ABV Full-Line Catalog

Full-Line Catalog
Custom Assemblies
DC Brushless Motors
DC Servo Motors
Stepping Motors
The Difference Is Moving.

Shinano Kensi Corporation is one of the world’s leading
OEM motor manufacturers. With state-of-the-art production
facilities in Asia and around the world, we compete on a
global basis. We have developed a reputation as an
aggressive, dynamic, hard working company dedicated to
customer service and delivering on our promises over and
over again.
A company of distinction.
Innovation and service have moved this company forward
for 85 years. Our ability to offer customized engineering
and production even under the most difficult challenges has
earned us the reputation as a true innovator in the motion
control field.
Our ability to consistently do more than the expected—

to provide better solutions, more value, and work harder
for our customers is what distinguishes this company.
This catalog represents the depth and scope of Shinano

Kenshi Corporation. From the highest levels of custom
assembly to the wide range of available motors, SKC is
poised to serve your needs through a high dynamic of service.
Table of Contents.
SYSTEM SOLUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
DC BRUSHLESS MOTORS
Model DR-38312 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Model DR-5238-007 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Model DR-6236-152 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Model DR-8738-252 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
Model DR-6634-514 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Model DR-8538-555/ 888 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Models DR-14312/DR-20312/DR-24312 . . . . . . . . . . . . . . . .12
Models DR-29312/DR-4734/DR-7638 . . . . . . . . . . . . . . . . . .13
DC SERVO MOTORS
Servo Motors Series LA052 Series . . . . . . . . . . . . . . . . . . . . . . .14
Servo Motors Series LA052 Series . . . . . . . . . . . . . . . . . . . . . . .15
STEPPING MOTORS
Holding Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
Model SST34D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
Model SST36C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
Model SST40C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
Model SST41D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
Model SST42D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
Model?? SST43D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
Model SST58D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
Model SST59D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
Model SST83D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
Operation and Theory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
Driver Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
A COMPANY THAT KEEPS ITS PROMISES . . . . . . . . . . . . . . . . .39
3
System Solutions From Shinano Kenshi
Solutions only SKC can offer.

Shinano Kenshi Corporation offers a wide range of
manufacturing solutions that no one else in the industry
can offer. Shinano now provides solutions through system
approaches that answer complex modular and system
level challenges for its customers. These are solutions
that only a company of Shinano Kenshi’s technical and
manufacturing competence could provide.
Shinano Kenshi’s worldwide facilities work together as

a synchronized whole enabling every division to take
advantage of another division’s unique capabilities and
expertise. This has allowed our content value to evolve – For many companies today, contract manufacturing is not
from motors, to modules and now toward complete working the way they hoped. Problems stem from many areas,
“system” levels. System level designs, tooling, process but typically are related to the assembly house not truly
and assembly details and even test plans. understanding the technologies, the people and the businesses
involved. SKC believes our front-end and back-end relation-
We can make the whole product.
ships create greater product knowledge and an atmosphere
Shinano Kenshi offers these system solutions at a high of trust and accountability… an atmosphere even the biggest
level of assembly – where Shinano could literally make the assemblers cannot create. But SKC can.
whole product for customers. What’s needed? A product
footprint, an interface and the electrical parameters. From Master the motor, master the product.
that point, SKC becomes a technical collaborator offering
SKC knows their customers’ businesses inside and out, so we
customers a wide range of ideas and solutions. In fact, the
can do more for them with accountability across the board.
company is capable of contract manufacturing and custom
Contract manufacturing and private labeling are other ways
assembly that transcend the typical and often problematic
Shinano is delivering on the economic, design and production
relationships between CM’s and the companies they
advantages a system level approach brings to its customers.
are supposed to work for. Why? Because Shinano is
technically capable of supporting its customers through
the entire product life cycle – concept, design, value
engineering, production, test and logistics.
6065 BRISTOL PARKWAY, CULVER CITY, CA 90230 • PHONE (310) 693-7600 • TOLL FREE (800) 755-0752 • WWW.SHINANO.COM • E-MAIL: SALES@SHINANO.COM
4
System Solutions From Shinano Kenshi
Shinano Kenshi Corporation knows how to take Managing the Asian arm.
advantage of our global capabilities with total integration
of services and engineering strength to provide solutions The Shinano system solution allows customers to maintain
way beyond the motors themselves. Our vertically integrat- all the same points-of-contact, utilizing the same relationships
ed systems allow us to provide engineering solutions that they have enjoyed over the years of doing business with
our competition simply cannot. Unless you are really Shinano Kenshi. By employing SKC, there are no new parties
expert in the core business, which for us is motors, then to introduce, no new relationships to build. Shinano offers
you cannot provide the total systems solutions that SKC our customers the same people they know and trust. ??
routinely offers our customers. Why Shinano Kenshi is qualified to be the
Some of the components SKC can apply in a systems systems solution leader.
solution include the following items built within SKC’s
vertically integrated factories and for SKC’s core motor
• Broad technical and manufacturing expertise across
the country and around the world
products:
• Technical collaborator and partner—know how
• pulleys to take your vision to its magnificent conclusion
• brackets • Vertical integration – machining & assembly

• worm gears • A partner who listens and works for our customers
• custom wire harnesses • Consistent and comfortable front-end and back-end
relationship
• custom integrated connectors
• special brackets • One unified company with accountable,
available, reliable contacts
• injection molded parts • 15 year China presence
• blowers A future promise of the future we can
• lead screws keep today.
• gear boxes Shinano Kenshi Corporation is ready to take our customers

to higher, more efficient and powerful level of manufacturing
than ever before. We are currently doing that for major
corporations.
And. It works.
5
Brushless Motor Series DR-38312 Outer Rotor Type
0.6 kgf-cm Specifications

Specifications
38 mm ELECTRICAL CHARACTERISTICS
2000 rpm RATED POWER W 10

RATED VOLTAGE VDC 24
Constant speed RATED LOAD N-cm 5.9
Integral drive kgf-cm 0.6

RATED SPEED rpm 2000 ±.1% (controlled)
RATED CURRENT A (max.) 1A
??? BREAKDOWN TORQUE N-cm (min) 17.7
Kgf-cm (min) 1.8
NO LOAD SPEED rpm 3300
LIFE hours (typical) 10,000 (at rated load, voltage)
TEMPERATURE RISE C (max.) 40 (at rated load, voltage)
CONNECTOR
HEADER – FPC
ROTATION
DIRECTION CW/CCW CW
RoHS compliant
*24 max *24 max (57) (57)
8 ø ± 0.3 8 ø ± 0.3 (23) (23) 49.5 ± 0.2 49.5 ± 0.2

2 ± 0.2 2 ± 0.2
ø4 ± 0.2
ø4 ± 0.2
(19)
(19)
ø14 ± 0.2
ø38 ± 0.2
ø14 ± 0.2
ø38 ± 0.2
Min.
300
ø16
Min.
300
ø16
2ø3 ± 0.1 2ø3 ± 0.1
OOOOOG
OOOOOG
max
max
- Connector Pin Assignment
Min.
300
Min.
300
Lot No. Lot No.
30
30
Connector Connector
52207-149052207-1490 or Equivalent
or Equivalent
8 ø ± 0.3
(MULEX) (MULEX) 28 max
Number Function Number Function 28 max
2
1 C 3– 8 C 1–
2 C 3+ 9 W1
ø4 ± 0.2
3 H bias + 10 W!
4 H bias – 11 W2
ø14 ± 0.2
5 C 2+ 12 W2
6 C2– 13 W3
7 C1+ 14 W3
Speed-Torque Characteristics
DR-38312 24 ???V DR-38312 48 V
Speed [rpm] Current [A] Speed [rpm] Current [A]
4000 1.6 7000 1.6
3500 1.4 6000 1.4
3000 1.2 5000 1.2
2500 1.0 1.0
4000
2000 0.8 0.8
3000
1500 0.6 0.6
2000
1000 0.4 0.4
50 0.2 1000 0.2
0 0.0 0 0.0
0.00 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.10 0.00 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.10
Torque [N.m] [rpm] [A] Torque [N.m] [rpm] [A]
6
Brushless Motor Series DR-5238-007 Outer Rotor Type
500 gf-cm Specifications

