5-Phase Stepper Motor

Ordering Information
● Application model: shaft type, hollow shaft type, built-in brake type
A 8K M 5 6 6 B
Motor type No-mark Standard type
B※1 Built-in brake type
Wire connection No-mark Pentagon
S※2 Standard
Shaft type No-mark Single shaft
Motor length W Dual shaft
3 30.5mm
2 24×24mm
5 46.5mm
3 33mm
4 42×42mm 4 39mm
Motor frame size 5 47mm
4 48.5mm
6 60×60mm 6 59.5mm
9 89mm
6 68mm
9 85×85mm 9 98mm
13 128mm
Motor phase
5 5 phase
S 0.75A/Phase
Rated current
M 1.4A/Phase
G 2.8A/Phase
Max. holding torque
Square kgf·cm (refer to motor specification)
Motor type No-mark Shaft type
H Hollow shaft type
Item
A Autonics motor
※1: Built-in brake type provides single shaft type only.
※2: Standard wiring is optional. (except frame size 24mm motor, A4K-G564(W), A8K-G566(W))

Ordering Information
● Application model: geared type, geared+built-in brake type, rotary actuator type,
rotary actuator+built-in brake type

A M 5
5 1:5
Gear ratio
7.2 1:7.2
10 1:10
G Geared type
Motor type GB※1 Geared+built-in brake type
R Rotary actuator type
RB※1 Rotary actuator+built-in brake type
Shaft type No-mark※1 Single shaft
Motor length W Dual shaft
4 42×42mm 5 47mm
Motor frame size
6 60×60mm 6 59.5mm
9 85×85mm 9 98mm
Motor phase
5 5 Phase
S 0.75A/Phase
Rated current
M 1.4A/Phase
G 2.8A/Phase
10K 10kgf·cm 50K 50kgf·cm
Max. allowable torque 15K 15kgf·cm 140K 140kgf·cm
35K 35kgf·cm 200K 200kgf·cm
40K 40kgf·cm
Item
A Autonics motor
※1: Built-in brake type provides single shaft type only.

Q-24
 5-Phase Stepper Motor

Specifications of Motor (A)

Photoelectric
Sensors
Motor Max. Max. Rotor
Rated allowable Winding
holding moment of Motor length
Model current resistance (B)
Frame size Type torque torque inertia (mm) Fiber
(A/Phase) (Ω)
(kgf.cm) (kgf·cm) (gf.cm²) Optic
Sensors
02K-S523(W) 0.75 0.18 - 4.2 1.1 30.5
24mm Shaft type
04K-S525(W) 0.75 0.28 - 8.2 1.7 46.5 (C)
Door/Area
A1K-S543(W)- B 0.75 1.3 - 35 1.7 33/56 Sensors
Shaft type/ A2K-S544(W)- B 0.75 1.8 - 54 2.2 39/62
Built-in brake type A2K-M544(W) 1.4 1.8 - 54 2.2 39 (D)
Proximity
A3K-S545(W)- B 0.75 2.4 - 68 2.2 47/70 Sensors
AH1K-S543 0.75 1.3 - 35 1.7 33
Hollow shaft type AH2K-S544 0.75 1.8 - 54 2.2 39 (E)
42mm AH3K-S545 0.75 2.4 - 68 2.2 47 Pressure
Sensors
A10K-S545(W)-G5 0.75 - 10 68 2.2 74.5
Geared type A15K-S545(W)-G7.2 0.75 - 15 68 2.2 74.5
(F)
A15K-S545(W)-G10 0.75 - 15 68 2.2 74.5 Rotary
Encoders
A10K-S545-GB5 0.75 - 10 68 2.2 97.5
Geared+
A15K-S545-GB7.2 0.75 - 15 68 2.2 97.5 (G)
built-in brake type Connectors/
A15K-S545-GB10 0.75 - 15 68 2.2 97.5 Connector Cables/
A4K-S564(W)- B 0.75 4.2 - 175 2.6 48.5/75 Sensor Distribution
Boxes/Sockets
A4K-M564(W)- B 1.4 4.2 - 175 0.8 48.5/75
A4K-G564(W) 2.8 4.2 - 175 0.26 48.5 (H)
Temperature
Shaft type/ A8K-S566(W)- B 0.75 8.3 - 280 4.0 59.5/86 Controllers
Built-in brake type A8K-M566(W)- B 1.4 8.3 - 280 1.1 59.5/86
A8K-G566(W) 2.8 8.3 - 280 0.35 59.5 (I)
SSRs / Power
A16K-M569(W)- B 1.4 16.6 - 560 1.8 89/115.5 Controllers
A16K-G569(W)- B 2.8 16.6 - 560 0.56 89/115.5
AH4K-S564(W) 0.75 4.2 - 175 2.6 48.5
(J)
AH4K-M564(W) 1.4 4.2 - 175 0.8 48.5 Counters
AH8K-S566(W) 0.75 8.3 - 280 4.0 59.5
Hollow shaft type
AH8K-M566(W) 1.4 8.3 - 280 1.1 59.5
AH16K-M569(W) 1.4 16.6 - 560 1.8 89 (K)
60mm Timers
AH16K-G569(W) 2.8 16.6 - 560 0.56 89
A35K-M566(W)-G5 1.4 - 35 280 1.1 94.5
(L)
Geared type A40K-M566(W)-G7.2 1.4 - 40 280 1.1 94.5 Panel
A50K-M566(W)-G10 1.4 - 50 280 1.1 94.5 Meters

