max
Communication RS-232, RS-485(optional), Modbus/RTU(optional), CANopen(optional)
2-Phase
Physical
Stepper Motor
Ambient Temperature 0 to 40°C (32 to 104°F) when mounted to a suitable heatsink
3-Phase
Ambient Humdity 90% Max., non-condensing
Mass Approx 0.3 Kg UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
109
(R type and P type)
Integrated
Efficient
TSM
Switches
Integrated
SSM
LED LED
Step-Servo
RS232 Connector RS232 Connector

Integrated
TXM
IP65
Motor & Drive
I/O Connector I/O Connector

RS
Motor & Drive
SS
Encoder Connector
Encoder Connector
Pulse Input
STM-R
Motor Connector
Motor Connector
STM
Power Connector
Power Connector
SWM
IP65

Pulse Input
SRAC
2 1 B8 A8
A- A+
AC Input
V+ V-
B7 A7
B- B+
With Controller
B6 A6
STAC
Z- Z+
B5 A5
GND +5V
PIN Description B4 A4
1 Power Supply -
Pulse Input
B3 A3
U- U+
SR
2 Power Supply + B2 A2
V- V+
B1 A1
W- W+
Motor Connector
Field Bus
DC Input
STF
3 1 Pin. Description
MA - MB -
With Controller
1 Encoder A+
4 2
MA+ MB+
ST
2 Encoder A-
3 Encoder B+
AC Input
Pin. Description 4 Encoder B-

1 Motor Phase B- 5 Encoder Z+
2 Motor Phase B+ 6 Encoder Z-
DC Input
3 Motor Phase A- 7 +5V Power Supply for Encoder

4 Motor Phase A+ 8 GND
9 Earth GND
2-Phase
10 Earth GND
Stepper Motor
11 Encoder U+
3-Phase
12 Encoder U-
13 Encoder V+
14 Encoder V-
UL
15 Encoder W+
16 Encoder W-
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
110
I/O Connector Communication Connector
GND
1 14
X1/STEP+ 2 15
NC TX
X1/STEP - 3 16
NC
+5V
X2/DIR+ 4 17
NC
Integrated
X2/DIR - Y 1 / ALM+
Efficient
RX
5 18
TSM
X3/CWLMT+ 6 19
Y1/ALM -
X3/CWLMT - 7 20
Y 2 / INP+
X4/CCWLMT+ 8 21
Y2/INP -
X4/CCWLMT - AOUT+
X5/EN
9 22
AOUT -
Pin. Description
Integrated
10 23
SSM
X6/AR 11 24
BOUT+ GND GND
ZOUT+ 12 25
BOUT -
ZOUT - 13 26
+5V TX Data transmit
XCOM GND
Step-Servo
Integrated
+5V +5V
TXM
IP65
RX Data receive
Motor & Drive

Pin. Description
RS
1 X1/STEP+ Digital Input 1/Step Input+
2 X1/STEP- Digital Input 1/Step Input-
Motor & Drive

3 X2/DIR+ Digital Input 2/Direction Input+
SS
4 X2/DIR- Digital Input 2/Direction Input-
5 X3/CWLMT+ Digital Input 3/CW Limit Input+
Pulse Input
STM-R
6 X3/CWLMT- Digital Input 3/CW Limit Input-
7 X4/CCWLMT+ Digital Input 4/CCW Limit Input+

8 X4/CCWLMT- Digital Input 4/CCW Limit Input-
STM
9 X5/EN Digital Input 5/Servo On Input
10 X6/AR Digital Input 6/Alarm Reset Input
SWM
11 ZOUT+ Encoder Output Z+
IP65
12 ZOUT- Encoder Output Z-
13 XCOM Digital Input COM for X5, X6
Pulse Input
SRAC
14 NC No Connection
AC Input
15 NC No Connection
With Controller
16 NC No Connection
STAC
17 Y1/ALM+ Digital Output 1/Alarm Output+

18 Y1/ALM- Digital Output 1/Alarm Output-
Pulse Input
SR
19 Y2/INP+ Digital Output 2/In Position Output+
20 Y2/INP- Digital Output 2/In Position Output-
Field Bus
21 AOUT+ Encoder Output A+
DC Input
STF
22 AOUT- Encoder Output A-
23 BOUT+ Encoder Output B+
With Controller
24 BOUT- Encoder Output B-
ST
25 +5V +5V Output for user
26 GND GND
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
111
Pulse & Direction
User Control Drives
1 X1/STEP+ When the Pulse input is turned ON while the DIR input is
2 X1/STEP-
Integrated
3 X2/DIR+
Efficient
TSM
4 X2/DIR-
5-24VDC
5 X3/CW LMT+ OFF, the motor will rotate by one step the other direction.
+
NPN 6 X3/CW LMT-
Sensor
Integrated
Quick Tuner.
SSM
5-24VDC
7 X4/CCW LMT+
+
NPN 8 X4/CCW LMT-
Sensor
Step-Servo
-
Integrated
TXM
IP65
5-24VDC
13 XCOM
Pulse & Direction
9 X5/EN Pulse Input ON
(PLS)
OFF
10 X6/AR
Motor & Drive
RS
Rotate&Direction
(DIR.) ON OFF
Under 30VDC

17 Y1/ALM+
Motor & Drive
CW&Direction
18 Y1/ALM-
SS
CW/CCW Pulse
19 Y2/INP+
20 Y2/INP-
Pulse Input
STM-R
step in one direction. When the X2 input is turned ON, the

21 ENC A+
22 ENC A-
23 ENC B+
24 ENC B-
STM
11 ENC Z+
Tuner.
12 ENC Z-

SWM
IP65
◇ Description of Input/Output Signals

CW/CCW Pulse
Pulse Input
SRAC
ON
or out of an input or output. CW Pulse
OFF
AC Input
Input (Output) "OFF" indicates that there is no current flowing CCW Pulse
ON
With Controller
into or out of an input or output. OFF

STAC

CW&Direction
Pulse Input

SR
Digital signal input range 5-24VDC

Use a multi-core, twisted-pair shielded wire of AWG28 to A & B Quadrature
Field Bus
DC Input
24 for the control input/output signal line, and keep wiring The motor will move according to signals that are fed to the
STF
as short as possible drive from a two channel increamental master encoder.

Provide safety distance between the control I/O signal
With Controller
Tuner. Direction is determined via which channel leads the

wires and power wires.
ST
other. The chart below shows motor configured as while X1

● Pulse Input Circuit and Sample Connection Leads X2, the motor will rotate by CW direction.
AC Input
With Open Collector Output ON

A & B Quadrature
X1
User Control Drives OFF
5-24VDC ON
X2
DC Input
STEP+ OFF
STEP-
DIR+ Motor Motion CCW&Direction

2-Phase
CW&Direction
DIR-

Stepper Motor
0VDC
3-Phase

User Control Drives
5-24VDC
UL
User Control Drives
STEP+ XCOM
X5
Power Supplies
STEP-
DIR+
Accessories
DIR- X6
0VDC
0VDC
Cables
Software
Appendix
Glossary
112
XCOM
X5
In Position Output
Integrated
+
Efficient
Y2 or Y2 can be configured as signal output when position
TSM
NPN
Sensor
-
X6 error is less than a user-defined count value.

0VDC
Timing Output
Integrated
SSM
Step-Servo
Integrated
TXM
Drives
IP65
5-24VDC
+
PNP
X5 Tach Output
Sensor
Motor & Drive

-
XCOM Y2 can be configured as Tach signal output. Tach output
RS
0VDC
configurable resolution: 100, 200, 400, 800, 1600.
Motor & Drive

Servo On Input ● Encoder Output
SS
Alarm Reset Input
Pulse Input
While motor rotates one revolution, A-Phase/B-Phase
STM-R
X6 can be configured as Reset signal to clear the alarm. generate total 20,000 counts, Z-Phase generates one
Caution: Please make sure there's no error in system before signal.

you clear an Alarm. The B-Phase output has a 90°phase difference with
STM
SWM
IP65
● Output Circuit and Sample Connection Pulse Output Signal Chart
Pulse Input
SRAC
AC Input
A Pulse
User Control Drives
With Controller
STAC
Under 30VDC
B Pulse

Y+
Pulse Input
Y- Encoder Output Circuit
SR
Field Bus
DC Input
STF
A+
A-
Driving external load B+
With Controller
B-
ST
V+ Y+
Z+
5-24VDC
Power Supply V- Z-
Y-
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
113
(S type, Q type and C type )
Integrated
Efficient
TSM
Switches
Integrated
SSM
LED
Step-Servo
Integrated
RS232 Connector
TXM
IP65
Motor & Drive
I/O Connector
RS
Daisy Chain
Connector
Motor & Drive
SS
Encoder Connector
Pulse Input
STM-R
Motor Connector
STM
Power Connector
SWM
IP65

Pulse Input
SRAC
2 1 B8 A8
V+ V- A- A+
AC Input
B7 A7
B- B+
With Controller
B6 A6
Z- Z+
STAC
B5 A5
GND +5V
PIN Description B4 A4
1 Power Supply -
Pulse Input
B3 A3
U- U+
SR
2 Power Supply + V-
B2 A2
V+
B1 A1
W- W+
Motor Connector
Field Bus
DC Input
STF
3 1
MA - MB - Pin. Description
With Controller
4 2 1 Encoder A+
MA+ MB+
ST
2 Encoder A-
3 Encoder B+
Pin. Description
AC Input
4 Encoder B-
1 Motor Phase B-
5 Encoder Z+
2 Motor Phase B+
6 Encoder Z-
DC Input
3 Motor Phase A-
7 +5V Power Supply for Encoder
4 Motor Phase A+
8 GND
9 Earth GND
2-Phase
10 Earth GND
Stepper Motor
11 Encoder U+
3-Phase
12 Encoder U-
13 Encoder V+
14 Encoder V-
UL
15 Encoder W+
16 Encoder W-
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
114
I/O Connector Communication Connector
1 14 GND
X1/STEP+ 2 15
AIN1
X1/STEP - 3 16
AIN2 TX
X2/DIR+ 4 17
GND +5V
X2/DIR - Y1/ALM+
Integrated
5 18
Efficient
X3/CWLMT+ Y1/ALM - RX
TSM
6 19
X3/CWLMT - 7 20
Y2/INP+
X4/CCWLMT+ 8 21
Y2/INP -
X4/CCWLMT - Y3+
9 22
X5/EN 10 23
Y3 - Pin. Description
Integrated
X6/AR 11 24
Y4+
SSM
X7 12 25
Y4 - GND GND
X8 13 26
+5V
XCOM GND TX Data transmit
Step-Servo
+5V +5V
Integrated
TXM
IP65
RX Data receive
Pin. Description
1 X1/STEP+ Digital Input 1/Step Input+ RS-485 & CANopen daisy chain connector
Motor & Drive

RS
2 X1/STEP- Digital Input 1/Step Input-
3 X2/DIR+ Digital Input 2/Direction Input+
Motor & Drive

4 X2/DIR- Digital Input 2/Direction Input-
SS
5 X3/CWLMT+ Digital Input 3/CW Limit Input+
6 X3/CWLMT- Digital Input 3/CW Limit Input-
Pulse Input
STM-R
7 X4/CCWLMT+ Digital Input 4/CCW Limit Input+

8 X4/CCWLMT- Digital Input 4/CCW Limit Input-

9 X5/EN Digital Input 5/Servo On Input RS-485
STM
10 X6/AR Digital Input 6/Alarm Reset Input
Pin. Description
11 X7 Digital Input 7 1 RX+ / Data receive+
12 X8 Digital Input 8
SWM
IP65
2 RX- / Data receive-
13 XCOM Digital Input COM for X5, X6, X7, X8 3 TX+ / Data transmit+
14 AIN1 Analog Input 1
Pulse Input
6 TX- / Data transmit-
SRAC
15 AIN2 Analog Input 2 4,5,7,8 GND
AC Input
16 GND GND
CANopen
With Controller
17 Y1/ALM+ Digital Output 1/Alarm Output+
STAC
18 Y1/ALM- Digital Output 1/Alarm Output- Pin. Description

19 Y2/INP+ Digital Output 2/In Position Output+ 1 CAN_H
Pulse Input
20 Y2/INP- Digital Output 2/In Position Output- 2 CAN_L
SR
21 Y3+ Digital Output 3+ 3 GND
22 Y3- Digital Output 3- 6 CHGND
Field Bus
DC Input
STF
23 Y4+ Digital Output 4+ 4,5,7,8 No Connection
With Controller
25 +5V +5V Output for user
ST
26 GND GND
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
115
RS-485 address setting
Low 4 bit (0-15) set by rotary switch. Use Quick Tuner and select High
(Axis 16-31) to set the address to 16-31.
Integrated
Efficient
Low or High Rotary Switch Address LED

TSM
0 0 0
1 1 1
Integrated
SSM
2 2 2
3 3 3
Step-Servo
Integrated
4 4 4
TXM
IP65
5 5 5
6 6 6
Motor & Drive
7 7 7
RS
Low(Axis 0~ 15)
8 8 8
9 9 9
Motor & Drive
SS
A : A
B ; b
Pulse Input
STM-R
C < C
D = d
E > E
STM
F ? F
0 @ 0.
1 ! 1.
SWM
IP65
2 " 2.
3 # 3.
Pulse Input
SRAC
4 $ 4.
5 % 5.
AC Input
6 & 6.
With Controller
STAC
7 ' 7.
High(Axis 16 ~ 31)
8 ( 8.
Pulse Input
9 ) 9.
SR
A * A.
B + b.
Field Bus
DC Input
STF
C , C.
D - d.
With Controller
E . E.
ST
F / F.
AC Input
RS-485 baud rate and terminating resistor setting

BAUD RATE
DC Input
SW1 SW2 SW3 bps

OFF OFF OFF 9600
ON OFF OFF 19200
2-Phase
OFF ON OFF 38400

Stepper Motor
ON ON OFF 57600
3-Phase
OFF OFF OFF 115200

ON OFF OFF Null
OFF ON OFF Null
UL
ON ON OFF Null
TERMINATING RESISTOR
Power Supplies
OFF Disconnected
SW4
ON Connected
Accessories
Cables
Software
Appendix
Glossary
116
Efficient IP65 IP65
Integrated Integrated Integrated Pulse Input Pulse Input Pulse Input Field Bus With Controller AC Input DC Input 2-Phase 3-Phase UL Power Supplies Cables Software Glossary
117
Motor & Drive Motor & Drive With Controller With Controller With Controller
AC Input DC Input
Quick Tuner to set the High 3 bit.
CANopen baud rate and terminating resistor setting
12.5K
800K
500K
250K
125K
50K
20K
bps
1M
Disconnected
Connected
TERMINATING RESISTOR
CANopen address setting
Low 4 bit (0-F) set by rotary switch. Use
SW3
OFF
OFF
OFF
OFF
ON
ON
ON
ON
BAUD RATE
SW2
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
SW1
SW4
OFF
OFF
OFF
OFF
ON
ON
ON
ON
Pulse & Direction
User Control Drives
1 X1/STEP+ When the Pulse input is turned ON while the DIR input is
2 X1/STEP- ON, the motor will rotate by one step in one direction.
3 X2/DIR+
Integrated

Efficient
TSM
4 X2/DIR-
5-24VDC
5 X3/CW LMT+ OFF, the motor will rotate by one step the other direction.
+
NPN 6 X3/CW LMT-
Sensor
Integrated
Quick Tuner.
SSM
5-24VDC
7 X4/CCW LMT+
+
NPN 8 X4/CCW LMT- The chart below shows motor configured as while the DIR
Sensor
Step-Servo
-
Integrated
TXM
IP65
5-24VDC
13 XCOM
Pulse & Direction
9 X5/EN Pulse Input ON
(PLS)
OFF
Motor & Drive
10 X6/AR
RS
11 X7
Rotate&Direction
(DIR.) ON OFF
12 X8
Motor & Drive
CW&Direction
SS
25 +5V 100mA Limit
14, 15 AIN Signal

Conditioning
CW/CCW Pulse
Under 30VDC
16 GND
17 Y1/ALM+
Pulse Input
STM-R
18 Y1/ALM- When the X1 input is turned ON, the motor will rotate by one
19 Y2/INP+
step in one direction. When the X2 input is turned ON, the
20 Y2/INP-
21 Y3+

STM
22 Y3-
23 Y4+
Tuner.
24 Y4-

SWM
IP65

CW/CCW Pulse
Pulse Input
SRAC
ON
or out of an input or output. CW Pulse
OFF
AC Input
Input (Output) "OFF" indicates that there is no current flowing CCW Pulse
ON
With Controller
into or out of an input or output. OFF

STAC

CW&Direction
Pulse Input
Digital signal input range 5-24VDC A & B Quadrature

SR

Use a multi-core, twisted-pair shielded wire of AWG28 to The motor will move according to signals that are fed to the
24 for the control input/output signal line, and keep wiring drive from a two channel increamental master encoder.
Field Bus
DC Input
STF
as short as possible Direction definition can be configured via Quick

Tuner. It is determined via which channel leads the other.
Provide safety distance between the control I/O signal The chart below shows motor configured as while X1 Leads
With Controller
wires and power wires. X2, the motor will rotate by CW direction.
ST
A & B Quadrature

ON
AC Input
X1
OFF
With Open Collector Output X2
ON
OFF
User Control Drives
DC Input
5-24VDC
STEP+ Motor Motion CCW&Direction
CW&Direction
STEP-
2-Phase
DIR+
DIR-
Stepper Motor
0VDC
3-Phase
User Control Drives

With Line Driver Output 5-24VDC
XCOM
UL
User Control Drives

X5
STEP+
Power Supplies
STEP-
Accessories
X6
DIR+
DIR- 0VDC
Cables
0VDC
Software
Appendix
Glossary
118
XCOM
X5
In Position Output
Integrated
+
Efficient
Y1, Y2, Y3 or Y4 can be configured as signal output when
TSM
NPN
Sensor
-
X6 position error is less than a user-defined count value.

0VDC
Timing Output
Integrated
SSM
Step-Servo
Integrated
TXM
Drives
IP65
5-24VDC
+
PNP
X5 Brake Output
Sensor
Motor & Drive

-
XCOM Y3 can be configured as signal output to release brake.
RS
0VDC Tach Output
Y2 can be configured as Tach signal output. Tach output
Motor & Drive

Servo On Input
SS
X5 can be configured as Enable signal to excite the configurable resolution: 100, 200, 400, 800, 1600.
motor.
Pulse Input
STM-R
Alarm Reset Input
X6 can be configured as Reset signal to clear the

alarm.
STM
Caution: Please make sure there's no error in system
before you clear an Alarm.
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
STAC
User Control Drives
Pulse Input
Under 30VDC
SR
Y+
Y-
Field Bus
DC Input
STF
With Controller
ST
Driving external load
AC Input
V+ Y+
5-24VDC
Power Supply V- Y-
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
119
LED Display LED2 is used to indicate bus address and communication
baud rate.
After power up, LED2 flashes to indicate the serial
communication baud rate for about 6 seconds.
Serial communication baud rate display
Integrated
Efficient
TSM
LED2 Baud Rate (bps)

SS has two 7-segments LED. 1 9600
Integrated
2 19200
LED1 is used to indicate operation mode and error code.
SSM
3 38400
When drive has no error, LED1 is solid on to indicate
4 57600
operation mode. When drive has error, LED1 will flash at a 0.5
Step-Servo
Integrated
TXM
5 115200
IP65
second rate to indicate error code. The dot point of LED1 is

to indicate whether the drive is enabled. When the dot point Then LED2 turns to solid on to indicate the low 4 bit bus
address (0-F) for RS-485 or CANopen drive.
Motor & Drive
is on, the drive is enabled. When the dot point is off, the drive
RS
is disabled.
LED1 operation mode display codes (LED is solid on)
Motor & Drive
SS
1: CM1(Commanded Torque Mode)

Pulse Input
STM-R
2: CM2(Analog Torque Mode)

3: CM11~14(Analog Velocity Mode)

4: CM15~18(Velocity Mode)
STM
5: CM10(Command Torque Mode)
6: CM7(Digital Position Mode)

SWM
7: CM21(Point to Point Mode)

IP65
8: CM22(Analog Position Mode)

●
●
Pulse Input
SRAC
LED1 error display codes (LED flashes at a 0.5 second rate)

AC Input
With Controller
STAC
Position Limit
CCW Limit
Pulse Input
SR
CW Limit
Field Bus
DC Input
STF
Over Temperature
With Controller
Over Voltage
ST
Under Voltage
AC Input
Internal Voltage
DC Input
Over Current
Current Foldback
2-Phase
Open Winding
Stepper Motor
3-Phase
Bad Encoder
Flash Memory Error

UL
NV Memory Error
Power Supplies
Accessories
Communication Error
Cables
Move while Disabled
Q Program Running
Software
Appendix
Items in bold italic represent Drive Faults, which

automatically disable the motor.
Glossary
120
Motor & Drive Package-SS EtherCAT
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
The SS-EC is a member of the Step-Servo family equipped with a built-in EtherCAT communication interface.
This drive can operate as a standard EtherCAT slave using CANopen over EtherCAT (CoE). It is designed to
Motor & Drive

work with various MOONS' step servo motors.
SS
Features
Pulse Input
STM-R
Closed Loop

STM
Very tight position and velocity control for the
most demanding applications. Motion Servo Motor
Amplifier
SWM
IP65
fluctuation in load inertia and frictional loading.
Encoder
Precise positioning to within ±1 count using high resolution
Pulse Input
ity
SRAC
c
Po
encoder (20000 counts/rev for AM17/23/24/34SS motor,
Velo
sition
Closed
AC Input
4096 counts/rev for AM11SS motor). Loop
With Controller
Torq ue
STAC
Feedback
Pulse Input
SR
Field Bus
DC Input
STF
The SS-EC uses only the current required by the application, generating
With Controller
ST
When the motor is not moving, the current can be nearly zero resulting in
extremely low heat output.

Heat Heat
AC Input
Being able to use almost 100% of the available torque allows for more energy
Output
30%
energy Output
80%
efficient operation and may allow a smaller motor size.
DC Input
Stepper
2-Phase
Smooth & Accurate
Stepper Motor
Space vector current control with a high resolution encoder gives smooth
3-Phase
and quiet operation, especially at low speeds - a feature not found with
traditional steppers motors.
High stiffness due to the nature of the stepper motor combined with the
Stepper
UL
highly responsive servo control results in accurate position control both ±1Count Error
(20000 count/re)
while running and when standing still.
Power Supplies
Accessories
Cables
High Torque
150%
Boost
Software
Appendix
100%
High torque capability often eliminates the need for gear reduction. 70% Continuous
Glossary
Boost torque capability can provide as much as 50% more torque for short, Stepper Rated SS
quick moves. Torque
121
USB Cable
Integrated
Efficient
TSM
PC/Configuration
Integrated
SSM
Step-Servo
EtherCAT LINK IN
Integrated
Encoder Cable
TXM
IP65
EtherCAT LINK OUT EtherCAT Master

or the previous drive
Motor & Drive
RS
Motor Cable STO Interface

Motor & Drive
SS
AC AUX Power
Pulse Input
Source
STM-R
Power Supply
DC 电源 MAIN Power PLC,Sensor,I/O EtherCAT
the next drive
STM
AC
Source
SWM
IP65
Power Supply
Pulse Input
SRAC
AC Input
With Controller
STAC
Power Amplifier
Pulse Input

SR

SS03 Maximum continuous current 3A, boost current 4.5A (for 1.5s)
Field Bus
Drive auto-set the current limitation according to the attached motor

DC Input
STF
SS05 Maximum continuous current 5A, boost current 7.5A (for 1.5s)
Output Current
With Controller
SS10 Maximum continuous current 10A, boost current 15A (for 1.5s)
ST
External 24 - 70 volt DC power supply required

Power Supply
Absolute maximum input voltage range 18 - 75 VDC
AC Input
Auxiliary Power Supply External 12 - 48 volt DC power supply required

Protection Over-voltage, under-voltage, over-temp, over-current, short circuit
Controller
DC Input
Micro-step Resolution Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
Encoder Resolution 20000 counts/rev for AM17/23/24/34SS motor; 4096 counts/rev for AM11SS motor
2-Phase
Speed Range Speeds up to 3600 rpm

Filters Programmable hardware digital noise filter, software noise filter, smoothing filter, PID filter, notch filter
Stepper Motor
3-Phase
Supported Protocol CoE (CiA 402 Drive profile)
Profile Position, Profile Velocity, Profile Torque, Cyclic Synchronous Position, Cyclic Synchronous Velocity, Homing and
Supported Modes
MOONS' own Q mode
UL
Synchronization SM Event, DC SYNC Event

Power Supplies
X1, X2, X3, X4: optically isolated, differential, 5-24VDC, minimum pulse width 250ns, maximum pulse frequency 2MHz
Digital Inputs
Accessories
X5, X6, X7, X8: optically isolated, single-ended input, 5 - 24 volts

Digital Output Y1, Y2, Y3, Y4: optically isolated, open collector, 30 volts, 100 mA max, maximum pulse frequency 10 KHz
Cables
AIN1, AIN2: individually single-ended or together differential

Analog Input
Input resolution 12-bit, software configured as 0-5 volts, 0-10 volts, ±5 volts or ±10 volts (AIN referenced to GND)
+5V Supply Output +4.8 - 5 volts @ 100mA maximum
Software
Communication EtherCAT and mini USB for configuration

Appendix
Evironment
Glossary
Ambient Temperature 0 - 40°C (32 - 104°F) when mounted to a suitable heatsink

Humidity 90% non-condensing
122
Michanial Dimensions (Unit: mm)
Visit www.moonsindustries.com for 3D drawings
◇ Motor
Integrated
Efficient
TSM
AM11SS AM24SS
B 60
28 4-M2.5
Depth 2.5 Min B1 47.14 4-φ4.5
15 23
4.5 FLAT
Integrated
10
SSM
23
28
4 7.14
Model L
A
2
Step-Servo
L
A 1 FLAT
AM11SS1DMA 43.8
Integrated
TXM
IP65
AM11SS2DMA 52.9
8 φ38.1
5
AM11SS3DMA 64.1 110 1.5
22
36
Motor & Drive

300
RS
33
AM17SS
Motor & Drive

B
SS
42.3
B1 31 4-M3 Depth 4.5Min
7 7.4
A
Pulse Input
STM-R
A 1 FLAT

φ22
L 2

Model A A1 B B1
STM
33 300 AM24SS3DGA-N φ10 9.5 24 20
AM24SS3DGB-N φ8 7.5 20.6 15
AM34SS
SWM
IP65
37 86
69.6
64
25
4-6.5
Pulse Input
SRAC
AC Input
φ14
6 9.6
With Controller
Model A A1 B B1 L
1 3 FLAT
STAC
AM17SS1DGA-N φ6 5.5 20 15 59.5

AM17SS1DGB-N φ5 4.5 24 15 59.5
10 φ73.025
AM17SS2DGA-N φ6 5.5 20 15 65
Pulse Input
L 2
AM17SS2DGB-N φ5 4.5 24 15 65
SR
AM17SS3DGA-N φ6 5.5 20 15 73.5 300
AM17SS3DGB-N φ5 4.5 24 15 73.5

38
Field Bus
DC Input
AM17SS4DGA-N φ6 5.5 20 15 89
STF
AM17SS4DGB-N φ5 4.5 24 15 89
With Controller
AM23SS Model L
1 02.7
ST
B 56.3 AM34SS1DGA-N 88
B1 47.14 4-φ5.1
AM34SS3DGA-N 117.5
AC Input
AM34SS5DGA-N 147
4 7.14
A
A 1 FLAT
DC Input
7 φ38.1
L 1.6
33 300
◇ Drive
2-Phase
41
Stepper Motor
3-Phase
7 3.6
150
UL
95
Model A A1 B B1 L
AM23SS2DGA-N φ8 7.5 24 20 77.5
Power Supplies
AM23SS2DGB-N φ6.35 5.85 20 15 77.5

Accessories
AM23SS3DGA-N φ8 7.5 24 20 99.5

AM23SS3DGB-N φ6.35 5.85 20 15 99.5 139.5
R2.5 6
φ8
Cables
AM23SS4DGA-N 7.5 24 20 102.5

28.5
6.5
5
Software
5
Appendix
Glossary
123
Torque Mass
Integrated
Efficient
AM11SS1DMA 0.065 9 118

TSM
AM11SS2DMA SS03-EC-D 0.08 12 4096 168 28mm 20 25 34 52 -

AM11SS3DMA 0.125 18 218
Integrated
Overhung Load
AM17SS1DG□-N 38 390
SSM
0.26
AM17SS2DG□-N SS03-EC-D 57 440
0.42
or 42mm 35 44 58 85 -
AM17SS3DG□-N 0.52 82 520
Step-Servo
Thrust Load
SS05-EC-D
Integrated
AM17SS4DG□-N 123 760 Less than

TXM
0.7
IP65
3600 the motor

AM23SS2DG□-N 0.95 260 850 mass
AM23SS3DG□-N SS05-EC-D 1.5 460 20000 1250 56mm 63 75 95 130 190
Motor & Drive
AM23SS4DGA-N 2.4 365 1090 L

RS
AM24SS3DG□-N 2.5 900 1650 60mm 90 100 130 180 270

AM34SS1DGA-N 2.7 915 2000
Motor & Drive
SS10-EC-D
AM34SS3DGA-N 5.2 1480 3100 86mm 260 290 340 390 480
SS
AM34SS5DGA-N 7.0 2200 4200

□: A or B, refer to motor part numbering system; ■: R, P, S, Q, or C, refer to driver part numbering system; ◇：A, R or C, refer to driver part numbering system
Pulse Input
STM-R
◇ Torque Curves
AM11SS Series
STM

AM11SS1DMA Continuous 24V
AM11SS2DMA AM11SS3DMA Boost 24V
Boost 24V
Boost 24V
150 200
100
SWM
IP65
120 160
80
Torque(mN·m)
Torque(mN·m)
Torque(mN·m)
90 120
60
60 80
40
Pulse Input
SRAC
30 40
20
0 0
0
0 10 20 30 40 50 0 10 20 30 40 50
AC Input
0 10 20 30 40 50
Speed(rps)
With Controller
STAC
AM17SS Series
AM17SS4DG□-N　
Continuous 24V 48V Continuous Continuous 24V 48V
AM17SS1DG□-N　 AM17SS2DG□-N
Continuous 24V 48V 24V 48V
AM17SS3DG□-N
Pulse Input
Boost 24V 48V Boost 24V 48V Boost 24V 48V Boost 24V 48V
0.4 0.6 0.7 1.0
SR
0.5 0.6 0.8

0.3
0.5
0.4
Torque(N·m)
Torque(N·m)
Torque(N·m)
Torque(N·m)
0.6
0.4
0.2 0.3
Field Bus
DC Input
0.3 0.4
STF
0.2
0.1 0.2
0.2
0.1 0.1
0 0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
With Controller
ST
AM23SS Series AM24SS Series

AC Input

AM24SS3DG□-N
Continuous
AM23SS3DG□-N
Continuous 24V 48V 70V 24V 48V 70V
AM23SS2DG□-N
Continuous 24V 48V 70V AM23SS4DGA-N
Boost 24V 48V 70V
2.5 3.5 3.5
1.5
3 3
2
1.2 2.5 2.5
Torque(N·m)
Torque(N·m)
Torque(N·m)
Torque(N·m)
0.9
1.5 2 2
DC Input
1.5 1.5
1
0.6
1 1
0.3 0.5 0.5 0.5
0 0
0
0 0 10 20 30 40 50
0 10 20 30 40 50 0 10 20 30 40 50
0 10 20 30 40 50 Speed(rps)
2-Phase
Speed(rps)
AM34SS Series
Stepper Motor
3-Phase
Continuous Continuous
AM34RS3DMA-N
24V 48V 70V Continuous 24V 48V 70V 24V 48V 70V
4.0 7.0 10
6.0
8.0
3.0
5.0
Torque(N·m)
Torque(N·m)
Torque(N·m)
6.0
UL
4.0
2.0
3.0 4.0
1.0 2.0
2.0
Power Supplies
1.0
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Accessories

Cables
Software
Appendix
Glossary
124
Numbering System-Motor
AM17 SS 1 D G A-N
Integrated
Efficient
Frame Size Mechanical Option
TSM
11,17,23,24,34 A=Output shaft size
11:φ5
Integrated
Step Servo Encoder 17:φ6
SSM
G=5000-Line 23:φ8
Motor Size M=1024-Line 24:φ10
Step-Servo
Integrated
34:φ14
TXM
1 = 1Stack
IP65
2 = 2Stack B=Output shaft size
3 = 3Stack 17:φ5
Motor & Drive

4 = 4Stack 23:φ6.35
RS
D=DC Input
5 = 5Stack 24:φ8
Motor & Drive

Note: AM17/23/24/34SS motors matching with SS-EC drive have -N suffix
SS
AM11SS motors matching with SS-EC drive DO NOT have -N suffix
Pulse Input
STM-R
Numbering System-Drive

STM
SS 05 - EC - D
SWM
IP65
Pulse Input
Step Servo
SRAC
D=Dual-port Ethernet
AC Input
With Controller
Output Current
STAC
03 - 3A

05 - 5A EC=EtherCAT
Pulse Input
10 - 10A
SR
Field Bus
DC Input
STF
With Controller
AM11SS1DMA 0.065N.m
ST
SS03-EC-D AM11SS2DMA 0.08N.m
AM11SS3DMA 0.125N.m
AC Input
AM17SS1DG□-N 0.26N.m
EC Type SS03-EC-D or AM17SS2DG□-N 0.42N.m
EtherCAT Control
DC Input
SS05-EC-D AM17SS3DG□-N 0.52N.m
mini USB Software
8 Digital Inputs AM17SS4DG□-N 0.7N.m
4 Digital Outputs
2 Analog Inputs AM23SS2DG□-N 0.95N.m
2-Phase
Encoder Output SS05-EC-D AM23SS3DG□-N 1.5N.m
AM23SS4DGA-N 2.4N.m
Stepper Motor
AM24SS3DG□-N 2.5N.m
3-Phase
AM34SS1DGA-N 2.7N.m
SS10-EC-D
AM34SS3DGA-N 5.2N.m
AM34SS5DGA-N 7.0N.m
UL
□: Enter A(Enhanced Shaft) or B(Standard) in the box(□) within the model name
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
125
Optional Accessories (Sold separately)
◇ I/O Cable
Housing：501646-3200(Molex)
Crimp：501648-1000(Molex)
Integrated
Efficient
TSM
D
31 32
Integrated
J1
SSM
L 1 2
Step-Servo
Integrated
TXM
IP65
P/N Length(L) Wiring Diagram

1117-200 2M PIN (J1) Color (Signal) PIN (J1) Color (Signal)
Motor & Drive
RS
1 Blue/White (X1+) 17 NC
2 Blue/Black (X1-) 18 NC
Motor & Drive
3 Green/White (X2+) 19 Brown/White (Y1+)

SS
4 Green/Black (X2-) 20 Brown/Black (Y1-)

5 Red (X3+) 21 Gray/White (Y2+)
Pulse Input
STM-R
6 Orange (X3-) 22 Gray/Black (Y2-)

7 Blue (X4+) 23 Purple/White (Y3+)

8 Purple (X4-) 24 Purple/Black (Y3-)
STM
9 Yellow (X5) 25 Pink (Y4+)

10 Green (X6) 26 Yellow/Green (Y4-)
11 Brown (X7) 27 Red/White (ENCA+)
SWM
IP65
12 Gray (X8) 28 Red/Black (ENCA-)

13 Shield 29 Orange/White (ENCB+)
Pulse Input
SRAC
14 White (XCOM) 30 Orange/Black (ENCB-)

15 Black (GND) 31 Yellow/White (ENCZ+)
AC Input
16 NC 32 Yellow/Black (ENCZ-)
With Controller
STAC
◇ Motor Extension Cable between SS-EC drive and AM11SS motor

Housing: 51065-0600(Molex)
Pulse Input
Crimp: 50212-8000(Molex)
SR
A
6
Field Bus
DC Input
J1
STF
1
With Controller
L
ST

AC Input
1127-100 1M PIN (J1) Color (Signal)

1127-300 3M 1 Blue (B-)
DC Input
1127-500 5M 3 Red (B+)

1127-1000 10M 4 Green (A-)
6 Black (A+)
2-Phase
◇ Motor Extension Cable between SS-EC drive and AM17/23/24/34SS-N motor

Stepper Motor
Housing：39-01-3049(Molex)
3-Phase
Crimp：39-00-0040(Molex)
4 2
J1
3 1
UL
L
Power Supplies
Accessories

1114-100 1M PIN (J1) Color (Signal)
Cables
1114-300 3M 1 Blue (B-)

1114-500 5M 2 Red (B+)
1114-1000 10M 3 Green (A-)
Software
4 Black (A+)
Appendix
Glossary
126
◇ Encoder Extension Cable between SS-EC drive and AM11SS Motor
Housing：501646-1200(Molex) Housing：501646-1600(Molex)
Crimp：501648-1000(Molex) Crimp：501648-1000(Molex)
2 1 15 16
Integrated
Efficient
TSM
J1 J2
12 11 1 2
L
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
2118-100 1M PIN (J1) Color (Signal) PIN (J2) PIN (J1) Color (Signal) PIN (J2)
2118-300 3M 10 Blue (A+) 1 Brown (U+)
Motor & Drive

RS
2118-500 5M 9 Blue/Black (A-) 2 Brown/Black (U-)
2118-1000 10M 8 Green (B+) 3 Gray (V+)
Motor & Drive

7 Green/Black (B-) 4 Gray/Black (V-)
SS
6 Yellow (Z+) 5 1 White (W+) 15
Pulse Input
5 Yellow/Black (Z-) 6 2 White/Black (W-) 16
STM-R
3 Red (+5V) 7 12 Shield 10
4 Black (GND) 8

STM
◇ Encoder Extension Cable between SS-EC drive and AM17/23/24/34SS-N Motor
SWM
IP65
Housing: 1-1903130-0(TYCO) Housing: 501646-1600(Molex)
Crimp: 1903120-1(TYCO) Crimp: 501648-1000(Molex)
Pulse Input
SRAC
C D
B1 A1 15 16
AC Input
J1 J2
With Controller
STAC
B10 A10 1 2

C D
L
Pulse Input
SR
2117-100 1M PIN (J1) Color (Signal) PIN (J2) PIN (J1) Color (Signal) PIN (J2)
Field Bus
DC Input
STF
2117-300 3M A9 Blue (A+) 1 B5 Shield 10
2117-500 5M B9 Blue/Black (A-) 2 A4 Brown (U+) 11
With Controller
2117-1000 10M A8 Green (B+) 3 B4 Brown/Black (U-) 12
ST
B8 Green/Black (B-) 4 A3 Gray (V+) 13
A7 Yellow (Z+) 5 B3 Gray/Black (V-) 14
AC Input
B7 Yellow/Black (Z-) 6 A2 White (W+) 15
A6 Red (+5V) 7 B2 White/Black (W-) 16
B6 Black (GND) 8
DC Input
2-Phase
◇ USB Cable
Stepper Motor
P/N Length(L)
L
3-Phase
2620-150 1.5M
UL
◇ Network Cable
Power Supplies
Common Type Shielded Type Length (L) L

L
Accessories
2012-030 * 2013-030 0.3M

2012-300 2013-300 3M 8 1 8 1
Cables
* 2012-030 is included in the drive package.

Software
Appendix
Glossary
127
Efficient IP65 IP65
Integrated Integrated Field Bus AC Input DC Input 2-Phase 3-Phase UL Power Supplies Cables Software Glossary
129
Integrated Stepper Motor Integrated Motor & Drive Motor & Drive Pulse Input With Controller With Controller Pulse Input With Controller Pulse Input With Controller
AC Input DC Input
IP65 With Controller SWM
With Controller STM
Pulse Input STM-R

The Integrated Stepper Motor is an integrated Drive+Motor, fusing step motor and drive technologies into a
single device, offering savings on space, wiring and cost over conventional motor and drive solutions.
Integrated
Efficient
TSM
Anti-Resonance
Step motor systems have a natural tendency to resonate at certain speeds.
Integrated
The STM integrated motors automatically calculate the system’s natural

SSM
frequency and apply damping to the control algorithm. This greatly improves
Step-Servo
midrange stability, allows higher speeds and greater torque utilization, and
Integrated
TXM
IP65
also improves settling times.

Provides better motor performance and higher speeds
Motor & Drive
RS
1.8° Steps
Microstep Emulation
Motor & Drive
SS
With Microstep Emulation, low resolution systems can still provide smooth
motion. The drive can take low resolution step pulses and create fine
Pulse Input
STM-R
resolution motion. Synthesized

Microsteps
Delivers smoother motion in any application

STM
Torque Ripple Smoothing

SWM
All step motors have an inherent low speed torque ripple that can affect the
IP65
motion profile of the motor. By analyzing this torque ripple the system can
apply a negative harmonic to counter this effect. This gives the motor much
Pulse Input
SRAC
smoother motion at low speed.

AC Input
Produces smoother motion at lower speeds

With Controller
STAC
Command Signal Smoothing

Pulse Input
SR
Command Signal smoothing can soften the effect of immediate changes in

velocity and direction, making the motion of the motor less jerky. An added
Field Bus
DC Input
STF
advantage is that it can reduce the wear on mechanical components.

Improves smoother system performance
With Controller
ST
Dynamic Current Control for STM and SWM

AC Input
Allows for three current settings to help the motor run cooler and reduce
power consumption.
DC Input
● Running Current - the current the drive will deliver for continuous motion.
● Accel Current - the current the drive will deliver when accelerating or
2-Phase
decelerating.
● Idle Current - reduces current draw when motor is stationary.
Stepper Motor
3-Phase
System runs cooler

UL
Stall Detection & Stall Prevention for STM and SWM

The optional encoder detects the rotor’s position to provide Stall Detection and Stall Prevention functions.
Power Supplies
Stall Detection notifies the system as soon as the required torque is too great for the motor, resulting in a
Accessories
loss of synchronization between the rotor and stator, also known as stalling. As soon as the motor stalls the
drive triggers its fault output.
Cables
Stall Prevention automatically adjusts the excitation of the motor windings to maintain synchronization of the
rotor and stator under all conditions. This means that motor position is maintained and corrected even when
Software
the required torque is too great for the motor. The stall prevention feature also performs position maintenance,
Appendix
which maintains the position of the motor shaft when at rest.

Glossary
130
■ STM-R Control Options
Step & Direction R
● Step & Direction
Integrated
Efficient
● CW & CCW pulse
TSM
Integrated
SSM
■ STM&SWM Control Options
Step-Servo
Integrated
TXM
IP65
Step & Direction S
Motor & Drive

RS
● CW & CCW pulse
● A/B quadrature (encoder following)
Motor & Drive

SS
Pulse Input
STM-R
Oscillator / Run-Stop S

Run/Stop (Toggle Switch) ● Software Configuration

STM
Speed1/Speed2 (Toggle Switch) ● Two Speeds
Speed (Potentiometer)
● Vary speed with analog input
● Joystick compatible
SWM
IP65
Host Control
S Q
Pulse Input
&
SRAC
AC Input
RS-232/485 or Ethernet RS-232
With Controller
● Accepts commands from host PC or PLC
STAC
RS-485

Pulse Input
UP TO
32
RS-485
● Multi-axis capable, up to 32 axes
SR
AXES
Q & IP
Field Bus
DC Input
STF
ID5 ID4 ID3 ID2 ID1

1000's of axes with Ethernet and EtherNet/IP
With Controller
●
ST
C
CANopen Model
AC Input
ID5 ID4 ID3 ID2 ID1 ● Connect to CANopen network
UP TO ● CiA301 and CiA402 protocols
112
DC Input
● Multi axle bus, up to 112 axis
AXES
2-Phase
ID5 ID4 ID3 ID2 ID1
Stepper Motor
3-Phase
Stand Alone Programmable
Q & IP
RS-232/485 or Ethernet
● Comprehensive text based languaged
UL
● Download, store & execute programs

● High level features: multi-tasking, conditional
Power Supplies
programming and math functions

Accessories
● Host interface while executing stored programs

Cables
MOONS' STM and SWM products support following software

PC Based Software
application make it easy to configure, testing and evaluation.
Software
Appendix
● ST Configurator
● Q Programmer
Glossary

● CANopen Test Tool
131
■ Overview of Integrated Stepper Motor
STM-R Series - Pluse Input Type Integrated Stepper Motor

Position
Integrated
Efficient
Control
TSM

Input Voltage(Typical): STM17R: 12-48VDC STM23R: 12-70VDC
Integrated

SSM
Control Modes:
■ Pulse Control
Step-Servo
Integrated
TXM
IP65
Inputs and Output:

 ■ 3 Digital Inputs, 1 Digital Output
Compliant
Motor & Drive
RS
STM Series - Controller Type Integrated Stepper Motor

Motor & Drive
SS
Position
Control
Frame Size: 28mm, 42mm, 56mm, 60mm
Pulse Input
STM-R
Input Voltage(Typical): Velocity

Control
■ STM11 - 24VDC
■ STM17 - 12-48VDC
■ STM23/24 - 12-70VDC
STM

■ Stall Detection
SWM
IP65
Control Modes:
■ Pulse Control
■ Analog Control
Pulse Input
SRAC

AC Input
Inputs and Outputs:

With Controller
■ STM11 4 digital Inputs, 2 Outputs

STAC

 ■ S/Q/IP Type- 3 Digital Inputs，1Digital Output，1 Analog Input

Compliant
■ C Type- 1 Digital Inputs, 1 Digital Output
Pulse Input
Communication:
SR
SCL eSCL
Field Bus
DC Input
STF
SWM Series - IP65 Type Integrated Stepper Motor

With Controller
Frame Size: 60mm Position

ST
Control
Input Voltage(Typical): 12-70VDC
Encoder Option: Incremental 4000 counts/rev Velocity
Control
■ Stall Detection
AC Input
Control Modes:
DC Input
■ Pulse Control
■ Analog Control
2-Phase
Inputs and Outputs:


Stepper Motor

3-Phase
Compliant
Communication:
SCL eSCL
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
132
Software
ST Configurator
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Software Features
Motor & Drive

• Intuitive interface
SS
• Drive status and alarm monitoring
Pulse Input
STM-R
• Self-test function to test drive/motor operation

• Built-in SCL Terminal

• Online help integrated
STM
• Supports all STM and SWM integrated steppers
SWM
IP65
Pulse Input
About this software
SRAC
AC Input
The ST Configurator software makes setting up, configuring
With Controller
and programming STM integrated stepper a snap. All motor, I/
STAC
O, encoder and motion control parameters are available to the

user through an intuitive interface. The ST Configurator provides
Pulse Input
SR
seamless communication with all models whether they have RS-
232, RS-485, CANopen or Ethernet communications. It also
Field Bus
DC Input
includes a built-in Q Programmer so you can switch context quickly
STF
and easily.
With Controller
ST
System Requirements
AC Input
Windows XP.
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
FREE DOWNLOAD
Cables
FREE
DOWNLOAD
WNL
Software
Appendix
Glossary
133
Software
Q Programmer
Software Features
Integrated
Efficient
• Single-axis motion control

TSM
• Stored program execution

Integrated
• Multi-tasking
SSM
• Conditional processing
Step-Servo
Integrated
• Math functions
TXM
IP65
• Data registers
• Motion Profile simulation
Motor & Drive
RS

• Support all Q/C/IP Types Integrated Motors in STM/SWM Series
Motor & Drive
SS
About this software

Pulse Input
STM-R
Q Programmer is a single-axis motion control software for

programmable stepper and servo drives from MOONS’. The software
STM
allows users to create sophisticated and functional programs that Q

and Plus drives can run stand-alone. The commands available in the
Q programming environment consist of commands for controlling
SWM
IP65
motion, inputs & outputs, drive configuration and status, as well as

math operations, register manipulation, and multi-tasking.
Pulse Input
SRAC
System Requirements
AC Input
With Controller

STAC
Windows XP.
Pulse Input
SR
Field Bus
DC Input
STF
With Controller
ST

AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
FREE DOWNLOAD
Software

FREE downloaded from our website:
Appendix
DOWNLOAD
WNL
Glossary
134
RS-485 Bus Utility Software
Software Features
Integrated
Efficient
• Stream SCL commands from the command line
TSM
• Simple interface with powerful capability
Integrated
• Easy setup with RS-485 for 32 axis network motion control
SSM
• Monitoring Status of I/O, drive, alarm and the other nine most
Step-Servo
Integrated
TXM
IP65
• Write and save SCL command scripts
Motor & Drive

RS
• Supports all RS-485 drives
Motor & Drive

SS
About this software
Pulse Input
STM-R

STM
SWM
IP65
Pulse Input
SRAC
commands.
AC Input
With Controller
System Requirements
STAC
Pulse Input
Windows XP.
SR
Field Bus
DC Input
CANopen Test Tool
STF
With Controller
ST
Software Features
• Friendly User Interface
AC Input
• Multiple operation Mode Support
• Multi-Thread, High Performance
DC Input
• CAN bus monitor and log function
• Kvaser/PEAK/ZLG adapter support
2-Phase
System Requirements Stepper Motor
3-Phase
Windows XP. UL Power Supplies
Accessories
Cables
FREE DOWNLOAD
Software

Appendix
DOWNLOAD
WNL
Glossary
135
Pluse Input Type Integrated Stepper Motor
STM-R Series
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Motor & Drive
STM-R  Advanced Current Control
SS
The STM-R is an integrated Drive+Motor, fusing step motor  Anti-Resonance
and drive technologies into a single device, offering savings
Pulse Input
STM-R
 Torque Ripple Smoothing

on space, wiring and cost over conventional motor and drive
solutions.  Microstep Emulation

STM
Features
SWM
IP65
Anti-Resonance/Electronic Damping
Pulse Input
SRAC
The STM-R drive+motor automatically calculates the system’s natural
AC Input
frequency and applies damping to the control algorithm. This greatly improves
With Controller
midrange stability, allows for higher speeds, greater torque utilization and also
STAC
improves settling times.

Delivers better motor performance and higher speeds
Pulse Input
SR
Field Bus
DC Input
STF
Microstep Emulation
1.8° Steps
With Controller
motion. The drive can take low-resolution step pulses and create fine
ST
resolution micro-step motion.
Synthesized
AC Input
Microsteps
DC Input
2-Phase
motion of the motor. By analyzing this torque ripple the system can apply a
negative harmonic to negate this effect, which gives the motor much smoother Stepper Motor
motion at low speed.

Delivers smoother motion at lower speeds 3-Phase
UL

Power Supplies
Accessories
Cables
Improves overall system performance

Software
Self Test & Auto Setup

Appendix
At start-up the drive measures motor parameters, including the resistance and inductance, then uses this
information to optimize the system performance.
Glossary
137
STM17R - Pulse Input Type Integrated Stepper Motor

The STM17R Integrated Motor is a cost effective, high performance,
motor with the drive built in. It is based on advanced digital
Integrated
Efficient
TSM
current control technology, and features high torque, low noise,

and low vibration. Operational parameters are switch selectable.
Integrated
SSM
Step-Servo
Integrated
TXM
Specifications
IP65
Power Amplifier
Motor & Drive
RS

Motor & Drive
Power Supply External 12 - 48 volt power supply required

SS
Input Voltage Range 10 - 52 volts min/max (nominal 12 - 48 volts)

Pulse Input
Over-voltage, over-current, under-voltage, over-temp, internal motor shorts (phase-to-

STM-R
Protection
phase, phase-to-ground)
Idle Current Reduction Switch selectable for reduction to 50% or 90% of running current
Ambient Temperature 0 - 40°C (32 - 104°F) when mounted to a suitable heat sink
STM

Controller
SWM
IP65
Current Control Advanced digital current control provides excellent high speed torque
Pulse Input
SRAC
Auto Setup Measures motor parameters to configure current control and anti-resonance gain settings
AC Input
Encoder Feedback Optional 1000 line external encoder, A/B/Z Differential Output
With Controller
Step Input Inputs: optically isolated, 5 - 24 volts, min. pulse width 250 ns., max. pulse frequency 2 MHz;
STAC
STEP+/- motor executes one step on the falling edge of the STEP input signal
Direction Input Inputs: optically isolated, 5 - 24 volts, min. pulse width 250 μs, max. pulse frequency 2 MHz;
Pulse Input
DIR+/- direction of rotation is controlled by the DIR input state

SR
Enable Input Inputs: optically isolated, 5 - 24 volts, min. pulse width 50 us., max. pulse frequency 10 KHz;
EN+/- enables or disables the drive amplifier
Field Bus
DC Input
STF
Output Open Collector, 30 volts, 100 mA max, max. pulse frequency 10 KHz; closes when the drive
OUT+/- encounters an error, open when the drive is operating normally
With Controller
Switch Selections
ST
SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8

AC Input
Running Current Idle Current Step Noise Filter Load Inertia
Self Test Step Smoothing Filter Step Pulse Type

SW9 SW10 SW11 SW12
DC Input
Microstepping
Running current - output current is set by SW1 & SW2 with a total of 4 settings: 50%, 70%, 90% and 100% of the running
2-Phase
current.
Idle Current - can be set by SW3 for 50% of running value to reduce motor and drive heating, or for 90% when a high holding
Stepper Motor
torque is required.
3-Phase
Self test - set by SW4 to check the physical operation of the motor.
Input Noise Filter - set by SW5 this filters out unwanted electrical noise. The frequency of the filter can be set to 150KHz or
2MHz.
UL
Step Smoothing Filter - also called microstep emulation, smooth motion can be obtained from coarse command signals by
Power Supplies
setting SW6 to ON.

Anti-Resonance/Electronic Damping - setting SW7 for the proper inertia load, low (OFF) or high (ON), can greatly improve
Accessories
the motor’s performance.

Step Pulse Type - SW8 allows the motor to be used with either CW/CCW pulse type command signals (ON), or STEP/DIR
Cables
pulse type signals (OFF).

