MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
2
STEP MOTORS
Contents
PowerPlus Technology............................................................................03
MOONS’ Step Motor Advantages............................................................04
Encapsulated Motors...............................................................................05
2 Phase and 3 Phase Motors......................................... ......................... 06
Size 8 - 1.8° - MS08HY Series............................................................ 09
Size 11 - 1.8° - MS11HS Series............................................................11
Size 14 - 0.9° - 14HK Encapsulated Series..........................................15
Size 14 - 0.9° - MS14HA Series............................................................17
Size 14 - 1.8° - MS14HS Series............................................................ 21
Size 16 - 1.8° - MS16HS Series............................................................25
Size 17 - 0.9° - MS17HA Series............................................................29
Size 17 - 1.8° - MS17HD Series............................................................33
Size 23 - 0.9° - MS23HA Series............................................................37
Size 23 - 1.8° - ML23HS / PL23HS -High torque / PowerPlus Series... 39
Size 24 - 1.8° - MS24HS Series............................................................43
Size 34 - 1.8° - ML34HD / PL34HD - High torque / PowerPlus Series..45
Size 42 - 1.8° - ML42HS Series.............................................................49
Model Number System............................................................................ 07
Custom Motors........................................................................................ 08
MOONS’ Technology
2 Phase Motors
Size 17 - 1.2° - 17HC Encapsulated Series...........................................51
Size 24 - 1.2° - ML24HC / PL24HC - High torque / PowerPlus Series..53
Size 34 - 1.2° - 34HC Series................................................................. 57
3 Phase Motors
Step Motor Basics - Applications, Structure & Operation....................... 59
Load Calculations & Tips for Using Step Motors..................................... 61
Step Sequence & Schematic Diagrams...................................................63
Bearing Life & Shaft Loading...................................................................64
Conversion Factors................................................................................. 65
Technical
3
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
PowerPlus Technology
MOONS’ PowerPlus technology provides 25% to 40% more torque across the entire speed range of the
motor. The increased torque is a result of higher motor efficiency, and is available without increasing the
drive voltage or current.
■Typical Applications:
Machine Upgrades: Changing existing machines to PowerPlus motors can be a quick path to new
models with improved performance. Because the motor, drive and mechanical parts remain the same,
benefits include:
• Faster new product introduction
• Reduced engineering costs
• Easy production phase in
• Reduced spare parts inventory
Correct stalling problems with existing machines:
Problems with occasional machine stalling are often due to unexpected field conditions such as: low
temperature, dirt, and customers using machines in unexpected ways. Using PowerPlus motors can be
a quick effective solution.
Overcome drive or power supply limitations in new designs:
Often a higher current drive or higher voltage power supply can provide needed extra torque. However, in
many designs the drive current cannot be increased without changing to a substantially more expensive
drive. And increasing drive voltage can be impractical, expensive, or may not be allowed for safety
reasons. In these cases using PowerPlus motors can be especially useful.
Conventional Motor PowerPlus Technology
Some of the torque
producing magnetic
flux that links the rotor
to the stator is outside
the stator teeth. This
stray flux adds little to
motor torque.
Magnets placed
between the stator
teeth redirect most
of the stray magnetic
flux into the stator
teeth. This produces
additional torque with
the same input power.
4
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MOONS’ Step Motor Advantages
These step motors from MOONS’ include a number of improvements for even greater performance and
value:
• Many refinements that increase torque by an average of 20%
• Complete range of sizes: 8, 11, 14, 16, 17, 23, 24, 34, 42
• Size 17 and larger 2 phase motors are UL recognized
• 0.9 degree 2 phase motors, and 3 phase motors for extra smooth, quiet, performance
• PowerPlus technology: for maximum efficiency and performance at all speeds
• Lower inertia rotors provide faster acceleration
• High voltage insulation for use with high voltage, high performance drives
• Low loss stators have better high speed performance
• Standard windings with high fill for more torque
• Updated model numbering system includes a wider range of windings and standard options
Laminations optimized
for high torque, high
accuracy and low
losses.
Die cast endbells
provide strength,
precision, and help
cool the motor.
Large ball bearings,
also optimized for short
repetitive moves to
ensure long life.
Stators with maximum
winding fill for lower
temperatures, long life
and maximum torque
Rare earth magnets and optimized
rotors designed for maximum
torque, and high efficiency
Connectors integrated
into motors for quick
reliable connections.
5
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
Encapsulated Motors
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. These
motors can produce 35% more torque.
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,
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 the same load
Torque (mNm)
Speed (0.9˚ steps / sec)
MOONS'
Competitor 1
Competitor 2
12 VDC, Rated Current
0 1000 2000 3000 4000 5000
40
35
30
25
20
15
10
5
0
6
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
2 Phase and 3 Phase Motors
MOONS’ offers several families of hybrid step motors with a different number of phases and step angles.
Each has a combination of advantages that are better suited to specific applications.
• 2 Phase - 1.8 degree step angle
This is the most popular step motor. It has a great combination of torque, speed and accuracy.
Due to their high volumes, drives for 2 phase motors are very common and economical.
The basic method of control is to have the motor make one full step as the drive applies full current to
the motor windings. This causes the motor to move in full step increments. When the motor is stepped
at different rates it may make a distinctive sound and can vibrate (resonate) at certain speeds. This is
not a problem for most applications. If it is an issue, motors can be controlled with micro-stepping drives
that smooth motor torque. And many times, resonate speeds can simply be avoided by programming
the drive.
MOONS’ offers 2 phase 0.9 degree step motors, and three phase 1.2 degree step motors, for applications
that need even more accuracy, or motion that is very smooth and quiet.
• 2 Phase - 0.9 degree step angle
Because each step moves only ½ the distance of 1.8 degree
motors, these motors have higher accuracy and very smooth
movement. The drive for this motor is exactly the same as the
2 phase, 1.8 degree motors. For the same speed, these motors
must have a step rate that is 2 times that of a 1.8 degree motor.
This higher step rate leads to less torque at high speeds.
However, for many applications high speed is not needed, or
higher voltage drives can be used to increase torque at high
speeds.
An example of a good application for 0.9 degree motors are security cameras. These motors allow the
camera to be precisely moved without “camera shake” which causes the picture to vibrate. MOONS’
offers small encapsulated sizes that reduce camera package size, and helps withstand the outdoor
environment.
• 3 Phase - 1.2 degree step angle
The use of three phases inherently helps to reduce torque ripple and smooth motor performance. 3
phase motors require a 3 phase drive that is different than the drive for 2 phase motors. As compared
to the 1.8 degree two phase motors, the low speed torque is somewhat less. But design improvements
introduced by MOONS’, minimizes this difference. High speed torque can also be comparable. In
addition, MOONS’ size 24 three phase motors are available with PowerPlus technology, for maximon
torque.
3 phase motors are used where maximum performance, and very quiet, smooth precise movement
is need. An example of a good application for three phase motors is in performance lighting. These
spotlights lights need quick movement, and quiet operation so as not disturb the performance.
14HK0 Shown Full Size
7
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
Model Numbering System
M S 17 HD 2 P 4 040 -M
Models starting with M or P
Stator - Series
M Standard Step Motor
P PowerPlus Step Motor
Optional Construction Code
-##
N
Winding Current
## Non significant number
Connection Construction / IP Rating
0 Plug In Connector - Standard IP40
3,4,8 Number of Leads IP40
Length Code
# Non significant number or letter
Motor Technology
HK,HA Hybrid Step Motor, 2 Phase 0.9 degree
HY,HD,HS Hybrid Step Motor, 2 Phase 1.8 degree
HC Hybrid Step Motor, 3 Phase 1.2 degree
Frame Size
## 8,11,14,16,17,23,24,34
Options
Omit No Options
-E Standard English rear shaft
-M Standard Metric rear shaft
Winding Current
### Current rating x 100 050 = 0.5 amps, 500 = 5 amps
X## for 11 to 19 amps: X10= 11 amps, X40 = 14 amps
Number of connections / Winding Type
4 Bipolar
6 Unipolar (can be used bipolar)
8 Can be connected any way
Connection Construction / IP Rating
L Leads IP40
P Plug In Connector - Standard IP40
Length Code
# Non significant number or letter
Motor Technology
HA Hybrid Step Motor, 2 Phase 0.9 degree
HD,HS Hybrid Step Motor, 2 Phase 1.8 degree
HC Hybrid Step Motor, 3 Phase 1.2 degree
Frame Size
## 8,11,14,16,17,23,24,34,42
Rotor
S Standard Inertia Size 8,11,14,16,17,23,24
L Lower Inertia Size 23,24,34,42
14 HC 0 3 01 N
Other Models
8
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
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
Custom Motors
MOONS’ provides motors to meet the needs of many applications.
Common modifications include:
• Corrosion resistant motors. These are often used in outdoor equipment where humidity and temperature
changes can cause corrosion.
• Sealed motors to keep out dust and water
• Special shaft sizes and features
• Pulleys, gears and couplings mounted on the shaft
• Encoders and other feedback devices
• Special lead lengths or cables, with many different connectors
9
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS08HY Series: 1.8° - Size 8
• Phases 2
• Steps / Revolution 200
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 6 N (1.3 Lbs.) Push
25 N (5.6 Lbs.) Pull
Radial 18 N (4 Lbs.) At End of Shaft
• IP Rating 40
• Approvals RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
Dimensions: mm (in)
10
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
Mating Connector With Leads (order separately)
Dimensions: mm (in)
MS08HY - 4 Lead Bi-Polar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding
Ohms mH
Detent
Torque Rotor Inertia Motor Weight
Single Shaft
P=Side Plug
F=Front plug
R=Rear plug
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
29.5mm
(1.16in.)
^ MS08HY1P4050
^ MS08HY1F4050
^ MS08HY1R4050
P
F
R
0.5 0.032 4.53 8.6 5.6 2 0.28 1.6 0.009 0.04 0.09
39.5mm
(1.56in.)
^ MS08HY3P4060
^ MS08HY3F4060
^ MS08HY3R4060
P
F
R
0.6 0.049 6.94 6.6 4.1 3 0.42 2.9 0.016 0.06 0.13
46.5mm
(1.83in.)
^ MS08HY5P4060
^ MS08HY5R4060
^ MS08HY5F4060
P
R
F
0.6 0.058 8.2 8 6.1 4 0.57 4.2 0.023 0.08 0.18
^ Preferred model
1
300±10
(11.8±0.4)
4Lead Part Number 4634 1402 03659
Housing:JST ZHR-6
Terminal:SZH-002T-P0.5
AWG26 UL1061
BLACK
6
3
4
GREEN
RED
BLUE
MS08HY1-Bipolar MS08HY3-Bipolar MS08HY5-Bipolar
11
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS11HS Series: 1.8° - Size 11
• Phases 2
• Steps / Revolution 200
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 15 N (3.4 Lbs.) Push
25 N (5.6 Lbs.) Pull
Radial 30 N (6.5 Lbs.) At Flat Center
• IP Rating 40
• Approvals RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
Dimensions: mm (in)
L Max.