A35K-M566-GB5 1.4 - 35 280 1.1 121

Geared+ (M)
A40K-M566-GB7.2 1.4 - 40 280 1.1 121 Tacho /
built-in brake type
A50K-M566-GB10 1.4 - 50 280 1.1 121 Speed / Pulse
Meters
A35K-M566(W)-R5 1.4 - 35 280 1.1 93.5
Rotary actuator type A40K-M566(W)-R7.2 1.4 - 40 280 1.1 93.5 (N)
Display
A50K-M566(W)-R10 1.4 - 50 280 1.1 93.5 Units
A35K-M566-RB5 1.4 - 35 280 1.1 120
Rotary actuator+
A40K-M566-RB7.2 1.4 - 40 280 1.1 120
built-in brake type (O)
A50K-M566-RB10 1.4 - 50 280 1.1 120 Sensor
Controllers
A21K-M596(W)- B 1.4 21 - 1400 1.76 68/103
A21K-G596(W)- B 2.8 21 - 1400 0.4 68/103 (P)
Shaft type/ A41K-M599(W)- B 1.4 41 - 2700 2.6 98/133 Switching
Mode Power
Built-in brake type A41K-G599(W)- B 2.8 41 - 2700 0.58 98/133 Supplies

A63K-M5913(W)- B 1.4 63 - 4000 3.92 128/163 (Q)

A63K-G5913(W)- B 2.8 63 - 4000 0.86 128/163 Stepper Motors
& Drivers
AH21K-M596(W) 1.4 21 - 1400 1.76 68 & Controllers
AH21K-G596(W) 2.8 21 - 1400 0.4 68
(R)
AH41K-M599(W) 1.4 41 - 2700 2.6 98 Graphic/
Hollow shaft type
AH41K-G599(W) 2.8 41 - 2700 0.58 98 Logic
Panels
AH63K-M5913(W) 1.4 63 - 4000 3.92 128
AH63K-G5913(W) 2.8 63 - 4000 0.86 128 (S)
85mm Field
A140K-M599(W)-G5 1.4 - 140 2700 2.6 145 Network
Devices
A140K-G599(W)-G5 2.8 - 140 2700 0.58 145
A200K-M599(W)-G7.2 1.4 - 200 2700 2.6 145
Geared type (T)
A200K-G599(W)-G7.2 2.8 - 200 2700 0.58 145 Software
A200K-M599(W)-G10 1.4 - 200 2700 2.6 145
A200K-G599(W)-G10 2.8 - 200 2700 0.58 145
A140K-M599-GB5 1.4 - 140 2700 26 180
A140K-G599-GB5 2.8 - 140 2700 0.58 180
Geared+ A200K-M599-GB7.2 1.4 - 200 2700 2.6 180
built-in brake type A200K-G599-GB7.2 2.8 - 200 2700 0.58 180
A200K-M599-GB10 1.4 - 200 2700 2.6 180
A200K-G599-GB10 2.8 - 200 2700 0.58 180
※(W) stands for dual shaft of motor. (the built-in brake type provides single shaft type only.)
※Motor length is measured without shaft.
※Hollow shaft type with standard wiring is optional. (except frame size 24mm motor.)

