Professional Documents
Culture Documents
Ver. 1 English
F series DRIVER
H series MOTOR
SH series MOTOR
2-phase STEPPING SYSTEMS
Low-vibration mode
1 DC input
Speed variation%
Wire current : 2.0A/phase Wire current : 2.0A/phase
1200 Division : 2 1200 Division : 2
TG : 11TG7V/1000rpm TG : 11TG7V/1000rpm
1000 1000
800 800
600 600
400 400
200 200
0 0
0 100 200 300 400 500 600 700 800 900 1000 0 100 200 300 400 500 600 700 800 900 1000
pulse/s pulse/s
0 50 100 150 200 250 300 350 0 50 100 150 200 250
Volumecm 3
MASSg
1
Stepping Motors with Internal drivers
Set model
DC input
Set model
42 60
1.65inch2.36inch
28 42 56
1.10inch1.65inch2.20inch
Reduction gear ratios
1 1
1.8 0.9
Stepping motor
Bipolar standardstandard model P.14
The standard set includes a F series driver and a H or SH series motor.
28 42 50 56 60
1.10inch1.65inch1.97inch2.20inch2.36inch
Reduction gear ratios
1 1
1.8 0.9
Dimensions
IC for stepping motor
2
F series DRIVER
H series MOTOR
2-phase STEPPING SYSTEMS SH series MOTOR
Control method
Network
Program control
command Control using a Control using a
using serial
control using pulse generator pulse generator
communication
PLC I/O RS-485
Drive
Specication
3
DC input System conguration
Set model
Bundled cable for
input/output signal300 mm
Stepping motor
Switching power Noise lter Electromagnetic Molded case
supply contactor circuit breaker
DC Single
24 V phase
(t)
AC100 V
to
(r) AC230 V
Dimensions
IC for stepping motor
4
2-phase STEPPING SYSTEMS
Stepping
DC input
motor Specications
Torque (kgf-cm)
140 10
Torque(ozin.)
Torque(ozin.)
Torque (N-m)
Torque (N-m)
50
0.3 120
3 8 0.8
40
100
6 0.6
30 0.2 80
2
60 4 0.4
20
1 0.1 40
10 2 0.2
20
0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s
DimensionsUnit : mminch
42mm1.65inch +2 +.08 42 0.51.65.02
CN1:POWER
70
0 2.76 .00 240.5.94.02
0.025 310.251.22.01
ManufacturerJST +.04
+.0000
5 -0.013 .1968 .0005
310.251.22.01
42 0.51.65.02
+.000
22 -0.05 .87 .002
R3MIN.
2 1
220
0
119
4-M30.5
TAP DEPTH 4.16MIN.
NAME
PLATE
CN2:I/O
4.5 0.151.18.01
ManufacturerJST
CONNECTORSM20B-SHLDS-GW-TF
PSW RSW DSW
EARTH TERMINAL
M2.5X0.45X4L
BCD
O
N
7 8 9A
E F
012
6
345
1
2
3
4
5
6
5
Specications
Set model
and Z axes, for 2 hours each
Impact resistance Not inuenced at NDS-C-0110 standard section 3.2.2 division C .
Not inuenced when 1500V AC is applied between power input terminal and cabinet for one
Withstand voltage
minute.
Insulation resistance 10M ohm MIN. when measured with 500V DC megohmmeter between input terminal and cabinet.
Stepping motor
Photo coupler input method, input resistance 470
Step angle setting selection inputEXT
Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V
Photo coupler input method, input resistance 470
FULL/HALF setting selection inputF/H
Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V
I/O signals
Photo coupler input method, input resistance 470
EMG input signal
Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V
Photo coupler input method, input resistance 220
BUSY output signal
Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V
Open collector output by photo coupler
Phase origin monitor output signalMON
Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX.
Open collector output by photo coupler
Alarm output signal AL
Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX.
1
Note that the power voltage must not exceed 24VDC + 10% (26.4VDC).
2
If the driver is placed in a box, the temperature inside the box must not exceed this specied range.
3
The maximum input frequency is 250k pulse/s.
Dimensions
60mm1.65inch 88
+2
3.46
0
+.08
.00 0.1 A
70.25.27.01 20.60.5.81.02
0.025 600.52.36.02
+1 +.04
CN1:POWER
1.50.25.06.01
15 0 .59 .00
6.35 -0.013 .25 -.001
+.000
ManufacturerJST 47.10.131.85.01
CONNECTORS02B-PASK-2 (EFFECTIVE
LENGTH) 0.075 A
0
38.10.251.5.01
47.10.131.85.01
600.52.36.02
R4MIN.
2 1
A
220
IC for stepping motor
119
PLATE
NAME
CN2:I/O
+0.5 +.02
ManufacturerJST
CONNECTORSM20B-SHLDS-GW-TF 5.80.15.23.01
44.5 0 4.18 .00
PS RSW DS EARTH TERMINAL
M2.5X0.45X4L
BCD
O
N
7 8 9A
E
F0 12
6
345
1
2
3
4
5
6
6
2-phase STEPPING SYSTEMS
Specications
220
Input signal
to
Approx. 15 mA
Rotation
1s MAX. 1s MAX.
Positive logic
1s MAX. 1s MAX.
to
7
Stepping Motors with Internal drivers
Input circuit conguration
Input circuit conguration PDEXTF/HEMG
Set model
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].
Output interface
Output circuit congurationBUSYMONAL
MAX. 20mA
Stepping motor
Output signal
MAX. 30V
Driver
Mon output
Dimensions
Phase origin position Switching to FULL step Phase origin position When changing the motor division setting by the
by external F/H
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
Stop position at
when using the MON output signal.
HALF step FULL step FULL step
Motor shaft
IC for stepping motor
8
2-phase STEPPING SYSTEMS
Specication
WIRING
Specication Summary of Input/Output Signals (Serial I/F mode)
9
Stepping Motors with Internal drivers
Specication Summary of Input/Output Signals (Parallel I/F mode)
Set model
EMG 6 Internal photo coupler onNo emergency stop Internal execution Internal photo coupler off Program execution
input photo coupler off Emergency stop complete
The origin signal used for the return to origin operation Turns on when the current position is inside the
Zone signal ZONE 10
coordinates that were set beforehand.
is input.
Origin signal ORG 6
Internal photo coupler onOrigin signal on The execution status of the program is output.
Internal photo coupler off Origin signal off During program Internal photo coupler onDuring program execution
PEND 11
An overtravel signal in the + direction is input. Internal execution Internal photo coupler off Program execution
+ direction photo coupler on + direction overtravel not arrived complete
+OT 7 The operation status of the motor is output.
overtravel signal Internal photo coupler off + direction overtravel During motor
arrived BUSY 11 Internal photo coupler onDuring motor operation
operation Internal photo coupler off During motor stop
This is a general-purpose input signal that can be used
General-purpose by program driving. Turns on when the current position is inside the
IN2 7 Zone signal ZONE 11
coordinates that were set beforehand.
input 2 Internal photo coupler onGeneral purpose input 2 on
Internal photo coupler off General purpose input 2 off When various alarm circuits operate in the driver, an
The program number is selected along with other bits. external signal is output.
Alarm output ALM 12
At this time, the stepping motor becomes non excited
Program number The second bit from the subordinate
B2 7 status.
selection bit 2 Internal photo coupler onCorresponding bit 1 Internal
photo coupler off Corresponding bit 0 Output signal
OUT_COM 13 It is for the output signal common.
The emergency stop signal is input. common
Emergency stop
EMG 7 Internal photo coupler onNo emergency stop Internal
input DATA+ DATA+ 14 It is for the serial signal.
photo coupler off Emergency stop
DATA DATA 15 It is for the serial signal.
Stepping motor
The origin signal used for the return to origin operation
is input.
Origin signal ORG 7
Internal photo coupler onOrigin signal on
Internal photo coupler off Origin signal off
Alarm clear Recoverable alarms are cleared.
ALMC 7
signal Internal photo coupler off onAlarm clear
An overtravel signal in the - direction is input.
Internal photo coupler on - direction overtravel not
- direction
-OT 8 arrived
overtravel signal Internal photo coupler off - direction overtravel
arrived
This is a general-purpose input signal that can be used
General-purpose by program driving.
IN3 8
input 3 Internal photo coupler onGeneral purpose input 3 on
Internal photo coupler off General purpose input 3 off
The program number is selected along with other bits.
Program number The third bit from the subordinate
B4 8
selection bit 4 Internal photo coupler onCorresponding bit 1
Internal photo coupler off Corresponding bit 0
Emergency stop
EMG 8
The emergency stop signal is input.
Internal photo coupler onNo emergency stop
External Wiring Diagrams
input Internal photo coupler off Emergency stop
The origin signal used for the return to origin operation
Controller Driver
is input. 2 Phase Stepping Motor
Origin signal ORG 8
Internal photo coupler onOrigin signal on
CN1
7
EXTIN2B2
8
FHIN3B4
9
IN4B8
30V 20mA MAX.
10
BUSYOUT1
11
MONOUT2
12
ALM
13
OUT_COM
10
2-phase STEPPING SYSTEMS
Specication
SET UP
Function Select Dip Switch
The functions according to the specication can be selected with this Dip switch.
Conrm the ex-factory setting as follows.
OFF ON
5 I. SEL OFF
Pulse stream I/F mode
6 S. SEL OFF
For pulse stream I/F mode For parallel I/F mode or serial I/F mode
4 Excitation selectEORG
By turning on the EORG, excitation phase when power OFF is saved.
11
Stepping Motors with Internal drivers
Rotary switch(RSW) and the mode change switch(PSW)
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).
Set model
2. Driving current select(RUN)
The Motor operation current value can be selected with this rotary switch.
Gradation 0 1 2 3 4 5 6 7
Motor 100
95 90 85 80 75 70 65
current (%) (rated)
Gradation 8 9 A B C D E F
Motor
current 60 55 50 45 40 35 30 25
(%)
Ex-factory setting is at 0 (rated value).
When there is a sufcient 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, conrm the sufcient operation margin and determine the Motor current value.
Stepping motor
The motor current value when stop and when power down input signal ON
(power low function is selected by dip switch) can be selected with this rotary
switch.
Gradation 0 1 2 3 4 5 6 7
Motor 100
95 90 85 80 75 70 65
current (%) (rated)
Gradation 8 9 A B C D E F
Motor
60 55 50 45 40 35 30 25
current (%)
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
12
2-phase STEPPING SYSTEMS
Unipolar standard
A
Motor cable
Controller
Standard model :
H series motor,
SH series motor,
28mm 1.10inch/
42mm 1.65inch/ Motor
56mm 2.20inch connector
DC Single
phase
24V/36V (t)
AC100V
to
(r) AC230V
42mm 1.65inch 5001.64 feetMIN.
5 Red
5
6 Black
6
13
2-phase STEPPING SYSTEMS
A
Motor cable
Controller
Standard model :
H series motor,
Set model
SH series motor,
28mm 1.10inch/
42mm 1.65inch/ Motor
50mm 1.97inch/ connector
56mm 2.20inch/
60mm 2.36inch
Stepping motor
DC power cable I/O signal cable
DC Single
phase
24V/36V (t)
AC100V
to
(r) AC230V Dimensions
42mm 1.65inch
60mm 2.36inch
IC for stepping motor
1.64 feetMIN.
500 1.64 feetMIN.
