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| 2-PHASE STEPPING SYSTEMS Ver.2 2-phase STEPPING SYSTEMS F series DRIVER H series MOTOR SH series MOTOR F series DRIVER features 1 Low-vibration mode DC input Low-Vibration Mode OFF 1600 1400 Driver : US1D200P10 Motor : 103H7123-0410 Source voltage : DC24V Wire current : 2.0A/phase Division : 2 TG : 11TG 7V/1000rpm Low-Vibration Mode ON 1600 1400 Driver : US1D200P10 Motor : 103H7123-0410 Source voltage : DC24V Wire current : 2.0A/phase Division : 2 TG : 11TG 7V/1000rpm % % Speed variation 1200 1000 800 600 400 200 0 0 1200 1000 800 600 400 200 0 Speed variation 100 200 300 400 500 600 700 800 900 1000 0 100 200 300 400 500 600 700 800 900 1000 pulse/s pulse/s 2 Compact / Light weight DC input Compact 2-phase unipolar Current model 2-phase unipolar F series 2-phase unipolar Current model 2-phase unipolar F series Light weight 2-phase bipolar Current model 2-phase bipolar F series 2-phase bipolar Current model 2-phase bipolar F series 0 50 100 150 200 3 250 300 350 0 50 100 150 200 250 Volume cm MASS g 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. DC input 1 Set model DC input Stepping motors with integrated drivers A driver incorporating a motion control function needed for driving a motor and a 2-phase stepping motor were integrated into a single unit. P.4 Motor flange size 42 1.65inch 60 2.36inch Unipolar standard standard model The standard set includes a F series driver and a H or SH series motor. P.13 Motor flange size 28 1.10inch 42 1.65inch 56 2.20inch Bipolar standard standard model The standard set includes a F series driver and a H or SH series motor. P.14 Motor flange size 28 1.10inch 42 1.65inch 50 1.97inch 56 2.20inch 60 2.36inch 2 IC for stepping motor Dimensions Stepping motor Set model Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS F series DRIVER H series MOTOR SH series MOTOR Control method How do you want to control the equipment? The F series offers the choice of 3 different control methods Program command control using PLC I/O Network control using serial communication RS-485 Control using a pulse generator Control using a pulse generator Drive Specification DC input stepping motors with integrated drivers DC input unipolar standard DC input bipolar standard Startup via I/O : Initiate program containing speed, acceleration/ deceleration, and travel distance commands stored in the driver via the I/O. System configuration diagram Specifications Dimensions Startup via serial communication : Control by sending data for speed, acceleration/ deceleration, and travel distance commands via serial communication. P4 P6 P5 to 6 Motion is generated by pulse input commands from an upper-level controller. Motion is generated by pulse input commands from an upper-level controller. System configuration diagram Set part number nomenclature Motor specifications General specifications Motor dimension drawing Driver dimension drawing P13 P16 P27 to 48 P49 50 P51 to 54 P55 System configuration diagram Set part number nomenclature Motor specifications General specifications Motor dimension drawing Driver dimension drawing P14 P16 P27 to 48 P49 50 P51 to 54 P55 3 Stepping Motors with Integrated drivers Host Devices Setup software : SFPAIW-01 PLC PLC and controllers are available as the host device. Bundled cable for input/output signal 300 mm Bundled cable for DC power 350 mm Stepping motor Switching power supply Noise filter Electromagnetic contactor Molded case circuit breaker Single phase AC100 V to (r) AC230 V DC 24 V (t) 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. Dimensions 4 IC for stepping motor Set model Stepping Motors with Internal drivers DC input System configuration 2-phase STEPPING SYSTEMS Stepping motor Specifications DC input Stepping motors with integrated 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. 1 Control by command pulses 2 Program control by general-purpose I/O(Parallel) 3 Compliant with RS-485, half-duplex asynchronous communication Pulse rate-torque characteristics 42mm 1.65inch 6 80 5 0.5 0.6 60mm 2.36inch 16 1.6 DB21M142S-01 E=DC24V I=Rated current JL=0.94x10-4kg m2 220 200 180 12 160 14 1.4 DB22M162S-01 E=DC24V I=Rated current JL=2.6x10-4kg m2 70 1.2 60 4 0.4 Torque (kgf-cm) Torque (kgf-cm) Torque(oz*in.) Torque(oz*in.) 50 Torque (N-m) 3 0.3 120 100 80 60 Torque (N-m) 140 10 1.0 8 0.8 40 30 6 0.6 2 0.2 20 1 10 0.1 40 4 0.4 2 20 0 0 0.1 100 1 10 100 2000 3000 5000 0 0 0.2 0 0 0.1 100 1 10 100 2000 3000 5000 Pulse rate kpulse/s 1000 Number of rotations min-1) Pulse rate kpulse/s 1000 Number of rotations min-1) The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. Dimensions 42mm 1.65inch CN1:POWER Manufacturer JST Unit : mm inch 70 0 +2 +.08 2.76 .00 1.5 0.76 .59 .03 42 24 0.5 .94 .02 +.04 59 .00 (EFFECTIVE LENGTH) 0.025 +.0000 .0005 0.05 A 0.5 1.65 .02 31 0.25 1.22 .01 CONNECTOR S02B-PASK-2 15 0 5 -0.013 +.000 .002 .1968 31 0.25 1.22 .01 4.5 0.15 1.18 .01 R3MIN. 2 1 2 20 A 0 22 -0.05 1 19 4-M3 0.5 CN2:I/O Manufacturer JST CONNECTOR SM20B-SHLDS-GW-TF TAP DEPTH 4 .16 MIN. NAME PLATE PSW RSW DSW EARTH TERMINAL M2.5X0.45X4L 7 8 9A 6 1 2 O N BCD 3 4 5 5 6 42 0.5 1.65 .02 .87 012 EF 345 Part number Flange size Input source Note1 Getaway torque A Protection class Operation environment Applied standards Operating ambient temperature Note2 Basic specifications Environment Conservation humidity Operation altitude Vibration resistance Impact resistance Withstand voltage Insulation resistance Mass Weight Protection function Function LED indicator Command pulse input signal Note3 Power down input signal PD Step angle setting selection input EXT FULL/HALF setting selection input F/H I/O signals EMG input signal BUSY output signal Phase origin monitor output signal MON Alarm output signal AL Conservation temperature Operating ambient humidity DB21M142S-01 DC24 V 2 MAX. Class I 10 42 DB22M162S-01 60 3 MAX. Installation category over-voltage category : II, pollution degree : 2 EN61010-1 0 to +40 -20 to + 60 35 to 85%RH no condensation 10 to 90%RH no condensation 1000 m 3280 feet MAX. above sea level Not influenced at NDS-C-0110 standard section 3.2.2 division C . Not influenced when 1500V AC is applied between power input terminal and cabinet for one minute. 10M ohm MIN. when measured with 500V DC megohmmeter between input terminal and cabinet. 0.5kg 1.10lbs Against driver overheat Alarm monitor Photo coupler input method, input resistance 220 Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V Photo coupler input method, input resistance 470 Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V Photo coupler input method, input resistance 470 Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V Photo coupler input method, input resistance 470 Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V Photo coupler input method, input resistance 470 Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V Open collector output by photo coupler Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX. Open collector output by photo coupler Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX. Open collector output by photo coupler Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX. 0.87kg 1.92lbs Note1 Note that the power voltage must not exceed 24VDC + 10% (26.4VDC). Note2 If the driver is placed in a box, the temperature inside the box must not exceed this specified range. Note3 The maximum input frequency is 250k pulse/s. 60mm 1.65inch CN1:POWER Manufacturer JST CONNECTOR S02B-PASK-2 88 +2 0 +.08 3.46 .00 0.1 A 7 0.25 .27 .01 20.6 0.5 .81 .02 0.025 +.000 .25 -.001 60 0.5 2.36 .02 1.5 0.25 .06 .01 +1 +.04 15 0 .59 .00 47.1 0.13 1.85 .01 (EFFECTIVE LENGTH) 0.075 A 0 6.35 -0.013 1.5 .01 2 2 1 20 A 38.1 0.25 60 0.5 2.36 .02 R4MIN. 47.1 0.13 1.85 .01 1 19 CN2:I/O Manufacturer JST CONNECTOR SM20B-SHLDS-GW-TF PS RSW DS 5.8 0.15 .23 .01 4 +0.5 4.5 0 4 +.02 .18 .00 EARTH TERMINAL M2.5X0.45X4L 7 8 9A 6 1 2 O N BCD 6 IC for stepping motor 3 4 5 6 Dimensions Stepping motor Set model Tested under the following conditions ; 4.9m/s2, frequency range 10 to 55Hz, direction along X, Y and Z axes, for 2 hours each Stepping Motors with Internal drivers Specifications PLATE NAME E F0 12 345 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 mode CW, CCW 50s MIN. * The internal photo coupler turns ON within the and, at its falling edge to OFF, the internal circuit motor is 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 mode CK, U/D * The H level is input for and, at its rising edge to H level, the internal circuit stepping motor is activated. * Switching the input signal U/D should be performed while the input level on the CK side is L . 50s MIN. 10s MIN. 7 Input circuit configuration Input circuit configuration Approx. 10mA PD EXT F/H EMG * Shaded area indicates internal photo coupler ON . * 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. * 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]. * 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]. Input signal Timing of command pulse, step angle selection, and FULL/HALF selection input signal Command pulse 100s MIN. 10s MIN. Output interface Output circuit configuration BUSY MON AL MAX. 20mA Output signal MAX. 30V Driver Mon output CW pulse CCW pulse 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. * Output from MON is set to on at every 7.2 degrees of motor output shaft from phase origin. Dimensions * 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. When changing the division setting by F/H input signal. Switching to FULL step by external F/H Phase origin position Phase origin position HALF step FULL step Stop position at FULL step Motor shaft 8 IC for stepping motor Stepping motor Set model Stepping Motors with Internal drivers 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 General-purpose input 1 Emergency stop input Origin signal Reference Designation +COM ALMC Pin Number 6 6 Function Summary Input signal common of the 6 to 9 pins DC 5V is input. Recoverable alarms are cleared. Internal photo coupler off on Alarm clear 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 Signal Emergency stop signal General-purpose input 4c Reference Designation EMG Pin Number 9 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. It is for the output signal common. It is for the serial signal. It is for the serial signal. IN4 9 IN1 6 Origin signal Alarm clear signal During motor operation During program execution Zone signal During program execution During motor operation Zone signal Alarm output Output signal common DATA+ DATA ORG 9 EMG 6 ALMC BUSY 9 10 ORG 6 + direction overtravel signal +OT 7 PEND 10 ZONE 10 General-purpose input 2 Emergency stop input Origin signal Alarm clear signal - direction overtravel signal IN2 7 PEND 11 EMG 7 BUSY ZONE 11 11 ORG 7 ALMC 7 ALM 12 OT 8 OUT_COM DATA+ DATA 13 14 15 General-purpose input 3 Emergency stop input Origin signal Alarm clear signal IN3 8 EMG 8 ORG 8 ALMC 8 Specification Summary of Input/Output Signals (Pulse train I/F mode) Signal CW pulse input Standard Pulse train input CCW pulse input Standard Rotational direction input General-purpose input common Reference Designation CW+ CW CK+ CK CCW+ CCW U/D+ U/D +COM Pin Number 1 2 1 2 3 4 3 4 6 Function Summary When 2 input mode , Input drive pulse rotating CW direction. When 1 input mode , Input drive pulse train for motor rotation. When 2 input mode , Input drive pulse rotating CCW direction. When 1 input mode , Input motor rotational direction signal. Internal photo coupler ON CW direction Internal photo coupler OFF CCW direction Input signal common of the 6 to 9 pins DC5V is input. Inputting PD signal will cut off power off the 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 Signal Reference Designation Pin Number Function Summary When EXT input signal on internal photo coupler on , F/H input signal on internal photo coupler on HALF step F/H input signal off internal photo coupler off FULL step The emergency stop signal is input. Internal photo coupler on No emergency stop Internal photo coupler off Emergency stop 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 origin in power on it 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. FULL/HALF select input F/H 8 Emergency stop During motor operation EMG 9 BUSY 10 Power down input PD 6 Phase origin monitor output Alarm output Output signal common MON 11 ALM OUT_COM 12 13 Step angle select input EXT 7 *As for the Motor rotational direction, CW direction is regard as the clockwise revolution by viewing the Motor from output shaft side. 9 Specification Summary of Input/Output Signals (Parallel I/F mode) Signal Program drive Start/Stop Reference Designation START+ START- Pin Number 1 2 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 Input signal common of the 6 to 9 pins DC5V is input. Recoverable alarms are cleared. Internal photo coupler off on Alarm clear 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 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 Signal Emergency stop signal General-purpose input 4 Program number selection bit 8 Reference Designation EMG Pin Number 9 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. It is for the output signal common. It is for the serial signal. Program pause General-purpose input common Alarm clear signal standard General-purpose input 1 Program number selection bit 1 Emergency stop input Origin signal PAUSE+ PAUSE- 3 4 IN4 9 +COM 6 B8 9 ALMC 6 Origin signal Alarm clear signal During motor operation During program execution Zone signal During program execution During motor operation Zone signal Alarm output Output signal common DATA+ DATA ORG 9 IN1 6 ALMC BUSY 9 10 B1 6 EMG 6 ZONE 10 ORG 6 PEND 11 + direction overtravel signal General-purpose input 2 Program number selection bit 2 Emergency stop input Origin signal Alarm clear signal - direction overtravel signal +OT 7 BUSY ZONE 11 11 IN2 7 ALM 12 B2 7 OUT_COM DATA+ DATA 13 14 15 EMG 7 ORG 7 ALMC 7 -OT 8 General-purpose input 3 Program number selection bit 4 Emergency stop input Origin signal Alarm clear signal IN3 8 B4 8 EMG 8 External Wiring Diagrams Controller DC 24V 24G CN1 1 2 Driver 2 Phase Stepping Motor 24V 24G Power Supply 5G 5V ALMC 8 CN2 DATA DATA GND 5G 14 15 20 RXD TXD CW CW CCW CCW START START PAUSE PAUSE COM PD IN1 B1 1 2 3 4 5 6 DE EXT IN2 B2 7 FH IN3 B4 8 IN4 B8 BUSY OUT1 9 10 30V 20mA MAX. MON OUT2 11 ALM 12 OUT_COM 13 10 IC for stepping motor Dimensions ORG 8 Stepping motor It is for the serial signal. Set model PEND 10 Stepping Motors with Internal drivers 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 OFF OFF OFF OFF OFF Pulse stream I/F mode OFF 2 input mode (CW/CCW pulse) Micro step operation Power OFF Phase origin excitation 1 F/R 2 LV 3 PD 4 5 I. SEL 6 S. SEL For pulse stream I/F mode For parallel I/F mode or serial I/F mode 1 Input mode select F/R Input pulse mode selection This switch setting is only effective in pulse stream I/F mode. F/R Input pulse mode ON OFF 1 input mode CK,U/D 2 input mode CW,CCW The communication speed of serial communication is set. Switch F/R LV PD Set value OFF ON OFF ON OFF ON Communication speed(bps) 9,600 19,200 38,400 2 Low vibration mode select LV 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 ON OFF Operation Low vibration operation Micro step operation *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. *When LV select is ON low 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 select PD 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 ON OFF Motor winding current Current value by rotary switch STP Power Low 0A Power OFF *PD function the setting selected by PD of the function select dip switch is enabled by PD input signal ON built-in photo coupler ON of Input/ Output signal connector CN2 . 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 OFF unexcited 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 select EORG *By turning on the EORG, excitation phase when power OFF is saved. 5 , 6 Operation mode selection I.SEL, S.SEL The operation mode is selected. I.SEL OFF ON OFF ON S.SEL Operation mode Pulse stream I/F mode Parallel I/F mode Serial I/F mode *Change the operation mode selection switch after cutting off the driver s power supply. 11 Rotary switch(RSW) and the mode change switch(PSW) 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. Gradation Partition Gradation Partition 0 1 8 25 1 2 9 40 2 2.5 A 50 3 4 B 80 4 5 C 100 5 8 D 125 6 10 E 200 7 20 F 250 Ex-factory setting is at 1 (division 2) Set model *The step angle select switch (S.S) and the number of partitions become invalid by EXT input signal ON (built-in photo coupler ON) of Input/Output signal connector (CN2). 2. Driving current select(RUN) The Motor operation current value can be selected. Gradation Motor current (%) Gradation Motor current (%) 0 100 (rated) 8 60 1 95 9 55 2 90 A 50 3 85 B 45 4 80 C 40 5 75 D 35 6 70 E 30 7 65 F 25 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 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. Gradation Motor current (%) Gradation Motor current (%) 0 100 (rated) 8 60 1 95 9 55 2 90 A 50 3 85 B 45 4 80 C 40 5 75 D 35 6 70 E 30 7 65 F 25 Ex-factory setting is set at A (50%). *The current setting when stop by STP becomes valid when the Motor stops (approximately 200ms after the last pulse input) and when power down input signal For parallel I/F mode and serial I/F mode The slave bureau address of serial communications can be set. RSW 0 1 E F Slave station address (HEX) 0 1 E F Ex-factory setting is set at 0 *The slave station address of the pulse stream I/F mode is fixed at 0. 