Q-25
5-Phase Stepper Motor

Specifications
● Frame size 24mm
Model 02K-S523(W) 04K-S525(W)
0.18kgf.cm (0.018N.m)
※1
Max. holding torque 0.28kgf·cm (0.027N·m)
Rotor moment of inertia 4.2gf·cm2 (4.2×10-7kgf·m2) 8.2gf·cm2 (8.2×10-7kgf·m2)
Rated current 0.75A/Phase
Standard step angle 0.72°/0.36° (Full/Half step)
Insulation class B type (130℃)
Insulation resistance Over 100MΩ (at 500VDC megger) between motor coil-case
Dielectric strength 0.5kVAC 50/60Hz for 1 minute between motor coil-case
Ambient temp. -10 to 50℃, storage: -25 to 85℃
Environment
Ambient humi. 35 to 85%RH, storage: 35 to 85%RH
Protection structure IP30 (IEC34-5 standard)
※2
Weight Approx. 0.10kg (approx. 0.08kg) Approx. 0.16kg (approx. 0.12kg)
Reference Q-29 to 31
※1: Max. holding torque is maintenance torque in stopping the motor when supply the rated current and is standard method for comparing
the performance of motors.
※2: The weight includes packaging. The weight in parenthesis is for unit only.
※Environment resistance is rated at no freezing or condensation.
● Frame size 42mm
Shaft type A1K-S543(W) A2K-S544(W) A2K-M544(W) A3K-S545(W) - - -
Hollow shaft type AH1K-S543 AH2K-S544 - AH3K-S545 - - -
Built-in brake type A1K-S543-B A2K-S544-B - A3K-S545-B - - -
Model

A10K- A15K- A15K-

Geared type - - - -
S545(W)-G5 S545(W)-G7.2 S545(W)-G10
Geared + A10K- A15K- A15K-
- - - -
built-in brake type S545-GB5 S545-GB7.2 S545-GB10
※1 1.3kgf·cm 1.8kgf·cm 2.4kgf·cm
Max. holding torque - - -
(0.13N·m) (0.18N·m) (0.24N·m)
※1 10kgf·cm 15kgf·cm
Max. allowable torque - - - -
(1.0N·m) (1.5N·m)
2 2
35gf·cm 54gf·cm 68gf·cm2
Rotor moment of inertia
(35×10-7kgf·m2) (54×10-7kgf·m2) (68×10-7kgf·m2)
Rated current 0.75A/Phase 1.4A/Phase 0.75A/Phase
0.144°/ 0.072° 0.1°/ 0.05° 0.072°/ 0.036°
Standard step angle 0.72°/ 0.36° (Full/Half step)
(Full/Half step) (Full/Half step) (Full/Half step)
Gear ratio - 1:5 1:7.2 1:10
Allowable speed range - 0 to 360rpm 0 to 250rpm 0 to 180rpm
Backlash [min] - ±35' (0.58°)
Rated excitation voltage 24VDCᜡ ±10% (no-polarity)
Electro-Magnetic