500
2
2
4 Yellow
4 Yellow
4
3 Red
5
5
2 Blue
6 Red
6
1 Orange
14
2-phase STEPPING SYSTEMS
DC input
D U 1 6 H 71 1 S
Model
Driver Specication
U : 2-phase unipolar B : 2-phase bipolar
Power specication
D : DC
15
Stepping Motors with Internal drivers
Combination list of 2-phase unipolar driver
Basic Set part number Motor model number
System type Motor ange size Rated current
step angle Single shaft Double shaft Single shaft Double shaft
1.8 DU14H321S DU14H321D 103H3205-5270 103H3205-5230 1A
28mm 1.10inch
1.8 DU14H326S DU14H326D 103H3215-5270 103H3215-5230 1A
1.8 DU15H521S DU15H521D 103H5205-0440 103H5205-0410 1.2A
1.8 DU15H522S DU15H522D 103H5208-0440 103H5208-0410 1.2A
1.8 DU15H524S DU15H524D 103H5210-0440 103H5210-0410 1.2A
Standard
42mm 1.65inch
0.9 DU15S141S DU15S141D SH1421-0441 SH1421-0411 1.2A
model
0.9 DU15S142S DU15S142D SH1422-0441 SH1422-0411 1.2A
0.9 DU15S144S DU15S144D SH1424-0441 SH1424-0411 1.2A
1.8 DU16H711S DU16H711D 103H7121-0440 103H7121-0410 2A
56mm 2.20inch 1.8 DU16H713S DU16H713D 103H7123-0440 103H7123-0410 2A
1.8 DU16H716S DU16H716D 103H7126-0440 103H7126-0410 2A
Set model
Basic Set part number Motor model number
System type Motor ange size Rated current
step angle Single shaft Double shaft Single shaft Double shaft
1.8 DB14H321S DB14H321D 103H3205-5770 103H3205-5730 1A
28mm 1.10inch
1.8 DB14H326S DB14H326D 103H3215-5770 103H3215-5730 1A
1.8 DB14H521S DB14H521D 103H5205-5240 103H5205-5210 1A
1.8 DB14H522S DB14H522D 103H5208-5240 103H5208-5210 1A
1.8 DB14H524S DB14H524D 103H5210-5240 103H5210-5210 1A
42mm 1.65inch
0.9 DB16S141S DB16S141D SH1421-5241 SH1421-5211 2A
0.9 DB16S142S DB16S142D SH1422-5241 SH1422-5211 2A
0.9 DB16S144S DB16S144D SH1424-5241 SH1424-5211 2A
Standard 1.8 DB16H671S DB16H671D 103H6701-5040 103H6701-5010 2A
50mm 1.97inch
model 1.8 DB16H672S DB16H672D 103H6703-5040 103H6703-5010 2A
1.8 DB16H711S DB16H711D 103H7121-5740 103H7121-5710 2A
Stepping motor
56mm 2.20inch 1.8 DB16H713S DB16H713D 103H7123-5740 103H7123-5710 2A
1.8 DB16H716S DB16H716D 103H7126-5740 103H7126-5710 2A
1.8 DB16H781S DB16H781D 103H7821-5740 103H7821-5710 2A
1.8 DB16H782S DB16H782D 103H7822-5740 103H7822-5710 2A
60mm 2.36inch 1.8 DB16H783S DB16H783D 103H7823-5740 103H7823-5710 2A
0.9 DB16S161S DB16S161D SH1601-5240 SH1601-5210 2A
0.9 DB16S162S DB16S162D SH1602-5240 SH1602-5210 2A
Dimensions
IC for stepping motor
16
2-phase STEPPING SYSTEMS
DC input Specications
F series driver + H or SH series motor Set part Single shaft DU14H321S DU14H326S
number Double shaft DU14H321D DU14H326D
Unipolar Holding torque Nmozin 0.032 .53 0. 2 .
Rotor inertia 10-4 kgm oz in
2 2
0.00 0.05 0.01 0.0
MassWeight kglbs 0.110.2 0.20.
Allowable thrust load Nlbs 30. 30.
Allowable radial loadNote1 Nlbs 2 2
Note1When load is applied at 1/3 length from output shaft edge.
Motor flange size
28 42 56
1.10inch 1.65inch 2.20inch
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
TorqueNm
TorqueNm
5 7 10 7
0.3 0.03 6 0.6 0.06 6
4 8
5 5
3 0.2 0.02 4 6 0.4 0.04 4
2 3 4 3
DC24V 0.1 0.01 2 0.2 0.02 2
1 2
1 1
0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s
1-division 1-division
100 1000 2000 3000 5000 100 1000 2000 3000 5000
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
TorqueNm
TorqueNm
5 7 10 7
0.3 0.03 6 0.6 0.06 6
4 8
5 5
3 0.2 0.02 4 6 0.4 0.04 4
2 3 4 3
DC36V 0.1 0.01 2 0.2 0.02 2
Pull-out torque 1 2
1 1
Source current (load applied) 0 0 0 0 0 0 0 0
fs fs fs fs
2-division 2-division
1-division 10 20 50 100 200 500 10 100 1000 2000 3000 5000
Size
Motor ange size
42mm1.65inch/0.9
56mm2.20inch/1.8
Motor length 48mm1.89inch 41.8mm1.65inch 53.8mm2.12inch 75.8mm2.98inch
Set part Single shaft DU15S144S DU16H711S DU16H713S DU16H716S
number Double shaft DU15S144D DU16H711D DU16H713D DU16H716D
Holding torque Nmozin 0.3955.23 0.3955.23 0.83117.5 1.27179.8
Rotor inertia 10-4 kgmoz in
2 2
0.0890.487 0.10.55 0.211.15 0.361.97
MassWeight kglbs 0.380.84 0.471.04 0.631.39 0.982.16
Allowable thrust load Nlbs 102.25 153.37 153.37 153.37
Allowable radial loadNote1 Nlbs 306 7115 7115 7115
Note1When load is applied at 1/3 length from output shaft edge.
4 0.4 4 0.4 8
Source currentA
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
TorqueNm
7
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
50 7 50 7 100 7 200
3 0.3 6 3 0.3 6 6 0.6 6 12 1.2 6
40 40 80 160
5 5 5 5
30 4 30 4 60 0.4 4 120 8 0.8 4
2 0.2 2 0.2 4
3 3 3 80 3
20 20 40
DC24V 1 0.1 2 1 0.1 2 2 0.2 2 4 0.4 2
10 10 20 40
1 1 1 1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 fs
0
fs fs fs fs fs fs
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Source currentA
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
TorqueNm
50 7 50 7 100 7 200 7
3 0.3 6 3 0.3 6 6 0.6 6 12 1.2 6
40 40 80 160
5 5 5 5
30 2 0.2 4 30 2 0.2 4 60 4 0.4 4 120 8 0.8 4
20 3 20 3 40 3 80 3
DC36V 1 0.1 2 1 0.1 2 2 0.2 2 4 0.4 2
Pull-out torque 10 10 20 40
1 1 1 1
Source current (load applied) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
fs fs fs fs fs fs fs fs
Source current (no load) 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
1-division fs Fs:Maximum self-start Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
frequency when not loaded 1-division 1-division 1-division 1-division
2-division fs 100 1000 2000 3000 5000 100 1000 2000 3000 5000 10 100 1000 2000 3000 5000 100 1000 2000 3000 5000
17
Stepping Motors with Internal drivers
42mm1.65inch/1.8
42mm1.65inch/0.9
33mm1.30inch 39mm1.54inch 48mm1.89inch 33mm1.30inch 39mm1.54inch
DU15H521S DU15H522S DU15H524S DU15S141S DU15S142S
DU15H521D DU15H522D DU15H524D DU15S141D DU15S142D
0.228.32 0.342.48 0.3752.39 0.228.32 0.2941.07
0.0360.20 0.0560.31 0.0720.34 0.0440.24 0.0660.361
0.230.51 0.290.64 0.370.82 0.240.53 0.290.64
102.25 102.25 102.25 102.25 102.25
306 306 306 306 306
Source currentA
Source currentA
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
TorqueNm
TorqueNm
50 7 50 7 50 7 50 7 50 7
3 0.3 6 3 0.3 6 3 0.3 6 3 0.3 6 3 0.3 6
40 40 40 40 40
5 5 5 5 5
30 2 0.2 4 30 2 0.2 4 30 2 0.2 4 30 2 0.2 4 30 2 0.2 4
20 3 20 3 20 3 20 3 20 3
Set model
1 0.1 2 1 0.1 2 1 0.1 2 1 0.1 2 1 0.1 2
10 10 10 10 10
1 1 1 1 1
0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
1-division 1-division 1-division 1-division 1-division
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Source currentA
Source currentA
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
TorqueNm
TorqueNm
50 7 50 7 50 7 50 7 50 7
3 0.3 6 3 0.3 6 3 0.3 6 3 0.3 6 3 0.3 6
40 40 40 40 40
5 5 5 5 5
30 2 0.2 4 30 2 0.2 4 30 2 0.2 4 30 2 0.2 4 30 2 0.2 4
20 3 20 3 20 3 20 3 20 3
1 0.1 2 1 0.1 2 1 0.1 2 1 0.1 2 1 0.1 2
10 10 10 10 10
1 1 1 1 1
0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
1-division 1-division 1-division 1-division 1-division
Stepping motor
100 1000 2000 30005000 100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Dimensions
IC for stepping motor
18
2-phase STEPPING SYSTEMS
DC input Specications
F series driver + H or SH series motor Set part Single shaft DB14H321S DB14H326S
number Double shaft DB14H321D DB14H326D
Bipolar Holding torque Nmozin 0.04 6. 0 0.114.16
Rotor inertia 10-4 kgm oz in
2 2
0.00 0.05 0.0160.0
MassWeight kglbs 0.110.24 0.20.44
Allowable thrust load Nlbs 30.6 30.6
Allowable radial loadNote1 Nlbs 42 42
Note1When load is applied at 1/3 length from output shaft edge.
Motor flange size
28 42 50 56 60
1.10inch 1.65inch 1.97inch 2.20inch 2.36inch
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
TorqueNm
TorqueNm
10 7 20 7
0.6 0.06 6 1.2 0.12 6
8 16
5 5
6 0.4 0.04 4 12 0.8 0.08 4
4 3 8 3
DC24V 0.2 0.02 2 0.4 0.04 2
2 4
1 1
0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s
1-division 1-division
100 1000 2000 3000 5000 100 1000 2000 3000 5000
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
TorqueNm
TorqueNm
10 7 20 7
0.6 0.06 6 1.2 0.12 6
8 16
5 5
6 0.4 0.04 4 12 0.8 0.08 4
4 3 8 3
DC36V 0.2 0.02 2 0.4 0.04 2
Pull-out torque 2
1
4
1
Source current (load applied) 0 0 0 0 0 0 0 0
fs fs fs fs
2-division 2-division
1-division 10 100 1000 2000 3000 5000 10 100 1000 2000 3000 5000
Size
Motor ange size
42mm1.65inch/0.9
50mm1.97inch/1.8
56mm 2.20inch/1.8
Motor length 48mm1.89inch 39.8mm1.57inch 51.3mm2.02inch 41.8mm1.65inch
Set part Single shaft DB16S144S DB16H671S DB16H672S DB16H711S
number Double shaft DB16S144D DB16H671D DB16H672D DB16H711D
Holding torque Nmozin 0.4867.97 0.2839.6 0.4969.4 0.3955.2
Rotor inertia 10-4 kgmoz in
2 2
0.0890.487 0.0570.31 0.1180.65 0.10.55
MassWeight kglbs 0.380.84 0.350.77 0.51.10 0.471.04
Allowable thrust load Nlbs 102.25 153.37 153.37 153.37
Allowable radial loadNote1 Nlbs 306 9922 9922 7115
Note1When load is applied at 1/3 length from output shaft edge.
