hybrid stepper motors

How to select yourmotorPRODUCT RANGE CHART NEMA 17 NEMA 23 Nema 34Standard Enhanced Standard Enhanced Standard EnhancedShort Stack1 Stack2 Stack3 StackShort Stack Linear Actuator1 Stack Linear Actuator2 Stack Linear Actuator3 Stack Linear ActuatorMotor Designation17 H 0 18 D 10 BFrame sizeH = Hybrid StepperMotorMotor Lengths(see drawing)0 = Short Stack1 = 1 Stack2 = 2 Stack3 = 3 Stack18 = 1.8˚ Per StepWith 2 Phases EnergizedB = Bipolar CoilU = Unipolar CoilRated Current Per Phase05 = .5 A, 10 = 1.0 A, 15 = 1.5 A,20 = 2.0 A 30 = 3.0 A, 50 = 5.0 AD = Neodymium RotorMagnetE = Enhanced

Basic Stepper Motor Operationseries step motors have two windings (two phases) that are energized with DC current. When the current in onewinding is reversed, the motor shaft moves one step, or 1.8°. By reversing the current in each winding, the position andspeed of the motor is easily and precisely controlled, making these motors extremely useful for many different motioncontrol applications.Portescap finds its place amongan esteemed worldwide family ofmotion control experts.For even finer resolution and smoother operation, micro-stepping drives divide each step into many increments bycontrolling the magnitude of the current in each winding.The performance of hybrid step motors is highly dependent on the current and voltage supplied by a drive. Steppermotors are available with a variety of windings so they can be used with drives that have a broad range of voltage andcurrent ratings. Performance curves are included in this catalog for many common motor drive combinations.AC POWERPOWERSUPPLYDC POWER DRIVE MOTOR CURRENTEnhancing Technology• Smaller drives = Lower system cost• More torque = Smaller, faster machines• Higher efficiency = Lower operating costsThrough the use of enhancing technology,Stepper motors provide the maximumperformance available. This patent pendingtechnology boosts torque up to 40% across theoperating speed range and allows machines tobe designed that are smaller and move faster.Initial system costs are often less withenhanced motors because the additionaltorque is produced without the need for largerdrives or power supplies. The additional outputpower is produced through higher efficiency.The higher efficiency reduces energy usageby 25% and lowers operating costs.Enhanced motors use additional magnetsinserted between each stator tooth. Thesemagnets block the magnet fields from flowingaround the stator teeth. This forces more of themagnetic field to flow through eachtooth where it produces torque.StandardStepper MotorNSStatorNon-torqueproducing fluxTorque producing fluxRotorTypical paths of flux transfer inan energized conventional hybridstep motor. Some flux leakageoccurs in normal operation.SNSTEP MOTORHolding TorqueBecause motor performance at speed varies greatly with the drive, holding torque is used to rate hybrid step motors.Holding torque specifies the maximum torque that can be applied to a motor shaft and not cause the shaft to rotate.It is measured with the motor at standstill and energized with rated DC current. Since the motor is energized with pureDC current, holding torque is not dependent on specific drive characteristics.EnhancedStepper MotorNSSNStatorRare earth magnetinsertsFocusing fluxConcentrated torqueproducing fluxRotorPatented enhancing technologyredirects magnetic flux to inhibitleakage and optimize torqueproduction.Torque Enhancement Percentages302520151050NEMA 23up 25%NEMA 34up 30%

Basic Stepper Motor Operation• Typical hybrid stepper motors are constructed with a spring washer that pushes on the ball bearings (preloadsthe bearings). This is done to reduce bearing noise, increase bearing life, and keep the rotor in position.Spring Washer• If the front bearing is not retained, limited axial force can be applied to the front shaft and not cause the rotorto move in the motor.• As the axial load force becomes greater than the spring washer force, the rotor moves in the stator. This causeswhatever is attached to the motor shaft to also shift position.• This can cause a number of problems. For example, if a leadscrew is attached to the motor shaft the linear loadwill not be in position.• To prevent this unwanted shaft movement, all size 23 & size 34 series motors are provided with a snap ring behindthe front bearing that locks the bearing in place even under very heavy axial loads. This snap ring, combined with theoversized bearings used in the series, is a great feature.Snap Ring• series construction are ideal for leadscrew applications because it often allows the customer to eliminate separateleadscrew thrust bearings and support structures.• This construction is also very beneficial when the motors are used with encoders. The captured bearing prevents shaftmovement that causes the encoder disc to rub and fail.

Explanation of SpecificationsMOTOR PART NUMBER 23HX18D10B ExplanationRESISTANCE PER PHASE, ± 10% ohms 5.70 Winding resistance dictated by magnet wire diameter and # of turnsINDUCTANCE PER PHASE, TYP mH 11.15 Winding inductance dictated by magnet wire diameter and # of turnsRATED CURRENT PER PHASE * amps 1.0 Current rating of motor – motor can be run continuously at this currentHOLDING TORQUE, MIN * oz-in / N-m 75 / 0.53 When energized, the amount of torque to move from one mechanical step to the nextDETENT TORQUE, MAX oz-in / N-m 6.0 / 0.042 When un-energized, the amount of torque to move from one mechanical step to the nextTHERMAL RESISTANCE o C/watt 3.99ROTOR MOMENT OF INERTIA oz-in-s2/ kg-cm2 .0026 /0.19 Inertia of the rotorSTEP ANGLE, ± 5% * degrees 1.80 360 deg / number of mechanical steps of the motorSTEPS PER REVOLUTION * - 200.00 Number of mechanical steps of the motorAMBIENT TEMPERATURE RANGEOPERATING o C -20 ~ +40 Temperature range which the motor will operateSTORAGE -40 ~ +85 Storage temperature where the motor will operateBEARING TYPE - BALL BEARING Dual ball bearingsINSULATION RESISTANCE AT500VDCDIELECTRIC WITHSTANDINGVOLTAGEMohmsvac100 MEGOHMS1800 FOR 1 SECONDWEIGHT lbs / kg 1.0 / 0.45 Weight of the motorSHAFT LOAD RATINGS, MAX lbs / kg RADIAL 20 / 9 (AT SHAFT CENTER) Maximum load that can be applied against the shaftAXIAL 50 / 23 (BOTH DIRECTIONS) Maximum load that can be applied directly down the shaftLEADWIRES - AWG 22, UL 3266 Rating of the lead wiresTEMPERATURE CLASS, MAX - B (130°C) Maximum temperature of the winding insulationRoHS - COMPLIANT23H218DxB • Pull-Out Torque vs Speedat 24vdc, 1-2 step, constant current, bipolar chopperPull-Out TorqueTorquePull-In Torque (rep)SpeedDefinitionsPull-Out Torque The amount of torque that the motor can produce at speed without stallingPull-In Torque The amount of torque that the motor can produce from zero speed without stallingSpeed# of pulses per second provided to the motor, also stated in revolutions per minuteVoltage Voltage applied to the driveCurrent Current applied to the driveDriveChopper type drive - current controlled to the motor winding

