Ciao Giovanni! (I'm guessing that you're from Italy, if not Hi!
)
Anyway, I've just finished testing a similar motor that I've rescued from an old scanner. The model is a little different S35S5-6002, but it looks exactly the same and the wires have the same color and disposition.
In my motor, the wires are connected in this way:
RED = VCC (I've used 12V and it didn't explode, so...)
YELLOW and ORANGE = COIL 1
BLACK and BROWN = COIL 2
I've been driving that motor and others that I'm testing with a L298N H-Bridge Driver and a PIC microcontroller. Some people use an ULN2003, so I guess that could work too. Here's a diagram that I've found where they're using the ULN2003 to drive a similar motor and the colors they mention for the wires matches the ones in my motor.
Well I hope that I'm not too late and this info is still useful to you or anyone else trying to work this out.
All the best!