2-PHASE STEPPING SYSTEMS
Ver.3
CATALOG No. 832-8 ’10.1.N
＊For any question or inquiry regarding the above, contact our Sales Department.
Cautions
■Precautions For Adoption
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.
http://www.sanyodenki.co.jp
P
Cautions
The names of companies and/or their products specified in this catalogue are the trade names, and/or trademarks and/or registered trademarks of such respective companies.
*Remarks : Specifications Are SubjectTo Change Without Notice.
1
Compliance with international standards
The standard specification SANMOTION F series stepping driver complies with UL and EN
safety standards.Stepping motors complying with UL and EN standards are available upon
request.
F series DRIVER
H series MOTOR
SH series MOTOR
F series DRIVER features
Low-vibration mode
1
0
200
400
600
800
1000
1200
1400
1600
0 100 200 300 400 500 600700 800900 1000
pulse/s
Low-Vibration Mode ON
Driver : US1D200P10
Motor : 103H7123-0410
Source voltage : DC24V
Wire current : 2.0A/phase
Division : 2
TG : 11TG7V/1000rpm
0
200
400
600
800
1000
1200
1400
1600
0 100200 300400 500600 700800 9001000
pulse/s
Low-Vibration Mode OFF
Speed variation
%
Speed variation%
Driver : US1D200P10
Motor : 103H7123-0410
Source voltage : DC24V
Wire current : 2.0A/phase
Division : 2
TG : 11TG7V/1000rpm
DC input
DC input
Compact / Light weight
2
0 10050 150200 250
2-phase bipolar
F series
2-phase bipolar
Current model
2-phase unipolar
F series
2-phase unipolar
Current model
MASSg
Light weight
050 100 150 200 250 300 350
2-phase bipolar
F series
2-phase bipolar
Current model
2-phase unipolar
F series
2-phase unipolar
Current model
Volumecm3
Compact
DC input
2-phase STEPPING SYSTEMS
2
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
Set model
DC input
Bipolar standard
（standard model）
The standard set includes a F series driver and a H or SH series motor.
Stepping motors with integrated drivers
A driver incorporating a motion control function needed for
driving a motor and a 2-phase stepping motor were integrated into a single unit.
Unipolar standard
（standard model）
The standard set includes a F series driver and a H or SH series motor.
P.4
P.13
P.14
Motor flange size
1.8
1
0.9
1
Reduction gear ratios
42 50 56 60
1.65inch1.10inch 1.97inch2.20inch 2.36inch
28
42
Motor flange size
1.65inch2.36inch
60
42 56
Motor flange size
1.8
1
0.9
1
Reduction gear ratios
28
1.65inch1.10inch 2.20inch
3
How do you want to control the equipment?
The F series offers the choice of 3 different control methods
Control method
Program
command
control using
PLC I/O
Control using a
pulse generator
Network
control
using serial
communication
（RS-485）
DC input
bipolar standard
Motion is generated by pulse input
commands from an upper-level controller.
System confi guration diagram P14
Set part number nomenclature P15
Motor specifi cations P27 to 50
General specifi cations P51 to 52
Motor dimension drawing P53 to 56
Driver dimension drawing P57
DC input
stepping motors with integrated drivers
Startup via I/O :
Initiate program
containing speed,
acceleration/
deceleration, and travel
distance commands
stored in the driver via
the I/O.
Startup via serial
communication :
Control by sending data
for speed, acceleration/
deceleration, and travel
distance commands via
serial communication.
System confi guration diagram P4
Specifi cations P6
Dimensions P5 to 6
DC input
unipolar standard
Drive
Specifi cation
Control using a
pulse generator
Motion is generated by pulse input
commands from an upper-level controller.
System confi guration diagram P13
Set part number nomenclature P15
Motor specifi cations P27 to 50
General specifi cations P51 to 52
Motor dimension drawing P53 to 56
Driver dimension drawing P57
F series DRIVER
H series MOTOR
SH series MOTOR
2-phase STEPPING SYSTEMS
4
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
Single
phase
AC100 V
to
AC230 V
(t)
(r)
DC
24 V
  Bundled cable for
input/output signal
（300 mm）
  Bundled cable for
DC power
（350 mm）
Noise filter
Filters out
incoming noise
from power line
Molded case
circuit breaker
Protects the power
line. Cuts off circuit
in the event of
overcurrent.
Electromagnetic
contactor
Switches driver
power on/off.
Use together with
a surge protector.
Switching power
supply
Converts AC power
to DC power
Setup software : SFPA1W-01
Stepping Motors with Integrated drivers
DC input
System configuration
Host Devices
PLC and controllers are available as
the host device.
PLC
5
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
Stepping motors with integrated drivers
Features
1.Driver and motor are now integrated into a single unit.
A driver incorporating a motion control function needed
for driving a motor and a 2-phase stepping motor were
integrated into a single unit for enabling a more compact
installation space and less wiring.
2.Three types of operation modes can be selected to match
the specific application.
1Control by command pulses
2Program control by general-purpose I/O(Parallel)
3Compliant with RS-485, half-duplex asynchronous
communication
DB21M142S-01
E=DC24V
I=Rated current
JL=0.94×10-4kg・m2
0.1
0.6
0.5
0.4
0.3
0.2
0
Torque (N-m)
0.1 1 10 100
DB22M162S-01
E=DC24V
I=Rated current
JL=2.6×10-4kg・m2
Pulse ratekpulse/sPulse ratekpulse/s
0.1 1 10 100
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
0
Torque(oz·in.)
70
80
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
Torque(oz·in.)
Torque (kgf-cm)
1
2
3
4
5
6
0
140
160
180
200
220
0
120
100
80
60
40
20
2
4
6
8
10
12
14
16
0
Number of rotations（min
-1
) Number of rotations（min
-1
)
2000 3000 5000100 1000 2000 3000 5000100 1000
Pulse rate-torque characteristics
Dimensions
［Unit : mm
（inch）］
1O
4
2
3
N
5
6
E
9
A
F
8
3
4
7
6
5
2
1
0
D
C
B
CN1:POWER
1・・・・19
2・・・・20
1
2
CN2:I/O
RSWPSW DSW
4.5
42±0.5（1.65±.02）
31±0.25（1.22±.01）
42±0.5（1.65±.02）
31±0.25（1.22±.01）
R3MIN.
70+2
0
1.5 ±0.76（.59±.03）
24±0.5（.94±.02）
φ5
0
-0.013
0.05
0.025
(EFFECTIVE
LENGTH)
Manufacturer：JST
CONNECTOR：S02B-PASK-2
CONNECTOR：SM20B-SHLDS-GW-TF
Manufacturer：JST
±0.15（1.18±.01）
NAME
TAP DEPTH 4（.16）MIN.
4-M3×0.5
PLATE
A
A
EARTH TERMINAL
M2.5X0.45X4L
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ｔｅｃｈｎｉｑｕｅｓ．
ｇｒｏｕｎｄｉｎｇ
15
（ ）
（ ）
2.76
+.08
.00
（ ）
59 +.04
.00
φ.1968−
+.00 00
.0005
φ22 0
-0.05
（ ）
φ.87−
+.00 0
.002
DC input
□42mm
（□1.65inch）□60mm
（□2.36inch）
□42mm
（□1.65inch）
The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
6
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
Specifications
Basic
specifications
Part number
（Flange size）DB21M142S-01
（□42mm）DB22M162S-01
（□60mm）
Input source（Note1）DC24 V 10
Getaway torque
（A）2 MAX. 3 MAX.
Environment
Protection class Class I
Operation environment Installation category
over-voltage category
: II, pollution degree : 2
Applied standards EN61010-1
Operating ambient temperature
（Note2）0 to +40
Conservation temperature -20 to +60
Operating ambient humidity 35 to 85%RH
no condensation
Conservation humidity 10 to 90%RH
no condensation
Operation altitude 1000 m
3280 feetMAX. above sea level
Vibration resistance Tested under the following conditions ; 4.9m/s2, frequency range 10 to 55Hz, direction along X, Y
and Z axes, for 2 hours each
Impact resistance Not influenced at NDS-C-0110 standard section 3.2.2 division C.
Withstand voltage Not influenced when 1500V AC is applied between power input terminal and cabinet for one
minute.
Insulation resistance 10M ohm MIN. when measured with 500V DC megohmmeter between input terminal and cabinet.
Mass
（Weight）0.5kg
1.10lbs0.87kg
1.92lbs
Function
Protection function Against driver overheat
LED indicator Alarm monitor
I/O signals
Command pulse input signal
（Note3）Photo coupler input method, input resistance 220
Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V
Power down input signal
（PD）Photo coupler input method, input resistance 470
Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V
Step angle setting selection input
（EXT）Photo coupler input method, input resistance 470
Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V
FULL/HALF setting selection input
（F/H）Photo coupler input method, input resistance 470
Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V
EMG input signal Photo coupler input method, input resistance 470
Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V
BUSY output signal Open collector output by photo coupler
Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX.
Phase origin monitor output signal
（MON）Open collector output by photo coupler
Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX.
Alarm output signal
（AL）Open collector output by photo coupler
Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX.
Note1Note that the power voltage must not exceed 24VDC + 10% (26.4VDC).
Note2If the driver is placed in a box, the temperature inside the box must not exceed this specified range.
Note3The maximum input frequency is 250k pulse/s.
Dimensions
［Unit : mm
（inch）］
6
7
A
9
8
B
C
D
E
0
1
2
5
4
3
F
N
O
3
2
1
6
5
4
1
R4MIN.
4−φ4.5 0
+0.5
4−φ.18 .00
+.02
(EFFECTIVE
LENGTH)
CONNECTOR：S02B- PASK-2
Manufacturer：JST
CN1:POWER
2
2・・・・20
1・・・・19
Manufacturer：JST
CONNECTOR：SM20B-SHLDS -GW-TF
CN2:I/O
RSWPS DS EARTH TERMINAL
M2.5X0.45X4L
NAME
A
0.075 A
A
0.1
0.025
PLATE
Ｕｓｅ ｐｒｏｐｅｒ
ｔｅｃｈｎｉｑｕｅｓ．
ｇｒｏｕｎｄｉｎｇ
88 +2
0
7±0.25（.27±.01）
φ38.1±0.25（φ1.5±.01）
20.6±0.5（.81±.02）
60±0.5（2.36±.02）
5.8±0.15（.23±.01）
47.1±0.13（1.85±.01）
60±0.5（2.36±.02）
47.1±0.13（1.85±.01）
1.5±0.25（.06±.01）
φ6.35 0
-0.013 φ.25 +.000
-.001
（ ）
（ ）
3.4 6
+.08
.00
15
+1
0
（ ）
.59
+.04
.00
（ ）
□60mm
（□1.65inch）
7
◎ 2-input mode（CW, CCW）
■Timing of the command pulse
Input circuit configuration
■Input interface
◎ Input circuit configuration（CW, CCW）
■Input signal specifications
• The internal photo coupler turns ON within the and,
at its falling edge to OFF, the internal circuit
motoris
activated.
• When applying the pulse to CW, turn OFF the CCW side
internal photo coupler.
• When applying the pulse to CCW, turn OFF the CW side
internal photo coupler.
• The Hlevel is input for and, at its rising edge to H
level, the internal circuit
stepping motoris activated.
• Switching the input signal U/D should be performed
while the input level on the CK side is L.
Specifications
2-phase STEPPING SYSTEMS
Input signal
220
Rotation
to
to
to
to
Rotation
2µs MIN.
2µs MIN.
1µs MAX. 1µs MAX.
Approx. 15 mA
Pulse duty 50 % MAX.
Approx. 15mA
Pulse duty 50% MAX.
1µs MAX. 1µs MAX.
50µs MIN.
50µs MIN. 10µs MIN.
◎ Pulse and direction mode（CK, U/D）
◎ Negative logic
◎ Positive logic
8
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
■Input circuit configuration
• Shaded area indicates internal photo coupler ON.
• EXT input signal
EXT photo coupler ONenables a function by external
F/H input signal.
EXT photo coupler OFFenables the setting of a
number of micro steps by main unit’s rotary switch S.S.
• F/ H input signal
F/H photo coupler ONsets HALF step (2-division)
operation.
F/H photo coupler OFFsets FULL step (1-division)
operation.
• Refer to switching EXT and F/H input signal in the
[FULL/HALF input signal, command pulse, and step
angle select].
• When switching the step angle by EXT and F/H input
signal, the phase origin LCD may not turn ON and the
phase origin monitor output may not output when stop.