Where to apply yourMEDICAL & LAB Automation• Peristaltic & syringe pumps• Analyzers• Optical scanners• Pharmacy dispensing machines• Dental imagingstepperThe Stepper (High-Torque Housed Hybrid) is designed to meet thebroad spectrum of stepper motor applications in various markets:Focus on: MEDICAL PUMPThe requirement of the application was to operate smoothly, withoutresonance, over the entire speed range (1 to 1,000 RPM). A hybridstepper running roughly would cause the incorrect amount ofmedicine to be dispensed. Many hybrids were tested, butthe Stepper provided smooth operation over theentire speed range, a minimal resonance band andhigher output torque. Now the medicine dispensingspeed can be varied as designed, without need tocompensate for motor roughness.• Fluid handling & movement systemsTEXTILE• Yarn monitoring system• Carpet tufting pattern machine• Rotor or ring spinning• Electronic wire winding• XY garment cutting tableFactory Automation• Semiconductor equipment• Electronic assembly• Packaging equipment• ConveyorsTELECOMMUNICATION• Cell phone masts• GPS• Antenna positioning• Radar arrayOTHER• Printer & copier automation• Ticketing• Office automation• Electronic assembly• Engraving

17HX18D17H018 = 34.3±0.38/1.350±.01517H118 = 40.4±0.38/1.590±.01517H218 = 48.3±0.38/1.900±.015+0.00Ø22.000-0.05+.000Ø.866-.00242.67 MAX1.6830.99±0.131.220±.005(4x)20.07±0.50.790±.0202.03±0.13.080±.00514.00±1.02.551±.040+0.0000Ø5.000-0.0127+.0000Ø.1969-.0005Ø43.82 REFØ1.725(2x)M3x0.5-6H4.5/.177 MIN DEPTH+0.000Ø5.000-0.012+.0000Ø.1969-.00050.051/.002 A-A-304.8 MIN12.0OPTIONAL REARSHAFT EXTENSION(17HX18DXX-D)12.70±3.181/2±1/8STRIP198www.portescap.com

Miniature Motors17HX18DMotor Part Number 17HX18D05B 17HX18D10B 17HX18D15B17HX18D05B-D 17HX18D10B-D 17HX18D15B-DResistance per phase, ± 10% Short Stack ohms 13.28 3.32 1.471 Stack ohms 16.48 4.12 1.832 Stack ohms 17.96 4.49 2.00Inductance per phase, typ Short Stack mH 17.70 3.80 1.601 Stack mH 20.20 6.50 2.852 Stack mH 26.70 6.50 3.20Rated current per phase * amps 0.5 1.0 1.5Holding torque, typical * Short Stack oz-in / Nm 30 / 0.211 Stack oz-in / Nm 51 / 0.362 Stack oz-in / Nm 65 / 0.46Thermal resistance Short Stack ºC/watt 6.211 Stack ºC/watt 5.402 Stack ºC/watt 4.71Detent torque, typical Short Stack oz-in / Nm 1.6 / 0.0111 Stack oz-in / Nm 2.5 / 0.0172 Stack oz-in / Nm 3.2 / 0.023Rotor moment of inertia Short Stack oz-in-s 2 / kg-cm 2 .00051 / 0.041 Stack oz-in-s 2 / kg-cm 2 .00075 / 0.052 Stack oz-in-s 2 / kg-cm 2 .00106 / 0.07Step angle, ± 5% * degrees 1.8Steps per revolution * 200Ambient temperature rangeOperating ºC -20 ~ +40Storage ºC -40 ~ +85Bearing typeBall bearingInsulation resisitance at 500vdc Mohms 100 megohmsDielectric withstanding voltage vac 1200 for 1 secondWeight Short Stack lb / kg 0.45 / 0.201 Stack lb / kg 0.57 / 0.262 Stack lb / kg 0.76 / 0.34Shaft load ratings, max at 1500 rpmRadial lb / kg 15 / 6.8 (at shaft center)Axial lb / kg 6 / 2.7 (Push)Axial lb / kg 15 / 6.8 (Pull)Leadwires AWG 26 UL 3266Temperature class, maxB (130°C)RoHSCOMPLIANTStepperALL MOTOR DATA VALUES AT 20ºC UNLESS OTHERWISE SPECIFIED* ENERGISE AT RATED CURRENT, 2 PHASE ONwww.portescap.com199

17HX18D (Contd..)Motor Part Number 17HX18D05U 17HX18D10U 17HX18D15U17HX18D05U-D 17HX18D10U-D 17HX18D15U-DResistance per phase, ± 10% Short Stack ohms 13.28 3.32 1.471 Stack ohms 16.48 4.12 1.832 Stack ohms 17.96 4.49 2.00Inductance per phase, typ Short Stack mH 6.05 1.55 0.841 Stack mH 9.65 2.85 1.152 Stack mH 11.30 3.20 1.55Rated current per phase * amps 0.5 1.0 1.5Holding torque, typical * Short Stack oz-in / Nm 21 / 0.151 Stack oz-in / Nm 38 / 0.272 Stack oz-in / Nm 47 / 0.33Thermal resistance Short Stack ºC/watt 6.211 Stack ºC/watt 5.402 Stack ºC/watt 4.71Detent torque, typical Short Stack oz-in / Nm 1.6 / 0.0111 Stack oz-in / Nm 2.5 / 0.0172 Stack oz-in / Nm 3.2 / 0.023Rotor moment of inertia Short Stack oz-in-s 2 / kg-cm 2 .00051 / 0.041 Stack oz-in-s 2 / kg-cm 2 .00075 / 0.052 Stack oz-in-s 2 / kg-cm 2 .00106 / 0.07Step angle, ± 5% * degrees 1.8Steps per revolution * 200Ambient temperature rangeOperating ºC -20 ~ +40Storage ºC -40 ~ +85Bearing typeBall bearingInsulation resisitance at 500vdc Mohms 100 megohmsDielectric withstanding voltage vac 1200 for 1 secondWeight Short Stack lb / kg 0.45 / 0.201 Stack lb / kg 0.57 / 0.262 Stack lb / kg 0.76 / 0.34Shaft load ratings, max at 1500 rpmRadial lb / kg 15 / 6.8 (at shaft center)Axial lb / kg 6 / 2.7 (Push)Axial lb / kg 15 / 6.8 (Pull)Leadwires AWG 26 UL 3266Temperature class, maxB (130°C)RoHSCOMPLIANTALL MOTOR DATA VALUES AT 20ºC UNLESS OTHERWISE SPECIFIED* ENERGISE AT RATED CURRENT, 2 PHASE ON200www.portescap.com

Miniature Motors23HX18D23H018D = 1.602±.015 [40.69±0.38]23H118D = 2.115±.015 [53.72±0.38]23H218D = 3.297±.015 [83.74±0.38]23H318D = 4.479±.015 [113.77±0.38]2.25 MAX[57.15 MAX]SQUARE.81±.02[20.57±0.50]4 x 1.856±.005[47.14±0.13]Ø1.500±.001[Ø38.100±0.025].060±.005[1.52±0.13]2 x Ø 2.625 REF[Ø66.68 REF]Ø.2500+.0000-.0005+0.0000[Ø6.3500 ]-0.01274 x Ø .200±.0054 x .200±.005[5.08±0.13]12.0 MIN[304.8 MIN]Stepper[Ø5.08±0.13]1/2±1/8[12.70±3.18]STRIPwww.portescap.com201

