P01-03 06.11.
1 09:49 AM 1
CONTENTS
2-Phase Hybrid Stepping Motor
Selection Guide
KH39EM2
KH39FM2
KH39GM2
KH42HM2
KH42JM2
KH42KM2
KH56JM2
KH56KM2
KH56QM2
3-Phase Hybrid Stepping Motor
2
4
6
8
10
12
14
16
18
20
Selection Guide
KT35FM1
KT42M06
KT42M1
KT42M4
KT50KM1
KT50LM1
KT56KM1
KT56QM1
KT60KM06
KT60LM06
KT60KM1
KT60LM1
KT60RM1
KT86M1
KR42HM4
KR42JM4
KR42KM4
2-Phase Stepping Motor Driver
SERVEX FSD 22
28
30
32
34
36
38
38
40
40
42
44
46
48
50
52
54
56
58
3-Phase Stepping Motor Driver
SERVEX FTD 60
Max. Allowable Load / Runout for motor shaft
Load for motor shaft
L
Radial load
Type
Thrust load
Load
KH39
Mounting flange
Radial load
Thrust load
Motor
KH42
KT35
14.7N1.5kgf
19.6N2.0kgf
Motor shaft
10mm
KT42
KR42
KH56
KT60
40N4.1kgf
70N7.1kgf
Shaft run out
0.075A
0.05T.I.R.mm
0.05
A
Shaft run out
Concentricity between shaft
and mounting circle
0.075T.I.R.mm
Perpendicularity between shaft
and mounting face
0.075T.I.R.mm
0.075A
T.I.R.Total Indicator Reading
P01-03 06.11.1 09:49 AM 2
2-Phase Hybrid Stepping Motors
& Drivers
Product Number Code
Stepping motors
KH 42 H M 2 - 901
Drivers
FSD 2 U 2 P 14 - 01
Accessories
(Connector of lead wires)
with 01: with cable
without 01: without cable
Winding specifications
Step angle(degree)
060.6
11.2
21.8
43.75
Motor Type
M : HB Type
Serial number
Supply voltage
P : DC
Output current
2 : 2A
3 : 3A
Drive systems
2U : 2Ph Unipolor
2B : 2Ph Bipolor
Series name
FSD Series
2Ph Type(KH Series model)
Motor length(mm)
E : 20.8
: 4042
F : 27
K : 5054
G : 31
Q : 76
H : 34
Mounting size(mm)
Series name
KH Series : 2Ph Stepping motors
System Configuration
UNI-POLAR
BI-POLAR
Driver for UNI-POLAR
KH39M2-801
KH39M2-851
FSD2U2P14-01
Pulse
signal
Power supply
12V30VDC
Driver for UNI-POLAR
KH42M2-901, 911
KH42M2-951, 961
FSD2U3P13-01
Pulse
signal
Power supply
24VDC
Driver for BI-POLAR
nt
me
p
lo
ve
De
r
de
Un FSD2B2P13-01
KH56M2-902, 912
KH56M2-951, 961
KH56M2-901, 911
P01-03 06.11.1 09:49 AM 3
- PHASE STEPPING MOTORS
.Unipolar type
Stepping angle = 1.8 deg./step
Standard size
mm
inch
20.8
1.54
27
39 sq.x
sq.x
31
34
Holding Torque
Winding
Current Voltage Inductance
Resistance
mNm
/phase A/phase
ozin
56 sq.x
54
76
Page
8.3
14
0.4
5.6
6.4
KH39EM2-801
13.0
15
0.42
6.3
8.5
KH39FM2-801
1.22
127
18.0
13.6
0.47
6.4
9.8
KH39GM2-801
3.4
0.9
3.06
2.4
KH42HM2-901, 911
1.34
140
20
9.6
0.58
5.57
6.0
-902, 912
14.7
0.46
6.76
9.3
-903, 913
2.85
1.2
3.42
2.5
KH42JM2-901, 911
5.5
0.88
4.4
5.1
-902, 912
0.5
9.25
16.3
-903, 913
12
18.5
14
236
340
1.65
2.2 sq.x
Driver
88
1.97
42
Model
59
1.58
50
mH/phase
1.06
sq.x
40
0.82
1.65
42 sq.x
Vcc = 24 V
422
2.13
2.99
834
1324
33
48
60
118
187
3.1
1.2
3.72
3.1
KH42KM2-901, 911
0.58
3.0
1.74
0.61
KH56JM2-901, 911
1.39
