HYBRID STEPPING MOTORS
HYBRID STEPPING MOTORS
General Introduction to Stepping Motor ....................................................................................................A-2
General Structure and Operating Principles of Stepping Motor ...............................................................A-3
Explanation to Acceleration of Stepping Motor .........................................................................................A-4
Reduction of Vibration and Noise..............................................................................................................A-5
Shaft Configuration ....................................................................................................................................A-6
Connection Configuration..........................................................................................................................A-7
Wiring Diagram & Drive Sequence Model ................................................................................................A-8
Hybrid Stepping Motor Series ...................................................................................................................A-9
14HA SERIES 0.9° ...................................................................................................................................A-10
17HA SERIES 0.9° ...................................................................................................................................A-12
11HS SERIES 1.8° ...................................................................................................................................A-15
14HY SERIES 1.8° ...................................................................................................................................A-19
16HS SERIES 1.8° ...................................................................................................................................A-21
16HY SERIES 1.8° ...................................................................................................................................A-22
17HD SERIES 1.8° ...................................................................................................................................A-24
17HDN SERIES 1.8° ................................................................................................................................A-26
23HS SERIES 1.8° ...................................................................................................................................A-35
23HM SERIES 1.8° ..................................................................................................................................A-45
23HY SERIES 1.8° ...................................................................................................................................A-48
24HS SERIES 1.8° ...................................................................................................................................A-51
34HD SERIES 1.8° ...................................................................................................................................A-56
34HY SERIES 1.8° ...................................................................................................................................A-62
17HE SERIES 3.6° ...................................................................................................................................A-67
10HF SERIES 3.75° .................................................................................................................................A-69
24HC SERIES 1.2° ...................................................................................................................................A-70
34HC SERIES 1.2° ...................................................................................................................................A-72
Digital Linear Actuator (External Nut) ......................................................................................................A-74
Digital Linear Actuator (Internal Nut) .......................................................................................................A-76
23 Integrated Stepping Motor .................................................................................................................A-78
A–1
HYBRID STEPPING MOTORS
General Introduction to Stepping Motor
Stepping Motors are highly precise, digitally controlled motors that are able to provide reliable
operation without using detectors to sense or indicate position. The operation of the motors is
controlled through electrical pulses. The direction of current flowing through the windings of the
motor are switched with each pulse. The electrical pulse is converted into shaft rotation in steps of
a fixed angle. Together with the driver it constitutes an open loop controlling system, which is of low
cost and simple to construct.
1
Precise Position Control
The specified number of pulses determines the output degree(s) generated.
2
Linear Speed Selection
The running speed is linearly variable and determined by the frequency of the pulses.
3
Forward & Reverse, Pause and Holding Function
The forward & reverse rotation is controlled by the polarity. There is still Holding torque even
while the motor rotor is being locked. There is still current flowing through the motor winding,
but no pulse signal creating rotation from the outside controller.
4
Low Speed Feature
Low frequency pulses being input, a stepping motor can operate at very low rotating speeds.
This can be done without a speed reduction gearbox and there by save power and maintain
precision.
5
Long Life
The brushless design provides stepping motors with a very long life. In fact, the stepping motor
life is determined by the life of the bearings.
Stepping motors are widely being used in many types of digitally controller motion control
applications, such as printers, intelligent (performance) stage lighting, office, bank and
industrial equipment, medical, packaging, textile, aerospace, robotics and automotive.
A–2
HYBRID STEPPING MOTORS
General Structure and Operating Principles of Sepping Motor
1
Basic Structure
Screw
Washer spring
Stator lamination
Ball bearing
Magnet
Shaft
Back endbell
Front endbell
Bobin
Bobin
Rotor lamination
Rotor lamination
Ball bearing
Stator Assembly
2
Operating Principles
V
The driver’s internal logic circuit generates a
series of pulses in a specified order that drive
the stepping motor windings, causing the rotor
to rotate forward, reverse, or lock in position. For
example: a 1.8 degree stepping motor normally
is designed with two types of windings, i.e. 2
phase (bipolar) or 4 phase (unipolar).
A
C
B
D
2 phase stepping motor with bipolar driver
V
When energizing its coils by special sequence,
this motor will rotate 1.8 degree per step. On
average, a 2 phase stepping motor provides,
40% more holding torque than a 4 phase
stepping motor, because 100% of the winding is
used in a bipolar drive.
4 phase stepping motor with unipolar driver
This is brief introduction to stepping motor
operating principles. Various conditions and
applications may need customized designs
which MOONS’ can provide.
A–3
HYBRID STEPPING MOTORS
Explanation to Acceleration of Stepping Motor
1
Type of Load
A. Torque load (Tf)
Tf = G • r
G: weight
r: radius
B. Inertia load (TJ)
TJ = J * dw/dt
J = M * (R12+R22) / 2 (Kg * cm)
M: mass
R1: outside radius
R2: inside radius
dw/dt: angle acceleration
2
r
G
L
R1
R2
Explanation of the Dynamic Torque Curve
Pull out
The dynamic torque curve is an
important aspect of stepping motor’s
output performance.
The followings are some keyword
explanations.
Pull out
Dynamic Torque
Pull in
Start/stop region
Maximum starting frequency
point
Working frequency point
Maximum running frequency point
Keyword Explanation
1. Working Frequency Point express the stepping motors rotational speed value at this point
Units Hz
n= q * Hz / (360 * D)
n: rev/sec
Hz: the frequency value at this point
D: the subdividing value of motor driver
q: the step angle of stepping motor
E.g.: 1.8° stepping motor, in the condition of I/2 subdividing (each step 0.9°) runs at 500Hz its
speed is 1.25r/s.
A–4
2
Start/Stop Region: the region in which a stepping motor can be directly started or stopped.
3
Slew Range: the motor cannot be started directly in this area. It must be started in the start/stop
region first and then accelerated to this area. In this area, the motor can not be directly stopped,
either Otherwise this will lead to losing-step. The motor must be decelerated back to the start/
stop region before it can be stopped.
4
Maximum starting frequency point at this point, the stepping motor can reach its maximum
starting speed under unloaded condition.
5
Maximum running frequency point at this point the stepping motor can reach its maximum
running speed under an unloaded condition.
6
Pull-in Torque: the maximum dynamic torque value that a stepping motor can load directly at the
particular operating frequency point.
7
Pull-out Torque: the maximum dynamic torque value that a stepping motor can load at the
particular operating frequency point when the motor has been started. Because of the inertia of
rotation the Pull-Out. Torque is always larger than the Pull-In Torque.
HYBRID STEPPING MOTORS
3
Control of Acceleration and Deceleration
How to accelerate or decelerate in the shortest
time is the most important when the system’s
operating frequency point is in the slew range of
the dynamic torque curve graph.
Tm
It is shown by the following graph: the dynamic
torque’s performance of stepping motor will always
keep a horizontal straight line in low speed. But
in high speed, the curve will slope down quickly
influenced by the inductance.
(1) Accelerated Motion of Straight Line
Motor’s load value is known as TL, it has to be
accelerated from F0 to F1 in the shortest time (tr),
what is the value of tr?
A. Generally TJ = 70%Tm
B. tr = 1.8 * 10-5 * J * q * (F1-F0)/(TJ-TL)
C. F (t) = (F1-F0) * t/tr + F0, 0<t<tr
(2) Exponential Acceleration
A. Generally TJ0 = 10%Tm0, TJ1 = 70%Tm1,
TL = 60%Tm1
B. tr = F4 * In [(TJ0-TL)/(TJ1-TL)]
C. F (t) = F2 * [1 – e^(-t/F4)] + F0, 0<t<tr
F2 = (TL-TJ0) * (F1-F0)/(FJ1-TJ0)
F4 = 1.8 * 10-5 * J * q * F2/(TJ0-TL)
F
Tm
TJ
TL
F0
Tm
F1
F
Tm0
Tm1
TJ0
TJ1
TL
F0
F1
F
Note: J is the torque inertia of motor rotor plus its load q is the angle of each step, it equals to
the step angle of stepping motor when motor runs in full step. As for the control of deceleration,
it can be realized by turning the accelerate pulse frequency above-mentioned.
Reduction of Vibration and Noise
In a non-loading condition, stepping motors may appear to have vibration or even lose steps when
the motor is running at or close to resonant frequency.
Solutions for These Conditions
A. Having the motor operate outside of this range.
B. By adopting the micro-step driving method, you can divide one step into multiple steps
thereby reducing the vibration, Micro-step is used for increasing a motor’s step resolution. This
is accomplished by controlling the motor’s phase current ratio. Micro-step does not increase
step accuracy. However it will allow a motor to run more smoothly and with less noise When the
motor runs in half step mode the motor torque will be 15% less than running in full step mode If
the motor is controlled by sine wave current the motor torque will be reduced by 30%.
A–5
HYBRID STEPPING MOTORS
Shaft Configuration
Pulley
Gear
Plastic Pulley
Single Flat
Double Flat
Key Way
Knurl
Hobbed Gear
Hollow Shaft
Dowel
Note:
The styles above are in normal way.
Other special shafts can be customized.
A–6
Worm Shaft
Lead Wire
16HY7 Male: JST S11B-ER (LF)(SN)
Female: JST ZHR-11
HYBRID STEPPING MOTORS
Connection Configuration
Lead Wire with Connector
16HY Male: JST S6B-PH-K (LF)(SN)
Female: JST PHR-6
17HD Male: Molex 89401-1160
Female: Molex 87369-1100
23HY Male: JST S6B-FH (LF)(SN)
Female: JST PHR-6
23HS Male: JST S11B-XH-A-1 (LF)(SN)
Female: JST-XHP-11
23HS Male: JST S6B-XH-A-1 (LF)(SN)
Female: JST-XHP-6
Note:
The styles above are in normal way.
Other special connectors can be customized.
A–7
HYBRID STEPPING MOTORS
Wiring Diagram & Drive Sequence Model
Bipolar - 4 Lead Wire
Unipolar – 6 Lead Wire
8 Lead Wire Serie
A–8
Model Numbering System
17 H D 0 0 01 - 01
1
2
3
4
5
6
HYBRID STEPPING MOTORS
Hybrid Stepping Motor Series
7
1. Size: Motor outside diameter in tenths of an inch (Ex: size 17 = 1.7”)
2. Type of Stepping Motor: “H” means Hybrid Stepping Motor
3. Type of Step Angle:
Y: Step angle 1.8°, stator with 8 polar, small rotor
M: Step angle 1.8°, stator with 8 polar, middle rotor
S: Step angle 1.8°, stator with 8 polar, large rotor
A: Step angle 0.9°, stator with 8 polar
B: Step angle 0.72°
C: Step angle 1.2°
D: Step angle 1.8°, stator with 8 polar, teeth distributing asymmetrically
E: Step angle 3.6°, stator with 8 polar
F: Step angle 3.75°, stator with 8 polar
4. Length of stator core
5. Type of lead wires:
“0” indicates connector only
“4, 5, 6, 8” indicates number of lead wires
6. Electric variation: variety of current, torque, etc.
7. Mechanical variation: variety of shaft, lead wires, screws, etc.
A–9
HYBRID STEPPING MOTORS
14HA SERIES 0.9°
Key Features
■ High Accuracy
■ Low Inertia
■ Small Size
ƶ0.39in.
(ƶ10mm)
General Specifications
Bi-polar
ƶ1.10in.
(ƶ28mm)
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
ƶ1.38in.
(ƶ35mm)
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
14HA0001N
23
18
0.4
100
14.16
10
1.42
14
0.08
14HA0004N
6.6
6
0.6
85
12.04
10
1.42
14
0.08
Uni-polar
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
ƶ1.53in.
(ƶ39mm)
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
14HA0005N
6.6
2.7
0.6
70
9.92
10
1.42
14
0.08
14HA0006N
23
9
0.4
90
12.75
10
1.42
14
0.08
Motor Wiring Diagram —> Page A-8
ƶ1.65in.
(ƶ42mm)
ƶ2.22in.
(ƶ56.4mm)
‡2.25in.
(‡57.2mm)
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–10
Rotor
Inertia
Mechanical Dimension
Model
Number
L
Mass
mm (in.)
kg (lb.)
14HA0**N
28 (1.10)
0.16 (0.35)
mm (inch)
HYBRID STEPPING MOTORS
Dynamic Torque Curves
14HA0004N
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.4A(Peak) 12V
0.4A(Peak) 24V
Speed [r/min]
500
750
14
12
75
10
8
50
6
4
25
2
0
0
500
1000
1500
2000
2500
3000
3500
500
1000
1500
2000
2500
100
14
12
75
10
8
50
6
4
25
2
0
0
4000
0
1000
2000
3000
4000
5000
6000
7000
8000
0
9000
1.8˚
Pulse rate [pps]
Pulse rate [pps]
0.9˚
Pull out torque [mN.m]
100
0.6A(Peak) 12V
0.6A(Peak) 24V
Speed [r/min]
0
1000
Pull out torque [mN.m]
250
Pull out torque [oz.in]
0
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [oz.in]
14HA0001N
2-PHASE
14HA0006N
Conditions: Uni-polar Constant Current Drive
IC: AMA MSU3040M
Mode:Full Step
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0.4A(Peak) 12V
0.4A(Peak) 24V
0.6A(Peak) 12V
0.6A(Peak) 24V
Speed [r/min]
800
1000
14
12
80
10
60
8
40
6
4
20
2
500
1000
1500
2000
2500
Pulse rate [pps]
3000
3500
14
12
80
10
60
8
6
40
4
20
2
0
0
500
1000
1500
2000
2500
Pulse rate [pps]
3000
3500
0
4000
1.2˚
0
0
4000
1000
3-PHASE
0
750
HB MOTOR
100
500
100
1200
Pull out torque [mN.m]
600
Pull out torque [oz.in]
400
250
3.75˚
Pull out torque [mN.m]
200
0
Pull out torque [oz.in]
Speed [r/min]
0
3.6˚
14HA0005N
DIGITAL LINEAR
ACTUATOR
INTERGRATED
STEPPING MOTOR
MOTOR
DRIVER
A–11
HYBRID STEPPING MOTORS
ƶ0.39in.
(ƶ10mm)
ƶ1.10in.
(ƶ28mm)
ƶ1.38in.
(ƶ35mm)
ƶ1.53in.
(ƶ39mm)
ƶ1.65in.
(ƶ42mm)
ƶ2.22in.
(ƶ56.4mm)
‡2.25in.
(‡57.2mm)
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–12
17HA SERIES 0.9°
Key Features
■ High Accuracy
■ Low Noise
■ Smooth Movement
General Specifications
Bi-polar
Resistance Inductance Rated
per Phase per Phase Current
Model
Number
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
17HA0403-44N
8
11
0.43
90
12.75
8
1.13
20
0.11
17HA4401-05N
3.1
3.6
0.87
180
25.50
12
1.70
38
0.21
17HA4402-16N
20
23
0.5
220
31.16
12
1.70
38
0.21
17HA7402-06
6.6
7
0.65
70
9.92
5
0.71
15
0.08
Uni-polar
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
17HA0601N
8
4
0.43
50
7.08
8
1.13
20
0.11
17HA4605N
3.1
2.3
0.87
160
22.66
12
1.70
38
0.21
17HA4606N
20
13
0.5
200
28.33
12
1.70
38
0.21
17HA7602
6.6
2.9
0.65
30
4.25
5
0.71
15
0.08
Motor Wiring Diagram —> Page A-8
Mechanical Dimension
Model
Number
L
Mass
mm (in.)
kg (lb.)
17HA0**N
28 (1.10)
0.19 (0.42)
17HA4**N
34.3 (1.35)
0.23 (0.51)
20 (0.79)
0.12 (0.26)
17HA7**
mm (inch)
HYBRID STEPPING MOTORS
Dynamic Torque Curves
17HA4401-05N
17HA0403-44N
Speed [r/min]
0
500
1000
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.43A(Peak) 12V
0.43A(Peak) 24V
0.87A(Peak) 12V
1500
0
40
5
20
0
0
1000
2000
3000
4000
5000
1000
1500
300
Pull out torque [mN.m]
Pull out torque [oz.in]
10
60
500
40
250
30
200
150
20
100
10
50
0
0
6000
0
1000
2000
3000
4000
5000
0
6000
1.8˚
Pulse rate [pps]
Pulse rate [pps]
0.9˚
Pull out torque [mN.m]
100
80
0.87A(Peak) 24V
Speed [r/min]
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
2-PHASE
17HA7402-06
150
20
100
10
50
0
1000
2000
3000
500
750
1000
1250
14
12
80
10
60
8
40
6
4
20
2
0
0
1000
2000
3000
4000
Pulse rate [pps]
17HA4605N
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0.87A(Peak) 12V
0.87A(Peak) 24V
0.43A(Peak) 24V
Speed [r/min]
1000
Speed [r/min]
1500
2000
0
4
20
2
10
0
1000
2000
3000
4000
5000
Pulse rate [pps]
6000
7000
0
8000
Pull out torque [mN.m]
30
Pull out torque [oz.in]
6
40
500
1000
1500
300
40
250
30
200
150
20
100
10
50
0
0
1000
2000
3000
4000
INTERGRATED
STEPPING MOTOR
Pull out torque [mN.m]
50
Pull out torque [oz.in]
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0.43A(Peak) 12V
0
DIGITAL LINEAR
ACTUATOR
17HA0601N
500
0
5000
1.2˚
Pulse rate [pps]
0
1500
3-PHASE
0
0
4000
250
100
HB MOTOR
30
200
0.65A(Peak) 24V
3.75˚
250
Pull out torque [mN.m]
0
40
0.65A(Peak) 12V
Speed [r/min]
1000
Pull out torque [oz.in]
500
300
Pull out torque [mN.m]
0.5A(Peak) 12V
0.5A(Peak) 24V
Speed [r/min]
0
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [oz.in]
Conditions:Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
3.6˚
17HA4402-16N
0
5000
Pulse rate [pps]
MOTOR
DRIVER
A–13
17HA4606N
17HA7602
0.65A(Peak) 12V
0.65A(Peak) 24V
0.5A(Peak) 12V
0.5A(Peak) 24V
400
600
800
0
40
250
30
200
150
20
100
ƶ1.10in.
(ƶ28mm)
10
50
0
0
500
1000
1500
2000
Pulse rate [pps]
2500
0
3000
500
1000
1500
2000
50
Pull out torque [mN.m]
200
300
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
0
Speed [r/min]
6
40
30
4
20
2
10
0
0
1000
2000
3000
4000
5000
Pulse rate [pps]
6000
7000
0
8000
Pull out torque [oz.in]
Speed [r/min]
ƶ1.38in.