23HX18DMotor Part Number 23HX18D10B 23HX18D20B 23HX18D30BRated voltage Short Stack vdc 5.70 2.86 1.891 Stack vdc 6.84 3.42 2.282 Stack vdc 8.50 4.26 2.823 Stack vdc 10.75 5.38 3.57Resistance per phase, ± 10% Short Stack ohms 5.70 1.43 0.631 Stack ohms 6.84 1.71 0.762 Stack ohms 8.50 2.13 0.943 Stack ohms 10.75 2.69 1.19Inductance per phase, typ Short Stack mH 11.15 2.66 1.211 Stack mH 25.56 6.10 2.782 Stack mH 34.28 8.33 3.923 Stack mH 43.52 13.35 4.99Rated current per phase * amps 1.0 2.0 3.0Holding torque, typical * Short Stack oz-in / Nm 75 / 0.531 Stack oz-in / Nm 180 / 1.272 Stack oz-in / Nm 330 / 2.333 Stack oz-in / Nm 400 / 2.82Detent torque, typical Short Stack oz-in / Nm 6.0 / 0.0421 Stack oz-in / Nm 9.0 / 0.0642 Stack oz-in / Nm 15.0 / 0.1063 Stack oz-in / Nm 18.0 / 0.127Thermal resistance Short Stack ºC/watt 3.991 Stack ºC/watt 3.572 Stack ºC/watt 2.623 Stack ºC/watt 1.58Rotor moment of inertia Short Stack oz-in-s 2 / kg-cm 2 .0026 / 0.191 Stack oz-in-s 2 / kg-cm 2 .0035 / 0.242 Stack oz-in-s 2 / kg-cm 2 .0068 / 0.483 Stack oz-in-s 2 / kg-cm 2 .0102 / 0.72Step angle, ± 5% * degrees 1.8Steps per revolution * 200Ambient temperature rangeOperating ºC -20 ~ +40Storage ºC -40 ~ +85Bearing typeBall bearingInsulation resisitance at 500vdc Mohms 100 megohmsDielectric withstanding voltage vac 1200 for 1 secondWeight Short Stack lb / kg 1.0 / 0.451 Stack lb / kg 1.4 / 0.642 Stack lb / kg 2.4 / 1.093 Stack lb / kg 3.4 / 1.55Shaft load ratings, max at 1500 rpmRadial lb / kg 20 / 9 (at shaft center)Axial lb / kg 50 / 23 (Both directions)Leadwires AWG 22 UL 3266Temperature class, maxB (130°C)RoHSCOMPLIANTALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED* ENERGISE AT RATED CURRENT, 2 PHASE ON202www.portescap.com

Miniature Motors23HX18DMotor Part Number 23HX18D10U 23HX18D20U 23HX18D30URated voltage Short Stack vdc 5.70 2.86 1.891 Stack vdc 6.84 3.42 2.282 Stack vdc 8.50 4.26 2.823 Stack vdc 10.75 5.38 3.57Resistance per phase, ± 10% Short Stack ohms 5.70 1.43 0.631 Stack ohms 6.84 1.71 0.762 Stack ohms 8.50 2.13 0.943 Stack ohms 10.75 2.69 1.19Inductance per phase, typ Short Stack mH 7.06 1.66 0.761 Stack mH 13.10 2.97 1.462 Stack mH 21.32 5.33 1.973 Stack mH 26.79 6.44 3.34Rated current per phase * amps 1.0 2.0 3.0Holding torque, typical * Short Stack oz-in / Nm 60 / 0.421 Stack oz-in / Nm 135 / 0.952 Stack oz-in / Nm 235 / 1.663 Stack oz-in / Nm 300 / 2.12Detent torque, typical Short Stack oz-in / Nm 6.0 / 0.0421 Stack oz-in / Nm 9.0 / 0.0642 Stack oz-in / Nm 15.0 / 0.1063 Stack oz-in / Nm 18.0 / 0.127Thermal resistance Short Stack ºC/watt 3.991 Stack ºC/watt 3.572 Stack ºC/watt 2.623 Stack ºC/watt 1.58Rotor moment of inertia Short Stack oz-in-s 2 / kg-cm 2 .0026 / 0.191 Stack oz-in-s 2 / kg-cm 2 .0035 / 0.242 Stack oz-in-s 2 / kg-cm 2 .0068 / 0.483 Stack oz-in-s 2 / kg-cm 2 .0102 / 0.72Step angle, ± 5% * degrees 1.8Steps per revolution * 200Ambient temperature rangeOperating ºC -20 ~ +40Storage ºC -40 ~ +85Bearing typeBall bearingInsulation resisitance at 500vdc Mohms 100 megohmsDielectric withstanding voltage vac 1200 for 1 secondWeight Short Stack lb / kg 1.0 / 0.451 Stack lb / kg 1.4 / 0.642 Stack lb / kg 2.4 / 1.093 Stack lb / kg 3.4 / 1.55Shaft load ratings, max at 1500 rpmRadial lb / kg 20 / 9 (at shaft center)Axial lb / kg 50 / 23 (Both directions)Leadwires AWG 22 UL 3266Temperature class, maxB (130°C)RoHSCOMPLIANTStepperALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED* ENERGISE AT RATED CURRENT, 2 PHASE ONwww.portescap.com203

23HX18EMotor Part Number 23HX18E10B 23HX18E20B 23HX18E30BRated voltage Short Stack vdc 5.70 2.86 1.891 Stack vdc 6.84 3.42 2.282 Stack vdc 8.50 4.26 2.823 Stack vdc 10.75 5.38 3.57Resistance per phase, ± 10% Short Stack ohms 5.70 1.43 0.631 Stack ohms 6.84 1.71 0.762 Stack ohms 8.50 2.13 0.943 Stack ohms 10.75 2.69 1.19Inductance per phase, typ Short Stack mH 11.15 2.66 1.211 Stack mH 25.56 6.10 2.782 Stack mH 34.28 8.33 3.923 Stack mH 43.52 13.35 4.99Rated current per phase * amps 1.0 2.0 3.0Holding torque, typical * Short Stack oz-in / Nm 84 / 0.591 Stack oz-in / Nm 227 / 1.602 Stack oz-in / Nm 426 / 3.013 Stack oz-in / Nm 524 / 3.70Detent torque, typical Short Stack oz-in / Nm 10.0 / 0.0711 Stack oz-in / Nm 15.0 / 0.1062 Stack oz-in / Nm 26.0 / 0.1843 Stack oz-in / Nm 31.0 / 0.219Thermal resistance Short Stack ºC/watt 3.991 Stack ºC/watt 3.572 Stack ºC/watt 2.623 Stack ºC/watt 1.58Rotor moment of inertia Short Stack oz-in-s 2 / kg-cm 2 .0026 / 0.191 Stack oz-in-s 2 / kg-cm 2 .0035 / 0.242 Stack oz-in-s 2 / kg-cm 2 .0068 / 0.483 Stack oz-in-s 2 / kg-cm 2 .0102 / 0.72Step angle, ± 5% * degrees 1.8Steps per revolution * 200Ambient temperature rangeOperating ºC -20 ~ +40Storage ºC -40 ~ +85Bearing typeBall bearingInsulation resisitance at 500vdc Mohms 100 megohmsDielectric withstanding voltage vac 1200 for 1 secondWeight Short Stack lb / kg 1.0 / 0.451 Stack lb / kg 1.5 / 0.682 Stack lb / kg 2.5 / 1.143 Stack lb / kg 3.6 / 1.64Shaft load ratings, max at 1500 rpmRadial lb / kg 20 / 9 (at shaft center)Axial lb / kg 50 / 23 (Both directions)Leadwires AWG 22 UL 3266Temperature class, maxB (130°C)RoHSCOMPLIANTALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED* ENERGISE AT RATED CURRENT, 2 PHASE ON204www.portescap.com