Refer to the MON output in the [Output Interface].
■ Output circuit configuration
（BUSY、
MON、
AL）
Output interface
■ Mon output
• When the motor excitation phase is at the phase origin
(power ON status), the photo coupler is turned ON,
and the upper D.P of status LED turns on synchronously.
• Output from MON is set to on at every 7.2 degrees of
motor output shaft from phase origin.
Approx. 10mA
Input signal
Command pulse
100µs MIN. 10µs MIN.
470
◎ Input circuit configuration（PD、
EXT、
F/H、
EMG）
◎ Timing of command pulse, step angle selection, and
FULL/HALF selection input signal
Output signal
CW pulse
CCW pulse
Mon output
MAX. 20mA
MAX. 30V
Driver
Output signal
CW pulse
CCW pulse
Mon output
MAX. 20mA
MAX. 30V
Driver
Phase origin position Phase origin position
Motor shaft
Switching to FULL step
by external F/H
FULL step
HALF step
Stop position at
FULL step
◎ When changing the division setting by F/H input signal.
• When changing the motor division setting by the
external input signal and the rotary switch as shown in
the example below, the motor cannot stop where MON
output signal can be output. Take this into consideration
when using the MON output signal.
9
WIRING
Specification
2-phase STEPPING SYSTEMS
Signal Reference
Designation
Pin
Number Function Summary
General-purpose
input common +COM 6 Input signal common of the 6 to 9 pins
DC 5V is input.
Alarm clear signal
（standard）ALMC 6 Recoverable alarms are cleared.
Internal photo coupler off onAlarm clear
General-purpose
input 1 IN1 6
This is a general-purpose input signal that can be
used by program driving.
Internal photo coupler onGeneral purpose input 1 on
Internal photo coupler off General purpose input 1 off
Emergency stop
input EMG 6
The emergency stop signal is input.
Internal photo coupler onNo emergency stop
Internal photo coupler ofEmergency stop
Origin signal ORG 6
The origin signal used for the return to origin
operation is input.
Internal photo coupler onOrigin signal on
Internal photo coupler offOrigin signal off
+ direction
overtravel signal +OT 7
An overtravel signal in the + direction is input.
Internal photo coupler on + direction overtravel not
arrived
Internal photo coupler off + direction overtravel
arrived
General-purpose
input 2 IN2 7
This is a general-purpose input signal that can be
used by program driving.
Internal photo coupler onGeneral purpose input 2 on
Internal photo coupler off General purpose input 2 off
Emergency stop
input EMG 7
The emergency stop signal is input.
Internal photo coupler onNo emergency stop
Internal photo coupler offEmergency stop
Origin signal ORG 7
The origin signal used for the return to origin
operation is input.
Internal photo coupler onOrigin signal on
Internal photo coupler off Origin signal off
Alarm clear signal ALMC 7 Recoverable alarms are cleared.
Internal photo coupler off onAlarm clear
- direction
overtravel signal OT 8
An overtravel signal in the - direction is input.
Internal photo coupler on - direction overtravel not
arrived
Internal photo coupler off- direction overtravel
arrived
General-purpose
input 3 IN3 8
This is a general-purpose input signal that can be
used by program driving.
Internal photo coupler onGeneral purpose input 3 on
Internal photo coupler off General purpose input 3 off
Emergency stop
input EMG 8
emergency stop signal is input.
Internal photo coupler onNo emergency stop
Internal photo coupler offEmergency stop
Origin signal ORG 8
The origin signal used for the return to origin
operation is input.
Internal photo coupler onOrigin signal on
Internal photo coupler off Origin signal off
Alarm clear signal ALMC 8 Recoverable alarms are cleared.
Internal photo coupler off onAlarm clear
Signal Reference
Designation
Pin
Number Function Summary
Emergency stop
signal EMG 9
The emergency stop signal is input.
Internal photo coupler onNo emergency stop
Internal photo coupler offEmergency stop
General-purpose
input 4c IN4 9
This is a general-purpose input signal that can be
used by program driving.
Internal photo coupler onGeneral purpose input 4 on
Internal photo coupler off General purpose input 4 off
Origin signal ORG 9
The origin signal used for the return to origin
operation is input.
Internal photo coupler onOrigin signal on
Internal photo coupler off Origin signal off
Alarm clear signal ALMC 9 alarms are cleared.
Internal photo coupler off onAlarm clear
During motor
operation BUSY 10
The operation status of the motor is output.
Internal photo coupler onDuring motor operation
Internal photo coupler offDuring motor stop
During program
execution PEND 10
The execution status of the program is output.
Internal photo coupler onDuring program execution
Internal photo coupler offProgram execution
complete
Zone signal ZONE 10 on when the current position is inside the
coordinates that were set beforehand.
During program
execution PEND 11
The execution status of the program is output.
Internal photo coupler onDuring program execution
Internal photo coupler offProgram execution
complete
During motor
operation BUSY 11
The operation status of the motor is output.
Internal photo coupler onDuring motor operation
Internal photo coupler offDuring motor stop
Zone signal ZONE 11 Turns on when the current position is inside the
coordinates that were set beforehand.
Alarm output ALM 12
When various alarm circuits operate in the driver, an
external signal is output.
At this time, the stepping motor becomes non excited
status.
Output signal
common OUT_COM 13 It is for the output signal common.
DATA+ DATA+ 14 It is for the serial signal.
DATA −DATA 15 It is for the serial signal.
■Specification Summary of Input/Output Signals (Serial I/F mode)
■
Specification Summary of Input/Output Signals (Pulse train I/F mode)
Signal Reference
Designation
Pin
Number Function Summary
CW pulse input
（Standard）
CW+
CW
1
2
When 2 input mode,
Input drive pulse rotating CW direction.
Pulse train input CK+
CK
1
2
When 1 input mode,
Input drive pulse train for motor rotation.
CCW pulse input
（Standard）
CCW+
CCW
3
4
When 2 input mode,
Input drive pulse rotating CCW direction.
Rotational
direction input
U/D+
U/D
3
4
When 1 input mode,
Input motor rotational direction signal.
Internal photo coupler ON CW direction
Internal photo coupler OFF CCW direction
General-purpose
input common +COM 6 Input signal common of the 6 to 9 pins
DC5V is input.
Power down
input PD 6
Input ting PD signal will cut off
power off
the current
flowing to the Motor
With dip switch select, change to
the Power low function is possible.
PD input signal on
internal photo coupler on
PD function is valid.
PD input signal off
internal photo coupler off
PD function is invalid.
Step angle
select input E X T 7
FULL/HALF select input will become valid by inputting
EXT signal.
EXT input signal on
internal photo coupler on
External input signal F/H is valid
EXT input signal of f
internal photo coupler off
Main body rotary switch S.S is valid
Signal Reference
Designation
Pin
Number Function Summary
FULL/HALF
select input F/H 8
When EXT input signal on
internal photo coupler on,
F/H input signal on
internal photo coupler on
HALF step
F/H input signal off
internal photo coupler off
FULL step
Emergency
stop EMG 9
The emergency stop signal is input.
Internal photo coupler onNo emergency stop
Internal photo coupler offEmergency stop
During motor
operation BUSY 10
The operation status of the motor is output.
Internal photo coupler on
During motor operation
Internal photo coupler off
During motor stop
Phase origin
monitor output MON 11
When the excitation phase is at the origin
in power on
it
turns on.
When FULL step, ON once for 4 pulses, when HALF step,
ON once for 8 pulses.
Alarm output ALM 12
When alarm circuits actuated inside the Driver, outputs
signals to outside. Then the Stepping motor becomes
unexcited status.
Output signal
common OUT_COM 13 It is for the output signal common.
* As for the Motor rotational direction, CW direction is regard as the clockwise revolution by
viewing the Motor from output shaft side.
10
Dimensions Stepping Motors with Internal drivers Stepping motorIC for stepping motor Set model
Signal Reference
Designation
Pin
Number Function Summary
Program drive
Start/Stop
START+
START-
1
2
Commands the start and stop of program driving.
Internal photo coupler onProgram driving start
Internal photo coupler offProgram driving stop
Program pause PAUSE+
PAUSE-
3
4
When START signal on, a pause in program driving is
commanded.
Internal photo coupler onProgram driving pause
Internal photo coupler offProgram driving pause
release
General-purpose
input common +COM 6 Input signal common of the 6 to 9 pins
DC5V is input.
Alarm clear
signal
（standard）
ALMC 6 Recoverable alarms are cleared.
Internal photo coupler off onAlarm clear
General-purpose
input 1 IN1 6
This is a general-purpose input signal that can be used
by program driving.
Internal photo coupler onGeneral purpose input 1 on
Internal photo coupler off General purpose input 1 off
Program number
selection bit 1 B1 6
The program number is selected along with other bits.
Subordinate bit
Internal photo coupler onCorresponding bit 1
Internal photo coupler off Corresponding bit 0
Emergency stop
input EMG 6
The emergency stop signal is input.
Internal photo coupler onNo emergency stop Internal
photo coupler offEmergency stop
Origin signal ORG 6
The origin signal used for the return to origin operation
is input.
Internal photo coupler onOrigin signal on
Internal photo coupler off Origin signal off
+ direction
overtravel signal +OT 7
An overtravel signal in the + direction is input. Internal
photo coupler on + direction overtravel not arrived
Internal photo coupler off + direction overtravel
arrived
General-purpose
input 2 IN2 7
This is a general-purpose input signal that can be used
by program driving.
Internal photo coupler onGeneral purpose input 2 on
Internal photo coupler off General purpose input 2 off
Program number
selection bit 2 B2 7
The program number is selected along with other bits.
The second bit from the subordinate
Internal photo coupler onCorresponding bit 1 Internal
photo coupler off Corresponding bit 0
Emergency stop
input EMG 7
The emergency stop signal is input.
Internal photo coupler onNo emergency stop Internal
photo coupler offEmergency stop
Origin signal ORG 7
The origin signal used for the return to origin operation
is input.
Internal photo coupler onOrigin signal on
Internal photo coupler off Origin signal off
Alarm clear
signal ALMC 7Recoverable alarms are cleared.
Internal photo coupler off onAlarm clear
- direction
overtravel signal -OT 8
An overtravel signal in the - direction is input.
Internal photo coupler on - direction overtravel not
arrived
Internal photo coupler off - direction overtravel
arrived
General-purpose
input 3 IN3 8
This is a general-purpose input signal that can be used
by program driving.
Internal photo coupler onGeneral purpose input 3 on
Internal photo coupler off General purpose input 3 off
Program number
selection bit 4 B4 8
The program number is selected along with other bits.
The third bit from the subordinate
Internal photo coupler onCorresponding bit 1
Internal photo coupler off Corresponding bit 0
Emergency stop
input EMG 8
The emergency stop signal is input.
Internal photo coupler onNo emergency stop
Internal photo coupler offEmergency stop
Origin signal ORG 8
The origin signal used for the return to origin operation
is input.
Internal photo coupler onOrigin signal on
Internal photo coupler off Origin signal off
Alarm clear
signal ALMC 8 Recoverable alarms are cleared.
Internal photo coupler off onAlarm clear
Signal Reference
Designation
Pin
Number Function Summary
Emergency stop
signal EMG 9
The emergency stop signal is input.
Internal photo coupler onNo emergency stop
Internal photo coupler offEmergency stop
General-purpose
input 4 IN4 9
This is a general-purpose input signal that can be used
by program driving.
Internal photo coupler onGeneral purpose input 4 on
Internal photo coupler off General purpose input 4 off
Program number
selection bit 8 B8 9
The program number is selected along with other bits.
The fourth bit from the subordinate
Internal photo coupler on Corresponding bit 1
Internal photo coupler off Corresponding bit 0
Origin signal ORG 9
The origin signal used for the return to origin operation
is input.
Internal photo coupler onOrigin signal on
Internal photo coupler off Origin signal off
Alarm clear
signal ALMC 9 Recoverable alarms are cleared.
Internal photo coupler off onAlarm clear
During motor
operation BUSY 10
The operation status of the motor is output.
Internal photo coupler onDuring motor operation
Internal photo coupler offDuring motor stop
During program
execution PEND 10
The execution status of the program is output. Internal
photo coupler onDuring program execution
Internal photo coupler offProgram execution
complete
Zone signal ZONE 10 Turns on when the current position is inside the
coordinates that were set beforehand.
During program
execution PEND 11
The execution status of the program is output.