Specifications
52mm ELECTRICAL CHARACTERISTICS
1000 rpm RATED POWER W 5.1

Integral drive gf-cm 500

RATED SPEED rpm 1,000 ±.1% (controlled)
RATED CURRENT mA (max.) 750
BREAKDOWN TORQUE gf-cm (min.) 550 (at 21.6 V)
NO LOAD SPEED rpm 1,000
ACOUSTIC NOISE dB(A) 50 (at distance of 1 m)
CONNECTOR
HEADER – AMP p/n 175487-4 (white)
ROTATION
DIRECTION CCW (facing at shaft)
RoHS compliant

DR-5238-007
SST39C1030
Number Function
1 VDC: 24 V
2 GND
3 On/Off (Low Start)
4 Lock Signal: Open Collector
7
1 kgf-cm Specifications
Specifications
1500 rpm RATED POWER W 15

Integral drive kgf-cm 1

RATED SPEED rpm 1,500 ±.1% (controlled)
RATED CURRENT A (max.) 1.4
BREAKDOWN TORQUE N-cm (min.) 9.3 (at 21.6 V)
gf-cm (min.) 950 (at 21.6 V)
ACOUSTIC NOISE dB(A) 45 (at distance of 1 m)
CONNECTOR
HEADER – AMP p/n 175487-4 (white)
ROTATION
RoHS compliant

DR-6236-152
SST39C1030 DRIVER : TYPE A (C = 1 µF, R = 0) VOLTAGE : Vw = 11 V
EXCITING MODE = 2 Phase INERTIAL LOAD : 3 g-cm2
Number Function
1 VDC: 24 V
2 GND
8
3.5 kgf-cm Specifications

Specifications
1500 rpm RATED VOLTAGE VDC 24

VCC VDC 5
Constant speed RATED LOAD N-m 0.343
Integral drive kgf-cm 3.5

RATED SPEED rpm 1,500 ± 0.1% (controlled)
RATED CURRENT A (max.) 5.0
BREAKDOWN TORQUE N-cm (min.) 0.39 (at 21.6 V)
kgf-cm (min.) 4.0 (at 21.6 V)
LIFE hours (typical) 10,000 (at rated voltage, rated load)
ACOUSTIC NOISE dB(A) (max.) 45 (at distance of 1 m)
TEMPERATURE RISE C (max.) 75 (at rated load, rated voltage)
CONNECTOR
HEADER - AMP p/n 53053-0610 (white)
ROTATION
DIRECTION CW/CCW CW (facing at shaft)
RoHS compliant

DR-8738-252
Number Function
1 VDC: 24 V (coil)
2 GND (VDC)
3 GND (VCC)
4 VCC: 5 V (logic)
9
Brushless Motor Series DR-6634-514 Inner Rotor Type
110 gf-cm Specifications

Specifications
66 mm ELECTRICAL CHARACTERISTICS
3200 rpm RATED VOLTAGE VDC 7 to 40 (operating range)

VCC VDC 12 ± 1.2 (logic level)
Variable speed RATED LOAD gf-cm 110
Integral drive RATED SPEED rpm 3,200 ± 320 (at 26.5 V)

RATED CURRENT A (max.) 0.35 (at 26.5 V)
NO LOAD SPEED rpm 3,850 (nominal)
LIFE hours (typical) 10,000 (at less than 45 C ambient)
ENCODER
TYPE - magnetic encoder
RESOLUTION pulse/rev. 2
OUTPUT LEVEL V (high) 11.0 ± 1.0
V (low) 0 to 0.5
DUTY CYCLE % 66.7 ± 20
WINDING RESISTANCE V 5.4 (nominal)
CONNECTOR
- JST p/n S4B-EH
ROTATION
RoHS compliant

DR-6634-514
Number Function
1 Encoder Out
2 VCC: 12 V
3 GND
4 VDC: 7 to 40 V
10
Brushless Motor Series DR-8538-555/ 888 Inner Rotor Type
1400 gf-cm
85 mm
2700 rpm
Variable speed
Integral drive
Specifications
Specifications
ELECTRICAL CHARACTERISTICS DR-8538-555 DR-8538-888
RATED VOLTAGE VDC 10 to 40 (operating range) 90 to 178 (operating voltage)
VCC VDC 12 ± 1.2 (logic level) 15 ± 1.5 (logic level)
RATED LOAD gf-cm 1,200 1,400
RATED SPEED rpm 2,000 ± 250 (at 34 V) 2,700 ± 300 (at 160 V)
RATED CURRENT A (max.) 1.4 (at 34 V) 0.44 (at 160 V)
SPEED CONTROL INPUT V - 0 to 6.5
NO LOAD SPEED rpm 3,000 (nominal) 4,000 (nominal)
NO LOAD CURRENT mA 200 (nominal) 50 (nominal)
TORQUE CONSTANT g-cm/A 1,250 4,550 (nominal)
LIFE hours (min.) 10,000 (at less than 45 C ambient) 10,000 (at less than 45 C ambient)
ENCODER
TYPE - magnetic encoder magnetic encoder
RESOLUTION pulse/rev. 4 12
OUTPUT LEVEL V (high) 11.0 ± 1.0 1 4.0 ± 1.0
V (low) 0 to 0.5 0 to 1.0
DUTY CYCLE % 66.7 ± 20 50 ± 20
CONNECTOR
NONE - (flying wires) (flying wires)
LEAD WIRE - UL-1430, AWG #22 UL-1430, AWG #22
ROTATION
DIRECTION CCW (facing at shaft) (facing at shaft)
- -
RoHS compliant
DR-8538-555 Connector Pin Assignment DR-8538-888 Connector Pin Assignment

Number Function Number Function
1 VDC: 24 V 1 VDC: 24 V
2 GND 2 GND
3 On/Off (Low Start) 3 On/Off (Low Start)
4 Lock Signal: Open Collector 4 Lock Signal: Open Collector
DR-8538-555 Speed-Torque Characteristics DR-8538-888 Speed-Torque Characteristics

DR-8538-555 DR-8538-888
11
Brushless Motor Series Outer Rotor Type
DR-14312
Speed-Torque Characteristics Specifications

Specifications
ELECTRICAL CHARACTERISTICS
RATED VOLTAGE DCV 12
RATED TORQUE mNm 0.5
RATED SPEED rpm 11000
RATED CURRENT A 0.18
DR-20312

Specifications
RATED TORQUE mNm 1
DR-24312

Specifications
RATED TORQUE mNm 3
All models on this page are RoHS compliant
12
Brushless Motor Series Outer Rotor Type
DR-29312

Specifications
RATED TORQUE mNm 6
DR-4734

Specifications
RATED TORQUE mNm 23
RATED CURRENT A 1.8
DR-7638

Specifications
RATED TORQUE mNm 220
RATED CURRENT A 3.0
All models on this page are RoHS compliant
13
Servo Motor Series LA052 NEMA 23
24-75 VDC,
400 ppr encoder,
NEMA 23
mounting
Specifications
Specifications
PARAMETER UNITS LA052-040E LA052-080E LA052-110E
RATED POWER W 40 80 110
RATED VOLTAGE VDC 24 75 24 75 75
RATED SPEED rpm 3,000 3,000 3,000
RATED TORQUE N-cm 12.7 2.7 25.5 25.5 35.3
kgf-cm 1.3 1.3 2.6 2.6 3.6
RATED CURRENT A 2.5 0.9 4.6 1.8 2.1
TORQUE CONSTANT N-cm/A 5.0 14.8 5.9 19.1 19.6
kgf-cm/A 0.51 1.51 0.6 1.95 2.00
BACK EMF CONSTANT V/krpm 5.2 15.5 6.2 20.0 20.5
PHASE RESISTANCE W 1.18 11.0 0.60 6.2 3.71
PHASE INDUCTANCE mH 4.4 42 1.4 14 9.1
INSTANTANEOUS PEAK TORQUE N-cm 38.2 38.2 76.5 76.5 105.9
kgf-cm 3.9 3.9 7.8 7.8 10.8
MAX SPEED rpm 5,000 5,000 5,000
ROTOR INERTIA g-cm2 87 87 91 91 166
(TYPE 2*) g-cm2 110 110 117 117 18
POWER RATE kW/s 1.87 1.87 7.14 7.14 8.48
(TYPE 2*) kW/s 1.48 1.48 5.56 5.56 6.74
MECHANICAL TIME CONSTANT ms 4.1 4.4 4.6 1.5 1.6
(TYPE 2*) ms 5.2 5.5 2.0 2.0 1.8
ELECTRICAL TIME CONSTANT ms 3.7 3.8 2.3 2.3 2.5
MASS kg 0.6 0.6 0.6 0.6 0.8
RoHS compliant
The above values are measured with Aluminum Plate of 200 x 200 x 6 mm. * See Encoder Specification below
Encoder
Specifications
Specifications
TYPE TYPE 2 HALL SENSOR ENCODER
OUTPUT CIRCUIT UNITS OPEN COLLECTOR TTL COMPATIBLE
RESOLUTION P/R - 200, 400
NUMBER OF CHANNELS - C1, C2, C3 A, B
POWER SUPPLY VDC 5 ± 5% 5 ± 5%
CONSUMPTION CURRENT mA (max.) 40 50
OUTPUT VOLTAGE VDC 14.4 (max.), VOH = 2.4 (min.),
(lsink = 15 mA) VOL = 0.4 (max.), (lsink = 15 mA)
PHASE OFFSET - - a, b, c, d = 90º ± 45º
SIG. Z PULSE WIDTH - - -
FREQUENCY RESPONSE kHz (min.) - 20
OPERATING TEMPERATURE RANGE ºC 0 ~ 60 (temperature inside of encoder)
14
Servo Motor Series LA052 NEMA 23
24-75 VDC,
400 ppr encoder,
NEMA 23
mounting
CW Rotation viewed from Output Shaft End

