Manufacturer source: MOONS’ · EtherCAT edition by RSI

MOONS’ STF Family Brochure and EtherCAT Catalog

Rev. A10, April 29, 2025 · 31 pages

Compare the STF family’s EtherCAT drive layouts, model ratings, I/O, accessories, and recommended stepper motors, then browse the complete source-text edition below.

Interactive catalog guide

Find an STF system

Choose the requirements you know to narrow the drive models and motor options in this catalog.

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Drive models

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Motor options

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Catalog details

Select a drive or motor

MOONS brochure

Choose a result to view its specifications, drawing, or torque curve here.

Selected drive and motor dimensions

Drive drawings are vector previews from the brochure. Motor dimensions below are limited to measurements listed in its tables.

Selected drive

Selected motor

Matches use the catalog’s listed axes, voltage ranges, STO options, motor features, and holding torque. Use each motor’s torque-versus-speed curve and exact hardware manual to assess your application; this finder does not calculate load, acceleration, inertia, or duty-cycle suitability.

STF EtherCAT overview

The STF family combines a stepper drive with a built-in motion controller. The EtherCAT variants shown here support CoE and CiA 402. Models range from compact single-axis drives to two- and four-axis packages. The selected drive and motor determine achievable speed, torque, and thermal performance.

Motion quality

Anti-resonance damping targets midrange vibration and settling. Torque-ripple smoothing targets lower-speed motion. MOONS’ describes low vibration, noise, and heat as design goals.

Machine integration

Dual EtherCAT ports support a daisy-chain network. Models differ in digital I/O count, packaging, and optional safe torque off (STO).

Setup and diagnostics

At startup, the drive measures motor resistance and inductance to optimize operation and can detect open or short circuits. Stepper Suite provides setup, monitoring, motion tests, and configuration tools.

EtherCAT drive configurations

These five configurations cover the STF EtherCAT drives in this catalog. The multi-axis schematics show network, motor, I/O, power, configuration, and optional STO connections. Use the full model number to identify the correct terminals and accessories.

STF-4X-ECX

4 axes

EtherCAT command support through CoE (CiA 402). One drive controls 4 stepper motors. STO is available on the corresponding “-S” model.

Included and optional accessories

Included

Part numberQuantityCategoryDescription
39-01-30481*4HousingMotor connector housing （J2）
39-00-00385*4CrimpMotor connector crimp
15EDGKNHB-3.5-12P-14-07A(H)4ConnectorI/O connector
43025-06001STO Connector HousingOnly for STO type drives
43030-00018STO Connector CrimpOnly for STO type drives

Optional

Part numberQuantityCategoryDescription
2012 Series1CableNetwork Cable
2013 Series1CableShielded Network Cable
2620-1501CableUSB mini-B Configuration Cable 1.5m

STF-2XU-ECX

2 axes

EtherCAT command support through CoE (CiA 402). One drive controls 2 stepper motors. STO is available on the corresponding “-S” model.

Included and optional accessories

Included

Part numberQuantityCategoryDescription
39-01-30481*2HousingMotor connector housing （J2）
39-00-00385*2CrimpMotor connector crimp
15EDGKNHG-3.5-14P-13-00A(H)1ConnectorI/O connector
43025-06001STO Connector HousingOnly for STO type drives
43030-00018STO Connector CrimpOnly for STO type drives

Optional

Part numberQuantityCategoryDescription
2012 Series1CableNetwork Cable
2013 Series1CableShielded Network Cable
RC8801Regen ClampRegen Clamp

STF-4XU-ECX

4 axes

EtherCAT command support through CoE (CiA 402). One drive controls 4 stepper motors. STO is available on the corresponding “-S” model.

Included and optional accessories

Included

Part numberQuantityCategoryDescription
39-01-30481*4HousingMotor connector housing （J2）
39-00-00385*4CrimpMotor connector crimp
15EDGKNHG-3.5-26P-13-00A(H)1ConnectorI/O connector
43025-06001STO Connector HousingOnly for sto type drives
43030-00018STO Connector CrimpOnly for sto type drives

Optional

Part numberQuantityCategoryDescription
2012 Series1CableNetwork Cable
2013 Series1CableShielded Network Cable

STF-ECX-H

1 axis

Supports EtherCAT command and conforms to CoE (CiA 402). Operates stand-alone with Q programmer.

Included and optional accessories

Optional

Part numberQuantityCategoryDescription
2012 Series1CableNetwork Cable
2013 Series1CableShielded Network Cable
2620-1501CableUSB mini-B Configuration Cable 1.5m
RC8801Regen ClampRegen Clamp

STF06-ECX-mini

1 axis

Supports EtherCAT command and conforms to CoE (CiA 402).