Internal photo coupler onDuring program execution
Internal photo coupler offProgram execution
complete
During motor
operation BUSY 11
The operation status of the motor is output.
Internal photo coupler onDuring motor operation
Internal photo coupler offDuring motor stop
Zone signal ZONE 11 Turns on when the current position is inside the
coordinates that were set beforehand.
Alarm output ALM 12
When various alarm circuits operate in the driver, an
external signal is output.
At this time, the stepping motor becomes non excited
status.
Output signal
common OUT_COM 13 It is for the output signal common.
DATA+ DATA+ 14 It is for the serial signal.
DATA −DATA 15 It is for the serial signal.
■External Wiring Diagrams
DC24V
24G
24V
24G
5G
5V
RXD
TXD
DE
1
2
1
2
3
4
5
6
7
8
9
10
11
12
13
CN1
14
15
20
CN2
Driver
30V 20mA MAX.
2 Phase Stepping Motor
Power
Supply
Controller
DATA
DATA
GND 5G
CWSTART
CW START
CCW PAUSE
CCW PAUSE
COM
PDIN1B1
EXTIN2B2
FHIN3B4
IN4B8
BUSYOUT1
MONOUT2
ALM
OUT_COM
■Specification Summary of Input/Output Signals (Parallel I/F mode)
11
SET UP
■Function Select Dip Switch
◎ For pulse stream I/F mode
Input mode select
（F/R）
Input pulse mode selection
This switch setting is only effective in pulse stream I/F
mode.
F/R Input pulse mode
ON 1 input mode
（CK,U/D）
OFF 2 input mode
（CW,CCW）
Low vibration mode select
（LV）
Low vibration and smooth operation is enabled even by the rough
resolution setting
（e.g. 1 division, 2 division）.
This switch setting is only effective in pulse stream I/F mode.
For parallel I/F mode and serial I/F mode, this is usually a low
vibration operation.
LV Operation
ON Low vibration operation
OFF Micro step operation
* When LV select is ON
low vibration mode, operational process of
driving pulse will be carried out inside the Driver. Therefore, the Motor
movement delays for the time of 3.2ms pulse per input pulse. Note that
depending upon the combined Motor, load,driving profile and etc, it may
take a while until the shaft is adjusted when the Motor stops.
In parallel
I/F mode and serial I/F mode there is no delay
Power down select
（PD）
Select the Motor winding current value when inputting the power down
signal.This switch setting is only effective in pulse stream I/F mode.
PD Motor winding current
ON Current value by rotary switch STP
（Power Low）
OFF 0A
（Power OFF）
* PD function
the setting selected by PD of the function select dip switch
is enabled by PD input signal ON
built-in photo coupler ON
of Input/
Output signal connector
CN2. Power down signal input is prior to all
the other current settings except for alarms. The operational status may
not be maintained such as power swing due to output torque drop or
lower operation due to Motor current OFF
unexcited Motor. Pay extra
attention to the input timing of the power down signal in addition that the
security device should be installed to the machine.
Excitation select
（EORG）
* By turning on the EORG, excitation phase when power OFF is saved.
, Operation mode selection
（I.SEL, S.SEL）
The operation mode is selected.
I.SEL S.SEL Operation mode
OFF −Pulse stream I/F mode
ON OFF Parallel I/F mode
ON Serial I/F mode
* Change the operation mode selection switch after cutting off the drivers
power supply.
◎ For parallel I/F mode or serial I/F mode
The communication speed of serial communication is
set.
Switch Set value Communication speed(bps)
9,600 19,200 38,400
F/R OFF ○○○
ON
LV OFF ○ ○
ON ○
PD OFF ○ ○
ON ○
* The setting change after the power supply is turned on is invalid. It does
not function as a F/R, LV, and PD.
* The communication speed of pulse stream I/F mode is fixed at 9600bps.
Specification
2-phase STEPPING SYSTEMS
The functions according to the specification can be selected with this Dip switch.
Confirm the ex-factory setting as follows.
F/R
LV
PD
ＥＯＲＧ
I. SEL
S. SEL
OFF 2 input mode (CW/CCW pulse)
OFF Micro step operation
OFF Power OFF
OFF Phase origin excitation
OFF
OFF
Pulse stream I/F mode
OFF ON
1
2
3
4
5
6
1
2
3
4
5 6
12
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
■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).
1. Step angle select(S.S)
The divisions of the basic step angle (0.9°
/step) when micro step driving can
be set.
Gradation 0 1 2 3 4 5 6 7
Partition 1 2 2.5 4 5 8 10 20
Gradation 8 9 A B C D E F
Partition 25 40 50 80 100 125 200 250
Ex-factory setting is at 1 (division 2)
* The step angle select switch (S.S) and the number of partitions become invalid by EXT input signal ON
(built-in photo coupler ON) of Input/Output signal connector (CN2).
2. Driving current select(RUN)
The Motor operation current value can be selected.
Gradation 0 1 2 3 4 5 6 7
Motor
current (%)
100
(rated) 95 90 85 80 75 70 65
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 sufficient extra motor torque, lowering the operation current value will be effective in
the lower vibration. The Motor output torque is almost proportional to the current value. When adjusting
the operational torque, confirm the sufficient operation margin and determine the Motor current value.
3. Current Select when Stop (STP)
The motor current value when stop and when power down input signal ON
(power low function is selected by dip switch) can be selected.
Gradation 0 1 2 3 4 5 6 7
Motor
current (%)
100
(rated) 95 90 85 80 75 70 65
Gradation 8 9 A B C D E F
Motor
current (%) 60 55 50 45 40 35 30 25
Ex-factory setting is set at A (50%).
* The current setting when stop by STP becomes valid when the Motor stops (approximately 200ms after
the last pulse input) and when power down input signal
◎ For pulse stream I/F mode
◎ For parallel I/F mode and serial I/F mode
The slave bureau address of serial communications can be set.
RSW Slave station address (HEX)
0 0
1 1
： ：
E E
F F
Ex-factory setting is set at 0
* The slave station address of the pulse stream I/F mode is fixed at 0.
(t)
(r)
DC
24V/36V
  Motor cable
●
A
Motor
connector
I/O signal connector
I/O signal cable
DC power
connector
DC power cable
Standard model :
H series motor,
SH series motor,
□28mm
（□1.10inch）
/
□42mm
（□1.65inch）
/
□56mm
（□2.20inch）
Single
phase
AC100V
to
AC230V
Noise filter
Filters out
incoming noise
from power line
Molded case
circuit breaker
Protects the power
line. Cuts off circuit
in the event of
overcurrent.
Electromagnetic
contactor
Switches driver
power on/off.
Use together with
a surge protector.
Switching power
supply
Converts AC power
to DC power
●
A Motor cable
□42mm
（□1.65inch）
■Bundled cable( □42mm motors only) (Attached to models that need connecting cables.)
Lead wire UL1430 AWG26
Housing HER-6 BLACK
J.S.T Mfg.Co.,Ltd
Pin SEH-001T-P0.6
J.S.T Mfg.Co.,Ltd
500（1.64 feet） MIN.
2
JST
3456
6
5
3
4
2
1
Pin No.
Black
Red
Blue
Yellow
Orange
White
Lead wire color
Host Devices
PLC and controllers are available as
the host device.
13
System configuration
DC input
2-phase STEPPING SYSTEMS
Unipolar standard
■Bundled cable( □42mm motors only) (Attached to models that need connecting cables.)
6
5
3
4
2
1
Pin No.
－
－
Lead wire color
リード線 UL1430 AWG26
タンシ：SEH-001T- P0.6
ハウジング：EHR-6 クロ
メーカー：日本圧着端子
2
JST
3456
500（1.64 feet） MIN.
Red
Blue
Yellow
Orange
2
1
3
4
Pin No.
Blue
Orange
Red
Yellow
Lead wire color
500（1.64 feet） MIN.
□60mm
（□2.36inch）
(t)
(r)
DC
24V/36V
Single
phase
AC100V
to
AC230V
DC power cable
DC power
connector
Standard model :
H series motor,
SH series motor,
□28mm
（□1.10inch）
/
□42mm
（□1.65inch）
/
□50mm
（□1.97inch）
/
□56mm
（□2.20inch）
/
□60mm
（□2.36inch）
  Motor cable
●
A
Motor
connector
I/O signal connector
I/O signal cable
Noise filter
Filters out
incoming noise
from power line
Molded case
circuit breaker
Protects the power
line. Cuts off circuit
in the event of
overcurrent.
Electromagnetic
contactor
Switches driver
power on/off.
Use together with
a surge protector.
Switching power
supply
Converts AC power
to DC power
Lead wire UL1430 AWG26
Housing HER-6 BLACK
J.S.T Mfg.Co.,Ltd
Pin SEH-001T-P0.6
J.S.T Mfg.Co.,Ltd
Lead wire UL1430 AWG22
Housing VER-4N
J.S.T Mfg.Co.,Ltd
Pin SVH-21T-P1.1
J.S.T Mfg.Co.,Ltd
●
A Motor cable
□42mm
（□1.65inch）
Host Devices
PLC and controllers are available as
the host device.
14
Dimensions Stepping motorIC for stepping motor
Bipolar standard
DC input
System configuration
Set model Stepping Motors with Internal drivers
2-phase STEPPING SYSTEMS
15
The following set part number specifies a system with an F series unipolar driver
（type code : US1D200P10）
and a single shaft H series motor
（type code : 103H7121-0440）,□56 mm（□2.20 inch）
square flange, and
41.8 mm（1.65 inch）
motor length.
DC input
2-phase STEPPING SYSTEMS
Part numbering convention
DH 71 1 S
U61
Power specification
D : DC
Driver Specification
U : 2-phase unipolar B : 2-phase bipolar
Model
Rated current specification
4 : 1A/phase 5 : 1.2A/phase 6 : 2A/phase
Stepping motor series name
H : H series
S : SH series
Stepping motor flange size Basic step angle
28 : □28mm（□1.10inch）
1.8°
52 : □42mm（□1.65inch）
1.8°
71 : □56mm（□2.20inch）
1.8°
78 : □60mm（□2.36inch）
1.8°
14 : □42mm（□1.65inch）
0.9°
16 : □60mm（□2.36inch）
0.9°
Stepping motor shaft spec
S : Single shaft
D : Double shaft
Stepping motor total length
Code
Stepping motor flange size
□28mm
（□1.10inch）□42mm
（□1.65inch）□50mm
（□1.97inch）□56mm
（□2.20inch）□60mm
（□2.36inch）
Type
code
Motor length
: mm
（inch）
Type
code
Motor length
: mm
（inch）
Type
code
Motor length
: mm
（inch）
Type
code
Motor length
: mm
（inch）
Type
code
Motor length
: mm
（inch）
Type
code
Motor length
: mm
（inch）
Type
code
Motor length
: mm
（inch）
1 2281 32
1.265205 33
1.301401 331.306701 39.8
1.577121 41.8
1.657821 44.8
1.761601 42
1.65
2 5208 39
1.541402 391.547822 53.8
2.121602 54
2.12
3 6703 51.3
2.027123 53.8
2.127823 85.8
3.381603 76
2.99
4 5210 48
1.891404 481.89
5 2285 51.5
2.03
6 7126 75.8
2.89
16
Dimensions Stepping motorIC for stepping motor Set model Stepping Motors with Internal drivers
Set Package Model Configuration
Unipolar standard model Bundled driver model number：US1D200P10
Motor
flange size
Single shaft Double shafts
Basic
step
angle
Rated
current
Set part
number
Set accessories
Set part
number
Set accessories
Motor model
number
Cable with motor
connector model
number
Motor model
number
Cable with motor
connector model
number
□28 ｍｍ DU14S281S SH2281-5271 DU14S281D SH2281-5231 1.81A
DU14S285S SH2285-5271 DU14S285D SH2285-5231 1.81A
□42 ｍｍ
DU15H521S 103H5205-0440 4835710-1 DU15H521D 103H5205-0410 4835710-1 1.81.2A
DU15H522S 103H5208-0440 4835710-1 DU15H522D 103H5208-0410 4835710-1 1.81.2A
DU15H524S 103H5210-0440 4835710-1 DU15H524D 103H5210-0410 4835710-1 1.81.2A
DU15S141S SH1421-0441 DU15S141D SH1421-0411 0.91.2A
DU15S142S SH1422-0441 DU15S142D SH1422-0411 0.91.2A
DU15S144S SH1424-0441 DU15S144D SH1424-0411 0.91.2A
□56 ｍｍ
DU16H711S 103H7121-0440 DU16H711D 103H7121-0410 1.82A
DU16H713S 103H7123-0440 DU16H713D 103H7123-0410 1.82A
DU16H716S 103H7126-0440 DU16H716D 103H7126-0410 1.82A
Bipolar standard model Bundled driver model number：BS1D200P10
Motor
flange size
Single shaft Double shafts
Basic
step
angle
Rated
current
Set part
number
Set accessories
Set part
number
Set accessories
Motor model
number
Cable with motor
connector model
number
Motor model
number
Cable with motor
connector model
number
□28 ｍｍ DB14S281S SH2281-5771 DB14S281D SH2281-5731 1.81A
DB14S285S SH2285-5771 DB14S285D SH2285-5731 1.81A
□42 ｍｍ
DB14H521S 103H5205-5240 DB14H521D 103H5205-5210 1.81A
DB14H522S 103H5208-5240 DB14H522D 103H5208-5210 1.81A
DB14H524S 103H5210-5240 DB14H524D 103H5210-5210 1.81A
DB16S141S SH1421-5241 DB16S141D SH1421-5211 0.92A
DB16S142S SH1422-5241 DB16S142D SH1422-5211 0.92A
DB16S144S SH1424-5241 DB16S144D SH1424-5211 0.92A
□50 ｍｍ DB16H671S 103H6701-5040 DB16H671D 103H6701-5010 1.82A
DB16H673S 103H6703-5040 DB16H673D 103H6703-5010 1.82A
□56 ｍｍ
DB16H711S 103H7121-5740 DU16H716D 103H7121-5710 1.82A
DB16H713S 103H7123-5740 DB16H713D 103H7123-5710 1.82A
DB16H716S 103H7126-5740 DB16H716D 103H7126-5710 1.82A
□60 ｍｍ
DB16H781S 103H7821-5740 4837961-1 DB16H781D 103H7821-5710 4837961-1 1.82A
DB16H782S 103H7822-5740 4837961-1 DB16H782D 103H7822-5710 4837961-1 1.82A
DB16H783S 103H7823-5740 4837961-1 DB16H783D 103H7823-5710 4837961-1 1.82A
DB16S161S SH1601-5240 DB16S161D SH1601-5210 0.92A
DB16S162S SH1602-5240 DB16S162D SH1602-5210 0.92A
This is a set comprising a driver,
motor and cable with motor connector.
