Chapter 6 - Hardware Reference

6-13

P/K 31, 32, 33Step Motor Specifications

EQ and EM Encoder Cables Quick Disconnect Motor Cable Motor Dimensions
Signal *Pin Color Wire Color Signal Motor D K T X LMAX
A+ B Red Red w/ Black B- P31 .5000 .1250 .555 (3.70) 4.44
A- C Pink/P urp le Red w/ White B+ P32 .500 0 .12 50 .555 (5. 22) 5. 96
B+ N Gree n Green *GND P33 .625 0 .18 75 .705 (6. 74) 7 .48
B- P Blue Red w/ Ye llow A-
Z+ M Yellow Red A+
Z- U Orange *Connect shield of gray QF3-12
cable to GND.
+5V K White
COM T Black
Shld --- ---
*EQ Cable onl y. Brown-NC
Electrical Specs. P31V P32V P33V
Continuous Stall Torque oz-in [N-m] 450 [3.2] 920 [6.5] 1260 [8.9]
Recommended Current/Phase Amps 2.9 3.3 4.0
Inductance mH 14 30 25
Max. Winding Temperature °F [°C] 212 [100] 212 [100] 212 [100]
Mechanical Specs. P31V P32V P33V
Rotor Inertia oz-in-sec .0202 .038 .0567
Axial Shaft Load lbs [N] 305 [1350] 305 [1350] 305 [1350]
Radial Shaft Load @ 0.5 inches lbs [N] 665 [285] 665 [285] 1 10 [489]
Motor Weight lbs [kg] 5 8.4 1 1.9
Step Angle (full step) degrees 1.8 1.8 1.8
IDC Quick Disconnect Cable
P/N QF4-12 (18AWG)
EQ
Encoder
Cable

IDC Motor Wiring

Series

YELLOW
WHT/YEL
WHT/RED
RED
SHIELD
BLACK
WHT/BLK
WHT/ORG
ORANGE

Parallel

YELLOW
WHT/RED
RED
WHT/YEL
SHIELD
BLACK
WHT/ORG
ORANGE
WHT/BLK