(ƶ35mm)
ƶ1.53in.
(ƶ39mm)
ƶ1.65in.
(ƶ42mm)
ƶ2.22in.
(ƶ56.4mm)
‡2.25in.
(‡57.2mm)
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–14
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
11HS SERIES 1.8°
Key Features
■ High Accuracy
■ Low Inertia
■ Small Size
General Specifications
0.9˚
Bi-polar
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
11HS1005
40
27.8
0.25
55
7.79
5
0.71
9
0.05
11HS1006
5.6
4.3
0.67
60
8.50
5
0.71
9
0.05
11HS1007
10.4
7.6
0.5
50
7.08
5
0.71
9
0.05
11HS1008
2.5
2.2
1
55
7.79
5
0.71
9
0.05
11HS3005
6.8
6.0
0.67
90
12.75
6
0.85
12
0.07
11HS5005
12
12
0.5
100
14.16
8
1.13
18
010
11HS5007
51.8
30.7
0.25
95
13.46
8
1.13
18
010
11HS5008
3.5
2.3
1
100
14.16
8
1.13
18
010
11HS5009
9.2
5.4
0.67
110
15.58
8
1.13
18
010
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
11HS1003
2.8
1.3
0.95
48
6.80
5
0.71
9
0.05
11HS1009
40
12
0.25
32
4.53
5
0.71
9
0.05
11HS1010
9.4
3
0.5
32
4.53
5
0.71
9
0.05
11HS3002-01
3.4
1.6
0.95
65
9.21
6
0.85
12
0.07
11HS5002-01
4.6
2.3
0.95
90
12.75
8
1.13
18
0.10
11HS5003
12
6.3
0.5
80
11.33
8
1.13
18
0.10
11HS5010
2.6
0.9
1
70
9.92
8
1.13
18
0.10
Motor Wiring Diagram —> Page A-8
Mechanical Dimension
L
INTERGRATED
STEPPING MOTOR
Model
Number
Mass
mm (in.)
kg (lb.)
11HS1**
31 (1.21)
0.10 (0.22)
11HS3**
40 (1.56)
0.15 (0.33)
11HS5**
51 (2.01)
0.20 (0.44)
DIGITAL LINEAR
ACTUATOR
A
3-PHASE
mH
1.2˚
ohm
HB MOTOR
Model
Number
3.75˚
Uni-polar
2-PHASE
A
3.6˚
mH
1.8˚
ohm
MOTOR
DRIVER
mm (inch)
A–15
11HS1005
11HS1006
Speed [r/min]
200
400
600
0.25A(Peak) 12V
0.25A(Peak) 24V
800
60
8
6
40
4
20
2
0
3000
0
500
1000
1500
2000
2500
500
1000
1500
2000
2500
80
Pull out torque [mN.m]
10
10
60
8
6
40
4
20
2
0
0
0
1000 2000 3000 4000 5000 6000 7000 8000 9000
Pulse rate [pps]
Pulse rate [pps]
ƶ1.38in.
(ƶ35mm)
11HS1007
11HS1008
ƶ1.53in.
(ƶ39mm)
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1.0A(Peak) 12V
1.0A(Peak) 24V
0.5A(Peak) 12V
0
500
1000
1500
2000
0
2500
ƶ1.65in.
(ƶ42mm)
8
6
40
4
20
2
ƶ2.22in.
(ƶ56.4mm)
Pull out torque [oz.in]
10
60
0
2000
4000
6000
1000
1500
2000
10
60
8
6
40
4
20
2
0
0
0
500
80
80
Pull out torque [mN.m]
Speed [r/min]
0.5A(Peak) 24V
Speed [r/min]
Pull out torque [mN.m]
ƶ1.10in.
(ƶ28mm)
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
0
80
0
0.67A(Peak) 12V
0.67A(Peak) 24V
Speed [r/min]
0
8000
1000
2000
3000
4000
5000
6000
7000
Pull out torque [oz.in]
0
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
0
8000
Pulse rate [pps]
Pulse rate [pps]
‡2.25in.
(‡57.2mm)
11HS3005
11HS5005
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.67A(Peak) 12V
1500
12
80
10
60
8
ƶ3.35in.
(ƶ85mm)
6
40
4
20
2
0
0
1000
2000
3000
4000
Pulse rate [pps]
‡3.39in.
(‡86mm)
A–16
5000
0
6000
Speed [r/min]
0
200
400
600
800
150
20
15
100
10
50
5
0
0
500
1000
1500
2000
Pulse rate [pps]
2500
0
3000
Pull out torque [oz.in]
14
Pull out torque [mN.m]
1000
Pull out torque [oz.in]
500
100
Pull out torque [mN.m]
ƶ2.36in.
(ƶ60mm)
0
0.5A(Peak) 12V
0.5A(Peak) 24V
0.67A(Peak) 24V
Speed [r/min]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
11HS5008
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.25A(Peak) 12V
0.25A(Peak) 24V
0
Speed [r/min]
600
20
15
100
10
50
5
0
500
1000
Pull out torque [mN.m]
400
Pull out torque [oz.in]
200
150
0
200
400
600
800
1000
1200
1400
150
15
100
10
50
5
0
0
2000
1500
20
0
1000
2000
3000
0.9˚
Pull out torque [mN.m]
0
1.0A(Peak) 12V
1.0A(Peak) 24V
Speed [r/min]
Pull out torque [oz.in]
11HS5007
0
5000
4000
1.8˚
Pulse rate [pps]
Pulse rate [pps]
2-PHASE
11HS1003
Speed [r/min]
400
600
0
20
10
50
5
0
500
1000
1500
2000
2500
0
3000
2500
6
40
5
30
4
3
20
2
10
1
0
0
2000
4000
6000
8000
1.2˚
0
Pulse rate [pps]
DIGITAL LINEAR
ACTUATOR
11HS1010
11HS1009
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0.25A(Peak) 12V
0.25A(Peak) 24V
Speed [r/min]
500
1000
0.5A(Peak) 12V
0.5A(Peak) 24V
Speed [r/min]
0
1500
500
1000
1500
2000
2500
20
2
10
6
40
30
4
20
2
10
0
0
0
0
1000
2000
3000
Pulse rate [pps]
4000
0
5000
Pull out torque [oz.in]
4
Pull out torque
[mN.m]
30
Pull out torque [oz.in]
6
40
INTERGRATED
STEPPING MOTOR
50
50
Pull out torque [mN.m]
2000
7
Pulse rate [pps]
0
1500
50
3-PHASE
0
1000
HB MOTOR
15
100
500
3.75˚
Pull out torque [mN.m]
Speed [r/min]
800
150
Pull out torque [mN.m]
200
0.67A(Peak) 12V
0.67A(Peak) 24V
Pull out torque [oz.in]
0
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0.95A(Peak) 12V
0.95A(Peak) 24V
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
3.6˚
11HS5009
0
1000
2000
3000
4000
5000
6000
7000
8000
9000
Pulse rate [pps]
MOTOR
DRIVER
A–17
11HS5002-01
11HS3002-01
0.95A(Peak) 12V
0.95A(Peak) 12V
2000
2500
12
10
60
8
6
40
2
0
0
1000
2000
3000
4000
5000
6000
7000
8000
1500
14
12
80
10
60
8
6
40
4
20
2
0
5000
0
0
9000
0
1000
2000
3000
4000
Pulse rate [pps]
Pulse rate [pps]
11HS5010
ƶ1.53in.
(ƶ39mm)
Conditions:Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Speed [r/min]
0
200
400
600
800
1000
ƶ1.65in.
(ƶ42mm)
ƶ2.22in.
(ƶ56.4mm)
Pull out torque [mN.m]
100
0.5A(Peak) 12V
0.5A(Peak) 24V
12
10
60
8
6
40
4
20
2
0
0
1000
2000
3000
Speed [r/min]
1200
14
80
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0
4000
0
1000
1500
2000
2500
100
14
12
75
10
8
50
6
4
25
2
0
0
Pulse rate [pps]
500
1.0A(Peak) 12V
1.0A(Peak) 24V
1000
2000
3000
4000
5000
6000
Pulse rate [pps]
7000
8000
0
9000
Pull out torque [oz.in]
ƶ1.38in.
(ƶ35mm)
11HS5003
Pull out torque [mN.m]
ƶ1.10in.
(ƶ28mm)
4
20
1000
100
14
80
500
Pull out torque [oz.in]
1500
Pull out torque [mN.m]
1000
Pull out torque [oz.in]
500
0
100
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
0
0.95A(Peak) 24V
Speed [r/min]
0.95A(Peak) 24V
Speed [r/min]
‡2.25in.
(‡57.2mm)
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–18
Conditions:Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
14HY SERIES 1.8°
Key Features
■ Low Inertia
■ Small Size
■ High Acceleration
General Specifications
0.9˚
Bi-polar
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
14HY5010
9
8
0.4
60
8.50
10
1.42
12
0.07
14HY8002
5.5
5
0.85
100
14.16
15
2.12
20
0.11
1.8˚
ohm
2-PHASE
Uni-polar
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
oz-in
mNm
oz-in
g.cm2
oz-in2
45
6.37
10
1.42
12
0.07
80
11.33
15
2.12
20
0.11
ohm
mH
A
mNm
14HY5011
9
4.2
0.4
14HY8001
2.7
1.4
1.2
3.6˚
Model
Number
Motor Wiring Diagram —> Page A-8
kg (lb.)
14HY5**
26 (1.01)
0.15 (0.33)
14HY8**
37 (1.44)
0.21 (0.46)
HB MOTOR
mm (in.)
DIGITAL LINEAR
ACTUATOR
mm (inch)
3-PHASE
Mass
1.2˚
L
Model
Number
3.75˚
Mechanical Dimension
INTERGRATED
STEPPING MOTOR
MOTOR
DRIVER
A–19
14HY8002
14HY5010
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.85A(Peak) 12V
750
1000
1250
14
12
80
10
60
8
6
40
4
20
2
0
0
1000
2000
3000
4000
250
10
60
8
6
40
4
20
2
0
0
5000
0
500
1000
1500
2000
2500
3000
3500
4000
0
4500
Pulse rate [pps]
ƶ1.38in.
(ƶ35mm)
14HY8001
ƶ1.53in.
(ƶ39mm)
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
750
1000
1250
1500
100
0
1750
14
ƶ1.65in.
(ƶ42mm)
12
80
10
60
8
6
40
4
20
ƶ2.22in.
(ƶ56.4mm)
2
0
2000
3000
4000
Pulse rate [pps]
5000
0
6000
500
1000
1500
2000
2500
100
Pull out torque [mN.m]
500
1.2A(Peak) 12V
1.2A(Peak) 24V
Speed [r/min]
Speed [r/min]
Pull out torque [mN.m]
1250
12
0.4A(Peak) 12V
0.4A(Peak) 24V
1000
1000
80
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0
750
14
14HY5011
250
500
100
Pulse rate [pps]
0
‡2.25in.
(‡57.2mm)
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–20
0
1500
Pull out torque [mN.m]
500
Pull out torque [oz.in]
250
Pull out torque [oz.in]
ƶ1.10in.
(ƶ28mm)
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
0
100
0.85A(Peak) 24V
Speed [r/min]
Speed [r/min]
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.4A(Peak) 12V
0.4A(Peak) 24V
80
10
60
40
5
20
0
0
1000
2000
3000
4000
5000
6000
Pulse rate [pps]
7000
8000
0
9000
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
16HS SERIES 1.8°
Key Features
■ High Torque
■ High Accuracy
■ Smooth Movement
General Specifications
0.9˚
Bi-polar
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
7
9.6
0.65
200
28.33
15
2.12
30
0.17
16HS4401N
1.8˚
ohm
Uni-polar
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
2-PHASE
Model
Number
Rotor
Inertia
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
7
5.6
0.65
150
21.25
15
2.12
30
0.17
16HS4601N
3.6˚
ohm
Motor Wiring Diagram —> Page A-8
Mechanical Dimension
Mass
kg (lb.)
16HS4**N
36 (1.40)
0.21 (0.46)
DIGITAL LINEAR
ACTUATOR
Dynamic Torque Curves
16HS4601N
16HS4401N
0.65A(Peak) 12V
0.65A(Peak) 24V
Speed [r/min]
200
400
600
200
400
600
800
20
15
100
5
0
250
500
750
1000
1250
Pulse rate [pps]
1500
1750
0
2000
20
15
100
10
50
5
0
0
500
1000
1500
2000
2500
MOTOR
DRIVER
10
50
25
150
Pull out torque [oz.in]
150
Pull out torque [oz.in]
25
Pull out torque [mN.m]
200
200
Pull out torque [mN.m]
0.65A(Peak) 24V
Speed [r/min]
0
INTERGRATED
STEPPING MOTOR
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0.65A(Peak) 12V
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0
3-PHASE
1.2˚
mm (inch)
0
HB MOTOR
L
mm (in.)
3.75˚
Model
Number
0
3000
Pulse rate [pps]
A–21
HYBRID STEPPING MOTORS
ƶ0.39in.
(ƶ10mm)
ƶ1.10in.
(ƶ28mm)
ƶ1.38in.
(ƶ35mm)
ƶ1.53in.
(ƶ39mm)
ƶ1.65in.
(ƶ42mm)
ƶ2.22in.
(ƶ56.4mm)
‡2.25in.
(‡57.2mm)
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–22
16HY SERIES 1.8°
Key Features
■ High Accuracy
■ Low Inertia
■ High Acceleration
General Specifications
Bi-polar
Resistance Inductance Rated
per Phase per Phase Current
Model
Number
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
16HY0016
39
50
0.3
150
21.25
12
1.70
20
0.11
16HY1005-04
9.8
18
0.5
200
28.33
18
2.55
24
0.13
16HY7010
14
12.2
0.5
80
11.33
5
0.71
11
0.06
Uni-polar
Resistance Inductance Rated
per Phase per Phase Current
Model
Number
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
16HY0017
39
23.5
0.3
100
14.16
12
1.70
20
0.11
16HY1006
10.2
10.7
0.5
160
22.66
18
2.55
24
0.13
16HY7006-06
13.3
6.4
0.5
60
8.50
5
0.71
11
0.06
Motor Wiring Diagram —> Page A-8
Mechanical Dimension
Model
Number
L
Mass
mm (in.)
kg (lb.)
16HY0**
33.3 (1.30)
0.18 (0.40)
16HY1**
38 (1.48)
0.2 (0.44)
16HY7**
20 (0.78)
0.12 (0.26)
mm (inch)
HYBRID STEPPING MOTORS
Dynamic Torque Curves
16HY1005-04
16HY0016
Conditions: Bi-polar Constant Current Driver
IC:
AMA MS3540M
Mode:
Full Step
0.5A(Peak) 12V
0.5A(Peak) 24V
Conditions: Bi-polar Constant Current Driver
IC:
AMA MS3540M
Mode:
Full Step
0.5A(Peak) 12V
0.5A(Peak) 24V
500
Speed [r/min]
1000
0
100
10
50
0
0
1000
2000
0
4000
3000
300
400
500
200
Pull out torque [mN.m]
20
Pull out torque [oz.in]
150
200
25
150
20
15
100
10
50
5
0
0.9˚
Pull out torque [mN.m]
200
100
Pull out torque [oz.in]
Speed [r/min]
0
0
0
500
1500
1.8˚
Pulse rate [pps]
1000
Pulse rate [pps]
2-PHASE
Conditions: Bi-polar Constant Current Driver
IC:
AMA MS3540M
Mode:
Full Step
Conditions: Uni-polar Constant Current Driver
IC:
AMA MSU3040M
Mode:
Full Step
0.5A(Peak) 12V
0.5A(Peak) 24V
0.3A(Peak) 12V
Speed[r/min]
0.3A(Peak) 24V
400
600
800
Speed [r/min]
40
5
20
0
1000
1500
2000
10
50
5
25
0
0
2500
0
1000
300
400
500
600
Conditions: Uni-polar Constant Current Drive
IC:
AMA MSU3040M
Mode:
Full Step
0.5A(Peak) 12V
0.5A(Peak) 12V
0.5A(Peak) 24V
0
10
50
0
500
1000
1500
Pulse rate [pps]
2000
0
2500
Pull out torque [mN.m]
100
Pull out torque [oz.in]
20
500
1000
100
75
10
50
25
0
INTERGRATED
STEPPING MOTOR
Pull out torque [mN.m]
200
150
0.5A(Peak) 24V
Speed [r/min]
700
DIGITAL LINEAR
ACTUATOR
Speed [r/min]
0
3000
16HY7006-06
Conditions: Uni-polar Constant Current Drive
IC:
AMA MSU3040M
Mode:
Full Step
200
2000
Pulse rate [pps]
16HY1006
100
800
75
Pulse rate[pps]
0
600
Pull out torque [oz.in]
500
400
1.2˚
0
200
3-PHASE
0
Pull out torque [mN.m]
10
60
0
100
HB MOTOR
80
Pull out torque[oz.in]
100
Pull out torque [oz.in]
200
3.75˚
Pull out torque[mN.m]
0
3.6˚
16HY0017
16HY7010
0
0
1000
2000
4000
MOTOR
DRIVER
Pulse rate [pps]
3000
A–23
HYBRID STEPPING MOTORS
ƶ0.39in.
(ƶ10mm)
ƶ1.10in.
(ƶ28mm)
ƶ1.38in.
(ƶ35mm)
ƶ1.53in.
(ƶ39mm)
ƶ1.65in.
(ƶ42mm)
ƶ2.22in.
(ƶ56.4mm)
‡2.25in.
(‡57.2mm)
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–24
17HD SERIES 1.8°
Key Features
■ High Torque
■ Low Noise
■ Small Size
General Specifications
Bi-polar
Resistance Inductance Rated
per Phase per Phase Current
Model
Number
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
17HD0013
30
27
0.4
260
36.83
12
1.70
38
0.21
17HD1004-01
25
50
0.5
400
56.66
15
2.12
57
0.31
17HD3005-10
30
45
0.4
460
65.16
25
3.54
82
0.45
17HD5003-10
24
36
0.4
180
25.50
5
0.71
20
0.11
Motor Wiring Diagram —> Page A-8
Mechanical Dimension
L
Mass
mm (in.)
kg (lb.)
