2-PHASE STEPPING SYSTEMS Ver. 1 English F series DRIVER H series MOTOR SH series MOTOR 2-phase STEPPING SYSTEMS F series DRIVER features 1 Low-vibration mode DC input Low-Vibration Mode OFF Low-Vibration Mode ON 1600 1600 Driver : US1D200P10 Motor : 103H7123-0410 Source voltage : DC24V Wire current : 2.0A/phase Division : 2 TG : 11TG7V/1000rpm 1200 Driver : US1D200P10 Motor : 103H7123-0410 Source voltage : DC24V Wire current : 2.0A/phase Division : 2 TG : 11TG7V/1000rpm 1400 Speed variation% Speed variation% 1400 1000 800 600 400 1200 1000 800 600 400 200 200 0 0 0 100 200 300 400 500 600 700 800 900 1000 0 100 200 300 400 500 600 700 800 900 1000 pulse/s 2 pulse/s Compact / Light weight DC input Compact Light weight 2-phase unipolar Current model 2-phase unipolar Current model 2-phase unipolar F series 2-phase unipolar F series 2-phase bipolar Current model 2-phase bipolar Current model 2-phase bipolar F series 2-phase bipolar F series 0 50 100 150 200 Volumecm 250 300 350 0 3 Compliance with international standards The standard specification SANMOTION F series stepping driver complies with UL and EN safety standards.Stepping motors complying with UL and EN standards are available upon request. 1 50 100 150 200 MASSg DC input 250 DC input Stepping motors with internal drivers P.4 Stepping Motors with Internal drivers Set model A driver incorporating a motion control function needed for driving a motor and a 2-phase stepping motor were integrated into a single unit. Set model Motor flange size 60 42 1.65inch2.36inch Unipolar standardstandard model P.13 The standard set includes a F series driver and a H or SH series motor. Motor flange size 42 28 56 1.10inch1.65inch2.20inch Reduction gear ratios 1 0.9 Bipolar standardstandard model The standard set includes a F series driver and a H or SH series motor. P.14 Stepping motor 1 1.8 Motor flange size 42 28 50 56 60 1.10inch1.65inch1.97inch2.20inch2.36inch Reduction gear ratios Dimensions 1 0.9 IC for stepping motor 1 1.8 2 F series DRIVER H series MOTOR SH series MOTOR 2-phase STEPPING SYSTEMS Control method How do you want to control the equipment? The F series offers the choice of 3 different control methods Network control using serial communication RS-485 Program command control using PLC I/O Control using a pulse generator Control using a pulse generator Drive Specification DC input stepping motors with internal drivers Startup via I/O : Initiate program containing speed, acceleration/ deceleration, and travel distance commands stored in the driver via the I/O. DC input bipolar standard Motion is generated by pulse input commands from an upper-level controller. Motion is generated by pulse input commands from an upper-level controller. Startup via serial communication : Control by sending data for speed, acceleration/ deceleration, and travel distance commands via serial communication. System configuration diagram Specifications Dimensions 3 DC input unipolar standard P4 P6 P5 to 6 System configuration diagram Set part number nomenclature Motor specifications General specifications Motor dimension drawing Driver dimension drawing P13 to 14 P16 P27 to 46 P4748 P49 to 51 P52 System configuration diagram Set part number nomenclature Motor specifications General specifications Motor dimension drawing Driver dimension drawing P13 to 14 P16 P27 to 46 P4748 P49 to 51 P52 System configuration Stepping Motors with Internal drivers DC input Stepping Motors with Internal drivers Setup software : SFPAIW-02 Controller Set model Can be connected to SANYO DENKI or third-party controllers. Bundled cable for input/output signal300 mm Switching power supply Noise filter Electromagnetic contactor Stepping motor Bundled cable for DC power350 mm Molded case circuit breaker Single phase (t) AC100 V to (r) AC230 V DC 24 V Switches driver power on/off. Use together with a surge protector. Protects the power line. Cuts off circuit in the event of overcurrent. Dimensions Filters out incoming noise from power line IC for stepping motor Converts AC power to DC power 4 2-phase STEPPING SYSTEMS Stepping DC input motor Specifications Stepping motors with internal drivers Features 1.Driver and motor are now integrated into a single unit. A driver incorporating a motion control function needed for driving a motor and a 2-phase stepping motor were integrated into a single unit for enabling a more compact installation space and less wiring. 2.Three types of operation modes can be selected to match the specific application. 1Control by command pulses 2Program control by general-purpose I/O(Parallel) 3Compliant with RS-485, half-duplex asynchronous communication Pulse rate-torque characteristics 42mm1.65inch 60mm2.36inch 0.6 6 0.5 5 70 1.6 16 DB21M142S-01 E=DC24V I=Rated current JL=0.94x10-4kgm2 80 200 1.4 14 180 1.2 12 30 0.3 2 0.2 1 0.1 140 120 100 80 60 20 8 1.0 0.8 6 0.6 4 0.4 2 0.2 40 10 0 10 Torque (N-m) Torque(oz*in.) 3 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 4 50 160 0.4 Torque (kgf-cm) 60 DB22M162S-01 E=DC24V I=Rated current JL=0.94x10-4kgm2 220 20 0 0 0 0.1 1 10 0 0 0.1 100 1 10 Pulse ratekpulse/s 100 Pulse ratekpulse/s DimensionsUnit : mminch 42mm1.65inch 1.5 0.76.59.03 +.04 59 .00 (EFFECTIVE LENGTH) 15 0.025 310.251.22.01 0.05 A A 119 4-M3x0.5 ManufacturerJST NAME PLATE CN2:I/O CONNECTORSM20B-SHLDS-GW-TF PSW RSW DSW EARTH TERMINAL O N 6 4 5 3 2 1 6 345 5 012 E F 7 8 9A M2.5X0.45X4L BCD TAP DEPTH 4.16MIN. 4.5 0.151.18.01 42 0.51.65.02 220 310.251.22.01 1 +.000 0 22 -0.05 .87- .002 R3MIN. 2 CONNECTORS02B-PASK-2 42 0.51.65.02 240.5.94.02 +.08 .00 ManufacturerJST +.0000 0 5 -0.013 .1968- .0005 +2 70 0 2.76 CN1:POWER Part numberFlange size DB21M142S-0142 Input sourceNote1 DC24 V 10 Getaway torque A 2 MAX. Basic specifications Stepping Motors with Internal drivers Specifications DB22M162S-0160 3 MAX. Protection class Class I Operation environment Installation categoryover-voltage category: II, pollution degree : 2 Applied standards EN61010-1 Operating ambient temperature Note2 0 to +40 Conservation temperature -20 to + 60 Operating ambient humidity 35 to 85%RHno condensation Conservation humidity 10 to 90%RHno condensation Operation altitude 1000 m3280 feet MAX. above sea level Vibration resistance Tested under the following conditions ; 4.9m/s2, frequency range 10 to 55Hz, direction along X, Y and Z axes, for 2 hours each Impact resistance Not influenced at NDS-C-0110 standard section 3.2.2 division "C " . Withstand voltage Not influenced when 1500V AC is applied between power input terminal and cabinet for one minute. Insulation resistance 10M ohm MIN. when measured with 500V DC megohmmeter between input terminal and cabinet. MassWeight 0.5kg1.10lbs Protection function Against driver overheat Set model Environment 0.87kg1.92lbs LED indicator Alarm monitor Command pulse input signalNote3 Photo coupler input method, input resistance 220 Input signal voltage : " H " = 4.0 to 5.5V, " L" = 0 to 0.5V Power down input signalPD Photo coupler input method, input resistance 470 Input signal voltage : " H " = 4.0 to 5.5V, " L" = 0 to 0.5V Step angle setting selection inputEXT Photo coupler input method, input resistance 470 Input signal voltage : " H " = 4.0 to 5.5V, " L" = 0 to 0.5V FULL/HALF setting selection inputF/H Photo coupler input method, input resistance 470 Input signal voltage : " H " = 4.0 to 5.5V, " L" = 0 to 0.5V EMG input signal Photo coupler input method, input resistance 470 Input signal voltage : " H " = 4.0 to 5.5V, " L" = 0 to 0.5V BUSY output signal Photo coupler input method, input resistance 220 Input signal voltage : " H " = 4.0 to 5.5V, " L" = 0 to 0.5V Phase origin monitor output signalMON Open collector output by photo coupler Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX. Alarm output signal AL Open collector output by photo coupler Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX. Stepping motor Function I/O signals 1 Note that the power voltage must not exceed 24VDC + 10% (26.4VDC). If the driver is placed in a box, the temperature inside the box must not exceed this specified range. The maximum input frequency is 250k pulse/s. 2 +2 0 3.46 +.08 .00 0.1 70.25.27.01 1.50.25.06.01 +1 +.04 15 0 .59 .00 (EFFECTIVE LENGTH) 0.025 600.52.36.02 47.10.131.85.01 0.075 A A 119 O N 5 6 2 3 4 F0 12 345 6 EARTH TERMINAL M2.5X0.45X4L DS 1 BCD E 7 8 9A RSW NAME PS PLATE CN2:I/O ManufacturerJST CONNECTORSM20B-SHLDS-GW-TF 5.80.15.23.01 +0.5 +.02 4-4.5 0 4-.18 .00 IC for stepping motor 1 600.52.36.02 2 220 47.10.131.85.01 R4MIN. 38.10.251.5.01 CN1:POWER ManufacturerJST CONNECTORS02B-PASK-2 A 20.60.5.81.02 88 0 +.000 6.35 -0.013 .25 -.001 60mm1.65inch Dimensions 3 6 2-phase STEPPING SYSTEMS Specifications Input circuit configuration Input interface Input circuit configuration 220 Input signal Input signal specifications Negative logic 2s MIN. to Approx. 15 mA Rotation Pulse duty 50 % MAX. to 1s MAX. 1s MAX. Positive logic 1s MAX. 1s MAX. to Rotation Approx. 15mA Pulse duty 50% MAX. to 2s MIN. Timing of the command pulse 2-input modeCW, CCW 50s MIN. * The internal photo coupler turns ON within the and, at its falling edge to OFF, the internal circuitmotoris activated. * When applying the pulse to CW, turn OFF the CCW side internal photo coupler. * When applying the pulse to CCW, turn OFF the CW side internal photo coupler. Pulse and direction modeCK, U/D 50s MIN. 7 10s MIN. * The " H " level is input for and, at its rising edge to " H " level, the internal circuitstepping motoris activated. * Switching the input signal U/D should be performed while the input level on the CK side is " L" . * Shaded area indicates internal photo coupler "ON " . Approx. 10mA * EXT input signal EXT photo coupler "ON " enables a function by external F/H input signal. EX T photo coupler " OFF " enables the set ting of a number of micro steps by main unit 's rotary switch S.S. Input signal Timing of command pulse, step angle selection, and FULL/HALF selection input signal Command pulse 100s MIN. * F/ H input signal F/H photo coupler " ON " sets HALF step (2-division) operation. F/H photo coupler " OFF " sets FULL step (1-division) operation. * Refer to switching EXT and F/H input signal in the [FULL/HALF input signal, command pulse, and step angle select]. 10s MIN. * When switching the step angle by EXT and F/H input signal, the phase origin LCD may not turn ON and the phase origin monitor output may not output when stop. Refer to the MON output in the [Output Interface]. Stepping Motors with Internal drivers Input circuit configuration PDEXTF/HEMG Set model Input circuit configuration Output interface Output circuit configurationBUSYMONAL Output signal Stepping motor MAX. 20mA MAX. 30V Driver Mon output * When the motor excitation phase is at the phase origin (power ON status), the photo coupler is turned "ON" , and the upper D.P of status LED turns on synchronously. CW pulse CCW pulse Dimensions * Output from MON is set to on at every 7.2 degrees of motor output shaft from phase origin. Mon output When changing the division setting by F/H input signal. Phase origin position HALF step Switching to FULL step by external F/H FULL step Phase origin position Stop position at FULL step * When changing the motor division setting by the external input signal and the rotary switch as shown in the example below, the motor cannot stop where MON output signal can be output. Take this into consideration when using the MON output signal. IC for stepping motor Motor shaft 8 2-phase STEPPING SYSTEMS Specification WIRING Specification Summary of Input/Output Signals (Serial I/F mode) Signal General-purpose input common Alarm clear signal standard Reference Designation Pin Number +COM 6 ALMC 6 Recoverable alarms are cleared. Internal photo coupler off on...Alarm clear IN1 6 Emergency stop input EMG 6 Origin signal ORG 6 + direction overtravel signal +OT 7 General-purpose input 2 IN2 7 Emergency stop input EMG Origin signal ORG 7 Alarm clear signal ALMC 7 - direction overtravel signal - OT 8 General-purpose input 3 IN3 8 Emergency stop input EMG 8 Origin signal ORG 8 ALMC 8 Alarm clear signal 7 Pin Number Emergency stop signal EMG 9 General-purpose input 4c IN4 9 Origin signal ORG 9 Alarm clear signal ALMC 9 During motor operation BUSY 10 During program execution PEND 10 Zone signal ZONE 10 During program execution PEND 11 During motor operation BUSY 11 Zone signal ZONE 11 Alarm output ALM 12 OUT_COM 13 It is for the output signal common. DATA+ 14 It is for the serial signal. DATA - 15 It is for the serial signal. Signal Input signal common of the 6 to 9 pins DC 5V is input. General-purpose input 1 Reference Designation Function Summary This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 1 on Internal photo coupler off ... General purpose input 1 off The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler of...Emergency stop The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off...Origin signal off An overtravel signal in the + direction is input. Internal photo coupler on ...+ direction overtravel not arrived Internal photo coupler off ...+ direction overtravel arrived This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 2 on Internal photo coupler off ...General purpose input 2 off The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off...Emergency stop The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off ... Origin signal off Recoverable alarms are cleared. Internal photo coupler off on...Alarm clear An overtravel signal in the - direction is input. Internal photo coupler on ...- direction overtravel not arrived Internal photo coupler off...- direction overtravel arrived This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 3 on Internal photo coupler off ... General purpose input 3 off emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off...Emergency stop The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off ... Origin signal off Recoverable alarms are cleared. Internal photo coupler off on...Alarm clear Output signal common DATA+ DATA - Function Summary The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off...Emergency stop This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 4 on Internal photo coupler off ... General purpose input 4 off The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off ... Origin signal off alarms are cleared. Internal photo coupler off on...Alarm clear The operation status of the motor is output. Internal photo coupler on...During motor operation Internal photo coupler off...During motor stop The execution status of the program is output. Internal photo coupler on...During program execution Internal photo coupler off...Program execution complete on when the current position is inside the coordinates that were set beforehand. The execution status of the program is output. Internal photo coupler on...During program execution Internal photo coupler off...Program execution complete The operation status of the motor is output. Internal photo coupler on...During motor operation Internal photo coupler off...During motor stop Turns on when the current position is inside the coordinates that were set beforehand. When various alarm circuits operate in the driver, an external signal is output. At this time, the stepping motor becomes non excited status. Specification Summary of Input/Output Signals (Pulse train I/F mode) Reference Designation Pin Number CW pulse input Standard CW+ CW - 1 2 When " 2 input mode" , Input drive pulse rotating CW direction. Pulse train input CK+ CK - 1 2 When " 1 input mode" , Input drive pulse train for motor rotation. CCW pulse input Standard CCW+ CCW - 3 4 When " 2 input mode" , Input drive pulse rotating CCW direction. Rotational direction input U/D+ U/D - 3 4 6 Signal General-purpose input common Power down input Step angle select input 9 +COM PD EXT 6 7 Function Summary Signal Reference Designation Pin Number Function Summary FULL/HALF select input F/H 8 When EXT input signal on internal photo coupler on, F/H input signal oninternal photo coupler on ... HALF step F/H input signal offinternal photo coupler off ... FULL step When "1 input mode" , Input motor rotational direction signal. Internal photo coupler ON ... CW direction Internal photo coupler OFF ... CCW direction Emergency stop EMG 9 The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off ...Emergency stop Input signal common of the 6 to 9 pins DC5V is input. During motor operation BUSY 10 Phase origin monitor output MON 11 Alarm output ALM 12 Output signal common OUT_COM 13 Inputting PD signal will cut off power offthe current flowing to the Motor With dip switch select, change to the Power low function is possible. PD input signal on internal photo coupler on ... PD function is valid. PD input signal off internal photo coupler off ... PD function is invalid. FULL/HALF select input will become valid by inputting EXT signal. EXT input signal on internal photo coupler on ... External input signal F/H is valid EXT input signal off internal photo coupler off ... Main body rotary switch S.S is valid The operation status of the motor is output. Internal photo coupler on ...During motor operation Internal photo coupler off ...During motor stop When the excitation phase is at the originin power onit turns on. When FULL step, ON once for 4 pulses, when HALF step, ON once for 8 pulses. When alarm circuits actuated inside the Driver, outputs signals to outside. Then the Stepping motor becomes unexcited status. It is for the output signal common. As for the Motor rotational direction, CW direction is regard as the clockwise revolution by viewing the Motor from output shaft side. 1 2 Program pause PAUSE+ PAUSE- 3 4 +COM 6 Input signal common of the 6 to 9 pins DC5V is input. ALMC 6 Recoverable alarms are cleared. Internal photo coupler off on...Alarm clear IN1 6 Program number selection bit 1 B1 6 Emergency stop input EMG 6 Origin signal ORG 6 + direction overtravel signal +OT General-purpose input 2 IN2 7 Program number selection bit 2 B2 7 Emergency stop input EMG 7 Origin signal ORG 7 Alarm clear signal ALMC 7 - direction overtravel signal -OT 8 General-purpose input 3 IN3 8 Program number selection bit 4 B4 8 Emergency stop input EMG 8 Origin signal ORG 8 Alarm clear signal ALMC 7 8 Emergency stop signal EMG 9 General-purpose input 4 IN4 9 Program number selection bit 8 B8 9 This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 1 on Internal photo coupler off ... General purpose input 1 off The program number is selected along with other bits. Subordinate bit Internal photo coupler on...Corresponding bit 1 Internal photo coupler off ... Corresponding bit 0 The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off ...Emergency stop The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off ... Origin signal off An overtravel signal in the + direction is input. Internal photo coupler on ...+ direction overtravel not arrived Internal photo coupler off ...