12 IC for stepping motor Dimensions Stepping motor 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. Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS DC input System configuration Unipolar standard Host Devices A Motor cable PLC PLC and controllers are available as the host device. Standard model : H series motor, SH series motor, 28mm 42mm 56mm 1.10inch / 1.65inch / 2.20inch Motor connector DC power connector I/O signal connector DC power cable I/O signal cable Switching power supply Noise filter Electromagnetic contactor Molded case circuit breaker Single phase AC100V to AC230V 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. 1 2 3 4 5 6 Lead wire color White Orange Blue Yellow Red Black JST 2 3 4 5 6 500 1.64 feet MIN. Lead wire Housing Pin UL1430 AWG26 HER-6 BLACK J.S.T Mfg.Co.,Ltd SEH-001T-P0.6 J.S.T Mfg.Co.,Ltd 13 2-phase STEPPING SYSTEMS Bipolar standard Host Devices A Motor cable PLC PLC and controllers are available as the host device. 28mm 42mm 50mm 56mm 60mm 1.10inch / 1.65inch / 1.97inch / 2.20inch / 2.36inch Motor connector DC power connector I/O signal connector DC power cable I/O signal cable Switching power supply Noise filter Electromagnetic contactor Molded case circuit breaker Single phase AC100V to AC230V 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 500 1.64 feet MIN. Pin No. 1 2 3 4 5 6 Red Orange Yellow Lead wire color Blue JST 2 500 1.64 feet MIN. Pin No. 4 Lead wire color Yellow Red Blue Orange 3 5 2 6 1 Lead wire Housing Pin UL1430 AWG26 HER-6 BLACK J.S.T Mfg.Co.,Ltd SEH-001T-P0.6 J.S.T Mfg.Co.,Ltd Lead wire Housing Pin UL1430 AWG22 VER-4N J.S.T Mfg.Co.,Ltd SVH-21T-P1.1 J.S.T Mfg.Co.,Ltd 14 IC for stepping motor 42mm 1.65inch 60mm 2.36inch Dimensions Stepping motor Set model Standard model : H series motor, SH series motor, Stepping Motors with Internal drivers DC input System configuration 3 4 2-phase STEPPING SYSTEMS DC input Part numbering convention The following set part number specifies a system with an F series unipolar driver type code : US1D200P10 2.20 inch square flange, and and a single shaft H series motor type code : 103H7121-0440 , 56 mm 41.8 mm 1.65 inch motor length. DU 1 6 H 71 1 S Stepping motor shaft spec S : Single shaft D : Double shaft Stepping motor total length Code 1 2 3 4 5 Stepping motor flange size 28mm 1.10inch 42mm 1.65inch Type Motor length Type Motor length code : mm inch code : mm inch 2281 32 1.26 5205 33 1.30 5208 39 1.54 5210 2285 51.5 2.03 48 1.89 50mm 1.97inch Motor length Type Motor length : mm inch code : mm inch 33 1.30 6701 39.8 1.57 39 1.54 6703 51.3 2.02 48 1.89 56mm 2.20inch Type Motor length code : mm inch 7121 41.8 1.65 7123 53.8 2.12 7126 75.8 2.89 60mm 2.36inch Type Motor length code : mm inch 7821 44.8 1.76 7822 53.8 2.12 7823 85.8 3.38 Type code 1401 1402 1404 Type code 1601 1602 1603 Motor length : mm inch 42 1.65 54 2.12 76 2.99 Stepping motor flange size 28 : 28mm 1.10inch 52 : 42mm 1.65inch 71 : 56mm 2.20inch 78 : 60mm 2.36inch 14 : 42mm 1.65inch 16 : 60mm 2.36inch Basic step angle 1.8 1.8 1.8 1.8 0.9 0.9 Stepping motor series name H : H series S : SH series Rated current specification 4 : 1A/phase 5 : 1.2A/phase 6 : 2A/phase Model Driver Specification U : 2-phase unipolar B : 2-phase bipolar Power specification D : DC 15 Combination list of 2-phase unipolar driver System type Motor flange size Basic step angle 1.8 1.8 1.8 1.8 1.8 0.9 0.9 0.9 1.8 Set part number Single shaft DU14S281S DU14S285S DU15H521S DU15H522S DU15H524S DU15S141S DU15S142S DU15S144S DU16H711S DU16H713S DU16H716S Double shaft DU14S281D DU14S285D DU15H521D DU15H522D DU15H524D DU15S141D DU15S142D DU15S144D DU16H711D DU16H713D DU16H716D Motor model number Single shaft SH2281-5271 SH2285-5271 103H5205-0440 103H5208-0440 103H5210-0440 SH1421-0441 SH1422-0441 SH1424-0441 103H7121-0440 103H7123-0440 103H7126-0440 Double shaft SH2281-5231 SH2285-5231 103H5205-0410 103H5208-0410 103H5210-0410 SH1421-0411 SH1422-0411 SH1424-0411 103H7121-0410 103H7123-0410 103H7126-0410 Rated current 1A 1A 1.2A 1.2A 1.2A 1.2A 1.2A 1.2A 2A 2A 2A 28mm 1.10inch Standard model 42mm 1.65inch 56mm 2.20inch 1.8 1.8 System type Motor flange size Basic step angle 1.8 1.8 1.8 1.8 1.8 0.9 0.9 0.9 1.8 1.8 1.8 1.8 1.8 1.8 1.8 1.8 0.9 0.9 0.9 Set part number Single shaft DB14S281S DB14S285S DB14H521S DB14H522S DB14H524S DB16S141S DB16S142S DB16S144S DB16H671S DB16H672S DB16H711S DB16H713S DB16H716S DB16H781S DB16H782S DB16H783S DB16S161S DB16S162S DB16S163S Double shaft DB14S281D DB14S285D DB14H521D DB14H522D DB14H524D DB16S141D DB16S142D DB16S144D DB16H671D DB16H672D DB16H711D DB16H713D DB16H716D DB16H781D DB16H782D DB16H783D DB16S161D DB16S162D DB16S163D Motor model number Single shaft SH2281-5771 SH2285-5771 103H5205-5240 103H5208-5240 103H5210-5240 SH1421-5241 SH1422-5241 SH1424-5241 103H6701-5040 103H6703-5040 103H7121-5740 103H7123-5740 103H7126-5740 103H7821-5740 103H7822-5740 103H7823-5740 SH1601-5240 SH1602-5240 SH1603-5240 Double shaft SH2281-5731 SH2285-5731 103H5205-5210 103H5208-5210 103H5210-5210 SH1421-5211 SH1422-5211 SH1424-5211 103H6701-5010 103H6703-5010 103H7121-5710 103H7123-5710 103H7126-5710 103H7821-5710 103H7822-5710 103H7823-5710 SH1601-5210 SH1602-5210 SH1603-5210 Rated current 1A 1A 1A 1A 1A 2A 2A 2A 2A 2A 2A 2A 2A 2A 2A 2A 2A 2A 2A 28mm 1.10inch 42mm 1.65inch Standard model 50mm 56mm 1.97inch 2.20inch 60mm 2.36inch 16 IC for stepping motor Dimensions Stepping motor Set model Combination list of 2-phase bipolar driver Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS DC input Specifications Size Motor flange size Motor length Set part Single shaft number Double shaft Holding torque Rotor inertia Mass Weight N m oz in 10-4 kg m2 oz in2 Standard model F series driver + H or SH series motor 28mm 1.10inch /1.8 32mm 1.26inch DU14S281S DU14S281D 0.055 7.79 0.01 0.05 0.11 0.24 3 0.67 42 9.44 51.5mm 2.03inch DU14S285S DU14S285D 0.115 16.28 0.022 0.12 0.2 0.44 3 0.67 49 11.02 Unipolar kg lbs N lbs N lbs Note 1 Allowable thrust load Allowable radial load Motor flange size Note1 When load is applied at 1/3 length from output shaft edge. 28 1.10inch 42 1.65inch 56 2.20inch 14 12 Torque oz in 1.0 0.8 Torque kgf cm Torque N m 0.1 0.08 0.06 0.04 0.02 0 Torque oz in Torque N m 20 16 12 8 4 0 Torque kgf cm 10 8 6 4 2 0 0.6 0.4 0.2 0 DC24V 0.1 1-division 2-division 10 1 10 10 9 8 7 6 5 4 3 2 1 0 100 28 24 2.0 1.6 1.2 0.8 0.4 0 0.2 0.16 0.12 0.08 0.04 0 0.1 1-division 2-division 10 1 10 10 9 8 7 6 5 4 3 2 1 0 100 Source current A Pulse rate kpulse/s 100 100 1000 2000 3000 5000 1000 2000 3000 5000 Pulse rate kpulse/s 100 100 1000 2000 3000 5000 1000 2000 3000 5000 Number of rotations min -1 Number of rotations min -1 14 12 Torque oz in 1.0 0.8 Torque kgf cm Torque N m 0.1 0.08 0.06 0.04 0.02 0 Torque oz in Torque N m 20 16 12 8 4 0 Torque kgf cm 10 8 6 4 2 0 0.6 0.4 0.2 0 Operating current: 1A/phase DC36V 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 0.1 1-division 2-division 10 1 10 10 9 8 7 6 5 4 3 2 1 0 100 28 24 2.0 1.6 1.2 0.8 0.4 0 0.2 0.16 0.12 0.08 0.04 0 0.1 1-division 2-division 10 1 10 10 9 8 7 6 5 4 3 2 1 0 100 Source current A Pulse rate kpulse/s 100 100 1000 2000 3000 5000 1000 2000 3000 5000 Pulse rate kpulse/s 100 100 1000 2000 3000 5000 1000 2000 3000 5000 Number of rotations min -1 Number of rotations min -1 The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. Size Motor flange size Motor length 33mm 1.30inch DU15S141S DU15S141D N m oz in 10-4 kg m2 oz in2 42mm 1.65inch /0.9 39mm 1.54inch DU15S142S DU15S142D 0.29 41.07 0.066 0.361 0.29 0.64 10 2.25 30 6 48mm 1.89inch DU15S144S DU15S144D 0.39 55.23 0.089 0.487 0.38 0.84 10 2.25 30 6 Set part Single shaft number Double shaft Holding torque Rotor inertia Mass Weight 0.2 28.32 0.044 0.24 0.24 0.53 10 2.25 30 6 kg lbs N lbs N lbs Note 1 Allowable thrust load Allowable radial load Note1 When load is applied at 1/3 length from output shaft edge. 70 60 Torque kgf cm Torque oz in 5 4 Torque N m 0.5 0.4 0.3 0.2 0.1 0 0.1 fs fs Torque kgf cm Torque kgf cm Torque oz in Torque oz in Torque N m 40 30 20 10 0 3 2 1 0 40 30 20 10 0 3 2 1 0 0.3 0.2 0.1 0 0.1 fs fs 40 30 20 10 0 3 2 1 0 Torque N m 50 DC24V 1 10 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A 5 4 0.5 0.4 50 1 10 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A 5 4 0.5 0.4 0.3 0.2 0.1 0 0.1 fs fs 50 1 10 10 9 8 7 6 5 4 3 2 1 0 100 Pulse rate kpulse/s 1-division 2-division Number of rotations min -1 1-division 2-division Pulse rate kpulse/s 1-division 2-division Pulse rate kpulse/s Number of rotations min -1 Number of rotations min -1 70 60 Torque kgf cm Torque oz in 5 4 Torque N m 0.5 0.4 0.3 0.2 0.1 0 0.1 fs fs Torque kgf cm Torque kgf cm Torque oz in Torque oz in Torque N m 40 30 20 10 0 3 2 1 0 40 30 20 10 0 3 2 1 0 0.3 0.2 0.1 0 0.1 fs fs 40 30 20 10 0 3 2 1 0 Torque N m 50 Operating current: 1 .2A/phase DC36V 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 1 10 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A 5 4 0.5 0.4 50 1 10 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A 5 4 0.5 0.4 0.3 0.2 0.1 0 0.1 fs fs 50 1 10 10 9 8 7 6 5 4 3 2 1 0 100 Pulse rate kpulse/s 1-division 2-division Number of rotations min -1 1-division 2-division Pulse rate kpulse/s 1-division 2-division Pulse rate kpulse/s Number of rotations min -1 Number of rotations min -1 17 The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. Source current A Source current A Source current A Source current A Size Motor flange size Motor length 33mm 1.30inch DU15H521S DU15H521D N m oz in 10-4 kg m2 oz in2 42mm 1.65inch /1.8 39mm 1.54inch DU15H522S DU15H522D 0.3 42.48 0.056 0.31 0.29 0.64 10 2.25 30 6 48mm 1.89inch DU15H524S DU15H524D 0.37 52.39 0.072 0.34 0.37 0.82 10 2.25 30 6 Set part Single shaft number Double shaft Holding torque Rotor inertia Mass Weight 0.2 28.32 0.036 0.20 0.23 0.51 10 2.25 30 6 kg lbs N lbs N lbs Note 1 Allowable thrust load Allowable radial load Note1 When load is applied at 1/3 length from output shaft edge. 70 60 Torque kgf cm Torque oz in 5 4 Torque N m 0.5 0.4 0.3 0.2 0.1 0 0.1 fs fs Torque kgf cm Torque kgf cm Torque oz in Torque oz in Torque N m 40 30 20 10 0 3 2 1 0 40 30 20 10 0 3 2 1 0 0.3 0.2 0.1 0 0.1 fs fs 40 30 20 10 0 3 2 1 0 Torque N m 50 0.1 0 0.1 fs fs 1 10 1 10 1 10 Pulse rate kpulse/s 1-division 2-division Number of rotations min -1 1-division 2-division Pulse rate kpulse/s 1-division 2-division Pulse rate kpulse/s Number of rotations min -1 Number of rotations min -1 70 60 Torque kgf cm Torque oz in 5 4 Torque N m 0.5 0.4 0.3 0.2 0.1 0 0.1 fs fs Torque oz in Torque oz in Torque N m 40 30 20 10 0 3 2 1 0 40 30 20 10 0 3 2 1 0 0.3 0.2 0.1 0 0.1 fs fs 40 30 20 10 0 3 2 1 0 Torque N m 50 Operating current: 1 .2A/phase DC36V 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 1 10 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A Torque kgf cm 5 4 0.5 0.4 Torque kgf cm 50 1 10 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A 5 4 0.5 0.4 0.3 0.2 0.1 0 0.1 fs fs 50 1 10 10 9 8 7 6 5 4 3 2 1 0 100 1-division 2-division Number of rotations min -1 2-division Number of rotations min -1 2-division Number of rotations min -1 Size Motor flange size Motor length 41.8mm 1.65inch DU16H711S DU16H711D N m oz in 10-4 kg m2 oz in2 56mm 2.20inch /1.8 53.8mm 2.12inch DU16H713S DU16H713D 0.83 117.5 0.21 1.15 0.63 1.39 15 3.37 71 15 75.8mm 2.98inch DU16H716S DU16H716D 1.27 179.8 0.36 1.97 0.98 2.16 15 3.37 71 15 Set part Single shaft number Double shaft Holding torque Rotor inertia Mass Weight 0.39 55.23 0.1 0.55 0.47 1.04 15 3.37 71 15 kg lbs N lbs N lbs Note 1 Allowable thrust load Allowable radial load Note1 When load is applied at 1/3 length from output shaft edge. 70 60 Torque kgf cm Torque oz in 5 4 Torque N m 0.5 0.4 0.3 0.2 0.1 0 0.1 fs fs Torque oz in Torque oz in Torque N m Torque N m 100 80 60 40 20 0 Torque kgf cm 50 40 30 20 10 0 3 2 1 0 DC24V 1 10 10 9 8 7 6 5 4 3 2 1 0 100 140 120 Source current A 10 8 6 4 2 0 1.0 0.8 0.6 0.4 0.2 0 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 280 240 Source current A 20 16 Torque kgf cm 2.0 1.6 1.2 0.8 0.4 0 200 160 120 80 40 0 12 8 4 0 fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 Pulse rate kpulse/s 1-division 2-division Number of rotations min -1 Pulse rate kpulse/s Pulse rate kpulse/s Number of rotations min -1 Number of rotations min -1 Source current A 70 60 Torque kgf cm Torque oz in 5 4 Torque N m 0.5 0.4 0.3 0.2 0.1 0 0.1 fs fs Torque kgf cm Torque oz in Torque oz in Torque N m 40 30 20 10 0 3 2 1 0 80 60 40 20 0 6 4 2 0 0.6 0.4 0.2 0 Torque N m 100 200 160 120 80 40 0 Torque kgf cm 50 Operating current: 2A/phase DC36V 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 1 10 10 9 8 7 6 5 4 3 2 1 0 100 140 120 Source current A 10 8 1.0 0.8 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 280 240 Source current A 20 16 12 8 4 0 2.0 1.6 1.2 0.8 0.4 0 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 Pulse rate kpulse/s 1-division 2-division Number of rotations min -1 Pulse rate kpulse/s Pulse rate kpulse/s Number of rotations min -1 Number of rotations min -1 18 IC for stepping motor Source current A Dimensions Stepping motor Pulse rate kpulse/s Pulse rate kpulse/s 1-division 1-division Pulse rate kpulse/s Source current A Set model DC24V 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A 5 4 0.5 0.4 50 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A 5 4 0.5 0.4 0.3 0.2 50 10 9 8 7 6 5 4 3 2 1 0 100 Source current A Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS DC input Specifications Size Motor flange size Motor length Set part Single shaft number Double shaft Holding torque Rotor inertia Mass Weight N m oz in 10-4 kg m2 oz in2 Standard model F series driver + H or SH series motor 28mm 1.10inch /1.8 32mm 1.26inch DB14S281S DB14S281D 0.07 9.91 0.01 0.05 0.11 0.24 3 0.67 42 9.44 51.5mm 2.03inch DB14S285S DB14S285D 0.145 20.53 0.022 0.12 0.2 0.44 3 0.67 49 9.44 Bipolar kg lbs N lbs N lbs Note 1 Allowable thrust load Allowable radial load Motor flange size Note1 When load is applied at 1/3 length from output shaft edge. 28 1.10inch 42 1.65inch 50 1.97inch 56 2.20inch 60 2.36inch 14 12 Torque oz in 1.0 0.8 Torque kgf cm Torque N m 0.1 0.08 0.06 0.04 0.02 0 Torque oz in Torque N m 20 16 12 8 4 0 Torque kgf cm 10 8 6 4 2 0 0.6 0.4 0.2 0 DC24V 0.1 1-division 2-division 10 1 10 10 9 8 7 6 5 4 3 2 1 0 100 28 24 2.0 1.6 1.2 0.8 0.4 0 0.2 0.16 0.12 0.08 0.04 0 0.1 1-division 2-division 10 1 10 10 9 8 7 6 5 4 3 2 1 0 100 Source current A Pulse rate kpulse/s 100 100 1000 2000 3000 5000 1000 2000 3000 5000 Pulse rate kpulse/s 100 100 1000 2000 3000 5000 1000 2000 3000 5000 Number of rotations min -1 Number of rotations min -1 14 12 Torque oz in 1.0 0.8 Torque kgf cm Torque N m 0.1 0.08 0.06 0.04 0.02 0 Source current A Torque oz in Torque N m 20 16 12 8 4 0 Torque kgf cm 10 8 6 4 2 0 0.6 0.4 0.2 0 1.2 0.8 0.4 0 0.12 0.08 0.04 0 DC36V 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 0.1 1-division 2-division 10 1 10 0.1 1-division 2-division 10 1 10 Pulse rate kpulse/s 100 100 1000 2000 3000 5000 1000 2000 3000 5000 Pulse rate kpulse/s 100 100 1000 2000 3000 5000 1000 2000 3000 5000 Number of rotations min -1 Number of rotations min -1 The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. Size Motor flange size Motor length 42mm 1.65inch /0.9 48mm 1.89inch DB16S144S DB16S144D 50mm 1.97inch /1.8 39.8mm 1.57inch DB16H671S DB16H671D 0.28 39.6 0.057 0.31 0.35 0.77 15 3.37 99 22 51.3mm 2.02inch DB16H673S DB16H673D 0.49 69.4 0.118 0.65 0.5 1.10 15 3.37 99 22 56mm 2.20inch /1.8 41.8mm 1.65inch DB16H711S DB16H711D 0.39 55.2 0.1 0.55 0.47 1.04 15 3.37 71 15 Set part Single shaft number Double shaft Holding torque Rotor inertia Mass Weight N m oz in 10-4 kg m2 oz in2 0.48 67.97 0.089 0.487 0.38 0.84 10 2.25 30 6 kg lbs N lbs N lbs Note 1 Allowable thrust load Allowable radial load Note1 When load is applied at 1/3 length from output shaft edge. 140 120 10 8 Torque kgf cm Torque N m 1.0 0.8 0.6 0.4 0.2 0 Torque oz in Torque oz in Torque oz in Torque oz in Torque N m Torque N m Torque N m 100 80 60 40 20 0 6 4 2 0 DC24V 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A Torque kgf cm 5 4 3 2 1 0 0.5 0.4 0.3 0.2 0.1 0 0.1 fs fs Torque kgf cm 100 80 60 40 20 0 100 80 60 40 20 0 Torque kgf cm 50 40 30 20 10 0 1 10 10 9 8 7 6 5 4 3 2 1 0 100 140 120 Source current A 10 8 6 4 2 0 1.0 0.8 0.6 0.4 0.2 0 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 140 120 Source current A 10 8 6 4 2 0 1.0 0.8 0.6 0.4 0.2 0 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 Pulse rate kpulse/s 1-division 2-division Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 140 120 10 8 Torque kgf cm Torque N m 1.0 0.8 0.6 0.4 0.2 0 Torque oz in Torque oz in Torque oz in Torque oz in Torque N m Torque N m 80 60 40 20 0 6 4 2 0 40 30 20 10 0 3 2 1 0 0.3 0.2 0.1 0 0.1 fs fs 80 60 40 20 0 6 4 2 0 0.6 0.4 0.2 0 Torque N m 100 Operating current: 2A/phase DC36V 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 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A Torque kgf cm 5 4 0.5 0.4 Torque kgf cm 100 100 80 60 40 20 0 Torque kgf cm 50 1 10 10 9 8 7 6 5 4 3 2 1 0 100 140 120 Source current A 10 