Source currentA
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
TorqueNm
Source currentA
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
TorqueNm
Source current (no load) 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
1-division fs Fs:Maximum self-start Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
frequency when not loaded 1-division 1-division 1-division 1-division
2-division fs 10 100 1000 20003000 5000 100 1000 2000 3000 5000 10 100 1000 2000 3000 5000 10 100 1000 2000 3000 5000
19
Stepping Motors with Internal drivers
42mm1.65inch/1.8
42mm1.65inch/0.9
33mm1.30inch 39mm1.54inch 48mm1.89inch 33mm1.30inch 39mm1.54inch
DB14H521S DB14H522S DB14H524S DB16S141S DB16S142S
DB14H521D DB14H522D DB14H524D DB16S141D DB16S142D
0.26537.53 0.3955.23 0.5172.22 0.2332.57 0.3448.15
0.0360.20 0.0560.31 0.0720.34 0.0440.24 0.0660.361
0.230.51 0.290.64 0.370.82 0.240.53 0.290.64
102.25 102.25 102.25 102.25 102.25
306 306 306 306 306
Source currentA
Source currentA
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
TorqueNm
TorqueNm
50 7 50 7 100 7 50 7 50 7
3 0.3 6 3 0.3 6 6 0.6 6 3 0.3 6 3 0.3 6
40 40 80 40 40
5 5 5 5 5
30 2 0.2 4 30 2 0.2 4 60 4 0.4 4 30 2 0.2 4 30 2 0.2 4
20 3 20 3 40 3 20 3 20 3
Set model
1 0.1 2 1 0.1 2 2 0.2 2 1 0.1 2 1 0.1 2
10 10 20 10 10
1 1 1 1 1
0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
1-division 1-division 1-division 1-division 1-division
100 1000 2000 3000 5000 100 1000 2000 3000 5000 10 100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Source currentA
Source currentA
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
TorqueNm
TorqueNm
50 7 50 7 100 7 50 7 50 7
3 0.3 6 3 0.3 6 6 0.6 6 3 0.3 6 3 0.3 6
40 40 80 40 40
5 5 5 5 5
30 2 0.2 4 30 2 0.2 4 60 4 0.4 4 30 2 0.2 4 30 2 0.2 4
20 3 20 3 40 3 20 3 20 3
1 0.1 2 1 0.1 2 2 0.2 2 1 0.1 2 1 0.1 2
10 10 20 10 10
1 1 1 1 1
0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
1-division 1-division 1-division 1-division 1-division
Stepping motor
100 1000 2000 3000 5000 100 1000 2000 3000 5000 10 100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
56mm2.20inch/1.8
60mm2.36inch/1.8
53.8mm2.12inch 75.8mm2.98inch 44.8mm1.76inch 53.8mm2.12inch 85.8mm3.38inch
DB16H713S DB16H716S DB16H781S DB16H782S DB16H783S
DB16H713D DB16H716D DB16H781D DB16H782D DB16H783D
0.83117.5 1.27179.8 0.88124.6 1.37194.0 2.7382.3
0.211.15 0.361.97 0.2751.50 0.42.19 0.844.59
0.651.43 0.982.16 0.61.32 0.771.70 1.342.95
153.37 153.37 153.37 153.37 153.37
7115 7115 9521 9521 9521
Dimensions
Source currentA
Source currentA
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
TorqueNm
TorqueNm
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
IC for stepping motor
Source currentA
Source currentA
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
TorqueNm
TorqueNm
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
20
2-phase STEPPING SYSTEMS
DC input Specications
Size
Motor ange size
60mm2.36inch/0.9
Motor length 42mm16.54inch 54mm21.26inch
Set part Single shaft DB16S161S DB16S162S
number Double shaft DB16S161D DB16S162D
Holding torque Nmozin 0.6997.71 1.28181.26
Rotor inertia 10-4 kgmoz in
2 2
0.241.312 0.42.187
MassWeight kglbs 0.551.21 0.81.76
Allowable thrust load Nlbs 153.37 153.37
Allowable radial loadNote1 Nlbs 7918 7918
Note1When load is applied at 1/3 length from output shaft edge.
10 1.0 10 20 2.0 10
140 280
9 9
120 0.8 8 240 1.6 8
8 16
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
TorqueNm
TorqueNm
100 7 200 7
6 0.6 6 12 1.2 6
80 160
5 5
60 4 0.4 4 120 8 0.8 4
40 3 80 3
DC24V 2 0.2 2 4 0.4 2
20 40
1 1
0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s
1-division 1-division
10 100 1000 20003000 5000 10 100 1000 20003000 5000
10 1.0 10 20 2.0 10
140 280
9 9
120 0.8 8 240 1.6 8
8 16
Source currentA
Source currentA
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
TorqueNm
TorqueNm
100 7 200 7
6 0.6 6 12 1.2 6
80 160
5 5
60 4 0.4 4 120 8 0.8 4
40 3 80 3
DC36V 2 0.2 2 4 0.4 2
Pull-out torque 20 40
1 1
Source current (load applied) 0 0 0 0 0 0 0 0
fs fs fsfs
2-division 2-division
1-division 10 100 1000 2000 3000 5000 10 100 1000 20003000 5000
21
Stepping Motors with Internal drivers
Specications of Drivers
Unipolar
Model number US1D200P10
Basic Input source DC24 V / 36 V 10
specications Source current 3A
Environment Protection class Class III
Operation environment Installation categoryover-voltage category: I, pollution degree : 2
Applied standards EN61010-1UL508C
Ambient operation temperature 0 to +50
Conservation temperature -20 to +70
Operating ambient humidity 35 to 85% RHno condensation
Conservation humidity 10 to 90% RHno condensation
Operation altitude 1000 m3280 feetor less above sea level
Vibration resistance 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
Impact resistance Not inuenced at NDS-C-0110 standard section 3.2.2 division C .
Withstand voltage Not inuenced when 1500 V AC is applied between power input terminal and cabinet for one minute.
Insulation resistance 10 M MIN. when measured with 500V DC megohmmeter between input terminal and cabinet.
MassWeight 0.08 kg0.18 lbs
Functions Selection functions Step angle, Pulse input mode, Step current, Operating current.
Set model
Protection functions Open phase protection
LED indication Power monitor, alarm
I/O signals Command pulse input signal Photo-coupler input system, input resistance : 220
input-signal H level : 4.0 to 5.5 V, input-signal L level : 0 to 0.5 V
Maximum input frequency : 35 kpulse/s
Poweer down input signal 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
Phase origin monitor output signal From the photo coupler by the open collector output
Output specication : Vceo = 40 V MAX., Ic = 10 mA MAX.
Rotation monitor output signal From the photo coupler by the open collector output
Output specication : Vceo = 40 V MAX., Ic = 10 mA MAX.
Bipolar
Model number BS1D200P10
Basic Input source DC24 V / 36 V 10
specications Source current 3A
Environment Protection class Class III
Stepping motor
Operation environment Installation categoryover-voltage category: I, pollution degree : 2
Applied standards EN61010-1UL508C
Ambient operation temperature 0 to +50
Conservation temperature -20 to +70
Operating ambient humidity 35 to 85% RHno condensation
Conservation humidity 10 to 90% RHno condensation
Operation altitude 1000 m3280 feetor less above sea level
Vibration resistance Tested under the following conditions; 4.9m/s2, frequency range 10 to 55Hz, direction along X, Y and Z
axes, for 2 hours each
Impact resistance Not inuenced at NDS-C-0110 standard section 3.2.2 division C .
Withstand voltage Not inuenced when 1500 V AC is applied between power input terminal and cabinet for one minute.
Insulation resistance 10 M MIN. when measured with 500 V DC megohmmeter between input terminal and cabinet.
MassWeight 0.08 kg0.18 lbs
Functions Selection functions Step angle, Pulse input mode, Step current, Operating current.
Protection functions Open phase protection
LED indication Power monitor, alarm
I/O signals Command pulse input signal 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
Poweer down input signal 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 Dimensions
Phase origin monitor output signal From the photo coupler by the open collector output
Output specication : Vceo = 40 V MAX., Ic = 10 mA MAX.
Rotation monitor output signal From the photo coupler by the open collector output
Output specication : Vceo = 40 V MAX., Ic = 10 mA MAX.
IC for stepping motor
22
2-phase STEPPING SYSTEMS
DC input Specications
Unipolar
Bipolar
23
Stepping Motors with Internal drivers
4 Input circuit congurationCW and CCW Pulse input
OFF ON
Input method selectF/R
Selects input pulse type
EX1 OFF
F/R Input pulse type
ON 1 inputPluse&direction
EX2 OFF Partition number: 8
OFF 2 inputCW, CCW
EX3 OFF
Current selection when stoppingACD1ACD2
Set model
F/R OFF Input method 2 (CW/CCW pulse input)
Select the current value of the motor when stopping.
ACD1 OFF ACD2 ACD1 Current value of the motor
Stopping current: 40% of driving current ON ON 100% of driving current
ACD2 OFF ON OFF 60% of driving current
OFF ON 50% of driving current
LV OFF Micro step operation OFF OFF 40% of driving current
By turning on the EORG, excitation phase when power OFF will be
EORG OFF Phase origin saved. Therefore, there will be no shaft displacement when turning
the power ON.
Stepping motor
OFF Micro-step
Excitation selectEORG
The excitation phase when the power supply is
turned on is selected.
EORG Original excitation phase
ON Excitation phase at power shut off
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.
Unipolar Bipolar
CN3 CN3
DC24V/36V 1 DC24V/36V 1
DC24G/36G 2 DC24G/36G 2
IC for stepping motor
24
2-phase STEPPING SYSTEMS
Specications
3s MIN.
4.0 to 5.5V
90%
50%
Rotation
10%
0 to 0.5V
1s MAX. 1s MAX.
ON
Shaded area indicates internal photo coupler ON . Internal circuitmotor
starts operating at leading edge of the photo coupler ON .
OFF
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
50s . MIN.
ON
Shaded area indicates internal photo coupler ON . Internal circuitmotor
starts operating at leading edge of CK side photo coupler ON .
OFF
OFF
25
Stepping Motors with Internal drivers
Input circuit conguration of PD
R
Driver
Set model
Output signal conguration of MON, AL
MAX. 10 mA
7(9)
MAX. 40 V
8(10)
Driver
Stepping motor
MON output
CW pulse Photo coupler at phase origin of motor excitation is set
to ON .setting when number of divisions is 2
CCW pulse Output from MON is set to on at every 7.2 degrees of
motor output shaft from phase origin.
Mon output
Dimensions
IC for stepping motor
26
2-phase STEPPING SYSTEMS
Unipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
SH1421-0441 -0411 0.2028.32 1.2 2.7 3.2 0.0440.241 0.240.53
SH1422-0441 -0411 0.2941.07 1.2 3.1 5.3 0.0660.361 0.290.64
SH1424-0441 -0411 0.3955.23 1.2 3.5 5.3 0.0890.487 0.380.84
60 60 0.4 60
4 0.4 4 4 0.4
Torquekgfcm
Torquekgfcm
Torquekgfcm
50
Torqueozin
50 50
TorqueNm
Torqueozin
Torqueozin
TorqueNm
TorqueNm
3 0.3 3 0.3 3 0.3
40 40 40 Pull-out torque at JL1
Pull-out torque at JL1 Pull-out torque at JL1
30 0.2 30 2 0.2 30 0.2
2 2
20 20 20
1 0.1 1 0.1 1 0.1
10 10 10
0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1.2A/phase, Source voltage : DC24Voperating current : 1.2A/phase, Source voltage : DC24Voperating current : 1.2A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2Use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2Use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2Use the rubber coupling
27
Stepping Motors with Internal drivers
2-phase stepping motor
Unipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
SH1601-0440 -0410 0.6997.71 2 1.2 3.5 0.241.312 0.551.21
SH1602-0440 -0410 1.28181.26 2 1.65 6.1 0.42.187 0.81.76
SH1603-0440 -0410 2.15304.47 2 2.3 8.8 0.754.101 1.22.64
Set model
SH1601-04 SH1602-04 SH1603-04
10 1.0 20 2.0 40 4.0
140 280 560
Torquekgfcm
200
TorqueNm
100 400
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
6 0.6 12 1.2 24 2.4
80 160 320
Pull-out torque at JL1 Pull-out torque at JL1
Pull-out torque at JL1
60 0.4 120 8 0.8 240 1.6
4 16
40 80 160
2 0.2 4 0.4 8 0.8
20 40 80
0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1
Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Stepping motor
Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 2A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL2 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL3 =7.2x10-4kgm239.37 ozin2use the rubber coupling
Dimensions
IC for stepping motor
28
2-phase STEPPING SYSTEMS
28mmsq.1.10inch sq.