+ direction overtravel arrived This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 2 on Internal photo coupler off ... General purpose input 2 off The program number is selected along with other bits. The second bit from the subordinate Internal photo coupler on...Corresponding bit 1 Internal photo coupler off ... Corresponding bit 0 The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off ...Emergency stop The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off ... Origin signal off Origin signal ORG 9 Alarm clear signal ALMC 9 During motor operation BUSY 10 During program execution PEND 10 Zone signal ZONE 10 During program execution PEND 11 During motor operation BUSY 11 Zone signal ZONE 11 Alarm output ALM 12 Output signal common DATA+ DATA - Function Summary The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off ...Emergency stop This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 4 on Internal photo coupler off ... General purpose input 4 off The program number is selected along with other bits. The fourth bit from the subordinate Internal photo coupler on ... Corresponding bit 1 Internal photo coupler off ... Corresponding bit 0 The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off ... Origin signal off Recoverable alarms are cleared. Internal photo coupler off on...Alarm clear The operation status of the motor is output. Internal photo coupler on...During motor operation Internal photo coupler off...During motor stop The execution status of the program is output. Internal photo coupler on...During program execution Internal photo coupler off ...Program execution complete Turns on when the current position is inside the coordinates that were set beforehand. The execution status of the program is output. Internal photo coupler on...During program execution Internal photo coupler off ...Program execution complete The operation status of the motor is output. Internal photo coupler on...During motor operation Internal photo coupler off ...During motor stop Turns on when the current position is inside the coordinates that were set beforehand. When various alarm circuits operate in the driver, an external signal is output. At this time, the stepping motor becomes non excited status. OUT_COM 13 It is for the output signal common. DATA+ 14 It is for the serial signal. DATA - 15 It is for the serial signal. Recoverable alarms are cleared. Internal photo coupler off on...Alarm clear An overtravel signal in the - direction is input. Internal photo coupler on ...- direction overtravel not arrived Internal photo coupler off ...- direction overtravel arrived This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 3 on Internal photo coupler off ... General purpose input 3 off The program number is selected along with other bits. The third bit from the subordinate Internal photo coupler on...Corresponding bit 1 Internal photo coupler off ... Corresponding bit 0 The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off ...Emergency stop The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off ... Origin signal off Recoverable alarms are cleared. Internal photo coupler off on...Alarm clear Set model START+ START- General-purpose input 1 Pin Number Signal Program drive Start/Stop General-purpose input common Alarm clear signal standard Reference Designation Function Summary Commands the start and stop of program driving. Internal photo coupler on...Program driving start Internal photo coupler off ...Program driving stop When START signal on, a pause in program driving is commanded. Internal photo coupler on...Program driving pause Internal photo coupler off ...Program driving pause release Stepping motor Pin Number External Wiring Diagrams Controller DC24V 24G Driver CN1 1 2 CN2 DATA DATA- GND-5G 2 Phase Stepping Motor 24V 24G Power Supply 5G 5V 14 15 Dimensions Reference Designation 20 RXD TXD CWSTART CW-START- CCWPAUSE CCW-PAUSE- COM PDIN1B1 EXTIN2B2 FHIN3B4 IN4B8 BUSYOUT1 MONOUT2 ALM OUT_COM DE 1 2 3 4 5 6 7 8 9 10 11 30V 20mA MAX. IC for stepping motor Signal Stepping Motors with Internal drivers Specification Summary of Input/Output Signals (Parallel I/F mode) 12 13 10 2-phase STEPPING SYSTEMS Specification SET UP Function Select Dip Switch The functions according to the specification can be selected with this Dip switch. Confirm the ex-factory setting as follows. OFF ON 1 F/R OFF 2 input mode (CW/CCW pulse) 2 LV OFF Micro step operation 3 PD OFF Power OFF 4 OFF Phase origin excitation 5 I. SEL OFF 6 S. SEL OFF Pulse stream I/F mode For pulse stream I/F mode 1 Input mode selectF/R Input pulse mode selection This switch setting is only effective in pulse stream I/F mode. F/R Input pulse mode ON 1 input modeCK,U/D OFF 2 input modeCW,CCW 2 Low vibration mode selectLV Low vibration and smooth operation is enabled even by the rough resolution setting e.g. 1 division, 2 division. This switch setting is only effective in pulse stream I/F mode. For parallel I/F mode and serial I/F mode, this is usually a low vibration operation. LV Operation ON Low vibration operation OFF Micro step operation When LV select is ONlow vibration mode, operational process of driving pulse will be carried out inside the Driver. Therefore, the Motor movement delays for the time of 3.2ms pulse per input pulse. Note that depending upon the combined Motor, load,driving profile and etc, it may take a while until the shaft is adjusted when the Motor stops.In parallel I/F mode and serial I/F mode there is no delay 3 Power down selectPD Select the Motor winding current value when inputting the power down signal.This switch setting is only effective in pulse stream I/F mode. PD Motor winding current ON Current value by rotary switch STPPower Low OFF 0APower OFF PD functionthe setting selected by PD of the function select dip switch is enabled by PD input signal ONbuilt-in photo coupler ONof Input/ Output signal connectorCN2. Power down signal input is prior to all the other current settings except for alarms. The operational status may not be maintained such as power swing due to output torque drop or lower operation due to Motor current OFFunexcited Motor. Pay extra attention to the input timing of the power down signal in addition that the security device should be installed to the machine. 4 Excitation selectEORG By turning on the EORG, excitation phase when power OFF is saved. 5 , 6 Operation mode selectionI.SEL, S.SEL The operation mode is selected. I.SEL S.SEL - OFF ON Operation mode Pulse stream I/F mode OFF Parallel I/F mode ON Serial I/F mode Change the operation mode selection switch after cutting off the driver s power supply. 11 For parallel I/F mode or serial I/F mode The communication speed of serial communication is set. Switch F/R LV PD Set value OFF Communication speed(bps) 9,600 19,200 38,400 115,200 ON OFF ON OFF ON The setting change after the power supply is turned on is invalid. It does not function as a F/R, LV, and PD. The communication speed of pulse stream I/F mode is fixed at 9600bps. For pulse stream I/F mode When it selects the step angle, the driving current is selected, and stops the current is selected, set by combining rotary switch (RSW) and mode change switch (PSW). 1. Step angle select(S.S) The divisions of the basic step angle (0.9/step) when micro step driving can be set with this rotary switch. Gradation 0 1 2 3 4 5 6 7 Partition 1 2 2.5 4 5 8 10 20 Gradation 8 9 A B C D E F Partition 25 40 50 80 100 125 200 250 Stepping Motors with Internal drivers Rotary switch(RSW) and the mode change switch(PSW) Ex-factory setting is at 1 (division 2) (built-in photo coupler ON) of Input/Output signal connector (CN2). 2. Driving current select(RUN) The Motor operation current value can be selected with this rotary switch. Gradation Motor current (%) Gradation Motor current (%) 0 100 (rated) 8 1 2 3 4 5 6 7 95 90 85 80 75 70 65 9 A B C D E F 60 55 50 45 40 35 30 25 Set model The step angle select switch (S.S) and the number of partitions become invalid by EXT input signal ON Ex-factory setting is at 0 (rated value). When there is a sufficient extra motor torque, lowering the operation current value will be effective in 3. Current Select when Stop (STP) The motor current value when stop and when power down input signal ON (power low function is selected by dip switch) can be selected with this rotary switch. Gradation Motor current (%) Gradation Motor current (%) 0 100 (rated) 8 1 2 3 4 5 6 7 95 90 85 80 75 70 65 9 A B C D E F 60 55 50 45 40 35 30 25 Stepping motor the lower vibration. The Motor output torque is almost proportional to the current value. When adjusting the operational torque, confirm the sufficient operation margin and determine the Motor current value. Ex-factory setting is set at A (50%). The current setting when stop by STP becomes valid when the Motor stops (approximately 200ms after For parallel I/F mode and serial I/F mode The slave bureau address of serial communications is set with this rotary switch. RSW Slave station address (HEX) 0 0 1 1 E E F F Dimensions the last pulse input) and when power down input signal Ex-factory setting is set at 0 IC for stepping motor The slave station address of the pulse stream I/F mode is fixed at 0. 12 2-phase STEPPING SYSTEMS DC input System configuration Unipolar standard A Motor cable Controller Can be connected to SANYO DENKI or third-party controllers. Standard model : H series motor, SH series motor, 28mm 1.10inch/ 42mm 1.65inch/ 56mm 2.20inch Motor connector DC power connector DC power cable I/O signal connector I/O signal cable Switching power supply Noise filter Electromagnetic contactor Molded case circuit breaker DC 24V/36V (t) (r) Converts AC power to DC power Filters out incoming noise from power line Switches driver power on/off. Use together with a surge protector. Protects the power line. Cuts off circuit in the event of overcurrent. Bundled cable( 42mm motors only) A Motor cable 42mm 1.65inch Pin No. Lead wire color White 2 Orange 3 Blue 3 4 Yellow 4 5 Red 5 6 Black 6 JST 1 2 13 5001.64 feetMIN. Lead wire Housing Pin UL1430 AWG26 HER-6 BLACKJ.S.T Mfg.Co.,Ltd SEH-001T-P0.6J.S.T Mfg.Co.,Ltd Single phase AC100V to AC230V 2-phase STEPPING SYSTEMS DC input Stepping Motors with Internal drivers System configuration Bipolar standard A Motor cable Controller Can be connected to SANYO DENKI or third-party controllers. Motor connector DC power connector I/O signal connector DC power cable Stepping motor I/O signal cable Switching power supply Noise filter Electromagnetic contactor Molded case circuit breaker DC 24V/36V (t) (r) Converts AC power to DC power Filters out incoming noise from power line Switches driver power on/off. Use together with a surge protector. Protects the power line. Cuts off circuit in the event of overcurrent. Single phase AC100V to AC230V Dimensions 28mm 1.10inch/ 42mm 1.65inch/ 50mm 1.97inch/ 56mm 2.20inch/ 60mm 2.36inch Set model Standard model : H series motor, SH series motor, Bundled cable( 42mm motors only) 42mm 1.65inch 60mm 2.36inch 500 1.64 feetMIN. 500 1.64 feetMIN. Pin No. Lead wire color Yellow 5 - 6 Red Lead wire Housing Pin Pin No. 4 Lead wire color Yellow 3 Red 2 Blue 1 Orange 6 Orange 4 5 3 JST 4 - 3 Blue 2 2 1 UL1430 AWG26 HER-6 BLACKJ.S.T Mfg.Co.,Ltd SEH-001T-P0.6J.S.T Mfg.Co.,Ltd Lead wire Housing Pin IC for stepping motor A Motor cable UL1430 AWG22 VER-4NJ.S.T Mfg.Co.,Ltd SVH-21T-P1.1J.S.T Mfg.Co.,Ltd 14 2-phase STEPPING SYSTEMS DC input Part numbering convention The following set part number specifies a system with an F series unipolar drivertype code : US1D200P10 and a single shaft H series motor type code : 103H7121-0440 , 56 mm 2.20 inch square flange, and 41.8 mm 1.65 inch motor length. D U 1 6 S H 71 1 Stepping motor shaft spec S : Single shaft D : Double shaft Stepping motor total length Code 1 2 3 4 6 Stepping motor flange size 28mm 1.10inch 42mm 1.65inch Type Motor length Type Motor length code : mminch code : mminch 3205 311.25 5205 331.30 5208 391.54 5210 3215 481.89 71 : 56mm 2.20inch 78 : 60mm 2.36inch Stepping motor series name H : H series S : SH series Rated current specification 4 : 1A/phase 5 : 1.2A/phase 6 : 2A/phase Driver Specification U : 2-phase unipolar B : 2-phase bipolar Power specification D : DC 15 56mm 2.20inch Type Motor length code : mminch 7121 41.81.65 2.12 7123 53.8 7126 75.82.89 50.31.98 Stepping motor flange size 32 : 28mm 1.10inch 52 : 42mm 1.65inch Model 50mm 1.97inch Type Motor length code : mminch 1.57 6701 39.8 2.02 6703 51.3 60mm 2.36inch Type Motor length code : mminch 7821 44.81.76 2.12 7822 53.8 7823 85.83.38 42mm 1.65inch Motor model number Double shaft Single shaft Double shaft Rated current 1.8 DU14H321S DU14H321D 103H3205-5270 103H3205-5230 1.8 DU14H326S DU14H326D 103H3215-5270 103H3215-5230 1A 1.8 DU15H521S DU15H521D 103H5205-0440 103H5205-0410 1.2A 1.8 DU15H522S DU15H522D 103H5208-0440 103H5208-0410 1.2A 1.8 DU15H524S DU15H524D 103H5210-0440 103H5210-0410 1.2A 0.9 DU15S141S DU15S141D SH1421-0441 SH1421-0411 1.2A 0.9 DU15S142S DU15S142D SH1422-0441 SH1422-0411 1.2A 0.9 DU15S144S DU15S144D SH1424-0441 SH1424-0411 1.2A 1A 1.8 DU16H711S DU16H711D 103H7121-0440 103H7121-0410 2A 56mm 2.20inch 1.8 DU16H713S DU16H713D 103H7123-0440 103H7123-0410 2A 1.8 DU16H716S DU16H716D 103H7126-0440 103H7126-0410 2A Combination list of 2-phase bipolar driver System type Standard model Set part number Motor model number Basic step angle Single shaft Double shaft Single shaft Double shaft 1.8 DB14H321S DB14H321D 103H3205-5770 103H3205-5730 1.8 DB14H326S DB14H326D 103H3215-5770 103H3215-5730 1A 1.8 DB14H521S DB14H521D 103H5205-5240 103H5205-5210 1A 1.8 DB14H522S DB14H522D 103H5208-5240 103H5208-5210 1A 1.8 DB14H524S DB14H524D 103H5210-5240 103H5210-5210 1A 0.9 DB16S141S DB16S141D SH1421-5241 SH1421-5211 2A 0.9 DB16S142S DB16S142D SH1422-5241 SH1422-5211 2A 0.9 DB16S144S DB16S144D SH1424-5241 SH1424-5211 2A 1.8 DB16H671S DB16H671D 103H6701-5040 103H6701-5010 2A 1.8 DB16H672S DB16H672D 103H6703-5040 103H6703-5010 2A 1.8 DB16H711S DB16H711D 103H7121-5740 103H7121-5710 2A 56mm 2.20inch 1.8 DB16H713S DB16H713D 103H7123-5740 103H7123-5710 2A 1.8 DB16H716S DB16H716D 103H7126-5740 103H7126-5710 2A 2A Motor flange size 28mm 1.10inch 42mm 1.65inch 50mm 1.97inch Rated current Stepping Motors with Internal drivers Standard model 28mm 1.10inch Single shaft 1A 1.8 DB16H781S DB16H781D 103H7821-5740 103H7821-5710 1.8 DB16H782S DB16H782D 103H7822-5740 103H7822-5710 2A 60mm 2.36inch 1.8 DB16H783S DB16H783D 103H7823-5740 103H7823-5710 2A 0.9 DB16S161S DB16S161D SH1601-5240 SH1601-5210 2A 0.9 DB16S162S DB16S162D SH1602-5240 SH1602-5210 2A Stepping motor Set part number Basic step angle Dimensions Motor flange size IC for stepping motor System type Set model Combination list of 2-phase unipolar driver 16 2-phase STEPPING SYSTEMS DC input Specifications Size F series driver + H or SH series motor Set part Single shaft number Double shaft 28mm1.10inch/1.8 31mm1.25inch Motor length Unipolar 50.3mm1.98inch DU14H321S DU14H326S DU14H321D DU14H326D Nmozin 0.032 .53 0. 2 . 2 2 x10-4 kgm oz in 0.00 0.05 0.01 0.0 MassWeight kglbs 0.110.2 Allowable thrust load Nlbs Allowable radial loadNote1 Nlbs Holding torque Rotor inertia 30. 0.20. 30. 2 2 Note1When load is applied at 1/3 length from output shaft edge. Motor flange size 28 Motor flange size Standard model 56 42 1.10inch 1.65inch 2.20inch 0.1 1 0 0.02 0.01 0 0.1 0 1-division 2-division fs fs 1 10 10 100 6 0.08 0.4 4 0.06 0.04 0.2 0.02 0 0 0 2 Pull-out torque 1 Source current (load applied) 0 0.1 0.02 0.01 0 0.1 0 Source current (no load) 1-division fs Fs:Maximum self-start frequency when not loaded 2-division fs 1-division 2-division 1-division Motor flange size 42mm1.65inch/0.9 Motor length fs 10 10 10 8 6 0.8 0.08 0.4 4 1000 20003000 5000 0.06 0.04 0.2 0.02 0 0 0 fs 0.1 10 1000 2000 3000 5000 100 2-division 50 100 200 500 fs 1 Pulse ratekpulse/s 1-division 100 10 1000 2000 3000 5000 Number of rotationsmin -1 56mm2.20inch/1.8 48mm1.89inch 41.8mm1.65inch 53.8mm2.12inch DU15S144S DU16H711S DU16H713S DU16H716S DU15S144D DU16H711D DU16H713D DU16H716D Set part Single shaft number Double shaft 75.8mm2.98inch Nmozin 0.3955.23 0.3955.23 0.83117.5 1.27179.8 2 2 x10-4 kgm oz in 0.0890.487 0.10.55 0.211.15 0.361.97 MassWeight kglbs 0.380.84 0.471.04 0.631.39 0.982.16 Allowable thrust load Nlbs 102.25 153.37 153.37 153.37 Allowable radial loadNote1 Nlbs 306 7115 7115 7115 Holding torque Rotor inertia 10 9 8 7 6 5 4 3 2 1 0 100 2 1000 2000 3000 5000 20 0.1 0.6 Pulse ratekpulse/s 100 1.0 Number of rotationsmin -1 2-division Size fs 1 12 TorqueNm DC36V 0.2 0.03 14 Torquekgfcm 3 0.04 1000 2000 3000 5000 100 10 Number of rotationsmin -1 Torqueozin 0.3 4 10 9 8 7 6 5 4 3 2 1 0 100 10 100 2-division Source currentA Torqueozin Torquekgfcm 0.4 5 0.05 fs 1 Pulse ratekpulse/s 1-division 1000 2000 3000 5000 TorqueNm 0.5 6 fs 0.1 Number of rotationsmin -1 7 10 9 8 7 6 5 4 3 2 1 0 100 2 1000 2000 3000 5000 100 0.1 0.8 0.6 8 Pulse ratekpulse/s 10 1.0 Source currentA 0.2 2 12 Source currentA 3 0.03 14 TorqueNm 0.3 4 10 9 8 7 6 5 4 3 2 1 0 100 Torqueozin 0.04 Torquekgfcm 0.05 0.4 Source currentA Torqueozin 5 DC24V 0.5 Torquekgfcm 6 TorqueNm 7 Note1When load is applied at 1/3 length from output shaft edge. 2-division 1000 2000 3000 5000 Pull-out torque Source current (load applied) Source current (no load) 1-division fs Fs:Maximum self-start frequency when not loaded 2-division fs 1-division 2-division 17 10 0 2 1 0 0.4 0.3 0.2 0.1 0 0.1 1-division 2-division fs 1 fs 10 Pulse ratekpulse/s 100 10 1000 2000 3000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 60 100 50 40 30 20 10 0 4 3 0 2 1 0 0.3 0.2 0.1 0 0.1 fs 10 100 10 1000 2000 3000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 fs 10 80 10 100 1000 20003000 5000 10 100 1000 2000 3000 5000 1.6 12 40 0 8 TorqueNm 120 2.0 16 Torquekgfcm Torqueozin 160 1.2 0.8 4 0.4 0 0 120 100 80 60 40 20 0 10 0.8 8 6 4 0.6 0.4 2 0.2 0 0 fs 0.1 1-division 2-division 1 fs 10 10 100 1000 2000 3000 5000 10 100 1000 2000 3000 5000 Number of rotationsmin -1 10 1000 2000 3000 5000 100 10 1000 2000 3000 5000 Number of rotationsmin -1 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s 1 100 2-division 1.0 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s 1-division Number of rotationsmin -1 140 fs 0.1 Pulse ratekpulse/s 2-division 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s 1-division 2-division fs 1 fs 1 200 20 Source currentA 0 1-division 1000 2000 30005000 0.4 Source currentA TorqueNm Torqueozin Torquekgfcm 0.2 0.1 1000 2000 3000 5000 100 10 0.5 TorqueNm 20 3 5 70 Torqueozin 30 4 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 40 0.5 TorqueNm Torqueozin DC36V 50 Torquekgfcm 60 0 0.4 2 Number of rotationsmin -1 Torquekgfcm 5 70 10 4 0.6 240 280 240 200 160 120 80 40 0 20 2.0 16 1.6 12 8 1.2 0.8 4 0.4 0 0 fs 0.1 1-division 2-division 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 1000 2000 3000 5000 100 fs 20 Pulse ratekpulse/s 1-division Number of rotationsmin -1 fs 1 40 6 280 TorqueNm 100 10 0 0.1 0 60 8 10 9 8 7 6 5 4 3 2 1 0 100 Torquekgfcm 0 0.1 80 0.8 Torqueozin 10 0.2 100 1.0 Source currentA 2-division fs 1 10 Pulse ratekpulse/s 2 0.3 10 TorqueNm 1-division fs 1 20 0.4 120 Torqueozin 0 0.1 0 30 3 140 Torquekgfcm 0 0.1 40 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 1 10 0.2 50 0.5 4 Source currentA 2 0.3 60 TorqueNm 20 0.4 5 70 Torqueozin 30 3 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 40 0.5 4 TorqueNm Torqueozin DC24V 50 Torquekgfcm 60 Torquekgfcm 5 70 fs 1 10 Pulse ratekpulse/s 100 10 1000 2000 3000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 DU15S141S DU15S142S DU15H521D DU15H522D DU15H524D DU15S141D DU15S142D 0.228.32 0.2941.07 0.0720.34 0.0440.24 0.0660.361 0.230.51 0.290.64 0.370.82 0.240.53 0.290.64 102.25 102.25 102.25 102.25 102.25 306 306 306 306 306 0 0 0.1 1-division 2-division fs 1 fs 10 Pulse ratekpulse/s 1000 