2.0
2.78
1.8
-902, 912
4.9
1.0
4.9
6.68
-903, 913
0.77
3.0
2.3
1.04
KH56KM2-901, 911
1.79
2.0
3.6
3.0
-902, 912
6.71
1.0
6.71
9.36
-903, 913
1.18
3.0
3.54
2.4
KH56QM2-901, 911
2.73
2.0
5.46
5.4
-902, 912
9.9
1.0
9.9
21.6
-903, 913
10
16
18
20
Note; Driver model FSD2U2P14-01 is applicable to the motors with
Note; Driver model FSD2U3P13-01 is applicable to the motors with
.Bipolar type
Stepping angle = 1.8 deg./step
Standard size
mm
inch
20.8
39 sq.x
Winding
Current Voltage Inductance
Resistance
mNm
/phase A/phase
ozin
mH/phase
Model
Driver
Page
KH39EM2-851
78
11
6.0
0.6
3.6
5.5
1.06
118
17
6.0
0.67
4.0
6.8
KH39FM2-851
1.22
157
22
7.0
0.65
4.6
9.8
KH39GM2-851
1.34
197
28
3.1
1.0
3.1
4.3
KH42HM2-951, 961
10
1.58
314
44
5.4
0.85
4.59
9.3
KH42JM2-951, 961
12
50
1.97
403
57
2.3
1.2
2.76
4.0
KH42KM2-951, 961
14
42
1.65
490
69
0.98
2.0
1.96
2.27
KH56JM2-951, 961
16
2.13
932
132
1.32
2.0
2.4
3.19
KH56KM2-951, 961
18
2.99
1373
194
2.0
2.0
4.0
7.35
KH56QM2-951, 961
20
27
34
56 sq.x
Holding Torque
0.82
1.54 sq.x
31
42 sq.x
Vcc = 24 V
40
54
1.65 sq.x
2.2 sq.x
76
Note; Driver model FSD2B2P13-01 is applicable to the motors with
- Phase Drivers
Applicable
motors type
Standard size
mm
inch
Power supply
Uni-poler
577342 2.252.881.65 12-30V DC
Uni-poler
577356 2.252.882.21
OUTPUT current
A
24V DC
Bi-poler
Step angle
Model
Page
0.33-2.0
11, 12, 14 FSD2U2P14-01
22
0.5-3.0
11, 12, 14 FSD2U3P13-01
24
11, 12, 14 FSD2B2P13-01
26
P28-31 06.11.1 09:53 AM 28
3-Phase Hybrid Stepping Motors
& Drivers
HIGH TORQUE, SILENT ROTATION
Product Number Code
Stepping Motors
KT 42 H M 06 - 551
Drivers
FTD 3 S 2 P 22 - 01
Winding specifications
Accessories
(Connector of lead wires)
with 01: with cable
without 01: without cable
Serial number
Step angle(degree)
060.6
11.2
21.8
43.75
Motor type
M : HB Type
Supply voltage
P : DC
Output current
2 : 2A
3 : 3A
Drive systems
3S : 3Ph Bipolor
Series name
FTD Series
Motor length(mm)
E : 20.8
K : 4754
F : 28
L : 5865
H : 34
Q : 76
: 4042
Mounting size(mm)
Series Name
KT Series : 3Ph Stepping motors
KR Series : 3Ph Ring Rotor Type Stepping motors
28
P28-31 06.11.1 09:53 AM 29
- PHASE STEPPING MOTORS
.Low speed high torque type
Step
Standard size
angle
deg./step
mm
21
34
42 sq.x
40
48
60 sq.x
inch
0.8
1.34
1.65 sq.x
1.58
1.89
42 sq.x
50 sq.x
56 sq.x
60sq.x
86 dia.x
3.75
42 sq.x
6.4
12.7
25.5
28.3
42
500
69
600
83
900
125
1.10
0.8
1.34
1.58
1.89
2.02
2.56
2.04
2.98
1.85
1.85
2.29
2.29
3.37
2.40
3.74
0.79
1.34
59
70
140
210
280
440
580
690
1100
320
320
600
600
1680
2000
4000
70
130
8.3
9.9
19.8
29.7
39.6
62.3
82.1
97.4
156
45.3
45.3
85
85
238
278
556
9.7
18
1.58
180
25
2.36 sq.x
28
21
34
40
48
51
65
52
76
47
47
58
58
86
61
95
20
34
mNm
45
90
180
200
300
1.85
