2-phase stepping motors high-torque pkp series · high-torque pkp series offers a standard type...

PageORIENTAL MOTOR GENERAL CATALOGUE 2012/2013

A-250 Features A-250 / System Configuration A-252 / Product Line A-253

General Specification A-276 / Windings and Connections A-276

□20 m

m□

28 m

m□

35 m

m□

42 m

m□

56.4

mm

□60 m

m

High-torque PKP Series offers a standard type with a resolution of 200 steps per revolution (1.8˚/step) and a geared type (high torque, higher resolution).The dedicated driver is required separately to operate the motor.

Features ■

High-Torque Design ●PKP Series generating high torque of approximately 1.2 to1.7 times (maximum holding torque) the PK Series standard type of same size.

Torq

ue [ N

·m]

0

0.5

0.1

0.3

0.2

0.4

500 1000 1500 2000 25000Speed [r/min]

0 642Pulse Speed [kHz]

Full Step

Pullout Torque

Constant Current Driver Power Supply Voltage: 24 VDCCurrent: 1.2 A/Phase (At 2-phase excitation)With Clean Damper D4CL-5.0F : JL=34×10-7 kg·m2

Full Step 1.8˚/step

PKP244U12B-LConventional Model(Standard Type)

2-Phase Stepping Motors

High-Torque PKP Series●Connection Information●

Technical reference ➜ Page G-1Safety standards ➜ Page H-2

The Advantages of Using a High Torque Motor

Lower Power Consumption and Lower Heat Generation ●If the running current of a PKP Series motor is decreased and the motor is operated at the same torque as the PK Series standard type, current consumption and temperature rise can be reduced.

PKP266U20B-L (2.0 A/Phase)PKP266U20B-L (1.65 A/Phase)PK266-02B (2.0 A/Phase)

0 30 300 3000

0

1.0

0.8

0.6

0.4

0.2

1.2

0 0.1 1 10 100

Full Step

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]

Constant Current Driver Power Supply Voltage: 24 VDCWith Clean Damper D6CL-8.0F: JL=140×10−7 kg·m2

Power consumption can be reduced

0

0

421 3

150010005000

60

50

40

30

10

20

70

Full Step

Pow

er C

onsu

mpt

ion

[ W]

Pulse Speed [kHz]

Speed [r/min]

PKP266U20B-L (1.65 A/Phase)PK266-02B (2.0 A/Phase)

Constant Current Driver Power Supply Voltage: 24 VDC

Comparison of driver power consumption

when low-speed torque is tailored to the

PK Series standard type

Temperature rise can be reduced

0.1 1 10

PKP266U20B-L (1.65 A/Phase)PK266-02B (2.0 A/Phase)

0

5

10

15

20

25

30

35

40

Tem

pera

ture

[ °C]

Speed [r/min]

Pulse Speed [kHz]

300

0

300 Full Step

Comparison of motor surface temperature

rise when low-speed torque is tailored to

the PK Series standard type

Power consumption reduced

by 20% (at low speed)

Temperature increases of 10°C and more are suppressed

Characteristics of Decreased Running Current in PKP Series Motors

Stepping Motors

A-251ContactTEL

Germany: 00800 22 55 66 22 UK/Ireland: 01256-347090 Italy: 02-93906346

France: 01 47 86 97 50 Other Countries: 00800 22 55 66 22

Intro

du

ctio

n

0.3

6°/G

eare

d

AR

0.7

2°/G

eare

dRK

0.3

6°/G

eare

d

AR

0.3

6°/0

.72°/

Geare

dCRK

1.8°/G

eare

dRBK

0.9

°/1.8°/G

ea

red

CM

K0.7

2°

PK

1 .8°/G

eare

dH

igh

-To

rqu

ePK

P0

.9°/1.8

°/Ge

are

dPK

Co

ntro

llers

SG8

030JY

Ac

ce

ss

orie

s

AC

Inp

ut M

oto

r & D

river

DC

Inp

ut M

oto

r & D

river

Mo

tor O

nly

Downsizing of Your Motor ●By using a PKP Series motor, which has the same torque as the PK Series standard type, the motor can be downsized.

Comparison of Speed-Torque Characteristics between PKP244U12A-L and PK264-02A

PKP244U12A-L

PK264-02A

0

0

10 10010.1

300030030

0

0.4

0.3

0.2

0.1

0.5

Full Step

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]

The motor can be downsized, even if the torque is the same!

39

□56.4

39

□42

PKP244U12A-LPK264-02A

SH ◇ Geared TypeThis geared type is effective for reducing speed, increasing torque, higher resolution and low vibration. The PK Series has a broader permissible speed range than the SH geared type, and is also easier to use.

Motor Lineup ■

Bipolar and unipolar models are available for all types.

Motor Frame Size20 mm 28 mm 35 mm 42 mm 56.4/60 mm

Standard Type

SH Geared Type

PK Series PK243A1-SG10 PKP Series PKP243U09A-SG10

200Speed [r/min]

Torq

ue [N

∙m]

0

0.2

0.6

0

0.4

0.8

0.1

0.5

0.3

0.7

400100 300

Permissible Speed Range0 to 180 r/min

200Speed [r/min]

Torq

ue [N

∙m]

0

0.2

0.6

0

0.4

0.8

0.1

0.5

0.3

0.7

400100 300

Permissible Speed Range0 to 300 r/min




1.8°/Geared 2-Phase Stepping MotorsHigh-Torque PKP Series

□20 m

m□

28 m

m□

35 m

m□

42 m

m□

56.4

mm

□60 m

m

System Configuration ■

These accessories enable 2-phase PKP Series products to be used for various operations. ✽1 Not supplied

Number Name Overview① Motor Mounting Brackets Dedicated mounting bracket for the motor.② Flexible Couplings Coupling that connects the motor shaft to the driven shaft.③ Clean Dampers Dedicated damper for suppressing stepping motor vibration.

④ Connection Cables Lead wire with a connector crimped for connector-coupled motors (0.6 m, 1 m).⑤ Motor Connector Sets Set of connector housings and contacts for use with connector-coupled motors (30 units).

●System Confi guration Example

2-Phase PKP Series Sold Separately

MotorsMounting Bracket

FlexibleCoupling Clean Damper

PKP264D28B-L PAL2P-2 MCS200808 D6CL-8.0F

●The system confi guration shown above is an example. Other combinations are available.

Driver✽1 Controller✽1

Controllers suitable for stepping motors are available.Controllers ➜ Page A-338

Controller (Sold separately)

Programmable Controller✽1

Motor

2-Phase PKP Series

① Motor Mounting Brackets (➜ Page A-369)

② Flexible Couplings(➜ Page A-359)

③ Clean Dampers (➜ Page A-375)

④ Connection Cables✽2 (➜ Page A-358)

⑤ Motor Connector Sets(➜ Page A-358)

Accessories (Sold separately)

Product Number Code ■

Standard Type ●

PKP 2 6 4 D 28 A - L① ② ③ ④ ⑤ ⑥ ⑦ ⑧

SH ● Geared Type

PKP 2 4 3 U 09 B - SG 18 - L① ② ③ ④ ⑤ ⑥ ⑨ ⑩⑦ ⑧

① Series Name PKP: PKP Series② 2: 2-Phase

③ Motor Frame Size1: 20 mm 2: 28 mm 3: 35 mm4: 42 mm 6: 56.4 mm

④ Motor Case Length⑤ Number of Lead Wires D: 4 U: 5 or 6⑥ Winding Specifications⑦ Motor Shaft Type A: Single Shaft B: Double Shaft⑧ Connection Cable L: Included (0.6 m)

① Series Name PKP: PKP Series② 2: 2-Phase③ Motor Frame Size 2: 28 mm 4: 42 mm 6: 60 mm④ Motor Case Length⑤ Number of Lead Wires D: 4 U: 6⑥ Winding Specifications⑦ Motor Shaft Type A: Single Shaft B: Double Shaft⑧ Gearhead Type SG: SH Geared Type⑨ Gear Ratio⑩ Connection Cable L: Included (0.6 m)