2000 30005000 100 100 1000 2000 3000 5000 Number of rotationsmin -1 40 30 20 10 0 4 3 2 1 0 0.4 0.3 0.2 0.1 0 0.1 1-division 2-division fs 1 fs 10 100 1000 2000 3000 5000 Number of rotationsmin -1 100 0 5 70 60 50 40 30 20 10 0 4 3 2 1 0 0.4 0.3 0.2 0.1 0 0.1 1-division 2-division fs fs 1 10 0 0.1 2-division 1000 2000 3000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 fs 1 fs 10 Torqueozin 60 50 40 30 20 100 0 0.4 3 2 5 70 60 0.1 0 0.1 0 2-division 1000 2000 3000 5000 50 40 30 20 10 0 0.5 4 3 2 1 0 0.4 0.3 0.2 0.1 0 0.1 1-division 2-division fs 1 fs 10 100 10 1000 2000 3000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 10 9 8 7 6 5 4 3 2 1 0 100 fs fs 1 10 Pulse ratekpulse/s 100 10 1000 2000 3000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s 0.3 0.2 1-division 1000 2000 3000 5000 100 10 0.5 4 1 10 Pulse ratekpulse/s 5 TorqueNm 70 Number of rotationsmin -1 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s 100 0.2 1-division 1000 2000 3000 5000 0.5 0.3 0.1 0 10 9 8 7 6 5 4 3 2 1 0 100 Torquekgfcm TorqueNm Torqueozin Torquekgfcm 2 1 10 1000 2000 3000 5000 100 3 Number of rotationsmin -1 10 9 8 7 6 5 4 3 2 1 0 100 1000 2000 3000 5000 10 20 Pulse ratekpulse/s 2-division Pulse ratekpulse/s 100 1 30 0.4 70 60 50 40 30 20 10 0 5 0.5 4 0.4 3 2 1 0 TorqueNm 50 fs fs 40 0.5 4 Torqueozin 0 0.1 0 50 5 Source currentA 0.1 1-division 1000 2000 3000 5000 0.5 Source currentA TorqueNm Torqueozin 0 0.2 60 0.3 0.2 0.1 0 0.1 1-division 2-division 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 0.1 60 TorqueNm 0.2 100 1 10 1000 2000 3000 5000 100 2 0.3 70 fs 1 fs 10 Pulse ratekpulse/s 100 10 1000 2000 3000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 Stepping motor 0 1 0.3 10 3 10 9 8 7 6 5 4 3 2 1 0 100 Dimensions 10 2 0.4 5 70 Torquekgfcm 20 3 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 30 4 TorqueNm Torqueozin 40 Torquekgfcm 50 0.5 1 20 0.4 Number of rotationsmin -1 Torqueozin 5 60 fs 30 Pulse ratekpulse/s 2-division 1000 2000 3000 5000 Number of rotationsmin -1 70 fs 40 0.5 4 Torquekgfcm 100 0 0.1 0 1-division 1000 2000 3000 5000 100 2-division 0.1 50 5 Source currentA 10 0 0.2 60 TorqueNm 1 1 10 Pulse ratekpulse/s 2 0.3 70 Torqueozin fs 20 3 10 9 8 7 6 5 4 3 2 1 0 100 Torquekgfcm 1-division fs 30 0.4 Source currentA 0 0.1 0 40 0.5 4 TorqueNm 0.1 50 5 Torquekgfcm 0.2 60 Torqueozin 0.3 70 Torquekgfcm 2 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 0.4 Source currentA 0.3752.39 Source currentA 0 0.342.48 0.0560.31 0.5 1 10 0.228.32 4 3 39mm1.54inch 0.0360.20 5 Stepping Motors with Internal drivers DU15H524S Set model DU15H522S TorqueNm 20 DU15H521S Torquekgfcm 30 33mm1.30inch Torqueozin 40 42mm1.65inch/0.9 48mm1.89inch Source currentA Torqueozin 50 Torquekgfcm 60 39mm1.54inch TorqueNm 70 42mm1.65inch/1.8 IC for stepping motor 33mm1.30inch 18 2-phase STEPPING SYSTEMS DC input Specifications Size F series driver + H or SH series motor Set part Single shaft number Double shaft 28mm 1.10inch/1.8 31mm1.25inch Motor length Bipolar 50.3mm1.98inch DB14H321S DB14H326S DB14H321D DB14H326D Nmozin 0.04 6. 0 0.114.16 2 2 x10-4 kgm oz in 0.00 0.05 0.0160.0 MassWeight kglbs 0.110.24 0.20.44 Allowable thrust load Nlbs 30.6 30.6 Allowable radial loadNote1 Nlbs 42 42 Holding torque Rotor inertia Note1When load is applied at 1/3 length from output shaft edge. Motor flange size 28 Motor flange size Standard model 50 42 60 56 1.10inch 1.65inch 1.97inch 2.20inch 2.36inch 0.04 0.2 0.02 0 0 2 0 fs 0.1 fs 1 10 20 16 12 8 100 2-division 0.16 1.2 0.8 0.12 0.08 0.4 0.04 0 0 0 Pull-out torque 2 Source current (load applied) 0 0.04 0.2 0.02 0 0 42mm1.65inch/0.9 Motor length 10 100 2-division 16 12 8 1000 2000 3000 5000 0.2 1.6 0.16 1.2 0.8 0.12 0.08 0.4 0.04 0 0 4 0 fs 0.1 fs 1 10 100 2-division 1000 2000 3000 5000 1000 2000 3000 5000 1000 2000 3000 5000 100 10 Number of rotationsmin -1 50mm1.97inch/1.8 56mm 2.20inch/1.8 48mm1.89inch 39.8mm1.57inch 51.3mm2.02inch DB16S144S DB16H671S DB16H672S DB16H711S DB16S144D DB16H671D DB16H672D DB16H711D 0.3955.2 Set part Single shaft number Double shaft 41.8mm1.65inch Nmozin 0.4867.97 0.2839.6 0.4969.4 2 2 x10-4 kgm oz in 0.0890.487 0.0570.31 0.1180.65 0.10.55 MassWeight kglbs 0.380.84 0.350.77 0.51.10 0.471.04 Allowable thrust load Nlbs 102.25 153.37 153.37 153.37 Allowable radial loadNote1 Nlbs 306 9922 9922 7115 Holding torque Rotor inertia 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s 1-division 1000 2000 3000 5000 100 10 1000 2000 3000 5000 100 10 2.0 Number of rotationsmin -1 2-division Motor flange size fs 20 Pulse ratekpulse/s 1-division 1-division Size fs 1 24 TorqueNm 0.06 0.1 Source current (no load) 1-division fs Fs:Maximum self-start frequency when not loaded 2-division fs 28 Torquekgfcm 4 0.4 10 9 8 7 6 5 4 3 2 1 0 100 Torqueozin 6 0.6 10 Number of rotationsmin -1 Source currentA DC36V 8 0.08 0.8 TorqueNm Torqueozin 10 0.1 1.0 Torquekgfcm 12 fs 1 100 2-division 1000 2000 3000 5000 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s 1-division Number of rotationsmin -1 14 fs 0.1 1000 2000 3000 5000 100 10 0.2 1.6 4 Pulse ratekpulse/s 1-division 2.0 Source currentA 0.06 24 Source currentA 0.4 28 TorqueNm 4 0.6 10 9 8 7 6 5 4 3 2 1 0 100 Torqueozin 6 0.08 Torquekgfcm DC24V 8 0.1 0.8 Source currentA 10 1.0 TorqueNm Torqueozin 12 Torquekgfcm 14 Note1When load is applied at 1/3 length from output shaft edge. 10 100 1000 20003000 5000 100 1000 2000 3000 5000 1-division 2-division Number of rotationsmin -1 Pull-out torque Source current (load applied) Source current (no load) 1-division fs Fs:Maximum self-start frequency when not loaded 2-division fs 1-division 2-division 19 20 0 4 0.6 0.4 2 0.2 0 0 0.1 1-division 2-division 1 10 Pulse ratekpulse/s 10 10 100 1000 20003000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 60 1 10 0 100 50 40 30 20 10 0 4 3 2 1 0 0.3 0.2 0.1 0 0.1 1-division 2-division fs 1 fs 10 100 10 1000 2000 3000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 0 fs fs 1 10 60 40 20 0 10 100 1000 2000 3000 5000 100 1000 2000 3000 5000 6 4 120 100 80 60 40 20 0 10 1.0 0.8 8 6 4 0.6 0.4 2 0.2 0 0 fs 0.1 1-division 2-division 1 fs 10 0.2 0 0 10 100 1000 2000 3000 5000 10 100 1000 2000 3000 5000 Number of rotationsmin -1 10 9 8 7 6 5 4 3 2 1 0 100 fs fs 1 10 Pulse ratekpulse/s 1-division 2-division 10 100 1000 2000 3000 5000 10 100 1000 2000 3000 5000 Number of rotationsmin -1 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s 0.4 2 Number of rotationsmin -1 140 0.6 0.1 Pulse ratekpulse/s 10 8 0.8 TorqueNm 80 1.0 Torquekgfcm 100 10 Source currentA 0 120 Torqueozin Source currentA TorqueNm 0.2 2-division 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s 0.4 2 1-division 1000 2000 3000 5000 0.4 0.6 0.1 1000 2000 3000 5000 100 10 Torquekgfcm Torqueozin 20 Pulse ratekpulse/s 0.5 TorqueNm 40 6 5 70 Torqueozin 60 0.8 8 10 9 8 7 6 5 4 3 2 1 0 100 Torquekgfcm DC36V 80 1.0 fs 4 Number of rotationsmin -1 Source currentA 100 10 TorqueNm Torqueozin 120 Torquekgfcm 140 fs 40 6 140 140 120 100 80 60 40 20 0 10 1.0 8 0.8 6 4 0.6 0.4 2 0.2 0 0 fs 0.1 1-division 2-division 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 10 2-division 0 0.1 0 60 8 10 9 8 7 6 5 4 3 2 1 0 100 TorqueNm 1-division 0.1 80 0.8 Torquekgfcm 10 0 0.2 100 1.0 Torqueozin 1 1 10 Pulse ratekpulse/s 2 0.3 10 Source currentA 0.1 20 0.4 120 TorqueNm 0 30 3 140 Torqueozin 0 40 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 0.2 50 0.5 4 Torquekgfcm 0 0.4 2 60 Source currentA 20 4 0.6 5 70 TorqueNm 40 6 10 9 8 7 6 5 4 3 2 1 0 100 Torqueozin 60 8 0.8 Torquekgfcm DC24V 80 1.0 Source currentA 100 10 TorqueNm Torqueozin 120 Torquekgfcm 140 1 fs 10 Pulse ratekpulse/s 10 100 1000 2000 3000 5000 10 100 1000 2000 3000 5000 Number of rotationsmin -1 DB16S142S DB14H521D DB14H522D DB14H524D DB16S141D DB16S142D 0.26537.53 0.3955.23 0.5172.22 0.2332.57 0.3448.15 0.0360.20 0.0560.31 0.0720.34 0.0440.24 0.0660.361 0.230.51 0.290.64 0.370.82 0.240.53 0.290.64 102.25 102.25 102.25 102.25 102.25 306 306 306 306 306 0 0.2 0.1 0 0.1 0 fs fs 1 10 50 40 30 20 100 2-division 0 2 0.4 0 0.1 0 40 0 140 100 80 60 40 0.8 8 6 4 20 0 0.6 0.4 2 0.2 0 0 fs 0.1 10 2-division 100 1000 2000 3000 5000 10 100 1000 2000 3000 5000 Torqueozin Torquekgfcm TorqueNm 0 0.1 5 70 60 50 40 30 20 0.5 4 3 2 0.4 1 10 0 0.3 0.2 0.1 0 0.1 0 fs 10 100 2-division 10 9 8 7 6 5 4 3 2 1 0 100 70 60 50 40 30 20 10 0 5 0.5 4 0.4 3 2 1000 2000 3000 5000 1000 2000 3000 5000 1 0.3 0.2 0.1 0 0.1 0 fs fs 1 10 100 1000 2000 3000 5000 1000 2000 3000 5000 100 10 Number of rotationsmin -1 60mm2.36inch/1.8 DB16H783D 0.83117.5 1.27179.8 0.88124.6 1.37194.0 2.7382.3 0.211.15 0.361.97 0.2751.50 0.42.19 0.844.59 0.651.43 0.982.16 0.61.32 0.771.70 1.342.95 153.37 153.37 153.37 153.37 153.37 7115 7115 9521 9521 9521 0.4 0 0 fs 0.1 1-division 2-division 1 fs 10 Pulse ratekpulse/s 100 10 1000 2000 3000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 0 0 200 160 120 80 40 0 1.6 16 12 8 1.2 0.8 4 0.4 0 0 fs 0.1 1-division 2-division 1 fs 10 100 10 1000 2000 3000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 1 10 100 2-division 40 0 280 240 200 160 120 80 40 0 2.0 20 1.6 16 12 8 1.2 0.8 4 0.4 0 0 fs 0.1 1-division 2-division 1 fs 10 4 0.4 0 0 100 10 1000 2000 3000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 fs fs 1 10 Torqueozin 600 500 400 300 200 100 100 5 40 4 30 20 10 0 240 0 0.1 2-division 1000 2000 3000 5000 200 160 120 80 40 0 2.0 20 1.6 16 12 8 1.2 0.8 4 0.4 0 0 fs 0.1 1-division 2-division 1 fs 10 100 10 1000 2000 3000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 10 9 8 7 6 5 4 3 2 1 0 100 fs fs 1 10 Pulse ratekpulse/s 100 1000 2000 3000 5000 100 10 1000 2000 3000 5000 Number of rotationsmin -1 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s 2 1 0 Number of rotationsmin -1 280 3 1-division 1000 2000 3000 5000 100 10 50 TorqueNm 700 Pulse ratekpulse/s 2-division 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s 0.8 1-division 1000 2000 3000 5000 10 9 8 7 6 5 4 3 2 1 0 100 Torquekgfcm 8 1.2 0.1 1000 2000 3000 5000 100 10 12 TorqueNm Torqueozin 80 16 1.6 Number of rotationsmin -1 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s fs 120 Pulse ratekpulse/s 1-division 1000 2000 3000 5000 2.0 20 fs 160 2.0 Source currentA 0.4 200 20 Torquekgfcm Torqueozin TorqueNm 4 0.1 1000 2000 3000 5000 100 10 0.8 240 700 600 500 400 300 200 100 0 50 5 40 4 30 20 10 0 3 2 1 0 0.1 1-division 2-division 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 4 0 1.2 280 TorqueNm 0.8 240 TorqueNm 1.2 280 Torquekgfcm 8 TorqueNm 12 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 1.6 16 10 40 8 Number of rotationsmin -1 Torqueozin 2.0 20 1 100 2-division 1000 2000 3000 5000 fs Pulse ratekpulse/s 1-division 1000 2000 3000 5000 100 fs 80 12 10 9 8 7 6 5 4 3 2 1 0 100 Torqueozin 100 0 0.1 Pulse ratekpulse/s 10 0 120 16 1.6 Torquekgfcm 10 0 0.4 160 2.0 Source currentA 1 40 4 200 20 TorqueNm fs 0.8 240 Torqueozin fs 8 1.2 280 Torquekgfcm 0 80 12 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 0 120 16 1.6 Source currentA 0.4 160 2.0 TorqueNm 4 200 20 Torquekgfcm 0.8 240 Torqueozin 8 1.2 280 Torquekgfcm 12 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 16 1.6 Source currentA 2.0 85.8mm3.38inch Source currentA DB16H783S DB16H782D 20 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s 2-division 1000 2000 3000 5000 Number of rotationsmin -1 10 100 10 1-division 1000 2000 3000 5000 100 10 fs Number of rotationsmin -1 Pulse ratekpulse/s 1-division Number of rotationsmin -1 fs 1 fs 1 100 2-division 1000 2000 3000 5000 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s 1-division 1000 2000 3000 5000 100 10 0.1 0 Number of rotationsmin -1 10 9 8 7 6 5 4 3 2 1 0 100 10 100 2-division Pulse ratekpulse/s 1-division 1000 2000 3000 5000 fs 1 Source currentA TorqueNm Torqueozin Torquekgfcm Source currentA TorqueNm 1.0 10 120 0 DB16H781D Torquekgfcm Torqueozin 1000 2000 3000 5000 1 10 0.3 0.2 DB16H716D Number of rotationsmin -1 80 1000 2000 3000 5000 100 10 2 DB16H713D 2-division 120 100 10 1 3 DB16H782S 1-division 160 10 9 8 7 6 5 4 3 2 1 0 100 1000 2000 3000 5000 100 10 10 fs 20 Pulse ratekpulse/s 1-division Number of rotationsmin -1 fs 30 0.4 53.8mm2.12inch 0.1 200 2-division 0 0.1 0 40 0.5 4 DB16H781S 0 240 1-division Pulse ratekpulse/s 100 10 0 0.1 50 5 DB16H716S 40 280 10 1 1 10 Pulse ratekpulse/s 0.2 60 DB16H713S TorqueNm 80 fs fs 20 2 0.3 70 44.8mm1.76inch Torquekgfcm 120 fs 1 fs 56mm2.20inch/1.8 Torqueozin 160 0 Number of rotationsmin -1 Source currentA 200 0 30 3 10 9 8 7 6 5 4 3 2 1 0 100 75.8mm2.98inch TorqueNm Torqueozin 240 0.2 40 0.4 53.8mm2.12inch Torquekgfcm 280 0.2 0.1 Number of rotationsmin -1 0.3 2-division 1000 2000 3000 5000 100 3 1-division 1000 2000 3000 5000 10 4 1 10 Pulse ratekpulse/s 1-division 2 0.1 1000 2000 3000 5000 0.5 0.4 50 0.5 4 Stepping motor 1 10 0.3 0 0.6 5 Dimensions 2 0.4 60 TorqueNm 20 3 5 70 Torquekgfcm 30 4 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 40 0.5 TorqueNm Torqueozin 50 Torquekgfcm 60 20 1000 2000 3000 5000 100 10 4 Number of rotationsmin -1 Torqueozin 5 70 100 2-division 1000 2000 3000 5000 10 40 6 60 Source currentA 1000 2000 3000 5000 100 10 1 60 Pulse ratekpulse/s 1-division Number of rotationsmin -1 fs 80 70 TorqueNm 100 2-division fs 100 10 9 8 7 6 5 4 3 2 1 0 100 Torqueozin 1-division 0 0.1 0 0.8 Torquekgfcm 10 0 0.1 1.0 8 39mm1.54inch Source currentA 1 1 10 Pulse ratekpulse/s 0.2 10 120 TorqueNm fs 2 0.3 140 Torqueozin fs 20 3 10 9 8 7 6 5 4 3 2 1 0 100 Torquekgfcm 0 0.1 0 30 0.4 Source currentA 0 0.1 40 0.5 4 TorqueNm 1 10 50 5 Torqueozin 0.2 60 Torquekgfcm 2 0.3 70 Torqueozin 3 10 9 8 7 6 5 4 3 2 1 0 100 Torquekgfcm 0.4 Source currentA 0.5 4 Source currentA 5 Stepping Motors with Internal drivers DB16S141S Set model DB14H524S Source currentA DB14H522S TorqueNm 20 DB14H521S Torquekgfcm 30 33mm1.30inch Torqueozin 40 42mm1.65inch/0.9 48mm1.89inch Source currentA Torqueozin 50 Torquekgfcm 60 39mm1.54inch TorqueNm 70 42mm1.65inch/1.8 fs fs 1 10 IC for stepping motor 33mm1.30inch Pulse ratekpulse/s 100 10 1000 2000 3000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 20 2-phase STEPPING SYSTEMS DC input Size Specifications Motor flange size 60mm2.36inch/0.9 42mm16.54inch Motor length Set part Single shaft number Double shaft 54mm21.26inch DB16S161S DB16S162S DB16S161D DB16S162D Nmozin 0.6997.71 1.28181.26 2 2 x10-4 kgm oz in 0.241.312 0.42.187 MassWeight kglbs 0.551.21 0.81.76 Allowable thrust load Nlbs 153.37 153.37 Allowable radial loadNote1 Nlbs 7918 7918 Holding torque Rotor inertia Note1When load is applied at 1/3 length from output shaft edge. 0 0.2 0 0 fs 0.1 1-division 2-division fs 1 10 200 160 120 80 10 100 1000 20003000 5000 100 1000 2000 3000 5000 2.0 16 1.6 12 40 0 8 0.4 0 0 Pull-out torque Source current (load applied) Source current (no load) 1-division fs Fs:Maximum self-start frequency when not loaded 2-division fs 1-division 2-division 21 20 0 0.4 2 0.2 0 0 fs 0.1 1-division 2-division 10 9 8 7 6 5 4 3 2 1 0 100 1 fs 10 Pulse ratekpulse/s 10 10 100 1000 20003000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 280 240 200 160 120 80 40 0 20 2.0 16 1.6 12 8 TorqueNm 4 0.6 10 10 100 1000 20003000 5000 100 1000 2000 3000 5000 Number of rotationsmin -1 Torqueozin 40 6 fs fs 1 10 2-division Torquekgfcm 60 0.8 8 10 9 8 7 6 5 4 3 2 1 0 100 Pulse ratekpulse/s 1-division Source currentA DC36V 80 1.0 TorqueNm Torqueozin 100 10 Torquekgfcm 120 0.8 4 Number of rotationsmin -1 140 1.2 0.1 Pulse ratekpulse/s 10 20 Source currentA 0.4 2 240 1.2 0.8 4 0.4 0 0 fsfs 0.1 1-division 2-division 10 9 8 7 6 5 4 3 2 1 0 100 Source currentA 20 4 0.6 280 TorqueNm 40 6 10 9 8 7 6 5 4 3 2 1 0 100 Torqueozin 60 0.8 Torquekgfcm DC24V 80 1.0 8 Source currentA 100 10 TorqueNm Torqueozin 120 Torquekgfcm 140 1 10 Pulse ratekpulse/s 100 10 1000 2000 3000 5000 100 1000 20003000 5000 Number of rotationsmin -1 Model number Basic specifications US1D200P10 Input source Source current Environment Protection class Operation environment Applied standards Ambient operation temperature Conservation temperature Operating ambient humidity Conservation humidity Operation altitude Vibration resistance Impact resistance Withstand voltage Insulation resistance Functions I/O signals MassWeight Selection functions Protection functions LED indication Command pulse input signal Poweer down input signal Phase origin monitor output signal Rotation monitor output signal DC24 V / 36 V 10 3A Class III Installation categoryover-voltage category: I, pollution degree : 2 EN61010-1UL508C 0 to +50 -20 to +70 35 to 85% RHno condensation 10 to 90% RHno condensation 1000 m3280 feetor less above sea level Tested under the following conditions; 4.9 m/s2, frequency range 10 to 55Hz, direction along X, Y and Z axes, for 2 hours each Not influenced at NDS-C-0110 standard section 3.2.2 division "C" . Not influenced when 1500 V AC is applied between power input terminal and cabinet for one minute. 10 M MIN. when measured with 500V DC megohmmeter between input terminal and cabinet. 0.08 kg0.18 lbs Step angle, Pulse input mode, Step current, Operating current. Open phase protection Power monitor, alarm Photo-coupler input system, input resistance : 220 input-signal "H" level : 4.0 to 5.5 V, input-signal "L" level : 0 to 0.5 V Maximum input frequency : 35 kpulse/s Photo-coupler input system, input resistance : 220 input-signal "H" level : 4.0 to 5.5V, input-signal "L" level : 0 to 0.5 V From the photo coupler by the open collector output Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX. From the photo coupler by the open collector output Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX. Stepping Motors with Internal drivers Unipolar Set model Specifications of Drivers Bipolar Model number Functions I/O signals MassWeight Selection functions Protection functions LED indication Command pulse input signal Poweer down input signal Phase origin monitor output signal Rotation monitor output signal Dimensions Impact resistance Withstand voltage Insulation resistance DC24 V / 36 V 10 3A Class III Installation categoryover-voltage category: I, pollution degree : 2 EN61010-1UL508C 0 to +50 -20 to +70 35 to 85% RHno condensation 10 to 90% RHno condensation 1000 m3280 feetor less above sea level Tested under the following conditions; 4.9m/s2, frequency range 10 to 55Hz, direction along X, Y and Z axes, for 2 hours each Not influenced at NDS-C-0110 standard section 3.2.2 division "C" . Not influenced when 1500 V AC is applied between power input terminal and cabinet for one minute. 10 M MIN. when measured with 500 V DC megohmmeter between input terminal and cabinet. 0.08 kg0.18 lbs Step angle, Pulse input mode, Step current, Operating current. Open phase protection Power monitor, alarm Photo-coupler input system, input resistance : 220 input-signal "H" level : 4.0 to 5.5 V, input-signal "L" level : 0 to 0.5 V Maximum input frequency : 150 kpulse/s Photo-coupler input system, input resistance : 220 input-signal "H" level : 4.0 to 5.5V, input-signal "L" level : 0 to 0.5 V From the photo coupler by the open collector output Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX. From the photo coupler by the open collector output Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX. Stepping motor BS1D200P10 Input source Source current Environment Protection class Operation environment Applied standards Ambient operation temperature Conservation temperature Operating ambient humidity Conservation humidity Operation altitude Vibration resistance IC for stepping motor Basic specifications 22 2-phase STEPPING SYSTEMS DC input Specifications Operation, Connection, and Function Each section name of the drivers Unipolar 1 Power supply connectorCN3 Connect the main circuit power supply. 