Microstep resolution - SW9, SW10, SW11, and SW12 set the microstep resolution at one of 16 settings: 200, 400, 800, 1600,
Software
3200, 6400, 12800, 25600, 1000, 2000, 4000, 5000, 8000, 10000, 20000, or 25000 steps/rev.
Appendix
STM17R-1□: 280 g
Mass STM17R-2□: 360 g
Glossary
STM17R-3□: 440 g
STM17R-1□: 38 g•cm2
Rotor Inertia STM17R-2□: 57 g•cm2
STM17R-3□: 82 g•cm2
138
Encoder Option
STM-R models can be ordered with an optional 1000 line
incremental encoder mounted to the rear shaft of the
unit. This encoder can be connected to the external View A
Integrated
Efficient
PIN 9 PIN 1
controller for position verification and enhanced
TSM
performance, depending on the features of the
controller.
Integrated
SSM
Electrical Specification
Step-Servo
Resolution 4000 Counts/Rev(1000 Line)
Integrated
Supply Current (no load) Typ 56mA/Max 59mA
TXM
IP65
PIN 10 PIN 2
Output Voltage Low 0.4V@20mA Max.
Output Voltage High 2.4V@-20mA Min.
Motor & Drive

Pin. Sign Color
A leads B for clockwise shaft rotation, and B leads A for
RS
1 NC
counterclockwise rotation viewed from direction H
2 Ground Green White
Mating Connectors 3 I- Orange White
Motor & Drive

4 I+ Orange
SS
Housing: Molex# 15-04-5104
5 A- Blue White
Crimp: Molex# 14-60-0058
6 A+ Blue
Crimp Tool: Molex# 62100-0700
Pulse Input
STM-R
7 +5V DC Green

Accessories 8 NC
9 B- Brown White
Encoder cable packed together with motor

10 B+ Brown
STM
P/N Length
1001-100 1m
1009-500 5m
SWM
IP65
Housing(Molex 15-04-5104)
Terminal(Molex 14-60-0058)
Pulse Input
SRAC
AC Input
With Controller
STAC
UL2464 AWG24 4 pairs

L±20
Pulse Input
SR
Dimensions(Unit:mm)
Field Bus
DC Input
STF
With Controller
ST
16.6 L±1 24 42.3 MAX .5
epth4
13 2 15 31 3D
4-M

10
AC Input
42.3 MAX
Ø22
DC Input
31
Ø5
H
56
4.5 Flat
Ø5
4.5 Flat
2-Phase
24.6 43.5 Stepper Motor
3-Phase
Model “L” Length
STM17R-1□ 53
STM17R-2□ 59
UL
STM17R-3□ 67
Rear Shaft
Power Supplies
external encoder
Accessories
Cables
Software
Appendix
Glossary
139
Torque Curves
STM17R-1□ 12V 24V 48V STM17R-2□ 12V 24V 48V STM17R-3□ 12V 24V 48V
0.30 0.5 0.5

Integrated
Efficient
0.25 0.4 0.4

TSM
Torque(N.m)
Torque(N.m)
Torque(N.m) 0.20
0.3
0.3
0.15
0.2 0.2
Integrated
0.10
SSM
0.05 0.1 0.1
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Step-Servo
Integrated

TXM
IP65
Numbering System
Motor & Drive
RS
STM 17 R-2 E
Motor & Drive
STM Series
SS
Option
Blank=Standard
Pulse Input
D=Double Shaft
STM-R
Fram Size17
E=External Encoder
R=Pulse Input Type
Torque
STM
1=0.23N·m max
2=0.38N·m max
3=0.48N·m max
SWM
IP65
Pulse Input
SRAC
AC Input
Model Standard Double shaft External Encoder

With Controller
STM17R-1 
STAC
STM17R-1D

STM17R-1E 
Pulse Input
STM17R-2 
SR
STM17R-2D 
STM17R-2E 
Field Bus
DC Input
STF
STM17R-3 
STM17R-3D 
With Controller
STM17R-3E 
ST

AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
140
STM23R - Pulse Input Type Integrated Stepper Motor
The STM23R Integrated Motor is a cost effective, high performance,
Integrated
Efficient
TSM
motor with the drive built in. It is based on advanced digital
current control technology, and features high torque, low noise,
Integrated
and low vibration. Operational parameters are switch selectable.
SSM
Step-Servo
Integrated
TXM
IP65
Specifications
Motor & Drive

RS
Power Amplifier
Motor & Drive

SS
Pulse Input
Input Voltage Range 10 - 75 volts min/max (nominal 12 - 70 volts)
STM-R
Over-voltage, over-current, under-voltage, over-temp, internal motor shorts (phase-to-
Protection

Idle Current Reduction Switch selectable for reduction to 50% or 90% of running current
STM
SWM
IP65
Controller
Current Control Advanced digital current control provides excellent high speed torque
Pulse Input
SRAC
AC Input
Auto Setup Measures motor parameters to configure current control and anti-resonance gain settings
With Controller
Encoder Feedback Optional 1000 line external encoder, A/B/Z Differential Output
STAC
Step Input Inputs: optically isolated, 5 - 24 volts, min. pulse width 250 ns., max. pulse frequency 2 MHz;

STEP+/- motor executes one step on the falling edge of the STEP input signal
Pulse Input
Direction Input Inputs: optically isolated, 5 - 24 volts, min. pulse width 250 μs, max. pulse frequency 2 MHz;
SR
DIR+/- direction of rotation is controlled by the DIR input state
Enable Input Inputs: optically isolated, 5 - 24 volts, min. pulse width 50 us., max. pulse frequency 10 KHz;
Field Bus
DC Input
STF
EN+/- enables or disables the drive amplifier
Output Open Collector, 30 volts, 100 mA max, max. pulse frequency 10 KHz; closes when the drive
With Controller
OUT+/- encounters an error, open when the drive is operating normally
ST
Switch Selections

AC Input
Running Current Idle Current Step Noise Filter Load Inertia
DC Input
Self Test Step Smoothing Filter Step Pulse Type
SW9 SW10 SW11 SW12
Microstepping
2-Phase
Running current - output current is set by SW1 & SW2 with a total of 4 settings: 50%, 70%, 90% and 100% of the running Stepper Motor
current.
3-Phase
Idle Current - can be set by SW3 for 50% of running value to reduce motor and drive heating, or for 90% when a high holding
torque is required.
Self test - set by SW4 to check the physical operation of the motor.
UL
Input Noise Filter - set by SW5 this filters out unwanted electrical noise. The frequency of the filter can be set to 150KHz or
2MHz.
Power Supplies
Step Smoothing Filter - also called microstep emulation, smooth motion can be obtained from coarse command signals by
Accessories
setting SW6 to ON.

Anti-Resonance/Electronic Damping - setting SW7 for the proper inertia load, low (OFF) or high (ON), can greatly improve
the motor’s performance.
Cables
Step Pulse Type - SW8 allows the motor to be used with either CW/CCW pulse type command signals (ON), or STEP/DIR
pulse type signals (OFF).
Software
Microstep resolution - SW9, SW10, SW11, and SW12 set the microstep resolution at one of 16 settings: 200, 400, 800, 1600,
Appendix
3200, 6400, 12800, 25600, 1000, 2000, 4000, 5000, 8000, 10000, 20000, or 25000 steps/rev.
STM23R-2□: 850 g
Glossary
Mass
STM23R-3□: 1200 g
STM23R-2□: 260 g•cm2
Rotor Inertia
STM23R-3□: 460 g•cm2
141
Encoder Option
STM-R models can be ordered with an optional 1000 line
incremental encoder mounted to the rear shaft of the
unit. This encoder can be connected to the external View A
Integrated
PIN 9 PIN 1
Efficient
controller for position verification and enhanced

TSM
performance, depending on the features of the

controller.
Integrated
SSM
Electrical Specification
Step-Servo
Resolution 4000 Counts/Rev(1000 Line)

Integrated
Supply Current (no load) Typ 56mA/Max 59mA

TXM
IP65
PIN 10 PIN 2
Output Voltage Low 0.4V@20mA Max.
Motor & Drive
Pin. Sign Color

A leads B for clockwise shaft rotation, and B leads A for
RS
1 NC
2 Ground Green White
Mating Connectors 3 I- Orange White
Motor & Drive
4 I+ Orange
SS
Housing: Molex# 15-04-5104

5 A- Blue White
6 A+ Blue
Crimp Tool: Molex# 62100-0700
Pulse Input
STM-R
7 +5V DC Green
Encoder cable packed together with motor 8 NC

9 B- Brown White
P/N Length
10 B+ Brown
STM
1001-100 1m
1009-500 5m
Housing(Molex 15-04-5104)
SWM
IP65
Terminal(Molex 14-60-0058)
Pulse Input
SRAC
AC Input
UL2464 AWG24 4 pairs

With Controller
STAC
L±20
Pulse Input
Dimensions(Unit:mm)
SR

Field Bus
DC Input
STF
16.6 L±1 20 56.4MAX

With Controller
13 43 15 47.14
ST
4- Ø
5
AC Input
56.4MAX
Ø 38.1
47.14
Ø5
H
4.5Flat
85.1
DC Input
Ø 6.35
5.85 Flat
1.6
4.8
2-Phase
53.2
Stepper Motor
Model “L”length
STM23R-2□
3-Phase
85
STM23R-3□ 107
Rear Shaft
external encoder
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
142
Efficient IP65 IP65
143
Integrated Pulse Input Pulse Input Pulse Input With Controller
Integrated Stepper Motor Motor & Drive Motor & Drive With Controller With Controller With Controller
ST
TSM SSM TXM RS SS STM-R STM SWM SRAC STAC SR STF
AC Input DC Input
E=External Encoder
Blank=Standard
D=Double Shaft
50
Option
2=0.9N·m max
3=1.5N·m max
40
External Encoder
70V
STM 23 R-2 E
48V
30
Torque
Speed(rps)

24V
12V
20
STM23R-3□
10
R-Pulse Input Type
Double shaft
0
1.5
1.2
. 0.9
0.6
0.3

Torque(N m)
Frame Size23
STM Series
50
40
Standard
70V
Numbering System

48V
30
Speed(rps)
Torque Curves
24V
12V
20
STM23R-2□
10
Model
STM23R-2D
STM23R-3D
STM23R-2E
STM23R-3E
STM23R-2
STM23R-3
0
1.0
0.8
. 0.6
0.4
0.2
0
Torque(N m)
Controller Type Integrated Stepper Motor - STM Series

Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Drive Motor Controller  Dynamic Current Control

 Anti-Resonance
Motor & Drive
The STM is an integrated Drive+Motor+Controller,

SS
 Torque Ripple Smoothing

fusing step motor and drive technologies into a single
device, offering savings on space, wiring and cost over
 Microstep Emulation
Pulse Input
STM-R
Stall Detection and Stall Prevention

conventional motor and drive solutions. 

Features
STM
Anti-Resonance
SWM
IP65

The STM integrated motors automatically calculate the system’s natural
Pulse Input
SRAC
AC Input
With Controller

STAC

Pulse Input
SR
Microstep Emulation 1.8° Steps

Field Bus
DC Input
STF
resolution motion.
With Controller
Synthesized
Microsteps
ST

AC Input

DC Input
2-Phase

Stepper Motor
3-Phase

UL
Power Supplies

Accessories
Cables
Software
Appendix
Glossary
144
Dynamic Current Control
power consumption.
Running Current - the current the drive will deliver for continuous motion.
Integrated
Efficient
TSM
Accel Current - the current the drive will deliver when accelerating or
decelerating.
Integrated
Idle Current - reduces current draw when motor is stationary.
SSM
System runs cooler
Step-Servo
Integrated
TXM
IP65
Stall Detection & Stall Prevention
Motor & Drive

RS
Control Options
Motor & Drive

SS
Step & Direction S
Pulse Input
STM-R
Step & Direction
CW & CCW pulse

A/B quadrature (encoder following)
STM
SWM
IP65
Pulse Input
Run/Stop (Toggle Switch)
SRAC
Speed1/Speed2 (Toggle Switch)
Software Configuration
AC Input
Two Speeds
With Controller
Vary speed with analog input
STAC
Joystick compatible
Pulse Input
SR
Host Control
S & Q
Field Bus
DC Input
STF
RS-232
Accepts commands from host PC or PLC
With Controller
RS-485 or Modbus/RTU network
ST
UP TO Accepts commands from host PC or PLC
RS-485 32
AXES
Multi-axis capable, up to 32 axes
AC Input
Q & IP
DC Input
#5 # 4 # 3 # 2 # 1
1000's of axes with Ethernet and Ethernet/IP
2-Phase
CANopen Model Stepper Motor
Connect to CANopen network

3-Phase
#5 # 4 # 3 # 2 # 1 CiA301 and CiA402 protocols
UP TO Multi axle bus, up to 112 axis
112
AXES
UL Power Supplies
Accessories
#5 # 4 # 3 # 2 # 1
Cables

Q & IP
Software
Comprehensive text based languaged
Appendix
Download, store & execute programs

High level features: multi-tasking, conditional
Glossary

Host interface while executing stored
programs
145
STM11 - Controller Type Integrated Stepper Motor

Specifications
Integrated
Efficient
TSM
Power Amplifier
Integrated

SSM
STM11□-1RE: Up to 50mN•m
Output Torque STM11□-2RE: Up to 80mN•m
Step-Servo
Integrated
TXM
STM11□-3RE: Up to 100mN•m
IP65
Power Supply 24V volt power supply required

Motor & Drive
Input Voltage Range 15 - 30V volt, min/max (rate 24VDC)

RS
Over-voltage, under-voltage, over-temp, internal motor shorts (phase-to-

Protection
Motor & Drive
SS
Controller
Microstep Resolution Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
Pulse Input
STM-R
Encoder Feedback Optional 4000 counts/rev encoder feedback

STM
Input: 5 - 24 VDC, single-ended signals, max. pulse frequency 1 MHz
Digital Input Functions: Step, CW Step, A Quadrature, CW Limit, CW Jog, Run/Stop, general purpose input;
SWM
IP65
X1/Pluse adjustable bandwidth digital noise rejection filter

Connect with NPN type output ONLY
Pulse Input
SRAC
Input: 5 - 24 VDC, single-ended signals, max. pulse frequency 1 MHz

Digital Input Functions: Dir, CCW Step, B Quadrature, CCW Limit , CCW Jog, general purpose input;
AC Input
X2/DIR adjustable bandwidth digital noise rejection filter

With Controller
STAC

Inputs: 5 - 24 VDC, single-ended signals, max. pulse frequency 1 MHz

Digital Input
Functions: Enable, Change speed, general purpose input
Pulse Input
X3/Enable
SR

Inputs: 5 - 24 VDC, single-ended signals, max. pulse frequency 1 MHz
Digital
Field Bus
DC Input
Functions: Alarm reset; general purpose input

STF
X4/Alarm Clear Connect with NPN type output ONLY

With Controller
Open drain output, maximum current 100mA with maximum voltage of 30VDC
Digital Output Y1
ST
Functions: Fault detection, general purpose
Open drain output, maximum current 100mA with maximum voltage of 30VDC
AC Input
Digital Output Y2
Functions: Brake, Moving, Tach Output, general purpose
Communication RS-422/485
DC Input
Physical
Ambient Temperature 0 - 40 °C (32 -104°F)when mounted to a suitable heat sink
2-Phase

STM11□-1RE: 118 g
Stepper Motor
Mass STM11□-2RE: 168 g

3-Phase
STM11□-3RE: 218 g
STM11□-1RE: 9 g.cm2
Rotor Inertia STM11□-2RE: 12 g.cm2
UL
STM11□-3RE: 18 g.cm2
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
146
Efficient IP65 IP65
147
Integrated Stepper Motor Motor & Drive Motor & Drive With Controller With Controller With Controller
ST
TSM SSM TXM RS SS STM-R STM SWM SRAC STAC SR STF
AC Input DC Input
50
40 30
Speed(rps)
24V
20
STM11□-3RE
10
Depth 2.5 Min
0
120
100
80
60
40
20
0
4-M2.5
15±0.5 Torque(mN•m)
φ5-0.012
28Max.
0
2±0.2
50
23±0.1
40
43.8
52.9
64.1
“L”
φ22-0.052
30
Speed(rps)
23±0.1
L Max.
0
RS-485
STM11□-1RE
STM11□-2RE
STM11□-3RE
24V
20
Model
STM11□-2RE
10
4.5±0.1
0
100
80
60
40
20
0
Torque(mN•m)
Communications &
I/O Port
50
2.1 10±0.2
Dimensions (Unit: mm)
40
Connector Pin-out
30
Speed(rps)
Torque Curves
24V
20
STM11□-1RE
10
0
60
50
40
30
20
10
0
Torque(mN•m)
IP65 IP65 Efficient
ST STF SR STAC SRAC SWM STM STM-R SS RS TXM SSM TSM Integrated Stepper Motor
148
DC Input AC Input
Model
STM11S-3RE
STM11S-2RE
STM11S-1RE
STM11Q-3RE
STM11Q-2RE
STM11Q-1RE
S
Q
Numbering System
Control
STM Series
Control
Frame Size11
0.1N·m
0.1N·m
0.08N·m
0.05N·m
0.08N·m
0.05N·m
Output Torque
S=Basic Type
(Modbus/RTU Type)
Q=Q Programmer Type






Encoder
Motor Size
3=0.1 N·m max

STM 11 S-2 R E
2=0.06 N·m max

1=0.05 N·m max
R=RS-485






Feedback
RS-485
Communication
E=1000-line encoder



Modbus/RTU
Specifications
Integrated
Efficient
TSM
Power Amplifier
Integrated
SSM
STM17□-1□□: Up to 0.23N•m
Output Torque STM17□-2□□: Up to 0.38N•m
Step-Servo
Integrated
TXM
STM17□-3□□: Up to 0.48N•m
IP65
Motor & Drive

RS
Protection
Motor & Drive

Controller
SS
Pulse Input
STM-R

STM
STM17S: Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator, joystick),
Modes of Operation
STM17Q: All STM17S modes of operation plus stored Q program execution
SWM
IP65
STM17C: CANopen slave node plus stored Q Program execution
S/Q type:
Pulse Input
SRAC
STEP+/-: optically isolated, 5-24 volts, minimum pulse width 250 ns., maximum pulse frequency 2 MHz
AC Input
With Controller
STAC

Pulse Input
SR
EN+/-: Optically isolated, 5-24 volt. Minimum pulse width = 50 μs, Maximum pulse frequency = 10 KHz
Digital Input
Field Bus
DC Input
STF
C type:
With Controller
ST
AC Input
DC Input
Function: general purpose input
Digital Output
Functions: Fault, brake, motion, tach, and general purpose programmable
2-Phase
Analog Input AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits. Stepper Motor
S type: RS-232, RS-485
3-Phase
Communication Q type: RS-232, RS-485 or Modbus/RTU
C type: CANOpen, RS-232
Physical
UL
Power Supplies
Accessories
STM17□-1□□: 280 g
Mass STM17□-2□□: 360 g
STM17□-3□□: 440 g
Cables
STM17□-1□□: 38 g•cm2
Rotor Inertia STM17□-2□□: 57 g•cm2
Software
STM17□-3□□: 82 g•cm2
Appendix
Glossary
149
Connector Pin-out
RS232 RS485
RXD GND TXD
Integrated
Efficient
+5V TX-
TSM
RXD
Communications
TXD TX+ CAN_H
Port
GND RX- CAN_L
GND RX+ GND
Integrated
SSM
STEP+ STEP+ IN1+

STEP - STEP - IN1 -
IN2+
Step-Servo
DIR+ DIR+
Integrated
DIR - DIR - IN2 -

TXM
IP65
EN+ EN+ IN3+

I/O Port EN - EN - IN3 -
OUT+ OUT+ OUT+
Motor & Drive
OUT - OUT - OUT -

RS
+5V +5V +5V

AIN AIN AIN
GND GND GND
Motor & Drive
SS
Pulse Input
Dimensions(Unit:mm)
STM-R

STM
L±1 24 42.3 MAX

2 15 31 4-M3 深 4.5
SWM
IP65
Pulse Input
42.3 MAX
SRAC
Ø22
31
62
AC Input
With Controller
STAC
Ø5
M 4.5 Flat 43.5

Pulse Input
SR
Model “L”Length “M”Length

STM17□-1□□ 67.5 24.6
Field Bus
STM17□-2□□
DC Input
73 30.1
STF
STM17□-3□□ 81.5 38.6

With Controller
ST
Torque Curves
AC Input
STM17□-1□□ 12V 24V 48V

STM17□-2□□ 12V 24V 48V STM17□-3□□ 12V 24V 48V
0.30 0.5 0.5

DC Input
0.25 0.4
0.4
Torque(N.m)
Torque(N.m)
Torque(N.m)
0.20
0.3 0.3
0.15
0.2 0.2
2-Phase
0.10
0.05 0.1 0.1
0 0
Stepper Motor
0
0 10 20 30 40 50 0 10 20 30 40 50
0 10 20 30 40 50
3-Phase
Speed(rps)
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
150
Numbering System
STM 17 S-2 A N
STM Series
Integrated
Feedback
Efficient
TSM
N=None
Frame Size17 E=1000-line encoder
Integrated
Control
SSM
Communication
S=Basic Type A=RS-232
Q=Q Programmer Type R=RS-485
Step-Servo
Integrated
(Modbus/RTU Type) C=CANopen
TXM
IP65
C=CANopen Type
Motor Size
Motor & Drive

1=0.23 N·m max
RS
2=0.38 N·m max
3=0.48 N·m max
Motor & Drive

SS
Pulse Input
STM-R
Model Control Output Torque Encoder RS-232 RS-485 Modbus/RTU CANopen

STM17S-1AN 
STM17S-1RN


0.23N·m
STM
STM17S-1AE  
STM17S-1RE  
STM17S-2AN 
SWM
IP65
STM17S-2RN 
S 0.38N·m
STM17S-2AE  
Pulse Input
SRAC
STM17S-2RE  
AC Input
STM17S-3AN 
With Controller
STM17S-3RN 
STAC
0.48N·m
STM17S-3AE  

STM17S-3RE  
Pulse Input
STM17Q-1AN 
SR
STM17Q-1RN  
0.23N·m
STM17Q-1AE  
Field Bus
DC Input
STF
STM17Q-1RE   
STM17Q-2AN 
With Controller
STM17Q-2RN  
ST
Q 0.38N·m
STM17Q-2AE  
STM17Q-2RE   
AC Input
STM17Q-3AN 
STM17Q-3RN  
0.48N·m
STM17Q-3AE  
DC Input
STM17Q-3RE   
STM17C-1CN  
0.23N·m
2-Phase
STM17C-1CE   
STM17C-2CN   Stepper Motor
C 0.38N·m
STM17C-2CE   
3-Phase
STM17C-3CN  
0.48N·m
STM17C-3CE   
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
151

Specifications
Integrated
Efficient
TSM
Power Amplifier
Integrated

SSM
STM23□-2□□: Up to 1.0N•m
Output Torque
STM23□-3□□: Up to 1.5N•m
Step-Servo
Integrated
TXM
IP65

Protection
Motor & Drive
RS
Controller
Motor & Drive
SS

Pulse Input

STM-R
STM
streaming commands (SCL)

Modes of Operation STM23Q: All STM23S modes of operation plus stored Q program execution
STM23C: CANopen slave node plus stored Q program execution
SWM
IP65
STM23IP: EtherNet/IP industrial network communication plus Q Program execution
S/Q/IP type:
Pulse Input
SRAC

AC Input
With Controller
STAC

Pulse Input
SR

Field Bus
DC Input
Digital Input
STF
C type:
With Controller

ST
AC Input
DC Input

Digital Output
2-Phase

Analog Input AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits.
Stepper Motor
S type: RS-232, RS-485 or Ethernet

3-Phase
Q type: RS-232, RS-485, Ethernet or Modbus/RTU

Communication
C type: CANOpen, RS-232
IP type: EtherNet/IP
UL
Physical
Power Supplies
Accessories

STM23□-2□□: 850 g
Mass
Cables
STM23□-3□□: 1200 g
STM23□-2□□: 260 g•cm2
Rotor Inertia
STM23□-3□□: 460 g•cm2
Software
Appendix
Glossary
152
Connector Pin-out
RS232 RS485 Ethernet
Integrated
Efficient
GND
TSM
TXD
TX- RXD
Communications
Port TX+ CAN_H
RX-
Integrated
CAN_L
GND RX
SSM
TX
RX+ GND
RJ11 RJ45
Step-Servo
IN1+
Integrated
STEP+ STEP+ STEP+
TXM
IP65
STEP - STEP - IN1 - STEP -
DIR+ DIR+ IN2+ DIR+
DIR - DIR - IN2 - DIR -
Motor & Drive

EN+ EN+ IN3+ EN+
RS
EN - EN - IN3 - EN -
I/O Port
OUT+ OUT+ OUT+ OUT+
OUT - OUT - OUT - OUT -
Motor & Drive

+5V +5V +5V +5V
SS
AIN AIN AIN AIN
GND GND GND GND
Pulse Input
STM-R

Dimensions(Unit:mm)
STM
SWM
IP65
L±1 20 56.4 MAX L±1 20 56.4 MAX
15 47.14 15 47.14
Pulse Input
SRAC
56.4 MAX
56.4 MAX
Ø38.1
47.14
47.14
Ø38.1
AC Input
77
75
82
75
With Controller
STAC
5.85 Flat
5.85 Flat
4-
Ø6.35
Ø6.35
1.6 Ø5 1.6 4-
Ø5

4.8 50.9 4.8 50.9
M
Pulse Input
M
SR
Model “L”Length “M”Length Model “L”Length “M”Length
STM23S/Q-2A□ 92.4 22 STM23S/Q-2R□ 92.4 22
STM23S/Q-3A□ STM23S/Q-3R□ 114.4 44
Field Bus
114.4 44
DC Input
STF
With Controller
L±1 20 56.4 MAX L±1 20 56.4 MAX
ST
15 47.14 15 47.14
56.4 MAX
56.4 MAX
Ø38.1
47.14

47.14
AC Input
77
75
82
75
Ø6.35
5.85 Flat
5.85 Flat
Ø6.35
4- 1.6
4-
1.6 Ø5
Ø5
DC Input
4.8 50.9 4.8 50.9
M M
2-Phase
Model “L”Length “M”Length Model “L”Length “M”Length
STM23C-2C□ 92.4 22 STM23S/Q/IP-2E□ 92.4 22
STM23C-3C□ 114.4 44 STM23S/Q/IP-3E□ 114.4 44 Stepper Motor
Torque Curves 3-Phase
STM23□-2□□ 12V 24V 48V 70V

STM23□-3□□ 12V 24V 48V 70V
UL
1.0 1.5
Power Supplies
0.8 1.2
Torque(N m)
Torque(N m)
. 0.6 . 0.9
Accessories
0.4 0.6
0.2 0.3
Cables
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Software
Appendix
Glossary
153
Numbering System
STM 23 S-2 A N
STM Series
Feedback
Integrated
Efficient
TSM
Frame Size 23 N=None

E=1000-line encoder
Integrated
Control
SSM
S=Basic Type
Q=Q Programmer Type
Step-Servo
(Modbus/RTU)
Integrated
Communication
TXM
IP65
C=CANopen Type
IP=EtherNet/IP Type A=RS-232
R=RS-485
Motor & Drive
Motor Size C=CANopen

RS
2=0.9 N·m max E=Ethernet

3=1.5 N·m max
Motor & Drive
SS
Pulse Input
STM-R
Model Control Output Torque Encoder RS-232 RS-485 Modbus/RTU CANopen Ethernet EtherNet/IP
STM23S-2AN 
STM23S-2RN 
STM
STM23S-2EN 
0.9N·m
STM23S-2AE  
STM23S-2RE  
SWM
IP65
STM23S-2EE  
S
STM23S-3AN 
Pulse Input
SRAC
STM23S-3RN 
AC Input
STM23S-3EN 
1.5N·m
With Controller
STM23S-3AE  
STAC
STM23S-3RE  
STM23S-3EE  
Pulse Input
STM23Q-2AN 
SR
STM23Q-2RN  
STM23Q-2EN 
Field Bus
DC Input
0.9N·m
STF
STM23Q-2AE  
STM23Q-2RE   
With Controller
STM23Q-2EE  
ST
Q
STM23Q-3AN 
STM23Q-3RN  
AC Input
STM23Q-3EN 
1.5N·m
STM23Q-3AE  
STM23Q-3RE   
DC Input
STM23Q-3EE  
STM23C-2CN  
0.9N·m
2-Phase
STM23C-2CE   
C
STM23C-3CN  
Stepper Motor
1.5N·m
STM23C-3CE   
3-Phase
STM23IP-2EN  
0.9N·m
STM23IP-2EE   
IP
STM23IP-3EN  
UL
1.5N·m
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
154
Specifications
Integrated
Power Amplifier
Efficient
TSM
Integrated
Output Torque STM24□-3□□: Up to 2.4N•m
SSM
Step-Servo
Integrated
Protection
TXM
IP65
Controller
Motor & Drive

RS
Motor & Drive

SS
Pulse Input
STM-R
Modes of Operation STM24Q: All STM24S modes of operation plus stored Q program execution
STM24C: CANopen slave node plus stored Q Program execution
STM24IP: EtherNet/IP industrial network communication plus Q Program execution

STM
Adjustable bandwidth digital noise rejection filter on all flex I/O points configured as inputs
I/O1+/-: When configured as input, optically isolated, 5-24 volt. Minimum pulse width = 250 ns.
Maximum pulse frequency = 2 MHz.
SWM
IP65
Function: Step, CW step, A quadrature (encoder following), CW jog, start/stop (oscillator mode),
Enable or general purpose input. When configured as output, optically isolated, 30V/100 mA max.
Function: Fault, brake motion, tach, or general purpose programmable.
Pulse Input
SRAC
I/O2+/-: When configured as input, optically isolated, 5-24 volt. Minimum pulse width = 250 ns.
Maximum pulse frequency = 2 MHz.
AC Input
Function: Direction, CCW step, B quadrature (encoder following), CW jog, direction (oscillator mode),
With Controller
alarm/ fault reset or general purpose input. When configured as output, optically isolated, 30V/100 mA max.
STAC
Flex I/O RS-232 and

RS-485 models
I/O3+/-: When configured as input, optically isolated, 5-24 volt. Minimum pulse width = 50 μs.
Pulse Input
Maximum pulse frequency = 10 KHz.
SR
Function: CW limit, Enable, Speed 1/Speed 2 (oscillator mode) or general purpose input.
When configured as output, optically isolated, 30V/100 mA max.
Field Bus
DC Input
STF
I/O4+/-: When configured as input, optically isolated, 5-24 volt. Minimum pulse width = 50 μs.
Maximum pulse frequency = 10 KHz.
Function: CCW limit, alarm/fault reset or general purpose input. When configured as output, optically
With Controller
isolated, 30V/100 mA max.
ST
AC Input
STEP+/- : Optically isolated, 5-24 volt. Minimum pulse width 250 ns. Maximum pulse frequency = 2MHz
mode), or general purpose input.
Digital Input
DC Input
DIR+/- : Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 2 MHz.
Ethernet models
Function: Direction, CCW step, B quadrature (encoder following), CW limit, CW jog, direction (oscillator
mode), or general purpose input.
2-Phase
EN+/- : Optically isolated, 5-24 volt. Minimum pulse width = 50 μs. Maximum pulse frequency = 10 KHz.
Function: Enable, alarm/fault reset, speed 1/speed 2 (oscillator mode), or general purpose input Stepper Motor
3-Phase
IN1+/-: Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 2 MHz.
Digital Input IN2+/-: Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 2 MHz.
CANopen models Function: CCW limit, CCW jog, or general purpose input
UL
IN3+/-: Optically isolated, 5-24 volt. Minimum pulse width = 50 μs. Maximum pulse frequency = 10 KHz.
Power Supplies

Accessories
Digital Output OUT+/-: Optically isolated, 30V/100 mA max.

Functions: Fault, brake, motion, tach, or general purpose programmable
Analog Input AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits.
Cables
SF/QF type: RS-232, RS-485 or Modbus/RTU

Communication S/Q type: Ethernet TCP or UDP
Software
C type: CANopen & RS-232

IP type: EtherNet/IP
Appendix
Physical
Glossary
Mass STM24□-3□□: 1580 g
Rotor Inertia STM24□-3□□: 900 g•cm2
155
Connector Pin-out
RS232 RS485 Ethernet

Integrated
Efficient
GND
TSM
TXD
TX- RXD
Communications
TX+ CAN_H
Port
RX- CAN_L
Integrated
GND RX
SSM
RX+ GND
TX
RJ11 RJ45
Step-Servo
IN1+
Integrated
I/O1+ I/O1+ STEP+

TXM
IP65
I/O1 - I/O1 - IN1 - STEP -

I/O2+ I/O2+ IN2+ DIR+
I/O2 - I/O2 - IN2 - DIR -
Motor & Drive
I/O3+ I/O3+ IN3+ EN+

RS
I/O Port I/O3 - I/O3 - IN3 - EN -

I/O4+ I/O4+ OUT+ OUT+
I/O4 - I/O4 - OUT - OUT -
Motor & Drive
+5V +5V +5V +5V

SS
AIN AIN AIN AIN

GND GND GND GND
Pulse Input
STM-R
Dimensions(Unit:mm)

STM
STM24SF-3A□ & STM24QF-3A□ STM24SF-3R□ & STM24QF-3R□

SWM
IP65
125.5±1 20.6 60.5MAX. 125.5±1 20.6 60.5MAX.

Pulse Input
SRAC
15 47.14 15 47.14
AC Input
60.5MAX.
60.5MAX.
With Controller
Ø38.1
47.14
Ø38.1
47.14
STAC
79
77
84
77
Ø7.5 Flat
1.5
Ø7.5 Flat
1.5
Pulse Input
Ø8
4-Ø
Ø8
4-Ø
7
SR
4.5
4.5
55 50.9 55 50.9
Field Bus
DC Input
STF
With Controller
ST
STM24C-3C□
STM24S-3E□ & STM24Q-3E□ & STM24IP-3E□

AC Input
125.5±1 20.6 60.5MAX. 20.6 60.5MAX.

125.5±1
15 47.14
DC Input
15 47.14
60.5MAX.
47.14
Ø38.1
60.5MAX.
Ø38.1
2-Phase
47.14
79
77
84
77
Ø 7.5 Flat
Stepper Motor
1.5
Ø7.5 Flat
Ø8
1.5
4-Ø
Ø8
4-
3-Phase
7
Ø4
4.5
.5
55 50.9 50.9
55
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
156
Torque Curves
STM24□-3□□ 12V 24V 48V 70V
2.5
2.0
Integrated
Efficient
TSM
Torque(N m)
. 1.5
1.0
Integrated
0.5
SSM
0
0 10 20 30 40 50
Step-Servo
Speed(rps)
Integrated
TXM
IP65
Numbering System
Motor & Drive

RS
STM 24 S - 3 A N
Motor & Drive

STM Series
SS
Feedback
N=None
Frame Size
E=1000-line encoder
Nema 24
Pulse Input
STM-R
Control
Communications
S=Basic Type
A=RS-232
Q=Q Program Type Motor Size

R=RS-485
(Modbus/RTU) 3=3 Stack
STM
C=CANopen
C=CANopen Type
E=Ethernet
IP=Ethernet/IP Type
Blank = Standard
F = Flex I/O(only RS232/RS485)
SWM
IP65
Pulse Input
SRAC
AC Input
Output
Model Control Encoder RS-232 RS-485 Modbus/RTU CANopen Ethernet EtherNet/IP
With Controller
Torque
STAC
STM24SF-3AN 

STM24SF-3RN 
Pulse Input
STM24SF-3AE  
SR
S 2.4N·m
STM24SF-3RE  
STM24S-3EN 
Field Bus
DC Input
STF
STM24S-3EE  
STM24QF-3AN 
With Controller
STM24QF-3RN  
ST
STM24QF-3AE  
Q 2.4N·m
STM24QF-3RE   
AC Input
STM24Q-3EN 
STM24Q-3EE  
STM24C-3CN  
DC Input
C
STM24C-3CE   
2.4N·m
STM24IP-3EN  
IP
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
157
IP65 Type Integrated Stepper Motor-SWM Series

Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Drive Motor Controller  Advanced Current Control

Anti-Resonance
Motor & Drive

SS
The SWM is an integrated Drive+Motor+Controller  Torque Ripple Smoothing

with IP65 of ingress protection against dust and water,
Pulse Input
fusing step motor and drive technologies into a single

STM-R
device, offering savings on space, wiring and cost over  Stall Detection and Stall Prevention
conventional motor and drive solutions.
STM
Features
SWM
Anti-Resonance
IP65

Pulse Input
The SWM integrated motors automatically calculate the system’s natural

SRAC
AC Input
With Controller

STAC

Pulse Input
SR

Field Bus
DC Input
STF
resolution motion.
With Controller
Synthesized
Microsteps
ST

AC Input

DC Input
2-Phase

Stepper Motor
3-Phase

UL
Power Supplies

Accessories
Cables
Software
Appendix
Glossary
158
Dynamic Current Control
power consumption.
Running Current - the current the drive will deliver for continuous motion.
Integrated
Efficient
TSM
Accel Current - the current the drive will deliver when accelerating or
decelerating.
Integrated
Idle Current - reduces current draw when motor is stationary.
SSM
System runs cooler
Step-Servo
Integrated
TXM
IP65
Motor & Drive

RS
Motor & Drive
Control Options
SS
Step & Direction S
Pulse Input
STM-R
Step & Direction

CW & CCW pulse
STM
A/B quadrature (master encoder)
SWM
IP65
Pulse Input
SRAC
AC Input
Speed (Potentiometer) Two Speeds
With Controller
STAC
Joystick compatible

Pulse Input
SR
Host Control
Field Bus
DC Input
STF
S & Q
With Controller
ST
RS-232
UP TO
AC Input
RS-485 32
RS-485 or Modbus/RTU network
AXES

Multi-axis capable, up to 32 axes
DC Input
ID5 ID4 ID3 ID2 ID1
Ethernet Connection Q & IP
2-Phase
Accepts commands from host PC or PLC Stepper Motor
1000's of axes with Ethernet and Ethernet/IP
3-Phase
ID5 ID4 ID3 ID2 ID1
UL

Power Supplies
Q & IP
Accessories
Comprehensive text based languaged
Download, store & execute programs
Cables
High level features: multi-tasking, conditional

Software
Host interface while executing stored

Appendix
programs
Glossary
159
SWM24 - IP65 controller type integrated stepper motor

Specifications
Integrated
Efficient
TSM
Power Amplifier
Integrated

SSM
Output Torque SWM24□-3□□: Up to 2.4N•m

Step-Servo

Integrated
TXM
IP65

Protection
Motor & Drive
RS
Controller
Motor & Drive

SS

Pulse Input
STM-R
SWM24S/SF: Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator, joystick),
Modes of Operation
STM
SWM24Q/QF: All SWM24S/SF modes of operation with stored Q program execution

SWM24IP: EtherNet/IP industrial network communication plus Q Program execution
Adjustable bandwidth digital noise rejection filter on all I/O points configured as inputs
SWM
IP65
IN1+/-: optically isolated, 5-24 volts, minimum pulse width 250 ns., maximum pulse frequency 2 MHz
Function: Step, CW step, A quadrature (encoder following), CW jog, start/stop (oscillator mode),
Pulse Input
SRAC
Enable or general purpose input

AC Input
Digital Input
Function: Direction, CCW step, B quadrature (encoder following), CCW jog, direction (oscillator
With Controller
SF and QF models
STAC
mode), alarm/fault reset or general purpose input

Pulse Input
Function: CW limit, Enable, speed 1/speed 2 (oscillator mode) or general purpose input
SR
Function: CCW limit, alarm/fault reset or general purpose input
Field Bus
DC Input
STF
OUT1+/-: Optically isolated, 30V/100 mA max.

With Controller

ST
Digital Output Functions: Fault, brake, motion, tach, and general purpose programmable
SF/QF models OUT3+/-: Optically isolated, 30V/100 mA max.
AC Input

DC Input

2-Phase
Digital Input mode), or general purpose input
Stepper Motor
S/Q Ethernet models DIR+/-: Optically isolated, 5-24 volt. Minimum pulse width = 250 ns, Maximum pulse frequency = 2 MHz
3-Phase
UL
Digital Input OUT+/-: Optically isolated, 30V/100 mA max.

Power Supplies
S/Q Ethernet models Functions: Fault, brake, motion, tach, and general purpose programmable
Accessories

SF/QF Type: RS-232, RS-485 or Modbus/RTU
Cables
Communication S/Q Type: Ethernet TCP or UDP

IP Type: EtherNet/IP
Software
Physical
Appendix
Glossary
Mass SWM24□-3□□: 1800 g

Rotor Inertia SWM24□-3□□: 900 g•cm2
160
Connection interface
Power Port RS-232 Communication Port
Integrated
1 Power Supply+ 1 Data Receive RX
Efficient
TSM
2 Power Supply- 2 +5V 50mA
3 Power Supply+ 3 Data Transmit TX
Integrated
4 Power Supply- 4 GND
SSM
5 NC
Step-Servo
RS-485 or Modbus Communication Port Ethernet Communication Port
Integrated
TXM
IP65
1 Data Receive RX+ 1 Data Transmit TX+
Motor & Drive

2 Data Receive RX- 2 Data Receive RX+
RS
3 Data Transmit TX+ 3 Data Transmit TX-
4 Data Transmit TX- 4 Data Receive RX-
Motor & Drive

SS
5 GND
I/O Port
Pulse Input
STM-R

STM
SF&QF Type S/Q Ethernet Type
SWM
IP65
1 I/O1+ 1 STEP+
3 I/O1- 3 STEP -
Pulse Input
SRAC
5 I/O2+ 5 DIR+
AC Input
8 I/O2- 8 DIR-
With Controller
6 I/O3+ 6 EN+
STAC
4 I/O3- 4 EN-

11 I/O4+ 11 OUT +
Pulse Input
12 I/O4- 12 OUT-
SR
9 +5V 50mA 9 +5V 50mA
2 N/C 2 N/C
Field Bus
DC Input
STF
10 AIN 10 AIN
7 GND 7 GND
With Controller
ST
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
161
Numbering System
SWM 24 S - 3 A N
Series
Integrated
Feedback
Efficient
TSM
N=None
Frame Size
E=1000-line encoder
Nema 24
Integrated
Control
SSM
Communications
S=Basic Type
A=RS-232
Q=Q Program Type Motor Size R=RS-485
Step-Servo
(Modbus/RTU) 3=3 Stack

Integrated
C=CANopen
IP=EtherNet/IP Type
TXM
IP65
E=Ethernet
Blank = Standard
F = Flex I/O(only RS232/RS485)
Motor & Drive
RS
Dimensions(Unit:mm)
Motor & Drive
SS
20.6±1 60±0.5
15±0.2 47.14±0.35 4-Ø4.5±0.2
9±2
Pulse Input
STM-R
47.14±0.35
60±0.5
61±0.5
Ø8-0.012
7.5Flat±0.1
0
9±2
STM
8±0.3 Ø38.1±0.05
131±1 1.5±0.2
71±1
SWM
IP65
Pulse Input
SRAC
95±0.5
111±1
AC Input
With Controller
STAC

Pulse Input
Torque Curves
SR
SWM24□-3□□
Field Bus
12V 24V 48V 70V

DC Input
STF
2.5
2.0
With Controller
Torque(N m)
. 1.5
ST
1.0
0.5
AC Input
0
0 10 20 30 40 50
Speed(rps)
DC Input
2-Phase
Model Torque Control Encoder RS-232 RS-485 Modbus/RTU Ethernet EtherNet/IP Daisy Chain
SWM24SF-3AN 
Stepper Motor
SWM24SF-3AE  
3-Phase
SWM24SF-3RN  
S
SWM24SF-3RE   
SWM24S-3EN 
UL
SWM24S-3EE  
SWM24QF-3AN 
Power Supplies
2.4N·m
SWM24QF-3AE  
Accessories
SWM24QF-3RN   
Q
SWM24QF-3RE    
Cables
SWM24Q-3EN 
SWM24Q-3EE  
Software
SWM24IP-3EN  
IP
Appendix
SWM24IP-3EE   
Glossary
162
Efficient IP65 IP65
163
2-Phase Step Motor Drive Integrated Motor & Drive Motor & Drive Pulse Input With Controller With Controller Pulse Input With Controller Pulse Input With Controller
AC Input DC Input
With Controller STAC
With Controller ST
Pulse Input SRAC
Pulse Input SR
Field Bus STF

Stepper Drive
2-Phase
2 Phase Stepper Motor Drive

Step motor drives from MOONS' offer unparalleled performance for today's modern machine builders. From the
ground-up these drives offer best-in-class current control for optimal smoothness and torque, robust and flexible
on-board control options, and industry-standard industrial network communications.
Integrated
Efficient
TSM
■ Features
Integrated
SSM
Step-Servo

Integrated
TXM
IP65
MOONS' Stepper Drive automatically calculates the system’s natural

frequency and applies damping to the control algorithm. This greatly improves
Motor & Drive
midrange stability, allows for higher speeds, greater torque utilization and also
RS

Motor & Drive
SS
Pulse Input
Microstep Emulation
STM-R
1.8° Steps
STM

Synthesized
Delivers smoother motion in any application Microsteps
SWM
IP65
Pulse Input
SRAC

AC Input
With Controller
STAC
negative harmonic to negate this effect, which gives the motor much smoother

Pulse Input
SR
Delivers smoother motion at lower speeds

Field Bus
DC Input
STF

With Controller

ST
AC Input

DC Input
Stall Detection & Stall Prevention for STAC and ST

2-Phase
Stall Detection notifies the system as soon as the required torque is too great for the motor, resulting in a
Stepper Motor
loss of synchronization between the rotor and stator, also known as stalling. As soon as the motor stalls the
3-Phase
drive triggers its fault output.

Stall Prevention automatically adjusts the excitation of the motor windings to maintain synchronization of the
rotor and stator under all conditions. This means that motor position is maintained and corrected even when
UL
the required torque is too great for the motor. The stall prevention feature also performs position maintenance,
which maintains the position of the motor shaft when at rest.
Power Supplies
Accessories

Cables
information to optimize the system performance
Software
Appendix
Glossary
164
■ Control Options for STAC and ST
Step & Direction

S
Integrated
Efficient
TSM
● CW & CCW pulse
● A/B quadrature (master encoder)
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Oscillator / Run-Stop
S
Motor & Drive

RS
Speed1/Speed2 (Toggle Switch) ● Software Configuration
Speed (Potentiometer) ● Two Speeds
Motor & Drive

● Vary speed with analog input
SS
● Joystick compatible
Pulse Input
STM-R
Host Control

STM
RS-232
S Q
SWM
IP65
C IP
Pulse Input
SRAC
RS-485/422 ● Accepts commands from host PC or PLC
AC Input
● Multi-axis capable
With Controller
● Real time control
STAC
UP TO

ID 5 ID 4 ID 3 ID 2 ID 1 32
AXES
Pulse Input
SR
Field Bus
DC Input
STF
UP TO
With Controller
112
AXES
ID5 ID4 ID3 ID2 ID1
ST
Ethernet
AC Input
DC Input
ID5 ID4 ID3 ID2 ID1
2-Phase
RS-232/485 Q Stepper Motor
3-Phase
Ethernet
● Multi-axis capable
● Real time control
UL Power Supplies
Accessories
PC Based Software
MOONS' STAC and ST products support following software
application make it easy to configure, testing and evaluation.
Cables
● ST Configurator
● Q Programmer
Software

Appendix
● CANopen Test Tool

Glossary
165
■ Overview of Two Phase Stepper Drive

SRAC Series - AC Input Stepper Drive
Integrated
Efficient
TSM
Position
Input Voltage(Typical): AC120V/240V Control
Integrated

SSM
Control Modes:
■ Pulse Control
Step-Servo
Integrated
Inputs and Outputs:

TXM
IP65

Motor & Drive
RS

Compliant
Motor & Drive
SS
STAC Series - AC Input Controller Type Stepper Drive

Input Voltage(Typical): AC120V/240V
Pulse Input
STM-R
Position
Control
Encoder Option: Incremental Velocity
■ Stall Detection Control
STM

Control Modes:
■ Pulse Control
■ Analog Control
SWM
IP65

Pulse Input
Inputs and Outputs:

SRAC
■ S/Q/C Type- 4 Digital Inputs, 2 Digital Outputs, 1 Analog Input

■ Q-A/IP Type- 12 Digital Inputs, 6 Digital Outputs, 1 Analog Input
AC Input
Communication:
With Controller
STAC
SCL eSCL

Compliant
Pulse Input
SR
SR Series - DC Input Stepper Drive

Field Bus
DC Input
STF
Input Voltage(Typical): Position

Control
■ SR2/SR2-Plus/SR3-mini: 12- 48VDC
With Controller
ST
AC Input
Control Modes:
■ Pulse Control
Inputs and Outputs:
DC Input

■ 20mm, 28mm, 35mm, 42mm, 56mm, 60mm, 86mm
Compliant
2-Phase
Stepper Motor
STF Series - Intelligent field bus control Stepper Drive

3-Phase
Input Voltage(Typical): DC12V/24V/48V Position

Control
UL
Microstep Resolution: Software set, up to 51200 steps/rev Velocity

Control
Control Modes:
Power Supplies

Accessories
Inputs and Outputs:

■ 8 Digital Inputs, 4 Digital Outputs
Cables
Communication:
Software
 Supported Motor Frame Size:

Appendix
Compliant ■ 20mm, 28mm, 35mm, 42mm, 56mm, 60mm, 86mm

Glossary
166
ST Series - DC Input Controller Type Stepper Drive
Position
Input Voltage(Typical): DC24V/48V Control
Drive Output Current: Up to 10Amp(Peak of Sine) Velocity
Integrated
Encoder Option: Incremental
Efficient
Control
TSM
■ Stall Detection
Integrated
Control Modes:
SSM
■ Pulse Control
■ Analog Control
Step-Servo
Integrated
TXM
IP65
Inputs and Outputs:
■ S type- 3 Digital Inputs, 1 Digital Output, 1 Analog Input
■ Q/C/IP- 8 Digital Inputs, 4 Digital Outputs, 2 Analog Inputs
Motor & Drive

Communication:
RS
SCL eSCL

Motor & Drive

Compliant
SS
■ 28mm, 35mm, 42mm, 56mm, 60mm, 86mm
Pulse Input
STM-R

STM
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
STAC
Pulse Input
SR
Field Bus
DC Input
STF
With Controller
ST
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
167
ST Configurator Software
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Software Features
Motor & Drive
SS
Pulse Input
STM-R



STM
• Supports all STAC and ST stepper drives

SWM
IP65
Pulse Input
SRAC
About this software

AC Input
The ST Configurator software makes setting up, configuring and

With Controller
programming STAC and ST stepper drives a snap. All motor, I/

STAC
O, encoder and motion control parameters are available to the

Pulse Input
SR

Field Bus
DC Input

STF
and easily.
With Controller
ST
System Requirements
AC Input
Windows XP.
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
FREE DOWNLOAD
Appendix

Glossary
DOWNLOAD
WNL
168
Q Programmer Software
Software Features
Integrated
Efficient
TSM
Integrated
• Multi-tasking
SSM
Step-Servo
• Math functions
Integrated
TXM
IP65
• Data registers
Motor & Drive

RS
• Support all Q/C/IP Types stepper drives in STAC/ST Series
Motor & Drive

SS
About this software
Pulse Input
STM-R

STM
SWM
IP65
Pulse Input
SRAC
AC Input
System Requirements
With Controller
STAC

Windows XP.
Pulse Input
STF Configurator
SR
Field Bus
DC Input
STF
Software Features
With Controller
ST
AC Input
• Built-in Q programmer
• Motion testing and monitoring
DC Input
About this software
2-Phase
The STF Configurator software makes setting up, configuring and
programming. All motor, I/O and motion control parameters are
Stepper Motor
available to the user through an intuitive interface. It also includes

a built-in Q Programmer so you can switch context quickly and 3-Phase
easily.
UL
System Requirements
Power Supplies

Accessories
Windows XP.
Cables
FREE DOWNLOAD
FREE
Software

Appendix
DOWNLOAD
WNL
Glossary
169
Software
RS-485 Bus Utility
Software Features
Integrated
Efficient

TSM

Integrated

SSM
Step-Servo
Integrated

TXM
IP65

Motor & Drive
RS

Motor & Drive
SS
About this software:

Pulse Input

STM-R

STM
SWM
IP65

Pulse Input
SRAC
commands.
AC Input
With Controller
STAC
System Requirements

Pulse Input
Windows XP.
SR
Field Bus
DC Input
STF
CANopen Test Tool

With Controller
ST
Software Features
AC Input

DC Input

2-Phase
System Requirements
Stepper Motor
3-Phase

Windows XP.
UL
Power Supplies
Accessories
Cables
FREE DOWNLOAD
Software

Appendix
DOWNLOAD
WNL
Glossary
170
AC Input Step Motor Drive-SRAC Series
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
SRAC Series
The SRAC series are compact, powerful, digital stepper drives  Advanced Current Control
Motor & Drive

SS
feature advanced microstepping performance and sophisticated  Anti-Resonance
current control.All drive setup is done via dip or rotary switches.  Torque Ripple Smoothing
Pulse Input
STM-R
The SRAC provides enhanced high-speed characteristics  Microstep Emulation

compared with a DC input driver.