Required Products (Sold separately)

2 A connection cable (0.6 m) is included with products that have product names ending in " ✽ L."

Stepping Motors

A-253ContactTEL



Intro

du

ctio

n

0.3

6°/G

eare

d

AR

0.7

2°/G

eare

dRK

0.3

6°/G

eare

d

AR

0.3

6°/0

.72°/

Geare

dCRK

1.8°/G

eare

dRBK

0.9

°/1.8°/G

ea

red

CM

K0.7

2°

PK

1 .8°/G

eare

dH

igh

-To

rqu

ePK

P0

.9°/1.8

°/Ge

are

dPK

Co

ntro

llers

SG8

030JY

Ac

ce

ss

orie

s

AC

Inp

ut M

oto

r & D

river

DC

Inp

ut M

oto

r & D

river

Mo

tor O

nly

Product Line ■

Standard Type (4 lead wires) ●Product Name (Single shaft) Product Name (Double shaft)

PKP213D05A PKP213D05BPKP214D06A PKP214D06BPKP223D15A-L PKP223D15B-LPKP224D15A-L PKP224D15B-LPKP225D15A-L PKP225D15B-LPKP233D15A-L PKP233D15B-LPKP235D15A-L PKP235D15B-LPKP243D15A-L PKP243D15B-LPKP244D15A-L PKP244D15B-L PKP245D15A-L PKP245D15B-LPKP246D15A-L PKP246D15B-LPKP264D28A-L PKP264D28B-LPKP266D28A-L PKP266D28B-LPKP268D28A-L PKP268D28B-L

Standard Type (5 or 6 lead wires) ●Product Name (Single shaft) Product Name (Double shaft)

PKP213U05A PKP213U05BPKP214U06A PKP214U06BPKP223U09A-L PKP223U09B-LPKP224U09A-L PKP224U09B-LPKP225U09A-L PKP225U09B-LPKP233U12A-L PKP233U12B-LPKP235U12A-L PKP235U12B-LPKP243U04A-L PKP243U04B-LPKP243U06B-L PKP243U06B-LPKP243U09A-L PKP243U09B-LPKP244U04A-L PKP244U04B-LPKP244U08A-L PKP244U08B-LPKP244U12A-L PKP244U12B-LPKP245U05A-L PKP245U05B-LPKP245U08A-L PKP245U08B-LPKP245U12A-L PKP245U12B-LPKP246U12A-L PKP246U12B-LPKP264U10A-L PKP264U10B-LPKP264U20A-L PKP264U20B-LPKP264U30A-L PKP264U30B-LPKP266U10A-L PKP266U10B-LPKP266U20A-L PKP266U20B-LPKP266U30A-L PKP266U30B-LPKP268U10A-L PKP268U10B-LPKP268U20A-L PKP268U20B-LPKP268U30A-L PKP268U30B-L

SH ● Geared Type (4 lead wires)Product Name (Single shaft) Product Name (Double shaft)

PKP223D15A-SG7.2-L PKP223D15B-SG7.2-LPKP223D15A-SG9-L PKP223D15B-SG9-LPKP223D15A-SG10-L PKP223D15B-SG10-LPKP223D15A-SG18-L PKP223D15B-SG18-LPKP223D15A-SG36-L PKP223D15B-SG36-LPKP243D15A-SG3.6-L PKP243D15B-SG3.6-LPKP243D15A-SG7.2-L PKP243D15B-SG7.2-LPKP243D15A-SG9-L PKP243D15B-SG9-LPKP243D15A-SG10-L PKP243D15B-SG10-LPKP243D15A-SG18-L PKP243D15B-SG18-LPKP243D15A-SG36-L PKP243D15B-SG36-LPKP264D14A-SG3.6-L PKP264D14B-SG3.6-LPKP264D28A-SG3.6-L PKP264D28B-SG3.6-LPKP264D14A-SG7.2-L PKP264D14B-SG7.2-LPKP264D28A-SG7.2-L PKP264D28B-SG7.2-LPKP264D14A-SG9-L PKP264D14B-SG9-LPKP264D28A-SG9-L PKP264D28B-SG9-LPKP264D14A-SG10-L PKP264D14B-SG10-LPKP264D28A-SG10-L PKP264D28B-SG10-LPKP264D14A-SG18-L PKP264D14B-SG18-LPKP264D28A-SG18-L PKP264D28B-SG18-LPKP264D14A-SG36-L PKP264D14B-SG36-LPKP264D28A-SG36-L PKP264D28B-SG36-L

SH ● Geared Type (6 lead wires)Product Name (Single shaft) Product Name (Double shaft)

PKP223U09A-SG7.2-L PKP223U09B-SG7.2-LPKP223U09A-SG9-L PKP223U09B-SG9-LPKP223U09A-SG10-L PKP223U09B-SG10-LPKP223U09A-SG18-L PKP223U09B-SG18-LPKP223U09A-SG36-L PKP223U09B-SG36-LPKP243U09A-SG3.6-L PKP243U09B-SG3.6-LPKP243U09A-SG7.2-L PKP243U09B-SG7.2-LPKP243U09A-SG9-L PKP243U09B-SG9-LPKP243U09A-SG10-L PKP243U09B-SG10-LPKP243U09A-SG18-L PKP243U09B-SG18-LPKP243U09A-SG36-L PKP243U09B-SG36-LPKP264U10A-SG3.6-L PKP264U10B-SG3.6-LPKP264U20A-SG3.6-L PKP264U20B-SG3.6-LPKP264U10A-SG7.2-L PKP264U10B-SG7.2-LPKP264U20A-SG7.2-L PKP264U20B-SG7.2-LPKP264U10A-SG9-L PKP264U10B-SG9-LPKP264U20A-SG9-L PKP264U20B-SG9-LPKP264U10A-SG10-L PKP264U10B-SG10-LPKP264U20A-SG10-L PKP264U20B-SG10-LPKP264U10A-SG18-L PKP264U10B-SG18-LPKP264U20A-SG18-L PKP264U20B-SG18-LPKP264U10A-SG36-L PKP264U10B-SG36-LPKP264U20A-SG36-L PKP264U20B-SG36-L

The following items are included in each product.Motor, Connection Cable✽, Operating Manual

Only products that have product names that end in " ✽ L"





Standard Type Frame Size 20 mm (4 lead wires)

Specifications ■

Product Name

ConnectionType

MaximumHolding Torque

RotorInertia

RatedCurrent

VoltageResistanceper Phase

InductanceBasic

Step Angle

Wirings andConnections

Single ShaftDouble Shaft N•m J: kg•m2 A/Phase VDC Ω/Phase mH/Phase (See Page A-276)

PKP213D05APKP213D05B

Bipolar0.02 1.6×10-7 0.5 4.25 8.5 4.1

1.8˚PKP214D06APKP214D06B 0.036 2.9×10-7 0.6 3.9 6.5 3.5

Speed – Torque Characteristics ■

NoteDepending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at 100˚C or less. ●

Dimensions ■ (Unit = mm)

Product Name L1 L2Mass

kgPKP213D05A

30−

0.05PKP213D05B 38

PKP214D06A40

−0.07

PKP214D06B 48

PKP213D05A/PKP213D05B PKP214D06A/PKP214D06B

0 300020001000 500040000

0.020

0.010

0.005

0.015

0.025

0 2 864 Full Step10 12

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Pullout Torque

Constant Current Driver Power Supply Voltage: 24 VDCCurrent: 0.5 A/Phase (At 2-phase excitation)Load Inertia: JL=0 kg·m2

0

0.005

0.010

0.020

0.015

0.040

0.025

1000 2000 3000 4000 50000

0.030

0.035

40 82 6 10 12

fs

Full Step

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Pullout Torque


12

3

300

2016

±0.

2

2016±0.2

ϕ15

−0.

018

( h7)

0ϕ

4 −0.

