hybrid stepper motors-linear actuators 2-phase 3-phase ... · 3 why stepping motor how to select 2...
TRANSCRIPT
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
1
MOTORS Contents
Applications & Performance Features .............................. 02Basic Structure and Motor Operation ............................... 03Technical Data and Terminology...................................... 04Model Numbering System ................................................ 06Shaft Options.................................................................... 07
Introduction
EncapsulatedSteppingMotors
New Released SteppingMotors
8HY 1.8˚ ..................................................................... 122 PhaseNEMA 820.3 mm/0.80 inch
14HS 1.8˚ ..................................................................... 132 PhaseNEMA 1435.0 mm/1.38 inch
16HF 3.75˚ ................................................................... 142 PhaseNEMA 1639.0 mm/1.53 inch
14HK 0.9˚ ..................................................................... 09Encapsulated2 Phase
14HC 1.2˚ ..................................................................... 1017HC 1.2˚ ..................................................................... 11
Encapsulated3 Phase
Wiring Connection ............................................................ 62Lead Wires & Cables........................................................ 63Schematic Diagrams & Stepping Sequence..................... 64
How to Select&Technical
3 Phase SteppingMotors
24HC 1.2˚ ..................................................................... 603 PhaseNEMA 2460.0 mm/2.36 inch
34HC 1.2˚ ..................................................................... 613 PhaseNEMA 3486.0mm/3.39 inch
2 Phase SteppingMotors
17HA 0.9˚ ..................................................................... 2617HD 1.8˚ ..................................................................... 29
17HDN 1.8˚ ..................................................................... 3117HE 3.6˚ ..................................................................... 36
2 PhaseNEMA 1742.0 mm/1.65 inch
23HS 1.8˚ (large rotor) ............................................... 3823HM 1.8˚ (middle rotor) ............................................... 4323HY 1.8˚ (small rotor) ............................................... 45
2 PhaseNEMA 2356.4 mm/2.22 inch
24HS 1.8˚ ..................................................................... 482 PhaseNEMA 2460.0 mm/2.36 inch
34HD 1.8˚ (large rotor) ............................................... 5234HY 1.8˚ (small rotor)............................................... 54
2 PhaseNEMA 3486.0 mm/3.39 inch
11HS 1.8˚ ..................................................................... 172 PhaseNEMA 1128.0 mm/1.10 inch
14HA 0.9˚ ..................................................................... 2014HY 1.8˚ ..................................................................... 22
2 PhaseNEMA 1435.0 mm/1.38 inch
10HF 3.75˚ ................................................................... 152 PhaseNEMA 1025.4 mm/1.00 inch
16HS 1.8˚ ..................................................................... 242 PhaseNEMA 1639.0 mm/1.53 inch
2
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
Introduction of Stepping Motors
n Applications
MOONS’ stepping motors are widely used to create the motion needed in many types of equipment. Examples include:
• offi ce automation: printers, scanners, copy machines
• stage lighting: pointing, focus, color changes, spot size, special effects
• banking: check processing, credit card manufacturing, money scanners & counters
• medical: body scanning, blood analyzers, chemical analysis
• industrial: textile, packaging, robotics, conveyers, assembly, labeling
• telecommunication: phase shift, Tuning, mobile antenna positioning
• security: camera movement
• automotive: fuel metering, steering control
n What is Stepping Motor
Stepping Motors provide precise position and speed control, without the need for feedback devices to sense position. The operation of step motors is controlled through electrical pulses that the drive converts to current fl owing through the windings of the motor. As the current is switched the motor rotates in precise steps of a fi xed angle. The motor and drive constitutes a low cost control system that is precise and simple to construct.
n Performance Features of MOONS' Stepping Motors
• Accurate Position Control
The number of control pulses defi nes the motor shaft position. Position error is very small (less than 1/10th of a degree), and non cumulative.
• Precise Motor Speed
Step motor running speed, is exactly determined by the frequency of the control pulses. Because the speed is very precise and easy to control, step motors are often used where coordinated motion control is needed.
• Forward & Reverse, Pause and Holding Function
Motor torque and position control is effective throughout the entire speed range, including zero speed holding torque. The zero speed holding torque locks the shaft at the desired position to hold the load in place.
• Low Speed Operation
Step motors produce a large amount of torque, and are easy to control, at low speeds. This often eliminates the need for speed reduction gearboxes, reduces costs and saves space.
• Long Life
The brushless design of step motors leads to motors with a very long life. Step motor life is usually determined by the life of the bearings.
3
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Basic Structure and Motor Operation
• Basic Structure
Front endbell
Shaft
Magnet
Ball bearing
Stator Laminations
Spring Washer
Screw
Ball bearing
Rotor Laminations
Rotor Laminations
Winding Insulator
Rear Endbell
Stator Assembly
Winding Insulator
• Operating Principles
In response to each individual control pulse and direction signal, the drive applies power to the motor windings to cause the rotor to take a step forward, a step in reverse, or lock in position.
For example, in a 1.8 degree two phase step motor: When both phases are energized with DC current, the motor will stop rotating and hold in position. The maximum torque the motor can hold in place with rated DC current, is the rated holding torque. If the current in one phase is reversed, the motor will move 1 step (1.8 degrees) in a known direction. If the current in the other phase had been reversed, the motor would move 1 step (1.8 degrees) in the other direction. As current is reversed in each phase in sequence, the motor continues to step in the desired direction. These steps are very accurate. For a 1.8 degree step motor, there are exactly 200 steps in one revolution.
Two phase stepping motors are furnished with two types of windings: bipolar or unipolar. In a bipolar motor there is one winding on each phase. The motor moves in steps as the current in each winding is reversed. This requires a drive with eight electronic switches. In a unipolar motor there are two windings on each phase. The two windings on each phase are connected in opposite directions. Phase current is reversed by turning on alternate windings on the same phase. This requires a drive with only four electronic switches. Bipolar operation typically provides 40% more holding torque than unipolar, because 100% of the winding is energized in the bipolar arrangement.
2 phase step motor withunipolar driver
A C B D
+ VDC
2 phase step motor withbipolar driver
+ VDC
A C B D
4
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Technical Data and Terminology
• Load Calculations
A. Torque load (Tf)
Tf = G * r
G: weight
r: radius
B. Inertia load (TJ)
TJ = J * dw/dt
J = M * (R12+R
22) / 2 (Kg * cm)
M: mass
R1: outside radius
R2: inside radius
dw/dt: angle acceleration
• Speed-Torque Characteristics
The dynamic torque curve is an important
aspect of stepping motor’s output performance.
The followings are some keyword explanations.
A. Working frequency point express the stepping motors rotational speed value at this point 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.
B. Start/Stop region: the region in which a stepping motor can be directly started or stopped.
C. Slew Range: the motor cannot be started directly in this area. It must be started in the start/stop region fi rst 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.
D. Maximum starting frequency point at this point, the stepping motor can reach its maximum
starting speed under unloaded condition.
E. Maximum running frequency point at this point the stepping motor can reach its maximum
running speed under an unloaded condition.
F. Pull-in Torque: the maximum dynamic torque value that a stepping motor can load directly at
the particular operating frequency point.
G. 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.
G
r
R1
L
R2
Pules Rate
Pull outTorque
Pull inTorque
Slew Range
Maximum starting frequency point
Working frequency point
Maximum running frequency point
Torque
Start/stop region
5
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
• Calculate the Acceleration Torque
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.
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
infl uenced by the inductance.
A. 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?
(1). Generally TJ = 70%Tm
(2). tr = 1.8 * 10 -5 * J * q * (F1-F0)/(TJ-TL)
(3). F (t) = (F1-F0) * t/tr + F0, 0<t<tr
B. Exponential Acceleration
(1). Generally
TJ0 = 70%Tm0,
TJ1 = 70%Tm1,
TL = 60%Tm1
(2). tr = F4 * In [(TJ0-TL)/(TJ1-TL)]
(3). 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)
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. Have the motor operate outside of this speed 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%.
Tm
F
F0
TL
TJ
Tm
F1 F
F0
TLTJ1
TJ0
TmTm0
Tm1
F1 F
6
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
Model Numbering System
Frame Size
motor outside diameter in tenths of an inch (example: size 17 = 1.7”)
Type of Stepping Motor
“H” means Hybrid Stepping Motor
Type of Step Angle
A: step angle 0.9°, stator: 8 polar
C: step angle 1.2°
D: step angle 1.8°, stator: 8 polar, teeth distributing asymmetrically
E: step angle 3.6°, stator: 8 polar
F: step angle 3.75°, stator: 8 polar
M: step angle 1.8°, stator: 8 polar, middle rotor
S: step angle 1.8°, stator: 8 polar, large rotor
Y: step angle 1.8°, stator: 8 polar, small rotor
Stator Length
Type of Lead Wires
“0” indicates connector only, “4” “5” “6” “8” indicates number of lead wires
Electric Variation
variety of current, torque, etc.
Mechanical Variation
variety of shaft, lead wires, screws, etc.
17 H D 0 0 01 - 01
7
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
• Press Fit Pulley & Gear
Metal Pulley Plastic Pulley Gear
• Shaft Options
Dowel Worm Shaft Cross Drilled Shaft
Single Flat Double Flat Key Way
Knurl Hobbed Gear Helical Cut
Hollow Shaft
• Many other special shafts are available.
n Shaft Options
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
Encapsulated Stepping Motors
n New Encapsulation Technology From MOONS' Offers Many Advantages
• Ideal for Security Cameras
In addition to all the advantages of normal step motors, these new encapsulated motors can
help achieve a breakthrough in miniaturization of security cameras. Small step motors are a core
component in security camera systems. With MOONS’ encapsulation technology, the 36mm
diameter motor is now available with a thickness as little as 12.8mm.
• Low Temperature Rise
The winding resistance of these new motors is nearly 30% lower than other motors with the
same thickness and output-torque. In addition, the new encapsulation technology increases the
heat-conducting property of these motors. The lower winding resistance and improved thermal
conductivity combine to drastically lower the temperature of these motors to less than 80% of
standard motors.
• 35% More Torque
Lower resistance coils allows these encapsulated
motors to handle more power. With the same
temperature rise the new motors can produce
35% more torque while dissipating the same
amount of heat.
• Quieter & Smoother
New materials and improved manufacturing processes, means these motors have a higher
precision, more stable design. This controls vibration and reduces noise. It also makes the motor
run smoothly.
• More Load & Longer Life
MOONS’ encapsulated stepping motors use large bearings that can handle large axial and radial
loads, and ensure long life.
• RoHS
Encapsulated stepping motors are RoHS compliant.
• Molded Construction
Encapsulated winding.........Runs cooler – Longer life
Better sealing.......................Longer life
Reduced vibration............... Smoother moves - Quieter
• High Winding Fill
Larger wire size...................More torque
Uses less energy................. Longer battery life
• Large Ball Bearings
Large shaft loads.................Fewer design restrictions
Long Life..............................27 times with same load
torq
ue (m
Nm
)
speed (0.9˚ steps / sec)
35% More Torque
MOONS'
Competitor 1
Competitor 2
12 VDC, Rated Current
0 1000 2000 3000 4000 5000
40
35
30
25
20
15
10
5
0
9
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
14HK012.8 mm(0.50 in.)
14HK0402N 40 5.64 0.3 12 8 2 0.28 4 0.022
14HK220.2 mm(0.80 in.)
14HK2401N 100 14.1 0.45 8.4 7.3 5 0.71 11 0.060
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
14HK012.8
(0.50)0.06
(0.13)
14HK220.2
(0.80)0.11
(0.24)
n Dynamic Torque Curves
• Bi-polar
Unit: mm(inch)
15±0.3
ø1
60 -0
.01
1.85±0.2
3.6
43.83±0.3
(1.726±0.012)
ø34.8
(ø1.3
7)
ø36
(ø1.