17
DC input
2-phase STEPPING SYSTEMS
Specifications
0.1 1 10 100
10
5000
100
1000 2000 3000
fs
100
1000 2000 3000 5000
fs
14
0
12
10
8
6
4
2
1.0
0.8
0.6
0.4
0.2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.02
0.04
0.06
0.08
0.1
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10
5000
100
1000 2000 3000
fs
100
1000 2000 3000 5000
fs
14
0
12
10
8
6
4
2
1.0
0.8
0.6
0.4
0.2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.02
0.04
0.06
0.08
0.1
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0
1
2
3
4
5
6
7
8
9
10
Size Motor flange size □42mm
（1.65inch）
/0.9°
Motor length 33mm（1.30inch）39mm（1.54inch）48mm（1.89inch）
Set part
number
Single shaft DU15S141S DU15S142S DU15S144S
Double shaft DU15S141D DU15S142D DU15S144D
Holding torque
N
・
m
（oz
・
in）
0.228.320.2941.070.3955.23
Rotor inertia
×
10
-4
kg
・
m
2
（
oz
・
in
2
）
0.0440.240.0660.3610.0890.487
Mass
（Weight）kg
（lbs）0.240.530.290.640.380.84
Allowable thrust load N（lbs）102.25102.25102.25
Allowable radial load
（
Note 1
）
N（lbs）306306306
0.1 1 10 100
10 500030002000
100 1000
fs
100 1000 2000 3000 5000
fs
28
0
24
20
16
12
8
4
2.0
1.6
1.2
0.4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.04
0.08
0.12
0.16
0.2
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.8
0.1 1 10 100
10 500030002000
100 1000
fs
100 1000 2000 3000 5000
fs
28
0
24
20
16
12
8
4
2.0
1.6
1.2
0.4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.04
0.08
0.12
0.16
0.2
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.8
0.1 110 100
fsfs
200030005000100 1000
200030005000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fsfs
200030005000100 1000
200030005000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fsfs
200030005000100 1000
200030005000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fsfs
200030005000100 1000
200030005000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fsfs
200030005000100 1000
200030005000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fsfs
200030005000100 1000
200030005000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
DC24V
DC36V
DC24V
DC36V
Standard model
F series driver + H or SH series motor
Unipolar
28 42 56
Motor flange size
1. 65inch1. 10inch 2.20inch
（Note1）When load is applied at 1/3 length from output shaft edge.
Size Motor flange size □28mm（1.10inch）/1.8°
Motor length 32mm（1.26inch）51.5mm（2.03inch）
Set part
number
Single shaft DU14S281S DU14S285S
Double shaft DU14S281D DU14S285D
Holding torque
N
・
m
（oz
・
in）
0.0557.790.11516.28
Rotor inertia
×
10
-4
kg
・
m
2
（
oz
・
in
2
）
0.010.050.0220.12
Mass
（Weight）kg
（lbs）0.110.240.20.44
Allowable thrust load N（lbs）30.6730.67
Allowable radial load
（
Note 1
）
N（lbs）429.444911.02
Pull-out torque
Source current (load applied)
Source current (no load)
Fs:
Maximum self-start
frequency when not loaded
1-division
2-division
Operating current:
1A/phase
1-division fs
2-division fs
Pull-out torque
Source current (load applied)
Source current (no load)
Fs:
Maximum self-start
frequency when not loaded
1-division
2-division
Operating current:
1.2A/phase
1-division fs
2-division fs
（Note1）When load is applied at 1/3 length from output shaft edge.
The data are measured under the drive condition of our company.
The drive torque may very depending on the accuracy of customer-side equipment.
The data are measured under the drive condition of our company.
The drive torque may very depending on the accuracy of customer-side equipment.
18
Dimensions Stepping motorIC for stepping motor Set model Stepping Motors with Internal drivers
□42mm
（1.65inch）/1.8°
33mm（1.30inch）39mm（1.54inch）48mm（1.89inch）
DU15H521S DU15H522S DU15H524S
DU15H521D DU15H522D DU15H524D
0.228.320.342.480.3752.39
0.0360.200.0560.310.0720.34
0.230.510.290.640.370.82
102.25102.25102.25
306306306
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torque（kgf・cm）
Torque（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torque（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
Torqueozin
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fsfs
20003000 5000100 1000
20003000 5000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fsfs
20003000 5000100 1000
20003000 5000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fsfs
20003000 5000100 1000
20003000 5000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fsfs
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source currentA
0
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division 2000 3000 5000100 1000
20003000 5000100 1000
0.1 110 100
fsfs
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source currentA
0
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division 2000 3000 5000100 1000
20003000 5000100 1000
0.1 110 100
fs
20003000 5000100 1000
20003000 5000100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fsfs
20003000 5000100 1000
20003000 5000100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
DC24V
DC36V
Size Motor flange size
Motor length
Set part
number
Single shaft
Double shaft
Holding torque
N
・
m
（oz
・
in）
Rotor inertia
×
10
-4
kg
・
m
2
（
oz
・
in
2
）
Mass
（Weight）kg
（lbs）
Allowable thrust load N（lbs）
Allowable radial load
（
Note 1
）
N（lbs）
Pull-out torque
Source current (load applied)
Source current (no load)
Fs:
Maximum self-start
frequency when not loaded
1-division
2-division
Operating current:
1.2A/phase
1-division fs
2-division fs
DC24V
DC36V
Pull-out torque
Source current (load applied)
Source current (no load)
Fs:
Maximum self-start
frequency when not loaded
1-division
2-division
Operating current:
2A/phase
1-division fs
2-division fs
Size Motor flange size □56mm（2.20inch）/1.8°
Motor length 41.8mm（1.65inch）53.8mm（2.12inch）75.8mm（2.98inch）
Set part
number
Single shaft DU16H711S DU16H713S DU16H716S
Double shaft DU16H711D DU16H713D DU16H716D
Holding torque
N
・
m
（oz
・
in）
0.3955.230.83117.51.27179.8
Rotor inertia
×
10
-4
kg
・
m
2
（
oz
・
in
2
）
0.10.550.211.150.361.97
Mass
（Weight）kg
（lbs）0.471.040.631.390.982.16
Allowable thrust load N（lbs）153.37153.37153.37
Allowable radial load
（
Note 1
）
N（lbs）711571157115
19
DC input
2-phase STEPPING SYSTEMS
Specifications
0.1 1 10 100
10
5000
100
1000 2000 3000
fs
100
1000 2000 3000 5000
fs
14
0
12
10
8
6
4
2
1.0
0.8
0.6
0.4
0.2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.02
0.04
0.06
0.08
0.1
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10
5000
100
1000 2000 3000
fs
100
1000 2000 3000 5000
fs
14
0
12
10
8
6
4
2
1.0
0.8
0.6
0.4
0.2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.02
0.04
0.06
0.08
0.1
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0
1
2
3
4
5
6
7
8
9
10
Size Motor flange size □42mm
（1.65inch）
/0.9°□50mm（1.97inch）/1.8°□56mm
（2.20inch）
/1.8°
Motor length 48mm（1.89inch）39.8mm（1.57inch）51.3mm（2.02inch）41.8mm（1.65inch）
Set part
number
Single shaft DB16S144S DB16H671S DB16H673S DB16H711S
Double shaft DB16S144D DB16H671D DB16H673D DB16H711D
Holding torque
N
・
m
（oz
・
in）
0.4867.970.2839.60.4969.40.3955.2
Rotor inertia
×
10
-4
kg
・
m
2
（
oz
・
in
2
）
0.0890.4870.0570.310.1180.650.10.55
Mass
（Weight）kg
（lbs）0.380.840.350.770.51.100.471.04
Allowable thrust load N（lbs）102.25153.37153.37153.37
Allowable radial load
（
Note 1
）
N（lbs）306992299227115
0.1 1 10 100
10 500030002000
100 1000
fs
100 1000 2000 3000 5000
fs
28
0
24
20
16
12
8
4
2.0
1.6
1.2
0.4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.04
0.08
0.12
0.16
0.2
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.8
0.1 1 10 100
10 500030002000
100 1000
fs
100 1000 2000 3000 5000
fs
28
0
24
20
16
12
8
4
2.0
1.6
1.2
0.4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.04
0.08
0.12
0.16
0.2
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.8
0.1 110 100
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source currentA
0
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division 200030005000100 1000
200030005000100 1000
0.1 110 100
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source currentA
0
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division 200030005000100 1000
200030005000100 1000
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source currentA
0
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division 2000 3000 5000100 1000
20003000 5000100 1000
0.1 110 100
fs
fs
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source currentA
0
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division 2000 3000 5000100 1000
20003000 5000100 1000
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source currentA
0
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0.1 110 100
fs
fs
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source currentA
0
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division 2000 3000 5000100 1000
20003000 5000100 1000
DC24V
DC36V
DC24V
DC36V
Standard model
F series driver + H or SH series motor
Bipolar
28 42 50
Motor flange size
56 60
1. 65inch
1. 97inch
2.20inch
2.36inch1. 10inch
Pull-out torque
Source current (load applied)
Source current (no load)
Fs:
Maximum self-start
frequency when not loaded
1-division
2-division
Operating current
28mm (1.10inch)/1.8
:1A/phase
42mm (1.65inch)/1.8
:1A/phase
42mm (1.65inch)/0.9
:2A/phase
1-division fs
2-division fs
Size Motor flange size □28mm（1.10inch）/1.8°
Motor length 32mm（1.26inch）51.5mm（2.03inch）
Set part
number
Single shaft DB14S281S DB14S285S
Double shaft DB14S281D DB14S285D
Holding torque
N
・
m
（oz
・
in）
0.079.910.14520.53
Rotor inertia
×
10
-4
kg
・
m
2
（
oz
・
in
2
）
0.010.050.0220.12
Mass
（Weight）kg
（lbs）0.110.240.20.44
Allowable thrust load N（lbs）30.6730.67
Allowable radial load
（
Note 1
）
N（lbs）429.44499.44
（Note1）When load is applied at 1/3 length from output shaft edge.