103H32
1.8/step
Bipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
103H3205-5570 -5530 0.0486.80 0.25 38.3 19.5 0.0090.05 0.110.24
103H3205-5670 -5630 0.0517.22 0.5 10.4 6.2 0.0090.05 0.110.24
103H3205-5770 -5730 0.0517.22 1 2.5 1.6 0.0090.05 0.110.24
103H3215-5570 -5530 0.0912.74 0.25 51.8 30.7 0.0160.09 0.20.44
103H3215-5670 -5630 0.0912.74 0.5 12.5 8 0.0160.09 0.20.44
103H3215-5770 -5730 0.114.16 1 3.5 2.3 0.0160.09 0.20.44
6 6 12
0.4 0.04 0.4 0.04 0.8 0.08
5 5 10
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
TorqueNm
Torqueozin
Torqueozin
TorqueNm
TorqueNm
2 2 4
0.1 0.01 0.1 0.01 0.2 0.02
1 Starting 1 Starting 2
torque at JL2 torque at JL2
0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 0.25A/phase, Source voltage : DC24Voperating current : 0.5A/phase, Source voltage : DC24Voperating current : 0.5A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method
JL2 = 0.01x10 kg m20.05 ozin2pulley balancer method
-4
JL2 = 0.01x10 kg m20.05 ozin2pulley balancer method
-4
JL2 = 0.01x10 kg m20.05 ozin2pulley balancer method
-4
29
Stepping Motors with Internal drivers
103H3215-52 103H3205-55 103H3205-56
0.1 0.1 0.1
14 1.0 14 1.0 14 1.0
12 12 12
0.8 0.08 0.8 0.08 0.8 0.08
10 10 10
Torquekgfcm
Torquekgfcm
Torquekgfcm
Pull-out torque at JL1
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
0.6 0.06 0.6 0.06 0.6 0.06
8 8 8 Pull-out torque at JL1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 0.25A/phase, Source voltage : DC24Voperating current : 0.5A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method
JL2 =0.01x10-4kgm20.05 ozin2pulley balancer method JL2 =0.01x10-4kgm20.05 ozin2pulley balancer method JL2 =0.01x10-4kgm20.05 ozin2pulley balancer method
Set model
0.1 0.1 0.1
14 1.0 14 1.0 14 1.0
12 12 12
0.8 0.08 0.8 0.08 0.8 0.08
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
0.6 0.06 0.6 0.06 0.6 0.06
8 8 8
Pull-out torque at JL1 Pull-out torque at JL1
6 0.4 0.04 6 0.4 0.04 6 0.4 0.04
Starting Starting
4 4 torque at JL2 4 torque at JL2
0.2 0.02 0.2 0.02 0.2 0.02
2 Starting 2 2
torque at JL2
0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 0.25A/phase, Source voltage : DC24Voperating current : 0.5A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
Stepping motor
JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method JL1 =0.01x10-4kgm20.05 ozin2pulley balancer method
JL2 =0.01x10-4kgm20.05 ozin2pulley balancer method JL2 =0.01x10-4kgm20.05 ozin2pulley balancer method JL2 =0.01x10-4kgm20.05 ozin2pulley balancer method
103H3215-57
0.1
14 1.0
10
Torquekgfcm
Torqueozin
TorqueNm
0.6 0.06
8
6 0.4 0.04
Starting
4 torque at JL2
0.2 0.02
2
0 0 0
0.1 1 10 100
Pulse ratekpulse/s
100 1000 2000 3000 5000
Number of rotationsmin -1
30
2-phase STEPPING SYSTEMS
Unipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
103H5205-0440 -0410 0.228.32 1.2 2.4 2.3 0.0360.20 0.230.51
103H5208-0440 -0410 0.342.48 1.2 2.9 3.4 0.0560.31 0.290.64
103H5209-0440 -0410 0.3245.31 1.2 3 3.9 0.0620.34 0.310.68
103H5210-0440 -0410 0.3752.39 1.2 3.3 3.4 0.0740.40 0.370.82
Bipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
103H5205-5040 -5010 0.2332.57 0.25 54 78 0.0360.20 0.230.51
103H5205-5140 -5110 0.2535.40 0.5 13.4 23.4 0.0360.20 0.230.51
103H5205-5240 -5210 0.26537.53 1 3.4 6.5 0.0360.20 0.230.51
103H5208-5040 -5010 0.3549.56 0.25 66 116 0.0560.31 0.30.66
103H5208-5140 -5110 0.3853.81 0.5 16.5 34 0.0560.31 0.30.66
103H5208-5240 -5210 0.3955.23 1 4.1 9.5 0.0560.31 0.30.66
103H5209-5040 -5010 0.3853.81 0.25 71.4 132 0.0620.34 0.310.68
103H5209-5140 -5110 0.4158.06 0.5 18.2 39 0.0620.34 0.310.68
103H5209-5240 -5210 0.42560.18 1 4.4 11 0.0620.34 0.310.68
103H5210-5040 -5010 0.46565.85 0.25 80 123.3 0.0740.40 0.370.82
103H5210-5140 -5110 0.4969.39 0.5 20 35 0.0740.40 0.370.82
103H5210-5240 -5210 0.5172.22 1 4.8 9.5 0.0740.40 0.370.82
60 60 60 60
4 0.4 4 0.4 4 0.4 4 0.4
50 50 50 50
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
TorqueNm
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1.2A/phase, Source voltage : DC24Voperating current : 1.2A/phase, Source voltage : DC24Voperating current : 1.2A/phase, Source voltage : DC24Voperating current : 1.2A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
31
Stepping Motors with Internal drivers
103H5205-50 103H5205-51 103H5205-52
5 0.5 5 0.5 5 0.5
70 70 70
60 60 60
4 0.4 4 0.4 4 0.4
50 50 50
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
3 0.3 3 0.3 3 0.3
40 40 40
Pull-out torque at JL1 Pull-out torque at JL1
30 2 0.2 30 2 0.2 30 2 0.2
Pull-out torque at JL1
20 20 20
1 0.1 1 0.1 1 0.1
10 Starting 10 Starting 10 Starting
torque at torque at torque at
0 0 0 JL2 0 0 0 JL2 0 0 0 JL2
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 0.25A/phase, Source voltage : DC24Voperating current : 0.5A/phase, Source voltage : DC24Voperating current : 1A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling
JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling
Set model
103H5208-50 103H5208-51 103H5208-52
5 0.5 5 0.5 5 0.5
70 70 70
60 60 60
4 0.4 4 0.4 4 0.4
50 50 50
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
3 0.3 3 0.3 3 0.3
40 40 40
Pull-out torque at JL1 Pull-out torque at JL1 Pull-out torque at JL1
30 2 0.2 30 2 0.2 30 2 0.2
20 20 20
1 0.1 1 0.1 1 0.1
10 Starting 10 Starting 10 Starting
torque at torque at torque at
0 0 0 JL2 0 0 0 JL2 0 0 0 JL2
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 0.25A/phase, Source voltage : DC24Voperating current : 0.5A/phase, Source voltage : DC24Voperating current : 1A/phase,
Stepping motor
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling
JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling
60 60 60
0.4 0.4 4 0.4
4 4
50 Pull-out torque at JL1
50 50
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
TorqueNm
Torqueozin
Torqueozin
TorqueNm
TorqueNm
100
Pulse ratekpulse/s
1000 2000 3000 5000 100
Pulse ratekpulse/s
1000 2000 3000 5000 100
Pulse ratekpulse/s
1000 2000 3000 5000
Dimensions
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 0.25A/phase, Source voltage : DC24Voperating current : 0.5A/phase, Source voltage : DC24Voperating current : 1A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling
JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling
60 60 60
4 0.4 4 0.4 4 0.4
50 50 50
Pull-out torque at JL1
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
torque at
30 30 30 JL2
2 0.2 2 0.2 2 0.2
Pull-out torque at JL1 Pull-out torque at JL1
20 20 20
1 0.1 1 0.1 1 0.1
10 Starting 10 Starting 10
torque at torque at
0 0 0 JL2 0 0 0 JL2 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1
Number of rotationsmin -1
Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 0.25A/phase, Source voltage : DC24Voperating current : 0.5A/phase, Source voltage : DC24Voperating current : 1A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
32
2-phase STEPPING SYSTEMS
Unipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
103H6701-0140 -0110 0.2839.6 1 4.3 6.8 0.0570.31 0.350.77
103H6701-0440 -0410 0.2839.6 2 1.1 1.6 0.0570.31 0.350.77
103H6701-0740 -0710 0.2839.6 3 0.6 0.7 0.0570.31 0.350.77
103H6703-0140 -0110 0.4969.4 1 6 13 0.1180.65 0.51.10
103H6703-0440 -0410 0.4969.4 2 1.6 3.2 0.1180.65 0.51.10
103H6703-0740 -0710 0.4969.4 3 0.83 1.4 0.1180.65 0.51.10
103H6704-0140 -0110 0.5375.1 1 6.5 16.5 0.140.77 0.551.21
103H6704-0440 -0410 0.5273.6 2 1.7 3.8 0.140.77 0.551.21
103H6704-0740 -0710 0.5375.1 3 0.9 1.7 0.140.77 0.551.21
Bipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
103H6704-5040 -5010 0.5273.6 2 0.9 3.8 0.140.77 0.551.21
60 60 60
0.4 4 0.4 4 0.4
4
50 50 50
Torquekgfcm
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
TorqueNm
TorqueNm
Torqueozin
TorqueNm
30 30 2 0.2 30 2 0.2
2 0.2
Starting torque Starting torque
20 20 at JL2 20 at JL2
1 0.1 1 0.1 1 0.1
10 10 10
Starting torque
at JL2
0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1
Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 3A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling
JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling
60 60 60
4 0.4 4 0.4 4 0.4
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1
Number of rotationsmin -1
Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 3A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
33
Stepping Motors with Internal drivers
103H6704-01 103H6704-04 103H6704-07
1.0 10 1.0 1.0
10 140 10
140 140
100
Torquekgfcm
100 100
Torquekgfcm
Torquekgfcm
TorqueNm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
0.6 6 0.6 0.6
6 6
80 80 80
Pull-out torque at JL1 Pull-out torque at JL1
Pull-out torque at JL1
60 0.4 60 4 0.4 60 0.4
4 4
Starting
torque at
40 40 40
JL2
2 0.2 2 0.2 2 0.2
20
Starting 20 20 Starting torque
torque at
at JL2
0 0 0 JL2 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 3A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling
JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling
Set model
103H6704-50
10 1.0
140
120 0.8
8
100
Torquekgfcm
TorqueNm
Torqueozin
6 0.6
80
Pull-out torque at JL1
60 4 0.4
40
2 0.2
Starting
20
torque at
0 0 0 JL2
0.1 1 10 100
Pulse ratekpulse/s
100 1000 2000 3000 5000
Number of rotationsmin -1
Stepping motor
2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling
JL2 =0.14x10-4kgm20.77 ozin2pulley balancer method
Dimensions
IC for stepping motor
34
2-phase STEPPING SYSTEMS
Unipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
103H7121-0140 -0110 0.3955.2 1 4.8 8 0.10.55 0.471.04
103H7121-0440 -0410 0.3955.2 2 1.25 1.9 0.10.55 0.471.04
103H7121-0740 -0710 0.3955.2 3 0.6 0.8 0.10.55 0.471.04
103H7123-0140 -0110 0.83117. 1 6.7 15 0.211.15 0.651.43
103H7123-0440 -0410 0.83117.5 2 1.6 3.8 0.211.15 0.651.43
103H7123-0740 -0710 0.78110.5 3 0.77 1.58 0.211.15 0.651.43
103H7124-0140 -0110 0.98138.8 1 7 12.5 0.2451.34 0.81.76
103H7124-0440 -0410 0.98138.8 2 1.7 3.1 0.2451.34 0.81.76
103H7124-0740 -0710 0.98138.8 3 0.74 1.4 0.2451.34 0.81.76
103H7126-0140 -0110 1.27179.8 1 8.6 19 0.361.97 0.982.16
103H7126-0440 -0410 1.27179.8 2 2 4.5 0.361.97 0.982.16
103H7126-0740 -0710 1.27179.8 3 0.9 2.2 0.361.97 0.982.16
Bipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
103H7121-5640 -5610 0.5577.9 1 4.3 14.5 0.10.55 0.471.04
103H7121-5740 -5710 0.5577.9 2 1.1 3.7 0.10.55 0.471.04
103H7121-5840 -5810 0.5577.9 3 0.54 1.74 0.10.55 0.471.04
103H7123-5640 -5610 1.0141.6 1 5.7 29.4 0.211.15 0.651.43
103H7123-5740 -5710 1.0141.6 2 1.5 7.5 0.211.15 0.651.43
103H7123-5840 -5810 1.0141.6 3 0.7 3.5 0.211.15 0.651.43
103H7126-5640 -5610 1.6226.6 1 7.7 34.6 0.361.97 0.982.16
103H7126-5740 -5710 1.6226.6 2 2 9.1 0.361.97 0.982.16
103H7126-5840 -5810 1.6226.6 3 0.94 4 0.361.97 0.982.16
103H7128-5640 -5610 2283.2 1 8.9 40.1 0.492.68 1.32.87
103H7128-5740 -5710 2283.2 2 2.3 10.4 0.492.68 1.32.87
103H7128-5840 -5810 2283.2 3 1.03 4.3 0.492.68 1.32.87
35
Stepping Motors with Internal drivers
Pulse rate-torque characteristics
60 60 60
4 0.4 4 0.4 4 0.4
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
3 0.3 3 0.3 3 0.3
40 40 40
Pull-out torque at JL1
30 2 0.2 30 2 0.2 30 2 0.2
Starting torque Starting torque
20 20 at JL2 20 at JL2
1 0.1 1 0.1 1 0.1
10 Starting torque 10 10
at JL2
0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 3A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling
JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling
Set model
103H7123-01 103H7123-04 103H7123-07
10 1.0 10 1.0 10 1.0
140 140 140
Torquekgfcm
Torquekgfcm
Pull-out torque at JL1 Pull-out torque at JL1
TorqueNm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
6 0.6 6 0.6 6 0.6
80 80 80 Pull-out torque at JL1
40 40 40
2 0.2 2 0.2 2 0.2
Starting Starting
20 20 20 Starting torque
torque at torque at
at JL2
0 0 0 JL2 0 0 0 JL2 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
Stepping motor
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1
Number of rotationsmin -1
Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 3A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
Torquekgfcm
Torquekgfcm
TorqueNm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
40 40 40
2 0.2 2 0.2 2 0.2
Starting
20 20 Starting torque 20 Starting torque
Dimensions
torque at
at JL2 at JL2
0 0 0
JL2 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 3A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling
JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling
IC for stepping motor
36
2-phase STEPPING SYSTEMS
56 mm sq.2.20inch sq.