24±0.5
(0.945±0.020)
28.3
(1.114)
23
(0.906)
2
(0.08)
9.5
(0.37)
5
(0.20)
4-M2.5
Depth 3(0.12)Min.
Ø22
0
-0.052
(Ø0.866
0
-0.002
)
Ø5
0
-0.012
(Ø0.1969
0
-0.0005
)
4.5±0.1
(0.177±0.004)
MS11HS1=32(1.26)
MS11HS3=41(1.62)
MS11HS5=52(2.05)
15
(0.591)
16.5(0.65)
Pin 6
Molex 53253-0670
MS11HS 3 P 4 040
Basic Motor Length (Max)
1 32mm(1.26)
3 41mm(1.62)
5 52mm(2.05)
Electrical Connection
P Plug-in Connector
Winding
### Current rating x 100
Number of Connections
4 4 Lead-Bipolar
6 6 Lead-Unipolar (or Bipolar)
12
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS11HS - 4 Lead Bi-Polar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding
Ohms mH
Detent
Torque Rotor Inertia Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
32 mm
(1.26
in.)
MS11HS1P4024
^ MS11HS1P4050
^ MS11HS1P4067
^ MS11HS1P4100
P
P
P
P
0.24
0.5
0.67
1
0.09
0.09
0.09
0.09
13
13
13
13
49
10.9
6.1
2.7
38
9.6
5.4
2.5
5 0.71 9 0.049 0.1 0.22
41 mm
(1.62
in.)
MS11HS3P4029
^ MS11HS3P4067
^ MS11HS3P4095
^ MS11HS3P4140
P
P
P
P
0.29
0.67
0.95
1.4
0.12
0.12
0.13
0.13
17
17
18
18
39
7.2
3.7
1.77
26
5.1
2.8
1.24
6 0.85 12 0.066 0.15 0.33
52 mm
(2.05
in.)
MS11HS5P4030
^ MS11HS5P4070
^ MS11HS5P4100
^ MS11HS5P4150
P
P
P
P
0.3
0.7
1
1.5
0.17
0.17
0.17
0.17
24
24
24
24
40
6.7
3.7
1.65
38
6.8
3.1
1.48
8 1.1 18 0.098 0.2 0.44
^ Preferred model
MS11HS - 6 Lead Uni-Polar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding
Ohms mH
Detent
Torque Rotor Inertia Motor Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
32 mm
(1.26
in.)
MS11HS1P6024
MS11HS1P6050
MS11HS1P6070
P
P
P
0.24
0.5
0.7
0.06
0.07
0.07
9
9
9
48
10.9
5.5
18.2
4.5
2.3
5 0.71 9 0.049 0.1 0.22
41 mm
(1.62
in.)
MS11HS3P6026
MS11HS3P6067
MS11HS3P6095
P
P
P
0.26
0.67
0.95
0.09
0.09
0.09
13
13
13
48
7.4
3.5
20
3.3
1.56
6 0.85 12 0.066 0.15 0.33
52 mm
(2.05
in.)
MS11HS5P6033
MS11HS5P6067
MS11HS5P6095
P
P
P
0.33
0.67
0.95
0.13
0.13
0.13
18
18
18
36.8
8.1
4.3
14.6
3.5
1.7
8 1.1 18 0.098 0.2 0.44
^ Preferred model
Mating Connector With Leads (order separately)
Dimensions: mm (in)
Housing:Molex 51065-0600
Terminal:Molex 50212-8000
1
300±10
(11.8±0.4)
AWG26 UL3266
4 Lead Part Number 4634 1402 04190
BLACK
6
Housing:Molex 51065-0600
Terminal:Molex 50212-8000
1
300±10
(11.8±0.4)
AWG26 UL3266
6 Lead Part Number 4634 1402 04490
6
3
4
GREEN
RED
BLUE
BLACK
GREEN
RED
BLUE
YELLOW
WHITE
2
3
4
5
13
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS11HS1-Bipolar MS11HS3-Bipolar MS11HS5-Bipolar
14
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS11HS1-Unipolar MS11HS3-Unipolar MS11HS5-Unipolar
15
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
14HK Series: 0.9° - Size 14 Encapsulated
• Phases 2
• Steps / Revolution 200
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 25 N (5.6 Lbs.) Push
65 N (15 Lbs.) Pull
Radial 30 N (6.5 Lbs.) At End of Shaft
• IP Rating 40
• Approvals RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
14HK - 4 Lead Bipolar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding
Ohms mH
Detent
Torque Rotor Inertia Motor Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
12.8 mm
(0.5 in.)
^ 14HK0405N
^ 14HK0406N
^ 14HK0407N
^ 14HK0408N
L
L
L
L
0.3
0.5
0.6
0.8
0.044
0.044
0.044
0.044
6
6
6
6
16
6.4
4.2
2.6
8.5
3.1
2.1
1.2
4 0.57 4 0.022 0.05 0.11
20.2 mm
(0.8 in.)
14HK2404N
^ 14HK2405N
^ 14HK2406N
^ 14HK2407N
L
L
L
L
0.3
0.5
0.6
0.8
0.12
0.12
0.12
0.12
17
17
17
17
26.7
11.8
7.1
4.4
21
9.5
5.4
3.2
10 1.4 11 0.06 0.11 0.24
^ Preferred model
Dimensions: mm (in)
43.83
(1.726)
2-M3
2-R3.5
2-R0.138
AWG28 UL1886
300±10(11.8±0.4)
L Max.
14HK0=12.8(0.51)
14HK2=20.2(0.80)
Ø36
(Ø1.417)
Ø16
0
-0.01
(Ø0.63
0
-0.0004
)
Ø5
0
-0.012
(0.177
0
-0.0005
)
2.5
(0.1)
15±0.5
(0.591±0.020)
16
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
14HK0-0.9° Bipolar 14HK2-0.9° Bipolar
17
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS14HA Series: 0.9° - Size 14
• Phases 2
• Steps / Revolution 400
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 25 N (5.6 Lbs.) Push
65 N (15 Lbs.) Pull
Radial 30 N (6.5 Lbs.) At Flat Center
• IP Rating 40
• Approvals RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
Dimensions: mm (in)
MS14HA1=27.3(1.07)
MS14HA3=36(1.42)
MS14HA5=55.5(2.19)
2
(0.08)8
(0.31)
4-M3
Depth 3(0.12)Min
35.3Max.
(1.390)
26
(1.024)
LMax.
15
(0.591)
24±0.5
(0.945±0.020)
Ø5
0
-0.012
(Ø0.1969
0
-0.0005
)
4.5±0.1
(0.177±0.004)
Ø22
0
-0.052
(Ø0.866
0
-0.002
)
2.8
(0.11)
Pin 1
JST S11B-ZR(LF)(SN)
21.6(0.85)
MS14HA 5 P 4 040
Basic Motor Length (Max)
1 27.3mm(1.07 in.)
3 36mm (1.42 in. )
5 55.5mm (2.19 in.)
Electrical Connection
P Plug-in Connector
Winding
### Current rating x 100
Number of Connections
4 4 Lead-Bipolar
6 6 Lead-Unipolar (or Bipolar)
18
MOONS’
Technology
2 Phase
Step
Motors
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Step
Motors
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MS14HA - 4 Lead Bi-Polar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding Ohms
mH
Detent
Torque Rotor Inertia Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
27.3
mm
(1.07
in.)
MS14HA1P4026
^ MS14HA1P4070
^ MS14HA1P4100
^ MS14HA1P4150
P
P
P
P
0.26
0.7
1
1.5
0.12
0.12
0.12
0.12
17
17
17
17
49
6.6
3.3
1.55
56
8.2
3.9
1.8
4 0.57 12 0.066 0.15 0.33
36 mm
(1.42
in.)
MS14HA3P4032
^ MS14HA3P4075
^ MS14HA3P4100
^ MS14HA3P4150
P
P
P
P
0.32
0.75
1
1.5
0.19
0.18
0.18
0.18
27
25
25
25
37
6
3.3
1.61
51
8.6
4.9
2.2
8 1.1 20 0.11 0.21 0.46
55.5
mm
(2.19
in.)
MS14HA5P4040
^ MS14HA5P4100
^ MS14HA5P4150
^ MS14HA5P4200
P
P
P
P
0.4
1
1.5
2
0.32
0.32
0.32
0.32
45
45
45
45
30
5.1
2.2
1.34
49
8.2
3.6
2.1
10 1.4 35 0.19 0.24 0.53
^ Preferred model
MS14HA - 6 Lead Uni-Polar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding
Ohms mH
Detent
Torque Rotor Inertia Motor Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
27.3
mm
(1.07
in.)
MS14HA1P6026
MS14HA1P6060
MS14HA1P6100
P
P
P
0.26
0.6
1
0.09
0.09
0.09
12
12
12
48
8.9
3.3
27
5.3
2
4 0.57 12 0.066 0.15 0.33
36 mm
(1.42
in.)
MS14HA3P6032
MS14HA3P6070
MS14HA3P6110
P
P
P
0.32
0.7
1.1
0.13
0.14
0.14
18
20
20
37
7.5
3
21
5.3
2
8 1.1 20 0.11 0.21 0.46
55.5
mm
(2.19
in.)
MS14HA5P6040
MS14HA5P6085
MS14HA5P6120
P
P
P
0.4
0.85
1.2
0.25
0.26
0.25
35
37
35
31
7.1
3.5
26
6.1
2.9
10 1.4 35 0.19 0.24 0.53
^ Preferred model
Mating Connector With Leads (order separately)
Dimensions: mm (in)
300±10
(11.8±0.4)
4Lead Part Number 4634 1402 02846
Housing:JST ZHR-11
Terminal:JST-SZH-002T-P0.5
AWG26 UL1061
BLACK
GREEN
RED
BLUE
6 Lead Part Number 4634 1402 04489
1
5
7
11
300±10
(11.8±0.4)
Housing:JST ZHR-11
Terminal:JST-SZH-002T-P0.5
AWG26 UL1061
BLACK
GREEN
RED
BLUE
1
5
7
11
YELLOW
WHITE
3
9
19
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS14HA1-0.9° Bipolar MS14HA3-0.9° Bipolar MS14HA5-0.9° Bipolar
20
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS14HA1-0.9° Unipolar MS14HA3-0.9° Unipolar MS14HA5-0.9° Unipolar
21
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS14HS Series: 1.8° - Size14
• Phases 2
• Steps / Revolution 200
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 25 N (5.6 Lbs.) Push
65 N (15 Lbs.) Pull
Radial 30 N (6.5 Lbs.) At Flat Center
• IP Rating 40
• Approvals RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
Dimensions: mm (in)
2
(0.08)8
(0.31)
4-M3
Depth 3(0.12)Min
35.3Max.
(1.390)
26
(1.024)
LMax.
MS14HS1=27.3(1.07)
MS14HS3=36(1.42)
MS14HS5=55.5(2.19)
15
(0.591)
24±0.5
(0.945±0.020)
Ø5
0
-0.012
(Ø0.1969
0
-0.0005
)
4.5±0.1
(0.177±0.004)
Ø22
0
-0.052
(Ø0.866
0
-0.002
)
21.6(0.85)
3.7
(0.15)
Pin 1
JST S11B-ZR(LF)(SN)
MS14HS 3 P 4 040
Basic Motor Length (Max)
1 27.3mm ( 1.07 in. )
3 36mm (1.42 in. )
5 55.5mm (2.19 in.)