Rated excitation current 0.2A

Static friction torque 1.8kgf.cm
Brake 2

3×10-7kgf.cm2
※

Rotation part inertia

B type brake Power on: brake is released, power off: brake is operating
Operating time Max. 25ms Max. 15ms
Releasing time Max. 15ms Max. 25ms
Insulation class B type (130℃)
Insulation resistance Over 100MΩ (at 500VDC megger) between motor coil-case
Dielectric strength 1kVAC (at 0.75A/Phase is 0.5kVAC) 50/60Hz for 1 minute between motor coil-case
Ambient temp. -10 to 50℃, storage: -25 to 85℃
Environment
Ambient humi. 35 to 85%RH, storage: 35 to 85%RH
Protection structure IP30 (IEC34-5 standard)
Shaft type Shaft type
: approx. 0.34kg : approx. 0.49kg
Shaft type
(approx. 0.25kg), (approx. 0.4kg)
: approx. 0.39kg (approx. 0.3kg), Geared type
Hollow shaft type Hollow shaft type
※3 Hollow shaft type : approx. 0.68kg (approx. 0.58kg),
Weight : approx. 0.35kg : approx. 0.5kg
: approx. 0.4kg (approx. 0.3kg), Geared+built-in brake type
(approx. 0.25kg), (approx. 0.4kg),
Built-in brake type : approx. 0.78kg (approx. 0.72kg)
Built-in brake type Built-in brake type
: approx. 0.49kg (approx. 0.44kg)
: approx. 0.44kg : approx. 0.59kg
(approx. 0.39kg) (approx. 0.54kg)
Reference Q-29 to 39
※1: Max. holding torque/Max. allowable torque is maintenance torque in stopping the motor when supply the rated current and is standard
method for comparing the performance of motors.
※2: It is only available for built-in brake type, geared+built-in brake type.
※3: The weight includes packaging. The weight in parenthesis is for unit only. ※Environment resistance is rated at no freezing or condensation.

Q-26
 5-Phase Stepper Motor

Specifications (A)
Photoelectric
● Frame size 60mm Sensors

Shaft type A4K-S564(W) A4K-M564(W) A4K-G564(W) A8K-S566(W) A8K-M566(W) A8K-G566(W) A16K-M569(W) A16K-G569(W)
Model

(B)
Hollow shaft type AH4K-S564(W) AH4K-M564(W) - AH8K-S566(W) AH8K-M566(W) - AH16K-M569(W) AH16K-G569(W) Fiber
Optic
Built-in brake type A4K-S564-B A4K-M564-B - A8K-S566-B A8K-M566-B - A16K-M569-B A16K-G569-B Sensors
※1
Max. holding torque 4.2kgf·cm (0.41N·m) 8.3kgf·cm (0.81N·m) 16.6kgf·cm (1.63N·m)
Rotor moment of inertia 175gf·cm2 (175×10-7kgf·m2) 280gf·cm2 (280×10-7kgf·m2) 560gf·cm2 (560×10-7kgf·m2) (C)
Door/Area
Rated current 0.75A/Phase 1.4A/Phase 2.8A/Phase 0.75A/Phase 1.4A/Phase 2.8A/Phase 1.4A/Phase 2.8A/Phase Sensors

Standard step angle 0.72°/ 0.36° (Full/Half step)

Rated excitation voltage 24VDCᜡ ±10% (no-polarity) (D)
Electro-Magnetic

Proximity
Rated excitation current 0.33A Sensors

Static friction torque 8kgf·cm

Brake 2
※

Rotation part inertia 29×10-7kgf·cm2 (E)

Pressure
B type brake Power on: brake is released, power off: brake is operating Sensors

Operating time Max. 25ms

Releasing time Max. 20ms (F)
Rotary
Insulation class B type (130℃) Encoders

Insulation resistance Over 100MΩ (at 500VDC megger) between motor coil-case (G)
Dielectric strength 1kVAC (at 0.75A/Phase is 0.5kVAC) 50/60Hz for 1 minute between motor coil-case Connectors/
Connector Cables/
Environ- Ambient temp. -10 to 50℃, storage: -25 to 85℃ Sensor Distribution
Boxes/Sockets
ment Ambient humi. 35 to 85%RH, storage: 35 to 85%RH
Protection structure IP30 (IEC34-5 standard) (H)
Temperature
Standard type Standard type Standard type Controllers
: approx. 0.85kg (approx. 0.6kg), : approx. 1.05kg (approx. 0.8kg), : approx. 1.55kg (approx. 1.3kg),
※4 Hollow shaft type Hollow shaft type Hollow shaft type
Weight (I)
: approx. 0.87kg (approx. 0.6kg), : approx. 1.07kg (approx. 0.8kg), : approx. 1.57kg (approx. 1.3kg), SSRs / Power
Built-in brake type Built-in brake type Built-in brake type Controllers

: approx. 1.03kg (approx. 0.95kg) : approx. 1.33kg (approx. 1.25kg) : approx. 1.73kg (approx. 1.65kg)
Reference Q-29 to 35 (J)
Counters
※Environment resistance is rated at no freezing or condensation.