Encoder Output Phase
Available in NEMA-23 Mounting
- Motor Length
Motor Type Type 2
LA052-040E 86.1
LA052-080E 86.1
LA052-110E 106.1
RoHS compliant
15
Stepper Motor Holding Torque Range
STEP MOTOR HOLDING TORQUE RANGE
100 200
0 5 10 15
SST-36C0
STEP ANGLE SST-36C1
0.9o SST-40C1
SST-40C2
SST-34D1
SST-41D0
SST-42D1
SST-42D2
SST-43D1
SST-43D2
SST-58D1
STEP ANGLE SST-58D2
1.8o
SST-58D3
SST-58D4
SST-58D5
SST-59D1
SST-59D3
SST-59D5
SST-83D1
16
Stepper Motor Holding Torque Range
300 500 600 700 oz-in
20 40 50 kgf-cm
SST-83D2
SST-83D3
17
Stepper Motor Series SST34D Size 14
4 lead wire
23.6mm L
1.8o?? step
MODEL STEP VOLTAGE CURRENT RESISTANCE INDUCTANCE HOLDING ROTOR NUMBER WEIGHT DIMENSION
ANGLE TORQUE INERTIA OF LEADS
2
SINGLE SHAFT DEG. V A/Phase Ω/Phase mH/Phase kg-cm g-cm LEAD kg L
SST34D1070 1.8 2.7 0.7 3.9 4.4 0.6 8.1 4 0.11 24
RoHS compliant
Typical Performance –– ?Pull Out - - - Pull In

SST34D
60
50
TORQUE (mN–m)
40
30
10
10
0
0 500 1000 1500 2000 2500 3000 3500 4000
FREQUENCY (pps)
Refer to page 39 for Driver
18
Stepper Motor Series SST36C Size 17
50.84 15. ± 0.6 L

Shaft Lenght
43.84
4 Lead Wire
0.025
ø4.762
36mm L, Label
0.9o step
ø16 ± 0.2
ø36
(2-M3 x 0.5-6h)
(2-M2 x 0.4) 2.3 ± 0.2 2

1.3 Max. (1.56)
(Screw Protrusion)
27.1
Min.
300
5±3
Mounting configuration for variable NEMA sizes
2
SINGLE SHAFT DEG. V A/Phase Ω/Phase mH/Phase kg-cm g-cm LEAD kg L
SST36C0030 0.9 5 0.30 16.8 8.5 0.36 7.3 4 0.05 12.35
SST36C1050 0.9 5 0.45 11.5 9 0.86 19 4 0.09 ????19.7
RoHS compliant
Typical Performance –– ?Pull Out - - - Pull In

SST36C0030 DRIVER : MTD2005 CURRENT = 0.30 A/Phase SST36C1050 DRIVER : MTD2005 CURRENT = 0.45 A/Phase
EXCITING MODE = 2 Phase INERTIAL LOAD : 3 g-cm2 EXCITING MODE = 2 Phase INERTIAL LOAD : 3 g-cm2
80 40
70 35
60 30
TORQUE (mN–m)
TORQUE (mN–m)
50 25
40 20
30 15
20 10
10 5
0 0
0 500 1000 1500 2000 2500 3000 3500 4000 0 500 1000 1500 2000 2500 3000 3500 4000
FREQUENCY (pps) FREQUENCY (pps)
Refer to page 39 for Driver
19
Stepper Motor Series SST40C Size 17
6 Lead Wire
31mm, 37mm L
0.9o step
2
SINGLE SHAFT DOUBLE SHAFT DEG. V A/Phase Ω/Phase mH/Phase kg-cm g-cm LEAD kg L
SST40C1010 SST40C1011 0.9 4 0.8 5 5 1.15 17 6 0.17 31
SST40C1020 SST40C1021 0.9 9.6 0.4 24 26 1.20 17 6 0.17 31
SST40C1030 SST40C1031 0.9 11.2 0.3 37.5 37.7 1.25 17 6 0.17 31
SST40C2010 SST40C2011 0.9 6 0.8 7.5 11 1.85 27 6 0.2 37
SST40C2020 SST40C2021 0.9 8.6 0.56 15 23 1.79 27 6 0.2 37
SST40C2030 SST40C2031 0.9 12 0.4 30 44 1.67 27 6 0.2 37
RoHS compliant
Typical Performance Refer to page 30 for Driver –– Pull Out - - - Pull In

SST40C1010 DRIVER : SDU2201 CURRENT = 0.8 A/Phase SST40C1010 DRIVER : TYPE B SUPPLY : Vs = 24 V
EXCITING MODE = 2 Phase INERTIAL LOAD : 3 g-cm2 CURRENT = 0.8 A/Phase EXCITING MODE = 2 Phase
INERTIAL LOAD : 3 g-cm2
SST40C1020 DRIVER : TD-112 CURRENT = 0.4 A/Phase SST40C1020 DRIVER : TYPE A (C = 1 µF, R = 0) VOLTAGE : Vw = 12 V
EXCITING MODE = 2 Phase INERTIAL LOAD : 3 g-cm2 EXCITING MODE = 2 Phase NERTIAL LOAD : 3 g-cm2
20
Stepper Motor Series SST40C, SST41D Size 17
SST40C1030 DRIVER : TYPE A (C = 1 µF, R = 0) VOLTAGE : Vw = 11.2 V SST40C2010 DRIVER : TYPE B SUPPLY : Vs = 24 V
6 Lead Wire
31mm, 37mm L
0.9o step
SST40C2020 DRIVER : SDU2201 CURRENT = 0.56 A/Phase SST40C2030 DRIVER : SDU2201 CURRENT = 0.4 A/Phase

–– Pull Out - - - Pull In
Model SST41D 120

4 Lead Wire 100
TORQUE (mN–m)
22mm L, 80
1.8o step 60
40
20
0
0 1000 2000 3000 4000 5000
FREQUENCY (pps)
Specifications
DEG. V A/Phase Ω/Phase mH/Phase kg-cm g-cm2 LEAD kg L
SST41D0100 1.8 2.3 1.0 2.3 3.9 1.2 20.3 4 0.15 22
RoHS compliant
21
6 Lead Wire
31mm, 38mm L
1.8o step
2
SINGLE SHAFT DOUBLE SHAFT DEG. V A/Phase Ω/Phase mH/Phase kg-cm g-cm LEAD kg L
SST42D1100 SST42D1101 1.8 3.7 0.95 3.9 3.6 1.9 27 6 0.18 31
SST42D1070 SST42D1071 1.8 5.3 0.7 7.6 6.8 1.9 27 6 0.18 31
SST42D1040 SST42D1041 1.8 10.5 0.35 30 21.7 1.7 27 6 0.18 31
SST42D1020 SST42D1021 1.8 16.5 0.22 75 53.0 1.7 27 6 0.18 31
SST42D2120 SST42D2121 1.8 3.7 1.2 3.1 4.2 3.2 48 6 0.27 38
SST42D2090 SST42D2091 1.8 5.1 0.9 5.7 6.8 3.2 48 6 0.27 38
SST42D2070 SST42D2071 1.8 6.7 0.7 9.5 11.8 3.2 48 6 0.27 38
SST42D2040 SST42D2041 1.8 12.0 0.4 30 34.3 3.2 48 6 0.27 38
SST42D2030 SST42D2031 1.8 18.8 0.25 75 72.8 3.0 48 6 0.27 38
RoHS compliant