Pull-out torque
Source current (load applied)
Source current (no load)
Fs:
Maximum self-start
frequency when not loaded
1-division
2-division
Operating current:
2A/phase
1-division fs
2-division fs
（Note1）When load is applied at 1/3 length from output shaft edge.
The data are measured under the drive condition of our company.
The drive torque may very depending on the accuracy of customer-side equipment.
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
20
Dimensions Stepping motorIC for stepping motor Set model Stepping Motors with Internal drivers
□42mm（1.65inch）/1.8°
33mm（1.30inch）39mm（1.54inch）48mm（1.89inch）
DB14H521S DB14H522S DB14H524S
DB14H521D DB14H522D DB14H524D
0.26537.530.3955.230.5172.22
0.0360.200.0560.310.0720.34
0.230.510.290.640.370.82
102.25102.25102.25
306306306
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source currentA
0
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division 2000 3000 5000100 1000
20003000 5000100 1000
0.1 110 100
fs
fs
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source currentA
0
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division 2000 3000 5000100 1000
20003000 5000100 1000
0.1 110 100
fs
fs
200030005000100 1000
200030005000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
200030005000100 1000
200030005000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
200030005000100 1000
200030005000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
200030005000100 1000
200030005000100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
□56mm（2.20inch）/1.8°□60mm（2.36inch）/1.8°
53.8mm（2.12inch）75.8mm（2.98inch）44.8mm（1.76inch）53.8mm（2.12inch）85.8mm（3.38inch）
DB16H713S DB16H716S DB16H781S DB16H782S DB16H783S
DB16H713D DB16H716D DB16H781D DB16H782D DB16H783D
0.83117.51.27179.80.88124.61.37194.02.7382.3
0.211.150.361.970.2751.500.42.190.844.59
0.651.430.982.160.61.320.771.701.342.95
153.37153.37153.37153.37153.37
71157115952195219521
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
700
0
600
500
400
300
200
100
50
40
30
20
10
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
1
2
3
4
5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
0.1 110 100
fs
fs
20003000 5000100 1000
20003000 5000100 1000
700
0
600
500
400
300
200
100
50
40
30
20
10
0
Torquekgfcm
Torqueozin
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
1
2
3
4
5
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
□42mm（1.65inch）/0.9°
33mm（1.30inch）39mm（1.54inch）
DB16S141S DB16S142S
DB16S141D DB16S142D
0.2332.570.3448.15
0.0440.240.0660.361
0.240.530.290.64
102.25102.25
306306
21
DC input
2-phase STEPPING SYSTEMS
Specifications
0.1 110 100
fs
fs
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source currentA
0
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division 200030005000100 1000
200030005000100 1000
0.1 110 100
fs
fs
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source currentA
0
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division 200030005000100 1000
200030005000100 1000
0.1 110 100
fs
fs
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source currentA
0
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division 200030005000100 1000
200030005000100 1000
0.1 110 100
fs
fs
200030005000100 1000
200030005000100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source currentA
Pulse ratekpulse/s
Number of rotationsmin-1
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
0
1
2
3
4
5
6
7
8
9
10
DC24V
DC36V
Pull-out torque
Source current (load applied)
Source current (no load)
Fs:
Maximum self-start
frequency when not loaded
1-division
2-division
Operating current:
2A/phase
1-division fs
2-division fs
Size Motor flange size □60mm（2.36inch）/0.9°
Motor length 42mm（16.54inch）54mm（21.26inch）
Set part
number
Single shaft DB16S161S DB16S162S
Double shaft DB16S161D DB16S162D
Holding torque
N
・
m
（oz
・
in）
0.6997.711.28181.26
Rotor inertia
×
10
-4
kg
・
m
2
（
oz
・
in
2
）
0.241.3120.42.187
Mass
（Weight）kg
（lbs）0.551.210.81.76
Allowable thrust load N（lbs）153.37153.37
Allowable radial load
（
Note 1
）
N（lbs）79187918
（Note1）When load is applied at 1/3 length from output shaft edge.
The data are measured under the drive condition of our company.
The drive torque may very depending on the accuracy of customer-side equipment.
22
Dimensions Stepping motorIC for stepping motor Set model Stepping Motors with Internal drivers
Specifications of Drivers
■Unipolar
■Bipolar
Model number US1D200P10
Basic
specifications
Input source DC24 V / 36 V 10
Source current 3 A
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 m3281 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 influenced at NDS-C-0110 standard section 3.2.2 division C.
Withstand voltage Not influenced 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.
Mass（Weight）0.08 kg0.18 lbs
Functions Selection functions Step angle, Pulse input mode, Step current, Operating current.
Protection functions Open phase protection, Main circuit power souce voltage decrease
LED indication Power monitor, alarm
I/O signals Command pulse input signalPhoto-coupler input system, input resistance : 220
input-signal Hlevel : 4.0 to 5.5 V, input-signal Llevel : 0 to 0.5 V
Maximum input frequency : 150 kpulse/s
Poweer down input signal Photo-coupler input system, input resistance : 220
input-signal Hlevel : 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 specification : Vceo = 40 V MAX., Ic = 10 mA MAX.
Rotation monitor output signal From the photo coupler by the open collector output
Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX.
Model number BS1D200P10
Basic
specifications
Input source DC24 V / 36 V 10
Source current 3 A
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 m3281 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 influenced at NDS-C-0110 standard section 3.2.2 division C.
Withstand voltage Not influenced 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.
Mass（Weight）0.08 kg0.18 lbs
Functions Selection functions Step angle, Pulse input mode, Step current, Operating current.
Protection functions Open phase protection, Main circuit power souce voltage decrease
LED indication Open phase protection, Power monitor, alarm
I/O signals Command pulse input signal Photo-coupler input system, input resistance : 220
input-signal Hlevel : 4.0 to 5.5 V, input-signal Llevel : 0 to 0.5 V
Maximum input frequency : 150 kpulse/s
Poweer down input signal Photo-coupler input system, input resistance : 220
input-signal Hlevel : 4.0 to 5.5V, input-signal Llevel : 0 to 0.5 V
Phase origin monitor output signal From the photo coupler by the open collector output
Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX.
Rotation monitor output signal From the photo coupler by the open collector output
Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX.
2323
Operation, Connection, and Function
■Each section name of the drivers
Unipolar
Bipolar
75 4
3
1
6
2
5
3
6
2
4
1
7
Signal name CN1 Pin
number Function
CW pulse input
（standard）
1
2
When using 2-input mode
Drive pulse for the CW direction rotation is input.
Pulse column input 1
2
When using Pulse and direction mode
Drive pulse train for the stepping motor rotation is
input.
CCW pulse input
（standard）
3
4
When using 2-input mode
Drive pulse for the CCW direction rotation is input.
Rotation direction
input
3
4
The rotation direction signal of stepping motor is
input for the Pulse and direction mode.
Internal photocoupler ONCW direction
Internal photocoupler OFFCCW direction
Power down input 5
6
Inputting the PD signal cuts OFF the current flowing
through the stepping motor.
Iinternal photocoupler ONPD function enable
d
Iinternal photocoupler OFFPD function disabled
Phase origin
monitor output
7
8
It is turned ON when the excitation phase is at the
origin
in the state when the power is turned ON
It is turned ON once per 4 pulses when setting to
HALF step.
It is turned ON once per 8 pulses when setting to
FULL step.
Alarm output 9
10
The signal is externally output when one of several
alarm circuits operates in the PM driver. At this time,
the stepping motor is in the unexcited state.
■Specification summary of CN1 I/O signal
The CW rotation direction of stepping motor means the clockwise direction rotation as
viewed from the output shaft side
（flange side）. The CCW rotation direction means the
counterclockwise direction rotation as viewed from the output shaft side
（flange side）
.
1 Driving current selection switch
（RUN）
You can select the value of the motor
current when driving.
2 Function selection DIP switchpack
Select the function depending
on your specification.
3 LED for power supply monitor
（POW）
Lit up when the main circuit power
supply is connected.
Dial 01234567
Stepping motor
current
A2.0 1.9 1.8 1.7 1.6 1.5 1.4 1.3
Dial 8 9 A B C D E F
Stepping motor
current
A1.2 1.1 1.0 0.9 0.8 0.7 0.6 0.5
The factory setting is F (0.5A).
Select the current after checking the rated current of the
combination motor.
Indicator Explanation
POW is
displayed. Main circuit power supply is switched on.
1 Driving current selection switch
（RUN）
You can select the value of the motor
current when driving.
2 Function selection DIP switchpack
Select the function depending
on your specification.
3 LED for power supply monitor
（POW）
Lit up when the main circuit power
supply is connected.
Indicator Explanation
ALM is
displayed.
Motor cable is broken, or switching element in
driver is faulty.
The main circuit voltage is out
of specifications range (Less than DC19V).
When ALM is displayed, the winding current of the stepping
motor is cut off and it is in a non-excitation state. At the same
time, an output signal is transmitted from the alarm output
terminal (AL) to an external source. When the alarm circuit is
operating, this state is maintained until it is reset by switching on
the power supply again. When an alarm condition has occurred,
please take corrective actions to rectify the cause of the alarm
before switching on the power supply again.
4 LED for alarm display
（ALM）
Lit when an alarm is generated.
5 I/O signal connector
（CN1）
Connect the I/O signal.
6 Motor connector
（CN2）
Connect the motors power line.
7 Power supply connector
（CN3）
Connect the main circuit
power supply.
Dial 01234567
Stepping motor
current
A2.0 1.9 1.8 1.7 1.6 1.5 1.4 1.3
Dial 8 9 A B C D E F
Stepping motor
current
A1.2 1.1 1.0 0.9 0.8 0.7 0.6 0.5
The factory setting is F (0.5A).
Select the current after checking the rated current of the
combination motor.
Indicator Explanation
POW is
displayed. Main circuit power supply is switched on.
Indicator Explanation
ALM is
displayed.
Motor cable is broken, or switching element in
driver is faulty.
The main circuit voltage is out
of specifications range (Less than DC19V).
When ALM is displayed, the winding current of the stepping
motor is cut off and it is in a non-excitation state. At the same
time, an output signal is transmitted from the alarm output
terminal (AL) to an external source. When the alarm circuit is
operating, this state is maintained until it is reset by switching on
the power supply again. When an alarm condition has occurred,
please take corrective actions to rectify the cause of the alarm
before switching on the power supply again.
4 LED for alarm display
（ALM）
Lit when an alarm is generated.
5 I/O signal connector
（CN1）
Connect the I/O signal.
6 Motor connector
（CN2）
Connect the motors power line.
7 Power supply connector
（CN3）
Connect the main circuit
power supply.
DC input
2-phase STEPPING SYSTEMS
Specifications
24
Dimensions Stepping motorIC for stepping motor
24
Set model Stepping Motors with Internal drivers
Input circuit configuration
（CW and CCW Pulse input）
EX1 EX2 EX3 Partition number
ON ON ON 1-division
OFF ON OFF 2-division
ON OFF OFF 4-division
OFF OFF OFF 8-division
OFF OFF ON 16-division
Step angle select
（EX1、EX2、EX3）
Select the partition number of the basic step angle.
Unipolar
External wiring diagram
Functions can be selected according to the specification with
the dip switch.
Check that the ex-factory settings are as follows.
EX1
EX2
EX3
F/R
ACD1
ACD2
LV
EORG
OFF
OFF Partition number: 8
OFF
OFF Input method 2 (CW/CCW pulse input)
OFF
Stopping current: 40% of driving current
OFF
OFF Micro step operation
OFF Phase origin
OFF ON
Bipolar
Part Wire size Allowable wire length
For power supply AWG22(0.3 mm2) 2 m MAX.
For input/output
signal AWG24(0.2 mm2) to AWG22(0.3 mm2) 2 m MAX.
For motor AWG22(0.3 mm2) 3 m MAX.
