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The choice depends on your specific application. Stepper motor systems are suitable for applications with medium-to-low torque (generally below 20 Nm), low speed (below 2000 RPM), low cost, and are virtually maintenance‑free. Servo motor systems cover a wide torque range (low to high), offer higher speeds (up to 5000 RPM), support multiple control modes (position/speed/torque), provide high precision and smooth operation, and have strong overload capability (3‑10 times short‑term overload), but at a higher cost. In short: if your budget is limited, the load is stable, and speed is below 1000 RPM, a stepper motor is a good choice; if you need high precision, high speed, variable loads, or disturbance rejection for dynamic control, choose a servo motor.
Before selection, determine the following: load characteristics (e.g., horizontal or vertical); torque, inertia, speed, accuracy, acceleration/deceleration requirements; host controller interface and communication method; main control mode (position, torque, or speed); power supply type (DC or AC) and voltage range.
2‑phase motors are less expensive but exhibit more vibration at low speeds and have a steeper torque drop at high speeds. 5‑phase motors have lower vibration and better high‑speed performance – they can run 30‑50% faster than 2‑phase motors, and can replace servo motors in some applications. For general cost‑sensitive uses, choose 2‑phase; if vibration and high‑speed performance are critical, choose 5‑phase.
Low‑inertia motors have very low rotor inertia, offering faster acceleration and better dynamic response. High‑inertia motors provide higher torque accuracy, lower speed fluctuation, and smoother operation – they are suitable for applications that prioritise running stability.
Integrated stepper/servo motors combine the motor, driver, and encoder in one compact unit. They offer a smaller footprint, simpler wiring, reduced installation space, and fewer potential failure points. They also simplify commissioning and maintenance, making them ideal for automated equipment where space and reliability are critical.
When it comes to robots, we no longer need to feel as magical as before, because robots have come to people's lives, and there are a variety of different uses of robots in industry to participate in manufacturing, creating more wealth for the development of enterprises. Today, I want to talk with you about the difference between four-axis and six-axis welding robots, interested friends to pay attention to. Where is the difference between four-axis and six-axis welding robots? The following is a simple introduction: First of all, four-axis robots, small assembly robots, "four-axis SCARA robot" refers to the "selective assembly joint robot arm", that is, the arm part of the four-axis robot can move freely in a geometric plane. The first two joints of the robot can rotate freely from side to side on a horizontal plane. The third joint consists of a metal rod called a feather and a gripper. The metal rod can move up and down in the vertical plane or rotate around its vertical axis, but cannot tilt. This unique design gives four-axis robots great rigidity, which makes them competent for high-speed and highly repetitive work. In packaging applications, four-axis robots excel at high-speed pick-and-place and other material handling tasks. A six-axis robot has two more joints than a four-axis robot and therefore has more "freedom of action." The first joint of the six-axis robot can rotate freely in the horizontal plane like the four-axis robot, and the last two joints can move in the vertical plane. In addition, the six-axis robot has one "arm" and two "wrist" joints, which gives it similar capabilities to a human arm and wrist. The greater number of joints in six-axis robots means they can pick up parts facing any direction on the horizontal plane and place them into packaged products at a special Angle. They can also perform many operations that can only be done by skilled workers. The difference between four-axis and six-axis welding robots is these, and there are actually many types of robots that are used in all walks of life to keep people away from unsafe factors and improve product quality and production efficiency. Nowadays, robots are still in continuous research and development and innovation, and I believe that there will be more types of robots and everyone will meet in the future.
42/57/86 refer to the frame flange size (corresponding to NEMA 17/23/34). They only define the mechanical mounting size, not the torque. The correct selection order is: first calculate the holding torque required by the load, then pick a model with suitable length and winding within the same frame size. As a rule of thumb, the 42 frame covers 0.2–0.6 N·m, the 57 frame covers 0.5–3.0 N·m, and the 86 frame covers 3.0–12.0 N·m.
The flange sizes differ (42×42 mm vs 57×57 mm, corresponding to NEMA 17 and NEMA 23), the torque ranges differ (42 frame typically 0.2–0.6 N·m, 57 frame typically 0.5–3.0 N·m), and the mounting hole spacing and shaft diameter also differ (shaft 5 mm vs 6.35/8 mm). **Note that the frame size does not determine torque** — motors of the same frame but different lengths can differ 2–3× in torque.
Yes. An IP rating is the result of testing in **new condition**. Rubber seals age, waterproof breathable membranes clog, connectors loosen, and the housing may develop micro-cracks. Therefore, regularly inspect seal condition, replace wear parts on schedule, and avoid prolonged over-temperature operation that accelerates aging. --- **Further Reading** - [What Is an Integrated Servo Motor? Structure, Advantages and Selection of Drive-in-One Motors](../02_一体化与小型化/07_一体化伺服电机驱控一体_en.md) - [How to Choose a 42/57/86 Stepper Motor: Complete NEMA Frame Size Guide](./19_NEMA机座号与步进电机选型_en.md) - [Low-Voltage Servo Motor (24V/48V) Application Scenarios and Selection Essentials](../02_一体化与小型化/10_低压伺服电机选型_en.md)
Mechanically they cannot be directly interchanged — flange size, mounting hole positions, and shaft diameter all differ. But if the equipment has an adapter plate or extra mounting space reserved, replacement is possible. When replacing, check in parallel: shaft diameter vs coupling, whether torque meets the requirement, whether the driver current matches, and whether there is space for the body length.