Torquekgfcm
Torquekgfcm
TorqueNm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
12 1.2 12 1.2 12 1.2
160 160 160 Pull-out torque at JL1
Pull-out torque at JL1 Pull-out torque at JL1
80 80 80
4 0.4 4 0.4 4 0.4
Starting Starting Starting torque
40 40 40
torque at torque at at JL2
0 0 0 JL2 0 0 0 JL2 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 3A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling
JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling
Torquekgfcm
Torquekgfcm
TorqueNm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
40 40 40
2 0.2 2 0.2 2 0.2
Starting Starting
20 20 20 Starting torque
torque at torque at
at JL2
0 0 0 JL2 0 0 0 JL2 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 3A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling
JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling
37
Stepping Motors with Internal drivers
103H7123-56 103H7123-57 103H7123-58
20 2.0 20 2.0 20 2.0
280 280 280
Torquekgfcm
Torquekgfcm
TorqueNm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
12 1.2 12 1.2 12 1.2
160 160 160 Pull-out torque at JL1
Pull-out torque at JL1
Pull-out torque at JL1
120 8 0.8 120 8 0.8 120 8 0.8
80 80 80
4 0.4 4 0.4 4 0.4
Starting Starting Starting
40 40 40
torque at torque at torque at
0 0 0 JL2 0 0 0 JL2 0 0 0 JL2
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 3A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling
JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling
Set model
103H7126-56 103H7126-57 103H7126-58
20 2.0 20 2.0 20 2.0
280 280 280
Torquekgfcm
Torquekgfcm
Pull-out torque at JL1
TorqueNm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
12 1.2 12 1.2 12 1.2
160 160 160
Pull-out torque at JL1
Pull-out torque at JL1
120 8 0.8 120 8 0.8 120 8 0.8
80 80 80
4 0.4 4 0.4 4 0.4
40
Starting 40
Starting 40
Starting
torque at torque at torque at
0 0 0 JL2 0 0 0 JL2 0 0 0 JL2
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 3A/phase,
Stepping motor
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling
JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling JL2 =2.6x10-4kgm214.22 ozin2use the direct coupling
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
100
Pulse ratekpulse/s
1000 2000 3000 5000 100
Pulse ratekpulse/s
1000 2000 3000 5000 100
Pulse ratekpulse/s
1000 2000 3000 5000
Dimensions
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 3A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling
JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling
IC for stepping motor
38
2-phase STEPPING SYSTEMS
Unipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
103H7821-0140 -0110 0.78110.5 1 5.7 8.3 0.2751.50 0.61.32
103H7821-0440 -0410 0.78110.5 2 1.5 2 0.2751.50 0.61.32
103H7821-0740 -0710 0.78110.5 3 0.68 0.8 0.2751.50 0.61.32
103H7822-0140 -0110 1.17165.7 1 6.9 14 0.42.19 0.771.70
103H7822-0440 -0410 1.17165.7 2 1.8 3.6 0.42.19 0.771.70
103H7822-0740 -0710 1.17165.7 3 0.8 1.38 0.42.19 0.771.70
103H7823-0140 -0110 2.1297.4 1 10 21.7 0.844.59 1.342.95
103H7823-0440 -0410 2.1297.4 2 2.7 5.6 0.844.59 1.342.95
103H7823-0740 -0710 2.1297.4 3 1.25 2.4 0.844.59 1.342.95
Bipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
103H7821-1740 -1710 0.88124.6 4 0.35 0.8 0.2751.50 0.61.32
103H7822-1740 -1710 1.37194.0 4 0.43 1.38 0.42.19 0.771.70
103H7823-1740 -1710 2.7382.3 4 0.65 2.4 0.844.59 1.342.95
Torquekgfcm
Torquekgfcm
TorqueNm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
40 40 40
2 0.2 2 0.2 2 0.2
Starting
20 20 Starting torque 20 Starting torque
torque at
at JL2 at JL2
0 0 0 JL2 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1
Number of rotationsmin -1
Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 3A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
39
Stepping Motors with Internal drivers
103H7822-01 103H7822-04 103H7822-07
20 2.0 20 2.0 20 2.0
280 280 280
Torquekgfcm
Torquekgfcm
TorqueNm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
12 1.2 12 1.2 12 1.2
160 160 Pull-out torque at JL1 160 Pull-out torque at JL1
Pull-out torque at JL1
120 8 0.8 120 8 0.8 120 8 0.8
Starting
torque at
80 80 80
JL2
4 0.4 4 0.4 4 0.4
40
Starting 40 40 Starting torque
torque at at JL2
0 0 0 JL2 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 3A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling
JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling
Set model
103H7823-01 103H7823-04 103H7823-07
20 2.0 20 2.0 20 2.0
280 280 280
Torquekgfcm
Torquekgfcm
TorqueNm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
12 1.2 12 1.2 12 1.2
160 160
Pull-out torque at JL1
160 Pull-out torque at JL1
Pull-out torque at JL1
80 80 80
4 0.4 4 0.4 4 0.4
Starting Starting
40 40 40 Starting torque
torque at torque at
at JL2
0 0 0 JL2 0 0 0 JL2 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 2A/phase, Source voltage : DC24Voperating current : 3A/phase,
Stepping motor
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling
JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling
Torquekgfcm
Torquekgfcm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
40 80 200
2 0.2 4 0.4 10 1.0
20 40 100
0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
100
Pulse ratekpulse/s
1000 2000 3000 5000 100
Pulse ratekpulse/s
1000 2000 3000 5000 100
Pulse ratekpulse/s
1000 2000 3000 5000
Dimensions
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : AC100Voperating current : 4A/phase, Source voltage : AC100Voperating current : 4A/phase, Source voltage : AC100Voperating current : 4A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling
IC for stepping motor
40
2-phase STEPPING SYSTEMS
Unipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
SH2861-0441 -0411 2.5354 2 2.3 8.0 1.488.09 1.753.92
SH2862-0441 -0911 4.8679.7 2 3.2 13.0 316.4 2.96.5
SH2863-0441 -0411 6.6934.6 2 4.0 16.6 4.524.6 4.08.96
Bipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
SM2861-5051 -5021 3.3467.3 2 2.2 15 1.488.09 1.753.92
SM2861-5151 -5121 3.3467.3 4 0.56 3.7 1.488.09 1.753.92
SM2861-5251 -5221 3.3467.3 6 0.29 1.7 1.488.09 1.753.92
SM2862-5051 -5021 6.4906.3 2 3.2 25 316.4 2.96.5
SM2862-5151 -5121 6.4906.3 4 0.83 6.4 316.4 2.96.5
SM2862-5251 -5221 6.4906.3 6 0.36 2.8 316.4 2.96.5
SM2863-5051 -5021 91274.4 2 4 32 4.524.6 48.96
SM2863-5151 -5121 91274.4 4 1 7.9 4.524.6 48.96
SM2863-5251 -5221 91274.4 6 0.46 3.8 4.524.6 48.96
41
Stepping Motors with Internal drivers
Pulse rate-torque characteristics
Torquekgfcm
Torquekgfcm
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
Torqueozin
80 200 200
4 0.4 10 1.0 10 1.0
40 100 100
0 0 0
fs 0 0 0
fs 0 0 0
fs
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC100Voperating current : 4A/phase, Source voltage : DC100Voperating current : 2A/phase, Source voltage : DC100Voperating current : 4A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =15.3x10-4kgm283.65 ozin2use the rubber coupling JL1 =15.3x10-4kgm283.65 ozin2use the rubber coupling JL1 =15.3x10-4kgm283.65 ozin2use the rubber coupling
Set model
SM2861-50 SM2861-51 SM2861-52
40 4.0 40 4.0 40 4.0
560 560 560
Torquekgfcm
Torquekgfcm
TorqueNm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
24 2.4 24 2.4 24 2.4
320 Pull-out torque at JL1 320 320
0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000
Stepping motor
100 1000 2000 3000 5000
Number of rotationsmin -1
Number of rotationsmin -1
Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC100Voperating current : 2A/phase, Source voltage : DC100Voperating current : 4A/phase, Source voltage : DC100Voperating current : 6A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL1 =15.3x10-4kgm283.65 ozin2use the rubber coupling
Torquekgfcm
Torquekgfcm
TorqueNm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
60 6 60 6 60 6
800 800 800 Pull-out torque at JL1
Pull-out torque at JL1 Pull-out torque at JL1
600 40 4 600 40 4 600 40 4
0 0 0 0 0 0 0 0 0
Dimensions
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC100Voperating current : 2A/phase, Source voltage : DC100Voperating current : 4A/phase, Source voltage : DC100Voperating current : 6A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL1 =15.3x10-4kgm283.65 ozin2use the rubber coupling
Torquekgfcm
Torquekgfcm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
60 6 60 6 60 6
800 Pull-out torque at JL1 800 800 Pull-out torque at JL1
0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC100Voperating current : 2A/phase, Source voltage : DC100Voperating current : 4A/phase, Source voltage : DC100Voperating current : 6A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL1 =15.3x10-4kgm283.65 ozin2use the rubber coupling
42
2-phase STEPPING SYSTEMS
Unipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
103H89222-0941 -0911 10.81529.4 4 0.98 6.3 14.679.83 7.516.53
103H89223-0941 -0911 15.52194.9 4 1.4 9.7 22120.28 10.523.15
Bipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
103H89222-5241 -5211 13.21869.2 6 0.45 5.4 14.679.83 7.516.53
103H89223-5241 -5211 192690.5 6 0.63 8 22120.28 10.523.15
Torquekgfcm
Torquekgfcm
TorqueNm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
60 6 120 12 120 12
800 1600 1600 Pull-out torque at JL1
Pull-out torque at JL1
600 40 4 1200 80 8 1200 80 8
Starting
400 800 800
torque at
JL2
20 2 40 4 40 4
200 400 400
0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : AC100Voperating current : 4A/phase, Source voltage : AC100Voperating current : 4A/phase, Source voltage : AC100Voperating current : 6A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =43x10-4kgm2235.10 ozin2use the rubber coupling JL1 =43x10-4kgm2235.10 ozin2use the rubber coupling JL1 =43x10-4kgm2235.10 ozin2use the rubber coupling
JL2 =43x10-4kgm2235.10 ozin2use the rubber coupling
103H89223-52
200 20
2800
2400 16
160
2000
Torquekgfcm
TorqueNm
Torqueozin
120 12
1600 Pull-out torque at JL1
1200 80 8
Starting
800
torque at
JL2
40 4
400
0 0 0
0.1 1 10 100
Pulse ratekpulse/s
100 1000 2000 3000 5000
Number of rotationsmin -1
43
Stepping Motors with Internal drivers
2-phase stepping motor
Unipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Set model
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
103H7121-6140 -6110 0.3955.2 1 4.8 8 0.10.55 0.471.04
103H7121-6740 -6710 0.3955.2 3 0.6 0.8 0.10.55 0.471.04
103H7123-6140 -6110 0.83117.5 1 6.7 15 0.211.15 0.651.43
103H7123-6740 -6710 0.78110.5 3 0.77 1.58 0.211.15 0.651.43
103H7126-6140 -6110 1.27179.8 1 8.6 19 0.361.97 0.982.16
103H7126-6740 -6710 1.27179.8 3 0.9 2.2 0.361.97 0.982.16
Stepping motor
Pulse rate-torque characteristics