■Applicable Wire Sizes
ペンタゴン
4
アラーム出力
DC24V/36V
相原点モニタ出力
パワーダウン入力
DC24G/36G
CN3
9
8
7
6
5
2
1
10
CWパルス入力
CCWパルス入力 3
2
CN1
1
4黒
5
M
赤
3緑
橙
2
CN2
青
1
ユニポーラ
DC24G/36G
DC24V/36V
2
2
4
1
2
5
6
7
8
9
10
CN3
3M
6
5
4
3
1
CN1
1
CN2
バイポーラ
11
DC24V/36V
DC24G/36G
3
4
2
4
CN3
10
9
8
7
6
5
2
1
3
2
CN2CN1
M
Pulse input (CW[CK])
Pulse input (CCW[U/D])
Power down input (PD)
Phase origin monitor
output (MON)
Alarm output (AL)
Pulse input (CW[CK])
Pulse input (CCW[U/D])
Power down input (PD)
Phase origin monitor
output (MON)
Alarm output (AL)
White
Black
Orange
Blue
Red
Yellow
Orange
Blue
Red
Yellow
F / R Input pulse type
ON 1 input
Pluse&direction
OFF 2 input
CW, CCW
Input method select
（F/R）
Selects input pulse type
ACD2 ACD1 Current value of the motor
ON ON 100% of driving current
ON OFF 60% of driving current
OFF ON 50% of driving current
OFF OFF 40% of driving current
Current selection when stopping
（ACD1、
ACD2）
Select the current value of the motor when stopping.
LV Operation
ON Auto-micro function
OFF Micro-step
Low-vibration mode select
（LV）
Provides low-vibration, smooth operation even if
resolution is rough1-division, 2-division, etc
EORG Original excitation phase
ON Excitation phase at power shut off
OFF Phase origin
Excitation select
（EORG）
The excitation phase when the power supply is
turned on is selected.
2
5 6
Initial configuration of factory shipment is set to 40% of rated
value. Driver and motor should be operated at around 50% of
rated value to reduce heat.
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.
7
2525
2-input mode（CW, CCW）
■Timing of the command pulse
Input circuit configuration of CW
（CK）, CCW
（U/D）
• Pulse duty 50% MAX.
• Maximum input frequency:150kpulse/s
• When the crest value of the input signal exceeds 5V,
use the external limit resistance R to limit the input
current to approximately 15mA.
■Input signal specifications
1μs MAX.
3μs MIN.
1μs MAX.
90%
4.0 to 5.5V
0 to 0.5V
Rotation
50%
10%
1μs MAX.
3μs MIN.
1μs MAX.
90%
4.0 to 5.5V
0 to 0.5V
Rotation
50%
10%
Photo coupler type
50s 
ON
OFF
ON
OFF
1 input type（CW, CCW）
50s  10s 
ON
OFF
ON
OFF
• Shaded area indicates internal photo coupler ON. Internal circuit
motor
starts operating at leading edge of the photo coupler ON.
• To apply pulse to CW, set CCW side internal photo coupler to OFF.
• To apply pulse to CCW, set CW side internal photo coupler to OFF.
• Shaded area indicates internal photo coupler ON. Internal circuit
motor
starts operating at leading edge of CK side photo coupler ON.
• Switching of U/D input signal must be done while CK side internal photo
coupler is OFF.
+5V 1(3)
2(4)
R
220Ω
1000pF
Input signal
Driver
Specifications
2-phase STEPPING SYSTEMS
26
Dimensions Stepping Motors with Internal drivers Stepping motorIC for stepping motor
26
Set model
+5V 5
6
R
220Ω
1000pF
Input signal
Driver
• When the crest value of the input signal exceeds 5V, use the external
limit resistance R to limit the input current to approximately 15mA.
MON output
Output signal configuration of MON, AL
Driver
10
55G
max 10 mA
max 40 V
ドライバ
7(9)
8(10)
MAX. 10 mA
MAX. 40 V
CW pulse
CCW pulse
Mon output
• Photo coupler at phase origin of motor excitation is set to ON.setting
when number of divisions is 2
• Output from MON is set to on at every 7.2 degrees of motor output shaft
from phase origin.
Input circuit configuration of PD
27
2-phase stepping motor
28mmsq.
（1.10inch sq.）
SH228 □
1.8°
/step
Bipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
SH2281-5671 -5631 0.079.910.5 10.5 7.2 0.010.050.110.24
SH2281-5771 -5731 0.079.911 2.6 1.85 0.010.050.110.24
SH2285-5671 -5631 0.14520.530.5 15 13.5 0.0220.120.20.44
SH2285-5771 -5731 0.14520.531 3.75 3.4 0.0220.120.20.44
Unipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
SH2281-5171 -5131 0.0557.790.5 10.5 3.7 0.010.050.110.24
SH2281-5271 -5231 0.0557.791 2.85 1 0.010.050.110.24
SH2285-5171 -5131 0.11516.280.5 16.5 7.1 0.0220.120.20.44
SH2285-5271 -5231 0.11516.281 4.1 1.9 0.0220.120.20.44
■Pulse rate-torque characteristics
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
■Pulse rate-torque characteristics
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
●SH2281-56 □□ ● SH2285-56 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
14
0
12
10
8
6
4
2
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.2
0.4
0.6
0.8
1
0
0.02
0.04
0.06
0.08
0.1
0
Pull-out torque at J
L
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
28
0
24
20
16
12
8
4
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.4
0.8
1.2
1.6
2
0
0.04
0.08
0.12
0.16
0.2
0
Pull-out torque at J
L
●SH2281-57 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
14
0
12
10
8
6
4
2
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.2
0.4
0.6
0.8
1
0
0.02
0.04
0.06
0.08
0.1
0
Pull-out torque at J
L
●SH2285-57 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
28
0
24
20
16
12
8
4
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.4
0.8
1.2
1.6
2
0
0.04
0.08
0.12
0.16
0.2
0
Pull-out torque at J
L
Constant current circuit
Source voltage : DC24VOperating current : 0.5A/phase,
2-phase energization (full-step)
J
L
=[0.0110
-4
kgm
2
(1.80 ozin
2
) pulley balancer method]
Constant current circuit
Source voltage : DC24VOperating current : 0.5A/phase,
2-phase energization (full-step)
J
L
=[0.0110
-4
kgm
2
(1.80 ozin
2
) pulley balancer method]
Constant current circuit
Source voltage : DC24VOperating current : 1A/phase,
2-phase energization (full-step)
J
L
=[0.0110
-4
kgm
2
(1.80 ozin
2
) pulley balancer method]
Constant current circuit
Source voltage : DC24VOperating current : 1A/phase,
2-phase energization (full-step)
J
L
=[0.0110
-4
kgm
2
(1.80 ozin
2
) pulley balancer method]
●SH2281-51 □□ ● SH2285-51 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
14
0
12
10
8
6
4
2
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.2
0.4
0.6
0.8
1
0
0.02
0.04
0.06
0.08
0.1
0
Pull-out torque at J
L
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
28
0
24
20
16
12
8
4
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.4
0.8
1.2
1.6
2
0
0.04
0.08
0.12
0.16
0.2
0
Pull-out torque at J
L
●SH2281-52 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
14
0
12
10
8
6
4
2
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.2
0.4
0.6
0.8
1
0
0.02
0.04
0.06
0.08
0.1
0
Pull-out torque at J
L
●SH2285-52 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
28
0
24
20
16
12
8
4
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.4
0.8
1.2
1.6
2
0
0.04
0.08
0.12
0.16
0.2
0
Pull-out torque at J
L
Constant current circuit
Source voltage : DC24VOperating current : 0.5A/phase,
2-phase energization (full-step)
J
L
=[0.0110
-4
kgm
2
(1.80 ozin
2
) pulley balancer method]
Constant current circuit
Source voltage : DC24VOperating current : 0.5A/phase,
2-phase energization (full-step)
J
L
=[0.0110
-4
kgm
2
(1.80 ozin
2
) pulley balancer method]
Constant current circuit
Source voltage : DC24VOperating current : 1A/phase,
2-phase energization (full-step)
J
L
=[0.0110
-4
kgm
2
(1.80 ozin
2
) pulley balancer method]
Constant current circuit
Source voltage : DC24VOperating current : 1A/phase,
2-phase energization (full-step)
J
L
=[0.0110
-4
kgm
2
(1.80 ozin
2
) pulley balancer method]
2-phase STEPPING SYSTEMS
Stepping motor
Specifications
28
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
2-phase stepping motor
35mm sq.
（1.38inch sq.）
SH35 □□
1.8°
/step
■Pulse rate-torque characteristics
Unipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
SH3533-12U40 -12U10 0.1216.991.2 2.4 1.3 0.021.090.170.37
SH3537-12U40 -12U10 0.1521.241.2 2.7 2 0.0251.370.20.44
SH3552-12U40 -12U10 0.2332.571.2 3.4 2.8 0.0432.350.30.66
Constant current circuit
Source voltage : DC24V
Operating current : 1.2A/phase,
2-phase energization (full-step)
JL=[0.33
10-4kg
m2 (1.80 oz
in2) Use the rubber coupling]
●SH3533-12U □□
0.1 1 10 100
0.5
0.4
0.3
0.2
0.1
0
2000 3000 5000100 1000
Number of rotations (min-1)
Pulse rate (kpulse/s)
5
4
3
2
1
Torque (kgf-cm)
0
Torque (N-m)
Pull-out torque at JL
Torque(oz·in.)
70
0
60
50
40
30
20
10
0.1 1 10 100
Pull-out torque at JL
0.2
0.16
0.12
0.08
0.04
0
2000 3000 5000100 1000
Number of rotations (min-1)
Pulse rate (kpulse/s)
2.0
1.6
1.2
0.8
0.4
Torque (kgf-cm)
0
Torque (N-m)
Torque(oz·in.)
25
0
20
15
10
5
●SH3537-12U □□ ● SH3552-12U □□
0.1 1 10 100
0.2
0.16
0.12
0.08
0.04
0
2000 3000 5000100 1000
Number of rotations (min-1)
Pulse rate (kpulse/s)
2.0
1.6
1.2
0.8
0.4
Torque (kgf-cm)
0
Torque (N-m)
Pull-out torque at JL
Torque(oz·in.)
25
0
20
15
10
5
Constant current circuit
Source voltage : DC24V
Operating current : 1.2A/phase,
2-phase energization (full-step)
JL=[0.33
10-4kg
m2 (1.80 oz
in2) Use the rubber coupling]
Constant current circuit
Source voltage : DC24V
Operating current : 1.2A/phase,
2-phase energization (full-step)
JL=[0.94
10-4kg
m2 (5.14 oz
in2) Use the rubber coupling]
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
29
2-phase stepping motor
42mm sq.
（1.65inch sq.）
SS242 □
1.8°
/ step Bipolar winding
●SS2421-50□□
0.00
0.10
0.20
0.30
0.40
0.50
0
3
1
5
2
4
fs
0.1 1 10 100
2000 3000100 1000
Pull-out torque at JL
0
40
20
60
Torque（N・m）
Torque（kgf・cm）
Torque（oz・in.）
Number of rotations
（
min-1
）
Pulse rate（kpulse/s）
fs
0.00
0.02
0.04
0.06
0.08
0.10
0.1 1 10 100
2000 3000100 1000
0
0.8
0.6
0.2
1
0.4
0
8
4
12
Torque (N・m）
Torque (kgf・cm)
Torque (oz・in.)
Pull-out torque at JL
Number of rotations
（
min-1
）
Pulse rate（kpulse/s）
●SS2422-50□□ ● SS2423-50□□
0.00
0.05
0.10
0.15
0.20
0
1.5
0.5
2
1
fs
0.1 1 10 100
Pulse rate（kpulse/s）
2000 3000100 1000
Pull-out torque at JL
Torque（N・m）
Torque（kgf・cm）
0
16
8
Torque（oz・in.）
24
Number of rotations
（
min-1
）
2-phase STEPPING SYSTEMS
Stepping motor
Specifications
■Pulse rate-torque characteristics
Bipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
SS2421-5041 -5011 0.08311.751 3.5 1.2 0.0150.0820.070.15
SS2422-5041 -5011 0.18626.331 5.4 2.9 0.0280.1530.140.31
SS2423-5041 -5011 0.24033.981 7.3 5 0.0380.2080.200.44
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
JL =
0.33x10-4kg
m2
1.80 oz
in2
inertia of rubber coupling is
in cluded
fs: No load maximum starting pulse rate
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
JL =
0.33x10-4kg
m2
1.80 oz
in2
inertia of rubber coupling is
in cluded
fs: No load maximum starting pulse rate
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
JL =
0.33x10-4kg
m2
1.80 oz
in2
inertia of rubber coupling is
in cluded
fs: No load maximum starting pulse rate
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
30
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
2-phase stepping motor
42mm sq.