● Frame size 60mm (K)

Timers
Geared type A35K-M566(W)-G5 A40K-M566(W)-G7.2 A50K-M566(W)-G10
Geared type+
A35K-M566-GB5 A40K-M566-GB7.2 A50K-M566-GB10 (L)
Model

Built-in brake type Panel

Meters
Rotary actuator type A35K-M566(W)-R5 A40K-M566(W)-R7.2 A50K-M566(W)-R10
Rotary actuator+
A35K-M566-RB5 A40K-M566-RB7.2 A50K-M566-RB10 (M)
Built-in brake type Tacho /
Speed / Pulse
※1
Max. allowable torque 35kgf·cm (3.4N·m) 40kgf·cm (3.9N·m) 50kgf·cm (4.9N·m) Meters

Rotor moment of inertia 280gf·cm2 (280×10-7kgf·m2)

(N)
Rated current 1.4A/Phase Display
Units
Standard step angle 0.144°/ 0.072° (Full/Half step) 0.1°/ 0.05° (Full/Half step) 0.072°/ 0.036° (Full/Half step)
Gear ratio 1:5 1:7.2 1:10 (O)
Sensor
Allowable speed range 0 to 360rpm 0 to 250rpm 0 to 180rpm Controllers
Backlash [min] ±20' (0.33°)
Rated excitation voltage 24VDCᜡ ±10% (no-polarity) (P)
Switching
Electro-Magnetic

Rated excitation current 0.33A Mode Power

Supplies
Static friction torque Min. 8kgf·cm
Brake 2

(Q)
※

Rotation part inertia 29×10-7kgf·cm2 Stepper Motors

& Drivers
B type brake Power on: brake is released, power off: brake is operating & Controllers

Operating time Max. 20ms (R)

Releasing time Max. 25ms Graphic/
Logic
※3
Absolute position error ±20' (0.33°) Panels
※3
Lost motion ±20' (0.33°) (S)
Field
Insulation class B type (130℃) Network
Devices
Insulation resistance Over 100MΩ (at 500VDC megger) between motor coil-case
Dielectric strength 1kVAC 50/60Hz for 1 minute between motor coil-case
(T)
Ambient temp. -10 to 50℃, storage: -25 to 85℃ Software
Environment
Ambient humi. 35 to 85%RH, storage: 35 to 85%RH
Protection structure IP30 (IEC34-5 standard)
※4 Geared type: approx. 1.57kg (approx. 1.3kg), geared+built-in brake type: approx. 1.65kg (approx. 1.57kg),
Weight
rotary actuator type: approx. 1.4kg (approx. 1.3kg), rotary actuator+built-in brake type: approx. 1.7kg (approx.1.6kg)
Reference Q-36 to 39
※1: Max. holding torque/Max. allowable torque is maintenance torque in stopping the motor when supply the rated current and is standard
method for comparing the performance of motors.
※2: It is only available for built-in brake type, geared+built-in brake type.
※3: It is only available for Rotary actuator type, Rotary actuator+built-in brake type.
※4: The weight includes packaging. The weight in parenthesis is for unit only. ※Environment resistance is rated at no freezing or condensation.

Q-27
5-Phase Stepper Motor

Specifications
● Frame size 85mm
Shaft type A21K-M596(W) A21K-G596(W) A41K-M599(W) A41K-G599(W) A63K-M5913(W) A63K-G5913(W)
Model

Hollow shaft type AH21K-M596(W) AH21K-G596(W) AH41K-M599(W) AH41K-G599(W) AH63K-M5913(W) AH63K-G5913(W)

Built-in brake type A21K-M596-B A21K-G596-B A41K-M599-B A41K-G599-B A63K-M5913-B A63K-G5913-B
※1
Max. holding torque 21kgf·cm (2.1N·m) 41kgf·cm (4.0N·m) 63kgf·cm (6.2N·m)
Rotor moment of inertia 1,400gf·cm2 (1,400×10-7kgf·m2) 2,700gf·cm2 (2,700×10-7kgf·m2) 4,000gf·cm2 (4,000×10-7kgf·m2)
Rated current 1.4A/Phase 2.8A/Phase 1.4A/Phase 2.8A/Phase 1.4A/Phase 2.8A/Phase
Standard step angle 0.72°/ 0.36° (Full/Half step)
Rated excitation voltage 24VDCᜡ ±10% (no-polarity)
Electro-Magnetic