012

( h7)

03.

5±0.

15

1.5

10±1L2L1 7±0.258±1

3.5±

0.15

UL Style 3265, AWG26

0ϕ

4 −0.

012

( h7)

4×M2×2.5 Deep

4 Motor Leads

7.8

These dimensions are for double shaft models. ●For single shaft models, ignore the shaft in the shaded areas.The back shaft of the motor with double shaft type has the shaft flat in whole length. ●

□20 m

m□

28 m

m□

35 m

m□

42 m

m□

56.4

mm

□60 m

m

Stepping Motors

A-255ContactTEL



Intro

du

ctio

n

0.3

6°/G

eare

d

AR

0.7

2°/G

eare

dRK

0.3

6°/G

eare

d

AR

0.3

6°/0

.72°/

Geare

dCRK

1.8°/G

eare

dRBK

0.9

°/1.8°/G

ea

red

CM

K0.7

2°

PK

1 .8°/G

eare

dH

igh

-To

rqu

ePK

P0

.9°/1.8

°/Ge

are

dPK

Co

ntro

llers

SG8

030JY

Ac

ce

ss

orie

s

AC

Inp

ut M

oto

r & D

river

DC

Inp

ut M

oto

r & D

river

Mo

tor O

nly


Specifications ■

Product Name

ConnectionType


RotorInertia

RatedCurrent


InductanceBasic

Step Angle



PKP213U05APKP213U05B

Unipolar0.014 1.6×10-7 0.5 4.25 8.5 2.9

1.8˚PKP214U06APKP214U06B 0.026 2.9×10-7 0.6 4.2 7 2.4




Product Name L1 L2Mass

kgPKP213U05A

30−

0.05PKP213U05B 38

PKP214U06A40

−0.07

PKP214U06B 48

12

3

300

2016

±0.

2

2016±0.2

ϕ15

−0.

018

( h7)

0ϕ

4 −0.

012

( h7)

03.

5±0.

15

1.5

10±1L2L1 7±0.258±1

3.5±

0.15


0ϕ

4 −0.

012

( h7)

4×M2×2.5 Deep

5 Motor Leads

7.8

These dimensions are for double shaft models. ●For single shaft models, ignore the shaft in the shaded areas.The back shaft of the motor with double shaft type has the shaft flat in whole length. ●

PKP213U05A/PKP213U05B PKP214U06A/PKP214U06B

100000

0.020

0.015

0.010

0.005

0 2000 4000 6000 8000fs

0 10 20 30

Torq

ue [ N

·m]

Speed [r/min]

Pulse Speed [kHz]Full Step


Pullout Torque


0

0.005

0.010

0.020

0.015

0.030

0.025

2000 4000 6000 8000 100000

fs

100 205 15 25

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]

Full Step


Pullout Torque







Specifications ■

Product Name

ConnectionType


RotorInertia

RatedCurrent

Voltage Resistanceper Phase

InductanceBasic

Step Angle



PKP223D15A-LPKP223D15B-L

Bipolar

0.065 9×10-7

1.5

1.8 1.2 0.74

1.8˚PKP224D15A-LPKP224D15B-L 0.097 12×10-7 2.32 1.55 0.85

PKP225D15A-LPKP225D15B-L 0.11 18×10-7 3 2.05 1

A connection cable (0.6 m) is included. ●



PKP223D15A-L/PKP223D15B-L PKP224D15A-L/PKP224D15B-L PKP225D15A-L/PKP225D15B-L

0

0

5 10 15

300020001000 6000500040000

0.10

0.04

0.06

0.08

0.02

Full Step

fs


Pullout Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]

Constant Current Driver Power Supply Voltage: 24 VDCCurrent: 1.5 A/Phase (At 2-phase excitation)With Clean Damper D4CL-5.0F: JL=34×10−7 kg·m2

0

0

5 10 15

300020001000 5000 600040000

0.12

0.04

0.06

0.08

0.10

0.02

Full Step

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Pullout Torque


0 300020001000 5000 600040000

0.16

0.14

0.12

0.04

0.06

0.08

0.10

0.02

0 5 10 15 Full Step

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Pullout Torque



Product Name Motor Product Name L1 L2Mass

kgPKP223D15A-L PKP223D15A

32−

0.11PKP223D15B-L PKP223D15B 42

PKP224D15A-L PKP224D15A40

−0.14

PKP224D15B-L PKP224D15B 50

PKP225D15A-L PKP225D15A51.5

−0.2

PKP225D15B-L PKP225D15B 61.5

Applicable Connector ●Connector Housing: 51065-0600 (Molex)Contact: 50212-8100 (Molex)Crimp Tool: 57176-5000 (Molex)

The length of the shaft flat on the double shaft model is 10 ✽ ±0.25.These dimensions are for double shaft models. ●For single shaft models, ignore the shaft in the shaded areas.

Included ●Connection CableProduct Name: LC2B06A

4 Motor Leads 51065-0600 (Molex)UL Style 3265, AWG24

600

6

1

L1✽10±1

L2

1.5

15±1

10±0.25

4.5±

0.15

4.5±

0.15

5

9.5

28

23±

0.2

23±0.2

16.56 1

ϕ5−

0.01

2 ( h

7)0

ϕ5−

0.01

2 ( h

7)0

ϕ22

−0.

033

( h8)

0

284×M2.5×2.5 Deep

□20 m

m□

28 m

m□

35 m

m□

42 m

m□

56.4

mm

□60 m

m

Accessories (Sold separately) ■

Connection cable and motor connector set are available as accessories. Connection cable ● ➜ Page A-358 Motor connector set ● ➜ Page A-358

Stepping Motors

A-257ContactTEL



Intro

du

ctio

n

0.3

6°/G

eare

d

AR

0.7

2°/G

eare

dRK

0.3

6°/G

eare

d

AR

0.3

6°/0

.72°/

Geare

dCRK

1.8°/G

eare

dRBK

0.9

°/1.8°/G

ea

red

CM

K0.7

2°

PK

1 .8°/G

eare

dH

igh

-To

rqu

ePK

P0

.9°/1.8

°/Ge

are

dPK

Co

ntro

llers

SG8

030JY

Ac

ce

ss

orie

s

AC

Inp

ut M

oto

r & D

river

DC

Inp

ut M

oto

r & D

river

Mo

tor O

nly


Specifications ■

Product Name

ConnectionType


RotorInertia

RatedCurrent

Voltage Resistanceper Phase

InductanceBasic

Step Angle



PKP223U09A-LPKP223U09B-L

Unipolar

0.05 9×10-7

0.95

2.66 2.8 1

1.8˚PKP224U09A-LPKP224U09B-L 0.075 12×10-7 3.2 3.4 1.2

PKP225U09A-LPKP225U09B-L 0.09 18×10-7 4.4 4.6 1.4




PKP223U09A-L/PKP223U09B-L

fs

0

0

1284

450040003500300025002000150010005000

0.07

0.06

0.05

0.04

0.03

0.02

0.01

0.08

Full Step

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]


Pullout Torque



fs

0

0

1284

450040003500300025002000150010005000

0.10

0.08

0.06

0.04

0.02

0.12

Full Step

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]


Pullout Torque



fs

0

0

1284

450040003500300025002000150010005000

0.12

0.10

0.08

0.06

0.04

0.02

0.14

Full Step

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]


Pullout Torque




kgPKP223U09A-L PKP223U09A

32−

0.11PKP223U09B-L PKP223U09B 42

PKP224U09A-L PKP224U09A40

−0.14

PKP224U09B-L PKP224U09B 50

PKP225U09A-L PKP225U09A51.5

−0.2

PKP225U09B-L PKP225U09B 61.5



Included ●Connection CableProduct Name: LC2U06A

6 Motor Leads51065-0600 (Molex)UL Style 3265, AWG24

600

6

1

L1✽10±1

L2

1.5

15±1

10±0.25

4.5±

0.15

4.5±

0.15

5

9.5

28

23±

0.2

23±0.2

16.56 1

ϕ5−

0.01

2 ( h

7)0

ϕ5−

0.01

2 ( h

7)0

ϕ22

−0.

