| General Specifications |
| Frame Size 85 mm |
| Model |
Standard shaft type |
A21K-M596(W) |
A21K-G596(W) |
A41K-M599(W) |
A41K-G599(W) |
A63K-M5913(W) |
A63K-G5913(W) |
| Hollow shaft type |
AH21K-M596(W) |
AH21K-G596(W) |
AH41K-M599(W) |
AH41K-G599(W) |
AH63K-M5913(W) |
AH63K-G5913(W) |
| Shaft type+ Brake built-in type |
A21K-M596-B |
A21K-G596-B |
A41K-M599-B |
A41K-G599-B |
A63K-M5913-B |
A63K-G5913-B |
| Max. Holding torque |
21kgf·cm (2.1N·m) |
41kgf·cm (4.0N·m) |
63kgf·cm (6.2N·m) |
| Rotor moment of inertia |
1400g·cm² (1400×10 -7 kg·m²) |
2700g·cm² (2700×10 -7 kg·m²) |
4000g·cm² (4000×10 -7 kg·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 |
24VDC ±10% (non-polarity) |
| Rated excitation current |
0.62A |
| Static friction torque |
40kgf·cm |
| Rotation part inertia moment |
53×10 -7 kg·cm² |
| Operating time |
Max. 60ms |
| Releasing time |
Max. 15ms |
| Insulation class |
B type (130 °C ) |
| Insulation resistance |
Over. 100MΩ (at 500VDC megger) between motor coil-case |
| Dielectric strength |
1kVAC 50/60Hz for 1 minute between motor coil-case |
| Environment |
Ambient temperature |
-10 to 50 °C , storage: -25 to 85 °C |
| Ambient humidity |
35 to 85%RH, storage: 35 to 85%RH |
| Protection structure |
IP30 (IEC34-5 standard) |
| Weight ※ 1 |
Standard shaft type:
Approx. 2.15kg (approx. 1.7kg),
Hollow shaft type:
Approx. 2.18kg (approx. 1.7kg),
Brake built-in type:
Approx. 2.74kg (approx. 2.64kg) |
Standard shaft type:
Approx. 3.25kg (approx. 2.8kg),
Hollow shaft type:
Approx. 3.28kg (approx. 2.8kg),
Brake built-in type:
Approx. 3.84kg (approx. 3.74kg) |
Standard shaft type:
Approx. 4.25kg (approx. 3.8kg),
Hollow shaft type:
Approx. 4.28kg (approx. 3.8kg),
Brake built-in type:
Approx. 4.84kg (approx. 4.74kg) |
| Reference |
Q-44 to 50 |
※ 1: The weight includes packaging. The weight in parentheses is for unit only.
※ Environment resistance is rated at no freezing or condensation. |
| Frame size 85mm |
| Model |
Shaft type+ Geared built-in type |
A140K- M599(W)-G5 |
A140K- G599(W)-G5 |
A200K- M599(W)-G7.2 |
A200K- G599(W)-G7.2 |
A200K- M599(W)-G10 |
A200K- G599(W)-G10 |
| Geared+ Brake built-in type |
A140K- M599-GB5 |
A140K- G599-GB5 |
A200K- M599-GB7.2 |
AA200K- G599-GB7.2 |
A200K- M599-GB10 |
A200K- G599-GB10 |
| Max. Holding torque |
140kgf·cm (13.7N·m) |
200kgf·cm (19.6N·m) |
200kgf·cm (19.6N·m) |
| Rotor moment of inertia |
2700g·cm² (270×10 -7 kg·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°) |
| Eletromagnetic Brake |
Rated excitation voltage |
24VDC ±10% (non-polarity) |
| Rated excitation current |
0.62A |
| Static friction torque |
40kgf ·cm |
| Rotation part inertia moment |
15.3×10 -6 kgf·cm² |
| Operating time |
Max. 15ms |
| Releasing time |
Max. 60ms |
| Insulation class |
B type (130 °C ) |
| Insulation resistance |
Over. 100MΩ (at 500VDC megger) between motor coil-case |
| Dielectric strength |
1kVAC 50/60Hz for 1 minute between motor coil-case |
| Environment |
Ambient temperature |
-10 to 50 °C , storage: -25 to 85 °C |
| Ambient humidity |
35 to 85%RH, storage: 35 to 85%RH |
| Protection structure |
IP30 (IEC34-5 standard) |
| Weight ※ 1 |
Geared built-in type: Approx. 4.88kg (approx. 4.4kg), Geared+Brake built-in type: Approx. 5.5kg (approx. 5.2kg) |
| Reference |
Q-51 to 54 |
※ 1: The weight includes packaging. The weight in parentheses is for unit only.
※ Environment resistance is rated at no freezing or condensation. |