17HD0**
33.3 (1.30)
0.21 (0.46)
17HD1**
39.3 (1.53)
0.28 (0.62)
17HD3**
47.3 (1.84)
0.36 (0.79)
17HD5**
25.3 (0.99)
0.15 (0.33)
Model
Number
mm (inch)
HYBRID STEPPING MOTORS
Dynamic Torque Curves
17HD1004-01
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Speed [r/min]
200
300
400
0
40
30
200
20
100
10
0
0
250
500
750
1000
1250
100
200
300
400
500
0
1500
70
60
400
50
300
40
30
200
20
100
10
0
1500
0
0
500
1000
1.8˚
Pulse rate [pps]
Pulse rate [pps]
0.9˚
Pull out torque [mN.m]
300
0.4A(Peak) 12V
0.4A(Peak) 24V
Speed [r/min]
Pull out torque [mN.m]
100
0.4A(Peak) 12V
0.4A(Peak) 24V
Pull out torque [oz.in]
0
Conditions:Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [oz.in]
17HD0013
2-PHASE
17HD5003-10
Speed [r/min]
200
70
50
300
40
30
200
20
100
10
0
200
400
600
800
0
1200
400
40
30
200
20
100
10
0
0
250
500
750
1000
Pulse rate [pps]
1250
0
1500
1.2˚
Pulse rate [pps]
1000
300
3-PHASE
0
200
HB MOTOR
60
400
100
300
3.75˚
Pull out torque [mN.m]
0
300
500
0.4A(Peak) 12V
0.4A(Peak) 24V
Speed [r/min]
Pull out torque [mN.m]
100
0.4A(Peak) 12V
0.4A(Peak) 24V
Pull out torque [oz.in]
0
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
3.6˚
17HD3005-10
DIGITAL LINEAR
ACTUATOR
INTERGRATED
STEPPING MOTOR
MOTOR
DRIVER
A–25
HYBRID STEPPING MOTORS
17HDN SERIES 1.8°
Key Features
■ High Torque
■ High Accuracy
■ Smooth Movement
ƶ0.39in.
(ƶ10mm)
General Specifications
Bi-polar
ƶ1.10in.
(ƶ28mm)
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
17HD2011N
1.9
4
1.5
380
53.82
15
2.12
57
0.31
17HD2015N
18
35
0.5
420
59.49
15
2.12
57
0.31
ƶ1.38in.
(ƶ35mm)
ƶ1.53in.
(ƶ39mm)
17HD2018N
6
14
0.85
400
56.66
15
2.12
57
0.31
17HD2022N
16
32.0
0.50
330
46.74
15
2.12
57
0.31
17HD2023N
3.5
5
1
300
42.49
15
2.12
57
0.31
17HD2024N
4.1
8.5
1
390
55.24
15
2.12
57
0.31
17HD2025N
66
116
0.25
370
52.41
15
2.12
57
0.31
17HD2026N
4.4
10
1
390
55.24
15
2.12
57
0.31
17HD2027N
71.4
140
0.25
380
53.82
15
2.12
57
0.31
17HD2028N
60
120
0.28
400
56.66
15
2.12
57
0.31
17HD4005-01N
7.4
11.0
0.60
200
28.33
12
1.70
38
0.21
4.2
1.10
210
29.75
12
1.70
38
0.21
15
20.0
0.50
240
33.99
12
1.70
38
0.21
17HD4025N
54
78.0
0.25
230
32.58
12
1.70
38
0.21
17HD4026N
80
89.0
0.22
220
31.16
12
1.70
38
0.21
17HD4027N
48
60.0
0.28
220
31.16
12
1.70
38
0.21
17HD6012N
2.4
4.5
1.5
490
69.41
25
3.54
82
0.45
17HD6016N
5.0
8.4
1
460
65.25
25
3.54
82
0.45
17HD6017N
7.5
14
0.8
490
69.41
25
3.54
82
0.45
17HD6018N
14
23
0.57
460
65.25
25
3.54
82
0.45
17HD6019N
80
130
0.25
460
65.25
25
3.54
82
0.45
17HD6020N
20
35
0.5
490
69.41
25
3.54
82
0.45
17HD6021N
58
104
0.3
460
65.25
25
3.54
82
0.45
ƶ2.36in.
(ƶ60mm)
17HDB001N
2.3
4.6
1.5
630
89.24
30
4.25
123
0.68
17HDB002N
1.6
3
2
650
92.07
30
4.25
123
0.68
ƶ2.22in.
(ƶ56.4mm)
3.0
‡2.25in.
(‡57.2mm)
ƶ1.65in.
(ƶ42mm)
17HD4022-01N
17HD4024N
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–26
HYBRID STEPPING MOTORS
Uni-polar
Resistance Inductance Rated
per Phase per Phase Current
Model
Number
Holding
Torque
Detent
Torque
Rotor
Inertia
oz-in
mNm
oz-in
g.cm2
oz-in2
17HD2032N
1.8
1.7
1.6
290
41.08
15
2.12
57
0.31
17HD2033N
7.5
6.9
0.8
290
41.08
15
2.12
57
0.31
17HD4028N
8.3
5.8
0.67
167
23.65
12
1.70
38
0.21
17HD4029N
3
2.1
1.1
167
23.65
12
1.70
38
0.21
17HD4030N
2.4
2
1.2
190
26.91
12
1.70
38
0.21
17HD4031N
4.2
2.2
0.95
160
22.66
12
1.70
38
0.21
17HD4032N
24
13
0.4
160
22.66
12
1.70
38
0.21
17HD4033N
38.5
21
0.31
160
22.66
12
1.70
38
0.21
17HD6022N
3.3
2.8
1.2
360
55.99
25
3.54
82
0.45
17HD6023N
4.6
4
1.1
320
45.33
25
3.54
82
0.45
17HD6024N
30
21.6
0.4
320
45.33
25
3.54
82
0.45
17HD6025N
7.5
7.3
0.85
350
49.58
25
3.54
82
0.45
17HD6026N
2.4
2.2
1.4
422
59.77
25
3.54
82
0.45
17HDB003N
2.3
2.4
1.7
450
63.74
30
4.25
123
0.68
17HDB004N
1.6
1.6
2
450
63.74
30
4.25
123
0.68
2-PHASE
mNm
3.6˚
A
1.8˚
mH±20%
0.9˚
ohm±10%
Motor Wiring Diagram —> Page A-8
Mechanical Dimension
39.8 (1.57)
0.28 (0.62)
17HD4**N
34.3 (1.35).
0.21 (0.46)
17HD6**N
48.3 (1.90)
0.36 (0.79)
17HDB**N
62.8 (2.47)
0.60 (1.32)
HB MOTOR
17HD2**N
3-PHASE
Mass
kg (lb.)
1.2˚
L
mm (in.)
3.75˚
Model
Number
mm (inch)
DIGITAL LINEAR
ACTUATOR
Dynamic Torque Curves
17HD2011N
17HD2015N
Speed [r/min]
0
200
400
600
800
1000
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1.5A(Peak) 12V
1.5A(Peak) 24V
Speed [r/min]
1200
0
100
200
300
40
200
20
100
0
0
0
1000
2000
3000
Pulse rate [pps]
4000
60
400
300
40
200
20
100
0
0
0
200
400
600
800
1000
1200
Pull out torque [oz.in]
300
Pull out torque [mN.m]
60
400
Pull out torque [oz.in]
500
MOTOR
DRIVER
Pull out torque [mN.m]
500
0.5A(Peak) 12V
0.5A(Peak) 24V
INTERGRATED
STEPPING MOTOR
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pulse rate [pps]
A–27
17HD2018N
17HD2022N
Speed [r/min]
200
0.85A(Peak) 12V
0.85A(Peak) 24V
400
600
60
400
300
40
200
20
100
0
2000
0
500
1000
1500
60
40
200
20
100
0
0
200
400
ƶ1.53in.
(ƶ39mm)
600
0
40
200
20
100
ƶ2.22in.
(ƶ56.4mm)
1500
2000
2500
0
3000
200
400
600
500
Pull out torque [mN.m]
300
Pull out torque [oz.in]
60
60
400
300
40
200
20
100
0
0
500
Pulse rate [pps]
1000
1500
0
2000
Pulse rate [pps]
‡2.25in.
(‡57.2mm)
17HD2025N
17HD2026N
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
400
Speed [r/min]
0
600
200
400
1.0A(Peak) 12V
1.0A(Peak) 24V
600
500
500
60
400
300
40
ƶ3.35in.
(ƶ85mm)
200
20
100
0
0
500
1000
Pulse rate [pps]
1500
0
2000
Pull out torque [mN.m]
ƶ2.36in.
(ƶ60mm)
Speed [r/min]
200
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.25A(Peak) 12V
0.25A(Peak) 24V
Pull out torque [oz.in]
ƶ1.65in.
(ƶ42mm)
Pull out torque [mN.m]
1400
1.0A(Peak) 12V
1.0A(Peak) 24V
Speed [r/min]
800
0
Pull out torque [mN.m]
1200
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1.0A(Peak) 12V
1.0A(Peak) 24V
400
0
1000
60
400
300
40
200
20
100
0
0
500
1000
Pulse rate [pps]
1500
0
2000
Pull out torque [oz.in]
ƶ1.38in.
(ƶ35mm)
400
1000
800
17HD2024N
Speed [r/min]
500
600
Pulse rate [pps]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0
400
300
17HD2023N
200
300
400
Pulse rate [pps]
0
200
0
500
‡3.39in.
(‡86mm)
A–28
100
500
Pull out torque [mN.m]
ƶ1.10in.
(ƶ28mm)
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
0
500
0
0.5A(Peak) 12V
0.5A(Peak) 24V
Speed [r/min]
Pull out torque [oz.in]
0
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
Dynamic Torque Curves
17HD2027N
17HD2028N
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.25A(Peak) 12V
0.25A(Peak) 24V
0
400
600
40
200
20
100
Pull out torque [oz.in]
300
400
600
60
400
300
40
200
20
100
0
0
0
0
500
1000
1500
0
500
2000
1000
0
2000
1500
1.8˚
Pulse rate [pps]
Pulse rate [pps]
0.9˚
Pull out torque [mN.m]
60
400
200
0.28A(Peak) 12V
0.28A(Peak) 24V
500
500
Pull out torque [mN.m]
200
Speed [r/min]
Pull out torque [oz.in]
Speed [r/min]
0
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
2-PHASE
17HD4005-01N
200
400
600
1.1A(Peak) 12V
800
0
500
1000
1500
2000
2500
800
150
20
100
10
50
0
0
Pulse rate [pps]
500
1000
1500
2000
0
3000
2500
Pulse rate [pps]
17HD4025N
Speed [r/min]
0
100
200
300
400
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.25A(Peak) 12V
0.25A(Peak) 24V
Speed [r/min]
0.5A(Peak) 12V
0.5A(Peak) 24V
500
0
100
10
50
0
0
300
600
900
1200
Pulse rate [pps]
1500
0
1800
Pull out torque [mN.m]
20
Pull out torque [oz.in]
150
200
400
600
800
200
150
20
100
10
50
0
0
500
1000
1500
2000
0
3000
MOTOR
DRIVER
Pulse rate [pps]
2500
INTERGRATED
STEPPING MOTOR
Pull out torque [mN.m]
200
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
DIGITAL LINEAR
ACTUATOR
17HD4024N
3-PHASE
0
600
1.2˚
0
3000
0
Pull out torque [mN.m]
10
50
Pull out torque [oz.in]
100
400
HB MOTOR
20
200
200
3.75˚
Pull out torque [mN.m]
200
150
1.1A(Peak) 24V
Speed [r/min]
Pull out torque [oz.in]
0
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.6A(Peak) 12V
0.6A(Peak) 24V
Speed [r/min]
3.6˚
17HD4022-01N
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
A–29
17HD4026N
17HD4027N
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.22A(Peak) 12V
0.22A(Peak) 24V
200
400
600
100
10
50
0
0
500
1000
1500
2000
0
3000
2500
Pull out torque [mN.m]
20
200
400
20
10
50
0
0
1000
2000
0
800
100
200
300
400
500
1.0A(Peak) 12V
1.0A(Peak) 24V
600
700
500
ƶ1.65in.
(ƶ42mm)
300
40
200
20
100
ƶ2.22in.
(ƶ56.4mm)
0
0
500
1000
1500
2000
2500
Pull out torque [oz.in]
60
400
60
400
300
40
200
20
100
0
0
3000
0
500
1000
1500
‡2.25in.
(‡57.2mm)
17HD6017N
17HD6018N
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.8A(Peak) 12V
400
500
0
600
60
400
300
40
ƶ3.35in.
(ƶ85mm)
200
20
100
0
0
400
800
1200
Pulse rate [pps]
1600
0
2000
100
200
300
0.57A(Peak) 12V
0.57A(Peak) 24V
400
500
500
500
Pull out torque [mN.m]
300
Pull out torque [oz.in]
ƶ2.36in.
(ƶ60mm)
200
Speed [r/min]
0.8A(Peak) 24V
Speed [r/min]
100
0
2500
2000
Pulse rate [pps]
Pulse rate [pps]
0
Pull out torque [oz.in]
ƶ1.53in.
(ƶ39mm)
600
Speed [r/min]
60
400
300
40
200
20
100
0
0
0
500
1000
Pulse rate [pps]
1500
Pull out torque [oz.in]
ƶ1.38in.
(ƶ35mm)
400
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1.5A(Peak) 12V
1.5A(Peak) 24V
Speed [r/min]
Pull out torque [mN.m]
0
4000
3000
17HD6016N
500
‡3.39in.
(‡86mm)
A–30
1200
Pulse rate [pps]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [mN.m]
1000
100
17HD6012N
200
800
150
Pulse rate [pps]
0
600
200
Pull out torque [mN.m]
ƶ1.10in.
(ƶ28mm)
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
0
200
150
0.28A(Peak) 24V
Speed [r/min]
800
0.28A(Peak) 12V
Pull out torque [oz.in]
Speed [r/min]
0
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
Dynamic Torque Curves
17HD6019N
17HD6020N
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.25A(Peak) 12V
200
300
0
400
40
200
20
100
300
400
1200
60
400
300
40
200
20
100
0
1500
0
0
1600
0
800
Pull out torque [oz.in]
300
400
200
0
300
600
900
1200
1.8˚
Pulse rate [pps]
Pulse rate [pps]
0.9˚
Pull out torque [mN.m]
60
400
0
100
500
500
Pull out torque [mN.m]
100
1.0A(Peak) 12V
1.0A(Peak) 24V
Pull out torque [oz.in]
Speed [r/min]
0
Speed [r/min]
0.25A(Peak) 24V
2-PHASE
Speed [r/min]
100
200
300
400
0.3A(Peak) 12V
0.3A(Peak) 24V
500
600
0
200
20
100
0
800
1200
0
2000
1600
400
500
80
500
60
400
300
40
200
20
100
0
0
500
Pulse rate [pps]
1000
1500
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
2.0A(Peak) 12V
2.0A(Peak) 24V
600
800
1000
500
60
400
300
40
200
20
100
0
500
1000
1500
2000
Pulse rate [pps]
2500
3000
0
3500
500
1000
1500
250
30
200
150
20
100
10
50
0
INTERGRATED
STEPPING MOTOR
Pull out torque [mN.m]
0
80
1.4A(Peak) 12V
1.4A(Peak) 24V
Speed [r/min]
Pull out torque [mN.m]
400
600
Pull out torque [oz.in]
Speed [r/min]
0
DIGITAL LINEAR
ACTUATOR
17HD2032N
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
200
0
2000
Pulse rate [pps]
17HDB002N
0
600
3-PHASE
400
300
1.2˚
0
Pull out torque [mN.m]
40
Pull out torque [oz.in]
300
200
HB MOTOR
60
100
600
3.75˚
Pull out torque [mN.m]
500
400
1.5A(Peak) 12V
1.5A(Peak) 24V
Speed [r/min]
Pull out torque [oz.in]
0
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
3.6˚
17HDB001N
17HD6021N
0
0
1000
2000
3000
5000
MOTOR
DRIVER
Pulse rate [pps]
4000
A–31
17HD2033N
17HD4028N
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0
800
40
30
200
20
10
0
500
1000
1500
2000
0
3000
2500
25
150
20
15
100
10
50
5
0
0
0
1000
ƶ1.38in.
(ƶ35mm)
ƶ1.53in.
(ƶ39mm)
1000
2000
0
10
50
6000
8000
25
20
15
100
10
50
5
0
0
1000
2000
3000
4000
5000
Pulse rate [pps]
‡2.25in.
(‡57.2mm)
17HD4031N
17HD4032N
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0.4A(Peak) 12V
0.95A(Peak) 12V
1500
25
20
ƶ3.35in.
(ƶ85mm)
15
100
10
50
5
Pull out torque [mN.m]
200
150
100
200
300
400
500
600
150
20
100
10
50
0
0
0
0
1000
2000
3000
‡3.39in.
(‡86mm)
Pulse rate [pps]
4000
5000
700
200
Pull out torque [oz.in]
ƶ2.36in.
(ƶ60mm)
0
1000
0.4A(Peak) 24V
Speed [r/min]
0.95A(Peak) 24V
Speed [r/min]
Pull out torque [mN.m]
1500
150
Pulse rate [pps]
500
1000
0
0
10000
0
500
200
Pull out torque [mN.m]
100
Pull out torque [oz.in]
ƶ2.22in.
(ƶ56.4mm)
Pull out torque [mN.m]
ƶ1.65in.
(ƶ42mm)
20
1.2A(Peak) 24V
Speed [r/min]
3000
150
0
3000
1.2A(Peak) 12V
1.0A(Peak) 24V
Speed [r/min]
4000
2500
Conditions:Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.0A(Peak) 12V
2000
2000
17HD4030N
17HD4029N
0
1500
Pulse rate [pps]
200
A–32
500
Pulse rate [pps]
0
900
Pull out torque [oz.in]
0
600
0
500
1000
1500
Pulse rate [pps]
2000
0
2500
Pull out torque [oz.in]
ƶ1.10in.