SST42D1020 DRIVER : TYPE A (C = 1 µF) VOLTAGE : Vs = 24 V SST42D1040 DRIVER : TYPE B SUPPLY : Vs = 24 V
SST42D1070 DRIVER : TYPE B SUPPLY : Vs = 24 V SST42D1100 DRIVER : TYPE B SUPPLY : Vs = 24 V

CURRENT = 0.7 A/Phase EXCITING MODE = 2 Phase CURRENT = 0.95 A/Phase EXCITING MODE = 2 Phase
INERTIAL LOAD : 3 g-cm2 INERTIAL LOAD : 3 g-cm2
22
6 Lead Wire SST42D2120 DRIVER : TYPE A (C = 1 µF, R = 0) VOLTAGE : Vw = 9.6 V SST42D2090 DRIVER : TYPE A (C = 1 µF, R = 0) VOLTAGE : Vw = 17 V
31mm, 38mm L
1.8o step
SST42D2070 DRIVER : TYPE A (C = 1 µF, R = 0) VOLTAGE : Vw = 12 V SST42D2040 DRIVER : SDU2201 CURRENT = 0.8 A/Phase
23
Integral
Connector 6 Pin
34mm, 40mm L
1.8o step
Low Noise,
Low Vibration,
High Torque
Specifications
SINGLE SHAFT DEG. V A/Phase Ω/Phase mH/Phase kg-cm g-cm2 LEAD kg L
SST43D1040 1.8 9.6 0.4 24.0 16.0 180 33 6 0.23 34
SST43D1060 1.8 6.9 0.6 11.5 8.1 190 33 6 0.23 34
SST43D1080 1.8 5.1 0.8 6.4 4.9 200 33 6 0.23 34
SST43D1100 1.8 4.2 1.0 4.2 3.3 200 33 6 0.23 34
SST43D1120 1.8 3.2 1.2 2.7 2.3 200 33 6 0.23 34
SST43D1150 1.8 2.7 1.5 1.8 1.5 200 33 6 0.23 34
SST43D2040 1.8 12.0 0.4 30.0 24.0 260 56 6 0.29 40
SST43D2060 1.8 7.2 0.6 12.0 11.8 260 56 6 0.29 40
SST43D2080 1.8 5.5 0.8 6. 7.1 26 56 6 0.29 40
SST43D2100 1.8 4.8 1.0 4.8 4.8 270 56 6 0.29 40
SST43D2120 1.8 4.0 1.2 3.3 3.6 280 56 6 0.29 40
SST43D2140 1.8 3.2 1.4 2.3 2.5 280 56 6 0.29 40
SST43D2160
SST43D1040 1.8 3.0 1.6 1.9 1.8 260 SST43D1060
56 6 0.29 40
RoHS compliant

SST43D1040 DRIVER : Constant current VOLTAGE : 24 VDC SST43D1060 DRIVER : Constant current VOLTAGE : 24 VDC
Current: 0.4 A/phase INERTIAL LOAD : 3 g-cm2 Current: 0.6 A/phase INERTIAL LOAD : 3 g-cm2
200 200
T O R Q U E ( m N -m )
Pull-out
150 Pull-in 150
100 100
50 50 Pull-out
Pull-in
0 0
0 1000 2000 3000 0 SST43D1100
1000 2000 3000 4000
SST43D1080
SST43D108???0 DRIVER : Constant current VOLTAGE : 24 VDC SST43D1100 DRIVER : Constant current VOLTAGE : 24 VDC
Current: ?0.8 A/phase INERTIAL LOAD : 3 g-cm2 Current: 1.0 A/phase INERTIAL LOAD : 3 g-cm2
200 200
150 150
100 100
50 Pull-out 50 Pull-out
Pull-in Pull-in
0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 6000
24
Stepper Motor Series SST43D
SST43D1120 SST43D1150 Size 17
200 200
150 150
100 100
Pull-out Pull-out
50 50
Pull-in Pull-in
Integral 0 0
Connector 6 Pin 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000
4000 5000 6000 7000 8000
SST43D2040
FREQUENCY (pps) SST43D2060
FREQUENCY (pps)
34mm, 40mm L
1.8o step
Low Noise, Current: 0.4 A/phase INERTIAL LOAD : 3 g-cm2 Current: 0.6 A/phase INERTIAL LOAD : 3 g-cm2
Low Vibration, 300 300

250 250
High Torque
TORQUE (mN-m)
Pull-out
TORQUE (mN-m)
Pull-out
200 Pull-in 200 Pull-in
150 150
100 100
50 50
0 0
0 SST43D2080
1000 2000 3000 0 1000
SST43D2100
2000 3000 4000
300 300
250 250
TORQUE (mN-m)
TORQUE (mN-m)
Pull-out Pull-out
200 Pull-in 200 Pull-in
150 150
100 100
50 50
0 0
SST43D2140
0 1000 SST43D2120
2000 3000
FREQUENCY (pps)
4000 5000 0 1000 2000 3000 4000
FREQUENCY (pps)
5000 6000
300 300
250 Pull-out
TORQUE (mN-m)
Pull-out 250
TORQUE (mN-m)
Pull-in 200 Pull-in

150 150
100 100
50 50
0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
SST43D2160
SST43D2160 DRIVER : Constant current VOLTAGE : 24 VDC PIN?OUT CHART

Current: 1.6 A/phase INERTIAL LOAD : 3 g-cm2 1 2 3 4 5 6
300 A B B A A B
250 Pull-out COM COM
TORQUE (mN-m)
200 Pull-in
150
100
50
0
0 1000 2000 3000 4000 5000 6000 7000 8000
FREQUENCY (pps)
25
Stepper Motor Series SST 58D Size 23
8 Lead Wire
42mm, 49mm,
54mm, 65mm,
77mm L
1.8o step
Specifications
SINGLE SHAFT DOUBLE SHAFT DEG. V A/Phase Ω/Phase mH/Phase kg-cm g-cm2 LEAD kg L
SST58D1810 SST58D1811 1.8 5.0 1.0 5.0 5.4 3.7 135 8 0.49 42
SST58D1820 SST58D1821 1.8 2.4 2.0 1.2 1.3 3.7 135 8 0.49 42
SST58D1830 SST58D1831 1.8 1.5 3.0 0.5 0.54 3.7 135 8 0.49 42
SST58D2810 SST58D2811 1.8 6.2 1.0 6.2 9.7 6.4 230 8 0.6 49
SST58D2820 SST58D2821 1.8 3.0 2.0 1.5 2.6 6.4 230 8 0.6 49
SST58D2830 SST58D2831 1.8 2.2 3.0 0.73 1.1 6.4 230 8 0.6 49
SST58D3810 SST58D3811 1.8 6.9 1.0 6.9 14.0 7.3 290 8 0.71 54
SST58D3820 SST58D3821 1.8 3.4 2.0 1.7 3.6 7.3 290 8 0.71 54
SST58D3830 SST58D3831 1.8 2.1 3.0 0.7 1.3 7.3 290 8 0.71 54
SST58D4810 SST58D4811 1.8 7.2 1.0 7.2 12.0 9.2 330 8 0.86 65
SST58D4820 SST58D4821 1.8 3.6 2.0 1.8 3.0 9.2 330 8 0.86 65
SST58D4830 SST58D4831 1.8 2.4 3.0 0.8 1.3 1 9.2 330 8 0.86 65
SST58D5810 SST58D5811 1.8 8.8 1.0 8.8 19.0 11.7 430 8 1.1 77
SST58D5820 SST58D5821 1.8 4.8 2.0 2.4 5.1 11.7 430 8 1.1 77
SST58D5830 SST58D5831 1.8 3.0 3.0 1.0 2.62 11.7 430 8 1.1 77
RoHS compliant

SST58D1810 DRIVER : BIPOLAR SUPPLY : Vs = 24 V SST58D1820 DRIVER : BIPOLAR SUPPLY : Vs = 24 V
SST58D1820 DRIVER : UNIPOLAR SUPPLY : Vs = 24 V SST58D1830 DRIVER : UNIPOLAR SUPPLY : Vs = 24 V