033

( h8)

0

284×M2.5×2.5 Deep








Specifications ■

Product Name

ConnectionType


RotorInertia

RatedCurrent


InductanceBasic

Step Angle




Bipolar0.2 24×10-7

1.52.43 1.62 1.5

1.8˚PKP235D15A-LPKP235D15B-L 0.37 50×10-7 3.6 2.4 2.6




PKP233D15A-L/PKP233D15B-L

0

0

4 8

300020001000 40000

0.25

0.10

0.15

0.20

0.05

Full Step

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Pullout Torque



0

0

2 4 6

15001000500 250020000

0.40

0.10

0.15

0.25

0.20

0.35

0.30

0.05

Full Step

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]


Pullout Torque





37−

0.18PKP233D15B-L PKP233D15B 52


−0.285




Included ●Connection CableProduct Name: LC2B06B

4 Motor Leads 51103-0600 (Molex)


600

6

1

29±0.2

35

29±

0.2

236 1

4.5±

0.15

20±1

15±0.25

1.5

✽15±1

4.5±

0.15

17.5

9

L2L1

ϕ5−

0.01

2 ( h

7)0

ϕ5−

0.01

2 ( h

7)0

ϕ22

−0.

033

( h8)

0

354×M3×4.5 Deep

□20 m

m□

28 m

m□

35 m

m□

42 m

m□

56.4

mm

□60 m

m



Stepping Motors

A-259ContactTEL



Intro

du

ctio

n

0.3

6°/G

eare

d

AR

0.7

2°/G

eare

dRK

0.3

6°/G

eare

d

AR

0.3

6°/0

.72°/

Geare

dCRK

1.8°/G

eare

dRBK

0.9

°/1.8°/G

ea

red

CM

K0.7

2°

PK

1 .8°/G

eare

dH

igh

-To

rqu

ePK

P0

.9°/1.8

°/Ge

are

dPK

Co

ntro

llers

SG8

030JY

Accesso

ries

AC

Inp

ut M

oto

r & D

river

DC

Inp

ut M

oto

r & D

river

Mo

tor O

nly


Specifications ■

Product Name

ConnectionType


RotorInertia

RatedCurrent


InductanceBasic

Step Angle




Unipolar0.16 24×10-7

1.23.24 2.7 1.4

1.8˚PKP235U12A-LPKP235U12B-L 0.3 50×10-7 4.08 3.4 2





fs

0

0

642

25002000150010005000

0.15

0.10

0.05

0.20

Full Step

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]


Pullout Torque



fs

0

0

642

25002000150010005000

0.20

0.15

0.10

0.05

0.30

0.25

Full Step

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]


Pullout Torque





37−

0.18PKP233U12B-L PKP233U12B 52


−0.285




Included ●Connection CableProduct Name: LC2U06B



600

6

1

29±0.2

35

29±

0.2

236 1

4.5±

0.1520±1

15±0.25

1.5

✽15±1

4.5±

0.15

17.5

9

L2L1

ϕ5−

0.01

2 ( h

7)0

ϕ5−

0.01

2 ( h

7)0

ϕ22

−0.

033

( h8)

0

35

4×M3×4.5 Deep








Specifications ■

Product Name

ConnectionType


RotorInertia

RatedCurrent


InductanceBasic

Step Angle




Bipolar

0.35 36×10-7

1.5

2.85 1.9 5

1.8˚

PKP244D15A-LPKP244D15B-L 0.48 57×10-7 3.9 2.6 4.9

PKP245D15A-LPKP245D15B-L 0.58 83×10-7 3.6 2.4 6.6

PKP246D15A-LPKP246D15B-L 0.93 114×10-7 5.8 3.87 8




0

0.05

0.10

0.20

0.25

0.15

0.35

0.30

500 1000 1500 20000

20 4 6

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step

Pullout Torque


0

0

2

1500 2000500 10000

0.5

0.4

0.1

0.2

0.3

4 6 Full Step

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]


Pullout Torque


0

0.1

0.2

0.4

0.5

0.3

0.6

500 1000 15000

10 2 3 4

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step

Pullout Torque



0

0

1 2 3

600400200 10008000

1.0

0.4

0.6

0.8

0.2

Full Step

fs

Torq

ue [ N

·m]


Pullout Torque

Pulse Speed [kHz]

Speed [r/min]






33−

0.25PKP243D15B-L PKP243D15B 48


−0.3



−0.39



−0.5



6 1

4.5±

0.15

4220±1

15±0.25

4.5±

0.15

1.5

9

23

31±

0.2

31±0.2

15

L2L1

ϕ5−

0.01

2 ( h

7)0

ϕ5−

0.01

2 ( h

7)0

ϕ22

−0.

033

( h8)

0

42

4×M3×4.5 Deep

15±1


Included ●Connection CableProduct Name: LC2B06B



600

6

1



□20 m

m□

28 m

m□

35 m

m□

42 m

m□

56.4

mm

□60 m

m

Stepping Motors

A-261ContactTEL



Intro

du

ctio

n

0.3

6°/G

eare

d

AR

0.7

2°/G

eare

dRK

0.3

6°/G

eare

d

AR

0.3

6°/0

.72°/

Geare

dCRK

1.8°/G

eare

dRBK

0.9

°/1.8°/G

ea

red

CM

K0.7

2°

PK

1 .8°/G

eare

dH

igh

-To

rqu

ePK

P0

.9°/1.8

°/Ge

are

dPK

Co

ntro

llers

SG8

030JY

Ac

ce

ss

orie

s

AC

Inp

ut M

oto

r & D

river

DC

Inp

ut M

oto

r & D

river

Mo

tor O

nly


Specifications ■

Product Name

ConnectionType


RotorInertia

RatedCurrent


InductanceBasic

Step Angle




Unipolar

0.25 36×10-7

0.4 12 30 3.3

1.8˚

PKP243U06A-LPKP243U06B-L 0.6 6.6 11 12.4

PKP243U09A-LPKP243U09B-L 0.95 4.47 4.7 5


0.3657×10-7

0.4 12 30 28.6

PKP244U08A-L PKP244U08B-L 0.8 5.76 7.2 7.6

PKP244U12A-LPKP244U12B-L 0.39 1.2 4.8 4 3.9


0.45 83×10-7

0.5 12 24 33

PKP245U08A-L PKP245U08B-L 0.8 6.4 8 11.3

PKP245U12A-LPKP245U12B-L 1.2 4.56 3.8 5

PKP246U12A-LPKP246U12B-L 0.75 114×10-7 1.2 7.2 6 6.5





0

0.05

0.10

0.20

0.15

0.30

0.25

100 200 300 400 5000

0.50 1.0

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step

Pullout Torque

Constant Voltage Driver Power Supply Voltage: 13.9 VDCExternal Resistance: 0 ΩWith Clean Damper D4CL-5.0F: JL=34×10−7 kg·m2

PKP243U06A-L/PKP243U06B-L PKP243U09A-L/PKP243U09B-L

0

0.05

0.10

0.20

0.25

0.15

0.30

500 1000 15000

10 2 3 4

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step

Pullout Torque


0

0.05

0.10

0.20

0.25

0.15

0.30

500 1000 1500 20000

20 4 6

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step

Pullout Torque


PKP244U04A-L/PKP244U04B-L PKP244U08A-L/PKP244U08B-L PKP244U12A-L/PKP244U12B-L

fs

0

0

642

25002000150010005000

0.4

0.3

0.2

0.1

0.5

Full Step

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]


Pullout Torque


0

0.1

0.2

0.4

0.3

0.5

100 200 300 400 5000

0.50 1.0

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step

Pullout Torque

Constant Voltage Driver Power Supply Voltage: 13.9 VDCExternal Resistance: 0 ΩWith Clean Damper D4CL-5.0F: JL=34×10−7 kg·m2