STM
Features
SWM
IP65
Pulse Input
SRAC
The SRAC drives automatically calculates the system’s natural frequency
AC Input
and applies damping to the control algorithm. This greatly improves midrange
With Controller
stability, allows for higher speeds, greater torque utilization and also improves
STAC
settling times.
Pulse Input
SR
Field Bus
DC Input
STF
With Controller
ST
AC Input
Synthesized
DC Input
2-Phase
Stepper Motor

Delivers smoother motion at lower speeds 3-Phase
UL

Power Supplies

Accessories
Cables

Software

Appendix
Glossary
information to optimize the system performance.
171
Integrated
Efficient
TSM
LED
Power supply Motor selection switch

Single-phase 85-265VAC
Integrated
SSM
N L
Earth
Step-Servo
Integrated
Molded-case
TXM
IP65
circuit breaker PLC

Surge Protector (MCCB) Motion control card
(Function: Absorb the (Function: Protects Pulse generator
surge voltage from the the power supply
line by shutting the
Motor & Drive
power supply line)

circuit OFF when
RS
over current is
detected )
Motor & Drive
Earth
SS
Pulse Input
STM-R
Step Motor
Earth
Noise filter
STM
(Function: Used to eliminate external

noise from the power line ) L N
Power Connector
SWM
IP65
Pulse Input
SRAC
Numbering System
AC Input
With Controller
STAC
SRAC - 2
Pulse Input
SR
Series Max. Current

Field Bus
2=2.5A
DC Input
STF
4=4.0A
8=8.0A
With Controller
ST
AC Input
Model Current Input Voltage Microstep Selection Current Selection

SRAC2 0.6-2.5A 80-265VAC 16 8
DC Input
SRAC4 0.4-4.0A 80-265VAC 16 16

SRAC8 0.4-8.0A 80-265VAC 16 16
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
172
Specification
Speed Range Up to 3000RPM
Operating Temperature 0 - 40°C
Integrated
Efficient
TSM
Ambient Humidity 90% or less(non-condensing)
Vibration Resistance 5.9m/s² maximum
Integrated
Storage Temperature -10 - 70°C
SSM
Heat Sinking Method Natural cooling or fan-forced cooling
Atmosphere Avoid dust, oily mist and corrosive air
Step-Servo
Integrated
TXM
SRAC2: Approx. 0.8Kg
IP65
Mass
SRAC4/SRAC8: Approx. 1.2Kg
Motor & Drive

Certification RoHS, CE (EMC): EN 61800-3:2004, CE(LVD): EN61800-5-1:2007
RS
Features
Automatic idle current reduction to reduce heat after motor stops moving for 1 second
Idle Current
Motor & Drive

Dip switch selectable, 4 selection 25%,50%,70%,90% for SRAC4/8, 2 selection 50%,90% for SRAC2
SS
Raises the system-damping ratio to eliminate midrange instability and allow stable operation throughout the speed range of the motor, dip
Anti-Resonance
switch selectable load inertia
Pulse Input
Control Mode Dip switch selectable Step&Dir or CW/CCW Pulse
STM-R
Inupt Signal Filter Digital filters prevent position error from electrical noise on command signals, Dip switch selectable 2MHz or 150KHz
Microstep Emulation Switch selectable microstep emulation provides smoother, more reliable motion

STM
Motor Database Rotary switch easily selects from many popular motors
Self Test Switch selectable automatic self test, while self test, drive will rotate the motor back and forth, two turns in each direction.
Protection Over voltage, under voltage, over temperature, over current, open motor winding
SWM
IP65
Fault Output Optically isolated,30VDC max, 100MA max
Pulse Input
SRAC
SRAC2 SRAC4/8
AC Input
With Controller
STAC
Parameter Min. Typ. Max. Units Parameter Min. Typ. Max. Units 单位
Power Supply Power Supply

80 - 265 VAC 80 - 265 VAC
Output Current (Peak) 0.6 - 2.5 Amps Output Current SRAC4 0.4 - 4 Amps
Pulse Input
(Peak)
SR
Cost current of digital input SRAC8 0.4 - 8 Amps
6 10 15 mA
signal
Cost current of digital input
Step Signal Frequency 2 - 2M Hz signal 6 10 15 mA
Field Bus
DC Input
STEP minimum pulse width Step Signal Frequency
STF
250 - - ns 2 - 2M Hz
DIR minimum pulse width 80 - - us STEP minimum pulse width 250 - - ns
With Controller
Under Voltage Protection - 75*/135* - VAC DIR minimum pulse width 80 - - us
ST
Over Voltage Protection - 145*/295* - VAC Under Voltage Protection - 80 - VAC
Input Signal Voltage 4 - 28 VDC Over Voltage Protection - 295 - VAC
AC Input
Initialization time - - 2.5 S Input Signal Voltage 4 - 28 VDC
OUT maximum output current - - 100 mA Initialization time - - 2.5 S
OUT maximum voltage - - 30 VDC OUT maximum output current - - 100 mA
DC Input
*Note: When the AC input switch is selected on 115V, under voltage protection point is OUT maximum voltage - - 30 VDC
75VAC, over voltage protection point is 145VAC. When the input switch is selected on
230V status, under voltage protection point is 135VAC, over voltage protection point is
295VAC.
2-Phase
Recommended Motors Stepper Motor
3-Phase
Holding Current Resistance
Rotor Motor
Step Length“L”
Model Shaft Wiring Leads Torque (A/Phase) Inertia Mass Dielectric
(Ω/Phase)
angle Strength
mm N·m Series Parallel Series Parallel g·cm2 Kg
UL
AM23HS2459-01 Single Shaft 54 1.1 - 16.6 - 260 0.6

AM23HS3466-01 Single Shaft A 4 76 1.8 1 - 25.4 - 460 1
Power Supplies
AM24HS5411-01N Single Shaft 85 2.5 - 15.4 - 900 1.4

Accessories
AM34HD0802-01 Single Shaft

66.5 3 3.4 0.9 1100 1.6
AM34HD0802-02 Double Shaft
1500VAC
Cables
AM34HD4802-01 Single Shaft 1.8° 75 3.5 3.6 0.9 1350 1.9

1 minute
C 8 96 5 1.8 3.6 3.6 0.9 1850 2.7
Software
AM34HD6801-01 Single Shaft 115 6.5 4 1 2400 3.5

Appendix

125.5 7.1 4.2 1 2750 3.8
Glossary

* Wiring Diagram A, C See Page 219
173
Torque Curves
AM23HS2459 1A(Peak)@ 220V

AM23HS3466 AM24HS5411 1A(Peak)@ 220V
1A(Peak)@ 220V
Microstep͹10000 steps/rev Microstep͹10000 steps/rev Microstep͹10000 steps/rev
1.5 2 2.5
Integrated
1.2 1.6 2
Efficient
TSM
Torque ( N m)
Torque ( N m)
Torque ( N m)
. . .
0.9 1.2 1.5
0.6 0.8 1
Integrated
0.3 0.4 0.5

SSM
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Step-Servo
Speed(rps)
Integrated
TXM
IP65
AM34HD0802 AM34HD4802 AM34HD1802 1.8A(Peak)@ 220V

1.8A(Peak)@ 220V 1.8A(Peak)@ 220V
3.0 3.5 6.0
Motor & Drive
2.5 3.0 5.0

RS
T o rq u e ( N m )
2.5 .
T o rq u e ( N m )
T o rq u e ( N m )
. 2.0 . 4.0
2.0
1.5 3.0
1.5
Motor & Drive
1.0 1.0 2.0

SS
0.5 1.5 1.0

0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Pulse Input
STM-R
Speed(rps)
AM34HD6801 1.8A(Peak)@ 220V

AM34HD2805 1.8A(Peak)@ 220V
Microstep͹25000 steps/rev Microstep͹25000 steps/rev
6.0 7.0
STM
5.0 6.0
5.0
T o rq u e ( N m )
. 4.0
T o rq u e ( N m )
.
4.0
3.0
3.0
SWM
IP65
2.0
2.0
1.0 1.0
0 0
Pulse Input
0 10 20 30 40 50 0 10 20 30 40 50
SRAC
AC Input
With Controller
STAC
Dimensions(Unit:mm)
Pulse Input
SR
◇ SRAC2 ◇ SRAC4/8
Field Bus
54
DC Input
STF
110 47.5 120.5 10.5

10.5
Status
4.5 SRAC
With Controller
STEP MOTOR DRIVE RoHS

SRAC Motor Select
STEP MOTOR DRIVE RoHS Serial No Part No

ST
Motor Select
OUT - OUT -
Serial No Part No Microstep Table Current Table
OUT+
OUT+ MSTEP SW1 SW2 SW3 SW4 Current SW5 SW6 SW7 SW8
EN - 200 ON ON ON ON 0.4A ON ON ON ON
EN - EN+ 400 OFF ON ON ON 0.6A OFF ON ON ON
IN/OUT
EN+ OUT - Microstep Table Current Table 800 ON OFF ON ON 0.9A ON OFF ON ON
DIR - 1600 OFF
OUT+ MSTEP SW1 SW2 SW3 SW4 Current SW5 SW6 SW7 OFF ON ON 1.2A OFF OFF ON ON
DIR - 200 ON ON ON ON 0.4A ON ON ON
DIR + 3200 ON ON OFF ON 1.5A ON ON OFF ON
DIR+ EN - 400 OFF ON ON ON 0.8A OFF ON ON STEP - 6400 OFF ON OFF ON 2.0A OFF ON OFF ON
EN + STEP+ 12800 ON OFF OFF ON 2.5A ON OFF OFF ON
STEP - 800 ON OFF ON ON 1.2A ON OFF ON
25600 OFF OFF OFF ON 3.0A OFF OFF OFF ON
STEP+ DIR - 1600 OFF OFF ON ON 1.5A OFF OFF ON
SW16 1000 ON ON ON OFF 3.5A ON ON ON OFF
3200 ON ON OFF ON 1.8A ON ON OFF

DIR + SW15 2000 OFF ON
130.7
ON OFF 4.0A OFF ON ON OFF

AC Input
6400 OFF ON OFF ON 2.0A OFF ON OFF SW14

177
162
4000 ON OFF ON OFF 4.5A ON OFF ON OFF
STEP - 12800 ON OFF OFF ON 2.2A ON OFF OFF SW13 5000 OFF OFF
SW12 25600 OFF OFF OFF ON 2.5A OFF OFF OFF SW12 ON OFF 5.2A OFF OFF ON OFF
SW11 STEP + SW11 8000 ON ON OFF OFF 5.9A ON ON OFF OFF
1000 ON ON ON OFF SW10 10000 OFF ON
SW10 SW8 Idle Current
OFF OFF 6.6A OFF ON OFF OFF
SW9 SW12 2000 OFF ON ON OFF
ON 50% Current
SW9 20000 ON OFF OFF OFF 7.3A ON OFF OFF OFF
SW11 4000 ON OFF ON OFF OFF 90% Current SW8
25000 OFF OFF OFF OFF 8.0A OFF OFF OFF OFF
SW8 SW10 5000 OFF OFF ON OFF SW7
141
SW7
SW
SW9 Step Noise Filter

SW9 8000 ON ON OFF OFF SW6 Idle Current Anti Resonance
SW6 10000 OFF ON OFF OFF
ON 150KHz
2MHz
SW5 Idle SW9 SW10 Option SW11 SW12 Inertia
SW5 SW8 OFF
SW4 25% ON ON 0 ON ON Low
20000 ON OFF OFF OFF SW3
SW4 SW7 SW10 Load Inertia 50% OFF ON 1 OFF ON
SW3 SW6 25000 OFF OFF OFF OFF ON Low SW2 70% ON OFF
SW1 2 ON OFF
SW2 SW5 OFF High
90% OFF OFF 3 OFF OFF High
SW4 GR=Green
SW1 LED Codes RD=Red SW11 Smoothing Filter
B - SW13 Step Input Mode SW14 Step Input Signal Filter
SW3 ON Enable ON CW/CCW ON 150K
B- SW2 MOTOR DISABLED SOLID GREEN OFF Disable B+ OFF Step/Dir OFF 2M
SW1 MOTOR ENABLED GR - GR - GR SW15 Smoothing Filter SW16 Self Test
SW12 Self Test
MOTOR
A -
DC Input
B+ ON Enable ON Enable
OVER TEMPERATURE 1GR + 3RD ON Enable
B- OFF Disable OFF Disable
A-
SUPPLY VOLTAGE HIGH 1GR + 4RD OFF Disable
A+ GR=Green
B+ OVER CURRENT 1GR + 5RD LED Codes RD=Red
A+ OPEN MOTOR PHASE 1GR + 6RD
MOTOR DISABLED SOLID GREEN
A- INTERNAL VOLTAGE BAD 2GR + 3RD MOTOR ENABLED GR - GR - GR
SUPPLY VOLTAGE LOW 2GR + 4RD OVER TEMPERATURE 1GR + 3RD
N A+ EXCESS REGEN 2GR + 5RD
N SUPPLY VOLTAGE HIGH 1GR + 4RD
LINE
L OVER CURRENT 1GR + 5RD

N AC input voltage must be selected OPEN MOTOR PHASE 1GR + 6RD
L by switch . Check input voltage INTERNAL VOLTAGE BAD 2GR + 3RD
avoiding damage before power on ! SUPPLY VOLTAGE LOW 2GR + 4RD
L WARNING
EXCESS REGEN
Made in China 2GR + 5RD
Made in China
Unit:mm 4.5 4.5

2-Phase
Unit:mm
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
174
Connection and Operation(SRAC2) ◇ Digital I/0 Circuit and Sample Connection
◇ Wiring Diagram User Control SRAC IO
1 STEP+
Integrated
2 STEP-
Efficient
LED
TSM
3 DIR+
Motror selection switch
4 DIR-
OUT-
5 EN+
Integrated
Power supply OUT+
SSM
Single-phase 85-265VAC EN-
6 EN-
I/O Connector EN+
Earth DIR-
DIR+ 0VDC
Step-Servo
STEP- Under 30V
Integrated
Surge Protector STEP+
(Function: Absorb the surge voltage
TXM
IP65
from the power supply line)
SW12
SW11 7 OUT+
SW10
SW9
8 OUT-
Selection switches
SW8
Motor & Drive

SW7
0VDC
SW6
SW5
RS
Molded-case SW4
circuit breaker SW3
(MCCB) SW2
(Function: Protects the power supply SW1
line by shutting the circuit OFF when B-

over current is detected )
Motor connector B+
Motor & Drive

A-
SS
A+
User Control SRAC IO
5-24VDC
1 STEP+
Noise filter
Pulse Input
STM-R
noise from the power line ) 2 STEP-

Earth 3 DIR+
4 DIR-

STM
5 EN+
Connecting the power supply 6 EN-
Use the supplied connector to connect to the AC supply
SWM
IP65
according to the diagram below. Use 16 AWG wire for Line (L) 0VDC
and Neutral (N). Use 14 AWG for Earth Ground (G).

Under 30V
Pulse Input
SRAC
7 OUT+
AC input voltage must be selected by switch. Check 8 OUT-
AC Input
input voltage avoiding damage before power on! 0VDC
With Controller
STAC
Pulse Input
80VAC<Input AC Voltage<135VAC: set the switch on 115V Input (output) "ON" indicates that the current is sent
SR
Status into the photocoupler (transistor) inside the driver. Input
135VAC<Input AC Voltage<265VAC: set the switch on 230V (output) "OFF" indicates that the current is not sent into the
Field Bus
Status
DC Input
STF
remains "OFF" if nothing is connected.
The SRAC2 contains an internal 10A fast acting fuse.
With Controller
ST
Neutral (white) 24 for the control input/output signal line, and keep wiring
Line-hot (black) as short as possible
AC Input
Earth (green) and power lines
DC Input
Care should always be taken when working with high Pulse Input Mode
voltages.
Pulse & Direction
Connecting to motor
2-Phase
OFF, the motor will rotate by one step in CW direction. Stepper Motor
A-4-LEADS BIPOLAR MOTOR B-6-LEADS SERIES CONNECTED C-6-LEAD CENTER TAP CONNECTED When the Pulse input is turned ON while the DIR input is
ON, the motor will rotate by one step in CCW direction.
3-Phase
Black A+ Black A+ Black A+
4 LEAD 6 LEAD 6 LEAD

MOTOR Yellow NC MOTOR Yellow A- MOTOR
Green A-
Green A- Green NC Pulse & Direction

Pulse Input High
Red B+
(PLS)
Low
UL
Blue B- Red White Blue Red White Blue

D-8-LEADS PARALLEL CONNECTED E-8-LEADS SERIES CONNECTED (DIR.)
Power Supplies
White White A+
Accessories
8 LEAD
Green Brown
Green MOTOR CW&Direction
8 LEAD
CW & CCW Pulses

MOTOR Yellow C
Brown
C
Yellow Gray B+
When CW input received a falling edge pulse (High to Low),

Cables
Blue Pink
Gray
Red Blue
Pink
D
RED
CCW input Low (or floating), motor rotates one step in CW
direction.
When driving 8 leads motor, using series connection when When CCW input received a falling edge pulse (High to
Software
input voltage is 220VAC, using parallel connection when Low), CW input Low (or floating), motor rotates one step in
Appendix
input voltage is 110VAC. CCW direction.

Glossary
CW/CCW Pulse
High
CW Pulse Low
High
CCW Pulse
Low

CW&Direction
175
Sample Connection ◇ Fault Output

The FAULT Output is optically isolated. The maximum
+5V to +24V out DIR+ collector current is 100mA, and the maximum collector to
Indexer DIR DIR- emitter voltage is 30 volts. The output can be wired to sink or
with
sinking
SRAC source current.
STEP+
Integrated
Efficient
outputs
TSM
When drive is working normally, the output is open.

STEP STEP-
When the drive encounters an error, the output closes.
Connecting to indexer with sinking outputs
Sample Connection
Integrated
SSM
DIR DIR+
Indexer 5～24V
Step-Servo
COM DIR-
Integrated
with Power Supply

TXM
SRAC
IP65
sourcing
outputs STEP STEP+ + -
STEP- OUT+ Load
Motor & Drive
SRAC
RS
Connecting to indexer with sourcing outputs OUT-
Connecting a sinking output

Motor & Drive
DIR+ DIR+
SS
Indexer
with DIR- DIR- 5～24V
differential SRAC Power Supply
outputs STEP+ STEP+
Pulse Input
STM-R
+ -
STEP- STEP-
OUT+ COM PLC

Connecting to indexer with differential outputs SRAC
OUT- IN
◇ EN Input
STM
The EN input enables or disables the drive amplifier. When Connecting a souring output
EN input is ON the drive amplifier is deactivated. All the

SWM
MOSFETs will shut down, and the motor will be free. When
IP65
5～24V
EN input is OFF, the drive is activated. Power Supply
A falling signal into the EN input will reset the error status
Pulse Input
+ -
SRAC
and activate the drive amplifier again. OUT+ COM

AC Input
SRAC
Sample Connection PLC
OUT-
With Controller
IN
STAC
+ EN+ Connecting PLC souring output

5～24V
Pulse Input
Power Supply Switch Relay SRAC

SR
(closed=logic low) 5～24V

Power Supply
- EN- relay
+ -
Field Bus
DC Input
Connecting the input to a switch or relay

STF
OUT+
SRAC
5～24V 1N4935 suppression diode
OUT-
With Controller
Power Supply
ST
- + Driving a relay
OUT+
Indexer EN+
with
SRAC
Switch Selecting
sinking
AC Input
outputs OUT- EN-

Many of the operational parameters of the SRAC2 can be set
Connecting the input to sinking outputs
or changed by position switches - either by a single switch or
DC Input
a combination of ON/OFF settings of 2 or more switches.

5～24V
Power Supply SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8
+ -
2-Phase
Microstepping Running Current Idle Current

Indexer OUT+
EN+ SW9 SW10 SW11 SW12
with
SRAC
Stepper Motor
sourcing
Anti Resonance Self Test
outputs OUT- EN-
3-Phase
Step Input Signal Filter Smoothing Filter
Connecting the input to sourcing outputs

◇ Microstepping
The microstep resolution is set by the SW1, SW2, SW3 and
UL
SW4 switches. There are 16 settings.

Power Supplies
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
Accessories
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
Cables
1 2 3 4
SW1
SW2
SW3 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
Software
SW4
Appendix
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
Glossary
176
◇ Running Current Motor Selection
The output current of the SRAC2 Step Drive is set by the
Each position of the 16-bit rotary switch selects a different
SW5, SW6, and SW7 switches and can be changed as
motor, and automatically sets the configuration parameters
necessary. There are 8 settings available according to the
in the drive. The SRAC2 drive comes programmed with
ON/OFF combination of the switches.
up to 16 typical motors as factory defaults. Drives can be
Integrated
Efficient
TSM
customized with specially selected motors when required.
5 6 7 5 6 7 8 5 6 7 8 5 6 7 8 5 6 7 8
0.6A 0.8A 1.0A 1.2A Switch Motor Current
SW5
Integrated
Motor Wiring
SSM
SW6 Bit Peak(A)
SW7
5 6 7 8 5 6 7 8 5 6 7 8 5 6 7 8
0 Reserved None
1.6A 1.8A 2.0A 2.5A
Step-Servo
1 Reserved
Integrated
None
◇ Idle Current
TXM
IP65
2 Reserved None
The running current of the SRAC2 drive is automatically 3 Reserved None
reduced whenever the motor hasn’t moved for 1 second.
Motor & Drive

Setting the SW8 switch to ON reduces the current to 50% 4 Reserved None
RS
of its running value. Setting this switch to OFF maintains 5 Reserved None
90% of the running current. This 90% setting is useful when 6 Reserved None
Motor & Drive

a high holding torque is required. To minimize motor and
SS
7 AM23HS2459 1
drive heating it is highly recommended that the idle current
reduction feature be set to 50% unless the application 8 AM23HS3466 1
Pulse Input
requires the higher setting. 9 AM24HS5411
STM-R
1

A AM34HD0802 Series Connected 1.8
◇ Digital Input Filter B AM34HD1802 Series Connected 1.8

Switch SW9 sets the digital signal filter. Setting switch to
STM
C AM34HD2805 Series Connected 1.8
“OFF” will select high frequency 2MHz, and setting switch to
D AM34HD4802 Series Connected 1.8
“ON” will select low frequency 150 KHz.
E AM34HD6801 Series Connected
Note: The setting will take effect after recycle the power. 1.8
SWM
IP65
F Motor_SRAC2 1.8
◇ Anti Resonance
Pulse Input
SRAC
The SW10 switches select the load inertia. SW10 ON selects
Note: The setting will take effect after recycle the power.
AC Input
low load inertia as well as SW10 OFF selects high load
inertia.
With Controller
STAC
◇ Command Signal Smoothing LED Error Codes
Pulse Input
Command signal smoothing can soften the effect of Code Error
SR
immediate changes in velocity and direction, making the Solid green Motor disabled
motion of the motor less jerky. An added advantage is that
Flashing green Motor enabled
it can reduce the wear on mechanical components. SW11
Field Bus
DC Input
STF
selects this function - ON enables it, OFF disables it. 3 red, 1 green Over temperature
This function can cause a small delay in following the control 3 red, 2 green Bad internal voltage
signal, and it should be used with that in mind.
With Controller
4 red, 1 green Over voltage
ST
Note: The setting will take effect after recycle the power. 4 red, 2 green Under voltage
5 red, 1 green Over current/short circuit
◇ Self Test
AC Input
5 red, 2 green Excess Regen
Setting switch SW12 to ON after the drive is powered up will 6 red, 1 green Open motor winding
cause the drive to perform a self test rotate the motor back
DC Input
and forth, two turns in each direction, setting switch SW12 to
OFF will disable this feature.
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
177
Connection and Operation(SRAC4/8) ◇ Digital I/0 Circuit and Sample Connection

◇ Wiring Diagram
User Control SRAC IO
1 STEP+
Integrated
Efficient
2 STEP-
TSM
3 DIR+
LED
4 DIR-
Power supply Motor selection switch
Single-phase 85-265VAC
Integrated
5 EN+
SSM
N L
6 EN-
Earth
Molded-case
circuit breaker PLC 0VDC
(MCCB)
Step-Servo
Surge Protector Motion control card

Integrated
(Function: Absorb the (Function: Protects Pulse generator Under 30V

surge voltage from the the power supply
TXM
line by shutting the

IP65
power supply line)

circuit OFF when
over current is
detected )
7 OUT+
8 OUT-
Earth
Motor & Drive
0VDC
RS
Step Motor

Motor & Drive
Earth
Noise filter
SS
noise from the power line ) L N
Power Connector User Control SRAC IO

5-24VDC
1 STEP+
Pulse Input
STM-R
2 STEP-
Connecting the power supply 3 DIR+

4 DIR-
STM
Use the supplied connector to connect to the AC supply

according to the diagram below. Use 16 AWG wire for Line (L)
5 EN+
6 EN-
and Neutral (N). Use 14 AWG for Earth Ground (G).
SWM
IP65
Care should always be taken when working with high 0VDC
voltages. Under 30V

Pulse Input
SRAC
In regions where the single-phase supply is higher, an auto 7 OUT+
transformer can be used to drop the voltage to the correct

AC Input
8 OUT-
level. 0VDC
With Controller
STAC
Earth Ground (green)

Neutral (white) ◇ Description of Input/Output Signals
Pulse Input
Line - hot (black) Input (output) "ON" indicates that the current is sent
SR

The SRAC8 contains an internal 10A fast acting fuse. (output) "OFF" indicates that the current is not sent into the
Field Bus
DC Input

STF
Connecting to motor remains "OFF" if nothing is connected.

With Controller

ST
A-4-LEADS BIPOLAR MOTOR B-6-LEADS SERIES CONNECTED C-6-LEAD CENTER TAP CONNECTED
Black A+
4 LEAD
Black A+
6 LEAD
Black A+
6 LEAD
MOTOR MOTOR
Yellow NC Yellow A- MOTOR
AC Input
Green A-
Green A- Green NC
Red B+ Provide safty distance between the control I/O signal lines
and power lines
DC Input
D-8-LEADS PARALLEL CONNECTED

White
E-8-LEADS SERIES CONNECTED
White A+
Pulse Input Mode
Green Brown 8 LEAD
Pulse & Direction

Green MOTOR
8 LEAD
2-Phase
MOTOR Yellow C
Brown

C
Yellow Gray B+
OFF, the motor will rotate by one step in CW direction.

Blue Pink
Stepper Motor
Gray
Red Blue
Pink RED
D

3-Phase
When driving 8 leads motor, using series connection when ON, the motor will rotate by one step in CCW direction.
input voltage is 220VAC, using parallel connection when Pulse & Direction
input voltage is 110VAC. Pulse Input High
UL
(PLS)
Low
Rotate&Direction
Power Supplies
Low High
(DIR.)
Accessories

CW&Direction
Cables
Software
Appendix
Glossary
178
CW & CCW Pulses ◇ Fault Output
When CW input received a falling edge pulse (High to Low), The FAULT Output is optically isolated. The maximum
CCW input Low (or floating), motor rotates one step in CW collector current is 100mA, and the maximum collector to
direction. emitter voltage is 30 volts. The output can be wired to sink or
When CCW input received a falling edge pulse (High to source current.
Integrated
Efficient
Low), CW input Low (or floating), motor rotates one step in When drive is working normally, the output is open.
TSM
CCW direction. When the drive encounters an error, the output closes.
Sample Connection
Integrated
CW/CCW Pulse
SSM
High
CW Pulse Low
High 5～24V
Step-Servo
CCW Pulse
Integrated
Low Power Supply
TXM
IP65
+ -
CW&Direction
OUT+ Load
Motor & Drive

SRAC
RS
Sample connection OUT-
Motor & Drive

+5V to +24V out DIR+
SS
Indexer 5～24V
DIR DIR- Power Supply
with SRAC
sinking
Pulse Input
STEP+
STM-R
outputs + -

STEP STEP- OUT+ COM PLC
SRAC

Connecting to indexer with sinking outputs
OUT- IN
STM
DIR DIR+ Connecting a souring output
Indexer
with COM DIR-
SWM
sourcing SRAC
IP65
STEP STEP+ 5～24V
outputs Power Supply
STEP-
Pulse Input
+ -
SRAC
Connecting to indexer with sourcing outputs OUT+ COM
AC Input
SRAC
PLC
With Controller
DIR+ DIR+ OUT-
IN
STAC
Indexer
with DIR- DIR-

SRAC Connecting PLC souring output
differential
outputs STEP+ STEP+
Pulse Input
STEP- STEP-
SR
5～24V
Power Supply
relay
Connecting to indexer with differential outputs
+ -
Field Bus
DC Input
◇ EN Input
STF
OUT+
SRAC
The EN input enables or disables the drive amplifier. When 1N4935 suppression diode
EN input is ON the drive amplifier is deactivated. All the OUT-
With Controller
ST
Driving a relay
EN input is OFF, the drive is activated.
A falling signal into the EN input will reset the error status Switch Selecting
AC Input
and activate the drive amplifier again.
Many of the operational parameters of the SRAC4/8 can
Sample Connection be set or changed by position switches - either by a single
DC Input
switch or a combination of ON/OFF settings of 2 or more
switches.
+ EN+
2-Phase
5～24V SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8
Power Supply Switch Relay SRAC
(closed=logic low)
Microstepping Running Current Stepper Motor
- EN- SW9 SW10 SW11 SW12 SW13 SW14 SW15 SW16
3-Phase
Connecting the input to a switch or relay Idle Current Anti Resonance Step Input Mode Smoothing Filter
Step Input Signal Filter Self Test

5～24V
Power Supply
UL
- + ◇ Micostepping
OUT+ The microstep resolution is set by the SW1, SW2, SW3 and
Indexer EN+
Power Supplies
with
sinking
SRAC SW4 switches. There are 16 settings.
Accessories
outputs OUT- EN-
Connecting the input to sinking outputs 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4

Cables
5～24V
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
Power Supply 1 2 3 4
Software
+ - SW1
SW2
Appendix
Indexer OUT+ 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
EN+ SW3
with SW4
sourcing SRAC
Glossary
outputs OUT- EN-

1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
179
◇ Running Current ◇ Digital Input Filter

The output current of the SRAC4/8 Step Drive is set by the Switch SW14 sets the digital signal filter. Setting switch to
SW5, SW6, SW7 and SW8 switches and can be changed as “OFF” will select high frequency 2MHz, and setting switch to
necessary. There are 8 settings available according to the “ON” will select low frequency 150 KHz.
ON/OFF combination of the switches Note: The setting will take effect after recycle the power.
Integrated
Efficient
TSM
SRAC4 ◇ Command Signal Smoothing

5 6 7 8 5 6 7 8 5 6 7 8 5 6 7 8 Command signal smoothing can soften the effect of
Integrated
0.4A 0.8A 1.2A 1.6A

immediate changes in velocity and direction, making the
SSM

5 6 7 8 5 6 7 8 5 6 7 8 5 6 7 8
5 6 7 8 it can reduce the wear on mechanical components. SW15
Step-Servo
1.8A 2.0A 2.2A 2.4A

Integrated
SW5 selects this function - ON enables it, OFF disables it.

TXM
IP65
SW6
SW7 5 6 7 8 5 6 7 8 5 6 7 8 5 6 7 8 This function can cause a small delay in following the control
SW8 2.6A 2.8A 3.0A 3.2A
Motor & Drive
5 6 7 8 5 6 7 8 5 6 7 8 5 6 7 8 Note: The setting will take effect after recycle the power
RS
3.4A 3.6A 3.8A 4.0A
◇ Self Test
Motor & Drive
SRAC8 Setting switch SW16 to ON after the drive is powered up will

SS
5 6 7 8 5 6 7 8 5 6 7 8 5 6 7 8 cause the drive to perform a self test rotary the motor back
0.4A 0.6A 0.9A 1.2A
Pulse Input

STM-R
5 6 7 8 5 6 7 8 5 6 7 8 5 6 7 8
5 6 7 8 1.5A 2.0A 2.5A 3.0A

SW5
SW6 Motor Selection
SW7 5 6 7 8 5 6 7 8 5 6 7 8 5 6 7 8
STM
SW8 3.5A 4.0A 4.5A 5.2A

5 6 7 8 5 6 7 8 5 6 7 8 5 6 7 8 motor, and automatically sets the configuration parameters
5.9A 6.6A 7.3A 8.0A in the drive. The SRAC4/8 drive comes programmed with
SWM
IP65
◇ Idle Current up to 16 typical motors as factory defaults. Drives can be

customized with specially selected motors when required.
The running current of the SRAC4/8 drive is automatically
Pulse Input
reduced whenever the motor hasn’t moved for 1 second. 345

SRAC
67 A
EF 2
Setting the SW9 and SW10 switch to ON reduces the
01
89
AC Input
current to 50% of its running value. Setting this switch to BCD

With Controller
OFF maintains 90% of the running current. This 90% setting

STAC
is useful when a high holding torque is required. To minimize

SRAC4 SRAC8
motor and drive heating it is highly recommended that the Switch
Bit Current Current
idle current reduction feature be set to 50% unless the
Pulse Input
Motor Wiring Motor Wiring

Peak(A) Peak(A)
application requires the higher setting.
SR
0 Series Connected 1.8 Series Connected 1.8

AM34HD0802 AM34HD0802
Idle SW9 SW10 1 Parallel Connected 3.6 Parallel Connected 3.6
Field Bus
DC Input
STF
25% ON ON 2 Series Connected 1.8 Series Connected 1.8

AM34HD1802 AM34HD1802
50% OFF ON 3 Parallel Connected 3.6 Parallel Connected 3.6
With Controller
70% ON OFF 4 Series Connected 1.8 Series Connected 1.8

AM34HD2805 AM34HD2805
ST
90% OFF OFF 5 Parallel Connected 3.6 Parallel Connected 3.6
6 Series Connected 1.8 Series Connected 1.8

◇ Anti Resonance AM34HD4802 AM34HD4802
AC Input
7 Parallel Connected 3.6 Parallel Connected 3.6

The SW11 and SW12 switches select the load inertia. There 8 Series Connected 1.8 Series Connected 1.8
are 4 settings. The inertia selection can help the SRAC8 AM34HD6801 AM34HD6801
drive to calculate the current control parameter. If the load 9 Parallel Connected 3.6 Parallel Connected 3.6
DC Input
inertiais close to that of the motor rotor, the low setting A AM23HS2459 4 Lead Bipolar 1 43HD115 4 Lead Bipolar 6.0
shouldbe selected. If the load inertia is higher than that of B AM23HS3466 4 Lead Bipolar 1 43HD150 4 Lead Bipolar 6.0
the rotor, a proportionally higher setting should be selected.
2-Phase
C AM24HS5411 4 Lead Bipolar 1 43HD165 4 Lead Bipolar 6.5
D Reserved - - 51HD27 4 Lead Bipolar 7.0

Option SW11 SW12 Inertia
Stepper Motor
E Reserved - - 51HD45 4 Lead Bipolar 7.0

0 ON ON
Low
3-Phase
F Reserved - 4.0 StdMotor_119 - 7.0

1 OFF ON
2 ON OFF
High
3 OFF OFF LED Error Codes
UL
◇ Step Input Mode Code Error

Solid green Motor disabled
Power Supplies
Setting SW13 to OFF enables the Step & Direction format,

the ON position enables the CW/CCW format. Flashing green Motor enabled
Accessories
Note: The power must be cycled each time the position of 3 red, 1 green Over temperature
SW13 is changed. 3 red, 2 green Bad internal voltage

Cables

4 red, 2 green Under voltage
Software

Appendix
5 red, 2 green Excess Regen

Glossary
6 red, 1 green Open motor winding
180
AC Input Controller Type Step Motor Drive-STAC Series
Integrated
Efficient
TSM
Integrated
SSM

Step-Servo
Integrated
Compliant
TXM
IP65
STAC5 Series
Motor & Drive

RS
The STAC5 series are compact digital stepper drives with multiple control
options and many sophisticated features. Step motors run smoother and  Advanced Current Control
Motor & Drive

faster than ever with features of advanced current control.
 Anti-Resonance
SS
With mutiple control options, STAC5 series support stand-alone
programming and various bus control as RS-232/485, Ethernet UDP/TCP,  Torque Ripple Smoothing
Pulse Input
CANopen and EtherNet/IP.
STM-R

The STAC5 series also has optional encoder feedback with close loop for
improved system performance and reliability.  Stall Detection and Stall Prevention

The STAC5 provides enhanced high-speed characteristics compared with a
STM
DC input driver.
SWM
Features
IP65
Pulse Input
SRAC
AC Input
The STAC5 drive automatically calculates the system’s natural frequency
With Controller
STAC
and applies damping to the control algorithm. This greatly improves midrange

stability, allows for higher speeds, greater torque utilization and also improves
settling times.
Pulse Input
SR
Field Bus
DC Input
STF
Microstep Emulation
With Controller
1.8° Steps
ST
AC Input
Synthesized
DC Input
2-Phase
motion of the motor. By analyzing this torque ripple the system can apply a Stepper Motor
3-Phase
Delivers smoother motion at lower speeds
UL Power Supplies

Accessories

Cables

Software
Appendix
Glossary

181

information to optimize the system performance
Integrated
Efficient
TSM
Which model is right for your application?

Integrated
SSM
Step & Direction

S
Step-Servo
Integrated
Step & Direction

TXM
IP65
CW & CCW pulse

Pulse&Dir
Master Encoder
Motor & Drive
CW/CCW
A/B Quadrature
RS

Motor & Drive
SS
S
Pulse Input

STM-R
Speed1/Speed2 (Toggle Switch) Software Configuration

Two Speeds

STM
Joystick compatible
SWM
IP65
Host Control
Pulse Input
SRAC
RS-232
AC Input
S Q
With Controller
STAC
C IP
Pulse Input
RS-485/422
SR
Multi-axis capable
Real time control
Field Bus
DC Input
STF
With Controller
ST

AC Input
112
DC Input
2-Phase
RS-232
Stepper Motor
3-Phase

MMI 控制可选
Q
UL
RS-232/485
Ethernet
Power Supplies
Multi-axis capable
Real time control
Accessories
Cables
Software
Appendix
Glossary
182
STAC Lineup with Control Modes
MSSTAC5-S
-S Pulse Input Control

USB-RS232 Converter
RS232 Cable PC/Configuration
Integrated
Efficient
P/N:2001-300
TSM
Main Features PLC,Sensor,I/O

（Not present on RS485 Version )
Integrated
CW/CCW and A/B Quadrature PLC
SSM
Motion control card
Pulse generator
Step-Servo
Integrated
TXM
IP65
Stall Detection&Prevention
(Option) AC
Source
Motor & Drive

RS
Motor & Drive
SS
Pulse Input
STM-R

STM
-Q Built-in programmable motion controller MSSTAC5-Q
(Includes Modbus/RTU type) Configuration
RS232/485 or Ethernet
Run stand-alone with sophisticated and functional
SWM
IP65
PC/Configuration
programs. Commands for controlling motion, inputs & PLC,Sensor,I/O

outputs, drive configuration and status, as well as
Pulse Input
（No present on RS485 Version )
SRAC
PLC,Sensor,I/O
AC Input
Main Features
With Controller
STAC

Math operations Stall Detection&Prevention
(Option)
AC
Source
Pulse Input
SR
Multi-tasking
Field Bus
DC Input
STF
With Controller
ST
AC Input
MSSTAC5-S/Q
DC Input
S/Q with RS-232/RS-485 communication
Controlled via pulse signals, analog signal or MOONS' SCL USB-RS232 Converter
2-Phase
USB-RS485 Converter
PC/Configuration
Host controller
with series port
Main Features Stepper Motor
Pulse control
3-Phase
Analog control PLC,Sensor,I/O
Host real time control using SCL via RS-232/RS-485

UL
Stall Detection&Prevention AC
(Option) Source
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
183
MSSTAC5-S/Q
-S/Q With Ethernet communication
TCP/IP
Controlled via MOONS' SCL streaming commands.
PLC,Sensor,I/O PC
Integrated
Main Features
Efficient
TSM

Integrated
PLC,Sensor,I/O
SSM
Step-Servo
Integrated
TXM
IP65
AC
Stall Detection&Prevention Source
(Option)
Motor & Drive
RS
Motor & Drive
SS
Pulse Input
STM-R

-C With CANopen communication

STM
Operates on a CANopen communication network and

MSSTAC5-C
conforms to CiA301 and CiA402. It supports runing stored
Q programs via MOONS'-specific CANopen objects.
SWM
Configuration
IP65
USB-CAN Converter
P/N: MS-USB-CAN-01
PC
Main Features CANopen Master
Pulse Input
CANopen network
SRAC

AC Input
Objects for Q programming PLC,Sensor,I/O

With Controller
STAC

Pulse Input
Stall Detection&Prevention AC
SR
(Option) Source
Field Bus
DC Input
STF
With Controller
ST

AC Input
-IP With EtherNet/IP communication

Communicate with PLCs and other industrial devices supporting
DC Input
the EtherNet/IP standard. They can also be commanded to

execute stored Q programs. MSSTAC5-S/Q
2-Phase
TCP/IP
PLC,Sensor,I/O PC
Stepper Motor
3-Phase
PLC,Sensor,I/O
UL
Power Supplies
AC
Accessories
Stall Detection&Prevention Source

(Option)
Cables
Software
Appendix
Glossary
184
Numbering System
MSSTAC 5 - S - □ E - 2V
Integrated
Efficient
TSM
Input Voltage
Series
2V = 220VAC
Control Mode
Integrated
SSM
S = Basic Type
Feedback
Q = Q Program Type
(Modbus/RTU Type)
N = None
E = Encoder
Step-Servo
C = CANopen Type
Integrated
IP = EtherNet/IP Type
TXM
IP65
Communication
A = RS-232
Motor & Drive

R = RS-485 (Blank for CANopen or Ethernet)
RS
Motor & Drive

SS
Model Control Current Voltage Encoder RS-232 RS-485 Modbus/RTU CANopen Ethernet EtherNet/IP Expanded I/O
MSSTAC5-S-AN-2V √
Pulse Input
STM-R
MSSTAC5-S-AE-2V √ √

MSSTAC5-S-RN-2V √
S
MSSTAC5-S-RE-2V √ √

STM
MSSTAC5-S-N-2V √
MSSTAC5-S-E-2V √ √
MSSTAC5-Q-AN-2V √ √
SWM
IP65
MSSTAC5-Q-AE-2V √ √ √
0.5-2.55A 94-265VAC
MSSTAC5-Q-RN-2V √ √
Pulse Input
Q
SRAC
MSSTAC5-Q-RE-2V √ √ √
AC Input
MSSTAC5-Q-N-2V √ √
With Controller
MSSTAC5-Q-E-2V √ √ √
STAC
MSSTAC5-C-N-2V √ √

C
MSSTAC5-C-E-2V √ √ √
Pulse Input
MSSTAC5-IP-N-2V √ √ √
SR
IP
MSSTAC5-IP-E-2V √ √ √ √
Field Bus
DC Input
STF
With Controller
ST
Output Current 0.5-2.55A/Phase(peak of sine) in increments of 0.01A
Input Voltage Signal Phase 94-265VAC
AC Input
Protection Over-voltage, under-voltage, over-temp, internal motor shorts (phase-to-phase, phase-to-ground)
Regeneration Built-in regeneration circuit, 10 watts max.
DC Input
Idle Current Automatic idle current reduction to reduce heat after motor stops moving, software selectable current and idle delay
2-Phase
Anti-Resonance
switch selectable load inertia Stepper Motor
Torque Ripple Allows for fine adjustment of phase current waveform harmonic content to reduce low-speed torque ripple
Smoothing in the range of 0.25 to 1.5 rps
3-Phase
Encoder Feedback Optional encoder feedback for stall detection and stall prevention
UL
Ambient Temperature 0 - 40°C when mounted to a suitable heat sink

Power Supplies
Mass Approx. 0.68Kg

Accessories
I/O Specifications
Cables
X1, X2 inputs: Optically isolated, differential, 5-24 VDC, minimum pulse width = 250 ns, maximum pulse frequency = 2 MHz
X3, X4 inputs: Optically isolated, differential, 5-24 VDC
All models Y1, Y2 outputs: Optical darlington, sinking or sourcing, 30 VDC max, 100 mA max
Analog input: Single-ended. Range is software selectable 0-5, +/-5, 0-10, or +/-10 VDC. Software configurable offset, deadband and
Software
filtering. Resolution is 12 bits (+/- 10 volt range), 11 bits (+/-5 or 1-10 volt range) or 10 bits (0-5 volt range).
Appendix
-Q-A models have the same I/O as above plus the following:
IN1, IN2, IN7, IN8 inputs: Optically isolated, differential, 5-24 VDC logic (2.5V switching threshold), 100 usec minimum pulse width,
Glossary
maximum current = 10 mA.

Expanded I/O
IN3-IN6 inputs: Optically isolated, single-ended, shared common.
sinking or sourcing, 12-24 VDC logic, 2200 ohms, maximum current = 10 mA.
OUT1-OUT3 outputs: Optical darlington, single-ended, shared , sinking, 30VDC max, 100 mA max, voltage drop = 1.2V max at 100 mA.
OUT4 output: Optical darlington, sinking or sourcing, 30 VDC max, 100 mA max, voltage drop = 1.2V max at 100 mA.
185
Recommended Motors
Holding Rotor Motor
Length“L” Current Resistance Dielectric
Model Shaft Wiring Leads Torque Inertia Mass
Strength
mm N·m A/Phase Ω/Phase g·cm2 Kg
Integrated
Efficient
AM23HS2459-01 Single Shaft 54 1.1 16.6 260 0.6

TSM
AM23HS3466-01 Single Shaft A 4 76 1.8 1 25.4 460 1.0

AM24HS5411-01N Single Shaft 85 2.5 15.4 900 1.4
Integrated
SSM

AM34HD0802-02 Double Shaft 66.5 3 3.4 1100 1.6
Step-Servo
Integrated
AM34HD0802-E1000D Include Encoder

TXM
IP65
AM34HD4802-01 Single Shaft 75 3.5 3.6 1350 1.9 1500VAC

AM34HD1802-01 Single Shaft 1 minute
Motor & Drive
AM34HD1802-03 Double Shaft C 8 96 5 1.8 3.6 1850 2.7

RS

AM34HD6801-01 Single Shaft 115 6.5 4 2400 3.5
Motor & Drive
SS

AM34HD2805-03 Double Shaft 125.5 7.1 4.2 2750 3.8
Pulse Input
STM-R

* Wiring Diagram A, C See Page 219

MSSTAC5 Torque Curves

STM
AM23HS2459 AM23HS3466 AM24HS5411 1A(Peak)@ 220V

1A(Peak)@ 220V
Microstep͹10000 steps/rev
SWM
1A(Peak)@ 220V
IP65
1.5 2 2.5
1.2 1.6 2
Torque ( N m)
Torque ( N m)
Torque ( N m)
. . .
Pulse Input
0.9 1.2 1.5

SRAC
0.6 0.8 1
AC Input
0.3 0.4 0.5

With Controller
0 0 0
STAC
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps)
Pulse Input
AM34HD0802 AM34HD4802 AM34HD1802 1.8A(Peak)@ 220V

1.8A(Peak)@ 220V 1.8A(Peak)@ 220V
SR
3.0 3.5 6.0

2.5 3.0 T o rq u e ( N m )
5.0
2.5 .
T o rq u e ( N m )
T o rq u e ( N m )
. 2.0 . 4.0
Field Bus
DC Input
2.0
STF
1.5 3.0
1.5
1.0 1.0 2.0
0.5 1.5 1.0
With Controller
0 0 0
ST
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
AM34HD6801 AM34HD2805
AC Input
1.8A(Peak)@ 220V 1.8A(Peak)@ 220V

6.0 7.0
5.0 6.0
5.0
T o rq u e ( N m )
. 4.0
T o rq u e ( N m )
.
DC Input
4.0
3.0
3.0
2.0
2.0
1.0 1.0
2-Phase
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Stepper Motor
3-Phase
Dimensions(Unit:mm)
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
186
◇ RS-232 ◇ RS-485
Integrated
RS485 Address
Efficient
TSM
RS232 Connector Address Display RS232 Connector
• RJ11 • RJ11
DB-25 Connector Rotary Switch Rotary Switch
Integrated
-Q only • RS232 Baud Rate 5 Pin RS485
• RS232/RS485 Baud Rate
SSM
• 8 digital inputs Connector
Status LED Status LED
• 4 digital outputs
H/L RS485 Address - SW3
Internal Terminated Resistor - SW4
Step-Servo
Integrated
TXM
IP65
DB-15 Connector DB-15 Connector
• 4 digital inputs • 4 digital inputs
• 2 digital outputs • 2 digital outputs
• 1 analog input • 1 analog input
HD-15 Connector HD-15 Connector
Motor & Drive

• optional encoder feedback • optional encoder feedback
RS
Motor & Drive
Screw Terminal Screw Terminal
Connector
SS
Connector
• motor • motor
• AC power • AC power
Pulse Input
STM-R
RS232 Version RS485 Version

STM
◇ CANopen ◇ Ethernet
SWM
IP65
Pulse Input
CANopen Bit Rate
SRAC
RS232Connector Ethernet Connector
• RJ11 • RJ45
AC Input
CANopen Connnector
DB-25 Connector
With Controller
Rotary Switch
Rotary Switch -Q/IP only • IP address and/or configuration select
STAC
CANopen Node ID
• RS232 Baud Rate • 8 digital inputs Status LED
Status LED • 4 digital outputs
Pulse Input
DB-15 Connector
SR
DB-15 Connector
• 4 digital inputs • 4 digital inputs
• 2 digital outputs • 2 digital outputs
• 1 analog input • 1 analog input
HD-15 Connector HD-15 Connector
Field Bus
DC Input
• optional encoder feedback • optional encoder feedback
STF
With Controller
Screw Terminal Screw Terminal
Connector
ST
Connector
• motor • motor
• AC power • AC power
AC Input
CANopen Version Ethernet Version
DC Input
Connecting the Power Supply
2-Phase
Use the supplied connector to connect to the AC supply according to the diagram below. Use 16 AWG wire for Stepper Motor
Line (L) and Neutral (N). Use 14 AWG for Earth Ground (G).
3-Phase
Care should always be taken when working with high voltages.
In regions where the single-phase supply is higher, an auto transformer can be used to drop the voltage to the
correct level.
UL
The STAC5 contains an internal 6.3A fast acting fuse. If an external fuse is desired, we recommend a 6 amp fast
Power Supplies
acting fuse.
Accessories
For applications requiring CE EMC compliance, a line filter is required in series with the AC input.
Mating Connector P/N: Weidmuller 1526510000
Cables
Line Filter
Software
For applications requiring CE EMC compliance,

Appendix
a Tyco Electronics Corcom 6ET1 line filter is required

Glossary
in series with the AC input. To Line (Hot)

To Neutral
LINE FILTER
FUSE
SURGE PROTECTOR
To Earth Ground
187
Connecting the Motor Baud Rate set by rotary switch

0 9600
Mating Connector P/N: Weidmuller 1526710000 789 1 19200
AB E
23 6
Four lead motors can only be connected one way.
45
2 38400
CD
F01 3 57600
Black A
Integrated
Efficient
4 4 115200
TSM
Lead
motor 5-F 9600
Green C
◇ Connecting to a Host using RS-485

Integrated
SSM
Red B
SW4 Terminal Resistor Setting
ON: Enable
Step-Servo
Blue D
Integrated
TXM
IP65
4 Lead Motor OFF: Disable
Eight lead motors are recommended to be connected in Mating Connector

Motor & Drive
series connection. P/N: Weidmuller 1792800000

RS
RX+ RX+ RX+ * 120Ω

White A to PC TX+
RX-
to PC TX- RX- RX-
8 TX+ TX+ TX+
Brown to PC RX+
Motor & Drive
Lead TX- TX- TX-

motor to PC RX-
SS
Green
to PC GND GND GND GND
Yellow C
Pulse Input
STM-R
Gray B
Drive #1 Drive #2 Drive #3
Pink
* SW4 ON for 120Ω terminating resistor

STM
Blue
to PC TX+ (B) RX+ RX+ RX+
Red D
RX- RX- * 120Ω RX-
8 Lead Motor to PC TX- (A)
TX+
SWM
TX+ TX+
IP65
TX- TX- TX-

to PC GND
Connecting an Encoder GND GND GND
Pulse Input
SRAC
Encoder B+ (3) (8) GND

12.5K
AC Input
7 inside drive
5K
Do not connect (9) (2) Encoder A- +5V Drive #1 Drive #2 Drive #3

Encoder B- (4) (7) +5VDC 200mA
With Controller
Do not connect (10) (1) Encoder A+ 1 * SW4 ON for 120Ω terminating resistor
STAC
Encoder Z+ (5) (6) Encoder Z- A+

2
RS-485 Address Setting
A-
+5V
HD-15 Connector
8.3K
Address is set by the combination of Rotary switch and Dip

12.5K
Pulse Input
5K
3
B+
switch SW3
SR
Shield (15) (11) Do not connect 4

Do not connect (14) (12) Do not connect B-
+5V
Do not connect (13)
8.3K
SW3 RS-485 Address Setting

345
12.5K
5K
Field Bus
5
DC Input
67 A
EF 2
ON 00—0F
STF
Z+
01
89
6
Z- BCD
8
OFF 10--1F
8.3K
GND
With Controller
ST
Internal Circuit
MSSTAC5 drives are available with optional encoder RS-485 Address Display
feedback for closed loop and provide following features: Rotary Switch
Dip Switch
LED Display
RS-485 Adress
SW3 (in SCL Utility)

AC Input
Stall Detection: Detects the moment the motor has stalled

0 0
and triggers a drive fault.
Position Maintenance: maintains shaft position when the 1 1
DC Input
motor is stopped. 2 2
Stall Prevention: automatically senses rotor lag and avoid stalling.
3 3
Mating Connector
2-Phase
DB-15 male P/N: OUPIIN 7917-15MTBC00A 4 4

Stepper Motor
Shell Kit P/N: OUPIIN DP-09CP 5 5

3-Phase
6 6
Communication Interface
7 7
◇ Connecting to the Host using RS-232 8 8

UL
9 9
Power Supplies
A :
Accessories
B ;
Cables
C <
GND(to PC ground) RX (to PC TX)
D =
TX (to PC RX) NC
Software
E >
Appendix
Connector RJ11 F ?
Glossary
188
Rotary Switch
Dip Switch
LED Display
RS-485 Adress Node ID
SW3 (in SCL Utility)
Each node ID on a CANopen network must have a unique
0 @ Node ID. The Node ID is configured using a sixteen position
1 ! switch SW2 to set the lower four bits of the Node ID while
the upper three bits are configured by using ST Configurator.
Integrated
Efficient
2 “ CANopen Node IDs are seven bits long, with a range of 1 -
TSM
112, or 0x01 - 0x7F in hexadecimal notation. Node ID 0x00
3 #
is reserved in accordance with the CiA 301 specification.
Integrated
4 $
SSM
345
5 %
67 A
EF 2
01
89
Step-Servo
BCD
Integrated
6 &
TXM
IP65
7 ‘
Motor & Drive

8 (
RS
9 )
Setting the Bit Rate
A *
Motor & Drive

The CANopen network bitrate is set by the ten position
SS
B + switch SW1 on the front of the drive. The bit rate must be the
C , same for all nodes on the CANopen network. Any changes to
Pulse Input
STM-R
the bit rate require either a power cycle or a CANopen reset

D -
command to take effect.
E .

Switch Setting Resultant Bit Rate
STM
F / 0 1 Mbps
Baud Rate set by rotary switch 1 800 kbps
SWM
2 500 kbps
IP65
0 9600
1 19200 3 250 kbps
2 38400
Pulse Input
4 125 kbps
SRAC
3 57600
5 50 kbps
4 115200
AC Input
6 20 kbps
5-F 9600
With Controller
7 12.5 kbps
STAC
◇ Connecting to CANopen network
Pulse Input
R termination*
◇ Connecting to PC using Ethernet

120 ohm nominal
SR
1
2
3
4
CAN_L
CAN_GND Mating Connector RJ45
5 CAN_SHLD
Field Bus
Addresses, Subnets, and Ports
DC Input
6
STF
7 CAN_H
8
9
Every device on an Ethernet network must have a unique

IP address. In order for two devices to communicate with
DSUB9 Female
CAN_BUS
With Controller
each other, they must both be connected to the network and
ST
R termination*
120 ohm nominal
they must have IP addresses that are on the same subnet.

CAN_SHLD
CAN_SHLD
CAN_GND
CAN_GND
n*
CAN_H
CAN_H
CAN_L
CAN_L
A subnet is a logical division of a larger network. Members

of one subnet are generally not able to communicate with
AC Input
3
3
4
2
1
2
1
.1” Spacing Spring Plug .1” Spacing Spring Plug members of another unless they are connected through
special network equipment (e.g. router). Subnets are defined
by the choices of IP addresses and subnet masks.
DC Input
R termination: n:
Network must be terminated at each Cable may be made with up to 112 drive If you want to know the IP address and subnet mask of your
end with a 120 ohm resistor. connectors. Termination is only required
at each end. PC, select Start…All Programs…Accessories…Command
Prompt. Then type “ipconfig” and press Enter. You should
2-Phase
see something like
GND
Stepper Motor
CAN_L
3-Phase
SHLD
h
st:i
CAN_H
UL
Mating Connector
Phoenix P/N:1881341
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
189
If your PC’s subnet mask is set to 255.255.255.0, a common Option 1: Connect a Drive to Your Local Area Network
setting known as a Class C subnet mask, then your machine
If you have a spare port on a switch or router and if you are
can only talk to another network device whose IP address
able to set your drive to an IP address that is compatible with
matches yours in the first three octets. (The numbers
your network, and not used by anything else, this is a simple
between the dots in an IP address are called octets.)
way to get connected. This technique also allows you to
For example, if your PC is on a Class C subnet and has
Integrated
connect multiple drives to your PC. If you are on a corporate

Efficient
TSM
an IP address of 192.168.0.20, it can talk to a device at

network, please check with your system administrator before
192.168.0.40, but not one at 192.168.1.40. If you change
connecting anything new to the network. He or she should
your subnet mask to 255.255.0.0 (Class B) you can talk to
be able assign you a suitable address and help you get
Integrated
any device whose first two octets match yours. Be sure to

SSM
going.
ask your system administrator before doing this. You network
may be segmented for a reason.
Step-Servo
NIC PC
Integrated
TXM
IP65
IP Address*
0 10.10.10.10
1 192.168.1.10
Motor & Drive
2 192.168.1.20 SWITCH
RS
3 192.168.1.30 LAN or DRIVE

4 192.168.0.40
5 192.168.0.50 ROUTER
6 192.168.0.60
Motor & Drive
7 192.168.0.70
SS
8 192.168.0.80
9 192.168.0.90 If you are not sure which addresses are already used on
A 192.168.0.100 789 your network, you can find out using “Angry IP scanner”,
AB E
B 192.168.0.110
23 6
which can be downloaded free from http://www.angryip.org/

45
Pulse Input
C 192.168.0.120
CD
STM-R
D 192.168.0.130 w/Download. But be careful: an address might appear to

F01
E 192.168.0.140
F DHCP be unused because a computer or other device is currently
Your drive includes a 16 position rotary switch for setting its turned off. And many networks use dynamic addressing
where a DHCP server assigns addresses “on demand”.The

STM
IP address. The factory default ddress for each switch setting

is shown in the table to the right. address you choose for your drive might get assigned to
something else by the DHCP server at another time.
Settings 1 through E can be changed using the ST
Once you’ve chosen an appropriate IP address for your
SWM
IP65
Configurator software (use ST Configurator for MSSSTAC5

drives). Setting 0 is always “10.10.10.10”, the universal drive, set the rotary switch according the address table
recovery address. If someone were to change the other above. If none of the default addresses are acceptable for
Pulse Input
your network, you can enter a new table of IP addresses

SRAC
settings and not write it down or tell anyone then you will
not be able to communicate with your drive. The only way to using Confi gurator. If your network uses addresses starting
AC Input
“recover” it is to use the universal recovery address. with 192.168.0, the most common subnet, you will want
With Controller
to choose an address from switch settings 4 through E.