Electrical Connection
P Plug-in Connector
Winding
### Current rating x 100
Number of Connections
4 4 Lead-Bipolar
6 6 Lead-Unipolar (or Bipolar)
22
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS14HS - 4 Lead Bi-Polar
Length
Model Number Connect Rated
Current
Holding Torque Winding Ohms
mH
Detent
Torque Rotor Inertia Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
27.3
mm
(1.07
in.)
MS14HS1P4026
^ MS14HS1P4070
^ MS14HS1P4100
^ MS14HS1P4150
P
P
P
P
0.26
0.7
1
1.5
0.14
0.14
0.14
0.14
20
20
20
20
49
6.6
3.3
1.55
50
7.5
3.5
1.8
10 1.4 12 0.066 0.15 0.33
36 mm
(1.42
in.)
MS14HS3P4032
^ MS14HS3P4075
^ MS14HS3P4100
^ MS14HS3P4150
P
P
P
P
0.32
0.75
1
1.5
0.24
0.23
0.23
0.23
34
33
33
33
37
6
3.4
1.62
52
8.9
5
2.2
15 2.1 20 0.11 0.21 0.46
55.5
mm
(2.19
in.)
MS14HS5P4040
^ MS14HS5P4100
^ MS14HS5P4150
^ MS14HS5P4200
P
P
P
P
0.4
1
1.5
2
0.39
0.40
0.40
0.40
55
57
57
57
30
5.1
2.2
1.34
50
8.3
3.6
2.1
18 2.5 35 0.19 0.24 0.53
^ Preferred model
MS14HS - 6 Lead Uni-Polar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding
Ohms mH
Detent
Torque Rotor Inertia Motor Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
27.3
mm
(1.07
in.)
MS14HS1P6026
MS14HS1P6060
MS14HS1P6100
P
P
P
0.26
0.6
1
0.10
0.10
0.10
14
14
14
48
8.9
3.3
23
4.5
1.7
10 1.4 12 0.066 0.15 0.33
36 mm
(1.42
in.)
MS14HS3P6032
MS14HS3P6070
MS14HS3P6110
P
P
P
0.32
0.7
1.1
0.17
0.18
0.18
24
25
25
37
7.5
3
22
5.4
2.1
15 2.1 20 0.11 0.21 0.46
55.5
mm
(2.19
in.)
MS14HS5P6040
MS14HS5P6085
MS14HS5P6120
P
P
P
0.4
0.85
1.2
0.30
0.31
0.30
42
44
42
31
7.1
3.5
26
6.2
2.9
18 2.5 35 0.19 0.24 0.53
^ Preferred model
300±10
(11.8±0.4)
4Lead Part Number 4634 1402 02846
Housing:JST ZHR-11
Terminal:SZH-002T-P0.5
AWG26 UL1061
BLACK
GREEN
RED
BLUE
6 Lead Part Number 4634 1402 04489
1
5
7
11
300±10
(11.8±0.4)
Housing:JST ZHR-11
Terminal:SZH-002T-P0.5
AWG26 UL1061
BLACK
GREEN
RED
BLUE
1
5
7
11
YELLOW
WHITE
3
9
Mating Connector With Leads (order separately)
Dimensions: mm (in)
23
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS14HS1-1.8° Bipolar MS14HS3-1.8° Bipolar MS14HS5-1.8° Bipolar
24
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS14HS1-1.8° Unipolar MS14HS3-1.8° Unipolar MS14HS5-1.8° Unipolar
25
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS16HS Series: 1.8° - Size 16
• Phases 2
• Steps / Revolution 200
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 25 N (5.6 Lbs.) Push
65 N (15 Lbs.) Pull
Radial 30 N (6.5 Lbs.) At Flat Center
• IP Rating 40
• Approvals RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
Dimensions: mm (in)
4-M3
Depth 3(0.12)Min.
LMax.
15
(0.591)
24±0.5
(0.945±0.02)
Ø5
0
-0.012
(Ø0.1969
0
-0.0005
)
4.5±0.1
(0.177±0.004)
Ø22
0
-0.052
(Ø0.866
0
-0.002
)
2
(0.08)
31
(1.220)
39.3
(1.547)
MS16HS7=20.8
(
0.82
)
MS16HS0=26(1.02)
MS16HS4=33(1.30)
8
(0.31)
3.7
(0.15)
21.6(0.85)
Pin 1
JST S11B-ZR(LF)(SN)
MS16HS 7 P 4 040
Basic Motor Length (Max)
7 20.8mm ( 0.82 in. )
0 26mm (1.02 in. )
4 33mm ( 1.30 in. )
Electrical Connection
P Plug-in Connector
Winding
### Current rating x 100
Number of Connections
4 4 Lead-Bipolar
6 6 Lead-Unipolar (or Bipolar)
26
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS16HS - 4 Lead Bi-Polar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding Ohms
mH
Detent
Torque Rotor Inertia Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
20.8
mm
(0.82
in.)
MS16HS7P4027
^ MS16HS7P4070
^ MS16HS7P4100
^ MS16HS7P4150
P
P
P
P
0.27
0.7
1
1.5
0.10
0.10
0.10
0.10
14
14
14
14
41
5.6
3
1.45
36
5.6
2.8
1.28
5 0.71 14 0.077 0.11 0.24
26 mm
(1.02
in.)
MS16HS0P4029
^ MS16HS0P4070
^ MS16HS0P4100
^ MS16HS0P4150
P
P
P
P
0.29
0.7
1
1.5
0.20
0.20
0.20
0.20
28
28
28
28
40
6.8
3.6
1.53
52
9.5
4.7
2
8 1.1 20 0.11 0.15 0.33
33 mm
(1.3
in.)
MS16HS4P4037
^ MS16HS4P4070
^ MS16HS4P4100
^ MS16HS4P4150
P
P
P
P
0.37
0.7
1
1.5
0.26
0.26
0.27
0.27
37
37
38
38
31
8.4
4.4
1.89
50
14
7
3.1
12 1.7 27 0.15 0.21 0.46
^ Preferred model
MS16HS - 6 Lead Uni-Polar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding
Ohms mH
Detent
Torque Rotor Inertia Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
20.8
mm
(0.82
in.)
MS16HS7P6024
^ MS16HS7P6070
^ MS16HS7P6100
P
P
P
0.24
0.7
1
0.07
0.07
0.07
10
10
10
50
5.5
2.7
21
2.6
1.23
5 0.71 14 0.077 0.11 0.24
26 mm
(1.02
in.)
MS16HS0P6027
^ MS16HS0P6070
^ MS16HS0P6100
P
P
P
0.27
0.7
1
0.15
0.16
0.15
21
23
21
45
7
3.4
27
4.7
2.2
8 1.1 20 0.11 0.15 0.33
33 mm
(1.3
in.)
MS16HS4P6036
^ MS16HS4P6085
^ MS16HS4P6120
P
P
P
0.36
0.85
1.2
0.20
0.20
0.20
28
28
28
33
5.8
3
26
4.7
2.3
12 1.7 27 0.15 0.21 0.46
^ Preferred model
300±10
(11.8±0.4)
4Lead Part Number 4634 1402 04581
Housing:JST ZHR-11
Terminal:SZH-002T-P0.5
AWG26 UL1061
BLACK
GREEN
RED
BLUE
6 Lead Part Number 4634 1402 04489
1
5
7
11
300±10
(11.8±0.4)
Housing:JST ZHR-11
Terminal:SZH-002T-P0.5
AWG26 UL1061
BLACK
GREEN
RED
BLUE
1
5
7
11
YELLOW
WHITE
3
9
Mating Connector With Leads (order separately)
Dimensions: mm (in)
27
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS16HS7- Bipolar MS16HS0- Bipolar MS16HS4- Bipolar
28
MOONS’
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2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS16HS7- Unipolar MS16HS0- Unipolar MS16HS4- Unipolar
29
MOONS’
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2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS17HA Series: 0.9° - Size 17
• Phases 2
• Steps / Revolution 400
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 25 N (5.6 Lbs.) Push
65 N (15 Lbs.) Pull
Radial 30 N (6.5 Lbs.) At Flat Center
• IP Rating 40
• Approvals UL Recognized File E465363, RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
Dimensions: mm (in)
MS17HA4=34.3(1.35)
MS17HA2=39.8(1.57)
MS17HA6=48.3(1.90)
15
(0.591)
L Max. 13±1
(0.512±0.04)
24±0.5
(0.945±0.020)
Ø5
0
-0.012
(Ø0.1969
0
-0.0005
)
11
(0.43)
2
(0.08)
31
(1.220)
42.3
(1.665)
4-M3
Depth 4.5(0.18)Min.
7
(0.28)
OPTIONAL REAR SHAFT
EXTENSION,INCLUDES
ENCODER MOUNTING:
2-M2.5,DEPTH 2.5(0.1)Min.
ON Ø19.05(0.75) BOLT
CIRCLE (IN REARENDBELL)
Ø22
0
-0.052
(Ø0.866
0
-0.002
)
4.5±0.1
(0.177±0.004)
Ø5
0
-0.012
(Ø0.1969
0
-0.0005
)Pin 1
JST S6B-PH-K-S(LF)(SN)
or MOLEX 89401-0610
16(0.63)
MS17HA 4 P 4 040 -M
Basic Motor Length (Max)
4 34.3mm ( 1.35 in. ) Short
2 39.8mm (1.57 in. ) 1 Stack
6 48.3mm ( 1.90 in. ) 2 Stack
Number of Connections
4 4 Lead-Bipolar
6 6 Lead-Unipolar(or Bipolar)
Electrical Connection
P Plug-in Connector
Winding
### Current rating x 100
Options
Omit No Options
-M 5 mm Diameter Rear Shaft
With Encoder Mounting Holes
30
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
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MS17HA - 4 Lead Bi-Polar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding
Ohms mH
Detent
Torque Rotor Inertia Motor Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g
cm2
oz-
in2kg Lbs
34.3 mm
(1.35
in.)
MS17HA4P4040
^ MS17HA4P4100
^ MS17HA4P4150
^ MS17HA4P4200
P
P
P
P
0.4
1
1.5
2
0.3
0.3
0.28
0.29
42
42
40
41
29
4.05
1.56
1
71
10.5
4.1
2.5
12 1.7 38 0.21 0.21 0.46
39.8 mm
(1.57 in.)
1 Stack
MS17HA2P4040
^ MS17HA2P4100
^ MS17HA2P4150
^ MS17HA2P4200
P
P
P
P
0.4
1
1.5
2
0.41
0.39
0.40
0.41
58
55
57
58
25
3.9
1.95
1
70
11.2
5.4
2.8
16 2.3 57 0.31 0.28 0.62
48.3 mm
(1.9 in.)