8 1.0 0.8 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 140 120 Source current A 10 8 6 4 2 0 1.0 0.8 0.6 0.4 0.2 0 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 Pulse rate kpulse/s 1-division 2-division Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 19 The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. Source current A Source current A Source current A Operating current 28mm (1.10inch)/1.8 :1A /phase 42mm (1.65inch)/1.8 :1A /phase 42mm (1.65inch)/0.9 :2A /phase 10 9 8 7 6 5 4 3 2 1 0 100 28 24 2.0 1.6 0.2 0.16 10 9 8 7 6 5 4 3 2 1 0 100 Source current A 42mm 1.65inch /1.8 33mm 1.30inch DB14H521S DB14H521D 0.265 37.53 0.036 0.20 0.23 0.51 10 2.25 30 6 39mm 1.54inch DB14H522S DB14H522D 0.39 55.23 0.056 0.31 0.29 0.64 10 2.25 30 6 48mm 1.89inch DB14H524S DB14H524D 0.51 72.22 0.072 0.34 0.37 0.82 10 2.25 30 6 42mm 1.65inch /0.9 33mm 1.30inch DB16S141S DB16S141D 0.23 32.57 0.044 0.24 0.24 0.53 10 2.25 30 6 39mm 1.54inch DB16S142S DB16S142D 0.34 48.15 0.066 0.361 0.29 0.64 10 2.25 30 6 70 60 Torque kgf cm Torque oz in 5 4 Torque N m 0.5 0.4 0.3 0.2 0.1 0 0.1 fs fs Torque kgf cm Torque kgf cm Torque kgf cm Torque oz in Torque oz in Torque oz in Torque oz in Torque N m Torque N m Torque N m 40 30 20 10 0 3 2 1 0 40 30 20 10 0 3 2 1 0 0.3 0.2 0.1 0 0.1 fs fs 80 60 40 20 0 6 4 2 0 0.6 0.4 0.2 0 40 30 20 10 0 3 2 1 0 0.3 0.2 0.1 0 0.1 fs fs 40 30 20 10 0 3 2 1 0 Torque N m 100 Torque kgf cm 50 0.1 0 0.1 fs fs fs fs 1 10 1 10 0.1 1-division 2-division 1 10 1 10 1 10 Pulse rate kpulse/s 1-division 2-division Number of rotations min -1 1-division 2-division Pulse rate kpulse/s Pulse rate kpulse/s 1-division 2-division Pulse rate kpulse/s 1-division 2-division Pulse rate kpulse/s Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 70 60 Torque kgf cm Torque oz in 5 4 Torque N m 0.5 0.4 0.3 0.2 0.1 0 0.1 fs fs Torque kgf cm Torque kgf cm Torque kgf cm Torque oz in Torque oz in Torque oz in Torque oz in Torque N m Torque N m Torque N m 40 30 20 10 0 3 2 1 0 40 30 20 10 0 3 2 1 0 0.3 0.2 0.1 0 0.1 fs fs 80 60 40 20 0 6 4 2 0 0.6 0.4 0.2 0 40 30 20 10 0 3 2 1 0 0.3 0.2 0.1 0 0.1 fs fs 40 30 20 10 0 3 2 1 0 Torque N m 100 Torque kgf cm 50 1 10 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A 5 4 0.5 0.4 50 1 10 10 9 8 7 6 5 4 3 2 1 0 100 140 120 Source current A 10 8 1.0 0.8 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A 5 4 0.5 0.4 50 1 10 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A 5 4 0.5 0.4 0.3 0.2 0.1 0 0.1 fs fs 50 1 10 10 9 8 7 6 5 4 3 2 1 0 100 Pulse rate kpulse/s 1-division 2-division Number of rotations min -1 1-division 2-division Pulse rate kpulse/s Pulse rate kpulse/s 1-division 2-division Pulse rate kpulse/s 1-division 2-division Pulse rate kpulse/s Source current A Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 56mm 2.20inch /1.8 53.8mm 2.12inch DB16H713S DB16H713D 0.83 117.5 0.21 1.15 0.65 1.43 15 3.37 71 15 75.8mm 2.98inch DB16H716S DB16H716D 1.27 179.8 0.36 1.97 0.98 2.16 15 3.37 71 15 44.8mm 1.76inch DB16H781S DB16H781D 0.88 124.6 0.275 1.50 0.6 1.32 15 3.37 95 21 60mm 2.36inch /1.8 53.8mm 2.12inch DB16H782S DB16H782D 1.37 194.0 0.4 2.19 0.77 1.70 15 3.37 95 21 85.8mm 3.38inch DB16H783S DB16H783D 2.7 382.3 0.84 4.59 1.34 2.95 15 3.37 95 21 280 240 Torque oz in 20 16 Torque kgf cm Torque N m 2.0 1.6 1.2 0.8 0.4 0 Torque oz in Torque oz in Torque oz in Torque oz in Torque N m Torque N m 160 120 80 40 0 12 8 4 0 160 120 80 40 0 12 8 4 0 1.2 0.8 0.4 0 160 120 80 40 0 12 8 4 0 1.2 0.8 0.4 0 Torque N m 160 120 80 40 0 12 8 4 0 1.2 0.8 0.4 0 400 300 200 100 0 30 20 10 0 Torque N m 200 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 280 240 Source current A 20 16 Torque kgf cm 2.0 1.6 200 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 280 240 Source current A 20 16 Torque kgf cm 2.0 1.6 200 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 280 240 Source current A 20 16 Torque kgf cm 2.0 1.6 200 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 700 600 Source current A Torque kgf cm 50 40 5 4 3 2 1 0 0.1 fs fs 500 1 10 10 9 8 7 6 5 4 3 2 1 0 100 Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s 1-division 2-division Pulse rate kpulse/s Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Source current A 280 240 Torque oz in 20 16 Torque kgf cm Torque N m 2.0 1.6 1.2 0.8 0.4 0 Torque oz in Torque oz in Torque oz in Torque oz in Torque N m Torque N m 160 120 80 40 0 12 8 4 0 160 120 80 40 0 12 8 4 0 1.2 0.8 0.4 0 160 120 80 40 0 12 8 4 0 1.2 0.8 0.4 0 Torque N m 160 120 80 40 0 12 8 4 0 1.2 0.8 0.4 0 400 300 200 100 0 30 20 10 0 Torque N m 200 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 280 240 Source current A 20 16 Torque kgf cm 2.0 1.6 200 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 280 240 Source current A 20 16 Torque kgf cm 2.0 1.6 200 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 280 240 Source current A 20 16 Torque kgf cm 2.0 1.6 200 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 700 600 Source current A Torque kgf cm 50 40 5 4 3 2 1 0 0.1 fs fs 500 1 10 10 9 8 7 6 5 4 3 2 1 0 100 Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s 1-division 2-division Pulse rate kpulse/s Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 20 IC for stepping motor Source current A Dimensions Stepping motor Set model 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A 5 4 0.5 0.4 50 10 9 8 7 6 5 4 3 2 1 0 100 140 120 Source current A 10 8 1.0 0.8 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A 5 4 0.5 0.4 50 10 9 8 7 6 5 4 3 2 1 0 100 70 60 Source current A 5 4 0.5 0.4 0.3 0.2 50 10 9 8 7 6 5 4 3 2 1 0 100 Source current A Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS DC input Size Motor flange size Motor length Set part Single shaft number Double shaft Holding torque Rotor inertia Mass Weight Specifications 60mm 2.36inch /0.9 42mm 16.54inch DB16S161S DB16S161D 54mm 21.26inch DB16S162S DB16S162D 1.28 181.26 0.4 2.187 0.8 1.76 15 3.37 79 18 N m oz in 10-4 kg m2 oz in2 0.69 97.71 0.24 1.312 0.55 1.21 15 3.37 79 18 kg lbs N lbs N lbs Note 1 Allowable thrust load Allowable radial load Note1 When load is applied at 1/3 length from output shaft edge. 140 120 10 8 Torque kgf cm Torque N m 1.0 0.8 0.6 0.4 0.2 0 Torque oz in Torque oz in Torque N m 100 80 60 40 20 0 6 4 2 0 DC24V fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 280 240 Source current A 20 16 Torque kgf cm 2.0 1.6 1.2 0.8 0.4 0 200 160 120 80 40 0 12 8 4 0 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 Pulse rate kpulse/s Pulse rate kpulse/s Number of rotations min -1 Number of rotations min -1 140 120 10 8 Torque kgf cm Torque N m 1.0 0.8 0.6 0.4 0.2 0 Torque oz in Torque oz in Torque N m 100 80 60 40 20 0 6 4 2 0 Operating current: 2A/phase DC36V 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 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 280 240 Source current A 20 16 Torque kgf cm 2.0 1.6 1.2 0.8 0.4 0 200 160 120 80 40 0 12 8 4 0 fs fs 0.1 1-division 2-division 1 10 10 9 8 7 6 5 4 3 2 1 0 100 Pulse rate kpulse/s Pulse rate kpulse/s Number of rotations min -1 Number of rotations min -1 The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 21 Source current A Source current A Specifications of Drivers Unipolar Model number Basic specifications 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 Mass Weight Selection functions Protection functions LED indication Command pulse input signal US1D200P10 DC24 V / 36 V 10 3A Class III Installation category over-voltage category : I, pollution degree : 2 EN61010-1 UL508C 0 to +50 -20 to +70 35 to 85% RH no condensation 10 to 90% RH no condensation 2000 m 6560 feet or 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 kg 0.18 lbs Step angle, Pulse input mode, Step current, Operating current. Open phase protection, Main circuit power souce voltage decrease 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. I/O signals Poweer down input signal Phase origin monitor output signal Rotation monitor output signal Bipolar Model number Basic specifications 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 Mass Weight Selection functions Protection functions LED indication Command pulse input signal BS1D200P10 DC24 V / 36 V 10 3A Class III Installation category over-voltage category : I, pollution degree : 2 EN61010-1 UL508C 0 to +50 -20 to +70 35 to 85% RH no condensation 10 to 90% RH no condensation 2000 m 6560 feet or 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 kg 0.18 lbs Step angle, Pulse input mode, Step current, Operating current. Open phase protection, Main circuit power souce voltage decrease 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. I/O signals Phase origin monitor output signal Rotation monitor output signal 22 IC for stepping motor Dimensions Poweer down input signal Stepping motor Set model Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS DC input Specifications Operation, Connection, and Function Each section name of the drivers Unipolar 1 Driving current selection switch RUN You can select the value of the motor current when driving. 4 LED for alarm display ALM Lit when an alarm is generated. Indicator Explanation Motor cable is broken, or switching element in driver is faulty. The main circuit voltage is out of specifications range (Less than DC19V). 3 6 1 Dial 0 Stepping motor 2.0 current A Dial 8 Stepping motor 1.2 current A 1 1.9 9 1.1 2 1.8 A 1.0 3 1.7 B 0.9 4 1.6 C 0.8 5 1.5 D 0.7 6 1.4 E 0.6 7 1.3 F 0.5 ALM is displayed. The factory setting is F (0.5A). Select the current after checking the rated current of the combination motor. 2 Function selection DIP switchpack When ALM is displayed, the winding current of the stepping motor is cut off and it is in a non-excitation state. At the same time, an output signal is transmitted from the alarm output terminal (AL) to an external source. When the alarm circuit is operating, this state is maintained until it is reset by switching on the power supply again. When an alarm condition has occurred, please take corrective actions to rectify the cause of the alarm before switching on the power supply again. 2 7 5 4 Select the function depending on your specification. 5 I/O signal connector CN1 Connect the I/O signal. 3 LED for power supply monitor POW Lit up when the main circuit power supply is connected. Indicator POW is displayed. Explanation Main circuit power supply is switched on. 6 Motor connector CN2 Connect the motor s power line. 7 Power supply connector CN3 Connect the main circuit power supply. Bipolar 1 Driving current selection switch RUN You can select the value of the motor current when driving. 4 LED for alarm display ALM Lit when an alarm is generated. Indicator Explanation Motor cable is broken, or switching element in driver is faulty. The main circuit voltage is out of specifications range (Less than DC19V). 3 6 1 Dial 0 Stepping motor 2.0 current A Dial 8 Stepping motor 1.2 current A 1 1.9 9 1.1 2 1.8 A 1.0 3 1.7 B 0.9 4 1.6 C 0.8 5 1.5 D 0.7 6 1.4 E 0.6 7 1.3 F 0.5 ALM is displayed. The factory setting is F (0.5A). Select the current after checking the rated current of the combination motor. 2 Function selection DIP switchpack When ALM is displayed, the winding current of the stepping motor is cut off and it is in a non-excitation state. At the same time, an output signal is transmitted from the alarm output terminal (AL) to an external source. When the alarm circuit is operating, this state is maintained until it is reset by switching on the power supply again. When an alarm condition has occurred, please take corrective actions to rectify the cause of the alarm before switching on the power supply again. 2 7 5 4 Select the function depending on your specification. 5 I/O signal connector CN1 Connect the I/O signal. 3 LED for power supply monitor POW Lit up when the main circuit power supply is connected. Indicator POW is displayed. Explanation Main circuit power supply is switched on. 6 Motor connector CN2 Connect the motor s power line. 7 Power supply connector CN3 Connect the main circuit power supply. Specification summary of CN1 I/O signal Signal name CW pulse input standard Pulse column input CCW pulse input standard Rotation direction input CN1 Pin number 1 2 1 2 3 4 3 4 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 origin in the state when the power is turned ON It is turned ON once per 4 pulses when setting to HALF step. It is turned ON once per 8 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. Power down input 5 6 Phase origin monitor output 7 8 Alarm output 9 10 The CW rotation direction of stepping motor means the clockwise direction rotation as viewed from the output shaft side flange side . The CCW rotation direction means the counterclockwise direction rotation as viewed from the output shaft side flange side . 23 2 Input circuit configuration CW and CCW Pulse input Step angle select EX1 EX2 EX3 Select the partition number of the basic step angle. EX1 ON OFF ON OFF OFF EX2 ON ON OFF OFF OFF EX3 ON OFF OFF OFF ON Partition number 1-division 2-division 4-division 8-division 16-division Functions can be selected according to the specification with the dip switch. Check that the ex-factory settings are as follows. OFF EX1 EX2 EX3 F/R ACD1 ACD2 LV EORG ON OFF OFF OFF OFF OFF Stopping current: 40% of driving current OFF OFF OFF Micro step operation Phase origin Input method 2 (CW/CCW pulse input) Partition number: 8 Input method select F/R Selects input pulse type F/R ON OFF Input pulse type 1 input Pluse&direction 2 input CW, CCW Select the current value of the motor when stopping. ACD2 ON ON OFF OFF ACD1 ON OFF ON OFF Current value of the motor 100% of driving current 60% of driving current 50% of driving current 40% of driving current Initial configuration of factory shipment is set to 40% of rated value. Driver and motor should be operated at around 50% of rated value to reduce heat. Low-vibration mode select LV Provides low-vibration, smooth operation even if resolution is rough 1-division, 2-division, etc Stepping motor CN2 1 2 3 4 Orange Blue Red Yellow LV ON OFF Operation Auto-micro function Micro-step Excitation select EORG 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. 5 6 7 External wiring diagram Unipolar CN1 Pulse input (CW[CK]) Pulse input (CCW[U/D]) Power down input (PD) Phase origin monitor output (MON) Alarm output (AL) 1 2 3 4 5 6 7 8 9 10 CN3 DC24V/36V DC24G/36G 1 2 DC24V/36V DC24G/36G CN2 1 2 3 4 5 6 White Black Orange Blue Red Yellow Power down input (PD) Phase origin monitor output (MON) Alarm output (AL) Pulse input (CW[CK]) Bipolar CN1 1 2 3 4 5 6 7 8 9 10 CN3 1 2 M M Pulse input (CCW[U/D]) Applicable Wire Sizes 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 Part Allowable wire length 2 m MAX. 2 m MAX. 3 m MAX. 24 IC for stepping motor Dimensions Set model Current selection when stopping ACD1 ACD2 Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS Specifications Input circuit configuration of CW CK , CCW U/D * Pulse duty 50% MAX. 1(3) +5V 1000pF 220 * Maximum input frequency:150kpulse/s * When the crest value of the input signal exceeds 5V, use the external limit resistance R to limit the input current to approximately 15mA. Input signal R 2(4) Driver Input signal specifications Photo coupler type 3 s MIN. 4.0 to 5.5V 90% 50% Rotation 10% 0 to 0.5V 1 s MAX. 1 s MAX. Timing of the command pulse 2-input mode CW, CCW ON * Shaded area indicates internal photo coupler ON . Internal circuit motor starts operating at leading edge of the photo coupler ON . * To apply pulse to CW, set CCW side internal photo coupler to OFF . * To apply pulse to CCW, set CW side internal photo coupler to OFF . OFF ON OFF 50 s 1 input type CW, CCW ON * Shaded area indicates internal photo coupler ON . Internal circuit motor starts operating at leading edge of CK side photo coupler ON . 