26
8 Lead Wire
42mm, 49mm,
54mm, 65mm,
77mm L
1.8o step



27
8 Lead Wire
42mm, 49mm,
54mm, 65mm,
77mm L
1.8o step

Rating Conversions
STANDARD DRIVE SCHEME RATING UNIPOLAR MULTIPLIER BIPOLAR SERIES MULTIPLIER BIPOLAR PARALLEL MULTIPLIER
Unipolar or Bipolar (center-tap to end) VOL TS (DC) 1 1.4 0.7
Unipolar or Bipolar (center-tap to end) CURRENT (A) 1 0.7 1.4
Unipolar or Bipolar (center-tap to end) RESIST ANCE (?) 1 2 0.5
Unipolar or Bipolar (center-tap to end) INDUCT ANCE (mH) 1 4 1
Unipolar or Bipolar (center-tap to end) HOLDING TORQUE 1 1.4 1.4
Step Motors are versatile and have many drive methods. To determine the motor rating when using a drive method that differs
from the standard rating approach, multiply the standard rated value by the number indicated in the chart that corresponds to
the drive scheme desired.
DIRECTION OF ROTATION Phase Sequence (parallel connected) Phase Sequence (series connected)
Phase sequence to produce clockwise
rotation viewed from mounting end.
STEP A B A B
1 + + – –
2 – + + –
3 – – + +
4 + – – +
5 + + – –
28
Integral
Connector
6 pin
42mm, 54mm,
77mm L
1.8o step
Specifications
MODEL STEP VOLTAGE CURRENT RESISTANCE INDUCTANCE HOLDING ROTOR NUMBER MASS MOTOR SHAFT
ANGLE TORQUE INERTIA OF LEADS LENGTH DIAMETER
2
SINGLE SHAFT DOUBLE SHAFT DEG. V A/Phase Ω/Phase mH/Phase kg-cm g-cm LEAD kg MM MM
SST59D1100 SST59D1101 1.8 4.7 1.0 4.7 7.5 567 145 6 0.5 42 6.35
SST59D1150 SST59D1151 1.8 3.2 1.5 2.1 3.4 567 145 6 0.5 42 6.35
SST59D1200 SST59D1201 1.8 2.6 2.0 1.3 2.0 567 145 6 0.5 42 6.35
SST59D1250 SST59D1251 1.8 2.1 2.5 0.9 1.3 567 145 6 0.5 42 6.35
SST59D1300 SST59D1301 1.8 1.9 3.0 0.6 0.9 567 145 6 0.5 42 6.35
SST59D3100 SST59D3101 1.8 6.3 1.0 6.3 11.1 925 245 6 0.7 54.5 6.35
SST59D3150 SST59D3151 1.8 4.2 1.5 2.8 5.1 925 245 6 0.7 54.5 6.35
SST59D3200 SST59D3201 1.8 3.4 2.0 1.7 3.0 925 245 6 0.7 54.5 6.35
SST59D3250 SST59D3251 1.8 2.8 2.5 1.1 2.0 925 245 6 0.7 54.5 6.35
SST59D3300 SST59D3301 1.8 2.5 3.0 0.8 1.3 925 245 6 0.7 54.5 6.35
SST59D5100 SST59D5101 1.8 9.6 1.0 9.6 19.0 1570 470 6 1.1 77.5 8
SST59D5150 SST59D5151 1.8 6.3 1.5 4.2 8.4 1570 470 6 1.1 77.5 8
SST59D5200 SST59D5201 1.8 5.0 2.0 2.5 4.9 1570 470 6 1.1 77.5 8
SST59D5250 SST59D5251 1.8 4.2 2.5 1.7 3.3 1570 470 6 1.1 77.5 8
SST59D1100SST59D5301
SST59D1100
SST59D5300 1.8 3.6 3.0 1.2 SST59D1150
SST59D1150
2.2 1570 470 6 1.1 77.5 8
RoHS compliant
SST59D1100
SST59D1100 SST59D1150
SST59D1150
Typical Performance Refer to page 39 for Driver
SST59D1100
500
500 VOLTAGE : 24VDC CURRENT : 1.0 A/phase SST59D1150
500
500 VOLTAGE : 24VDC CURRENT : 1.0 A/phase
DRIVER : Constant current INTERIA?LOAD : 100g-cm^2 DRIVER : Constant current INTERIA?LOAD : 100g-cm^2
(mN–m)
(mN–m)
(mN–m)
(mN–m)
400
400 Pull-out
Pull-out
EXCITING?MODE (24V) 2 phase
: (24V)
Unipolar, 400
400 Pull-out(24V)
Pull-out
EXCITING?MODE :(24V)
Unipolar, 2 phase
500
500 Pull-in(24V)
Pull-in (24V) 500
500 Pull-in(24V)
Pull-in (24V)
300
300 300
300
(mN–m)
(mN–m)
(mN–m)
(mN–m)
400
400 Pull-out
Pull-out(24V)
(24V) 400
400 Pull-out
Pull-out(24V)
(24V)
TORQUE
TORQUE
TORQUE
TORQUE
200
200 Pull-in
Pull-in(24V)
(24V) 200
200 Pull-in
Pull-in(24V)
(24V)
300
300 300
300
TORQUE
TORQUE
100
100 100
100
TORQUE
TORQUE
200
200 200
200
00 00
100
10000 1000
1000 2000
2000 3000
3000 4000
4000 5000
5000 100
10000 1000
1000 2000
2000 3000
3000 4000
4000 5000
5000
00 FREQUENCY(pps)
FREQUENCY (pps) 00 FREQUENCY(pps)
FREQUENCY (pps)
00 1000
1000 2000
2000 3000
3000 4000
4000 5000
5000 00 1000
1000 2000
2000 3000
3000 4000
4000 5000
5000
FREQUENCY
FREQUENCY(pps)
(pps) FREQUENCY
FREQUENCY(pps)
(pps)
SST59D1200
SST59D1200 SST59D1250
SST59D1250
SST59D1200 VOLTAGE : 24VDC CURRENT : 1.5 A/phase SST59D1250 VOLTAGE : 24VDC CURRENT : 2.0 A/phase
SST59D1200
SST59D1200DRIVER : Constant current SST59D1250
SST59D1250
INTERIA?LOAD : 100g-cm^2 DRIVER : Constant current INTERIA?LOAD : 100g-cm^2
EXCITING?MODE : Unipolar, 2 phase EXCITING?MODE : Unipolar, 2 phase
500
500 500
500
(mN–m)
(mN–m)
(mN–m)
(mN–m)
400
400 Pull-out(24V)
Pull-out (24V) 400
400 Pull-out(24V)
Pull-out (24V)
500
500 Pull-in(24V)
Pull-in (24V) 500
500 Pull-in(24V)
Pull-in (24V)
300
300 300
300
(mN–m)
(mN–m)
(mN–m)
(mN–m)
400
400 Pull-out
Pull-out(24V)
(24V) 400
400 Pull-out
Pull-out(24V)
(24V)
TORQUE
TORQUE
TORQUE
TORQUE
200
200 Pull-in
Pull-in(24V)
(24V) 200
200 Pull-in
Pull-in(24V)
(24V)
300
300 300
300
TORQUE
TORQUE
100
100 100
100
TORQUE
TORQUE
200
200 200
200
00 00
100
10000
1000 2000
1000 2000 3000
3000 4000
4000 5000
5000 6000
6000 7000
7000 1000 2000
1000 2000 3000
3000 4000 100
1000 0
4000 5000
5000 6000
6000 7000
7000
00 FREQUENCY(pps)
FREQUENCY (pps) FREQUENCY(pps)
FREQUENCY (pps) 00
1000 00
1000 2000
2000 3000
3000 4000
4000 5000
5000 6000
6000 7000
7000 1000
1000 2000
2000 3000
3000 4000
4000 5000 00
5000 6000
6000 7000
7000
FREQUENCY
FREQUENCY
6065 BRISTOL PARKWAY, CULVER CITY,
(pps)
CA 90230 • (pps)
FREQUENCY
FREQUENCY
PHONE (310) 693-7600 • TOLL FREE (800) 755-0752 • WWW.SHINANO.COM
(pps)
(pps) SALES@SHINANO.COM
• E-MAIL:
29
SST59D1300
SST59D1300 SST59D3100
SST59D3100
SST59D1300
SST59D1300 SST59D3100
SST59D3100
Integral SST59D1300
500500
VOLTAGE : 24VDC CURRENT : 3.0 A/phase SST59D3100
1000
1000
VOLTAGE : 24VDC CURRENT : 1.0 A/phase
Connector
(mN–m)
(mN–m)
(mN–m)
(mN–m)
400400 EXCITING?MODE
Pull-out : (24V)
Unipolar,
Pull-out (24V) 2 phase 800800 EXCITING?MODE
Pull-out : Unipolar,
Pull-out
(24V) (24V) 2 phase
500500 Pull-in
Pull-in
(24V)(24V) 1000
1000 Pull-in
Pull-in
(24V) (24V)
6 pin
(mN–m)
(mN–m)
(mN–m)
(mN–m)
300300
400400 Pull-out (24V)(24V)
Pull-out 600600
800800 Pull-out (24V)(24V)
Pull-out
TORQUE
TORQUE
TORQUE
TORQUE
42mm, 54mm, 200200
300300
Pull-in (24V)(24V)
Pull-in
400400
600600
Pull-in (24V)(24V)
Pull-in
77mm,
TORQUE
TORQUE
TORQUE
TORQUE
100100
200 200200
400
1.8o step
200 400
0 0 0 0
100100 200200
0 0 1000
1000 2000
2000 3000
3000 4000
4000 5000
5000
0 0 1000
10002000
20003000
30004000
40005000
50006000 60007000 7000
0 0 FREQUENCY
FREQUENCY (pps)
(pps) 0 0 FREQUENCY
FREQUENCY
(pps)
(pps)
0 0 1000
10002000
20003000
30004000
40005000
50006000 60007000 7000 0 0 1000
1000 2000
2000 3000
3000 4000
4000 5000
5000
FREQUENCY
FREQUENCY (pps)
(pps) FREQUENCY (pps)
FREQUENCY (pps)
SST59D3150
SST59D3150 SST59D3200
SST59D3200
SST59D3150
SST59D3150 SST59D3200
SST59D3200
1000
1000 1000
1000
(mN–m)
(mN–m)
(mN–m)
(mN–m)
800800 Pull-out
Pull-out
(24V)
(24V) 800800 Pull-out
Pull-out
(24V)(24V)
1000
1000 Pull-in
Pull-in
(24V)
(24V) 1000
1000 Pull-in
Pull-in
(24V)(24V)
(mN–m)
(mN–m)
(mN–m)
(mN–m)
600600
800 Pull-out (24V)(24V)
Pull-out 600600
800 Pull-out (24V)(24V)
Pull-out
800 800
TORQUE
TORQUE
TORQUE
TORQUE
Pull-in (24V)(24V)
Pull-in Pull-in (24V)(24V)
Pull-in
400400
600600 400400
600600
TORQUE
TORQUE
TORQUE
TORQUE
200200
400 200200
400
400 400
0 0 0 0
200200
0 0 1000
1000 2000
2000 3000
3000 4000 4000 5000 5000 200200
0 0 1000
10002000
20003000
30004000
40005000
50006000 60007000 7000
0 0
SST59D3250
SST59D3250 FREQUENCY
FREQUENCY
(pps)
(pps) 0 0
SST59D3300
SST59D3300 FREQUENCY
FREQUENCY (pps)
(pps)
0 0 1000
1000 2000
2000 3000
3000 4000 4000 5000 5000 0 0 1000
10002000
20003000
30004000
40005000
50006000 60007000 7000
FREQUENCY (pps)
FREQUENCY (pps) FREQUENCY
FREQUENCY (pps)
(pps)
1000
1000 1000
1000
TORQUE (mN–m)
TORQUE (mN–m)
TORQUE (mN–m)
TORQUE (mN–m)
800800 Pull-out
Pull-out
(24V)(24V) 800800 Pull-out
Pull-out
(24V)(24V)
Pull-in
Pull-in
(24V)(24V) Pull-in
Pull-in
(24V)(24V)
600600 600600
400400 400400
200200 200200
0 0 0 0
0 0 1000
10002000
20003000
30004000
40005000
50006000
60007000
7000 0 0 1000
10002000
20003000
30004000
40005000
50006000
60007000
7000
FREQUENCY
FREQUENCY(pps)
(pps) FREQUENCY
FREQUENCY (pps)
(pps)
Depending on dirver condition, motor may generate excessive temperature.