42)
2-R3.50
2-M3
Through
L Max
(0.073±0.008)
(ø0.1968 )0
-0.0005
ø50
-0.012
(0.59±0.012)
(0.142)
(ø0
.62
99
)0 -0.0
00
4
28AWG-UL1886
14HK0402N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
20
40
60
80
100
0 500 1000 1500 2000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
10
0 100 200 300
Speed [r/min]
Pull
out to
rque [oz.in]
0.30A(Peak) 12V
14HK2401N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
20
40
60
80
100
0 500 1000 1500 2000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
10
0 100 300200
Speed [r/min]
Pull
out to
rque [oz.in]
0.45A(Peak) 12V
14HK SERIES 0.9° Encapsulated Stepping Motor
n Key Features
• 35% More Torque
• Quieter & Smoother
• Longer Life
10
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
14HC SERIES 1.2° Encapsulated Stepping Motor
n Key Features
• 35% More Torque
• Quieter & Smoother
• Longer Life
n General Specifi cations
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
14HC012.8 mm(0.50 in.)
14HC0301N 33 4.7 1 1.68 0.82 4 0.57 4 0.022
14HC220.2 mm(0.80 in.)
14HC2301N 90 12.7 1.25 1.45 0.85 10 1.4 11 0.060
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
14HC012.8
(0.50)0.06
(0.13)
14HC220.2
(0.80)0.11
(0.24)
n Dynamic Torque Curves
Unit: mm(inch)
15±0.3
ø1
60 -0
.01
1.85±0.2
3.6
43.83±0.3
(1.726±0.012)
ø34.8
(ø1.3
7)
ø36
(ø1.
42)
2-R3.50
2-M3
Through
L Max
(0.073±0.008)
(ø0.1968 )0
-0.0005
ø50
-0.012
(0.59±0.012)
(0.142)
(ø0
.62
99
)0 -0.0
00
4
28AWG-UL1886
14HC0301N
Conditions:
Driver: MS3ST10
Mode:10000 Step/Revolution
0
10
20
30
40
0 20000 40000 60000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
1
2
3
4
0 60 120 180 240 300 360 420
Speed [r/min]
Pull
out to
rque [oz.in]
1A(Peak) 24V
14HC2301N
Conditions:
Driver: MS3ST10
Mode:10000 Step/Revolution
0
10
20
30
40
0 20000 40000 60000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
1
2
3
4
0 60 120 180 240 300 360 420
Speed [r/min]
Pull
out to
rque [oz.in]
1.25A(Peak) 24V
Contact MOONS’ for
Dynamic Torque Curves
11
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
17HC SERIES 1.2° Encapsulated Stepping Motor
n Key Features
• 35% More Torque
• Quieter & Smoother
• Longer Life
n General Specifi cations
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
17HC234 mm
(1.34 in.)
17HC2001-01N 320 45.3 0.8 12.4 16.5 14 2 57 0.311
17HC2002-02N 348 49.3 2.3 1.65 2.4 14 2 57 0.311
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
17HC234
(1.34)0.245(0.54)
n Dynamic Torque Curves
Unit: mm(inch)
ø22
0 -0.0
52
(ø0.8
66 )
0 -0.0
02
2-M3
ø43
24±0.5
(0.94±0.02)
(0.078±0.008) (0.106) (ø1.693)
(ø1.744 MAX)
2±0.2
(12)
(0.47)
11.05(0.435)
10.05(0.413)
2.7
ø44.3 MAX
43.8±0.1(1.724±0.004)
10
(0.39)
1 2 330
(1.1
8)
DEPTH 4.5 MIN
L MAX
(ø0.1968 )0
-0.0005
ø50
-0.012
17HC2001-01N
Conditions:
Driver: MS3ST10
Mode:10000 Step/Revolution
0
100
200
300
400
0 20000 40000 60000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
10
20
30
40
Speed [r/min]
Pull
out to
rque [oz.in]
0.8A(Peak) 24V
0 60 120 180 240 300 360 420
0
100
200
300
400
0
10
20
30
40
Pu
ll o
ut to
rqu
e [o
z.in
]
17HC2002-02N
Conditions:
Driver: MS3ST10
Mode:10000 Step/Revolution
0 30000 60000 90000 120000 150000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0 180 360 540 720 900
Speed [r/min]
2.3A(Peak) 24V
12
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
8HY SERIES 1.8°
n Key Features
• Small Size
• Smooth Movement
• Low Inertia
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
8HY229.5 mm(1.16 in.)
8HY2041 17 2.4 0.4 8.5 3.4 2.5 0.4 2 0.011
8HY447 mm
(1.85 in.)8HY4041 32 4.5 0.4 16 7 4 0.6 4 0.022
• Uni-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
8HY229.5 mm(1.16 in.)
8HY2061 13 1.8 0.4 10 2.4 2.5 0.4 2 0.011
8HY447 mm
(1.85 in.)8HY4062 24 3.4 0.4 20 4.6 4 0.6 4 0.022
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L
mm(in.)
8HY229.5
(1.16)
8HY447
(1.85)
n Dynamic Torque Curves
• Contact MOONS' for dynamic torque curves
Unit: mm(inch)
1
11.5(0.453)
20.1 Max
(0.79 Max)
4-M2
Depth 4min.
5
(0.2
)
9
(0.35)
L Max
3 4 5 62
20±0.5
(0.79±0.02)
1.5±0.2
(0.059±0.008)
16±0.2(0.630±0.008)
ø15
-0.0
52
0
(ø0.5
91 )
-0.0
02
0
ø4 -0.0120
(ø1.575 )-0.00050
13
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
14HS SERIES 1.8°
n Key Features
• High Torque
• Small Size
• Smooth Movement
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
14HS336 mm
(1.41 in.)14HS3042 150 21.2 0.85 5.4 6.5 18 2.5 20 0.109
14HS555 mm
(2.16 in.)14HS5042 270 38.2 0.85 7.7 8.4 30 4.2 35 0.191
• Uni-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
14HS336 mm
(1.41 in.)14HS3062 110 15.6 1.2 2.7 1.6 18 2.5 20 0.109
14HS555 mm
(2.16 in.)14HS5062 200 28.3 1.2 3.9 2.1 30 4.2 35 0.191
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L
mm(in.)
14HS336
(1.41)
14HS555
(2.16)
n Dynamic Torque Curves
• Contact MOONS' for dynamic torque curves
Unit: mm(inch)
35.3 Max(1.39 Max)
4-M3
Depth 2.5min.10(0.39)
L Max
21.3 2.8
(0.1
1)
(0.84)
24±0.5(0.95±0.02)
2±0.2
(0.079±0.008)
26±0.1
(1.024±0.004)
ø2
2-0
.052
0
(ø0
.86
6
)
-0.0
02
0
ø5 -0.0120
(ø0.1969 )-0.00050
1 5 7 11
14
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
16HF SERIES 3.75°
n Key Features
• High Speed
• Small Size
• High Acceleration
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
16HF133.3 mm(1.31 in.)
16HF1408 100 14.2 0.73 7.3 6 12 1.7 15 0.082
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L
mm(in.)
16HF133.3
(1.31)
n Dynamic Torque Curves
• Contact MOONS' for dynamic torque curves
Unit: mm(inch)
39.3Max(1.55 Max)
2-M3
AWG26 UL3266
Depth 4.5min.
L Max24±0.5
(0.95±0.02)
2±0.2
(0.079±0.008)
31±0.1(1.220±0.004)
ø2
2
(ø0
.86
6
)
-0.0
52
0 -0.0
02
0
ø4 -0.0120
(ø0.1575 )-0.00050
15
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
10HF SERIES 3.75°
n Key Features
• High Speed
• High Acceleration
• Low Noise
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
10HF318.5 mm(0.72 in.)
10HF3001 12 1.70 0.3 14 5.8 2.9 0.411 2 0.011
10HF3002 12 1.70 0.6 3.6 1.6 2.9 0.411 2 0.011
10HF518.5 mm(0.72 in.)
10HF5001 19 2.69 0.3 18 10.7 3.9 0.553 3 0.016
10HF5002 19 2.69 0.6 4.6 3 3.9 0.553 3 0.016
10HF718.5 mm(0.72 in.)
10HF7402-02 15 2.13 0.143 84 18 3 0.42 2 0.01
• Uni-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
10HF718.5 mm(0.72 in.)
10HF7602-03 9 1.28 0.2 42 4.5 3 0.42 2 0.01
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
10HF718.5
(0.72)0.045(0.10)
Unit: mm(inch)
L Max.
4-M2
□25.5 Max.(□1.0 Max.)
20±0.5
2
(0.08)
1.5
(0.06)
(0.79±0.02)
ø3.5 0+0.1
(ø0.14 )0+0.004
ø3 -0.0150
(ø0.118 )-0.00060
ø10
-0.0
50
(ø0.3
9 )
-0.0
02
0
(0.55)14
(0.63±0.008)16 ± 0.2
(0.3
±0.0
08)
7.5
± 0
.2
(0.12)3 (R 0.12)
R 3
16
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Bi-polar
• Uni-polar
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0 250 500 750 1000
10HF3001
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
3
6
9
12
15
0
1.0
0.5
2.0
1.5
0 50 100 150 200 250 300
0.3A(Peak) 12V 0.3A(Peak) 24V
Contact MOONS’ for
Dynamic Torque Curves
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0 250 500 750 1000
10HF3002
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
3
6
9
12
15
0
1.0
0.5
2.0
1.5
0 50 100 150 200 250 300
0.6A(Peak) 12V 0.6A(Peak) 24V
Contact MOONS’ for
Dynamic Torque Curves
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0 250 500 750 1000
10HF5001
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
3
6
9
12
15
0
1.0
0.5
2.0
1.5
0 50 100 150 200 250 300
0.3A(Peak) 12V 0.3A(Peak) 24V
Contact MOONS’ for
Dynamic Torque Curves
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0 250 500 750 1000
10HF5002
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
3
6
9
12
15
0
1.0
0.5
2.0
1.5
0 50 100 150 200 250 300
0.6A(Peak) 12V 0.6A(Peak) 24V
Contact MOONS’ for
Dynamic Torque Curves
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0 250 500 750 1000
10HF7402-02
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
3
6
9
12
15
0
1.0
0.5
2.0
1.5
0 50 100 150 200 250 300
0.143A(Peak) 12V 0.143A(Peak) 24V
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0 250 500 750 1000
10HF7602-03
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
3
6
9
12
15
0
1.0
0.5
2.0
1.5
0 50 100 150 200 250 300
0.2A(Peak) 12V 0.2A(Peak) 24V
17
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
11HS SERIES 1.8°
n Key Features
• High Accuracy
• Low Inertia
• Small Size
Unit: mm(inch)
L Max.
4-M2.5
23±
0.1
(0.9
05
±0
.00
4)
23±0.1
(0.905±0.004)
Depth 2.5Min
(Depth 0.1Min.)
□2
8.3
Ma
x.
(□0
.12M
ax.)
24±0.5
2
(0.08)
(0.95±0.02)
ø2
2-0
.052
0
ø5 -0.0120
(ø0.1968 )-0.00050
(ø0
.866
)-0
.002
0
9.5
(0.37) Molex 53253-0670 16.5
(0.65)
5
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
11HS131 mm
(1.22 in.)
11HS1006 65 9.21 0.67 5.6 4.3
5 0.71 9 0.0511HS1007 65 9.21 0.5 10.4 8.4
11HS1008 65 9.21 1 2.5 2.2
11HS340 mm
(1.57 in.)11HS3005 105 14.88 0.67 6.8 6.0 6 0.85 12 0.07
11HS551 mm
(2.01 in.)
11HS5005 120 17.01 0.5 12 12
8 1.13 18 0.1011HS5007 120 17.01 0.25 48.5 30.7
11HS5008 120 17.01 1 3.5 2.3
• Uni-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
11HS131 mm
(1.22 in.)
11HS1003 53 7.51 0.95 2.8 1.3
5 0.71 9 0.0511HS1009 34 4.82 0.25 40 12
11HS1010 34 4.82 0.5 9.4 3
11HS340 mm
(1.57 in.)11HS3002-01 80 11.34 0.95 3.4 1.6 6 0.85 12 0.07
11HS551 mm
(2.01 in.)