50 s 10 s OFF * Switching of U/D input signal must be done while CK side internal photo coupler is OFF . ON OFF 25 Input circuit configuration of PD 5 +5V 1000pF 220 * When the crest value of the input signal exceeds 5V, use the external limit resistance R to limit the input current to approximately 15mA. Input signal R 6 Driver Output signal configuration of MON, AL 7(9) MAX. 10 mA MAX. 40 V 8(10) Driver MON output CW pulse * Photo coupler at phase origin of motor excitation is set to ON . setting when number of divisions is 2 * Output from MON is set to on at every 7.2 degrees of motor output shaft from phase origin. Stepping motor CCW pulse Mon output 26 IC for stepping motor Dimensions Set model Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 28mmsq. 1.10inch sq. SH228 1.8 /step Unipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.055 7.79 0.055 7.79 0.115 16.28 0.115 16.28 Rated current A/phase 0.5 1 0.5 1 Wiring resistance /phase 10.5 2.85 16.5 4.1 Winding inductance mH/phase 3.7 1 7.1 1.9 Rotor inertia Mass Weight SH2281-5171 SH2281-5271 SH2285-5171 SH2285-5271 -5131 -5231 -5131 -5231 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.11 0.24 0.01 0.05 0.01 0.05 0.022 0.12 0.022 0.12 0.11 0.24 0.2 0.44 0.2 0.44 Pulse rate-torque characteristics SH2281-51 14 12 Torque kgf cm SH2285-51 28 24 Torque kgf cm SH2281-52 14 12 Torque kgf cm SH2285-52 28 24 Torque kgf cm 1 0.1 2 0.2 1 0.1 2 0.2 0.8 0.08 Torque oz in Torque N m 1.6 Torque N m 0.16 Torque oz in 0.8 0.08 Torque oz in Torque N m 1.6 Torque N m 0.16 10 Torque oz in 20 0.6 0.06 10 1.2 0.12 20 0.6 0.06 8 6 4 2 0 Pull-out torque at JL 16 12 8 4 Pull-out torque at JL 8 6 4 2 Pull-out torque at JL 16 12 8 4 1.2 0.12 Pull-out torque at JL 0.4 0.04 0.8 0.08 0.4 0.04 0.8 0.08 0.2 0 0.02 0 0 0.4 0 0.04 0 0 0.2 0 0.02 0 0 0.4 0 0.04 0 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V Operating current : 0.5A/phase, 2-phase energization (full-step) JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method] Constant current circuit Source voltage : DC24V Operating current : 0.5A/phase, 2-phase energization (full-step) JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method] Constant current circuit Source voltage : DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method] Constant current circuit Source voltage : DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method] The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. Bipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.07 9.91 0.07 9.91 0.145 20.53 0.145 20.53 Rated current A/phase 0.5 1 0.5 1 Wiring resistance /phase 10.5 2.6 15 3.75 Winding inductance mH/phase 7.2 1.85 13.5 3.4 Rotor inertia Mass Weight SH2281-5671 SH2281-5771 SH2285-5671 SH2285-5771 -5631 -5731 -5631 -5731 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.11 0.24 0.01 0.05 0.01 0.05 0.022 0.12 0.022 0.12 0.11 0.24 0.2 0.44 0.2 0.44 Pulse rate-torque characteristics SH2281-56 14 12 Torque kgf cm SH2285-56 28 24 Torque kgf cm SH2281-57 14 12 Torque kgf cm SH2285-57 28 24 2 0.2 1.6 Torque kgf cm Torque N m 1 0.1 2 0.2 1 0.1 0.8 0.08 Torque oz in Torque N m 1.6 Torque N m 0.16 Torque oz in 0.8 0.08 0.16 10 Torque oz in 20 0.6 0.06 10 1.2 0.12 Pull-out torque at JL 0.06 Torque oz in Torque N m 20 16 12 8 4 Pull-out torque at JL 1.2 0.12 8 6 4 2 0 Pull-out torque at JL 16 12 8 4 Pull-out torque at JL 8 6 4 2 0.6 0.4 0.04 0.8 0.08 0.4 0.04 0.8 0.08 0.2 0 0.02 0 0 0.4 0 0.04 0 0 0.2 0 0.02 0 0 0.4 0 0.04 0 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V Operating current : 0.5A/phase, 2-phase energization (full-step) JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method] Constant current circuit Source voltage : DC24V Operating current : 0.5A/phase, 2-phase energization (full-step) JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method] Constant current circuit Source voltage : DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method] Constant current circuit Source voltage : DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method] The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 27 2-phase stepping motor 35mm sq. 1.38inch sq. SH35 1.8 /step Unipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.12 16.99 0.15 21.24 0.23 32.57 Rated current A/phase 1.2 1.2 1.2 Wiring resistance /phase 2.4 2.7 3.4 Winding inductance mH/phase 1.3 2 2.8 Rotor inertia Mass Weight SH3533-12U40 SH3537-12U40 SH3552-12U40 -12U10 -12U10 -12U10 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.17 0.37 0.02 1.09 0.025 1.37 0.043 2.35 0.2 0.44 0.3 0.66 SH3533-12U 2.0 25 1.6 20 Torque (kgf-cm) Torque(oz*in.) Torque(oz*in.) Torque (N-m) SH3537-12U 2.0 25 60 0.2 70 0.16 50 Torque (kgf-cm) Torque (N-m) SH3552-12U 5 0.5 0.4 0.2 0.16 20 1.6 4 1.2 15 Pull-out torque at JL1 15 1.2 40 30 20 3 Torque (N-m) 0.12 0.12 Torque (kgf-cm) Torque(oz*in.) Pull-out torque at JL1 0.3 10 0.8 0.08 Pull-out torque at JL1 0.2 10 0.04 0.8 0.08 2 5 0.4 5 0.4 0.04 10 1 0.1 0 0 0 0.1 100 0 1 10 Pulse rate (kpulse/s) Number 1000 2000 3000 5000 of rotations (min-1) 0 0 0.1 100 100 1 10 Pulse rate (kpulse/s) 1000 2000 3000 5000 rotations (min-1) 100 0 0 0 0.1 100 1 10 Pulse rate (kpulse/s) 1000 2000 3000 5000 rotations (min-1) 100 Number of Number of The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 28 IC for stepping motor Dimensions Stepping motor Constant current circuit Source voltage : DC24V Operating current : 1.2A/phase, 2-phase energization (full-step) JL1=[0.33 10-4kg m2 (1.80 oz in2) Use the rubber coupling] Constant current circuit Source voltage : DC24V Operating current : 1.2A/phase, 2-phase energization (full-step) JL1=[0.33 10-4kg m2 (1.80 oz in2) Use the rubber coupling] Constant current circuit Source voltage : DC24V Operating current : 1.2A/phase, 2-phase energization (full-step) JL1=[0.94 10-4kg m2 (5.14 oz in2) Use the rubber coupling] Set model Pulse rate-torque characteristics Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 42mm sq. 1.65inch sq. SS242 1.8 / step Bipolar winding Bipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.083 11.75 0.186 26.33 0.240 33.98 Rated current A/phase 1 1 1 Wiring resistance /phase 3.5 5.4 7.3 Winding inductance mH/phase 1.2 2.9 5 Rotor inertia Mass Weight SS2421-5041 SS2422-5041 SS2423-5041 -5011 -5011 -5011 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.07 0.15 0.015 0.082 0.028 0.153 0.038 0.208 0.14 0.31 0.20 0.44 Pulse rate-torque characteristics SS2421-50 1 12 Torque (kgf cm) Torque (oz in.) SS2422-50 2 24 Torque kgf cm Torque oz in. SS2423-50 5 0.50 0.40 Torque N m 0.10 0.08 Torque (N m 0.20 Pull-out torque at JL1 Torque oz in. 60 Torque kgf cm 0.8 0.6 0.4 0.2 Pull-out torque at JL1 1.5 0.15 4 3 2 1 8 0.06 0.04 0.02 0.00 0.1 100 16 Torque 1 0.10 40 0.30 Pull-out torque at JL2 0.20 0.10 0.00 4 8 0.5 0.05 20 0 0 fs 1 Pulse rate kpulse/s 1000 2000 3000 0 10 min-1 100 0 0.00 0.1 100 fs 1 Pulse rate kpulse/s 1000 2000 3000 10 min-1 100 0 0 fs 0.1 100 1 Pulse rate kpulse/s 10 1000 2000 3000 100 Number of rotations Number of rotations Number of rotations min-1 Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.33x10-4kg m2 1.80 oz in2 inertia of rubber coupling is in cluded JL2 = 0.94x10-4kg m2 5.14 oz in2 inertia of rubber coupling is in cluded fs: No load maximum starting pulse rate Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.33x10-4kg m2 1.80 oz in2 inertia of rubber coupling is in cluded JL2 = 0.94x10-4kg m2 5.14 oz in2 inertia of rubber coupling is in cluded fs: No load maximum starting pulse rate Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.33x10-4kg m2 1.80 oz in2 inertia of rubber coupling is in cluded JL2 = 0.94x10-4kg m2 5.14 oz in2 inertia of rubber coupling is in cluded fs: No load maximum starting pulse rate The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 29 2-phase STEPPING SYSTEMS 2-phase stepping motor 42mm sq. 1.65inch sq. SH142 0.9 /step Unipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.20 28.32 0.29 41.07 0.39 55.23 Rated current A/phase 1.2 1.2 1.2 Wiring resistance /phase 2.7 3.1 3.5 Winding inductance mH/phase 3.2 5.3 5.3 Rotor inertia Mass Weight SH1421-0441 SH1422-0441 SH1424-0441 -0411 -0411 -0411 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.24 0.53 0.044 0.241 0.066 0.361 0.089 0.487 0.29 0.64 0.38 0.84 SH1421-04 70 60 Torque kgf cm SH1422-04 70 60 Torque kgf cm SH1424-04 70 60 Torque kgf cm 5 0.5 5 0.5 5 0.5 4 Torque N m 0.4 Torque oz in 4 Torque N m 0.4 Torque oz in 4 Torque N m 0.4 50 Torque oz in 50 3 0.3 40 30 20 10 0 0 40 30 20 10 0 3 0.3 Pull-out torque at JL1 50 40 30 20 10 3 0.3 Pull-out torque at JL1 0.2 Pull-out torque at JL1 0.2 2 2 0.2 2 1 0 0.1 1 0 0.1 0 1 0 0 0.1 0 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 50 100 1 500 1000 10 2000 100 Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min -1 0.1 100 1 1000 10 2000 3000 5000 -1 100 Pulse rate kpulse/s Number of rotations min The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 30 IC for stepping motor Dimensions Stepping motor Constant current circuit Source voltage : DC24V operating current : 1.2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling Constant current circuit Source voltage : DC24V operating current : 1.2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling Constant current circuit Source voltage : DC24V operating current : 1.2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling Set model Pulse rate-torque characteristics Stepping Motors with Internal drivers Stepping motor Specifications Bipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.23 32.5 0.23 32.5 0.34 48.1 0.34 48.1 0.48 67.9 0.48 67.9 Rated current A/phase 1 2 1 2 1 2 Wiring resistance /phase 3.3 0.85 4.0 1.05 4.7 1.25 Winding inductance mH/phase 8.0 2.1 14.0 3.6 15.0 3.75 Rotor inertia Mass Weight SH1421-5041 SH1421-5241 SH1422-5041 SH1422-5241 SH1424-5041 SH1424-5241 -5011 -5211 -5011 -5211 -5011 -5211 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.044 0.24 0.24 0.53 0.044 0.24 0.066 0.36 0.066 0.36 0.089 0.49 0.089 0.49 0.24 0.53 0.29 0.64 0.29 0.64 0.38 0.84 0.38 0.84 Pulse rate-torque characteristics SH1421-50 5 60 4 cm oz in m SH1422-50 5 60 SH1424-50 5 60 0.5 0.5 0.5 0.4 cm oz in 4 m 0.4 oz in 4 cm m 0.4 Pull-out torque at JL1 0.3 Torque kgf Torque kgf Torque kgf Torque N 40 Pull-out torque at JL1 40 Torque Pull-out torque at JL1 0.2 2 2 0.2 Torque 2 Torque N 40 Torque Torque N 3 0.3 3 0.3 3 0.2 20 20 0.1 0 0.1 100 20 1 0 0 1 0.1 0 0.1 100 1 0.1 0 0.1 100 fs 1 Pulse rate 0 10 kpulse/s 1000 2000 3000 5000 0 fs 1 Pulse rate 10 kpulse/s 1000 2000 3000 5000 100 100 0 0 fs 1 10 Pulse rate kpulse/s 1000 2000 3000 5000 100 Number of rotations min-1 Number of rotations min-1 Number of rotations min-1 Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling SH1421-52 70 60 Torque kgf cm SH1422-52 70 60 Torque kgf cm SH1424-52 70 60 Torque kgf cm 5 0.5 5 0.5 5 0.5 4 Torque N m 0.4 Torque oz in 4 Torque N m 0.4 4 Torque N m 0.4 50 Torque oz in 50 3 0.3 Pull-out torque at JL1 3 0.3 Torque oz in 50 40 30 20 10 Pull-out torque at JL1 3 0.3 40 30 20 10 0 Pull-out torque at JL1 0.2 40 30 20 10 2 2 0.2 2 0.2 1 0 0.1 0 1 0.1 0 1 0.1 0 fs 1 100 0 0 fs 1 100 0.1 10 1000 2000 3000 5000 100 0.1 10 1000 2000 3000 5000 100 0 0 fs 1 100 Pulse rate kpulse/s Pulse rate kpulse/s 0.1 10 1000 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min-1 Number of rotations min-1 Number of rotations min-1 Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 31 2-phase STEPPING SYSTEMS 2-phase stepping motor 42mm sq. 1.65inch sq. 103H52 1.8 /step Unipolar winding Connector type Model Single shaft Double shafts 103H5205-0440 103H5208-0440 103H5209-0440 103H5210-0440 -0410 -0410 -0410 -0410 A/phase 1.2 1.2 1.2 1.2 /phase 2.4 2.9 3 3.3 mH/phase 2.3 3.4 3.9 3.4 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.23 0.51 0.036 0.20 0.056 0.31 0.062 0.34 0.074 0.40 0.29 0.64 0.31 0.68 0.37 0.82 0.3 42.48 0.32 45.31 0.37 52.39 Bipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.23 32.57 0.25 35.40 0.265 37.53 0.35 49.56 0.38 53.81 0.39 55.23 0.38 53.81 0.41 58.06 0.425 60.18 0.465 65.85 0.49 69.39 0.51 72.22 Rated current A/phase 0.25 0.5 1 0.25 0.5 1 0.25 0.5 1 0.25 0.5 1 Wiring resistance /phase 54 13.4 3.4 66 16.5 4.1 71.4 18.2 4.4 80 20 4.8 Winding inductance mH/phase 78 23.4 6.5 116 34 9.5 133 39 11 123.3 35 9.5 Rotor inertia Mass Weight 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 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.23 0.51 0.036 0.20 0.036 0.20 0.036 0.20 0.056 0.31 0.056 0.31 0.056 0.31 0.062 0.34 0.062 0.34 0.062 0.34 0.074 0.40 0.074 0.40 0.074 0.40 0.23 0.51 0.23 0.51 0.29 0.64 0.29 0.64 0.29 0.64 0.31 0.68 0.31 0.68 0.31 0.68 0.37 0.82 0.37 0.82 0.37 0.82 Pulse rate-torque characteristics 103H5205-04 70 60 4 50 Torque kgf cm Torque oz in Torque oz in Torque N m 103H5208-04 70 60 4 50 Torque kgf cm Torque oz in Torque N m 103H5209-04 70 60 4 50 Torque kgf cm Torque oz in Torque N m 103H5210-04 70 60 4 50 Torque kgf cm 5 0.5 5 0.5 5 0.5 5 0.5 0.4 0.4 0.4 0.4 40 30 20 3 0.3 40 30 20 3 0.3 Pull-out torque at JL1 0.2 40 30 20 3 0.3 Torque N m Pull-out torque at JL1 0.2 40 30 20 3 0.3 Pull-out torque at JL1 0.2 2 0.2 2 2 2 Starting torque at JL2 0.1 Starting torque at JL2 1 0.1 1 10 0 0 0.1 1 1 10 0.1 Starting torque at JL2 0 10 0 0 0 Starting torque at JL2 0 0 10 0 0 0 0 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 1.2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 1.2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 1.2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 1.2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 32 IC for stepping motor Pull-out torque at JL1 Dimensions Stepping motor Set model Holding torque at 2-phase energization [N m oz in MIN.] 0.2 28.32 Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight Stepping Motors with Internal drivers Stepping motor Specifications 103H5205-50 70 60 4 50 Torque kgf cm Torque oz in Torque oz in Torque N m 103H5205-51 70 60 4 50 Torque kgf cm Torque oz in 103H5205-52 70 60 4 50 Torque kgf cm 5 0.5 5 0.5 5 0.5 0.4 0.4 0.4 40 30 20 3 0.3 Torque N m 40 30 20 3 0.3 Torque N m 40 30 20 3 0.3 Pull-out torque at JL1 0.2 Pull-out torque at JL1 0.2 2 0.2 2 2 Pull-out torque at JL1 0.1 1 10 0 0 Starting torque at 0 JL2 0.1 100 1 10 0 0 0.1 Starting torque at 0 JL2 0.1 100 1 10 0 0 0.1 Starting torque at 0 JL2 0.1 100 1 1000 10 2000 3000 5000 100 1 1000 10 2000 3000 5000 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 0.25A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 0.5A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling 103H5208-50 70 60 4 50 Torque kgf cm Torque oz in Torque oz in Torque N m 103H5208-51 70 60 4 50 Torque kgf cm Torque oz in Torque N m 103H5208-52 70 60 4 50 Torque kgf cm 5 0.5 5 0.5 5 0.5 0.4 0.4 0.4 40 30 20 3 0.3 40 30 20 3 0.3 Torque N m Pull-out torque at JL1 0.2 Pull-out torque at JL1 0.2 40 30 20 3 0.3 Pull-out torque at JL1 0.2 2 2 2 1 10 0 0 0.1 0 Starting torque at JL2 1 100 1000 1 10 0 0 0.1 0 Starting torque at JL2 1 100 1000 1 10 0 0 0.1 0 Starting torque at JL2 1 100 1000 0.1 10 2000 3000 5000 -1 100 0.1 10 2000 3000 5000 -1 100 0.1 10 2000 3000 5000 -1 100 Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Constant current circuit Source voltage : DC24V operating current : 0.25A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 0.5A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling 103H5209-50 70 60 4 50 Torque kgf cm Torque oz in Torque oz in Torque N m 103H5209-51 70 60 4 50 Torque kgf cm Torque oz in 103H5209-52 70 60 4 50 Torque kgf cm Torque N m 5 0.5 5 0.5 5 0.5 0.4 0.4 0.4 Pull-out torque at JL1 3 0.3 40 30 20 3 0.3 Torque N m 40 30 20 3 0.3 40 30 20 Pull-out torque at JL1 0.2 Pull-out torque at JL1 0.2 2 2 2 0.2 1 10 0 0 0.1 Starting torque at 0 JL2 0.1 100 1 10 0 0 0.1 1 0.1 Starting torque at JL2 0 Starting torque at JL2 1 100 1000 10 0 0 0 1 1000 10 2000 3000 5000 100 0.1 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 0.25A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 0.5A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling 103H5210-50 70 60 4 50 Torque kgf cm Torque oz in Torque oz in Torque N m 103H5210-51 70 60 4 50 Torque kgf cm Torque oz in Torque N m 103H5210-52 70 60 4 50 Torque kgf cm 5 0.5 5 0.5 5 0.5 0.4 0.4 0.4 Pull-out torque at JL1 Torque N m 40 30 20 3 0.3 40 30 20 3 0.3 Pull-out torque at JL1 0.2 40 30 20 3 0.3 2 0.2 2 2 0.2 Starting torque at JL2 Pull-out torque at JL1 0.1 1 10 0 0 Starting torque at 0 JL2 0.1 100 1 10 0 0 0.1 0 Starting torque at JL2 1 100 1000 1 10 0 0 0.1 0 1 1000 10 2000 3000 5000 100 0.1 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 0.25A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 0.5A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling 33 The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 2-phase STEPPING SYSTEMS 2-phase stepping motor 50mm sq. 1.97inch sq. SS250 1.8 / step Bipolar winding Bipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.1 14.16 0.215 30.44 Rated current A/phase 1 1 Wiring resistance /phase 4.5 5.9 Winding inductance mH/phase 1.8 3.2 Rotor inertia Mass Weight SS2501-5041 SS2502-5041 -5011 -5011 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.09 0.20 0.026 0.142 0.049 0.268 0.15 0.33 SS2501-50 1 12 0.8 SS2502-50 2 0.20 24 Torque (kgf cm) 0.10 0.08 Pull-out torque at JL 1.5 Torque (N m Pull-out torque at JL Torque (oz in.) Torque (kgf cm) 0.15 Torque (oz in.) Torque (N m 8 0.6 0.4 0.2 0.06 0.04 0.02 0.00 0.1 100 16 1 0.10 4 8 0.5 0.05 0 0 fs 1 Pulse rate kpulse/s 1000 20003000 10 0 0 0.00 0.1 100 fs 1 Pulse rate kpulse/s 1000 20003000 10 min-1 Number of rotations min-1 Number of rotations The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 34 IC for stepping motor Dimensions Stepping motor Constant current circuit Source voltage : DC24V operating current : 1A/phase, 1-2-phase energization half-step JL = 0.01x10-4kg m2 0.055 oz in2 Pulley barancer system fs: No load maximum starting pulse rate Constant current circuit Source voltage : DC24V operating current : 1A/phase, 1-2-phase energization half-step JL = 0.01x10-4kg m2 0.055 oz in2 Pulley barancer system fs: No load maximum starting pulse rate Set model Pulse rate-torque characteristics Stepping Motors with Internal drivers Stepping motor Specifications 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 50mm sq. 1.97inch sq. 103H670 1.8 /step Unipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.28 39.6 0.28 39.6 0.28 39.6 0.49 69.4 0.49 69.4 0.49 69.4 0.53 75.1 0.52 73.6 0.53 75.1 Rated current A/phase 1 2 3 1 2 3 1 2 3 Wiring resistance /phase 4.3 1.1 0.6 6 1.6 0.83 6.5 1.7 0.9 Winding inductance mH/phase 6.8 1.6 0.7 13 3.2 1.4 16.5 3.8 1.7 Rotor inertia Mass Weight 103H6701-0140 103H6701-0440 103H6701-0740 103H6703-0140 103H6703-0440 103H6703-0740 103H6704-0140 103H6704-0440 103H6704-0740 Bipolar winding Model Single shaft -0110 -0410 -0710 -0110 -0410 -0710 -0110 -0410 -0710 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.057 0.31 0.35 0.77 0.057 0.31 0.057 0.31 0.118 0.65 0.118 0.65 0.118 0.65 0.14 0.77 0.14 0.77 0.14 0.77 0.35 0.77 0.35 0.77 0.5 1.10 0.5 1.10 0.5 1.10 0.55 1.21 0.55 1.21 0.55 1.21 Double shafts 103H6701-5040 103H6703-5040 103H6704-5040 -5010 -5010 -5010 Holding torque at 2-phase energization [N m oz in MIN.] 0.28 39.6 0.09 12.7 0.52 73.6 Rated current A/phase 2 2 2 Wiring resistance /phase 0.6 0.8 0.9 Winding inductance mH/phase 1.6 3.2 3.8 Rotor inertia Mass Weight [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.57 0.31 0.35 0.77 0.118 0.65 0.14 0.77 0.5 1.10 0.55 1.21 35 103H6701-01 70 60 4 50 Torque kgf cm Torque oz in Torque oz in Torque N m 103H6701-04 70 60 4 50 Torque kgf cm Torque oz in Torque N m 103H6701-07 70 60 4 50 Torque kgf cm 5 0.5 5 0.5 5 0.5 0.4 0.4 0.4 40 30 20 3 0.3 Pull-out torque at JL1 0.2 40 30 20 3 0.3 Pull-out torque at JL1 0.2 40 30 20 3 0.3 Pull-out torque at JL1 0.2 2 2 2 Starting torque at JL2 0.1 Starting torque at JL2 0.1 1 10 0 0 0.1 1 1 10 Starting torque at JL2 0 10 0 0 0 0 0 0 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 -1 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling 103H6703-01 70 60 4 50 Torque kgf cm Torque oz in Torque N m 103H6703-04 70 60 4 5 0.5 103H6703-07 70 60 4 5 0.5 5 0.5 0.4 0.4 0.4 Pull-out torque at JL1 Torque oz in 50 Torque kgf cm Torque N m Pull-out torque at JL1 Torque oz in 50 Torque kgf cm Torque N m Pull-out torque at JL1 3 0.3 40 30 20 3 0.3 40 30 20 3 0.3 40 30 20 Starting torque at JL2 0.2 2 0.2 1 10 0 0 0.1 Starting torque at JL2 2 0.2 2 Starting torque at JL2 1 0.1 1 10 0.1 10 0 0 0 0 0 0 0 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 -1 100 Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling 103H6704-01 140 120 100 Torque kgf cm Torque N m Torque oz in 103H6704-04 140 120 100 Torque kgf cm Torque N m Torque oz in 103H6704-07 140 10 1.0 10 1.0 10 1.0 8 0.8 8 0.8 120 100 8 Torque kgf cm 0.8 6 Torque oz in 0.6 Torque N m 6 0.6 80 60 40 80 60 40 6 0.6 Pull-out torque at JL1 0.4 Pull-out torque at JL1 0.4 80 60 40 Pull-out torque at JL1 0.4 4 4 2 20 0 0 0.2 2 0.2 Starting torque at JL2 4 0 Starting torque at JL2 1 100 1000 2 20 0.2 20 0 0 0 Starting torque at JL2 0 0 Pulse rate kpulse/s 100 1000 2000 3000 5000 Pulse rate kpulse/s 2000 3000 5000 100 Pulse rate kpulse/s 1000 2000 3000 5000 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling 103H6701-50 70 60 50 Torque kgf cm Torque N m Torque oz in 103H6703-50 140 10 1.0 140 0.8 120 103H6704-50 10 1.0 5 0.5 4 0.4 120 8 Torque kgf cm 8 Torque kgf cm 0.8 Pull-out torque at JL1 3 0.3 100 Torque N m Torque oz in Pull-out torque at JL1 6 0.6 100 Torque N m Torque oz in 40 30 20 70 60 40 80 60 40 Pull-out torque at JL1 0.4 2 0.2 4 0.4 4 1 10 0 0 0.1 20 0 0 2 0.2 20 2 0.2 0 0 0 0 0 Starting torque at JL2 1 100 1000 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 0.1 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL2 = 0.14x10-4kg m2 0.77 oz in2 pulley balancer method The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 36 IC for stepping motor 6 0.6 Dimensions 0.1 10 100 0.1 1 10 100 0 0.1 1 10 100 Stepping motor Set model Stepping Motors with Internal drivers Pulse rate-torque characteristics Torque N m 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 56mm sq. 2.20inch sq. 103H712 1.8 /step Unipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.39 55.2 0.39 55.2 0.39 55.2 0.83 117. 0.83 117.5 0.78 110.5 0.98 138.8 0.98 138.8 0.98 138.8 1.27 179.8 1.27 179.8 1.27 179.8 Rated current A/phase 1 2 3 1 2 3 1 2 3 1 2 3 Wiring resistance /phase 4.8 1.25 0.6 6.7 1.6 0.77 7 1.7 0.74 8.6 2 0.9 Winding inductance mH/phase 8 1.9 0.8 15 3.8 1.58 14.5 3.1 1.4 19 4.5 2.2 Rotor inertia Mass Weight 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 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.47 1.04 0.1 0.55 0.1 0.55 0.1 0.55 0.21 1.15 0.21 1.15 0.21 1.15 0.245 1.34 0.245 1.34 0.245 1.34 0.36 1.97 0.36 1.97 0.36 1.97 0.47 1.04 0.47 1.04 0.65 1.43 0.65 1.43 0.65 1.43 0.8 1.76 0.8 1.76 0.8 1.76 0.98 2.16 0.98 2.16 0.98 2.16 Bipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.55 77.9 0.55 77.9 0.55 77.9 1.0 141.6 1.0 141.6 1.0 141.6 1.6 226.6 1.6 226.6 1.6 226.6 2.0 283.2 2.0 283.2 2.0 283.2 Rated current A/phase 1 2 3 1 2 3 1 2 3 1 2 3 Wiring resistance /phase 4.3 1.1 0.54 5.7 1.5 0.7 7.7 2 0.94 8.9 2.3 1.03 Winding inductance mH/phase 14.5 3.7 1.74 29.4 7.5 3.5 34.6 9.1 4 40.1 10.4 4.3 Rotor inertia Mass Weight 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 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.1 0.55 0.47 1.04 0.1 0.55 0.1 0.55 0.21 1.15 0.21 1.15 0.21 1.15 0.36 1.97 0.36 1.97 0.36 1.97 0.49 2.68 0.49 2.68 0.49 2.68 0.47 1.04 0.47 1.04 0.65 1.43 0.65 1.43 0.65 1.43 0.98 2.16 0.98 2.16 0.98 2.16 1.3 2.87 1.3 2.87 1.3 2.87 37 Pulse rate-torque characteristics 103H7121-01 70 60 4 50 Torque kgf cm Torque oz in Torque oz in Torque N m 103H7121-04 70 60 4 50 Torque kgf cm Torque N m 103H7121-07 70 60 4 5 0.5 5 0.5 5 0.5 0.4 0.4 0.4 Pull-out torque at JL1 Torque oz in 50 Torque kgf cm Torque N m Pull-out torque at JL1 3 0.3 40 30 20 3 0.3 Pull-out torque at JL1 0.2 40 30 20 3 0.3 40 30 20 2 2 0.2 2 0.2 Starting torque at JL2 0.1 Starting torque at JL2 1 0.1 1 10 0 0 0.1 1 Starting torque at JL2 0 10 0 0 0 10 0 0 0 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 103H7123-01 140 120 100 Torque kgf cm Torque N m Torque oz in 103H7123-04 140 10 1.0 103H7123-07 140 10 1.0 10 1.0 8 0.8 120 100 Torque kgf cm 8 0.8 120 8 Torque kgf cm 0.8 Pull-out torque at JL1 6 0.6 Pull-out torque at JL1 Torque N m 100 Torque N m Torque oz in Torque oz in 6 0.6 6 0.6 80 60 40 80 60 40 80 60 40 Pull-out torque at JL1 0.4 4 0.4 4 0.4 4 2 20 0 0 0.2 0 Starting torque at JL2 1 100 1000 2 20 0 0 0.2 0 Starting torque at JL2 1 100 1000 2 20 0 0 0.2 Starting torque at JL2 0 0.1 10 2000 3000 5000 -1 100 0.1 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 -1 100 Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling 103H7124-01 140 120 100 Torque kgf cm Torque N m Torque oz in 103H7124-04 280 20 2.0 103H7124-07 140 120 100 10 1.0 10 1.0 8 0.8 240 200 16 Torque kgf cm 1.6 8 Torque kgf cm 0.8 Torque N m Torque oz in 6 12 Torque oz in 0.6 Torque N m 1.2 6 0.6 80 60 40 Pull-out torque at JL1 0.4 160 120 80 Pull-out torque at JL1 80 60 40 Pull-out torque at JL1 0.4 4 8 0.8 4 2 20 0 0 0.2 0 0 0 0 0 0 0 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling -4 JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling -4 JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling -4 JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling 103H7126-01 280 240 200 Torque kgf cm Torque N m Torque oz in 103H7126-04 280 240 200 Torque kgf cm Torque N m Torque oz in 103H7126-07 280 240 200 Torque kgf cm 20 2.0 20 2.0 20 2.0 16 1.6 16 1.6 16 1.6 160 120 80 160 120 80 Pull-out torque at JL1 Pull-out torque at JL1 160 120 80 Pull-out torque at JL1 8 0.8 8 0.8 8 0.8 4 40 0 0 0.4 0 Starting torque at JL2 1 100 1000 4 40 0 0 0.4 0 Starting torque at JL2 1 100 1000 4 40 0 0 0.4 Starting torque at JL2 0 0.1 10 2000 3000 5000 100 0.1 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL2 = 2.6x10-4kg m2 14.22 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL2 = 2.6x10-4kg m2 14.22 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL2 = 2.6x10-4kg m2 14.22 oz in2 use the direct coupling The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 38 IC for stepping motor 12 12 Torque oz in 1.2 1.2 Torque N m 12 1.2 Dimensions Starting torque at JL2 4 40 0.4 2 0.2 Starting torque at JL2 20 Starting torque at JL2 Stepping motor Set model Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS 103H7121-56 140 120 100 Torque kgf cm Torque N m Torque oz in 103H7121-57 140 10 1.0 140 0.8 120 100 Torque kgf cm 103H7121-58 10 1.0 10 1.0 8 0.8 120 100 8 8 Torque kgf cm 0.8 Torque N m Torque oz in 6 6 Torque oz in 0.6 0.6 Torque N m 6 0.6 80 60 40 80 60 40 80 60 40 Pull-out torque at JL1 0.4 Pull-out torque at JL1 0.4 Pull-out torque at JL1 0.4 4 4 4 2 20 0 0 0.2 0 Starting torque at JL2 1 100 1000 2 20 0 0 0.2 0 Starting torque at JL2 1 100 1000 2 20 0 0 0.2 Starting torque at JL2 0 0.1 10 2000 3000 5000 100 0.1 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling 103H7123-56 280 240 200 Torque kgf cm Torque N m Torque oz in 103H7123-57 280 240 200 Torque kgf cm Torque N m Torque oz in 103H7123-58 280 240 200 Torque kgf cm 20 2.0 20 2.0 20 2.0 16 1.6 16 1.6 16 1.6 12 12 Torque oz in 1.2 1.2 Torque N m 12 1.2 160 120 80 160 120 80 160 120 80 Pull-out torque at JL1 Pull-out torque at JL1 Pull-out torque at JL1 8 0.8 8 0.8 8 0.8 4 40 0 0 0.4 Starting torque at 0 JL2 1 100 1000 4 40 0 0 0.4 0 Starting torque at JL2 1 100 1000 4 40 0 0 0.4 0 Starting torque at JL2 1 100 1000 0.1 10 2000 3000 5000 -1 100 0.1 10 2000 3000 5000 -1 100 0.1 10 2000 3000 5000 -1 100 Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling -4 JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling -4 JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling -4 JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling 103H7126-56 280 240 200 Torque kgf cm Torque N m Torque oz in 103H7126-57 280 240 200 Torque kgf cm Torque N m Torque oz in 103H7126-58 280 240 200 Torque kgf cm 20 2.0 20 2.0 20 2.0 16 1.6 16 1.6 16 1.6 Pull-out torque at JL1 Torque N m 12 12 Torque oz in 1.2 1.2 12 1.2 160 120 80 160 120 80 Pull-out torque at JL1 Pull-out torque at JL1 160 120 80 8 0.8 8 0.8 8 0.8 4 40 0 0 0.4 0 Starting torque at JL2 1 100 1000 4 40 0 0 0.4 0 Starting torque at JL2 1 100 1000 4 40 0 0 0.4 0 Starting torque at JL2 1 100 1000 0.1 10 2000 3000 5000 100 0.1 10 2000 3000 5000 100 0.1 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling -4 JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling -4 JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling -4 JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling 103H7128-56 700 600 40 500 Torque kgf cm Torque oz in Torque oz in Torque N m 103H7128-57 700 600 40 500 Torque kgf cm Torque oz in Torque N m 103H7128-58 700 600 40 500 Torque kgf cm 50 5.0 50 5.0 50 5.0 4.0 4.0 4.0 400 300 200 30 3.0 400 300 200 30 3.0 Torque N m 400 300 200 30 3.0 20 2.0 20 2.0 20 2.0 Pull-out torque at JL1 1.0 Pull-out torque at JL1 10 1.0 Pull-out torque at JL1 10 1.0 10 100 0 0 Starting torque at 0 JL2 100 0 0 0 Starting torque at JL2 1 100 1000 100 0 0 0 Starting torque at JL2 1 100 1000 0.1 100 1 1000 10 2000 3000 5000 100 0.1 10 2000 3000 5000 100 0.1 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL2 = 7.4x10-4kg m2 40.46 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL2 = 7.4x10-4kg m2 40.46 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL2 = 7.4x10-4kg m2 40.46 oz in2 use the direct coupling 39 The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 2-phase stepping motor 60mm sq. 2.36inch sq. SH160 0.9 /step Unipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.57 80.71 1.1 155.77 1.7 240.74 Rated current A/phase 2 2 2 Wiring resistance /phase 1.35 1.8 2.3 Winding inductance mH/phase 2 3.5 4.5 Rotor inertia Mass Weight SH1601-0440 SH1602-0440 SH1603-0440 -0410 -0410 -0410 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.55 1.21 0.24 1.312 0.4 2.187 0.75 4.101 0.8 1.76 1.2 2.64 SH1601-04 140 120 Torque kgf cm SH1602-04 280 240 20 2.0 1.6 Torque N m SH1603-04 280 240 200 Torque oz in 10 1.0 20 2.0 8 Torque N m 0.8 16 Torque kgf cm 16 Torque kgf cm Torque N m 1.6 100 Torque oz in Torque oz in Pull-out torque at JL1 0.6 200 160 120 80 40 Pull-out torque at JL1 1.2 80 60 40 20 0 6 12 1.2 Pull-out torque at JL1 0.8 160 120 80 40 12 4 0.4 8 8 0.8 2 0 0.2 0 0 4 0 0.4 0 4 0 0 0.4 0 0.1 1 10 -1 100 0.1 1 10 -1 100 Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min 0.1 1 10 100 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. Bipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.69 97.7 1.28 181.2 2.15 304.4 Rated current A/phase 2 2 2 Wiring resistance /phase 1.2 1.65 2.3 Winding inductance mH/phase 3.5 6.1 8.8 Rotor inertia Mass Weight SH1601-5240 SH1602-5240 SH1603-5240 -5210 -5210 -5210 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.55 1.21 0.24 1.31 0.4 2.19 0.75 4.10 0.8 1.76 1.2 2.65 SH1601-52 140 120 Torque kgf cm SH1602-52 280 240 20 2.0 16 Torque kgf cm Torque N m SH1603-52 560 480 400 Torque oz in 10 1.0 40 4.0 8 Torque N m 0.8 1.6 32 Torque kgf cm Torque N m 3.2 Torque oz in Torque oz in 100 80 60 40 20 0 Pull-out torque at JL1 0.6 200 160 120 80 40 6 12 1.2 Pull-out torque at JL1 0.8 320 240 24 2.4 Pull-out torque at JL1 1.6 4 0.4 8 16 160 80 2 0 0.2 0 0 4 0 0.4 0 8 0 0 0.8 0 0.1 1 10 100 0.1 1 10 -1 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min 0.1 1 10 100 Pulse rate kpulse/s Number of rotations min -1 The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 40 IC for stepping motor Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL2 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL3 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling Dimensions Pulse rate-torque characteristics Stepping motor Set model Pulse rate-torque characteristics Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 60mm sq. 2.36inch sq. 103H782 1.8 /step Unipolar winding Connector type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.78 110.5 0.78 110.5 0.78 110.5 1.17 165.7 1.17 165.7 1.17 165.7 2.1 297.4 2.1 297.4 2.1 297.4 Rated current A/phase 1 2 3 1 2 3 1 2 3 Wiring resistance /phase 5.7 1.5 0.68 6.9 1.8 0.8 10 2.7 1.25 Winding inductance mH/phase 8.3 2 0.8 14 3.6 1.38 21.7 5.6 2.4 Rotor inertia Mass Weight 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 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.275 1.50 0.6 1.32 0.275 1.50 0.275 1.50 0.4 2.19 0.4 2.19 0.4 2.19 0.84 4.59 0.84 4.59 0.84 4.59 0.6 1.32 0.6 1.32 0.77 1.70 0.77 1.70 0.77 1.70 1.34 2.95 1.34 2.95 1.34 2.95 Bipolar winding Connector type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 0.88 124.6 0.88 124.6 1.37 194.0 1.37 194.0 2.7 382.3 2.7 382.3 Rated current A/phase 4 2 4 2 4 2 Wiring resistance /phase 0.35 1.27 0.43 1.55 0.65 2.4 Winding inductance mH/phase 0.8 3.3 1.38 5.5 2.4 9.5 Rotor inertia Mass Weight 103H7821-1740 103H7821-5740 103H7822-1740 103H7822-5740 103H7823-1740 103H7823-5740 -1710 -5710 -1710 -5710 -1710 -5710 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.275 1.50 0.6 1.32 0.275 1.50 0.4 2.19 0.4 2.19 0.84 4.59 0.84 4.59 0.6 1.32 0.77 1.70 0.77 1.70 1.34 2.95 1.34 2.95 Pulse rate-torque characteristics 103H7821-01 140 120 100 Torque kgf cm Torque N m Torque oz in 103H7821-04 140 10 1.0 103H7821-07 140 10 1.0 10 1.0 8 0.8 120 100 Torque kgf cm 8 0.8 120 100 Torque kgf cm 8 0.8 Torque N m Torque oz in 6 6 Torque oz in 0.6 0.6 Torque N m 6 0.6 80 60 40 Pull-out torque at JL1 0.4 80 60 40 Pull-out torque at JL1 0.4 80 60 40 Pull-out torque at JL1 0.4 4 4 4 2 20 0 0 0.2 0 Starting torque at JL2 1 100 1000 2 20 0 0 0.2 2 0.2 Starting torque at JL2 0 20 0 0 0 Starting torque at JL2 0.1 100 0.1 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling 41 103H7822-01 280 240 200 Torque kgf cm Torque N m Torque oz in 103H7822-04 280 240 200 Torque kgf cm Torque N m Torque oz in 103H7822-07 280 240 200 Torque kgf cm 20 2.0 20 2.0 20 2.0 16 1.6 16 1.6 16 1.6 12 12 Torque oz in 1.2 1.2 12 1.2 160 120 80 160 120 80 Pull-out torque at JL1 Pull-out torque at JL1 Starting torque at JL2 160 120 80 Pull-out torque at JL1 8 0.8 8 0.8 8 0.8 4 40 0 0 0.4 0 Starting torque at JL2 1 100 1000 4 40 0 0 0.4 4 40 0.4 Starting torque at JL2 0 0 0 0 0.1 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling -4 JL2 = 7.4x10 kg m2 40.46 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling -4 JL2 = 7.4x10 kg m2 40.46 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling -4 JL2 = 7.4x10 kg m2 40.46 oz in2 use the direct coupling 103H7823-01 280 240 200 Torque kgf cm Torque N m Torque oz in 103H7823-04 280 240 200 Torque kgf cm Torque N m Torque oz in 103H7823-07 280 240 200 Torque kgf cm 20 2.0 20 2.0 20 2.0 16 1.6 16 1.6 16 1.6 12 12 Torque oz in 1.2 1.2 Torque N m 12 1.2 160 120 80 Pull-out torque at JL1 160 120 80 Pull-out torque at JL1 160 120 80 Pull-out torque at JL1 8 0.8 8 0.8 8 0.8 4 40 0 0 0.4 0 Starting torque at JL2 1 100 1000 4 40 0 0 0.4 0 Starting torque at JL2 1 100 1000 4 40 0 0 0.4 Starting torque at JL2 0 0.1 10 2000 3000 5000 100 0.1 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 103H7821-17 140 120 100 Torque kgf cm Torque N m Torque oz in 103H7821-57 140 10 1.0 103H7822-17 280 20 2.0 10 1.0 Pull-out torque at JL1 8 0.8 120 100 Torque kgf cm Torque N m Torque oz in 8 0.8 240 16 Torque kgf cm 1.6 Pull-out torque at JL1 6 0.6 200 Torque N m Torque oz in Pull-out torque at JL1 1.2 6 0.6 12 80 60 40 80 60 40 160 120 80 4 0.4 4 0.4 8 0.8 2 20 0 0 0.2 20 0 0 2 0.2 40 4 0.4 0 0 0 0 0 Pulse rate kpulse/s 100 1000 2000 3000 5000 Pulse rate kpulse/s 100 1000 2000 3000 5000 100 Pulse rate kpulse/s 1000 2000 3000 5000 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Constant current circuit Source voltage : AC100V operating current : 4A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling Constant current circuit Source voltage : AC24V operating current : 4A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling Constant current circuit Source voltage : AC100V