2 I/O signal connectorCN1 Connect the I/O signal. 3 7 3 LED for power supply monitorPOW Lit up when the main circuit power supply is connected. 5 4 Function selection DIP switchpack Select the function depending on your specification. 4 1 2 5 Driving current selection switchRUN You can select the value of the motor current when driving. 6 LED for alarm displayALM Lit when an alarm is generated. 6 7 Motor connectorCN2 Connect the motor s power line. Bipolar 1 Power supply connectorCN3 Connect the main circuit power supply. 2 I/O signal connectorCN1 Connect the I/O signal. 3 3 LED for power supply monitorPOW Lit up when the main circuit power supply is connected. 7 5 4 Function selection DIP switchpack Select the function depending on your specification. 4 1 2 6 5 Driving current selection switchRUN You can select the value of the motor current when driving. 6 LED for alarm displayALM Lit when an alarm is generated. 7 Motor connectorCN2 Connect the motor s power line. Specification summary of CN1 I/O signal Signal name CN1 Pin number CW pulse input standard 1 2 Pulse column input 1 2 CCW pulse input standard 3 4 Rotation direction input 3 4 Power down input 5 6 Phase origin monitor output 7 8 Alarm output 9 10 Function When using " 2-input mode" Drive pulse for the CW direction rotation is input. When using " Pulse and direction mode" Drive pulse train for the stepping motor rotation is input. When using " 2-input mode" Drive pulse for the CCW direction rotation is input. The rotation direction signal of stepping motor is input for the " Pulse and direction mode" . Internal photocoupler ON...CW direction Internal photocoupler OFF...CCW direction Inputting the PD signal cuts OFF the current flowing through the stepping motor. Iinternal photocoupler ON...PD function enabled Iinternal photocoupler OFF...PD function disabled It is turned ON when the excitation phase is at the originin the state when the power is turned ON It is turned ON once per 10 pulses when setting to HALF step. It is turned ON once per 20 pulses when setting to FULL step. The signal is externally output when one of several alarm circuits operates in the PM driver. At this time, the stepping motor is in the unexcited state. The CW rotation direction of stepping motor means the clockwise direction rotation as viewed from the output shaft sideflange side. The CCW rotation direction means the counterclockwise direction rotation as viewed from the output shaft sideflange side. 23 Stepping Motors with Internal drivers 4 Input circuit configurationCW and CCW Pulse input Step angle selectEX1EX2EX3 Select the partition number of the basic step angle. Functions can be selected according to the specification with the dip switch. Check that the ex-factory settings are as follows. EX2 ON ON OFF OFF OFF EX3 ON OFF OFF OFF ON Partition number 1-division 2-division 4-division 8-division 16-division Input method selectF/R ON Selects input pulse type EX1 OFF EX2 OFF EX3 OFF F/R OFF ACD1 OFF F/R ON OFF Partition number: 8 Input method 2 (CW/CCW pulse input) Stopping current: 40% of driving current ACD2 OFF LV OFF Micro step operation EORG OFF Phase origin Input pulse type 1 inputPluse&direction 2 inputCW, CCW Current selection when stoppingACD1ACD2 Select the current value of the motor when stopping. ACD2 ON ON OFF OFF ACD1 ON OFF ON OFF Set model OFF EX1 ON OFF ON OFF OFF Current value of the motor 100% of driving current 60% of driving current 50% of driving current 40% of driving current By turning on the EORG, excitation phase when power OFF will be saved. Therefore, there will be no shaft displacement when turning the power ON. Low-vibration mode selectLV Provides low-vibration, smooth operation even if resolution is rough1-division, 2-division, etc Operation Auto-micro function Micro-step Stepping motor LV ON OFF Excitation selectEORG The excitation phase when the power supply is turned on is selected. EORG ON OFF Original excitation phase Excitation phase at power shut off Phase origin By turning on the EORG, excitation phase when power OFF will be saved. Therefore, there will be no shaft displacement when turning the power ON. 2 7 External wiring diagram Unipolar CCW pulse input Power down input Phase origin monitor output Alarm output CN1 CN2 1 1 2 2 3 3 4 4 5 5 6 6 White CW pulse input Black Orange Blue M CCW pulse input Red Yellow 7 Power down input Phase origin monitor output 8 9 Alarm output 10 CN3 1 2 2 3 3 4 4 Blue Red Yellow M 6 7 8 9 10 CN3 1 DC24V/36V 1 DC24G/36G 2 DC24G/36G 2 Wire size For power supply AWG22(0.3 mm2) For input/output AWG24(0.2 mm2) to AWG22(0.3 mm2) signal AWG22(0.3 mm2) For motor Orange 5 DC24V/36V Applicable Wire Sizes Part CN2 1 Allowable wire length 2 m MAX. IC for stepping motor CN1 CW pulse input Dimensions Bipolar 2 m MAX. 3 m MAX. 24 2-phase STEPPING SYSTEMS Specifications Input circuit configuration of CWCK, CCWU/D * Pulse duty 50% MAX. * Maximum input frequency:150kpulse/s 220 1(3) +5V 1000pF Input signal * When the crest value of the input signal exceeds 5V, use the external limit resistance R to limit the input current to approximately 15mA. 2(4) R Driver Input signal specifications Photo coupler type 3s MIN. 4.0 to 5.5V 90% 50% Rotation 10% 0 to 0.5V 1s MAX. 1s MAX. Timing of the command pulse 2-input modeCW, CCW ON * Shaded area indicates internal photo coupler "ON" . Internal circuitmotor starts operating at leading edge of the photo coupler "ON" . OFF * To apply pulse to CW, set CCW side internal photo coupler to "OFF" . ON * To apply pulse to CCW, set CW side internal photo coupler to "OFF" . OFF 50s . MIN. 1 input typeCW, CCW * Shaded area indicates internal photo coupler "ON" . Internal circuitmotor starts operating at leading edge of CK side photo coupler "ON" . ON OFF 50s . MIN. ON OFF 25 10s . MIN. * Switching of U/D input signal must be done while CK side internal photo coupler is "OFF ". 220 1000pF Input signal * When the crest value of the input signal exceeds 5V, use the external limit resistance R to limit the input current to approximately 15mA. 6 R Driver Output signal configuration of MON, AL 7(9) Stepping Motors with Internal drivers 5 +5V Set model Input circuit configuration of PD MAX. 10 mA MAX. 40 V 8(10) MON output CW pulse CCW pulse * Photo coupler at phase origin of motor excitation is set to "ON" .setting when number of divisions is 2 Stepping motor Driver * Output from MON is set to on at every 7.2 degrees of motor output shaft from phase origin. IC for stepping motor Dimensions Mon output 26 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 42mm sq.1.65inch sq. SH142 0.9/step Unipolar winding Model Single shaft Double shafts SH1421-0441 SH1422-0441 SH1424-0441 -0411 -0411 -0411 Holding torque at 2-phase energization [Nmozin MIN.] 0.2028.32 MassWeight Rated current Wiring resistance Winding inductance Rotor inertia A/phase 1.2 /phase 2.7 mH/phase 3.2 2 [x10 - 4 kgm ozin2 ] [kgIbs] 0.0440.241 0.240.53 0.2941.07 1.2 3.1 5.3 0.0660.361 0.290.64 0.3955.23 1.2 3.5 5.3 0.0890.487 0.380.84 Pulse rate-torque characteristics 1 Pull-out torque at JL1 40 30 20 0.1 10 10 0 0 0 0 0.1 1 10 100 3 2 0.3 Pull-out torque at JL1 0.2 1 0.1 0 0 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1.2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2Use the rubber coupling 27 40 30 20 0.5 4 0.4 3 2 0.3 Pull-out torque at JL1 0.2 1 0.1 0 0 10 0.1 1 10 100 Pulse ratekpulse/s Pulse ratekpulse/s 100 50 5 TorqueNm 0.3 0.2 0.4 4 Torqueozin 2 70 60 Torquekgfcm 20 3 Torqueozin 30 50 Torquekgfcm 40 60 SH1424-04 0.5 5 70 0.4 4 TorqueNm 50 Torquekgfcm Torqueozin 60 SH1422-04 0.5 5 70 TorqueNm SH1421-04 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1.2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2Use the rubber coupling 0 0.1 1 10 100 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1.2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2Use the rubber coupling Stepping Motors with Internal drivers 2-phase stepping motor 60mm sq.2.36inch sq. SH160 0.9/step Unipolar winding Single shaft Double shafts SH1601-0440 SH1602-0440 SH1603-0440 -0410 -0410 -0410 Holding torque at 2-phase energization [Nmozin MIN.] 0.6997.71 Rated current Wiring resistance Winding inductance Rotor inertia A/phase 2 /phase 1.2 mH/phase 3.5 2 [x10 - 4 kgm ozin2 ] [kgIbs] 0.241.312 0.551.21 1.28181.26 2 1.65 6.1 0.42.187 0.81.76 2.15304.47 2 2.3 8.8 0.754.101 1.22.64 MassWeight 0.2 0 0 240 160 4 0.4 0 0 40 20 0 80 320 Pull-out torque at JL1 0.8 0 0.1 1 10 100 1000 2000 3000 5000 -1 Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling 24 16 3.2 2.4 Pull-out torque at JL1 1.6 8 0.8 0 0 80 0.1 1 10 100 Pulse ratekpulse/s Pulse ratekpulse/s 100 32 4.0 100 1000 0 0.1 1 10 100 Pulse ratekpulse/s 2000 3000 5000 -1 Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL2 =2.6x10-4kgm214.22 ozin2use the rubber coupling 100 1000 2000 3000 5000 -1 Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL3 =7.2x10-4kgm239.37 ozin2use the rubber coupling Dimensions 2 8 400 1.2 40 IC for stepping motor 120 12 560 480 TorqueNm 160 Pull-out torque at JL1 0.4 16 1.6 SH1603-04 Torqueozin 4 2.0 Torquekgfcm 40 6 200 0.6 20 TorqueNm Torqueozin 80 60 240 0.8 8 Torquekgfcm 100 280 Torqueozin 120 SH1602-04 1.0 10 TorqueNm 140 Torquekgfcm SH1601-04 Set model Pulse rate-torque characteristics Stepping motor Model 28 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 28mmsq.1.10inch sq. 103H32 1.8/step Unipolar windingconnector type Model Single shaft Double shafts 103H3205-5040 103H3205-5140 103H3215-5140 103H3215-5240 -5010 -5110 -5110 -5210 Holding torque at 2-phase energization [Nmozin MIN.] 00.324.53 MassWeight Rated current Wiring resistance Winding inductance Rotor inertia A/phase 0.25 /phase 40 mH/phase 9.1 2 [x10 - 4 kgm ozin2 ] [kgIbs] 0.110.24 0.0090.05 00.324.53 0.5 9.4 2.4 0.0090.05 0.110.24 00.628.78 0.5 11 3.1 0.0160.09 0.20.44 00.628.78 1 2.6 0.8 0.0160.09 0.20.44 MassWeight Unipolar windinglead wire type Model Single shaft Double shafts 103H3205-5070 103H3205-5170 103H3215-5170 103H3215-5270 -5030 -5130 -5130 -5230 Holding torque at 2-phase energization [Nmozin MIN.] 00.324.53 Rated current Wiring resistance Winding inductance Rotor inertia A/phase 0.25 /phase 40 mH/phase 9.1 2 [x10 - 4 kgm ozin2 ] [kgIbs] 0.0090.05 0.110.24 00.324.53 0.5 9.4 2.4 0.0090.05 0.110.24 00.628.78 0.5 11 3.1 0.0160.09 0.20.44 00.628.78 1 2.6 0.8 0.0160.09 0.20.44 MassWeight Bipolar winding Model Single shaft Double shafts 103H3205-5570 103H3205-5670 103H3205-5770 103H3215-5570 103H3215-5670 103H3215-5770 -5530 -5630 -5730 -5530 -5630 -5730 Holding torque at 2-phase energization [Nmozin MIN.] 0.0486.80 Rated current Wiring resistance Winding inductance Rotor inertia A/phase 0.25 /phase 38.3 mH/phase 19.5 2 [x10 - 4 kgm ozin2 ] [kgIbs] 0.0090.05 0.110.24 0.0517.22 0.5 10.4 6.2 0.0090.05 0.110.24 0.0517.22 1 2.5 1.6 0.0090.05 0.110.24 0.0912.74 0.25 51.8 30.7 0.0160.09 0.20.44 0.0912.74 0.5 12.5 8 0.0160.09 0.20.44 0.114.16 1 3.5 2.3 0.0160.09 0.20.44 Pulse rate-torque characteristics 0.04 0.2 Torqueozin 3 0.3 0.03 Pull-out torque at JL1 0.02 2 0.05 0.4 0.04 4 3 0.1 0.01 12 0.3 0.2 0.03 Pull-out torque at JL1 0.02 0 0 1 10 100 0.01 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 0.25A/phase, 2-phase energizationfull-step JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method -4 JL2 = 0.01x10 kg m20.05 ozin2pulley balancer method 0.6 0.4 0.2 Starting torque at JL2 0 0.08 0.06 Pull-out torque at JL1 Starting torque at JL2 0.04 0.02 2 0 0 0.1 1 Pulse ratekpulse/s 100 6 0.8 4 1 0 8 0.1 1.0 14 10 0.1 Starting torque at JL2 0.1 29 103H3215-51 2 1 0 0.5 6 5 TorqueNm Torqueozin 4 Torquekgfcm 5 7 TorqueNm 0.4 6 103H3205-51 Torqueozin 0.05 TorqueNm 0.5 Torquekgfcm 7 Torquekgfcm 103H3205-50 10 100 0 0 0.1 1 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 0.5A/phase, 2-phase energizationfull-step JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method -4 JL2 = 0.01x10 kg m20.05 ozin2pulley balancer method 10 100 Pulse ratekpulse/s Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 0.5A/phase, 2-phase energizationfull-step JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method -4 JL2 = 0.01x10 kg m20.05 ozin2pulley balancer method 0.04 Pull-out torque at JL1 4 0.02 0 0 Starting torque at JL2 0 0 0.1 1 10 1000 0.6 0.4 0.06 Pull-out torque at JL1 0.04 100 0.2 0.02 0 0 Starting torque at JL2 2 0 0 0.1 1 Pulse ratekpulse/s 100 6 0.02 2 0 8 0.08 4 0.2 2 Stepping Motors with Internal drivers 0.2 0.4 0.06 0.8 10 100 0.1 1 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 10 100 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 0.25A/phase, 2-phase energizationfull-step JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method JL2 =0.01x10-4kgm20.05 ozin2pulley balancer method Sanyo constant current circuit Source voltage : DC24Voperating current : 0.5A/phase, 2-phase energizationfull-step JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method JL2 =0.01x10-4kgm20.05 ozin2pulley balancer method 103H3205-57 103H3215-55 103-H3215-56 4 6 0.6 0.4 0.06 0.04 Starting torque at JL2 4 0.2 0.02 0 0 Starting torque at JL2 2 0 0.2 0.02 0 0 1 10 100 1000 2000 3000 5000 0.1 1 0.1 Pull-out torque at JL1 6 0.6 0.4 Pull-out torque at JL1 0.04 Starting torque at JL2 0.02 100 0 0 0.1 1000 2000 3000 5000 1 Sanyo constant current circuit Source voltage : DC24Voperating current : 0.25A/phase, 2-phase energizationfull-step JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method JL2 =0.01x10-4kgm20.05 ozin2pulley balancer method 10 100 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 0.5A/phase, 2-phase energizationfull-step JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method JL2 =0.01x10-4kgm20.05 ozin2pulley balancer method 0.08 TorqueNm Torqueozin 8 Torquekgfcm 10 0.8 10 Number of rotationsmin -1 103H3215-57 12 0.06 2 0 100 Number of rotationsmin -1 1.0 0.4 0.08 Pulse ratekpulse/s Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method JL2 =0.01x10-4kgm20.05 ozin2pulley balancer method 14 6 0.6 0.2 Pulse ratekpulse/s 100 8 0.8 4 2 0 0.1 10 TorqueNm 0.04 8 Pull-out torque at JL1 Torqueozin Pull-out torque at JL1 12 0.08 Torquekgfcm 0.06 0.8 0.1 1.0 14 TorqueNm 0.4 10 Torqueozin 6 0.6 12 0.08 Torquekgfcm Torqueozin 8 0.8 Torquekgfcm 12 0.1 1.0 14 TorqueNm 14 10 0.1 1.0 Set model Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method JL2 =0.01x10-4kgm20.05 ozin2pulley balancer method Stepping motor Starting torque at JL2 4 6 0.6 10 TorqueNm 0.04 8 12 0.08 Torqueozin 0.06 0.8 0.1 1.0 14 Torquekgfcm Pull-out torque at JL1 Torqueozin 0.4 10 Torquekgfcm 6 0.6 12 0.08 103H3205-56 0.1 1.0 14 TorqueNm Torqueozin 8 0.8 Torquekgfcm 12 10 103H3205-55 0.1 1.0 14 TorqueNm 103H3215-52 0.06 0.04 Starting torque at JL2 4 0.2 0.02 2 0 0 0 0.1 1 10 100 Pulse ratekpulse/s 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method -4 JL2 =0.01x10 kgm20.05 ozin2pulley balancer method Dimensions 1000 IC for stepping motor 100 30 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 42mm sq.1.65inch sq. 103H52 1.8/step Unipolar winding Holding torque at 2-phase energization [Nmozin MIN.] 0.228.32 Model Single shaft Double shafts 103H5205-0440 103H5208-0440 103H5209-0440 103H5210-0440 -0410 -0410 -0410 -0410 MassWeight Rated current Wiring resistance Winding inductance Rotor inertia A/phase 1.2 /phase 2.4 mH/phase 2.3 2 [x10 - 4 kgm ozin2 ] [kgIbs] 0.0360.20 0.230.51 0.342.48 1.2 2.9 3.4 0.0560.31 0.290.64 0.3245.31 1.2 3 3.9 0.0620.34 0.310.68 0.3752.39 1.2 3.3 3.4 0.0740.40 0.370.82 MassWeight Bipolar winding Holding torque at 2-phase energization [Nmozin MIN.] 0.2332.57 Model Single shaft Double shafts 103H5205-5040 103H5205-5140 103H5205-5240 103H5208-5040 103H5208-5140 103H5208-5240 103H5209-5040 103H5209-5140 103H5209-5240 103H5210-5040 103H5210-5140 103H5210-5240 -5010 -5110 -5210 -5010 -5110 -5210 -5010 -5110 -5210 -5010 -5110 -5210 Rated current Wiring resistance Winding inductance Rotor inertia A/phase 0.25 /phase 54 mH/phase 78 2 [x10 - 4 kgm ozin2 ] [kgIbs] 0.230.51 0.0360.20 0.2535.40 0.5 13.4 23.4 0.0360.20 0.230.51 0.26537.53 1 3.4 6.5 0.0360.20 0.230.51 0.3549.56 0.25 66 116 0.0560.31 0.30.66 0.3853.81 0.5 16.5 34 0.0560.31 0.30.66 0.3955.23 1 4.1 9.5 0.0560.31 0.30.66 0.3853.81 0.25 71.4 132 0.0620.34 0.310.68 0.4158.06 0.5 18.2 39 0.0620.34 0.310.68 0.42560.18 1 4.4 11 0.0620.34 0.310.68 0.46565.85 0.25 80 123.3 0.0740.40 0.370.82 0.4969.39 0.5 20 35 0.0740.40 0.370.82 0.5172.22 1 4.8 9.5 0.0740.40 0.370.82 Pulse rate-torque characteristics Pull-out torque at JL1 0.2 40 30 3 2 0.1 1 Starting torque at JL2 0 0.3 Pull-out torque at JL1 0.2 Starting torque at JL2 0 1 10 1000 100 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1.2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling 31 0.5 4 0.4 30 0 70 50 3 2 0.3 Pull-out torque at JL1 0.2 20 0 0 1 10 1000 100 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1.2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling 40 30 0.1 0.5 4 0.4 3 2 0.3 Pull-out torque at JL1 0.2 Starting torque at JL2 1 Starting torque at JL2 0 0 1 0.1 10 0 0.1 Pulse ratekpulse/s 100 5 20 1 0.1 103H5210-04 60 10 Pulse ratekpulse/s 100 40 0.1 10 0 0.1 5 60 50 20 1 10 70 TorqueNm 4 0.4 103H5209-04 Torqueozin 0.3 20 0 0.5 Torquekgfcm 2 Torqueozin 30 3 5 60 50 TorqueNm Torqueozin 40 Torquekgfcm 50 70 TorqueNm 4 0.4 60 103H5208-04 Torqueozin 0.5 TorqueNm 5 Torquekgfcm 70 Torquekgfcm 103H5205-04 10 100 0 0 0.1 1 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1.2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling 10 100 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1.2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling 0.2 Pull-out torque at JL1 20 40 30 2 0.3 Pull-out torque at JL1 0.2 20 0 0 0 0 1 10 1000 2 0.3 Pull-out torque at JL1 0.2 100 0.1 Starting torque at 10 0.1 1 10 0 JL2 0 0 Pulse ratekpulse/s 100 30 3 1 Starting torque at 0 JL2 10 0.1 40 0.1 1 Starting torque at 0 JL2 10 0.4 20 0.1 1 4 60 50 3 0.5 100 0.1 1 100 Number of rotationsmin -1 1000 10 100 Pulse ratekpulse/s Pulse ratekpulse/s 2000 3000 5000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotationsmin -1 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 0.5A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling 103H5208-50 103H5208-51 103H5208-52 0.3 Pull-out torque at JL1 0.2 20 40 30 2 0.3 Pull-out torque at JL1 0.2 20 0 0 0 0.1 10 0 0 1 10 0 100 Starting torque at JL2 0.1 1000 0.4 30 3 2 0.3 Pull-out torque at JL1 0.2 1 0.1 0 0 10 0 1 Pulse ratekpulse/s 100 40 0.1 1 Starting torque at JL2 4 20 0.1 1 10 0.5 60 50 3 5 TorqueNm 2 0.4 70 Torqueozin 30 4 60 50 3 0.5 Torquekgfcm 0.4 TorqueNm Torqueozin 40 Torquekgfcm 50 5 TorqueNm 4 60 70 Torquekgfcm 0.5 Torqueozin 70 5 Set model Sanyo constant current circuit Source voltage : DC24Voperating current : 0.25A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling 10 100 Starting torque at JL2 0.1 1 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 10 100 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 0.25A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 0.5A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling 103H5209-50 