STAC
Setting F is “DHCP”, which commands the drive to get an Another common subnet is 192.168.1. If your network uses
IP address from a DHCP server on the network. The IP addresses in this range, the compatible default selections
address automatically assigned by the DHCP server may are 1, 2 and 3. If your PC address is not in one of the above
Pulse Input
be “dynamic” or “static” depending on how the administrator private subnets, you will have to change your subnet mask
SR
has configured DHCP. The DHCP setting is reserved for to 255.255.0.0 in order to talk to your drive. To change your
advanced users. subnet mask:
Field Bus
DC Input
Your PC, or any other device that you use to communicate

STF
1. On Windows XP, right click on “My Network Places” and

with the drive, will also have a unique address. select properties. On Windows 7, click Computer. Scroll
On the drive, switch settings 1 through E use the standard down the left pane until you see “Network”. Right click and
With Controller
class B subnet mask (i.e. “255.255.0.0”). The mask for the select properties. Select “Change adapter settings”
ST
universal recovery address is the standard class A (i.e. 2. You should see an icon for your network interface card
“255.0.0.0”). One of the great features of Ethernet is the (NIC). Right click and select properties.
ability for many applications to share the network at the same
AC Input
time. Ports are used to direct traffic to the right application 3. Scroll down until you see “Internet Properties (TCP/IP)”.
once it gets to the right IP address. The UDP eSCL port in Select this item and click the Properties button. On Windows
our drives is 7775. To send and receive commands using 7 and Vista, look for “(TCP/IPv4)”
DC Input
TCP, use port number 7776. You’ll need to know this when 4. If the option “Obtain an IP address automatically” is
you begin to write your own application. You will also need to selected, your PC is getting an IP address and a subnet
choose an open (unused) port number for your application. mask from the DHCP server. Please cancel this dialog and
2-Phase
Our drive doesn’t care what that is; when the first command proceed to the next section “Using DHCP”.
is sent to the drive, the drive will make note of the IP address 5. If the option “Use the following IP address” is selected, life
Stepper Motor
and port number from which it originated and direct any is good. Change the subnet mask to “255.255.0.0” and click
responses there. The drive will also refuse any traffic from
3-Phase
OK.
other IP addresses that is headed for the eSCL port. The
first application to talk to a drive “owns” the drive. This lock is
only reset when the drive powers down.
UL
If you need help choosing a port number for your application,

you can find a list of commonly used port numbers at http://
Power Supplies
www.iana.org/assignments/port-numbers.
Accessories
One final note: Ethernet communication can use one or

both of two “transport protocols”: UDP and TCP. eSCL
commands can be sent and received using either protocol.
Cables
UDP is simpler and more efficient than TCP, but TCP is more
reliable on large or very busy networks where UDP packets
might occasionally be dropped.
Software
Appendix
Glossary
190
Using DCHP
If you want to use your drive on a network that where all or
most of the devices use dynamic IP addresses supplied by
a DHCP server, set the rotary switch to “F”. When the drive
is connected to the network and powered on, it will obtain
Integrated
an IP address and a subnet mask from the server that is
Efficient
TSM
compatible with your PC. The only catch is that you won’t
know what address the server assigns to your drive. Ethernet
Configurator can find your drive using the Drive Discovery
Integrated
SSM
feature, as long as your network isn’t too large. With the
drive connected to the network and powered on, select Drive
Step-Servo
Discovery from the Drive menu.
Integrated
TXM
IP65
You will see a dialog such as this:
Normally, Drive Discovery will only detect one network
Motor & Drive

interface card (NIC), and will select it automatically. If you
RS
are using a laptop and have both wireless and wired network 5. Select the option “Use the following IP address”. Then
connections, a second NIC may appear. Please select the enter the address “10.10.10.11”. This will give your PC an IP
NIC that you use to connect to the network to which you’ve address that is
Motor & Drive

connected your drive. Then click OK. Drive Discovery will
SS
on the same subnet as the drive. Windows will know to direct
notify you as soon as it has detected a drive.
any traffic intended for the drive’s IP address to this interface
If you think this is the correct drive, click Yes. If you’re
Pulse Input
card.
STM-R
not sure, click Not Sure and Drive Discovery will look for

6. Next, enter the subnet mask as “255.255.255.0”.
additional drives on you network. Once you’ve told Drive
Discovery which drive is yours, it will automatically enter that 7. Be sure to leave “Default gateway” blank. This will prevent

drive’s IP address in the IP address text box so that you are your PC from looking for a router on this subnet.
STM
ready to communicate. 8. Because you are connected directly to the drive, anytime
the drive is not powered on your PC will annoy you with a
small message bubble in the corner of your screen saying
SWM
IP65
“The network cable is unplugged.”
Pulse Input
SRAC
AC Input
With Controller
STAC
Pulse Input
SR
Field Bus
DC Input
STF
With Controller
Option 3: Use Two Network Interface Cards (NICs)
ST
Option 2: Connect a Drive Directly to Your PC This technique allows you to keep your PC connected
It doesn’t get much simpler than this: to your LAN, but keeps the drive off the LAN, preventing
AC Input
possible IP conflicts or excessive traffic.
1. Connect one end of a CAT5 Ethernet cable into the LAN
card (NIC) on your PC and the other into the drive. You don’t 1. If you use a desktop PC and have a spare card slot, install
need a special “crossover cable”; the drive will automatically a second NIC and connect it directly to the drive using a
DC Input
detect the direct connection and make the necessary CAT5 cable. You don’t need a special “crossover cable”;
physical layer changes. the drive will automatically detect the direct connection and
make the necessary physical layer changes.
2. Set the IP address on the drive to “10.10.10.10” by setting
2-Phase
the rotary switch at “0”. 2. If you use a laptop and only connect to your LAN using
wireless networking, you can use the built-in RJ45 Ethernet Stepper Motor
3. To set the IP address of your PC: connection as your second NIC.
3-Phase
a. On Windows XP, right click on “My Network Places” 3. Set the IP address on the drive to “10.10.10.10” by setting
and select properties. the rotary switch at “0”.
b. On Windows 7, click Computer. Scroll down the left 4. To set the IP address of the second NIC:
pane until you see “Network”. Right click and select
UL
properties. Select “Change adapter settings” a. On Windows XP, right click on “My Network Places”
and select properties.
4. You should see an icon for your network interface card
Power Supplies
(NIC). Right click and select properties. b. On Windows 7, click Computer. Scroll down the left
Accessories

a. Scroll down until you see “Internet Properties (TCP/ properties. Select “Change adapter settings”
IP)”. Select this item and click the Properties button.
5. You should see an icon for your newly instated NIC. Right
Cables
b. On Windows 7 and Vista, look for “(TCP/IPv4)” click again and select properties.
a. Scroll down until you see “Internet Properties (TCP/
Software

Appendix
b. On Windows 7 and Vista, look for “(TCP/IPv4)”

Glossary
191
6. Select the option “Use the following IP address”. Then Connecting I/O(DB15 Connector)
enter the address “10.10.10.11”. This will give your PC an IP
address that is on the same subnet as the drive. Windows
will know to direct any traffic intended for the drive’s IP Type Pin No. Assignment Description
address to this interface card. 1 X1/STEP+
Pulse Input/Step
7. Next, enter the subnet mask as “255.255.255.0”. Be sure 2 X1/STEP-
Integrated
Efficient
TSM
to leave “Default gateway” blank. This will prevent your PC 3 X2/DIR+ Pulse Input/
from looking for a router on this subnet. Digital Input
4 X2/DIR- Direction
8. Because you are connected directly to the drive, anytime
Integrated
5 X3/EN+
SSM
the drive is not powered on your PC will annoy you with a Enable Input
6 X3/EN-
Step-Servo
“The network cable is unplugged.” 7 GND Earth Ground

Integrated
TXM
IP65
IN/OUT1 8 +5OUT +5V OUT

9 X4+
Digital Input X4 Input
Motor & Drive
10 X4-
RS
11 Y1/FAULT+
Fault Output
12 Y1/FAULT-
Motor & Drive
Digital Output
13 Y2+
SS
Y2 Digital Output
14 Y2-
Pulse Input
Analog Input 15 ANALOG IN Analog Input

STM-R
Mating Connector
DB-15 male P/N: OUPIIN 7907-15MTBC00A
STM
Shell Kit P/N: OUPIIN DP-15CP
Connecting Expanded I/O(DB25 Connector)

SWM
IP65
Type Pin No. Assignment Description

Pulse Input
SRAC
1 N/C
AC Input
2 N/C N/C
With Controller
3 N/C
STAC
4 IN6
5 IN5 Digital Input 3-6
Pulse Input
6 IN4 (Single ended)

SR
7 IN3
Digital
8 INCOM Digital Input COM
Field Bus
DC Input
Input
STF
9 IN2- Digital Input2

10 IN2+ (Differential)
With Controller
11 IN1- Digital Input1

ST
12 IN1+ (Differential)
IO/OUT2 13 GND Earth Ground

AC Input
14 OUT1+
Digital Output 1-3
15 OUT2+
(Single ended)
Digital
16 OUT3+
DC Input
Output
17 OUTCOM Digital Output COM
18 +5OUT +5V OUT
2-Phase
19 GND Earth Ground
Digital 20 OUT4+ Digital Output4

Stepper Motor
Output 21 OUT4- (Differential)

3-Phase
22 IN7+ Digital Output7

23 IN7- (Differential)
Digital
Input 24 IN8+ Digital Output8
UL
25 IN8- (Differential)
Power Supplies
Mating Connector
Accessories
DB-25 male P/N: OUPIIN 7907-25MTBC00A

Shell Kit P/N: OUPIIN DP-25CP
Cables
Software
Appendix
Glossary
192
I/O Functions CW/CCW Pulse
◇ Description of Input/Output Signals step in CW direction. When the X2 input is turned ON, the
Input (output) "ON" indicates that the current is sent motor will rotate by one step in CCW direction.
into the photocoupler (transistor) inside the driver. Input The chart below shows motor configured as while the X1
Integrated
Efficient
TSM
(output) "OFF" indicates that the current is not sent into the
CW/CCW Pulse
Integrated
High
SSM
Digital singal input range 5-24VDC CW Pulse Low
High
Use a multi-core, twisted-pair shielded wire of AWG28 to CCW Pulse
Low
Step-Servo
Integrated
TXM
IP65
as short as possible CW&Direction
Provide safty distance between the control I/O signal lines A & B Quadrature
Motor & Drive

and power lines The motor will move according to signals that are fed to the
RS
drive from a two channel increamental master encoder.
◇ IN/OUT1 Circuit and Sample Connection
Direction definition can be configured via ST Configurator.
Motor & Drive

With Line Driver Output Direction is determined via which channel leads the other.
SS
Host Controller STAC5 IN/OUT1 The chart below shows motor configured as while X1 Leads
X2, the motor will rotate by CW direction.
Pulse Input
1 X1/STEP+
STM-R
2 X1/STEP-

3 X2/DIR+
A & B Quadrature
4 X2/DIR-
High
5 X3/EN+ Input A

Low
6 X3/EN-
STM
High
9 X4+ Input B
Low
10 X4-
0VDC
SWM
IP65
CW&Direction
11 Y1+
12 Y1-
◇ High Speed Digital Inputs
Pulse Input
13 Y2+
SRAC
14 Y2-
All STAC5 drives include two high speed inputs called STEP
AC Input
0VDC
and DIR. They accept 5-24 volt single-ended or differential

7 GND
With Controller
8 +5V OUT 100mA Limit
signals, up to 2 MHz. Normally these inputs connect to an
STAC
external controller that provides step & direction command
15 AIN Signal
Conditioning

signals. You can also connect a master encoder to the high
speed inputs for following applications. Or you can use these
Pulse Input
◇ Pulse Input Mode inputs with Wait Input, If Input, Feed to Sensor, Seek Home
SR
With Open Collector Output and other such commands.
Field Bus
◇ Lower Speed, Differential Digital Inputs
DC Input
User Control Drives
STF
5-24VDC
STEP+ All STAC5 drives include two lower speed inputs called X3/
EN and X4. They accept 5-24 volt single-ended or differential
With Controller
STEP-
signals, but only at lower speeds than STEP and DIR.
ST
DIR+
DIR-
You can use these inputs with Wait Input, If Input, Feed to
Sensor, Seek Home and other such commands.
AC Input
0VDC
inside drive
With Line Driver Output 5
DB-15 Connector
X3/EN+
DC Input
User Control Drives
6
STEP+ X3/EN-
2-Phase
STEP- 7
DIR+ X4+
8
Stepper Motor
DIR-
X4-
3-Phase
0VDC
◇ Pulse Input Mode

UL
Pulse & Direction

Power Supplies
ON, the motor will rotate by one step in CW direction.

Accessories

OFF, the motor will rotate by one step in CCW direction.
Cables
Pulse & Direction

Pulse Input High
(PLS)
Low
Software
Rotate&Direction
Appendix
Low High
(DIR.)

Glossary
CW&Direction
193
◇ Digital Outputs ◇ Analog Input

The STAC5-S drives feature two digital outputs. These The STAC5 drives feature one analog input. It can accept a
outputs can be set to automatically control a motor brake, to signal range of 0 to 5 VDC, ±5 VDC,
signal a fault condition, to indicate when the motor is moving 0 to 10 VDC or ±10 VDC. The drive can be configured to
or to provide an output frequency proportional to motor operate at a speed or position that is proportional to the
Integrated
Efficient
analog signal.
TSM
speed (tach signal). Or the outputs can be turned on and off

by program instructions like Set Output. Use the ST Configurator software to set the signal range,
offset, deadband and filter frequency.
Integrated
SSM
11 IN/OUT 1
DB-15 Connector
8
DB-15 Connector
Y1/FAULT+ inside drive
Step-Servo
+5V OUT
Integrated
12
TXM
IP65
Y1/FAULT-
15 Signal
AIN
Motor & Drive
13 Conditioning
RS
Y2+ 7
14 GND
Motor & Drive
Y2-
SS
Sample Connection Connecting a Potentiometer

Pulse Input
8
STM-R
Sinking Output
+5V OUT
cw
IN/OUT 1
5～24V
Power Supply
15
STM
1-10kΩ
+ – pot AIN
STAC5 Y1/2+ Load ccw 7
SWM
IP65
GND
Y1/2-
Pulse Input
SRAC
◇ IN/OUT2 Circuit and Sample Connection

AC Input
Sourcing Output
Some models of drives support Expanded I/O board
With Controller
including additional 8 digital inputs, 4 digital outputs and 1

STAC
5～24V analog input.

Power Supply
+ –
Pulse Input
STAC5 Y1/2+ COM

SR
PLC
Host Controller STAC5 IN/OUT2
12 IN1+
Field Bus
DC Input
Y1/2- IN 11 IN1-
STF
10 IN2+
9 IN2-
22 IN7+
With Controller
Driving a Relay 23 IN7-

ST
24 IN8+
25 IN8-
5-24 VDC 0VDC
relay Power Supply

AC Input
5-24VDC
8 IN COM
+ – 7 IN3
Y1/2+ 6 IN4
DC Input
STAC5 5 IN5
1N4935 suppression diode
Y1/2- 4 IN6
2-Phase
0VDC
Under 30V
Stepper Motor
14 OUT1+
3-Phase
17 OUT-
15 OUT2+
16 OUT3+
UL
20 OUT4+
21 OUT4-
Power Supplies
0VDC
18 +5V OUT 100mA Limit

Accessories
13 GND
19 GND
Cables
Software
Appendix
Glossary
194
IN1,IN2,IN7,IN8 are low speed differential inputs Sample Connection
Connecting an Input to a Switch or Relay
inside drive
12
IN1+ + INCOM
11
Integrated
IN1- 12-24V
Efficient
IN/OUT2
TSM
DB-25 Connector 10 Power switch or relay
IN2+ (closed=logic low)
Supply
9 - IN3..IN6
Integrated
IN2-
SSM
22
IN7+
23 Connecting another drive
Connecting an Input to a Switch or Relay
Step-Servo
IN7-
Integrated
TXM
IP65
24
IN8+ +
25
Another Drive
12-24V
IN/OUT2
INCOM
IN8-
Motor & Drive

Power
RS
OUT+ IN3..IN6 Supply
Sample connection OUT– -
Motor & Drive

SS
Connecting a Mechanical Switch Connecting another drive to the STAC5
Connecting an(When
NPN output
Type Proximity
closes, inputSensor
goes low).
Pulse Input
STM-R
IN+

+ +
+ 12-24V NPN
Proximity
output
INCOM
5-24 Power Sensor
STAC5

–
Supply
VDC
STM
- IN3..IN6
SUPPLY IN/OUT2
-
Connecting a PNP Type Proximity Sensor
IN-
SWM
IP65
+ +
output
Connecting an NPN Proximilty Sensor 12-24V PNP
Proximity IN3..IN6
Pulse Input
Power
Connecting a Mechanical Switch to Low Speed Differential Inputs Sensor
SRAC
– IN/OUT2
Supply
- INCOM
IN+
AC Input
STAC5
With Controller
+ + Connecting a PNP Type Proximity Sensor to a an input
STAC
DC NPN output ◇ Digital Outputs
(When prox sensor activates, input goes low).
IN-

Power Proximity
Supply Sensor 14 IN/OUT 2
Pulse Input
– –
OUT1
SR
Connecting an NPN Proximilty Sensor to Low Speed Differential Inputs
Connecting a PNP Proximilty Sensor 15
Field Bus
DC Input
STF
OUT2
DB-25 Connector
+ +
With Controller
DC PNP output 16
IN+
ST
Power Proximity OUT3
Supply Sensor
– – STAC5 17
COM
AC Input
IN- 20
OUT4+
21
IN3,IN4,IN5,IN6 are single ended optically
Speedisolated
DC Input
Connecting a PNP Proximilty Sensor to Low Differential Inputs OUT4-
inputs
“Common” is an electronics term for an electrical connection
2-Phase
to a common voltage. In the case of the STAC5 drives, if you Sample Connection
are using sourcing (PNP) input signals, then you will want
to connect COM to ground (power supply -). If you are using Sinking Stepper Motor
sinking (NPN) signals, then COM must connect to power

3-Phase
5-24 VDC
supply +.
Power Supply
inside drive + –
UL
8 Load
OUT1/2/3
COM
2200
IN/OUT2
Power Supplies
DB-25 Connector
IN3
7 OUTCOM
Accessories
6 2200
IN4
Cables
5 2200
IN5
4 2200
IN6
Software
Appendix
Glossary
195
5-24 VDC
Power Supply
+ –
OUT+ Load
STAC5
Integrated
Efficient
TSM
OUT-
Y1, Y2, OUT4 Sinking Output

Integrated
SSM
Sourcing
Step-Servo
Integrated
5-24 VDC
TXM
IP65
Power Supply
+ –
IN/OUT2
OUT1/2/3 COM
PLC
Motor & Drive
RS
OUTCOM IN
OUT1,OUT2,OUT3 Sourcing Output

Motor & Drive
SS
Driving a Relay
Pulse Input
STM-R
5-24 VDC
relay Power Supply
+ –
STM
OUT+
IN/OUT2
OUT-
SWM
IP65
Driving a Relay Using Y1, Y2, or OUT4

Pulse Input
SRAC
AC Input
Alarm Codes
With Controller
STAC
Code Error
solid green no alarm, motor disabled

Pulse Input
flashing green no alarm, motor enabled

SR
1 red, 1 green motor stall (optional encoder only)

2 red, 1 green ccw limit
Field Bus
DC Input
STF
2 red, 2 green cw limit

3 red, 1 green drive overheating
With Controller
3 red, 2 green internal voltage out of range

ST
3 red, 3 green blank Q segment

power supply overvoltage or
4 red, 1 green
AC Input
excess regen
4 red, 2 green power supply undervoltage
5 red, 1 green over current / short circuit
DC Input
6 red, 1 green open motor winding
7 red, 1 green communication error

2-Phase

Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
196
DC Input Stepper Drive-SR Series
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
SR Series Drives  Advanced Current Control
RS
The SR series are compact, powerful, digital stepper  Anti-Resonance
Motor & Drive

drives feature advanced microstepping performance and  Torque Ripple Smoothing
SS
sophisticated current control.All drive setup is done via dip or  Microstep Emulation
rotary switches.
 Self Test
Pulse Input
STM-R
Features

STM
Anti-Resonance
SWM
IP65
The SR drives automatically calculate the system’s natural frequency and
apply damping to the control algorithm. This greatly improves midrange
Pulse Input
stability, allows higher speeds and greater torque utilization, and also
SRAC
AC Input
With Controller
STAC
Pulse Input
SR
Field Bus
DC Input
STF
resolution motion. Synthesized
Microsteps
With Controller
ST
AC Input
motion profile of the motor. By analyzing this torque ripple the system can apply
a negative harmonic to counter this effect. This gives the motor much smoother
DC Input
Produces smoother motion at low speeds
2-Phase
Stepper Motor
3-Phase
Command Signal smoothing can soften the effect of immediate changes in velocity and
direction, making the motion of the motor less jerky. An added advantage is that it can
reduce the wear on mechanical components.
UL

Power Supplies
Accessories
Auto Setup & Self Test

At start-up the drive measures motor parameters, including the resistance and inductance, then uses this information to
Cables
optimize system performance. The drive can also detect open and short circuits.
Software
Appendix
Glossary
197
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
PLC,Sensor,I/O
TXM
IP65
Motor & Drive
RS
Connection Motor
Motor & Drive
SS
Pulse Input
STM-R
Connection to Power
STM
GND
SWM
IP65
AC
Source
Pulse Input
SRAC

AC Input
With Controller
STAC
Numbering System
Pulse Input
SR - 2 - PLUS
SR
Field Bus
DC Input
STF
Series
Blank=Standard
Plus=Enhanced
With Controller
Mini=Compact
ST
Max.Current
AC Input
2=2.2A Max.
3=3.0A Max.
4=4.5A Max.
DC Input
8=7.8A Max.
2-Phase
Stepper Motor
3-Phase
Model Current Voltage Microstep Selection Current Selection

SR2-Plus 0.3—2.2A 12-48VDC 16 8
SR3-mini 0.4—3.0A 12-48VDC 16 8

UL
SR4-Plus 1.0—4.5A 24-48VDC 16 8

Power Supplies
SR8-Plus 2.4—7.8A 24-75VDC 16 8

Accessories
Cables
Software
Appendix
Glossary
198
Specification
Speed Range Up to 3000RPM
Operating Temperature 0 - 40°C
Integrated
Efficient
TSM
Ambient Humidity 90% or less(non-condensing)
Vibration Resistance 5.9m/s² maximum
Integrated
Storage Temperature -10 - 70°C
SSM
Heat Sinking Method Natural cooling or fan-forced cooling
Atmosphere Avoid dust, oily mist and corrosive air
Step-Servo
Integrated
SR2-Plus/SR3-mini: Approx. 120g
TXM
IP65
Mass
SR4/8-Plus: Approx. 310g
Certicification RoHS, CE (EMC): EN 61800-3:2004
Motor & Drive

RS
Features
Automatic idle current reduction to reduce heat after motor stops moving for 1 second
Idle Current Dip switch selectable 50% or 90%
Motor & Drive

SS
Anti-Resonance
switch selectable load inertia
Control Mode Pulse input control Step&Dir
Pulse Input
STM-R
Inupt Signal Filter Digital filters prevent position error from electrical noise on command signals, Dip switch selectable 2MHz or 150KHz


Motor Database Rotary switch easily selects from many popular motors
STM
Self Test Switch selectable automatic self test, while self test, drive will rotate the motor back and forth, two turns in each direction
Fault output Optically isolated,30VDC max, 100mA max
SWM
IP65
Pulse Input
SR2-Plus SR3-mini
SRAC
Parameter Min. Typical Max. Unit Parameter Min. Typical Max. Unit
AC Input
Power Supply 12 - 48 VDC Power Supply 12 - 48 VDC
With Controller
STAC
Output Current (Peak) 0.3 - 2.2 Amps Output Current (Peak) 0.4 - 3 Amps

Cost current of digital input Cost current of digital input 6 10 15 mA
6 10 15 mA signal
signal
Pulse Input
Step Frequency Step Frequency
SR
2 - 2M Hz 2 - 500k Hz
STEP minimum pulse width 250 - - ns STEP minimum pulse width 1000 - - ns
DIR minimum pulse width DIR minimum pulse width
Field Bus
80 - - us 80 - - us
DC Input
STF
Under Voltage Protection - 10 - VDC Under Voltage Protection - 10 - VDC
Over Voltage Protection - 52 - VDC Over Voltage Protection - 53 - VDC
With Controller
Input Signal Voltage 4 - 28 VDC Input Signal Voltage 4 - 28 VDC
ST
Initialization time - - 2.5 S Initialization time - - 2.5 S
OUT maximum output current - - 100 mA
AC Input
OUT maximum voltage - - 30 VDC
SR4-Plus SR8-Plus
DC Input
Parameter Min. Typical Max. Unit Parameter Min. Typical Max. Unit
Power Supply 24 - 48 VDC Power Supply 24 - 75 VDC
Output Current (Peak) Output Current (Peak) 2.4 - 7.8 Amps
2-Phase
1 - 4.5 Amps
Cost current of digital input Cost current of digital input 6 10 15 mA
6 10 15 mA signal
signal Stepper Motor
Step Frequency 2 - 2M Hz Step Frequency 2 - 2M Hz
3-Phase
STEP minimum pulse width 250 - - ns STEP minimum pulse width 250 - - ns
DIR minimum pulse width 80 - - us DIR minimum pulse width 80 - - us
Under Voltage Protection - 20 - VDC Under Voltage Protection - 20 - VDC

UL
Over Voltage Protection - 60 - VDC Over Voltage Protection - 85 - VDC

Input Signal Voltage
Power Supplies
Input Signal Voltage 4 - 28 VDC 4 - 28 VDC
Initialization time Initialization time

Accessories
- - 2.5 S - - 2.5 S
OUT maximum output current - - 100 mA OUT maximum output current - - 100 mA
OUT maximum voltage OUT maximum voltage - - 30 VDC

Cables
- - 30 VDC
Software
Appendix
Glossary
199
Recommended Motors
Holding Rotor Motor
Step Length“L” Torque
Current Resistance
Inertia Mass Dielectric
Model Shaft Wiring Leads
Angle Strength
mm N·m A/Phase Ω/Phase g·cm 2
Kg
Integrated
AM11HS1008-07 Single Shaft 31 0.05 1.6 2.5 9 0.1

Efficient
TSM

Integrated
SSM
AM14HYB401-03 Single Shaft 40 0.2 1 4.3 20 0.21

AM17HD4452-02N Single Shaft
34.3 0.25 1.8 1.5 38 0.23
Step-Servo
Double Shaft
Integrated
AM17HD4452-01N
TXM
IP65

39.8 0.4 1.8 1.9 57 0.28
AM17HD2438-01N Double Shaft
Motor & Drive

RS
48.3 0.5 1.8 2.3 82 0.36

AM17HDB410-01N Single Shaft 62.8 0.85 1.6 3.2 123 0.6
Motor & Drive
Single Shaft
SS
AM23HS0420-01
41 0.6 2.2 1.8 135 0.42
AM23HS0420-02 Double Shaft
Pulse Input
Single Shaft
STM-R
AM23HS2449-01
54 1.2 2.2 2.4 260 0.6

AM23HS3454-01 Single Shaft
76 1.8 2.2 2.9 460 1

STM

AM23HS04A0-01 Single Shaft
39 0.82 2.2 1.5 120 0.4
AM23HS04A0-02 Double Shaft
SWM
IP65

55 1.5 2.2 2.5 220 0.6
Pulse Input
Single Shaft
SRAC
AM23HSA4A0-01
77 2.3 2.2 3 390 1
AM23HSA4A0-02 Double Shaft
AC Input
500VAC
AM23HS0421-01 Single Shaft A 4 1.8e
With Controller
41 0.6 4.5 0.48 135 0.42 1 minute

STAC


54 1.2 4.5 0.63 260 0.6
Pulse Input

SR

76 1.8 4.5 0.75 460 1
Field Bus
DC Input
STF
AM23HS04B0-01 Single Shaft

39 0.82 4.5 0.4 120 0.4
AM23HS04B0-02 Double Shaft
With Controller

55 1.5 4.5 0.63 220 0.6
ST

AM23HSA4B0-01 Single Shaft
77 2.3 4.5 0.8 390 1
AC Input
AM23HSA4B0-02 Double Shaft

111 3.2 4.5 1.2 750 1.5
DC Input
AM24HS2402-08N Single Shaft

54 1.2 4.5 0.43 450 0.83
AM24HS2402-11N Double Shaft
Single Shaft
2-Phase
AM24HS5401-10N
85 2.5 4.5 0.65 900 1.4
Stepper Motor

66.5 3 7 0.24 1100 1.6
3-Phase

96 5 7 0.33 1850 2.7
UL

125.5 7.1 7 0.49 2750 3.8
Power Supplies
* Wiring Diagram A See Page 219

Accessories
Cables
Software
Appendix
Glossary
200
Torque Curves
◇ SR2-Plus/SR3-mini Torque Curves
Integrated
AM11HS1008 AM11HS3007 AM11HS5008
Efficient
Microstep: 20000 steps/rev Microstep: 20000 steps/rev Microstep: 20000 steps/rev
TSM
Current: 1.6A(Peak) Current: 1.6A(Peak) Current: 1.6A(Peak)
0.1 0.1 0.15
0.08 0.08 0.12
Integrated
Torque(N m)
Torque(N·m)
Torque(N m)
. 0.06 . 0.09
SSM
0.06
0.04 0.04 0.06
Step-Servo
0.02 0.02 0.03
Integrated
TXM
IP65
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Motor & Drive

RS
AM14HYB401 AM17HD4452 AM17HD2438
0.15 0.25 0.5
Motor & Drive

0.12 0.20 0.4
SS
Torque(N m)
.
Torque(N m)
Torque(N m)
. 0.09 . 0.15 0.3
0.06 0.10 0.2
Pulse Input
STM-R
0.05 0.1

0.03
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps)

STM
AM17HD6426 AM17HDB410 AM23HS0420
Microstep: 20000 steps/rev Microstep: 20000 steps/rev Microstep͹20000 steps/rev 24V 48V
Current: 1.8A(Peak) Current: 1.8A(Peak) Current͹2.2AͧPeakͨ
0.5 0.7 0.6
SWM
0.6
IP65
0.4 0.5
0.5
Torque ( N m)
.
Torque(N·m)
0.4
Torque(N m)
. 0.3 0.4
0.3
Pulse Input
0.3
0.2
SRAC
0.2
0.2
0.1 0.1 0.1
AC Input
0 0 0
0 10 20 30 40 50
With Controller
0 10 20 30 40 50 0 10 20 30 40 50
STAC

AM23HS2449 AM23HS3454
Pulse Input
Microstep͹20000 steps/rev 24V 48V Microstep͹20000 steps/rev
Current͹2.2AͧPeakͨ Current͹2.2AͧPeakͨ
SR
1.2 2.0
1
1.6
Torque(N m)
.
Torque(N m)
0.8 .
Field Bus
DC Input
1.2
STF
0.6
0.4 0.8
0.2 0.4
With Controller
0
0
ST
0 10 20 30 40 50 0 10 20 30 40 50
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
201
◇ SR4-Plus Torque Curves

AM23HS0421 AM23HS2450 AM23HS3455
Microstep͹20000 steps/rev 24V 48V 75V Microstep͹20000 steps/rev Microstep͹20000 steps/rev 24V 48V 75V
24V 48V 75V
Current͹4.5AͧPeakͨ Current͹4.5AͧPeakͨ Current͹4.5AͧPeakͨ
0.6 1.2 1.8
0.5 1 1.5
Torque ( N m)
Torque ( N m)
.
Torque ( N m)
.
Integrated
. 0.4 0.8 1.2

Efficient
TSM
0.3 0.6 0.9
0.2 0.4 0.6
0.1 0.2 0.3

Integrated
SSM
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Step-Servo
Integrated
TXM
IP65
AM23HS04B0 AM23HS84B0 AM23HSA4B0

Microstep͹20000 steps/rev 24V 48V Microstep͹20000 steps/rev Microstep͹20000 steps/rev
0.6 1.5 2
0.5
Motor & Drive
1.2 1.6
Torque(N m)
.
RS
Torque(N m)
Torque(N m)
0.4 . .
0.9 1.2
0.3
0.2 0.6 0.8
Motor & Drive
0.1 0.3 0.4

SS
0
0 10 20 30 40 50 0 0
0 10 20 30 40 50 0 10 20 30 40 50
Pulse Input
STM-R
AM23HS5412 AM24HS2402 AM24HS5401

Microstep͹20000 steps/rev 24V 48V 75V Microstep͹20000 steps/rev 24V 48V 75V Microstep͹20000 steps/rev 24V 48V 75V
2.5 1.2 2.4

STM
2 1 2
Torque(N m)
Torque ( N m)
Torque ( N m)
. . .
0.8 1.6
1.5
0.6 1.2
1
SWM
0.4 0.8
IP65
0.5 0.2 0.4
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Pulse Input
SRAC

AC Input
With Controller
STAC
◇ SR8-Plus Torque Curves

Pulse Input
AM34HD0404 AM34HD1404 AM34HD2403

Microstep͹20000 steps/rev Microstep͹20000 steps/rev Microstep͹20000 steps/rev 24V 48V 75V
24V 48V 75V
SR
24V 48V 75V

5.0 8.0
3.0
7.0
2.5 4.0
Torque(N m)
6.0
Torque(N m)
. .
Field Bus
DC Input
5.0
Torque(N m)
2.0 . 3.0
STF
4.0
1.5
2.0 3.0
1.0 2.0
1.0
With Controller
0.5 1.0
0
ST
0 0
0 10 20 30 40 50 0 10 20 30 40 50
0 10 20 30 40 50
Speed(rps)
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
202
Dimensions(Unit:mm) Connection and Operation(SR2-Plus)
◇ SR2-Plus ◇ Wiring Diagram
Integrated
87.5
Efficient
TSM
LED
OUT-
2-4.5
OUT+
Control Signal EN
Integrated
DIR
SSM
STEP
21
COM+
13
SW8
SW7
Step-Servo
SW6
Integrated
Switches for selecting SW5
TXM
IP65
SW4
SW3 SW9
SW2 Switches for selecting SW10
SW1 SW11
B- SW12
Motor & Drive

Motor Connector B+
RS
A-
2-3.5
56
A+
Power Connector V-
V+
Motor & Drive

SS
5
Grounding screw
85.5
Pulse Input
M3
STM-R
92.5
Unit:mm

STM
If the power supply does not have a fuse on the output or
◇ SR4/8-Plus some kind of short circuit current limiting device, a fast acting
fuse is required. A 3 amp fast acting fuse should be installed
SWM
in line with the “+” power supply lead.
IP65
3 112 Connect the motor power supply “+” terminal to the drive
2-4.5
terminal labeled “V+”. Connect the power supply “-” to the
Pulse Input
SRAC
drive terminal labeled “V-”.
AC Input
33
22.5
With Controller
STAC
118
Pulse Input
SR
4-Ф3.5
Field Bus
DC Input
Mating Connector P/N: Phoenix 1803617, together with
STF
22.5
75.5
motor connector.
Supply Voltage: 12-48VDC
With Controller
22.5
ST
M3
3 112 Connecting the Motor
AC Input
Unit:mm A-4-LEADS BIPOLAR MOTOR B-6-LEADS SERIES CONNECTED C-6-LEAD CENTER TAP CONNECTED
DC Input
Green A-
Green A- Green NC
Red B+
2-Phase
D-8-LEADS PARALLEL CONNECTED
Mating Connector P/N:E-8-LEADS
Phoenix 1803617, together with
SERIES CONNECTED
Stepper Motor
power connector.
White White A+
Green Brown 8 LEAD
3-Phase
Green MOTOR
8 LEAD
MOTOR Yellow C
Brown
C
Yellow Gray B+
Blue Pink
Gray
Red Blue
Pink RED
UL
D
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
203
◇ Digital I/0 Circuit and Sample Connection ◇ EN Input

Mating connector P/N: Phoenix 1840405 The EN input enables or disables the drive amplifier. When
With Open Collector Output EN input is ON the drive amplifier is deactivated. All the
EN input is OFF, the drive is activated.
Integrated
Efficient
User Control SR2-Plus I/O

A falling signal into the EN input will reset the error status
TSM
5-24VDC
1 COM
2 STEP and activate the drive amplifier again.

Sample Connection
Integrated
SSM
3 DIR
+ COM+
Step-Servo
4 EN
Integrated
5～24V
TXM
SR2-Plus
IP65
Switch Relay
Power Supply (closed=logic low)
0VDC
Under 30V
- EN
Motor & Drive
5 OUT+
RS

8 OUT-
0VDC
5～24V
Motor & Drive
Power Supply
SS
◇ Description of Input/Output Signals - +

OUT+
Input (output) "ON" indicates that the current is sent Indexer COM+
Pulse Input
with
STM-R
into the photocoupler (transistor) inside the driver. Input sinking SR2-Plus
outputs
(output) "OFF" indicates that the current is not sent into the OUT- EN

STM
Digital singal input range 5-24VDC 5～24V

Provide safty distance between the control I/O signal lines Power Supply
and power lines

SWM
+ -
IP65
OUT+
Indexer COM+
with
Indexer +5V to +24V out COM+ sourcing SR2-Plus
Pulse Input
with
SRAC
outputs OUT- EN
DIR DIR SR2-Plus
Sinking
Outputs
AC Input
STEP STEP Connecting the input to sourcing outputs

With Controller
STAC
◇ Pulse Input Mode

Pulse & Direction

Pulse Input
SR

Field Bus
DC Input
STF

With Controller
Pulse & Direction

Pulse Input High
(PLS)
ST
Low

(DIR.)
AC Input

CW&Direction
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
204
◇ Fault Output ◇ Idle Current
The FAULT Output is optically isolated. The maximum The running current of the SR2-Plus drive is automatically
collector current is 100mA, and the maximum collector to reduced whenever the motor hasn’t moved for 1 second.
emitter voltage is 30 volts. The output can be wired to sink or Setting the SW4 switch to ON reduces the current to 50%
source current. of its running value. Setting this switch to OFF maintains
Integrated
Efficient
When drive is working normally, the output is open. 90% of the running current. This 90% setting is useful when
TSM
a high holding torque is required. To minimize motor and
When the drive encounters an error, the output closes. drive heating it is highly recommended that the idle current
reduction feature be set to 50% unless the application
Integrated
Sample Connection
SSM
requires the higher setting.
5～24V
◇ Microstepping
Step-Servo
Integrated
Power Supply
TXM
IP65
+ -
The microstep resolution is set by the SW5, SW6, SW7, and
Load
OUT+
Motor & Drive

SR2-Plus
RS
OUT-
Motor & Drive

SS
5～24V
Power Supply
Pulse Input
STM-R
+ -

OUT+ COM PLC
SR2-Plus

OUT- IN
STM
Connecting a souring output
◇ Self Test
Setting switch SW9 to ON after the drive is powered up will
SWM
IP65
5～24V
Power Supply cause the drive to perform a self test rotate the motor back
Pulse Input
+ -
SRAC
OUT+ COM
◇ Command Signal Smoothing
AC Input
SR2-Plus
PLC
Command signal smoothing can soften the effect of
With Controller
OUT-
IN
STAC
immediate changes in velocity and direction, making the

Connecting PLC souring output
it can reduce the wear on mechanical components. SW10
Pulse Input
selects this function - ON enables it, OFF disables it.
SR
5～24V
Power Supply
relay This function can cause a small delay in following the control
+ - signal, and it should be used with that in mind.
Field Bus
DC Input
STF
OUT+
Note: The setting will take effect after recycle the power
SR2-Plus
OUT- 1N4935 suppression diode
◇ Anti Resonance
With Controller
ST
Driving a relay
Switch Selecting inertia.
AC Input
Many of the operational parameters of the SR2-Plus can ◇ Digital Signal Filter
be set or changed by position switches - either by a single
switch or a combination of ON/OFF settings of 2 or more Switch SW12 sets the digital signal filter. Setting switch to
DC Input
switches. “OFF” will select high frequency 2MHz, and setting switch to
“ON” will select low frequency 150 KHz.
2-Phase
Running Current Idle current Microstepping
SW9 SW10 SW11 SW12 LED Error Codes Stepper Motor
3-Phase
Self test Load Inertia
Code Error
Step Smoothing Filter Step Noise Filter
◇ Running Current Flashing green Motor enabled

UL
3 red, 1 green Over temperature

The output current of the SR2-Plus Step Drive is set by the
SW1, SW2, and SW3 switches and can be changed as 3 red, 2 green Bad internal voltage
Power Supplies
necessary. There are 8 settings available according to the 4 red, 1 green Over voltage
Accessories
ON/OFF combination of the switches.

Cables
6 red, 1 green Open motor winding

0.3A 0.5A 0.7A 1.0A
Software
Appendix
1.3A 1.6A 1.9A 2.2A

Glossary
205
Connection and Operation(SR4/8-Plus) ◇ Digital I/0 Circuit and Sample Connection

Mating connector P/N: Phoenix 1803633
◇ Wiring Diagram With Line Driver Output
User Control SR4/8-Plus
Integrated
Efficient
LED
TSM
1 STEP+
2 STEP-
3 DIR+
OUT-
Integrated
4 DIR-
OUT+
SSM
EN-
Control signal 5 EN+
EN+
6 EN-
DIR-
Step-Servo
DIR+
Integrated
STEP-
TXM
0VDC
IP65
STEP+ Under 30V
SW8
SW7
Switches for SW6 7 OUT+
selecting Switches for SW12
Motor & Drive
SW5
SW4 selecting SW11 8 OUT-
RS
SW3 SW10
SW2 0VDC
SW1 SW9
Motor
B-
Connector B+
Motor & Drive
A-
SS
Power
A+ With Open Collector Output
Connector V-
V+ User Control SR4/8-Plus
Pulse Input
Grounding
STM-R
5-24VDC
Screw
1 STEP+
2 STEP-
3 DIR+
STM
Connecting the power supply 4 DIR-
If the power supply does not have a fuse on the output or 5 EN+
some kind of short circuit current limiting device, a fast acting

SWM
6 EN-
IP65
fuse is required.
Connect the motor power supply “+” terminal to the drive
Pulse Input
0VDC
SRAC
terminal labeled “V+”. Connect the power supply “-” to the Under 30V
drive terminal labeled “V-”.

AC Input
7 OUT+
SR4-Plus Supply Voltage: 24-48VDC

With Controller
8 OUT-
STAC
SR8-Plus Supply Voltage: 24-75VDC 0VDC

Pulse Input
Sample Connection
SR
+ COM+
Field Bus
DC Input
STF
5～24V
Power Supply
Switch Relay SR4/8-Plus
(closed=logic low)
- EN
With Controller
Mating Connector P/N: Phoenix 1757051, together with

ST
motor connector. Connecting the input to a switch or relay
Connecting the motor

AC Input
5～24V
Power Supply
- +
A-4-LEADS BIPOLAR MOTOR B-6-LEADS SERIES CONNECTED C-6-LEAD CENTER TAP CONNECTED
Indexer OUT+
COM+
DC Input

with
4 LEAD
MOTOR Yellow NC
6 LEAD
MOTOR Yellow A-
6 LEAD
MOTOR sinking SR4/8-Plus
Green A-
outputs OUT-
Green A- Green NC
EN
Red B+
2-Phase

Stepper Motor
Mating
D-8-LEADS Connector
PARALLEL CONNECTED P/N: Phoenix
E-8-LEADS 1757051, together with
SERIES CONNECTED 5～24V
Power Supply
power connector.
3-Phase
White White A+
Green Brown 8 LEAD
8 LEAD
Green MOTOR
+ -
OUT+
MOTOR Yellow C
Brown
C
Indexer COM+
Yellow Gray B+
with
Blue Pink sourcing SR4/8-Plus
Gray
Red Blue
outputs
UL
Pink RED
OUT- EN
D

Power Supplies
Accessories
Cables
Software
Appendix
Glossary
206
◇ Description of Input/Output Signals ◇ Fault Output
Input (output) "ON" indicates that the current is sent The FAULT Output is optically isolated. The maximum
into the photocoupler (transistor) inside the driver. Input collector current is 100mA, and the maximum collector to
(output) "OFF" indicates that the current is not sent into the emitter voltage is 30 volts. The output can be wired to sink or
photocoupler (transistor) inside the driver. The input/output source current.
Integrated
Efficient
When drive is working normally, the output is open.
TSM
Digital singal input range 5-24VDC When the drive encounters an error, the output closes.
Use a multi-core, twisted-pair shielded wire of AWG28 to Sample Connection
Integrated
SSM
5～24V
Step-Servo
Integrated
Power Supply
TXM
IP65
and power lines + -
◇ Pulse Input Mode OUT+

Load
Motor & Drive

SR4/8-Plus
Pulse & Direction
RS
OUT-
When the Pulse input is turned ON while the DIR input is Connecting a Sinking Output
Motor & Drive

SS
When the Pulse input is turned ON while the DIR input is 5～24V
Power Supply
Pulse Input
STM-R
+ -

Pulse & Direction
Pulse Input OUT+ COM PLC
High
(PLS)
Low
SR4/8-Plus

OUT- IN
STM
(DIR.)
Connecting a Souring Output
CW&Direction
SWM
IP65
5～24V
Power Supply
◇ EN Input
+ -
Pulse Input
The EN input enables or disables the drive amplifier. When
SRAC
OUT+ COM
EN input is ON the drive amplifier is deactivated. All the
SR4/8-Plus
AC Input
MOSFETs will shut down, and the motor will be free. When OUT-
PLC
With Controller
EN input is OFF, the drive is activated. IN
STAC
A falling signal into the EN input will reset the error status Connecting PLC Souring Output

and activate the drive amplifier again.
Pulse Input
Sample Connection 5～24V
SR
Power Supply
relay
+ COM+ + -
Field Bus
DC Input
OUT+
STF
5～24V
Power Supply
Switch Relay SR4/8-Plus SR4/8-Plus
(closed=logic low)
OUT-
- EN
With Controller
Driving a Relay
ST
AC Input
5～24V
Power Supply
- +
Indexer OUT+
COM+
DC Input
with
sinking SR4/8-Plus
outputs OUT- EN
2-Phase
Stepper Motor
5～24V
Power Supply
3-Phase
+ -
OUT+
Indexer COM+
with
sourcing SR4/8-Plus
UL
outputs OUT- EN

Power Supplies
Accessories
Cables
Software
Appendix
Glossary
207
Switch Selecting ◇ Command Signal Smoothing

Command signal smoothing can soften the effect of
Many of the operational parameters of the SR4/8-Plus can immediate changes in velocity and direction, making the
be set or changed by position switches - either by a single motion of the motor less jerky. An added advantage is that
switch or a combination of ON/OFF settings of 2 or more it can reduce the wear on mechanical components. SW10
switches.
Integrated
selects this function - ON enables it, OFF disables it.