Included and optional accessories

Included

Part numberQuantityCategoryDescription
1103-2001Cable2m Power supply cable
2012-0301CableNetwork Cable 0.3m
1143-0301Cable0.3m I/O Cable (STF06-ECX-mini only)
39-01-30481HousingMotor connector housing
39-00-00385CrimpMotor connector crimp

Optional

Part numberQuantityCategoryDescription
2012 Series1CableNetwork Cable
2013 Series1CableShielded Network Cable
2620-1501CableUSB mini-B Configuration Cable 1.5m
RC8801Regen ClampRegen Clamp

Choose an EtherCAT model

Read the model number

Model numbers combine the STF series, peak-current rating, axis package, control mode, options, and type. The diagrams below show the model-number structure for the EtherCAT (ECX) drives in this catalog.

Standard series

Standard STF EtherCAT model number STF 05 ECX H FC, with callouts for each model-number field. STF05ECXHFC
STF Series
Output current (peak)03 = 3 A05 = 5 A06 = 6 A10 = 10 A
Control modeECX = EtherCAT
Special modelsBlank = terminal blockH = push-in I/O connector*mini = mini size**
TypeBlank = standardFC = UL type

Example: STF 05 - ECX - H - FC

Multi-axis series

Multi-axis STF EtherCAT model number STF 05 4X ECX S FC, with callouts for each model-number field. STF054XECXSFC
STF Series
Output current (peak)05 = 5 A10 = 10 A
Axis type4X = horizontal 4 axes2XU = vertical 2 axes4XU = vertical 4 axes
Control modeECX = EtherCAT
Special modelsBlank = without STOS = with STO
TypeBlank = standardFC = UL type

Example: STF 05 - 4X - ECX - S - FC

* H option applies to STF05/10-ECX-H. ** mini option applies to STF06-ECX-mini.

Ordering information

17 STF EtherCAT models are available in the configurations listed below. Current values are ordering ranges; check the hardware manual for the exact model to confirm whether its rating is peak or continuous.

ModelAxesCurrent rangeInput voltageSTOQ program
STF05-4X-ECX40.1-5.0 A24-60 VDC——
STF10-4X-ECX40.1-10.0 A24-60 VDC——
STF05-4X-ECX-S40.1-5.0 A24-60 VDCYes—
STF10-4X-ECX-S40.1-10.0 A24-60 VDCYes—
STF05-2XU-ECX20.1-5.0 A24-60 VDC——
STF10-2XU-ECX20.1-10.0 A24-60 VDC——
STF05-2XU-ECX-S20.1-5.0 A24-60 VDCYes—
STF10-2XU-ECX-S20.1-10.0 A24-60 VDCYes—
STF05-4XU-ECX40.1-5.0 A24-60 VDC——
STF10-4XU-ECX40.1-10.0 A24-60 VDC——
STF05-4XU-ECX-S40.1-5.0 A24-60 VDCYes—
STF10-4XU-ECX-S40.1-10.0 A24-60 VDCYes—
STF05-ECX-H10.1-5.0 A24-48 VDC—Yes
STF10-ECX-H10.1-10.0 A24-60 VDC—Yes
STF03-ECX10.1-3.0 A12-48 VDC—Yes
STF06-ECX10.1-6.0 A12-48 VDC—Yes
STF06-ECX-mini10.1-6.0 A12-48 VDC—Yes

“—” means the feature is not listed for that model. Some multi-axis packages have summed continuous-current ratings; confirm the rating for the exact part number in its hardware manual.

UL model cross-reference

Base modelUL model
STF05-4X-ECXSTF05-4X-ECX-FC
STF10-4X-ECXSTF10-4X-ECX-FC
STF05-4X-ECX-SSTF05-4X-ECX-S-FC
STF10-4X-ECX-SSTF10-4X-ECX-S-FC
STF05-2XU-ECXSTF05-2XU-ECX-FC
STF10-2XU-ECXSTF10-2XU-ECX-FC
STF05-2XU-ECX-SSTF05-2XU-ECX-S-FC
STF10-2XU-ECX-SSTF10-2XU-ECX-S-FC
STF05-4XU-ECXSTF05-4XU-ECX-FC
STF10-4XU-ECXSTF10-4XU-ECX-FC
STF05-4XU-ECX-SSTF05-4XU-ECX-S-FC
STF10-4XU-ECX-SSTF10-4XU-ECX-S-FC
STF05-ECX-HSTF05-ECX-H-FC
STF10-ECX-HSTF10-ECX-H-FC

Drive specifications and I/O

These family-level electrical and operating specifications apply across STF03, STF05, STF06, and STF10. Values and available options depend on the exact ECX model.

DriverSTF03STF05STF06STF10
Input Voltage 12-48VDC24-48VDC12-48VDC24-60VDC※
Output Current Continuous Current 3A maxContinuous Current 5A maxContinuous Current 6A maxContinuous Current 10A max
Protection Over-voltage, under-voltage, over-temp, motor/winding shorts (phase-to-phase, phase-to-ground)
Speed Range Up to 3000rpm
Filters Digital input noise filter, Analog input noise filter, Smoothing filter, PID filter, Notch filter
Non-Volatile Storage Configurations are saved in FLASH memory on-board the DSP
Ambient Temperature 0 to 40°C (32 to 104°F) when mounted to a suitable heatsink
Ambient Humidity 90% Max., non-condensing
Mass 0.16kg0.3kg0.16kg0.3kg
Motor AM Series Stepper Motor

The 0–40 °C ambient rating requires mounting to a suitable heatsink. Check the exact hardware manual for STF10 input voltage.