2 Stack
MS17HA6P4050
^ MS17HA6P4100
^ MS17HA6P4150
^ MS17HA6P4200
P
P
P
P
0.5
1
1.5
2
0.54
0.54
0.54
0.54
76.5
76.5
76.5
76.5
25
5
2.2
1.25
74
16
6.8
4
25 3.5 82 0.45 0.35 0.77
^ Preferred model
MS17HA - 6 Lead Uni-Polar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding Ohms
mH
Detent
Torque Rotor Inertia Motor Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
34.3 mm
(1.35
in.)
MS17HA4P6038
MS17HA4P6085
MS17HA4P6120
P
P
P
0.38
0.85
1.2
0.22
0.21
0.22
31
30
31
31
4.85
2.68
38
6.2
3.6
12 1.7 38 0.21 0.21 0.46
39.8 mm
(1.57 in.)
1 Stack
MS17HA2P6040
MS17HA2P6085
MS17HA2P6130
P
P
P
0.4
0.85
1.3
0.32
0.32
0.32
45
45
45
29
6
2.5
39
8.3
3.5
16 2.3 57 0.31 0.28 0.62
48.3 mm
(1.9 in.)
2 Stack
MS17HA6P6040
MS17HA6P6080
MS17HA6P6130
MS17HA6P6200
P
P
P
P
0.4
0.8
1.3
2
0.41
0.41
0.43
0.42
58
58
61
59
30
7.6
3.2
1.24
45
11.9
5
1.94
25 3.5 82 0.45 0.35 0.77
^ Preferred model
BLUE
WHITE
RED
GREEN
YELLOW
BLACK
300±10
(11.8±0.4)
Housing:JST PHR-6
Terminal:SPH-002-P0.5S
AWG26 UL3266
BLUE
RED
GREEN
BLACK
300±10
(11.8±0.4)
Housing:JST PHR-6
Terminal:SPH-002T-P0.5S
AWG26 UL3266
6Lead Part Number 4634 1402 00922
4 Lead Part Number 4634 1402 00723
6
1
2
3
4
5
1
6
3
4
Mating Connector With Leads (order separately)
Dimensions: mm (in)
31
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS17HA4-0.9° Bipolar MS17HA2-0.9° Bipolar MS17HA6-0.9° Bipolar
32
MOONS’
Technology
2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS17HA4-0.9° Unipolar MS17HA2-0.9° Unipolar MS17HA6-0.9° Unipolar
33
MOONS’
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2 Phase
Step
Motors
3 Phase
Step
Motors
Technical
www.moonsindustries.eu
MS17HD Series: 1.8° - Size 17
• Phases 2
• Steps / Revolution 200
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 25 N (5.6 Lbs.) Push
65 N (15 Lbs.) Pull
Radial 29 N (6.5 Lbs.) At Flat Center
• IP Rating 40
• Approvals UL Recognized File E465363, RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
Dimensions: mm (in)
15
(0.591)
L Max.
MS17HD5=25.3(1.00)
MS17HD4=34.3(1.35)
MS17HD2=39.8(1.57)
MS17HD6=48.3(1.90)
MS17HDB=62.8(2.47)
13±1
(0.512±0.04)
24±0.5
(0.945±0.020)
Ø5
0
-0.012
(Ø0.1969
0
-0.0005
)
11
(0.43)
2
(0.08)
31
(1.220)
42.3
(1.665)
4-M3
Depth 4.5(0.18)Min.
(For MS17HD5:
Depth 2.5Min.)
16(0.63)
7
(0.28)
OPTIONAL REAR SHAFT
EXTENSION,INCLUDES
ENCODER MOUNTING:
2-M2.5,DEPTH 2.5(0.1)Min.
ON Ø19.05(0.75) BOLT
CIRCLE (IN REARENDBELL)
Ø22
0
-0.052
(Ø0.866
0
-0.002
)
4.5±0.1
(0.177±0.004)
Ø5
0
-0.012
(Ø0.1969
0
-0.0005
)Pin 1
JST S6B-PH-K-S(LF)(SN)
or MOLEX 89401-0610
MS17HD 4 P 4 040 -M
Basic Motor Length (Max)
5 25.3mm ( 1.0 in. )
4 34.3mm ( 1.35 in. )
2 39.8mm ( 1.57 in. ) 1 Stack
6 48.3mm ( 1.90 in. ) 2 Stack
B 62.8mm ( 2.47 in. ) 3 Stack
Number of Connections
4 4 Lead-Bipolar
6 6 Lead-Unipolar(or Bipolar)
Electrical Connection
P Plug-in Connector
Winding
### Current rating x 100
Options
Omit No Options
-M 5 mm Diameter Rear Shaft
With Encoder Mounting Holes
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MS17HD - 4 Lead Bi-Polar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding
Ohms mH
Detent
Torque Rotor Inertia Motor Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
25.3 mm
(1 in.)
MS17HD5P4027
^ MS17HD5P4070
^ MS17HD5P4100
^ MS17HD5P4150
P
P
P
P
0.27
0.7
1
1.5
0.20
0.21
0.21
0.20
28
30
30
28
44
6.5
3.2
1.12
53
8.8
4.3
1.62
5 0.71 20 0.11 0.15 0.33
34.3 mm
(1.35
in.)
MS17HD4P4040
^ MS17HD4P4065
^ MS17HD4P4100
^ MS17HD4P4150
P
P
P
P
0.4
0.65
1
1.5
0.34
0.32
0.33
0.32
48
45
47
45
30
8.7
4.2
1.7
51
15.4
7.5
2.9
12 1.7 38 0.21 0.21 0.46
39.8 mm
(1.57 in.)
1 Stack
MS17HD2P4040
^ MS17HD2P4100
^ MS17HD2P4150
^ MS17HD2P4200
P
P
P
P
0.4
1
1.5
2
0.48
0.48
0.50
0.48
68
68
71
68
24
3.9
1.98
1.04
56
8.9
4.3
2.2
15 2.1 57 0.31 0.28 0.62
48.3 mm
(1.9 in.)
2 Stack
MS17HD6P4050
^ MS17HD6P4100
^ MS17HD6P4150
^ MS17HD6P4200
P
P
P
P
0.5
1
1.5
2
0.67
0.63
0.62
0.63
95
89
88
89
24
4.9
2.2
1.3
53
11.5
4.9
2.9
25 3.5 82 0.45 0.36 0.79
62.8 mm
(2.47 in.)
3 Stack
^ MS17HDBP4100
^ MS17HDBP4150
^ MS17HDBP4200
P
P
P
1
1.5
2
0.82
0.88
0.83
120
120
120
5.6
3
1.49
14.6
7.7
3.8
30 4.2 123 0.67 0.6 1.3
^ Preferred model
MS17HD - 6 Lead Uni-Polar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding
Ohms mH
Detent
Torque Rotor Inertia Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
25.3 mm
(1 in.)
MS17HD5P6030
MS17HD5P6070
MS17HD5P6100
P
P
P
0.3
0.7
1
0.16
0.16
0.16
23
23
23
37
6
3
25
4.4
2.2
5 0.71 20 0.11 0.15 0.33
34.3 mm
(1.35 in.)
MS17HD4P6038
MS17HD4P6085
MS17HD4P6120
P
P
P
0.38
0.85
1.2
0.26
0.24
0.25
37
34
35
31
5.1
2.9
27
4.5
2.5
12 1.7 38 0.21 0.21 0.46
39.8 mm
(1.57 in.)
1 Stack
MS17HD2P6040
MS17HD2P6085
MS17HD2P6130
P
P
P
0.4
0.85
1.3
0.38
0.38
0.38
54
54
54
28
6
2.5
31
6.7
2.8
15 2.1 57 0.31 0.28 0.62
48.3 mm
(1.9 in.)
2 Stack
MS17HD6P6040
MS17HD6P6080
MS17HD6P6130
MS17HD6P6200
P
P
P
P
0.4
0.8
1.3
2
0.48
0.49
0.51
0.50
68
69
72
71
29
7.6
3.2
1.3
33
8.6
3.6
1.4
25 3.5 82 0.45 0.36 0.79
^ Preferred model
BLUE
WHITE
RED
GREEN
YELLOW
BLACK
300±10
(11.8±0.4)
Housing:JST PHR-6
Terminal:SPH-002-P0.5
AWG26 UL3266
BLUE
RED
GREEN
BLACK
300±10
(11.8±0.4)
Housing:JST PHR-6
Terminal:SPH-002T-P0.5
AWG26 UL3266
6Lead Part Number 4634 1402 00922
4 Lead Part Number 4634 1402 00723
6
1
2
3
4
5
1
6
3
4
Mating Connector With Leads (order separately)
Dimensions: mm (in)
35
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MS17HD5 - Bipolar MS17HD4 - Bipolar MS17HD2 - Bipolar MS17HD6 - Bipolar
36
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MS17HDB - Bipolar MS17HD5 - Unipolar
MS17HD4 - Unipolar
MS17HD2 - Unipolar
MS17HD6 - Unipolar
37
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MS23HA Series: 0.9° - Size 23
• Phases 2
• Steps / Revolution 400
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 40 N (9 Lbs.) Push
130 N (30 Lbs.) Pull
Radial 70 N (15.5 Lbs.) At Flat Center
• IP Rating 40
• Approvals UL Recognized File E465363, RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
Mating Connector with
4 Leads: 300 ±10 (12
±.5) long
(order separately) Part
Number: 4634 1402
01891
Motors with leads:
Lead wire is 22 AWG
UL3266, 300 ±10 (12
±.5) long
Dimensions: mm (in)
MS23HA - 4 Lead Bi-Polar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding
Ohms mH
Detent
Torque Rotor Inertia Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
39 mm
(1.54
in.)
^ MS23HA0P4100
^ MS23HA0P4160
^ MS23HA0P4220
^ MS23HA0L4350
P
P
P
L
1
1.6
2.2
3.5
0.7
0.71
0.71
0.7
99
100
100
99
6.3
2.6
1.39
0.56
23
9.4
5
1.9
20 2.8 121.5 0.66 0.42 0.93
55 mm
(2.17 in.)
1 Stack
^ MS23HA8P4100
^ MS23HA8P4150
^ MS23HA8P4220
^ MS23HA8L4360
^ MS23HA8L4550
P
P
P
L
L
1
1.5
2.2
3.6
5.5
1.50
1.40
1.50
1.50
1.50
210
200
210
210
210
7.6
3.1
1.6
0.63
0.31
50
21
10.5
3.9
1.56
45 6.4 221 1.2 0.6 1.3
77 mm
(3.03 in.)