58
35 sq.x
Winding
Current Voltage Inductance
Resistance
ozin /2phase A/2phase
V
mH/2phase
Holding Torque
47
0.6
1.2
Vcc = 24 V
2.29
1.38 sq.x
1.65 sq.x
1.97 sq.x
2.21 sq.x
2.36 sq.x
3.38dia.x
1.65 sq.x
40
5.9
1.2
1.3
2.0
0.55
1.6
0.55
1.6
0.73
2.2
0.73
2.2
39.0
5.9
1.1
1.2
1.5
1.3
1.6
1.4
1.7
0.55
1.6
0.73
2.2
2.0
1.8
2.8
6.6
3.4
8.8
4.3
11.0
0.9
2.4
2.4
2.3
3.8
2.2
3.8
2.2
3.8
2.2
3.8
2.2
0.3
0.9
2.4
2.4
2.4
3.0
3.0
3.0
3.0
3.8
2.2
3.8
2.2
3.0
3.0
2.5
0.8
1.3
0.8
1.2
0.8
5.3
2.88
3.12
4.6
2.09
3.52
2.09
3.52
2.77
4.84
2.77
4.84
11.7
5.3
2.6
2.88
3.6
3.9
4.8
4.2
5.1
2.09
3.52
2.77
4.84
6.0
5.4
7.0
5.28
4.42
7.04
5.16
8.8
Model
Driver
3.1
0.8
1.3
1.4
1.0
KT60KM06-751
3.1
1.0
KT60KM06-551
3.0
1.8
KT60LM06-751
5.7
1.7
5.6
26.0
2.6
0.5
0.8
1.0
1.6
1.6
1.4
1.7
0.8
2.5
1.0
3.3
3.2
18.0
36.6
5.7
4.7
12.3
8.7
22.0
KT42EM06-551
KT42HM06-551
KT42JM06-551
KT42KM06-551
-752
-552
-752
KT60LM06-551
-552
KT 3 5 F M 1 - 552
KT 4 2 E M 1 - 551
KT 4 2 H M 1 - 551
KT 4 2 J M 1 - 551
KT 4 2 K M 1 - 551
KT 5 0 K M 1 - 551
KT 5 0 L M 1 - 551
KT 5 6 K M 1 - 551
KT 5 6 QM 1 - 551
KT 6 0 K M 1 - 551
-552
KT 6 0 L M 1 - 551
-552
KT 6 0 RM1- 551
KT 8 6 L M 1 - 551
KT 8 6 S M 1 - 551
KT 4 2 E M 4 - 551
KT42HM4-551
-552
KT 4 2 J M 4 -551
-552
Page
34
44
46
32
36
40
42
48
50
52
54
38
Note-1; Driver model FTD3S2P22-01 is applicable to the motors with The MAX output current is 2 A/phase.
Note-2; Driver model FTD3S3P17-01 is applicable to the motors with
.High speed steady torque type
Step
Standard size
angle
mm
deg./step
Holding Torque
inch
34
3.75
42 sq.x
40
Vcc = 24 V
1.65 sq.x
48
mNm
ozin
1.34
49
6.9
1.58
88
12.5
1.89
118
16.7
Winding
Current Voltage Inductance
Resistance
mH/2phase
V
/2phase A/2phase
1.4
3.4
1.75
4.3
1.4
5.0
2.0
1.3
2.0
1.2
2.5
1.3
2.8
4.42
3.5
5.16
3.5
6.5
1.7
4.0
2.1
8.7
1.7
7.7
Model
Driver
KR42HM4-551
-552
KR42JM4-551
-552
KR42KM4-551
-552
Page
56
58
60
Note-1; Driver model FTD3S2P22-01 is applicable to the motors with
Note-2; Driver model FTD3S3P17-01 is applicable to the motors with .
- Phase Drivers
Standard size
Power supply
mm
inch
577342 2.252.881.65 12-24V DC
7013435 2.765.281.38
24V DC
V DC
OUTPUT current
A
1.0-2.0
Step angle
Model
Page
1/1, 1/2, 1/4, 1/8
FTD3S2P22-01
62
1.5-3.0
1/1, 1/2, 1/4, 1/8
FTD3S3P17-01
64
29
P28-31 06.11.1 09:53 AM 30
3-Phase Hybrid Stepping Motor Driver
HIGH TORQUE, SILENT ROTATION
Features
Features
Applications
1. Drive circuit is simplified because the motor is
driven with star wiring connection.
2. High torque is obtained at low speed with the microstep driver.
3. Ultra-low vibration and low noise achieved with our
micro-step driver.
4. The step angle of 1/1, 1/2, 1/4, and 1/8 may be
chosen using our micro-step driver.