Multi-axis EtherCAT I/O

ConfigurationTypeDigital inputsDigital outputsSTOBus controlPLC (Q programmer)
STF**-4X-ECX EtherCAT 5DI*43DO*4/EtherCAT/
STF**-4X-ECX-S 5DI*43DO*4√EtherCAT/
STF**-2XU-ECX 3DI*22DO*2/EtherCAT/
STF**-2XU-ECX-S 3DI*22DO*2√EtherCAT/
STF**-4XU-ECX 3DI*42DO*4/EtherCAT/
STF**-4XU-ECX-S 3DI*42DO*4√EtherCAT/

Single-axis EtherCAT I/O

ConfigurationTypeDigital inputsDigital outputsBus controlPLC (Q programmer)
STF**-ECX EtherCAT 8DI4DOEtherCAT√
STF**-ECX-H 5DI2DOEtherCAT√
STF**-ECX-mini 5DI2DOEtherCAT√

Multi-axis I/O counts are per axis. See the MOONS’ brochure and the exact model’s hardware manual for mounting dimensions and clearances.

Mechanical dimensions

Dimensioned drawings for the EtherCAT-compatible STF models and configurations listed here.

Dimensions are in millimeters. The on-screen figures are not calibrated scale drawings; use the printed dimensions. Click a drawing to enlarge it, then click again or press Escape to return. Captions link to their source PDF pages.

Multi-Axis Series

STF05/10-4X-ECX, STF05/10-4X-ECX-S Source PDF, page 17
STF05/10-2XU-ECX Source PDF, page 17
STF05/10-2XU-ECX-S Source PDF, page 17
STF05/10-4XU-ECX Source PDF, page 17
STF05/10-4XU-ECX-S Source PDF, page 17

Standard Series

STF06-ECX-mini Source PDF, page 18
STF03/06-ECX Source PDF, page 18
STF05/10-ECX-H Source PDF, page 18

Recommended stepper motors

The motor tables list 200 AM and AW options, including standard, brake, encoder, gearbox, and IP65 configurations. Use the torque curves and the selected motor’s hardware information to check speed, acceleration, and duty for your application.

AM standard stepper motors (68 models)

ModelFeaturesLead NumberLengthHolding TorqueDrive Current Setting Range※Rotor InertiaMassDielectric Strength
AM6HY04A0-01NSingle Shaft4300.00580.1~0.45.80.03 500 VAC / 1 minute
AM8HY2050-01NSingle Shaft429.50.020.1~0.41.60.04
AM8HY2050-02NDouble Shaft
AM8HY4043-01NSingle Shaft446.50.0420.1~0.44.20.09
AM8HY4043-02NDouble Shaft
AM11HS1008-07Single Shaft4310.0720.1~1.490.1
AM11HS3007-02Single Shaft4400.0820.1~1.4120.15
AM11HS50A0-01Single Shaft4510.20.1~1.418
AM14HS10A0-01Single Shaft427.30.140.1~1.4120.15
AM14HS10A0-02Double Shaft
AM14HS30A0-01Single Shaft4360.230.1~1.4200.21
AM14HS30A0-02Double Shaft
AM14HS50A0-01Single Shaft455.50.40.1~1.4350.24
AM14HS50A0-02Double Shaft
AM17HD4452-02NSingle Shaft434.30.2850.1~2.1380.23
AM17HD4452-01NDouble Shaft
AM17HD2438-02NSingle Shaft439.80.460.1~2.1570.28
AM17HD2438-01NDouble Shaft
AM17HD6426-06NSingle Shaft448.30.590.1~2.1820.36
AM17HD6426-05NDouble Shaft
AM17HDB410-01NSingle Shaft462.80.850.1~1.91230.6
AM17HDB410-02NDouble Shaft
AM17HD445B-01NSingle Shaft436.10.340.1~2.8380.23
AM17HD445B-02NDouble Shaft
AM17HD243B-01NSingle Shaft441.60.470.1~2.8570.28
AM17HD243B-02NDouble Shaft
AM17HD642B-01NSingle Shaft450.10.640.1~2.8820.36
AM17HD642B-02NDouble Shaft
AM17HDB41B-01NSingle Shaft464.60.850.1~2.81230.6
AM17HDB41B-02NDouble Shaft
AM23HS04A0-01Single Shaft4390.820.1~2.51050.4
AM23HS04A0-02Double Shaft
AM23HS84A0-01Single Shaft4551.50.1~2.52150.6
AM23HS84A0-02Double Shaft
AM23HSA4A0-01Single Shaft4772.30.1~2.53651
AM23HSA4A0-02Double Shaft
AM23HS04B0-01Single Shaft4390.820.1~5.21050.4
AM23HS04B0-02Double Shaft
AM23HS84B0-01Single Shaft4551.50.1~5.22150.6
AM23HS84B0-02Double Shaft
AM23HSA4B0-01Single Shaft4772.30.1~5.23651
AM23HSA4B0-02Double Shaft
AM23HS04B0-03Single Shaft4390.820.1~5.21050.4
AM23HS04B0-04Double Shaft
AM23HS84B0-03Single Shaft4551.50.1~5.22150.6
AM23HS84B0-04Double Shaft
AM23HSA4B0-03Single Shaft4772.30.1~5.23651
AM23HSA4B0-04Double Shaft
AM24HS2402-08NSingle Shaft4541.570.1~5.64500.83
AM24HS2402-11NDouble Shaft
AM24HS5401-10NSingle Shaft4853.20.1~5.69001.4
AM24HS5401-24NDouble Shaft
AM34HD0404-08Single Shaft466.53.70.1~8.911001.6
AM34HD0404-09Double Shaft
AM34HD1404-06Single Shaft4966.70.1~8.918502.7
AM34HD1404-07Double Shaft
AM34HD2403-07Single Shaft4125.59.40.1~7.927503.8
AM34HD2403-08Double Shaft
AM34HD3402-01Single Shaft415611.50.1~7.944005.2
AM34HD3402-02Double Shaft
AM34HM0404-SSingle Shaft4613.70.1~8.8213001.6
AM34HM0404-DDouble Shaft
AM34HM1404-SSingle Shaft4916.40.1~8.8218502.7
AM34HM1404-DDouble Shaft
AM34HM2403-SSingle Shaft41199.40.1~7.8427503.8
AM34HM2403-DDouble Shaft
AM34HM3402-SSingle Shaft4147.511.50.1~7.8451605.2
AM34HM3402-DDouble Shaft