2 Stack
^ MS23HAAP4100
^ MS23HAAP4150
^ MS23HAAP4200
^ MS23HAAP4300
^ MS23HAAL4500
P
P
P
P
L
1
1.5
2
3
5
2.30
2.40
2.30
2.40
2.30
330
340
330
340
330
8.8
4.3
2.3
1.1
0.39
61
29
15.2
6.9
2.4
70 9.9 391 2.1 1 2.2
^ Preferred model
MS23HA0=39(1.54)
MS23HA8=55(2.17)
MS23HAA=77(3.03)
L Max. 13±1
(0.512±0.040)
Ø6.35
0
-0.012
(Ø0.25
0
-0.0005
)
5.08
(0.2)
56.4
(2.220)
47.14
(1.856)
5.8±0.1
(0.228±0.004)
15
(0.591)
Ø38.1±0.05
(Ø1.5±0.002)
Ø6.35
0
-0.012
(Ø0.25
0
-0.0005
)
20.6±0.5
(0.811±0.020)
1.6
(0.06) 11.5
(0.45)
4-Ø5.1
+0.2
0
(4-Ø0.2
+0.008
0
)
5
(0.20)
OPTIONALREARSHAFT
EXTENSION,INCLUDES
ENCOD ER MOUNTING:
2-M2.5 ON Ø19.05(0.75)
BOLT CIRCLE
(IN REARENDBELL)
21(0.83)
Pin 1
JST S6B-XH-A-1(LF)(SN)
MS23HA 0 P 4 100 -E
Basic Motor Length (Max)
0 39mm ( 1.54 in. )
8 55mm ( 2.17 in. ) 1 Stack
A 77mm ( 3.03 in. ) 2 Stack
Number of Connections
4 4 Lead-Bipolar
6 6 Lead-Unipolar(or Bipolar)
Electrical Connection
P Plug-in Connector
Winding
### Current rating x 100
Options
Omit No Options
-E 0.25 inch diameter rear shaft
With Encoder Mounting Holes
38
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MS23HAAMS23HA8MS23HA0
39
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ML23HS / PL23HS Series: 1.8° - Size 23
• Phases 2
• Steps / Revolution 200
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 40 N (9 Lbs.) Push
130 N (30 Lbs.) Pull
Radial 70 N (15.5 Lbs.) At Flat Center
• IP Rating 40
• Approvals UL Recognized File E465363, RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
Dimensions: mm (in)
L Max.
ML23HS0=39(1.54)
ML23HS4=45(1.77)
ML23HS8=55(2.17)
ML23HSA=77(3.03)
ML23HSC=112(4.41)
13±1
(0.512±0.040)
Ø6.35
0
-0.012
(Ø0.25
0
-0.0005
)
5.08
(0.2)
56.4
(2.220)
47.14
(1.856)
5.8±0.1
(0.228±0.004)
15
(0.591)
Ø38.1±0.05
(Ø1.5±0.002)
Ø6.35
0
-0.012
(Ø0.25
0
-0.0005
)
20.6±0.5
(0.811±0.020)
1.6
(0.06) 11.5
(0.45)
4-Ø5.1
+0.2
0
(4-Ø0.2
+0.008
0
)
21(0.83)
5
(0.20)
OPTIONALREARSHAFT
EXTENSION,INCLUDES
ENCODER MOUNTING:
2-M2.5 ON Ø19.05(0.75)
BOLT CIRCLE
(IN REARENDBELL)
Ø8
0
-0.012
(Ø0.315
0
-0.0005
)
7.5±0.1
(0.295±0.004)
For ML23HSC
Pin 1
JST S6B-XH-A-1(LF)(SN)
M L23HS 0 P 4 100 -E
Motor Technology
M High Torque Step Motor
P PowerPlus Step Motor
Basic Motor Length (Max)
0 39mm ( 1.54 in. )
4 45mm (1.77 in. )
8 55mm ( 2.17 in. ) 1 Stack
A 77mm ( 3.03 in. ) 2 Stack
C 112mm (4.41 in. ) 3 Stack
Number of Connections
4 4 Lead-Bipolar
6 6 Lead-Unipolar(or Bipolar)
Electrical Connection
L Leads
P Plug-in Connector
Winding
### Current rating x 100
Options
Omit No Options
-E 0.25 inch Diameter Rear Shaft
with Encoder Mounting Holes
40
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ML23HS - 4 Lead Bi-Polar
Length
Model Number Connect Rated
Current
Holding
Torque
Winding Ohms
mH
Detent
Torque Rotor Inertia Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
39 mm
(1.54
in.)
^ ML23HS0P4100
^ ML23HS0P4160
^ ML23HS0P4220
^ ML23HS0L4350
P
P
P
L
1
1.6
2.2
3.5
0.82
0.83
0.84
0.82
120
120
120
120
6.3
2.6
1.39
0.56
15.9
6.5
3.5
1.3
24 3.4 105 0.66 0.42 0.93
45 mm
(1.77
in.)
^ ML23HS4P4100
^ ML23HS4P4150
^ ML23HS4P4210
^ ML23HS4L4340
P
P
P
L
1
1.5
2.1
3.4
1.20
1.20
1.20
1.20
170
170
170
170
7.3
3.1
1.62
0.65
22
9.2
4.8
1.8
28 4 135 0.85 0.48 1.1
55 mm
(2.17 in.)
1 Stack
^ ML23HS8P4100
^ ML23HS8P4150
^ ML23HS8P4220
^ ML23HS8L4360
^ ML23HS8L4550
P
P
P
L
L
1
1.5
2.2
3.6
5.5
1.50
1.50
1.50
1.50
1.50
210
210
210
210
210
7.6
3.1
1.6
0.63
0.28
33
13.6
6.9
2.6
1.03
45 6.4 215 1.2 0.6 1.3
77 mm
(3.03 in.)
2 Stack
^ ML23HSAP4100
^ ML23HSAP4150
^ ML23HSAP4200
^ ML23HSAP4300
^ ML23HSAL4500
P
P
P
P
L
1
1.5
2
3
5
2.30
2.30
2.30
2.30
2.30
330
330
330
330
330
8.8
4.3
2.3
1.1
0.39
39
18.5
9.8
4.5
1.53
75 11 365 2.1 1 2.2
112 mm
(4.41 in.)
3 Stack
^ ML23HSCP4150
^ ML23HSCP4200
^ ML23HSCP4300
^ ML23HSCL4500
P
P
P
L
1.5
2
3
5
3.20
3.20
3.20
3.20
450
450
450
450
5.1
2.7
1.29
0.51
23
13
5.5
2.2
120 17 750 3.3 1.5 3.3
^ Preferred model
PL23HS - PowerPlus - 4 Lead Bi-Polar
Length
Model Number Connect Rated
Current
Holding Torque Winding
Ohms mH
Detent
Torque Rotor Inertia Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
55 mm
(2.17 in.)
1 Stack
^ PL23HS8P4100
^ PL23HS8P4150
^ PL23HS8P4220
^ PL23HS8L4360
^ PL23HS8L4550
P
P
P
L
L
1
1.5
2.2
3.6
5.5
2.30
2.20
2.30
2.30
2.20
330
310
330
330
310
7.6
3.1
1.6
0.63
0.28
26
10.7
5.4
2
0.8
100 14 215 1.4 0.65 1.4
77 mm
(3.03 in.)
2 Stack
^ PL23HSAP4100
^ PL23HSAP4150
^ PL23HSAP4200
^ PL23HSAP4300
^ PL23HSAL4500
P
P
P
P
L
1
1.5
2
3
5
3.30
3.40
3.30
3.30
3.30
470
480
470
470
470
8.8
4.3
2.3
1.1
0.39
32
15.2
8.1
3.7
1.27
150 21 365 2.5 1.1 2.4
^ Preferred model
300±10
(11.8±0.4)
Housing:JST XHP-6
Terminal:SXH-001T-P0.6
AWG22 UL3266
BLUE
RED
GREEN
BLACK
4Lead Part Number 4634 1402 01891
1
3
4
6
Mating Connector With Leads (order separately)
Dimensions: mm (in)
41
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ML23HS0 ML23HS4 ML23HS8 ML23HSA
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ML23HSC PowerPlus PL23HS8 PowerPlus PL23HSA
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MS24HS Series: 1.8° - Size 24
• Phases 2
• Steps / Revolution 200
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 40 N (9 Lbs.) Push
130 N (30 Lbs.) Pull
Radial 70 N (15.5 Lbs.) At Flat Center
• IP Rating 40
• Approvals UL Recognized File E465363, RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
Dimensions: mm (in)
MS24HS – 4 Lead Bi-Polar
Length
Model Number Connect Rated
Current
Holding Torque Winding Ohms
mH
Detent
Torque Rotor Inertia Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
46 mm
(1.81
in.)
^ MS24HS1P4150
^ MS24HS1P4200
^ MS24HS1P4300
P
P
P
1.5
2
3
1.28
1.26
1.23
180
180
170
3.2
1.69
0.73
7.1
3.9
1.61
40 5.7 280 1.5 0.6 1.3
56 mm
(2.2 in.)
^ MS24HS2P4150
^ MS24HS2P4200
^ MS24HS2P4300
^ MS24HS2L4420
P
P
P
L
1.5
2
3
4.2
1.90
1.90
1.80
1.80
270
270
250
250
4
2.1
0.92
0.47
12.5
6.8
2.8
1.35
90 13 450 2.5 0.83 1.8
67 mm
(2.64
in.)
^ MS24HS3P4150
^ MS24HS3P4200
^ MS24HS3P4300
^ MS24HS3L4420
P
P
P
L
1.5
2
3
4.2
2.40
2.30
2.40
2.30
340
330
340
330
4.2
2.2
1.1
0.56
12.1
6
3
1.44
95 13 560 3.1 1.05 2.3
87 mm
(3.43
in.)
^ MS24HS5P4150
^ MS24HS5P4200
^ MS24HS5P4300
^ MS24HS5L4420
P
P
P
L
1.5
2
3
4.2
3.20
3.30
3.30
3.20
450
470
470
450
4.6
2.8
1.21
0.61
15.8
9.2
4.1
1.97
100 14 900 4.9 1.4 3.1
^ Preferred model
L Max.
MS24HS1=46.5(1.83)
MS24HS2=56.5(2.22)
MS24HS3=67.5(2.66)
MS24HS5=87.5(3.44)
11.5
(0.45)
60
(2.362)
47.14
(1.856)
4-Ø4.5
+0.5
0
(4-Ø0.177
+0.02
0
)
1.5
(0.06)7
(0.28)
39(1.54)
5.8±0.1
(0.228±0.004)
15
(0.591)
Ø38.1±0.05
(Ø1.5±0.002)
Ø6.35
0
-0.012
(Ø0.25
0
-0.00 05
)
20.6±0.5
(0.811±0.020)
7
(0.28)
Ø6.35
0
-0.012
(Ø0.25
0
-0.0005
)
OPTIO NAL REAR SHAFT
EXTENSION,INCLU DES
ENCODER MOUNTING:
2-M2.5 ON Ø19.05(0.75)
BOLTCIRCLE
(IN REAR ENDBELL)
13±1
(0.512±0.040)
Ø8
0
-0.012
(Ø0.315
0
-0.0005
)
7.5±0.1
(0.295±0.004)
For MS24HS5
Pin 1
JST S11B-XH-A-1(LF)(SN)
Mating Connector with
4 Leads: 300 ±10 (12
±.5) long
(order separately)
Part Number:
4634 1402 01393
Motors with leads:
Lead wire is 22 AWG
UL3266, 300 ±10 (12
±.5) long
MS24HS 1 P 4 150 -E
Basic Motor Length (Max)
1 46mm ( 1.81 in. )
2 56mm ( 2.21 in. )
3 67mm ( 2.64 in. )
5 87MM ( 3.43IN. )
Number of Connections
4 4 Lead-Bipolar
6 6 Lead-Unipolar(or Bipolar)
Electrical Connection
L Leads
P Plug-in Connector
Winding
### Current rating x 100
Options
Omit No Options
-E 0.25 inch diameter rear shaft
With Encoder Mounting Holes
44
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ML34HD / PL34HD Series: 1.8° - Size 34
• Phases 2
• Steps / Revolution 200
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 65 N (15 Lbs.) Push
155 N (35 Lbs.) Pull
Radial 220 N (50 Lbs.) At Flat Center
• IP Rating 40
• Approvals UL Recognized File E465363, RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
ML34HD – 4 Lead & 8 Lead
Length
Model Number Connect Rated
Current
Holding
Torque
Winding
Ohms mH
Detent
Torque Rotor Inertia Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-
in2kg Lbs
67 mm
(2.64 in.)