0

0.1

0.2

0.4

0.3

0.5

500 1000 15000

10 2 3 4

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step

Pullout Torque






□20 m

m□

28 m

m□

35 m

m□

42 m

m□

56.4

mm

□60 m

m


0

0.1

0.2

0.4

0.3

0.5

100 200 300 400 5000

0.50 1.0

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step

Pullout Torque

Constant Voltage Driver Power Supply Voltage: 14 VDCExternal Resistance: 0 ΩWith Clean Damper D4CL-5.0F: JL=34×10−7 kg·m2


0

0.1

0.2

0.4

0.3

0.5

500 1000 15000

10 2 3 4

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step

Pullout Torque



0

0.1

0.3

0.4

0.2

0.5

500 1000 1500 20000

20 4 6

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step

Pullout Torque



fs

0

0

642

2000150010005000

0.6

0.4

0.2

0.8

Full Step

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]


Pullout Torque



Product Name Motor Product Name L1 L2 Masskg

PKP243U04A-L PKP243U04A

33

−

0.25


PKP243U06A-L PKP243U06A −





39

−

0.3







47

−

0.39







−0.5



6 1

4.5±

0.15

4220±1

15±0.25

4.5±

0.15

1.5

9

23

31±

0.2

31±0.2

15

L2L1

ϕ5−

0.01

2 ( h

7)0

ϕ5−

0.01

2 ( h

7)0

ϕ22

−0.

033

( h8)

0

42

15±1

4×M3×4.5 Deep


Included ●Connection CableProduct Name: LC2U06B



600

6

1




Stepping Motors

A-263ContactTEL



Intro

du

ctio

n

0.3

6°/G

eare

d

AR

0.7

2°/G

eare

dRK

0.3

6°/G

eare

d

AR

0.3

6°/0

.72°/

Geare

dCRK

1.8°/G

eare

dRBK

0.9

°/1.8°/G

ea

red

CM

K0.7

2°

PK

1 .8°/G

eare

dH

igh

-To

rqu

ePK

P0

.9°/1.8

°/Ge

are

dPK

Co

ntro

llers

SG8

030JY

Ac

ce

ss

orie

s

AC

Inp

ut M

oto

r & D

river

DC

Inp

ut M

oto

r & D

river

Mo

tor O

nly



Standard Type Frame Size 56.4 mm (4 lead wires)

Specifications ■

Product Name

ConnectionType


RotorInertia

RatedCurrent


InductanceBasic

Step Angle




Bipolar

0.6 120×10-7

2.8

2 0.73 1.8

1.8˚PKP266D28A-LPKP266D28B-L 1.4 290×10-7 2.8 1 2.9

PKP268D28A-LPKP268D28B-L 2.3 490×10-7 3.4 1.23 4.4




0

0

2 4 6

15001000500 250020000

0.8

0.3

0.5

0.6

0.7

0.1

0.4

0.2

Full Step

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Pullout Torque


0

0

1 2 3 4

1000500 15000

1.6

0.6

1.0

1.2

1.4

0.2

0.8

0.4

Full Step

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Pullout Torque


0

0

1 2

700600 800400300200100 5000

2.5

1.0

1.5

2.0

0.5

Full Step

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Pullout Torque




Product NameMotor

Product NameL1 L2

Masskg


−0.46

PKP264D28B-L PKP264D28B 62PKP266D28A-L PKP266D28A

54−

0.73PKP266D28B-L PKP266D28B 77PKP268D28A-L PKP268D28A

76−

1.1PKP268D28B-L PKP268D28B 99Applicable Connector ●Connector Housing: 51067-0600 (Molex)Contact: 50217-9101 (Molex)Crimp Tool: 57189-5000 (Molex) 57190-5000 (Molex)

16

29

5

56.4

56.4

47.1

4±0.

35

1.6L1

L2

20±0.25

7.5±

0.15

ϕ38

.1±

0.03

12

18.5

47.14±0.35

24±1

23±1

20±0.25

7.5±

0.15

ϕ8−

0.01

50

ϕ8−

0.01

50

4×ϕ4.5

These dimensions are for double shaft models. ●For single shaft models, ignore the shaft in the shaded areas.

Included ●Connection CableProduct Name: LC2B06C

6

151067-0600 (Molex)

600

4 Motor Leads UL Style 3265, AWG22





□20 m

m□

28 m

m□

35 m

m□

42 m

m□

56.4

mm

□60 m

m

Standard Type Frame Size 56.4 mm (6 lead wires)

Specifications ■

Product Name

ConnectionType


RotorInertia

RatedCurrent


InductanceBasic

Step Angle




Unipolar

0.51 120×10-7

1 5.87 5.87 7.2

1.8˚

PKP264U20A-LPKP264U20B-L 2 2.9 1.45 1.8

PKP264U30A-LPKP264U30B-L 3 1.95 0.65 0.8


1.1 290×10-7

1 8.1 8.1 11.6

PKP266U20A-LPKP266U20B-L 2 4 2 2.9

PKP266U30A-LPKP266U30B-L 3 2.76 0.92 1.33


1.75 490×10-7

1 9.32 9.32 17.6

PKP268U20A-LPKP268U20B-L 2 4.9 2.45 4.4

PKP268U30A-LPKP268U30B-L 3 3.15 1.05 1.96




0

0.1

0.3

0.4

0.2

0.5

500 1000 1500 20000

20 4 6

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step

Pullout Torque

Constant Current Driver Power Supply Voltage: 24 VDCCurrent: 1 A/Phase (At 2-phase excitation)With Clean Damper D6CL-8.0F: JL=140×10−7 kg·m2

fs

0

0

642

25002000150010005000

0.4

0.3

0.2

0.1

0.5

Full Step

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]


Pullout Torque


0

0.1

0.2

0.4

0.3

0.5

1000 2000 3000 4000 50000

50 10

fs

Pullout Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step



0

0.2

0.4

0.8

0.6

1.2

1.0

100 200 300 4000

0 0.5 1.0

fs

Pullout Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


fs0 2500200015001000500

0

1.0

0.8

0.6

0.4

0.2

1.2

0 642 Full Step

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]


Pullout Torque


0

0.2

0.4

0.8

1.0

0.6

1.2

500 1000 1500 250020000

20 4 6

fs

Pullout Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step



0

0.2

0.4

1.0

0.6

1.6

1.4

0.8

1.2

50 100 150 200 250 3000

0.250 0.50 0.75

fs

Pullout Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


fs0 200015001000500

0

1.0

0.8

0.6

0.4

0.2

1.6

1.2

1.4

0 642 Full Step

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]


Pullout Torque


0

0.2

0.4

0.8

1.0

0.6

1.6

1.2

1.4

500 1000 1500 20000

20 4 6

fs

Pullout Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step



Stepping Motors

A-265ContactTEL



Intro

du

ctio

n

0.3

6°/G

eare

d

AR

0.7

2°/G

eare

dRK

0.3

6°/G

eare

d

AR

0.3

6°/0

.72°/

Geare

dCRK

1.8°/G

eare

dRBK

0.9

°/1.8°/G

ea

red

CM

K0.7

2°

PK

1 .8°/G

eare

dH

igh

-To

rqu

ePK

P0

.9°/1.8

°/Ge

are

dPK

Co

ntro

llers

SG8

030JY

Ac

ce

ss

orie

s

AC

Inp

ut M

oto

r & D

river

DC

Inp

ut M

oto

r & D

river

Mo

tor O

nly




39

−

0.46







54

−

0.73







76

−

1.1






Applicable Connector ●Connector Housing: 51067-0600 (Molex)Contact: 50217-9101 (Molex)Crimp Tool: 57189-5000 (Molex) 57190-5000 (Molex)

16

29

5

56.4

56.4

47.1

4±0.