AM stepper motors with brake (12 models)

ModelFeaturesLead NumberLengthHolding TorqueDrive Current Setting Range※Rotor InertiaMassDielectric Strength
AM17HD4452-BR01Brake Motor4+260.30.2850.1~2.1380.38 500 VAC / 1 minute
AM17HD2438-BR01Brake Motor4+265.80.460.1~2.1570.43
AM17HD6426-BR01Brake Motor4+274.30.590.1~2.1820.51
AM17HDB410-BR01Brake Motor4+288.80.850.1~1.91230.75
AM23HS04B0-BR01Brake Motor4+2800.820.1~5.21051.5
AM23HS84B0-BR01Brake Motor4+2961.50.1~5.22151.5
AM23HSA4B0-BR01Brake Motor4+21182.30.1~5.23651.5
AM24HS2402-BR01Brake Motor4+2951.570.1~5.64501.03
AM24HS5401-BR01Brake Motor4+21263.20.1~5.69001.6
AM34HD0404-BR01Brake Motor4+2118.53.70.1~8.911002.2
AM34HD1404-BR01Brake Motor4+21486.70.1~8.918503.3
AM34HD2403-BR01Brake Motor4+2177.59.40.1~7.927504.4

AM stepper motors with encoder (16 models)

ModelFeaturesLead NumberLengthHolding TorqueDrive Current Setting Range※Rotor InertiaMassDielectric Strength
AM17HD4452-F1000DExternal Encoder Motor434.30.2850.1~2.1380.24 500 VAC / 1 minute
AM17HD2438-F1000DExternal Encoder Motor439.80.460.1~2.1570.29
AM17HD6426-F1000DExternal Encoder Motor448.30.590.1~2.1820.37
AM17HDB410-F1000DExternal Encoder Motor462.80.850.1~1.91230.61
AM23HS04A0-F1000DExternal Encoder Motor4390.820.1~2.51050.41
AM23HS84A0-F1000DExternal Encoder Motor4551.50.1~2.52150.61
AM23HSA4A0-F1000DExternal Encoder Motor4772.30.1~2.53651.01
AM23HS04B0-F1000DExternal Encoder Motor4390.820.1~5.21050.41
AM23HS84B0-F1000DExternal Encoder Motor4551.40.1~5.22150.61
AM23HSA4B0-F1000DExternal Encoder Motor4772.30.1~5.23651.01
AM24HS2402-F1000DExternal Encoder Motor454.01.570.1~5.64500.84
AM24HS5401-F1000DExternal Encoder Motor485.03.20.1~5.69001.41
AM34HD0404-F1000DExternal Encoder Motor466.53.70.1~8.911001.61
AM34HD1404-F1000DExternal Encoder Motor496.06.70.1~8.918502.71
AM34HD2403-F1000DExternal Encoder Motor4125.59.40.1~7.927503.81
AM34HD3402-F1000DExternal Encoder Motor415611.50.1~7.944005.21

AM geared stepper motors (36 models)