Efficient
TSM
SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 This function can cause a small delay in following the control
Integrated
Running Current Idle current Microstepping

SSM
SW9 SW10 SW11 SW12

Note: The setting will take effect after recycle the powe.
◇ Anti Resonance
Step-Servo
Self test Load Inertia

Integrated

TXM
IP65
Step Smoothing Filter Step Noise Filter

Note: The setting will take effect after recycle the power inertia.
Motor & Drive
◇ Running Current
RS
◇ Digital Input Filter

The output current of the SR4/8-Plus Step Drive is set by Switch SW12 sets the digital signal filter. Setting switch to
Motor & Drive
the SW1, SW2, and SW3 switches and can be changed as “OFF” will select high frequency 2MHz, and setting switch to
SS
necessary. There are 8 settings available according to the “ON” will select low frequency 150 KHz.
ON/OFF combination of the switches. Note: The setting will take effect after recycle the power.
Pulse Input
STM-R
Motor Selection
SR4-Plus
1.0A 1.5A 1.8A 2.2A

STM
motor, and automatically sets the configuration parameters

in the drive. The SR4/8-Plus drive comes programmed with
up to 16 typical motors as factory defaults. Drives can be
3.0A 3.5A 4.0A 4.5A customized with specially selected motors when required.
SWM
IP65
345
Pulse Input
Switch Bit SR4-Plus SR8-Plus

SRAC
67 A
EF 2
SR8-Plus 01 0 Default Default
89
AC Input
BCD
2.4A 3.0A 3.8A 4.5A 1 14HYB401 23HS0421
With Controller
2 17HD4452 23HS2450
STAC
3 17HD2438 23HS3455
5.6A 6.4A 7.0A 7.8A
4 17HD6426 23HS5402
Pulse Input
◇ Idle Current
SR
5 17HDB401 24HS2402
The running current of the SR4-Plus drive is automatically 6 23HS0421 24HS5401

reduced anytime the motor isn’t moving. Setting the SW4
Field Bus
7 23HS2450 34HD0404
DC Input
STF
switch to ON reduces the current to 50% of it running value. 8 23HS3455 34HD1404

Setting this switch to OFF maintains 90% of the running
current. This 90% setting is useful when a high holding 9 24HS2402 34HD2403
With Controller
torque is required. To minimize motor and drive heating it is A 24HS5401 34HD4404

ST
highly recommended that the idle current reduction feature B 34HD0403 34HD6401
be set to 50% unless the application requires the higher
C 34HD4405 Default
setting.
AC Input
D Default Default
◇ Microstepping E Default Default
The microstep resolution is set by the SW5, SW6, SW7 and
DC Input
F Default Default
2-Phase
LED Error Codes

Stepper Motor
Code Error
3-Phase
Flashing green Motor enabled
3 red, 1 green Over temperature

UL
3 red, 2 green Bad internal voltage

Power Supplies

Accessories

◇ Selt Test 5 red, 1 green Over current/short circuit
Setting switch SW9 to ON after the drive is powered up will
Cables
6 red, 1green Open motor winding

cause the drive to perform a self test rotage the motor back
and forth, two turns in each direction.setting switch SW9 to Show Red; Show Green.
Software
Appendix
Glossary
208
SR2 - 2-Phase DC Input Stepper Drive
Integrated
Parameter Min. Type. Max. Unit
Efficient
TSM
Power Supply 12 - 48 VDC
Output Current (Peak) 0.3 - 2.2 Amps
Integrated
SSM
6 10 15 mA
signal
Step Frequency 2 - 2M Hz
Step-Servo
Integrated
STEP minimum pulse width 250 - - ns
TXM
IP65
DIR minimum pulse width 80 - - us
Under Voltage Protection - 10 - VDC
Motor & Drive

RS
Over-voltage protection - 52 - VDC
Input signal voltage 4 - 28 VDC
Motor & Drive

Initialization time - - 2.5 S
Features
SS
 Input Voltage: 12-48VDC
Mass
 Output Current: 2.2A(Peak)
Pulse Input
STM-R
120g

 3 Digital signal input, step/direction/enable
Optically isolated 5-24VDC

 16 different resolutions selectable via switches Dimensions(Unit:mm)
STM
SW5-SW8(step/rev):
200, 400, 800, 1600, 3200, 6400, 12800, 25600, 1000, 2000, 4000, 87.5
SWM
5000, 8000,10000, 20000, 25000
IP65
2-4.5
 8 different current levels selectable via switches
SW1-SW3:
Pulse Input
SRAC
21
0.3A, 0.5A, 0.7A, 1.0A, 1.3A, 1.6A, 1.9A, 2.2A

13
AC Input
 Raises the system-damping ratio to eliminate
With Controller
midrange instability and allow stable operation
STAC
throughout the speed range of the motor, dip switch

SW11 selectable load inertia
Pulse Input
 Digital filters prevent position error from electrical
2-3.5
56
SR
noise on command signals, Dip switch SW12
selectable 2MHz or 150KHz
Field Bus
DC Input
5
 Switch SW10 selectable microstep emulation
STF
provides smoother, more reliable motion M3
85.5
 Idel Curent Reduction:50% or 90%, selectable via
With Controller
ST
Dip switch SW4 92.5
 Self Test, selectable via Dip switch SW9 Unit:mm
 Protection,over voltage,under voltage, over
AC Input
current,open motor winding Ordering Information
DC Input
Model Description
SR2 Standard 0.3 - 2.2A, 12 - 48VDC
Connection Interface
2-Phase
Stepper Motor
LED
3-Phase
EN-
EN+
Control signal DIR-
DIR+
STEP-
STEP+
UL
SW8
Switches for SW7
SW6 SW9
selecting Switches for
Power Supplies
SW5
selecting SW10
SW4
SW3 SW11
Accessories
SW2 SW12
SW1
Motor B-
Connector B+
Cables
A-
Power A+
Connector V-
V+
Software
Grounding
screw
Appendix
Glossary
209
SR3-mini- 2-Phase DC Input Stepper Drive

Integrated

Efficient
TSM

Output Current (Peak) 0.4 - 3 Amps
Integrated
SSM
Cost current of digital 6 10 15 mA

input signal
Step Frequency 2 - 500K Hz
Step-Servo
Integrated
STEP minimum pulse width

TXM
1000 - - ns
IP65

Motor & Drive
RS
Over Voltage Protection - 53 - VDC

Input Signal Voltage 4 - 28 VDC
Features
Motor & Drive

SS

Mass
Pulse Input
120g
STM-R


Dimensions(Unit:mm)
 16 different resolutions selectable via switches
STM
SW5-SW8(step/rev):
200, 400, 800, 1600, 3200, 6400, 12800, 25600, 1000, 2000, 4000, GND
5000, 6000, 8000, 10000, 20000 28
SWM
IP65
23
 8 different current levels selectable via switches 46
18
SW1-SW3: 6 34
Pulse Input
6
0.4A, 0.8A, 1.2A, 1.6A, 2.0A, 2.4A, 2.7A, 3.0A
SRAC
11
 Setting SW11 to OFF enables the Step&Directionn
AC Input
Ø5
format, the ON position enables the CW/CCW
With Controller
STAC
format
38
44
63
Pulse Input
selectable 500KHz or 150KHz

SR
5
 Switch SW10 selectable microstep emulation
2-Ø3.5
provides smoother, more reliable motion
Field Bus
DC Input
STF

Dip switch SW4
With Controller
 Self Test, selectable via Dip switch SW9

ST
Unit:mm
 Protection,over voltage,under voltage,over
temperature,over current,open motor winding Flexible Mounting Method
AC Input
Vertical
DC Input
STEP+
STEP-
DIR+
DIR-
EN+
EN-
V+
V-
2-Phase
Stepper Motor
Horizontal
3-Phase
SW12
SW11 SW8
SW10 SW7
SW9 SW6
UL
SW5
SW4
Power Supplies
SW3
SW2 Integrated
Accessories
SW1
Cables
Software
Appendix
GND
Glossary
A+ A- B+ B- Ordering Information
Model Description
SR3-mini Standard 0.4 - 3.0A, 12 - 48VDC
210
Integrated
Efficient
TSM
Output Current (Peak) 1 - 4.5 Amps
Integrated
Cost current of digital
SSM
6 10 15 mA
input signal
Step-Servo
Integrated
TXM
IP65
Motor & Drive

RS
Motor & Drive

SS
Output current - - 100 mA
Features Output voltage - - 30 VDC
Pulse Input
STM-R
 Output Current: 4.5A(Peak) Mass
0.31kg

STM
 1 Digital output: Fault Output
 8 different resolutions selectable via switches SW5-
Dimensions(Unit:mm)
SWM
SW7(step/rev):
IP65
3 112
2-4.5
400, 800, 1600, 3200, 6400, 12800, 25600, 51200
Pulse Input
SRAC
SW1-SW3:
33
22.5
AC Input
1.0A, 1.5A, 2.0A, 2.5A, 3.0A, 3.5A, 4.0A, 4.5A
With Controller
 Rotary switch selects motor and load intertia for
STAC
118
optimized current control

Pulse Input
Dip switch SW4 4-Ф3.5
SR
 Protection: over voltage,under voltage,
22.5
75.5
Field Bus
DC Input
STF
over current,open motor winding
22.5
With Controller
ST
M3 112
3
Unit:mm
AC Input
LED
DC Input
Motor selector switch Model Description
FAULT+/- OUT- SR4 Standard 1.0-4.5A, 24-48VDC
OUT+
2-Phase
Logic Connector EN-
EN+
STEP+/-,DIR+/-,ENA+/- DIR-
Stepper Motor
DIR+
3-Phase
STEP-
Switches for selecting STEP+
current,step resolution, idle SW8
SW7
current reduction SW6
SW5
SW4
SW3
UL
SW2
SW1
B-
Power Supplies
Motor Connector B+
Accessories
A-
A+
Power Connector V-
Cables
V+
Grounding screw
Software
Appendix
Glossary
211

Integrated
Efficient
TSM

Integrated
Cost current of digital 6 10 15 mA

SSM
input signal
Step-Servo

Integrated
TXM
IP65

Motor & Drive

RS

Motor & Drive
SS

Features
OUT maximum voltage - - 30 VDC
Pulse Input
STM-R

Mass
0.31kg

STM

 8 different resolutions selectable via switches SW5- Dimensions(Unit:mm)
SW7(step/rev):
SWM
3 112
IP65
2-4.5
400,800,1600,3200,6400,12800,25600,51200
Pulse Input
SRAC
SW1-SW3: 33
22.5
AC Input
2.4A, 3.2A, 4.0A, 4.8A, 5.6A, 6.4A, 7.0A, 7.8A

With Controller
STAC
118

Pulse Input
Dip switch SW4 4-Ф3.5

SR

 Protection: over voltage,under voltage,
22.5
75.5
Field Bus
DC Input
over current,open motor winding

STF
22.5
With Controller
ST
M3 112
3
Unit:mm
AC Input
LED Ordering Information

DC Input
Motor selector switch

Model Description
FAULT+/- OUT- SR8 Standard 2.4 - 7.8A, 24 - 75VDC
OUT+
2-Phase
Logic Connector EN-

EN+
STEP+/-,DIR+/-,ENA+/- DIR-
DIR+
Stepper Motor
STEP-
3-Phase
Switches for selecting STEP+

current,step resolution, idle SW8
SW7
current reduction SW6
SW5
SW4
SW3
SW2
UL
SW1
B-
Power Supplies
Motor Connector B+
A-
Accessories
A+
Power Connector V-
Cables
V+
Grounding screw
Software
Appendix
Glossary
212
DC Input Intelligent Fieldbus Control Stepper Driver-STF Series
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
STF Series Drives
RS
The STF series are high performance fieldbus control stepper drive  Compact size
which also integrates with built-in motion controller. The drives can
 Anti resonance
Motor & Drive

be controlled by SCL, Modbus，CANopen, eSCL, EtherNet/IP or
SS
EtherCAT in real time. Motion profiles can also be programmed  Advanced current control
and stored in drives(Q Program) and then be triggered by fieldbus
 Torque ripple smoothing
Pulse Input
commands.
STM-R
Feature

Host Control Stand Alone Programmable
STM
• Accepts commands from host PC or PLC • Stored program execution
• Real time control • Multi-tasking
SWM
IP65
• Multi-axes capable 112-axis
-max- • Conditional processing
SCL RS-485/422 32-axis • Math functions
• Data registers
-max-
Pulse Input
SRAC
eSCL
AC Input
With Controller
STAC
Pulse Input
SR
PC/PLC
Field Bus
DC Input
STF
With Controller
ST
Safe & convenient Rich and flexible I/O
AC Input
• Support communication and motor power • 8 Digital Inputs, 4 Digital Outputs
cables disconnected protection ü ü Support for more feature settings
DC Input
ü ü Make equipments more safer • Dual Port RJ45 Bus Conmmunication Control
• Support on-line configuration by fieldbus ü ü Support daisy chain connection
ü ü Make operation more convenient
2-Phase
Stepper Motor
Anti-Resonance
3-Phase
The STF drives automatically calculate the system’s natural frequency
and apply damping to the control algorithm. This greatly improves midrange
UL
Power Supplies

Accessories

Cables
Software
Appendix

Produces smoother motion at low speed running
Glossary

information to optimize the system performance. The drive can also detect open and short circuits.
213
Numbering System
STF 05 - EC
Integrated
Efficient
TSM
Series Control Mode

Integrated
STF R = RS-485
SSM
C = CANopen
Output Current(Peak) D = Ethernet
Step-Servo
Integrated
03 = 3A IP = EtherNet/IP
TXM
IP65
05 = 5A EC = EtherCAT
06 = 6A
Motor & Drive
10 = 10A
RS
Motor & Drive
SS
Model Current Voltage RS-485 Modbus/RTU CANopen Q Program

Pulse Input
STF03-R 0.1 - 3.0 A 12 - 48 VDC √ √ 　 √

STM-R
STF05-R 0.1 - 5.0 A 24 - 48 VDC √ √ 　 √

STF06-R 0.1 - 6.0 A 12 - 48 VDC √ √ 　 √
STM
STF10-R 0.1 - 10.0 A 24 - 70 VDC √ √ 　 √

STF03-C 0.1 - 3.0 A 12 - 48 VDC 　　 √ √
STF05-C 0.1 - 5.0 A 24 - 48 VDC 　　 √ √
SWM
IP65
STF06-C 0.1 - 6.0 A 12 - 48 VDC 　　 √ √

STF10-C 0.1 - 10.0 A 24 - 70 VDC 　　 √ √
Pulse Input
SRAC
Model Current Voltage Ethernet Modbus/TCP EtherNet/IP EtherCAT Q Program

AC Input
STF03-D 0.1 - 3.0 A 12 - 48 VDC √ √ 　　 √

With Controller
STF05-D 0.1 - 5.0 A 24 - 48 VDC √ √ 　　 √

STAC
STF06-D 0.1 - 6.0 A 12 - 48 VDC √ √ 　　 √

STF10-D 0.1 - 10.0 A 24 - 70 VDC √ √ 　　 √
Pulse Input
STF03-IP 0.1 - 3.0 A 12 - 48 VDC √ 　 √ 　 √

SR
STF05-IP 0.1 - 5.0 A 24 - 48 VDC √ 　 √ 　 √

STF06-IP 0.1 - 6.0 A 12 - 48 VDC √ 　 √ 　 √
Field Bus
DC Input
STF
STF10-IP 0.1 - 10.0 A 24 - 70 VDC √ 　 √ 　 √

STF03-EC 0.1 - 3.0 A 12 - 48 VDC 　　　 √ √
With Controller
STF05-EC 0.1 - 5.0 A 24 - 48 VDC 　　　 √ √

ST
STF06-EC 0.1 - 6.0 A 12 - 48 VDC 　　　 √ √

STF10-EC 0.1 - 10.0 A 24 - 70 VDC 　　　 √ √
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
214
Power Amplifier
Current Control PWM at 20 KHz
Integrated
Efficient
TSM
STF03: 0.1 - 3.0A/phase (peak-of-sine) in 0.01 amp increments
Output Current
Integrated
SSM
Step-Servo
STF03: 12 - 48VDC
Integrated
TXM
IP65
STF05: 24 - 48VDC
Input Voltage Range
STF06: 12 - 48VDC
Motor & Drive

STF10: 24 - 70VDC
RS
STF03: 11 - 53VDC
Maximum STF05: 18 - 53VDC
Motor & Drive

Input Voltage Range STF06: 11 - 53VDC
SS
STF10: 18 - 75VDC
Protection Over voltage, under voltage, over temp, over current, open winding, communication cable disconnection
Pulse Input
STM-R
Idle Current Reduction Reduction range of 0 - 90% of running current after a delay selectable in milliseconds
Controller

STM
Anti-Resonance Raises the system-damping ratio to eliminate midrange instability and allow stable operation throughout the speed range of the motor
Torque Ripple Smoothing Allows for fine adjustment of phase current waveform harmonic content to reduce low-speed torque ripple in the range of 0.25 to 1.5 rps
Auto Test & Auto Setup Auto test and setup at power on (ie. motor resistance and Inductance) to optimize your system performance.
SWM
IP65
-R Type: SCL, Q, Modbus/RTU
Pulse Input
SRAC
-C Type: CANopen (CiA301 and CiA402 protocol). Q program can also be triggered via CANopen Command
AC Input
Operation Mode -D Type: eSCL, Q, Modbus/TCP
With Controller
-IP Type: EtherNet/IP, Q program also can be triggered via EtherNet/IP Command
STAC
-EC Type: EtherCAT (CoE) with full support of CiA402, Support PP, PV, CSP&HM mode and Q mode

8 digital inputs
Pulse Input
X1, X2: Optically isolated, differential, 5-24VDC for high level voltage, minimum pulse width = 250ns, maximum pulse frequency = 2MHz
SR
Digital Input
X3, X4: Optically isolated, differential, 5-24VDC for high level voltage, minimum pulse width = 100μs, maximum pulse frequency = 5KHz
X5 ~ X8: Optically isolated, single-ended, 5-24VDC for high level voltage, minimum pulse width = 100μs, maximum pulse frequency = 5KHz
Field Bus
DC Input
STF
4 digital outputs
Digital Output
Y1 ~ Y4: Optically isolated, maximum voltage 30V, maximum sinking or sourcing current 100mA
-R Type: Dual port RS-485 (RJ45 connector)
With Controller
ST
-C Type: Dual port CANopen (RJ45 connector) RS-232 included
Communication Port -D Type: Dual port Ethernet (RJ45 connector)

-IP Type: Dual port Ethernet (RJ45 connector)
AC Input
-EC Type: Dual port Ethernet(RJ45 connector)and RS-232(RS-232 serial port for configuration)
Physical
DC Input
STF03: 0.36kg
2-Phase
STF05: 0.4kg
Mass Stepper Motor
STF06: 0.36kg
3-Phase
STF10: 0.4kg
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
215
Recommended Motors
Standard type step motor
Lead Holding Rotor Mass Dielectric

Model Features Length(mm) Current(A) Mass(Kg)
Integrated
number Torque(N.m) Inertia(g.cm2) Strength

Efficient
TSM
AM8HY2050-01N Single Shaft 4

31.5 0.015 2 0.05
AM8HY2050-02N Double Shaft 4
Integrated
0.5
SSM
AM8HY4043-01N Single Shaft 4

47 0.037 4.2 0.09
AM8HY4043-02N Double Shaft 4
Step-Servo
Single Shaft
Integrated
AM11HS1008-07 4 31 0.05 9 0.1

TXM
IP65
AM11HS3007-02 Single Shaft 4 40 0.08 1.6 12 0.15

AM11HS5008-01 Single Shaft 4 51 0.12 18 0.2
Motor & Drive
AM14HYB401-03 Single Shaft 4 40 0.2 1 20 0.21

RS
AM17HD4452-02N Single Shaft 4

34.3 0.25 1.8 38 0.23
AM17HD4452-01N Double Shaft 4
Motor & Drive
SS
AM17HD2438-02N Single Shaft 4

39.8 0.4 1.8 57 0.28
Pulse Input
Single Shaft
STM-R
AM17HD6426-06N 4
48.3 0.5 1.8 82 0.36

AM17HDB410-01N Single Shaft 4
62.8 0.85 1.6 123 0.6

STM
AM17HDB410-02N Double Shaft 4

4 41 0.6 2.2 135 0.42
SWM
IP65
AM23HS2449-01 Single Shaft 4

54 1.2 2.2 260 0.6
AM23HS2449-02 Double Shaft 4
Pulse Input
SRAC

76 1.8 2.2 460 1
Double Shaft
AC Input
AM23HS3454-02 4
With Controller
STAC
41 0.6 4.5 135 0.42


54 1.2 4.5 260 0.6
Pulse Input

SR

76 1.8 4.5 460 1
500VAC/1Minute
Field Bus
DC Input
STF
AM23HS04A0-01 Single Shaft 4

39 0.82 2.2 120 0.4
AM23HS04A0-02 Double Shaft 4
With Controller
AM23HS84A0-01 Single Shaft 4

55 1.5 2.2 220 0.6
ST
AM23HS84A0-02 Double Shaft 4

AM23HSA4A0-01 Single Shaft 4
77 2.3 2.2 390 1
AC Input
AM23HSA4A0-02 Double Shaft 4

AM23HS04B0-01 Single Shaft 4
39 0.82 4.5 120 0.4
AM23HS04B0-02 Double Shaft 4
DC Input

55 1.5 4.5 220 0.6
Single Shaft
2-Phase
AM23HSA4B0-01 4
77 2.3 4.5 390 1
AM23HSA4B0-02 Double Shaft 4
Stepper Motor

39 0.82 4.5 120 0.4
3-Phase

55 1.5 4.5 220 0.6
UL
AM23HSA4B0-03 Single Shaft 4

77 2.3 4.5 390 1
AM23HSA4B0-04 Double Shaft 4
Power Supplies
AM24HS2402-08N Single Shaft 4

Accessories
54 1.2 4.5 450 0.83

AM24HS2402-11N Double Shaft 4
AM24HS5401-10N Single Shaft 4
Cables
85 2.5 4.5 900 1.4

AM24HS5401-24N Double Shaft 4
AM34HD0404-08 Single Shaft 4
66.5 3 7 1100 1.6
Double Shaft
Software
AM34HD0404-09 4
Single Shaft
Appendix
AM34HD1404-06 4
96 5 7 1850 2.7
AM34HD1404-07 Double Shaft 4
Glossary
AM34HD2403-07 Single Shaft 4

125.5 7.1 7 2750 3.8
AM34HD2403-08 Double Shaft 4
216
IP65 type motor
AM23HS2450-03 IP65 Motor 4 61.7 1.2 260 0.6
Integrated
Efficient
TSM
AM23HS3455-05 IP65 Motor 4 83.7 1.8 4.5 460 1
AM24HS5401-44N IP65 Motor 4 94.5 2.5 900 1.4 500VAC/1Minute
IP65 Motor
Integrated
AM34HD1404-13 4 98 5 1850 2.7
SSM
7
AM34HD2403-13 IP65 Motor 4 127.5 7.1 2750 3.8
Step-Servo
Integrated
TXM
IP65
With brake type motor
Motor & Drive

RS
AM17HD4452-BR01 Brake Motor 4+2 60.3 0.25 38 0.38
Motor & Drive

SS
1.8
AM17HDB410-BR01 Brake Motor 4+2 88.8 0.85 123 0.75
Pulse Input
STM-R
AM23HS2449-BR01 Brake Motor 4+2 95 1.2 260 0.8

2.2
Brake Motor

AM23HS04B0-BR01 4+2 80 0.82 120 0.62
500VAC/1Minute
STM
AM23HS84B0-BR01 Brake Motor 4+2 96 1.5 4.5 220 0.8
AM23HSA4B0-BR01 Brake Motor 4+2 118 2.3 390 1.2
SWM
IP65
4.5
AM34HD0404-BR01 Brake Motor 4+2 118.5 3 1100 2.2
Pulse Input
SRAC
AM34HD1404-BR01 Brake Motor 4+2 148 5 7 1850 3.3
AC Input
With Controller
STAC
Encoder type motor
Pulse Input
Lead Length Holding Rotor Mass Dielectric
SR
Model Features Current(A) Mass(Kg)
number (mm) Torque(N.m) Inertia(g.cm2) Strength
AM17HD4452-E1000D External Encoder Motor 4 34.3 0.25 38 0.23
Field Bus
DC Input
STF
AM17HD2438-E1000D External Encoder Motor 4 39.8 0.4 1.8 57 0.28
With Controller
AM23HS0420-E1000D External Encoder Motor 4 41 0.6 135 0.42
ST
AM23HS2449-E1000D External Encoder Motor 4 54 1.2 2.2 260 0.6
AM23HS3454-E1000D External Encoder Motor 4 76 1.8 460 1
AC Input
AM23HS2450-E1000D External Encoder Motor 4 54 1.2 260 0.6 500VAC/1Minute
AM23HS3455-E1000D External Encoder Motor 4 76 1.8 460 1
DC Input
4.5
2-Phase
AM34HD0404-E1000D External Encoder Motor 4 66.5 3 1100 1.6 Stepper Motor
AM34HD1404-E1000D External Encoder Motor 4 96 5 7 1850 2.7
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
217
Gearbox type motor
Lead Length Holding Rotor Mass Dielectric

Model Features Current(A) Mass(Kg)
number (mm) Torque(N.m) Inertia(g.cm2) Strength
AM17HD4452-PG05 5 speed reducer motor 4 101.8 1.25 1.8 950 0.55
Integrated
Efficient
TSM

AM17HD4452-PG20 20 speed reducer motor 4 114.8 5 1.8 15200 0.63
5 speed reducer motor
Integrated
AM17HD2438-PG05 4 107.3 2 1.8 1425 0.6

SSM

Step-Servo
Integrated

TXM
IP65

Motor & Drive
RS
AM17HDB410-PG05 5 speed reducer motor 4 130.3 4.25 1.6 3075 0.92

AM17HDB410-PG10 10 speed reducer motor 4 130.3 8.5 1.6 12300 0.92
Motor & Drive
AM17HDB410-PG20 20 speed reducer motor 4 143.3 17 1.6 49200 1

SS
AM23HS04B0-PG05 5 speed reducer motor 4 112.5 4.1 4.5 2625 1.23

Pulse Input
STM-R


AM23HS84B0-PG10 10 speed reducer motor 4 128.5 15 4.5 21500 1.43

STM
AM23HS84B0-PG20 20 speed reducer motor 4 141.5 30 4.5 86000 1.64

500VAC/1Minute
AM23HSA4B0-PG05 5 speed reducer motor 4 150.5 11.5 4.5 9125 1.83
10 speed reducer motor
SWM
AM23HSA4B0-PG10 4 150.5 23 4.5 36500 1.83

IP65
AM23HSA4B0-PG20 20 speed reducer motor 4 163.5 46 4.5 146000 2.07

AM24HS2402-PG05 5 speed reducer motor 4 127.5 6 4.5 11250 1.66
Pulse Input
SRAC

AC Input

With Controller
AM24HS5401-PG05 5 speed reducer motor 4 158.5 12.5 4.5 22500 2.23

STAC

Pulse Input
AM34HD0404-PG05 5 speed reducer motor 4 170.5 15 7 27500 3.71

SR

Field Bus
DC Input
STF
AM34HD1404-PG05 5 speed reducer motor 4 210 25 7 46250 4.81

With Controller

ST
AM34HD2403-PG05 5 speed reducer motor 4 229.5 35.5 7 68750 5.91

AC Input

DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
218
Torque Curves
AM8HY2050 AM8HY4043 AM11HS1008
0.016 0.040 0.1
0.014 0.035
0.08
Integrated
0.012 0.030
Efficient
Torque(N·m)
Torque(N m)
Torque(N m)
TSM
. 0.01 . 0.025 0.06
0.008 0.020
0.006 0.015 0.04
0.004 0.010
0.02
Integrated
0.002 0.005
SSM
0 0 0
0 5 10 15 20 0 5 10 15 20 0 10 20 30 40 50
Step-Servo
Integrated
TXM
IP65
AM11HS5008 AM14HYB401
AM11HS3007 Microstep: 20000 steps/rev
Microstep: 20000 steps/rev
Microstep: 20000 steps/rev Current: 1.0A(Peak)
Current: 1.6A(Peak)
Current: 1.6A(Peak)
Motor & Drive

0.15 0.15
0.1
RS
0.12 0.12
0.08
Torque(N·m)
Torque(N·m)
Torque(N m)
. 0.06 0.09 0.09
Motor & Drive

0.06 0.06
0.04
SS
0.03 0.03
0.02
0 0
0
Pulse Input
0 10 20 30 40 50 0 10 20 30 40 50
0 10 20 30 40 50
STM-R
Speed(rps)

AM17HD4452 AM17HD2438 AM17HD6426
STM
0.25 0.5 0.5
0.20 0.4 0.4
Torque(N m)
Torque(N·m)
Torque(N·m)
. 0.3
SWM
0.15 0.3
IP65
0.10 0.2 0.2
0.05 0.1 0.1
Pulse Input
SRAC
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
AC Input
With Controller
STAC
AM17HDB410 AM23HS0420 AM23HS2449

Microstep: 20000 steps/rev Microstep: 20000 steps/rev 24V 48V Microstep: 20000 steps/rev 24V 48V
0.7 0.6 1.2
Pulse Input
0.6 0.5 1
SR
Torque(N.m)
Torque(N.m)
0.5 0.4 0.8

Torque(N·m)
0.4
0.3 0.6
0.3
Field Bus
0.2
DC Input
0.4
STF
0.2
0.1 0.2
0.1
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
With Controller
Speed(rps)
ST
AM23HS3454 AM23HS0421 AM23HS2450
Microstep: 20000 steps/rev Microstep: 20000 steps/rev

AC Input
24V 48V 75V 24V 48V 75V
2 0.6 1.2
0.5 1
1.6
Torque(N.m)
Torque(N.m)
0.8
Torque(N m)
. 0.4
DC Input
1.2
0.3 0.6
0.8 0.2 0.4
0.4 0.1 0.2

0
2-Phase
0
0 0 10 20 30 40 50 0 10 20 30 40 50
0 10 20 30 40 50
Speed(rps)
Stepper Motor
3-Phase
AM23HS3455 AM23HS04A0 AM23HS84A0
Microstep: 20000 steps/rev 24V 48V 75V Microstep: 20000 steps/rev Microstep: 20000 steps/rev
1.8 1 1.5
1.5
0.8 1.2
Torque(N.m)
UL
1.2
Torque(N m)
Torque(N m)
. .
0.6 0.9
0.9
0.6 0.4 0.6
Power Supplies
0.3 0.2 0.3

Accessories
0
0 10 20 30 40 50 0 0
0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps)
Cables
AM23HSA4A0 AM23HS04B0 AM23HS84B0

Microstep: 20000 steps/rev 24V 48V Microstep: 20000 steps/rev 24V 48V Microstep: 20000 steps/rev
Current: 2.2A(Peak) Current: 4.5A(Peak)
Software
Current: 4.5A(Peak)
2.4 0.6 1.5
Appendix
2 0.5
1.2
Torque(N m)
Torque(N m)
. 1.6 .
Torque(N m)
0.4 .
0.9
Glossary
1.2 0.3
0.8 0.2 0.6
0.4 0.1 0.3

0 0
0 10 20 30 40 50 0 10 20 30 40 50 0
0 10 20 30 40 50
219
AM23HSA4B0 AM24HS2402 AM24HS5401

Microstep: 20000 steps/rev Microstep: 20000 steps/rev 24V 48V 75V
Microstep: 20000 steps/rev 24V 48V 75V
1.2 2.4
2
1 2
1.6
Torque(N.m)
Torque(N.m)
1.6
Torque(N m)
. 0.8
1.2 1.2
0.6
0.8 0.8
Integrated
0.4
Efficient
TSM
0.2 0.4
0.4
0 0
0 0 10 20 30 40 50 0 10 20 30 40 50
0 10 20 30 40 50 Speed(rps)
Integrated
SSM
AM34HD2403
Step-Servo
AM34HD0404 AM34HD1404
Integrated
Microstep: 20000 steps/rev Microstep: 20000 steps/rev 24V 48V 75V

24V 48V 75V
Current: 7.0A(Peak)
TXM
24V 48V 75V Current: 7.0A(Peak)

IP65
Current: 7.0A(Peak) 8
3
5
7
2.5 4 6
Torque(N m)
.
Torque(N m)
Torque(N m)
.
Motor & Drive
2 . 3
4
RS
1.5 3
2
1 2
1 1
0.5
Motor & Drive
0
0
0 0 10 20 30 40 50
SS
0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps)
Pulse Input
STM-R
◇ I/O Cable Housing: 501646-2000(Molex)

Crimp: 501648-1000(Molex)
19 20
STM
P/N Length (L)

1015-030 0.3m J1
1015-100 1m
SWM
IP65
50±5 1 2
1015-200 2m L
Pulse Input
SRAC
1 X1+ Blue/White 11 X7 X7 Digital Input Yellow

AC Input
X1 Digital Input
2 X1- Blue/Black 12 X8 X8 Digital Input Green
With Controller
STAC
3 X2+ Green/White 13 SHIELD Shield Shield

X2 Digital Input
4 X2- Green/Black 14 XCOM X5-X8 Digital Input COM Red
Pulse Input
5 X3+ Yellow/White 15 Y1 Y1Digital Output Brown

X3 Digital Input
SR
6 X3- Yellow/Black 16 Y2 Y2 Digital Output Gray

7 X4+ Orange/White 17 Y3 Y3 Digital Output White
X4 Digital Input
Field Bus
DC Input
8 X4- Orange/Black 18 YCOM Y1-Y3 Digital Output COM Black

STF
9 X5 X5 Digital Input Blue 19 Y4+ Purple/White

Y4 Digital Output
With Controller
10 X6 X6 Digital Input Purple 20 Y4- Purple/Black

ST
◇ Bus Communication Daisy Chain Cable ◇ RC-880 Regeneration Clamp

AC Input
Common Type Shielded Type Length (L) RC-880 can clamp the regeneration and prevent
2012-030 * 2013-030 0.3m the power supply and/or drive being damaged
or destroyed. Connect the RC-880 between the
DC Input
2012-300 2013-300 3m
power supply and the drive.
* 2012-030 is included in the drive package.
L Max. Supply Voltage: 80V
2-Phase
8 1 8 1 Max. Output Current: 8A(rms)

Continuous Power: 50W
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
220
Efficient IP65 IP65
221
2-Phase Stepper Drive Motor & Drive Motor & Drive With Controller With Controller With Controller
AC Input DC Input
7.8 7.8
7.8
157.6
157.6
157.6
◇ STF03/06-D, STF03/06-IP
◇ STF03/06-R, STF03/06-C
93
100
100
93
93
93
100
93
93
4.5 4.5 3.5 4.5

3.5 16 3.5
16 49.8 16 49.8
◇ STF03/06-EC
49.8
23.5 23.5 61.8 23.5 61.8
61.8
86.6
86.6
86.6
78.2
11.6
29 29 50
78.2 29 78.2
11.6 17
17 50 11.6
17 50
122
129
122
122
129
122
129
122
122
Demensions (Unit: mm)
◇ STF05/10-D, STF05/10-IP
◇ STF05/10-R, STF05/10-C
4.5 4.5
4.5 4.5
4.5 4.5
◇ STF05/10-EC
142.5 142.5 142.5
DC Input Controller Type Stepper Drive-ST Series

Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
ST Series
The ST series are compact digital stepper drives with multiple
Motor & Drive
SS
control options and many sophisticated features. Step motors run

smoother and faster than ever with features of advanced current
 Advanced Current Control
control.  Anti-Resonance
Pulse Input
STM-R
With mutiple control options, ST series support stand-alone  Torque Ripple Smoothing
programming and various bus control as RS-232/485, Ethernet
UDP/TCP, CANopen and Ethernet/IP.

STM
The ST series also has optional encoder feedback with close loop  Stall Detection and Stall Prevention
for improved system performance and reliability.
SWM
IP65
Features
Pulse Input
SRAC
Anti-Resonance
AC Input

With Controller
The MSST drives automatically calculate the system’s natural frequency

STAC
and apply damping to the control algorithm. This greatly improves midrange
Pulse Input

SR

Field Bus
DC Input
STF

With Controller
ST
resolution motion.
AC Input
Synthesized
Microsteps
DC Input

2-Phase
Stepper Motor
3-Phase

Produces smoother motion at low speeds
UL

Power Supplies

Accessories
Cables

Software
Appendix
Stall detection & Stall prevention (only available on drives with encoder option)
Glossary
222
information to optimize the system performance. The drive can also detect open and short circuits.
Integrated
Efficient
TSM
Which model is right for your application?
Integrated
SSM
Step & Direction
S
Step-Servo
Integrated
TXM
Step & Direction
IP65
CW & CCW pulse
Master Encoder
Motor & Drive

RS
Motor & Drive

SS
Run/Stop (Toggle Switch) S
Pulse Input
STM-R

Two Speeds

STM
Joystick compatible
SWM
IP65
Host Control
Pulse Input
SRAC
RS-232
AC Input
With Controller
STAC
S Q
Pulse Input
RS-485/422
C IP
SR
Field Bus
DC Input
STF
Multi-axis capable
Real time control
With Controller
ST
AC Input
DC Input
2-Phase
RS-232
ID5 ID4 ID3 ID2 ID1
Stepper Motor
Stand Alone Programmable 3-Phase

MMI 控制可选
RS-232 Q
UL

Multi-axis capable
Power Supplies
Real time control

Accessories
Cables
Software
Appendix
Glossary
223
ST Lineup
◇ Control Modes
-S Pulse Input Control PLC
Motion control card
Integrated
Pulse generator
Efficient

TSM
Main Features
Step Motor
Accepts three types of pulse signal input

Integrated
SSM
as Pulse&Direction, CW/CCW and A/B Quadrature

Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
AC
Motor & Drive
Source
SS
Regeneration Clamp DC Power Supply

Pulse Input
STM-R

STM

(Includes Modbus/RTU Type) Configuration
RS232/485 or Ethernet
Run stand-alone with sophisticated and functional programs. PC/Configuration
SWM

IP65

Pulse Input
SRAC
(Option) PLC
Motion control card
Pulse generator
AC Input
Main Features
With Controller

STAC

Math operations
Encoder
Pulse Input
Step
Motor Regeneration Clamp
Multi-tasking
SR

Field Bus
DC Input
AC
STF
Source
DC Power Supply
With Controller
ST

AC Input
-S/Q Basic type with RS-232/RS-485 communication Configuration

DC Input
RS232
Controlled via pulse signals, analog signal or MOONS' SCL RS485 PC/Configuration

Master
2-Phase
Main Features
Pulse control
Stepper Motor
Analog control (Option) PLC,Sensor,I/O

3-Phase
Host real time control using SCL via RS-232/RS-485

UL
Encoder
Step
Power Supplies
Regeneration Clamp
Motor
Accessories
AC
Cables
Source
DC Power Supply
Software
Appendix
Glossary
224
-S/Q With Ethernet communication
Run stand-alone with sophisticated and functional
programs, controlled via MOONS' SCL streaming
commands. Ethernet/IP
Integrated
Ethernet/IP Master
Main Features
Efficient
TSM
(Option) PLC,Sensor,I/O
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Encoder
Step
Motor & Drive

RS
AC
Motor & Drive

Source
SS
DC Power Supply
Pulse Input
STM-R
-C With CANopen communication
Operates on a CANopen communication network and

STM
conforms to CiA301 and CiA402. It supports runing stored
Q programs via MOONS'-specific CANopen objects.
Main Features
SWM
IP65
Configuration
CANopen network RS232
CANopen PC/Configuration
Pulse Input
SRAC
Objects for Q programming CANopen Master
AC Input
With Controller
STAC
Pulse Input
SR
Encoder
Field Bus
DC Input
Step
STF
With Controller
ST
AC
Source
DC Power Supply
AC Input
DC Input
-IP With EtherNet/IP communication
Communicate with PLCs and other industrial devices supporting
the Ethernet/IP standard. They can also be commanded to
2-Phase
execute stored Q programs.
Stepper Motor
Ethernet/IP
3-Phase
Ethernet/IP Master
UL Power Supplies
Accessories
Encoder
Step
Cables

Software
AC
Source
Appendix
DC Power Supply
Glossary
225
Numbering System
MSST 5 - Q - A E
Integrated
Efficient
TSM
Feedback(Blank in S type)
Series
N = None
Integrated
E = Encoder
SSM
Output Current
5 = 5A Peak
Step-Servo
Communication(Blank in S type)
Integrated
10= 10A Peak

TXM
IP65
A = RS-232
Control Mode C = CANopen
S = Basic Type E = Ethernet
Motor & Drive
Q = Q Program Type R = RS-485

RS
(Modbus/RTU)
C = CANopen
IP = EtherNet/IP
Motor & Drive
SS
Pulse Input
STM-R
Model Control Current Voltage Encoder RS-232 RS-485 Modbus/RTU CANopen Ethernet EtherNet/IP
MSST5-S 0.1-5A 24-48VDC 
S
MSST10-S 0.1-10A 24-75VDC
STM

MSST5-Q-AN 
MSST5-Q-AE  
SWM
IP65
MSST5-Q-RN   
0.1-5A 24-48VDC
MSST5-Q-RE    
Pulse Input
MSST5-Q-EN
SRAC

MSST5-Q-EE  
AC Input
Q
MSST10-Q-AN 
With Controller
STAC
MSST10-Q-AE  
MSST10-Q-RN   
0.1-10A 24-75VDC
Pulse Input
MSST10-Q-RE    
SR
MSST10-Q-EN 
MSST10-Q-EE  
Field Bus
DC Input
MSST5-C-CN
STF
 
0.1-5A 24-48VDC
MSST5-C-CE   
C
With Controller
MSST10-C-CN  
0.1-10A 24-75VDC
ST
MSST10-C-CE   
MSST5-IP-EN  
0.1-5A 24-48VDC
AC Input
MSST5-IP-EE   
IP
MSST10-IP-EN  
0.1-10A 24-75VDC
MSST10-IP-EE   
DC Input
2-Phase

Stepper Motor
3-Phase

Protection Over-voltage, under-voltage, over-temp, internal motor shorts (phase-to-phase, phase-to-ground)
Automatic idle current reduction to reduce heat after motor stops moving, software selectable current and
Idle Current
idle delay
UL
Performs high resolution stepping by synthesizing fine microsteps from coarse steps. Reduces jerk and
Microstep Emulation
Power Supplies
extraneous system resonances.

Raises the system damping ratio to eliminate midrange instability and allow stable operation throughout
Accessories
Anti-Resonance
the speed range and improves settling time
Torque Ripple Allows for fine adjustment of phase current waveform harmonic content to reduce low-speed torque ripple
Smoothing in the range of 0.25 to 1.5 rps
Cables
Encoder Feedback Optional encoder feedback for stall detection and stall prevention
Software

Appendix

Mass -S: Approx. 0.2Kg, -Q/C/IP: Approx. 0.3Kg
Glossary
226
I/O Specifications
STEP, DIR inputs: Optically isolated, differential, 5 VDC, minimum pulse width = 250 ns, maximum pulse frequency = 2 MHz
EN input: Optically isolated, 5-12 VDC
-S
OUT output: Optically isolated, 24 VDC max, 10 mA max
AIN analog input: Range = 0-5 VDC, resolution = 12 bits
Integrated
Efficient
TSM
X1, X2 inputs: Optically isolated, differential, 5 VDC, minimum pulse width = 250 ns, maximum pulse frequency = 2 MHz
X3-X6 inputs: Optically isolated, single-ended, shared common, sinking or sourcing, 12-24 VDC
X7, X8 inputs: Optically isolated, differential, 12-24 VDC
Integrated
-Q / C / IP Y1-Y3 outputs: Optical darlington, single-ended, shared common, sinking, 30 VDC max, 100 mA max
SSM
Y4 output: Optical darlington, sinking or sourcing, 30 VDC max, 100 mA max
Analog inputs IN1, IN2: Can be used as two single-ended inputs or one differential input. Range =software selectable 0-5, +/-5, 0-10, or +/-10 VDC.
Software configurable offset, deadband, and filtering. Resolution = 12 bits (+/-10 volt range), 11 bits (+/-5 or 0-10 volt range), or 10 bits (0-5 volt
Step-Servo
Integrated
range).
TXM
IP65
Recommended Motors
Motor & Drive

RS
Holding Rotor
Length“L” Current Resistance Motor Mass Dielectric
Model Shaft Wiring Leads Torque Inertia
Motor & Drive

Strength
Kg
SS
AM11HS1008-07 Single Shaft 31.0 0.05 1.6 2.5 9.0 0.1
Pulse Input
STM-R
AM14HYB401-03 Single Shaft 40.0 0.2 1.0 4.3 20.0 0.21

STM
34.3 0.25 1.8 1.5 38.0 0.23
39.8 0.4 1.8 1.9 57.0 0.28
SWM
IP65
48.3 0.5 1.8 2.3 82.0 0.36
Pulse Input
SRAC
AM17HDB410-01N Single Shaft 62.8 0.8 1.6 2.6 123 0.6
AC Input
41.0 0.6 2.2 1.8 135.0 0.42
With Controller
STAC

54.0 1.2 2.2 2.4 260.0 0.6
Pulse Input
SR
76.0 1.8 2.2 2.9 460.0 1.0 500VAC
AM23HS3454-02 Double Shaft A 4
1 minute
Field Bus
DC Input
STF
41.0 0.6 4.5 0.48 135.0 0.42
With Controller
54.0 1.2 4.5 0.63 260.0 0.6
ST
76.0 1.8 4.5 0.75 460.0 1.0
AC Input
AM24HS2402-08N Single Shaft 54.0 1.2 4.5 0.43 450.0 0.83
DC Input
85.0 2.5 4.5 0.65 900.0 1.4
2-Phase
66.5 3.0 7.0 0.24 1100.0 1.6
AM34HD1404-06 Single Shaft Stepper Motor
96.0 5.0 7.0 0.33 1850.0 2.7
3-Phase
125.5 7.1 7.0 0.49 2750.0 3.8

UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
227
Torque Curves
AM11HS1008 AM11HS3007 AM11HS5008
0.1 0.1 0.15
Integrated
0.08 0.08 0.12

Efficient
TSM
Torque(N·m)
Torque(N m)
Torque(N m)
0.06 . 0.06 . 0.09
0.04 0.04 0.06

Integrated
0.02 0.03
SSM
0.02
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Step-Servo
Integrated
TXM
IP65
AM14HYB401 AM17HD4452 AM17HD2438

0.25 0.5
0.15
Motor & Drive
0.20 0.4
0.12
RS
Torque(N m)
.
Torque(N m)
. 0.15
Torque(N m)
. 0.09 0.3
0.10 0.2
0.06
Motor & Drive
0.1
SS
0.03 0.05
0 0
0 0 10 20 30 40 50 0 10 20 30 40 50
0 10 20 30 40 50
Speed(rps)
Pulse Input
STM-R
AM17HD6426 AM17HDB410 AM23HS0420

Microstep: 20000 steps/rev Microstep: 20000 steps/rev Microstep͹20000 steps/rev 24V 48V
Current: 1.8A(Peak) Current: 1.8A(Peak) Current͹2.2AͧPeakͨ

0.5 0.7 0.6
0.6
STM
0.5
0.4
Torque ( N m)
0.5 . 0.4
Torque(N·m)
Torque(N m)
. 0.3 0.4
0.3
0.3
0.2 0.2
SWM
0.2
IP65
0.1 0.1 0.1
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Pulse Input
Speed(rps)
SRAC
AC Input
AM23HS2449 AM23HS3454 AM23HS0421

Microstep͹20000 steps/rev 24V 48V Microstep͹20000 steps/rev Microstep͹20000 steps/rev 24V 48V 75V
With Controller
Current͹2.2AͧPeakͨ
1.2 0.6
2.0
STAC
1 0.5
1.6
Torque ( N m)
Torque(N m)
. . 0.4
Torque(N m)
0.8 .
1.2 0.3
0.6
Pulse Input
0.4 0.8 0.2

SR
0.2 0.4 0.1
0 0
0 0 10 20 30 40 50
Field Bus
0 10 20 30 40 50
DC Input
0 10 20 30 40 50
STF
Speed(rps)
AM23HS2450 AM23HS3455 AM23HS5412

With Controller
Microstep͹20000 steps/rev 24V 48V 75V

Microstep͹20000 steps/rev 24V 48V 75V Microstep͹20000 steps/rev 24V 48V 75V
1.2 1.8 2.5
ST
1 1.5 2
Torque ( N m)
Torque ( N m)
Torque ( N m)
. . .
0.8 1.2
1.5
AC Input
0.6 0.9
1
0.4 0.6
0.2 0.3 0.5
0 0 0
DC Input
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
AM24HS2402 AM24HS5401 AM34HD0404

2-Phase
24V 48V 75V 24V 48V 75V 24V 48V 75V

1.2 2.4 3.0
1 2 2.5
Stepper Motor
Torque(N m)
Torque ( N m)
.
Torque ( N m)
. . 1.6 2.0
0.8
3-Phase
0.6 1.2 1.5
0.4 0.8 1.0
0.2 0.4 0.5
0 0 0
0 10 20 30 40 50
UL
0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps)
Power Supplies
AM34HD2403
AM34HD1404 Microstep͹20000 steps/rev 24V 48V 75V
Microstep͹20000 steps/rev Current͹7.0AͧPeakͨ
Accessories
24V 48V 75V

Current͹7.0AͧPeakͨ 8.0
5.0
7.0
4.0 6.0
Torque(N m)
.
5.0
Cables
Torque(N m)
. 3.0
4.0
3.0
2.0
2.0
1.0 1.0
Software
0
0 0 10 20 30 40 50
Appendix
0 10 20 30 40 50
Speed(rps)
Speed(rps)
Glossary
228
Dimensions(unit:mm)
◇ MSST5/10-S ◇ MSST5/10-Q/C/IP
86 120.5
Integrated
Efficient
TSM
15.5
15.5
Integrated
SSM
76
50.3
50.3
76
Step-Servo
Integrated
TXM
IP65
44.5
Motor & Drive

26.5
RS
6-4.1 6-4.1
17
Motor & Drive

17
SS
127
93
Unit:mm
Unit:• mm
Pulse Input
STM-R

STM
Connect the motor power supply “+” terminal to the driver terminal labeled “VDC”. Connect power supply “-”
SWM
IP65
to the drive terminal labeled “GND”. Use 18 or 20 gauge wire. The MSST drives contain an internal fuse that
connects to the power supply + terminal. This fuse is not user replaceable. If you want to install a user servicable
Pulse Input
fuse in your system install a fast acting fuse in line with the + power supply lead. Use a 4 amp fuse for the
SRAC
MSST5 drives and 7 amps for the MSST10.
AC Input
MSST5 Supply Voltage: 24-48VDC
With Controller
STAC
MSST10 Supply Voltage: 24-75VDC
Pulse Input
SR
Field Bus
DC Input
STF
With Controller
ST
V+
V-
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
229
Connecting the Motor Communication Connector

A-4-LEADS BIPOLAR MOTOR B-6-LEADS SERIES CONNECTED
Black A+
C-6-LEAD CENTER TAP CONNECTED
Black A+
◇ Connecting to the Host using RS-232
Black A+
Green A-
Integrated
Efficient
Green A- Green NC
TSM
Red B+

Integrated
SSM
D-8-LEADS PARALLEL CONNECTED E-8-LEADS SERIES CONNECTED

RX (to PC TX)
Connecting an Encoder
Green
White White A+
Brown
Green
8 LEAD
MOTOR
GND(to PC ground)
8 LEAD
TX (to PC RX) NC
Step-Servo
MOTOR
Integrated
Brown Yellow C
Encoder B+ (3) (8) GND

TXM
IP65
C
Yellow Gray B+
Do notBlue connect (9) (2) Encoder A-

Gray
Red
Pink
Blue Baud Rate set by ST Configurator software
Encoder B- (4) (7) +5VDC 200mA
9600/19200/38400/57600/115200
Pink RED
Do not connectD (10) (1) Encoder A+
Motor & Drive
Encoder Z+ (5) (6) Encoder Z-

RS
◇ Connecting to a Host using RS-485

Motor & Drive
RX+ RX+ RX+ * 120Ω

to PC TX+
to PC TX- RX- RX- RX-
SS
to PC RX+ TX+ TX+ TX+

Shield (15) (11) Do not connect
to PC RX- TX- TX- TX-
Do not connect (14) (12) Do not connect
GND GND GND
Pulse Input
to PC GND
STM-R
Do not connect (13)

MSST-Q/C/IP types are available with optional Encoder

feedback for closed loop and provide following features:

STM
Stall Detection: Detects the moment the motor has stalled * RS-485 four wire connection
and triggers a drive fault. RX+ RX+ RX+

to PC TX+ (B)
Position Maintenance: maintains shaft position when the
SWM
RX- RX- * 120Ω RX-

IP65
to PC TX- (A)
motor is stopped. TX+ TX+
TX+
TX- TX- TX-
Stall Prevention: automatically senses rotor lag and avoid to PC GND
Pulse Input
GND GND GND

SRAC
stalling.
AC Input
Connecting I/O(DB25 connector on Q/

With Controller

STAC
C/IP type) * RS-485 two wire connection

Baud Rate set by ST Configurator software

Pulse Input
Type Pin No. Assignment Description 9600/19200/38400/57600/115200

SR
1 Analog IN1
Analog Input Analog Input 1,2 RS-485 address set by ST Configurator software
2 Analog IN2
3 N/C N/C ◇ Connecting a CANopen network
Field Bus
DC Input
STF
4 X6/CCWJOG R termination*
120 ohm nominal
5 X5/CWJOG Digital Input 3-6

With Controller
6 X4/Alarm Reset (Single ended) 2

3
CAN_L
CAN_GND
ST
4
5 CAN_SHLD
7 X3/Enable 6
7 CAN_H
8
9
Digital Input 8 X COMMON Digital Input COM
AC Input
9 X2/DIR-
DSUB9 Female
CAN_BUS
Digital Input 2
10 X2/DIR+ (Differential) R termination*
120 ohm nominal
CAN_SHLD
CAN_SHLD
CAN_GND
CAN_GND
n*
11 X1/STEP-
CAN_H
CAN_H
CAN_L
CAN_L
DC Input
Digital Input 1
12 X1/STEP+ (Differential)
3
3
4
2
1
2
1
13 GND Earth Ground .1” Spacing Spring Plug .1” Spacing Spring Plug
2-Phase
14 Y1/BRAKE+
Digital Output 1-3
15 Y2/MOTION+
(Single ended) R termination: n:
Stepper Motor
Network must be terminated at each Cable may be made with up to 112 drive
Digital Output 16 Y3/FAULT+ end with a 120 ohm resistor. connectors. Termination is only required
3-Phase
at each end.
17 Y COMMON Digital Output COM
18 +5OUT +5V OUT
19 GND Earth Ground
GND
UL
20 Y4+ Digital Output CAN_L

Digital Output (Differential) SHLD
21 Y4-
Power Supplies
CAN_H
22 X7/CWLIMIT+
Accessories
Digital Input 7
23 X7/CWLIMIT- (Differential)
Digital Input
24 X8/CCWLIMIT+ Digital Input 8
Cables
25 X8/CCWLIMIT- (Differential)
Software
Appendix
Glossary
230
Node ID If your PC’s subnet mask is set to 255.255.255.0, a common
setting known as a Class C subnet mask, then your machine
Each node ID on a CANopen network must have a unique can only talk to another network device whose IP address
Node ID. The Node ID is configured using a sixteen position matches yours in the first three octets. (The numbers
switch to set the lower four bits of the Node ID while the between the dots in an IP address are called octets.)
upper three bits are configured by using ST Configurator. For example, if your PC is on a Class C subnet and has
Integrated
CANopen Node IDs are seven bits long, with a range of 1 -
Efficient
an IP address of 192.168.0.20, it can talk to a device at
TSM
112, or 0x01 - 0x7F in hexadecimal notation. Node ID 0x00 192.168.0.40, but not one at 192.168.1.40. If you change
is reserved in accordance with the CiA 301 specification. your subnet mask to 255.255.0.0 (Class B) you can talk to
Integrated
any device whose first two octets match yours. Be sure to
SSM
345
ask your system administrator before doing this. You network
67 A
EF 2
01
may be segmented for a reason.

89
Step-Servo
BCD
Integrated
IP Address*
TXM
IP65
0 10.10.10.10
1 192.168.1.10
2 192.168.1.20 345
Motor & Drive

3 192.168.1.30
67
0 12
4 192.168.0.40
RS
89A
EF
5 192.168.0.50 BCD
Setting the Bit Rate 6
7
192.168.0.60
192.168.0.70
8 192.168.0.80
Motor & Drive

The CANopen network bitrate is set by the ten position 9 192.168.0.90
SS
A 192.168.0.100
switch on the front of the drive. The bit rate must be the B 192.168.0.110
same for all nodes on the CANopen network. Any changes to C
D
192.168.0.120
192.168.0.130
the bit rate require either a power cycle or a CANopen reset
Pulse Input
E 192.168.0.140
STM-R
F DHCP
command to take effect.

Your drive includes a 16 position rotary switch for setting its
Switch Setting Resultant Bit Rate
IP address. The factory default ddress for each switch setting

0 1 Mbps is shown in the table to the right.
STM
1 800 kbps Settings 1 through E can be changed using the ST
2 500 kbps Configurator software (use ST Configurator for MSSSTAC5
SWM
drives). Setting 0 is always “10.10.10.10”, the universal
IP65
3 250 kbps
recovery address. If someone were to change the other
4 125 kbps
settings and not write it down or tell anyone then you will
Pulse Input
5 50 kbps not be able to communicate with your drive. The only way to
SRAC
6 20 kbps “recover” it is to use the universal recovery address.
AC Input
7 12.5 kbps Setting F is “DHCP”, which commands the drive to get an IP
With Controller
address from a DHCP server on the network. The IP address
STAC
◇ Connecting to PC using Ethernet automatically assigned by the DHCP server may be “dynamic”

Addresses, Subnets, and Ports or “static” depending on how the administrator has configured
Pulse Input
DHCP. The DHCP setting is reserved for advanced users.
SR
Every device on an Ethernet network must have a unique
Your PC, or any other device that you use to communicate
IP address. In order for two devices to communicate with
with the drive, will also have a unique address.
each other, they must both be connected to the network and
Field Bus
DC Input
On the drive, switch settings 1 through E use the standard
STF
they must have IP addresses that are on the same subnet.
A subnet is a logical division of a larger network. Members class B subnet mask (i.e. “255.255.0.0”). The mask for the
of one subnet are generally not able to communicate with universal recovery address is the standard class A (i.e.
With Controller
members of another unless they are connected through “255.0.0.0”). One of the great features of Ethernet is the
ST
special network equipment (e.g. router). Subnets are defined ability for many applications to share the network at the same
by the choices of IP addresses and subnet masks. time. Ports are used to direct traffic to the right application
once it gets to the right IP address. The UDP eSCL port in
AC Input
If you want to know the IP address and subnet mask of your
our drives is 7775. To send and receive commands using
PC, select Start…All Programs…Accessories…Command
TCP, use port number 7776. You’ll need to know this when
Prompt. Then type “ipconfig” and press Enter. You should
you begin to write your own application. You will also need to
see something like this:
DC Input
choose an open (unused) port number for your application.
Our drive doesn’t care what that is; when the first command
is sent to the drive, the drive will make note of the IP address
2-Phase
and port number from which it originated and direct any
responses there. The drive will also refuse any traffic from
other IP addresses that is headed for the eSCL port. The first
Stepper Motor
application to talk to a drive “owns” the drive. This lock is only

3-Phase
reset when the drive powers down.
If you need help choosing a port number for your application,
you can find a list of commonly used port numbers at http://
UL
www.iana.org/assignments/port-numbers.
One final note: Ethernet communication can use one or both
Power Supplies
of two “transport protocols”: UDP and TCP. eSCL commands

Accessories
can be sent and received using either protocol. UDP is

simpler and more efficient than TCP, but TCP is more reliable
on large or very busy networks where UDP packets might
Cables
occasionally be dropped.
Software
Appendix
Glossary
231
Option 1: Connect a Drive to Your Local Area Network Using DCHP

If you have a spare port on a switch or router and if you are If you want to use your drive on a network that where all or
able to set your drive to an IP address that is compatible with most of the devices use dynamic IP addresses supplied by
your network, and not used by anything else, this is a simple a DHCP server, set the rotary switch to “F”. When the drive
way to get connected. This technique also allows you to is connected to the network and powered on, it will obtain
Integrated
connect multiple drives to your PC. If you are on a corporate an IP address and a subnet mask from the server that is
Efficient
TSM
network, please check with your system administrator before compatible with your PC. The only catch is that you won’t
connecting anything new to the network. He or she should know what address the server assigns to your drive. Ethernet
be able assign you a suitable address and help you get Configurator can find your drive using the Drive Discovery
Integrated
SSM
going. feature, as long as your network isn’t too large. With the
drive connected to the network and powered on, select Drive
Step-Servo
NIC PC Discovery from the Drive menu.

Integrated
TXM
IP65
You will see a dialog such as this:

SWITCH Normally, Drive Discovery will only detect one network
Motor & Drive
LAN or DRIVE interface card (NIC), and will select it automatically. If you
RS
ROUTER are using a laptop and have both wireless and wired network
connections, a second NIC may appear. Please select the
If you are not sure which addresses are already used on NIC that you use to connect to the network to which you’ve
Motor & Drive
connected your drive. Then click OK. Drive Discovery will

SS
your network, you can find out using “Angry IP scanner”,

which can be downloaded free from http://www.angryip.org/ notify you as soon as it has detected a drive.
w/Download. But be careful: an address might appear to If you think this is the correct drive, click Yes. If you’re
Pulse Input
STM-R
be unused because a computer or other device is currently not sure, click Not Sure and Drive Discovery will look for
turned off. And many networks use dynamic addressing additional drives on you network. Once you’ve told Drive
where a DHCP server assigns addresses “on demand”.The Discovery which drive is yours, it will automatically enter that
address you choose for your drive might get assigned to drive’s IP address in the IP address text box so that you are
STM
something else by the DHCP server at another time. ready to communicate.