operating current : 4A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling 103H7822-57 280 240 200 Torque kgf cm Torque N m Torque oz in 103H7823-17 700 600 40 50 5.0 103H7823-57 700 50 5 20 2.0 16 1.8 4.0 600 500 40 Torque kgf cm 4 Pull-out torque at JL1 Torque oz in 500 Torque kgf cm Torque N m Pull-out torque at JL1 Torque N m 160 120 80 400 300 200 400 300 200 Pull-out torque at JL1 2.0 8 0.8 20 20 2 4 40 0 0 0.4 100 0 0 10 1.0 100 10 1 0 0 0 0 0 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : AC24V operating current : 4A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling Constant current circuit Source voltage : AC100V operating current : 4A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling Constant current circuit Source voltage : AC24V operating current : 4A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 42 IC for stepping motor 12 Torque oz in 1.2 30 3.0 30 3 Dimensions 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 Stepping motor Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling -4 JL2 = 7.4x10 kg m2 40.46 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 2A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling -4 JL2 = 7.4x10 kg m2 40.46 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling -4 JL2 = 7.4x10 kg m2 40.46 oz in2 use the direct coupling Set model Stepping Motors with Internal drivers Torque N m 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 86mm sq. 3.39inch sq. SH286 /SM286 1.8 /step Unipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 2.5 354 2.5 354 4.7 665.6 4.7 665.6 6.7 948.8 6.7 948.8 Rated current A/phase 2 4 2 4 2 4 Wiring resistance /phase 2.3 0.6 3.2 0.85 4.0 0.9 Winding inductance mH/phase 8.0 2.0 13.0 3.4 17.0 4.2 Rotor inertia Mass Weight SH2861-0441 SH2861-0941 SH2862-0441 SH2862-0941 SH2863-0441 SH2863-0941 -0411 -0911 -0411 -0911 -0411 -0911 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 1.48 8.09 1.75 3.92 1.48 8.09 3 16.4 3 16.4 4.5 24.6 4.5 24.6 1.75 3.92 2.9 6.5 2.9 6.5 4.0 8.96 4.0 8.96 Unipolar winding Lead wire type CE UL model Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 2.5 354 2.5 354 4.8 679.7 4.8 679.7 6.6 934.6 6.6 934.6 Rated current A/phase 2 4 2 4 2 4 Wiring resistance /phase 2.3 0.6 3.2 0.85 4.0 0.9 Winding inductance mH/phase 8.0 2.0 13.0 3.4 17 4.2 Rotor inertia Mass Weight SM2861-0451 SM2861-0951 SM2862-0451 SM2862-0951 SM2863-0451 SM2863-0951 -0421 -0921 -0421 -0921 -0421 -0921 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 1.48 8.09 1.75 3.92 1.48 8.09 3 16.4 3 16.4 4.5 24.6 4.5 24.6 1.75 3.92 2.9 6.5 2.9 6.5 4.0 8.96 4.0 8.96 Bipolar winding Lead wire type Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 3.3 467.3 3.3 467.3 3.3 467.3 6.4 906.3 6.4 906.3 6.4 906.3 9 1274.4 9 1274.4 9 1274.4 Rated current A/phase 2 4 6 2 4 6 2 4 6 Wiring resistance /phase 2.2 0.56 0.29 3.2 0.83 0.36 4.0 1.0 0.46 Winding inductance mH/phase 15 3.7 1.7 25 6.4 2.8 32 7.9 3.8 Rotor inertia Mass Weight SH2861-5041 SH2861-5141 SH2861-5241 SH2862-5041 SH2862-5141 SH2862-5241 SH2863-5041 SH2863-5141 SH2863-5241 -5011 -5111 -5211 -5011 -5111 -5211 -5011 -5111 -5211 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 1.48 8.09 1.75 3.92 1.48 8.09 1.48 8.09 3.0 16.4 3.0 16.4 3.0 16.4 4.5 24.6 4.5 24.6 4.5 24.6 1.75 3.92 1.75 3.92 2.9 6.5 2.9 6.5 2.9 6.5 4.0 8.96 4.0 8.96 4.0 8.96 Bipolar winding Lead wire type CE UL model Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 3.3 467.3 3.3 467.3 3.3 467.3 6.4 906.3 6.4 906.3 6.4 906.3 9 1274.4 9 1274.4 9 1274.4 Rated current A/phase 2 4 6 2 4 6 2 4 6 Wiring resistance /phase 2.2 0.56 0.29 3.2 0.83 0.36 4.0 1.0 0.46 Winding inductance mH/phase 15 3.7 1.7 25 6.4 2.8 32 7.9 3.8 Rotor inertia Mass Weight 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 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 1.75 3.92 1.48 8.09 1.48 8.09 1.48 8.09 3.0 16.4 3.0 16.4 3.0 16.4 4.5 24.6 4.5 24.6 4.5 24.6 1.75 3.92 1.75 3.92 2.9 6.5 2.9 6.5 2.9 6.5 4.0 8.96 4.0 8.96 4.0 8.96 Bipolar winding Terminal block type Model Single shaft Holding torque at 2-phase energization [N m oz in MIN.] 3.3 467.3 3.3 467.3 3.3 467.3 6.4 906.3 6.4 906.3 6.4 906.3 9 1274.4 9 1274.4 9 1274.4 Rated current A/phase 2 4 6 2 4 6 2 4 6 Wiring resistance /phase 2.03 0.52 0.27 3.08 0.79 0.33 3.83 0.96 0.48 Winding inductance mH/phase 15 3.7 1.7 25 6.4 2.8 32 7.9 3.8 Rotor inertia Mass Weight SM2861-5066 SM2861-5166 SM2861-5266 SM2862-5066 SM2862-5166 SM2862-5266 SM2863-5066 SM2863-5166 SM2863-5266 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 1.48 8.09 1.9 4.19 1.48 8.09 1.48 8.09 3.0 16.4 3.0 16.4 3.0 16.4 4.5 24.6 4.5 24.6 4.5 24.6 1.9 4.19 1.9 4.19 3.05 6.72 3.05 6.72 3.05 6.72 4.15 9.15 4.15 9.15 4.15 9.15 43 Pulse rate-torque characteristics SH2861-04 280 240 200 Torque kgf cm Torque oz in Torque N m Torque oz in SH2862-04 700 600 40 50 5.0 SH2863-04 700 600 40 500 50 5.0 20 2.0 16 1.6 4.0 4.0 Pull-out torque at JL1 12 1.2 500 Torque kgf cm Torque oz in Torque N m Pull-out torque at JL1 Torque kgf cm Torque N m 160 120 80 400 300 200 30 3.0 400 300 200 30 3.0 Pull-out torque at JL1 2.0 8 0.8 20 20 2.0 4 40 0 0 0.4 100 0 10 1.0 100 10 1.0 fs 1 100 1000 0 0 0 fs 1 100 1000 0 0 0 fs 1 100 1000 0.1 10 2000 3000 5000 100 0.1 10 2000 3000 5000 100 0.1 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC100V operating current : 4A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling Constant current circuit Source voltage : DC100V operating current : 2A/phase, 2-phase energization full-step JL1 = 15.3x10-4kg m2 83.65 oz in2 use the rubber coupling Constant current circuit Source voltage : DC100V operating current : 4A/phase, 2-phase energization full-step JL1 = 15.3x10-4kg m2 83.65 oz in2 use the rubber coupling SM2861-50 560 480 400 Torque kgf cm Torque N m Torque oz in Torque oz in SM2861-51 560 480 400 Torque kgf cm Torque N m SM2861-52 560 40 4.0 40 4.0 40 4.0 32 3.2 32 3.2 480 32 Torque kgf cm 3.2 Pull-out torque at JL1 24 Torque oz in Pull-out torque at JL1 Torque N m 400 24 2.4 320 240 160 24 2.4 2.4 320 240 160 Pull-out torque at JL1 1.6 320 240 160 16 16 1.6 16 1.6 Starting torque at JL2 8 0.8 8 80 0.8 80 8 0.8 80 0 0 0 0 0 0 0 0 0 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 -1 100 Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Constant current circuit Source voltage : DC100V operating current : 2A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling Constant current circuit Source voltage : DC100V operating current : 4A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling Constant current circuit Source voltage : DC100V operating current : 6A/phase, 2-phase energization full-step JL1 = 15.3x10-4kg m2 83.65 oz in2 use the rubber coupling SM2862-50 1400 1200 1000 Torque kgf cm Torque N m Torque oz in SM2862-51 1400 1200 1000 Torque kgf cm Torque N m Torque oz in SM2862-52 1400 100 10 100 10 100 10 80 8 80 8 1200 1000 Torque kgf cm 80 8 60 60 Torque oz in 6 6 Torque N m 60 6 800 600 400 800 600 400 Pull-out torque at JL1 4 Pull-out torque at JL1 4 800 600 400 Pull-out torque at JL1 4 40 40 40 20 200 0 0 2 200 0 0 20 2 200 20 2 0 0 0 0 0 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC100V operating current : 2A/phase, 2-phase energization full-step JL1 = 15.3x10-4kg m2 83.65 oz in2 use the rubber coupling Constant current circuit Source voltage : DC100V operating current : 4A/phase, 2-phase energization full-step JL1 = 15.3x10-4kg m2 83.65 oz in2 use the rubber coupling Constant current circuit Source voltage : DC100V operating current : 6A/phase, 2-phase energization full-step JL1 = 15.3x10-4kg m2 83.65 oz in2 use the rubber coupling SM2863-50 1400 1200 1000 Torque kgf cm Torque N m Torque oz in SM2863-51 1400 100 10 SM2863-52 1400 100 10 100 10 80 8 1200 1000 Torque kgf cm 80 8 1200 Pull-out torque at JL1 1000 Torque kgf cm Torque oz in 80 8 60 Torque oz in 6 60 6 60 6 800 600 400 Pull-out torque at JL1 4 800 600 400 800 600 400 Pull-out torque at JL1 4 40 40 4 40 20 200 0 0 2 200 0 0 20 2 200 20 2 0 0 0 0 0 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : DC100V operating current : 2A/phase, 2-phase energization full-step JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling Constant current circuit Source voltage : DC100V operating current : 4A/phase, 2-phase energization full-step JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling Constant current circuit Source voltage : DC100V operating current : 6A/phase, 2-phase energization full-step JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 44 IC for stepping motor Torque N m Torque N m Dimensions Stepping motor Set model Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 106mm cir. 4.17inch cir. 103H8922 1.8 /step Unipolar winding Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 10.8 1529.4 15.5 2194.9 Rated current A/phase 4 4 Wiring resistance /phase 0.98 1.4 Winding inductance mH/phase 6.3 9.7 Rotor inertia Mass Weight 103H89222-0941 103H89223-0941 Bipolar winding Model Single shaft -0911 -0911 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 14.6 79.83 7.5 16.53 22 120.28 10.5 23.15 Double shafts 103H89222-5241 103H89223-5241 -5211 -5211 Holding torque at 2-phase energization [N m oz in MIN.] 13.2 1869.2 19 2690.5 Rated current A/phase 6 6 Wiring resistance /phase 0.45 0.63 Winding inductance mH/phase 5.4 8 Rotor inertia Mass Weight [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 7.5 16.53 14.6 79.83 22 120.28 10.5 23.15 Pulse rate-torque characteristics 103H89222-09 1400 1200 1000 Torque kgf cm Torque N m Torque oz in 103H89223-09 2800 2400 200 20 103H89222-52 2800 200 20 100 10 80 8 160 Torque kgf cm 16 2400 2000 Torque oz in 160 Torque kgf cm 16 Pull-out torque at JL1 60 6 2000 Torque N m Torque oz in 120 120 800 600 400 1600 1200 800 1600 1200 800 Torque N m 12 12 Pull-out torque at JL1 8 Pull-out torque at JL1 8 40 4 80 80 20 200 0 0 2 400 0 0 40 4 400 40 4 Starting torque at JL2 0 0 0 0 0 0.1 100 1 1000 10 2000 3000 5000 100 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min -1 Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : AC100V operating current : 4A/phase, 2-phase energization full-step JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling Constant current circuit Source voltage : AC100V operating current : 4A/phase, 2-phase energization full-step JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling Constant current circuit Source voltage : AC100V operating current : 6A/phase, 2-phase energization full-step JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling -4 JL2 = 43x10 kg m2 235.10 oz in2 use the rubber coupling 103H89223-52 2800 2400 2000 Torque kgf cm Torque oz in 200 20 160 16 120 1600 1200 800 Torque N m 12 Pull-out torque at JL1 8 80 40 400 0 0 4 Starting torque at JL2 0 0.1 100 1 1000 10 2000 3000 5000 -1 100 Pulse rate kpulse/s Number of rotations min Constant current circuit Source voltage : AC100V operating current : 6A/phase, 2-phase energization full-step JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling -4 JL2 = 43x10 kg m2 235.10 oz in2 use the rubber coupling 45 The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 2-phase stepping motor 56mm sq. 2.20inch sq. 103H712 CE marking 1.8 /step Unipolar winding Model Single shaft Double shafts 103H7121-6140 103H7121-6740 103H7123-6140 103H7123-6740 103H7126-6140 103H7126-6740 -6110 -6710 -6110 -6710 -6110 -6710 A/phase 1 3 1 3 1 3 /phase 4.8 0.6 6.7 0.77 8.6 0.9 mH/phase 8 0.8 15 1.58 19 2.2 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.1 0.55 0.47 1.04 0.1 0.55 0.21 1.15 0.21 1.15 0.36 1.97 0.36 1.97 0.47 1.04 0.65 1.43 0.65 1.43 0.98 2.16 0.98 2.16 0.39 55.2 0.83 117.5 0.78 110.5 1.27 179.8 1.27 179.8 Pulse rate-torque characteristics 103H7121-61 70 60 4 50 Torque kgf cm Torque oz in Torque oz in Torque N m 103H7121-67 70 60 4 50 Torque kgf cm 103H7123-61 140 10 1.0 5 0.5 5 0.5 0.4 0.4 120 8 Torque kgf cm 0.8 Pull-out torque at JL1 Torque N m 100 Torque N m Torque oz in 40 30 20 3 0.3 Pull-out torque at JL1 0.2 40 30 20 3 0.3 6 0.6 80 60 40 Pull-out torque at JL1 0.4 2 2 0.2 4 Starting torque at JL2 0.1 1 10 0 0 0.1 1 2 20 0.2 Starting torque at JL2 0 10 0 0 0 0 0 0 Starting torque at JL2 Pulse rate kpulse/s 100 1000 2000 3000 5000 Pulse rate kpulse/s 100 1000 2000 3000 5000 -1 Pulse rate kpulse/s 100 1000 2000 3000 5000 -1 Number of rotations min Number of rotations min Number of rotations min -1 Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling 103H7123-67 140 120 100 Torque kgf cm Torque N m Torque oz in 103H7126-61 280 20 2.0 103H7126-67 280 240 200 20 2.0 10 1.0 8 0.8 240 16 Torque kgf cm 1.6 16 Torque kgf cm 1.6 Pull-out torque at JL1 6 0.6 200 Torque N m Torque oz in 80 60 40 160 120 80 160 120 80 Pull-out torque at JL1 Pull-out torque at JL1 4 0.4 8 0.8 8 0.8 2 20 0 0 0.2 4 0.4 Starting torque at JL2 0 40 0 0 0 Starting torque at JL2 1 100 1000 4 40 0 0 0.4 Starting torque at JL2 0 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 -1 100 Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling -4 JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 1A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling -4 JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling Constant current circuit Source voltage : DC24V operating current : 3A/phase, 2-phase energization full-step JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling -4 JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 46 IC for stepping motor 12 Torque oz in 1.2 Torque N m 12 1.2 Dimensions 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 Stepping motor Set model Holding torque at 2-phase energization [N m oz in MIN.] 0.39 55.2 Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS Stepping motor Specifications 2-phase stepping motor 86mm cir. 3.39inch cir. 103H822 CE marking 1.8 /step Bipolar winding Model Single shaft Double shafts Holding torque at 2-phase energization [N m oz in MIN.] 2.74 388.0 5.09 720.8 7.44 1053.6 Rated current A/phase 6 6 6 Wiring resistance /phase 0.3 0.35 0.45 Winding inductance mH/phase 1.65 2.7 3.4 Rotor inertia Mass Weight 103H8221-6240 103H8222-6340 103H8223-6340 -6210 -6310 -6310 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 1.45 7.93 1.5 3.31 2.9 15.86 4.4 24.06 2.5 5.51 3.5 7.72 Pulse rate-torque characteristics 103H8221-62 700 600 40 500 Torque kgf cm Torque oz in Torque oz in Torque N m 103H8222-63 700 600 40 500 Torque kgf cm 103H8223-63 1400 100 10 50 5.0 50 5.0 Pull-out torque at JL1 4.0 4.0 1200 1000 Torque kgf cm Torque N m Torque oz in 80 8 Pull-out torque at JL1 Torque N m 400 300 200 30 3.0 Pull-out torque at JL1 2.0 400 300 200 30 3.0 60 6 800 600 400 20 20 2.0 40 4 Starting torque at JL2 10 1.0 10 100 0 0 1.0 20 200 2 Starting torque at JL2 0 100 0 0 0 Starting torque at JL2 0 0 0 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 -1 100 0.1 100 1 1000 10 2000 3000 5000 100 Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min Pulse rate kpulse/s Number of rotations min -1 Constant current circuit Source voltage : AC100V operating current : 6A/phase, 2-phase energization full-step JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling -4 JL2 = 7.4x10 kg m2 40.46 oz in2 use the direct coupling Constant current circuit Source voltage : AC100V operating current : 6A/phase, 2-phase energization full-step JL1 = 15.3x10-4kg m2 83.65 oz in2 use the rubber coupling -4 JL2 = 15.3x10 kg m2 83.65 oz in2 use the direct coupling Constant current circuit Source voltage : AC100V operating current : 6A/phase, 2-phase energization full-step JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling -4 JL2 = 43x10 kg m2 235.10 oz in2 use the direct coupling 47 The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 2-phase stepping motor 106mm cir. 4.17inch cir. 103H8922 CE marking 1.8 /step Bipolar winding Model Single shaft Double shafts 103H89222-6341 103H89223-6341 -6311 -6311 A/phase 6 6 /phase 0.45 0.63 mH/phase 5.4 8 [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 14.6 79.83 7.5 16.53 22 120.28 10.5 23.15 19 2690.5 Pulse rate-torque characteristics 103H89222-63 2800 2400 2000 Torque kgf cm Torque oz in Torque N m 103H89223-63 2800 200 20 2400 2000 Torque kgf cm Torque oz in 200 20 160 16 160 16 120 12 120 1600 1200 800 Pull-out torque at JL1 8 1600 1200 800 Torque N m 12 Pull-out torque at JL1 80 80 8 40 400 0 0 4 40 4 Starting torque at JL2 Starting torque at JL2 0 400 0 0 0 Pulse rate kpulse/s 100 1000 2000 3000 5000 Pulse rate kpulse/s 100 1000 2000 3000 5000 Number of rotations min -1 Number of rotations min -1 Constant current circuit Source voltage : AC100V operating current : 6A/phase, 2-phase energization full-step JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling -4 JL2 = 43x10 kg m2 235.10 oz in2 use the direct coupling Constant current circuit Source voltage : AC100V operating current : 6A/phase, 2-phase energization full-step JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling -4 JL2 = 43x10 kg m2 235.10 oz in2 use the direct coupling The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 48 IC for stepping motor Dimensions 0.1 1 10 100 0.1 1 10 100 Stepping motor Set model Holding torque at 2-phase energization [N m oz in MIN.] 13.2 1869.2 Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight Stepping Motors with Internal drivers 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 Vibration