11HS5002-01 115 16.30 0.95 4.6 2.38 1.13 18 0.10
11HS5003 90 12.76 0.5 12 6.3
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
11HS131
(1.21)0.10
(0.22)
11HS340
(1.56)0.15
(0.33)
11HS551
(2.01)0.20
(0.44)
18
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Bi-polar
11HS1006
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
20
40
60
80
0 2000 4000 6000 8000 10000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
5
10
0 1000 2000 3000
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0.67A(Peak) 12V 0.67A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
11HS1007
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
20
40
60
80
0
5
10
0.5A(Peak) 12V 0.5A(Peak) 24V
0 1000 2000 3000 4000 5000 6000
0 500 1000 1500
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
20
40
60
80
0
5
10
0 1000 2000 3000 4000 5000 6000
0 500 1000 1500
11HS1008
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
1.0A(Peak) 12V 1.0A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
11HS3005
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
20
40
60
80
100
0 2000 4000 6000 80000
5
10
0 500 1000 1500 2000
0.67A(Peak) 12V 0.67A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
20
40
60
80
100
0
5
10
11HS5005
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0 1000 2000 3000 4000 5000 6000
0 1000500 1500
0.5A(Peak) 12V 0.5A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]P
ull
ou
t to
rqu
e [
oz.in
]
0
20
40
60
80
100
0
5
10
0 1000 2000 3000 4000 5000 6000
0 1000500 1500
11HS5007
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0.25A(Peak) 12V 0.25A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
20
40
60
80
100
0
5
10
0 1000 2000 3000 4000 5000 6000
0 1000500 1500
11HS5008
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
1.0A(Peak) 12V 1.0A(Peak) 24V
19
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
0 2000 4000 6000 8000 10000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0 1000 2000 3000
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
11HS1003
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
10
20
30
40
50
0
5
0.95A(Peak) 12V 0.95A(Peak) 24V
0 2000 4000 6000 8000 10000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0 1000 2000 3000
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
10
20
30
40
50
0
5
11HS1009
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0.25A(Peak) 12V 0.25A(Peak) 24V
0 2000 4000 6000 8000 10000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0 1000 2000 3000
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
10
20
30
40
50
0
5
11HS1010
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0.5A(Peak) 12V 0.5A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
20
40
60
80
100
0 2000 4000 6000 80000
5
10
0 500 1000 1500 2000
11HS3002-01
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0.95A(Peak) 12V 0.95A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
20
40
60
80
100
0 2000 4000 6000 80000
5
10
0 500 1000 1500 2000
11HS5002-01
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0.95A(Peak) 12V 0.95A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
20
40
60
80
100
0 2000 4000 6000 80000
5
10
0 500 1000 1500 2000
11HS5003
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0.5A(Peak) 12V 0.5A(Peak) 24V
n Dynamic Torque Curves
• Uni-polar
20
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n General Specifi cations
• Bi-polar
Series
&
Length
Model Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
14HA028 mm
(1.10 in.)
14HA0001N 100 14.17 0.4 23 25 10 1.42 14 0.08
14HA0004N 95 13.46 0.6 6.6 6 10 1.42 14 0.08
• Uni-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
14HA028 mm
(1.10 in.)
14HA0005N 75 10.63 0.6 6.6 2.7 10 1.42 14 0.08
14HA0006N 75 10.63 0.4 23 13 10 1.42 14 0.08
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
14HA028
(1.10)0.16
(0.35)
14HA SERIES 0.9°
n Key Features
• High Accuracy
• Low Noise
• Smooth Movement
Unit: mm(inch)
L Max.
4-M3
26±
0.1
(1.0
24±
0.0
04)
26±0.1
(1.024±0.004)
Depth 2.5Min(Depth 0.1Min.)
□35.3
Max.
(□1.3
9M
ax.
)
24±0.5
2
(0.08)
(0.95±0.02)
ø22
-0.0
52
0
ø5
-0.0
12
0
(ø0.1
968 )
-0.0
005
0
(ø0.8
66 )
-0.0
02
0
10
(0.39) JST S11B-ZR(LF)(SN)21.3
(0.84)
2.8
(0.1
1)
21
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Bi-polar
• Uni-polar
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
20
40
60
80
100
0 2000 4000 6000 80000
5
10
0 250 500 750 1000
14HA0001N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0.4A(Peak) 12V 0.4A(Peak) 24V
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
20
40
60
80
100
0 2000 4000 6000 80000
5
10
0 250 500 750 1000
14HA0004N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0.6A(Peak) 12V 0.6A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
20
40
60
80
100
0 500 1000 3000 40000
5
10
0 100 200 300 400 500 600
14HA0005N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0.6A(Peak) 12V 0.6A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
20
40
60
80
100
0 500 1000 3000 40000
5
10
0 100 200 300 400 500 600
14HA0006N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0.4A(Peak) 12V 0.4A(Peak) 24V
22
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
14HY526 mm
(1.01 in.)14HY5010 68 9.64 0.4 9 8 10 1.42 12 0.07
14HY837 mm
(1.44 in.)14HY8002 115 16.30 0.85 5.5 5 15 2.12 20 0.11
• Uni-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
14HY526 mm
(1.01 in.)14HY5011 50 7.09 0.4 9 4.2 10 1.42 12 0.07
14HY837 mm
(1.44 in.)14HY8001 120 17.01 1.2 2.7 1.7 15 2.12 20 0.11
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
14HY526
(1.01)0.15
(0.33)
14HY837
(1.44)0.21
(0.46)
14HY SERIES 1.8°
n Key Features
• Low Inertia
• Small Size
• High Acceleration
Unit: mm(inch)
L Max.
4-M3
35.3±Max.(1.39 Max.)
Depth 3.5Min
(Depth 0.14Min.)
26±0.1(1.02±0.004)
35
.3±
Ma
x.(1
.39
Ma
x.)
26
±0
.1(1
.02
±0
.00
4)
24±0.5
2
(0.08)
(0.95±0.02)
ø2
2-0
.052
0
ø5
-0.0
12
0
(ø0
.19
68
)
-0.0
005
0
(ø0
.86
6
)
-0.0
02
0
11
(0.43)16
(0.63)
7
(0.2
8)
JSTS6B-PH-K(LF)(SN)
23
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Bi-polar
• Uni-polar
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
20
40
60
80
100
0 500 1000 3000 40000
5
10
0 200 400 600 800 1000 1200
14HY5010
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0.4A(Peak) 12V 0.4A(Peak) 24V
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0
20
40
60
80
100
0
5
10
14HY8002
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0 2000 4000 6000 7000
0 500 1000 1500 2000
0.85A(Peak) 12V 0.85A(Peak) 24V
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0
20
40
60
80
100
0
5
10
0 2000 4000 6000 7000
0 500 1000 1500 2000
14HY5011
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0.4A(Peak) 12V 0.4A(Peak) 24V
Pu
ll o
ut to
rqu
e [m
N.m
]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
20
40
60
80
100
0
5
10
14HY8001
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
1.2A(Peak) 12V 1.2A(Peak) 24V
0 2000 4000 6000 8000 10000
Pulse rate [pps]
0 1000 2000 3000
Speed [r/min]
24
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
16HS436 mm
(1.40 in.)
16HS4003-06N 260 36.85 0.40 29 38 15 2.12 30 0.17
16HS4007-01N 220 31.18 0.65 7 9.6 15 2.12 30 0.17
• Uni-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
16HS436 mm
(1.40 in.)
16HS4005-01N 165 23.38 0.65 7 5.6 15 2.12 30 0.17
16HS4006-01N 155 21.97 0.30 40 27 15 2.12 30 0.17
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
16HS436
(1.40)0.21
(0.46)
PIN NO. 123456(10)
31 ± 0.1
31
±0.1
JST S6B-PH-K(LF)(SN)
2 ± 0.2
34.3Max
(16)
(6)
ø50
-0.012
12 ± 0.5
ø22
0-0
.05
2
39.3Max.
39.3
Max.
4-M3
Depth 4.5Min
Unit: mm(inch)
16HS SERIES 1.8°
n Key Features
• High Torque
• Smooth Movement
• Small Size
25
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Bi-polar
• Uni-polar
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0 2000 4000 6000 8000
16HS4003-06N
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
40
80
120
160
200
0
10
20
0 400 800 1200 1600 2000 2400
0.40A(Peak) 12V 0.40A(Peak) 24V
Contact MOONS’ for
Dynamic Torque Curves
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0 2000 4000 6000 8000
16HS4007-01N
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
40
80
120
160
200
0
10
20
0 400 800 1200 1600 2000 2400
0.65A(Peak) 12V 0.65A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
40
80
120
160
200
0
10
20
16HS4005-01N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0 1000 2000 3000
0 200 400 600 800 900
0.65A(Peak) 12V 0.65A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
40
80
120
160
200
0
10
20
16HS4006-01N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0 1000 2000 3000
0 200 400 600 800 900
0.30A(Peak) 12V 0.30A(Peak) 24V
Contact MOONS’ for
Dynamic Torque Curves
26
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
17HA720 mm
(0.79 in.)17HA7402-06 78 11.05 0.65 6.6 7 5 0.71 20 0.08
17HA028 mm
(1.10 in.)17HA0403-44N 110 15.59 0.43 8 11 8 1.13 20 0.11
17HA434.3 mm(1.35 in.)
17HA4401-05N 220 31.18 0.87 3.1 3.6 12 1.70 38 0.21
17HA4402-16N 250 35.43 0.5 20 23 12 1.70 38 0.21
• Uni-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
17HA720 mm
(0.79 in.)17HA7602 35 4.96 0.65 6.6 2.9 5 0.71 20 0.08
17HA028 mm
(1.10 in.)17HA0601N 60 8.50 0.43 8 4 8 1.13 20 0.11
17HA434.3 mm(1.35 in.)
17HA4605N 170 24.09 0.87 3.1 2.3 12 1.70 38 0.21
17HA4606N 220 31.18 0.5 20 13 12 1.70 38 0.21
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
17HA720
(0.79)0.12
(0.26)
17HA028
(1.10)0.19
(0.42)
17HA434.3
(1.35)0.23
(0.51)
17HA SERIES 0.9°
n Key Features
• High Accuracy
• Low Noise
• Smooth Movement
Unit: mm(inch)
L Max.
4-M3
31±0.1
31
±0
.1
30
0±
10
(11
.8±
0.4
)
(1.220±0.004)
(1.2
20
±0
.00
4)
Depth 4.5Min
(Depth 0.18Min.)
AWG26 UL3266
□4
2.3
Ma
x.
(□4
1.6
7M
ax.
)
24±0.5
2
(0.08)
(0.95±0.02)
ø2
2-0
.05
20
ø5
-0.0
12
0
(ø0
.19
68
)-0
.00
05
0
(ø0
.86
6
)-0
.00
20
27
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Bi-polar
• Uni-polar
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
17HA0403-44N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
50
100
150
0 2000 4000 6000 8000 90000
10
20
0 600 800 1200400200 1000
0.56A(Peak) 12V 0.56A(Peak) 24V
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
50
100
150
200
250
300
0
10
20
30
40
17HA4401-05N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0 2000 4000 6000 8000 10000
0 200 400 600 800 12001000 1400
0.87A(Peak) 12V 0.87A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
17HA4402-16N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
50
100
150
200
250
300
0 1000 2000 3000 40000
10
20
30
40
0 100 200 300 400 500 600
0.5A(Peak) 12V 0.5A(Peak) 24V
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
50
100
150
0
10
20
17HA7402-06
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0 2000 4000 6000 8000
0 200 400 600 800 12001000
0.65A(Peak) 12V 0.65A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
10
20
30
40
50
0 2000 4000 6000 80000
2
4
6
0 400 600 800 1200200 1000
17HA0601N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0.43A(Peak) 12V 0.43A(Peak) 24V
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
50
100
150
200
250
300
0
10
20
30
40
17HA4605N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0 1000 2000 3000 4000 5000
0 200 400 600 700
0.87A(Peak) 12V 0.87A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
17HA7602
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
10
20
30
40
50
0 2000 4000 6000 80000
2
4
6
0 400 600 800 1200200 1000
0.65A(Peak) 12V 0.65A(Peak) 24V
28
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
50
100
150
200
250
300
0
10
20
30
40
17HA4606N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0 1000 2000 3000
0 100 200 300 400
0.5A(Peak) 12V 0.5A(Peak) 24V
n Dynamic Torque Curves
• Uni-polar
29
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
17HD525.3 mm(0.99 in.)
