Nema 17 Stepper Motor with Gearbox Gear Ratio 10:1 & Magnetic Encoder 1000PPR(4000CPR)

This Nema 17 geared motor is the Joint 1 motor in AR4 kit. It is integrated with a planetary gearbox of 10:1 gear ratio and a very thin and cost-effective magnetic incremental encoders with 3 channels and 1000PPR(4000CPR) resolution. It's also a good solution to applications that with limited space but need low speed and/or high torque.

Electrical Specification

• Manufacturer PartNumber: 17HS15-1684D-HG10-AR4
• Motor Type: Bipolar Stepper
• Step Angle: 1.8deg
• Holding Torque without Gearbox: 39Ncm(55oz.in)
• Rated Current/phase: 1.68A
• Phase Resistance: 1.6ohms
• Inductance: 3.2mH ± 20%(1KHz)

Gearbox Specifications

• Gearbox Type: Planetary
• Gear Ratio: 10:1
• Efficiency: 95%
• Backlash at No-load: <=15arcmin
• Max. Permissible Torque: 3.5Nm(495.64oz.in)
• Moment Permissible Torque: 6Nm(849.67oz.in)
• Max. Radial Load: 150N
• Noise: <=50dB
• Ambient Temperature: -10 - 50℃
• Insulation Class: B 130°C[266°F]
• Life: 6000h

Encoder Specification

• Output Circuit Type: Differential
• Encoder Type: Magnetic Incremental
• Encoder Resolution: 1000PPR(4000CPR)
• Output Signal Channels: 3 channels
• SupplyVoltage Min: 3.3V
• SupplyVoltage Max: 5.5V
• Output Current: 20mA
• Output HighVoltage: 5V
• Output LowVoltage: 0.2V
• Output Frequency Max: 400kHZ

Physical Specifications

• Body Length: 80mm
• Motor Length: 39mm
• Gearbox Length: 41mm
• Shaft Diameter: Φ8mm
• Shaft Length: 23.5mm
• Key-way Length: 14mm
• Number of Leads: 4
• Lead Length: 500mm
• Weight: 550g

Motor and Encoder Connection