103H5209-51 103H5209-52 2 0.4 0.3 Pull-out torque at JL1 0.2 20 40 30 70 2 0.3 Pull-out torque at JL1 0.2 0.1 1 0 0 10 0 0 0.1 1 10 1000 0.4 30 Pull-out torque at JL1 3 2 1 0 100 Starting torque at JL2 0.1 0.3 0.2 Starting torque at JL2 0.1 10 0 1 Pulse ratekpulse/s 100 40 0.1 1 Starting torque at 0 JL2 4 20 20 10 0.5 60 50 3 5 TorqueNm 30 3 4 60 50 TorqueNm Torqueozin 40 Torquekgfcm 50 0.5 Torqueozin 0.4 5 Torquekgfcm 4 60 70 TorqueNm 0.5 Torquekgfcm 5 Torqueozin 70 10 0 0 0.1 100 1 100 Number of rotationsmin -1 1000 10 100 Pulse ratekpulse/s Pulse ratekpulse/s 2000 3000 5000 100 2000 3000 5000 1000 2000 3000 5000 -1 Number of rotationsmin Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 0.25A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 0.5A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling 103H5210-50 103H5210-51 103H5210-52 2 0.3 0.2 Pull-out torque at JL1 20 40 30 50 3 2 1 0 0.1 0.1 0.3 0.2 Pull-out torque at JL1 0 10 100 1000 4 0.4 30 Pull-out torque at JL1 3 2 0 0 1 Starting torque at JL2 0.1 0.3 0.2 Starting torque at JL2 0.1 10 0 1 Pulse ratekpulse/s 100 40 0.1 10 1 0.5 20 1 Starting torque at 0 JL2 5 60 20 10 0 0.4 70 TorqueNm 30 3 4 60 50 TorqueNm Torqueozin 40 Torquekgfcm 50 0.5 Torqueozin 0.4 5 Torquekgfcm 4 60 70 TorqueNm 0.5 Torquekgfcm 5 Torqueozin 70 10 100 0 0 0.1 1 Pulse ratekpulse/s 2000 3000 5000 -1 Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 0.25A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling 100 Stepping motor 0.3 5 Stepping Motors with Internal drivers 0.4 70 1000 10 100 Pulse ratekpulse/s 2000 3000 5000 -1 Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 0.5A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling Dimensions 2 4 103H5205-52 100 1000 2000 3000 5000 -1 Number of rotationsmin IC for stepping motor 30 0.5 60 50 3 5 TorqueNm 0.4 TorqueNm Torqueozin 40 Torquekgfcm 50 70 Torqueozin 4 60 103H5205-51 TorqueNm 0.5 Torquekgfcm 5 Torqueozin 70 Torquekgfcm 103H5205-50 Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling 32 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 50mm sq.1.97inch sq. 103H670 1.8/step Unipolar winding Holding torque at 2-phase energization [Nmozin MIN.] 0.2839.6 Model Single shaft Double shafts 103H6701-0140 103H6701-0440 103H6701-0740 103H6703-0140 103H6703-0440 103H6703-0740 103H6704-0140 103H6704-0440 103H6704-0740 -0110 -0410 -0710 -0110 -0410 -0710 -0110 -0410 -0710 MassWeight Rated current Wiring resistance Winding inductance Rotor inertia A/phase 1 /phase mH/phase 6.8 2 [x10 - 4 kgm ozin2 ] [kgIbs] 0.350.77 0.0570.31 0.2839.6 2 1.1 1.6 0.0570.31 0.350.77 0.2839.6 3 0.6 0.7 0.0570.31 0.350.77 0.4969.4 1 6 13 0.1180.65 0.51.10 0.4969.4 2 1.6 3.2 0.1180.65 0.51.10 0.4969.4 3 0.83 1.4 0.1180.65 0.51.10 0.5375.1 1 6.5 16.5 0.140.77 0.551.21 0.5273.6 2 1.7 3.8 0.140.77 0.551.21 0.5375.1 3 0.9 1.7 0.140.77 0.551.21 Holding torque at 2-phase energization [Nmozin MIN.] 0.5273.6 Rated current Wiring resistance Winding inductance Rotor inertia MassWeight A/phase 2 /phase mH/phase 3.8 2 [x10 - 4 kgm ozin2 ] [kgIbs] 0.140.77 0.551.21 4.3 Bipolar winding Model Single shaft Double shafts 103H6704-5040 -5010 0.9 Pulse rate-torque characteristics 0.4 2 Torqueozin 30 3 5 0.5 4 0.4 60 50 TorqueNm Torqueozin 40 Torquekgfcm 50 70 0.3 Pull-out torque at JL1 0.2 40 30 1 0.1 0 0 10 3 2 0.3 Pull-out torque at JL1 0.2 Starting torque at JL2 0.1 1 1 0.1 0 0 1000 40 30 0.4 3 2 0.3 Pull-out torque at JL1 0.2 Starting torque at JL2 20 0.1 0 0 0.1 100 1 10 0 100 0.1 1 Pulse ratekpulse/s 100 2000 3000 5000 1000 10 100 Pulse ratekpulse/s 2000 3000 5000 100 -1 1000 2000 3000 5000 -1 Number of rotationsmin Number of rotationsmin -1 Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling 103H6703-01 103H6703-04 103H6703-07 2 50 Pull-out torque at JL1 0.3 0.2 Starting torque at JL2 20 1 0.1 0.4 40 30 70 3 2 50 0.3 0.2 Starting torque at JL2 1 0 0 0.1 1 10 100 1000 0.5 4 0.4 30 Pull-out torque at JL1 3 2 0.3 Starting torque at JL2 0.2 20 1 0.1 10 0 0 0 0.1 1 Pulse ratekpulse/s 100 40 0.1 10 0 5 60 Pull-out torque at JL1 20 10 0 4 60 Torqueozin 30 3 0.5 TorqueNm 0.4 TorqueNm Torqueozin 40 Torquekgfcm 50 5 Torqueozin 4 60 70 Torquekgfcm 0.5 TorqueNm 5 Torquekgfcm 70 10 100 0 0 0.1 1 Pulse ratekpulse/s 2000 3000 5000 -1 Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling 33 4 1 Pulse ratekpulse/s 100 0.5 10 0 10 5 60 10 Starting torque at JL2 0 70 50 20 20 103H6701-07 TorqueNm 4 60 103H6701-04 Torqueozin 0.5 TorqueNm 5 Torquekgfcm 70 Torquekgfcm 103H6701-01 100 1000 10 100 Pulse ratekpulse/s 2000 3000 5000 -1 Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling 100 1000 2000 3000 5000 -1 Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling 4 8 0.8 0.6 Pull-out torque at JL1 0.4 80 60 6 4 140 0.6 Pull-out torque at JL1 0.4 0 2 0.2 2 20 0 0 Starting torque at JL2 0.2 Starting torque at JL2 0.1 1 10 1000 100 0 0 0.1 1 0.8 60 Torquekgfcm Torqueozin 80 6 4 TorqueNm 8 120 100 80 60 6 4 0.6 Pull-out torque at JL1 0.4 2 0.2 100 0 0 0 Starting torque at JL2 2000 3000 5000 0.1 1 Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling 10 100 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling Set model 103H6704-50 1.0 10 1000 Number of rotationsmin -1 Number of rotationsmin -1 10 0.8 Pulse ratekpulse/s 100 2000 3000 5000 Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling 140 8 20 Pulse ratekpulse/s 100 1.0 40 20 0 10 120 100 40 40 103H6704-07 Stepping Motors with Internal drivers 6 1.0 120 100 Torqueozin 60 Torquekgfcm Torqueozin 80 10 TorqueNm 0.8 140 Torquekgfcm 8 120 100 103H6704-04 Torqueozin 1.0 Torquekgfcm 10 TorqueNm 140 TorqueNm 103H6704-01 0.6 Pull-out torque at JL1 0.4 40 2 0.2 20 0 0 0 Starting torque at JL2 0.1 1 10 100 Pulse ratekpulse/s 100 1000 2000 3000 5000 IC for stepping motor Dimensions Stepping motor Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.14x10-4kgm20.77 ozin2pulley balancer method 34 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 56mm sq.2.20inch sq. 103H712 1.8/step Unipolar winding Model Single shaft Double shafts 103H7121-0140 103H7121-0440 103H7121-0740 103H7123-0140 103H7123-0440 103H7123-0740 103H7124-0140 103H7124-0440 103H7124-0740 103H7126-0140 103H7126-0440 103H7126-0740 -0110 -0410 -0710 -0110 -0410 -0710 -0110 -0410 -0710 -0110 -0410 -0710 Holding torque at 2-phase energization [Nmozin MIN.] 0.3955.2 MassWeight Rated current Wiring resistance Winding inductance Rotor inertia A/phase 1 /phase 4.8 mH/phase 8 2 [x10 - 4 kgm ozin2 ] [kgIbs] 0.471.04 0.10.55 0.3955.2 2 1.25 1.9 0.10.55 0.471.04 0.3955.2 3 0.6 0.8 0.10.55 0.471.04 0.83117. 1 6.7 15 0.211.15 0.651.43 0.83117.5 2 1.6 3.8 0.211.15 0.651.43 0.78110.5 3 0.77 1.58 0.211.15 0.651.43 0.98138.8 1 7 12.5 0.2451.34 0.81.76 0.98138.8 2 1.7 3.1 0.2451.34 0.81.76 0.98138.8 3 0.74 1.4 0.2451.34 0.81.76 1.27179.8 1 8.6 19 0.361.97 0.982.16 1.27179.8 2 2 4.5 0.361.97 0.982.16 1.27179.8 3 0.9 2.2 0.361.97 0.982.16 MassWeight Bipolar winding Model 35 Single shaft Double shafts 103H7121-5640 103H7121-5740 103H7121-5840 103H7123-5640 103H7123-5740 103H7123-5840 103H7126-5640 103H7126-5740 103H7126-5840 103H7128-5640 103H7128-5740 103H7128-5840 -5610 -5710 -5810 -5610 -5710 -5810 -5610 -5710 -5810 -5610 -5710 -5810 Holding torque at 2-phase energization [Nmozin MIN.] 0.5577.9 Rated current Wiring resistance Winding inductance Rotor inertia A/phase 1 /phase 4.3 mH/phase 14.5 2 [x10 - 4 kgm ozin2 ] [kgIbs] 0.471.04 0.10.55 0.5577.9 2 1.1 3.7 0.10.55 0.471.04 0.5577.9 3 0.54 1.74 0.10.55 0.471.04 1.0141.6 1 5.7 29.4 0.211.15 0.651.43 1.0141.6 2 1.5 7.5 0.211.15 0.651.43 1.0141.6 3 0.7 3.5 0.211.15 0.651.43 1.6226.6 1 7.7 34.6 0.361.97 0.982.16 1.6226.6 2 2 9.1 0.361.97 0.982.16 1.6226.6 3 0.94 4 0.361.97 0.982.16 2283.2 1 8.9 40.1 0.492.68 1.32.87 2283.2 2 2.3 10.4 0.492.68 1.32.87 2283.2 3 1.03 4.3 0.492.68 1.32.87 Stepping Motors with Internal drivers Pulse rate-torque characteristics 0.4 20 30 2 0.1 0 0 10 0.2 Starting torque at JL2 1 0.1 0 0 10 1000 30 Pull-out torque at JL1 3 2 0.3 0.2 Starting torque at JL2 0.1 1 100 0 0 0.1 1 Pulse ratekpulse/s 100 40 10 0 0.1 1 0.4 20 10 Starting torque at JL2 0 50 0.3 20 1 4 60 Pull-out torque at JL1 3 0.5 10 0 100 0.1 1 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 10 100 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling 103H7123-01 103H7123-04 103H7123-07 4 0.8 0.6 0.4 40 80 60 6 4 140 0.2 2 0 0 0 0.1 0.6 0.4 Starting torque at JL2 10 0 0 0 1 100 0.1 80 60 6 4 0.6 Pull-out torque at JL1 0.4 2 0.2 0 0 Starting torque at JL2 20 0 1 Pulse ratekpulse/s 1000 0.8 0.2 20 100 8 40 2 Starting torque at JL2 1.0 120 100 Pull-out torque at JL1 40 20 10 TorqueNm 6 8 120 100 Pull-out torque at JL1 Torqueozin 60 Torquekgfcm Torqueozin 80 1.0 Torquekgfcm 0.8 10 Torqueozin 8 120 100 140 TorqueNm 1.0 Torquekgfcm 10 TorqueNm 140 10 100 0.1 1 Pulse ratekpulse/s 2000 3000 5000 100 -1 1000 100 -1 Number of rotationsmin 10 100 Pulse ratekpulse/s 2000 3000 5000 1000 2000 3000 5000 -1 Number of rotationsmin Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling 103H7124-01 103H7124-04 103H7124-07 0.6 Pull-out torque at JL1 0.4 40 60 6 4 0.2 0 0 0.6 Pull-out torque at JL1 0.4 0.1 Starting torque at JL2 1 10 100 0 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling 60 6 4 0.6 Pull-out torque at JL1 0.4 0 0.1 1 2 0.2 0 0 Starting torque at JL2 20 0 Pulse ratekpulse/s 100 80 0.2 20 0 0.8 40 2 Starting torque at JL2 8 120 100 40 2 20 0 80 1.0 TorqueNm 4 0.8 10 Torquekgfcm 6 Torqueozin 60 Torquekgfcm Torqueozin 80 8 120 100 140 Torqueozin 0.8 1.0 TorqueNm 8 120 100 140 10 Torquekgfcm 1.0 TorqueNm 140 10 Set model Pull-out torque at JL1 0.2 40 5 Stepping motor 0.3 70 10 100 0.1 1 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling 10 100 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling Dimensions 2 4 103H7121-07 IC for stepping motor 30 0.5 60 50 3 5 TorqueNm 0.4 TorqueNm Torqueozin 40 Torquekgfcm 50 70 Torqueozin 4 60 103H7121-04 TorqueNm 0.5 Torquekgfcm 5 Torqueozin 70 Torquekgfcm 103H7121-01 36 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 56 mm sq.2.20inch sq. Pulse rate-torque characteristics 120 0.8 80 8 280 240 200 1.2 120 0.8 80 0.4 4 40 0 0 0 0.1 Starting torque at JL2 40 0 1 10 0 0 100 0.1 1000 8 1.2 Pull-out torque at JL1 0.8 4 0.4 0 0 Starting torque at JL2 0 10 100 0.1 1 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 10 100 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling 103H7121-56 103H7121-57 103H7121-58 4 0.6 Pull-out torque at JL1 0.4 40 80 60 6 4 0.2 0 0 0.6 Pull-out torque at JL1 0.4 0.1 0.2 Starting torque at JL2 20 0 1 10 100 0 0 0.1 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling 0.8 80 60 6 4 0.6 Pull-out torque at JL1 0.4 2 0.2 0 0 Starting torque at JL2 20 0 1 Pulse ratekpulse/s 100 8 40 2 Starting torque at JL2 1.0 120 100 40 2 20 0 0.8 10 TorqueNm 6 Torqueozin 60 Torquekgfcm Torqueozin 80 8 120 100 140 Torquekgfcm 0.8 1.0 Torqueozin 8 120 100 140 10 TorqueNm 1.0 Torquekgfcm 10 TorqueNm 140 37 1.6 40 1 Pulse ratekpulse/s 100 16 80 0.4 4 Starting torque at JL2 2.0 12 160 Pull-out torque at JL1 20 TorqueNm 8 1.6 12 160 Pull-out torque at JL1 16 103H7126-07 Torquekgfcm 120 1.2 2.0 Torqueozin 12 160 240 200 20 TorqueNm 1.6 Torqueozin Torqueozin 16 103H7126-04 280 TorqueNm 240 200 2.0 Torquekgfcm 280 20 Torquekgfcm 103H7126-01 10 100 0.1 1 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling 10 100 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling 120 80 8 240 200 1.2 120 0.8 80 4 0 4 Starting torque at 0 JL2 0 0.4 Starting torque at JL2 40 0 0.1 1 10 0 0 100 0.1 1000 1.6 8 1.2 Pull-out torque at JL1 0.8 4 0.4 0 0 Starting torque at JL2 40 0 1 Pulse ratekpulse/s 100 16 80 0.4 40 2.0 12 160 Pull-out torque at JL1 20 10 100 0.1 1 Pulse ratekpulse/s 2000 3000 5000 100 1000 Number of rotationsmin -1 10 100 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling 103H7126-56 103H7126-57 103H7126-58 Pull-out torque at JL1 120 80 8 240 200 1.2 120 0.8 80 4 0.4 0 0 0 0.1 0.4 40 0 1 10 0 0 100 Starting torque at JL2 0.1 1000 8 Pull-out torque at JL1 1.2 0.8 4 0.4 0 0 Starting torque at JL2 40 0 1 Pulse ratekpulse/s 100 1.6 80 4 Starting torque at JL2 40 16 12 160 Pull-out torque at JL1 2.0 TorqueNm 12 160 0.8 1.6 20 Torquekgfcm 8 16 280 Torqueozin 120 1.2 2.0 TorqueNm 12 160 240 200 20 Torquekgfcm 1.6 Torqueozin Torqueozin 16 280 TorqueNm 240 200 2.0 Torquekgfcm 280 20 Set model Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling 10 100 0.1 1 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 10 100 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling 103H7128-56 103H7128-57 103H7128-58 3.0 400 300 2.0 Pull-out torque at JL1 200 3.0 400 300 2.0 Pull-out torque at JL1 200 10 1.0 10 Starting torque at 100 0 20 0 0 0.1 1 10 100 0 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling 4.0 30 20 0 0.1 3.0 2.0 Pull-out torque at JL1 10 Starting torque at JL2 1.0 Starting torque at JL2 100 0 1 Pulse ratekpulse/s 100 40 200 1.0 100 0 JL2 5.0 600 500 30 50 10 100 0 0 0.1 1 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling 10 100 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling IC for stepping motor 20 4.0 700 TorqueNm 300 500 30 40 600 Torqueozin Torqueozin 400 5.0 Torqueozin 4.0 Torquekgfcm 500 50 Torquekgfcm 40 600 700 TorqueNm 5.0 Torquekgfcm 50 TorqueNm 700 Stepping motor Pull-out torque at JL1 Stepping Motors with Internal drivers 12 160 0.8 1.6 280 Dimensions 8 16 103H7123-58 TorqueNm 120 1.2 2.0 Torquekgfcm 12 160 240 200 20 Torqueozin 1.6 280 TorqueNm 16 103H7123-57 Torqueozin Torqueozin 2.0 TorqueNm 240 200 20 Torquekgfcm 280 Torquekgfcm 103H7123-56 38 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 60mm sq.2.36inch sq. 103H782 1.8/step Unipolar winding Holding torque at 2-phase energization [Nmozin MIN.] 0.78110.5 Model Single shaft Double shafts 103H7821-0140 103H7821-0440 103H7821-0740 103H7822-0140 103H7822-0440 103H7822-0740 103H7823-0140 103H7823-0440 103H7823-0740 -0110 -0410 -0710 -0110 -0410 -0710 -0110 -0410 -0710 MassWeight Rated current Wiring resistance Winding inductance Rotor inertia A/phase 1 /phase 5.7 mH/phase 8.3 2 [x10 - 4 kgm ozin2 ] [kgIbs] 0.61.32 0.2751.50 0.78110.5 2 1.5 2 0.2751.50 0.61.32 0.78110.5 3 0.68 0.8 0.2751.50 0.61.32 1.17165.7 1 6.9 14 0.42.19 0.771.70 1.17165.7 2 1.8 3.6 0.42.19 0.771.70 1.17165.7 3 0.8 1.38 0.42.19 0.771.70 2.1297.4 1 10 21.7 0.844.59 1.342.95 2.1297.4 2 2.7 5.6 0.844.59 1.342.95 2.1297.4 3 1.25 2.4 0.844.59 1.342.95 MassWeight Bipolar winding Holding torque at 2-phase energization [Nmozin MIN.] 0.88124.6 Model Single shaft Double shafts 103H7821-1740 103H7822-1740 103H7823-1740 -1710 -1710 -1710 Rated current Wiring resistance Winding inductance Rotor inertia A/phase 4 /phase 0.35 mH/phase 0.8 2 [x10 - 4 kgm ozin2 ] [kgIbs] 0.61.32 0.2751.50 1.37194.0 4 0.43 1.38 0.42.19 0.771.70 2.7382.3 4 0.65 2.4 0.844.59 1.342.95 Pulse rate-torque characteristics 6 4 0.6 Pull-out torque at JL1 0.4 40 8 0.8 80 60 6 4 2 0.2 140 0 0 0.6 Pull-out torque at JL1 0.4 1 10 1000 100 80 60 0.2 Starting torque at JL2 0 8 0.8 6 4 0.6 Pull-out torque at JL1 0.4 0 0.1 1 2 0.2 0 0 Starting torque at JL2 20 0 Pulse ratekpulse/s 100 1.0 120 100 20 0 10 40 2 Starting torque at JL2 0.1 10 100 0.1 1 Pulse ratekpulse/s 2000 3000 5000 -1 Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling 39 103H7821-07 40 20 0 1.0 120 100 Torqueozin 60 Torquekgfcm Torqueozin 80 10 TorqueNm 0.8 140 Torquekgfcm 8 120 100 103H7821-04 Torqueozin 1.0 Torquekgfcm 10 TorqueNm 140 TorqueNm 103H7821-01 100 1000 10 100 Pulse ratekpulse/s 2000 3000 5000 -1 Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling 100 1000 2000 3000 5000 -1 Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling 80 8 1.2 Pull-out torque at JL1 0.8 80 0.4 4 0 0 0 4 Starting torque at JL2 40 0.1 240 200 0.4 120 10 1000 1.6 8 1.2 Pull-out torque at JL1 0.8 4 0.4 0 0 Starting torque at JL2 40 0 1 16 80 40 0 0 100 0 0.1 1 Pulse ratekpulse/s 100 2.0 12 160 Starting torque at JL2 20 10 100 0.1 1 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 10 100 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling 103H7823-01 103H7823-04 103H7823-07 8 1.2 120 0.8 80 0.4 4 0 0 0 0.1 0.4 Starting torque at JL2 40 0 1 10 0 0 100 0.1 1000 8 1.2 Pull-out torque at JL1 0.8 4 0.4 0 0 Starting torque at JL2 40 0 1 Pulse ratekpulse/s 100 1.6 80 4 Starting torque at JL2 40 16 12 160 Pull-out torque at JL1 2.0 TorqueNm 120 0.8 240 200 20 Torquekgfcm 8 80 1.6 12 160 Pull-out torque at JL1 16 280 Torqueozin 120 1.2 2.0 TorqueNm 12 160 240 200 20 Torquekgfcm 1.6 Torqueozin Torqueozin 16 280 TorqueNm 240 200 2.0 Torquekgfcm 280 20 Set model Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling 10 100 0.1 1 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 10 100 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling 103H7821-17 103H7822-17 103H7823-17 140 10 1.0 8 0.8 280 Stepping Motors with Internal drivers 120 0.8 280 20 2.0 16 1.6 700 50 5.0 40 4.0 Stepping motor 8 1.6 12 160 Pull-out torque at JL1 16 103H7822-07 TorqueNm 120 1.2 2.0 Torquekgfcm 12 160 240 200 20 Torqueozin 1.6 280 TorqueNm 16 103H7822-04 Torqueozin Torqueozin 2.0 TorqueNm 240 200 20 Torquekgfcm 280 Torquekgfcm 103H7822-01 1.2 400 300 0.8 4 10 0.4 0 1 10 100 0 0 0 0.1 1 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : AC100Voperating current : 4A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling 10 100 0 0 0.1 1 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : AC100Voperating current : 4A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling 10 100 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : AC100Voperating current : 4A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling Dimensions 0 0.1 1.0 100 40 0 Pull-out torque at JL1 2.0 IC for stepping motor 0.2 20 3.0 200 80 2 20 30 TorqueNm Pull-out torque at JL1 Torqueozin 8 500 Torquekgfcm 120 0.4 40 0 12 160 600 TorqueNm 4 0.6 Torquekgfcm 60 6 240 200 Torqueozin 80 Torquekgfcm Torqueozin 100 TorqueNm Pull-out torque at JL1 120 40 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 86mm sq.3.39inch sq. SH286 /SM286 1.8/step Unipolar winding Model Single shaft Double shafts SH2861-0441 SH2862-0441 SH2863-0441 -0411 -0911 -0411 Holding torque at 2-phase energization [Nmozin MIN.] 2.5354 MassWeight Rated current Wiring resistance Winding inductance Rotor inertia A/phase 2 /phase mH/phase 8.0 2 [x10 - 4 kgm ozin2 ] [kgIbs] 1.488.09 1.753.92 4.8679.7 2 3.2 13.0 316.4 2.96.5 6.6934.6 2 4.0 16.6 4.524.6 4.08.96 MassWeight 2.3 Bipolar winding Model 41 Single shaft Double shafts SM2861-5051 SM2861-5151 SM2861-5251 SM2862-5051 SM2862-5151 SM2862-5251 SM2863-5051 SM2863-5151 SM2863-5251 -5021 -5121 -5221 -5021 -5121 -5221 -5021 -5121 -5221 Holding torque at 2-phase energization [Nmozin MIN.] 3.3467.3 Rated current Wiring resistance Winding inductance Rotor inertia A/phase 2 /phase mH/phase 15 2 [x10 - 4 kgm ozin2 ] [kgIbs] 1.753.92 1.488.09 3.3467.3 4 0.56 3.7 1.488.09 1.753.92 3.3467.3 6 0.29 1.7 1.488.09 1.753.92 6.4906.3 2 3.2 25 316.4 2.96.5 6.4906.3 4 0.83 6.4 316.4 2.96.5 6.4906.3 6 0.36 2.8 316.4 2.96.5 91274.4 2 4 32 4.524.6 48.96 91274.4 4 1 7.9 4.524.6 48.96 91274.4 6 0.46 3.8 4.524.6 48.96 2.2 Stepping Motors with Internal drivers Pulse rate-torque characteristics 4.0 300 700 20 3.0 400 Pull-out torque at JL1 300 2.0 200 80 fs 0 0 0.1 10 1000 20 2.0 1.0 10 0 fs 0 100 0.1 0 0 1 Pulse ratekpulse/s 100 Pull-out torque at JL1 3.0 100 0 1 4.0 30 1.0 10 