(ƶ28mm)
100
300
200
Pull out torque [oz.in]
600
0.6A(Peak) 24V
Speed [r/min]
Pull out torque [mN.m]
400
300
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
200
0.6A(Peak) 12V
0.8A(Peak) 12V
0.8A(Peak) 24V
Speed [r/min]
0
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
Dynamic Torque Curves
17HD4033N
17HD6022N
Speed [r/min]
0
100
200
300
400
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0.3A(Peak) 12V
0.3A(Peak) 24V
500
Speed [r/min]
600
0
100
10
50
0
0
500
1000
0
2000
1500
400
600
800
1000
400
Pull out torque [mN.m]
Pull out torque [oz.in]
20
200
50
300
40
30
200
20
100
10
0.9˚
Pull out torque [mN.m]
200
150
1.2A(Peak) 12V
1.2A(Peak) 24V
Pull out torque [oz.in]
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0
0
0
1000
3000
1.8˚
Pulse rate [pps]
2000
Pulse rate [pps]
2-PHASE
17HD6024N
1.0A(Peak) 12V
1.0A(Peak) 24V
Speed [r/min]
300
600
0
900
2000
2500
40
250
30
200
150
20
100
10
50
0
0
3000
0
400
800
1200
Pulse rate [pps]
Pulse rate [pps]
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.4A(Peak) 12V
1.4A(Peak) 24V
0.8A(Peak) 12V
100
200
300
0.8A(Peak) 24V
400
500
Speed [r/min]
600
0
200
20
100
0
0
500
1000
Pulse rate [pps]
1500
0
2000
600
900
1200
400
Pull out torque [mN.m]
40
Pull out torque [oz.in]
300
300
300
40
200
20
100
0
0
1000
2000
3000
INTERGRATED
STEPPING MOTOR
Pull out torque [mN.m]
400
Pull out torque [oz.in]
Speed [r/min]
DIGITAL LINEAR
ACTUATOR
17HD6026N
17HD6025N
0
0
1600
1.2˚
1500
Pull out torque [oz.in]
100
1000
400
3-PHASE
Pull out torque [mN.m]
20
500
300
HB MOTOR
200
0
200
3.75˚
40
0
100
300
400
300
0.4A(Peak) 12V
0.4A(Peak) 24V
Speed [r/min]
Pull out torque [mN.m]
0
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Pull out torque [oz.in]
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
3.6˚
17HD6022N
0
4000
Pulse rate [pps]
MOTOR
DRIVER
A–33
17HDB004N
17HDB003N
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.5A(Peak) 24V
Speed [r/min]
0
400
600
800
Speed [r/min]
0
1000
300
600
900
1200
1500
2.0A(Peak) 12V
2.0A(Peak) 24V
1800
40
200
20
ƶ1.10in.
(ƶ28mm)
100
0
0
500
1000
1500
2000
Pulse rate [pps]
2500
3000
0
3500
60
400
300
40
200
20
100
0
0
1000
2000
3000
4000
Pulse rate [pps]
5000
0
6000
Pull out torque [oz.in]
300
Pull out torque [mN.m]
500
400
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
ƶ1.38in.
(ƶ35mm)
ƶ1.53in.
(ƶ39mm)
ƶ1.65in.
(ƶ42mm)
ƶ2.22in.
(ƶ56.4mm)
‡2.25in.
(‡57.2mm)
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–34
200
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.5A(Peak) 12V
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
23HS SERIES 1.8°
Key Features
■ High Torque
■ High Accuracy
■ Smooth Movement
0.9˚
General Specifications
Bi-polar
Model
Number
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
1.2
2.3
2.1
500
70.82
22
3.12
135
0.74
135
0.74
3.12
135
0.74
23HS0406
1.6
4.3
1.5
500
70.82
22
3.12
135
0.74
23HS0411
0.65
1.3
2
390
55.22
22
3.12
135
0.74
23HS0412
11.4
22.4
0.71
480
67.97
22
3.12
135
0.74
23HS0413
4.3
10
1
500
70.82
22
3.12
135
0.74
23HS1407
2.7
7
1.5
850
120.40
32
4.53
220
1.21
23HS1408
1.5
3.7
2
850
120.40
32
4.53
220
1.21
23HS2403
2
6.4
2
1100
155.81
40
5.66
260
1.43
23HS2409-01
0.85
2.7
3
1000
141.64
40
5.66
260
1.43
23HS2416-03
1.0
3.1
2.6
1000
141.64
40
5.66
260
1.43
23HS2420-01
1.54
4.6
1.8
900
127.48
40
5.66
260
1.43
23HS2428
0.62
2
2.8
900
127.48
40
5.66
260
1.43
23HS2434
14
43
0.7
1000
141.64
40
5.66
260
1.43
23HS2438
5.6
20.4
1.15
1100
155.81
40
5.66
260
1.43
23HS2443
3.4
9.2
1.5
1000
141.64
40
5.66
260
1.43
23HS3409
1
3.36
3
1650
233.71
70
9.91
460
2.53
23HS3431-02
1.2
4
2.8
1650
233.71
70
9.91
460
2.53
23HS3432-02
2
7.5
2.1
1650
233.71
70
9.91
460
2.53
23HS3434
4.2
17
1.4
1650
233.71
70
9.91
460
2.53
23HS3442
7.9
27
1
1500
212.46
70
9.91
460
2.53
23HS3443
17.2
62
0.7
1650
233.71
70
9.91
460
2.53
23HS4401-09
1.0
2.4
2.4
700
99.15
28
3.96
180
0.99
23HS4402
0.65
1.6
3
700
99.15
28
3.96
180
0.99
23HS4404
1.7
4.2
2.1
750
106.23
28
3.96
180
0.99
23HS5402-08
0.5
1.8
6
2700
382.44
120
17.00
750
4.13
2
7.2
3
2700
382.44
120
17.00
750
4.13
23HS5408
HB MOTOR
3.12
22
INTERGRATED
STEPPING MOTOR
22
70.82
DIGITAL LINEAR
ACTUATOR
70.82
500
3-PHASE
500
2.5
2-PHASE
1.3
1.75
1.2˚
7
0.75
3.75˚
2.8
23HS0404-01
3.6˚
23HS0403-02
1.8˚
23HS0402-02
Resistance Inductance Rated
per Phase per Phase Current
MOTOR
DRIVER
A–35
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
23HS0602-02
5.7
6.0
1
390
55.22
22
3.12
135
0.74
23HS0603
1.4
1.6
2
400
56.64
22
3.12
135
0.74
23HS0605
4.9
6.0
1
400
56.64
22
3.12
135
0.74
23HS0609
0.6
0.6
3
380
53.81
22
3.12
135
0.74
23HS0611
2.2
2.2
1.5
380
53.81
22
3.12
135
0.74
23HS1602
1.65
2.47
2.1
700
99.12
32
4.53
260
1.43
23HS1604
6.3
12
1.0
680
96.29
32
4.53
220
1.21
23HS1605
2.75
3.7
1.5
660
93.46
32
4.53
220
1.21
23HS1606
1
1.4
2.7
700
99.12
32
4.53
260
1.43
23HS2602-03
0.75
1.12
3
800
113.31
40
5.66
260
1.43
23HS2603-06
1.8
2.7
2
800
113.31
40
5.66
260
1.43
23HS2611-03
7.4
12.5
1
850
120.40
40
5.66
260
1.43
23HS2619
3.4
5.5
1.5
800
113.31
40
5.66
260
1.43
23HS3604-02
4.1
7.6
1.5
1300
184.14
70
9.91
460
2.53
23HS3605-06
2.25
4.6
2
1200
169.97
70
9.91
460
2.53
23HS3606-04
1
2.1
3
1200
169.97
70
9.91
460
2.53
23HS3607-01
8.6
17
1
1200
169.97
70
9.91
460
2.53
1
1.8
4.3
2000
283.29
120
17.00
760
4.13
ƶ0.39in.
(ƶ10mm)
ohm
ƶ1.38in.
(ƶ35mm)
Model
Number
ƶ1.10in.
(ƶ28mm)
HYBRID STEPPING MOTORS
Uni-polar
ƶ1.53in.
(ƶ39mm)
23HS5604
Motor Wiring Diagram —> Page A-8
ƶ1.65in.
(ƶ42mm)
ƶ2.22in.
(ƶ56.4mm)
‡2.25in.
(‡57.2mm)
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–36
Mechanical Dimension
Model
Number
L
Mass
mm (in.)
kg (lb.)
23HS0**
41 (1.61) .
0.42 (0.93)
23HS1**
50 (1.97)
0.55 (1.21)
23HS2**
54 (2.13) .
0.60 (1.32)
23HS3**
76 (2.99) .
1.00 (2.20)
23HS4**
45 (1.77) .
0.48 (1.06)
23HS5**
111 (4.37) .
1.50 (3.30)
mm (inch)
HYBRID STEPPING MOTORS
Dynamic Torque Curves
23HS0402-02
23HS0403-02
Conditions: Bi-polar Constant Current Driver
IC:
AMA MS3540M
Mode:
Full Step
Conditions: Bi-polar Constant Current Driver
IC:
AMA MS3540M
Mode:
Full Step
2.1A(Peak) 24V
2.1A(Peak) 36V
1000
200
20
100
1000
2000
3000
4000
5000
Pull out torque [oz.in]
Pull out torque [mN.m]
40
0
1000
1500
0
6000
60
400
300
40
200
20
100
0
0
1000
2000
3000
4000
0.9˚
300
500
500
60
400
0
0
1500
500
Pull out torque [mN.m]
500
Pull out torque [oz.in]
Speed [r/min]
0
1.3A(Peak) 24V
1.3A(Peak) 36V
Speed [r/min]
0
6000
5000
Pulse rate [pps]
Pulse rate [pps]
1.8˚
2-PHASE
23HS0406
Conditions: Bi-polar Constant Current Driver
IC:
AMA MS3540M
Mode:
Full Step
0
500
Conditions: Bi-polar Constant Current Driver
IC:
AMA MS3540M
Mode:
Full Step
2.5A(Peak) 24V
Speed [r/min]
2.5A(Peak) 36V
1000
1.5A(Peak) 24V
1.5A(Peak) 36V
Speed [r/min]
1500
0
500
500
1000
1500
20
100
0
0
1000
2000
3000
4000
5000
0
6000
300
40
200
20
100
0
0
1000
2000
4000
5000
0
6000
Pulse rate [pps]
1.2˚
23HS0412
Conditions: Bi-polar Constant Current Driver
IC:
AMA MS3540M
Mode:
Full Step
Speed [r/min]
0
500
1000
Conditions: Bi-polar Constant Current Driver
IC:
AMA MS3540M
Mode:
Full Step
2.0A(Peak) 24V
2.0A(Peak) 36V
1500
0
500
500
1000
40
200
20
100
0
0
1000
2000
3000
4000
Pulse rate [pps]
5000
0
6000
60
400
300
40
200
20
100
0
0
500
1000
1500
2000
2500
3000
3500
Pull out torque [oz.in]
300
Pull out torque [mN.m]
60
400
Pull out torque [oz.in]
500
INTERGRATED
STEPPING MOTOR
Pull out torque [mN.m]
0.7A(Peak) 24V
0.7A(Peak) 36V
Speed [r/min]
DIGITAL LINEAR
ACTUATOR
23HS0411
3-PHASE
Pulse rate [pps]
3000
Pull out torque [oz.in]
200
Pull out torque [mN.m]
40
60
400
HB MOTOR
300
Pull out torque [oz.in]
500
60
400
3.75˚
Pull out torque [mN.m]
3.6˚
23HS0404-01
0
4000
Pulse rate [pps]
MOTOR
DRIVER
A–37
23HS0413
23HS1407
Speed [r/min]
0
500
1000
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1.0A(Peak) 24V
1.0A(Peak) 36V
0
40
200
20
100
0
2000
3000
4000
200
300
400
500
600
700
140
120
800
100
600
80
60
400
40
200
20
0
0
Pulse rate [pps]
500
1000
1500
0
2500
2000
Pulse rate [pps]
23HS1408
23HS2403
500
Speed [r/min]
1000
1500
0
140
120
800
100
600
80
60
400
40
200
20
0
ƶ2.22in.
(ƶ56.4mm)
1000
2000
3000
4000
0
5000
500
120
800
100
600
80
60
400
40
200
20
0
0
1000
2000
‡2.25in.
(‡57.2mm)
ƶ3.35in.
(ƶ85mm)
Pull out torque [mN.m]
ƶ2.36in.
(ƶ60mm)
1000
0
6000
120
800
100
600
80
60
400
40
200
20
0
3000
4000
Pulse rate [pps]
5000
2.6A(Peak) 36V
Speed [r/min]
0
500
1000
1500
1000
140
2000
5000
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
2.6A(Peak) 24V
1500
1000
1000
4000
23HS2416-03
Conditions: Bi-polar Constant Current Driver
IC:
AMA MS3540M
Mode:
Full Step
3.0A(Peak) 24V
3.0A(Peak) 36V
Speed [r/min]
0
3000
Pulse rate [pps]
23HS2409-01
500
1500
140
Pulse rate [pps]
0
1000
1000
0
6000
Pull out torque [mN.m]
ƶ1.65in.
(ƶ42mm)
Pull out torque [mN.m]
1000
0
2.0A(Peak) 24V
2.0A(Peak) 36V
2.0A(Peak) 36V
Speed [r/min]
0
Conditions: Bi-polar Constant Current Driver
IC:
AMA MS3540M
Mode:
Full Step
Pull out torque [mN.m]
ƶ1.53in.
(ƶ39mm)
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
2.0A(Peak) 24V
Pull out torque [oz.in]
ƶ1.38in.
(ƶ35mm)
‡3.39in.
(‡86mm)
A–38
1000
0
5000
Pull out torque [oz.in]
ƶ1.10in.
(ƶ28mm)
0
100
1000
Pull out torque [mN.m]
300
Pull out torque [oz.in]
400
Pull out torque [oz.in]
ƶ0.39in.
(ƶ10mm)
Pull out torque [mN.m]
500
60
1.5A(Peak) 24V
1.5A(Peak) 36V
Speed [r/min]
1500
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
140
120
800
100
600
80
60
400
40
200
20
0
0
1000
2000
3000
4000
Pulse rate [pps]
5000
0
6000
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
Dynamic Torque Curves
23HS2420-01
23HS2428
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
2.8A(Peak) 24V
2.8A(Peak) 36V
1.8A(Peak) 24V
1.8A(Peak) 36V
0
500
1000
1500
1000
0
100
600
80
60
400
40
200
20
0
0
1000
2000
3000
4000
5000
0
6000
Pull out torque [mN.m]
800
Pull out torque [oz.in]
120
500
1000
1500
1000
140
140
120
800
100
600
80
60
400
40
200
20
0
0
1000
2000
Pulse rate [pps]
3000
4000
5000
0.9˚
Pull out torque [mN.m]
Speed [r/min]
Pull out torque [oz.in]
Speed [r/min]
0
6000
Pulse rate [pps]
1.8˚
2-PHASE
23HS2438
Speed [r/min]
500
1000
0
1500
500
500
50
0
1000
2000
3000
4000
Pull out torque [mN.m]
100
0
5000
120
800
100
600
80
60
400
40
200
20
0
0
1000
2000
100
500
50
0
400
600
Pulse rate [pps]
800
0
1000
1000
1500
1500
Pull out torque [mN.m]
1000
500
200
150
1000
100
500
50
0
0
1000
2000
3000
4000
5000
0
6000
INTERGRATED
STEPPING MOTOR
150
Pull out torque [oz.in]
0
200
200
Speed [r/min]
1000
1500
3.0A(Peak) 24V
3.0A(Peak) 36V
DIGITAL LINEAR
ACTUATOR
500
Conditions:Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
3-PHASE
23HS3409
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.7A(Peak) 24V
0.7A(Peak) 36V
Speed [r/min]
0
1.2˚
23HS3443
0
0
4000
3000
Pulse rate [pps]
Pulse rate [pps]
HB MOTOR
1000
140
3.75˚
150
Pull out torque [oz.in]
200
0
Pull out torque [mN.m]
1000
1000
1500
Pull out torque [mN.m]
1.4A(Peak) 24V
1.4A(Peak) 36V
Pull out torque [oz.in]
0
Conditions: Bi-polar Constant Current Driver
IC:
AMA MS3540M
Mode:
Full Step
1.15A(Peak) 24V
1.15A(Peak) 36V
Speed [r/min]
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC:
AMA MS3540M
Mode:
Full Step
3.6˚
23HS3434
Pulse rate [pps]
MOTOR
DRIVER
A–39
23HS3431-02
23HS3432-02
500
1000
500
50
2000
3000
4000
5000
0
6000
200
150
1000
100
500
50
0
0
1000
2000
ƶ1.38in.
(ƶ35mm)
23HS3434
23HS3442
Speed [r/min]
500
1000
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1.4A(Peak) 24V
1.4A(Peak) 36V
Speed [r/min]
0
1500
500
1.0A(Peak) 24V
1.0A(Peak) 36V
1000
1500
1500
200
ƶ1.65in.
(ƶ42mm)
150
1000
100
500
50
0
ƶ2.22in.
(ƶ56.4mm)
0
1000
2000
3000
4000
Pull out torque [mN.m]
ƶ1.53in.
(ƶ39mm)
Conditions: Bi-polar Constant Current Driver
IC:
AMA MS3540M
Mode:
Full Step
Pull out torque [mN.m]
0
5000
4000
Pulse rate [pps]
Pulse rate [pps]
0
3000
0
5000
200
150
1000
100
500
50
0
0
1000
‡2.25in.
(‡57.2mm)
23HS3443
23HS4401-09
ƶ2.36in.
(ƶ60mm)
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.7A(Peak) 24V
0.7A(Peak) 36V
Speed [r/min]
500
150
1000
100
ƶ3.35in.
(ƶ85mm)
500
50
0
400
2.4A(Peak) 24V
600
Pulse rate [pps]
800
2.4A(Peak) 36V
Speed [r/min]
200
200
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1000
1500
0
0
4000
3000
Pulse rate [pps]
Pulse rate [pps]
0
2000
0
1000
0
200
400
600
800
1000
140
120
800
100
600
80
60
400
40
200
20
0
0
0
500
1000
1500
2000
Pulse rate [pps]
‡3.39in.
(‡86mm)
A–40
1500
Pull out torque [oz.in]
1000
Pull out torque [mN.m]
ƶ1.10in.
(ƶ28mm)
0
Pull out torque [mN.m]
100
500
Pull out torque [oz.in]
150
1000
0
Pull out torque [mN.m]
1000
1500
200
Pull out torque [oz.in]
ƶ0.39in.