17HD5003-10 220 31.18 0.4 24 36 5 0.71 20 0.11
17HD033.3 mm(1.30 in.)
17HD0013 285 40.39 0.4 30 27 12 1.70 38 0.21
17HD139.3 mm(1.53 in.)
17HD1004-01 450 63.78 0.5 25 50 15 2.12 57 0.31
17HD347.3 mm(1.84 in.)
17HD3005-10 500 70.86 0.4 30 45 25 3.54 82 0.45
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L Mass
mm (in.) kg (lb.)
17HD525.3
(0.99)0.15
(0.33)
17HD033.3
(1.30)0.21
(0.46)
17HD139.3
(1.53)0.28
(0.62)
17HD347.3
(1.84)0.36
(0.79)
17HD SERIES 1.8°
n Key Features
• High Torque
• Low Noise
• Small Size
Unit: mm(inch)
L Max.
4-M3
31±0.1
31±
0.1
(1.220±0.004)
(1.2
20±
0.0
04)
Depth 4.5Min
(Depth 0.18Min.)
□42.3
Max.
(□41.6
7M
ax.
)
24±0.5
2
(0.08)
(0.95±0.02)
ø22
-0.0
52
0
ø5
-0.0
12
0
(ø0.1
968 )
-0.0
00
50
(ø0.8
66 )
-0.0
02
0
11
(0.43)16
(0.63)
7
(0.2
8)
JSTS6B-PH-K(LF)(SN)
30
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Bi-polar
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
100
200
300
400
500
0
20
40
60
0 300 600 900 1200 1500
0 200 400
17HD0013
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0.4A(Peak) 12V 0.4A(Peak) 24V
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
17HD1004-01
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
100
200
300
400
500
0 800600200 400 1000 12000
20
40
60
0 100 200 300
0.5A(Peak) 12V 0.5A(Peak) 24V
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
100
200
300
400
500
0 800600200 400 10000
20
40
60
17HD3005-10
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0 100 200 300
0.4A(Peak) 12V 0.4A(Peak) 24V
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0
100
200
300
400
500
0
20
40
60
17HD5003-10
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0 300 600 900 1200 1500
0 200 400
0.4A(Peak) 12V 0.4A(Peak) 24V
31
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
17HD4N34.3 mm(1.35 in.)
17HD4022-01N 220 31.18 1.1 3 4.2
12 1.7 38 0.2117HD4024N 300 42.52 0.5 15 20
17HD4025N 250 35.43 0.25 54 78
17HD2N39.8 mm(1.57 in.)
17HD2011N 380 53.85 1.5 1.9 4
15 2.12 57 0.3117HD2018N 450 63.78 0.85 8 14
17HD2026N 460 65.19 1 4.4 10
17HD2027N 450 63.78 0.25 71.4 140
17HD6N48.3 mm(1.90 in.)
17HD6012N 430 60.94 1.5 2.4 5.1
25 3.54 82 0.45
17HD6016N 600 85.03 1 5.3 10
17HD6017N 480 68.03 0.85 7.5 14
17HD6019N 500 70.86 0.25 80 130
17HD6020N 540 76.53 0.5 20 35
17HDBN62.8 mm(2.47 in.)
17HDB001N 730 103.5 1.5 2.3 4.630 4.25 123 0.68
17HDB002N 800 113.4 2 1.6 3
• Uni-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
17HD4N34.3 mm(1.35 in.)
17HD4030N 220 31.18 1.2 2.4 2
12 1.7 38 0.2117HD4031N 200 28.34 0.95 4.2 2.4
17HD4032N 220 31.18 0.4 24 13
17HD4033N 220 31.18 0.31 38.5 21
17HD2N39.8 mm(1.57 in.)
17HD2032N 260 36.85 1.4 1.8 1.715 2.12 57 0.31
17HD2033N 280 39.68 0.8 7.5 6.9
17HD6N48.3 mm(1.90 in.)
17HD6023N 360 51.02 1 4.6 4
25 3.54 82 0.4517HD6024N 330 46.77 0.4 30 21.6
17HD6025N 390 55.27 0.8 7.5 7.3
17HD6026N 360 51.02 1.4 2.4 2.2
17HDBN62.8 mm(2.47 in.)
17HDB003N 460 65.19 1.5 2.3 2.430 4.25 123 0.68
17HDB004N 500 70.86 2 1.6 1.6
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
17HDN SERIES 1.8°
n Key Features
• High Torque
• High Accuracy
• Smooth Movement
32
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
17HD4N34.3
(1.35).0.21
(0.46)
17HD2N39.8
(1.57) 0.28
(0.62)
17HD6N48.3
(1.90) 0.36
(0.79)
17HDBN62.8
(2.47) 0.60
(1.32)
n Dynamic Torque Curves
• Bi-polar
Unit: mm(inch)
L Max.
4-M3
31±0.1
31
±0
.1
(1.220±0.004)
(1.2
20
±0
.00
4)
Depth 4.5Min
(Depth 0.18Min.)
□4
2.3
Ma
x.
(□4
1.6
7M
ax.
)
24±0.5
2
(0.08)
(0.95±0.02)ø
22
-0.0
52
0
ø5
-0.0
12
0
(ø0
.19
68
)
-0.0
005
0
(ø0
.86
6
)
-0.0
02
0
11
(0.43)16
(0.63)
7
(0.2
8)
JSTS6B-PH-K(LF)(SN)
17HD4022-01N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0 500 1000 1500 2000 2500 3000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0 300 600 900
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.1A(Peak) 12V 1.1A(Peak) 24V
0
50
100
150
200
250
0
10
20
30
17HD4024N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
50
100
150
200
250
0 300 600 900 1200 1500 1800
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
10
20
30
0 300100 200 400 500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.5A(Peak) 12V 0.5A(Peak) 24V
17HD4025N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0 300 600 900 1200 1500
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0 100 200 300 400
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.25A(Peak) 12V 0.25A(Peak) 24V
0
50
100
150
200
250
0
10
20
30
17HD2011N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
100
200
300
400
500
0 2000 4000 6000 8000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
20
30
40
50
60
70
0 500 1000 1500 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 12V 1.5A(Peak) 24V
17HD2018N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
100
200
300
400
500
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
20
30
40
50
60
70
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.85A(Peak) 12V 0.85A(Peak) 24V
17HD2026N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
100
200
300
400
500
0 1000 2000 3000 4000 5000 6000 7000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
10
20
30
40
50
60
70
0 500 1000 1500 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.0A(Peak) 12V 1.0A(Peak) 24V
33
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Bi-polar
17HD2027N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
100
200
300
400
500
0 200 400 600 800 1000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
20
30
40
50
60
70
0 100 200 300
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.25A(Peak) 12V 0.25A(Peak) 24V
17HD6012N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
100
200
300
400
500
0 500 1000 1500 2000 2500 3000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
20
30
40
50
60
70
0 100 200 300 400 500 600 700 800 900
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 12V 1.5A(Peak) 24V
17HD6016N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
100
200
300
400
500
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
10
20
30
40
50
60
70
0 300 600 900 1200 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.0A(Peak) 12V 1.0A(Peak) 24V
17HD6017N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
100
200
300
400
500
0 300 600 900 1200 1500 1800
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
20
30
40
50
60
70
0 100 200 300 400 500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.8A(Peak) 12V 0.8A(Peak) 24V
17HD6019N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
100
200
300
400
500
0 200 400 600 800
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
20
30
40
50
60
70
0 100 200
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.25A(Peak) 12V 0.25A(Peak) 24V
17HD6020N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
100
200
300
400
500
0 300 600 900 1200 1500
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
20
30
40
50
60
70
0 100 200 300 400
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.5A(Peak) 12V 0.5A(Peak) 24V
17HDB001N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
100
200
300
400
500
600
0 500 1000 1500 2000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
20
30
40
50
60
70
80
0 100 200 300 400 500 600
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 12V 1.5A(Peak) 24V
17HDB002N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
100
200
300
400
500
600
0 500 1000 1500 2000 2500 3000 3500
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
10
20
30
40
50
60
70
80
0 200 400 600 800 1000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.0A(Peak) 12V 2.0A(Peak) 24V
34
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Uni-polar
17HD4030N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
100
200
0 2000 4000 6000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
5
10
15
20
25
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.2A(Peak) 12V 1.2A(Peak) 24V
17HD4031N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0 2000 4000 6000 8000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0 500 1000 1500 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.95A(Peak) 12V 0.95A(Peak) 24V
0
100
200
0
5
10
15
20
25
17HD4032N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
50
100
150
200
0 500 1000 1500 2000 2500
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
10
20
0 100 200 300 400 500 600 700
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.4A(Peak) 12V 0.4A(Peak) 24V
17HD4033N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
50
100
150
200
0 500 1000 1500 2000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
20
0 100 200 300 400 500 600
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.3A(Peak) 12V 0.3A(Peak) 24V
17HD2032N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
50
100
150
200
250
0 2000 4000 6000 8000 10000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
5
10
15
20
25
30
35
0 500 1000 1500 2000 2500 3000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.6A(Peak) 12V 1.6A(Peak) 24V
17HD2033N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
100
200
300
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
10
20
30
40
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
0.8A(Peak) 12V 0.8A(Peak) 24V
17HD6023N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
100
200
300
400
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
10
20
30
40
50
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.1A(Peak) 12V 1.1A(Peak) 24V
17HD6024N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
100
200
300
400
0 300 600 900 1200 1500
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
20
30
40
50
0 100 200 300 400
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.4A(Peak) 12V 0.4A(Peak) 24V
17HD6025N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
100
200
300
400
0 500 1000 1500 2000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0 100 200 300 400 500 600
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.85A(Peak) 12V 0.85A(Peak) 24V
0
10
20
30
40
50
35
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Uni-polar
17HD6026N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
100
200
300
400
0 1000 4000 6000 8000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
20
30
40
50
0 300 600 900 1200
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.4A(Peak) 12V 1.4A(Peak) 24V
17HDB003N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
100
200
300
400
0 500 1000 1500 2000 2500 3000 3500
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0 200 400 600 800 1000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.7A(Peak) 12V 1.7A(Peak) 24V
0
10
20
30
40
50
17HDB004N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
100
200
300
400
500
0 500 1000 1500 2000 2500 3000 3500 4000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
20
30
40
50
60
70
0 500 1000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.0A(Peak) 12V 2.0A(Peak) 24V
36
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
17HE134.3 mm(1.35 in.)
17HE1401-01 115 16.30 0.58 12 9.4
15 2.12 20 0.1117HE1402-01 115 16.30 0.16 150 100
17HE1403-01 120 17.01 2.5 0.85 0.7
• Uni-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
17HE134.3 mm(1.35 in.)
17HE1603-02 88 12.47 0.2 75 35
15 2.12 20 0.1117HE1604-01 88 12.47 0.25 50 25
17HE1606-02 88 12.47 0.58 12 5.5
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
17HE134.3
(1.35)0.2
(0.44)
17HE SERIES 3.6°
n Key Features
• High Speed
• Low Inertia
• High Acceleration
Unit: mm(inch)
L Max.
4-M3
31±0.13
1±
0.1
30
0±
10
(11
.8±
0.4
)
(1.220±0.004)(1
.22
0±
0.0
04
)
Depth 4.5Min
(Depth 0.18Min.)
AWG26 UL3266
□4
2.3
Ma
x.
(□4
1.6
7M
ax.