100 0 40 200 0.4 4 40 5.0 600 500 30 50 10 fs 0 100 0.1 1 2000 3000 5000 100 1000 2000 3000 5000 100 Number of rotationsmin -1 Number of rotationsmin -1 10 100 Pulse ratekpulse/s Pulse ratekpulse/s 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC100Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =15.3x10-4kgm283.65 ozin2use the rubber coupling Sanyo constant current circuit Source voltage : DC100Voperating current : 4A/phase, 2-phase energizationfull-step JL1 =15.3x10-4kgm283.65 ozin2use the rubber coupling SM2861-50 SM2861-51 SM2861-52 1.6 Starting torque at JL2 160 8 24 320 240 16 400 2.4 1.6 160 0.8 0 0 0.1 1 10 240 0.8 1000 Pull-out torque at JL1 2.4 16 1.6 0.8 8 80 0 100 0 0 0.1 1 Pulse ratekpulse/s 100 3.2 24 320 80 0 32 160 8 80 0 480 Pull-out torque at JL1 4.0 TorqueNm 16 Pull-out torque at JL1 3.2 40 Torquekgfcm 240 2.4 32 560 Torqueozin 24 320 480 400 4.0 TorqueNm 3.2 40 Torquekgfcm 32 560 Torqueozin Torqueozin 4.0 TorqueNm 480 400 40 Torquekgfcm 560 Set model Sanyo constant current circuit Source voltage : DC100Voperating current : 4A/phase, 2-phase energizationfull-step JL1 =15.3x10-4kgm283.65 ozin2use the rubber coupling 10 0 0 0.1 100 1 Pulse ratekpulse/s 2000 3000 5000 100 -1 Number of rotationsmin 1000 10 100 Pulse ratekpulse/s 100 2000 3000 5000 -1 1000 2000 3000 5000 -1 Number of rotationsmin Number of rotationsmin Sanyo constant current circuit Source voltage : DC100Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling Sanyo constant current circuit Source voltage : DC100Voperating current : 4A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling Sanyo constant current circuit Source voltage : DC100Voperating current : 6A/phase, 2-phase energizationfull-step JL1 =15.3x10-4kgm283.65 ozin2use the rubber coupling SM2862-50 SM2862-51 SM2862-52 400 60 800 600 40 1200 1000 6 Pull-out torque at JL1 4 400 20 2 0 0 1 10 1000 40 20 0 0 100 0 0.1 1 Pulse ratekpulse/s 100 600 6 Pull-out torque at JL1 4 2 200 0 0.1 8 60 800 2 200 0 80 400 20 200 10 TorqueNm 4 8 100 Torquekgfcm 40 Pull-out torque at JL1 80 1400 Torqueozin 600 6 10 TorqueNm 60 800 1200 1000 100 Torquekgfcm 8 Torqueozin Torqueozin 80 1400 TorqueNm 1200 1000 10 Torquekgfcm 1400 100 10 0 0 100 0.1 1 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 10 100 Pulse ratekpulse/s 2000 3000 5000 100 Number of rotationsmin -1 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC100Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling Sanyo constant current circuit Source voltage : DC100Voperating current : 4A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling Sanyo constant current circuit Source voltage : DC100Voperating current : 6A/phase, 2-phase energizationfull-step JL1 =15.3x10-4kgm283.65 ozin2use the rubber coupling SM2863-50 SM2863-51 SM2863-52 Pull-out torque at JL1 4 400 600 40 1000 6 4 400 20 2 0 0 0.1 1 10 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC100Voperating current : 2A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling 600 40 6 Pull-out torque at JL1 4 20 2 200 0 0 0 0.1 1 Pulse ratekpulse/s 100 8 60 800 2 200 0 80 400 20 200 0 60 800 1200 Pull-out torque at JL1 10 TorqueNm 40 6 8 100 Torquekgfcm 600 1000 80 1400 Torqueozin 60 800 1200 10 TorqueNm 8 100 Torquekgfcm 80 1400 Torqueozin Torqueozin 1000 10 TorqueNm 1200 100 Torquekgfcm 1400 Stepping motor 400 0.8 8 40 SH2863-04 10 100 0 0 0.1 1 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC100Voperating current : 4A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling 10 100 Pulse ratekpulse/s 100 1000 2000 3000 5000 Dimensions 120 Torqueozin TorqueNm Torquekgfcm Torqueozin 160 500 1.2 12 5.0 600 Pull-out torque at JL1 200 50 IC for stepping motor 1.6 700 TorqueNm 16 SH2862-04 Torqueozin 2.0 TorqueNm 240 20 Torquekgfcm 280 Torquekgfcm SH2861-04 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC100Voperating current : 6A/phase, 2-phase energizationfull-step JL1 =15.3x10-4kgm283.65 ozin2use the rubber coupling 42 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 106mm cir.4.17inch cir. 103H8922 1.8/step Unipolar winding Holding torque at 2-phase energization [Nmozin MIN.] 10.81529.4 Model Single shaft Double shafts 103H89222-0941 103H89223-0941 -0911 -0911 15.52194.9 MassWeight Rated current Wiring resistance Winding inductance Rotor inertia A/phase 4 /phase 0.98 mH/phase 6.3 2 [x10 - 4 kgm ozin2 ] [kgIbs] 7.516.53 14.679.83 4 1.4 9.7 22120.28 10.523.15 Rated current Wiring resistance Winding inductance Rotor inertia MassWeight A/phase 6 /phase 0.45 mH/phase 5.4 2 [x10 - 4 kgm ozin2 ] [kgIbs] 14.679.83 7.516.53 6 0.63 8 22120.28 10.523.15 Bipolar winding Holding torque at 2-phase energization [Nmozin MIN.] 13.21869.2 Model Single shaft Double shafts 103H89222-5241 103H89223-5241 -5211 -5211 192690.5 Pulse rate-torque characteristics 40 6 1200 4 16 120 1600 400 160 80 2800 2400 2000 12 1200 8 20 2 0 0 0 0.1 1 10 100 40 4 1000 2000 3000 5000 0 0 0 0.1 1 16 120 1600 1200 80 TorqueNm Torqueozin 160 Torquekgfcm 2400 12 Pull-out torque at JL1 8 Starting torque at JL2 800 40 4 400 0 0 0 0.1 1 10 100 Pulse ratekpulse/s 100 1000 2000 3000 5000 -1 Number of rotationsmin Sanyo constant current circuit Source voltage : AC100Voperating current : 6A/phase, 2-phase energizationfull-step JL1 =43x10-4kgm2235.10 ozin2use the rubber coupling -4 JL2 =43x10 kgm2235.10 ozin2use the rubber coupling 43 10 100 1000 2000 3000 5000 Number of rotationsmin -1 103H89223-52 2000 80 12 Pull-out torque at JL1 8 Starting torque at JL2 4 400 100 Number of rotationsmin -1 20 16 0 0 0.1 1 Sanyo constant current circuit Source voltage : AC100Voperating current : 4A/phase, 2-phase energizationfull-step JL1 =43x10-4kgm2235.10 ozin2use the rubber coupling 10 100 Pulse ratekpulse/s Pulse ratekpulse/s Sanyo constant current circuit Source voltage : AC100Voperating current : 4A/phase, 2-phase energizationfull-step JL1 =43x10-4kgm2235.10 ozin2use the rubber coupling 200 160 40 Pulse ratekpulse/s 100 20 800 400 0 200 120 1600 Pull-out torque at JL1 800 200 2800 103H89222-52 TorqueNm 600 2000 Torqueozin Torquekgfcm Torqueozin 60 800 2400 Pull-out torque at JL1 20 Torqueozin 8 2800 200 TorqueNm 80 1200 1000 103H89223-09 Torquekgfcm 10 TorqueNm 1400 100 Torquekgfcm 103H89222-09 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : AC100Voperating current : 6A/phase, 2-phase energizationfull-step JL1 =43x10-4kgm2235.10 ozin2use the rubber coupling JL2 =43x10-4kgm2235.10 ozin2use the rubber coupling Stepping Motors with Internal drivers 2-phase stepping motor 56mm sq.2.20inch sq. 103H712 Conforming to the CE marking 1.8/step Unipolar winding -6110 -6710 -6110 -6710 -6110 -6710 Wiring resistance Winding inductance Rotor inertia /phase 4.8 mH/phase 8 2 [x10 - 4 kgm ozin2 ] [kgIbs] 0.471.04 0.10.55 0.3955.2 3 0.6 0.8 0.10.55 0.471.04 0.83117.5 1 6.7 15 0.211.15 0.651.43 0.78110.5 3 0.77 1.58 0.211.15 0.651.43 1.27179.8 1 8.6 19 0.361.97 0.982.16 1.27179.8 3 0.9 2.2 0.361.97 0.982.16 MassWeight Set model 103H7121-6140 103H7121-6740 103H7123-6140 103H7123-6740 103H7126-6140 103H7126-6740 Rated current A/phase 1 Stepping motor Double shafts Pulse rate-torque characteristics 30 2 0.5 4 0.4 0.3 Pull-out torque at JL1 0.2 20 40 30 3 2 1 10 0 0 0 1 10 0.3 0.2 1000 8 0.8 Starting torque at JL2 80 60 6 4 0.6 Pull-out torque at JL1 0.4 40 0.1 2 0 0.2 0.1 1 10 0 0 0 0 100 Pulse ratekpulse/s 100 1.0 20 0 0.1 100 10 Starting torque at JL2 10 120 Pull-out torque at JL1 20 0.1 1 103H7123-61 140 60 50 3 5 TorqueNm 0.4 TorqueNm Torqueozin 40 Torquekgfcm 50 70 Torquekgfcm 4 60 103H7121-67 TorqueNm 0.5 Torquekgfcm 5 Torqueozin 70 Torqueozin 103H7121-61 Starting torque at JL2 0.1 100 1 2000 3000 5000 100 Number of rotationsmin -1 1000 10 100 Pulse ratekpulse/s Pulse ratekpulse/s 100 2000 3000 5000 1000 2000 3000 5000 Number of rotationsmin -1 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling 103H7123-67 103H7126-61 103H7126-67 4 0.6 120 40 8 240 200 1.2 120 0.8 2 0.2 0 0 0.1 1 0.4 40 0 10 100 0 0 Starting torque at JL2 0.1 1000 16 1.6 8 1.2 Pull-out torque at JL1 0.8 4 0.4 0 0 Starting torque at JL2 40 0 1 Pulse ratekpulse/s 100 2.0 80 4 Starting torque at JL2 20 12 160 Pull-out torque at JL1 80 20 0 1.6 12 160 0.4 16 280 TorqueNm 6 200 Torqueozin 60 Torquekgfcm Torqueozin 80 240 Pull-out torque at JL1 2.0 Torquekgfcm 0.8 20 Torqueozin 8 120 100 280 TorqueNm 1.0 Torquekgfcm 10 TorqueNm 140 10 100 0.1 1 Pulse ratekpulse/s 2000 3000 5000 -1 Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling -4 JL2 =0.8x10 kgm24.37 ozin2use the direct coupling 100 1000 10 100 Pulse ratekpulse/s 2000 3000 5000 -1 Number of rotationsmin Sanyo constant current circuit Source voltage : DC24Voperating current : 1A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling -4 JL2 =2.6x10 kgm214.22 ozin2use the direct coupling Dimensions Single shaft Holding torque at 2-phase energization [Nmozin MIN.] 0.3955.2 100 1000 2000 3000 5000 -1 Number of rotationsmin IC for stepping motor Model Sanyo constant current circuit Source voltage : DC24Voperating current : 3A/phase, 2-phase energizationfull-step JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling -4 JL2 =2.6x10 kgm214.22 ozin2use the direct coupling 44 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 86mm cir.3.39inch cir. 103H822 Conforming to the CE marking 1.8/step Bipolar winding Model Single shaft Double shafts 103H8221-6240 103H8222-6340 103H8223-6340 -6210 -6310 -6310 Holding torque at 2-phase energization [Nmozin MIN.] 2.74388.0 MassWeight Rated current Wiring resistance Winding inductance Rotor inertia A/phase 6 /phase mH/phase 1.65 2 [x10 - 4 kgm ozin2 ] [kgIbs] 1.53.31 1.457.93 5.09720.8 6 0.35 2.7 2.915.86 2.55.51 7.441053.6 6 0.45 3.4 4.424.06 3.57.72 0.3 Pulse rate-torque characteristics 103H8221-62 700 50 103H8222-63 5.0 700 50 103H8223-63 5.0 1400 100 10 80 8 400 Pull-out torque at JL1 300 2.0 200 20 3.0 2.0 Starting torque at JL2 200 10 1.0 10 100 0 30 1000 0 0 0 0.1 1 1.0 10 1000 100 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : AC100Voperating current : 6A/phase, 2-phase energizationfull-step JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling 45 40 4 20 2 0 0 Starting torque at JL2 200 0 0 0 0.1 1 Pulse ratekpulse/s 100 600 Pull-out torque at JL1 6 400 100 Starting torque at JL2 60 800 TorqueNm 3.0 1200 4.0 Torqueozin 20 Torqueozin 30 TorqueNm Torqueozin 300 40 500 Torquekgfcm 400 600 4.0 TorqueNm 40 500 Torquekgfcm 600 Torquekgfcm Pull-out torque at JL1 10 100 0.1 1 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : AC100Voperating current : 6A/phase, 2-phase energizationfull-step JL1 =15.3x10-4kgm283.65 ozin2use the rubber coupling JL2 =15.3x10-4kgm283.65 ozin2use the direct coupling 10 100 Pulse ratekpulse/s Pulse ratekpulse/s 100 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : AC100Voperating current : 6A/phase, 2-phase energizationfull-step JL1 =43x10-4kgm2235.10 ozin2use the rubber coupling JL2 =43x10-4kgm2235.10 ozin2use the direct coupling 106mm cir.4.17inch cir. 103H8922 Conforming to the CE marking 1.8/step Stepping Motors with Internal drivers 2-phase stepping motor Bipolar winding Double shafts 103H89222-6341 103H89223-6341 -6311 -6311 Rated current Wiring resistance Winding inductance Rotor inertia A/phase 6 /phase 0.45 mH/phase 5.4 2 [x10 - 4 kgm ozin2 ] [kgIbs] 7.516.53 14.679.83 192690.5 6 0.63 8 22120.28 Pulse rate-torque characteristics 1200 80 12 1200 8 800 16 80 Pull-out torque at JL1 12 8 Starting torque at JL2 800 40 4 0 0 40 Starting torque at JL2 400 0 160 120 1600 Pull-out torque at JL1 20 400 0 0.1 1 4 10 100 0 0 0.1 1 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : AC100Voperating current : 6A/phase, 2-phase energizationfull-step JL1 =43x10-4kgm2235.10 ozin2use the rubber coupling JL2 =43x10-4kgm2235.10 ozin2use the direct coupling 10 100 Pulse ratekpulse/s 100 1000 2000 3000 5000 Number of rotationsmin -1 Sanyo constant current circuit Source voltage : AC100Voperating current : 6A/phase, 2-phase energizationfull-step JL1 =43x10-4kgm2235.10 ozin2use the rubber coupling JL2 =43x10-4kgm2235.10 ozin2use the direct coupling Dimensions 120 1600 2400 2000 200 10.523.15 IC for stepping motor 16 2800 TorqueNm 160 103H89223-63 Torqueozin Torqueozin 20 TorqueNm 2400 2000 200 Torquekgfcm 2800 Torquekgfcm 103H89222-63 MassWeight Set model Single shaft Holding torque at 2-phase energization [Nmozin MIN.] 13.21869.2 Stepping motor Model 46 2-phase STEPPING SYSTEMS Stepping motor Specifications Standard models Motor type Model number Insulation class Withstand voltage Insulation resistance Vibration resistance Impact resistance Operating ambient temperature Operating ambient humidity Motor type Motor model number Insulation class Withstand voltage Insulation resistance H series motor 103H32 /103H52 /103H67 /103H71 Class B130 42 1.65inchAC500V 50/60Hz for 1 minute, 50 1.97inch 56 2.20inch 60 2.36inch AC1000V 28 1.10inch 50/60Hz for 1 minute 100M ohm MIN. against DC500V Amplitude : 1.52mmp-p, 147m/s 2, frequency range : 10 to 55Hz, sweep time : 5minutes, number of sweep is 12 times each in the X, Y and Z directions. Acceleration : 98m/s 2, holding time : 11ms, half-wave sine wave 3 times in each direction of X, Y, and Z axes, 18 times in total. -10 to 50 90%MAX. : 40 MAX., 57%MAX. : 50 MAX., 35%MAX. : 60 MAX.no condensation Impact resistance Operating ambient temperature Operating ambient humidity SH series motor SH353 , SH142 , SH160 , SH286 , Class B130 42 1.65inch AC500V 50/60Hz for 1 minute, 60 2.36inch AC1000V 50/60Hz for 1 minute 35 1.38inch 100M ohm MIN. against DC500V Amplitude : 1.52mmp-p, 147m/s 2, frequency range : 10 to 55Hz, sweep time : 5minutes, number of sweep is 12 times each in the X, Y and Z directions. Acceleration : 98m/s 2, holding time : 11ms, half-wave sine wave 3 times in each direction of X, Y, and Z axes, 18 times in total. -10 to 50 90%MAX. : 40 MAX., 57%MAX. : 50 MAX., 35%MAX. : 60 MAX.no condensation Motor type Model number Type Insulation class Operation altitude Withstand voltage Insulation resistance Protection grade Vibration resistance Impact resistance Ambient operation temperature Ambient operation humidity SM series motor SM286 S1continuous operation Class F+155 C 1000m3280 feet MAX above sea level 86mm 3.39inch: AC1500V 50/60Hz for 1 minute 100M ohm MIN. against DC500V IP40 Amplitude of 1.52mm0.06inchP-Pat frequency range 10 to 500Hz for 15 minutes sweep time along X, Y, and Z axes for 12 times. 490m/s 2 of acceleration for 11 ms with half-sine wave applying three times for X, Y, and Z axes each, 18 times in total. -10 to +50 C 90% MAX. at less than 40 C, 57% MAX. at less than 50 C , 35% MAX. at 60 Cno condensation Vibration resistance Allowable radial / thrust load Frange size 103H32 SH353 103H52 42mm 1.65inch 103-59 SH142 50mm 1.97inch 103H670 103H712 56mm 2.20inch 103H7126 56mm 2.20inch 103-77 103H782 60mm 2.36inch SH160 SM286 86mm 3.39inch SH286 86mm 3.39inch 103H822 106mm 4.17inch 103H8922 Thrust load Radial load 28mm 1.10inch 35mm 1.38inch Model number Distance from end of shaft : mminch 0 50.20 100.39 Radial load : Nlbs 306 398 5311 408 5011 6715 150.59 Thrust load NIbs 8418 9822 30.67 102.25 224 265 337 4610 102.25 7115 5211 8519 7517 8719 6514 10523 9221 11525 8519 13831 12127 16737 12327 20044 17640 153.37 153.37 153.37 153.37 7015 8719 11425 16537 204.50 16737 19343 22951 28062 6013.488 16737 32172 19343 35780 22951 40190 28062 458102 6013.488 10022.48 CE marked models Model Number Rated voltage Applied standardsLow voltage diretive Operation type Protection grade Device category Operation environment Insulation classI Insulation resistance Withstand voltage Ambient operation temperature Ambient operation humidity Winding temperature rise 103H712 12-200VDC EN60034-1,IEC34-5(EN60034-5),EN60204-1,EN60950,EN61010-1 S1continuous rating IP43 Class I Pollution degree 2 Class B130 Not less than 100M between winding and frame by DC500V megger or normal temperture and humidity. Without abnormality when applying 50/60Hz, 1600V AC1500V AC for 103H712 for 1minuteleakage current 10mA between winding and frame at nomal temperature and humidity. -10 to +50 C 90% MAX. at less than 40 C, 57% MAX. at less than 50 C , 35% MAX. at 60 Cno condensation 80K MAX.Based on Sanyo Denki standard Note 1When load is applied at 1/3 length from output shaft edge. 47 103H822 103H8922 12-300VDC Unipolar winding 103H32 I n t e r nal w ir e c o nn e c t io n Direction of motor rotate ( ) connector pin number The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. (4) Orange Lead wire color, connector type pin number (6) White Lead wire (2) Blue Exciting order Connector Red Black Yellow (5) (1) (3) White & black Red Blue Yellow Orange 1.6 5 2 3 4 1 2 3 4 - Stepping Motors with Internal drivers Internal Wiring and Rotation Direction - - - - - - - I n t e r nal w ir e c o nn e c t io n Direction of motor rotate ( ) connector pin number The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. (2) Connector type pin number (1) Set model 103H52 1.6 5 3 4 2 Exciting order (3) (5) (6) (4) 1 2 3 4 - - - - - - - - I n t e r nal w ir e c o nn e c t io n Direction of motor rotate ( ) connector pin number The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. (2) Connector type pin number (1) 1.6 4 3 5 2 Exciting order (3) (4) (6) (5) 1 2 3 4 - - - Stepping motor 103H782 - - - - - Other than 103H32 103H52 103H782 I n t e r nal w ir e c o nn e c t io n Direction of motor rotate Orange Lead wire color White Exciting order Blue Red Black Yellow White & black Red Blue 1 - - 2 3 4 Yellow Orange - - - Dimensions The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. - - - I n t e r nal w ir e c o nn e c t io n Direction of motor rotate ,( ) connector pin number The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. 