1 Stack
^ ML34HD0L4160
ML34HD0L4350
ML34HD0L4500
ML34HD0L4700
ML34HD0L4X00
L
L
L
L
L
1.6
3.5
5
7
10
3.70
3.80
3.80
3.80
3.80
520
540
540
540
540
3.9
0.95
0.48
0.26
0.14
42
9.5
4.5
2.4
1.13
90 13 915 5 1.6 3.5
97 mm
(3.82 in.)
2 Stack
^ ML34HD1L4200
ML34HD1L4350
ML34HD1L4500
ML34HD1L4700
ML34HD1L4X00
L
L
L
L
L
2
3.5
5
7
10
7.20
7.20
7.20
7.20
7.20
1,000
1,000
1,000
1,000
1,000
3.6
1.34
0.61
0.36
0.19
50
15.9
8
4
2
150 21 1480 8.1 2.7 6
126 mm
(4.96 in.)
3 Stack
^ ML34HD2L4200
ML34HD2L4350
ML34HD2L4500
ML34HD2L4700
ML34HD2L4X00
L
L
L
L
L
2
3.5
5
7
10
10.00
9.90
9.80
9.90
9.80
1,400
1,400
1,400
1,400
1,400
4.1
1.44
0.72
0.38
0.22
63
20
9.4
4.5
2.3
200 28 2200 12 3.8 8.4
157 mm
(6.18 in.)
4 Stack
^ ML34HD3L4230
ML34HD3L4350
ML34HD3L4500
ML34HD3L4700
ML34HD3L4X00
L
L
L
L
L
2.3
3.5
5
7
10
13.2
13.2
13.2
13.2
13.2
1,869
1,869
1,869
1,869
1,869
3.9
1.81
0.9
0.47
0.24
58
25
11.7
6.3
2.9
250 35 3740 17 4.9 11
67 mm
(2.64 in.)
1 Stack
^ ML34HD0L8350 L Series
L Parallel
3.5
7
3.80
3.80
540
540
0.98
0.25
9.5
2.4
90 13 915 5 1.6 3.5
^ ML34HD0L8500 L Series
L Parallel
5
10
3.80
3.80
540
540
0.5
0.126
4.5
1.13
97 mm
(3.82 in.)
2 Stack
^ ML34HD1L8350 L Series
L Parallel
3.5
7
7.20
7.20
1,000
1,000
1.37
0.34
15.9
4150 21 1480 8.1 2.7 6
^ ML34HD1L8500 L Series
L Parallel
5
10
7.20
7.20
1,000
1,000
0.71
0.177
8
2
126 mm
(4.96 in.)
3 Stack
^ ML34HD2L8350 L Series
L Parallel
3.5
7
9.90
9.90
1,400
1,400
1.48
0.37
20
5
200 28 2200 12 3.8 8.4
^ ML34HD2L8500 L Series
L Parallel
5
10
9.80
9.80
1,400
1,400
0.82
0.21
9.4
2.3
157 mm
(6.18 in.)
4 Stack
^ ML34HD3L8350 L Series
L Parallel
3.5
7
13.2
13.2
1,869
1,869
1.85
0.46
25
6.3
250 35 3740 17 4.9 11
^ ML34HD3L8500 L Series
L Parallel
5
10
13.2
13.2
1,869
1,869
0.92
0.23
11.7
2.9
M L34HD 0 L 8 350 -E
Motor Technology
M High Torque Step Motor
P PowerPlus Step Motor
Basic Motor Length (Max)
0 67mm ( 2.64 in. ) 1 Stack
1 97mm ( 3.82 in. ) 2 Stack
2 126mm ( 4.96 in. ) 3 Stack
3 157mm ( 6.18 in. ) 4 Stack
Number of Connections
4 4 Lead-Bipolar
8 8 Lead-Unipolar(or Bipolar)
L Leads
Winding
### Current rating x 100
X## for 11 to 19 amps:
X10= 11 amps, X40 = 14 amps
Options
Omit No Options
-E 0.375 inch Diameter Rear Shaft
with Encoder Mounting Holes
46
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Dimensions: mm (in)
Ø73.025±0.025
(Ø2.875±0.001)
10
(0.394)
2
(0.08)
AWG18 UL3266
300±10(11.8±0.4)
L Max.31.75±0.5
(1.25±0.020)
22±0.25
(0.866±0.01)
69.6
(2.740)
86±0.5
(3.386)
ML34HD0=67.5(2.66)
ML34HD1=97(3.82)
ML34HD2=126.5(4.98)
ML34HD3=157(6.18)
OPTIONAL REAR
SHAFTEXTENSION,
INCLUDES ENCODER
MOUNTING: 2-M2.5
ON Ø46 BOLT CIRCLE
(IN REARENDBELL)
19.05±1
(0.75±0.04)
Ø14.097
0
-0.432
(Ø0.555
0
-0.017
)
Ø9.525
0
-0.012
(Ø0.375
0
-0.0005
)
3.175
0
-0.051
(0.125
0
-0.002
)
Ø12.7
0
-0.012
(Ø0.5
0
-0.0005
)
4-Ø6.5±0.2
(4-Ø0.256±0.008)
17.907
0
-0.432
(0.705
0
-0.017
)
4.763
0
-0.051
(0.1875
0
-0.002
)
Shaft for ML34HD3
Ø15.875
0
-0.012
(Ø0.625
0
-0.0005
)
PL34HD – PowerPlus – 4 Lead & 8 Lead
Length
Model Number Connect Rated
Current
Holding
Torque
Winding
Ohms mH
Detent
Torque Rotor Inertia Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
67 mm
(2.64 in.)
1 Stack
^ PL34HD0L4160
PL34HD0L4350
PL34HD0L4500
PL34HD0L4700
PL34HD0L4X00
L
L
L
L
L
1.6
3.5
5
7
10
4.70
4.75
4.75
4.75
4.75
670
670
670
670
670
3.9
0.95
0.48
0.26
0.138
33
7.6
3.6
1.89
0.91
120 17 915 5 1.6 3.5
97 mm
(3.82 in.)
2 Stack
^ PL34HD1L4200
PL34HD1L4350
PL34HD1L4500
PL34HD1L4700
PL34HD1L4X00
L
L
L
L
L
2
3.5
5
7
10
9.20
9.00
9.00
9.00
9.00
1,300
1,300
1,300
1,300
1,300
3.6
1.34
0.61
0.36
0.188
40
12.8
6.4
3.2
1.6
250 37 1480 8.1 2.7 6
126 mm
(4.96 in.)
3 Stack
^ PL34HD2L4200
PL34HD2L4350
PL34HD2L4500
PL34HD2L4700
PL34HD2L4X00
L
L
L
L
L
2
3.5
5
7
10
12.3
12.3
12.3
12.3
12.3
1,740
1,740
1,740
1,740
1,740
4.1
1.44
0.72
0.38
0.22
51
16.1
7.5
3.75
1.87
300 42 2200 12 3.8 8.4
157 mm
(6.18 in.)
4 Stack
^ PL34HD3L4230
PL34HD3L4350
PL34HD3L4500
PL34HD3L4700
PL34HD3L4X00
L
L
L
L
L
2.3
3.5
5
7
10
15.00
15.00
15.00
15.00
15.00
2,100
2,100
2,100
2,100
2,100
3.9
1.81
0.9
0.47
0.24
47
20
9.4
5
2.3
375 53 3740 17 4.9 11
67 mm
(2.64 in.)
1 Stack
^ PL34HD0L8350 L Series
L Parallel
3.5
7
4.75
4.75
670
670
0.98
0.25
7.6
1.89
120 17 915 5 1.6 3.5
^ PL34HD0L8500 L Series
L Parallel
5
10
4.75
4.75
670
670
0.5
0.126
3.6
0.91
97 mm
(3.82 in.)
2 Stack
^ PL34HD1L8350 L Series
L Parallel
3.5
7
9.00
9.00
1,300
1,300
1.37
0.34
12.8
3.2 250 37 1480 8.1 2.7 6
^ PL34HD1L8500 L Series
L Parallel
5
10
9.00
9.00
1,300
1,300
0.71
0.177
6.4
1.6
126 mm
(4.96 in.)
3 Stack
^ PL34HD2L8350 L Series
L Parallel
3.5
7
12.3
12.3
1,740
1,740
1.48
0.37
16.1
4
300 42 2200 12 3.8 8.4
^ PL34HD2L8500 L Series
L Parallel
5
10
12.3
12.3
1,740
1,740
0.82
0.21
7.5
1.87
157 mm
(6.18 in.)
4 Stack
^ PL34HD3L8350 L Series
L Parallel
3.5
7
15.00
15.00
2,100
2,100
1.85
0.46
20
5
375 53 3740 17 4.9 11
^ PL34HD3L8500 L Series
L Parallel
5
10
15.00
15.00
2,100
2,100
0.92
0.23
9.4
2.3
47
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ML34HD0 ML34HD1 ML34HD2 ML34HD3
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Motors
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PL34HD0 PL34HD1 PL34HD2 PL34HD3
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ML42HS Series: 1.8° - Size 42
• Phases 2
• Steps / Revolution 200
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 250 N (56 Lbs.) Push & Pull
Radial 450 N (100 Lbs.) At Keyway Center
• IP Rating 40
• Approvals UL Recognized File E465363, RoHS
• Operating Temp. - 20°C to +40°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
ML42HS – 4 Lead & 8 Lead
Length
Model Number Connect Rated
Current
Holding Torque Winding
Ohms mH
Detent
Torque Rotor Inertia Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-
in2kg Lbs
100 mm
(3.94 in.)
1 Stack
^ ML42HS0L4210
ML42HS0L4420
ML42HS0L4600
ML42HS0L4840
ML42HS0L4X20
L
L
L
L
L
2.1
4.2
6
8.4
12
12.10
12.20
12.30
12.20
12.30
1,700
1,700
1,700
1,700
1,700
4.1
1.16
0.61
0.31
0.167
68
17.4
9
4.4
2.25
500 71 5500 30 4.8 11
151 mm
(5.94 in.)
2 Stack
^ ML42HS2L4240
ML42HS2L4600
ML42HS2L4800
ML42HS2L4X20
ML42HS2L4X60
L
L
L
L
L
2.4
6
8
12
16
22.00
22.00
22.00
22.00
22.00
3,100
3,100
3,100
3,100
3,100
4.2
0.75
0.41
0.177
0.116
76
12.5
7.3
3.1
1.8
650 92 10900 60 8 18
202 mm
(7.95 in.)