60 60 120
4 0.4 4 0.4 8 0.8
Torquekgfcm
Torqueozin
Torqueozin
TorqueNm
TorqueNm
TorqueNm
Torqueozin
100
Pulse ratekpulse/s
1000 2000 3000 5000 100
Pulse ratekpulse/s
1000 2000 3000 5000 100
Pulse ratekpulse/s
1000 2000 3000 5000
Dimensions
Number of rotationsmin -1 Number of rotationsmin -1 Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 3A/phase, Source voltage : DC24Voperating current : 1A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling
JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling JL2 =0.8x10-4kgm24.37 ozin2use the direct coupling
Torquekgfcm
Torquekgfcm
TorqueNm
TorqueNm
TorqueNm
Torqueozin
Torqueozin
Torqueozin
40 80 80
2 0.2 4 0.4 4 0.4
20 Starting torque 40 Starting 40 Starting torque
at JL2 torque at at JL2
0 0 0 0 0 0 JL2 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse ratekpulse/s Pulse ratekpulse/s Pulse ratekpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotationsmin -1
Number of rotationsmin -1
Number of rotationsmin -1
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : DC24Voperating current : 3A/phase, Source voltage : DC24Voperating current : 1A/phase, Source voltage : DC24Voperating current : 3A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =0.94x10-4kgm25.14 ozin2use the rubber coupling JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling JL1 =2.6x10-4kgm214.22 ozin2use the rubber coupling
JL2 =0.8x10 kgm24.37 ozin2use the direct coupling
-4
JL2 =2.6x10 kgm214.22 ozin2use the direct coupling
-4
JL2 =2.6x10 kgm214.22 ozin2use the direct coupling
-4
44
2-phase STEPPING SYSTEMS
Bipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
103H8221-6240 -6210 2.74388.0 6 0.3 1.65 1.457.93 1.53.31
103H8222-6340 -6310 5.09720.8 6 0.35 2.7 2.915.86 2.55.51
103H8223-6340 -6310 7.441053.6 6 0.45 3.4 4.424.06 3.57.72
Torquekgfcm
Torqueozin
TorqueNm
TorqueNm
TorqueNm
Torqueozin
30 3.0 30 3.0 60 6
400 Pull-out torque at JL1 400 800
Sanyo constant current circuit Sanyo constant current circuit Sanyo constant current circuit
Source voltage : AC100Voperating current : 6A/phase, Source voltage : AC100Voperating current : 6A/phase, Source voltage : AC100Voperating current : 6A/phase,
2-phase energizationfull-step 2-phase energizationfull-step 2-phase energizationfull-step
JL1 =7.4x10-4kgm240.46 ozin2use the rubber coupling JL1 =15.3x10-4kgm283.65 ozin2use the rubber coupling JL1 =43x10-4kgm2235.10 ozin2use the rubber coupling
JL2 =7.4x10-4kgm240.46 ozin2use the direct coupling JL2 =15.3x10-4kgm283.65 ozin2use the direct coupling JL2 =43x10-4kgm2235.10 ozin2use the direct coupling
45
Stepping Motors with Internal drivers
2-phase stepping motor
Bipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia MassWeight
energization
Set model
Single shaft Double shafts [Nmozin MIN.] A/phase /phase mH/phase [10 - 4 kgm
2
ozin2 ] [kgIbs]
103H89222-6341 -6311 13.21869.2 6 0.45 5.4 14.679.83 7.516.53
103H89223-6341 -6311 192690.5 6 0.63 8 22120.28 10.523.15
Stepping motor
Pulse rate-torque characteristics
103H89222-63 103H89223-63
200 20 200 20
2800 2800
2400 16 2400 16
160 160
2000 2000
Torquekgfcm
Torquekgfcm
Torqueozin
TorqueNm
TorqueNm
120 12 120 12
1600 Pull-out torque at JL1 1600
1200 80 8 1200 80 8
Starting
800 800
torque at
JL2
40 4 40 4
400 Starting torque 400
at JL2
0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100
100
Pulse ratekpulse/s
1000 2000 3000 5000 100
Pulse ratekpulse/s
1000 2000 3000 5000
Dimensions
Number of rotationsmin -1 Number of rotationsmin -1
46
2-phase STEPPING SYSTEMS
Standard models
Motor type H series motor
Model number 103H32 /103H52 /103H67 /103H71
Insulation class Class B130
28 1.10inch 42 1.65inchAC500V 50/60Hz for 1 minute, 50 1.97inch 56 2.20inch 60 2.36inchAC1000V
Withstand voltage
50/60Hz for 1 minute
Insulation resistance 100M ohm MIN. against DC500V
Amplitude : 1.52mmp-p, 147m/s 2, frequency range : 10 to 55Hz, sweep time : 5minutes, number of sweep is 12 times each in
Vibration resistance
the X, Y and Z directions.
Impact resistance Acceleration : 98m/s 2, holding time : 11ms, half-wave sine wave 3 times in each direction of X, Y, and Z axes, 18 times in total.
Operating ambient temperature -10 to 50
Operating ambient humidity 90%MAX. : 40 MAX., 57%MAX. : 50 MAX., 35%MAX. : 60 MAX.no condensation
CE marked models
Model Number 103H712 103H822 103H8922
Rated voltage 12-200VDC 12-300VDC
Applied standardsLow voltage
EN60034-1,IEC34-5(EN60034-5),EN60204-1,EN60950,EN61010-1
diretive
Operation type S1continuous rating
Protection grade IP43
Device category Class I
Operation environment Pollution degree 2
Insulation classI Class B130
Insulation resistance Not less than 100M between winding and frame by DC500V megger or normal temperture and humidity.
Without abnormality when applying 50/60Hz, 1600V AC1500V AC for 103H712 for 1minuteleakage current 10mA between
Withstand voltage
winding and frame at nomal temperature and humidity.
Ambient operation temperature -10 to +50C
Ambient operation humidity 90% MAX. at less than 40
C, 57% MAX. at less than 50
C , 35% MAX. at 60
Cno condensation
Winding temperature rise 80K MAX.Based on Sanyo Denki standard
Note 1When load is applied at 1/3 length from output shaft edge.
47
Stepping Motors with Internal drivers
Internal Wiring and Rotation Direction
Unipolar winding
103H32
Exciting
order
2
3
Red Black Yellow
4
(5) (1) (3)
103H52
Set model
I n t e r nal w ir e c o nn e c t io n Direction of motor rotate
( ) connector pin number The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
(2)
Connector type pin number
(1)
1.6 5 3 4 2
(3) 1
Exciting
order
4
(5) (6) (4)
103H782
Stepping motor
( ) connector pin number The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
(2)
Connector type pin number
(1) 1.6 4 3 5 2
(3) 1
Exciting
order
4
(4) (6) (5)
order
4
Red Black Yellow
Bipolar winding
I n t e r nal w ir e c o nn e c t io n Direction of motor rotate
,( ) connector pin number The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
3(1)Orange
Lead wire color, connector type pin number
IC for stepping motor
1(2)Blue 1 + +
Exciting order
2 + +
3 + +
4 + +
Red Yellow
Connector
6 4
48
2-phase STEPPING SYSTEMS
Dimensions
MotorsUnit: mminch
28mm 1.10inch
42mm 1.65inch
280.5 420.25
101 310.8 200.5
(1.10.02) 151 L0.5 240.5 (1.65.01)
(.39.039) (1.25.031) (.79.02) 4-230.25 A (.59.04) (L.02) (.94.02) 4-310.25 A
19.5(.76)MIN. (4-.91.01) 1.50.76 (4-1.22.01)
8.5(.33)
MAX. 18(.71) MAX. 11(.44) 28(1.1)MIN. (.59.03) 27(1.06) MAX.
2 Pin No. MAX. 1.5
Pin No.
( )
(.079) 1. .6 (.06)
16
A B B 5
A (.2)
6.5(.26) MAX.
.0003
(.87-.002) B
7(.28) MAX.
.0003
(.87-.002)
0.05
22-0.05
0.05
22-0.05
.00003
(.1968-.0005)
0.013
5-0.013
.00003
(.1968-.0005)
0.013
5-0.013
.00003
(.1968-.0005)
.00003
(.1968-.0005)
0.013
5-0.013
0.013
5-0.013
50mm 1.97inch
Lead wire UL3266 AWG22
15.51 L0.8 20.60.5
(.61.04) (L.03) (.81.02)
500.5
(1.97.02)
305(12) MIN.
1.5 4-410.13
(.06) (4-1.61.005)
5 25(.98)MAX.
(.2)
6(.24)MAX.
.0000
1.42-.002)
0.000
36-0.039
.00000
(.25-.0005)
0.000
6.35-0.013
(
.00000
)
.25-.0005
0.000
6.35-0.013
+0.5
4-4.5 0.5
+.02
(
(4-.18 .00 )
Lead wire type
Motor length :
Set part number Motor model number Cable type
mminch
103H6701-01 0 39.81.57 Lead wire
103H6701-04 0 39.81.57 Lead wire
103H6701-07 0 39.81.57 Lead wire Motor shaft specication code
103H6703-01 0 51.32.02 Lead wire
Motor shaft spec Set type code Motor type code
Unipolar 103H6703-04 0 51.32.02 Lead wire
Single shaft S 7
103H6703-07 0 51.32.02 Lead wire
Double shafts D 3
103H6704-01 0 55.82.20 Lead wire
103H6704-04 0 55.82.20 Lead wire
103H6704-07 0 55.82.20 Lead wire Motor shaft specication code
DB16H671 103H6701-50 0 39.81.57 Lead wire Motor shaft spec Motor type code
Bipolar DB15H672 103H6703-50 0 51.32.02 Lead wire Single shaft 4
103H6704-50 0 55.82.20 Lead wire Double shafts 1
49
Stepping Motors with Internal drivers
56mm 2.20inch
60mm 2.36inch
600.5
Lead wire UL1430 AWG22 560.5
(2.36.02)
(2.20.02) 15.51 L0.8 20.60.5
15.51 L0.8 4-500.13
(.61.04) (L.03) 4-47.140.13 (.61.04) (L.03)
7
(.81.02) (4-1.97.005)
A
20.60.5 (4-1.86.0005) (.28)
305(12)MIN.
8(.31)MAX.
.0000
(1.42-.002)
12(.47) MAX.
0.000
36-0.039
S S
B
.00000
(.25-.0005)
S S
0.000
6.35-0.013
R4 MIN.
.00000
R4 MIN.
.00000
(.315-.0006)
0.000
6.35-0.013
0.000
8-0.015
(R.157MIN.) (R.157MIN.)
.00000
(.315-.0006)
+0.5
0.000
8-0.015
4-4.5+0.0
+0.5 +.02
4-4.5 0.0 (4-.18+.00).0
+.02
Lead wire type (4-.18 .00 ) Connector type Lead wire type
Set model
mminch mminch
DU16H711 103H7121-04 0 41.81.65 Lead wire 103H7821-01 0 44.81.76 Lead wire
DU16H713 103H7123-04 0 53.82.12 Lead wire 103H7821-04 0 44.81.76 Lead wire
DU16H716 103H7126-04 0 75.82.98 Lead wire 103H7821-07 0 44.81.76 Lead wire
103H7121-01 0 41.81.65 Lead wire 103H7822-01 0 53.82.12 Lead wire
103H7121-07 0 41.81.65 Lead wire 103H7822-04 0 53.82.12 Lead wire
103H7123-01 0 53.82.12 Lead wire 103H7822-07 0 53.82.12 Lead wire
Unipolar
103H7123-07 0 53.82.12 Lead wire 103H7823-01 0 85.83.38 Lead wire
103H7124-01 0 53.82.12 Lead wire 103H7823-04 0 85.83.38 Lead wire
103H7124-04 0 53.82.12 Lead wire 103H7823-07 0 85.83.38 Lead wire
Unipolar
103H7124-07 0 53.82.12 Lead wire SH1601-04 0 44.81.76 Lead wire
103H7126-01 0 75.82.98 Lead wire SH1602-04 0 53.82.12 Lead wire
103H7126-07 0 75.82.98 Lead wire SH1603-04 0 85.83.38 Lead wire
103H7121-61 0 41.81.65 Lead wireCE DB16H781 103H7821-57 0 44.81.76 Lead wire
103H7121-67 0 41.81.65 Lead wireCE DB16H782 103H7822-57 0 53.82.12 Lead wire
103H7123-61 0 53.82.12 Lead wireCE DB16H783 103H7823-57 0 85.83.38 Lead wire
103H7123-67 0 53.82.12 Lead wireCE DB16S161 SH1601-52 0 44.81.76 Lead wire
Bipolar
103H7126-61 0 75.82.98 Lead wireCE DB16S162 SH1602-52 0 53.82.12 Lead wire
103H7126-67 0 75.82.98 Lead wireCE 103H7821-17 0 44.81.76 Lead wire
Stepping motor
DB16H711 103H7121-57 0 41.81.65 Lead wire 103H7822-17 0 53.82.12 Lead wire
DB16H713 103H7123-57 0 53.82.12 Lead wire 103H7823-17 0 85.83.38 Lead wire
DB16H716 103H7126-57 0 75.82.98 Lead wire
103H7121-56 0 41.81.65 Lead wire
103H7121-58 0 41.81.65 Lead wire
103H7123-56 0 53.82.12 Lead wire
Bipolar
103H7123-58 0 53.82.12 Lead wire
103H7126-56 0 75.82.98 Lead wire
103H7126-58 0 75.82.98 Lead wire
103H7128-56 0 94.83.73 Lead wire
103H7128-57 0 94.83.73 Lead wire
103H7128-58 0 94.83.73 Lead wire
Dimensions
IC for stepping motor
50
2-phase STEPPING SYSTEMS
Dimensions
MotorsUnit: mminch
86mm 3.39inch
86mm 3.39inch
Lead wire:
UL vinyl tube Lead wire UL1430 AWG18
UL3398 CSA AWG22
281 L0.8 300.5
301(1.18.04) L1(L0.4)
(1.10 .04) (L.03) (1.2.02) 82.550.5
A(CE)
(CE)
305(12) MIN.