Miniature Motors23HX18EMotor Part Number 23HX18E10U 23HX18E20U 23HX18E30URated voltage Short Stack vdc 5.70 2.86 1.891 Stack vdc 6.84 3.42 2.282 Stack vdc 8.50 4.26 2.823 Stack vdc 10.75 5.38 3.57Resistance per phase, ± 10% Short Stack ohms 5.70 1.43 0.631 Stack ohms 6.84 1.71 0.762 Stack ohms 8.50 2.13 0.943 Stack ohms 10.75 2.69 1.19Inductance per phase, typ Short Stack mH 7.06 1.66 0.761 Stack mH 13.10 2.97 1.462 Stack mH 21.32 5.33 1.973 Stack mH 26.79 6.44 3.34Rated current per phase * amps 1.0 2.0 3.0Holding torque, typical * Short Stack oz-in / Nm 72 / 0.511 Stack oz-in / Nm 170 / 1.202 Stack oz-in / Nm 303 / 2.143 Stack oz-in / Nm 393 / 2.78Detent torque, typical Short Stack oz-in / Nm 10.0 / 0.0711 Stack oz-in / Nm 15.0 / 0.1062 Stack oz-in / Nm 26.0 / 0.1843 Stack oz-in / Nm 31.0 / 0.219Thermal resistance Short Stack ºC/watt 3.991 Stack ºC/watt 3.572 Stack ºC/watt 2.623 Stack ºC/watt 1.58Rotor moment of inertia Short Stack oz-in-s 2 / kg-cm 2 .0026 / 0.191 Stack oz-in-s 2 / kg-cm 2 .0035 / 0.242 Stack oz-in-s 2 / kg-cm 2 .0068 / 0.483 Stack oz-in-s 2 / kg-cm 2 .0102 / 0.72Step angle, ± 5% * degrees 1.8Steps per revolution * 200Ambient temperature rangeOperating ºC -20 ~ +40Storage ºC -40 ~ +85Bearing typeBall bearingInsulation resisitance at 500vdc Mohms 100 megohmsDielectric withstanding voltage vac 1200 for 1 secondWeight Short Stack lb / kg 1.0 / 0.451 Stack lb / kg 1.5 / 0.682 Stack lb / kg 2.5 / 1.143 Stack lb / kg 3.6 / 1.64Shaft load ratings, max at 1500 rpmRadial lb / kg 20 / 9 (at shaft center)Axial lb / kg 50 / 23 (Both directions)Leadwires AWG 22 UL 3266Temperature class, maxB (130°C)RoHSCOMPLIANTStepperALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED* ENERGISE AT RATED CURRENT, 2 PHASE ONwww.portescap.com205

34HX18D34H118D = 2.521±.015 [64.03±0.38]34H218D = 3.782±.015 [96.06±0.38]34H318D = 5.043±.015 [128.09±0.38]3.430 MAX[87.12 MAX]SQUARE4 x 2.740±.005[69.60±0.13]Ø2.875±.001[Ø73.025±0.025]1.46±.02[37.08±0.50]1.160±.005[29.46±0.13].08±.01[2.03±0.25]2 x .453±.003[11.510±0.076]x 90° APARTØ.5000+.0000-.00052 x Ø 3.875 REF[Ø98.43 REF]4 x Ø .260±.005[Ø6.60±0.13]+0.000[Ø12.700 ]-0.0134 x .390±.005[9.91±0.13]12.0 MIN[304.8 MIN]1/2±1/8[12.70±3.18]STRIP206www.portescap.com

Miniature Motors34HX18DMotor Part Number 34HX18D10B 34HX18D30B 34HX18D50BRated voltage 1 Stack vdc 11.90 3.96 2.402 Stack vdc 14.60 4.86 2.903 Stack vdc 18.00 6.00 3.60Resistance per phase, ± 10% 1 Stack ohms 11.90 1.32 0.482 Stack ohms 14.60 1.62 0.583 Stack ohms 18.00 2.00 0.72Inductance per phase, typ 1 Stack mH 87.61 8.29 2.432 Stack mH 125.69 15.46 4.733 Stack mH 146.41 17.64 6.76Rated current per phase * amps 1.0 3.0 5.0Holding torque, typical * 1 Stack oz-in / Nm 460 / 3.252 Stack oz-in / Nm 820 / 5.793 Stack oz-in / Nm 1290 / 9.11Detent torque, typical 1 Stack oz-in / Nm 23 / 0.162 Stack oz-in / Nm 30 / 0.213 Stack oz-in / Nm 44 / 0.31Thermal resistance 1 Stack ºC/watt 2.022 Stack ºC/watt 1.553 Stack ºC/watt 1.36Rotor moment of inertia 1 Stack oz-in-s 2 / kg-cm 2 .0185 / 1.312 Stack oz-in-s 2 / kg-cm 2 .0370 / 2.613 Stack oz-in-s 2 / kg-cm 2 .0555 / 3.92Step angle, ± 5% * degrees 1.8Steps per revolution * 200Ambient temperature rangeOperating ºC -20 ~ +40Storage ºC -40 ~ +85Bearing typeBall bearingInsulation resisitance at 500vdc Mohms 100 megohmsDielectric withstanding voltage vac 1200 for 1 secondWeight 1 Stack lb / kg 4.0 / 1.82 Stack lb / kg 6.5 / 3.03 Stack lb / kg 9.1 / 4.1Shaft load ratings, max at 1500 rpmRadial lb / kg 65 / 29 (at shaft center)Axial lb / kg 100 / 34 (Both directions)Leadwires AWG 22 UL 3266Temperature class, maxB (130°C)RoHSCOMPLIANTALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED* ENERGISE AT RATED CURRENT, 2 PHASE ONStepperwww.portescap.com207