Recommended temperature on motor surface is 100 deg C max.
Wiring Diagram PIN?OUT CHART

1 2 3 4 5 6
A A A B B B
1 COM COM
2
3
4 5 6
30
6 Lead Wire
62mm, 93.5mm,
128.5mm
1.8o step
RoHS compliant
Specifications
SINGLE SHAFT DOUBLE SHAFT DEG. V A/Phase Ω/Phase mH/Phase kg-cm g-cm2 LEAD kg L
SST83D1C010 SST83D1C011 1.8 1.8 4.5 0.4 0.96 16 570 6 1.4 62
SST83D1C020 SST83D1C021 1.8 2.8 2.8 1 2.6 16 570 6 1.4 62
SST83D1C030 SST83D1C031 1.8 5.5 1.25 4.4 15 17 570 6 1.4 62
SST83D2C010 SST83D2C011 1.8 3 4 0.75 2.4 31 1100 6 2.5 93.5
SST83D2C020 SST83D2C021 1.8 6 2 3 13 36 1100 6 2.5 93.5
SST83D2C030 SST83D2C031 1.8 4.2 3.5 1.2 4.7 42 1800 6 3.5 128.5
Typical Performance Refer to page 39?? for Driver –– Pull Out - - - Pull In
SST83D1C010 DRIVER : SDU2401 CURRENT = 4.0 A/Phase SST83D1C020 DRIVER : SDU2401 CURRENT = 2.8 A/Phase
31
Stepper Motor Operation and Theory
SKC Stepping Motor Part Number 5. Noncumulative positioning error (± 5% of step angle).
6. Excellent low speed/high torque characteristics without gear reduction.
1. Stepping motor model number description - SKC’s stepping
7. Inherent detent torque.
motor model number is determined by the following: 8. Holding torque when energized.
SST 9. Bidirectional operation.
Hybrid Type Shaft Configuration
10. Can be stalled without motor damage.
Stepping Motor O: Single 11. No brushes for longer trouble free life.
1: Double 12. Precision ball bearings.
Motor Size
(O.D. in mm) Motor Characteristics (1-99)
Typical Stepping Motor Applications
Step Angle Construction – For accurate positioning of X-Y tables, plotters, printers, facsimile
C: Steel Housing machines, medical applications, robotics, barcode scanners, image
C: 0.9º
D: 1.8º O: No Steel Housing scanners, copiers, etc.
G: 3.6º Motor Length
H: 3.75º O to 5 Construction
There are three basic types of step motors: variable reluctance (VR),
Lead Wire Configuration and Color Guide permanent magnet (PM) and hybrid. SKC adopted the hybrid type
BROWN (A) BROWN (A) BROWN (A)
step motor design because it has some of the desirable features of
BLACK (COM A) BLACK (COM) both the VR and PM. It has high resolution, excellent holding and
ORANGE (A) ORANGE (A) ORANGE (A) dynamic torque and can operate at high stepping rate.
In Fig. 5-1 construction of SKC stepping motor is shown.
WHITE (COM B)
YELLOW (B)
YELLOW (B)
YELLOW (B)
In Fig. 5-2 the detail of rotor construction is shown.