35

1.6L1

L2

20±0.25

7.5±

0.15

ϕ38

.1±

0.03

12

18.5

47.14±0.35

24±1

23±1

20±0.25

7.5±

0.15

ϕ8−

0.01

50

ϕ8−

0.01

50

4×ϕ4.5

These dimensions are for double shaft models. ●For single shaft models, ignore the shaft in the shaded areas.

Included ●Connection CableProduct Name: LC2U06C

6

151067-0600 (Molex)

600








SH Geared Type Frame Size 28 mm (4 lead wires)

Specifications ■

Motor Specifications ●Product Name

ConnectionType

RotorInertia

RatedCurrent


InductanceWirings andConnections

Single ShaftDouble Shaft J: kg•m2 A/Phase VDC Ω/Phase mH/Phase (See Page A-276)

PKP223D15A-SG ■ ■-LPKP223D15B-SG ■ ■-L Bipolar 9×10-7 1.5 1.8 1.2 0.74

A number indicating the gear ratio is entered where the box ● ■ ■ is located within the product name.A connection cable (0.6 m) is included. ●

NoteThe rotation direction of the motor and that of the gear output shaft are the same for the gear ratios 7.2 and 36. It is the opposite for 9, 10 and 18 gear ratio. ●

Gearmotor Specifications ●Product Name Maximum

Holding Torque BasicStep Angle

GearRatio

PermissibleTorque

BacklashPermissible

Speed Range

Single ShaftDouble Shaft N•m N•m

arc minute (degrees) r/min

PKP223D15A-SG7.2-LPKP223D15B-SG7.2-L

0.3

0.25˚ 7.2

0.3

90 (1.5˚)

0∼416

PKP223D15A-SG9-LPKP223D15B-SG9-L 0.2˚ 9 0∼333


PKP223D15A-SG18-LPKP223D15B-SG18-L

0.40.1˚ 18

0.40∼166






0

0.1

0.2

0.3

0.5

0.4

100 200 300 400 5000

2 40 6 8 10

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


fs

Speed [r/min]

Full Step


0

0.1

0.2

0.3

0.5

0.4

100 200 300 4000

2 40 6 8 10

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


fs

Speed [r/min]

Full Step


0

0.1

0.2

0.3

0.5

0.4

100 200 300 4000

2 40 6 8 10

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


fs

Speed [r/min]

Full Step




0

0.1

0.2

0.3

0.5

0.4

50 100 150 2000

2 40 6 8 10

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


fs

Speed [r/min]

Full Step


0

0.1

0.2

0.3

0.5

0.4

20 40 60 1000

2 40 6 8 10

80

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


fs

Speed [r/min]

Full Step



Dimensions ■Refer to page A-274.

□20 m

m□

28 m

m□

35 m

m□

42 m

m□

56.4

mm

□60 m

m



Stepping Motors

A-267ContactTEL



Intro

du

ctio

n

0.3

6°/G

eare

d

AR

0.7

2°/G

eare

dRK

0.3

6°/G

eare

d

AR

0.3

6°/0

.72°/

Geare

dCRK

1.8°/G

eare

dRBK

0.9

°/1.8°/G

ea

red

CM

K0.7

2°

PK

1 .8°/G

eare

dH

igh

-To

rqu

ePK

P0

.9°/1.8

°/Ge

are

dPK

Co

ntro

llers

SG8

030JY

Accesso

ries

AC

Inp

ut M

oto

r & D

river

DC

Inp

ut M

oto

r & D

river

Mo

tor O

nly


Specifications ■


ConnectionType

RotorInertia

RatedCurrent




PKP223U09A-SG ■ ■-LPKP223U09B-SG ■ ■-L Unipolar 9×10-7 0.95 2.66 2.8 1


NoteThe rotation direction of the motor and that of the gear output shaft are the same for the gear ratios 7.2 and 36. It is the opposite for 9, 10 and 18 gear ratio. ●



GearRatio

PermissibleTorque

BacklashPermissible

Speed Range



PKP223U09A-SG7.2-LPKP223U09B-SG7.2-L

0.3

0.25˚ 7.2

0.3

90 (1.5˚)

0∼416

PKP223U09A-SG9-LPKP223U09B-SG9-L 0.2˚ 9 0∼333


PKP223U09A-SG18-LPKP223U09B-SG18-L

0.40.1˚ 18

0.40∼166






0

0.1

0.2

0.3

0.5

0.4

100 200 300 5000

2 40 6 8 10

400

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


fs

Speed [r/min]

Full Step


0

0.1

0.2

0.3

0.5

0.4

100 200 300 4000

2 40 6 8 10

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


fs

Speed [r/min]

Full Step


0

0.1

0.2

0.3

0.5

0.4

100 200 300 4000

2 40 6 8 10

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


fs

Speed [r/min]

Full Step




0

0.1

0.2

0.3

0.5

0.4

50 100 150 2000

2 40 6 8 10

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


fs

Speed [r/min]

Full Step


0

0.1

0.2

0.3

0.5

0.4

20 40 60 1000

2 40 6 8 10

80

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


fs

Speed [r/min]

Full Step











Specifications ■


ConnectionType

RotorInertia

RatedCurrent




PKP243D15A-SG ■ ■-LPKP243D15B-SG ■ ■-L Bipolar 36×10-7 1.5 0.87 0.58 1.1


NoteThe rotation direction of the motor and that of the gear output shaft are the same for the gear ratios 3.6, 7.2, 9 and 10. It is the opposite for 18 and 36 gear ratio. ●



GearRatio

PermissibleTorque

BacklashPermissible

Speed Range



PKP243D15A-SG3.6-LPKP243D15B-SG3.6-L 0.2 0.5˚ 3.6 0.2 90 (1.5˚) 0∼833

PKP243D15A-SG7.2-LPKP243D15B-SG7.2-L 0.4 0.25˚ 7.2 0.4

60 (1˚)

0∼416

PKP243D15A-SG9-LPKP243D15B-SG9-L 0.5 0.2˚ 9 0.5 0∼333

PKP243D15A-SG10-LPKP243D15B-SG10-L 0.56 0.18˚ 10 0.56 0∼300


0.80.1˚ 18

0.80∼166






0

0.05

0.10

0.20

0.15

0.30

0.25

200 400 600 800 10000

2 40 6 8 10

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


fs

Speed [r/min]

Full Step


0

0.1

0.2

0.4

0.3

0.5

100 200 300 400 5000

20 6 104 8

fs

Permissible TorqueFull Step 0.25˚/step

Speed [r/min]

Pulse Speed [kHz]

Torq

ue [ N

·m]

Full Step


0

0.1

0.2

0.4

0.3

0.6

0.5

100 200 300 4000

20 6 104 8

fs


Torq

ue [ N

·m]

Speed [r/min]

Pulse Speed [kHz]Full Step

Permissible Torque





0

0.2

0.4

0.6

0.8

100 200 300 4000

4 6 80 102

fs


Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]

Full Step


0

0.2

0.4

0.8

0.6

1.0

50 100 150 2000

2 4 80 6 10

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]

Full Step



0

0.2

0.4

0.8

0.6

1.0

20 40 60 80 1000

2 4 80 6 10

fs

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]

Full Step





□20 m

m□

28 m

m□

35 m

m□

42 m

m□

56.4

mm

□60 m

m



Stepping Motors

A-269ContactTEL



Intro

du

ctio

n

0.3

6°/G

eare

d

AR

0.7

2°/G

eare

dRK

0.3

6°/G

eare

d

AR

0.3

6°/0

.72°/

Geare

dCRK

1.8°/G

eare

dRBK

0.9

°/1.8°/G

ea

red

CM

K0.7

2°

PK

1 .8°/G

eare

dH

igh

-To

rqu

ePK

P0

.9°/1.8

°/Ge

are

dPK

Co

ntro

llers

SG803

0JY

Ac

ce

ss

orie

s

AC

Inp

ut M

oto

r & D

river

DC

Inp

ut M

oto

r & D

river

Mo

tor O

nly


Specifications ■


ConnectionType

RotorInertia

RatedCurrent




PKP243U09A-SG ■ ■-LPKP243U09B-SG ■ ■-L Unipolar 36×10-7 0.95 2.09 2.2 2.3





GearRatio

PermissibleTorque Backlash

PermissibleSpeed Range



PKP243U09A-SG3.6-LPKP243U09B-SG3.6-L 0.2 0.5˚ 3.6 0.2 90 (1.5˚) 0∼833

PKP243U09A-SG7.2-LPKP243U09B-SG7.2-L 0.4 0.25˚ 7.2 0.4

60 (1˚)