ModelFeaturesLead NumberLengthHolding TorqueDrive Current Setting Range※Rotor InertiaMassDielectric Strength
AM17HD4452-PG055 speed reducer motor4101.81.250.1~2.19500.55 500 VAC / 1 minute
AM17HD4452-PG1010 speed reducer motor4101.82.50.1~2.138000.55
AM17HD4452-PG2020 speed reducer motor4114.850.1~2.1152000.63
AM17HD2438-PG055 speed reducer motor4107.320.1~2.114250.6
AM17HD2438-PG1010 speed reducer motor4107.340.1~2.157000.6
AM17HD2438-PG2020 speed reducer motor4120.380.1~2.1228000.68
AM17HD6426-PG055 speed reducer motor4115.82.50.1~2.120500.68
AM17HD6426-PG1010 speed reducer motor4115.850.1~2.182000.68
AM17HD6426-PG2020 speed reducer motor4128.8100.1~2.1328000.76
AM17HDB410-PG055 speed reducer motor4130.34.250.1~1.930750.92
AM17HDB410-PG1010 speed reducer motor4130.38.50.1~1.9123000.92
AM17HDB410-PG2020 speed reducer motor4143.3170.1~1.9492001
AM23HS04B0-PG055 speed reducer motor4112.54.10.1~5.226251.23
AM23HS04B0-PG1010 speed reducer motor4112.58.20.1~5.2105001.23
AM23HS04B0-PG2020 speed reducer motor4125.516.40.1~5.2420001.44
AM23HS84B0-PG055 speed reducer motor4128.57.50.1~5.253751.43
AM23HS84B0-PG1010 speed reducer motor4128.5150.1~5.2215001.43
AM23HS84B0-PG2020 speed reducer motor4141.5300.1~5.2860001.64
AM23HSA4B0-PG055 speed reducer motor4150.511.50.1~5.291251.83
AM23HSA4B0-PG1010 speed reducer motor4150.5230.1~5.2365001.83
AM23HSA4B0-PG2020 speed reducer motor4163.5460.1~5.21460002.07
AM24HS2402-PG055 speed reducer motor4127.560.1~5.6112501.66
AM24HS2402-PG1010 speed reducer motor4127.5120.1~5.6450001.66
AM24HS2402-PG2020 speed reducer motor4140.5240.1~5.61800001.87
AM24HS5401-PG055 speed reducer motor4158.512.50.1~5.6225002.23
AM24HS5401-PG1010 speed reducer motor4158.5250.1~5.6900002.23
AM24HS5401-PG2020 speed reducer motor4171.5500.1~5.63600002.44
AM34HD0404-PG055 speed reducer motor4170.5150.1~8.9275003.71
AM34HD0404-PG1010 speed reducer motor4170.5300.1~8.91100003.71
AM34HD0404-PG2020 speed reducer motor4188.5600.1~8.94400004.21
AM34HD1404-PG055 speed reducer motor4200250.1~8.9462504.81
AM34HD1404-PG1010 speed reducer motor4200500.1~8.91850004.81
AM34HD1404-PG2020 speed reducer motor42181000.1~8.97400005.31
AM34HD2403-PG055 speed reducer motor4229.535.50.1~7.9687505.91
AM34HD2403-PG1010 speed reducer motor4229.5710.1~7.92750005.91
AM34HD2403-PG2020 speed reducer motor4247.51420.1~7.911000006.41

AW IP65 stepper motors (17 models)

ModelFeaturesLead NumberLengthHolding TorqueDrive Current Setting Range※Rotor InertiaMassDielectric Strength
AW171NNAIP65460.70.310.1~2.1380.38 500 VAC / 1 minute
AW173NNAIP65474.70.630.1~2.1820.51
AW174NNAIP65488.80.850.1~2.11230.75
AW231NNAIP65465.40.60.1~5.61350.67
AW232NNAIP65477.71.20.1~5.62600.85
AW233NNAIP654101.720.1~5.64601.25
AW231NNKIP65465.40.60.1~5.61350.67
AW232NNKIP65477.71.20.1~5.62600.85
AW233NNKIP654101.720.1~5.64601.25
AW243NNAIP654115.53.10.1~7.09001.7
AW243NNKIP654115.53.10.1~7.09001.7
AW341NNAIP65496.43.80.1~1411002.3
AW343NNAIP654125.97.20.1~1422603.5
AW345NNAIP654155.210.30.1~1427504.5
AW341NNKIP65496.43.80.1~1411002.3
AW343NNKIP654125.97.20.1~1422603.5
AW345NNKIP654155.210.30.1~1427504.5

AW IP65 stepper motors with encoder (17 models)