.060.1
1.50.25 85.50.5 (3.3660.2) (3.25.02)
12(.47)MAX.
A 69.60.25(2.740.1)
1.52
(9.8.8)
25020
300.5(1.180.1) (.06) 4-69.60.2
80.5(.310.1) 27(1.06)MAX. 4.83
+1 +0.4 +1 +0.4 (.19) (4-2.74.008)
25 0 .91 0 ( ) (
25 0 .91 0 ) 27.50.5
(Effective length) (Effective length)
(1.08.02)
(.55 -0.001 )
(.55 -0.001 )
B
14 -0.018
14 -0.018
0
69.60.25(2.740.1)
85.50.5(3.3660.2)
130.15
0
73.0250.025
25
(2.8750.001)
73.0250.025
(2.9.001)
(.51180.059)
(3.4.02)
90
S S (.98)
860.5
S
(.51180.059)
S S B(CE)
(CE)
130.15
Cross section
R4(R.16)MIN. R4(R.16)MIN. S-S S
.00000
(.4724-.0007)
Grounding terminal 4-5.60.2
.00000
)
Grounding terminal
0.000
12-0.018
.374-.0005
M40.76L (4-.2205.0079)
0.000
9.5-0.013
+0.5
M4x0.7x6L 4-5.35+0.0
+.02
(4-.2+.00 )
(
Lead wire type CE type Lead wire type
106mm 4.17inch
(.34)
(4.2.002) A(CE)
(CE)
4-88.90.25
1.52
+1 (4-3.5.001)
(.06) 30.5 0
A +.04
(1.2 .00 ) B
(4.2.04)
106.41
.63-.0007 55.5240.05
(2.19.002)
S
B(CE)
(CE)
.00000
)
0.000
16-0.018
.00000
)
0.000
12.7-0.018
.5-.0007
+0.5
4-6.9 0.0
+.02
(
(4-.27 .00 )
(
51
2-phase STEPPING SYSTEMS
Dimensions
Set model
Safety standards
driver
Acquired standards File No. Standard part
UL UL
E179775 UL508C
UL for Canada
Directives Category Name Standard part
Low-voltage
EN50178
directives
Terminal disturbance voltage EN55011-A
Emission
Electromagnetic radiation disturbance EN55011-A
Stepping motor
CE ESDElectrostatic discharge EN61000-4-2
TV RSRadio-frequency amplitude
EMC EN61000-4-3
modulated electromagnetic eld
directives
Immunity Fast transionts EN61000-4-4
Surges EN61000-4-6
CSRadio-frequency common mode EN61000-4-5
Voltage dips, Voltage interruptions EN61000-4-11
EMC characteristics may vary depending on the conguration of the users control panel, which contains Dimensions
the driver or stepping motor, or the arrangement and wiring of other electrical devices.
Parts for EMC noise suppression like noise lters 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 TVTV product
servicefor self-declaration of CE marking.
IC for stepping motor
52
2-phase STEPPING SYSTEMS
PMM8713PT
Characteristics
Universal controller : The following 3 types of energization mode can be selected by switching at the energization mode switching
terminal
1EX/1-2EX/2EX
Source voltage : Vcc = 4.5 to 5.5V
High output current : 24mA MIN.sink, source
High noise margin : Schmitt trigger circuit is incorporated for the all input terminals.
2 types of pulse input : 2 input modeCW, CCW input mode
Pulse and direction modeCK, U/D input mode
Excited status
verication monitor : Outputs the monitor signal of the controller status.
DimensionsUnit : mminch
10. 4 4 output
0.6(.024)
11. 3 3 output 0.20(.
00
12. 2 2 output 2.54(.1)TYP 0.35(. 8)
014)
13. 1 1 output
14. EM energization monitor output
15. CO Input pulse monitor output
16. VCC 4.5 to 5.5V
53
Stepping Motors with Internal drivers
Electrical Characteristics
Set model
Measured waveforms on switching time scale
1f
CU 90% 90%
CK 10% 10%
tr tf
tWH tWL
1 to 4 50%
Stepping motor
tpd
90% 90%
CK 50% 50%
10% 10%
tr tf
tr or tf
90%
UD 50%
10%
tHOLD tSET
Function Table
Dimensions
L L L CW 1 EX H H L H
2 input modeCW, 1-2EX H H H H
CCW
L L L CCW 2 EX H L L H
L L H CW
Pulse and direction
modeCK, U/D
L L L CCW
IC for stepping motor
54
2-phase STEPPING SYSTEMS
PMM8713PT
Energization Sequence
CU
Input
CD
CK
Output CO
P.GND
5V
+ GND
13 20
GND
1 16 8 9 11 15 19 8
2 14 10
Driving input External output
3 15 12
4
14
Energization mode setting 5 18
6 13 4
5V 7 12 25 5 Stepping motor
11 3
10 24
Reset input 9 5V 6 23
22 26 21 7
2 1
PMM8713PT
PMM2101 GND
GND GND 5V
The normal initial reset may not be performed during unstable VCC after turning the power ON. For
reliable resetting, hold the R terminal9-pinat the L level till the VCC becomes stable.
Vcc (16-pin)
4.5V
R (9-pin)
1.5V MAX.
CV
55
2-phase STEPPING SYSTEMS
PMM2101
Full Step / Half Step
Bipolar
Characteristics
Set model
Enables high speed and high torque operation by using bipolar constant current switching method.
Enables compact driving circuit conguration with few of externally attached parts.
The overheat protection circuit is incorporated to assist the safety design.
Item Symbol Rated value Unit Item Symbol Rated value Unit
Source voltage-1 VCC1 8 to 60 V Source voltage-1 VCC1 10 to 50 V
Source voltage-2 VCC2 0 to 7 V Source voltage-2 VCC2 4.75 to 5.25 V
Output current IO 1.4 A Output current IO 1.0 A
Allowable loss PT 35Tc 25 W Oscillator
FC 20 to 27 kHz
Thermal jc 3.57 W frequency
resistance ja 25 W Operation
TC -25 to 85
Junction temperature
Stepping motor
T jmax 150
temperature
Conservation
Tstg - 40 150
temperature
DimensionsUnit : mminch
1.50.2
5. CR A One shot time constant setting terminal
(.178.02)
1 3.30.2 1 (.15.008)
(.06.06)
6. Vref A Motor current setting terminal (.04) (.13.008) (.04)
7. LG A GND PMM2101
(.31)
8
56
2-phase STEPPING SYSTEMS
Rating
Item Symbol Condition Unit
MIN. Standard MAX.
"H"level input voltage V IH VCC2 5V 2.7 VCC2 V
"L"level input voltage V IL VCC2 5V 0 1.0 V
"H"level input current IIH VCC2 5VV I 5V 10 A
"L"level input current IIL VCC2 5VV I 0V -50 A
Reference voltage (Vref) input current Iref VCC2 5VVref 0V -10 A
Current detection (Vs) input current IS VCC2 5VVS 0V -10 A
Forward direction voltage of FET diod VF IF 1A 1.3 1.5 V
High output saturating voltage Vce (sat)H I C 1A 1.0 1.4 V
Low output saturating voltage Vce (sat)L I C 1A 1.0 1.3 V
VCC1 60VVOUT 0V 10 A
Low output saturating voltage IR
VOUT 60VV RS 0V 10 A
Power current to controller section I CC2 VCC2 = 5Vduring circuit operation 75 mA
Alarm terminal current Ialm VCC2 5VValm 0.5V 2 mA
Overheat alarm operating temperature 125
Overheat protection stop temperature 150
The overheat protection circuit outputs an alarm signal at +125 at the internal junction in the IC, and activatesmotor excitation OFF
at +150 .
VCC2(+5V)
Transistor ON during alarming
External pull-up resistor VceON: 0.5V MAX.
(approximate 10kW)
27-pin lalm : 2mA MAX.
The alarming signal output and overheat protection circuit
Open collector output
recover automatically when the temperature lowers.
PMM2101
P.GND
R1 R2 C2
5V
C1
+ GND
R3 R4
D1~D4
13 20
GND
1 16 8 9 11 15 19 8 Orange
Driving input 2 14 10
External output Blue
3 15 12
4 Red
14
Energization mode setting 5 Yellow
13 4 18
6 R7
5V 7 12 25 Stepping motor
5
11 3
C3
10 24
Reset input
9 5V R8
6 23
22 26 21 7 C4
PMM8713PT R5 2 1
R6 PMM2101 GND
GND GND 5V
1.0
R1,R2 5W0.68 C1, C2 1000pF
0.8
R3,R4 1 4W3.9k C3, C4 3300pF
0.6
R7,R8 1 4W15k C5 330 F
0.4
0.2
Determine on the R5 and R6 constants referring to the Vref- 0.0
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
output current characteristics.
Vref Voltage (V)
Determine on D1 to D4.
Peak reverse voltage 100V
Output current 1A
Reverse recovery time 100ns
57
2-phase STEPPING SYSTEMS
PMM2301
Micro Step
Unipolar
Characteristics
Set model
Sine wave driven micro-step driver.
The current detection resistor is incorporated.
MOSFET is used for the power driving circuit to reduce heating.
Totally packaged to reduce parts for the peripheral circuit.
Enables selection from the 5 various excitation modes by the external bit signal.
Item Symbol Condition Rated value Unit Item Symbol Condition Rated value Unit
Source voltage-1 VCC1 MAX. VCC2 0V 52 V Source voltage-1 VCC1 With signal 10 to 45 V
Source voltage-2 VCC2 MAX. With no signal 7 V Source voltage-2 VCC2 With signal 5.0 5 V
Input voltage V in MAX. Logic input terminal 7 V Input voltage V IH 0 to VCC2 V
Phase current IOH MAX. 0.5sec, 1pulse, VCC1 applied 4 A Phase current IOH Duty 50 3 A
Stepping motor
Operating Clock frequency Clock DC to 50 kHz
temperature on TC MAX. 105 Withstand voltage of
V DSS 100 V
PCB phase driver
Junction
T j MAX. 150
temperature
Conservation
Tstg - 40 to 125
temperature
Dimensionsunit: mminch
67
Pin No. Terminal name Pin No. Terminal name
(2.64)
1. B 12. VCC2 60 9
2. B 13. VCC2 (2.36) (.35)
3. P.GND A 14. Clock
(1.00)
25.5
5. A 16. Reset
1
5.6
(.22)
11(.43)
6. A 17. Return
7. VCC2 18. Enable 1 22
+0.2
+0.2
0.40.05 Dimensions
(.16)
9.
10.
Mode 1
Mode 2
20.
21.
M 01
M 02
(2.14)
[9] 21x2=42
(.02+.008
.002 ) 2.9
11. Mode 3 22. GND (.11)
(.35) (21x.08=1.68)
58
2-phase STEPPING SYSTEMS
Conditioned on the Mode 3 = L, one pulse operation is performed at every rising and falling edge of the clock pulse. Accordingly, the
operation becomes unstable if the driving pulse duty ratio deviates from 50%.