RED (B)
RED (B)
RED (B)
Winding
Front End Bell Stator

Typical Drive Circuits
Rear End Bell
Ball Bearing Rotor Laminations
Ball Bearing
Magnet
Fig. 5-1 Stepping Motor Construction
Rotor Laminations
Rotor Laminations
et
gn ty
Ma lari
Features of Stepping Motors Po
???2.Digital control of speed and position. Magnet

3. Open loop system with no position feedback required. Half Pitch
Off Set
4. Excellent response to acceleration, deceleration and stecommands.
Fig. 5-2 Rotor Construction????
32
Stepping Motor Theory

1 1
Using a 1.8 degree, unipolar, 4-phase stepping motor as an example, 8 2 8 2
the following will explain the theory of operation. Referring to S
N S
Fig. 6-1, the number of poles on the stator is 8 spaced at 45 degree
7 N N 3 7 3
intervals. Each pole face has 5 teeth spaced at 7.2 degree intervals.
S N
Each stator pole has a winding as shown in Fig. 6-1. S
6 4 6 4
Winding
5 5
Fig. 6-2 Rotational Magnetic Field Generated by Phase Sequence
The hybrid rotor has 2 sets (stacks) of laminations separated by a

permanent magnet. Each set of lams has 50 teeth and are offset from
each other by 1⁄2 tooth pitch. This gives the rotor 50 N and 50 S poles
at the rotor O.D.
Fig. 6-3 illustrates the movement of the rotor when the phase sequence
is energized.
In step 1, phase A is excited so that the S pole of the rotor is attracted to

pole 1,5 of the stator which is now a N pole, and the N pole of the rotor
Stator Pole
is attracted to pole 3,7 of the stator which is a S pole now. At this point
there is an angle difference between the rotor and stator teeth of 1/4
pitch (1.8 degrees). For instance, the stator teeth of poles 2,6 and 4,8
are offset 1.8 degrees from the rotor teeth.
Fig. 6-1 Stator
In step 2, there is a stable position when a S pole of the rotor is lined up
with pole 2,6 of the stator and a N pole of the rotor lines up with pole
When applying the current to the windings in the following 4,8 of stator. The rotor has moved 1.8 degrees of rotation from step 1.
sequence per Table 6-1, the stator can generate the rotating magnetic
field as shown in Fig. 6-2 (steps 1 thru 4). The switching of phases per steps 3, 4 etc. produces 1.8 degrees of
rotation per step.
Drive Pulse Pole 1,5 Pole 2,6 Pole 3,7 Pole 4,8
Phase A Step 1 ON OFF

Step 1
Step 2 Stator
Phase B
Rotor
Phase A Step 3
Phase B Step 4
Step 2
Stator
Rotor
Table 6-1 Step Phase Sequence (1 Phase Excited)

1 1
8 2 8 2
Step 3
N
S N Stator
7 S S 3 7 3 Rotor
N S
N
Fig. 6-3 1 Phase Excitation Sequence?
6 4 6 4
5 Step 1 5 Step 2
33
Technical Data and Terminology 7-9 Start-Stop Range

This is the range where a stepping motor can start, stop and
7-1 Holding Torque reverse the direction of rotation without losing step.
The maximum steady torque that can be applied to the shaft of
an energized motor without causing rotation. 7-10 Accuracy
This is defined as the difference between the theoretical and
7-2 Detent Torque actual rotor position expressed as a percentage of the step angle.
The maximum torque that can be applied to the shaft of a Standard is ±5%. An accuracy of ±3% is available on special
non-energized motor without causing rotation. request. This positioning error is noncumulative.
7-3 Speed-Torque Curve 7-11 Hysteresis Error

The speed-torque characteristics of a stepping motor are a This is the maximum accumulated error from theoretical position
function of the drive circuit, excitation method and load inertia. for both forward and backward direction of rotation. See Fig 7-2.
Angle Error
Dynamic Torque (Resonance point is not included herein.)
Holding Torque
Torque (kgf-cm)
Pull-in Torque Backward

Pull-out Torque Positive Max.
Slew Range Error
Theoretical Angle
Max. Response Hysteresis

Start-Stop Range Neg. Max. Error
(PPS)
Driving Frequency Max. No Load Forward

(Speed) Response (PPS)
Fig. 7-1 Speed - Torque Curve Fig. 7-2 Step Angle Accuracy
7-4 Maximum Slew Frequency 7-12 Resonance

The maximum rate at which the step motor will run and A step motor operates on a series of input pulses, each pulse caus-
remain in synchronism. ing the rotor to advance one step. In this time the motor’s rotor
must accelerate and then decelerate to a stop. This causes oscilla-
7-5 Maximum Starting Frequency tion, overshoot and vibration. There are some speeds at which the
The maximum pulse rate (frequency) at which an unloaded motor will not run. This is called its resonant frequency. The
step motor can start and run without missing steps or stop objective is to design the system so that no resonant frequencies
without missing steps. appear in the operating speed range. This problem can be eliminat-
ed by means of using mechanical dampers, external electronics, drive
7-6 Pull-out Torque methods and step angle changes.
The maximum torque that can be applied to the shaft of a
step motor (running at constant speed) and not cause it to Drive Methods
lose step.
8-1 Drive Circuits
7-7 Pull-in Torque The operation of a step motor is dependent upon an indexer
The maximum torque at which a step motor can start, stop and (pulse source) and driver. The indexer feeds pulses to the driver
reverse the direction of rotation without losing step. The maxi- which applies power to the appropriate motor windings. The
mum torque at which an energized step motor will start and run number and rate of pulses determines the speed, direction of rota-
in synchronism, without losing steps, at constant speed. tion and the amount of rotation of the motor output shaft. The
selection of the proper driver is critical to the optimum perform-
7- 8 Slewing Range ance of a step motor. Fig. 8-1 shows some typical drive circuits.
This is the area between the pull-in and pull-out torque
curves where a step motor can run without losing step, These circuits also illustrate some of the methods used to protect
when the speed is increased or decreased gradually. Motor the power switches against reverse voltage transients.
must be brought up to the slew range with acceleration and
deceleration technique known as ramping.
34
8-1.1 Damping Methods

These circuits can also be used to improve the damping and
noise characteristics of a step motor. However, the torque at
higher pulse rates (frequency) can be reduced so careful consid-
eration must be exercised when selecting one of these methods.
Examples:
1. Diode Method Fig. 8-1 (a)
2. Diode + Resistance Method Fig. 8-1 (b)
3. Diode + Zener Diode Method Fig. 8-1 (c )
4. Capacitor Method Fig. 8-1 (d)
Fig. 8-1
8-1. 2 Stepping Rate

A step motor operated at a fixed voltage has a decreasing torque
curve as the frequency or step rate increases. This is due to the rise
time of the motor winding which limits the value of the coil cur-
rent. This is determined by the ratio of inductance to resistance
(L/R) of the motor and driver as illustrated in Fig 8-2 (a).
Compensation for the L/R of a circuit can be accomplished as follows:
a) Increase the supply voltage and add a series resistor, Fig 8-2
(b), to maintain rated motor current and reduce the L/R of
Fig. 8-1 the circuit.
b) Increase the supply voltage, Fig 8-2 (c), improving the time
constant (L/R) of the circuit. However, it is necessary to limit
the motor current with a bi-level or chopped supply voltage.
Examples:
1. Constant Voltage Drive Fig. 8-1 (e)
2. Dual Voltage (Bi-level) Drive Fig. 8-1 ( f )
3. Chopper Drive Fig. 8-1 (g)
(c) : τ = L/R
Current
Supply Voltage = 2
V0
(b) : τ = L/2R
2 I0
(c)
Supply Voltage = 2
(b) V0
(a) : τ = L/R
I0
Fig. 8-1
Supply Voltage =
(a) V0
Fig. 8-2
35
8-2 Excitation Methods

In Table 8-1 are descriptions and features of each method.
Step Motor Load Calculations and Selection
Excitation Method To select the proper step motor, the following must be determined:
Single Phase Dual Phase 1-2 Phase
1. Load Conditions
Pulse
1-a. Friction Load
phase A
1-b. Load Inertia
Switching 2. Dynamic Load Conditions
sequence phase B
phase A 2-a. Drive Circuit
phase B 2-b. Maximum Speed (PPS/Frequency)
2-c. Acceleration/Deceleration Pattern
Hold & running High torque Poor step accuracy. With the above load information the proper step motor
torque reduced can be selected.
by 39% Good step Good resonance
accuracy. characteristics.
Features Increased
efficiency. Higher pulse rates. 9-1 Load Inertia
The following is an example for calculating the inertia of a
Poor step Half stepping
accuracy. hollow cylinder.
Table 8-1
8-3 Bipolar and Unipolar Operation