(ƶ10mm)
Pull out torque [mN.m]
0
1500
1500
2500
3000
Pull out torque [oz.in]
0
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
2.1A(Peak) 24V
2.1A(Peak) 36V
Speed [r/min]
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
2.8A(Peak) 24V
2.8A(Peak) 36V
Speed [r/min]
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
Dynamic Torque Curves
23HS4402
23HS4404
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
3.0A(Peak) 24V
3.0A(Peak) 36V
0
500
1000
1000
0
100
600
80
60
400
40
200
20
0
0
1000
2000
3000
4000
0
6000
5000
500
2.1A(Peak) 36V
1000
1500
1000
Pull out torque [mN.m]
120
800
Pull out torque [oz.in]
140
140
120
800
100
600
80
60
400
40
200
20
0
0
1000
2000
Pulse rate [pps]
3000
4000
0.9˚
Pull out torque [mN.m]
2.1A(Peak) 24V
Speed [r/min]
1500
Pull out torque [oz.in]
Speed [r/min]
0
6000
5000
Pulse rate [pps]
1.8˚
2-PHASE
23HS5408
Speed [r/min]
0
500
1000
1500
2000
6.0A(Peak) 24V
6.0A(Peak) 36V
0
150
1000
100
500
50
0
Pull out torque [mN.m]
200
Pull out torque [oz.in]
1500
0
0
2000
4000
6000
1500
350
300
250
200
150
1000
100
500
50
0
0
8000
1000
2000
3000
4000
0
5000
1.2˚
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.0A(Peak) 24V
1.0A(Peak) 36V
Speed [r/min]
1000
2.0A(Peak) 24V
2.0A(Peak) 36V
Speed [r/min]
1500
0
500
500
1000
DIGITAL LINEAR
ACTUATOR
23HS0603
3-PHASE
Pulse rate [pps]
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1500
40
200
20
100
0
0
1000
2000
3000
Pulse rate [pps]
4000
0
5000
60
400
300
40
200
20
100
0
0
1000
2000
3000
4000
5000
Pull out torque [oz.in]
300
Pull out torque [mN.m]
60
400
Pull out torque [oz.in]
500
INTERGRATED
STEPPING MOTOR
Pull out torque [mN.m]
1250
1500
23HS0602-02
500
3.0A(Peak) 36V
1000
2000
Pulse rate [pps]
0
750
3.75˚
250
500
HB MOTOR
300
250
2500
350
2000
3.0A(Peak) 24V
Speed [r/min]
2500
2500
Pull out torque [mN.m]
Conditions:Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
3.6˚
23HS5402-08
0
6000
Pulse rate [pps]
MOTOR
DRIVER
A–41
23HS0605
23HS0609
Conditions: Uni-polar Constant Current Driver
IC:
AMA MSU3040M
Mode:
Full Step
1.0A(Peak) 24V
1.0A(Peak) 36V
Speed [r/min]
0
1000
1500
0
1000
3000
20
100
1000
2000
3000
4000
5000
0
6000
300
40
200
20
100
0
0
2000
4000
0
10000
8000
ƶ1.38in.
(ƶ35mm)
23HS1602
23HS0611
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.5A(Peak) 24V
1.5A(Peak) 36V
Speed [r/min]
500
1000
0
1500
2.1A(Peak) 24V
2.1A(Peak) 36V
Speed [r/min]
500
1000
40
200
20
100
0
ƶ2.22in.
(ƶ56.4mm)
0
1000
2000
3000
4000
0
5000
800
100
600
400
50
200
0
0
0
1000
‡2.25in.
(‡57.2mm)
23HS1604
ƶ2.36in.
(ƶ60mm)
500
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.5A(Peak) 24V
Speed [r/min]
1000
0
1000
800
100
600
400
ƶ3.35in.
(ƶ85mm)
50
200
0
0
1000
3000
23HS1605
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.0A(Peak) 24V
1.0A(Peak) 36V
Speed [r/min]
0
2000
Pulse rate [pps]
Pulse rate [pps]
2000
Pulse rate [pps]
3000
0
4000
1.5A(Peak) 36V
500
1000
Pull out torque [mN.m]
ƶ1.65in.
(ƶ42mm)
300
Pull out torque [mN.m]
60
400
Pull out torque [oz.in]
1000
500
800
100
600
400
50
200
0
0
1000
2000
Pulse rate [pps]
0
3000
Pull out torque [oz.in]
ƶ1.53in.
(ƶ39mm)
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0
6000
Pulse rate [pps]
Pull out torque [oz.in]
ƶ1.10in.
(ƶ28mm)
0
60
400
Pull out torque [oz.in]
40
200
Pull out torque [mN.m]
300
Pull out torque [oz.in]
60
400
Pulse rate [pps]
Pull out torque [mN.m]
2000
500
0
Pull out torque [mN.m]
3.0A(Peak) 24V
3.0A(Peak) 36V
Speed [r/min]
500
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
‡3.39in.
(‡86mm)
A–42
500
Conditions: Uni-polar Constant Current Driver
IC:
AMA MSU3040M
Mode:
Full Step
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
Dynamic Torque Curves
23HS2602-03
23HS1606
Conditions: Uni-polar Constant Current Driver
IC:
AMA MSU3040M
Mode:
Full Step
2.7A(Peak) 24V
2.7A(Peak) 36V
Speed [r/min]
0
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
500
0
1000
500
1000
400
50
200
0
Pull out torque [mN.m]
600
0
0
1000
2000
3000
800
100
600
400
50
200
0
0
0
4000
0.9˚
100
Pull out torque [oz.in]
800
Pull out torque [oz.in]
1000
1000
Pull out torque [mN.m]
3.0A(Peak) 24V
3.0A(Peak) 36V
Speed [r/min]
1000
2000
3000
4000
Pulse rate [pps]
Pulse rate [pps]
1.8˚
2-PHASE
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
500
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
2.0A(Peak) 24V
2.0A(Peak) 36V
Speed [r/min]
0
1000
1500
0
2000
500
1000
400
50
200
0
1000
2000
3000
4000
5000
6000
0
7000
800
100
600
400
50
200
0
0
0
1000
Speed [r/min]
Speed [r/min]
0
400
500
600
400
50
200
0
0
500
1000
Pulse rate [pps]
1500
0
2000
400
200
150
1000
100
500
50
0
0
300
600
900
1200
INTERGRATED
STEPPING MOTOR
100
600
Pull out torque [oz.in]
1000
800
200
1500
Pull out torque [mN.m]
300
1.5A(Peak) 24V
1.5A(Peak) 36V
DIGITAL LINEAR
ACTUATOR
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
3-PHASE
23HS3604-02
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.5A(Peak) 24V
1.5A(Peak) 36V
200
1.2˚
23HS2619
100
3000
Pulse rate [pps]
Pulse rate [pps]
0
2000
Pull out torque [oz.in]
0
Pull out torque [mN.m]
600
Pull out torque [oz.in]
100
HB MOTOR
800
Pull out torque [oz.in]
1000
3.75˚
Pull out torque [mN.m]
1.0A(Peak) 24V
1.0A(Peak) 36V
Speed [r/min]
1000
Pull out torque [mN.m]
3.6˚
23HS2611-03
23HS2603-06
0
1500
Pulse rate [pps]
MOTOR
DRIVER
A–43
23HS3605-06
23HS3606-04
200
300
400
500
600
100
500
0
500
1000
0
2000
1500
Pull out torque [mN.m]
1000
150
100
500
50
0
0
ƶ1.38in.
(ƶ35mm)
ƶ1.53in.
(ƶ39mm)
500
750
ƶ1.65in.
(ƶ42mm)
Pull out torque [mN.m]
1500
2000
0
2500
100
500
50
0
ƶ2.22in.
(ƶ56.4mm)
2000
Pulse rate [pps]
2500
3000
0
3500
4.3A(Peak) 24V
4.3A(Peak) 36V
Speed [r/min]
0
150
1000
1500
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU8080M
Mode:Full Step
1000
200
1000
1000
23HS5604
1500
500
500
Pulse rate [pps]
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.0A(Peak) 24V
1.0A(Peak) 36V
Speed [r/min]
0
750
200
23HS3607-01
250
500
1000
Pulse rate [pps]
0
250
1500
500
1000
1500
2000
Pull out torque [mN.m]
ƶ1.10in.
(ƶ28mm)
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
‡2.25in.
(‡57.2mm)
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–44
200
Pull out torque [oz.in]
0
1500
0
3.0A(Peak) 24V
3.0A(Peak) 36V
Speed [r/min]
250
1500
200
150
1000
100
500
50
0
0
1000
2000
3000
4000
Pulse rate [pps]
5000
0
6000
Pull out torque [oz.in]
100
2.0A(Peak) 24V
2.0A(Peak) 36V
Speed [r/min]
0
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Pull out torque [oz.in]
Conditions:Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
23HM SERIES 1.8°
Key Features
■ Low Noise
■ Low Inertia
■ High Acceleration
General Specifications
0.9˚
Bi-polar
Resistance Inductance Rated
per Phase per Phase Current
Model
Number
Holding
Torque
Detent
Torque
Rotor
Inertia
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
23HM0401-01
1.8
3.2
1.5
420
59.49
25
3.54
100
0.55
23HM0402-01
0.85
1.5
2.2
420
59.49
25
3.54
100
0.55
5.6
1.5
650
92.07
45
6.37
175
0.96
1.2
2.6
2.2
650
92.07
45
6.37
175
0.96
23HM2403-01
1.4
3.1
2.2
900
127.48
52
7.37
210
1.16
23HM2404-01
0.7
1.4
3.1
900
127.48
52
7.37
210
1.16
23HM4401-01
1.7
4.7
2.2
1250
177.05
88
1246
360
1.98
23HM4402-01
0.85
2.4
3.1
1250
177.05
88
12.46
360
1.98
2-PHASE
2.6
23HM1403-01
3.6˚
23HM1402-01
1.8˚
ohm
Motor Wiring Diagram —> Page A-8
mm (in.)
kg (lb.)
23HM0**
40 (1.56)
0.36 (0.79)
23HM1**
51 (1.99)
0.52 (1.14)
23HM2**
55 (2.15)
0.60 (1.32)
23HM4**
76 (2.96)
0.90 (1.98)
HB MOTOR
Mass
DIGITAL LINEAR
ACTUATOR
mm (inch)
3-PHASE
L
1.2˚
Model
Number
3.75˚
Mechanical Dimension
INTERGRATED
STEPPING MOTOR
MOTOR
DRIVER
A–45
23HM0401-01
23HM0402-01
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1.5A(Peak) 24V
1.5A(Peak) 36V
0
1500
60
400
300
40
200
0
1000
2000
3000
4000
300
20
100
0
1000
2000
4000
ƶ1.38in.
(ƶ35mm)
1500
2.2A(Peak) 24V
2.2A(Peak) 36V
Speed [r/min]
0
2000
500
1000
1500
2000
600
80
400
40
200
ƶ2.22in.
(ƶ56.4mm)
0
0
1000
2000
3000
4000
5000
6000
Pull out torque [oz.in]
ƶ1.65in.
(ƶ42mm)
120
800
120
800
600
80
400
40
200
0
0
7000
0
1000
2000
3000
4000
5000
‡2.25in.
(‡57.2mm)
23HM2403-01
23HM2404-01
Conditions:Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
3.1A(Peak) 24V
3.1A(Peak) 36V
2.2A(Peak) 24V
1000
1500
Speed [r/min]
2000
0
1000
600
80
ƶ3.35in.
(ƶ85mm)
400
40
200
0
0
0
2000
4000
Pulse rate [pps]
6000
500
1000
1500
2000
1000
Pull out torque [mN.m]
120
800
Pull out torque [oz.in]
ƶ2.36in.
(ƶ60mm)
2.2A(Peak) 36V
Speed [r/min]
500
0
7000
Pulse rate [pps]
Pulse rate [pps]
0
6000
Pull out torque [oz.in]
1000
120
800
600
80
400
40
200
0
0
0
2000
4000
Pulse rate [pps]
6000
Pull out torque [oz.in]
ƶ1.53in.
(ƶ39mm)
1000
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1.5A(Peak) 24V
1.5A(Peak) 36V
Speed [r/min]
Pull out torque [mN.m]
5000
23HM1403-01
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [mN.m]
3000
Pulse rate [pps]
1000
‡3.39in.
(‡86mm)
A–46
0
6000
0
0
6000
5000
40
200
23HM1402-01
500
1500
60
Pulse rate [pps]
0
1000
400
Pull out torque [mN.m]
ƶ1.10in.
(ƶ28mm)
20
100
0
500
500
Pull out torque [mN.m]
1000
500
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
500
2.2A(Peak) 24V
2.2A(Peak) 36V
Speed [r/min]
Pull out torque [oz.in]
Speed [r/min]
0
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
Dynamic Torque Curves
23HM4401-01
23HM4402-01
2.2A(Peak) 24V
2.2A(Peak) 36V
Speed [r/min]
0
500
1000
1500
0
1000
2000
3000
50
0
0
0
2000
4000
150
1000
100
500
50
0
0
2000
4000
6000
Pulse rate [pps]
8000
0
10000
1.8˚
Pulse rate [pps]
6000
Pull out torque [mN.m]
100
500
200
0.9˚
150
1000
Pull out torque [oz.in]
1500
200
3.1A(Peak) 24V
3.1A(Peak) 36V
Speed [r/min]
2000
1500
Pull out torque [mN.m]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
2-PHASE
3.6˚
HB MOTOR
3.75˚
3-PHASE
1.2˚
DIGITAL LINEAR
ACTUATOR
INTERGRATED
STEPPING MOTOR
MOTOR
DRIVER
A–47
HYBRID STEPPING MOTORS
ƶ0.39in.
(ƶ10mm)
ƶ1.10in.
(ƶ28mm)
ƶ1.38in.
(ƶ35mm)
ƶ1.53in.
(ƶ39mm)
ƶ1.65in.
(ƶ42mm)
ƶ2.22in.
(ƶ56.4mm)
‡2.25in.
(‡57.2mm)
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–48
23HY SERIES 1.8°
Key Features
■ High Accuracy
■ Low Inertia
■ High Acceleration
General Specifications
Bi-polar
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
23HY0407-01
1.5
2.5
1.5
350
49.58
18
2.55
55
0.30
23HY0414
3.5
6.4
1
350
49.58
18
2.55
55
0.30
23HY1411
4.5
12.2
1
630
89.24
35
4.96
120
0.66
23HY1413-01
2.5
5.4
1.4
630
89.24
35
4.96
120
0.66
23HY2416
7
14.5
1
730
103.40
42
5.95
145
0.80
23HY2417
3
6.4
1.5
730
103.40
42
5.95
145
0.80
Uni-polar
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
23HY0601
1.5
1.5
1.5
300
42.49
18
2.55
55
0.30
23HY0602
3.6
3.6
1
300
42.29
18
2.55
55
0.30
23HY1602
2.5
3.5
1.4
500
70.82
35
4.96
120
0.66
5
6.5
1
500
70.82
35
4.96
120
0.66
23HY2602
2.5
3
1.6
600
84.99
42
5.95
145
0.80
23HY2609
7
8.5
1
600
84.99
42
5.95
145
0.80
23HY1615-08
Motor Wiring Diagram —> Page A-8
Mechanical Dimension
L
Mass
mm (in.)
kg (lb.)
23HY0**
40 (1.56)
0.36 (0.79)
23HY1**
51 (1.99)
0.52 (1.14)
23HY2**
55 (2.15)
0.60 (1.32)
Model
Number
mm (inch)
HYBRID STEPPING MOTORS
Dynamic Torque Curves
23HY0407-01
23HY0414
Speed [r/min]
0
500
1000
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1.5A(Peak) 24V
1.5A(Peak) 36V
1.0A(Peak) 24V
1500
0
40
200
20
100
0
0
1000
2000
3000
4000
1000
1500
500
Pull out torque [mN.m]
300
Pull out torque [oz.in]
60
500
0
5000
60
400
300
40
200
20
100
0
0
1000
2000
4000
0
5000
1.8˚
Pulse rate [pps]
3000
0.9˚
Pull out torque [mN.m]
500
400
1.0A(Peak) 36V
Speed [r/min]
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pulse rate [pps]
2-PHASE
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1.4A(Peak) 24V
1.4A(Peak) 36V
1.0A(Peak) 24V
1.0A(Peak) 36V
Speed [r/min]
500
1000
Speed [r/min]
0
1500
500
1000
1500
400
40
200
2000
3000
4000
0
5000
1000
2000
3000
4000
Pulse rate [pps]
Pulse rate [pps]
23HY2417
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1.5A(Peak) 24V
1.0A(Peak) 24V
400
800
0
1200
500
1000
1500
400
40
200
0
0
1000
2000
Pulse rate [pps]
3000
0
4000
600
80
400
40
200
0
0
1000
2000
3000
4000
Pull out torque [oz.in]
80
Pull out torque [oz.in]
600
120
800
INTERGRATED
STEPPING MOTOR
120
800
Pull out torque [mN.m]
1000
1000
Pull out torque [mN.m]
1.5A(Peak) 36V
Speed [r/min]
1.0A(Peak) 36V
Speed [r/min]
DIGITAL LINEAR
ACTUATOR
23HY2416
0
0
5000
1.2˚
1000
40
200
0
0
0
80
400
3-PHASE
0
600
Pull out torque [oz.in]
80
Pull out torque [mN.m]
600
120
800
HB MOTOR
120
800
Pull out torque [oz.in]
1000
1000
3.75˚
Pull out torque [mN.m]
0
3.6˚
23HY1413-01
23HY1411
0
5000
Pulse rate [pps]
MOTOR
DRIVER
A–49
23HY0601
23HY0602
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
500
1000
1.5A(Peak) 36V
1500
1.0A(Peak) 36V
Speed [r/min]
0
2000
500
1000
1500
100
15
0
2000
4000
40
200
20
100
0
0
8000
6000
300
0
1000
2000
3000
0
5000
4000
Pulse rate [pps]
Pulse rate [pps]
23HY1615-08
ƶ1.53in.
(ƶ39mm)
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.4A(Peak) 24V
0
300
600
0
900
200
60
400
40
200
20
ƶ2.22in.
(ƶ56.4mm)
0
500
1000
1500
2000
2500
3000
Pull out torque [mN.m]
80
0
600
800
60
400
40
200
20
0
0
3500
0
500
1500
2000
2500
0
3000
‡2.25in.
(‡57.2mm)
23HY2609
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.6A(Peak) 24V
ƶ2.36in.
(ƶ60mm)
400
600
Conditions:Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.0A(Peak) 24V
1.6A(Peak) 36V
Speed [r/min]
200
1000
Pulse rate [pps]
23HY2602
0
1.0A(Peak) 24V
1.0A(Peak) 36V
80
Pulse rate [pps]
800
1000
1.0A(Peak) 36V
Speed [r/min]
0
1200
500
1000
1500
1000
1000
ƶ3.35in.
(ƶ85mm)
Pull out torque [mN.m]
400
600
800
100
600
400
50
200
0
0
1000
2000
Pulse rate [pps]
3000
0
4000
Pull out torque [mN.m]
ƶ1.65in.
(ƶ42mm)
Pull out torque [mN.m]
Speed [r/min]
1.4A(Peak) 36V
Speed [r/min]
120
800
600
80
400
40
200
0
0
1000
2000
3000
Pulse rate [pps]
4000
0
5000
Pull out torque [oz.in]
ƶ1.38in.