)
24±0.5
2
(0.08)
(0.95±0.02)
ø2
2-0
.05
20
ø5
-0.0
12
0
(ø0
.19
68
)-0
.00
05
0
(ø0
.86
6
)-0
.00
20
37
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Bi-polar
• Uni-polar
17HE1401-01
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
20
40
60
80
100
0 500 1000 1500 2000 2500
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.58A(Peak) 12V 0.58A(Peak) 24V
17HE1402-01
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
20
40
60
80
100
0 600 800200 400 1000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
0 100 200 300 400 500 600
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.16A(Peak) 12V 0.16A(Peak) 24V
17HE1403-01
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
20
40
60
80
100
0 2000 4000 6000 8000 10000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
10
0 2000 4000 6000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.5A(Peak) 12V 2.5A(Peak) 24V
17HE1603-02
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
20
40
60
80
100
0 400 800 1200 1600 2000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
2
4
6
8
10
12
14
0 500 1000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.2A(Peak) 12V 0.2A(Peak) 24V
17HE1604-01
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
20
40
60
80
100
0 400 800 1200 1600 2000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
2
4
6
8
10
12
14
0 500 1000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.25A(Peak) 12V 0.25A(Peak) 24V
17HE1606-02
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
20
40
60
80
100
0 1000 2000 3000 4000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
2
4
6
8
10
12
14
0 1000 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
0.58A(Peak) 12V 0.58A(Peak) 24V
38
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
23HS SERIES 1.8°
n Key Features
• High Torque
• High Accuracy
• Smooth Movement
n General Specifi cations• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
23HS041 mm
(1.61 in.)
23HS0030 550 77.95 2.1 1.0 2.322 3.12 135 0.74
23HS0036 550 77.95 1.5 1.6 4.4
23HS445 mm
(1.77 in.)
23HS4008 880 124.7 3 0.65 1.6828 3.96 180 0.99
23HS4009 880 124.7 2.1 1.7 4.2
23HS150 mm
(1.97 in.)
23HS1033 900 127.6 1.5 2.5 7.532 4.53 220 1.21
23HS1034 900 127.6 2.1 1.5 3.7
23HS254 mm
(2.13 in.)
23HS2067 1100 155.9 1.5 3.3 10.240 5.66 260 1.43
23HS2068 1100 155.9 2.1 2 7
23HS376 mm
(2.99 in.)
23HS3001-09 1900 269.3 1.5 4.2 18.5
70 9.91 460 2.53 23HS3027-07 1900 269.3 3 1 3.4
23HS3045 1650 233.8 2.1 2 8.45
23HS5111 mm(4.37 in.)
23HS5402-08* 3200 453.5 6 0.5 2.1120 16.99 750 4.13
23HS5408* 3200 453.5 3 1.9 8.5
* Lead wire connecting type
• Uni-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
23HS041 mm
(1.61 in.)
23HS0007-25 470 66.61 2.1 1.4 1.622 3.12 135 0.74
23HS0030-02 470 66.61 1.5 2 2.1
23HS150 mm
(1.97 in.)
23HS1026 850 120.5 2.1 1.6 2.532 4.53 220 1.21
23HS1035 850 120.5 1.5 2.75 4
23HS254 mm
(2.13 in.)
23HS2005-06 950 134.6 2.1 1.9 3.240 5.66 260 1.43
23HS2069 950 134.6 1.5 3.4 5.5
23HS376 mm
(2.99 in.)
23HS3004-15 1500 212.6 3 1 2.270 9.91 460 2.53
23HS3045-03 1500 212.6 1.5 4 8.2
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
39
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
23HS041
(1.61) 0.42
(0.93)
23HS445
(1.77).0.48
(1.06)
23HS150
(1.97)0.55
(1.21)
23HS254
(2.13).0.60
(1.32)
23HS376
(2.99).1.00
(2.20)
23HS5111
(4.37).1.50
(3.30)
n Dynamic Torque Curves
• Bi-polar
Unit: mm(inch)
□5
6.4
Ma
x.(□
2.2
2M
ax.
)
ø6.35 -0.0130
4-ø5.1 0+0.2
ø38.1
±0.0
51.6
4.8
47.14±0.20
47.1
4±
0.2
0
(1.8
6±
0.0
08)
5.5 6.2
(0.22) (0.24)
L Max.20.6±0.5(0.81±0.02)
(ø0.25 )-0.00050(ø
1.5
0±
0.0
02)
(0.19)
(0.06)
(1.856±0.008) (4-ø0.2 )+0.008
0
JST S6B-XH-A-1(LF)(SN)
6542 31 PIN.NO.18
(0.71)21
(0.83)
Unit: mm(inch)
L Max.
□5
6.4
Ma
x.(□
2.2
2M
ax.
)
20.6±0.5(0.81±0.02)
ø3
8.1
±0
.05
ø6
.35
-0.0
12
0
(ø0
.25
)-0
.0005
0
(ø1
.50
±0
.00
2)
4.8
(0.19)
1.6
(0.06)
47.14±0.20(1.856±0.008)
47
.14
±0
.20
(1.8
56
±0
.00
8)
4-ø5.1
(4-ø0.2 )
+0.20
+0.0080
AWG22 UL1007 30
0±
10
(11
.8±
0.4
)
23HS0030
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
100
200
300
400
500
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
60
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.1A(Peak) 24V 2.1A(Peak) 36V
0 500 1000 1500
23HS0036
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
100
200
300
400
500
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
60
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 24V 1.5A(Peak) 36V
23HS4008
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
80
100
120
140
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
3.0A(Peak) 24V 3.0A(Peak) 36V
0 300 600 900 1200
40
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Bi-polar
23HS4009
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
80
100
120
140
0 200 400 600 800 1000 1200
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.1A(Peak) 24V 2.1A(Peak) 36V
23HS1033
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
200
400
600
800
1000
0 500 1000 1500 2000 2500
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
80
100
120
140
0 150 300 450 600 750
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 24V 1.5A(Peak) 36V
23HS1034
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
60
80
100
120
140
0 300 600 900 1200 1500
Speed [r/min]
Pull
out to
rque [oz.in]
2.0A(Peak) 24V 2.0A(Peak) 36V
23HS2067
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
80
100
120
140
0 200 400 600 800 1000 1200
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 24V 1.5A(Peak) 36V
23HS2068
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
80
100
120
140
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.0A(Peak) 24V 2.0A(Peak) 36V
23HS3001-09
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
600
300
900
1200
1500
0 1000 2000 3000 4000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
50
100
150
200
0 300 600 900 1200
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.4A(Peak) 24V 1.4A(Peak) 36V
23HS3045
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
600
900
300
1200
1500
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
50
100
150
200
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.1A(Peak) 24V 2.1A(Peak) 36V
23HS3027-07
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
300
900
600
1200
1500
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
50
100
150
200
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
3.0A(Peak) 24V 3.0A(Peak) 36V
41
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
23HS0007-25
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
100
200
300
400
500
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.0A(Peak) 24V 2.0A(Peak) 36V
23HS0030-02
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
100
200
300
400
500
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 24V 1.5A(Peak) 36V
23HS1035
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
200
400
600
800
1000
0 500 1000 1500 2000 2500
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
50
100
0 300 600 900
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 24V 1.5A(Peak) 36V
3000
23HS1026
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
200
400
600
800
1000
0 500 1000 1500 2000 2500 3000 3500
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
50
100
0 500 1000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.1A(Peak) 24V 2.1A(Peak) 36V
23HS5402-08
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
500
1000
1500
2000
2500
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
50
100
150
200
250
300
350
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
6.0A(Peak) 24V 6.0A(Peak) 36V
0 500 1000 1500
23HS5408
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
500
1000
1500
2000
2500
0 1000 2000 3000 4000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0 500 1000
Speed [r/min]
3.0A(Peak) 24V 3.0A(Peak) 36V
0
50
100
150
200
250
300
350
Pull
out to
rque [oz.in]
23HS2005-06
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000 5000 6000 7000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
50
100
0 500 1000 1500 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.0A(Peak) 24V 2.0A(Peak) 36V
23HS2069
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
200
400
600
800
1000
0 500 1000 1500 2000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
50
100
0 100 200 300 400 500 600
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 24V 1.5A(Peak) 36V
n Dynamic Torque Curves
• Bi-polar
• Uni-polar
42
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Uni-polar
23HS3004-15
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
500
1000
1500
0 1000 2000 3000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
100
200
0 300 600 900
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
3.0A(Peak) 24V 3.0A(Peak) 36V
23HS3045-03
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
500
1000
1500
0 500 1000 1500
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]0
100
200
0 200 400
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
1.5A(Peak) 24V 1.5A(Peak) 36V
43
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
23HM SERIES 1.8°
n Key Features
• High Acceleration
• Low Noise
• Low Inertia
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
23HM040 mm
(1.56 in.)
23HM0401-01 500 70.86 1.5 1.8 3.225 3.54 100 0.55
23HM0402-01 500 70.86 2.2 0.85 1.5
23HM151 mm
(1.99 in.)
23HM1402-01 750 106.3 1.5 2.6 5.645 6.37 175 0.96
23HM1403-01 750 106.3 2.2 1.2 2.6
23HM255 mm
(2.15 in.)
23HM2403-01 1100 155.9 2.2 1.4 3.152 7.37 210 1.16
23HM2404-01 1100 155.9 3.1 0.7 1.65
23HM476 mm
(2.96 in.)
23HM4401-01 1500 212.6 2.2 1.7 4.788 12.46 360 1.98
23HM4402-01 1500 212.6 3.1 0.85 2.4
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
23HM040
(1.56)0.36
(0.79)
23HM151
(1.99)0.52
(1.14)
23HM255
(2.15)0.60
(1.32)
23HM476
(2.96)0.90
(1.98)
Unit: mm(inch)
L Max.
□5
7.2
Ma
x.
(□2
.25
Ma
x.)
21±0.5(0.83±0.02)
ø3
8.1
±0
.05
ø6
.35
-0.0
12
0
(ø0
.25
)-0
.00
05
0
(ø1
.50
±0
.00
2)
5
(0.2)
1.6
(0.06)
47.14±0.20(1.856±0.008)
47
.14
±0
.20
(1.8
56
±0
.00
8)
4-ø5.1
(4-ø0.2 )
+0.20
+0.0080
AWG22 UL1007 30
0±
10
(11
.8±
0.4
)
44
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Bi-polar
23HM0401-01
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
60
80
100
120
140
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 24V 1.5A(Peak) 36V
23HM0402-01
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
60
80
100
120
140
0 500 1000 1500
Speed [r/min]
Pull
out to
rque [oz.in]
2.2A(Peak) 24V 2.2A(Peak) 36V
23HM1402-01
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000 5000 6000 7000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
60
80
100
120
140
0 500 1000 1500 2000
Speed [r/min]
Pull
out to
rque [oz.in]
1.5A(Peak) 24V 1.5A(Peak) 36V
23HM1403-01
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000 5000 6000 7000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
60
80
100
120
140
Speed [r/min]
Pull
out to
rque [oz.in]
2.2A(Peak) 24V 2.2A(Peak) 36V
0 500 1000 1500 2000
23HM2403-01
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000 5000 6000 7000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
80
100
120
140
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.2A(Peak) 24V 2.2A(Peak) 36V
0 500 1000 1500 2000
23HM2404-01
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000 5000 6000 7000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
60
80
100
120
140
Speed [r/min]
Pull
out to
rque [oz.in]
3.1A(Peak) 24V 3.1A(Peak) 36V
0 500 1000 1500 2000
23HM4401-01
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
300
600
900
1200
1500
0 1000 2000 3000 4000 5000 6000 7000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
50
100
150
200
Speed [r/min]
Pull
out to
rque [oz.in]
2.2A(Peak) 24V 2.2A(Peak) 36V
0 500 1000 1500 2000
23HM4402-01
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
300
600
900
1200
1500
0 2000 4000 6000 8000 10000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
50
100
150
200
0 500 1000 1500 2000 2500 3000
Speed [r/min]
Pull
out to
rque [oz.in]
3.1A(Peak) 24V 3.1A(Peak) 36V
45
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
23HY SERIES 1.8°
n Key Features
• High Acceleration
• High Accuracy
• Very Low Inertia
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
23HY039 mm
(1.54 in.)
23HY0001N 380 53.85 1.5 1.8 3.218 2.55 55 0.30
23HY0002N 380 53.85 1 3.7 7.2
23HY150.5 mm(1.99 in.)