All SKC stepper motors are available with either two coil bipolar D1 D2
or four coil unipolar windings.
Bipolar Winding - the stator flux is reversed by reversing the

current in the winding. It requires a push-pull bipolar drive as Fig. 9-1
shown in Fig. 8-3. Care must be taken to design the circuit so
1
that the transistors in series do not short the power supply by J = ⁄8 . M . (D12 + D22) (kg-cm2)
coming on at the same time. Properly operated, the bipolar wind-
ing gives the optimum performance at low to medium step rates. Where M: mass of pulley (kg)
D1: outside diameter (cm)
D2: inside diameter (cm)
9-2 Linear systems can be related to rotational systems by utilizing the

kinetic energy equations for the two systems. For linear transla-
tions:
1 1
Energy = ⁄2 M v2 = ⁄2 J w2
Where M: mass
v: velocity
J: inertia
w: angular velocity
Fig. 8-3 Bipolar Method Fig. 8-4 Unipolar Method
1) Gear drive system
Unipolar Winding - has two coils wound on the same bobbin
When gears are used to drive a load, the inertia reflected to the
per stator half. Flux is reversed by energizing one coil or the
motor is expressed by the following equation:
other coil from a single power supply. The use of a unipolar
winding, sometimes called a bifilar winding, allows the drive
J = (Z1/Z2)2 . (J2 + J3) + J1
circuit to be simplified. Not only are one-half as many power
switches required (4 vs. 8), but the timing is not as critical to
Where Z1, Z2: No. of gear teeth
prevent a current short through two transistors as is possible
J1, J2, J3: inertia (kg-cm2)
with a bipolar drive. Unipolar motors have approxi mately
J: reflected inertia, (kg-cm2)
30% less torque at low step rates. However, at higher rates the
torque outputs are equivalent.
36
9-3-2 Linear acceleration

For linear acceleration as shown in Fig. 9-4 frequency f(t),
inertial system frequency fj(t) and inertia load Tj are
expressed as follows:
f(t) = (f1 - f0)/t1 . t + f0

TJ = (JR + JL)/g . (p . q . s)/180 . (f1 - f0)/t1
Fig. 9-2
f1
2) Pulley & belt system. A motor and belt drive arrangement is

used for linear load translation
f0
1
J = 2 J1 + ⁄4 M D2
Where J: Total inertia reflected to motor

J1: inertia of pulley (kg-cm2)
t1 Time
D: diameter of pulley (cm2)
M: weight of load (kg)
Fig. 9-4 Linear Acceleration
9-3-3 Exponential acceleration

For exponential as shown in Fig. 9-5, drive frequency f(t)
???and inertia load Tj are expressed as follows:
f(t) = f1 . (1 - e^-(t/t)) + f0
TJ = (JR + JL)/g . (p . q . s)/180 . f1/t . e^-(t/t)
Fig. 9-3
9-3 Determination of load acceleration/deceleration pattern.
9-3-1 Load Calculation

To determine the torque required to drive the load the f1
following equation should be satisfied.
f0
Exponential of
Tm = Tf + Tj
Where: Tm: Pullout torque (kgf-cm)
Tf: Friction torque (kgf-cm)
Tj: Inertia load (kgf-cm) Time
TJ = (JR + JL)/g . (p . q . s)/180 . df/dt Fig. 9-5 Exponential Acceleration
JR: Rotor inertia [kg-cm2]

JL: Load inertia [kg-cm2]
q: Step angle [deg]
g: Gravity acceleration = 980 [cm/sec2]
f: Drive frequency [PPS]
Example: A 1.8 degree step motor is to be accelerated from 100 to

1,000 pulses per second (PPS) in 50 ms, JR = 100 g-cm2, J1 = 1 kg-cm2.
The necessary pullout torque is:
TJ = (0.1 + 1)/980 . (p . 1.8)/180 . (1000 - 100)/0.05

= 0.635 (kgf-cm)
37
Stepper Motor Driver Information
Step Motor Wiring Diagram

Bipolar Unipolar
A = BROWN, A = ORANGE, B = RED, B = YELLOW

BLACK = A COMMON in unipolar 6-lead configuration, and A/B COMMON for unipolar 5-lead wire configuration
WHITE = B COMMON
Excitation Tables
Excitation Table - Bipolar Excitation Table - Uniipolar
CW* CCW* PHASE A PHASE B PHASE A- PHASE B- CW* CCW* PHASE A PHASE B PHASE A- PHASE B- COMMON
1 5 + + - - 1 5 - - +
2 4 - + + - 2 4 - - +
3 3 - - + + 3 3 - - +
4 2 + - - + 4 2 - - +
5 1 + + - - 5 1 - - +
*Viewed from shaft side ???*Viewed from shaft side
Step Motor Drive Circuit

TYPE A TYPE B TYPE C TYPE D
Unipolar, Constant V Unipolar, Constant I Bipolar, Constant V Bipolar, Constant I
Step Motor Drivers

MODEL TYPE MAX. CURRENT/PHASE
SDU 2201 Unipolar, Constant Current 1.5 Amps
SDU 2401 Unipolar, Constant Current 4.0 Amps
SDU 2101 Bipolar, Constant Current 2.0 Amps
Note: All drivers are 4 phase and are capable of half step (1-2 phase) and full step (2 phase) modes.
Input for all models is 110 VAC, 60 Hz
SDU2401 SDU2201 SDU2101

38
A Company That Keeps Its Promises
Today any industrial manufacturer knows that growth,

even survival, depends upon bringing more to the
customer. Pricing, service, quality, and solid engineering
are all expected.
SKC blends our engineering strength, our international

presence, and our technical support together to create an
evolving environment for the newest and most robust manu-
facturing techniques and project design fulfillment. The SKC
brand of Kanban, lean manufacturing, and just in time (JIT)
delivery, are based on the whole concept of Kaizen -
constant improvement. Dedication to constant improve-
ment has earned SKC several manufacturing and quality
certifications including ISO 9001, ISO 14001 and the
stringent automotive TS 16949 certification. The applica-
tion of all these principles allows SKC to increase the level
of service and value to all of our customers.
Quality, effort, involvement of all employees, willingness to

change, and communication are the key Kaizen concepts
SKC applies to the flow of services the company provides.
All of which allows SKC to deliver on our promise time

and time again
39
Corporate Headquarters Eastern Region Office District Office
6065 Bristol Parkway, 5000 Tilghman Stree, Suite 330, 1502 Euclid Circle,
Culver City, CA 90230 Allentown, PA 18104 Lafayette, CO 80026
Tel: 310-693-7600 Fax: 310-693-7599 Tel: 601-481-9888 Tel: 303-926-0019
Toll Free: 800-755-0752 Fax: 601-481-9777 Fax: 303-200-8464
Website: www.shinano.com
Contact: sales@shinano.com

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Full-Line Catalog

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0.6 kgf-cm Specifications

2000 rpm RATED POWER W 10

Integral drive kgf-cm 0.6

*24 max *24 max (57) (57)

8 ø ± 0.3 8 ø ± 0.3 (23) (23) 49.5 ± 0.2 49.5 ± 0.2

2ø3 ± 0.1 2ø3 ± 0.1

Torque [N.m] [rpm] [A] Torque [N.m] [rpm] [A]

500 gf-cm Specifications

1000 rpm RATED POWER W 5.1

Integral drive gf-cm 500

- Connector Pin Assignment

1500 rpm RATED POWER W 15

Integral drive kgf-cm 1

- Connector Pin Assignment

3.5 kgf-cm Specifications

1500 rpm RATED VOLTAGE VDC 24

Integral drive kgf-cm 3.5

- Connector Pin Assignment

110 gf-cm Specifications

3200 rpm RATED VOLTAGE VDC 7 to 40 (operating range)

Integral drive RATED SPEED rpm 3,200 ± 320 (at 26.5 V)

- Connector Pin Assignment

DR-8538-555 Connector Pin Assignment DR-8538-888 Connector Pin Assignment

DR-8538-555 Speed-Torque Characteristics DR-8538-888 Speed-Torque Characteristics

Speed-Torque Characteristics Specifications

Speed-Torque Characteristics Specifications

Speed-Torque Characteristics Specifications

All models on this page are RoHS compliant

Speed-Torque Characteristics Specifications

Speed-Torque Characteristics Specifications

Speed-Torque Characteristics Specifications

All models on this page are RoHS compliant

CW Rotation viewed from Output Shaft End

Available in NEMA-23 Mounting

STEP MOTOR HOLDING TORQUE RANGE

300 500 600 700 oz-in

Typical Performance –– ?Pull Out - - - Pull In

Refer to page 39 for Driver

50.84 15. ± 0.6 L

(2-M2 x 0.4) 2.3 ± 0.2 2

Typical Performance –– ?Pull Out - - - Pull In

Refer to page 39 for Driver

Typical Performance Refer to page 30 for Driver –– Pull Out - - - Pull In

SST40C2030 DRIVER : TYPE A (C = 1 µF, R = 0) VOLTAGE : Vw = 12 V

–– Pull Out - - - Pull In

Model SST41D 120

24 max 24 max (57) (57)