3(1)Orange Lead wire color, connector type pin number White & black Blue Yellow Orange 1 - - + + 2 + - - + 3 + + - - 4 - + + - 103H782 3 2 4 1 Lead wire Red Yellow (4) (3) 6 4 Connector Exciting order 1(2)Blue IC for stepping motor Bipolar winding 48 2-phase STEPPING SYSTEMS Dimensions MotorsUnit: mminch Pin No. 1. .6 B Unipolar 103H3205-52 0 103H3215-52 0 103H3205-50 0 103H3205-51 0 103H3215-51 0 103H3215-52 0 103H3205-50 0 103H3205-51 0 103H3215-51 0 103H3215-52 0 103H3205-57 0 103H3215-57 0 103H3205-55 0 103H3205-56 0 103H3205-57 0 103H3215-55 0 103H3215-56 0 103H3215-57 0 .0003 0.05 o22-0.05 0.013 0.013 Motor length : mminch 311.25 50.31.98 311.25 311.25 50.31.98 50.31.98 311.25 311.25 50.31.98 50.31.98 311.25 50.31.98 311.25 311.25 311.25 50.31.98 50.31.98 50.31.98 A Pin No. 1***6 (o.87-.002) B .00003 6.5(.26) MAX. o22-0.05 DU14H321 DU14H326 B Lead wire type Motor model number 1.50.76 (.59.03) A 4-M2.6 x0.45 Effective tapping depth 3.2(.13) MIN. Set part number DB14H321 DB14H326 Bipolar .00003 0.013 o5-0.013 Connector type (o.1968-.0005) .00003 o5-0.013 (o.1968-.0005) 0.013 0.05 (o.87-.002) .0003 A 28(1.1)MIN. 420.25 (1.65.01) 4-310.25 (4-1.22.01) 27(1.06) MAX. 240.5 (.94.02) o5-0.013 2 (.079) 11(.44) MAX. L0.5 (L.02) (o.1968-.0005) 19.5(.76)MIN. 8.5(.33) MAX. 151 (.59.04) A ( ) 280.5 (1.10.02) 4-230.25 (4-.91.01) 18(.71) MAX. 200.5 (.79.02) .00003 310.8 (1.25.031) 42mm 1.65inch o5-0.013 101 (.39.039) Lead wire type Cable type Set part number Motor model number Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Connector Connector Connector Connector Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire DU15H521 DU15H522 DU15H524 DU15S141 DU15S142 DU15S144 103H5205-04 0 103H5208-04 0 103H5210-04 0 SH1421-04 1 SH1422-04 1 SH1424-04 1 103H5209-04 0 103H5205-52 0 103H5208-52 0 103H5210-52 0 SH1421-52 1 SH1422-52 1 SH1424-52 1 103H5205-50 0 103H5205-51 0 103H5208-50 0 103H5208-51 0 103H5209-50 0 103H5209-51 0 103H5209-52 0 103H5210-50 0 103H5210-51 0 DB14H521 DB14H522 DB14H524 DB16H141 DB15H142 DB15H144 Bipolar B 4-M3 x0.5 Effective tapping depth depth 4(.16) MIN. Connector type Unipolar 1.5 (.06) 5 (.2) 7(.28) MAX. 28mm 1.10inch (o.1968-.0005) Motor length : mminch 331.25 391.54 481.89 331.25 391.54 481.89 411.61 331.25 391.54 481.89 331.25 391.54 481.89 331.25 331.25 391.54 391.54 411.61 411.61 411.61 481.89 481.89 Cable type Connector Connector Connector Lead wire Lead wire Lead wire Connector Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire 50mm 1.97inch Lead wire UL3266 AWG22 L0.8 (L.03) 20.60.5 (.81.02) 5 (.2) 0.000 o36-0.039 .0000 o1.42-.002 ( 0.000 o6.35-0.013 ) .00000 o.25-.0005 ( .00000 0.000 (o.25-.0005) o6.35-0.013 6(.24)MAX. 500.5 (1.97.02) 4-410.13 (4-1.61.005) 25(.98)MAX. 1.5 (.06) ) 305(12) MIN. 15.51 (.61.04) +0.5 4-o4.5 0.5 +.02 .00 (4-o.18 ) Lead wire type Unipolar Bipolar Set part number Motor model number 103H6701-01 0 103H6701-04 0 103H6701-07 0 103H6703-01 0 103H6703-04 0 103H6703-07 0 103H6704-01 0 103H6704-04 0 103H6704-07 0 103H6701-50 0 103H6703-50 0 103H6704-50 0 DB16H671 DB15H672 49 Motor length : mminch 39.81.57 39.81.57 39.81.57 51.32.02 51.32.02 51.32.02 55.82.20 55.82.20 55.82.20 39.81.57 51.32.02 55.82.20 Cable type Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Motor shaft specification code Motor shaft spec Single shaft Double shafts Set type code S D Motor type code 7 3 Motor shaft specification code Motor shaft spec Single shaft Double shafts Motor type code 4 1 103H7121-04 0 103H7123-04 0 103H7126-04 0 103H7121-01 0 103H7121-07 0 103H7123-01 0 103H7123-07 0 103H7124-01 0 103H7124-04 0 103H7124-07 0 103H7126-01 0 103H7126-07 0 103H7121-61 0 103H7121-67 0 103H7123-61 0 103H7123-67 0 103H7126-61 0 103H7126-67 0 103H7121-57 0 103H7123-57 0 103H7126-57 0 103H7121-56 0 103H7121-58 0 103H7123-56 0 103H7123-58 0 103H7126-56 0 103H7126-58 0 103H7128-56 0 103H7128-57 0 103H7128-58 0 Motor length : mminch 41.81.65 53.82.12 75.82.98 41.81.65 41.81.65 53.82.12 53.82.12 53.82.12 53.82.12 53.82.12 75.82.98 75.82.98 41.81.65 41.81.65 53.82.12 53.82.12 75.82.98 75.82.98 41.81.65 53.82.12 75.82.98 41.81.65 41.81.65 53.82.12 53.82.12 75.82.98 75.82.98 94.83.73 94.83.73 94.83.73 12(.47) MAX. +0.5 4-o4.5+0.0 Lead wire type Connector type Set part number Motor model number Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wireCE Lead wireCE Lead wireCE Lead wireCE Lead wireCE Lead wireCE Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire 103H7821-01 0 103H7821-04 0 103H7821-07 0 103H7822-01 0 103H7822-04 0 103H7822-07 0 103H7823-01 0 103H7823-04 0 103H7823-07 0 SH1601-04 0 SH1602-04 0 SH1603-04 0 103H7821-57 0 103H7822-57 0 103H7823-57 0 SH1601-52 0 SH1602-52 0 103H7821-17 0 103H7822-17 0 103H7823-17 0 Bipolar +.02 (4-o.18+.00).0 Cable type Unipolar DB16H781 DB16H782 DB16H783 DB16S161 DB16S162 B Stepping Motors with Internal drivers .0000 0.000 0.000 R4 MIN. (R.157MIN.) .00000 0.000 o8-0.015 ) o36-0.039 S Motor length : mminch 44.81.76 44.81.76 44.81.76 53.82.12 53.82.12 53.82.12 85.83.38 85.83.38 85.83.38 44.81.76 53.82.12 85.83.38 44.81.76 53.82.12 85.83.38 44.81.76 53.82.12 44.81.76 53.82.12 85.83.38 Cable type Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Set model DU16H711 DU16H713 DU16H716 S S Stepping motor Motor model number (effective length) S Dimensions ( Pin No. 1***6 +.04 (o.315-.0006) +.02 4-o.18 .00 B 15+0 (o1.42-.002) (o1.50.001) +0.5 A 33(1.30) MAX. 1.5 (.06) +1 4-500.13 (4-1.97.005) (.59+.00 ) R4 MIN. (R.157MIN.) 4-o4.5 0.0 7 (.28) ) A .00000 (o.25-.0005) o38.10.025 0.000 o6.35-0.013 ( 20.60.5 (.81.02) .00000 +1 15+0 +.04 .59+.00 26(1.02) MAX. Set part number DB16H711 DB16H713 DB16H716 Bipolar 4-47.140.13 (4-1.86.0005) L0.8 (L.03) (effective length) Lead wire type Unipolar 15.51 (.61.04) o8-0.015 20.60.5 (.81.02) 600.5 (2.36.02) 560.5 (2.20.02) 1.5 (.06) .00000 0.000 5 (.20) (o.25-.0005) o6.35-0.013 305(12)MIN. L0.8 (L.03) 60mm 2.36inch (o.315-.0006) Lead wire UL1430 AWG22 15.51 (.61.04) Motor shaft specification code Motor shaft spec Single shaft Double shafts Set type code S D Motor type code 4 1 IC for stepping motor 56mm 2.20inch 8(.31)MAX. 50 2-phase STEPPING SYSTEMS Dimensions MotorsUnit: mminch Grounding terminal M4x0.7x6L B(CE) (CE) S 0.000 Grounding terminal M4x0.7x6L ( o9.5-0.013 Lead wire type Unipolar Bipolar SH2861-04 1 SH2862-04 1 SH2863-04 1 SM2861-50 1 SM2861-51 1 SM2861-52 1 SM2862-50 1 SM2862-51 1 SM2862-52 1 SM2863-50 1 SM2863-51 1 SM2863-52 1 Motor length : mminch 662.6 96.53.8 1275 662.6 662.6 662.6 96.53.8 96.53.8 96.53.8 1275 1275 1275 +0.5 4-o5.35+0.0 +.02 (4-o.2+.00 ) Lead wire type CE type Set part number Motor model number 25 (.98) S ) 4-5.60.2 (4-.2205.0079) 4-69.60.2 (4-2.74.008) 27.50.5 (1.08.02) o73.0250.025 (o2.9.001) Cross section S-S 4.83 (.19) 82.550.5 (3.25.02) .00000 90 B 300.5 (1.2.02) 1.52 (.06) 0.000 S R4(R.16)MIN. 130.15 (.51180.059) 69.60.25(2.740.1) 85.50.5(3.3660.2) S R4(R.16)MIN. 130.15 (.51180.059) S 0 0 14 -0.018 S ) (.55 -0.001 ) ( 0 0 (.55 -0.001 ) 14 -0.018 +1 +0.4 25 0 .91 0 (Effective length) ) 73.0250.025 (2.8750.001) +1 +0.4 25 0 .91 0 (Effective length) A(CE) (CE) Lead wire UL1430 AWG18 L0.8 (L.03) 25020 (9.8.8) 300.5(1.180.1) 80.5(.310.1) 12(.47)MAX. A ( 85.50.5 (3.3660.2) 69.60.25(2.740.1) 27(1.06)MAX. 1.50.25 .060.1 281 (1.10 .04) o860.5 (o3.4.02) L1(L0.4) 305(12) MIN. UL vinyl tube Lead wire: UL3398 CSA AWG22 301(1.18.04) 86mm 3.39inch o12-0.018 (o.4724-.0007) 86mm 3.39inch .00000 o.374-.0005 Cable type Set part number Motor model number Lead wire Lead wire Lead wire Lead wireCE Lead wireCE Lead wireCE Lead wireCE Lead wireCE Lead wireCE Lead wireCE Lead wireCE Lead wireCE Bipolar 103H8221-62 0 103H8222-63 0 103H8223-63 0 Motor length : mminch 623.31 92.25.51 7.72 125.9 Cable type Lead wireCE Lead wireCE Lead wireCE 106mm 4.17inch 350.5 8.6 (1.38.02) (.34) 1.52 +1 (.06) 30.5 0 (1.2 S ) 106.40.5 A(CE) (CE) (4.2.002) 4-88.90.25 (4-3.5.001) B B(CE) (CE) ( 0.000 o16-0.018 ) ( .00000 o.5-.0007 o12.7-0.018 0.000 ) S +.04 .00 .00000 o.63-.0007 o55.5240.05 (o2.19.002) A L1 (L.04) o106.41 (o4.2.04) 305(12) MIN. Lead wire UL1430 AWG18 281 (1.10.04) +0.5 4-o6.9 0.0 (4-o.27 Lead wire type Unipolar Bipolar 51 Motor length : Set part number Motor model number mminch 103H89222-09 1 163.36.4 103H89223-09 1 221.38.7 103H89222-52 1 163.36.4 103H89223-52 1 221.38.7 103H89222-63 1 163.36.4 103H89223-63 1 221.38.7 +.02 .00 ) CE type Cable type Lead wire Lead wire Lead wire Lead wireCE Lead wireCE Lead wire Motor shaft specification code Motor shaft spec Single shaft Double shafts Motor Motor type code 4 1 shaft specification code Motor shaft spec Single shaft Double shafts Motor type code 5 2 Dimensions Set model DriversCETUVULUnit: mminch Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS Safety standards UL Acquired standards UL UL for Canada Directives Category Low-voltage - directives Emission CE TUV EMC directives Immunity File No. Standard part E179775 UL508C Name Standard part - EN50178 Terminal disturbance voltage Electromagnetic radiation disturbance ESDElectrostatic discharge RSRadio-frequency amplitude modulated electromagnetic field Fast transionts Surges CSRadio-frequency common mode Voltage dips, Voltage interruptions EN55011-A EN55011-A EN61000-4-2 EN61000-4-3 EN61000-4-4 EN61000-4-6 EN61000-4-5 EN61000-4-11 Stepping motor driver SM series motor(UL/CE),H series motor(CE) Low-voltage directives File No. E208878 Standard part EN-60034-1 IEC34-5 (EN-60034-5) EMC characteristics may vary depending on the configuration of the users control panel, which contains the driver or stepping motor, or the arrangement and wiring of other electrical devices. Parts for EMC noise suppression like noise filters and troidal type ferrite cores may be required depending on circumstances. Validation test of F series driver has been performed for low-voltage EMC directives at TUVTUV product servicefor self-declaration of CE marking. Dimensions CE Acquired standards UL UL for Canada Standard category IC for stepping motor UL 52 2-phase STEPPING SYSTEMS IC for stepping motor Specifications Universal controller IC for the 2-phase stepping motor drive PMM8713PT Characteristics Universal controller : The following 3 types of energization mode can be selected by switching at the energization mode switching terminal 1EX/1-2EX/2EX Source voltage : Vcc = 4.5 to 5.5V High output current : 24mA MIN.sink, source High noise margin : Schmitt trigger circuit is incorporated for the all input terminals. 2 types of pulse input : 2 input modeCW, CCW input mode Pulse and direction modeCK, U/D input mode Excited status verification monitor : Outputs the monitor signal of the controller status. Maximum RatingTa=25 Item Source voltage " H " level Output current n " L" level " H " level Output current CO,EM " L" level Input voltage Input current operating current Conservation temperature Symbol VCC IOH IOL IOH IOL VIN IIN Topr Tstg Recommended Operating ConditionsTa=-20 to 85 Rating - 0.3 to 7 - 35 35 Unit V mA A - 0.3 to VCC + 0.3 10 -20 to 85 - 40 to 125 V mA Item Symbol Source voltage Output current n Output current CO,EM Input voltage VCC IOH IOL IOH IOL VIN " H " level " L" level " H " level " L" level Rating MIN. 4.5 -24 24 -2 2 0 53 EA 6. EB 7. C 8. 9. 10. 11. 12. 13. 14. 15. 16. VSS R 4 3 2 1 EM CO VCC 4.45(.17)MAX. 5. Function Input pulse UP clock input Input pulse DOWN clock input Input pulse clock input Rotation direction conversion energization mode switching input energization mode switching input energization mode switching input GND Reset input 4 output 3 output 2 output 1 output energization monitor output Input pulse monitor output 4.5 to 5.5V 19.75(.78)MAX. 19.250.2 (.76.008) 1.53(.06)TYP 0.4(.016) 0.6(.024) 2.54(.1)TYP 2.9(.11)MIN. Name CU CD CK U/D 0.51(.02)MIN. Pin No. 1. 2. 3. 4. 6.2(.24) 6.6(.26) DimensionsUnit : mminch 7.62(.3)TYP 0~15 0.20(. 00 0.35(. 8) 014) Standard - MAX. 5.5 - - - - - - - - - VCC Unit V mA mA V Direct current characteristicsTa = -20 to 85 Input voltage " H " level " L" level Standard value Unit MIN. Standard MAX. - - 3.5 V - - 1.5 I I CC 5 V IH V IL " H " level VOH " L" level VOL Output current 1 to 4 " H " level IOH " L" level IOL Output current CO, EM " H " level IOH " L" level IOL Output voltage Input current Static current consumption Switching characteristicsTa = -20 to 85 Condition VCC[V] - 5 - 5 V H=5V VL=0V 5 IOH=0 V H=5V VL=0V 5 IOH=0 V H=5V VL=0V 5 VOUT=2.4V V H=5V VL=0V 5 VOUT=0.4V V H=5V VL=0V 5 VOUT=2.4V V H=5V VL=0V 5 VOUT=0.4V - 5 Symbol V H=5V VL=0V Symbol Condition VCC[V]a f MAX 5 t WL, t WH 5 t WR 5 tpd 5 Set time t SET 5 Holding time tHOLD 5 Item MAX. clock frequency MIN. width of clock pulse MIN. width of reset pulse Time delay from clock input to output 4.9 - - - - 0.1 -24 - - 24 - - -2 - - 2 - - - 10 - A - 1 - mA V mA Standard value Unit MIN. Standard MAX. tr tf 20ns, CL 50pF tr tf 20ns, CL 50pF tr tf 20ns, CL 50pF tr tf 20ns, CL 50pF tr tf 20ns, CL 50pF tr tf 20ns, CL 50pF mA 1 - - MHZ - - 500 ns - - 1000 ns - - 2000 ns 0 - - ns 250 - - ns Set model Item Stepping Motors with Internal drivers Electrical Characteristics Measured waveforms on switching time scale 1f 90% CU 50% 10% 50% 10% tf tr tWH tWL 1 to 4 50% Stepping motor CK 90% 50% CD tpd 90% 90% CK 50% 10% 50% 10% tf tr tr or tf 90% 50% UD 10% Function Table Input modes and rotation direction Input mode 2 input modeCW, CCW Pulse and direction modeCK, U/D Input CU Energization modes CD CK UD Rotation direction L L L CW L L CCW L L L H CW L L L CCW Excitation mode 1 EX 1-2EX 2 EX Input R H H H EA H H L EB L H L C Dimensions tSET H H H IC for stepping motor tHOLD 54 2-phase STEPPING SYSTEMS IC for stepping motor Specifications Universal controller IC for the 2-phase stepping motor drive PMM8713PT Energization Sequence 1EX 2EX Pulse Face 1 2 3 4 EM UP DOWN 0Reset 1 2 3 4 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 1-2EX Pulse Face 1 2 3 4 EM UP DOWN 0Reset 1 2 3 4 1 0 0 1 1 1 1 0 0 1 0 1 1 0 1 0 0 1 1 1 1 0 0 1 1 Pulse Face 1 2 3 4 EM UP DOWN 0Reset 1 2 3 4 5 6 7 8 1 0 0 1 1 1 0 0 0 0 1 1 0 0 1 0 1 0 0 0 0 1 1 0 1 0 0 1 0 0 0 0 1 1 1 0 0 0 1 0 1 0 0 1 1 Reset after changing the energization mode. Input Pulse Monitor CU Input CD CK Output CO Example of Application CircuitBipolar wiring motor Combined with the power hybrid IC 24V + P.GND 5V + GND 13 GND 1 2 3 4 Driving input 5V 5 6 7 Reset input 9 Energization mode setting 16 8 20 9 14 15 11 15 19 8 10 External output 12 14 18 4 25 3 24 13 12 11 10 5V 6 22 23 26 21 7 2 PMM8713PT Stepping motor 5 1 GND PMM2101 GND GND 5V Energization mode setting Pin No. Terminal symbol 5,6 EA, EB Input level H L Motor operation 1-2EX 2EX The normal initial reset may not be performed during unstable VCC after turning the power ON. For reliable resetting, hold the R terminal9-pinat the " L" level till the VCC becomes stable. Vcc (16-pin) 4.5V R (9-pin) 1.5V MAX. CV Power hybrid IC : Refer to page 47 for the PMM2101 specifications. Refer to the PMM8713PT Operation Manual for other application circuit examples. 55 IC for stepping motor HIC for the 2-phase stepping motor PMM2101 Full Step / Half Step Bipolar Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS Set model Characteristics Enables high speed and high torque operation by using bipolar constant current switching method. Enables compact driving circuit configuration with few of externally attached parts. The overheat protection circuit is incorporated to assist the safety design. Unit V V A W jc ja Rated value 8 to 60 0 to 7 1.4 35Tc 25 3.57 25 T jmax 150 Tstg - 40 150 W W Item Source voltage-1 Source voltage-2 Output current Oscillator frequency Operation temperature Symbol VCC1 VCC2 IO Rated value 10 to 50 4.75 to 5.25 1.0 Unit V V A FC 20 to 27 kHz TC -25 to 85 Stepping motor Symbol VCC1 VCC2 IO PT Control No. and Lot No. PMM2101 1 40.3 (.16.012) 27 1.27 (.05) 0.25 (.01) +0.2 0.6 - 0.05 ( 26x1.27=33.02 (26x.05=1.3) +.008 .02 - .002 ) 2.54 (.1) 30.2 (.12.008) 1 (.04) 3.80.2 1 (.15.008) (.04) 1.50.2 (.06.06) 400.3 (1.57.01) 250.2 (.98.008) o3.30.2 (o.13.008) 3.30.2(.13.008) 90.2(.35.008) 130.3(.51.011) Function Power terminal for controller section Enable input terminal Arm drive input Arm drive input One shot time constant setting terminal Motor current setting terminal GND Motor driver power terminal Motor current detection terminal Motor output Detection resistor connecting terminal Motor output P.GND Motor output Detection resistor connecting terminal 8 (.31) Name VCC2 ENA A 1 2 CR A Vref A LG A VCC1 A V SA M1 RS A M2 PG M3 RS B NC NC M4 VS B VCC1 B LG B Vref B CR B 3 4 ENA B AL 3.5 (.14) Pin No. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23. 24. 25. 26. 27. 4.50.5 (.178.02) DimensionsUnit : mminch 3.4 (.13) - - Motor output Motor current detection terminal Motor driver power terminal GND Motor current setting terminal One shot time constant setting terminal Arm drive input Arm drive input Enable terminal Overheat alarm output terminal Operational truth value table ENA A(ENA B) L L L L H 1( 3) 2( 4) L L H H L H L H - - M1(M3) OFF L H OFF OFF M2(M4) OFF H L OFF OFF IC for stepping motor Item Source voltage-1 Source voltage-2 Output current Allowable loss Thermal resistance Junction temperature Conservation temperature Recommended Operating ConditionsTc=25 Dimensions Maximum RatingTc=25 56 2-phase STEPPING SYSTEMS IC for stepping motor Specifications HIC for the 2-phase stepping motor PMM2101 Full Step / Half Step Electrical CharacteristicsTa=25 Item Symbol Condition "H"level input voltage "L"level input voltage "H"level input current "L"level input current Reference voltage (Vref) input current Current detection (Vs) input current Forward direction voltage of FET diod High output saturating voltage Low output saturating voltage V IH V IL IIH IIL Iref IS VF Vce (sat)H Vce (sat)L Low output saturating voltage IR Power current to controller section Alarm terminal current Overheat alarm operating temperature Overheat protection stop temperature I CC2 Ialm VCC2 5V VCC2 5V VCC2 5VV I 5V VCC2 5VV I 0V VCC2 5VVref 0V VCC2 5VVS 0V IF 1A I C 1A I C 1A VCC1 60VVOUT 0V VOUT 60VV RS 0V VCC2 = 5Vduring circuit operation VCC2 5VValm 0.5V - - Rating MIN. 2.7 0 Standard - - - - - - - - - - - - - 1.3 1.0 1.0 - - - - - - - - - - - - 125 150 MAX. VCC2 1.0 10 -50 -10 -10 1.5 1.4 1.3 10 10 75 2 Unit V V A A A A V V V A A mA mA - - Overheat Alarm Output The overheat protection circuit outputs an alarm signal at +125 at the internal junction in the IC, and activatesmotor excitation OFF at +150 . VCC2(+5V) Transistor ON during alarming External pull-up resistor VceON: 0.5V MAX. (approximate 10kW) 27-pin lalm : 2mA MAX. The alarming signal output and overheat protection circuit Open collector output recover automatically when the temperature lowers. PMM2101 Example of Application Circuit 24V + C5 P.GND 5V GND 1 16 2 3 4 Energization mode setting 5V Reset input R2 R3 R4 C2 13 GND Driving input R1 C1 + 5 6 7 8 14 15 D1~D4 20 9 11 15 Orange 19 8 10 External output Blue 12 Red 14 9 5V PMM8713PT Stepping motor C3 R8 23 26 21 7 C4 2 R6 R7 5 6 22 R5 Yellow 18 4 25 3 24 13 12 11 10 1 PMM2101 GND GND GND 5V Refer to page 53 for the PMM8713PT specifications. Recommended circuit constants for PMM2101 Constant 5W 0.68 1 4W 3.9k 1 4W 15k Applicable C1, C2 C3, C4 C5 Constant 1000pF 3300pF 330 F Determine on the R5 and R6 constants referring to the Vref- output current characteristics. Determine on D1 to D4. Peak reverse voltage 100V Output current 1A Reverse recovery time 100ns 57 Output current (A) 1.2 Applicable R1,R2 R3,R4 R7,R8 Vref-Output current characteristics 1.0 0.8 0.6 0.4 0.2 0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 Vref Voltage (V) 2-phase STEPPING SYSTEMS Stepping Motors with Internal drivers IC for stepping motor Specifications HIC for the 2-phase stepping motor PMM2301 Micro Step Unipolar Set model Characteristics Sine wave driven micro-step driver. The current detection resistor is incorporated. MOSFET is used for the power driving circuit to reduce heating. Totally packaged to reduce parts for the peripheral circuit. Enables selection from the 5 various excitation modes by the external bit signal. Item Source voltage-1 Source voltage-2 Input voltage Phase current Operating temperature on PCB Junction temperature Conservation temperature Recommended Operating ConditionsTa=25 Symbol VCC1 MAX. VCC2 MAX. V in MAX. IOH MAX. Condition VCC2 0V With no signal Logic input terminal 0.5sec, 1pulse, VCC1 applied Rated value 52 7 7 4 Unit V V V A TC MAX. - 105 T j MAX. - 150 Tstg - - 40 to 125 Item Source voltage-1 Source voltage-2 Input voltage Phase current Clock frequency Withstand voltage of phase driver Symbol VCC1 VCC2 V IH IOH Clock Condition With signal With signal - Rated value 10 to 45 5.0 5 0 to VCC2 3 DC to 50 Unit V V V A kHz V DSS - 100 V - Duty 50 Stepping motor Maximum RatingTc=25 Dimensionsunit: mminch 67 (2.64) 60 (2.36) 22 +0.2 +0.2 0.5-0.05 [9] 21x2=42 (.35) (21x.08=1.68) (.02-+.008 .002 ) 4 (.16) 1 2-3.6 (2-.14) 0.4-0.05 (.016-+.008 .002 ) 2.9 (.11) Dimensions PMM2301 1 (.04) 9 (.35) 25.5 (1.00) Terminal name VCC2 VCC2 Clock CW CCW Reset Return Enable M 0I M 01 M 02 GND 16(.63) Pin No. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 11(.43) Terminal name B B P.GND A P.GND B A A VCC2 Vref Mode 1 Mode 2 Mode 3 5.6 (.22) Pin No. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. Each Terminal Function Function Motor current setting input Clock Motor driving pulse input CW / CCW Motor rotation direction setting input Reset Return Enable M 0I M 01M 02 System reset Forced return to phase origin Power OFF input Phase origin monitor output Monitor output on phase energization status Functioning condition - Mode 3 = " H " level : Operates at rising edge Mode 3 = " L" level : Operates at rising and falling edges " H " level = CW rotation " L" level = CCW rotation Reset "L" Forced shift to the origin of the present energization phase with Return = " H " Enable "L" " L" level output at the phase origin. Outputs level signal on the present phase energization status. Phase A phase B phase A phase B phase coordinate M01 H L L H M02 L H L H IC for stepping motor Terminal name Vref 58 2-phase STEPPING SYSTEMS IC for stepping motor Specifications HIC for the 2-phase stepping motor PMM2301 Micro Step Energization Mode Table Input condition Mode1 Mode2 L L H L L H H H H H Mode3 H H H H L Energization mode 2EX 1-2EX W1-2EX 2W1-2EX 4W1-2EX 1 step angle degree 1.8 0.9 0.45 0.225 0.1125 Number of basic angle division 1/1 1/2 1/4 1/8 1/16 Conditioned on the Mode 3 = L, one pulse operation is performed at every rising and falling edge of the clock pulse. Accordingly, the operation becomes unstable if the driving pulse duty ratio deviates from 50%. Electrical CharacteristicsTc=25Vcc1=24VVcc2=5V Rating MIN. Item Symbol Condition VCC2 Power current Effective output current Forward direction voltage of FET diode Output saturating voltage " H " level input voltage " L" level input voltage Input current Vref input voltage Vref input curren " H " level output voltage M 0IM 01M 02 " L" level output voltage M 0IM 01M 02 PWM frequency I CCO Ioave Enable = " L" Each phase R/L = 3 .5 /3.8mH, Vref = 0.6V 0.45 Standard 4.5 0.50 - mA A Vdf I f 1A - 1.2 1.8 V Vsat V IH V IL IIL Vr Ir RL = 7.5 I 3.0A 9 to 11, 14 to 18 pins 9 to 11, 14 to 18 pins 9 to 11, 14 to 18 pins = GND level, Pull-up resistor 20k 8-pin 8-pin - 1.4 2.6 4.0 - - - - 125 0 250 - 1.0 510 VCC2 2 V V V - 1 - A VOH 19 to 21 pins I = 3mA, I = -3mA 2.4 - - V VOL 19 to 21 pins I = 3mA, I = -3mA - - 0.4 V FC - 37 47 57 kHz Example of Application Circuit VCC2(5V) PMM2301 VCC1 7 19 12 20 13 21 9 6 10 to 45 V External output White Orange + Blue Energization mode setting 5 10 C1 Red 11 2 1 Yellow Clook 14 CW/CCW 15 Reset 16 Return 17 Endde 18 Stepping motor 4 22 P.GND R1 + Black 3 8 Vref C2 R2 GND Recommended circuit constants C1 C2 100 F or over 10 F Determine on the R1 and R2 constants based on the Vref voltage calculated from the following formula. VrefV= Motor current adjusted value A/phasex 0.6 59 Unit MAX. 15 0.55 A V Safety Consideration The drivers and stepping motors are the products designed to be used for the general industrial devices. When using those, pay enough attention to the following points. Read thoroughly the Operation Manual prior to placement, assembly and/or operation in order to use the product properly. Refrain from modifying or processing the product in any way. Consult with the distributor or professional experts for placement or maintenance services of the product. In case of the following uses of the product, contact with us for the special care required to the operation, maintenance and management such as multiplexing the system, installing an emergency electric generator set, or so forth. 1Use for the medical devices concerned with a fatal accident. 2Use for trains, elevators, and so forth that are likely to cause an accident resulting in injury, damage or death. 3Use in the computer system highly influential to the social life or the public systems. 4Use in other devices highly influential to maintaining the human safety or the public functions. In addition to the above, consult with us for use in such a vibration environment as automobile or transportation. Read the Operation Manual thoroughly prior to the use (placement, operation, maintenance and inspection) to put the product in use properly. Make yourself knowledgeable and familiarize with the devices, safety issues and cautions before handling the product. After reading the Operation Manual or the like, keep it in the place where the users can refer to whenever necessary. Indication byWarning Labelon the product Either or all of the following indications are given by the Warning Labels depending on the type of the driver or stepping motor. This label is stuck near the high voltage part such as the electrically charged or cover-protected section, warning that the place where it is likely to cause an electric shock. This label is stuck on the place where the driver or stepping motor body should be easily acknowledged, warning that it is likely to cause burns from high temperature. This label is stuck near the GND terminals of the driver or stepping motor for which grounding is Use proper grounding techniques. WARNING May Cause electric shock required, suggesting that the terminals should be actually grounded. This label is stuck for the driver or stepping motor to which the power source is applied in the voltage exceeding the safety standard, drawing attention against the electric shock. Safety ranks of the cautions Following four ranks are provided. DANGER Improper operations or use is most likely to result in serious injury or death. CAUTION Improper operations or use is likely to result in average or minor injury, or in property damage. In spite of the cautions with the CAUTION CAUTION label, it may cause serious results. Either the contents of the labels is describing important cautions to be followed inevitably. PROHIBITED Indicates what shall not be done. COMPULSORY Indicates what shall be done. 60 DANGER 1. 2. General matters Do not use the product in an explosive, flammable or corrosive atmosphere, watery place or near a combustible material. Doing so may cause injury or fire. Have a person with expert knowledge for performing the transportation, placement, wiring, operation, maintenance or inspection of the product. Without such knowledge, it may cause an electric shock, injury or fire. 3. Do not work for wiring, maintenance servicing or inspection with the electric power on. Perform either of those five minutes after turning the power off, or otherwise, it may cause an electric shock. 4. When the protective functions of the product is activated, turn the power off immediately and eliminate the cause. If continuing the operation without eliminating the cause, the product may operate improperly and cause injury or a breakdown of the system devices. 5. 6. 7. Stepping motor may run out of order at the operating and stopping occasions, depending on the magnitude of the load. Put the product into use after confirming with the adequate trial test operation in the maximum load conditions that the product performs reliable operation. Doing otherwise may cause a breakdown of the system. (Should the product run out of order in the use to drive upward/downward, it may cause a fall of the load.) Do not touch the internal parts of the driver. Doing so may cause an electric shock. Wiring Do not connect the stepping motor directly with the commercial power outlet. Doing so may cause an electric shock, injury or fire. The power shall be supplied to the stepping motor through the driving circuit. CAUTION 18. Mount the product on an incombustible material such as metal. Doing otherwise may cause fire. 19. Confirm the rotating direction before connecting with the mechanical device. Failure to do so may cause injury or a breakdown. 20. Do not touch the motor output spindle (including the key slot and gears) with a bare hand. Doing so may cause injury. Operation 21. The stepping motor is not equipped with any protective device. Take protective measures using an over-current protective relay, a ground fault interrupter, a protective device from excess temperature, and an emergency stopping device. Failure to do so may cause injury or fire. 22. Do not touch the product for a period after the power is on or has been turned off, since the driver and stepping motor remain in the high temperature. Doing so may cause burns. Especially the temperature rises considerably of the stepping motor depending on the operating conditions. Use the motor on the condition so that its surface temperature becomes 100C or under. 23. Stop the operation immediately when an emergency occurs. Failure to do so may cause an electric shock, injury or fire. 24. Do not change adjustment to an extreme, for such a change results in the unstable operation. Doing so may cause injury. 25. When conducting the trial operation, make the stepping motor fixed firmly, and confirm the operation by disconnecting with the mechanical system before connecting with it. Failure to do so may cause injury. 26. When the alarm has been activated, eliminate the cause and ensure the safety to resume operation. Failure to do so may cause injury. 8. Use the electric power source within the rated input voltage. Using otherwise may cause fire or an electric shock. 9. Connect the driver and stepping motor to the ground. Using without grounding may cause an electric shock. 27. When the electric power recovers after the momentary interruption, do not approach the devices because the system may re-start operation by itself. (Set the system so as to secure the safety even when it re-start on such occasion.) Failure to do so may cause injury. 10. Do not harm, forcibly put a stress, or load a heavy article on the cable or get it caught between the articles. Doing so may cause an electric shock. 28. Confirm that the electric power supply is all proper conforming to the specifications. Failure to do so may cause a trouble. 11. Perform wiring with the power cable as instructed by the wiring diagram or the Operation Manual. Doing otherwise may cause an electric shock or fire. 29. The brake mechanism of the motor with the electro-magnetic brake is to hold the movable section and the motor position. Do not use it as a safety measure, or doing so may cause the breakdown of the system. Operation 12. Be sure not to touch the rotating part of the stepping motor during its operation. Touching it may cause injury. 13. Neither reach or touch the electric terminals while electric power is on. Doing so may cause an electric shock. 14. Never disconnect any of the connectors while electric power is on. Doing so may cause an electric shock and corruption. General matters 1. Prior to placement, operation, maintenance servicing or inspection, be sure to read the Operation Manual and follow the instructions to perform those. Failure to follow the instructions may cause an electric shock, injury or fire. 30. Fix the key firmly when operating the motor with key individually. Failure to do so may cause injury. Maintenance services 31. Be careful when performing maintenance services or inspection about the temperature which rises highly in the driver and stepping motor frame. Failure to do so may cause burns. 32. It is recommended to replace the electrolytic condenser of the driver with a new one for securing the preventive measure after using for 5 years, the expected life in the average 40C. The expected life of the fuse is 10 years in the average 40C. Thus, the periodical replacement is recommended. 2. Do not use the driver or the stepping motor outside the specified conditions. Doing so may cause an electric shock, injury or fire. 3. Do not insert a finger or a thing into the opening of the product. Doing so may cause an electric shock, injury or fire. 33. Contact with us for repair. If the product is disassembled by the user, it may put it out of action. Transportation 34. Handle the product with care during transportation so as to prevent from the danger such as a tumble or a turnover. 4. Do not use the damaged driver or stepping motor. Doing so may cause injury, fire or the like. 35. Do not hold with the cable or the motor spindle. Doing so may cause a trouble or injury. 5. Use the driver and stepping motor in the designated combination. Using otherwise may cause fire or a trouble. Retirement 36. When scrapping the driver or stepping motor, treat it for the general industrial waste. 6. Be careful that the temperature rises in the operating driver, stepping motor or peripheral devices. Failure to be careful may cause a burn. 7. 8. 9. PROHIBITED Unpacking Unpack while confirming the ceiling. Failure to do so may cause injury. Confirm if the product is the one having been ordered. Installing an incorrect product may cause a breakdown. Wiring Do not perform measurement of the insulation resistance or withstand insulation voltage of the product. Doing so may cause a breakdown. Instead, contact with us for such inspection. 10. Perform wiring conforming to the technical standards of electric facility or the internal rule. Doing otherwise may cause burning or fire. 1. 2. 3. 11. Ensure that wiring has been correctly done. Operating without correct wiring may cause the stepping motor to run out of control and result in injury. 61 General matters Do not remove the rating plate. COMPULSORY 12. Take insulation process for the attached condenser or the external resistance connection terminals. Failure to do so may cause an electric shock. 1. Placement 13. Do not climb or attach a heavy article on the product. Doing so may cause injury. 2. 14. Neither block nor stuff the aspiration/exhaust vent with a foreign particle. Doing so may cause fire. 3. 15. Follow the instructions for the direction to place. Failure to do so may cause a trouble. 4. 16. Keep a distance as instructed by the Operation Manual for the driver from the inner surface of the control console or other devices. Failure to do so may cause a trouble. 5. 17. Place the product with a great care so as to prevent from the danger such as a tumble or a turnover. Storage Avoid the place exposed to rain or water drops, or in an environment with hazardous gas or liquid for storing the product. Failure to do so may cause a trouble. Maintenance services Do not assemble or repair the product. Doing so may cause fire or an electric shock. Storage Store the product within the specified conservation temperature and humidity in the place not exposed to the sun beam. If the driver has been stored for a long period (3 years or longer for a guide), consult with us. The capacitance may have decreased with the electrolytic condenser due to the long period storage, and it may cause a trouble. Operation Install an external emergency stop circuit to turn the power off for the instant halt of operation. Put the product into operation in the specified ambient temperature and humidity. Transportation Excess loading of the product on the carrier may cause the load to fall in pieces. Follow the instructions given outside the package. Inquiry Check Sheet Please provide the following information when placing an order or making an inquiry. Also feel free to include any questions that require our attention. Company Name: Department: Telephone : Fax: 1) Application: 2) Name of Machinery: 3) Number of Units: Date: To contact us: Phone: +81 3 3917 5157 Fax: +81 3 3917 0643 Name of target equipment Equipment name, category (transport, processing, test, other) Name of servo axis Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no) Current condition of above axis Positioning accuracy Acceleration [1G=9.8,m/s2),1(m/s2)0.1G] [m/s] Feeding Speed V Operation pattern Reference formula: Moving Distance [m/s2] G [ (m/s2)=V(m/sec) t1(sec)] [D(m)=V(m/sec) (t1+t2)(sec)] Feeding Speed Moving Distance [m/sec] (Stroke) t1 Mechanism t2 t3 Time[sec] Ball-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal), rack and pinion (horizontal), belt/chain (horizontal), rotary table, roll feed, instability WT (table mass) kg WL (work mass) kg WA (mass of other drive parts) kg WR (rack mass) kg WB (belt/chain mass) kg WC (counterbalance mass) kg Fa (external force in axial direction) N Fb (ball-screw preload) N T (roll pushing force) N Dr1 (drive-side roll diameter) mm Dr2 (follower-side roll diameter) mm Lr1 (drive-side roll length) mm Lr2 (follower-side roll length) mm JG (speed-reducer inertia) kg.m2 JC (coupling inertia) kg.m2 G (reduction ratio) JN (nut inertia) kg.m2 JO (other motor-axis conversion inertia) kg.m2 Db (ball-screw diameter) mm Lb (ball-screw axial length) mm Pb (ball-screw lead) mm Dp (pinion/pulley diameter) mm Lp (pinion axial length) mm Tp (pulley thickness) mm Dt (table diameter) mm Dh (table-support diameter) mm LW (load shift from axis) mm Ds (table shaft diameter) mm Ls (table shaft length) mm Mechanical structure kg/cm3 (specific gravity of ball-screw/pinion/pulley/table-shaft material) (friction coefficient between sheet and sliding-surface/support-section/roll) kg/cm3 1 (specific gravity of roll-1 material) kg/cm3 2 (specific gravity of roll-2 material) (mechanical efficiency) (internal friction coefficient of preload nut) kg.m2 N.m JL (load inertia of motor-axis conversion) N.m TF (friction torque of motor axis conversion) / TU (imbalance torque of motor axis conversion) Speed reducer Customer-provided ( ); Sanyo standard (planet/spur/no-backlash-planet:: / ); other ( Sensor type Sensor type specified ( yes / no ) Yes: ( incremental , optical absolute , optical absolute [resolver absolute with incremental function] ) Resolution ( ) / ) Input format Position , speed, torque, communications ( SERCOS / CAN / DeviceNet ) other ( ) Upper-level equipment (controller) Sequencer , laptop , customer-developed product , Sanyo-provided , other ( ) Usage environment and other requirements Cutting , clean-room use , anti-dust measures , other ( ) Estimated production Single product: ( Development schedule Prototype period: ( Various measures Related documentation ( already submitted ; send later by mail ) Visit/PR desired ( yes / no ) Meeting desired ( yes / no ) ) units/month )Year ( ( )Month ) units/year Production period: ( )Year ( )Month Miscellaneous (questions, pending problems, unresolved issues, etc.) 62 Cautions Precautions For Adoption Cautions Failure to follow the precautions on the right may cause moderate injury and property damage, or in some circumstances, could lead to a serious accident. Always follow all listed precautions. For any question or inquiry regarding the above, contact our Sales Department. http://www.sanyodenki.com 1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan Phone: +81 3 3917 5157 468 Amapola Avenue Torrance, CA 90501 U.S.A. Phone: +1 310 783 5400 P.A. Paris Nord ll 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France Phone: +33 1 48 63 26 61 Frankfurter Strasse 63-69 65760 Eschborn Germany Phone: +49 6196 76113 0 9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea Phone: +82 2 773 5623 Room 2116, Bldg B, FAR EAST INTERNATIONAL PLAZA, No.317 XianXia Rd., Shanghai 200051 China Phone: +86 21 6235 1107 Room 1208, 12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C. Phone: +886 2 2511 3938 Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong Phone: +852 2312 6250 10 Hoe Chiang Road #14-03A/04 Keppel Towers Singapore 089315 Phone: +65 6223 1071 CATALOG No. 832-2 '07.3.C