resistance Impact resistance Operating ambient temperature Operating ambient humidity H series motor 103H52 /103H67 /103H71 /103H78 Class B 130 42 1.65inch AC500V 50/60Hz for 1 minute, 50 1.97inch 56 2.20inch 60 2.36inch AC1000V 50/60Hz for 1 minute 100M ohm MIN. against DC500V Amplitude of 1.52mm 0.06inch P-P at 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 90%MAX. : 40 MAX., 57%MAX. : 50 MAX., 35%MAX. : 60 MAX. no condensation SH series motor SH228 , SH353 , SH142 , SH160 , SH286 , Class B 130 28 1.10inch 35 1.38inch 42 1.65inch AC500V 50/60Hz for 1 minute, 60 2.36inch / 86 3.38inch AC1000V 50/60Hz for 1 minute 100M ohm MIN. against DC500V Amplitude of 1.52mm 0.06inch P-P at 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 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 S1 continuous operation Class F +155 C 1000m 3280 feet MAX above sea level 86mm 3.39inch : AC1500V 50/60Hz for 1 minute 100M ohm MIN. against DC500V IP43 Amplitude of 1.52mm 0.06inch P-P at 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 C no condensation Allowable radial / thrust load Frange size 28mm 35mm 42mm Thrust load Model number 1.10inch 1.38inch 1.65inch 1.97inch 2.20inch 2.36inch 3.39inch 3.39inch 4.17inch SH228 SH353 103H52 103-59 SH142 103H670 103H712 103H7128 103H782 SH160 SM286 SH286 103H822 103H8922 Radial load Distance from end of shaft : mm inch 0 5 0.20 10 0.39 Radial load : N lbs 42 9 48 10 56 12 40 8 50 11 67 15 22 4 71 15 52 11 85 19 70 15 167 37 191 42 321 72 26 5 87 19 65 14 105 23 87 19 193 43 234 52 356 79 33 7 115 25 85 19 138 31 114 25 229 51 301 67 401 90 15 0.59 66 14 98 22 46 10 167 37 123 27 200 44 165 37 280 62 421 93 457 101 Thrust load N Ibs 3 0.67 10 2.25 10 2.25 15 3.37 15 3.37 15 3.37 20 4.50 60 13.488 60 13.488 100 22.48 50mm 56mm 60mm 86mm 86mm 106mm CE marked models Model Number Rated voltage Applied standards Low 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 S1 continuous rating IP43 Class I Pollution degree 2 Class B 130 100M ohm MIN. against DC500V 56mm 2.2inch : AC1500V 50/60Hz for 1 minute 86mm 3.39inch 106mm 4.17inch : AC1600V 50/60Hz for 1 minute -10 to +50 C 90% MAX. at less than 40 C, 57% MAX. at less than 50 C , 35% MAX. at 60 C no condensation 80K MAX. Based on Sanyo Denki standard 103H822 103H8922 12-300VDC 49 Internal Wiring and Rotation Direction Unipolar winding 103H52 Connector type In t e r nal w ir e c o nn e c t io n ( ) connector pin number Direction of motor rotate The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. Connector type pin number (2) (1) (3) 1.6 1 5 3 4 2 Exciting order 2 3 4 (5) (6) (4) 103H782 Connector type In t e r nal w ir e c o nn e c t io n ( ) connector pin number Direction of motor rotate The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. Connector type pin number (2) (1) Exciting order 1.6 1 2 3 4 4 3 5 2 (3) (4) (6) (5) Lead wire type The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. Lead wire color White & black Red Blue Yellow Orange Orange White Blue 1 Exciting order 2 3 4 Red Black Yellow Bipolar winding In t e r nal w ir e c o nn e c t io n ( ) connector pin number Direction of motor rotate Lead wire color, connector type pin teminal blocknumber (1)Orange Lead wire Teminal Connector Exciting order block Red - + + - 3 Blue - - + + 2 Yellow + - - + 4 Orange + + - - 1 1 2 3 4 103H782 SM286 (2)Blue Red (3) Yellow (4) 3 2 4 1 50 IC for stepping motor Dimensions The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. Stepping motor In t e r nal w ir e c o nn e c t io n Direction of motor rotate Set model Stepping Motors with Internal drivers 2-phase STEPPING SYSTEMS Dimensions Motors 28mm Unit: mm inch 35mm 4-M2.5x0.45 280.5 ( 1.100.2) 4 230.25 (4 .910.01) 1.10inch 101 .390.4 0.013 5-0.013 .0000 .1968-.0005 Lead wire:UL3265 AWG28 150.5 L0.8 L0.3 .590.2 +1 1.50.76 10 0 +.04 .060.3 .39 .00 (Effective lenght) 1.65inch Lead wire:UL1007 CSA,AWG26 15 1 (.59 .04) 9(.35) MAX. L1 2.05 .04 40 1.57 MIN. 2 0.25 (.08 .01) 20 (.79 0.5 .02) 0.013 5-0.013 .0000 0.13 22-0.05 ( .1968-.0005 .0000 ( .8661-.0019 300MAX. 11.81MIN. 5-0.013 0.25(1.14 .01) 0.25(1.02 .01) .1968-.0005 300(11.81)MIN. 5-0.013 .1968-.0005 .0000 0 26 4-M3 0.5 Effective tapping depth 4(.16) MIN. 22(.87)MAX. S S 4.50.15 (.177710.059) Connector type Set part number DU14S281 DU14S281 DU14S285 DU14S285 DB14S281 DB14S281 DB14S285 DB14S285 Lead wire type Motor length : mm inch 32 1.26 32 1.26 51.5 2.03 51.5 2.03 32 1.26 32 1.26 51.5 2.03 51.5 2.03 Cable type Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire Motor model number SH2281-51 SH2281-52 SH2285-51 SH2285-52 SH2281-56 SH2281-57 SH2285-56 SH2285-57 1 1 1 1 1 1 1 1 Lead wire type Set part number Unipolar Motor model number SH3533-12U SH3537-12U SH3552-12U 0 0 0 Unipolar Motor length : mm inch 33 1.25 37 1.54 52 1.89 Cable type Lead wire Lead wire Lead wire Bipolar 42mm (11.8MIN.) 1.65inch ( Lead wire UL1007 AWG26 42mm 42 0.5 1.65 .020) 24MAX. ( .94MAX.) (L .02) 1.65inch L 0.5 (L .02) 24 (.94 1.5 28(1.1)MIN. (.59 0.5 .02) (.20 .04) 300MIN. 7 0.5 0 O22-0.05 .0000 (O .8661-.0019) 0 O5-0.013 .0000 (O .1968-.0005) 5MAX. ( .20MAX.) 51 L 0.5 (.28 .02) 2-31 0.3 (2-1.22 .012) 15 1 (.59 .04) 11(.44) MAX. 0.76 .03) 0 O5-0.013 .0000 (O .1968-.0005) A 0.05 o.1968-.0005) o22-0.05 B (o.87-.002) .0003 Pin No. 1***6 300MAX 42 0.25 ( 1.65 .01) 4-31 0.25 (4-1.22 .01) 27(1.06) MAX. A 15 1 N.P 7(.28) MAX. B 18MAX o5-0.013 0.013 2-M3x0.5 (o.1968-.0005) .00003 o5-0.013 0.013 .00003 18 5MAX Lead wire type Set part number Bipolar 4-M3 x0.5 Effective tapping depth depth 4(.16) MIN. Motor model number SS2421-50 SS2422-50 SS2423-50 1 1 1 Motor length : mm inch 11.6 .457 18.6 .732 25.6 1.008 Cable type Lead wire Lead wire Lead wire Unipolar Connector type Set part number DU15H521 DU15H522 DU15H524 Lead wire type Motor model number 103H5205-04 103H5208-04 103H5210-04 103H5209-04 0 0 0 0 Motor length : mm inch 33 1.25 39 1.54 48 1.89 41 1.61 Cable type Connector Connector Connector Connector 42mm .24MAX. .591.04 1.65inch 1.65.01 L.02 .94MIN. 24MIN. .06.03 .94.02 +.04 .59 0 1.22.01 .71MAX. .2MAX. 42mm 1.65inch o.197-.0005 4-M3 x 0.5 .16 MIN.DP. 0 o.866-.002 o.197-.0005 A 0 R.12MIN. .177.006 1.22.01 0 Connector type Set part number DB14H521 DB14H522 DB14H524 Lead wire type Motor model number 103H5205-52 103H5208-52 103H5210-52 103H5205-50 103H5205-51 103H5208-50 103H5208-51 103H5209-50 103H5209-51 103H5209-52 103H5210-50 103H5210-51 0 0 0 0 0 0 0 0 0 0 0 0 Lead wire type 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 Unipolar Bipolar Motor length : mm inch 33 1.25 39 1.54 48 1.89 33 1.25 33 1.25 39 1.54 39 1.54 41 1.61 41 1.61 41 1.61 48 1.89 48 1.89 Set part number DU15S141 DU15S142 DU15S144 DB16H141 DB16H142 DB16H144 Motor model number SH1421-04 SH1422-04 SH1424-04 SH1421-52 SH1422-52 SH1424-52 1 1 1 1 1 1 Bipolar Motor length : mm inch 33 1.25 39 1.54 48 1.89 33 1.25 39 1.54 48 1.89 Cable type 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 Set type code S D Motor type code 4 1 51 26 (1.02 29 (1.14 4.50.15 .17710.059 Cross section S-S part 35.6( 1.40) only stator 0.25 .01) R3MAX. (R.12 MIN.) ( 5(.20)MAX. 0.25 .01) 35 29 0.5( 1.38 .02) 0 ( .0000 ) ) 50mm 300MIN. (11.81MIN.) 1.97inch Lead wire UL1007 AWG26 50 0.5 0.3 50mm 1 L 0.3 5 0.3 (0.20 0.012) (L 0.012) 1.97inch Lead wire UL3266 AWG22 5 (0.20 0.04) 4-M2.5x0.45 4-41 ( 1.97 0.020) (4-1.61 0.012) 15.5 1 (.61 .04) L 0.8 (L .03) 305(12) MIN. 20.6 0.5 (.81 .02) 50 0.5 ( 1.97 .02) 1.5 (.06) 5 (.2) 4-41 0.13 (4-1.61 .005) 25(.98)MAX. o6.35-0.013 (o.25-.0005) o6.35-0.013 (o.25-.0005) Lead wire type Set part number Bipolar ( 5 02 ) 0. .001 50 6. 8 6 61 . O2 .00000 0.000 .00000 0.000 (o1.42-.002) o36-0.039 4-o4.5 0.5 +0.5 Motor model number SS2501-50 SS2502-50 1 1 Motor length : Cable type mm inch 11 .433 Lead wire 16 .63 Lead wire Set part number (4-o.18 +.02 .00) Lead wire type Motor model number 103H6701-01 103H6701-04 103H6701-07 103H6703-01 103H6703-04 103H6703-07 103H6704-01 103H6704-04 103H6704-07 103H6701-50 103H6703-50 103H6704-50 0 0 0 0 0 0 0 0 0 0 0 0 6(.24)MAX. 0.000 Unipolar Bipolar DB16H671 DB16H672 Motor length : mm inch 39.8 1.57 39.8 1.57 39.8 1.57 51.3 2.02 51.3 2.02 51.3 2.02 55.8 2.20 55.8 2.20 55.8 2.20 39.8 1.57 51.3 2.02 55.8 2.20 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 4-o4.5 0 5 56 0.5 (2.20 .02) 4-47.14 0.13 (1.86 .0005) Lead wire UL1430 AWG22 15.5 1 (.61 .04) 305(12)MIN. L 0.8 (L .03) 5 (.20) 1.5 (.06) 0.025 .001) 56 0.5 ( 2.20 .02) 4-47.14 0.13 (4-1.86 .0005) 26(1.02) MAX. o6.35-0.013 Lead wire UL1430 CSA, AWG22 (4-o1.8 +0.2 .00) (o.25-.0005) .00000 R.P 0.000 o6.35-0.013 8(.31)MAX. (o.25-.0005) o38.1 o6.35-0.013 (o.25-.0005) 0.000 .00000 .00000 (o1.50 A o6.35-0.013 0.000 15.5 1 (.61 .04) L 0.8 (L .03) 20.6 0.5 (.81 .02) B 4-o4.5 0.0 +0.5 Lead wire type ) Set part number Motor model number 103H7121-61 103H7121-67 103H7123-61 103H7123-67 103H7126-61 103H7126-67 0 0 0 0 0 0 (4-o.18 +.02 .00 o38.1 0.025 (o1.50 .001) (o.25-.0005) .00000 0.000 20.6 0.5 (.81 .02) 1.5 0.25 (.06 .0098) Lead wire type Set part number DU16H711 DU16H713 DU16H716 Motor model number 103H7121-04 103H7123-04 103H7126-04 103H7121-01 103H7121-07 103H7123-01 103H7123-07 103H7124-01 103H7124-04 103H7124-07 103H7126-01 103H7126-07 0 0 0 0 0 0 0 0 0 0 0 0 Unipolar Motor length : mm inch 41.8 1.65 53.8 2.12 75.8 2.98 41.8 1.65 41.8 1.65 53.8 2.12 53.8 2.12 63.8 2.51 63.8 2.51 63.8 2.51 75.8 2.98 75.8 2.98 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 Unipolar Model number Shaft diameter(D) Dcut thickness(L) 6.35 8 5.8 7.5 Motor shaft specification code Motor shaft spec Single shaft Double shafts Set type code Motor type code S D 4 1 Motor shaft specification code Motor shaft spec Single shaft Double shafts Set type code S D Motor type code 7 3 52 IC for stepping motor 103H7121103H7123103H7126103H7128- Dimensions Motor length : mm inch 41.8 1.65 41.8 1.65 53.8 2.12 53.8 2.12 75.8 2.98 75.8 2.98 Cable type Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire CE CE CE CE CE CE 11(.44) MAX. 5 0.25 (.2 .0098) Stepping motor 56mm 2.20inch 56mm 2.20inch +0.5 Set model Stepping Motors with Internal drivers 0 O5-0.013 0.0000 (O0.1968-0.0005) 0 O5 -0.013 0.0000 (O0.1968-0.0005) .0000 2-phase STEPPING SYSTEMS Dimensions Motors 56mm B B Unit: mm inch 60mm B 2.20inch Lead wire UL1430 CSA, AWG22 L0.8 20.60.5 (L.03) (.81.02) 32.2MIN. 1.50.25 (1.27MIN.) (.06.01) 50.25 +.04 (.20.1) .59 0 (EFFECTIVE LENGTH) +1 (15 0) 8MAX. (.31MAX.) 560.5 (2.2.02) B 47.140.13 (1.86.01) 26MAX. (1.02MAX.) B +0.5 4-o 4.5 +.02 (4-o .18 ) 2.36inch 0 D-0.013 .0000 D-.0005 7 0.25 .2755 .0098 1.5 0.25 .06 .0098 N.P 0 oD-0.013 0 (oD- .0005) 0 oD-0.013 0 (oD-0.005) 0-0. 6.35013 .0000 .25-.0005 +1 15 0 (EFFECTIVE LENGTH) +.04 (.59 0 ) 15.51 (.610.4) 8MAX. (.31MAX.) 15.5 1 .61 .04 L 0.8 20.6 0.5 L .03 .81 0.2 60 2.36 4-47.14 1.86 0.5 .02 0.13 .0051 o38.10.025 (o1.5.001) o560.5 ( o2.2.02) 60 0.5 2.36 0.2 A B R4MIN. (R.16MIN.) B R4MIN. A (R.16MIN.) 38.1 0.025 1.5 .0009 B L0.15 (L.006) Lead wire type Set part number Motor model number SH1601-04 SH1602-04 SH1603-04 SH1601-52 SH1602-52 SH1603-52 0 0 0 0 0 0 +0.5 4- 4.5 0 +.02 4- .18 .00 Lead wire type Set part number DB16H711 DB16H713 DB16H716 Motor model number 103H7121-57 103H7123-57 103H7126-57 103H7121-56 103H7121-58 103H7123-56 103H7123-58 103H7126-56 103H7126-58 103H7128-56 103H7128-57 103H7128-58 0 0 0 0 0 0 0 0 0 0 0 0 Bipolar Motor length : mm inch 41.8 1.65 53.8 2.12 75.8 2.98 41.8 1.65 41.8 1.65 53.8 2.12 53.8 2.12 75.8 2.98 75.8 2.98 94.8 3.73 94.8 3.73 94.8 3.73 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 Unipolar DB16S161 DB16S162 DB16S163 Bipolar Motor length : mm inch 42 1.65 54 2.13 76 2.99 42 1.65 54 2.13 76 2.99 Cable type Lead wire Lead wire Lead wire Lead wire Lead wire Lead wire 60mm 15.5 1 (.61 .04) 15+0 +1 2.36inch 60 0.5 ( 2.36 .02) L 0.8 (L .03) 7 (.28) +1 86mm 20.6 0.5 (.81 .02) 1.5 (.06) 4-50 0.13 (4-1.97 .005) 33(1.30) MAX. Pin No. 1***6 301(1.18.04) 3.39inch Lead wire: UL3398 CSA AWG22 (.59+.00 ) (effective length) S S R4 MIN. (R.157MIN.) S S +.04 A 14 -0.018 0 ( .55 -0.001 ) +1 +0.4 0 25 0 (Effective length) 15+0 (.59+.00 ) (o1.42-.002) .0000 +.04 (.91 ) 0 1.50.25 .060.1 300.5(1.180.1) 80.5(.310.1) 14 -0.018 0 ( .55 -0.001) 85.50.5(3.3660.2) 69.60.25(2.740.1) 27(1.06)MAX. (effective length) o36-0.039 0.000 +1 +0.4 0 25 0 (Effective length) 0 (.91 ) 73.0250.025 ( 2.8750.001) 12(.47) MAX. S S S 130.15 (.51180.059) 90 69.60.25(2.740.1) 85.50.5(3.3660.2) 130.15 (.51180.059) B B(CE) (o.315-.0006) .00000 (o.315-.0006) .00000 o8-0.015 0.000 R4 MIN. (R.157MIN.) S R4(R.16)MIN. R4(R.16)MIN. o8-0.015 0.000 4-o4.5+0.0 +0.5 (4-o.18+.00).0 +.02 Grounding terminal M4x0.7x6L Cross section S-S 4- 5.60.2 (4- .2205.0079) Connector type Set part number Motor model number 103H7821-01 103H7821-04 103H7821-07 103H7822-01 103H7822-04 103H7822-07 103H7823-01 103H7823-04 103H7823-07 103H7821-57 103H7822-57 103H7823-57 103H7821-17 103H7822-17 103H7823-17 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Lead wire type Motor length : mm inch 44.8 1.76 44.8 1.76 44.8 1.76 53.8 2.12 53.8 2.12 53.8 2.12 85.8 3.38 85.8 3.38 85.8 3.38 44.8 1.76 53.8 2.12 85.8 3.38 44.8 1.76 53.8 2.12 85.8 3.38 Cable type Connector Connector Connector Connector Connector Connector Connector Connector Connector Connector Connector Connector Connector Connector Connector Unipolar 12(.47)MAX. L1(L0.4) A(CE) CE type Motor length : mm inch 66 2.6 96.5 3.8 127 5 66 2.6 66 2.6 66 2.6 96.5 3.8 96.5 3.8 96.5 3.8 127 5 127 5 127 5 Cable type Lead wire Lead wire Lead wire Lead wire CE Lead wire CE Lead wire CE Lead wire CE Lead wire CE Lead wire CE Lead wire CE Lead wire CE Lead wire CE Set part number Motor model number SH2861-04 SH2862-04 SH2863-04 SM2861-50 SM2861-51 SM2861-52 SM2862-50 SM2862-51 SM2862-52 SM2863-50 SM2863-51 SM2863-52 1 1 1 1 1 1 1 1 1 1 1 1 Unipolar Bipolar Bipolar DB16H781 DB16H782 DB16H783 Model number Shaft diameter(D) Dcut thickness(L) 103H7121103H7123103H7126103H7128Model number 6.35 8 5.8 7.5 Shaft diameter(D) Dcut thickness(L) SH1601SH1602SH1603- 6.35 8 5.8 7.5 Motor shaft specification code Motor shaft spec Single shaft Double shafts Set type code Motor type code S D 4 1 Motor shaft specification code Motor shaft spec Single shaft Double shafts Set type code S D Motor type code 5 2 53 86mm 3.39inch Lead wire UL1430 AWG18 L 0.8 (L .03) 1.52 (.06) 30 0.5 (1.2 .02) 4.83 (.19) 82.55 0.5 ( 3.25 .02) 4-69.6 0.2 (4-2.74 .008) 4 3 2 1 86mm Cable Grand Skintop St11 Earth Terminal M4x0.7x8L 3.39inch L1.5 (L.06) 25(.98)Max. 32(1.26)Max. 1.50.25 (.06.01) 300.5 (1.18.02) 80.5 (.31.02) 73.0250.025 ( 2.88.0010) .04 1 25 0 (.98 .00) S (Effective Length) S UL vinyl tube 28 1 (1.10 .04) 250 20 (9.8 .8) 85.50.5 (3.37.02) 69.60.25 (2.74.01) 27.5 0.5 (1.08 .02) 25 (.98) o73.025 0.025 (o2.9 .001) Use proper grounding techniques. o86 0.5 (o3.4 .02) Terminal No. Terminal Screw M4x8L Terminal Block Sheet Packing R4MIN. (o.4724-.0007) .00000 (o.374-.0005) .00000 o9.5-0.013 o12-0.018 0.000 Grounding terminal M4x0.7x6L 0.000 4-o5.35+0.0 +0.5 +.02 4- 5.60.2 (4- .22.008) (4-o.2+.00 ) Terminal block type Set part number Motor model number Motor length : mm inch 62 3.31 92.2 5.51 125.9 7.72 Cable type Lead wire CE Lead wire CE Lead wire CE SM2861-5066 SM2861-5166 SM2861-5266 SM2862-5066 SM2862-5166 SM2862-5266 SM2863-5066 SM2863-5166 SM2863-5266 Lead wire type Set part number Motor model number Bipolar 103H8221-62 103H8222-63 103H8223-63 0 0 0 Terminal block Motor length : mm inch 97.9 3.9 97.9 3.9 97.9 3.9 128.4 5.1 128.4 5.1 128.4 5.1 158.8 6.3 158.8 6.3 158.8 6.3 Cable type Terminal block Terminal block Terminal block Terminal block Terminal block Terminal block Terminal block Terminal block Terminal block 106mm 305(12) MIN. 28 1 (1.10 .04) 4.17inch Lead wire UL1430 AWG18 L1 (L .04) 35 0.5 8.6 (1.38 .02) (.34) 1.52 +1 (.06) 30.5 0 106.4 0.5 ( 4.2 .002) 4-88.9 0.25 (4-3.5 .001) A(CE) Stepping motor Motor shaft specification code Motor shaft spec Single shaft Double shafts Set type code Motor type code A (1.2 o106.4 1 (o4.2 .04) +.04 .00 ) B B(CE) 4-o6.9 0.0 +0.5 o12.7-0.018 (o.5-.0007) (o.63-.0007) o16-0.018 .00000 0.000 0.000 .00000 o55.524 0.05 (o2.19 .002) (4-o.27 +.02 .00 ) Lead wire type Motor length : Set part number Motor model number mm inch 103H89222-09 1 163.3 6.4 103H89223-09 1 221.3 8.7 103H89222-52 1 163.3 6.4 103H89223-52 1 221.3 8.7 103H89222-63 1 163.3 6.4 103H89223-63 1 221.3 8.7 CE type Cable type Lead wire Lead wire Lead wire Lead wire CE Lead wire CE Lead wire Unipolar Bipolar S D 4 1 Motor shaft specification code Motor shaft spec Single shaft Double shafts Set type code S D Motor type code 7 3 54 IC for stepping motor Dimensions Set model Stepping Motors with Internal drivers 305(12) MIN. 0 14-0.018 N.P 2-phase STEPPING SYSTEMS Dimensions Drivers Unit: mm inch Safety standards driver UL Acquired standards UL UL for Canada Directives Category Low-voltage directives Emission EMC directives File No. E179775 Name Standard part UL508C Standard part EN61010-1 Terminal disturbance voltage Electromagnetic radiation disturbance ESD Electrostatic discharge RS Radio-frequency amplitude modulated electromagnetic field Fast transionts Surges EN55011-A EN55011-A EN61000-4-2 EN61000-4-3 EN61000-4-4 EN61000-4-6 CE TUV Immunity SM series motor(UL/CE),H series motor(CE) UL Acquired standards UL UL for Canada Standard category Low-voltage directives File No. E208878 Standard part EN-60034-1 IEC34-5 (EN-60034-5) CE 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 TUV TUV product service for self-declaration of CE marking. 