Sanyo Pancake Stepper Motor with Encoder: Bipolar, 200 Steps/Rev, 42x24.5mm, 3.5V, 1 A/Phase, 4000 CPR

via Pololu
SKU PL-2278

Bipolar stepper motor wires are terminated with bare leads.

Sanyo bipolar stepper motor wiring diagram.


This NEMA 17-size pancake bipolar stepping motor from Sanyo features an integrated high-resolution (1000 P/R) quadrature encoder that allows for 4000 counts per revolution of the output shaft when counting both edges of both channels. The stepper motor itself has a 1.8° step angle (200 steps/revolution) and each phase draws 1 A at 3.5 V, allowing for a holding torque of 0.85 kg-cm (12 oz-in). The motor has four color-coded wires terminated with bare leads: red and yellow connect to one coil; orange and blue connect to the other. It can be controlled by a pair of suitable H-bridges (one for each coil), but we recommend using a bipolar stepper motor driver.

Our 5 mm universal mounting hub can be used to mount objects on the stepper motor’s 5 mm-diameter output shaft, and our NEMA 17 aluminum bracket offers a variety of options for mounting this stepper motor in your project.

This stepper motor is also available without an encoder.

  • Size: 42 mm square × 24.5 mm, not including the shaft (NEMA 17)
  • Weight: 105 g (3.7 oz)
  • Shaft diameter: 5 mm
  • Steps per revolution: 200
  • Current rating: 1 A per coil
  • Voltage rating: 3.5 V
  • Resistance: 3.5 Ω per coil
  • Holding torque: 850 g-cm (12 oz-in)
  • Inductance: 1.2 mH per coil
  • Lead length: 30 cm (12″)
  • Output shaft supported by two ball bearings

More specifications are available in the SS242x stepper motor datasheet (385k pdf) and the product-specific SS2421-50XE100 datasheet (568k pdf).


Dimensions (in mm) of the SS2421-50XE100 42×24.5mm Sanyo pancake stepper motor with encoder.

We also carry a taller version of this stepper motor with identical dimensions except for the height. The pictures below show this stepper motor on the left and the taller version on the right:

Side view of the SS2421-50XE100 42×24.5mm Sanyo pancake stepper motor.

Side view of the SS2422-50XE100 42×31.5mm Sanyo pancake stepper motor.

Quadrature encoder

The integrated quadrature encoder operates from 5 V and has a resolution of 1000 P/R, which allows for 4000 counts per revolution (CPR) of the output shaft when counting both edges (i.e. rising and falling) of both channels (i.e. A and B). In addition to the A and B channel outputs, the encoder has a home channel, Z, that pulses once per revolution and can be used for absolute positioning. The encoder also has outputs for the inverse of A, B, and Z. A 15 cm (6″) encoder cable is included.

Bottom view of the 42×24.5mm Sanyo pancake stepper motor with encoder.

Stepper Motor Applications

Stepper motors are generally used in a variety of applications where precise position control is desirable and the cost or complexity of a feedback control system is unwarranted. Here are a few applications where stepper motors are often found:

  • Printers
  • CNC machines
  • 3D printer/prototyping machines (e.g. RepRap)
  • Laser cutters
  • Pick and place machines
  • Linear actuators
  • Hard drives

Sanyo stepper motors; from left to right: 14mm single shaft, 42×18.6mm, 50×11mm, 14mm double shaft

Note: Sanyo Denki calls this product the “SANMOTION F2 STEPPING SYSTEMS TYPE SS2421-50XE100”.