(ƶ35mm)
23HY1602
Pull out torque [oz.in]
0
Pull out torque [mN.m]
30
Pull out torque [oz.in]
ƶ1.10in.
(ƶ28mm)
200
Pull out torque [oz.in]
45
300
Pull out torque [oz.in]
400
400
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
0
600
‡3.39in.
(‡86mm)
A–50
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.0A(Peak) 24V
1.5A(Peak) 24V
Speed [r/min]
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
24HS SERIES 1.8°
Key Features
■ High Torque
■ High Accuracy
■ Smooth Movement
General Specifications
0.9˚
Bi-polar
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
24HS1402N
0.73
1.6
2.8
1060
150
40
5.66
280
1.54
24HS1403N
2.92
6.4
1.4
1060
150
40
5.66
280
1.54
24HS1404N
0.35
0.8
4
880
125
40
5.66
280
1.54
24HS2401-03N
1.1
3.4
2.8
1600
227
90
12.75
450
2.48
24HS2402N
0.43
1.1
4
1250
177
90
12.75
450
2.48
24HS2404N
4
13
1.4
1600
227
90
12.75
450
2.48
24HS3401N
1.1
3.5
2.8
1950
276
95
13.46
560
3.08
14
1.4
1950
276
95
13.46
560
3.08
0.65
2.4
4
2500
354
100
14.16
900
4.95
24HS5402N
1.49
6.5
2.8
2700
382
100
14.16
900
4.95
24HS5403N
5.96
25
1.4
2700
382
100
14.16
900
4.95
HB MOTOR
4.4
24HS5401N
3.75˚
24HS3403N
2-PHASE
A
3.6˚
mH
1.8˚
ohm
Uni-polar
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
oz-in
mNm
oz-in
g.cm2
oz-in2
24HS1601N
5.7
6.8
1
740
105
40
5.66
280
1.54
24HS1603N
0.74
0.8
2.8
740
105
40
5.66
280
1.54
24HS1604N
1.46
1.8
2
740
105
40
5.66
280
1.54
24HS2601N
0.9
1.32
3
1130
160
90
12.75
450
2.48
24HS2602N
1.9
3
2
1130
160
90
12.75
450
2.48
24HS2607N
6.9
10.7
1
1100
156
90
12.75
450
2.48
24HS3601N
2.2
3.5
2
1500
212
95
13.46
560
3.08
24HS5601N
1.3
2.4
3
2100
297
100
14.16
900
4.95
24HS5602N
2.8
5.9
2
2100
297
100
14.16
900
4.95
24HS5604N
10
19.5
1
2100
297
100
14.16
900
4.95
INTERGRATED
STEPPING MOTOR
mNm
DIGITAL LINEAR
ACTUATOR
A
3-PHASE
mH
1.2˚
ohm
MOTOR
DRIVER
A–51
HYBRID STEPPING MOTORS
Motor Wiring Diagram —> Page A-8
Mechanical Dimension
ƶ0.39in.
(ƶ10mm)
L
Mass
mm (in.)
kg (lb.)
24HS1**
44 (1.73)
0.60 (1.32)
24HS2**
54 (2.13)
0.83 (1.83)
24HS3**
65 (2.56)
1.05 (2.31)
24HS5**
85 (3.35)
1.40 (3.09)
Model
Number
ƶ1.10in.
(ƶ28mm)
mm (inch)
Dynamic Torque Curves
500
1000
1500
2000
0
2500
500
1500
40
200
4000
6000
600
80
400
40
200
0
0
2000
0
8000
1000
2000
ƶ2.22in.
(ƶ56.4mm)
‡2.25in.
(‡57.2mm)
24HS1404N
Speed [r/min]
500
1000
1500
2000
4.0A(Peak) 24V
4.0A(Peak) 36V
0
6000
600
80
400
40
ƶ3.35in.
(ƶ85mm)
200
0
0
4000
6000
Pulse rate [pps]
8000
500
1000
1500
2000
2000
Pull out torque [mN.m]
ƶ2.36in.
(ƶ60mm)
0
120
2.8A(Peak) 24V
2.8A(Peak) 36V
Speed [r/min]
2500
800
2000
5000
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1000
0
4000
24HS2401-03N
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0
3000
Pulse rate [pps]
Pulse rate [pps]
Pull out torque [oz.in]
ƶ1.65in.
(ƶ42mm)
400
120
800
Pull out torque [oz.in]
80
Pull out torque [mN.m]
600
Pull out torque [oz.in]
120
800
0
Pull out torque [mN.m]
1000
1.4A(Peak) 24V
1.4A(Peak) 36V
1000
1000
Pull out torque [mN.m]
ƶ1.53in.
(ƶ39mm)
Speed [r/min]
0
Speed [r/min]
2.8A(Peak) 36V
1500
200
1000
100
500
0
0
2000
4000
Pulse rate [pps]
6000
0
8000
Pull out torque [oz.in]
ƶ1.38in.
(ƶ35mm)
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
2.8A(Peak) 24V
0
‡3.39in.
(‡86mm)
A–52
24HS1403N
24HS1402N
HYBRID STEPPING MOTORS
Dynamic Torque Curves
24HS2404N
24HS2402N
Speed [r/min]
1000
1200
160
900
120
600
80
300
40
0
2000
4000
1000
1500
1500
0
6000
0
500
200
160
1000
120
80
500
40
0
0
1000
2000
4000
5000
0
6000
1.8˚
Pulse rate [pps]
3000
0.9˚
Pull out torque [mN.m]
0
200
1.4A(Peak) 24V
1.4A(Peak) 36V
Speed [r/min]
1500
1500
Pull out torque [mN.m]
500
4.0A(Peak) 24V
4.0A(Peak) 36V
Pull out torque [oz.in]
0
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pulse rate [pps]
2-PHASE
1500
500
1500
100
500
Pull out torque [oz.in]
1000
240
1500
200
160
1000
120
80
500
40
0
4000
6000
0
8000
0
1000
2000
5000
24HS5402N
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Speed [r/min]
2000
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
2.8A(Peak) 24V
2.8A(Peak) 36V
Speed [r/min]
0
3000
500
1000
100
0
2000
4000
6000
Pulse rate [pps]
8000
0
10000
Pull out torque [mN.m]
200
1000
Pull out torque [oz.in]
300
2000
400
300
2000
200
1000
100
0
0
1000
2000
3000
4000
5000
INTERGRATED
STEPPING MOTOR
400
2.8A(Peak) 24V
2.8A(Peak) 36V
1500
3000
3000
0
0
6000
DIGITAL LINEAR
ACTUATOR
24HS5401N
1000
4000
Pulse rate [pps]
Pulse rate [pps]
0
3000
3-PHASE
2000
1.2˚
0
HB MOTOR
200
280
3.75˚
1500
0
Pull out torque [mN.m]
1000
2000
2000
Pull out torque [mN.m]
Speed [r/min]
0
2000
1.4A(Peak) 24V
1.4A(Peak) 36V
Pull out torque [oz.in]
1000
Pull out torque [mN.m]
500
2.8A(Peak) 24V
2.8A(Peak) 36V
Speed [r/min]
0
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
3.6˚
24HS3403N
24HS3401N
0
6000
Pulse rate [pps]
MOTOR
DRIVER
A–53
24HS1601N
24HS5403N
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1.4A(Peak) 24V
1.4A(Peak) 36V
400
800
300
2000
200
1000
100
0
1000
2000
0
120
600
80
400
40
200
0
0
1000
2000
ƶ1.53in.
(ƶ39mm)
1500
2000
2500
Speed [r/min]
3000
0
80
400
40
200
ƶ2.22in.
(ƶ56.4mm)
0
4000
6000
8000
500
1000
1500
2000
1000
Pull out torque [mN.m]
600
Pull out torque [oz.in]
ƶ1.65in.
(ƶ42mm)
120
800
0
10000
120
800
600
80
400
40
200
0
0
2000
Pulse rate [pps]
4000
0
8000
6000
Pulse rate [pps]
‡2.25in.
(‡57.2mm)
24HS2601N
24HS2602N
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
3.0A(Peak) 24V
1000
1500
400
800
1200
1600
2000
120
ƶ3.35in.
(ƶ85mm)
80
500
40
0
2000
4000
Pulse rate [pps]
6000
0
8000
Pull out torque [mN.m]
160
1000
Pull out torque [oz.in]
1500
200
0
‡3.39in.
(‡86mm)
A–54
2.0A(Peak) 36V
Speed [r/min]
0
2000
1500
Pull out torque [mN.m]
ƶ2.36in.
(ƶ60mm)
500
2.0A(Peak) 24V
3.0A(Peak) 36V
Speed [r/min]
0
0
6000
Pull out torque [oz.in]
ƶ1.38in.
(ƶ35mm)
1000
1000
Pull out torque [mN.m]
5000
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
2.0A(Peak) 24V
2.0A(Peak) 36V
2.8A(Peak) 24V
2.8A(Peak) 36V
Speed [r/min]
2000
4000
24HS1604N
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0
3000
Pulse rate [pps]
24HS1603N
500
1500
800
Pulse rate [pps]
0
1000
1000
0
4000
3000
500
2400
200
160
1000
120
80
500
40
0
0
2000
4000
Pulse rate [pps]
6000
0
8000
Pull out torque [oz.in]
ƶ1.10in.
(ƶ28mm)
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
400
0
Speed [r/min]
1200
Pull out torque [mN.m]
0
3000
1.0A(Peak) 24V
1.0A(Peak) 36V
Pull out torque [oz.in]
Speed [r/min]
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
Dynamic Torque Curves
24HS2607N
24HS3601N
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.0A(Peak) 24V
1.0A(Peak) 36V
Speed [r/min]
400
800
0
1200
500
1000
1500
2000
120
80
500
40
0
0
1000
2000
3000
1000
100
500
0
8000
0
0
5000
4000
200
0
2000
4000
6000
1.8˚
Pulse rate [pps]
Pulse rate [pps]
0.9˚
160
1000
Pull out torque [mN.m]
200
Pull out torque [oz.in]
1500
1500
Pull out torque [mN.m]
2.0A(Peak) 24V
2.0A(Peak) 36V
Speed [r/min]
Pull out torque [oz.in]
0
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
2-PHASE
24HS5602N
3.0A(Peak) 24V
3.0A(Peak) 36V
Speed [r/min]
0
500
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1000
1500
0
2000
500
1000
1500
2000
2000
100
500
1000
2000
3000
4000
5000
6000
160
1000
120
80
500
40
0
0
7000
0
1000
2000
3000
4000
Pulse rate [pps]
Pulse rate [pps]
5000
6000
0
7000
1.2˚
0
200
3-PHASE
0
Pull out torque [mN.m]
1000
240
1500
HB MOTOR
200
280
3.75˚
1500
Pull out torque [oz.in]
2000
Pull out torque [mN.m]
2.0A(Peak) 24V
2.0A(Peak) 36V
Speed [r/min]
Pull out torque [oz.in]
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
3.6˚
24HS5601N
DIGITAL LINEAR
ACTUATOR
24HS5604N
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
1.0A(Peak) 24V
1.0A(Peak) 36V
Speed [r/min]
500
1000
1500
280
240
1500
200
160
1000
120
80
500
40
0
0
1000
2000
3000
4000
INTERGRATED
STEPPING MOTOR
Pull out torque [mN.m]
2000
Pull out torque [oz.in]
0
0
5000
Pulse rate [pps]
MOTOR
DRIVER
A–55
HYBRID STEPPING MOTORS
ƶ0.39in.
(ƶ10mm)
ƶ1.10in.
(ƶ28mm)
ƶ1.38in.
(ƶ35mm)
ƶ1.53in.
(ƶ39mm)
ƶ1.65in.
(ƶ42mm)
ƶ2.22in.
(ƶ56.4mm)
‡2.25in.
(‡57.2mm)
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–56
34HD SERIES 1.8°
Key Features
■ High Torque
■ High Accuracy
■ Smooth Movement
General Specifications
Bi-polar
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
34HD0401
4.4
29.6
1.4
2800
396.60
150
21.25
1100
6.05
34HD0402
2
13.2
2.1
2800
396.60
150
21.25
1100
6.05
34HD0403
0.96
5.8
3.18
2800
396.60
150
21.25
1100
6.05
34HD0404
0.24
1.45
6.3
2800
396.60
150
21.25
1100
6.05
34HD1401
6.6
56
1.4
5600
793.20
250
35.41
1850
10.18
34HD1402
3
24
2.1
5600
793.20
250
35.41
1850
10.18
34HD1403
1.32
10.8
3.18
5600
793.20
250
35.41
1850
10.18
34HD1404
0.33
2.7
6.3
5600
793.20
250
35.41
1850
10.18
34HD2401
7.6
70.4
1.4
8400
1189.80
350
49.58
2750
15.13
34HD2402
1.94
17.6
2.8
8400
1189.80
350
49.58
2750
15.13
34HD2403
0.49
4.4
5.6
8400
1189.80
350
49.58
2750
15.13
Uni-polar
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
34HD0601
2.2
7.4
2
2100
297.45
150
21.25
1100
6.05
34HD0602
1
3.3
3
2100
297.45
150
21.25
1100
6.05
34HD0603
0.48
1.45
4.5
2100
297.45
150
21.25
1100
6.05
34HD1601
3.3
14
2
4300
609.07
250
35.41
1850
10.18
34HD1602
1.5
6
3
4300
609.07
250
35.41
1850
10.18
34HD1603
0.66
2.7
4.5
4300
609.07
250
35.41
1850
10.18
34HD2601
3.8
17.6
2
6400
906.52
350
49.58
2750
15.13
34HD2602
0.97
4.4
4
6400
906.52
350
49.58
2750
15.13
8-Leadwire Motors
Model
Number
34HD0801
34HD1801
Type of
Polar
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2 oz-in2
Bi-polar
Parallel
0.24
1.4
6.3
3100
439.09
150
21.25
1100
6.05
Bi-polar
Series
0.96
5.6
3.18
3100
439.09
150
21.25
1100
6.05
Unipolar
0.48
1.4
4.5
2200
311.61
150
21.25
1100
6.05
Bi-polar
Parallel
0.33
2.7
6.3
6200
878.19
250
35.41
1850
10.18
Bi-polar
Series
1.32
10.8
3.18
6200
878.19
250
35.41
1850
10.18
Unipolar
0.66
2.7
4.5
4400
623.23
250
35.41
1850
10.18
HYBRID STEPPING MOTORS
8-Leadwire Motors
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Type of
Polar
34HD2801
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2 oz-in2
Bi-polar
Parallel
0.49
4.4
5.6
9300
1317.28
350
49.58
2750
15.13
Bi-polar
Series
1.94
17.6
2.8
9300
1317.28
350
49.58
2750
15.13
Unipolar
0.97
4.4
4
6600
934.84
350
49.58
2750
15.13
0.9˚
Motor Wiring Diagram —> Page A-8
Mechanical Dimension
1.8˚
L
Model
Number
Mass
kg (lb.)
66.5 (2.59)
1.6 (3.52)
34HD1**
96 (3.74)
2.7 (5.94)
34HD2**
125.5 (4.89)
3.8 (8.36)
2-PHASE
mm (in.)
34HD0**
3.6˚
mm (inch)
3.75˚
HB MOTOR
Dynamic Torque Curves
34HD0401 Bi-polar series
34HD0402 Bi-polar series
600
300
2000
1500
200
1000
100
500
0
500
1000
1500
2000
0
2500
400
300
2000
1500
200
1000
100
500
0
0
500
200
1000
100
500
0
2000
3000
4000
Pulse rate [pps]
5000
0
6000
Pull out torque [mN.m]
1500
Pull out torque [oz.in]
300
2000
2000
3000
4000
3000
400
2500
300
2000
1500
200
1000
100
500
0
0
3000
6000
9000
12000
MOTOR
DRIVER
Pull out torque [mN.m]
2500
1000
INTERGRATED
STEPPING MOTOR
0
400
6.3A(Peak) 48V
6.3A(Peak) 60V
Speed [r/min]
1500
3000
1000
0
2500
2000
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
Speed [r/min]
0
1500
34HD0404 Bi-polar parallel
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
3.18A(Peak) 48V
3.18A(Peak) 60V
1000
1000
Pulse rate [pps]
34HD0403 Bi-polar series
500
600
2500
Pulse rate [pps]
0
400
Pull out torque [oz.in]
0
Pull out torque [mN.m]
2500
200
3000
DIGITAL LINEAR
ACTUATOR
Pull out torque [mN.m]
0
400
Pull out torque [oz.in]
400
1.2˚
200
3000
2.1A(Peak) 48V
2.1A(Peak) 60V
Speed [r/min]
3-PHASE
1.4A(Peak) 48V
1.4A(Peak) 60V
Speed [r/min]
0
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
0
15000
Pulse rate [pps]
A–57
34HD1401 Bi-polar series
34HD1402 Bi-polar series
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
1.4A(Peak) 48V
0
200
2.1A(Peak) 48V
1.4A(Peak) 60V
Speed [r/min]
400
0
200
750
4000
500
250
500
600
500
1000
750
4000
500
2000
250
0
0
2000
1500
1000
6000
0
500
ƶ1.38in.
(ƶ35mm)
34HD1403 Bi-polar series
34HD1404 Bi-polar parallel
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
ƶ1.53in.
(ƶ39mm)
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
3.18A(Peak) 48V
3.18A(Peak) 60V
Speed [r/min]
200
400
600
0
500
2000
250
500
1000
1500
2000
2500
0
3000
1000
750
4000
500
2000
250
0
2000
4000
6000
8000
0
10000
Pulse rate [pps]
‡2.25in.
(‡57.2mm)
34HD2401 Bi-polar series
34HD2402 Bi-polar series
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
1.4A(Peak) 48V
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
ƶ2.36in.
(ƶ60mm)
1.4A(Peak) 60V
Speed [r/min]
100
3000
6000
Pulse rate [pps]
0
2000
0
200
2.8A(Peak) 48V
2.8A(Peak) 60V
Speed [r/min]
300
0
10000
100
200
300
10000
8000
1000
6000
ƶ3.35in.
(ƶ85mm)
4000
500
2000
0
0
200
400
600
Pulse rate [pps]
800
0
1000
Pull out torque [mN.m]
ƶ2.22in.
(ƶ56.4mm)
0
1000
8000
Pull out torque [mN.m]
4000
Pull out torque [oz.in]
ƶ1.65in.