55 2-phase STEPPING SYSTEMS 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 mode CW, CCW input mode Pulse and direction mode CK, U/D input mode Excited status verification monitor : Outputs the monitor signal of the controller status. Set model Maximum Rating 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 Ta=25 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 Recommended Operating Conditions Item Source voltage Output current n Output current CO,EM Input voltage H L H L level level level level Symbol VCC IOH IOL IOH IOL VIN Rating MIN. 4.5 -24 24 -2 2 0 Standard Ta=-20 to 85 Stepping motor MAX. 5.5 Unit V mA mA VCC V Dimensions Pin No. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. Name CU CD CK U/D EA EB C Unit : mm inch 56 IC for stepping motor VSS R 4 3 2 1 EM CO VCC 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 6.2(.24) 6.6(.26) 19.75(.78)MAX. 19.25 0.2 (.76 .008) 4.45(.17)MAX. 7.62(.3)TYP 2.9(.11)MIN. 1.53(.06)TYP 0.51(.02)MIN. 0.4(.016) 0.6(.024) 2.54(.1)TYP 0~15 0.20(. 00 0.35(. 8) 014) Dimensions Stepping Motors with Internal drivers IC for stepping motor Specifications Electrical Characteristics Direct current characteristics Ta = -20 to 85 Item Input voltage Output voltage Output current 1 to 4 Output current CO, EM Switching characteristics Ta = -20 to 85 Standard value Unit MIN. Standard MAX. 3.5 V 1.5 Item MAX. clock frequency MIN. width of clock pulse MIN. width of reset pulse Time delay from clock input to output Set time -2 2 10 A mA mA Holding time tHOLD 5 Condition Symbol VCC[V] H level VIH 5 L level VIL 5 H level VOH L level VOL 5 5 5 5 5 5 5 5 VH=5V VL=0V VH=5V VL=0V IOH=0 VH=5V VL=0V IOH=0 VH=5V VL=0V VOUT=2.4V VH=5V VL=0V VOUT=0.4V VH=5V VL=0V VOUT=2.4V VH=5V VL=0V VOUT=0.4V Symbol fMAX tWL, tWH tWR tpd tSET Condition VCC[V]a 5 5 5 5 5 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 Standard value Unit MIN. Standard MAX. 1 500 MHZ ns 4.9 0.1 -24 24 V 1000 ns 2000 ns 0 250 ns ns H level IOH L level IOL mA H level IOH L level IOL I ICC Input current Static current consumption 1 Measured waveforms on switching time scale 1f CU CD CK 50% 10% tr 90% 90% 50% 10% tf tWH tWL 50% 1 to 4 50% tpd 90% CK 10% tr 90% 50% 10% tf tr or tf 90% 50% UD 10% tHOLD tSET 50% Function Table Input modes and rotation direction Input mode 2 input mode CW, CCW Pulse and direction mode CK, U/D Input CU CD L L L L L L CK L L U L L H L D Rotation direction CW CCW CW CCW Energization modes Excitation mode 1 EX 1-2EX 2 EX Input R H H H EA H H L EB L H L C H H H 57 2-phase STEPPING SYSTEMS Universal controller IC for the 2-phase stepping motor drive PMM8713PT Energization Sequence 1EX Pulse Face 1 2 3 4 EM UP DOWN 0 Reset 1 0 0 0 0 1 0 1 0 0 0 2 0 0 1 0 0 3 0 0 0 1 0 4 1 0 0 0 0 2EX Pulse Face 1 2 3 4 EM UP DOWN 0 Reset 1 0 0 1 1 1 1 1 0 0 1 2 0 1 1 0 1 3 0 0 1 1 1 4 1 0 0 1 1 1-2EX Pulse Face 1 2 3 4 EM UP DOWN 0 Reset 1 0 0 1 1 1 1 0 0 0 0 2 1 1 0 0 1 3 0 1 0 0 0 4 0 1 1 0 1 5 0 0 1 0 0 6 0 0 1 1 1 7 0 0 0 1 0 8 1 0 0 1 1 Reset after changing the energization mode. Input Pulse Monitor CU Input CD CK Output CO Example of Application Circuit Combined with the power hybrid IC 24V Bipolar wiring motor + P.GND 5V + GND 13 1 2 3 4 5 6 7 16 8 14 15 External output GND Driving input 20 9 11 15 19 8 10 12 14 Energization mode setting 5V Reset input 9 5V 6 22 2 23 26 21 7 1 GND GND 5V PMM8713PT PMM2101 GND Energization mode setting Pin No. 5,6 Terminal symbol EA, EB Input level H L Motor operation 1-2EX 2EX 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. 58 IC for stepping motor The normal initial reset may not be performed during unstable VCC after turning the power ON. For reliable resetting, hold the R terminal 9-pin at the L level till the VCC becomes stable. Dimensions 13 12 11 10 4 25 3 24 18 5 Stepping motor Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor Specifications 2-phase STEPPING SYSTEMS IC for stepping motor HIC for the 2-phase stepping motor PMM2101 Full Step / Half Step Bipolar 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. Maximum Rating Item Source voltage-1 Source voltage-2 Output current Allowable loss Thermal resistance Junction temperature Conservation temperature Symbol VCC1 VCC2 IO PT jc ja Tc=25 Rated value 8 to 60 0 to 7 1.4 35 Tc 25 3.57 25 150 - 40 150 Unit V V A W W W Recommended Operating Conditions Item Source voltage-1 Source voltage-2 Output current Oscillator frequency Operation temperature Symbol VCC1 VCC2 IO FC TC Rated value 10 to 50 4.75 to 5.25 1.0 20 to 27 -25 to 85 Tc=25 Unit V V A kHz Tjmax Tstg Dimensions 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. Name VCC2 ENA A 1 2 CR A Vref A LG A VCC1 A VSA 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 Unit : mm inch 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 4.5 0.5 (.178 .02) 1 (.04) Control No. and Lot No. 8 (.31) PMM2101 3.3 0.2(.13 .008) 9 0.2(.35 .008) 13 0.3(.51 .011) 1 27 3.5 (.14) 1.27 (.05) 26x1.27=33.02 (26x.05=1.3) 0.6 - 0.05 +0.2 (.02 +.008 - .002 ) 2.54 (.1) 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( L L H H 3) L H L H 2( 4) M1(M3) OFF L H OFF OFF M2(M4) OFF H L OFF OFF 59 3 0.2 (.12 .008) 3.4 (.13) 0.25 (.01) 1.5 0.2 (.06 .06) 40 0.3 (1.57 .01) 25 0.2 (.98 .008) o3.3 0.2 (o.13 .008) 3.8 0.2 1 (.15 .008) (.04) 4 0.3 (.16 .012) 2-phase STEPPING SYSTEMS HIC for the 2-phase stepping motor PMM2101 Full Step / Half Step Electrical Characteristics Item "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 Low output saturating voltage Power current to controller section Alarm terminal current Overheat alarm operating temperature Overheat protection stop temperature Ta=25 Rating MIN. 2.7 0 Symbol VIH VIL IIH IIL Iref IS VF Vce (sat)H Vce (sat)L IR ICC2 Ialm Condition VCC2 5V VCC2 5V VCC2 5V VI 5V VCC2 5V VI 0V VCC2 5V Vref 0V VCC2 5V VS 0V IF 1A IC 1A IC 1A VCC1 60V VOUT 0V VOUT 60V VRS 0V VCC2 = 5V during circuit operation VCC2 5V Valm 0.5V Standard 1.3 1.0 1.0 125 150 Overheat Alarm Output The overheat protection circuit outputs an alarm signal at +125 at +150 . VCC2(+5V) External pull-up resistor at the internal junction in the IC, and activates motor excitation OFF Transistor ON during alarming Vce ON : 0.5V MAX. lalm : 2mA MAX. The alarming signal output and overheat protection circuit recover automatically when the temperature lowers. 27-pin (approximate 10kW) PMM2101 Example of Application Circuit 24V + C5 P.GND 5V + GND 13 1 16 2 3 4 5 6 7 9 8 14 15 External output 9 11 15 19 8 10 12 14 13 12 11 10 5V 4 25 3 24 6 22 2 PMM2101 GND GND 5V 26 21 7 1 GND 18 5 R7 C3 23 R8 C4 R1 C1 R3 R4 20 D1~D4 R2 C2 GND Orange Red Yellow Stepping motor Energization mode setting 5V Reset input PMM8713PT R5 R6 Refer to page 53 for the PMM8713PT specifications. Recommended circuit constants for PMM2101 1.2 Output current (A) Vref-Output current characteristics Applicable R1,R2 R3,R4 R7,R8 Constant 5W 0.68 1 4W 3.9k 1 4W 15k Applicable C1, C2 C3, C4 C5 Constant 1000pF 3300pF 330 F 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) Determine on the R5 and R6 constants referring to the Vrefoutput current characteristics. Determine on D1 to D4. Peak reverse voltage 100V Output current 1A Reverse recovery time 100ns 60 IC for stepping motor Dimensions Driving input Blue Stepping motor Open collector output Set model 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 Stepping Motors with Internal drivers IC for stepping motor Specifications 2-phase STEPPING SYSTEMS IC for stepping motor Specifications HIC for the 2-phase stepping motor PMM2301 Micro Step Unipolar 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. Maximum Rating Item Source voltage-1 Source voltage-2 Input voltage Phase current Operating temperature on PCB Junction temperature Conservation temperature Symbol VCC1 MAX. VCC2 MAX. Vin MAX. IOH MAX. TC MAX. Tj MAX. Tstg Tc=25 Rated value 52 7 7 4 105 150 - 40 to 125 Unit V V V A Recommended Operating Conditions Item Source voltage-1 Source voltage-2 Input voltage Phase current Clock frequency Withstand voltage of phase driver Symbol VCC1 VCC2 VIH IOH Clock VDSS Condition With signal With signal Duty 50 Ta=25 Unit V V V A kHz V Condition VCC2 0V With no signal Logic input terminal 0.5sec, 1pulse, VCC1 applied Rated value 10 to 45 5.0 5 0 to VCC2 3 DC to 50 100 Dimensions Pin No. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. unit: mm inch Pin No. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. Terminal name VCC2 VCC2 Clock CW CCW Reset Return Enable M0I M01 M02 GND 67 (2.64) 60 (2.36) PMM2301 5.6 (.22) 11(.43) 25.5 (1.00) Terminal name B B P.GND A P.GND B A A VCC2 Vref Mode 1 Mode 2 Mode 3 9 (.35) 1 2-3.6 (2-.14) [9] 21x2=42 (.35) (21x.08=1.68) 22 0.5-0.05 +.008 (.02-.002 ) 16(.63) 1 (.04) 4 (.16) +0.2 0.4-0.05 +.008 (.016-.002 ) +0.2 2.9 (.11) Each Terminal Function Terminal name Vref Clock CW / CCW Reset Return Enable M0I M01 M02 Function Motor current setting input Motor driving pulse input Motor rotation direction setting input 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 61 2-phase STEPPING SYSTEMS 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 Characteristics Item 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 M0I M01 M02 L level output voltage M0I M01 M02 PWM frequency Symbol Condition ICCO Ioave Vdf Vsat VIH VIL IIL Vr Ir VOH VOL FC Tc=25 Vcc1=24V Vcc2=5V Rating MIN. 0.45 Enable = L Each phase R/L = 3.5 /3.8mH, Vref = 0.6V If 1A Standard 4.5 0.50 1.2 1.4 MAX. 15 0.55 1.8 2.6 1.0 510 VCC2 Unit mA A V V V V A 2 V A V 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 19 to 21 pins I = 3mA, I = -3mA 19 to 21 pins I = 3mA, I = -3mA 4.0 125 0 2.4 0.4 37 47 57 250 1 V kHz Example of Application Circuit VCC2(5V) PMM2301 VCC1 19 20 21 10 to 45 V 7 12 13 9 Energization mode setting External output White + C1 Orange 6 Blue 10 11 5 Red 2 1 Clook CW/CCW Reset Return Endde 14 15 16 17 18 8 R1 + C2 R2 Vref 22 Black Stepping motor 3 4 P.GND GND Recommended circuit constants C1 100 C2 F or over 10 F Determine on the R1 and R2 constants based on the Vref voltage calculated from the following formula. Vref V = Motor current adjusted value A/phase x 0.6 62 IC for stepping motor Dimensions Yellow Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor Specifications 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 by Warning Label on 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. 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. WARNING May Cause electric shock Safety ranks of the cautions Following four ranks are provided. DANGER CAUTION Improper operations or use is most likely to result in serious injury or death. 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. 63 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. 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. 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. 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. Use the electric power source within the rated input voltage. Using otherwise may cause fire or an electric shock. Connect the driver and stepping motor to the ground. Using without grounding may cause an electric shock. 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. 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. 28. Confirm that the electric power supply is all proper conforming to the specifications. Failure to do so may cause a trouble. 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. 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. 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. 35. Do not hold with the cable or the motor spindle. Doing so may cause a trouble or injury. Retirement 36. When scrapping the driver or stepping motor, treat it for the general industrial waste. 3. 4. 5. 6. 7. 8. 9. 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. 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. 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. 2. 3. 4. 5. 6. Do not use the driver or the stepping motor outside the specified conditions. Doing so may cause an electric shock, injury or fire. Do not insert a finger or a thing into the opening of the product. Doing so may cause an electric shock, injury or fire. Do not use the damaged driver or stepping motor. Doing so may cause injury, fire or the like. Use the driver and stepping motor in the designated combination. Using otherwise may cause fire or a trouble. Be careful that the temperature rises in the operating driver, stepping motor or peripheral devices. Failure to be careful may cause a burn. 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. PROHIBITED 1. 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. General matters Do not remove the rating plate. 7. 8. 9. 2. 10. Perform wiring conforming to the technical standards of electric facility or the internal rule. Doing otherwise may cause burning or fire. 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. 12. Take insulation process for the attached condenser or the external resistance connection terminals. Failure to do so may cause an electric shock. Placement 13. Do not climb or attach a heavy article on the product. Doing so may cause injury. 14. Neither block nor stuff the aspiration/exhaust vent with a foreign particle. Doing so may cause fire. 15. Follow the instructions for the direction to place. Failure to do so may cause a trouble. 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. 17. Place the product with a great care so as to prevent from the danger such as a tumble or a turnover. 3. COMPULSORY 1. 2. 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. 3. 4. 5. 64 Inquiry Check Sheet For more information regarding any products or services described here in, please contact your nearest office listed on the back of this catalog. To SANYO DENKI Co.,LTD. Date Company: Department: Name: Tel: E-mail: Item Contents Equipment name, category (transport, processing, test, other) Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no) Manufacturer Name ( mm m Reference formula Acceleration G [m/s2] Feeding Speed [m/s] [m] 1G=9.8[m/s2] 1[m/s2] 0.1G [m/s2] V[m/sec]/t1[sec] D[m] V[m/sec]x(t1+t2)[sec] ) Series Name ( ) Motor Capacity ( ) Hydraulic, Mechanical, or New System ( ) FAX: 1 2 3 4 Name of target equipment Name of servo axis Current condition of above axis Positioning accuracy 5 Operation pattern Feeding Speed [m/sec] Moving Distance (Stroke) Time 6 Mechanism 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 WR rack mass Fa external force axial direction Dr1 drive-side roll diameter Lr1 drive-side roll length mm kg m2 kg m2 mm mm mm mm kg kg N WL work mass WB belt/chain mass Fb ball-screw preload mm kg kg N WA mass of other drive parts WC counterbalance mass T roll pushing force kg kg N mm Dr2 follower-side roll diameter mm kg m2 kg m2 mm Pb ball -screw lead Lr2 follower-side roll length JC coupling inertia JO other motor-axis conversion inertia Lb ball-screw axial length Lp pinion axial length Dh table-support dianeter Ls table shaft length mm mm mm kg cm3 G reduction ratio 7 Mechanical structure JG speed-reducer inertia JN nut inertia Db ball-screw diameter Dp pinion/pulley diameter Dt table diameter Ds table shaft diameter mm mm mm tp pully thickness LW load shift from axis specific gravity of ball-screw/pinion/pulley/table-shaft material friction coefficient between sheet and shiliding-surface/support-section/roll 2 specific gravity of roll-2 material mechanical efficiency TF friction torque of motor axis conversion Nm kg cm3 1 specific gravity of roll-1 material internal friction coefficient of preload nut JL load inertia of motor-axis conversion Tu imbalance torque of motor axis conversion ) other( kg cm3 kg m2 Nm ) 8 9 0 A B C D E F Speed reducer Customer-provided ( ) Sanyo denki standard(planet/spur/no-backlash-planet Encoder type specified ( yes / no ) Encoder type Yes:(incremental , optical absolute , optical absolute with incremental function, resolver absolute) Resolution Input format Host equipment (controller) Usage environment and other requirements Estimated production Development schedule Various measures Miscellaneous (questions, pending problems, unresolved issues, etc.) Position , velocity , torque , other ( ) ) Sequencer , laptop , customer-developed product , Sanyo dennki-provided , other ( Cutting , clean-room use , anti-dust measures , other ( Single product: ( Prototype period: ( ) units/mouth ( )Year ( ) ) units/year )Year ( ) Month Production period: ( ) Month Related documentation ( already submitted; send later by mail) Visit/PR desired ( yes / no ) Meeting desired ( yes / no ) 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.co.jp 1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan 468 Amapola Avenue Torrance, CA 90501 U.S.A. P.A. Paris Nord ll 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France Phone: +81 3 3917 5157 Phone: +1 310 783 5400 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 The names of companies and/or their products specified in this catalogue are the trade names, and/or trademarks and/or registered trademarks of such respective companies. *Remarks : Specifications Are SubjectTo Change Without Notice. CATALOG No. 832-6 '09.3.N |
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