34HX18DMotor Part Number 34HX18D10U 34HX18D30U 34HX18D50URated voltage 1 Stack vdc 11.90 3.96 2.402 Stack vdc 14.60 4.86 2.903 Stack vdc 18.00 6.00 3.60Resistance per phase, ± 10% 1 Stack ohms 11.90 1.32 0.482 Stack ohms 14.60 1.62 0.583 Stack ohms 18.00 2.00 0.72Inductance per phase, typ 1 Stack mH 43.56 5.20 1.442 Stack mH 63.18 7.62 2.273 Stack mH 73.96 10.89 2.56Rated current per phase * amps 1.0 3.0 5.0Holding torque, typical * 1 Stack oz-in / Nm 370 / 2.612 Stack oz-in / Nm 660 / 4.663 Stack oz-in / Nm 950 / 6.71Detent torque, typical 1 Stack oz-in / Nm 23 / 0.162 Stack oz-in / Nm 30 / 0.213 Stack oz-in / Nm 44 / 0.31Thermal resistance 1 Stack ºC/watt 2.022 Stack ºC/watt 1.553 Stack ºC/watt 1.36Rotor moment of inertia 1 Stack oz-in-s 2 / kg-cm 2 .0185 / 1.312 Stack oz-in-s 2 / kg-cm 2 .0370 / 2.613 Stack oz-in-s 2 / kg-cm 2 .0555 / 3.92Step angle, ± 5% * degrees 1.8Steps per revolution * 200Ambient temperature rangeOperating ºC -20 ~ +40Storage ºC -40 ~ +85Bearing typeBall bearingInsulation resisitance at 500vdc Mohms 100 megohmsDielectric withstanding voltage vac 1200 for 1 secondWeight 1 Stack lb / kg 4.0 / 1.82 Stack lb / kg 6.5 / 3.03 Stack lb / kg 9.1 / 4.1Shaft load ratings, max at 1500 rpmRadial lb / kg 65 / 29 (at shaft center)Axial lb / kg 100 / 34 (Both directions)Leadwires AWG 22 UL 3266Temperature class, maxB (130°C)RoHSCOMPLIANTALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED* ENERGISE AT RATED CURRENT, 2 PHASE ON208www.portescap.com

Miniature Motors34HX18EMotor Part Number 34HX18E10B 34HX18E30B 34HX18E50BRated voltage 1 Stack vdc 11.90 3.96 2.402 Stack vdc 14.60 4.86 2.903 Stack vdc 18.00 6.00 3.60Resistance per phase, ± 10% 1 Stack ohms 11.90 1.32 0.482 Stack ohms 14.60 1.62 0.583 Stack ohms 18.00 2.00 0.72Inductance per phase, typ 1 Stack mH 87.61 8.29 2.432 Stack mH 125.69 15.46 4.733 Stack mH 146.41 17.64 6.76Rated current per phase * amps 1.0 3.0 5.0Holding torque, typical * 1 Stack oz-in / Nm 552 / 3.902 Stack oz-in / Nm 1009 / 7.133 Stack oz-in / Nm 1613 / 11.39Detent torque, typical 1 Stack oz-in / Nm 28 / 0.202 Stack oz-in / Nm 37 / 0.263 Stack oz-in / Nm 55 / 0.39Thermal resistance 1 Stack ºC/watt 2.022 Stack ºC/watt 1.553 Stack ºC/watt 1.36Rotor moment of inertia 1 Stack oz-in-s 2 / kg-cm 2 .0185 / 1.312 Stack oz-in-s 2 / kg-cm 2 .0370 / 2.613 Stack oz-in-s 2 / kg-cm 2 .0555 / 3.92Step angle, ± 5% * degrees 1.8Steps per revolution * 200Ambient temperature rangeOperating ºC -20 ~ +40Storage ºC -40 ~ +85Bearing typeBall bearingInsulation resisitance at 500vdc Mohms 100 megohmsDielectric withstanding voltage vac 1200 for 1 secondWeight 1 Stack lb / kg 4.1 / 1.92 Stack lb / kg 6.6 / 3.03 Stack lb / kg 9.3 / 4.2Shaft load ratings, max at 1500 rpmRadial lb / kg 65 / 29 (at shaft center)Axial lb / kg 100 / 45 (Both directions)Leadwires AWG 22 UL 3266Temperature class, maxB (130°C)RoHSCOMPLIANTALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED* ENERGISE AT RATED CURRENT, 2 PHASE ONStepperwww.portescap.com209

34HX18EMotor Part Number 34HX18E10U 34HX18E30U 34HX18E50URated voltage 1 Stack vdc 11.90 3.96 2.402 Stack vdc 14.60 4.86 2.903 Stack vdc 18.00 6.00 3.60Resistance per phase, ± 10% 1 Stack ohms 11.90 1.32 0.482 Stack ohms 14.60 1.62 0.583 Stack ohms 18.00 2.00 0.72Inductance per phase, typ 1 Stack mH 43.56 5.20 1.442 Stack mH 63.18 7.62 2.273 Stack mH 73.96 10.89 2.56Rated current per phase * amps 1.0 3.0 5.0Holding torque, typical * 1 Stack oz-in / Nm 444 / 3.142 Stack oz-in / Nm 812 / 5.733 Stack oz-in / Nm 1188 / 8.39Detent torque, typical 1 Stack oz-in / Nm 28 / 0.202 Stack oz-in / Nm 37 / 0.263 Stack oz-in / Nm 55 / 0.39Thermal resistance 1 Stack ºC/watt 2.022 Stack ºC/watt 1.553 Stack ºC/watt 1.36Rotor moment of inertia 1 Stack oz-in-s 2 / kg-cm 2 .0185 / 1.312 Stack oz-in-s 2 / kg-cm 2 .0370 / 2.613 Stack oz-in-s 2 / kg-cm 2 .0555 / 3.92Step angle, ± 5% * degrees 1.8Steps per revolution * 200Ambient temperature rangeOperating ºC -20 ~ +40Storage ºC -40 ~ +85Bearing typeBall bearingInsulation resisitance at 500vdc Mohms 100 megohmsDielectric withstanding voltage vac 1200 for 1 secondWeight 1 Stack lb / kg 4.1 / 1.92 Stack lb / kg 6.6 / 3.03 Stack lb / kg 9.3 / 4.2Shaft load ratings, max at 1500 rpmRadial lb / kg 65 / 29 (at shaft center)Axial lb / kg 100 / 45 (Both directions)Leadwires AWG 22 UL 3266Temperature class, maxB (130°C)RoHSCOMPLIANTALL MOTOR DATA VALUES AT 25ºC UNLESS OTHERWISE SPECIFIED* ENERGISE AT RATED CURRENT, 2 PHASE ON210www.portescap.com