ModelFeaturesLead NumberLengthHolding TorqueDrive Current Setting Range※Rotor InertiaMassDielectric Strength
AW171NEAIP65+Encoder4+858.30.310.1~2.1380.43 500 VAC / 1 minute
AW173NEAIP65+Encoder4+872.30.630.1~2.1820.56
AW174NEAIP65+Encoder4+886.40.850.1~2.11230.8
AW231NEAIP65+Encoder4+8760.60.1~5.61350.82
AW232NEAIP65+Encoder4+888.71.20.1~5.62601
AW233NEAIP65+Encoder4+8112.720.1~5.64601.4
AW231NEKIP65+Encoder4+8760.60.1~5.61350.82
AW232NEKIP65+Encoder4+888.71.20.1~5.62601
AW233NEKIP65+Encoder4+8112.720.1~5.64601.4
AW243NEAIP65+Encoder4+8126.53.10.1~7.09001.9
AW243NEKIP65+Encoder4+8126.53.10.1~7.09001.9
AW341NEAIP65+Encoder4+8106.73.80.1~1411002.5
AW343NEAIP65+Encoder4+8136.27.20.1~1422603.7
AW345NEAIP65+Encoder4+8165.510.30.1~1427504.7
AW341NEKIP65+Encoder4+8106.73.80.1~1411002.5
AW343NEKIP65+Encoder4+8136.27.20.1~1422603.7
AW345NEKIP65+Encoder4+8165.510.30.1~1427504.7

AW IP65 stepper motors with brake (17 models)

ModelFeaturesLead NumberLengthHolding TorqueDrive Current Setting Range※Rotor InertiaMassDielectric Strength
AW171BNAIP65+Brake4+368.10.310.1~2.1380.73 500 VAC / 1 minute
AW173BNAIP65+Brake4+382.10.630.1~2.1820.86
AW174BNAIP65+Brake4+396.20.850.1~2.11231.1
AW231BNAIP65+Brake4+3760.60.1~5.61351.12
AW232BNAIP65+Brake4+388.71.20.1~5.62601.3
AW233BNAIP65+Brake4+3112.720.1~5.64601.7
AW231BNKIP65+Brake4+3760.60.1~5.61351.12
AW232BNKIP65+Brake4+388.71.20.1~5.62601.3
AW233BNKIP65+Brake4+3112.720.1~5.64601.7
AW243BNAIP65+Brake4+3126.53.10.1~7.09002.2
AW243BNKIP65+Brake4+3126.53.10.1~7.09002.2
AW341BNAIP65+Brake4+3106.73.80.1~1411002.8
AW343BNAIP65+Brake4+3136.27.20.1~1422604
AW345BNAIP65+Brake4+3165.510.30.1~1427505
AW341BNKIP65+Brake4+3106.73.80.1~1411002.8
AW343BNKIP65+Brake4+3136.27.20.1~1422604
AW345BNKIP65+Brake4+3165.510.30.1~1427505

AW IP65 stepper motors with encoder and brake (17 models)

ModelFeaturesLead NumberLengthHolding TorqueDrive Current Setting Range※Rotor InertiaMassDielectric Strength
AW171BEAIP65+Encoder+Brake4+8+388.10.310.1~2.1380.93 500 VAC / 1 minute
AW173BEAIP65+Encoder+Brake4+8+3102.10.630.1~2.1821.06
AW174BEAIP65+Encoder+Brake4+8+3116.20.850.1~2.11231.3
AW231BEAIP65+Encoder+Brake4+8+392.50.60.1~5.61351.52
AW232BEAIP65+Encoder+Brake4+8+3104.81.20.1~5.62601.7
AW233BEAIP65+Encoder+Brake4+8+3128.820.1~5.64602.1
AW231BEKIP65+Encoder+Brake4+8+392.50.60.1~5.61351.52
AW232BEKIP65+Encoder+Brake4+8+3104.81.20.1~5.62601.7
AW233BEKIP65+Encoder+Brake4+8+3128.820.1~5.64602.1
AW243BEAIP65+Encoder+Brake4+8+3142.63.10.1~7.09002.7
AW243BEKIP65+Encoder+Brake4+8+3142.63.10.1~7.09002.7
AW341BEAIP65+Encoder+Brake4+8+3127.83.80.1~1411003.7
AW343BEAIP65+Encoder+Brake4+8+3157.37.20.1~1422604.9
AW345BEAIP65+Encoder+Brake4+8+3186.610.30.1~1427505.9
AW341BEKIP65+Encoder+Brake4+8+3127.83.80.1~1411003.7
AW343BEKIP65+Encoder+Brake4+8+3157.37.20.1~1422604.9
AW345BEKIP65+Encoder+Brake4+8+3186.610.30.1~1427505.9

Length is in mm, holding torque in N·m, current range in A, rotor inertia in g·cm², and mass in kg. Drive current is sinusoidal peak. Empty source cells remain blank where the brochure does not supply a value.

AM motor torque curves

Each plot shows torque versus speed at the listed drive current and supply voltages. Match the motor model and voltage to your application, then check sizing against the selected drive, load, acceleration, and duty cycle.