(ƶ42mm)
750
Pull out torque [oz.in]
1000
6.3A(Peak) 48V
6.3A(Peak) 60V
Speed [r/min]
800
6000
0
0
2000
1500
Pulse rate [pps]
Pulse rate [pps]
0
1000
Pull out torque [oz.in]
0
Pull out torque [mN.m]
400
1200
8000
6000
800
4000
400
2000
0
0
200
400
600
Pulse rate [pps]
800
0
1000
Pull out torque [oz.in]
ƶ1.10in.
(ƶ28mm)
2000
0
Pull out torque [mN.m]
300
Pull out torque [oz.in]
1000
6000
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
Pull out torque [mN.m]
100
8000
8000
8000
‡3.39in.
(‡86mm)
A–58
2.1A(Peak) 60V
Speed [r/min]
600
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
Dynamic Torque Curves
34HD2403 Bi-polar parallel
34HD0601 Uni-polar
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
Conditions: Uni-polar Constant Current Driver
IC: AMA AMA MSU8080M
Mode:Full Step
5.6A(Peak) 48V
0
500
1000
0
1500
500
1000
1500
2000
3000
800
4000
400
2000
0
0
1000
2000
3000
4000
Pull out torque [mN.m]
6000
400
2500
300
2000
1500
200
1000
100
500
0
0
5000
0
2000
4000
0
8000
6000
1.8˚
Pulse rate [pps]
Pulse rate [pps]
0.9˚
1200
8000
Pull out torque [oz.in]
10000
Pull out torque [mN.m]
2.0A(Peak) 48V
2.0A(Peak) 60V
Speed [r/min]
Pull out torque [oz.in]
5.6A(Peak) 60V
Speed [r/min]
2-PHASE
34HD0603 Uni-polar
3.0A(Peak) 48V
3.0A(Peak) 60V
Speed [r/min]
1500
2000
300
2000
1500
200
1000
100
500
2000
4000
6000
0
8000
2000
400
2500
300
2000
1500
200
1000
100
500
0
0
2000
Pulse rate [pps]
4000
0
8000
6000
Pulse rate [pps]
34HD1602 Uni-polar
Conditions: Uni-polar Constant Current Driver
IC: AMA AMA MSU8080M
Mode:Full Step
Conditions: Uni-polar Constant Current Driver
IC: AMA AMA MSU8080M
Mode:Full Step
2.0A(Peak) 48V
400
Speed [r/min]
600
0
3000
400
2000
200
1000
0
500
1000
Pulse rate [pps]
1500
0
2000
500
1000
1500
5000
Pull out torque [mN.m]
4000
Pull out torque [oz.in]
600
700
600
4000
500
3000
400
300
2000
200
1000
100
0
0
1000
2000
3000
0
5000
MOTOR
DRIVER
Pulse rate [pps]
4000
INTERGRATED
STEPPING MOTOR
Pull out torque [mN.m]
5000
0
3.0A(Peak) 48V
3.0A(Peak) 60V
2.0A(Peak) 60V
Speed [r/min]
200
DIGITAL LINEAR
ACTUATOR
34HD1601 Uni-polar
0
1.2˚
0
1500
3-PHASE
0
1000
HB MOTOR
2500
500
3000
3.75˚
Pull out torque [mN.m]
0
400
Pull out torque [oz.in]
1000
4.5A(Peak) 48V
4.5A(Peak) 60V
Speed [r/min]
Pull out torque [mN.m]
500
3000
Pull out torque [oz.in]
0
Conditions: Uni-polar Constant Current Driver
IC: AMA AMA MSU8080M
Mode:Full Step
Pull out torque [oz.in]
Conditions: Uni-polar Constant Current Driver
IC: AMA AMA MSU8080M
Mode:Full Step
3.6˚
34HD0602 Uni-polar
A–59
34HD2601 Uni-polar
34HD1603 Uni-polar
4.5A(Peak) 48V
4.5A(Peak) 60V
1000
0
1500
3000
400
2000
1000
0
2000
3000
6000
800
4000
400
2000
0
0
5000
4000
600
0
400
800
1200
0
2000
1600
Pulse rate [pps]
Pulse rate [pps]
ƶ1.38in.
(ƶ35mm)
34HD2602 Uni-polar
34HD0801 Bi-polar parallel
ƶ1.53in.
(ƶ39mm)
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU8080M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
6.3A(Peak) 48V
4.0A(Peak) 48V
4.0A(Peak) 60V
Speed [r/min]
0
400
800
0
1200
800
4000
400
2000
ƶ2.22in.
(ƶ56.4mm)
0
0
1000
2000
Pull out torque [mN.m]
6000
0
4000
3000
2000
3000
4000
400
2500
300
2000
1500
200
1000
100
500
0
0
3000
Pulse rate [pps]
‡2.25in.
(‡57.2mm)
34HD0801 Bi-polar series
ƶ2.36in.
(ƶ60mm)
1000
12000
4.5A(Peak) 48V
4.5A(Peak) 60V
Speed [r/min]
0
1500
500
1000
1500
2000
3000
3000
400
2500
300
2000
ƶ3.35in.
(ƶ85mm)
1500
200
1000
100
500
0
0
1000
2000
3000
4000
‡3.39in.
(‡86mm)
Pulse rate [pps]
0
15000
Conditions: Uni-polar Constant Current Driver
IC: AMA AMA MSU8080M
Mode:Full Step
3.18A(Peak) 48V
3.18A(Peak) 60V
Speed [r/min]
500
9000
34HD0801 Uni-polar
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
0
6000
Pulse rate [pps]
5000
0
6000
Pull out torque [mN.m]
ƶ1.65in.
(ƶ42mm)
Pull out torque [mN.m]
1000
3000
8000
Pull out torque [mN.m]
6.3A(Peak) 60V
Speed [r/min]
Pull out torque [oz.in]
1000
400
400
2500
300
2000
1500
200
1000
100
500
0
0
2000
4000
Pulse rate [pps]
6000
0
8000
Pull out torque [oz.in]
0
Pull out torque [oz.in]
ƶ1.10in.
(ƶ28mm)
200
Pull out torque [oz.in]
600
4000
200
8000
Pull out torque [mN.m]
500
5000
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
0
2.0A(Peak) 48V
2.0A(Peak) 60V
Speed [r/min]
Pull out torque [oz.in]
Speed [r/min]
A–60
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU8080M
Mode:Full Step
Conditions: Uni-polar Constant Current Driver
IC: AMA AMA MSU8080M
Mode:Full Step
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
Dynamic Torque Curves
34HD1801 Bi-polar series
34HD1801 Bi-polar parallel
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
1000
2000
3.18A(Peak) 60V
Speed [r/min]
0
3000
200
400
600
800
600
4000
400
2000
200
0
0
2000
4000
6000
8000
800
600
4000
400
2000
200
0
0
10000
0
500
1000
1500
2000
2500
Pull out torque [oz.in]
800
1000
6000
0
3000
1.8˚
Pulse rate [pps]
Pulse rate [pps]
0.9˚
6000
Pull out torque [oz.in]
1000
Pull out torque [mN.m]
8000
8000
Pull out torque [mN.m]
3.18A(Peak) 48V
6.3A(Peak) 48V
6.3A(Peak) 60V
Speed [r/min]
0
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
2-PHASE
34HD2801 Bi-polar parallel
34HD1801 Uni-polar
4.5A(Peak) 48V
4.5A(Peak) 60V
500
1000
1500
0
2000
200
1000
0
1000
2000
3000
4000
1200
8000
6000
800
4000
400
2000
0
0
5000
0
1000
300
0
4000
400
2000
0
600
Pulse rate [pps]
800
0
1000
Pull out torque [mN.m]
800
Pull out torque [oz.in]
Pull out torque [mN.m]
6000
1000
8000
6000
800
4000
400
2000
0
0
1000
2000
3000
INTERGRATED
STEPPING MOTOR
1200
8000
500
DIGITAL LINEAR
ACTUATOR
200
4.0A(Peak) 48V
4.0A(Peak) 60V
Speed [r/min]
10000
400
0
5000
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU8080M
Mode:Full Step
2.8A(Peak) 48V
2.8A(Peak) 60V
Speed [r/min]
200
4000
34HD2801 Uni-polar
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
0
3000
1.2˚
34HD2801 Bi-polar series
100
2000
Pulse rate [pps]
Pulse rate [pps]
0
1500
3-PHASE
0
Pull out torque [mN.m]
400
Pull out torque [oz.in]
3000
1000
HB MOTOR
600
4000
500
10000
3.75˚
Pull out torque [mN.m]
5000
Pull out torque [oz.in]
0
5.6A(Peak) 48V
5.6A(Peak) 60V
Speed [r/min]
Pull out torque [oz.in]
Speed [r/min]
3.6˚
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
Conditions: Uni-polar Constant Current Driver
IC: AMA AMA MSU8080M
Mode:Full Step
0
4000
Pulse rate [pps]
MOTOR
DRIVER
A–61
HYBRID STEPPING MOTORS
ƶ0.39in.
(ƶ10mm)
ƶ1.10in.
(ƶ28mm)
ƶ1.38in.
(ƶ35mm)
ƶ1.53in.
(ƶ39mm)
ƶ1.65in.
(ƶ42mm)
ƶ2.22in.
(ƶ56.4mm)
‡2.25in.
(‡57.2mm)
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–62
34HY SERIES 1.8°
Key Features
■ Low Noise
■ Low Inertia
■ High Acceleration
General Specifications
8-Leadwire Motors
Model
Number
34HY0809
34HY0810
34HY1801-10
34HY1803
34HY2801
34HY2802
Resistance Inductance Rated
Types of per Phase per Phase Current
Connection
ohm
mH
A
Holding
Torque
Detent
Torque
Rotor
Inertia
mN.m
oz-in
mN.m
oz-in
g.cm2
oz-in2
Bi-polar
Parallel
2.3
18
1.8
2300
326
120
16.99
560
3.08
Bi-polar
Series
9.2
72
0.9
2300
326
120
16.99
560
3.08
Unipolar
4.6
18
1.3
1800
255
120
16.99
560
3.08
Bi-polar
Parallel
0.6
3.6
4.2
2300
326
120
16.99
560
3.08
Bi-polar
Series
2.4
14.4
2.1
2300
326
120
16.99
560
3.08
Unipolar
1.2
3.6
3.0
1800
255
120
16.99
560
3.08
Bi-polar
Parallel
0.3
2.4
5.6
4000
566
210
29.74
1200
6.60
Bi-polar
Series
1.2
9.6
2.8
4000
566
210
29.74
1200
6.60
Unipolar
0.6
2.4
4
3100
439
210
29.74
1200
6.60
Bi-polar
Parallel
0.8
6.7
3.9
4600
651
210
29.74
1200
6.60
Bi-polar
Series
3.2
26.8
1.9
4600
651
210
29.74
1200
6.60
Unipolar
1.6
6.7
2.8
3500
496
210
29.74
1200
6.60
Bi-polar
Parallel
0.47
4.0
8.4
7800
1104
180
25.49
2100
11.55
Bi-polar
Series
1.88
16
4.2
7800
1104
180
25.49
2100
11.55
Unipolar
0.94
4.0
6
6000
850
180
25.49
2100
11.55
Bi-polar
Parallel
0.19
1.6
9.4
5600
793
180
25.49
2100
11.55
Bi-polar
Series
0.76
6.0
4.7
5600
793
180
25.49
2100
11.55
Unipolar
0.38
1.5
6.7
4300
609
180
25.49
2100
11.55
HYBRID STEPPING MOTORS
Motor Wiring Diagram —> Page A-8
Mechanical Dimension
Mass
kg (lb.)
34HY0**
63 (2.48)
1.5 (3.31)
34HY1**
91 (3.58)
2.6 (5.73)
34HY2**
130 (5.12)
3.6 (7.94)
0.9˚
L
mm (in.)
Model
Number
1.8˚
mm (inch)
2-PHASE
Dynamic Torque Curves
34HY0809 Bi-polar Parallel
34HY0809 Bi-polar series
1000
1500
400
300
2000
1500
200
1000
100
500
0
2000
3000
4000
0
5000
400
2500
300
2000
1500
200
1000
100
500
0
0
1000
Pulse rate [pps]
34HY0810 Bi-polar Parallel
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU8080M
Mode:Full Step
750
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
1.3A(Peak) 48V
1.3A(Peak) 60V
Speed [r/min]
500
1000
1250
1500
0
500
1000
1500
3000
1000
100
500
0
1000
2000
3000
0
5000
300
2000
1500
200
1000
100
500
0
0
1000
2000
3000
4000
Pulse rate [pps]
5000
0
6000
MOTOR
DRIVER
Pulse rate [pps]
4000
Pull out torque [mN.m]
200
Pull out torque [oz.in]
1500
400
2500
INTERGRATED
STEPPING MOTOR
Pull out torque [mN.m]
4.2A(Peak) 48V
4.2A(Peak) 60V
Speed [r/min]
2000
0
DIGITAL LINEAR
ACTUATOR
34HY0809 Uni-polar
250
0
3000
2000
1.2˚
Pulse rate [pps]
0
750
Pull out torque [oz.in]
1000
500
3-PHASE
0
250
HB MOTOR
2500
0
3000
3.75˚
Pull out torque [mN.m]
3000
0.9A(Peak) 48V
0.9A(Peak) 60V
Speed [r/min]
Pull out torque [mN.m]
500
1.8A(Peak) 48V
1.8A(Peak) 60V
Pull out torque [oz.in]
0
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
Pull out torque [oz.in]
Speed [r/min]
3.6˚
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
A–63
34HY0810 Uni-polar
34HY0810 Bi-polar series
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU8080M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
2.1A(Peak) 48V
2.1A(Peak) 60V
500
750
0
1000
1250
1500
400
2500
300
2000
1500
200
1000
100
500
0
0
1000
2000
3000
750
1000
1250
1500
240
1500
160
1000
80
500
0
1000
2000
0
5000
4000
3000
0
5000
4000
Pulse rate [pps]
Pulse rate [pps]
34HY1801-10 Bi-polar Series
5.6A(Peak) 48V
5.6A(Peak) 60V
Speed [r/min]
0
500
1000
1500
Conditions: Bi-polar Constant Current Driver
IC: AMA MSU8080M
Mode:Full Step
2000
2500
1000
1500
2000
400
2000
200
1000
ƶ2.22in.
(ƶ56.4mm)
0
2000
4000
6000
3000
400
2000
200
1000
0
0
10000
8000
600
4000
0
1000
2000
3000
7000
0
8000
‡2.25in.
(‡57.2mm)
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU8080M
Mode:Full Step
4.0A(Peak) 48V
3.9A(Peak) 48V
ƶ2.36in.
(ƶ60mm)
4.0A(Peak) 60V
Speed [r/min]
1000
6000
34HY1803 Bi-polar Parallel
34HY1801-10 Uni-polar
500
5000
Pulse rate [pps]
Pulse rate [pps]
0
4000
Pull out torque [oz.in]
3000
Pull out torque [oz.in]
600
4000
1500
3.9A(Peak) 60V
Speed [r/min]
0
2000
500
1000
1500
5000
3000
400
2500
300
2000
ƶ3.35in.
(ƶ85mm)
1500
200
1000
100
500
0
0
2000
4000
‡3.39in.
(‡86mm)
Pulse rate [pps]
6000
0
8000
Pull out torque [oz.in]
ƶ1.65in.
(ƶ42mm)
Pull out torque [mN.m]
500
5000
0
Pull out torque [mN.m]
2.8A(Peak) 48V
2.8A(Peak) 60V
Speed [r/min]
0
3000
Pull out torque [mN.m]
ƶ1.53in.
(ƶ39mm)
Conditions: Bi-polar Constant Current Driver
IC: AMA MSU8080M
Mode:Full Step
600
4000
3000
400
2000
200
1000
0
0
1000
2000
3000
4000
Pulse rate [pps]
5000
0
6000
Pull out torque [oz.in]
ƶ1.38in.
(ƶ35mm)
34HY1801-10 Bi-polar Parallel
5000
A–64
500
0
Pull out torque [mN.m]
ƶ1.10in.
(ƶ28mm)
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
3000
250
2000
Pull out torque [mN.m]
250
Pull out torque [oz.in]
Speed [r/min]
0
3.0A(Peak) 48V
3.0A(Peak) 60V
Speed [r/min]
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
Dynamic Torque Curves
34HY1803 Bi-polar Series
34HY1803 Uni-polar
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU8080M
Mode:Full Step
2.8A(Peak) 48V
2.8A(Peak) 60V
1.9A(Peak) 48V
1.9A(Peak) 60V
Speed [r/min]
0
250
500
Speed [r/min]
0
750
1000
1500
400
2000
200
1000
0
0
500
1000
1500
2000
2500
Pull out torque [mN.m]
3000
Pull out torque [oz.in]
600
4000
400
2500
300
2000
1500
200
1000
100
500
0
0
3000
0
1000
2000
3000
4000
0
6000
5000
1.8˚
Pulse rate [pps]
Pulse rate [pps]
0.9˚
Pull out torque [mN.m]
500
3000
5000
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
2-PHASE
34HY2801 Bi-polar Series
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
4.2A(Peak) 48V
4.2A(Peak) 60V
8.4A(Peak) 48V
8.4A(Peak) 60V
Speed [r/min]
0
500
1000
1500
0
500
1000
1500
4000
500
2000
4000
400
2000
0
0
8000
6000
0
1000
2000
34HY2802 Bi-polar Parallel
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU8080M
Mode:Full Step
0
400
2000
200
1000
2000
4000
3000
0
8000
800
5000
600
4000
3000
400
2000
200
1000
0
0
0
2000
4000
6000
8000
10000
12000
Pulse rate [pps]
MOTOR
DRIVER
Pulse rate [pps]
6000
Pull out torque [mN.m]
600
0
2000
INTERGRATED
STEPPING MOTOR
800
3000
1000
6000
5000
4000
9.4A(Peak) 60V
Speed [r/min]
2000
Pull out torque [oz.in]
1500
6000
0
9.4A(Peak) 48V
6.0A(Peak) 48V
6.0A(Peak) 60V
Speed [r/min]
1000
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
DIGITAL LINEAR
ACTUATOR
34HY2801 Uni-polar
500
0
5000
4000
Pulse rate [pps]
Pulse rate [pps]
0
3000
Pull out torque [oz.in]
2000
800
4000
1.2˚
0
6000
3-PHASE
0
1200
8000
Pull out torque [oz.in]
6000
Pull out torque [oz.in]
1000
HB MOTOR
8000
Pull out torque [mN.m]
10000
3.75˚
Pull out torque [mN.m]
Speed [r/min]
2000
10000
Pull out torque [mN.m]
3.6˚
34HY2801 Bi-polar Parallel
A–65
34HY2802 Bi-polar Series
34HY2802 Uni-polar
4.7A(Peak) 48V
4.7A(Peak) 60V
Speed [r/min]
1000
1500
0
800
5000
600
4000
3000
400
2000
ƶ1.10in.