Miniature Motors17H018D_BPull-Out Torque vs Speed24 vdc, full step, bipolar constant current, J COUPLING = 0.174 oz-in 2 (0.0319 kg-cm 2 ), J DYNAMOMETER = 5.96 oz-in 2 (1.09 x 10 -4 kg-m 2 )350.25300.2025200.15oz-inN-m150.10100.0550500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000 7500 8000 8500 9000 9500 10000150 300 450 600 750 900 1050 1200 1350 1500 1650 1800 1950 2100 2250 2400 2550 2700 2850 300017H018D05B 0.5A phase current 17H018D10B 1.0A phase current 17H018D15B 1.5A phase current0.00ppsrpm17H118D_BPull-Out Torque vs Speed24 vdc, full step, bipolar constant current, J COUPLING = 0.174 oz-in 2 (0.0319 kg-cm 2 ), J DYNAMOMETER = 5.96 oz-in 2 (1.09 x 10 -4 kg-m 2 )400.28350.24oz-in3025200.200.160.12N-mStepper15100.0850.0400.005001501000300150045020006002500750300090035001050400012004500135050001500550016506000180065001950700021007500225080002400850025509000270095002850100003000ppsrpm17H118D05B 0.5A phase current 17H118D10B 1.0A phase current 17H118D15B 1.5A phase current17H218D_BPull-Out Torque vs Speed24 vdc, full step, bipolar constant current, J COUPLING = 0.174 oz-in 2 (0.0319 kg-cm 2 ), J DYNAMOMETER = 5.96 oz-in 2 (1.09 x 10 -4kg-m 2 )500.35450.3040350.25300.20oz-in25200.15N-m150.101050.0500.005001501000300150045020006002500750300090035001050400012004500135050001500550016506000180065001950700021007500225080002400850025509000270095002850100003000ppsrpm17H218D05B 0.5A phase current 17H218D10B 1.0A phase current 17H218D15B 1.5A phase currentwww.portescap.com211

17H018D_UPull-Out Torque vs Speed24 vdc, full step, unipolar constant current, J COUPLING = 0.174 oz-in 2 (0.0319 kg-cm 2 ), J DYNAMOMETER = 5.96 oz-in 2 (1.09 x 10 -4kg-m 2 )200.140.12160.10oz-in120.08N-m80.060.0440.0205001500.001000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000 7500 8000 8500 9000 9500 10000 pps300 450 600 750 900 1050 1200 1350 1500 1650 1800 1950 2100 2250 2400 2550 2700 2850 3000 rpm17H018D05U 0.5A phase current 17H018D10U 1.0A phase current 17H018D15U 1.5A phase current17H118D_UPull-Out Torque vs Speed24 vdc, full step, unipolar constant current, J kg-m 2 COUPLING = 0.174 oz-in 2 (0.0319 kg-cm 2 ), J DYNAMOMETER = 5.96 oz-in 2 (1.09 x 10 -4 )350.25300.20oz-in25N-m200.15150.10100.055050015010003001500450200060025007503000900350010504000120045001350500015005500165060001800650019507000210075002250800024008500255090002700950028501000030000.00ppsrpm17H118D05U 0.5A phase current 17H118D10U 1.0A phase current 17H118D15U 1.5A phase current17H218D_UPull-Out Torque vs Speed24 vdc, full step, unipolar constant current, J COUPLING = 0.174 oz-in 2 (0.0319 kg-cm 2 ), J kg-m 2 DYNAMOMETER = 5.96 oz-in 2 (1.09 x 10 -4 )350.25300.2025oz-in200.15N-m150.10100.05500.005001501000300150045020006002500750300090035001050400012004500135050001500550016506000180065001950700021007500225080002400850025509000270095002850100003000ppsrpm17H218D05U 0.5A phase current 17H218D10U 1.0A phase current 17H218D15U 1.5A phase current212www.portescap.com

Miniature Motors24 vdc, full step, bipolar constant current, J858075706560555023H018D_BPull-Out Torque vs SpeedCOUPLING = 0.76 oz-in 2 (0.139 x 10 -4 kg-m 2 ), J DYNAMOMETER= 40.845 oz-in 2 (7.47 x 10 -4 kg-m 2 )0.600.550.500.450.400.35oz-in4540350.300.25N-m300.2025200.15150.101050.0500.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2 9.6 10.0 10.4 10.8 11.2 11.6 12.0 12.4 12.8 13.2 13.6 14.0 14.4 14.80.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76 2.88 3.00 3.12 3.24 3.36 3.48 3.60 3.72 3.84 3.96 4.08 4.20 4.32 4.44kppskrpm23H018D10B-D, 1.0A phase current 23H018D20B-D, 2.0A phase current 23H018D30B-D, 3.0A phase current17024 vdc, full step, bipolar constant current, J23H118D_BPull-O ut Torque vs SpeedCOUPLING = 0.76 oz-in 2 (0.139 x 10 -4 kg-m 2 ), J DYNAMOMETER= 40.845 oz-in 2 (7.47 x 10 -4 kg-m 2 )1.201601501401301201101.101.000.900.80Stepper1000.70oz-in9080700.600.50N-m600.4050400.30300.2020100.1000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2 9.6 10.0 10.4 10.8 11.2 11.6 12.0 12.4 12.8 13.2 13.6 14.0 14.4 14.80.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76 2.88 3.00 3.12 3.24 3.36 3.48 3.60 3.72 3.84 3.96 4.08 4.20 4.32 4.44kppskrpm23H118D10B, 1.0A phase current 23H1 18D20B, 2.0A phase current 23H118D3 0B, 3.0A phase current22020018016014012024 vdc, full step, bipolar constant current, J23H218D_BPull-Out Torque vs SpeedCOUPLING = 0.76 oz-in 2 (0.139 x 10 -4 kg-m 2 ), J DYNAMOMETER= 40.845 oz-in 2 (7.47 x 10 -4 kg-m 2 )1.501.401.301.201.101.000.900.80oz-in100800.700.60N-m0.50600.40400.30200.200.1000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2 9.6 10.0 10.4 10.80.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76 2.88 3.00 3.12 3.24kppskrpm23H218D10B, 1.0A phase current 23H2 18D20B, 2.0A phase current 23H218D30B, 3.0A phase currentwww.portescap.com213

40024 vdc, full step, bipolar constant current, J23H318D_BPull-O ut Torque vs SpeedCOUPLING = 0.76 oz-in 2 (0.1 39 x 10 -4 kg-m 2 ), J DYNAMOMETER= 40.845 oz-in 2 (7.47 x 10 -4 kg-m 2 )3502.503002.002501.50200oz-in1501.00N-m1000.505000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.80.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64kppskrpm23H318D10B, 1.0A phase current 23H318D20B, 2.0A phase current 23H318D30B, 3.0A phase current605524 vdc, full step, unipolar constant current, J23H018D_UPull-O ut Torque vs Spee dCOUPLING = 0.76 oz-in 2 (0.139 x 10 -4 kg-m 2 ), J DYNAMOMETER= 40.845 oz-in 2 (7.4 7 x 10 -4 kg-m 2 )0.40500.354540350.300.25300.20oz-in25200.15N-m150.10100.05500.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2 9.6 10.0 10.4 10.8 11.2 11.6 12.0 12.4 12.8 13.2 13.6 14.00.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76 2.88 3.00 3.12 3.24 3.36 3.48 3.60 3.72 3.84 3.96 4.08 4.2023H018D10U, 1.0A phas e current 23H018D20U, 2.0A phase current 23H018D30U, 3.0A phase curent0.00kppskrpm12024 vdc, full step, unipolar constant current, J23H118D_UPull-O ut Torque vs SpeedCOUPLING = 0.76 oz-in 2 (0.139 x 10 -4 kg-m 2 ), J DYNAMOMETER= 40.845 oz-in 2 (7.47 x 10 -4 kg-m 2 )1100.801000.709080700.600.50600.4050oz-in400.30N-m300.20200.101000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2 9.6 10.0 10.4 10.80.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76 2.88 3.00 3.12 3.240.00kppskrpm23 H118D10U, 1.0A phase current 23H118D20U, 2.0A phase current 23H118D30U, 3.0A phase current214www.portescap.com