Criteria: 1 axes ≥ 4, space-constrained, mobile equipment → integrated; 2 power > 1kW, high ambient temperature, frequent driver replacement → discrete; 3 need to save wiring cost and cabinet space → integrated; 4 single-axis high power with ample cabinet space → discrete. **For multi-axis systems, the total cost of ownership (TCO) of integration is often better**, because it saves drivers, encoder cables, cabinet space and wiring labor.
Both exist. "Integrated" refers to the **structural form** (driver integrated into the motor), unrelated to the control principle. Limaisheng NiMotion's STM series are drive-in-one stepper servo motors, the PMM/PSM series are drive-in-one AC servo motors, and the BLM series are drive-in-one brushless motors — all networked via CANopen / RS485 / EtherCAT. ---
There is no absolute answer; it depends on your power range, bus protocol, industry and service requirements. By market share, **Inovance (30.5%) is the domestic leader**, while Siemens, Panasonic and Yaskawa dominate the high end. But "other" brands together account for 31.2%, showing that many niche manufacturers have unique advantages in verticals. **We recommend verifying item by item with the five-step selection method in this article rather than relying only on brand awareness.
Torque. Power is the product of torque and speed (P = T·ω); at the same power you can trade different torque-speed combinations through a gearbox. Sizing directly by power is the most common mistake made by beginners.
This is a typical **regenerative energy with nowhere to go** problem. Handling order: ① confirm whether the built-in braking resistor is enabled and has sufficient power; ② for large inertia or frequent acceleration/deceleration, add an external braking resistor (note that built-in and external must not be used in parallel); ③ extend the deceleration time to reduce regenerative power; ④ add storage capacitors on the bus side. If multiple motors share one power supply, you can also use "staggered braking" so one motor's regenerative energy is absorbed by another. --- **Further Reading** - [Micro Servo Motors and 5 Technical Paths to Motor Miniaturization](./09_微型伺服电机与小型化_en.md) - [What Is an Integrated Servo Motor? Structure, Advantages and Selection of Drive-in-One Motors](./07_一体化伺服电机驱控一体_en.md) - [Servo Motor Selection Step-by-Step: From Load Torque to Inertia Matching](../01_选型对比/02_伺服电机选型步骤详解_en.md)
Formula: **i = motor rated speed ÷ required output speed**. For example, motor 3000 rpm and required output 300 rpm gives i = 10. After choosing, verify the torque (motor rated torque × i × η ≤ reducer rated output torque) and select the backlash grade according to the accuracy requirement. Note: **do not blindly increase the reduction ratio "to be safe"** — it will slow down the machine cycle.
It is not "which is more accurate," but **different design goals**. Servo emphasizes control (being able to precisely control position/speed/torque), while torque emphasizes capability (being able to continuously output large torque at low speed or even zero speed). A modern frameless torque motor with a high-precision encoder is itself a servo system, so in high-end applications the two merge rather than oppose.
DD direct drive: no backlash, high accuracy, maintenance-free, but large volume (large diameter), high cost, and sensitive to load inertia. Servo + planetary gearbox: compact structure, low cost, good inertia matching, but has backlash (high-precision types can be < 3 arc-min) and requires lubrication maintenance. **Criterion**: zero backlash, extremely low noise, maintenance-free → DD; pursuing cost-effectiveness and compactness → servo + gearbox. --- **Further Reading** - [Low-Voltage Servo Motor (24V/48V) Application Scenarios and Selection Points](./10_低压伺服电机选型_en.md) - [What Is an Integrated Servo Motor? Structure, Advantages and Selection of Drive-in-One Motors](./07_一体化伺服电机驱控一体_en.md) - [Brushless DC Motor (BLDC) Working Principle Explained](../01_选型对比/06_无刷电机BLDC原理与对比_en.md)
Three concrete questions: 1 Do you have mature cases in my industry; 2 Can you provide load-based selection calculations and prototype testing; 3 Is someone on site for the first joint commissioning and what is the response time. You can also ask: **how many installed units does the same product have in the same industry** — installed base often says more about product maturity than a spec sheet.
The most accurate method is to **measure the mounting hole center distance** (e.g., about 47.14 mm for NEMA 23) and the **square flange side length**. If the motor has no label, measure: ① flange side length (mm); ② mounting hole center distance; ③ shaft diameter. Cross-reference the three against the table above to determine the frame.