(ƶ28mm)
200
1000
0
0
1000
2000
3000
4000
Pulse rate [pps]
5000
0
6000
6.7A(Peak) 48V
6.7A(Peak) 60V
Speed [r/min]
500
1000
1500
2000
2500
6000
Pull out torque [mN.m]
500
6000
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
ƶ1.38in.
(ƶ35mm)
ƶ1.53in.
(ƶ39mm)
ƶ1.65in.
(ƶ42mm)
ƶ2.22in.
(ƶ56.4mm)
‡2.25in.
(‡57.2mm)
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–66
0
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU8080M
Mode:Full Step
3000
800
5000
600
4000
3000
400
2000
200
1000
0
0
2000
4000
6000
Pulse rate [pps]
8000
0
10000
Pull out torque [oz.in]
Conditions: Bi-polar Constant Current Driver
IC: AMA MS7080M
Mode:Full Step
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
17HE SERIES 3.6°
Key Features
■ Low Inertia
■ Low Noise
■ High Acceleration
General Specifications
0.9˚
Bi-polar
Resistance Inductance Rated
per Phase per Phase Current
Model
Number
Holding
Torque
Detent
Torque
Rotor
Inertia
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
17HE1401-01
12
9.4
0.58
80
11.33
15
2.12
20
0.11
17HE1402-01
150
100
0.16
80
11.33
15
2.12
20
0.11
17HE1403-01
0.85
0.7
2.5
90
12.74
15
2.12
20
0.11
2-PHASE
mH
1.8˚
ohm
Uni-polar
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
17HE1603-02
75
35
0.2
60
8.50
15
2.12
20
0.11
17HE1604-01
50
25
0.25
60
8.50
15
2.12
20
0.11
17HE1606-02
12
5.5
0.58
60
8.50
15
2.12
20
0.11
3.6˚
Resistance Inductance Rated
per Phase per Phase Current
Model
Number
HB MOTOR
3.75˚
Motor Wiring Diagram —> Page A-8
Mechanical Dimension
Mass
mm (in.)
kg (lb.)
34.3 (1.35)
0.2 (0.44)
3-PHASE
17HE**
L
1.2˚
Model
Number
DIGITAL LINEAR
ACTUATOR
mm (inch)
INTERGRATED
STEPPING MOTOR
MOTOR
DRIVER
A–67
17HE1401-01
17HE1402-01
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.58A(Peak) 12V
600
800
0
12
80
10
60
8
6
40
20
2
0
500
1000
1500
2000
2500
14
12
10
60
8
6
40
4
20
2
0
0
500
1000
0
3000
ƶ1.38in.
(ƶ35mm)
ƶ1.53in.
(ƶ39mm)
0.2A(Peak) 12V
1000
1500
10
60
8
6
40
4
20
4000
5000
400
600
14
12
80
10
60
8
6
40
4
20
2
0
0
0
6000
400
800
1200
1600
0
2000
Pulse rate [pps]
Pulse rate [pps]
‡2.25in.
(‡57.2mm)
17HE1604-01
17HE1606-02
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0.58A(Peak) 12V
0
0
500
100
12
10
60
8
ƶ3.35in.
(ƶ85mm)
6
40
4
20
2
0
0
500
1000
Pulse rate [pps]
1500
400
800
1200
100
14
80
0.58A(Peak) 24V
Speed [r/min]
Speed [r/min]
Pull out torque [mN.m]
ƶ2.36in.
(ƶ60mm)
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
0.25A(Peak) 12V
0.25A(Peak) 24V
0
2000
14
12
80
10
60
8
6
40
4
20
2
0
0
0
1000
2000
Pulse rate [pps]
3000
4000
Pull out torque [oz.in]
ƶ2.22in.
(ƶ56.4mm)
2
Pull out torque [mN.m]
ƶ1.65in.
(ƶ42mm)
12
80
0
200
100
14
3000
0
Pull out torque [mN.m]
500
0.2A(Peak) 24V
Speed [r/min]
2.5A(Peak) 24V
Speed [r/min]
Pull out torque [mN.m]
2500
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
2.5A(Peak) 12V
2000
2000
17HE1603-02
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
1000
1500
Pulse rate [pps]
17HE1403-01
0
800
80
Pulse rate [pps]
0
600
Pull out torque [oz.in]
0
0.16A(Peak) 24V
400
100
0
3000
Pull out torque [oz.in]
ƶ1.10in.
(ƶ28mm)
4
100
‡3.39in.
(‡86mm)
A–68
Pull out torque [oz.in]
14
200
Pull out torque [oz.in]
400
Speed [r/min]
Pull out torque [mN.m]
200
100
Pull out torque [mN.m]
ƶ0.39in.
(ƶ10mm)
0
0.16A(Peak) 12V
0.58A(Peak) 24V
Speed [r/min]
Pull out torque [oz.in]
HYBRID STEPPING MOTORS
Dynamic Torque Curves
HYBRID STEPPING MOTORS
10HF SERIES 3.75°
Key Features
■ Low Inertia
■ Low Noise
■ Small Size
General Specifications
0.9˚
Bi-polar
Resistance Inductance Rated
per Phase per Phase Current
Model
Number
Holding
Torque
Detent
Torque
Rotor
Inertia
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
84
21
0.143
12
1.70
3
0.42
2
0.01
10HF7402-02
1.8˚
Uni-polar
Holding
Torque
Detent
Torque
Rotor
Inertia
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
42
4.5
0.2
8
1.13
3
0.42
2
0.01
10HF7602-03
3.6˚
ohm
2-PHASE
Resistance Inductance Rated
per Phase per Phase Current
Model
Number
Motor Wiring Diagram —> Page A-8
Mechanical Dimension
HB MOTOR
10HF7**
3.75˚
L
Mass
mm (in.)
kg (lb.)
18.5 (0.72)
0.045 (0.10)
Model
Number
3-PHASE
1.2˚
mm (inch)
DIGITAL LINEAR
ACTUATOR
Dynamic Torque Curves
10HF7602-03
10HF7402-02
Conditions: Uni-polar Constant Current Driver
IC: AMA MSU3040M
Mode:Full Step
Conditions: Bi-polar Constant Current Driver
IC: AMA MS3540M
Mode:Full Step
0.143A(Peak) 12V
Pull out torque [mN.m]
15
0
2
12
1.5
9
1
6
0.5
3
0
200
400
600
Pulse rate [pps]
800
1000
0.2A(Peak) 24V
200
300
15
2
12
1.5
9
1
6
0.5
3
0
0
200
400
600
Pulse rate [pps]
800
0
1000
MOTOR
DRIVER
0
0
100
Pull out torque [oz.in]
300
Pull out torque [mN.m]
200
Pull out torque [oz.in]
100
Speed [r/min]
INTERGRATED
STEPPING MOTOR
0
0.2A(Peak) 12V
0.143A(Peak) 24V
Speed [r/min]
A–69
HYBRID STEPPING MOTORS
24HC SERIES 1.2°
Key Features
■
■
■
■
3-phase Motor
Low Noise
Smooth Movement
Low Vibration
ƶ0.39in.
(ƶ10mm)
General Specifications
Bi-polar
ƶ1.10in.
(ƶ28mm)
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
ƶ1.38in.
(ƶ35mm)
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
24HC2301
0.32
0.76
5.8
900
127.48
40
5.67
260
1.43
24HC3301
0.45
1.30
5.8
1500
212.46
70
9.92
460
2.53
24HC4301
6
10.2
1.5
540
76.49
25
3.54
180
0.99
Mechanical Dimension
ƶ1.53in.
(ƶ39mm)
ƶ1.65in.
(ƶ42mm)
L
Mass
mm (in.)
kg (lb.)
24HC2**
54.5 (2.13)
0.8 (1.76)
24HC3**
76.5 (2.98)
1.3 (2.86)
24HC4**
45.5 (1.77)
0.5 (1.10)
Model
Number
ƶ2.22in.
(ƶ56.4mm)
mm (inch)
Wrie Diagram and Drive Sequence model
‡2.25in.
(‡57.2mm)
Wire Diagram
ƶ2.36in.
(ƶ60mm)
A RED
Drive Sequence model
When seen from the flange side of the motor
STEP A
B
C
1
WHT C
2
3
4
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–70
5
GRN B
6
CW
CW(CLOCKWISE) ROTATION
HYBRID STEPPING MOTORS
Dynamic Torque Curves
24HC2301
24HC3301
Conditions:3-Phase Constant Current Driver
IC: AMA 3MS5860M
Mode:Half Step
5.8A(Peak) 24V
5.8A(Peak) 36V
Speed [r/min]
0
Speed [r/min]
500
1000
100
600
50
200
0
3000
6000
9000
12000
Pull out torque [oz.in]
800
0
1000
1500
200
1000
100
0
0
0
15000
3000
6000
9000
12000
0.9˚
Pull out torque [mN.m]
1000
400
500
2000
1500
Pull out torque [mN.m]
0
5.8A(Peak) 24V
5.8A(Peak) 36V
Pull out torque [oz.in]
Conditions: 3-Phase Constant Current Driver
IC: AMA 3MS5860M
Mode:Half Step
0
15000
Pulse rate [pps]
1.8˚
Pulse rate [pps]
2-PHASE
Conditions: 3-Phase Constant Current Driver
IC: AMA 3MS5860M
Mode:Full Step
1.5A(Peak) 24V
3.6˚
24HC4301
1.5A(Peak) 36V
Speed [r/min]
0
50
100
150
200
250
40
200
20
100
500
1000
1500
Pulse rate [pps]
2000
0
2500
1.2˚
0
3-PHASE
0
Pull out torque [oz.in]
300
HB MOTOR
60
400
3.75˚
Pull out torque [mN.m]
500
DIGITAL LINEAR
ACTUATOR
INTERGRATED
STEPPING MOTOR
MOTOR
DRIVER
A–71
HYBRID STEPPING MOTORS
34HC SERIES 1.2°
Key Features
■
■
■
■
3-phase Motor
Low Noise
Smooth Movement
Low Vibration
ƶ0.39in.
(ƶ10mm)
General Specifications
Bi-polar
ƶ1.10in.
(ƶ28mm)
Model
Number
Resistance Inductance Rated
per Phase per Phase Current
Holding
Torque
Detent
Torque
Rotor
Inertia
ƶ1.38in.
(ƶ35mm)
ohm
mH
A
mNm
oz-in
mNm
oz-in
g.cm2
oz-in2
34HC0301
1.8
11.5
3.0
2000
283.29
100
14.16
1100
6.05
34HC1301
4.6
39.0
2.0
4000
566.57
150
21.25
1850
10.18
34HC2301
1.2
10.5
5.2
6000
849.86
200
28.33
2750
15.13
Mechanical Dimension
ƶ1.53in.
(ƶ39mm)
ƶ1.65in.
(ƶ42mm)
L
Mass
mm (in.)
kg (lb.)
34HC0**
66.5 (2.59)
1.6 (3.52)
34HC1**
96.0 (3.74)
2.7 (5.94)
34HC2**
125.5 (4.89)
3.8 (8.36)
Model
Number
ƶ2.22in.
(ƶ56.4mm)
mm (inch)
Wrie Diagram and Drive Sequence model
‡2.25in.
(‡57.2mm)
Wire Diagram
Drive Sequence model
When seen from the flange side of the motor
STEP A
B
C
ƶ2.36in.
(ƶ60mm)
1
A RED
WHT C
2
3
ƶ3.35in.
(ƶ85mm)
4
5
GRN B
6
CW
CW(CLOCKWISE) ROTATION
‡3.39in.
(‡86mm)
A–72
HYBRID STEPPING MOTORS
Dynamic Torque Curves
34HC1301
34HC0301
Conditions: 3-Phase Constant Current Driver
IC: AMA 3MS5860M
Mode:Half Step
Conditions: 3-Phase Constant Current Driver
IC: AMA 3MS5860M
Mode:Half Step
3.0A(Peak) 48V
3.0A(Peak) 60V
2.0A(Peak) 48V
200
400
600
0
800
200
400
600
800
100
500
50
0
0
2000
4000
6000
3000
400
2000
200
1000
0
0
8000
0
2000
4000
0
8000
1.8˚
Pulse rate [pps]
Pulse rate [pps]
6000
Pull out torque [oz.in]
150
1000
600
4000
0.9˚
200
Pull out torque [oz.in]
250
1500
Pull out torque [mN.m]
5000
2000
Pull out torque [mN.m]
2.0A(Peak) 60V
Speed [r/min]
Speed [r/min]
0
2-PHASE
Conditions: 3-Phase Constant Current Driver
IC: AMA 3MS5860M
Mode:Half Step
5.2A(Peak) 48V
5.2A(Peak) 60V
Speed [r/min]
0
200
400
600
3.6˚
34HC2301
800
3000
150
2000
100
1000
50
0
2000
4000
0
8000
1.2˚
Pulse rate [pps]
6000
3-PHASE
0
Pull out torque [oz.in]
200
4000
HB MOTOR
250
5000
3.75˚
Pull out torque [mN.m]
6000
DIGITAL LINEAR
ACTUATOR
INTERGRATED
STEPPING MOTOR
MOTOR
DRIVER
A–73
HYBRID STEPPING MOTORS
Digital Linear Actuator (External Nut)
ƶ0.39in.
(ƶ10mm)
Description
ƶ1.10in.
(ƶ28mm)
ƶ1.38in.
(ƶ35mm)
Conversion of rotary to linear motion inside a linear actuator is accomplished through a threaded
nut and lead screw. The external shaft is threaded. In order to generate linear motion the lead screw
must rotating together with rotor, and the shaft threads engages the nut resulting in linear motion.
Changing the direction of rotation combination determines the linear travel per step of the nut. The
travel length and speed can be digital controlled by the input of data pulses. Moons DLA 16HY041602N, is designed as travel of 0.004mm per step and can be accurately controlled to drive 40mm
movement by a 10K data pulses input. Application: Various zoom controls, X-Y stages, as well as
other linear motion control applications.
General Specifications
ƶ1.53in.
(ƶ39mm)
Model
Number
Number
of leads
Step
Distance
Rated
Current
Resistance
per Phase
Inductance
per Phase
Rotor
Inertia
mm
inch
A
ohm
mH
g.cm2
oz-in2
kg
lb.
ƶ1.65in.
(ƶ42mm)
17HD0007-34
4
0.01
0.0004
0.4
35
44
38
0.21
0.20
0.44
17HD2405-20N
4
0.015
0.0006
0.5
25
45
57
0.31
0.24
0.53
17HD4001-15N
4
0.04
0.0016
0.4
30
45
38
0.21
0.20
0.44
Mechanical Dimension
ƶ2.22in.
(ƶ56.4mm)
‡2.25in.
(‡57.2mm)
mm (inch)
17HD0007-34
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
mm (inch)
‡3.39in.
(‡86mm)
A–74
Motor
Mass
17HD4001-15N
mm (inch)
17HD2405-20N
HYBRID STEPPING MOTORS
Dynamic Torque Curves
Speed Vs Thrust
Speed Vs Thrust
Thrust N
360
Thrust N
360
320
320
280
280
240
0.9˚
240
200
200
160
160
120
120
80
80
40
40
0
100
500
1000
2000
(pps)
100
500
1000
2000
(pps)
1.8˚
0
2-PHASE
3.6˚
Speed Vs Thrust
Thrust N
120
100
HB MOTOR
3.75˚
80
60
40
20
1000
10000
(pps)
1.2˚
100
3-PHASE
0
DIGITAL LINEAR
ACTUATOR
INTERGRATED
STEPPING MOTOR
MOTOR
DRIVER
A–75
HYBRID STEPPING MOTORS
Digital Linear Actuator (Internal Nut)
ƶ0.39in.
(ƶ10mm)
ƶ1.10in.
(ƶ28mm)
Description
ƶ1.38in.
(ƶ35mm)
ƶ1.53in.
(ƶ39mm)
Conversion of rotary to linear motion inside a linear actuator is accomplished through a threaded
nut and lead screw. The inside of the rotor is threaded and the shaft is replaced by a lead screw. In
order to generate linear motion the lead screw must be prevented from rotation. As the rotor turns the
internal threads engage the lead screw resulting in linear motion. Changing the direction of rotation
reverses the direction of linear motion. The motors rotary step angle. The thread pith of the rotor nut
and lead screw combination determine the linear travel per step of the motor. The travel length and
speed can be digital controlled by the input of data pulses. Moons DLA 11 HS1002-04, is designed
as travel of 0.0035mm per step and can be accurately controlled to drive 35mm movement by a 10K
data pulses input.
Accomplishing the conversion of rotary to linear motion inside the rotor greatly simplifies the process
of delivering linear motion for many applications. Because the linear actuator is self-contained, the
requirements for external components such as belts and pulleys are greatly reduced or eliminated.
Fewer components make the design process easier, reduce overall system cost and size and improve
product reliability. Application: Various valve intelligent controls, Telecommunication Tuning, as vell as
other linear motion control applications.
ƶ1.65in.
(ƶ42mm)
General Specifications
Model
Number
Step
Distance
Number
of leads
ƶ2.22in.
(ƶ56.4mm)
Current
Phase
Resistance
per Phase
Inductance
per Phase
ohm
mH
g.cm2
oz-in2
mm
inch
A
Rotor
Inertia
‡2.25in.
(‡57.2mm)
kg
lb.
16HY7001-52
4
0.1270
0.0050
0.48
25
26
11
0.06
0.1
0.22
11HS1002-14
4
0.0035
0.0001
0.7
4.8
3.4
9
0.05
0.12
0.26
Mechanical Dimension
ƶ2.36in.
(ƶ60mm)
ƶ3.35in.
(ƶ85mm)
‡3.39in.
(‡86mm)
A–76
Motor
Mass
mm (inch)
16HY7001-52
mm (inch)
11HS1002-14
HYBRID STEPPING MOTORS
Dynamic Torque Curves
24V constant current driver
Speed Vs Thrust
Thrust N
200
N180
160
140
160
120
80
0.9˚
120
100
80
60
40
40
20
0
0
100
1000
100 500 1000
2000 3000 4000 5000 6000
(pps)
1.8˚
10000
(pps)
2-PHASE
3.6˚
HB MOTOR
3.75˚
3-PHASE
1.2˚
DIGITAL LINEAR
ACTUATOR
INTERGRATED
STEPPING MOTOR
MOTOR
DRIVER
A–77