Once you’ve chosen an appropriate IP address for your
drive, set the rotary switch according the address table
SWM
IP65
above. If none of the default addresses are acceptable for

your network, you can enter a new table of IP addresses
Pulse Input
using Confi gurator. If your network uses addresses starting

SRAC
with 192.168.0, the most common subnet, you will want

AC Input
to choose an address from switch settings 4 through E.

With Controller
Another common subnet is 192.168.1. If your network uses

STAC
addresses in this range, the compatible default selections

are 1, 2 and 3. If your PC address is not in one of the above

private subnets, you will have to change your subnet mask
Pulse Input
to 255.255.0.0 in order to talk to your drive. To change your

SR
subnet mask:
1. On Windows XP, right click on “My Network Places” and
Field Bus
DC Input
STF
select properties. On Windows 7, click Computer. Scroll

down the left pane until you see “Network”. Right click and
select properties. Select “Change adapter settings” Option 2: Connect a Drive Directly to Your PC
With Controller
2. You should see an icon for your network interface card It doesn’t get much simpler than this:
ST
(NIC). Right click and select properties. 1. Connect one end of a CAT5 Ethernet cable into the LAN
3. Scroll down until you see “Internet Properties (TCP/IP)”. card (NIC) on your PC and the other into the drive. You don’t
AC Input
Select this item and click the Properties button. On Windows need a special “crossover cable”; the drive will automatically
7 and Vista, look for “(TCP/IPv4)” detect the direct connection and make the necessary
4. If the option “Obtain an IP address automatically” is physical layer changes.
DC Input
selected, your PC is getting an IP address and a subnet 2. Set the IP address on the drive to “10.10.10.10” by setting
mask from the DHCP server. Please cancel this dialog and the rotary switch at “0”.
proceed to the next section “Using DHCP”. 3. To set the IP address of your PC:
2-Phase
5. If the option “Use the following IP address” is selected, life a. On Windows XP, right click on “My Network Places”
is good. Change the subnet mask to “255.255.0.0” and click
Stepper Motor

OK.
3-Phase
b. On Windows 7, click Computer. Scroll down the left

properties. Select “Change adapter settings”
4. You should see an icon for your network interface card
UL
(NIC). Right click and select properties.

Power Supplies

Accessories

Cables
Software
Appendix
Glossary
232
6. Select the option “Use the following IP address”. Then
address that is on the same subnet as the drive. Windows
will know to direct any traffic intended for the drive’s IP
address to this interface card.
Integrated
7. Next, enter the subnet mask as “255.255.255.0”. Be sure
Efficient
TSM
to leave “Default gateway” blank. This will prevent your PC
from looking for a router on this subnet.
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
5. Select the option “Use the following IP address”. Then
RS
address that is
Motor & Drive

on the same subnet as the drive. Windows will know to direct
SS
any traffic intended for the drive’s IP address to this interface
card.
Pulse Input
STM-R
6. Next, enter the subnet mask as “255.255.255.0”.

7. Be sure to leave “Default gateway” blank. This will prevent
your PC from looking for a router on this subnet.

STM
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
STAC
Pulse Input
SR
Field Bus
DC Input
STF
Option 3: Use Two Network Interface Cards (NICs)
With Controller
ST
This technique allows you to keep your PC connected
to your LAN, but keeps the drive off the LAN, preventing
possible IP conflicts or excessive traffic.
AC Input
1. If you use a desktop PC and have a spare card slot, install
a second NIC and connect it directly to the drive using a
DC Input
CAT5 cable. You don’t need a special “crossover cable”;
the drive will automatically detect the direct connection and
make the necessary physical layer changes.
2-Phase
2. If you use a laptop and only connect to your LAN using
wireless networking, you can use the built-in RJ45 Ethernet Stepper Motor
connection as your second NIC.
3-Phase
3. Set the IP address on the drive to “10.10.10.10” by setting
the rotary switch at “0”.
4. To set the IP address of the second NIC:
UL
a. On Windows XP, right click on “My Network Places”

Power Supplies
b. On Windows 7, click Computer. Scroll down the left

Accessories

properties. Select “Change adapter settings”
Cables
5. You should see an icon for your newly instated NIC. Right
click again and select properties.
Software

Appendix

Glossary
233
Efficient IP65 IP65
235
3-Phase Step Motor Drive Integrated Motor & Drive Motor & Drive Pulse Input With Controller With Controller Pulse Input With Controller Pulse Input With Controller
AC Input DC Input
DC Input
AC Input
Stepper Drive
3-Phase
3SRAC2- 3-Phase AC Input Stepper Drive
Integrated
Efficient
TSM
Parameter Min. Typ. Max. Units
Power Supply 80 - 265 VAC
Integrated
SSM
Cost current of digital input 6 10 15 mA
signal
Step-Servo
Integrated
Step Signal Frequency 2 - 2M Hz
TXM
IP65
Motor & Drive

Under Voltage Protection - 75*/135* - VAC
RS
Over Voltage Protection - 145*/295* - VAC
Input Signal Voltage
Motor & Drive

4 - 28 VDC
SS
Features OUT maximum output current - - 100 mA
Pulse Input
STM-R
OUT maximum voltage
 Input Voltage: 80-265VAC - - 30 VDC

*Note: When the AC input switch is selected on 115V, under voltage protection
 Output Current: 2.5(Peak) point is 75VAC, over voltage protection point is 145VAC. When the input switch

is selected on 230V status, under voltage protection point is 135VAC, over
STM
voltage protection point is 295VAC.
Mass
SWM
IP65
SW4(step/rev): 0.8kg
200, 400, 800, 1600, 3200, 6400, 12800, 25600, 1000, 2000, 4000,
Pulse Input
SRAC
5000, 8000, 10000, 20000, 25000 Dimensions(Unit:mm)
AC Input
 8 different current levels selectable via switches SW5- 110 47.5
With Controller
SW7: 10.5
STAC
4.5
0.6A, 0.8A, 1.0A, 1.2A, 1.6A, 1.8A, 2.0A, 2.5A Status

SRAC
 Rotary switch selects motor and Dip switch SW10
STEP MOTOR DRIVE RoHS
Motor Select
Pulse Input
OUT - Serial No Part No
OUT+
selects load intertia for optimized current control

EN -
IN/OUT
OUT - Microstep Table Current Table
SR
EN+
DIR - OUT+ MSTEP SW1 SW2 SW3 SW4 Current SW5 SW6 SW7
200 ON ON ON ON 0.4A ON ON ON
DIR+ EN - 400 OFF ON ON ON 0.8A OFF ON ON

STEP - EN + 800 ON OFF ON ON 1.2A ON OFF ON
STEP+ DIR - 1600 OFF OFF ON ON 1.5A OFF OFF ON

3200 ON ON OFF ON 1.8A ON ON OFF
DIR +
130.7
6400 OFF ON OFF ON 2.0A OFF ON OFF
STEP - 12800 ON OFF OFF ON 2.2A ON OFF OFF
SW12 25600 OFF OFF OFF ON 2.5A OFF OFF OFF
SW11 STEP +
noise on command signals, Dip switch selectable SW9

1000 ON ON ON OFF
SW10 SW8 Idle Current
SW9 SW12 2000 OFF ON ON OFF
ON 50% Current
Field Bus
SW11 4000 ON OFF ON OFF OFF 90% Current
SW8
DC Input
SW10 5000 OFF OFF ON OFF
141
SW7
SW
SW9 Step Noise Filter

SW9 8000 ON ON OFF OFF
SW6 ON 150KHz
STF
10000 OFF ON OFF OFF
2MHz or 150KHz
SW8 OFF 2MHz
SW5 20000 ON OFF OFF OFF
SW4 SW7 SW10 Load Inertia
SW3 SW6 25000 OFF OFF OFF OFF ON Low
SW2 SW5 OFF High
SW4 GR=Green
SW1 LED Codes RD=Red SW11 Smoothing Filter
SW3 ON Enable
SW2 MOTOR DISABLED SOLID GREEN Disable
 Switch SW11 selectable microstep emulation provides

B- OFF
SW1 MOTOR ENABLED GR - GR - GR SW12 Self Test
MOTOR
B+ OVER TEMPERATURE 1GR + 3RD ON Enable

B- SUPPLY VOLTAGE HIGH 1GR + 4RD OFF Disable
A- OVER CURRENT 1GR + 5RD
B+
OPEN MOTOR PHASE 1GR + 6RD
With Controller
A+
smoother, more reliable motion

A- INTERNAL VOLTAGE BAD 2GR + 3RD
SUPPLY VOLTAGE LOW 2GR + 4RD
N A+ EXCESS REGEN 2GR + 5RD
LINE
ST
AC input voltage must be selected
L by switch . Check input voltage

L avoiding damage before power on !
WARNING
Made in China
Unit:mm 4.5
Dip switch SW8

AC Input
 Protection: over voltage,under voltage, over current, Ordering Information
open motor winding Model Description
DC Input
3SRAC2 Standard, 0.6-2.5A ,80-265VAC
2-Phase
LED
Stepper Motor
Motror selection switch
3-Phase
OUT-
OUT+
EN-
I/O Connector EN+
DIR-
UL
DIR+
STEP-
STEP+
Power Supplies
SW12
Accessories
SW11
SW10
SW9
Selection switches
SW8
SW7
Cables
SW6
SW5
SW4
SW3
V SW2
NC U SW1
Software
W
W Motor connector
V
V
Appendix
U
U
Glossary
Earth
237
3SRAC8 - 3-Phase AC Input Stepper Drive

Integrated
Parameter Min. Typ. Max. Units

Efficient
TSM
Power Supply 80 - 265 VAC

Output Current (Peak) 0.4 - 8 Amps
Integrated
SSM
Cost current of digital input 6 10 15 mA

signal
Step Signal Frequency 2 - 2M Hz
Step-Servo
Integrated

TXM
IP65

Under Voltage Protection - 80 - VAC
Motor & Drive
Over Voltage Protection

RS
- 295 - VAC
Motor & Drive

SS

Features OUT maximum voltage - - 30 VDC
Pulse Input
 Input Voltage: 80-265VAC

STM-R
 Output Current: 8.0A(Peak) Mass

1.2kg
STM

 1 Digital output: Fault Output Dimensions(Unit:mm)
SWM
IP65
54
SW4(step/rev): 120.5 10.5
200, 400, 800, 1600, 3200, 6400, 12800, 25600, 1000, 2000, 4000,
Pulse Input
SRAC
SRAC
5000, 8000, 10000, 20000, 25000 STEP MOTOR DRIVE
Motor Select
RoHS
AC Input

Serial No Part No
OUT - Microstep Table Current Table

OUT+
With Controller
MSTEP SW1 SW2 SW3 SW4 Current SW5
SW5-SW8:
SW6 SW7 SW8
EN - 200 ON ON ON ON 0.4A ON ON ON ON
EN+ 400 OFF ON ON ON 0.6A OFF ON ON ON
STAC
800 ON OFF ON ON 0.9A ON OFF ON ON

DIR - 1600 OFF OFF ON ON 1.2A OFF OFF ON ON
DIR + 3200 ON ON OFF ON 1.5A ON ON OFF ON
STEP - 6400 OFF ON OFF ON 2.0A OFF ON OFF ON
0.4A, 0.6A, 0.9A, 1.2A, 1.5A, 2.0A, 2.5A, 3.0A, 3.5A, 4.0A, 4.5A, 5.2A,
STEP+ 12800 ON OFF OFF ON 2.5A ON OFF OFF ON
25600 OFF OFF OFF ON 3.0A OFF OFF OFF ON
SW16 1000 ON ON ON OFF 3.5A ON ON ON OFF
SW15 2000 OFF ON ON OFF 4.0A OFF ON ON OFF
SW14
177
162
4000 ON OFF ON OFF 4.5A ON OFF ON OFF
SW13 5000 OFF OFF ON OFF 5.2A OFF OFF ON OFF
SW12
5.9A, 6.6A, 7.3A, 8.0A

SW11 8000 ON ON OFF OFF 5.9A ON ON OFF OFF
SW10 10000 OFF ON OFF OFF 6.6A OFF ON OFF OFF
SW9 20000 ON OFF OFF OFF 7.3A ON OFF OFF OFF
Pulse Input
25000 OFF OFF OFF OFF 8.0A OFF OFF OFF OFF
SW8
SW7
 Digital filters prevent position error from electrical noise

SW6 Idle Current Anti Resonance
SW5 Idle SW9 SW10 Option SW11 SW12 Inertia
SR
SW4 25% ON ON 0 ON ON Low

SW3 50% OFF ON 1 OFF ON
SW2 70% ON OFF
SW1 2 ON OFF
on command signals, Dip switch SW14 selectable

90% OFF OFF 3 OFF OFF High
NC B - SW13 Step Input Mode

ON CW/CCW
SW14 Step Input Signal Filter
ON 150K
W B+ OFF Step/Dir OFF 2M
SW15 Smoothing Filter SW16 Self Test
V A - ON Enable ON Enable
2MHz or 150KHz
OFF Disable OFF Disable
U A+ GR=Green
LED Codes RD=Red
Field Bus
DC Input
MOTOR DISABLED SOLID GREEN

MOTOR ENABLED GR - GR - GR
STF
OVER TEMPERATURE
 Switch selectable SW15 microstep emulation provides

N 1GR + 3RD
SUPPLY VOLTAGE HIGH 1GR + 4RD
L OVER CURRENT 1GR + 5RD
OPEN MOTOR PHASE 1GR + 6RD
INTERNAL VOLTAGE BAD 2GR + 3RD
SUPPLY VOLTAGE LOW 2GR + 4RD

EXCESS REGEN 2GR + 5RD
Made in China
4.5
With Controller
 Idel Curent Reduction:25%,50%,70% or 90%, Unit:mm

ST
selectable SW9-10 via Dip switchs

 Self Test, selectable SW16 via Dip switchs Ordering Information
AC Input
 Protection: over voltage,under voltage, over current,

open motor winding Model Description
3SRAC8 Standard, 0.4-8.0A, 80-265VAC
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
NC
W
Software
V
U
Appendix
Glossary
238
3SR8-Plus - 3-Phase DC Input Stepper Motor Drive
Integrated
Efficient
TSM
Power Supply 24 – 75 VDC
Integrated
Output Current (Peak) 2.4 – 7.8 Amps
SSM
Step Frequency 2 – 2M Hz
STEP minimum pulse width 250 – – ns
Step-Servo
Integrated
DIR minimum pulse width 62.5 – – us
TXM
IP65
Under Voltage Protection – 20 – V
Over Voltage Protection – 85 – V
Motor & Drive

RS
Input Signal Voltage 4.0 – 28 V
OUT maximum output current – – 100 mA
Motor & Drive

OUT maximum voltage – – 30 V
SS
Features
 Input Voltage: 24-75VDC Mass
Pulse Input
STM-R

 3 Digital signal input, step/direction/enable 0.31kg

Dimensions(Unit:mm)
STM
3 112
2-4.5
SW8(step/rev):
SWM
IP65
200, 400, 800, 1600, 3200, 6400, 12800, 25600, 1000, 2000, 4000,
33
22.5
5000, 8000, 10000, 20000, 25000
Pulse Input
 8 different current levels selectable via switches SW1-
SRAC
SW3: 118
AC Input
1.5A, 2.0A, 3.0A, 4.0A, 5.2A, 5.8A, 7.0A, 7.8A
With Controller
STAC
 Rotary switch selects motor and Dip switch SW11 4-Ф3.5

selects load intertia for optimized current control
 Digital filters prevent position error from electrical noise
Pulse Input
22.5
SR
75.5
on command signals, Dip switch SW12 selectable

2MHz or 150KHz
Field Bus
 Switch SW10 selectable microstep emulation provides
22.5
DC Input
STF
 Idel Curent Reduction:50% or 90%, selectable via Dip M3
With Controller
3 112
switch SW4
ST
Unit:mm
 Protection: over voltage, under voltage, over current,

AC Input
open motor winding
Model Description
3SR8-Plus Standard,2.4-7.8A ,24-75VDC
DC Input
2-Phase
LED
Stepper Motor
3-Phase
OUT-
OUT+
I/O Connector EN-
EN+
DIR-
DIR+
UL
STEP-
STEP+
SW8
SW7
Power Supplies
SW6
Selection switches SW5 SW12
SW4 Selection switches SW11
Accessories
SW3 SW10
SW2
SW1 SW9
N.C.
Motor connector W
Cables
V
U
V-
V+
Software
Appendix
Earth
Glossary
239
Recommended Motors
Holding Rotor
Step Length“L” Torque
Current Resistance
Inertia
Motor Mass Dielectric
Model Shaft Wiring Leads
angle Strength
Kg
Integrated
Efficient
TSM
AM24HC4306-01 45.5 0.5 0.33 180 0.5

AM24HC2306-01 54.5 0.9 0.4 260 0.8
Integrated
AM24HC3306-03 76.5 1.5 0.63 460 1.3

SSM
5.8
AM24HC4306-03 45.5 0.5 0.33 180 0.5
Single 500VAC
AM24HC2308-02 D 3 54.5 0.9 0.4 260 0.8
Step-Servo
1.2e
Shaft 1 minute
Integrated
TXM
IP65
AM24HC3306-07 76.5 1.5 0.63 460 1.3

AM34HC0305-01 66.5 2.5 0.53 1100 1.6
Motor & Drive
AM34HC1305-01 96 4 7.0 0.58 1850 2.7

RS
AM34HC2306-01 125.5 5.5 0.9 2750 3.8
* Wiring Diagram D See Page 219

Motor & Drive
SS
Torque Curves
Pulse Input
STM-R
AM24HC4306 AM24HC2306 AM24HC3306

24V 48V 75V

0.5 1.0 1.5
0.4 0.8 1.2

STM
Torque(N m)
Torque(N m)
Torque(N m)
. 0.3 . 0.6 . 0.9
0.2 0.4 0.6
0.1 0.2 0.3

SWM
IP65
0 0 0
0 5 10 15 20 25 30 0 5 10 15 20 25 30 0 5 10 15 20 25 30
Pulse Input
SRAC
AM24HC2308 AM34HC0305 AM34HC1305

AC Input
Microstep͹10000 steps/rev 24V 48V 75V Microstep͹10000 steps/rev 24V 48V 70V Microstep͹10000 steps/rev 24V 48V 70V
1.0 2.5
5
With Controller
STAC
0.8 2
4
Torque ( N m)
Torque (N m)
Torque(N m)
. 0.6 1.5 .
3
0.4 1
Pulse Input
2
0.5
SR
0.2
1
0
0 0 10 20 30 40 50
0 5 10 15 20 25 30 0
Speed(rps) 0 10 20 30 40 50
Field Bus
Speed(rps)
DC Input
Speed(rps)
STF
AM34HC2306
With Controller
6
ST
5
Torque ( N m)
. 4
3
AC Input
2
1
0
DC Input
0 10 20 30 40 50
Speed(rps)
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
240
3SR2 - 3-Phase DC Input Stepper Motor Drive
Integrated
Efficient
TSM
Integrated
SSM
Cost current of 6 10 15 mA
digital input signal
Step-Servo
Integrated
TXM
IP65
Motor & Drive

RS
Motor & Drive

Features
SS
Mass
Pulse Input
STM-R
120g


 1 Digital output: Fault Output Dimensions(Unit:mm)
STM
 16 different resolutions selectable via switches
SW5-SW8(step/rev): 87.5
SWM
200, 400, 800, 1600, 3200, 6400, 12800, 25600, 1000, 2000, 4000,
IP65
2-4.5
5000, 8000,10000, 20000, 25000
Pulse Input
SRAC
21
SW1-SW3:
13
AC Input
0.3A, 0.5A, 0.7A, 1.0A, 1.3A, 1.6A, 1.9A, 2.2A
With Controller
 Raises the system-damping ratio to eliminate
STAC
midrange instability and allow stable operation

throughout the speed range of the motor, dip switch
Pulse Input
SW11 selectable load inertia
2-3.5
56
SR
Field Bus
DC Input
5
selectable 2MHz or 150KHz
STF
 Switch SW10 selectable microstep emulation M3
85.5
provides smoother, more reliable motion
With Controller
ST
 Idel Curent Reduction:50% or 90%, selectable via 92.5
Dip switch SW4 Unit:mm
AC Input
 Protection,over voltage,under voltage, over Ordering Information
current,open motor winding
DC Input
Model Description
3SR2 Standard 0.3 - 2.2A, 12 - 48VDC
2-Phase
Stepper Motor
3-Phase
LED
EN-
EN+
Control
signal DIR-
DIR+
UL
STEP-
STEP+
Power Supplies
SW8
SW7
Switches for SW6
Accessories
selecting SW9
SW5 Switches for
selecting SW10
SW4
SW3 SW11
SW2 SW12
Cables
SW1
N.C.
Motor
Connector W
V
Software
U
Power
Connector V-
Appendix
V+
Grounding
Glossary
screw
241
3SR8 - 3-Phase DC Input Stepper Motor Drive
Integrated
Efficient
TSM

Integrated
Output Current (Peak)

SSM
2.4 - 7.8 Amps

6 10 15 mA
signal
Step-Servo
Integrated
Step Frequency
TXM
2 - 2M Hz
IP65

Motor & Drive
RS

Motor & Drive

SS
Features OUT maximum output current - - 100 mA

Pulse Input
STM-R
OUT maximum voltage

 Input Voltage: 24-75VDC - - 30 VDC

 3 Digital signal input, step/direction/enable Mass

STM

0.31kg
SWM
Dimensions(Unit:mm)
IP65
SW7(step/rev): 3 112
2-4.5
1000, 1600, 2000, 3200, 4000, 5000, 6400, 51200
Pulse Input
SRAC
 8 different current levels selectable via switches SW1-

AC Input
SW3:
33
22.5
With Controller
1.5A, 2.0A, 3.0A, 4.0A, 5.2A, 5.8A, 7.0A, 7.8A

STAC

118
Pulse Input
 Idel Curent Reduction:50% or 90%, selectable via Dip

SR
switch SW4 4-Ф3.5

Field Bus
DC Input
STF
 Protection: over voltage,under voltage, over current,

22.5
75.5
open motor winding

With Controller
22.5
ST
M3 112
3
AC Input
Unit:mm
LED Ordering Information

DC Input
Model Description
OUT- 3SR8 Standard, 1.5-7.8A, 24-75VDC
OUT+
2-Phase
I/O Connector EN-

EN+
DIR-
Stepper Motor
DIR+
STEP-
3-Phase
STEP+
SW8
SW7
Selection switches SW6
SW5
UL
SW4
SW3
SW2
SW1
Power Supplies
N.C.
Accessories
Motor connector W
V
U
Cables
V-
V+
Software
Earth
Appendix
Glossary
242
MS3ST10-S - 3-Phase DC Input Controller Type Stepper Motor Drive
Output Current Features

S
Integrated
Efficient
MS3ST10-S 0.1-10.0A Software Setup
TSM

Input Voltage Using ST Configurator software
MS3ST10-S 24-75VDC
Microstepping
Integrated
SSM
300 - 51200 steps/rev
Mass Pulse Input Type
0.3kg
Step-Servo
Step/Dir, CW/CCW Pulse, A/B Quadrature
Integrated
TXM
IP65
SCL Compatible
Oscillator Mode
Run/Stop, Direction, Two Speeds
Analog Velocity
Motor & Drive

RS
Software
ST Configurator
Motor & Drive

Easy to use graphical setup software
SS
86.1
Inputs and Outputs

15.5
Pulse Input
STM-R
3 Digital inputs

1 Digital output
1 Analog input

50.3
76
STM
SWM
IP65
26.5
Pulse Input
SRAC
6-4.1
17
AC Input
With Controller
93
STAC
Unit: mm
Pulse Input
SR
Recommended Motors
Field Bus
DC Input
STF
Holding Rotor
Length“L” Current Resistance Motor Mass Dielectric
Model Shaft Wiring Leads Torque Inertia
Strength
Ω/Phase 2
With Controller
mm N·m A/Phase g·cm Kg
ST
AM24HC4306-01 45.5 0.5 0.33 180 0.5
AM24HC2306-01 54.5 0.9 5.8 0.4 260 0.8

AM24HC3306-03 76.5 1.5 0.63 460 1.3
AC Input
AM24HC4306-03 45.5 0.5 0.33 180 0.5
500VAC
AM24HC2308-02 Single Shaft D 3 54.5 0.9 5.8 0.4 260 0.8
1 minute
DC Input
AM24HC3306-07 76.5 1.5 0.63 460 1.3
AM34HC0305-01 66.5 2.5 0.53 1100 1.6
AM34HC1305-01 96 4 7.0 0.58 1850 2.7
2-Phase
AM34HC2306-01 125.5 5.5 0.9 2750 3.8
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
243
Torque Curves
AM24HC4306 AM24HC2306 AM24HC3306
24V 48V 75V
0.5 1.0 1.5
0.4 0.8 1.2

Integrated
Efficient
TSM
Torque(N m)
Torque(N m)
Torque(N m)
. 0.3 . 0.6 . 0.9
0.2 0.4 0.6

Integrated
0.1 0.2 0.3

SSM
0 0 0
0 5 10 15 20 25 30 0 5 10 15 20 25 30 0 5 10 15 20 25 30
Step-Servo
Integrated
TXM
IP65
AM34HC1305
AM24HC2308 AM34HC0305 Microstep͹10000 steps/rev 24V 48V 70V
Microstep͹10000 steps/rev 24V 48V 75V Microstep͹10000 steps/rev 24V 48V 70V
1.0 2.5 5
Motor & Drive
0.8 2 4
RS
Torque ( N m)
Torque (N m)
. .
Torque(N m)
. 0.6 1.5 3
0.4 1 2
Motor & Drive
0.5
SS
0.2 1
0
0 0 10 20 30 40 50
0
0 5 10 15 20 25 30 0 10 20 30 40 50
Speed(rps)
Pulse Input
STM-R
AM34HC2306
6
STM
5
Torque ( N m)
. 4
3
SWM
IP65
2
1
0
Pulse Input
0 10 20 30 40 50
SRAC
Speed(rps)
AC Input
With Controller
STAC
Pulse Input
Model Description
SR
MS3ST10-S Standard, 0.1-10A, 24-75VDC

Field Bus
DC Input
STF
With Controller
ST

AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
244
Efficient IP65 IP65
Stepper Motor Integrated Integrated Field Bus AC Input DC Input 2-Phase 3-Phase UL Power Supplies Cables Software Glossary
245
Integrated Motor & Drive Motor & Drive Pulse Input With Controller With Controller Pulse Input With Controller Pulse Input With Controller
AC Input DC Input
2-Phase
3-Phase
UL
Stepper Motor
Stepper Motor
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Motor & Drive
SS
Pulse Input
STM-R

STM
SWM
IP65
■ Numbering System
Pulse Input
SRAC
AM 17 HD 0 0 01 - 01
AC Input
With Controller
STAC
1 2 3 4 5 6 7
Pulse Input
1. Motion Control Standard Series

SR
2. Size: Motor outside diameter in tenths of an inch (Ex: size 17 = 1.7”)

Field Bus
DC Input
STF
(8:20mm; 11:28mm; 14:35mm; 17:42mm; 23:56mm; 24:60mm; 34:86mm; 42:110mm)

With Controller
3. Series:
ST
HA: step angle 0.9°

AC Input
HY, HS, HD: step angle 1.8°

HC: step angle 1.2°
DC Input
4. Length of stator
5. Number of lead wires
2-Phase
0: Connector type
Stepper Motor
3: 3 lead wires
3-Phase
4: 4 lead wires
6: 6 lead wires
UL
8: 8 lead wires
Power Supplies
Accessories
6. Electric variation: variety of current, torque, etc.

7. Mechanical variation: variety of shaft, lead wires, screws, etc.
Cables
Software
Appendix
Glossary
246
Stepper Motor
■ Wiring Diagrams
A -4 LEAD BIPOLAR DRIVE B -8 LEAD BIPOLAR -PARALLEL C -8 LEAD BIPOLAR - SERIAL
Integrated
Efficient
TSM
Black A(A+) White White A(A+)
A(A+)
4 LEAD Green Brown 8 LEAD
MOTOR MOTOR
Integrated
8 LEAD Green
SSM
Green C(A-) MOTOR
Brown Yellow C(A-)
C(A-)
Step-Servo
Integrated
Yellow Gray B(B+)
Red B(B+)
TXM
IP65
Gray Blue Red Pink
Blue
B(B+) Pink
Motor & Drive

Blue D(B-) D(B-) Red D(B-)
RS
Motor & Drive
SS
D-3 LEAD 3 PHASE SERIES Brake Wiring Diagram
Pulse Input
STM-R
RED A(U) GREEN B(V)

STM
V+ V-
SWM
IP65
Red Black
WHITE C(W)
Pulse Input
SRAC
AC Input
■ Generall Specifications
With Controller
STAC
Specifications Parameter

Step Accuracy ±5%(Tested by: Constant Current Drive/24V/Two Phase On/Rated Current/Full Step:1rps)
Pulse Input
Insulation Class Class B(130°C)
SR
Ambient Temperature -20~+50°C(non-freezing)
Operating
Ambient Humidity 85% or less (non-condensing)
Field Bus
DC Input
Environment
STF
Temperature rise of windings is 80˚C (144˚F) or less measured by the resistance change method.
Temperature Rise
With Controller
(at rated voltage, at standstill, two phases excited)
ST
Shaft Runout 0.050T.I.R.(mm)
Radial Play 0.02mm Max.(500gf)
AC Input
Axial Play 0.08mm Max.(500gf)
Concentricity 0.075T.I.R.(mm)
Perpendicularity 0.100T.I.R.(mm)
DC Input
■ Permissible Overhung Load and Permissible Thrust Load(Unit:N)
2-Phase
Permissible Overhung Load Permissible Stepper Motor
Type Distance(L) from Shaft End(mm) Thrust
3-Phase
0mm 5mm 10mm 15mm 20mm Load
Overhung Load
8HY 12 15 20 --- ---

11HS 20 25 34 52 ---
UL
Thrust Load
14HA/14HY 20 25 34 52 ---
17HD/17HA/17HC 20 25 34 52 --- Less than the
Power Supplies
23HS 50 60 75 100 150 motor mass

Accessories
24HS/24HC 61 73 90 110 160

L
34HD/34HC 260 290 340 390 480
Cables
42HS 390 435 510 585 720

Software
Appendix
Glossary
247
Stepper Motor
■ Motor Installation
Mounting Direction
Motors can be mounted freely in any direction as shown below.
Regardless of how the motor is mounted, take care not to apply an overhung load or thrust load on the shaft.
Integrated
Efficient
TSM
Make sure the cable does not contact the mounting surface causing undesirable force on the cable.
Integrated
SSM
■ Mounting Method
Considering heat radiation and vibration isolation as much as possible, mount the motor tightly against a metal
Step-Servo
Integrated
TXM
IP65
plane.
■ Mounting Method for Through Hole Type ■ Mounting Method for Tapped Hole Type
Motor & Drive
RS
Motor & Drive
SS
Flange Pilot Tapped Holes

Spot Facing or Throgh Hole
Flange Pilot
Pulse Input
Spot Facing or Throgh Hole

STM-R
Mounting Plate
Through Holes
STM
Mounting Plate
SWM
IP65
Pulse Input
SRAC
■ Installation Conditions
AC Input
Install the motor in a location that meets the following conditions, or the product may be damaged.
With Controller
STAC
Indoors (This product is designed and manufactured to be installed within another device.)
Ambient temperature: -20~+50°C(non-freezing)

Pulse Input
Ambient humidity: 85% or less (non-condensing)

SR
Not exposed to explosive, flammable or corrosive gases

Field Bus
DC Input
Not exposed to direct sunlight

STF
Not exposed to dust

With Controller
Not exposed to water or oil

ST
A place where heat can escape easily

Not exposed to continuous vibration or excessive impact
AC Input
Notes:
When installing the motor in an enclosed space such as a control box, or somewhere close to a heat-radiating
DC Input
object, vent holes should be used to prevent the motor from overheating.
Do not install the motor in a location where a source of vibration will cause the motor to vibrate.
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
248
Stepper Motor
QUICK SELECTION OF MOTOR
Driver
Recommended
step Size The torque range (mN. M); Speed range 0 ~ 50 RPS
angle
Model
(°) Base Thickness
0 50 100 200 400 800 1600 3200 6400 12800 25600
Integrated
Series
Efficient
（mm) （mm）
TSM
20 AM14HA74A0
35 NEMA14
28 AM14HA04A0
SR
Integrated
0.9 34.3 / AM17HA44A0
SSM
42 39.8 NEMA17 ST AM17HA24A0
48.3 AM17HA64A0
Step-Servo
34 AM17HC20A0
Integrated
42 NEMA17
TXM
IP65
43 AM17HC60A0
45.5 AM24HC4306
54.5 AM24HC2306
Motor & Drive

60 76.5 NEMA24 AM24HC3306
RS
54.5 3SR AM24HC2308
1.2 76.5 / AM24HC3308
Motor & Drive

3ST
45.5 AM34HC0305
SS
54.5 AM34HC1305
76.5 AM34HC2306
86 NEMA34
Pulse Input
STM-R
45.5 AM34HC0306

54.5 AM34HC1306
76.5 AM34HC2307

31.5 AM8HY2050
20 NEMA8
STM
47 AM8HY4043
31 AM11HS1008
28 40 NEMA11 AM11HS3007
SWM
IP65
51 AM11HS5008
35 40 NEMA14 AM14HYB401
34.3 AM17HD4452
Pulse Input
SRAC
39.8 AM17HD2438
42 NEMA17
48.3 AM17HD6426
AC Input
62.8 AM17HDB410
With Controller
41 AM23HS0420
STAC
54 AM23HS2449

76 AM23HS3454
SR
Pulse Input
41 / AM23HS0421
SR
54 ST AM23HS2450
76 AM23HS3455
57 NEMA23
39 AM23HS04A0
Field Bus
DC Input
STF
55 AM23HS84A0
77 AM23HSA4A0
1.8
39 AM23HS04B0
With Controller
55 AM23HS84B0
ST
77 AM23HSA4B0
55 AM24HS2402
60 NEMA24
AC Input
85 AM24HS5401
66.5 AM34HD0404
86 96 NEMA34 AM34HD1404
125.5
DC Input
AM34HD2403
156 AM34HD3402
54 AM23HS2459
57 NEMA23
76 AM23HS3466
2-Phase
60 85 NEMA24 AM24HS5411
66.5 AM34HD0802 Stepper Motor
75 SRAC AM34HD4802
3-Phase
86 96 NEMA34 / AM34HD1802
STAC
115 AM34HD6802
125.5 AM34HD2805
98.5 AM42HS04A0
UL
110 149.5 NEMA42 AM42HS24A0

201 AM42HS34A0
Power Supplies
0 0.05 0.1 0.2 0.4 0.8 1.6 3.2 6.4 12.8 25.6
Accessories
Moment range (N.m); Speed range 0 ~ 50 RPS

Cables
Software
Appendix
Glossary
249
Stepper Motor
NEMA8(□20mm) 2-phase DC1.8°- 8HY Series
• Phases 2
• Steps / Revolution ±5%
• Step Accuracy 6 N (1.3 Lbs.)Push
25 N (5.6 Lbs.) Pull
Integrated
Efficient
• Radial 18 N (4 Lbs.) At End of Shaft

TSM
• IP Rating 40
• Operating Temp -20°C to +50°C
Integrated
• Insulation Class B, 130°C

SSM
• Insulation Resistance 100 MegOhms

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive
Length“L” Holding Torque Current ※ Resistance Rotor Inertia Mass

RS
Dielectric
Model Shaft Wiring * Leads
mm N.m A/Phase Ω/Phase g·cm2 Kg Strength
AM8HY2050-01N Single Shaft
Motor & Drive
31.5 0.018 11.5 2.0 0.05

SS
AM8HY2050-02N Double Shaft

A 4 0.35 500VAC 1 minute
AM8HY4043-01N Single Shaft
47 0.038 20.3 4.2 0.09
Pulse Input
AM8HY4043-02N Double Shaft

STM-R

※ 1.The rated current of the motor is RMS value. 2.The output current of Moons’ drive is the peak of sine value. 3.Drive maximum peak current = motor rated current x1.4.
STM

AM8HY2050 (5)
SWM
IP65
15 ±0.5 31.5Max. 4±1

1.5 ±0.2
Pulse Input
SRAC
-0.012
+0
AC Input
AWG26 UL1061
Ø4
20.1Max.
Ø15 -0.052
16±0.2
+20
With Controller
L=457 0
+0
STAC
2Max
0
Ø4 -0.012
4-M2
Depth 2.5min.
Pulse Input
16±0.2
HOUSING:JST ZHR-6
SR
(2)
20.1Max.
TERMINAL:JST SZH-002T-P0.5
These dimensions are for the double shaft models. For the single shaft models, ignore the ( ) area.
Field Bus
DC Input
STF
AM8HY4043
15±0.5 47Max. 8±1 20.1Max
1.5 ±0.2 16±0.2
With Controller
ST
20.1Max
Ø15 -0.052
16±0.2
+0
AC Input
+0
Ø4 -0.012
-0.012
+0
Ø4
4-M2
DC Input
Depth 2.5min.
(9) JST S6B-ZR(LF)(SN)
+20
0
HOUSING:JST ZHR-6
2-Phase
457
TERMINAL:JST SZH-002T-P0.5
(5)
AWG26 UL1061
Stepper Motor
3-Phase
Torque Curves (Recommended Driver: SR or ST)

UL
AM8HY2050 AM8HY4043
Power Supplies
Microstep:20000 steps/rev Microstep:20000 steps/rev

Current:0.5A(Peak) Current:0.5A(Peak)
Accessories
0.016 0.040
0.014 0.035
0.012 0.030
Torque(N m)
Torque(N m)
. 0.01 . 0.025
Cables
0.008 0.020
0.006 0.015
0.004 0.010
0.002 0.005
Software
0 0
0 5 10 15 20 0 5 10 15 20
Appendix
Glossary
250
Stepper Motor
NEMA11(□28mm) 2-phase DC 1.8°- 11HS Series
• Phases 2
• 25 N (5.6 Lbs.) Pull
Integrated
Efficient
• Radial 30 N (6.5 Lbs.) At Flat Center
TSM
• IP Rating 40
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Length“L” Holding Torque Current ※ Resistance Rotor Inertia Mass Dielectric
mm N·m A/Phase Ω/Phase g·cm2 Kg Strength
AM11HS1008-07 Single Shaft 31.0 0.072 2.5 9.0 0.1
Motor & Drive

500VAC
SS
AM11HS3007-02 Single Shaft A 4 40.0 0.082 1 1.7 12.0 0.15
1 minute
AM11HS5008-01 Single Shaft 51.0 0.125 3.5 18.0 0.2
Pulse Input
STM-R


STM
20±0.5 28.3Max. 4-M2.5
L
Depth 2.5Min.
23±0.1
SWM
IP65
15±0.2
Pulse Input
SRAC
C
Ø22-0.052
28.3Max.
23±0.1
AC Input
+0
With Controller
STAC
C

2 ±0.2
Pulse Input
(9.5) PIN No. 654321
SR
(5)
(16.5) MOLEX 53253-0670
Field Bus
DC Input
300±10
STF
5.5±0.5 C-C（2:1）
With Controller
ST
AWG 26 UL3266 +0
Ø5-0.012
4.5±0.1
AC Input
Housing P/N : MOLEX 51065-0600
Crimp P/N : MOLEX 50212-8000
DC Input
Torque Curves(Recommended Driver: SR or ST)
2-Phase
AM11HS1008 AM11HS3007 AM11HS5008
Microstep: 20000 steps/rev Microstep:20000 steps/rev Microstep:20000 steps/rev
Current: 1.6A(Peak) Current:1.6A(Peak) Current:1.6A(Peak) Stepper Motor
0.1 100 150
3-Phase
0.08 80 120
Torque(mN m)
Torque(mN m)
. .
Torque(N·m)
0.06 60 90
0.04 40 60
UL
0.02 20 30
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Power Supplies

Accessories
Cables
Software
Appendix
Glossary
251
NEMA14(□35mm) 2-phase DC 1.8°- 14HY Series
Stepper Motor
• Phases 2
• 65 N (15 Lbs.) Pull
Integrated
Efficient
• Radial 30 N (6.5 Lbs.) At End of Shaft

TSM
• IP Rating 40
Integrated

SSM

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS

AM14HYB401-03 Single Shaft A 4 40.0 0.2 1.0 4.3 20.0 0.21 500VAC 1 minute
Motor & Drive
SS

Pulse Input
STM-R

20±0.5 L 35.3Max. 4-M3

STM
Depth 2.5Min.
26±0.1
15±0.2
SWM
IP65
Ø22-0.052
35.3Max.
26±0.1
Pulse Input
+0
SRAC
C
AC Input
With Controller
STAC
2±0.2
AWG26 UL3266
Pulse Input
SR
300±10
Field Bus
DC Input
STF
C-C（2:1）
With Controller
ST
+0
Ø5-0.012
4.5±0.1
AC Input
DC Input

2-Phase
AM14HYB401
Stepper Motor
Current: 1.0A(Peak)
0.15
3-Phase
0.12
Torque(N·m)
0.09
0.06
UL
0.03
0
Power Supplies
0 10 20 30 40 50
Speed(rps)
Accessories
Cables
Software
Appendix
Glossary
252
Stepper Motor
NEMA14(□35mm) 2-phase DC 0.9°- 14HA Series
• Phases 2
• 65 N (15 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 40
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Dielectric
AM14HA74A0-01N Single Shaft
Motor & Drive

20 0.065 1.5 0.9 10.0 0.09
SS
AM14HA74A0-02N Double Shaft 500VAC
A 4
AM14HA04A0-01N Single Shaft 1 minute
28 0.08 1.5 0.9 14.0 0.16
Pulse Input
AM14HA04A0-02N Double Shaft
STM-R

STM
SWM
IP65
20±0.5 L 15±1 35.3Max.
26±0.1
Pulse Input
SRAC
15±0.2
AC Input
Ø22 -0.052
35.3Max.
With Controller
C C
26±0.1
STAC
+0

C C
Pulse Input
SR
4-M3
2±0.2 Depth 2.5Min
Field Bus
DC Input
STF
C-C(2:1)
300±10
With Controller
ST
+0 AWG26 UL3266
Ø5 -0.012
4.5±0.1
AC Input
DC Input
2-Phase
AM14HA74A0 AM14HA04A0 Stepper Motor
Microstep:20000 steps/rev Microstep:20000 steps/rev
Current:1.5A(Peak) Current:1.5A(Peak)
0.06 0.1
3-Phase
0.05
0.08
Torque(N.m)
Torque(N.m)
0.04
0.06
0.03
0.02 0.04
UL
0.01 0.02
0 0
Power Supplies
0 10 20 30 40 50 0 10 20 30 40 50
Accessories
Cables
Software
Appendix
Glossary
253
NEMA17(□42mm) 2-phase DC 1.8°- 17HD Series
Stepper Motor
• Phases 2
• 65 N (15 Lbs.) Pull
Integrated
Efficient

TSM
• IP Rating 40
Integrated

SSM

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Dielectric
Motor & Drive
34.3 0.285 1.5 38.0 0.23

SS

39.8 0.46 1.5 1.9 57.0 0.28
Pulse Input

STM-R
500VAC
A 4
AM17HD6426-06N Single Shaft 1 minute

48.3 0.59 2.3 82.0 0.36
AM17HDB410-01N Single Shaft

STM
62.8 0.85 1.4 3.2 123.0 0.6

AM17HDB410-02N Double Shaft

SWM
IP65
Pulse Input

SRAC
AC Input
20 ±0.5 L 15 ±1 42.3Max. 4-M3

31±0.1 Depth 4.5Min.
With Controller
STAC
15 ±0.2
Pulse Input
Ø22-0.052
42.3Max.
SR
31±0.1
C C
+0
C C
Field Bus
DC Input
STF
With Controller
2±0.2
ST
AWG26 UL3266
300±10
AC Input
C-C(2:1)
DC Input
+0
Ø5-0.012 These dimensions are for the double shaft models.
4.5±0.1
For the single shaft models, ignore the ( ) area.

2-Phase
Stepper Motor

3-Phase
AM17HD4452 AM17HD2438 AM17HD6426

Current: 1.8A (Peak) Current: 1.8A (Peak) Current: 1.8A(Peak)
UL
0.25 0.5 0.5
0.20 0.4 0.4

Torque(N·m)
Torque(N·m)
Power Supplies
Torque(N·m)
0.15 0.3 0.3

Accessories
0.10 0.2 0.2
0.05 0.1 0.1

Cables
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Software
AM17HDB410
Appendix
Current: 1.8A(Peak)
0.7
0.6
Glossary
0.5
Torque(N·m)
0.4
0.3
0.2
0.1
0
0 10 20 30 40 50
254 Speed(rps)
Stepper Motor
NEMA17(□42mm) 2-phase DC 0.9°- 17HA Series
• Phases 2
• 65 N (15 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 40
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Dielectric
Motor & Drive

34.3 0.25 1.6 38.0 0.23
SS
AM17HA24A0-01N Single Shaft 500VAC
A 4 39.8 0.35 1.5 1.65 57.0 0.28
Pulse Input
AM17HA24A0-02N Double Shaft 1 minute
STM-R
48.3 0.45 1.56 82.0 0.36

STM
SWM
IP65
Pulse Input
SRAC
20±0.5 L 15±1 42.3Max.
AC Input
31±0.1
With Controller
15±0.2
STAC
42.3Max.
Ø22 -0.052
Pulse Input
31±0.1
C C
SR
+0
C C
Field Bus
DC Input
STF
2±0.2
4-M3
With Controller
Depth 4.5Min.
ST
300±10
C-C(2:1)
AC Input
AWG26 UL3266
+0
Ø5 -0.012
DC Input
4.5±0.1
2-Phase
Stepper Motor

3-Phase
AM17HA44A0 AM17HA24A0 AM17HA64A0
UL
0.3 0.4 0.5

0.25
0.4
0.3
Torque(N.m)
Power Supplies
Torque(N.m)
Torque(N.m)
0.2
0.3
0.15 0.2
Accessories
0.1 0.2
0.1
0.05 0.1
0 0
Cables
0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Software
Appendix
Glossary
255
NEMA23( □ 56mm) 2-phase DC 1.8°- 23HS Series
Stepper Motor
• Phases 2
• Step Accuracy 40 N (9 Lbs.)Push
• 130 N (30 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 40
Integrated
SSM

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS

Motor & Drive
41.0 0.72 1.8 135.0 0.42

SS

54.0 1.25 1.8 2.4 260.0 0.6
Pulse Input
STM-R

76.0 2.1 2.9 460.0 1.0
AM23HS3454-02 Double Shaft 500VAC
A 4
AM23HS0421-01 Single Shaft 1 minute

STM
41.0 0.72 0.48 135.0 0.42

54.0 1.25 3.7 0.63 260.0 0.6
SWM
IP65

76.0 2.1 0.75 460.0 1.0
Pulse Input
SRAC

AC Input
With Controller
STAC

20.6 ±0.5 L 16±1 56.4Max. +0.2

Pulse Input
4-Ø5.1 -0
47.14±0.20
SR
15±0.2
Field Bus
DC Input
STF
15±0.2
Ø38.1±0.05
47.14±0.20
56.4Max.
C C
With Controller
C C
ST

AC Input
1.6±0.2
4.8±0.3 AWG22 UL3266
300±10
DC Input
C-C(2:1)
2-Phase
+0
5.8±0.1
Ø6.35-0.012
Stepper Motor
3-Phase

UL
AM23HS0420 AM23HS2449 AM23HS3454

0.6 1.2 2
Power Supplies
0.5 1
Torque(N.m)
1.6
Torque(N.m)
Accessories
Torque(N m)
0.4 0.8 .
0.3 1.2
0.6
0.2 0.4 0.8
Cables
0.1 0.2 0.4

0 0
0 10 20 30 40 50 0 10 20 30 40 50 0
Speed(rps) 0 10 20 30 40 50
Speed(rps)
Software
Speed(rps)
Appendix
AM23HS0421 AM23HS2450 AM23HS3455

Microstep: 20000 steps/rev 24V 48V 75V Microstep: 20000 steps/rev Microstep: 20000 steps/rev 24V 48V 75V
24V 48V 75V
0.6 1.2 1.8
Glossary
0.5 1 1.5
Torque(N.m)
Torque(N.m)
Torque(N.m)
0.4 0.8 1.2

0.3 0.6 0.9
0.2 0.4 0.6
0.1 0.2 0.3
256
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Stepper Motor
NEMA23(□56mm) 2-phase DC 1.8°- 23HS PowerPlus Series (6.35mm Shaft)
• Phases 2
• 130 N (30 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 40
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Motor & Drive

39 0.82 1.8 105.0 0.4
SS
55 1.5 1.8 2.4 215.0 0.6
Pulse Input
STM-R
AM23HSA4A0-01 Single Shaft
77 2.3 3 365.0 1.0
AM23HSA4A0-02 Double Shaft 500VAC
A 4
1 minute

STM
39 0.82 0.48 105.0 0.4
55 1.5 3.7 0.63 215.0 0.6
SWM
IP65
77 2.3 0.75 365.0 1.0
Pulse Input
SRAC
AC Input
With Controller
STAC
Pulse Input
20.6±0.5 L 16 ±1 4-Ø5.1
+0.2
0
SR
47.14±0.20
15±0.2
Field Bus
DC Input
STF
15 ±0.2
Ø38.1±0.05
47.14±0.20
56.4Max
C C
With Controller
ST
C C
1.6±0.2
AC Input
5.08±0.3
C-C(2:1)
DC Input
300 ±10
0 AWG22 UL3266
5.8±0.1
Ø6.35-0.012
2-Phase
These dimensions are for the double shaft models. For the single shaft models, ignore the ( ) area. Stepper Motor
3-Phase
AM23HS04B0 AM23HS84A0 AM23HSA4A0
Microstep:20000 steps/rev 24V 48V Microstep:20000 steps/rev Microstep:20000 steps/rev 24V 48V
UL
Current:4.5A(Peak) Current:2.2A(Peak) Current:2.2A(Peak)

0.6 1.5 2.4
0.5 2
1.2
Torque(N m)
Torque(N m)
Power Supplies
.
Torque(N m)
0.4 . 1.6
.
0.9
Accessories
0.3 1.2
0.2 0.6 0.8
0.1 0.3 0.4
Cables
0 0
0 10 20 30 40 50 0
0 10 20 30 40 50 0 10 20 30 40 50
Software

Appendix
Microstep: 20000 steps/rev 24V 48V Microstep: 20000 steps/rev

0.6 1.5 2
Glossary
0.5
1.2 1.6
Torque(N m)
Torque(N m)
.
Torque(N m)
0.4 . .
0.9 1.2
0.3
0.2 0.6 0.8
0.1 0.3 0.4

0 0
257
0 10 20 30 40 50 0
0 10 20 30 40 50 0 10 20 30 40 50
Stepper Motor
NEMA23(□56mm) 2-phase DC 1.8°- 23HS PowerPlus Series (8mm Shaft)
• Phases 2
• 130 N (30 Lbs.) Pull
Integrated

Efficient
TSM
• IP Rating 40
Integrated
SSM

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Dielectric
Motor & Drive
39 0.82 0.48 105.0 0.4

SS

AM23HS84B0-03 Single Shaft 500VAC
A 4 55 1.5 3.7 0.63 215.0 0.6
Pulse Input
1 minute
STM-R


77 2.3 0.75 365.0 1.0
STM

SWM
IP65

Pulse Input
SRAC
AC Input
24±0.5 L±1 16 ±1 4-Ø5.1

+0.2
0
47.14±0.20
With Controller
20±0.2
STAC

Pulse Input
SR
15 ±0.2
Ø38.1±0.05
47.14±0.20
56.4Max
C D
Field Bus
DC Input
STF
C C
With Controller
ST
1.6±0.2
5.08±0.3
AC Input
C-C(2:1) D-D(2:1)
300 ±10
7.5±0.1 5.8±0.1
DC Input
5.5±0.5
AWG22 UL3266
2-Phase
+0 +0
Ø8 - 0.012 Ø6.35 - 0.012
Stepper Motor
3-Phase

UL
Power Supplies

Microstep: 20000 steps/rev 24V 48V Microstep: 20000 steps/rev Microstep: 20000 steps/rev
Accessories
0.6 1.5 2
0.5
1.2 1.6
Torque(N m)
Torque(N m)
.
Torque(N m)
0.4 . .
Cables
0.9 1.2
0.3
0.2 0.6 0.8
0.1 0.3 0.4

Software
0 0
0 10 20 30 40 50 0
Appendix
0 10 20 30 40 50 0 10 20 30 40 50
Glossary
258
Stepper Motor
NEMA24(□60mm) 2-phase DC 1.8°- 24HS Series
• Phases 2
• 130 N (30 Lbs.) Pull
Integrated
Efficient
• Radial 70 N (15.5 Lbs.)At Flat Center
TSM
• IP Rating 40
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Dielectric
Motor & Drive

54.0 1.57 4.0 0.43 450.0 0.83
SS
AM24HS2402-11N Double Shaft 500VAC
A 4
AM24HS5401-10N Single Shaft 1 minute
85.0 3.2 4.0 0.65 900.0 1.4
Pulse Input
STM-R


STM
20.6 ±0.5 L 16 ±1 60.5Max.
SWM
4-Ø4.52±0.1
IP65
47.14±0.35
15 ±0.2
Pulse Input
SRAC
AC Input
15 ±0.2
With Controller
Ø38.1±0.05
47.14±0.35
STAC
60.5Max.
C D

D
Pulse Input
C
SR
Field Bus
DC Input
STF
1.5 ±0.2
With Controller
300±10
7±0.3 AWG22 UL3266
ST
AC Input
C-C(2:1) D-D(2:1)
90°
DC Input
+0 +0
5.8±0.1
2-Phase
Ø8-0.012 Ø6.35-0.012
7.5±0.1
7.5±0.1 Stepper Motor
3-Phase

UL Power Supplies
AM24HS2402 AM24HS5401
Accessories
24V 48V 75V Microstep: 20000 steps/rev 24V 48V 75V

1.2 2.4
1 2
Cables
Torque(N.m)
Torque(N.m)
0.8 1.6
0.6 1.2
0.4 0.8
Software
0.2 0.4
0 0
Appendix
0 10 20 30 40 50 0 10 20 30 40 50
Glossary
259
NEMA34(□86mm) 2-phase DC 1.8°- 34HD Series
Stepper Motor
• Phases 2
• 155 N (35 Lbs.) Pull
• Radial 220 N (50 Lbs.) At Flat Center
Integrated
• IP Rating 40
Efficient
TSM

Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS

66.5 3.7 0.25 1100.0 1.6
Motor & Drive
6.3
SS

96.0 6.7 0.35 1850.0 2.7
AM34HD1404-07 Double Shaft 500VAC
A 4
Pulse Input
1 minute
STM-R

125.5 9.4 5.6 0.49 2750.0 3.8

156.0 11.5 5.6 0.63 4400.0 5.2

STM

SWM
IP65

Pulse Input
SRAC
37±0.5 L 25±1 86.5Max. 4-Ø6.5±0.2

10±0.3 69.6±0.2
AC Input
With Controller
STAC
25±0.2 22±0.2
C D
Ø73.025±0.025
Pulse Input
86.5Max.
69.6±0.2
SR
C D
Field Bus
DC Input
STF
2±0.2
With Controller
(12)
ST
AWG22 UL2464 300±10 (16.5) (26.5)