（1.65inch sq.）
SH142 □
0.9°
/step
Constant current circuit
Source voltage : DC24V
operating current : 1.2A/phase,
2-phase energization
full-step
JL =
0.94x10-4kg
m2
5.14 oz
in2
Use the rubber coupling
●SH1421-04 □□
SH1424-0441 Single shaft
SH1424-0411 Double shafts
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L
■Pulse rate-torque characteristics
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torque
oz
in
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L
●SH1422-04 □□ ● SH1424-04 □□
0.1 1 10 100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L
0.1 1 10 100
fs
Number of rotationsmin-1
Pulse ratekpulse/s
at JL
Pull-out torque at JL
1000 200050 100 500
1000 200050 100 500
Unipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
SH1421-0441 -0411 0.2028.321.2 2.7 3.2 0.0440.2410.240.53
SH1422-0441 -0411 0.2941.071.2 3.1 5.3 0.0660.3610.290.64
SH1424-0441 -0411 0.3955.231.2 3.5 5.3 0.0890.4870.380.84
Constant current circuit
Source voltage : DC24V
operating current : 1.2A/phase,
2-phase energization
full-step
JL =
0.94x10-4kg
m2
5.14 oz
in2
Use the rubber coupling
Constant current circuit
Source voltage : DC24V
operating current : 1.2A/phase,
2-phase energization
full-step
JL =
0.94x10-4kg
m2
5.14 oz
in2
Use the rubber coupling
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
2-phase STEPPING SYSTEMS
Stepping motor
Specifications
31
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
JL =
0.94x10-4kg
m2
5.14 oz
in2
Use the rubber coupling
fs: No load maximum starting pulse rate
●SH1421-52 □□
0.1 1 10 100
Pulse rate（kpulse/s）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L
fs
Number of rotations（min-1）
1000 2000 3000 5000100
■Pulse rate-torque characteristics
0.1 1 10 100
Pulse rate（kpulse/s）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L
fs
Number of rotations（min-1）
1000 2000 3000 5000100
●SH1422-52 □□ ● SH1424-52 □□
0.1 1 10 100
Pulse rate（kpulse/s）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L
fs
Number of rotations（min-1）
1000 2000 3000 5000100
Bipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
SH1421-5041 -5011 0.2332.51 3.3 8.0 0.0440.240.240.53
SH1421-5241 -5211 0.2332.52 0.85 2.1 0.0440.240.240.53
SH1422-5041 -5011 0.3448.11 4.0 14.0 0.0660.360.290.64
SH1422-5241 -5211 0.3448.12 1.05 3.6 0.0660.360.290.64
SH1424-5041 -5011 0.4867.91 4.7 15.0 0.0890.490.380.84
SH1424-5241 -5211 0.4867.92 1.25 3.75 0.0890.490.380.84
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
JL =
0.94x10-4kg
m2
5.14 oz
in2
Use the rubber coupling
fs: No load maximum starting pulse rate
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
JL =
0.94x10-4kg
m2
5.14 oz
in2
Use the rubber coupling
fs: No load maximum starting pulse rate
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
JL =
0.94x10-4kg
m2
5.14 oz
in2
Use the rubber coupling
fs: No load maximum starting pulse rate
●SH1421-50 □□
0.1 1 10 100
fs
Pulse rate（kpulse/s）
0.5
0.4
0.3
0.2
0.1
0
5
4
3
2
1
0
Torque（kgf・cm）
Torque（oz・in）
60
40
20
0
Torque（N・m）
Pull-out torque at J
L
Number of rotations（min-1）
1000 2000 3000 5000100
0.1 1 10 100
fs
Pulse rate（kpulse/s）
0.5
0.4
0.3
0.2
0.1
0
5
4
3
2
1
0
Torque（kgf・cm）
Torque（oz・in）
60
40
20
0
Torque（N・m）
Pull-out torque at J
L
Number of rotations（min-1）
1000 2000 3000 5000100
●SH1422-50 □□ ● SH1424-50 □□
0.1 1 10 100
fs
Pulse rate（kpulse/s）
0.5
0.4
0.3
0.2
0.1
0
5
4
3
2
1
0
Torque（kgf・cm）
Torque（oz・in）
60
40
20
0
Torque（N・m）
Pull-out torque at J
L
Number of rotations（min-1）
1000 2000 3000 5000100
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
JL =
0.94x10-4kg
m2
5.14 oz
in2
Use the rubber coupling
fs: No load maximum starting pulse rate
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
JL =
0.94x10-4kg
m2
5.14 oz
in2
Use the rubber coupling
fs: No load maximum starting pulse rate
32
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
2-phase stepping motor
42mm sq.
（1.65inch sq.）
103H52 □□
1.8°
/step
●103H5205-04 □□ ● 103H5208-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torque
oz
in
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
●103H5209-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
●103H5210-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
■Pulse rate-torque characteristics
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
Unipolar winding・Connector type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H5205-0440 -0410 0.228.321.2 2.4 2.3 0.0360.200.230.51
103H5208-0440 -0410 0.342.481.2 2.9 3.4 0.0560.310.290.64
103H5209-0440 -0410 0.3245.311.2 3 3.9 0.0620.340.310.68
103H5210-0440 -0410 0.3752.391.2 3.3 3.4 0.0740.400.370.82
Bipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H5205-5040 -5010 0.2332.570.25 54 78 0.0360.200.230.51
103H5205-5140 -5110 0.2535.400.5 13.4 23.4 0.0360.200.230.51
103H5205-5240 -5210 0.26537.531 3.4 6.5 0.0360.200.230.51
103H5208-5040 -5010 0.3549.560.25 66 116 0.0560.310.290.64
103H5208-5140 -5110 0.3853.810.5 16.5 34 0.0560.310.290.64
103H5208-5240 -5210 0.3955.231 4.1 9.5 0.0560.310.290.64
103H5209-5040 -5010 0.3853.810.25 71.4 133 0.0620.340.310.68
103H5209-5140 -5110 0.4158.060.5 18.2 39 0.0620.340.310.68
103H5209-5240 -5210 0.42560.181 4.4 11 0.0620.340.310.68
103H5210-5040 -5010 0.46565.850.25 80 123.3 0.0740.400.370.82
103H5210-5140 -5110 0.4969.390.5 20 35 0.0740.400.370.82
103H5210-5240 -5210 0.5172.221 4.8 9.5 0.0740.400.370.82
Constant current circuit
Source voltage : DC24Voperating current : 1.2A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kgm
2
5.14 ozin
2
use the rubber coupling
J
L2
=
0.8x10
-4
kgm
2
4.37 ozin
2
use the direct coupling
Constant current circuit
Source voltage : DC24Voperating current : 1.2A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kgm
2
5.14 ozin
2
use the rubber coupling
J
L2
=
0.8x10
-4
kgm
2
4.37 ozin
2
use the direct coupling
Constant current circuit
Source voltage : DC24Voperating current : 1.2A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kgm
2
5.14 ozin
2
use the rubber coupling
J
L2
=
0.8x10
-4
kgm
2
4.37 ozin
2
use the direct coupling
Constant current circuit
Source voltage : DC24Voperating current : 1.2A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kgm
2
5.14 ozin
2
use the rubber coupling
J
L2
=
0.8x10
-4
kgm
2
4.37 ozin
2
use the direct coupling
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
2-phase STEPPING SYSTEMS
Stepping motor
Specifications
Motor cable
No.4835710-1
33
●103H5208-50 □□
Constant current circuit
Source voltage : DC24V
operating current : 0.5A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
●103H5208-51 □□
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
JL1 =
0.94x10-4kg
m2
5.14 oz
in2
use the rubber coupling
JL2 =
0.8x10-4kg
m2
4.37 oz
in2
use the direct coupling
●103H5208-52 □□
●103H5209-50 □□
Constant current circuit
Source voltage : DC24V
operating current : 0.5A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
●103H5209-51 □□
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
JL1 =
0.94x10-4kg
m2
5.14 oz
in2
use the rubber coupling
JL2 =
0.8x10-4kg
m2
4.37 oz
in2
use the direct coupling
●103H5209-52 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
●103H5210-50 □□
Constant current circuit
Source voltage : DC24V
operating current : 0.5A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
●103H5210-51 □□
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
JL1 =
0.94x10-4kg
m2
5.14 oz
in2
use the rubber coupling
JL2 =
0.8x10-4kg
m2
4.37 oz
in2
use the direct coupling
●103H5210-52 □□
●103H5205-50 □□
Constant current circuit
Source voltage : DC24V
operating current : 0.5A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
●103H5205-51 □□
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
JL1 =
0.94x10-4kg
m2
5.14 oz
in2
use the rubber coupling
JL2 =
0.8x10-4kg
m2
4.37 oz
in2
use the direct coupling
●103H5205-52 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torque
oz
in
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torque
oz
in
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torque
oz
in
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torque
oz
in
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting
torque at
J
L2
Constant current circuit
Source voltage : DC24V
operating current : 0.25A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 0.25A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 0.25A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 0.25A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
34
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
2-phase stepping motor
50mm sq.
（1.97inch sq.）
SS250 □
1.8°
/ step Bipolar winding
●SS2501-50□□
0.00
0.02
0.04
0.06
0.08
0.10
0.1 1 10 100
20003000
100 1000
0
0.8
0.6
0.2
1
0.4
fs
Torque (N・m）
Torque (kgf・cm)
Torque (oz・in.)
Pull-out torque at JL
0
8
4
12
Number of rotations
（
min-1
）
Pulse rate（kpulse/s）
●SS2502-50□□
0.00
0.05
0.10
0.15
0.20
0.1 1 10 100
0
1.5
0.5
2
1
fs
20003000
100 1000
Number of rotations
（
min-1
）
Pulse rate（kpulse/s）
Torque (N・m）
Torque (kgf・cm)
Torque (oz・in.)
0
16
8
24
Pull-out torque at JL
2-phase STEPPING SYSTEMS
Stepping motor
Specifications
Bipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
SS2501-5041 -5011 0.114.161 4.5 1.8 0.0260.1420.090.20
SS2502-5041 -5011 0.21530.441 5.9 3.2 0.0490.2680.150.33
■Pulse rate-torque characteristics
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
1-2-phase energization
half-step
JL
=
0.01x10-4kg
m2
0.055 oz
in2
Pulley barancer
system
fs: No load maximum starting pulse rate
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
1-2-phase energization
half-step
JL
=
0.01x10-4kg
m2
0.055 oz
in2
Pulley barancer
system
fs: No load maximum starting pulse rate
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
35
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
2-phase stepping motor
50mm sq.
（1.97inch sq.）
103H670 □
1.8°
/step
Unipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H6701-0140 -0110 0.2839.61 4.3 6.8 0.0570.310.350.77
103H6701-0440 -0410 0.2839.62 1.1 1.6 0.0570.310.350.77
103H6701-0740 -0710 0.2839.63 0.6 0.7 0.0570.310.350.77
103H6703-0140 -0110 0.4969.41 6 13 0.1180.650.51.10
103H6703-0440 -0410 0.4969.42 1.6 3.2 0.1180.650.51.10
103H6703-0740 -0710 0.4969.43 0.83 1.4 0.1180.650.51.10
103H6704-0140 -0110 0.5375.11 6.5 16.5 0.140.770.551.21
103H6704-0440 -0410 0.5273.62 1.7 3.8 0.140.770.551.21
103H6704-0740 -0710 0.5375.13 0.9 1.7 0.140.770.551.21
Bipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H6701-5040 -5010 0.2839.62 0.6 1.6 0.570.310.350.77
103H6703-5040 -5010 0.0912.72 0.8 3.2 0.1180.650.51.10
103H6704-5040 -5010 0.5273.62 0.9 3.8 0.140.770.551.21
36
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
00
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse ratekpulse/s
Number of rotationsmin
-1
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
00
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
●103H6701-01 □□
●103H6703-01 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting
torque at
J
L2
●103H6701-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
●103H6703-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torqueozin
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
●103H6701-07 □□
●103H6703-07 □□
●103H6704-01 □□
●103H6701-50 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
Pull-out torque at J
L
70
0
60
50
40
30
20
10
5
4
3
2
1
00
0.1
0.2
0.3
0.4
0.5
Torquekgfcm
Torque
oz
in
TorqueNm
●103H6704-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse ratekpulse/s
Number of rotationsmin
-1
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
00
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
●103H6704-07 □□
■Pulse rate-torque characteristics
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
70
0
60
50
40
30
20
10
Torquekgfcm
Torque
oz
in
TorqueNm
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
Pull-out torque at J
L1
Starting
torque at
J
L2
140
0
120
100
80
60
40
20
10
8
6
4
2
00
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torque
oz
in
TorqueNm
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 3A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 3A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 3A/phase,
2-phase energization
full-step
JL1 =
0.94x10-4kg
m2
5.14 oz
in2
use the rubber coupling
JL2 =
0.8x10-4kg
m2
4.37 oz
in2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
●103H6703-50 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
Pull-out torque at J
L
140
0
120
100
70
60
40
20
10
8
6
4
2
00
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
●103H6704-50 □□
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.14x10
-4
kg
m
2
0.77 oz
in
2
pulley balancer method
37
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
2-phase stepping motor
56mm sq.