23HY1001N 690 97.79 1.5 2.7 7.235 4.96 120 0.66
23HY1002N 690 97.79 1 4.5 11.6
23HY254.5 mm(2.15 in.)
23HY2001N 730 103.5 1.5 2.5 6.942 5.95 145 0.80
23HY2002N 730 103.5 1 7 15
• Uni-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
23HY039 mm
(1.54 in.)
23HY0001-01N 320 45.35 1.5 1.8 1.518 2.55 55 0.30
23HY0002-01N 320 45.35 1 3.6 3.6
23HY150.5 mm(1.99 in.)
23HY1001-01N 530 75.11 1.5 3 3.535 4.96 120 0.66
23HY1002-01N 530 75.11 1 5.4 7.5
23HY254.5 mm(2.15 in.)
23HY2001-01N 640 90.70 1.5 2.8 3.342 5.95 145 0.80
23HY2001-02N 640 90.70 1 7 8.7
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L Mass
mm kg
23HY039
(1.54)0.36
(0.79)
23HY150.5
(1.99)0.52
(1.14)
23HY254.5
(2.15)0.60
(1.32)
6 5 4 3 2 1
Unit: mm(inch)
ø6.3
5-0
.012
0
4-ø5.1 0+0.2
JST S6B-EH(LF)(SN)
20.6±0.5
ø38.1
±0.0
5
47.14±0.20
(20.5)
PIN.NO.
(4)
(5)
L Max.
(0.81±0.02)
(ø0.2
5 )
-0.0
005
0
(ø1.5
0±
0.0
02)
5(0.2)
1.6
(0.06)
(1.856±0.008)
□57.2
Max.
(□2.2
5M
ax.
)
47.1
4±
0.2
0(1
.856±
0.0
08)
(4-ø0.2 )+0.008
0
46
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Bi-polar
• Uni-polar
23HY0001N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
100
200
300
400
500
0 2000 4000 6000 8000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
60
0 500 1000 1500 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 24V 1.5A(Peak) 36V
23HY0002N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
100
200
300
400
500
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
60
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1A(Peak) 24V 1A(Peak) 36V
23HY1001N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
50
100
0 500 1000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 24V 1.5A(Peak) 36V
23HY1002N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
200
400
600
800
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
50
100
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1A(Peak) 24V 1A(Peak) 36V
23HY2001N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
50
100
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 24V 1.5A(Peak) 36V
23HY2002N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
200
400
600
800
1000
0 500 1000 1500 2000 2500 3000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
50
100
0 300 600 900
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
1A(Peak) 24V 1A(Peak) 36V
23HY0001-01N
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode:Full Step
0
100
200
300
400
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.4A(Peak) 24V 1.4A(Peak) 36V
23HY0002-01N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
100
200
300
400
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
0 500 1000 1500
Speed [r/min]
Pull
out to
rque [oz.in]
1A(Peak) 24V 1A(Peak) 36V
23HY1001-01N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
100
200
300
400
500
0 2000 4000 6000 8000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
60
0 1000 2000
Speed [r/min]
Pull
out to
rque [oz.in]
1.4A(Peak) 24V 1.4A(Peak) 36V
47
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Uni-polar
23HY1002-01N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
100
200
300
400
500
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
0 500 1000 1500
Speed [r/min]
Pull
out to
rque [oz.in]
1A(Peak) 24V 1A(Peak) 36V
23HY2001-01N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
100
200
300
400
500
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.4A(Peak) 24V 1.4A(Peak) 36V
23HY2001-02N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
50
100
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1A(Peak) 24V 1A(Peak) 36V
48
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
24HS144 mm
(1.73 in.)
24HS1001N 1100 155.9 1.4 2.9 6.6
40 5.67 280 1.54 24HS1002N 1100 155.9 2.8 0.75 1.6
24HS1003N 1100 155.9 4 0.35 0.85
24HS254 mm
(2.13 in.)
24HS2002N 1400 198.4 4 0.42 1.290 12.75 450 2.47
24HS2001N 1800 255.1 2.8 1.1 3.5
24HS365 mm
(2.56 in.)
24HS3003N 2100 297.6 1.4 4.3 13.595 13.46 560 3.08
24HS3004N 2100 297.6 2.8 1.1 3.3
24HS585 mm
(3.35 in.)
24HS5001N 3000 425.2 2.8 1.49 6.5
100 14.16 900 4.95 24HS5002N 3000 425.2 4 0.65 2.45
24HS5003N 3000 425.2 1.4 5.96 25
• Uni-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
24HS144 mm
(1.73 in.)
24HS1002-01N 950 134.6 2 1.46 1.8
40 5.67 280 1.54 24HS1003-01N 950 134.6 2.8 0.74 0.85
24HS1004N 950 134.6 1 5.7 6.8
24HS254 mm
(2.13 in.)
24HS2003N 1200 170.1 3 0.85 1.34
90 12.75 450 2.47 24HS2004N 1200 170.1 2 1.9 3.27
24HS2005N 1200 170.1 1 6.9 11.5
24HS365 mm
(2.56 in.)24HS3005N 1500 212.6 2 2.2 3.5 95 13.46 560 3.08
24HS585 mm
(3.35 in.)
24HS5001-01N 2300 326.0 2 2.8 6.4
100 14.16 900 4.95 24HS5002-01N 2300 326.0 3 1.2 2.54
24HS5004N 2300 326.0 1 10 19.5
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
24HS SERIES 1.8°
n Key Features
• Very High Torque
• Smooth Movement
• Low Speed
49
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Mechanical Dimension
Series
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)
n Dynamic Torque Curves
• Bi-polar
24HS1002N
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode:Full Step
0
200
400
600
800
1000
0 2000 4000 6000 8000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
80
100
120
140
0 1000 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.8A(Peak) 24V 2.8A(Peak) 36V
24HS1001N
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
200
400
600
800
1000
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
60
80
100
120
140
0 500 1000 1500
Speed [r/min]
Pull
out to
rque [oz.in]
1.4A(Peak) 24V 1.4A(Peak) 36V
24HS1003N
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
200
400
600
800
1000
0 2000 4000 6000 8000 10000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
80
100
120
140
0 1000 2000 3000
Speed [r/min]
Pull
out to
rque [oz.in]
4.0A(Peak) 24V 4.0A(Peak) 36V
24HS2001N
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
500
1000
1500
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
100
200
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
2.8A(Peak) 24V 2.8A(Peak) 36V
0 500 1000 1500
Unit: mm(inch)
ø6.3 -0.0120
20.6±0.5
1.5
5.5 7
(0.28)
L ±1
(L ±0.04)(1.2±0.02)
(ø0.25 )-0.0005
ø3
8.1
±0
.05
(ø1
.50
±0
.00
2)
7
(0.28)(0.22)
(0.06)
31 5 1197
JST S11B-XH-A-1(LF)(SN)
PIN.NO.
(1.27) 32.2
37.6(1.48)
4-ø4.52±0.1
47.14±0.35
47
.14
±0
.35
(1.8
56
±0
.01
3)
(4-ø0.178±0.004)
60
±1
(2.3
6±
0.0
4)
24HS2002N
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
500
1000
1500
0 2000 4000 6000 8000 10000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
60
80
100
120
140
Speed [r/min]
Pull
out to
rque [oz.in]
4.0A(Peak) 24V 4.0A(Peak) 36V
0 1000 2000 3000
24HS3003N
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
500
1000
1500
2000
0 1000 2000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
80
100
120
140
0 100 200 300 400 500 600 700
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.4A(Peak) 24V 1.4A(Peak) 36V
50
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Bi-polar
• Uni-polar
24HS3004N
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
500
1000
1500
2000
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
0 600 1200 1800
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.8A(Peak) 24V 2.8A(Peak) 36V
24HS5002N
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
1000
2000
3000
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
100
200
300
400
0 400 800 1200 1600
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
4.2A(Peak) 24V 4.2A(Peak) 36V
24HS5001N
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
1000
2000
3000
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
0 300 600 900 1200 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.8A(Peak) 24V 2.8A(Peak) 36V
24HS5003N
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS3540M
Mode: Full Step
0
1000
2000
3000
0 1000 2000 3000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
100
200
300
400
0 100 200 300 400 500 600 700 800 900
Speed [r/min]
Pull
out to
rque [oz.in]
1.4A(Peak) 24V 1.4A(Peak) 36V
24HS1004N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
600
200
400
800
1000
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.0A(Peak) 24V 1.0A(Peak) 36V
24HS1003-01N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
600
800
400
200
1000
0 2000 4000 6000 8000 10000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
100
0 1000 2000 3000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.8A(Peak) 24V 2.8A(Peak) 36V
24HS1002-01N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
600
800
400
200
1000
0 2000 4000 6000 8000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
0 1000 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.0A(Peak) 24V 2.0A(Peak) 36V
51
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Uni-polar
24HS2003N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
500
1000
1500
0 2000 4000 6000 8000 10000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
0 1000 2000 3000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
3.0A(Peak) 24V 3.0A(Peak) 36V
24HS2004N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
500
1000
1500
0 2000 4000 6000 8000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
100
200
0 1000 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.0A(Peak) 24V 2.0A(Peak) 36V
24HS2005N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
500
1000
1500
0 200 400 600 800 1000 1200 1400
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
0 100 200 300 400
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.0A(Peak) 24V 1.0A(Peak) 36V
24HS3005N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
500
1000
1500
0 1000 2000 3000 4000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
0 500 1000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.0A(Peak) 24V 2.0A(Peak) 36V
24HS5002-01N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
1000
2000
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
100
200
0 1200 1600400 800
Speed [r/min]
Pull
out to
rque [oz.in]
3.0A(Peak) 24V 3.0A(Peak) 36V
24HS5001-01N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
1000
2000
0 1000 2000 3000 4000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
0 500 1000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.0A(Peak) 24V 2.0A(Peak) 36V
24HS5004N
Conditions: Uni-polar Constant Current Driver
Driver: AMA MSU3040M
Mode: Full Step
0
1000
2000
0 1000 2000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
100
200
0 100 200 300 400 500 600 700
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.0A(Peak) 24V 1.0A(Peak) 36V
52
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
34HD SERIES 1.8°
n Key Features
• High Torque
• High Accuracy
• Smooth Movement
n General Specifi cations
• Bi-polar
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
34HD066.5 mm(2.62 in.)
34HD0401 3300 467.7 1.4 4.4 29.6
150 21.25 1100 6.05 34HD0402 3300 467.7 2.1 2.2 7.4
34HD0403 3300 467.7 3.18 0.96 6.8
34HD0404 3300 467.7 6.3 0.24 1.7
34HD196 mm
(3.78 in.)
34HD1401 6000 850.3 1.4 6.4 56
250 35.41 1850 10.17 34HD1402 6000 850.3 2.1 3.2 14
34HD1403 6000 850.3 3.18 1.32 10.8
34HD1404 6000 850.3 6.3 0.33 2.7
34HD2125.5 mm(4.94 in.)
34HD2401 8800 1247.2 1.4 7.6 86.4
350 49.58 2750 15.12 34HD2402 8800 1247.2 2.8 1.94 21.6
34HD2403 8800 1247.2 5.6 0.49 5.6
• 8-Leadwire Motors
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
34HD066.5 mm(2.62 in.)
34HD0801Bi-polar Parallel
2800 396.8 6.3 0.24 1.7
150 21.25 1100 6.05 34HD0801Bi-polar Series
2800 396.8 3.18 0.96 6.8
34HD196 mm
(3.78 in.)
34HD1801Bi-polar Parallel
5600 793.7 6.3 0.33 2.5
250 35.41 1850 10.17 34HD1801Bi-polar Series
5600 793.7 3.18 1.32 10
34HD2125.5 mm(4.94 in.)
