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In order to clarify the rotation loss and levitation force reduction characteristics of two kinds of radial and axial-type superconducting magnetic bearings (SMB) consisting of a ring-shaped YBCO and a permanent magnet composite, we measured rotation losses and levitation forces of each SMB with a new rotation-loss measuring device using active magnetic bearings. The rotation loss of the SMB increased with increased initial load of the SMB. The levitation force o the SMB decreased remarkably just after activating the initial load to the SMB and during acceleration of the rotor suspended by the SMB. The reduction in levitation force was improved by means of applying a pre-load, that means a temporary load, before the initial load against the SMB. But the rotation loss of the SMB was increased as pre-load was increased. When the YBCO was cooled down from 77 to 66K, the rotation loss of the SMB decreased as the temperature of the SC decreased.