AC Input
C-C（2:1） 90° D-D(2:1)

8.5±0.1
DC Input
13±0.1
+0
Ø9.5-0.012
+0
Ø14-0.012
2-Phase
13±0.1
Stepper Motor

3-Phase
AM34HD0404 AM34HD1404 AM34HD2403

24V 48V 75V 24V 48V 75V
UL

3 5 8
7
2.5 4 6
Torque(N m)
Power Supplies
Torque(N m)
. .
Torque(N m)
2 5
. 3
Accessories
1.5 4
2 3
1
2
0.5 1
1
Cables
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
AM34HD3402
Software

Current: 7.0A(Peak)
Appendix
10
8
Torque(N m)
Glossary
.
6
0
0 10 20 30 40 50
260
Speed(rps)
Stepper Motor
NEMA23(□56mm) 2-phase AC1.8°- 23HS Series
• Phases 2
• 130 N (30 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 40
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Motor & Drive

AM23HS2459-01 54 1.7 1 16.6 260.0 0.6 1500VAC
Single Shaft A 4
SS
AM23HS3466-01 76 2.2 0.6 25.4 460.0 1.0 1 minute
Pulse Input
STM-R


STM
+0.2
24±0.5 L 47.14±0.20 4-Ø5.1 -0
20 ±0.2
SWM
IP65
Pulse Input
SRAC
C
Ø38.1±0.05
47.14±0.20
56.4Max.
AC Input
With Controller
C
STAC
1.6±0.2
Pulse Input
SR
4.8±0.3
Field Bus
DC Input
C-C(2:1)
STF
300±10
AWG22 UL2464
With Controller
7.5±0.1
+0
ST
Ø8-0.012
AC Input
Torque Curves (Recommended Driver: SRAC or STAC)
DC Input
AM23HS2459 AM23HS3466
Microstep: 10000 steps/rev 220V
220V
2-Phase
1.5 2
1.2 1.6
Torque(mN m)
.
Torque(N.m)
Stepper Motor
0.9 1.2
3-Phase
0.6 0.8
0.3 0.4
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps)
UL
Speed(rps)
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
261
Stepper Motor
NEMA24(□60mm) 2-phase AC1.8°- 24HS Series
• Phases 2
• 130 N (30 Lbs.) Pull
Integrated
Efficient

TSM
• IP Rating 40
Integrated

SSM

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive
RS

Motor & Drive
1500VAC
AM24HS5411-01N Single Shaft A 4 85 3.1 0.8 15.4 900.0 1.4
SS
1 minute

Pulse Input
STM-R

STM
24±0.5 L 60±0.5
50±0.13 4-Ø4.5±0.1
SWM
IP65
Pulse Input
20±0.2
SRAC
C
AC Input
Ø36 -0.039
50±0.13
60±0.5
With Controller
+0
STAC
C
Pulse Input
SR
1.5 ±0.2
7±0.3
Field Bus
DC Input
STF
300±10
C-C(2:1)
With Controller
9.5±0.1
ST
+0 AWG22 UL3266
Ø10-0.012
AC Input
DC Input

AM24HS5411
2-Phase
Current: 1.0A(Peak)
2.5
2
Stepper Motor
Torque(N.m)
1.5
3-Phase
0.5
0
0 10 20 30 40 50
UL
Speed(rps)
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
262
Stepper Motor
NEMA34(□86mm) 2-phase AC 1.8°- 34HD Series
• Phases 2
• 155 N (35 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 40
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Dielectric
Model Shaft Wiring * Leads Ω/Phase
mm N.m A/Phase g·cm2 Kg Strength
Series connection
Motor & Drive

SS
66.5 4.2 3.4 1100.0 1.6
AM34HD0802-02 Double Shaft 1.8
(220V
Pulse Input
AM34HD4802-01 Single Shaft 75 4.7 Series 3.6 1350.0 1.9
STM-R
AM34HD1802-01 Single Shaft connection)
B(Parallel) 1500VAC
8 96 7.3 / 3.6 1850.0 2.7
AM34HD1802-03 Double Shaft C(Series) 1 minute
3.6

AM34HD6801-01 Single Shaft 115 7.6 (110V 4 2400.0 3.5
STM
Parallel
AM34HD2805-01 Single Shaft connection)
125.5 8.7 4.2 2750.0 3.8
SWM
IP65
* Wiring Diagram B / C See Page 247
Pulse Input
SRAC
AC Input
With Controller
STAC
37±0.5 L 25±1 86.5Max. 4-Ø6.5±0.2
10±0.3 69.6±0.2

C-C（2:1）
Pulse Input
90°
SR
25±0.2 22±0.2
13±0.1
C D
Field Bus
Ø73.025±0.025
DC Input
STF
86.5Max.
69.6±0.2
+0
Ø14-0.012
With Controller
13±0.1
C D
ST
D-D(2:1)
AC Input
2±0.2
8.5±0.1
(12)
+0
Ø9.525-0.012
DC Input
AWG22 UL2464 300±10 (16.5) (26.5)
2-Phase
Torque Curves (Recommended Driver: SRAC or STAC) Stepper Motor
3-Phase
AM34HD0802 AM34HD4802 AM34HD1802
Microstep: 20000 steps/rev 220V / 110V Microstep: 25000 steps/rev 220V / 110V Microstep: 20000 steps/rev 220V / 110V
Current: 1.8A / 3.6A (Peak) Current: 1.8A / 3.6A(Peak) Current: 1.8A / 3.6A (Peak)
3 3.5 6
3
UL
2.5 5
T o rq u e ( N m )
2.5
T o rq u e ( N m )
.
T o rq u e ( N m )
. 2 . 4
2
1.5 3
Power Supplies
1.5
1 1 2
Accessories
0.5 1.5 1
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps)
Cables
AM34HD6801 AM34HD2805
Microstep: 25000 steps/rev 220V / 110V
Current: 1.8A / 3.6A (Peak) Current: 1.8A / 3.6A (Peak)
6 7
Software
5 6
T o rq u e ( N m )
5
Appendix
. 4
T o rq u e ( N m )
.
4
3
3
Glossary
2
2
1 1
0 0
0 10 20 30 40 50 0 10 20 30 40 50
263
Stepper Motor
NEMA42(□110mm) 2-phase AC 1.8e - 42HS Series
• Phases 2
• 250 N (56 Lbs.) Pull
Integrated
Efficient

TSM
• IP Rating 40
Integrated

SSM

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive
RS

Motor & Drive
AM42HS04A0-01 98.5 12 2.1 4.2 5500 4.8

SS
1500VAC
AM42HS24A0-01 Single Shaft A 4 149.5 21 2.4 4.4 10900 8
1 minute
Pulse Input
STM-R
AM42HS34A0-01 201 30 2.7 4.4 16200 11.6


STM

SWM
IP65
110Max.
Pulse Input
SRAC
35±0.5 L 89 ±0.2 +0.3

C-C 4-Ø8.3 0
AC Input
2:1
+0.3 +0.6
With Controller
18 -0.018 25 0
STAC
（13） 0
Ø55.52±0.05
5 -0.03 C
110Max.
Pulse Input
89 ±0.2
SR
0 C
Ø16-0.012 M5
Field Bus
DC Input
STF
10Min
(12)
1.6±0.2
12.2 ±0.3
With Controller
Ground
ST
(26.5)
AWG18 UL2464 300±10 (16.5)
AC Input

DC Input
AM42HS04A0 AM42HS24A0 AM42HS34A0

Microstep: 20000 steps/rev 220V Microstep: 20000 steps/rev 220V Microstep: 20000 steps/rev 220V
2-Phase
10 20 25
8 16 20
Torque(N.m)
Torque(N.m)
Torque(N.m)
Stepper Motor
6 12 15
3-Phase
4 8 10
2 4 5
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
264
Stepper Motor
NEMA23(□56mm) 2-phase DC1.8°- 23HS Series IP65 Type
• Phases 2
• 130 N (30 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 65
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Motor & Drive

AM23HS2450-03 61.7 1.25 0.63 260.0 0.6 500VAC
Single Shaft A 4 3.7
SS
AM23HS3455-05 83.7 2.2 0.75 460.0 1 1 minute
Pulse Input
STM-R

STM
20.6 ±0.5 L 47.14±0.20 +0.2
4-Ø5.1 -0
SWM
IP65
Pulse Input
15±0.2
SRAC
□56.4Max.
Ø38.1±0.05
47.14±0.20
C
AC Input
With Controller
C
STAC
Oil
Pulse Input
1.6±0.2
SR
7±0.3
Field Bus
DC Input
STF
C-C(2:1)
2000±20
AWG20 UL2517
With Controller
5.8±0.1
ST
+0
Ø6.35-0.012
AC Input
DC Input
AM23HS2450 AM23HS3455
Microstep: 20000 steps/rev 24V 48V 75V Microstep: 20000 steps/rev 24V 48V 75V
1.2 1.8
2-Phase
1 1.5
Torque(N.m)
Torque(N.m)
0.8 1.2
0.6 0.9 Stepper Motor
0.4 0.6
3-Phase
0.2 0.3
0 0
0 10 20 30 40 50 0 10 20 30 40 50
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
265
Stepper Motor
NEMA24(□60mm) 2-phase DC1.8°- 24HS Series IP65 Type
• Phases 2
• 130 N (30 Lbs.) Pull
Integrated
Efficient
TSM

• IP Rating 65
Integrated

SSM

Step-Servo
Integrated
TXM
IP65
Motor & Drive
Parameters
RS

Motor & Drive

SS
500VAC
AM24HS5401-44N Single Shaft A 4 94.5 3.2 4.0 0.7 900.0 1.4
1 minute
Pulse Input

STM-R

STM
60±0.5
24±0.5 L 4-Ø4.52±0.1
47.14±0.35
SWM
IP65
1.5 ±0.2
Pulse Input
SRAC
20±0.3
47.14±0.35
AC Input
Ø38.1±0.05
60±0.5
With Controller
Oil
STAC
C
Pulse Input
SR
8±0.3 AWG20 UL2517

Field Bus
DC Input
STF
2000±20
C-C(2:1)
With Controller
ST
+0 7.5±0.1
Ø8-0.012
AC Input

DC Input
AM24HS5401
2-Phase
24V 48V 75V

Current: 4.5A(Peak)
2.4
2
Stepper Motor
Torque(N.m)
1.6
3-Phase
1.2
0.8
0.4
0
UL
0 10 20 30 40 50
Speed(rps)
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
266
Stepper Motor
NEMA34(□86mm) 2-phase DC1.8°- 34HD Series IP65 Type
• Phases 2
• 155 N (35 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 65
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Motor & Drive

SS
AM34HD1404-13 98 6.7 6.3 0.45 1850.0 2.7 500VAC
Single Shaft A 4
AM34HD2403-13 127.5 9.4 5.6 0.62 2750.0 3.8 1 minute
Pulse Input
STM-R

STM
37±0.5 L 86±0.5
4-Ø6.5±0.2
25±0.2 69.6±0.2
SWM
IP65
Ø73.025±0.025
Pulse Input
SRAC
C
AC Input
69.6±0.2
86±0.5
oil
With Controller
STAC
C
Pulse Input
SR
2±0.2
10±0.3
Field Bus
DC Input
2000±20
STF
C-C 90°±3°
13±0.1
With Controller
ST
AWG20 UL2517
13±0.1
+0
Ø14-0.012
AC Input
DC Input
AM34HD1404 AM34HD2403
2-Phase
24V 48V 75V Microstep: 20000 steps/rev 24V 48V 75V
5 8
7
4 6
Stepper Motor
Torque(N m)
Torque(N m)
.
. 3 5
3-Phase
4
2 3
2
1
1
0 0
UL
0 10 20 30 40 50 0 10 20 30 40 50
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
267
Stepper Motor
NEMA17(□42mm) 2-phase DC1.8°- 17HD Series Brake type
20±1 L Brake 42.3Max

31±0.1
15±0.2
Integrated
Efficient
TSM
42.3Max
31±0.1
C
Ø22 -0.052
C
0
Integrated
C C
SSM
2±0.2 4-M3
Depth 4.5Min
Step-Servo
Integrated
C-C
TXM
IP65
300±10
2:1
4.5±0.1
(300)
AWG26 UL3266
Motor & Drive
AWG24 UL1332
RS
0 Red(V+) Black(V-)
Ø5 -0.012
Motor & Drive
Parameters
SS
Rotor Brake Brake

Length “L” Holding Torque Current ※ Resistance Mass Dielectric
Pulse Input
Model Shaft Wiring * Leads Inertia Torque Power

STM-R
Strength
2
mm N.m A/Phase Ω/Phase g·cm N.m V(W) Kg
AM17HD4452-BR01 60.3 0.285 1.5 1.5 38.0 0.6 24(10) 0.38
AM17HD2438-BR01 Single 65.8 0.46 1.5 1.9 57.0 0.6 24(10) 0.43 500VAC
STM
A 4
AM17HD6426-BR01 Shaft 74.3 0.59 1.5 2.3 82.0 0.6 24(10) 0.51 1 minute
AM17HDB410-BR01 85.8 0.85 1.4 3.2 123.0 0.6 24(10) 0.75

SWM
Wiring Diagram A See Page 247

*
IP65
Pulse Input

SRAC
AC Input
AM17HD4452 AM17HD2438 AM17HD6426

Current: 1.8A (Peak)
With Controller
Current: 1.8A (Peak) Current: 1.8A(Peak)

0.25 0.5 0.5
STAC
0.20 0.4 0.4

Torque(N·m)
Torque(N·m)
Torque(N·m)
0.15 0.3 0.3

Pulse Input
0.10 0.2 0.2

SR
0.05 0.1 0.1
0 0 0
Field Bus
DC Input
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
STF

With Controller
AM17HDB410
ST
Current: 1.8A(Peak)
0.7
0.6
0.5
Torque(N·m)
AC Input
0.4
0.3
0.2
DC Input
0.1
0
0 10 20 30 40 50
Speed(rps)
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
268
Stepper Motor
NEMA23(□56mm) 2-phase DC1.8°- 23HS Series Brake type
24±0.5 L +0.2
47.14±0.20 4-Ø5.1 -0
Brake
Integrated
47.14±0.20
Efficient
Ø38.1±0.05
20±0.2
56.4Max.
TSM
ID
ID
Integrated
SSM
1.6±0.2
5.08±0.3 L=300
Step-Servo
D-D
300±10
Integrated
TXM
2:1
IP65
7.5±0.1
0 AWG24 UL1332 AWG22 UL3266
Motor & Drive

Ø8 -0.012 Red(V+) Black(V-)
RS
Parameters
Motor & Drive

Rotor Brake Brake
Length“L” Holding Torque Current ※ Resistance Mass Dielectric
SS
2 Strength
AM23HS04B0-BR01 80 0.82 0.48 105.0 1.5 24(15) 0.62
Pulse Input
STM-R
Single 500VAC

AM23HS84B0-BR01 A 4 96 1.5 3.7 0.63 215.0 1.5 24(15) 0.8
Shaft 1 minute
AM23HSA4B0-BR01 118 2.3 0.75 365.0 1.5 24(15) 1.2

*
STM
SWM
IP65
Pulse Input
SRAC
0.6 1.5 2
AC Input
0.5
1.2 1.6
Torque(N m)
With Controller
.
Torque(N m)
Torque(N m)
0.4 . .
STAC
0.9 1.2
0.3

0.2 0.6 0.8
0.1
Pulse Input
0.3 0.4
SR
0
0 10 20 30 40 50 0 0
0 10 20 30 40 50 0 10 20 30 40 50
Field Bus
DC Input
STF
With Controller
ST
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
269
Stepper Motor
NEMA24(□60mm) 2-phase DC1.8°- 24HS Series Brake type
20.6±0.5 L 60±0.5
47.14±0.2 4-Ø4.52±0.1
Brake
Integrated
Efficient
TSM
47.14±0.2
15±0.2
Ø38.1 -0.05
60±0.5
IC
0
Integrated
SSM
IC
1.5 ±0.2
7±0.3
Step-Servo
Integrated
L=300
TXM
IP65
C-C
2:1
7.5±0.1
300±10
90
Motor & Drive
°0
'
RS
0 7.5±0.1 AWG22
Ø8 -0.012 UL3266
AWG24 UL1332
Motor & Drive
Red(V+) Black(V-)
SS
Parameters
Pulse Input
STM-R
Rotor Brake Brake

Strength
2
STM
AM24HS2402-BR01 Single 95 1.57 0.43 450.0 1.03 500VAC

A 4 4.0 1.5 24(15)
AM24HS5401-BR01 Shaft 126 3.2 0.65 900.0 1.6 1 minute
SWM

IP65
Pulse Input

SRAC
AC Input
With Controller
AM24HS2402 AM24HS5401
STAC
Current: 4.5A(Peak)
Current: 4.5A(Peak)
1.2 2.4
1 2
Pulse Input
Torque(N.m)
Torque(N.m)
0.8 1.6
SR
0.6 1.2
0.4 0.8
Field Bus
DC Input
0.2 0.4
STF
0 0
0 10 20 30 40 50 0 10 20 30 40 50
With Controller
ST

AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
270
Stepper Motor
NEMA24(□60mm) 2-phase AC1.8°- 24HS Series Brake type
24±0.5 L 60±0.5
+0.5
4-Ø4.5 0
50±0.2
Brake
Integrated
Efficient
TSM
20±0.5
C
50±0.2
60±0.5
Ø36 -0.05
0
Integrated
SSM
C
Ground
1.5 ±0.2
Step-Servo
7±0.3
Integrated
TXM
IP65
C-C L=300
2:1
AWG22 UL1007
Yellow/Green
（50）
AWG24 UL1332
Motor & Drive

190±10
300±10
9.5±0.1
Red（V+)/Black（V-）
RS
0
Ø10-0.012
Motor & Drive

AWG22 UL3266
SS
Parameters
Pulse Input
STM-R
Rotor Brake Brake

2 Strength

Single 1500VAC
AM24HS5411-BR01 A 4 126 3.1 0.8 15.4 900.0 1.5 24(15) 1.6
STM
Shaft 1 minute

SWM
IP65
Pulse Input
SRAC
AM24HS5411
AC Input
Current: 1.0A(Peak)
2.5
With Controller
2
STAC
Torque(N.m)
1.5

1
Pulse Input
0.5
SR
0
0 10 20 30 40 50
Speed(rps)
Field Bus
DC Input
STF
With Controller
ST
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
271
Stepper Motor
NEMA34(□86mm) 2-phase DC1.8°/ 2-phase AC1.8°-34HD Series Brake type
37±0.5 L 86±0.5 4-Ø6.5±0.2

69.6±0.2
25±0.2
Integrated
Efficient
TSM
Ø73.025±0.025
69.6±0.2
Integrated
86±0.5
SSM
C
Step-Servo
Integrated
2±0.2
TXM
IP65
10±0.3
(200)
AWG22 UL2464
Motor & Drive
300 ±10 (26.5)

C-C
RS
90°±3° Red(V+)/Black(V-)
13±0.1
Motor & Drive
13±0.1
0
Ø14-0.012
SS
Parameters
Pulse Input
STM-R
Rotor Brake Brake

Strength
mm N.m A/Phase Ω/Phase g·cm2 N.m V(W) Kg
STM
AM34HD0404-BR01 Single Shaft 118.5 3.7 0.25 1100 2.2

6.3 500VAC
AM34HD1404-BR01 Single Shaft A 4 148 6.7 0.35 1850 6 24(30) 3.3
1 minute
AM34HD2403-BR01 Single Shaft 177.5 9.4 5.6 0.49 2750 4.4
SWM
IP65
3.4
AM34HD0802-BR01 Single Shaft 118.5 4.2 1100 2.2
(Series onnection)
1.8
3.6 1500VAC
Pulse Input
AM34HD1802-BR01 Single Shaft C 8 148 7.6 (220V Series 1850 6 24(30) 3.3
(Series onnection) 1 minute
SRAC
connection)
4.2
AM34HD2805-BR01 Single Shaft 177.5 8.7 2750 4.4
AC Input
(Series onnection)
With Controller
* Wiring Diagram A/C See Page 247

STAC
Torque Curves
Pulse Input
SR
(Recommended Driver: SR or ST)

Field Bus
DC Input
STF
AM34HD0404 AM34HD1404 AM34HD2403

24V 48V 75V 24V 48V 75V
3 5 8
With Controller
7
2.5 4 6
Torque(N m)
Torque(N m)
ST
. .
Torque(N m)
2 5
. 3
1.5 4
2 3
1
2
AC Input
0.5 1
1
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
DC Input
Torque Curves
(Recommended Driver: SRAC or STAC)
2-Phase
AM34HD0802 AM34HD1802 AM34HD2805

Stepper Motor
Microstep: 20000 steps/rev 220V / 110V Microstep: 20000 steps/rev 220V / 110V
Current: 1.8A / 3.6A (Peak) Current: 1.8A / 3.6A (Peak) Current: 1.8A / 3.6A (Peak)
3-Phase
3 6 7
2.5 5 6
T o rq u e ( N m )
T o rq u e ( N m )
. 5
T o rq u e ( N m )
. 2 4
.
4
1.5 3
3
UL
1 2
2
0.5 1 1
Power Supplies
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Accessories

Cables
Software
Appendix
Glossary
272
Stepper Motor
NEMA17(□42mm) 2-phase DC1.8e - 17HD Series Planetary Reducer Motor Type

26 ±2 L 42.3
23
Integrated
4-M4
Efficient
TSM
3.5 16 Depth 6
4
Ø3
Ø12
3
Ø26-0.021
11.2
42.3
0
Integrated
Ø40
SSM
0
Ø10-0.008
M3
2 Depth 10
Step-Servo
Integrated
300±10
TXM
IP65
AWG26 UL3266
Motor & Drive

RS
Motor & Drive
Parameters
SS
Maximum Maximum Rotor
Length“L” Current ※ Reduction Accuracy Noise Mass
Model Wiring * Series output torque load torque Inertia Efficiency
Pulse Input
ratio
STM-R
mm A/Phase arc-min N.m N.m g.cm2 dB Kg

AM17HD4452-PG05 101.8 1 5 12 1.25 6 950 96% 0.55
AM17HD4452-PG10 101.8 1 10 12 2.5 4 3800 96% 0.55

STM
AM17HD4452-PG20 114.8 2 20 15 5 20 15200 94% 0.63
A 1.5 <60
AM17HD2438-PG05 107.3 1 5 12 2 6 1425 96% 0.6
AM17HD2438-PG10 107.3 1 10 12 4 4 5700 96% 0.6
SWM
IP65
AM17HD2438-PG20 120.3 2 20 15 8 20 22800 94% 0.68

*
Pulse Input
SRAC
Torque Curves
AC Input
(Recommended Driver: SR or ST)
With Controller
STAC
AM17HD4452-PG05 AM17HD4452-PG10 AM17HD4452-PG20

Microstep：20000 steps/rev 24V 48V Microstep：20000 steps/rev 24V 48V Microstep: 20000 steps/rev 24V 48V
Current：1.8A(Peak) Current：1.8A(Peak) Current: 1.8A(Peak)
Pulse Input
1.2 2.5 5
SR
1
2 4
Torque(N.m)
Torque(N.m)
Torque(N.m)
0.8
1.5 3
0.6
Field Bus
DC Input
1 2
STF
0.4
0.2 0.5 1
0 0 0
With Controller
0 2 4 6 8 10 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5
ST
AM17HD2438-PG05
Microstep: 20000 steps/rev 24V 48V AM17HD2438-PG10 AM17HD2438-PG20
AC Input
Current: 1.8A(Peak) Microstep: 20000 steps/rev 24V 48V Microstep: 20000 steps/rev 24V 48V
2
4 8
1.6
Torque(N.m)
6
Torque(N.m)
3
Torque(N.m)
DC Input
1.2
0.8 2 4
0.4 1 2
2-Phase
0
0 2 4 6 8 10 0 0
Speed(rps) 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
273
Stepper Motor

26 ±2 L 42.3
23
Integrated
4-M4
Efficient
TSM
3.5 16 Depth 6
4
Ø3
Ø12
3
Ø26-0.021
11.2
42.3
0
Integrated
Ø40
SSM
0
Ø10-0.008
M3
2 Depth 10
Step-Servo
Integrated
300±10
TXM
IP65
AWG26 UL3266
Motor & Drive
RS
Motor & Drive
Parameters
SS

output torque load torque Inertia
Pulse Input
Model Wiring * Series Efficiency

STM-R
ratio
g.cm2
mm A/Phase arc-min N.m N.m dB Kg

AM17HD6426-PG05 115.8 1 5 12 2.5 6 2050 96% 0.68
AM17HD6426-PG10 115.8 1.5 1 10 12 5 4 8200 96% 0.68

STM
AM17HD6426-PG20 128.8 2 20 15 10 20 32800 94% 0.76

A <60
AM17HDB410-PG05 130.3 1 5 12 4.25 6 3075 96% 0.92
AM17HDB410-PG10 130.3 1.4 1 10 12 8.5 4 12300 96% 0.92
SWM
IP65
AM17HDB410-PG20 143.3 2 20 15 17 20 49200 94% 1

*
Pulse Input
SRAC
AC Input

With Controller
STAC

Microstep：20000 steps/rev 24V 48V Microstep: 20000 steps/rev 24V 48V Microstep: 20000 steps/rev 24V 48V
Pulse Input
Current：1.8A(Peak) Current: 1.8A(Peak) Current: 1.8A(Peak)

2.5 5 10
SR
2 4 8
Torque(N.m)
Torque(N.m)
Torque(N.m)
1.5 3 6
Field Bus
DC Input
STF
1 2 4
0.5 1 2
With Controller
0 0 0
0 2 4 6 8 10 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5
ST
AM17HDB410-PG05 AM17HDB410-PG20
AM17HDB410-PG10
AC Input
Microstep：20000 steps/rev 24V 48V Microstep：20000 steps/rev 24V 48V Microstep：20000 steps/rev 24V 48V
Current：1.8A(Peak) Current：1.8A(Peak) Current：1.8A(Peak)
3 6 12
2.5 5 10
Torque(N.m)
DC Input
Torque(N.m)
Torque(N.m)
2 4 8
1.5 3 6
1 2 4
2-Phase
0.5 1 2
0 0 0
0 2 4 6 8 10 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5
Stepper Motor
Speed(rps)
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
274
Stepper Motor
NEMA23(□56mm) 2-phase DC1.8e - 23HS Series Planetary Reducer Motor Type

35 ±2 L 60±0.5
25
Integrated
Efficient
TSM
Ø14-0.018
0
Ø52
2.5 5
Ø40-0.025
60±0.5
Ø16
Ø60
Integrated
0
SSM
Ø17
30.5
Step-Servo
3
Integrated
TXM
IP65
M5 4-M5
Depth 15 DEPTH 8
300±10
Motor & Drive

AWG22 UL3266
RS
Motor & Drive
Parameters
SS
Pulse Input
STM-R
ratio
g.cm2

AM23HS04B0-PG05 112.5 1 5 10 4.1 16 2625 96% <65 1.23

AM23HS04B0-PG10 112.5 1 10 10 8.2 12 10500 96% <65 1.23
STM
AM23HS04B0-PG20 125.5 2 20 15 16.4 44 42000 94% <60 1.44
AM23HS84B0-PG05 128.5 1 5 10 7.5 16 5375 96% <65 1.43
AM23HS84B0-PG10 A 128.5 3.7 1 10 10 15 12 21500 96% <65 1.43
SWM
IP65
AM23HS84B0-PG20 141.5 2 20 15 30 44 86000 94% <60 1.64
AM23HSA4B0-PG05 150.5 1 5 10 11.5 16 9125 96% <65 1.83
Pulse Input
SRAC
AM23HSA4B0-PG10 150.5 1 10 10 23 12 36500 96% <65 1.83
AC Input
AM23HSA4B0-PG20 163.5 2 20 15 46 44 146000 94% <60 2.07
With Controller
STAC

Pulse Input
SR
AM23HS04B0-PG05 AM23HS04B0-PG10 AM23HS04B0-PG20
Field Bus
DC Input
3.5 7 14
STF
3 6 12
Torque(N.m)
Torque(N.m)
Torque(N.m)
2.5 5 10
With Controller
2 4 8
1.5 3 6
ST
1 2 4
0.5 1 2
0 0 0
AC Input
0 2 4 6 8 10 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5
AM23HS84B0-PG05 AM23HS84B0-PG10 AM23HS84B0-PG20

DC Input
6 12 25
5 10 20
Torque(N.m)
Torque(N.m)
Torque(N.m)
4 8
2-Phase
15
3 6
10
2 4
Stepper Motor
1 5
2
3-Phase
0 0 0
0 2 4 6 8 10 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5
AM23HSA4B0-PG05 AM23HSA4B0-PG10 AM23HSA4B0-PG20

UL
Microstep: 20000 steps/rev 24V 48V Microstep: 20000 steps/rev 24V 48V Microstep: 20000 steps/rev 24V 48V
10 20 40
Power Supplies
8 16
30
Torque(N.m)
Torque(N.m)
Torque(N.m)
Accessories
6 12
20
4 8
10
2
Cables
0 0 0
0 2 4 6 8 10 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5
Software
Appendix
Glossary
275
Stepper Motor
NEMA24(□60mm) 2-phase DC1.8e - 24HS Series Planetary Reducer Motor Type

35 ±2 L 60±0.5
25
Integrated
Efficient
TSM
Ø14-0.018
0
Ø52
2.5 5
Ø40-0.025
60±0.5
Ø16
Ø60
Integrated
0
SSM
Ø17
30.5
Step-Servo
3
Integrated
TXM
IP65
M5 4-M5
Depth 15 DEPTH 8
300±10
Motor & Drive
AWG22 UL3266
RS
Motor & Drive
Parameters
SS
Rotor
Length“L” Current ※ Reduction Accuracy Output torque Load torque Noise Mass
Pulse Input
Model Wiring * Series Inertia Efficiency

STM-R
ratio
g.cm2

AM24HS2402-PG05 127.5 1 5 10 6 16 11250 96% <65 1.66
AM24HS2402-PG10 127.5 1 10 10 12 12 45000 96% <65 1.66

STM
AM24HS2402-PG20 140.5 2 20 15 24 44 180000 94% <60 1.87

A 4.0
AM24HS5401-PG05 158.5 1 5 10 12.5 16 22500 96% <65 2.23
AM24HS5401-PG10 158.5 1 10 10 25 12 90000 96% <65 2.23
SWM
IP65
AM24HS5401-PG20 171.5 2 20 15 50 44 360000 94% <60 2.44

*
Pulse Input
SRAC
AC Input

With Controller
STAC
AM24HS2402-PG05 AM24HS2402-PG10 AM24HS2402-PG20

Pulse Input

6 12 25
SR
5 10
20
Torque(N.m)
Torque(N.m)
Torque(N.m)
4 8
15
Field Bus
DC Input
3 6
STF
10
2 4
1 2 5
With Controller
0 0 0
0 2 4 6 8 10 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5
ST

AC Input
AM24HS5401-PG05 AM24HS5401-PG10 AM24HS5401-PG20

14 25 50
12
DC Input
20 40
Torque(N.m)
Torque(N.m)
Torque(N.m)
10
8 15 30
6 10 20
2-Phase
4
5 10
2
0 0 0
Stepper Motor
0 2 4 6 8 10 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5

3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
276
Stepper Motor

40±2 L 86±0.5
3
Integrated
Efficient
36
TSM
28 4-M6
4 Depth 10
6
Ø60-0.03
86±0.5
22.5
Ø80
Ø25
0
Integrated
SSM
(12)
Ø70
Ø20-0.021
0
Step-Servo
Integrated
TXM
M6
IP65
AWG18 UL2464 300±10 (16.5) (26.5) Depth 18
Motor & Drive

RS
Parameters
Motor & Drive

SS
ratio
Pulse Input
STM-R
AM34HD0404-PG05 170.5 1 5 10 15 50 27500 96% 3.71

AM34HD0404-PG10 170.5 1 10 10 30 40 110000 96% 3.71
AM34HD0404-PG20 188.5 2 20 15 60 120 440000 94% 4.21

6.3
STM
AM34HD1404-PG05 200 1 5 10 25 50 46250 96% 4.81
AM34HD1404-PG10 A 200 1 10 10 50 40 185000 96% <60 4.81
AM34HD1404-PG20 218 2 20 15 100 120 740000 94% 5.31
SWM
IP65
AM34HD2403-PG05 229.5 1 5 10 35.5 50 68750 96% 5.91
AM34HD2403-PG10 229.5 5.6 1 10 10 71 40 275000 96% 5.91
Pulse Input
SRAC
AM34HD2403-PG20 247.5 2 20 15 142 120 1100000 94% 6.41

*
AC Input
With Controller
STAC
Pulse Input
SR
Microstep：20000 steps/rev 24V 48V 75V Microstep：20000 steps/rev 24V 48V 75V Microstep：20000 steps/rev 24V 48V 75V
Current：7A(Peak) Current：7A(Peak) Current：7A(Peak)
16 30 60
Field Bus
14
DC Input
25 50
STF
12
Torque(N.m)
Torque(N.m)
Torque(N.m)
20 40
10
8 15 30
With Controller
6
10 20
4
ST
5 10
2
0 0 0
0 2 4 6 8 10 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5
AC Input
Microstep：20000 steps/rev 24V 48V 75V Microstep: 20000 steps/rev 24V 48V 75V Microstep: 20000 steps/rev 24V 48V 75V
DC Input
Current：7A(Peak) Current: 7.0A(Peak) Current: 7.0A(Peak)
25 50 100
20 40 80
Torque(N.m)
Torque(N.m)
Torque(N.m)
2-Phase
15 30 60
10 20 40
Stepper Motor
5 10 20
3-Phase
0 0 0
0 2 4 6 8 10 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5
UL

Microstep: 20000 steps/rev 24V 48V 75V Microstep: 20000 steps/rev 24V 48V 75V Microstep: 20000 steps/rev 24V 48V 75V
Power Supplies
40 80 160
Accessories
30 60 120
Torque(N.m)
Torque(N.m)
Torque(N.m)
20 40 80
Cables
10 20 40
0 0 0
0 2 4 6 8 10 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5
Software

Appendix
Glossary
277
Stepper Motor
NEMA34(□86mm) 2-phase AC1.8e - 34HD Series Planetary Reducer Motor Type

40±2 L 86±0.5
3
Integrated
36
Efficient
TSM
28 4-M6
4 Depth 10
6
Ø60-0.03
86±0.5
22.5
Ø80
Ø25
0
Integrated
SSM
(12)
Ø70
Ø20-0.021
0
Step-Servo
Integrated
TXM
M6
IP65
AWG18 UL2464 300±10 (16.5) (26.5) Depth 18

Motor & Drive
RS
Parameters
Motor & Drive
SS

ratio
Pulse Input
STM-R
AM34HD0802-PG05 170.5 1 5 10 15 50 27500 96% 3.71

AM34HD0802-PG10 170.5 1 10 10 30 40 110000 96% 3.71

AM34HD0802-PG20 188.5 2 20 15 60 120 440000 94% 4.21
STM
AM34HD1802-PG05 200 1 5 10 25 50 46250 96% 4.81

1.8
B(Parallel)
AM34HD1802-PG10 200 (Series 1 10 10 50 40 185000 96% <60 4.81
C(Series)
connection)
AM34HD1802-PG20 218 2 20 15 100 120 740000 94% 5.31
SWM
IP65
AM34HD2805-PG05 229.5 1 5 10 35.5 50 68750 96% 5.91

AM34HD2805-PG10 229.5 1 10 10 71 40 275000 96% 5.91
Pulse Input
SRAC
AM34HD2805-PG20 247.5 2 20 15 142 120 1100000 94% 6.41
* Wiring Diagram B/C See Page 247

AC Input
With Controller
STAC

Pulse Input

SR
Microstep：20000 steps/rev 220V Microstep：20000 steps/rev 220V Microstep：20000 steps/rev 220V

16 30 60
Field Bus
14
DC Input
25 50
STF
12
Torque(N.m)
Torque(N.m)
Torque(N.m)
20 40
10
8 15 30
With Controller
6
10 20
4
ST
5 10
2
0 0 0
0 2 4 6 8 10 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5
AC Input

Microstep：20000 steps/rev 220V Microstep: 20000 steps/rev 220V Microstep: 20000 steps/rev 220V
DC Input
Current：1.8A(Peak) Current: 1.8A(Peak) Current: 1.8A(Peak)

25 50 100
20 40 80
Torque(N.m)
Torque(N.m)
Torque(N.m)
2-Phase
15 30 60
10 20 40
Stepper Motor
5 10 20
3-Phase
0 0 0
0 2 4 6 8 10 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5
UL

Microstep：20000 steps/rev 220V Microstep：20000 steps/rev 220V Microstep：20000 steps/rev 220V
Power Supplies
35 70 140
30 60 120
Accessories
Torque(N.m)
Torque(N.m)
Torque(N.m)
25 50 100
20 40 80
15 30 60
Cables
10 20 40
5 10 20
0 0 0
0 2 4 6 8 10 0 1 2 3 4 5 0 0.5 1 1.5 2 2.5
Software

Appendix
Glossary
278
Stepper Motor
NEMA17( □ 42mm) 2-phase DC 1.8°- 17HD Series Encoder Type

20±0.5 L 16.59±1 42.3Max
31±0.1
Integrated
Efficient
TSM
42.3Max
Ø22 -0.052
15±0.2
31±0.1
H
C
Integrated
+0
SSM
C
(51.8)
2±0.2
Step-Servo
Integrated
TXM
IP65
4-M3
Depth 4.5Min
300±10
Encoder AWG26 UL3266
Motor & Drive

RS
(31) A
View A
PIN 9 PIN 1
Motor & Drive

C-C(2:1)
SS
+0
Ø5 -0.012
4.5±0.1
Pulse Input
STM-R
PIN 10 PIN 2

Encode Electrical Specification
STM
Resolution 4000 Counts/Rev(1000 Line) Pin. 9 7 5 3 1
Supply Current (no load) Typ 56mA/Max 59mA Signal CH B- +5V CH A- Index- GND
SWM
IP65
Output Voltage Low 0.4V@20mA Max. Pin. 10 8 6 4 2
Output Voltage High 2.4V@-20mA Min. Signal CH B+ +5V CH A+ Index+ GND
Pulse Input
SRAC
A leads B for clockwise shaft rotation, and B leads A for Accessories(Sold Separately)
AC Input
General encoder Cable
Mating Connectors
With Controller
P/N: 1001-100 Length: 1m
STAC
Housing: Molex# 15-04-5104 P/N: 1009-500 Length: 5m

Crimp: Molex# 14-60-0058 Encoder cable used with MOONS’drive
Pulse Input
Crimp Tool: Molex# 62100-0700 P/N: 2005-200 Length: 2m
SR
Component model: E5-Connector P/N: 2011-200 Length: 5m
Parameters
Field Bus
DC Input
STF
Minimum
Length“L” Current ※ Resistance Rotor Inertia Motor Mass Dielectric
Model Wiring * Leads Holding Torque
With Controller
Strength
ST
AM17HD4452-E1000D 34.3 0.285 1.5 1.5 38.0 0.23
AM17HD2438-E1000D 39.8 0.46 1.5 1.9 57.0 0.28 500VAC
AC Input
A 4
AM17HD6426-E1000D 48.3 0.59 1.5 2.3 82.0 0.36 1 minute
AM17HDB410-E1000D 62.8 0.85 1.4 3.2 123 0.6
DC Input
*
2-Phase
Stepper Motor
AM17HD4452 AM17HD2438 AM17HD6426
3-Phase
Microstep: 20000 steps/rev 3OIXUYZKV YZKVYXK\ Microstep: 20000 steps/rev
Current: 1.8A (Peak) )[XXKTZ '6KGQ Current: 1.8A(Peak)
0.25 0.5 0.5
0.20 0.4 0.4

Torque(N·m)
Torque(N·m)
Torque(N·m)
0.15 0.3 0.3

UL
0.10 0.2 0.2

Power Supplies
0.05 0.1 0.1

Accessories
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
AM17HDB410
Cables
Microstep:20000 steps/rev
Current:1.8A(Peak)
0.7
0.6
0.5
Software
Torque(N·m)
0.4
Appendix
0.3
0.2
Glossary
0.1
0
0 10 20 30 40 50
Speed(rps)
279
NEMA23( □ 56mm) 2-phase DC 1.8°- 23HS Series Encoder Type
Stepper Motor

20.6±0.5 L 16.59±1 47.14±0.20 +0.2
4-Ø5.1 -0
Integrated
Efficient
TSM
47.14±0.20
15±0.2
56.4Max.
Ø38.1±0.05
H
C
Integrated
SSM
(51.8)
C
Step-Servo
Integrated
TXM
IP65
1.6±0.2
300±10
4.8±0.3 Encoder
Motor & Drive
(31) AWG22 UL3266

RS
A
View A
PIN 9 PIN 1
C-C(2:1)
Motor & Drive
SS
5.8±0.1
Ø6.35 -0.012
Pulse Input
STM-R
PIN 10 PIN 2

STM

SWM
IP65

Pulse Input
Signal CH B+ +5V CH A+ Index+ GND

SRAC

AC Input
With Controller

STAC
Mating Connectors P/N: 1001-100 Length: 1m


Pulse Input

SR

Field Bus
DC Input
STF
arameters
With Controller
Length“L” Holding Torque Current ※ Resistance Rotor Inertia Motor Mass Dielectric
Model Wiring * Leads
ST
AM23HS0420-E1000D 41.0 0.72 1.8 135.0 0.42

AM23HS2449-E1000D 54.0 1.25 1.8 2.4 260.0 0.6

AC Input
AM23HS3454-E1000D 76.0 2.1 2.9 460.0 1.0 500VAC

A 4
AM23HS0421-E1000D 41.0 0.72 0.48 135.0 0.42 1 minute
DC Input
AM23HS2450-E1000D 54.0 1.25 3.7 0.63 260.0 0.6

AM23HS3455-E1000D 76.0 2.1 0.75 460.0 1.0
2-Phase

*
Stepper Motor

3-Phase
AM23HS0420 AM23HS2449 AM23HS3454

0.6 1.2
UL
2
0.5 1
Torque(N.m)
1.6
Torque(N.m)
Torque(N m)
0.4 0.8 .
Power Supplies
0.3 1.2
0.6
Accessories
0.2 0.4 0.8

0.1 0.2 0.4
0 0
Cables
0 10 20 30 40 50 0 10 20 30 40 50 0
Speed(rps) 0 10 20 30 40 50
AM23HS0421 AM23HS2450 AM23HS3455

Software
24V 48V 75V
0.6
Appendix
1.2 1.8
0.5 1 1.5
Torque(N.m)
Torque(N.m)
Torque(N.m)
0.4
Glossary
0.8 1.2
0.3 0.6 0.9
0.2 0.4 0.6
0.1 0.2 0.3
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
280
Stepper Motor
NEMA24( □ 60mm) 2-phase DC 1.8°- 24HD Series Encoder Type

20.6 ±0.5 L 16.59±1 60.5Max.
47.14±0.35 4-Ø4.52±0.1
Integrated
Efficient
TSM
15±0.2
Ø38.1±0.05
C H
47.14±0.35
60.5Max.
Integrated
SSM
(51.8)
C
Step-Servo
1.5±0.2
Integrated
TXM
IP65
Encoder
300±10
(31) AWG22 UL3266
A
Motor & Drive

C-C(2:1) View A
PIN 9 PIN 1
RS
90°
Motor & Drive

+0
SS
Ø8-0.012 7.5±0.1
7.5±0.1 PIN 10 PIN 2
Pulse Input
STM-R

STM
SWM
IP65
Pulse Input
SRAC
AC Input
Encoder cable used with MOONS’drive
With Controller
STAC

Pulse Input
SR
Parameters
Field Bus
DC Input
Strength
STF
AM24HS2402-E1000D 54.0 1.57 4.0 0.43 450.0 0.83 500VAC
A 4
1 minute
With Controller
AM24HS5401-E1000D 85.0 3.2 4.0 0.65 900.0 1.4
ST
AC Input
Torque Curves (Recommended Driver: ST or SR)
DC Input
AM24HS2402 AM24HS5401
1.2 2.4
2-Phase
1 2
Torque(N.m)
Torque(N.m)
0.8 1.6
0.6 Stepper Motor
1.2
0.4 0.8
3-Phase
0.2 0.4
0 0
0 10 20 30 40 50 0 10 20 30 40 50
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
281
NEMA34( □ 86mm) 2-phase DC1.8°- 34HD Series Encoder Type
Stepper Motor
58.5REF. 37±0.5 L 25±1 86±0.5

16.59±1 69.6±0.2 4-Ø6.5±0.2
Integrated
Efficient
TSM
25±0.2
Ø73.025±0.025
C H
58.5REF.
Integrated
69.6±0.2
86±0.5
SSM
(51.8)
C
2±0.2
Step-Servo
Integrated
Encoder
TXM
10±0.3
IP65
(12)
(31)
A
AWG22 UL2464 300±10 (16.5)
(26.5)
Motor & Drive
C-C(2:1) View A
RS
PIN 9 PIN 1
13±0.1 90°±3°
Motor & Drive
13±0.1
SS
+0
Ø14 -0.012 PIN 10 PIN 2
Pulse Input

STM-R

STM

SWM
IP65

Mating Connectors
Pulse Input
P/N: 1001-100 Length: 1m

SRAC

AC Input

With Controller

STAC

Pulse Input
Parameters
SR
Strength
Field Bus
DC Input

STF
AM34HD0404-E1000D 66.5 3.7 0.25 1100.0 1.6

6.3 500VAC
AM34HD1404-E1000D A 4 96.0 6.7 0.35 1850.0 2.7
1 minute
With Controller
AM34HD2403-E1000D 125.5 9.4 5.6 0.49 2750.0 3.8

ST

AC Input
Torque Curves (Recommended Driver: ST or SR)

DC Input
AM34HD0404 AM34HD1404 AM34HD2403

24V 48V 75V 24V 48V 75V
3 5 8
7
2.5 4
2-Phase
6
Torque(N m)
Torque(N m)
. .
Torque(N m)
2 5
. 3
1.5 4
Stepper Motor
2 3
1
2
3-Phase
0.5 1
1
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
282
Stepper Motor
NEMA34( □ 86mm) 2-phase AC1.8°- 34HD Series Encoder Type

58.5REF. 37±0.5 L 25±1 86±0.5
16.59±1 69.6±0.2 4-Ø6.5±0.2
Integrated
Efficient
TSM
25±0.2
Ø73.025±0.025
C H
58.5REF.
69.6±0.2
Integrated
86±0.5
(51.8)
SSM
C
2±0.2
Step-Servo
Integrated
Encoder
10±0.3
TXM
IP65
(12)
(31)
A
AWG22 UL2464 300±10 (16.5)
(26.5)
Motor & Drive

C-C(2:1) View A
PIN 9 PIN 1
RS
13±0.1 90°±3°
Motor & Drive

13±0.1
+0
SS
Ø14 -0.012 PIN 10 PIN 2
Pulse Input
STM-R

STM
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
STAC
Parameters
Pulse Input
SR
Current ※ Resistance Rotor
Length“L” Holding Torque Motor Mass Dielectric
Model Wiring * Leads (A/Phase) (Ω/Phase) Inertia
2
Strength
mm N·m Series Parallel Series Parallel g·cm Kg
Field Bus
DC Input
STF
AM34HD0802-E1000D 66.5 4.2 3.4 0.9 1100.0 1.6
1.8(When 3.6(When
B(Parallel) 1500VAC
AM34HD1802-E1000D 8 96.0 7.3 drive by drive by 3.6 0.9 1850.0 2.7
C(Series) 1 minute
220VAC) 110VAC)
With Controller
AM34HD2805-E1000D 125.5 8.7 4.2 1.1 2750.0 3.8
ST

AC Input
AM34HD0802 AM34HD1802 AM34HD2805
DC Input
220V / 110V 220V / 110V 220V / 110V
Current: 1.8A / 3.6A (Peak) Current: 1.8A / 3.6A (Peak) Current: 1.8A / 3.6A (Peak)
3 6 7
2.5 5 6
T o rq u e ( N m )
T o rq u e ( N m )
. 2 . 5
T o rq u e ( N m )
4
.
2-Phase
1.5 4
3
3
1 2
2 Stepper Motor
0.5 1 1
0
3-Phase
0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
283
NEMA17(□42mm) 3-phase DC 1.2°- 17HC Series
Stepper Motor
• Phases 3
• Step Accuracy 25 N (5.6 Lbs.) Push
• 65 N (15 Lbs.) Pull
Integrated
Efficient

TSM
• IP Rating 40
Integrated

SSM

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Dielectric
AM17HC20A0-01N Single Shaft
Motor & Drive
34 0.4 3.9 57.0 0.25

SS
AM17HC20A0-02N Double Shaft 500VAC

D 3 2.2
AM17HC60A0-01N Single Shaft 1 minute
43 0.52 5 82.0 0.35
Pulse Input
AM17HC60A0-02N Double Shaft

STM-R

STM

SWM
IP65
20±0.5 L 15±1 43.8±0.1

Pulse Input
15±0.2
SRAC
2-M3
AC Input
DEPTH 4.5Min.
With Controller
STAC
Ø22-0.052
C C
0
Pulse Input
C C
SR
(30)
(2.7) (Ø43)
Field Bus
DC Input
STF
Ø44.3Max.
2±0.2
(10.05) 123 PIN NO.
With Controller
(10)
(11.05)
ST
(12)
AC Input
C-C(2:1)
Housing P/N:JST PHR-3 AWG26 UL3266
DC Input
+0 Crimp P/N:JST SPH-002T-P0.5S

Ø5 -0.012
1
4.5±0.1
5.5±0.5
2-Phase
300±10
Stepper Motor
3-Phase
Torque Curves (Recommended Driver: 3ST or 3SR)

AM17HC20A0 AM17HC60A0
UL
Microstep:20000 steps/rev
Current:2.2A(Peak) Current: 2.2A(Peak)
0.4 0.4
Power Supplies
0.3 0.3
Torque(N.m)
Torque(N.m)
Accessories
0.2 0.2
0.1 0.1
Cables
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Software
Appendix
Glossary
284
Stepper Motor
NEMA24(□60mm) 3-phase DC1.2°- 24HC Series 57 Flange Demension
• Phases 3
• Step Accuracy 40 N (9 Lbs.) Push
• 130 N (30 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 40
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Motor & Drive

AM24HC4306-01 45.5 0.58 0.33 180.0 0.5
SS
500VAC
AM24HC2306-01 Single Shaft D 3 54.5 0.9 5.8 0.4 260.0 0.8
1 minute
AM24HC3306-03 76.5 1.7 0.63 460.0 1.3
Pulse Input
STM-R

※ 1.The rated current of the motor is RMS value. 2.The output current of Moons’ drive is the peak of sine value. 3.Drive maximum peak current = motor rated current
x1.4.

STM
SWM
21±0.5
IP65
L 60.2Max. +0.2
47.14 ±0.2 4-Ø5.1 -0
15 ±0.2
Pulse Input
SRAC
AC Input
With Controller
STAC
Ø38.1±0.05
47.14 ±0.2
60.2Max.