0∼416

PKP243U09A-SG9-LPKP243U09B-SG9-L 0.5 0.2˚ 9 0.5 0∼333

PKP243U09A-SG10-LPKP243U09B-SG10-L 0.56 0.18˚ 10 0.56 0∼300


0.80.1˚ 18

0.80∼166






0

0.05

0.10

0.20

0.15

0.30

0.25

200 400 600 800 10000

20 4 6 8 10

fs

Permissible Torque


Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]

Full Step


0

0.1

0.2

0.4

0.3

0.5

100 200 300 400 5000

2 4 80 6 10

fs


Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]

Full Step


0

0.1

0.2

0.4

0.3

0.6

0.5

100 200 300 4000

2 4 80 6 10

fs

Permissible Torque Full Step 0.2˚/step

Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]

Full Step





0

0.2

0.4

0.6

0.8

100 200 300 4000

2 4 6 80 10

fs

Permissible Torque


Torq

ue [ N

·m]

Pulse Speed [kHz]

Speed [r/min]

Full Step


0

0.2

0.4

0.8

0.6

1.0

50 100 150 2000

2 4 100 6 8

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

0.2

0.4

0.8

0.6

1.0

20 40 60 80 1000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step




Accessories (Sold separately) ■Connection cable and motor connector set are available as accessories.

Connection cable ● ➜ Page A-358 Motor connector set ● ➜ Page A-358





□20 m

m□

28 m

m□

35 m

m□

42 m

m□

56.4

mm

□60 m

m


Specifications ■


ConnectionType

RotorInertia

RatedCurrent




PKP264D14A-SG■■-LPKP264D14B-SG■■-L

Bipolar 120×10-71.4 3.08 2.2 4.5

PKP264D28A-SG■■-LPKP264D28B-SG■■-L 2.8 0.92 0.33 0.8

A number indicating the gear ratio is entered where the box ● ■■ is located within the product name.A connection cable (0.6 m) is included. ●




GearRatio

PermissibleTorque

BacklashPermissible

Speed Range




1 0.5˚ 3.6 1 70 (1.17˚) 0∼833PKP264D28A-SG3.6-LPKP264D28B-SG3.6-LPKP264D14A-SG7.2-LPKP264D14B-SG7.2-L

2 0.25˚ 7.2 2

45 (0.75˚)

0∼416PKP264D28A-SG7.2-LPKP264D28B-SG7.2-LPKP264D14A-SG9-LPKP264D14B-SG9-L

2.5 0.2˚ 9 2.5 0∼333PKP264D28A-SG9-LPKP264D28B-SG9-LPKP264D14A-SG10-LPKP264D14B-SG10-L

2.7 0.18˚ 10 2.7 0∼300PKP264D28A-SG10-LPKP264D28B-SG10-LPKP264D14A-SG18-LPKP264D14B-SG18-L

3 0.1˚ 18 3 0∼166PKP264D28A-SG18-LPKP264D28B-SG18-LPKP264D14A-SG36-LPKP264D14B-SG36-L

4 0.05˚ 36 4 0∼83PKP264D28A-SG36-LPKP264D28B-SG36-L

Stepping Motors

A-271ContactTEL



Intro

du

ctio

n

0.3

6°/G

eare

d

AR

0.7

2°/G

eare

dRK

0.3

6°/G

eare

d

AR

0.3

6°/0

.72°/

Geare

dCRK

1.8°/G

eare

dRBK

0.9

°/1.8°/G

ea

red

CM

K0.7

2°

PK

1 .8°/G

eare

dH

igh

-To

rqu

ePK

P0

.9°/1.8

°/Ge

are

dPK

Co

ntro

llers

SG8

030JY

Accesso

ries

AC

Inp

ut M

oto

r & D

river

DC

Inp

ut M

oto

r & D

river

Mo

tor O

nly




0

0.2

0.4

0.8

0.6

1.2

1.0

200 400 600 800 10000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

0.5

1.0

2.0

1.5

2.5

100 200 300 400 5000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

0.5

1.0

2.0

1.5

3.0

2.5

100 200 300 4000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step





0

1

2

3

4

100 200 300 4000

2 4 6 80 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

1

2

3

4

50 100 150 2000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

1

2

4

3

5

20 40 60 80 1000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step








0

0.2

0.4

0.8

0.6

1.2

1.0

200 400 600 800 10000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

0.5

1.0

2.0

1.5

2.5

100 200 300 400 5000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

0.5

1.0

2.0

1.5

3.0

2.5

100 200 300 4000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step





0

1

2

3

4

100 200 300 4000

2 4 6 80 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

1

2

3

4

50 100 150 2000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

1

2

4

3

5

20 40 60 80 1000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step








□20 m

m□

28 m

m□

35 m

m□

42 m

m□

56.4

mm

□60 m

m


Specifications ■


ConnectionType

RotorInertia

RatedCurrent




PKP264U10A-SG ■ ■-LPKP264U10B-SG ■ ■-L

Unipolar 120×10-71 5.87 5.87 7.2

PKP264U20A-SG ■ ■-LPKP264U20B-SG ■ ■-L 2 2.9 1.45 1.8





GearRatio

PermissibleTorque

BacklashPermissible

Speed Range




1 0.5˚ 3.6 1 70 (1.17˚) 0∼833PKP264U20A-SG3.6-LPKP264U20B-SG3.6-LPKP264U10A-SG7.2-LPKP264U10B-SG7.2-L

2 0.25˚ 7.2 2

45 (0.75˚)

0∼416PKP264U20A-SG7.2-LPKP264U20B-SG7.2-LPKP264U10A-SG9-LPKP264U10B-SG9-L

2.5 0.2˚ 9 2.5 0∼333PKP264U20A-SG9-LPKP264U20B-SG9-LPKP264U10A-SG10-LPKP264U10B-SG10-L

2.7 0.18˚ 10 2.7 0∼300PKP264U20A-SG10-LPKP264U20B-SG10-LPKP264U10A-SG18-LPKP264U10B-SG18-L

3 0.1˚ 18 3 0∼166PKP264U20A-SG18-LPKP264U20B-SG18-LPKP264U10A-SG36-LPKP264U10B-SG36-L

4 0.05˚ 36 4 0∼83PKP264U20A-SG36-LPKP264U20B-SG36-L

Stepping Motors

A-273ContactTEL



Intro

du

ctio

n

0.3

6°/G

eare

d

AR

0.7

2°/G

eare

dRK

0.3

6°/G

eare

d

AR

0.3

6°/0

.72°/

Geare

dCRK

1.8°/G

eare

dRBK

0.9

°/1.8°/G

ea

red

CM

K0.7

2°

PK

1 .8°/G

eare

dH

igh

-To

rqu

ePK

P0

.9°/1.8

°/Ge

are

dPK

Co

ntro

llers

SG8

030JY

Accesso

ries

AC

Inp

ut M

oto

r & D

river

DC

Inp

ut M

oto

r & D

river

Mo

tor O

nly




0

0.2

0.4

0.8

0.6

1.2

1.0

200 400 600 800 10000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

0.5

1.0

2.0

1.5

2.5

100 200 300 400 5000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

0.5

1.0

2.0

1.5

3.0

2.5

100 200 300 4000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step





0

1

2

3

4

100 200 300 4000

2 4 60 108

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

1

2

3

4

50 100 150 2000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

1

2

4

3

5

20 40 60 80 1000

2 840 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step








0

0.2

0.4

0.8

0.6

1.2

1.0

200 400 600 800 10000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

0.5

1.0

2.0

1.5

2.5

100 200 300 400 5000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

0.5

1.0

2.0

1.5

3.0

2.5

100 200 300 4000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step





0

1

2

3

4

100 200 300 4000

2 4 6 80 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

1

2

3

4

50 100 150 2000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step


0

1

2

4

3

5

20 40 60 80 1000

2 4 80 6 10

fs

Permissible Torque

Torq

ue [ N

·m]

Pulse Speed [kHz]


Speed [r/min]

Full Step









Frame Size 28 mmConnection Type Product Name Motor Product Name Connection Cable Product Name Gear Ratio Mass kg

4 Lead WiresPKP223D15A-SG■-L PKP223D15A-SG■

LC2B06A7.2, 9, 10,

18, 360.16

PKP223D15B-SG■-L PKP223D15B-SG■

6 Lead WiresPKP223U09A-SG■-L PKP223U09A-SG■

LC2U06APKP223U09B-SG■-L PKP223U09B-SG■


2.520±1

4.512

6±0.