34HD2801Bi-polar Parallel
8400 1190.5 5.6 0.49 5.6
350 49.58 2750 15.12 34HD2801Bi-polar Series
8400 1190.5 2.8 1.94 21.6
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
53
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
34HD066.5
(2.62)1.6
(3.52)
34HD196
(3.78)2.7
(5.94)
34HD2125.5(4.94)
3.8(8.36)
n Dynamic Torque Curves
• Bi-polar
34HD0401 Bi-polar series
Conditions: Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode: Full Step
0
1000
2000
3000
0 600 800200 400 1000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
0 100 200 300
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.4A(Peak) 48V 1.4A(Peak) 60V
34HD0402 Bi-polar series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
500
1000
1500
2000
2500
3000
0 300 600 900 1200 1500
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
0 100 200 300 400
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.1A(Peak) 48V 2.1A(Peak) 60V
34HD0403 Bi-polar
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
500
1000
1500
2000
2500
3000
0 1000 2000 3000 4000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
100
200
300
400
0 500 1000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
3.18A(Peak) 48V 3.18A(Peak) 60V
34HD0404 Bi-polar parallel
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
500
1000
1500
2000
2500
3000
0 1000 2000 3000 4000 5000 6000 7000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
0 500 1000 1500 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
6.3A(Peak) 48V 6.3A(Peak) 60V
34HD1401 Bi-polar series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
00
1000
2000
3000
4000
5000
6000
7000
8000
100 200 300 400 500 600
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
500
1000
0 50 100 150
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.4A(Peak) 48V 1.4A(Peak) 60V
34HD1402 Bi-polar series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MSST10
Mode:Full Step
0
1000
2000
3000
4000
5000
6000
7000
8000
0 200 400 600
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
500
1000
0 50 100 150
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.1A(Peak) 48V 2.1A(Peak) 60V
Unit: mm(inch)
□8
5M
ax.
(□3
.35
Ma
x.)ø
12
.7-0
.00
12
0
(ø0
.5
)
-0.0
00
50
10
(0.39)
2
(0.08)
AWG20 UL3266 30
0±
10
(11
.8±
0.4
)
30.2±0.5(0.19±0.02)
L±1(L±0.04)
ø7
3.0
25
±0
.02
5(ø
2.8
75
±0
.00
1)
69.6±0.2(2.74±0.08)
69
.6±
0.2
(2.7
4±
0.0
8)
4-ø6.5±0.1(4-ø0.26±0.004)
54
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• Bi-polar
• 8-Leadwire Motors
34HD1403 Bi-polar series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
1000
2000
3000
4000
5000
6000
7000
8000
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
500
1000
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
3.18A(Peak) 48V 3.18A(Peak) 60V
34HD1404 Bi-polar parallel
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
1000
2000
3000
4000
5000
6000
7000
8000
0 5000 10000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
500
1000
0 1000 2000 3000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
6.3A(Peak) 48V 6.3A(Peak) 60V
0
1000
2000
3000
4000
5000
6000
7000
8000
9000
10000
100 200 300 400 500
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
500
1000
30 80 130
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.4A(Peak) 48V 1.4A(Peak) 60V
34HD2401 Bi-polar series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
1000
2000
3000
4000
5000
6000
7000
8000
9000
10000
0 1000 2000 3000 4000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
500
1000
0 500 1000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.8A(Peak) 48V 2.8A(Peak) 60V
34HD2402 Bi-polar series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
1000
2000
3000
4000
5000
6000
7000
8000
9000
10000
0 1000 2000 3000 4000 5000 6000 7000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
500
1000
0 1000 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
5.6A(Peak) 48V 5.6A(Peak) 60V
34HD2403 Bi-polar parallel
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
34HD0801 Bi-polar parallel
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
500
1000
1500
2000
2500
3000
0 1000 2000 3000 4000 5000 6000 7000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
0 500 1000 1500 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
6.3A(Peak) 48V 6.3A(Peak) 60V
34HD0801 Bi-polar series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
500
1000
1500
2000
2500
3000
0 1000 2000 3000 4000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
100
200
300
400
0 500 1000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
3.18A(Peak) 48V 3.18A(Peak) 60V
34HD1801 Bi-polar parallel
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
1000
2000
3000
4000
5000
6000
7000
8000
0 5000 10000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
500
1000
0 1000 2000 3000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
6.3A(Peak) 48V 6.3A(Peak) 60V
55
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• 8-Leadwire Motors
34HD1801 Bi-polar series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
2000
4000
6000
8000
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
500
1000
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
3.18A(Peak) 48V 3.18A(Peak) 60V
0
2000
4000
6000
8000
10000
0 1000 2000 3000 4000 5000 6000 7000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
500
1000
0 500 1000 1500 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
5.6A(Peak) 48V 5.6A(Peak) 60V
34HD2801 Bi-polar parallel
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
34HD2801 Bi-polar series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
2000
4000
6000
8000
10000
0 1000 2000 3000 4000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
500
1000
0 500 1000
Speed [r/min]
Pull
out to
rque [oz.in]
2.8A(Peak) 48V 2.8A(Peak) 60V
56
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
34HY SERIES 1.8°
n Key Features
• Low Noise
• Low Inertia
• High Acceleration
n General Specifi cations
• 8-Leadwire Motors
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mN.m oz-in A ohm mH mN.m oz-in g.cm2 oz-in2
34HY063 mm
(2.48 in.)
34HY0809Bi-polar Parallel
2300 326.0 1.8 2.3 18
120 17.00 560 3.08
34HY0809Bi-polar Series
2300 326.0 0.9 9.2 72
34HY0809Unipolar
1800 255.1 1.3 4.6 18
34HY0810Bi-polar Parallel
2300 326.0 4.2 0.6 3.6
34HY0810Bi-polar Series
2300 326.0 2.1 2.4 14.4
34HY0810Unipolar
1800 255.1 3 1.2 3.6
34HY191 mm
(3.58 in.)
34HY1801-10Bi-polar Parallel
4000 566.9 5.6 0.3 2.4
210 29.75 1200 6.60
34HY1801-10Bi-polar Series
4000 566.9 2.8 1.2 9.6
34HY1801-10Unipolar
3100 439.3 4 0.6 2.4
34HY1803Bi-polar Parallel
4600 651.9 3.9 0.8 6.7
34HY1803Bi-polar Series
4600 651.9 1.9 3.2 26.8
34HY1803Unipolar
3500 496.0 2.8 1.6 6.7
34HY2130 mm(5.12 in.)
34HY2801Bi-polar Parallel
7800 1105.4 8.4 0.47 4
180 25.50 2100 11.55
34HY2801Bi-polar Series
7800 1105.4 4.2 1.88 16
34HY2801Unipolar
6000 850.3 6 0.94 4
34HY2802Bi-polar Parallel
5600 793.7 9.4 0.19 1.6
34HY2802Bi-polar Series
5600 793.7 4.7 0.76 6
34HY2802Unipolar
4300 609.4 6.7 0.38 1.5
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
57
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
34HY063
(2.48)1.5
(3.31)
34HY191
(3.58)2.6
(5.73)
34HY2130
(5.12)3.6
(7.94)
n Dynamic Torque Curves
• 8-Leadwire Motors
34HY0809 Bi-polar Parallel
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
500
1000
1500
2000
2500
3000
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.8A(Peak) 48V 1.8A(Peak) 60V
34HY0809 Bi-polar series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
500
1000
1500
2000
2500
3000
0 1000 2000 3000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
0 500
Speed [r/min]
Pull
out to
rque [oz.in]
0.9A(Peak) 48V 0.9A(Peak) 60V
34HY0809 Uni-polar
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU8080M
Mode:Full Step
0
500
1000
1500
2000
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pu
ll o
ut
torq
ue
[m
N.m
]
0
100
200
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.3A(Peak) 48V 1.3A(Peak) 60V
34HY0810 Bi-polar Parallel
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
500
1000
1500
2000
2500
3000
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
4.2A(Peak) 48V 4.2A(Peak) 60V
30.2±0.5(1.19±0.02)
L ±1
(L ±0.04)
ø73.0
25±
0.0
25
(ø2.8
75±
0.0
01)
1.6(0.06)
4.8(0.19)
300±
10
(11.8
±0.4
)
AWG20 UL3266
16(0.63)
270±
10
(10.6
±0.4
)
BLACK TUBE PVC 0#(ø8.3) 105˚ 300V
37(1.46)
10
(0.3
9)
69.6
±0.2
5(2
.74±
0.0
1)
82.5
±0.5
(3.2
5±
0.0
2)
Unit: mm(inch)
4-ø5.5±0.1(4-ø0.22±0.004)
82.5±0.5(3.25±0.02)69.6±0.25
(2.74±0.01)
3(0.12)
ø86±
0.5
(ø3.3
9±
0.0
2)
34HY0810 Bi-polar series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
500
1000
1500
2000
2500
3000
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.1A(Peak) 48V 2.1A(Peak) 60V
34HY0810 Uni-polar
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU8080M
Mode:Full Step
0
500
1000
1500
2000
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
3.0A(Peak) 48V 3.0A(Peak) 60V
58
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• 8-Leadwire Motors
34HY1801-10 Bi-polar Parallel
Conditions:Bi-polar Constant Current Driver
Driver: AMA MSU8080M
Mode:Full Step
0
1000
2000
3000
4000
5000
0 2000 4000 6000 8000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
500
600
700
0 500 1000 1500 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
5.6A(Peak) 48V 5.6A(Peak) 60V
34HY1801-10 Bi-polar Series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MSU8080M
Mode:Full Step
0
1000
2000
3000
4000
5000
0 1000 2000 3000 4000 5000 6000 7000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
500
600
700
0 500 1000 1500 2000
Speed [r/min]
Pu
ll o
ut
torq
ue
[o
z.in
]
2.8A(Peak) 48V 2.8A(Peak) 60V
34HY1801-10 Uni-polar
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU8080M
Mode:Full Step
0
500
1000
1500
2000
2500
3000
0 1000 2000 3000 4000 5000 6000 7000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
0 500 1000 1500 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
4.0A(Peak) 48V 4.0A(Peak) 60V
34HY1803 Bi-polar Parallel
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
1000
2000
3000
4000
5000
0 1000 2000 3000 4000 5000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
500
600
700
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
3.9A(Peak) 48V 3.9A(Peak) 60V
34HY1803 Bi-polar Series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
1000
2000
3000
4000
5000
0 1000 2000 3000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
500
600
700
0 500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.9A(Peak) 48V 1.9A(Peak) 60V
34HY1803 Uni-polar
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU8080M
Mode:Full Step
0
1000
2000
3000
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
100
200
300
400
0 500 1000 1500
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
2.8A(Peak) 48V 2.8A(Peak) 60V
34HY2801 Bi-polar Parallel
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
2000
4000
6000
8000
10000
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
500
1000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
8.4A(Peak) 48V 8.4A(Peak) 60V
0 500 1000 1500
34HY2801 Bi-polar Series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
2000
4000
6000
8000
10000
0 1000 2000 3000 4000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
500
1000
0 800400 1200
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
4.2A(Peak) 48V 4.2A(Peak) 60V
34HY2801 Uni-polar
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU8080M
Mode:Full Step
0
1000
2000
3000
4000
5000
6000
0 2000 4000 6000 8000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
500
600
700
800
0 500 1000 1500 2000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
6.0A(Peak) 48V 6.0A(Peak) 60V
59
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n Dynamic Torque Curves
• 8-Leadwire Motors
34HY2802 Bi-polar Parallel
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
1000
2000
3000
4000
5000
6000
0 2000 4000 6000 8000 10000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
500
600
700
800
0 1000 2000 3000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
9.4A(Peak) 48V 9.4A(Peak) 60V
34HY2802 Bi-polar Series
Conditions:Bi-polar Constant Current Driver
Driver: AMA MS7080M
Mode:Full Step
0
1000
2000
3000
4000
5000
6000
0 1000 2000 3000 4000 5000 6000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
500
600
700
800
0 400 800 1200 1600
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
4.7A(Peak) 48V 4.7A(Peak) 60V
34HY2802 Uni-polar
Conditions:Uni-polar Constant Current Driver
Driver: AMA MSU8080M
Mode:Full Step
0
1000
2000
3000
4000
5000
6000
0 2000 4000 6000 8000 10000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
100
200
300
400
500
600
700
800
0 1000 2000 3000
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
6.7A(Peak) 48V 6.7A(Peak) 60V
60
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n General Specifi cations
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mN.m oz-in A ohm mH mN.m oz-in g.cm2 oz-in2
24HC445.5 mm(1.79 in.)