AM6HY04A0

Microstep: 20000 steps/rev
Current:0.3A(Peak)

24V
AM6HY04A0 Torque(mN·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM8HY2050

Microstep: 20000 steps/rev
Current:0.5A(Peak)

24V48V
AM8HY2050 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM8HY4043

Microstep: 20000 steps/rev
Current:0.5A(Peak)

24V48V
AM8HY4043 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM11HS1008

Microstep: 20000 steps/rev
Current: 1.4A(Peak)

24V48V
AM11HS1008 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM11HS3007

Microstep: 20000 steps/rev
Current:1.4A(Peak)

24V48V
AM11HS3007 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM11HS30A0-K01

Microstep: 20000 steps/rev
Current:1.4A(Peak)

24V48V
AM11HS30A0-K01 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM11HS50A0

Microstep: 20000 steps/rev
Current:1.4A(Peak)

24V48V
AM11HS50A0 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM14HS10A0

Microstep: 20000 steps/rev
Current:1.4A(Peak)

24V48V
AM14HS10A0 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM14HS30A0

Microstep: 20000 steps/rev
Current:1.4A(Peak)

24V48V
AM14HS30A0 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM14HS50A0

Microstep: 20000 steps/rev
Current:1.4A(Peak)

24V48V
AM14HS50A0 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM17HD4452

Microstep: 20000 steps/rev
Current: 1.8A (Peak)

24V48V
AM17HD4452 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM17HD2438

Microstep: 20000 steps/rev
Current: 1.8A (Peak)

24V48V
AM17HD2438 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM17HD6426

Microstep: 20000 steps/rev
Current: 1.8A(Peak)

24V48V
AM17HD6426 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM17HDB410

Microstep: 20000 steps/rev
Current: 1.8A(Peak)

24V48V
AM17HDB410 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM17HD445B

Microstep: 20000 steps/rev
Current: 2.5A(Peak)

24V48V
AM17HD445B Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM17HD243B

Microstep: 20000 steps/rev
Current: 2.5A(Peak)

24V48V
AM17HD243B Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM17HD642B

Microstep: 20000 steps/rev
Current: 2.5A(Peak)

24V48V
AM17HD642B Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM17HDB41B

Microstep: 20000 steps/rev
Current: 2.5A(Peak)

24V48V
AM17HDB41B Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM23HS04A0

Microstep: 20000 steps/rev
Current:2.2A (Peak)

24V48V
AM23HS04A0 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM23HS84A0

Microstep: 20000 steps/rev
Current:2.2A(Peak)

24V48V
AM23HS84A0 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM23HSA4A0

AM23HSA4A0 Microstep: 20000 steps/rev
Current:2.2A(Peak)

24V48V
AM23HSA4A0 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM23HS04B0

AM23HS04B0 Microstep: 20000 steps/rev
Current: 4.5A(Peak)

24V48V
AM23HS04B0 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM23HS84B0

Microstep: 20000 steps/rev
Current: 4.5A(Peak)

24V48V
AM23HS84B0 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM23HSA4B0

Microstep: 20000 steps/rev
Current: 4.5A(Peak)

24V48V
AM23HSA4B0 Torque(N·m) versus Speed(rps) torque curve from page 23 of the MOONS STF Family Brochure.

AM23HS2450

Microstep: 20000 steps/rev
Current: 4.5A(Peak)

24V48V75V
AM23HS2450 Torque(N.m) versus Speed(rps) torque curve from page 24 of the MOONS STF Family Brochure.

AM23HS3455

Microstep: 20000 steps/rev
Current: 4.5A(Peak)

24V48V75V
AM23HS3455 Torque(N.m) versus Speed(rps) torque curve from page 24 of the MOONS STF Family Brochure.

AM24HS2402

Microstep: 20000 steps/rev
Current: 4.5A(Peak)

24V48V75V
AM24HS2402 Torque(N.m) versus Speed(rps) torque curve from page 24 of the MOONS STF Family Brochure.

AM24HS5401

Microstep: 20000 steps/rev
Current: 4.5A(Peak)

24V48V75V
AM24HS5401 Torque(N.m) versus Speed(rps) torque curve from page 24 of the MOONS STF Family Brochure.

AM34HD0404

Microstep: 20000 steps/rev
Current: 7.0A(Peak)

24V48V75V
AM34HD0404 Torque(N.m) versus Speed(rps) torque curve from page 24 of the MOONS STF Family Brochure.

AM34HD1404

Microstep: 20000 steps/rev
Current: 7.0A(Peak)

24V48V75V
AM34HD1404 Torque(N.m) versus Speed(rps) torque curve from page 24 of the MOONS STF Family Brochure.

AM34HD2403

Microstep: 20000 steps/rev
Current: 7.0A(Peak)

24V48V75V
AM34HD2403 Torque(N.m) versus Speed(rps) torque curve from page 24 of the MOONS STF Family Brochure.

AM34HD3402

Microstep: 20000 steps/rev
Current: 7.0A(Peak)

24V48V75V
AM34HD3402 Torque(N.m) versus Speed(rps) torque curve from page 24 of the MOONS STF Family Brochure.

AM34HM0404

Microstep: 20000 steps/rev
Current: 7.0A(Peak)

24V48V70V
AM34HM0404 Torque(N.m) versus Speed(rps) torque curve from page 24 of the MOONS STF Family Brochure.

AM34HM1404

Microstep: 20000 steps/rev
Current: 7.0A(Peak)

24V48V70V
AM34HM1404 Torque(N.m) versus Speed(rps) torque curve from page 24 of the MOONS STF Family Brochure.