Suitable as controlled driving
source in scientific or high precision
industrial equipment such as OA
equipment, measuring equipment,
medical treatment equipment,
physics and chemistry equipment,
optical equipment, semiconductor
processing equipment, and other
precision machinery.
System Configuration
Drivers for 3-phase stepping motor
KT42 Series
KT60 Series
FTD3S3P17-01
KT50 Series
KT86 Series
FTD3S2P22-01
KR42 Series
KT56 Series
Pulse
signal
30
Power
supply:
5VDC
Power
supply:
24VDC
P28-31 06.11.1 09:53 AM 31
Vibration Comparison
Micro-Step drive 1/8
Full-Step drive
G10
G10
200.0PPS/ div
100.0PPS/ div
Advantage
divided by an electronic circuit and
sliced in the switching circuit
than applied to the motor coil.
The current is maintained at a
constant level whether the motor
angle.
The
rotates by a fixed angle by turning
the magnetizing phase on and off
through an input pulse. On the other
With this method the output
hand, with the micro-step driving
torque
speed
method, the current of one phase of
rotation is greatly improved with
the magnetizing phase can be
power consumption minimized.
gradually increased while the current
high
conventional
excitation method makes a rotor
is rotating at low or high speed.
during
the motor is gradually rotated by a
fine
High speed
capability
angle (3.75
, 1.2or 0.60) is
voltage, of the motor, is finely
the
High speed
specified
than
Low speed
the mechanically determined step
higher
Vibration
With the micro-step drive method,
method, a voltage sufficiently
Noise level
With the fixed current drive
Torque
Micro-step drive
Micro-step driver
Rectangular wave drive
Constant current driver
of other phase is decreased thereby
further dividing the step angle of the
motor and making rotation even
smoother.
THE
FTD3S3P17
driver,
the
FTD3S2P22 enable to set to step
divisions of 1/4 and 1/8. Micro
stepping drive is effective to reduce
mechanical driving noise particularly
when divisions not exceeding 1/8.
Rectangular wave drive
2-phase excitation (full-step)
This is then or mal 2-phase
excitation method. Torque is large
and damping characteristics are
excellent.
31
P62-68 06.11.1 09:56 AM 66
Explanation of the Dynamic Torque Curve
Slow acceleration/slow deceleration
This is a kind of control to raise or lower the pulse rate to
drive stepping motors in the slew region so they exhibit their
full capability. There are various methods but one example,
called trapezoidal driving, is shown in Fig. 2.
Torque
oz-in
Pull-out
torque
Pull-in
torque
f
Driving
frequency
Slew region
Self-starting
region
Rise-up
frequency
Pulse rate
pps
Driving
pulse rate
t
Maxiumum Maximum response
self-starting frequency
frequency
Regular
speed
Acceleration
Deceleration
Fig1 Torque/speed characteristics curve
Self-starting region
This is the region in which motors can be started and stopped
instantaneously.
Pulse rate
The number of pulses in a unit of time, and is shown in the
unitppswhich meanspulses per second. The relation
between pulse rate, speed (rpm) and angular velocity (rad/s)
is given below.
End of
slow-up
180
sP P
180
Start of
slow up
1
6N
N sP
P
6
s
Stop
where Angular velocityrad/s
sStep angledeg.
NSpeedrpm
PDriving pulse ratepps
Slow up
42ms
Regular
speed
Fig Trapezoidal drive of slow-up/slow down
control
Maximum self-starting frequency (pps)
This is the maximum pulse rate in the self-starting region. Care
must be taken, because it varies depending on the load
inertia.
Resonance phenomenon
When stepping motors are driven, torque decrease, misssteps, vibration and other unfavorable phenomena may occur
at some specific frequencies. This is called a Resonance
phenomenon, and is caused by the coincidence of intrinsic
vibration frequency and input pulse frequency of the motor. It
is experienced generally in the range of 100 to 200 pps. It is
impossible to eliminate this resonance fully, but the defect can
be reduced by changing the excitation mode or providing
damper.
Slew region
In this region, driving is possible only by slow acceleration/slow
deceleration control.
Maximum response frequency (pps)
This is the maximum pulse rate in the slew region.
Pull-in torque
This is the torque generated when started in the self-starting
region. It is also called the synchronization torque.
Pull-out torque
This is the torque generated when driven in the slew region.
Pull-out
This means the motor is coming out of synchronized operation
by being not able to follow the pulse signal from the pulse
generator.
Over-loading is the general cause, but noise (Electric/
Electro-magnetic) is also a cause in some cases.
66
