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https://www.hemotors.com/products/nema-34r-round-stepper-motor/
NEMA 34 stepper motor with encoder is a round stepper motor.

The front cap is 86*86, but the motor body is round.

NEMA 34 ROUND STEPPER MOTOR BODY SIZE

NEMA 34 POWER SUPPLY ROUND STEPPER MOTOR CHARACTERISTIC PARAMETER
STEP ANGLE1.8°±5%
NO. OF PHASES2
RATED VOLTAGE3.3 V
RATED CURRENT6.6A
RESISTANCE0.5 ohm±0.15   AT 25°
INDUCTANCE2.5mH±20%    AT 1kHz, 1Vrms
HOLDING TORQUE5.0N.m(705oz.in)TYP.
RUNNING TORQUE(AT --PPS)--V.DC, --A/PHASE
DIELECTRIC STRENGTH500V A.C/MIN.
INSULATION RESISTANCE100MΩ+/MIN.
INSULATION CLASSCLASS B
TEMPERATURE RISE80K MAX.
ROTOR INERTIA1200 g.cm²(606 oz.in²)
WEIGHTAPPROX. 2600g(91oz)
ALLOWABLE THRUST LOAD60N
ALLOWABLE RADIAL LOAD220N(ON THE SHAFT END)
OPERATION AMBIENT TEMP.‘-20℃---+50℃
OPERATION AMBIENT HUM.15%----90%
LIFE5000HOURS

NEMA 34 ROUND STEPPER MOTOR TORQUE CURVE
SPEED VS TORQUE CURVE
MODEL: HEM-34S2401-02
LOT NO.: 060919
VOLTAGE24V.D.C○SUPPLYWINDING
CURRENT6.6A/PHASE○PEAKAVE
EXCITATIONFull step
DRIVE CIRCUITHDSD2A8UNIPOLAR#BIPOLAR
INERTIA LOAD10g-cm2

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