Rated excitation current 0.62A

Static friction torque 40kgf·cm
Brake 2
※

Rotation part inertia 153×10-7kgf·cm2

B type brake Power on: brake is released, power off: brake is operating
Operating time Max. 60ms
Releasing time Max. 15ms
Insulation class B type (130℃)
Insulation resistance Over 100MΩ (at 500VDC megger) between motor coil-case
Dielectric strength 1kVAC 50/60Hz for 1 minute between motor coil-case
Ambient temp. -10 to 50℃, storage: -25 to 85℃
Environment
Ambient humi. 35 to 85%RH, storage: 35 to 85%RH
Protection structure IP30 (IEC34-5 standard)
Shaft type Shaft type Shaft type
: approx. 2.15kg (approx. 1.7kg), : approx. 3.25kg (approx. 2.8kg), : approx. 4.25kg (approx. 3.8kg),
※3 Hollow shaft type Hollow shaft type Hollow shaft type
Weight
: approx. 2.18kg (approx. 1.7kg), : approx. 3.28kg (approx. 2.8kg), : approx. 4.28kg (approx. 3.8kg),
Built-in brake type Built-in brake type Built-in brake type
: approx. 2.74kg (approx. 2.64kg) : approx. 3.84kg (approx. 3.74kg) : approx. 4.84kg (approx. 4.74kg)
Reference Q-29 to 35
※Environment resistance is rated at no freezing or condensation.

● Frame size 85mm

A140K- A140K- A200K- A200K- A200K- A200K-
Geared type
M599(W)-G5 G599(W)-G5 M599(W)-G7.2 G599(W)-G7.2 M599(W)-G10 G599(W)-G10
Model

Geared+ A140K- A140K- A200K- A200K- A200K- A200K-

Built-in brake type M599-GB5 G599-GB5 M599-GB7.2 G599-GB7.2 M599-GB10 G599-GB10
※1
Max. allowable torque 140kgf·cm (13.7N·m) 200kgf·cm (19.6N·m)
Rotor moment of inertia 2,700gf·cm2 (2,700×10-7kgf·m2)
Rated current 1.4A/Phase 2.8A/Phase 1.4A/Phase 2.8A/Phase 1.4A/Phase 2.8A/Phase
Standard step angle 0.144°/ 0.072° (Full/Half step) 0.1°/ 0.05° (Full/Half step) 0.072°/ 0.036° (Full/Half step)
Gear ratio 1:5 1:7.2 1:10
Allowable speed range 0 to 360rpm 0 to 250rpm 0 to 180rpm
Backlash [min] ±15' (0.25°)
Rated excitation voltage 24VDCᜡ ±10% (no-polarity)
Electro-Magnetic

Rated excitation current 0.62A

Static friction torque 40kgf·cm
Brake 2
※

Rotation part inertia 153×10-7kgf·cm2

B type brake Power on: brake is released, power off: brake is operating
Operating time Max. 15ms
Releasing time Max. 60ms
Insulation class B type (130℃)
Insulation resistance Over 100MΩ (at 500VDC megger) between motor coil-case
Dielectric strength 1kVAC 50/60Hz for 1 minute between motor coil-case
Ambient temp. -10 to 50℃, storage: -25 to 85℃
Environment
Ambient humi. 35 to 85%RH, storage: 35 to 85%RH
Protection structure IP30 (IEC34-5 standard)
※3
Weight Geared type: approx. 4.88kg (approx. 4.4kg), geared+built-in brake type: approx. 5.5kg (approx. 5.2kg)
Reference Q-36 to 39
※1: Max. holding torque/Max. allowable torque is maintenance torque in stopping the motor when supply the rated current and is standard
method for comparing the performance of motors.
※2: It is only available for built-in brake type, geared+built-in brake type.
※3: The weight includes packaging. The weight in parenthesis is for unit only. ※Environment resistance is rated at no freezing or condensation.

Q-28