Miniature Motors23H2 18D_UPull-Out Torque vs Speed20024 vdc, full step, unipolar cons tant current, JCOUPLING = 0.76 oz-in 2 (0.139 x 10 -4 kg-m 2 ), J DYNAMOMETER= 40.845 oz -in 2 (7.47 x 10 -4 kg-m 2 )1.401801.301.201601.101401.001200.900.801000.70oz-in800.600.50N-m6040200.400.300.200.1000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.80.00 0.12 0.24 0.36 0.48 0.60 0.72 0.8423H218D10U, 1.0A phase curent 23H218D20U, 2.0A phase current 23H218D30U, 3.0A phase current0.00kppskrpm25024 vdc, full step, unipolar constant current, J23H318D_UPull-Out Torque vs SpeedCOUPLING = 0.76 oz-in 2 (0.139 x 10 -4 kg-m 2 ), J DYNAMOMETER= 40.845 oz-in 2 (7.47 x 10 -4 kg-m 2 )2001.501501.00Stepperoz-in100N-m0.505000.0 0.4 0.8 1.2 1.6 2.00.00 0.12 0.24 0.36 0.48 0.6023H318D10U, 1.0A phase current 23H318D20U, 2.0A phase current 23H318D30U, 3.0A phase current0.00kppskrpm24 vdc, full step, bipolar constant current, J23H018E_BPull-Out Torque vs SpeedCOUPLING = 0.76 oz-in 2 (0.139 x 10 -4 kg-m 2 ), J DYNAMOMETER= 40.845 oz-in 2 (7.47 x 10 -4 kg-m 2 )oz-in100959085807570656055504540353025201510500.700.650.600.550.500.450.400.350.300.250.200.150.100.050.00N-m0.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2 9.6 10.0 10.4 10.8 11.2 11.6 12.0 12.4 12.8 13.2 13.6 14.0 14.4 14.80.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76 2.88 3.00 3.12 3.24 3.36 3.48 3.60 3.72 3.84 3.96 4.08 4.20 4.32 4.44kppskrpm23H018E10B, 1.0A phase current 23H018E20B, 2.0A phase current 23H018E30B, 3.0A phase currentwww.portescap.com215

20024 vdc, full step, bipolar constant curr ent, J23H1 18E_BPull-Out Torque vs SpeedCOUPLING = 0.76 oz -in 2 (0.139 x 10 -4 kg-m 2 ), J DYNAMO METER= 40.845 oz-i n 2 (7.47 x 10 -4 kg-m 2 )1.401901801.301701.201601501.101401.001300.901201100.80oz-in10090800.700.60N-m700.506050400.400.30300.2020100.1000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2 9.6 10.0 10.4 10.8 11.2 11.6 12.0 12.4 12.8 13.2 13.6 14.0 14.4 14.80.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76 2.88 3.00 3.12 3.24 3.36 3.48 3.60 3.72 3.84 3.96 4.08 4.2 0 4.3 2 4.44kppskrpm23H118E10B, 1.0A phas e current 23 H118 E20B, 2.0A phase current 23H1 18E30B, 3.0A phase current24 vdc, full step, bipolar constant current, J23H218E_BPull-Out Torque vs SpeedCOUPLING = 0.76 oz-in 2 (0.139 x 10 -4 kg-m 2 ), J DYNAMOMETER= 40.845 oz-in 2 (7.47 x 10 -4 kg-m 2 )2401.702201.601.502001.401801.301601.201.101401.00oz-in1200.900.80N-m1000.70800.600.50600.40400.30200.200.1000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2 9.6 10.0 10.4 10.80.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76 2.88 3.00 3.12 3.24kppskrpm23H218E10B, 1.0A phase current 23H218E20B, 2.0A phase current 23H218E30B, 3.0A phase current45024 dc, vfull step, bipolar constant current, J23H3 18E_BPull-Out Torque vs Spee dCOUPLING = 0.76 oz -in 2 (0.139 x 10 -4 kg-m 2 ), J DYNA MOMETER= 40.845 oz-i n 2 (7 .47 x 10 -4 kg-m 2 )3.004003502.503002.00250oz-in2001.50N-m1501.001000.505000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.80.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64kppskrpm23H318E 10B, 1.0A phase current 23H318E20B, 2.0A phase current 23H318E30B, 3.0A phase current216www.portescap.com

Miniature Motors7024 vdc, full step, unipolar constant current, J23H018 E_UPull-Out Torque vs SpeedCOUPLING = 0.76 oz-in 2 (0 .139 x 10 -4 kg-m 2 ), J DYNAMOMETER= 40.845 oz-in 2 (7.47 x 10 -4 kg-m 2 )656055500.450.400.354540350.300.25oz-in30250.20N-m200.15150.101050.0500.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2 9.6 10.0 10.4 10.8 11.2 11.6 12.0 12.4 12.8 13.2 13.6 14.00.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76 2.88 3.00 3.12 3.24 3.36 3.48 3.60 3.72 3.84 3.96 4.08 4.20kppskrpm23H018E10U, 1.0A phase current 23H018E20U, 2.0A phase current 23H018E30U, 3.0A phase current15024 vdc, full step, un ipolar constant current, J23H118 E_UPull-Out Torque vs SpeedCOUP LING = 0.76 oz -in 2 (0 .139 x 10 -4 kg-m 2 ), J DYNAMO METER= 40.8 45 oz-in 2 (7.4 7 x 10 -4 kg-m 2 )1401.0013012011010090800.900.800.700.60Stepperoz-in7060500.500.40N-m400.3030201000.200.100.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2 9.6 10.0 10.4 10.80.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76 2.88 3.00 3.12 3.24kppskrpm23H118 E10U, 1.0A phase current 23H118 E20U, 2.0A phase current 23H118E 30U, 3.0A phase current30024 vdc, full step, unipolar constant current, J23H318E_UPull-Out Tor que vs SpeedCOUPLING = 0.76 oz-in 2 (0.139 x 10 -4 kg-m 2 ), J DYNAMOMETE R= 40 .845 oz -in 2 (7 .47 x 10 -4 kg-m 2 )2.002502001.501501.00oz-in100N-m0.505000.000.0 0.4 0.8 1.2 1.6 2.00.00 0.12 0.24 0.36 0.48 0.60kppskrpm23H318E 10U, 1. 0A phas e current 23H318E20 U, 2.0A phase current 23H318E30U, 3.0A phase currentwww.portescap.com217