5

4.5±

0.15

9.5

57.567.5

16

23±

0.2

23±0.2

28

5

16.5

ϕ5−

0.01

2 ( h

7)0

ϕ5−

0.01

2 ( h

7)0

28

✽10±1

ϕ10

−0.

015

( h7)

4×M2.5×4 Deep

0


4 Lead WiresPKP243D15A-SG■-L PKP243D15A-SG■

LC2B06B3.6, 7.2, 9,10, 18, 36

0.35PKP243D15B-SG■-L PKP243D15B-SG■

6 Lead WiresPKP243U09A-SG■-L PKP243U09A-SG■

LC2U06BPKP243U09B-SG■-L PKP243U09B-SG■

Applicable Connector ●Connector Housing: 51103-0600 (Molex)Contact: 50351-8100 (Molex)

Crimp Tool: 57295-5000 (Molex)✽15±1

1594.5±

0.15

ϕ5−

0.01

2 ( h

7)0

ϕ17

−0.

018

( h7)

0 4231±0.2

4231

±0.

2

1623

4×M3×7 Deep

4.5

8±0.53.5

12

7459

20±1

ϕ5−

0.01

2 ( h

7)0

Connection Cable: LC2B06A

4 Motor Leads 51065-0600 (Molex)UL Style 3265, AWG24

600

6

1

Connection Cable: LC2U06A

6 Motor Leads51065-0600 (Molex)UL Style 3265, AWG24

600

6

1

Connection Cable: LC2B06B



600

6

1

Connection Cable: LC2U06B



600

6

1

A number indicating the gear ratio is entered where the box ● ■ is located within the product name.These dimensions are for double shaft models. For single shaft models, ignore the shaft in the shaded ● areas.

□20 m

m□

28 m

m□

35 m

m□

42 m

m□

56.4

mm

□60 m

m

The length of the shaft flat on the double shaft model is 10 ✽ ±0.25.

The length of the shaft flat on the double shaft model is 15 ✽ ±0.25.

Stepping Motors

A-275ContactTEL



Intro

du

ctio

n

0.3

6°/G

eare

d

AR

0.7

2°/G

eare

dRK

0.3

6°/G

eare

d

AR

0.3

6°/0

.72°/

Geare

dCRK

1.8°/G

eare

dRBK

0.9

°/1.8°/G

ea

red

CM

K0.7

2°

PK

1 .8°/G

eare

dH

igh

-To

rqu

ePK

P0

.9°/1.8

°/Ge

are

dPK

Co

ntro

llers

SG803

0JY

Ac

ce

ss

orie

s

AC

Inp

ut M

oto

r & D

river

DC

Inp

ut M

oto

r & D

river

Mo

tor O

nly



4 Lead Wires

PKP264D14A-SG■-L PKP264D14A-SG■

LC2B06C

3.6, 7.2, 9,10, 18, 36

0.76


PKP264D28A-SG■-L PKP264D28A-SG■


6 Lead Wires

PKP264U10A-SG■-L PKP264U10A-SG■

LC2U06CPKP264U10B-SG■-L PKP264U10B-SG■

PKP264U20A-SG■-L PKP264U20A-SG■

PKP264U20B-SG■-L PKP264U20B-SG■

Applicable Connector ●Connector Housing: 51067-0600 (Molex)Contact: 50217-9101 (Molex)Crimp Tool: 57189-5000 (Molex) 57190-5000 (Molex)

78.5 123.5

101.5

7.5±

0.15

23±1

20±0.25

32±1

ϕ8−

0.01

5 ( h

7)0 ϕ23

−0.

021

( h7)

0

7±0.

15 60

60

10±

0.5

70±0.5

ϕ8−

0.01

5 ( h

7)0

18.5 1612

29

4×M4×8 Deep

Connection Cable: LC2B06C

6

151067-0600 (Molex)

600


Connection Cable: LC2U06C

6

151067-0600 (Molex)

600


A number indicating the gear ratio is entered where the box ● ■ is located within the product name.These dimensions are for double shaft models. For single shaft models, ignore the shaft in the shaded ● areas.





□20 m

m□

28 m

m□

35 m

m□

42 m

m□

56.4

mm

□60 m

m

General Specifications ■

Specifications MotorThermal Class 130 (B)

Insulation ResistanceThe measured value is 100 MΩ min. when a 500 VDC megger is applied between the windings and the case under normal ambient temperature and humidity.

Dielectric StrengthNo abnormality is judged even with application of 1.0 kVAC at 50 Hz or 60 Hz between the windings and the case for 1 minute under normal ambient temperature and humidity.(0.5 kV for models with a frame size of 42 mm or smaller.)

Operating Environment (In operation)

Ambient Temperature

−10∼+50˚C (non-freezing)

Ambient Humidity 85% max. (non-condensing)Atmosphere Use in an area without corrosive gases or dust. The product should not be directly exposed to water, oil or other liquids.

Temperature Rise

· Unipolar and PKP21□D, PKP243D, PKP245D, SH Geared TypeTemperature rise of windings is 80˚C max. measured by the resistance change method (at rated voltage, at standstill, 2-phase excitation).

· PKP22□D, PKP23□D, PKP244D, PKP246D, PKP26□DTemperature rise of windings is 80˚C max. measured by the resistance change method (at rated current, at standstill, 2-phase excitation).

The following motors are with aluminum heat radiation plates. PKP22□D, PKP23□D : 115×115×5 mmPKP224D, PKP246D : 175×175×5 mm PKP26□D : 250×250×10 mm

Stop Position Accuracy✽1 ±3 arc minutes (±0.05˚) [PKP21□: ±5 arc minutes (±0.083˚)]Shaft Runout 0.05 T. I. R. (mm)✽4

Radial Play✽2 0.025 mm max. (Load 5 N)Axial Play✽3 0.075 mm max. (Load 10 N)Concentricity 0.075 T. I. R. (mm)✽4

Perpendicularity 0.075 T. I. R. (mm)✽4

✽1 This value is for full step under no load. (The value changes with the size of the load). ✽2 Radial Play: Displacement in shaft position in the radial direction when 5 N load is applied in the vertical direction to the tip of the motor's shaft.✽3 Axial Play: Displacement in shaft position in the axial direction when a 10 N load is applied to the motor's shaft in the axial direction. ✽4 T. I. R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center.

NoteDo not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected. ●

Windings and Connections ■

A

A0.075

Aϕ0.075

0.05

6 Leads Unipolar Connection

Red(3)

Black (4)

Yellow (5)

Green (6)

White(2)

Blue(1)

A PhaseA Phase

B Phase B Phase

5 Leads Unipolar Connection

Red

Black

Orange

Green

Blue

A PhaseA Phase

B Phase B Phase

4 Leads Bipolar Connection

Red

Black

Green

BlueB Phase

A Phase

2-phase stepping motors high-torque pkp series · high-torque pkp series offers a standard type...

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