3 Stack
^ ML42HS3L4270
ML42HS3L4600
ML42HS3L4800
ML42HS3L4X20
ML42HS3L4X60
L
L
L
L
L
2.7
6
8
12
16
31.00
31.00
32.00
31.00
32.00
4,400
4,400
4,500
4,400
4,500
4.2
1.02
0.55
0.24
0.152
83.5
18.5
10.8
4.6
2.7
800 110 16200 89 11.6 26
100 mm
(3.94 in.)
1 Stack
^ PL42HS0L8420 L Series
L Parallel
4.2
8.4
12.20
12.20
1,700
1,700
1.19
0.3
19.8
5
500 71 5500 30 4.8 11
^ PL42HS0L8600 L Series
L Parallel
6
12
12.30
12.30
1,700
1,700
0.64
0.159
10.1
2.5
151 mm
(5.94 in.)
2 Stack
^ PL42HS2L8600 L Series
L Parallel
6
12
22.00
22.00
3,100
3,100
0.68
0.17
14.5
3.6
650 92 10900 60 8 18
^ PL42HS2L8800 L Series
L Parallel
8
16
22.00
22.00
3,100
3,100
0.43
0.108
7.6
1.9
202 mm
(7.95 in.)
3 Stack
^ PL42HS3L8600 L Series
L Parallel
6
12
31.00
31.00
4,400
4,400
0.91
0.23
22
5.5
800 110 16200 89 11.6 26
^ PL42HS3L8800 L Series
L Parallel
8
16
32.00
32.00
4,500
4,500
0.58
0.144
13
3.2
^ Preferred model
M L42HS 0 L 8 350
Motor Technology
M High Torque Step Motor
P PowerPlus Step Motor
Electrical Connection
Basic Motor Length (Max)
0 100mm ( 3.94 in. ) 1 Stack
2 151mm ( 5.95 in. ) 2 Stack
3 202mm ( 7.95 in. ) 3 Stack
Number of Connections
4 4 Lead-Bipolar
8 8 Lead-Unipolar(or Bipolar)
L Leads
Winding
### Current rating x 100
X## for 11 to 19 amps:
X10= 11 amps, X40 = 14 amps
50
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Motors
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Motors
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Dimensions: mm (in)
ML42HS0 ML42HS2 ML42HS3
AWG18 UL3266
300±10(11.8±0.4)
L Max.
ML42HS0=100(3.94)
ML42HS2=151(5.94)
ML42HS3=202(7.95)
55.6±0.5
(2.189±0.020)
21.08
0
-0.432
(Ø0.830
0
-0.017
)
4.763
0
-0.051
(0.1875
0
-0.002
)
1.52
(0.06)
Ø55.52±0.05
(Ø2.186±0.002)
34.9±0.25
(1.374±0.010)
Ø19.05
0
-0.012
(Ø0.75
0
-0.0005
)
110
(4.331)
89
(3.504)
Ø8.3
+0.3
0
(Ø0.327
+0.012
0
)
51
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17HC Series: 1.2° - Size 17, 3 Phase Encapsulated
• Phases 3
• Steps / Revolution 300
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 25 N (5.6 Lbs.) Push
65 N (15 Lbs.) Pull
Radial 29 N (6.5 Lbs.) At Flat Center
• IP Rating 40
• Approvals RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
17HC – 3 Phase
Length
Model Number Connect Rated
Current
Holding
Torque
Winding Ohms
mH
Detent
Torque Rotor Inertia Motor Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
34 mm
(1.34 in.)
^ 17HC2005N
^ 17HC2006N
^ 17HC2002N
P
P
P
0.8
1.5
2.3
0.36
0.36
0.36
51
51
51
11
3.6
1.65
14.8
4.9
2
14 2 57 0.31 0.245 0.54
43 mm
(1.69 in.)
^ 17HC6003N
^ 17HC6004N
^ 17HC6005N
P
P
P
0.82
1.5
2.3
0.46
0.46
0.46
65
65
65
14.3
4.35
1.85
21
6.5
2.7
25 3.5 82 0.45 0.35 0.77
^ Preferred model
Dimensions: mm (in)
17HC2=34(1.34)
17HC6=43(1.69)
L Max.
2
(0.08)
2-M3
Depth 4.5(0.18)Min
43.8
(1.724)
30
(1.18)
12(0.47)
11.1
(0.44)
Ø44.3Max.
(Ø1.744 Max.)
15
(0.591)
24±0.5
(0.945±0.020)
Ø5
0
-0.012
(Ø0.1969
0
-0.0005
)
Ø22
0
-0.052
(Ø0.866
0
-0.002
)
4.5±0.1
(0.177±0.004)
Pin 1
JST S3B-PH-K-S(LF)(SN)
Housing:JST PHR-3
Terminal: JST SPH-002T-P0.5S
300±10
(11.8±0.4)
AWG26 UL3266
3
2
1
GREEN
WHITE
RED
3 Lead Part Number4634 1402 04496
Mating Connector With Leads (order separately)
Dimensions: mm (in)
52
MOONS’
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Motors
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Motors
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Molded Stator
Encapsulated winding >>>> Runs cooler – Longer life
Better sealing >>>> Longer life
Reduced vibration >>>> Smoother moves – Quieter
Large Ball Bearings
Large shaft loads >>>> Fewer design restrictions
Long Life >>>> Less down time
High Winding Fill
Larger wire size >>>> More torque
Uses less energy >>>> Longer battery life
MOONS’ 17HC, 3 phase step motors, offer numerous advantages:
• More Torque
• Low Noise
• Low Vibration
• Low Resonance
• Encapsulated Construction
17HC2 17HC6
53
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ML24HC / PL24HC Series: 1.2° - Size 24, 3 Phase
• Phases 3
• Steps / Revolution 300
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 40 N (9 Lbs.) Push
130 N (30 Lbs.) Pull
Radial 70 N (15.5 Lbs.) At Flat Center
• IP Rating 40
• Approvals RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
Dimensions: mm (in)
L Max.
15
(0.591)
20.6±0.5
(0.811±0.020)
ML24HC4=45.5(1.79)
ML24HC8=55.5(2.19)
ML24HCA=77.5(3.05)
Ø36±0.05
(Ø1.417±0.002)
11.5
(0.45)
60
(2.362)
50
(1.969)
4-Ø4.5
+0.5
0
(4-Ø0.177
+0.02
0
)
1.5
(0.06) 6
(0.24)
Ø6.35
0
-0.012
(Ø0.25
0
-0.0005
)
5.8±0.1
(0.228±0.004)
5.1
(0.20)
19.9(0.78)
13±1
(0.512±0.040)
Ø6.35
0
-0.012
(Ø0.25
0
-0.0005
)
OPTIONAL REARSHAFT
EXTENSION,INCLUDES
ENCODER MOUNTING:
2-M2.5 ON Ø19.05(0.75)
BOLT CIRCLE
(IN REARENDBELL)
Pin 1
JST S7B-XH-A-1(LF)(SN)
M L24HC 4 P 3 150 -E
Motor Technology
M High Torque Step Motor
P PowerPlus Step Motor
Electrical Connection
Basic Motor Length (Max)
4 45mm ( 1.77 in. )
8 55mm ( 2.17 in. ) 1 Stack
A 77mm ( 3.03 in. ) 2 Stack
Number of Connections
3 3 Lead-Bipolar
L Leads
P Plug-In Connector
Winding
### Current rating x 100
Options
Omit No Options
-E 0.25 inch Diameter Rear Shaft
with Encoder Mounting Holes
54
MOONS’
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2 Phase
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Motors
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Motors
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ML24HC – 3 Phase
Length
Model Number Connect Rated
Current
Holding
Torque
Winding Ohms
mH
Detent
Torque
Rotor
Inertia
Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
45 mm
(1.77 in.)
^ ML24HC4P3150
^ ML24HC4P3230
^ ML24HC4L3410
P
P
L
1.5
2.3
4.1
0.72
0.72
0.72
100
100
100
4.8
2.1
0.67
7.9
3.4
1.05
28 4 159 0.87 0.65 1.4
55 mm
(2.17 in.)
1 Stack
^ ML24HC8P3150
^ ML24HC8P3220
^ ML24HC8L3350
^ ML24HC8L3550
P
P
L
L
1.5
2.2
3.5
5.5
0.97
0.97
0.97
0.97
140
140
140
140
6
2.7
1.15
0.51
15.1
6.9
2.7
1.05
45 6.4 221 1.2 0.85 1.9
77 mm
(3.03 in.)
2 Stack
^ ML24HCAP3150
^ ML24HCAP3220
^ ML24HCAL3340
^ ML24HCAL3550
P
P
L
L
1.5
2.2
3.4
5.5
1.65
1.65
1.65
1.65
234
234
234
234
7.7
3.85
1.6
0.64
19.6
9.3
3.7
1.45
75 11 391 2.1 1.35 3
^ Preferred model
PL24HC - PowerPlus – 3 Phase
Length
Model Number Connect Rated
Current
Holding
Torque
Winding Ohms
mH
Detent
Torque
Rotor
Inertia
Motor
Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
45 mm
(1.77 in.)
^ PL24HC4P3150
^ PL24HC4P3230
^ PL24HC4L3410
P
P
L
1.5
2.3
4.1
0.87
0.87
0.87
120
120
120
4.8
2.1
0.67
7
3
0.94
55 7.8 159 0.87 0.73 1.6
55 mm
(2.17 in.)
1 Stack
^ PL24HC8P3150
^ PL24HC8P3220
^ PL24HC8L3350
^ PL24HC8L3550
P
P
L
L
1.5
2.2
3.5
5.5
1.40
1.40
1.40
1.40
200
200
200
200
6
2.7
1.15
0.51
12.2
5.5
2.1
0.9
90 13 221 1.2 0.93 2.1
77 mm
(3.03 in.)
2 Stack
^ PL24HCAP3150
^ PL24HCAP3220
^ PL24HCAL3340
^ PL24HCAL3550
P
P
L
L
1.5
2.2
3.4
5.5
2.30
2.30
2.30
2.30
330
330
330
330
7.3
3.6
1.6
0.64
15.7
7.4
3
1.15
150 21 391 2.1 1.45 3.2
^ Preferred model
7
300±10
(11.8±0.4)
AWG22 UL3266
GREEN
1
HOUSING:JST XHP-7
TERMINAL:JST SXH-001T-P0.6
3 Lead Part Number 4634 1402 04485
WHITE
RED
3
Mating Connector With Leads (order separately)
Dimensions: mm (in)
55
MOONS’
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2 Phase
Step
Motors
3 Phase
Step
Motors
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ML24HC4 ML24HC8 ML24HCA
56
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Step
Motors
3 Phase
Step
Motors
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PowerPlus PL24HC4 PowerPlus PL24HC8 PowerPlus PL24HCA
57
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2 Phase
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Motors
3 Phase
Step
Motors
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34HC Series: 1.2° - Size 34, 3 Phase
• Phases 3
• Steps / Revolution 300
• Step Accuracy ±5%
• Shaft Load (20,000 Hours at 1000 RPM)
Axial 65 N (15 Lbs.) Push
155 N (35 Lbs.) Pull
Radial 220 N (50 Lbs.) At Flat Center
• IP Rating 40
• Approvals RoHS
• Operating Temp. -20°C to +50°C
• Insulation Class B, 130°C
• Insulation Resistance 100 MegOhms
34HC - 3 Phase
Length
Model Number Connect Rated
Current
Holding
Torque
Winding
Ohms mH
Detent
Torque Rotor Inertia Motor Weight
Single Shaft P=Plug
L=Leads
Amps
(mounted)
Nm
Typ.
oz-in
TYP. @20℃Typ. mNm oz-in g cm2oz-in2kg Lbs
67 mm
(2.64 in.)