24HC4001-01 540 76.53 1.5 6 10.2 25 3.54 180 0.99
24HC254.5 mm(2.15 in.)
24HC2002-01 800 113.4 1.5 4.8 11.4 40 5.67 260 1.43
24HC376.5 mm(3.01 in.)
24HC3001-01 1100 155.9 1.5 3 11.6 70 9.92 460 2.53
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Model
Number
L Mass
mm(in.)
kg(lb.)
24HC445.5
(1.79)0.5
(1.10)
24HC254.5
(2.15)0.8
(1.76)
24HC376.5
(3.01)1.3
(2.87)
n Dynamic Torque Curves
Unit: mm(inch)
ø36
-0.0
50
ø6.3 -0.028-0.013
JST S7B-XH-A-1(LF)(SN)
49.85±0.20
PIN.NO.
5.1(0.2)
1 3 5 7
19.9(0.78)
(ø1.4
17 )
-0.0
02
0
(ø0.25 )-0.00050
6
(0.24)
1.6
(0.06)
(1.963±0.008)
□60.2
Max.
(□2.3
7M
ax.
)
49.8
5±
0.2
0(1
.963±
0.0
08)
4-ø5.0
(4-ø0.197 )
+0.2-0.1
+0.008- 0.004
20.6±0.5(0.81±0.02)
L±0.8(L±0.03)
24HC2002-01
Conditions: 3-Phase Constant Current Driver
Driver: Moons' MS3ST10
Mode: 10000 Step/Rev
0
200
400
600
800
0 40000 80000 120000 160000
Pulse rate [pps]
Pu
ll o
ut to
rqu
e [m
N.m
]
0
20
40
60
80
100
0 200 400 600 800
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 24V 1.5A(Peak) 36V
1000
120
140
24HC3001-01
Conditions: 3-Phase Constant Current Driver
Driver: Moons' MS3ST10
Mode: 10000 Step/Rev
0
200
400
600
800
0 40000 80000 120000 160000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
80
100
0 200 400 600 800
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 24V 1.5A(Peak) 36V
24HC4001-01
Conditions: 3-Phase Constant Current Driver
Driver: Moons' MS3ST10
Mode: 10000 Step/Rev
0
200
400
600
0 40000 80000 120000 160000
Pulse rate [pps]
Pull
out to
rque [m
N.m
]
0
20
40
60
80
0 200 400 600 800
Speed [r/min]
Pu
ll o
ut to
rqu
e [o
z.in
]
1.5A(Peak) 24V 1.5A(Peak) 36V
24HC SERIES 1.2°
n Key Features
• Very Low Noise
• Very Smooth Movement
• Low Vibration
61
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
n General Specifi cations
Series
&
Length
Model
Number
Holding
Torque
Rated
Current
Resistance
per Phase
Inductance
per Phase
Detent
Torque
Rotor
Inertia
mNm oz-in A ohm mH mNm oz-in g.cm2 oz-in2
34HC066.5 mm(2.62 in.)
34HC0301 2200 311.8 3 1.8 11.5 100 14.16 1100 6.05
34HC196 mm
(3.78 in.)34HC1301 4800 680.3 2 4.6 37 150 21.25 1850 10.17
34HC2125.5 mm(4.94 in.)
34HC2301 6600 935.4 5.2 1.2 10.5 200 28.33 2750 15.12
• Wiring Connection, Lead Wires, Schematic Diagrams & Stepping Sequence......Page 62 - 64
n Mechanical Dimension
Series
L Mass
mm(in.)
kg(lb.)
34HC066.5
(2.62)1.6
(3.53)
34HC196
(3.78)2.7
(5.95)
34HC2125.5(4.94)
3.8(8.38)
n Dynamic Torque Curves
34HC SERIES 1.2°
n Key Features
• Very Low Noise
• Very Smooth Movement
• Low Vibration
Unit: mm(inch)
□8
5M
ax.
(□3
.35
Ma
x.)ø
12
.7-0
.00
12
0
(ø0
.5
)
-0.0
00
50
10
(0.39)
2
(0.08)
AWG20 UL3266 30
0±
10
(11
.8±
0.4
)
30.2±0.5(0.19±0.02)
L±1(L±0.04)
ø7
3.0
25
±0
.02
5(ø
2.8
75
±0
.00
1)
69.6±0.2(2.74±0.08)
69
.6±
0.2
(2.7
4±
0.0
8)
4-ø6.5±0.1(4-ø0.26±0.004)
34HC0301
Conditions: 3-Phase Constant Current Driver
Driver: Moons' MS3ST10
Mode: 10000 Step/Rev
0
500
1000
1500
2000
2500
0 100000 200000
Pu
ll o
ut to
rqu
e [m
N.m
]
0
50
100
150
200
250
300
350
0 1000
Pu
ll o
ut to
rqu
e [o
z.in
]
3.0A(Peak) 48V 3.0A(Peak) 60V
Pulse rate [pps]
Speed [r/min]
34HC1301
Conditions: 3-Phase Constant Current Driver
Driver: Moons' MS3ST10
Mode: 10000 Step/Rev
0
1000
2000
3000
4000
5000
0 10000 20000 30000 40000
Pu
ll o
ut to
rqu
e [m
N.m
]
0
100
200
300
400
500
600
700
0 50 100 150 200
Pu
ll o
ut to
rqu
e [o
z.in
]
2.0A(Peak) 48V 2.0A(Peak) 60V
Pulse rate [pps]
Speed [r/min]
34HC2301
Conditions: 3-Phase Constant Current Driver
Driver: Moons' MS3ST10
Mode: 10000 Step/Rev
0
1000
2000
3000
4000
5000
6000
7000
0 100000 200000 300000
Pu
ll o
ut to
rqu
e [m
N.m
]
0
100
200
300
400
500
600
700
800
900
0 500 1000 1500
Pu
ll o
ut to
rqu
e [o
z.in
]
5.2A(Peak) 48V 5.2A(Peak) 60V
Pulse rate [pps]
Speed [r/min]
62
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
8HY series 11HS series 14HA 14HS 14HY 16HS series
Motor side: JST S6B-ZR (LF)(SN) Motor side: Molex 53253-0610 Motor side: JST S11B-ZR (LF)(SN)
Mate with: JST ZHR-6 Mate with: Molex 51065-0600 Mate with: JST ZHR-11
17HD series 16HS 17HD 17HDN series 23HY 23HM series
Motor side: Molex 89401-1160 Motor side: JST S6B-PH-K (LF)(SN) Motor side: JST S6B-EH (LF)(SN)
Mate with: Molex 87369-1100 Mate with: JST PHR-6 Mate with: JST EHR-6
23HS 24HS series 23HS series 24HC series
Motor side: JST S11B-XH-A-1 (LF)(SN) Motor side: JST S6B-XH-A-1 (LF)(SN) Motor side: JST S7B-XH-A-1 (LF)(SN)
Mate with: JST XHP-11 Mate with: JST XHP-6 Mate with: JST XHP-7
• The styles above are in normal way. Other special connectors can be customized.
n Wiring Connection
63
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
Housing: JST ZHR-6
Terminal: JST SZH-002T-P0.5
BLACK
GREENRED
BLUE
300 ±10
5.5 ± 0.5
AWG26 UL1007
300 ±10
5.5 ±0.5
BLUEWHITEREDGREENYELLOWBLACK
UL3266Housing: MOLEX 51065-0600
Terminal: MOLEX 50212-8000
Housing: JST ZHR-11
Terminal: JST SZH-002T-P0.5
BLACK
YELLOW
GREEN
RED
WHITE
BLUE
300 ±10
5.5 ± 0.5
AWG26 UL1007
8HY series 11HS series 14HA 14HY 16HS series
STYLE UL3266
AWG 26
Housing: MOLEX 87369-1100
Terminal: MOLEX 50212-8000
BLACK
YELLOW
GREEN
RED
WHITE
BLUE
300 ±10
5.5 ± 0.5
1
STYLE UL1007
AWG 26
Housing: JST PHR-6
Terminal: JST SPH-002T-P0.5
BLACKYELLOWGREENREDWHITEBLUE
300 ±10
5.5 ± 0.5
1
STYLE UL3266
AWG 26
Housing: JST EHR-6
Terminal: JST SEH-001T-P0.6
BLACKYELLOWGREENREDWHITEBLUE
300 ±10
5.5 ± 0.5
JST 1
6
17HD series 16HS 17HD 17HDN series 23HY 23HM series
STYLE UL3266
AWG 26
Housing: JST XHP-11
Terminal: JST SXH-001T-P0.6
BLACK
YELLOW
GREEN
RED
WHITE
BLUE
300 ±10
5.5 ± 0.5
11
1
STYLE UL3266
AWG 26
Housing: JST XHP-6
Terminal: JST SXH-001T-P0.6
BLACKYELLOWGREENREDWHITEBLUE
300 ±10
5.5 ± 0.5
6
1 1 WHITE
RED
GREEN
STYLE UL3266
AWG 26
Housing: JST XHP-7
Terminal: JST SXH-001T-P0.6
300 ±10
5.5 ± 0.5
7
3
23HS 24HS series 23HS series 24HC series
• The styles above are in normal way. Other special connectors can be customized.
n Lead Wires & Cables
64
Why
Stepping
Motor
how
to
select
2 phaseNEMA 1128.0 mm(1.10 inch)
2 phaseNEMA 1435.0 mm(1.38 inch)
2 phaseNEMA 1025.0 mm(1.00 inch)
2 phaseNEMA 1639.0 mm(1.53 inch)
2 phaseNEMA 1742.0 mm(1.65 inch)
2 phaseNEMA 2356.0 mm(2.22 inch)
2 phaseNEMA 2460.0 mm(2.36 inch)
2 phaseNEMA 3486.0 mm(3.39 inch)
3 phaseNEMA 2460.0 mm(2.36 inch)
3 phaseNEMA 3486.0 mm(3.39 inch)
new release
2 phase
NEMA 8
new release
2 phase
NEMA 14
new release
2 phase
NEMA 16
encapsulated
2 phase
NEMA 14
encapsulated
3 phase
NEMA 14NEMA 17
• 2 PHASE
4 lead wire (bipolar) 6 lead wire (unipolar)
Lead Wire Configuration
BLK A
GRN C
CW
CW(clockwise) & CCW(counter clockwise) rotationwhen seen from the flange side of the motor
CCW
RED B
BLU D
Sequence Model
Bi-Polar full step
step A B C D
1
2
3
4
Lead Wire Configuration
BLK A
YEL O
GRN C
RED B
WHT M
BLU D
CW
CW(clockwise) & CCW(counter clockwise) rotationwhen seen from the flange side of the motor
CCW
Sequence Model
Uni-Polar full step
step A B C D O M
1
2
3
4
8 lead wire
Lead Wire Configuration
CW
CW(clockwise) & CCW(counter clockwise) rotationwhen seen from the flange side of the motor
CCW
Sequence Model
Uni-Polar full step
step A B C D O M
1
2
3
4
BLK A
YEL A
GRN C
ORG C
RED B
WHT B
BLU D
BRN D
Option 1: Bi-Polar Series
BLU
A
C
B
DBRNWHTRED
GRNORGYELBLK
Option 2: Bi-Polar Parallel
BLU
A
C
B
DBRNWHTRED
GRNORGYELBLK
Option 3: Uni-Polar Series
BLU
A
C
B
D
M
O
BRNWHTRED
GRNORGYELBLK
CW
CCW
Bi-Polar full step
step A B C D
1
2
3
4
• 3 PHASE
Lead Wire Configuration
RED1
C
A
B
3GRN
7WHT
CW & CCW rotationwhen seen from the flange side of the motor
Sequence Model
CW
CCW
step A B C
1
2
3
4
5
6
n Schematic Diagrams & Stepping Sequence