C
Pulse Input
SR
Field Bus
DC Input
STF
1.6±0.2
6.3±0.3 AWG20 UL3266
With Controller
300±10
ST
C-C(2:1)
AC Input
DC Input
+0
Ø8-0.012
7.5±0.1
2-Phase
Stepper Motor
3-Phase
Torque Curves (Recommended Driver: 3ST or 3SR) UL
AM24HC4306 AM24HC2306 24V 48V 75V

AM24HC3306
3OIXUYZKV YZKVYXK\ 24V 48V 75V 3OIXUYZKV YZKVYXK\ 3OIXUYZKV YZKVYXK\ 24V 48V 75V
Power Supplies
)[XXKTZ '6KGQ )[XXKTZ '6KGQ )[XXKTZ '6KGQ

0.5 1 1.5
Accessories
0.4 0.8 1.2

Torque(N m)
Torque(N m)
Torque(N m)
. 0.3 . 0.6 . 0.9

Cables
0.2 0.4 0.6
0.1 0.2 0.3
0 0 0
Software
0 5 10 15 20 25 30 0 5 10 15 20 25 30 0 5 10 15 20 25 30
Appendix
Glossary
285
NEMA24(□60mm) 3-phase DC1.2°- 24HC Series 60 Flange Demension
Stepper Motor
• Phases 3
• 130 N (30 Lbs.) Pull
Integrated
Efficient

TSM
• IP Rating 40
Integrated

SSM

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive
RS

Motor & Drive
AM24HC4306-03 45.5 0.58 0.33 180.0 0.5

SS
500VAC
AM24HC2308-02 Single Shaft D 3 54.5 0.9 5.8 0.4 260.0 0.8
1 minute
AM24HC3306-07 76.5 1.7 0.63 460.0 1.3
Pulse Input
STM-R

STM
21±0.5 60.2Max.
SWM
L +0.2
IP65
49.85±0.2 4-Ø5.1 -0
15 ±0.2
Pulse Input
SRAC
AC Input
With Controller
STAC
C
60.2Max.
Ø36-0.05
49.85±0.2
+0
Pulse Input
C
SR
Field Bus
DC Input
STF
1.6±0.2
With Controller
6.3±0.3 AWG20 UL3266

ST
300±10
AC Input
C-C(2:1)
DC Input
2-Phase
+0
Ø8-0.012
7.5±0.1
Stepper Motor
3-Phase

UL
AM24HC4306 AM24HC2308 AM24HC3306

3OIXUYZKV YZKVYXK\ 24V 48V 75V 3OIXUYZKV YZKVYXK\ 24V 48V 75V 3OIXUYZKV YZKVYXK\ 24V 48V 75V
Power Supplies
0.5 1.0 1.5

Accessories
0.4 0.8 1.2

Torque(N m)
Torque(N m)
Torque(N m)
. 0.3 . 0.6 . 0.9
0.2 0.4 0.6

Cables
0.1 0.2 0.3
0 0 0
0 5 10 15 20 25 30 0 5 10 15 20 25 30 0 5 10 15 20 25 30
Software

Appendix
Glossary
286
Stepper Motor
NEMA34(□86mm) 3-phase DC1.2°- 34HC Series
• Phases 3
• 155 N (35 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 40
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Motor & Drive

AM34HC0305-01 66.5 2.4 0.53 1100.0 1.6
SS
500VAC
AM34HC1305-01 Single Shaft D 3 96 4.3 5.8 0.58 1850.0 2.7
1 minute
AM34HC2306-01 125.5 6.1 0.9 2750.0 3.8
Pulse Input
STM-R


STM
86±0.5
SWM
37±0.5 L
IP65
4-Ø6.5±0.2
69.6±0.2
25±0.2
Pulse Input
SRAC
AC Input
Ø73.025±0.025
With Controller
STAC
C
69.6±0.2
86±0.5
Pulse Input
SR
C
(12)
Field Bus
DC Input
STF
2±0.2
With Controller
10±0.3
ST
(26.5)
AWG18 UL2464 300±10 (16.5)
C-C(2:1)
AC Input
13±0.1 90°±3°
DC Input
13±0.1
+0
2-Phase
Ø14-0.012
Stepper Motor

3-Phase
AM34HC0305 AM34HC1305 AM34HC2306

Microstep: 10000 steps/rev Microstep: 10000 steps/rev Microstep: 10000 steps/rev 48V
UL
24V 48V 70V 24V 48V 70V 24V 70V

2.5 6
4
5
2
Power Supplies
Torque (N m)
Torque (N m)
Torque (N m)
. . 3 . 4
1.5
Accessories
3
2
1
2
0.5 1
1
Cables
0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Software
Appendix
Glossary
287
NEMA34(□86mm) 3-phase AC 1.2°- 34HC Series
Stepper Motor
• Phases 3
• 155 N (35 Lbs.) Pull
Integrated
Efficient

TSM
• IP Rating 40
Integrated

SSM

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive
RS

AM34HC0306-01 66.5 2.6 1.2 12.8 1100.0 1.6
Motor & Drive
1500VAC
SS
AM34HC1306-01 Single Shaft D 3 96 5.15 2.0 7 1850.0 2.7

1 minute
AM34HC2307-01 125.5 5.6 2.0 6 2750.0 3.8
Pulse Input
STM-R


STM
37±0.5 L 86±0.5 4-Ø6.5±0.2

SWM
IP65
69.6±0.2
25±0.2
Pulse Input
SRAC
AC Input
Ø73.025±0.025
C
With Controller
STAC
69.6±0.2
86±0.5
Pulse Input
C
SR
(12)
Field Bus
DC Input
STF
2±0.2
10±0.3
With Controller
(26.5)
ST
AWG18 UL2464 300±10 (16.5)

C-C(2:1)
AC Input
13±0.1 90°±3°
DC Input
13±0.1
+0
Ø14-0.012
2-Phase
Stepper Motor
Torque Curves (Recommended Driver: 3SRAC)

3-Phase
AM34HC0306 AM34HC1306 AM34HC2307

UL
3OIXUYZKV YZKVYXK\ 3OIXUYZKV YZKVYXK\ 220V

3OIXUYZKV YZKVYXK\ 220V
220V
2.5 6
4
5
Power Supplies
2
Torque ( N m)
Torque ( N m)
Torque ( N m)
. . 3 . 4
1.5
Accessories
3
2
1
2
0.5 1
1
Cables
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Software
Appendix
Glossary
288
Stepper Motor
NEMA23( □ 56mm) 2-phase DC 1.8°- 23HS UL Series
• Phases 2
• 130 N (30 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 40
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Dielectric
MS23HS0L418A-01 Single Shaft
Motor & Drive

41.0 0.72 1.8 135.0 0.42
SS
MS23HS0L418A-02 Double Shaft
54.0 1.25 1.8 2.4 260.0 0.6
Pulse Input
STM-R
MS23HSAL418A-01 Single Shaft
76.0 2.1 2.9 460.0 1.0
MS23HSAL418A-02 Double Shaft 500VAC
A 4

MS23HS0l437A-01 Single Shaft 1 minute
STM
41.0 0.72 0.48 135.0 0.42
54.0 1.25 3.7 0.63 260.0 0.6
SWM
IP65
MS23HSAL437A-01 Single Shaft
76.0 2.1 0.75 460.0 1.0
MS23HSAL437A-02 Double Shaft
Pulse Input
SRAC
AC Input
With Controller
STAC
Pulse Input
20.6 ±0.5 L 16±1 56.4Max. +0.2
4-Ø5.1 -0
SR
47.14±0.20
15±0.2
Field Bus
DC Input
STF
15±0.2
Ø38.1±0.05
47.14±0.20
56.4Max.
C C
With Controller
C C
ST
AC Input
1.6±0.2
4.8±0.3 AWG22 UL3266
DC Input
300±10
C-C(2:1)
2-Phase
+0
5.8±0.1
Ø6.35-0.012
Stepper Motor
3-Phase

UL
AM23HS0420 MS23HS8L418A MS23HSAL418A

0.6
Power Supplies
1.2 2
0.5 1
Accessories
Torque(N.m)
1.6
Torque(N.m)
Torque(N m)
0.4 0.8 .
0.3 1.2
0.6
0.2 0.8
Cables
0.4
0.1 0.2 0.4
0 0
0 10 20 30 40 50 0 10 20 30 40 50 0
0 10 20 30 40 50
Software

Appendix
MS23HS0l437A MS23HS8L437A MS23HSAL437A

24V 48V 75V
0.6
Glossary
1.2 1.8
0.5 1 1.5
Torque(N.m)
Torque(N.m)
Torque(N.m)
0.4 0.8 1.2

0.3 0.6 0.9
0.2 0.4 0.6
0.1 0.2 0.3
0
0 10 20 30 40 50
0
0 10 20 30 40 50
0
0 10 20 30 40 50 289
NEMA24(□60mm) 2-phase DC 1.8°- 24HS UL Series
Stepper Motor
• Phases 2
• 130 N (30 Lbs.) Pull
Integrated
• Radial 70 N (15.5 Lbs.)At Flat Center

Efficient
TSM
• IP Rating 40
Integrated
SSM

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Dielectric
Motor & Drive
54.0 1.57 0.43 450.0 0.83

SS
MS24HS2L440A-02 Double Shaft 500VAC

A 4 4.0
MS24HS5L440A-01 Single Shaft 1 minute
85.0 3.2 0.65 900.0 1.4
Pulse Input
STM-R


STM

SWM
20.6 ±0.5 16 ±1
IP65
L 60.5Max. 4-Ø4.52±0.1
47.14±0.35
15 ±0.2
Pulse Input
SRAC
AC Input
15 ±0.2
With Controller
STAC
Ø38.1±0.05
47.14±0.35
60.5Max.
C D
Pulse Input
D
C
SR
Field Bus
DC Input
STF
1.5 ±0.2
With Controller
300±10
7±0.3 AWG22 UL3266

ST

AC Input
C-C(2:1) D-D(2:1)
90°
DC Input
+0 +0
2-Phase
5.8±0.1
Ø8-0.012 Ø6.35-0.012
7.5±0.1
Stepper Motor
7.5±0.1
3-Phase
UL

Power Supplies
MS24HS2L440A MS24HS5L440A
Accessories
1.2 2.4
1 2
Cables
Torque(N.m)
Torque(N.m)
0.8 1.6
0.6 1.2
0.4 0.8
Software
0.2 0.4
Appendix
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Glossary
290
Stepper Motor
NEMA34(□86mm) 2-phase DC 1.8°- 34HD UL Series
• Phases 2
• 155 N (35 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 40
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Dielectric
MS34HD0L4770-01 Single Shaft
Motor & Drive

66.5 3.7 0.25 1100.0 1.6
SS
MS34HD0L4770-02 Double Shaft
6.3
MS34HD1L4750-01 Single Shaft 500VAC
A 4 96.0 6.7 0.35 1850.0 2.7
Pulse Input
1 minute
STM-R

125.5 9.4 5.6 0.49 2750.0 3.8

STM
SWM
IP65
37±0.5 L 25±1 86.5Max. 4-Ø6.5±0.2
Pulse Input
10±0.3 69.6±0.2
SRAC
AC Input
With Controller
STAC
25±0.2 22±0.2
C D

Ø73.025±0.025
86.5Max.
69.6±0.2
Pulse Input
SR
C D
Field Bus
DC Input
STF
2±0.2
With Controller
(12)
ST
AWG22 UL2464 300±10 (16.5) (26.5)
AC Input
C-C（2:1） 90° D-D(2:1)
DC Input
8.5±0.1
13±0.1
+0
Ø9.5-0.012
+0
Ø14-0.012
2-Phase
13±0.1
These dimensions are for the double shaft models. For the single shaft models, ignore the ( ) area. Stepper Motor
3-Phase
MS34HD0L4770 MS34HD1L4750 MS34HD2L4660

UL
24V 48V 75V 24V 48V 75V
3 5 8
7
Power Supplies
2.5 4 6
Torque(N m)
Torque(N m)
. .
Torque(N m)
2
Accessories
. 5
3
1.5 4
2 3
1
2
Cables
0.5 1
1
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Software
Appendix
Glossary
291
Stepper Motor
NEMA34(□86mm) 2-phase AC 1.8°- 34HD UL Series
• Phases 2
• 155 N (35 Lbs.) Pull
Integrated
Efficient
TSM

• IP Rating 40
Integrated

SSM

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive
RS

Ω/Phase Dielectric
mm N.m A/Phase (Series g·cm 2
Kg Strength
Motor & Drive
connection)
SS

66.5 4.2 3.4 1100.0 1.6
Pulse Input
1.8
STM-R
MS34HD4L8250-01 Single Shaft 75 4.7 3.6 1350.0 1.9

(220V Series
MS34HD1L8250-01 Single Shaft connection)
B(Parallel) 1500VAC
8 96 7.3 / 3.6 1850.0 2.7
C(Series) 1 minute
MS34HD1L8250-02 Double Shaft 3.6

STM
MS34HD6L8250-01 Single Shaft 115 7.6 (110V Parallel 4 2400.0 3.5

connection)
125.5 8.7 4.2 2750.0 3.8
SWM
IP65
* Wiring Diagram B / C See Page 247

Pulse Input
SRAC

AC Input
With Controller
STAC
37±0.5 L 25±1 86.5Max. 4-Ø6.5±0.2

10±0.3 69.6±0.2
Pulse Input
C-C（2:1） 90°
SR
25±0.2 22±0.2
Field Bus
DC Input
13±0.1
C D
STF
Ø73.025±0.025
86.5Max.
69.6±0.2
+0
Ø14-0.012
With Controller
13±0.1
ST
C D
D-D(2:1)
AC Input
2±0.2
8.5±0.1
(12)
+0
Ø9.525-0.012
DC Input
AWG22 UL2464 300±10 (16.5) (26.5)
2-Phase

Stepper Motor
3-Phase
MS34HD0L8250 MS34HD4L8250 MS34HD1L8250

Microstep: 20000 steps/rev 220V / 110V Microstep: 25000 steps/rev 220V / 110V Microstep: 20000 steps/rev 220V / 110V
Current: 1.8A / 3.6A (Peak) Current: 1.8A / 3.6A(Peak) Current: 1.8A / 3.6A (Peak)
3 3.5 6
UL
2.5 3 5
T o rq u e ( N m )
T o rq u e ( N m )
2.5 .
T o rq u e ( N m )
. 2 . 4
2
Power Supplies
1.5 3
1.5
Accessories
1 1 2
0.5 1.5 1
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Cables
MS34HD6L8250 MS34HD2L8180
Current: 1.8A / 3.6A (Peak) Current: 1.8A / 3.6A (Peak)
Software
6 7
5 6
Appendix
T o rq u e ( N m )
5
T o rq u e ( N m )
. 4
.
4
3
Glossary
3
2
2
1 1
0 0
0 10 20 30 40 50 0 10 20 30 40 50
292
Stepper Motor
NEMA42(□110mm) 2-phase AC 1.8e - 42HS UL Series
• Phases 2
• 250 N (26 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 40
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
Parameters
RS
Motor & Drive

SS
ML42HS0L4210-02 Single Shaft 98.5 12 2.1 4.2 5500 4.8
1500VAC
ML42HS2L4240-02 Single Shaft A 4 149.5 21 2.4 4.4 10900 8
Pulse Input
STM-R
1 minute

ML42HS3L4270-02 Single Shaft 201 30 2.7 4.4 16200 11.6

*
STM
SWM
IP65
Pulse Input
110Max.
SRAC
35±0.5 L 89 ±0.2 +0.3
AC Input
C-C 4-Ø8.3 0
2:1
With Controller
STAC
+0.3 +0.6
18 -0.018 25 0

（13） 0
Ø55.52±0.05
5 -0.03
Pulse Input
C
110Max.
SR
89 ±0.2
C
Field Bus
DC Input
0
STF
Ø16-0.012 M5
10Min
(12)
1.6±0.2
With Controller
12.2 ±0.3
ST
Ground
(26.5)
AWG18 UL2464 300±10 (16.5)
AC Input
DC Input
ML42HS0L4210 ML42HS2L4240 ML42HS3L4270
Microstep: 20000 steps/rev 220V Microstep: 20000 steps/rev 220V Microstep: 20000 steps/rev 220V
10 20 25
2-Phase
8 16 20
Torque(N.m)
Torque(N.m)
Torque(N.m)
6 12 15 Stepper Motor
4 8 10
3-Phase
2 4 5
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
293
Stepper Motor
NEMA23(□56mm) 2-phase DC 1.8°- 23HS PowerPlus UL Series (6.35mm Shaft)
• Phases 2
• 130 N (30 Lbs.) Pull
Integrated

Efficient
TSM
• IP Rating 40
Integrated
SSM

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Dielectric
ML23HS0L4180-06 Single Shaft
Motor & Drive
39 0.82 1.8 105.0 0.4

SS
ML23HS0L4180-05 Double Shaft

55 1.5 1.8 2.4 215.0 0.6
Pulse Input

STM-R
ML23HSAL4180-04 Single Shaft

77 2.3 3 365.0 1.0
ML23HSAL4180-06 Double Shaft 500VAC
A 4
ML23HS0L4370-06 Single Shaft 1 minute
STM
39 0.82 0.48 105.0 0.4

55 1.5 3.7 0.63 215.0 0.6
SWM
IP65

77 2.3 0.75 365.0 1.0
ML23HSAL4370-15 Double Shaft
Pulse Input
SRAC

AC Input
With Controller
STAC

Pulse Input
16 ±1 +0.2
SR
20.6±0.5 L 4-Ø5.1 0
47.14±0.20
15±0.2
Field Bus
DC Input
STF
15 ±0.2
Ø38.1±0.05
47.14±0.20
56.4Max
C C
With Controller
ST
C C
AC Input
1.6±0.2
5.08±0.3
C-C(2:1)
DC Input
300 ±10
0 AWG22 UL3266
2-Phase
5.8±0.1
Ø6.35-0.012
Stepper Motor
3-Phase

ML23HS0L4180 ML23HS8L4180 ML23HSAL4180
UL
Microstep:20000 steps/rev 24V 48V Microstep:20000 steps/rev Microstep:20000 steps/rev 24V 48V
Current:4.5A(Peak) Current:2.2A(Peak) Current:2.2A(Peak)
0.6 1.5 2.4
0.5 2
Power Supplies
1.2
Torque(N m)
Torque(N m)
.
Torque(N m)
0.4 . 1.6
.
Accessories
0.9
0.3 1.2
0.2 0.6 0.8
0.1 0.4
Cables
0.3
0 0
0 10 20 30 40 50 0
0 10 20 30 40 50 0 10 20 30 40 50
Software
ML23HS0L4370 ML23HSAL4370
Appendix
ML23HS8L4370
0.6 1.5 2
Glossary
0.5
1.2 1.6
Torque(N m)
Torque(N m)
.
Torque(N m)
0.4 . .
0.9 1.2
0.3
0.2 0.6 0.8
0.1 0.3 0.4
294
0 0
0 10 20 30 40 50 0
0 10 20 30 40 50 0 10 20 30 40 50
Stepper Motor
NEMA23(□56mm) 2-phase DC 1.8°- 23HS PowerPlus UL Series (8mm Shaft)
• Phases 2
• 130 N (30 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 40
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
Dielectric
Motor & Drive

39 0.82 0.48 105.0 0.4
SS
ML23HS8L4370-11 Single Shaft 500VAC
A 4 55 1.5 3.7 0.63 215.0 0.6
Pulse Input
1 minute
STM-R

77 2.3 0.75 365.0 1.0
ML23HSAL4370-16 Double Shaft

STM
SWM
IP65
Pulse Input
SRAC
16 ±1 +0.2
AC Input
24±0.5 L±1 4-Ø5.1 0
47.14±0.20
With Controller
20±0.2
STAC
Pulse Input
15 ±0.2
SR
Ø38.1±0.05
47.14±0.20
56.4Max
C D
Field Bus
DC Input
STF
C C
With Controller
ST
1.6±0.2
5.08±0.3
AC Input
C-C(2:1) D-D(2:1)
300 ±10
7.5±0.1 5.8±0.1
DC Input
5.5±0.5
AWG22 UL3266
2-Phase
+0 +0
Ø8 - 0.012 Ø6.35 - 0.012
Stepper Motor
3-Phase

UL
ML23HS0L4370 ML23HS8L4370 ML23HSAL4370

Power Supplies
0.6
Accessories
1.5 2
0.5
1.2 1.6
Torque(N m)
Torque(N m)
Torque(N m)
. 0.4 . .
0.9 1.2
Cables
0.3
0.6 0.8
0.2
0.1 0.3 0.4
Software
0 0 0
0 10 20 30 40 50 0 10 20 30 40 50 0 10 20 30 40 50
Appendix
Speed(rps)
Glossary
295
Stepper Motor
NEMA23(□56mm) 2-phase DC1.8°- 23HS UL Series IP65 Type
• Phases 2
• 130 N (30 Lbs.) Pull
Integrated
Efficient
TSM

• IP Rating 65
Integrated

SSM

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive
RS

Motor & Drive
ML23HS2L437A-01 61.7 1.25 0.63 260.0 0.6 500VAC

Single Shaft A 4 3.7
SS
MS23HS3L4370-01 83.7 2.2 0.75 460.0 1 1 minute

Pulse Input
STM-R

STM
20.6 ±0.5 L 47.14±0.20 +0.2

4-Ø5.1 -0
SWM
IP65
15±0.2
Pulse Input
□56.4Max.
Ø38.1±0.05
47.14±0.20
SRAC
C
AC Input
C
With Controller
Oil
STAC
1.6±0.2
Pulse Input
SR
7±0.3
Field Bus
DC Input
C-C(2:1)
2000±20
STF
AWG20 UL2517
5.8±0.1
With Controller
ST
+0
Ø6.35-0.012
AC Input

DC Input
ML23HS2L437A MS23HS3L4370
2-Phase
1.2 1.8
1 1.5
Torque(N.m)
Torque(N.m)
Stepper Motor
0.8 1.2
0.6 0.9
3-Phase
0.4 0.6
0.2 0.3
0 0
0 10 20 30 40 50 0 10 20 30 40 50
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
296
Stepper Motor
NEMA24(□60mm) 2-phase DC1.8°- 24HS UL Series IP65 Type
• Phases 2
• 130 N (30 Lbs.) Pull
Integrated
Efficient
TSM
• IP Rating 65
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive

RS
500VAC
Motor & Drive

MS24HS5L443A-01 Single Shaft A 4 94.5 3.2 4.0 0.65 900.0 1.4
1 minute
SS
Pulse Input
STM-R

STM
60±0.5
24±0.5 L 4-Ø4.52±0.1
47.14±0.35
1.5 ±0.2
SWM
IP65
20±0.3
Pulse Input
47.14±0.35
SRAC
Ø38.1±0.05
60±0.5
AC Input
Oil
C
With Controller
STAC
Pulse Input
SR
8±0.3 AWG20 UL2517
2000±20
Field Bus
DC Input
STF
C-C(2:1)
With Controller
+0 7.5±0.1
Ø8-0.012
ST
AC Input
DC Input
MS24HS5L443A
Current: 4.5A(Peak)
2.4
2-Phase
2
Torque(N.m)
1.6
Stepper Motor
1.2
3-Phase
0.8
0.4
0
0 10 20 30 40 50
Speed(rps)
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
297
Stepper Motor
NEMA34(□86mm) 2-phase DC1.8°- 34HD UL Series IP65 Type
• Phases 2
• 155 N (35 Lbs.) Pull
Integrated
Efficient

TSM
• IP Rating 65
Integrated

SSM

Step-Servo
Integrated
TXM
IP65
Parameters
Motor & Drive
RS

Motor & Drive
ML34HD1L4630-02 98 6.7 6.3 0.45 1850.0 2.7 500VAC

Single Shaft A 4
SS
ML34HD2L4560-02 127.5 9.4 5.6 0.62 2750.0 3.8 1 minute

Pulse Input
STM-R

STM
37±0.5 L 86±0.5
4-Ø6.5±0.2
25±0.2 69.6±0.2
SWM
IP65
Ø73.025±0.025
Pulse Input
SRAC
69.6±0.2
AC Input
86±0.5
oil
With Controller
C
STAC

Pulse Input
SR
2±0.2
10±0.3
Field Bus
2000±20
DC Input
STF
C-C 90°±3°
13±0.1
With Controller
ST
AWG20 UL2517
13±0.1
+0
Ø14-0.012
AC Input

DC Input
ML34HD1L4630 ML34HD2L4560
Microstep: 20000 steps/rev 24V 48V 75V Microstep: 20000 steps/rev
2-Phase
24V 48V 75V

5 8
7
4 6
Stepper Motor
Torque(N m)
Torque(N m)
.
. 3 5
3-Phase
4
2 3
2
1
1
0 0
0 10 20 30 40 50
UL
0 10 20 30 40 50
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
298
Stepper Motor
Bearing Life & Shaft Loading
Moons’ uses heavy duty long life bearings for long life from every motor.
Most motors can be provided with larger bearings and custom construction
to meet the most demanding applicatons.
Integrated
Rodial Loads
Efficient
TSM
These bearing life curves represent the maximum axial and radial loads
Distance
From Mounting
Integrated
for 20,000 hours L10 bearing life at various speeds. The shaft radial load
SSM
limit (and bearing load ratings) are highly dependent on the the distance Axial Loads
from the mounting face where the load is appliced. These curves were
Step-Servo
Integrated
TXM
IP65
calculated with the radial load applied at the distance from the mounting
face shown on the curve (usually the center of the flat / keyway).
Motor & Drive

RS
A common cause for shaft (and bearing) failure, are high radial loads
that are created when a pulley is attached to the motor shaft at a large
Motor & Drive

SS
distance from the motor mounting face, and the belt has high tension. To
avoid this condition mount pulleys and gears as close to the face of the
Pulse Input
STM-R
motor as possible, and avoid over tightening belts. This will dramatically

reduce the shaft stress, and increases the life of the bearings.

STM
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
STAC
Pulse Input
SR
Field Bus
DC Input
STF
With Controller
ST
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
299
IP65 IP65 Efficient
ST STF SR STAC SRAC SWM STM STM-R SS RS TXM SSM TSM Stepper Motor
300
DC Input AC Input
Integrated
Lead Wire
Double Flat
Brake Option
Cross Drilled Shaft
Screw Hollow Shaft
Encoder Option
Gearbox Option
Shaft Configuration
Connection Configuration
Configurations and Options
Gear
Dowel
Key Way
Lead Wire with Connector

Knurl
Worm Shaft
Plastic Pulley
Connector with harness

Single Flat
Hollow Shaft
Hobbed Gear
Besides all standard motors above, we also provide all kinds of customized motors per request.
Stepper Motor
Accessory
Model Application of screw Maximum Load Scope Of Application
42 Flange
AMJZ17-01 490N(50kgf) NEMA17
Demension M3(2X)
Integrated
Efficient
AMJZ17-02 490N(50kgf) NEMA17
TSM
AMJZ17-01 AMJZ17-02
Integrated
SSM
K-K K-K
6±0.2 K 6±0.2 K
Step-Servo
Integrated
TXM
IP65
+0.2
2-Ø3.5 0
Mounting Surface
Mounting Surface
2-M3
43.84±0.1
43.84±0.1
+0.05
-0.02
Ø22 -0.08
+0.05
Motor & Drive

Ø22 0
Ø14
Ø25
RS
Ø22
1±0.1
Motor & Drive

SS
2-
M
K K 3
2-Ø3.5±0.2 43.84±0.1
Pulse Input
43.84±0.1
STM-R
Model Application of screw Maximum Load Scope Of Application

60 Flange
STM
AMJZ23-01 490N(50kgf) NEMA23/NEMA24(2-phase)
Demension M4(2X)
AMJZ23-02 490N(50kgf) NEMA23/NEMA24(2-phase)
SWM
IP65
AMJZ23-01 AMJZ23-02
Pulse Input
K-K
SRAC
2-M4
K 7±0.2
AC Input
47.14±0.2
K-K
With Controller
STAC
K 2

4-Ø5±0.2
Pulse Input
Mounting Surface
SR
+0.10
Ø38.1 +0.05
K
Ø39.7 ±0.2
66.7±0.1
47.14±0.2
K
Field Bus
DC Input
STF
+0.2
2-Ø4.5 0
+1
Ø38.1 0
With Controller
ST
4-R3.5
K
AC Input
66.7±0.1
Instructions for use: reducing mechanical noise
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
301
Efficient IP65 IP65
Accessories Integrated Integrated Field Bus AC Input DC Input 2-Phase 3-Phase UL Power Supplies Cables Software Glossary
303
Integrated Motor & Drive Motor & Drive Pulse Input With Controller With Controller Pulse Input With Controller Pulse Input With Controller
Appendix TSM SSM TXM RS SS STM-R STM SWM SRAC STAC SR STF ST
AC Input DC Input
Power Supplies
Software
Glossary
Cables
Accessories
Appendix
Accessories
Regeneration Clamp
Appendix
◇ RC-880 Regeneration Clamp

Integrated
Efficient
Many motor and drive systems require a clamp circuit to

TSM
limit increases in power supply voltage when the motor is

decelerating under load. This is commonly referred to as
Integrated
“regeneration”, and occurs when DC motors are driven

SSM
by their load (backdriving). During regeneration the DC

motor can produce enough voltage to actually exceed the
Step-Servo
input power supply voltage. MOONS' drives can deal with

Integrated
TXM
IP65
regeneration by channeling the increased motor voltage

back to the source power supply. However, if the voltage is
not clamped to a safe level the power supply and/or drive
Motor & Drive
can be damaged or destroyed.

RS
Max. Supply Voltage: 80V DC

Motor & Drive
SS
Max. Output Current: 8A(rms)

Continuous Power: 50W
Pulse Input
STM-R

STM
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
STAC

Pulse Input
SR
Field Bus
DC Input
STF
With Controller
ST

AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
Cables
Software
Appendix
Glossary
304
Appendix
Accessories
Cables
Communication Cable
Integrated
Efficient
TSM
3000±150
Integrated
SSM
Model: 2001-300
Description: General RS-232 communication
Step-Servo
cable
Integrated
1 3
TXM
IP65
4（I019） P2
2 6 7 （S028）
5（S029）
P1
Motor & Drive

P9 P5
DB/9P color RJ11
RS
5PIN BRN 2PIN
2PIN BlU 3PIN
Motor & Drive

P6 P1
P1 P6 3PIN GRN 5PIN
SS
Pulse Input
STM-R
3000±150

Model: 2002-300 15±2
STM
P1
Description: STM17/SSM17-S/Q type RS-232 J1 J2
communication cable P5
10
SWM
IP65
1
3（I019）
2 5 6（S028）
4（S029）
P1
Pulse Input
P9 P5
J1 color J2
SRAC
5PIN BRN 5PIN
AC Input
2PIN BlU 3PIN
P6 P1
3PIN GRN 1PIN
With Controller
STAC
Pulse Input
SR
3000±150
Model: 2003-300
Field Bus
15±2
DC Input
P1
STF
Description: STM17/SSM17-CANopen type J1
J2
configutaion cable P5
With Controller
10
1
ST
3（I019）
2 5 6 （S028）
4（S029）
P1
P9 P5
J1 color J2
AC Input
5PIN BRN 1PIN
2PIN BlU 5PIN
P6 P1
3PIN GRN 4PIN
DC Input
2-Phase
3000±150 Stepper Motor
Model: 2004-300 15±2
3-Phase
P1
Description: STM23/24. SSM23/24, -CANopen J1
J2
type configutaion cable P3
10
1
3（I019）
2
UL
5 6（S028）
4（S029）
P1
P9 P5 J1 color J2
Power Supplies
5PIN BRN 1PIN

Accessories
2PIN BlU 3PIN

P6 P1
3PIN GRN 2PIN
Cables
Software
Appendix
Glossary
305
Accessories
Encoder Cable
Appendix
P/N Length
1001-100 1m
1009-500 5m
Integrated
Efficient
Description: General encoder Cable

TSM
Housing(Molex 15-04-5104) Pin. Signal Color

Terminal(Molex 14-60-0058) 1 NC
Integrated
SSM
2 Ground GRN/WHT
3 I- ORG/WHT
4 I+ ORG
Step-Servo
Integrated
5 A- BLU/WHT
TXM
IP65
UL2464 AWG24 4 pairs 6 A+ BLU

L±20 7 Power+ GRN
Motor & Drive
8 NC
RS
9 B- BRN/WHT
9
1 10 B+ BRN
Motor & Drive
SS
Pulse Input
2
STM-R
10
Model: 2005-200
STM
Description: Encoder cable used with MOONS’ drive

Housing(Molex 15-04-5104) D-SUB: 7917-15MTBC00A(Oupiin)
Terminal(Molex 14-60-0058) Accessories: DP-09CP(Oupiin)
SWM
IP65
J1 Signal J2 Color
1 NC
Pulse Input
J1 J2 2 Ground 8 GRN/WHT
SRAC
UL2464 AWG24 4对 3 I- 6 ORG/WHT

AC Input
2000±20
4 I+ 5 ORG
With Controller
5 A- 2 BLU/WHT
STAC
6 A+ 1 BLU
J1 7 Power+ 7 GRN
9 1 J2 8 NC
Pulse Input
9 B- 4 BRN/WHT
SR
5
10
1
6
10 B+ 3 BRN
15 11
Field Bus
DC Input
STF
10 2
With Controller
USB Converter
ST
Model: MS-USB-RS-232-01 Model: MS-USB-RS-485-01

Description: USB-RS-232 converter
Description: USB-RS-485 converter

AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Model: MS-USB-CAN-01
Accessories
Description: USB-CAN converter

Cables
Software
Appendix
Glossary
306
Appendix
Accessories
Appendix
SOFTWARE
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Motor & Drive
SS
Pulse Input
STM-R
Ease Of Setup is Our Priority

Our goal is to make the setup & programming of motion control systems as easy as possible. We have all the
software tools needed to setup, calibrate, and configure your MOONS’ system. All software downloads and

STM
updates are provided to our customers at no charge.
SWM
IP65
Quick Tuner ST Configurator
Pulse Input
Used for setup and configuration of the Used for setup and configuration with
SRAC
products. It also helps to the ST/STAC drives and STM/SWM
AC Input
achieve fine servo tuning and test integrated motors. ST Configurator
With Controller
gives an easy path to setting all the
STAC
basic motion as well as data
monitoring. drive parameters.
Pulse Input
SR
Field Bus
DC Input
Q Programmer STF Configurator
STF
Used to create and edit stand-alone The STF Configurator software
programs for Q-compatible drives. The makes setting up, configuring and
With Controller
functions of these drives include multi- programming.
ST
tasking, math, register manipulation,
encoder following, and more.
AC Input
DC Input
RS-485 Bus Utility CANopen Test Tool
The RS-485 Bus Utility is an easy and Testing CANopen communication, it
2-Phase
powerful terminal to setup and test a helps you to develop and analysis your
multi-axis network via MOONS’ SCL CANopen motion control with easy. Stepper Motor
ASCII stream commands.
3-Phase
UL Power Supplies
Accessories
Cables
Software
Appendix
Glossary
307
Accessories
Appendix
Quick Tuner
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Software Features
Motor & Drive
RS
• Friendly Interface
• Easy setup within just three steps
Motor & Drive
SS
• Drive setup and configuration

• Servo Tuning and Sampling
Pulse Input
STM-R
• Built-in Q Programmer to create and edit stand-alone programs

for Q-compatible drivers
STM

SWM
IP65
• Support all products in TSM/SSM/TXM/SS Series

Pulse Input
SRAC
AC Input
With Controller
About this software

STAC
Quick Tuner is the PC based software application used

Pulse Input
to configure, and perform servo tuning, drive testing and evaluation

SR
of the . System servo control gains, drive functionality,

and I/O configuration are set with Quick Tuner. It also
Field Bus
DC Input
STF
contains an oscilloscope function to help set the servo control gains.

The Quick Tuner provides seamless communication with
With Controller
all models whether they have RS-232, RS-485, CANopen or

ST
Ethernet communications.
AC Input
System Requirements
DC Input
Windows XP.
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
FREE DOWNLOAD
Cables

FREE
DOWNLOAD
WNL
Software
Appendix
Glossary
308
Appendix
Accessories
ST Configurator
Integrated
Efficient
TSM
Integrated
SSM
Step-Servo
Integrated
TXM
IP65
Motor & Drive
RS
Software Features
Motor & Drive

SS
Pulse Input
STM-R


STM
• Supports all ST and STAC stepper drives
• Supports all STM and SWM integrated steppers
SWM
IP65
Pulse Input
SRAC
About this software
AC Input
With Controller
The ST Configurator software makes setting up, configuring and
STAC
programming ST, STAC and STM stepper drives a snap. All motor,

I/O, encoder and motion control parameters are available to the
Pulse Input
SR
Field Bus
DC Input
STF
With Controller
and easily.
ST
System Requirements
AC Input
Windows XP.
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
FREE DOWNLOAD
Cables
FREE
DOWNLOAD
WNL
Software
Appendix
Glossary
309
Accessories
Appendix
Q Programmer
Software Features
Integrated
Efficient

TSM

Integrated
• Multi-tasking
SSM
Step-Servo
• Math functions
Integrated
TXM
IP65
• Data registers
Motor & Drive
RS

• Support all Q/C/IP Types drive in SS/ST/STAC Series
Motor & Drive
SS
• Support all Q/C/IP Types Integrated Motors in TSM/SSM/TXM/

STM/SWM Series
Pulse Input
STM-R
About this software

STM

SWM
IP65
Pulse Input
SRAC

AC Input

With Controller
STAC
System Requirements
Pulse Input

SR
Windows XP.
Field Bus
DC Input
STF
With Controller
ST

AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL
Power Supplies
Accessories
FREE DOWNLOAD
Cables

FREE
DOWNLOAD
WNL
Software
Appendix
Glossary
310
Appendix
Accessories
STF Configurator
Software Features
Integrated
Efficient
TSM
Integrated
SSM
• Built-in Q programmer
Step-Servo
Integrated
TXM
IP65
About this software
Motor & Drive

RS
The STF Configurator software makes setting up, configuring and
programming. All motor, I/O and motion control parameters are
Motor & Drive

SS
available to the user through an intuitive interface. It also includes
a built-in Q Programmer so you can switch context quickly and
Pulse Input
easily.
STM-R
System Requirements

STM
Windows XP.
SWM
IP65
Pulse Input
SRAC
AC Input
With Controller
STAC
Pulse Input
SR
Field Bus
DC Input
STF
With Controller
ST
AC Input
DC Input
2-Phase
Stepper Motor
3-Phase
UL Power Supplies
Accessories
FREE DOWNLOAD
Cables
FREE
DOWNLOAD
WNL
Software
Appendix
Glossary
311
Accessories
Appendix
RS-485 Bus Utility

Software Features
Integrated
Efficient

TSM

Integrated

SSM
Step-Servo

Integrated
TXM
IP65

Motor & Drive
RS

Motor & Drive
SS
About this software

Pulse Input
STM-R

STM
SWM
IP65

Pulse Input
SRAC
commands.
AC Input
With Controller
System Requirements
STAC

Pulse Input
Windows XP.
SR
Field Bus
DC Input
STF
CANopen Test Tool

With Controller
ST
Software Features
AC Input

DC Input

2-Phase
Stepper Motor
System Requirements
3-Phase

Windows XP.
UL
Power Supplies
Accessories
Cables
FREE DOWNLOAD
Software

FREE
Appendix

DOWNLOAD
WNL
Glossary
312
Appendix
Accessories
Glossary
Absolute Position Class H Insulation
Position referenced to a fixed zero or “home” Specifies motor insulation that is rated for
Integrated
Efficient
TSM
position operation up to 180°C
Absolute Programming Closed Loop
Integrated
SSM
A positioning coordinate reference wherein A system that uses some form of feedback
all positions are specified relative to some device to monitor the system output; the signal
Step-Servo
reference or “home” position; this is different from the device is used to correct any errors
Integrated
TXM
IP65
from incremental programming where distances between actual and demanded output
are specified relative to the current position
Motor & Drive

Cogging
RS
Ambient Temperature Term used to describe uneven velocity in motors
The temperature of the medium immediately usually at low speeds
Motor & Drive

surrounding a device
SS
Commutation
Amplifier Refers to the action of steering currents or
Electronic device that converts command signals voltage to the proper motor phases to produce
Pulse Input
STM-R
(analog or digital) to high power voltages and optimum motor torque. In brush type motors,
currents for the operation of the motor commutation is done electromechanically via the

brushes and commutator. In brushless motors,
STM
ASCII
commutation is done by the switching electronics
American Standard Code for Information
using rotor position information typically obtained
Interchange; this code assigns a number to
SWM
from hall sensors, tachometers, resolvers or
IP65
each numeral and letter of the alphabet allowing
encoders.
information to be transmitted between machines
Pulse Input
SRAC
as a series of binary numbers Controller (Step Motor)
A system consisting of a DC power supply and
AC Input
Axial Play(End play)
power switches plus associated circuits to control
With Controller
The axial shaft displacement due to a reversal of
STAC
the switches in the proper sequence
an axial force on the shaft

Damping
Pulse Input
Baud Rate
An indication of the rate of decay of a signal to
SR
The number of binary bits transmitted per second
its steady state value; related to settling time
for serial communications such as RS-232
Field Bus
DC Input
STF
Dead Band
Bi-level Drive (Dual Voltage Drive)
A range of input signals for which there is no
A driver where two levels of voltage are used to
system response
With Controller
drive a step motor; a high (over drive) voltage is
ST
applied to the winding each time it is switched Detent Torque
on; the high voltage stays on until the current The maximum torque required to slowly rotate
AC Input
reaches a predetermined level; the high voltage a step motor shaft with no power applied to the
is turned off after a time period determined windings; this applies only to permanent magnet
experimentally or by sensing winding current; the or hybrid motors; the leads are separated from
DC Input
low voltage maintains the desired current each other
Bipolar Drive Drive (PWM)
2-Phase
A drive that reverses the magnetic polarity of a A motor drive utilizing Pulse-Width Modulation
pole by electronically switching the polarity of techniques to control current to the motor; Stepper Motor
the current to the winding (+ or -); bipolar drives typically a high efficiency drive that can be used
can be used with 4, 6, or 8 lead motors; with 4 for high response applications 3-Phase
and 8 lead motors, bipolar drives are usually
Drive (Servo)
more efficient than unipolar drives and generally
UL
A motor drive that utilizes motor position

produce more torque
feedback with a control loop for accurate control
Power Supplies
Brushless Servo Drive of motor position and/or velocity

Accessories
A servo drive used to control a permanent

Drive (Stepper)
magnet synchronous AC motor
An electronic package to convert digital step and
Cables
Chopper Drive direction inputs to currents to drive a step motor

A step motor drive that uses switching amplifiers
Duty Cycle
Software
to control motor current

The percentage of ON time vs. OFF time; a
Appendix
Class B Insulation device that is always on has a 100% duty cycle;

Specifies motor insulation that is rated for half on and half off is a 50% duty cycle
Glossary
operation up to 130°C
313
Accessories
Appendix
Dynamic Braking Idle Current Reduction

A passive technique for stopping a permanent magnet Reduction of phase current to a step motor when no
brush or brushless motor; the motor windings are motion is required
shorted together through a resistor, which results in a
motor braking with an exponential decrease in speed Indexer
Integrated
Efficient
TSM
An electronic control device that sends pulse and

Encoder direction signals for use by a step motor driver
A device used to translate motion into electrical
Integrated
SSM
signals used to provide position information; often Inductance (Mutual)

used as a position/motion feedback device in closed The property that exists between two current carrying
Step-Servo
Integrated
loop systems conductors or coils when magnetic lines of flux from

TXM
IP65
one link with those of the other

Encoder Marker Pulse
Motor & Drive
A once-per-revolution signal that is provided by some Inductance (Self)

RS
incremental encoders to specify a reference point The constant by which the rate of change of the coil
within that revolution current must be multiplied to give the self-induced
Motor & Drive
counter EMF
SS
End Play
The axial shaft motion due to the reversal of an axial Inertia
Pulse Input
STM-R
Measure of resistance of an object to changes

force acting on a shaft with axial clearance or low axial

pre-load in velocity; the larger the inertia, the more torque
required to accelerate and decelerate the load
STM
Following Error
The positional error during motion between a load’s Inertial Match
actual position and the commanded position Ratio of reflected load inertia to motor inertia
SWM
IP65
Friction - Coulomb Instantaneous START/STOP Rate

The maximum switching rate that an unloaded step
Pulse Input
A resistance to motion between non-lubricated

SRAC
surfaces; this force remains constant with velocity motor will follow without missing steps when starting
AC Input
from rest or stopping from moving

With Controller
Friction - Viscous
STAC
L/R Drive
A resistance to motion between lubricated surfaces;

this force is proportional to the relative velocity A drive that uses external resistance to allow a higher
Pulse Input
between the surfaces voltage than that of a voltage drive; L/R drives have
SR
better performance than voltage drives, but have less

Hall Sensors performance and efficiency than a chopper drive
Field Bus
DC Input
STF
A feedback device built into a motor used by a servo

amplifier to electronically commutate the motor Loop, PID
A high performance control loop that uses
With Controller
Proportional, Integral and Derivative type control

ST
Holding Torque (Static Torque)

The maximum restoring torque that is developed by parameters
the energized motor when the shaft is slowly rotated
AC Input
by external means Loop, Position

A feedback control loop in which the controlled
Hybrid Step Motor parameter is motor position
DC Input
A type of step motor comprising a permanent magnet

and variable reluctance stator and rotor structures; it Loop, Velocity
A feedback control loop in which the controlled
2-Phase
uses a double salient pole construction

parameter is velocity
Stepper Motor
Hysteresis (Positional)
Maximum Reversing Rate
3-Phase
The difference between the step positions when

moving CW and the step position when moving The maximum stepping rate at which an unloaded
motor will reverse direction of rotation without missing
CCW; a step motor may stop slightly short of the true
steps
UL
position thus producing a slight difference in position

CW to CCW Maximum Slew Rate
Power Supplies
The maximum stepping rate at which a step motor

Accessories
I/O (Inputs/Outputs)
with no load will run and remain in synchronism
The reception and transmission of information
Cables
between control devices; I/O has two distinct forms: Microstepping

Digital - switches, relays, etc. which are either in an A technique in which motor steps are electronically
On or Off state; Analog – a continuous signal such as divided by the drive into smaller steps; the most
Software
speed, temperature, low, etc. common microstep resolutions are 10, 25 and 50
Appendix
steps per full step, but many resolutions ranging from

Glossary
2 to 256 microsteps per full step are available
314
Appendix
Accessories
Open Frame Drive Rated Torque
Refers to amplifiers where a separate DC power The torque producing capability of a motor at a
source must be provided to the unit given speed; this is the maximum continuous
torque the motor can deliver to a load
Open-Loop
Integrated
Efficient
TSM
A system with no feedback; most step motor Regeneration
systems are run in this mode The action during deceleration, in which the
motor acts as a generator and takes kinetic
Integrated
SSM
Oscillator energy from the load, converts it to electrical
A device that is used to produce pulses for energy, and returns it to the amplifier
Step-Servo
Integrated
driving a step motor at a preset speed
TXM
IP65
Repeatability
Overshoot The degree to which the positioning accuracy
Motor & Drive

The amount a motor shaft rotates beyond the for a given move performed repetitively can be
RS
commanded stopping position duplicated
Motor & Drive

SS
Packaged Drive Resolution
Refers to amplifiers where the power supply is The smallest positioning increment that can be
Pulse Input
included in the enclosure and 110/220VAC is achieved; frequently defined as the number of
STM-R
used to power the unit steps or feedback units required for a motor’s
shaft to rotate one complete revolution

Permanent Magnet Step Motor
STM
A step motor having a permanent magnet rotor Resonance
and wound stator The effect of a periodic driving force that causes
SWM
a large amplitude increase at a particular
IP65
Pull-In Rate (Response Rate) frequency
The maximum switching rate at which an
Pulse Input
SRAC
unloaded motor can start without losing step Response Rate (Pull-In Rate)
AC Input
positions. The stepping rate an unloaded motor can follow
With Controller
from a standing start without missing steps
STAC
Pull-In Torque

The maximum torque load at which a step motor Ringing
Pulse Input
will start and run in synchronism with a fixed Oscillation of a system following a sudden
SR
frequency stepping rate without losing step change in state
positions
Field Bus
DC Input
STF
RS-232, RS-422/485
Pull-out Torque Serial communication hardware definitions
The maximum torque load that can be applied
With Controller
ST
to a motor running at a fixed stepping rate while Serial Port
maintaining synchronism; any additional load A digital data communications port that uses a
torque will cause the motor to stall or miss steps serial bit stream for data transfer
AC Input
Pulse Rate Servo Amplifier/Servo Drive
DC Input
The rate at which successive steps are initiated An electronic device that converts a control
or the windings switched; the pulse rate divided signal into a current that is fed into the motor
by the resolution of the motor/drive combination windings to produce torque in the motor
2-Phase
(in steps per revolution) equals the rotational
speed of the motor in revolutions per second Servo System Stepper Motor
A feedback control system for mechanical motion

3-Phase
PWM (Pulse Width Modulation) in which the controlled output is position or
A method of controlling motor voltage and velocity; servo systems are closed loop systems
current used in servo and step motor drivers
UL
Settling Time
Radial Play (Side play) The elapsed time starting the instant the rotor
Power Supplies
The side-to-side movement of the shaft due reaches the commanded step position and
Accessories
to clearances between the shaft and bearing, the oscillations settle to within a specified
bearing to housing, and bearing internal displacement band around the final position
Cables
clearance for ball and roller bearings

Ramping
Software
The acceleration and deceleration of a motor;

Appendix
may also refer to the change in frequency of the

Glossary
step pulse train
315
Accessories
Appendix
Si Torque Gradient (Stiffness)

MOONS’ Simple Indexer operating environment; The ratio of the change in holding torque to a
sequences for machine operation are particular change in shaft position when the
programmed by the use of point and click motor is energized
instructions
Integrated
Efficient
TSM
Torque Ripple
Slew The cyclical variation of generated torque given
The portion of a move made at a constant non- by the product of motor angular velocity and
Integrated
SSM
zero velocity number of commutator segments

Step-Servo
Stall Torque (holding or static) Torque-to-inertia Ratio

Integrated
TXM
IP65
The torque available from a motor at stall or Ratio of a motor’s torque divided by the motor’s
zero rpm rotor inertia; the higher the ratio, the higher the
Motor & Drive
acceleration may be
RS
Step Angle
The nominal angle through which the step motor Unipolar Drive
Motor & Drive
shaft rotates between adjacent step positions The motor phase winding current is switched
SS
in one direction only; the polarity of the applied

Step or Stepping Rate (Speed) voltage to each winding is always the same;
Pulse Input
The number of steps a shaft rotates during a

STM-R
unipolar drives require 6 or 8 lead motors

specified time interval

Variable Reluctance Step Motor (V/R)
Step-to-step Accuracy (relative accuracy) A step motor having a wound stator or stators
STM
The maximum error that occurs between any with salient poles working with a soft iron rotor
adjacent step, expressed as a percentage of one having salient poles on the periphery
full step
SWM
IP65
Velocity
Switching Amplifier The change in position as a function of time;
Pulse Input
SRAC
A device that switches a high voltage on and off velocity has both magnitude and direction
to control current; some amplifiers (PWM types)
AC Input
switch at a constant frequency and adjust duty Viscous Damping

With Controller
STAC
cycle to control current, others have a fixed off A damper that provides a drag or friction torque
time and adjust the frequency proportional to acceleration; a quality used to

damp unwanted oscillations of a step motor
Pulse Input
SR
Switching Sequence (Energizing Sequence)

The sequence and polarity of voltages applied Voltage Drive
to coils of a step motor that result in a specified A drive operated at the minimum voltage required
Field Bus
DC Input
STF
direction of rotation to safely limit motor current; motors used with

voltage drives produce less torque at higher
With Controller
Thermal Time Constant speeds than when used with L/R or chopper
ST
The time required for the motor winding to reach drives

63.2% of its final temperature
Wave Drive
AC Input
Thermal Resistance Energizing the phases one at a time; driving the

The resistance to the flow of energy between two motor one phase or winding at a time
surfaces of the same body or different bodies;
DC Input
thermal resistance = degrees C/watt in the

winding
2-Phase
Torque
Stepper Motor
The rotary equivalent of force; equal to the

3-Phase
product of the force perpendicular to the radius

of motion and distance from the center of rotation
to the point where the force is applied
UL
Torque Constant
A number representing the relationship between
Power Supplies
motor input current and motor output torque,

Accessories
usually expressed in units of torque/amp

Cables
Torque Displacement Curve

The holding (restoring) torque plotted as a
function of rotor angular displacement with the
Software
motor energized
Appendix
Glossary
316
Appendix
Accessories
Inertia Conversion Tables
To convert from A to B multiply by entry in table.
Integrated
Ib-ft-s2
Efficient
TSM
2
AB Ib-ft or Ib-in2 Ib-in-s2 oz-in2 oz-in-s2 Kg-m2 g-cm2 g-cm-s2
slug-ft2
Integrated
SSM
4.214022 ×
Ib-ft2 1 3.108 × 10-2 144 0.373 2.304 × 103 5.968
10-2
4.214 × 105 429.71
Step-Servo
Integrated
Ib-ft-s2 32.174 1 4.633 × 103 12 7.413 × 104 192 1.35582 1.356 × 107 1.383 × 104
TXM
IP65
2.926404 ×
Ib-in2 6.944 × 10-3 2.158 × 10-4 1 2.509 × 10-3 16 4.144 × 10-2 2.926 × 103 2.984
Motor & Drive

10-4
RS
Ib-in-s2 2.681 8.333 × 10-2 386.1 1 6.177 × 103 16 1.12985 × 10-1 1.130 × 106 1.152 × 103
Motor & Drive

SS
1.829006 ×
oz-in2 4.34 × 10-4 1.349 × 10-5 6.25 × 10-2 1.619 × 10-4 1 2.59 × 10-3
10-5
182.901 0.186
Pulse Input
STM-R
oz-in-s2 0.168 5.208 × 10-3 24.13 6.25 × 10-2 386.088 1 7.06155 × 10-3 7.0616 × 104 72.008

Kg-m2

23.73 0.73756 3,417.16 8.85073 54,674.5 141.6 1 1 × 107 10,197.2
STM
1.0197 ×
g-cm2 2.373 × 10-6 7.376 × 10-8 3.417 × 10-4 8.851 × 10-7 5.467 × 10-3 1.416 × 10-5 1 × 10-7 1
10-3
SWM
IP65
9.806614 ×
g-cm-s2 2.327 × 10-3 7.233 × 10-5 0.3351 8.680 × 10-4 5.362 1.389 × 10-2
10-5
980.667 1
Pulse Input
SRAC
Example: Convert a rotor inertia of 90 g-cm2 to oz-in-s2
AC Input
The multiplier from the table above is 1.416 x 10-5
With Controller
The new inertia is 90 x 1.416 x 10-5 = 1.27 x 10-3oz-in-sec2
STAC
Torque Conversion Tables
Pulse Input
SR
To convert from A to B multiply by entry in table.
Field Bus
DC Input
STF
AB Ib-ft Ib-in Oz-in dyne-cm N-m mN-m Kgm g-cm
With Controller
ST
Ib-ft 1 12 192 1.356 × 107 1.356 1.356 × 103 0.1383 1.383 × 104
AC Input
Ib-in 8.333 × 10-2 1 16 1.130 × 106 0.113 1.13 × 102 1.152 × 10-2 1.152 × 103
Oz-in 5.208 × 10-3 6.250 × 10-2 1 7.062 × 104 7.062 × 10-3 7.062 7.201 × 10-4 72.01
DC Input
dyne-cm 7.376 × 10-8 8.851 × 10-7 1.416 × 10-5 1 10-7 10-4 1.0197 × 10-8 1.0197 × 10-3
2-Phase
N-m 0.7376 8.851 141.62 107 1 1,000 0.10197 1.0197 × 104
Stepper Motor
3-Phase
mN-m 7.376 × 10-4 8.851 × 10-3 0.1416 104 10-3 1 1.0197 × 10-2 10.197
Kgm 7.233 86.796 1.389 × 103 9.8067 × 107 9.8066 9806.6 1 105
UL
g-cm 7.233 × 10-5 8.6801 × 10-4 1.389 × 10-2 980.67 9.8066 × 10-5 9.8066 × 10-2 10-5 1
Power Supplies
Example: Convert a torque of 53 oz-in to kg-cm

Accessories
The multiplier from the table above is 7.201 × 10-2

The new torque value is 53 x 7.201 x 10-2 = 3.816kg-cm
Cables
Software
Appendix
Glossary
317
Headquarters
SHANGHAI AMP&MOONS' AUTOMATION CO.,LTD.
No. 168 Mingjia Road Industrial Park North
Minhang District Shanghai 201107, P.R. China
Tel: +86(0)21-5263 4688
Fax: +86(0)21-6296 8682
Web: www.moonsindustries.com

Catalog Drive EN20180816

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Integrated Step-Servo Motor

Step-Servo Motor & Drive

MOONS' Business Philosophies

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Headquarters Branch offices Distributors

• We are an ambitious and enterprising company

• We are a cooperative and thriving group

Motion Control Products and Solutions

Motor & Drive

Motor & Drive

Integrated Stepper Motor

With Controller With Controller

repeatedly between ON and OFF. 1 Pulse

3-Phase Stepper Drive

 The Speed is Proportional to the Pulse Frequency

The speed of the stepper motor is proportional to the frequency of 30r/min

θs : Step angle [deg/step]

f : Pulse frequency [Hz]

 Frequent Starting/Stopping is Possible  Speed VS Torque Characteristics comparetion between

2.0 200W Servo

[Motor frame size 60 mm ]

0 1000 2000 3000 4000

Integrated Stepper Motor

Stepper motor has full torque at stand-still as long as External

Stepper Motor Force

the windings are energized. This means that the motor

2-Phase Stepper Drive

◇ Motor with Electromagnetic Brake

Once the power is cut off, the self-holding torque of the

the stopped position in vertical operations or when an

external force is applied. In lift and similar applications,

Brake Type Motor

◇ Closed Loop Servo Control Stepper Motors

The is an innovative revolution for the world of

technology to create a product with exceptional feature and

The greatly improves the performance to be much

more Intelligent, Efficient, Compact, Accurate, Fast and

Controller Drive Motor

Positioning Completion Signal

Motor & Drive

With Controller With Controller

2-Phase Stepper Drive

3-Phase Stepper Drive

These motors incorporate a non-excitation type electromagnetic

Brake type steppers are wildly used in vertical axis application.

These motors incorporate a dedicated position-control

controllability of the motors.

The gearhead ensures highly accurate, smooth operation even

in applications where a large torque is received.

3rd Party Controller

Integrated Stepper Motor

Rotate&Direction Low High

Motor Motion CCW&Direction

motor will rotate by CW direction.

determined via which channel leads the other.

CAN Bus Torque

Motor & Drive

Motor & Drive

With Controller With Controller

2-Phase Stepper Drive

3-Phase Stepper Drive

TSM Series - Integrated

Frame Size: 28mm, 42mm, 56mm, 60mm, 86mm

TSM23/24:12-70VDC TSM34: 24-70VDC

The Speed is Proportional to the Pulse Frequency

Frequent Starting/Stopping is Possible Speed VS Torque Characteristics comparetion between