AM34HM2403

Microstep: 20000 steps/rev
Current: 7.0A(Peak)

24V48V70V
AM34HM2403 Torque(N.m) versus Speed(rps) torque curve from page 24 of the MOONS STF Family Brochure.

AM34HM3402

Microstep: 20000 steps/rev
Current: 7.0A(Peak)

24V48V70V
AM34HM3402 Torque(N.m) versus Speed(rps) torque curve from page 24 of the MOONS STF Family Brochure.

AW motor torque curves

The AW series curves show torque versus speed at each listed supply voltage. Use them to compare motor options during preliminary sizing; confirm performance against the selected drive, supply, load, and duty cycle.

Curve notation and application notes

  • Motor suffix symbols: □ is the brake option (B: with brake; N: no brake); ○ is the encoder option (E: with encoder; N: no encoder); ◇ is the shaft option (A: flat; K: key).
  • These curves are based on laboratory measurements; results may vary with test conditions.
  • Operate within an ambient temperature range of −20 °C to +50 °C. Motors may heat significantly depending on the environment and drive configuration.
  • Keep the drive set current below the motor’s rated current. Where torque requirements allow, reducing current can reduce motor self-heating.

AW171

Microstep:20000 steps/rev
Current:2.1A(Peak)

24V48V
AW171 torque versus speed

AW173

Microstep:20000 steps/rev
Current:2.1A(Peak)

24V48V
AW173 torque versus speed

AW174

Microstep:20000 steps/rev
Current:2.1A(Peak)

24V48V
AW174 torque versus speed

AW231

Microstep:20000 steps/rev
Current:5.6A(Peak)

24V48V
AW231 torque versus speed

AW232

Microstep:20000 steps/rev
Current:5.6A(Peak)

24V48V
AW232 torque versus speed

AW233

Microstep:20000 steps/rev
Current:5.6A(Peak)

24V48V
AW233 torque versus speed

AW243

Microstep:20000 steps/rev
Current:7.0A(Peak)

24V48V
AW243 torque versus speed

AW341

Microstep:20000 steps/rev
Current:10A(Peak)

24V48V72V
AW341 torque versus speed

AW343

Microstep:20000 steps/rev
Current:10A(Peak)

24V48V72V
AW343 torque versus speed

AW345

Microstep:20000 steps/rev
Current:10A(Peak)

24V48V72V
AW345 torque versus speed

Cables and regeneration

20-pin I/O cable

The brochure lists this cable and J1 pin assignment generically; it does not identify the compatible STF EtherCAT models. Verify the connector and exact-model compatibility with MOONS’ before ordering.

I/O cable and J1 connectorSource PDF, page 28
1015-series cable part numbers
Part numberLength (L)
1015-0300.3 m
1015-1001 m
1015-2002 m
J1 pin assignments and wire colors
PinAssignmentSignalColor
1X1+X1 Digital InputBlue/White
2X1−X1 Digital InputBlue/Black
3X2+X2 Digital InputGreen/White
4X2−X2 Digital InputGreen/Black
5X3+X3 Digital InputYellow/White
6X3−X3 Digital InputYellow/Black
7X4+X4 Digital InputOrange/White
8X4−X4 Digital InputOrange/Black
9X5X5 Digital InputBlue
10X6X6 Digital InputPurple
11X7X7 Digital InputYellow
12X8X8 Digital InputGreen
13SHIELDShield—
14XCOMX5–X8 Digital Input COMRed
15Y1Y1 Digital OutputBrown
16Y2Y2 Digital OutputGray
17Y3Y3 Digital OutputWhite
18YCOMY1–Y3 Digital Output COMBlack
19Y4+Y4 Digital OutputPurple/White
20Y4−Y4 Digital OutputPurple/Black

Network and configuration cables

Network CableSource PDF, page 29
USB mini-B Configuration CableSource PDF, page 29
Network cables
Part numberLengthType
2012-030*0.3 mStandard type
2012-3003 mStandard type
2013-0300.3 mShielded type
2013-3003 mShielded type

Confirm the 2012-030 part number with MOONS’ before ordering.

USB mini-B configuration cable
ModelLength (L)
2620-1501.5 m

RC880 regeneration clamp

Part number: RC880

When using a regulated power supply you may encounter a problem with regeneration. The kinetic energy caused by regeneration is transferred back to the power supply. This can trip the over-voltage protection of a switching power supply, causing it to shut down.

MOONS’ offers the RC880 “regeneration clamp” to solve this problem. If in doubt, use an RC880 for your first installation. If the “Regen” LED on the RC880 never flashes, you don’t need the clamp.

RC880 regeneration clampSource PDF, page 29
MOONS RC880 regeneration clamp with green terminal connector
RC880 mechanical dimensions (mm)Source PDF, page 29

Confirm STF model compatibility with RMP

This catalog does not identify an STFxx-EC configuration verified with RMP. Before choosing an STF model for an RMP system, contact RSI support with the complete part number and confirm its capabilities in the hardware manual. Review the MOONS EtherCAT user manual and hardware manual for your exact model.

Return to the STFxx-EC product page →