1 Stack
^ 34HC0309
^ 34HC0310
^ 34HC0305
L
L
L
2
3
5.8
2.80
2.80
2.70
400
400
380
5
2.3
0.54
19.1
8.4
1.95
100 14 1100 6 1.6 3.5
96.5 mm
(3.8 in.)
2 Stack
^ 34HC1308
^ 34HC1309
^ 34HC1305
L
L
L
2
3
5.8
5.40
5.30
5.00
760
750
710
6
2.5
0.62
28
12
2.7
230 33 1850 10 2.7 6
126 mm
(4.96 in.)
3 Stack
^ 34HC2310
^ 34HC2311
^ 34HC2306
L
L
L
2
3
5.8
6.70
6.80
6.80
950
960
960
6.8
3.3
0.88
36
16.8
4.5
350 50 2750 15 3.8 8.4
^ Preferred model
Dimensions: mm (in)
34HC0=67.5(2.66)
34HC1=97(3.82)
34HC2=126.5(4.98)
Ø73.025±0.025
(Ø2.875±0.001)
10
(0.394)
2
(0.08)
AWG18 UL3266
300±10(11.8±0.4)
L Max.31.75±0.5
(1.25±0.020)
22±0.25
(0.866±0.01)
69.6
(2.740)
86
(3.386)
OPTIONAL REAR
SHAFT EXTENSION,
INCLUDES ENCODER
MOUNTING: 2-M2.5
ON Ø46 BOLT CIRCLE
(IN REARENDBELL)
19.05±1
(0.75±0.04)
Ø14.097
0
-0.432
(Ø0.555
0
-0.017
)
Ø9.525
0
-0.012
(Ø0.375
0
-0.0005
)
3.175
0
-0.051
(0.125
0
-0.002
)
Ø12.7
0
-0.012
(Ø0.5
0
-0.0005
)
4-Ø6.5±0.2
(4-Ø0.256±0.008)
58
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Step
Motors
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Motors
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34HC0 34HC1 34HC2
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Step Motor Basics – Applicatons
• Applications
MOONS’ stepping motors are widely used to create the motion needed in many types of equipment.
Examples include:
• office 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
• What Is A 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 flowing through the windings of the motor. As the current is switched the motor
rotates in precise steps of a fixed angle. The motor and drive constitutes a low cost control system that
is precise and simple to construct.
• Performance Features of MOONS' Stepping Motors
• Accurate Position Control
The number of control pulses defines 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.
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Step Motor Basics – Structure & Operation
• Basic Structure
• 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 hold 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.
Fr
ont endbell
Shaft
Magnet
Ball bearing
Stator Laminations
Spring Washer
Screw
Ball bearing
Rotor Laminations
Rotor Laminations
Winding Insulator
Rear Endbell
Stator Assembly
Winding Insulator
+ VDC
A CB D
2 phase step motor with
bipolar driver
A CB D
+ VDC
2 phase step motor with
unipolar driver
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Load Calculations & Tips for Using Step Motors
• Load Calculations
G
rR1
L
R2
Torque load (Tf)
Tf = G * r
G: weight
r: radius
Inertia load (TJ)
TJ = J * dw/dt
J = M * (R12+R22) / 2 (Kg * cm)
M: mass
R1: outside radius
R2: inside radius
dw/dt: angular 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 versus the drive pulse
rate.
n = q * Hz / (360 * D)
n: rev/sec
Hz: the frequency value or the driver pulse rate.
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 first and then accelerated to this area. In this area, the motor can not be directly stopped, either.
Otherwise this will lead to losing-step. The motor must be decelerated back to the start/stop region
before it can be stopped.
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.
Pules Rate
Pull out Torque
Pull in Torque
Slew Range
Maximum starting frequency point
Working frequency point
Maximum running frequency point
Torque
Start/stop region
F.
G.
B.
A.
D.
C.
E.
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Load Calculations & Tips for Using Step Motors
• Calculate the Acceleration Torque
The torque meeded to accelerate the system inertia is often
larger than the friction torque of the load. This limits how quickly
the load can be accelerated.
As shown by the following graph: the dynamic torque
performance of a stepping motor is constant at low speeds.
But at higher speeds, the torque drops as speed increases
(influenced by the motor inductance and drive voltage).
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 rotational inertia of motor rotor plus the load, q is the angle of each step, it equals the
step angle of stepping motor when motor runs in full step.
• 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 include:
A. Have the motor operate outside of this speed range.
B. Micro-step is used for increasing a motor’s step resolution. By adopting the micro-step driving
method, you can divide one step into multiple steps thereby reducing the vibration. 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% if using the same peak
current.
C. Use 0.9° 2 phase step motor, or a three phase step motor.
Tm
F
F0
TL
TJ
Tm
F1 F
F0
TL
TJ1
TJ0
Tm
Tm0
Tm1
F1 F
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Step Sequence & Schematic Diagrams
• 2 Phase Motors
• 4 Lead (bipolar)
• 8 Lead
• 3 Phase Motors
Bipolar, Full Step
8 Lead Connection Options 8 lead Motors
Unipolar, Full step
• 6 Lead (unipolar)
A C B D
1
+ - + -
2
- + + -
3
- + - +
4
+ - - +
CW CCW
Phase 1
Phase 2
CW & CCW rotation w hen seen
from flange side of the motor.
STEP A
O C B M D
1
- + - +
2
+ - - +
3
+ - + -
4
- + + -
CW CCW
CW & CCW rotation w hen seen
from flange side of the motor.
STEP
Phase 2
Phase 1
Lead
Color
Motor
Size
Motor
Size
8, 11, 17 14,16
BLK 1 1
GRN 3 5
RED 4 7
BLU 6 11
Connector Pin #
A
C
B
D
A
O
C
B
M
D
Lead
Color
Motor
Size
Motor
Size
8, 11, 17 14,16
BLK 1 1
YEL 2 3
GRN 3 5
RED 4 7
WHT 5 9
BLU 6 11
Connector Pin #
AAA
O
CCC
BBB
M
DDD
Bipolar
Series
Bipolar
Parallel
Unipolar
Lead
Color
BLK 3
YEL 7
ORG 4
GRN 8
RED 6
WHT 2
BRN 5
BLU 1
Connector
Pin #
A
A
C
C
B
B
D
D
Phase
ABC
1
+ -
2
- +
3
- +
4
- +
5
+ -
6
+ -
CW CCW
CW & CCW rotation w hen seen
from flange side of the motor.
STEP
Lead
Size 17 Size 23 Color
A 1 1 RED
B 2 3 WHT
C 3 7 GRN
Connector Pin #
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Bearing Life & Shaft Loading
Moons’ uses high quality bearings optimized for step motors for long life from every motor. To meet
the most demanding applicatons. Most motors can also be provided with larger bearings shafts and
custom construction.
These bearing life curves represent the maximum axial and
radial loads for 20,000 hours L10 bearing life at various speeds.
The shaft radial load limit (and bearing load ratings) are highly
dependent on the the distance from the mounting face where
the load is applied. These curves were calculated with the radial
load applied at the distance from the mounting face shown on the
curve (usually the center of the flat / keyway).
A common cause for shaft (and bearing) failure, are high radial
loads that are created when a pulley is attached to the motor
shaft at a large distance from the motor mounting face, and the
belt has high tension. To avoid this condition mount pulleys
and gears as close to the face of the motor as possible, and
avoid over tightening belts. This will dramatically reduce the shaft stress, and increases the life of the
bearings.
RadialLoads
Axial Loads
Distance
fromMounting
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Conversion Factors
• Length
• Force
• Torque
• Inertia
B
Amm cm m inch feet
mm -- 0.1 0.001 0.03937 0.003281
cm 10 -- 0.01 0.3937 0.03281
m1,000 100 -- 39.37 3.281
inch 25.4 2.54 0.0254 -- 0.08333
feet 304.8 30.48 0.348 12 --
B
Ag kgf oz lb Newton
g-- 0.001 0.03527 0.002205 0.0098
kgf 1,000 -- 35.27 22.05 9.807
oz 28.35 0.02835 -- 0.0625 0.278
lb 453.6 0.4536 16 -- 4.448
Newton 102 0.102 3.597 0.2248 --
B
ANm Ncm mNm kgm* kgcm* gcm* oz-in lb-ft lb-in
Nm -- 100 1,000 0.102 10.2 10,200 141.6 0.7376 8.851
Ncm 0.01 -- 10 0.00102 0.102 102 1.416 0.007376 0.08851
mNm 0.001 0.1 -- 0.000102 1.0102 10.2 0.1416 0.000738 0.008851
kgm* 9.807 980.7 9807 -- 100 100,000 1,389 7.233 86.8
kgcm* 0.09807 9.807 98.07 0.01 -- 1,000 13.89 0.07233 0.868
gcm* 9.81E-05 0.009807 0.09807 0.00001 0.001 -- 0.01389 7.23E-05 0.000868
oz-in 0.007062 0.7062 7.062 0.00072 0.07201 72.01 -- 0.00521 0.0625
lb-ft 1.356 135.6 135.6 0.1383 13.83 13,830 192 -- 12
lb-in 0.113 11.3 113 0.01152 1.152 1,152 16 0.0833 --
B
Akgm2kgcm2gcm2oz-in2oz-in-
sec2lb-in2lb-in-
sec2lb-ft2
lb-ft-
sec2
(slug ft2)
kgm2-- 10,000 10,000,000 54,700 142 3,420 8.85 23.7 0.738
kgcm20.0001 -- 1,000 5.47 0.0142 0.342 0.000885 0.00237 7.38E-05
gcm21E-07 0.001 -- 0.00547 1.42E-05 0.000342 8.85E-07 2.37E-06 7.38E-08
oz-in21.83E-05 0.1829 183 -- 0.00259 0.0625 0.000162 0.000434 1.35E-05
oz-in-sec20.00706 70.62 70,600 386 -- 24.1 0.0625 0.168 0.00521
lb-in20.000293 2.926 2,930 16 0.0414 -- 0.00259 0.00694 0.000216
lb-in-sec20.113 1,130 1,130,000 6,180 1.6 386 -- 2.68 0.0833
lb-ft20.0421 421.4 421,000 2,300 5.97 144 0.373 -- 0.318
lb-ft-sec2
(slug ft2)1.36 13,600 13,600,000 74,100 192 4,630 12 32.2 --
Multiply "A" units
by conversion factor
to obtain "B" units