55048 vdc, full step, bi polar cons tant current, J34H1 18D_ BPull-Out Torque vs SpeedCO UPLING = 4.128 oz-in 2 (0 .755 x 10 -4 kg-m 2 ), J DYNAMOMETER= 650.6 oz-in 2 (119 x 10 -4 kg-m 2 )5003.504504003.003502.503002.00250oz-in2001.50N-m1501.00100500.5000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2 9.6 10.0 10.4 10.8kpps0.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76 2.88 3.00 3.12 3.2434H118D10B, 1.0A phase current 34H118D30B, 3.0A phase current 34H1 18D5 0B, 5.0A phase currentkrpm100090 080 070 060 050 048 vdc, full step, bipolar constant current, J34H218D_ BPull-Out Torque vs SpeedCOUPLING = 4.128 oz-in 2 (0 .755 x 10 -4 kg-m 2 ), J DYNAMOMETER= 650.6 oz-in 2 (119 x 10 -4 kg-m 2 )7.006.506.005.505.004.504.003.50oz-in40 030 03.002.502.00N-m20 010 001.501.000.500.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2 9.6 10.00.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76 2.88 3.00kppskrpm34H218D10B, 1.0A phase current 34H218D30B, 3.0A phase curent 34H218D50B, 5.0A phase current140048 vdc, full step, bipolar consta nt current, J34H318D_BPull-Out Torque vs SpeedCOUPLING = 4.128 oz-in 2 (0 .755 x 10 -4 kg-m 2 ), J DYNAMOMETER= 650.6 oz-in 2 (119 x 10 -4 kg-m 2 )9.0012008.0010007.008006.005.00oz-in6004004.003.00N-m2.002001.0000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.20.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76kppskrpm34H318D10B, 1.0A phase current 34H3 18D30B, 3.0A phase current 34H318D50B, 5.0A phase current218www.portescap.com

Miniature Motors34H118D_ UPull-O ut Torque vs Speed48 vdc, full step, unipolar cons tant current, JCOUPLING = 4.128 oz-in 2 (0.755 x 10 -4 kg-m 2 ), J DYNAMO METER= 65 0.6 oz -in 2 (119 x 10 -4 kg-m 2 )5003.504503.004003502.503002.00oz-in250N-m2001.501501.00100500.5000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.20.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76kppskrpm34H11 8D10 U, 1.0A phase current 34H1 18D3 0U, 3.0A phase current 34H118D50U, 5.0A phase current80048 vdc, full step, unipolar constant current, J34H2 18D_UPull-O ut Torque vs SpeedCOUPLING = 4.128 oz-in 2 (0.755 x 10 -4 kg-m 2 ), J DYNAMOMETER= 650.6 oz-in 2 (119 x 10 -4 kg-m 2 )5.507006005005.004.504.003.50Stepper4003.00oz-in3002.502.00N-m2001.501.001000.5000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.20.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76kppskrpm34H21 8D10U, 1.0A phase curent 34H2 18D30U, 3.0A phase current 34 H218D5 0U, 5.0A phase current120048 vdc, full step, unipolar constant current, J34H318D_UPull-Out Torque vs SpeedCOUPLING = 4.128 oz-in 2 (0.755 x 10 -4 kg-m 2 ), J DYNAMOMETER= 650.6 oz-in 2 (1 19 x 10 -4 kg-m 2 )8.0010007.008006.005.006004.00oz-in4003.00N-m2.002001.0000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.40.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52kppskrpm34 H318D10U, 1.0A phase current 34H318D30U, 3.0A phase current 34H318D50U, 5.0A phase currentwww.portescap.com219

60048 vdc, full step, bipola r constant current, J34 H118E_BPull -Out To rque vs SpeedCOUPL ING = 4.12 8 oz-in 2 (0 .755 x 10 -4 kg-m 2 ), J DYNAMO METER= 650.6 oz-in 2 (1 19 x 10 -4 kg-m 2 )5504.005003.504504003.003502.50oz-in3002.00N-m2502001.501501.00100500.5000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2 9.6 10.0 10.4 10.80.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76 2.88 3.00 3.12 3.24kppskrpm34H1 18 E10B, 1.0A phase current 34H118E30B , 3.0A phase current 34 H1 18E50B, 5.0A phas e current34H218 E_BPull-Out Torque vs Spee d48 vdc, full step, bipolar constant current, JCOUPLING = 4.128 oz-in 2 (0.755 x 10 -4 kg-m 2 ), J DY NAMOMETE R= 650.6 oz-in 2 (119 x 10 -4 kg-m 2 )10007.009006.506.008005.507005.004.50oz-in6004.00N-m5003.504003.002.503002.002001.501.001000.5000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2 9.6 10.0kpps0.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76 2.88 3.0034H218E10B, 1.0A phase current 34H218E30B, 3.0A phase current 34H218E50B, 5.0A phase currentkrpm140048 vdc, full step, bipo lar constant curr ent, J34 H3 18 E_BPull -Out Torque vs Spee dCOUPLING = 4.128 oz-in 2 (0.7 55 x 10 -4 kg-m 2 ), J DYNAMOMETE R= 650.6 oz-in 2 (119 x 10 -4 kg-m 2 )9.0012008.0010007.00oz-in80 06.005.00N-m60 04.0040 03.002.0020 01.0000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.20.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.76kppskrpm34 H3 18E10B, 1.0A phase current 34H318E30B, 3.0A phase current 34H318E50B, 5.0A phase current220www.portescap.com

Miniature Motors34H118E_UPull-O ut Torque vs Speed48 vdc, full step, unipol ar constant current, JCOUPLING = 4.128 oz-in 2 (0.755 x 10 -4 kg-m 2 ), J DYNAMOMETER= 650.6 oz-in 2 (119 x 10 -4 kg-m 2 )5003.504503.004003502.503002.00oz-in2502001.50N-m1501.001000.505000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.20.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.7634H1 18E10U, 1.0A phase current 34H118E30U, 3.0A phas e current 34H1 18E50U, 5.0A phase currentkppskrpm90048 vdc, full step, unipolar cons ta nt current, J34H218E_UPull-Out Torque vs SpeedCOUPLI NG = 4.128 oz-i n 2 (0 .755 x 10 -4 kg-m 2 ), J DY NA MO ME TER= 650.6 oz -i n 2 (119 x 10 -4 kg-m 2 )6.008005.507006005.004.504.00Stepperoz-in5004003.503.00N-m2.503002.002001.501.001000.5000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4 8.8 9.2kpps0.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.52 2.64 2.7634H2 18E10U, 1.0A phase current 34H218E30U, 3.0A phase current 34H2 18E50U, 5.0A phase currentkrpm140048 vdc, full step, unipolar consta nt curr ent, J34H31 8E_UPull-Out Torque vs SpeedCOUPLING = 4.128 oz-in 2 (0.755 x 10 -4 kg-m 2 ), J DYNAMOMETER= 650.6 oz-in 2 (119 x 10 -4 kg-m 2 )9.0012008.0010007.00oz-in8006.00N-m5.006004.004003.002.002001.0000.000.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0 4.4 4.8 5.2 5.6 6.0 6.4 6.8 7.2 7.6 8.0 8.4kpps0.00 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 1.32 1.44 1.56 1.68 1.80 1.92 2.04 2.16 2.28 2.40 2.5234H318E10U, 1.0A phase current 34H318E30U, 3.0A phase current 34H318E50 U, 5.0A phase currentkrpmwww.portescap.com221

Notes222www.portescap.com