Electrical CharacteristicsTc=25Vcc1=24VVcc2=5V
Rating
Item Symbol Condition Unit
MIN. Standard MAX.
VCC2 Power current I CCO Enable = L 4.5 15 mA
Effective output current Ioave Each phase R/L = 3 .5 /3.8mH, Vref = 0.6V 0.45 0.50 0.55 A
Forward direction voltage
Vdf I f 1A 1.2 1.8 V
of FET diode
Output saturating voltage Vsat RL = 7.5 I 3.0A 1.4 2.6 V
H level input voltage V IH 9 to 11, 14 to 18 pins 4.0 V
L level input voltage V IL 9 to 11, 14 to 18 pins 1.0 V
Input current IIL 9 to 11, 14 to 18 pins = GND level, Pull-up resistor 20k 125 250 510 A
Vref input voltage Vr 8-pin 0 VCC2 2 V
Vref input curren Ir 8-pin 1 A
H level output voltage
VOH 19 to 21 pins I = 3mA, I = -3mA 2.4 V
M 0IM 01M 02
L level output voltage
VOL 19 to 21 pins I = 3mA, I = -3mA 0.4 V
M 0IM 01M 02
PWM frequency FC 37 47 57 kHz
VCC2(5V)
PMM2301
VCC1
10 to 45 V
7 19
12 20 External output
13 21
White
Orange
9 6
Blue +
Energization mode setting 10 5 C1
Red
11 2
Yellow
Clook 14 1 Black
R2
GND
Determine on the R1 and R2 constants based on the Vref voltage calculated from the following formula.
VrefV= Motor current adjusted value A/phasex 0.6
59
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.
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.
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 required, suggesting that the terminals should be actually grounded.
techniques.
This label is stuck for the driver or stepping motor to which the power source is applied in the voltage
WARNING
May Cause
electric shock
exceeding the safety standard, drawing attention against the electric shock.
DANGER Improper operations or use is most likely to result in serious injury or death.
CAUTION Improper operations or use is likely to result in average or minor injury, or in property damage.
In spite of the cautions with the CAUTION CAUTION label, it may cause serious results. Either
the contents of the labels is describing important cautions to be followed inevitably.
60
DANGER CAUTION
General matters 18. Mount the product on an incombustible material such as metal. Doing
1. Do not use the product in an explosive, flammable or corrosive atmosphere, watery otherwise may cause fire.
place or near a combustible material. Doing so may cause injury or fire.
19. Confirm the rotating direction before connecting with the mechanical
2. Have a person with expert knowledge for performing the transportation, device. Failure to do so may cause injury or a breakdown.
placement, wiring, operation, maintenance or inspection of the product.
Without such knowledge, it may cause an electric shock, injury or fire. 20. Do not touch the motor output spindle (including the key slot and gears) with a bare
hand. Doing so may cause injury.
3. Do not work for wiring, maintenance servicing or inspection with the electric Operation
power on. Perform either of those five minutes after turning the power off, 21. The stepping motor is not equipped with any protective device. Take
or otherwise, it may cause an electric shock. protective measures using an over-current protective relay, a ground fault
interrupter, a protective device from excess temperature, and an emergency
4. When the protective functions of the product is activated, turn the power off stopping device. Failure to do so may cause injury or fire.
immediately and eliminate the cause. If continuing the operation without
eliminating the cause, the product may operate improperly and cause injury 22. Do not touch the product for a period after the power is on or has been turned
or a breakdown of the system devices. off, since the driver and stepping motor remain in the high temperature. Doing
so may cause burns. Especially the temperature rises considerably of the
5. Stepping motor may run out of order at the operating and stopping stepping motor depending on the operating conditions. Use the motor on the
occasions, depending on the magnitude of the load. Put the product into use condition so that its surface temperature becomes 100C or under.
after confirming with the adequate trial test operation in the maximum load
conditions that the product performs reliable operation. Doing otherwise 23. Stop the operation immediately when an emergency occurs. Failure to do so may
may cause a breakdown of the system. (Should the product run out of order cause an electric shock, injury or fire.
in the use to drive upward/downward, it may cause a fall of the load.)
24. Do not change adjustment to an extreme, for such a change results in the unstable
6. Do not touch the internal parts of the driver. Doing so may cause an electric operation. Doing so may cause injury.
shock.
25. When conducting the trial operation, make the stepping motor fixed firmly, and
Wiring confirm the operation by disconnecting with the mechanical system before
7. Do not connect the stepping motor directly with the commercial power connecting with it. Failure to do so may cause injury.
outlet. Doing so may cause an electric shock, injury or fire. The power shall
be supplied to the stepping motor through the driving circuit. 26. When the alarm has been activated, eliminate the cause and ensure the
safety to resume operation. Failure to do so may cause injury.
8. Use the electric power source within the rated input voltage. Using
otherwise may cause fire or an electric shock. 27. When the electric power recovers after the momentary interruption, do not
approach the devices because the system may re-start operation by itself.
9. Connect the driver and stepping motor to the ground. Using without (Set the system so as to secure the safety even when it re-start on such
grounding may cause an electric shock. occasion.) Failure to do so may cause injury.
10. Do not harm, forcibly put a stress, or load a heavy article on the cable or get 28. Confirm that the electric power supply is all proper conforming to the
it caught between the articles. Doing so may cause an electric shock. specifications. Failure to do so may cause a trouble.
11. Perform wiring with the power cable as instructed by the wiring diagram or 29. The brake mechanism of the motor with the electro-magnetic brake is to
the Operation Manual. Doing otherwise may cause an electric shock or fire. hold the movable section and the motor position. Do not use it as a safety
measure, or doing so may cause the breakdown of the system.
Operation
12. Be sure not to touch the rotating part of the stepping motor during its 30. Fix the key firmly when operating the motor with key individually. Failure to
operation. Touching it may cause injury. do so may cause injury.
13. Neither reach or touch the electric terminals while electric power is on. Maintenance services
Doing so may cause an electric shock. 31. Be careful when performing maintenance services or inspection about the
temperature which rises highly in the driver and stepping motor frame.
14. Never disconnect any of the connectors while electric power is on. Doing so may Failure to do so may cause burns.
cause an electric shock and corruption.
General matters 32. It is recommended to replace the electrolytic condenser of the driver with a
1. Prior to placement, operation, maintenance servicing or inspection, be sure new one for securing the preventive measure after using for 5 years, the
to read the Operation Manual and follow the instructions to perform those. expected life in the average 40C. The expected life of the fuse is 10 years
Failure to follow the instructions may cause an electric shock, injury or fire. in the average 40C. Thus, the periodical replacement is recommended.
2. Do not use the driver or the stepping motor outside the specified conditions. 33. Contact with us for repair. If the product is disassembled by the user, it may
Doing so may cause an electric shock, injury or fire. put it out of action.
Transportation
3. Do not insert a finger or a thing into the opening of the product. Doing so may cause 34. Handle the product with care during transportation so as to prevent from the
an electric shock, injury or fire. danger such as a tumble or a turnover.
4. Do not use the damaged driver or stepping motor. Doing so may cause 35. Do not hold with the cable or the motor spindle. Doing so may cause a
injury, fire or the like. trouble or injury.
5. Use the driver and stepping motor in the designated combination. Using Retirement
otherwise may cause fire or a trouble. 36. When scrapping the driver or stepping motor, treat it for the general
industrial waste.
6. Be careful that the temperature rises in the operating driver, stepping motor
or peripheral devices. Failure to be careful may cause a burn.
7.
Unpacking
Unpack while confirming the ceiling. Failure to do so may cause injury.
PROHIBITED
Storage
8. Confirm if the product is the one having been ordered. Installing an incorrect 1. Avoid the place exposed to rain or water drops, or in an environment with
product may cause a breakdown. hazardous gas or liquid for storing the product. Failure to do so may cause a
Wiring trouble.
9. Do not perform measurement of the insulation resistance or withstand Maintenance services
insulation voltage of the product. Doing so may cause a breakdown. Instead, 2. Do not assemble or repair the product. Doing so may cause fire or an
contact with us for such inspection. electric shock.
10. Perform wiring conforming to the technical standards of electric facility or General matters
the internal rule. Doing otherwise may cause burning or fire. 3. Do not remove the rating plate.
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.
COMPULSORY
Storage
12. Take insulation process for the attached condenser or the external resistance 1. Store the product within the specified conservation temperature and
connection terminals. Failure to do so may cause an electric shock. humidity in the place not exposed to the sun beam.
Placement 2. If the driver has been stored for a long period (3 years or longer for a guide),
13. Do not climb or attach a heavy article on the product. Doing so may cause consult with us. The capacitance may have decreased with the electrolytic
injury. condenser due to the long period storage, and it may cause a trouble.
14. Neither block nor stuff the aspiration/exhaust vent with a foreign particle. Operation
Doing so may cause fire. 3. Install an external emergency stop circuit to turn the power off for the
instant halt of operation.
15. Follow the instructions for the direction to place. Failure to do so may cause
a trouble. 4. Put the product into operation in the specified ambient temperature and
humidity.
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 Transportation
may cause a trouble. 5. Excess loading of the product on the carrier may cause the load to fall in
pieces. Follow the instructions given outside the package.
17. Place the product with a great care so as to prevent from the danger such as
a tumble or a turnover.
61
Inquiry Check Sheet
Please provide the following information when placing an order or making an inquiry.
Also feel free to include any questions that require our attention.
Name of target equipment Equipment name, category (transport, processing, test, other)
Name of servo axis Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no)
Current condition of above axis
Positioning accuracy
Moving Distance Reference formula:
Acceleration G [m/s2] [1G=9.8,m/s2),1(m/s2)0.1G]
Feeding Speed V [m/s] [ (m/s2)=V(m/sec) t1(sec)]
Operation pattern Feeding Speed [D(m)=V(m/sec) (t1+t2)(sec)]
Moving Distance
[m/sec]
(Stroke)
t1 t2 t3 Time[sec]
Lr1 (drive-side roll length) mm Lr2 (follower-side roll length) mm G (reduction ratio)
JG (speed-reducer inertia) kg.m2 JC (coupling inertia) kg.m2
JN (nut inertia) kg.m2 JO (other motor-axis conversion inertia) kg.m2
Db (ball-screw diameter) mm Lb (ball-screw axial length) mm Pb (ball-screw lead) mm
Mechanical structure
Dp (pinion/pulley diameter) mm Lp (pinion axial length) mm Tp (pulley thickness) mm
Dt (table diameter) mm Dh (table-support diameter) mm LW (load shift from axis) mm
Ds (table shaft diameter) mm Ls (table shaft length) mm
(specific gravity of ball-screw/pinion/pulley/table-shaft material) kg/cm3
(friction coefficient between sheet and sliding-surface/support-section/roll) 1 (specific gravity of roll-1 material) kg/cm3
2 (specific gravity of roll-2 material) kg/cm3 (internal friction coefficient of preload nut)
(mechanical efficiency) JL (load inertia of motor-axis conversion) kg.m2
TF (friction torque of motor axis conversion) N.m TU (imbalance torque of motor axis conversion) N.m
Miscellaneous
(questions, pending problems,
unresolved issues, etc.)
62
Cautions
Precautions For Adoption
Cautions
Failure to follow the precautions on the right may cause
moderate injury and property damage, or in some
circumstances, could lead to a serious accident.
Always follow all listed precautions. For any question or inquiry regarding the above, contact our Sales Department.
http://www.sanyodenki.com
1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan Phone: +81 3 3917 5157
468 Amapola Avenue Torrance, CA 90501 U.S.A. Phone: +1 310 783 5400
P.A. Paris Nord ll 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France Phone: +33 1 48 63 26 61
Frankfurter Strasse 63-69 65760 Eschborn Germany Phone: +49 6196 76113 0
9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea Phone: +82 2 773 5623
Room 2116, Bldg B, FAR EAST INTERNATIONAL PLAZA, No.317 XianXia Rd., Shanghai 200051 China Phone: +86 21 6235 1107
Room 1208, 12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C. Phone: +886 2 2511 3938
Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong Phone: +852 2312 6250
10 Hoe Chiang Road #14-03A/04 Keppel Towers Singapore 089315 Phone: +65 6223 1071
CATALOG No. 832-2 07.3.C