（2.20inch sq.）
103H712 □
1.8°
/step
Unipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H7121-0140 -0110 0.3955.21 4.8 8 0.10.550.471.04
103H7121-0440 -0410 0.3955.22 1.25 1.9 0.10.550.471.04
103H7121-0740 -0710 0.3955.23 0.6 0.8 0.10.550.471.04
103H7123-0140 -0110 0.83117.1 6.7 15 0.211.150.651.43
103H7123-0440 -0410 0.83117.52 1.6 3.8 0.211.150.651.43
103H7123-0740 -0710 0.78110.53 0.77 1.58 0.211.150.651.43
103H7124-0140 -0110 0.98138.81 7 14.5 0.2451.340.81.76
103H7124-0440 -0410 0.98138.82 1.7 3.1 0.2451.340.81.76
103H7124-0740 -0710 0.98138.83 0.74 1.4 0.2451.340.81.76
103H7126-0140 -0110 1.27179.81 8.6 19 0.361.970.982.16
103H7126-0440 -0410 1.27179.82 2 4.5 0.361.970.982.16
103H7126-0740 -0710 1.27179.83 0.9 2.2 0.361.970.982.16
Bipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H7121-5640 -5610 0.5577.91 4.3 14.5 0.10.550.471.04
103H7121-5740 -5710 0.5577.92 1.1 3.7 0.10.550.471.04
103H7121-5840 -5810 0.5577.93 0.54 1.74 0.10.550.471.04
103H7123-5640 -5610 1.0141.61 5.7 29.4 0.211.150.651.43
103H7123-5740 -5710 1.0141.62 1.5 7.5 0.211.150.651.43
103H7123-5840 -5810 1.0141.63 0.7 3.5 0.211.150.651.43
103H7126-5640 -5610 1.6226.61 7.7 34.6 0.361.970.982.16
103H7126-5740 -5710 1.6226.62 2 9.1 0.361.970.982.16
103H7126-5840 -5810 1.6226.63 0.94 4 0.361.970.982.16
103H7128-5640 -5610 2.0283.21 8.9 40.1 0.492.681.32.87
103H7128-5740 -5710 2.0283.22 2.3 10.4 0.492.681.32.87
103H7128-5840 -5810 2.0283.23 1.03 4.3 0.492.681.32.87
38
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
■Pulse rate-torque characteristics
●103H7123-04 □□
●103H7121-07 □□
●103H7123-07 □□
●103H7124-01 □□ ● 103H7124-04 □□
●103H7121-01 □□
●103H7123-01 □□
●103H7121-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
●103H7124-07 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 3A/phase,
2-phase energization
full-step
JL1 =
0.94x10-4kg
m2
5.14 oz
in2
use the rubber coupling
JL2 =
0.8x10-4kg
m2
4.37 oz
in2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 3A/phase,
2-phase energization
full-step
JL1 =
0.94x10-4kg
m2
5.14 oz
in2
use the rubber coupling
JL2 =
0.8x10-4kg
m2
4.37 oz
in2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the rubber coupling
J
L2
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the rubber coupling
J
L2
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 3A/phase,
2-phase energization
full-step
JL1 =
2.6x10-4kg
m2
14.22 oz
in2
use the rubber coupling
JL2 =
2.6x10-4kg
m2
14.22 oz
in2
use the direct coupling
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
●103H7126-04 □□ ● 103H7126-07 □□
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
●103H7126-01 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
Starting
torque at
J
L2
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the rubber coupling
J
L2
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the rubber coupling
J
L2
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 3A/phase,
2-phase energization
full-step
J
L1
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the rubber coupling
J
L2
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the direct coupling
39
●103H7121-58 □□● 103H7121-56 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
00
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
Pull-out torque at J
L1
Starting
torque at
J
L2
140
0
120
100
80
60
40
20
10
8
6
4
2
00
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torque
oz
in
TorqueNm
●103H7121-57 □□
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse ratekpulse/s
Number of rotationsmin
-1
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
00
0.2
0.4
0.6
0.8
1.0
Torquekgfcm
Torqueozin
TorqueNm
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 3A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
●103H7123-58 □□
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse ratekpulse/s
Number of rotationsmin
-1
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
00
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
●103H7123-56 □□ ● 103H7123-57 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
Pull-out torque at J
L1
Starting
torque at
J
L2
280
0
240
200
160
120
80
40
20
16
12
8
4
00
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torque
oz
in
TorqueNm
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse ratekpulse/s
Number of rotationsmin
-1
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
00
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the rubber coupling
J
L2
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the rubber coupling
J
L2
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 3A/phase,
2-phase energization
full-step
JL1 =
2.6x10-4kg
m2
14.22 oz
in2
use the rubber coupling
JL2 =
2.6x10-4kg
m2
14.22 oz
in2
use the direct coupling
●103H7126-58 □□● 103H7126-56 □□ ●103H7126-57 □□
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse ratekpulse/s
Number of rotationsmin
-1
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
00
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse ratekpulse/s
Number of rotationsmin
-1
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
00
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torque
oz
in
TorqueNm
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse ratekpulse/s
Number of rotationsmin
-1
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
00
0.4
0.8
1.2
1.6
2.0
Torquekgfcm
Torqueozin
TorqueNm
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the rubber coupling
J
L2
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the rubber coupling
J
L2
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 3A/phase,
2-phase energization
full-step
JL1 =
2.6x10-4kg
m2
14.22 oz
in2
use the rubber coupling
JL2 =
2.6x10-4kg
m2
14.22 oz
in2
use the direct coupling
●103H7128-56 □□ ● 103H7128-57 □□ ● 103H7128-58 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
Torquekgfcm
Torque
oz
in
TorqueNm
Pull-out torque at J
L1
Starting
torque at
J
L2
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
00.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
Torquekgfcm
Torqueozin
TorqueNm
Pull-out torque at J
L1
Starting
torque at
J
L2
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
00.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
Torquekgfcm
Torqueozin
TorqueNm
Pull-out torque at J
L1
Starting
torque at
J
L2
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
0
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
7.4x10
-4
kg
m
2
40.46 oz
in
2
use the rubber coupling
J
L2
=
7.4x10
-4
kg
m
2
40.46 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
7.4x10
-4
kg
m
2
40.46 oz
in
2
use the rubber coupling
J
L2
=
7.4x10
-4
kg
m
2
40.46 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 3A/phase,
2-phase energization
full-step
JL1 =
7.4x10-4kg
m2
40.46 oz
in2
use the rubber coupling
JL2 =
7.4x10-4kg
m2
40.46 oz
in2
use the direct coupling
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
40
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
2-phase stepping motor
60mm sq.
（2.36inch sq.）
SH160 □
0.9°
/step
0.1 1 10 100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
280
0
240
200
160
120
80
40
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
4
8
12
16
20
0
0.4
0.8
1.2
1.6
2.0
0
50 100 500 1000 2000
Pull-out torque at J
L
0.1 1 10 100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
280
0
240
200
160
120
80
40
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
4
8
12
16
20
0
0.4
0.8
1.2
1.6
2.0
0
50 100 500 1000 2000
Pull-out torque at J
L
■Pulse rate-torque characteristics
0.1 1 10 100
Pulse ratekpulse/s
Number of rotationsmin
-1
140
0
120
100
80
60
40
20
Torquekgfcm
Torqueozin
TorqueNm
2
4
6
8
10
0
0.2
0.4
0.6
0.8
1.0
0
50 100 500 1000 2000
Pull-out torque at J
L
●SH1601-04 □□ ● SH1602-04 □□ ● SH1603-04 □□
Unipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
SH1601-0440 -0410 0.57
80.712 1.35 2 0.241.3120.551.21
SH1602-0440 -0410 1.1
155.772 1.8 3.5 0.42.1870.81.76
SH1603-0440 -0410 1.7
240.742 2.3 4.5 0.754.1011.22.64
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
JL =
0.94x10-4kg
m2
5.14 oz
in2
use the rubber coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
JL =
2.6x10-4kg
m2
14.22 oz
in2
use the rubber coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
JL =
7.4x10-4kg
m2
40.46 oz
in2
use the rubber coupling
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
0.1 1 10 100
Pulse ratekpulse/s
Number of rotationsmin
-1
280
0
240
200
160
120
80
40
Torquekgfcm
Torqueozin
TorqueNm
4
8
12
16
20
0
0.4
0.8
1.2
1.6
2.0
0
50 100 500 1000 2000
Pull-out torque at J
L
0.1 1 10 100
Pulse ratekpulse/s
Number of rotationsmin
-1
560
0
480
400
320
240
160
80
Torquekgfcm
Torqueozin
TorqueNm
8
16
24
32
40
0
0.8
1.6
2.4
3.2
4.0
0
50 100 500 1000 2000
Pull-out torque at J
L
■Pulse rate-torque characteristics
0.1 1 10 100
Pulse ratekpulse/s
Number of rotationsmin
-1
140
0
120
100
80
60
40
20
Torquekgfcm
Torque
oz
in
TorqueNm
2
4
6
8
10
0
0.2
0.4
0.6
0.8
1.0
0
50 100 500 1000 2000
Pull-out torque at J
L
●SH1601-52 □□ ● SH1602-52 □□ ● SH1603-52 □□
Bipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
SH1601-5240 -5210 0.6997.72 1.2 3.5 0.241.310.551.21
SH1602-5240 -5210 1.28181.22 1.65 6.1 0.42.190.81.76
SH1603-5240 -5210 2.15304.42 2.3 8.8 0.754.101.22.65
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
JL =
0.94x10-4kg
m2
5.14 oz
in2
use the rubber coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
JL =
2.6x10-4kg
m2
14.22 oz
in2
use the rubber coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
JL =
7.4x10-4kg
m2
40.46 oz
in2
use the rubber coupling
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
41
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
2-phase stepping motor
60mm sq.
（2.36inch sq.）
103H782 □
1.8°
/step
Unipolar winding・Connector type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H7821-0140 -0110 0.78110.51 5.7 8.3 0.2751.500.61.32
103H7821-0440 -0410 0.78110.52 1.5 2 0.2751.500.61.32
103H7821-0740 -0710 0.78110.53 0.68 0.8 0.2751.500.61.32
103H7822-0140 -0110 1.17165.71 6.9 14 0.42.190.771.70
103H7822-0440 -0410 1.17165.72 1.8 3.6 0.42.190.771.70
103H7822-0740 -0710 1.17165.73 0.8 1.38 0.42.190.771.70
103H7823-0140 -0110 2.1297.41 10 21.7 0.844.591.342.95
103H7823-0440 -0410 2.1297.42 2.7 5.6 0.844.591.342.95
103H7823-0740 -0710 2.1297.43 1.25 2.4 0.844.591.342.95
Bipolar winding・Connector type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H7821-5740 -5710 0.88124.62 1.27 3.3 0.2751.500.61.32
103H7821-1740 -1710 0.88124.64 0.35 0.8 0.2751.500.61.32
103H7822-5740 -5710 1.37194.02 1.55 5.5 0.42.190.771.70
103H7822-1740 -1710 1.37194.04 0.43 1.38 0.42.190.771.70
103H7823-5740 -5710 2.7382.32 2.4 9.5 0.844.591.342.95
103H7823-1740 -1710 2.7382.34 0.65 2.4 0.844.591.342.95
Unipolar winding・Lead wire type Dimensions for attaching NEMA23 are interchangeable (47.14mm-pitch)
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H7821-0160 -0130 0.78110.51 5.7 8.3 0.2751.500.61.32
103H7821-0460 -0430 0.78110.52 1.5 2 0.2751.500.61.32
103H7821-0760 -0730 0.78110.53 0.68 0.8 0.2751.500.61.32
103H7822-0160 -0130 1.17165.71 6.9 14 0.42.190.771.70
103H7822-0460 -0430 1.17165.72 1.8 3.6 0.42.190.771.70
103H7822-0760 -0730 1.17165.73 0.8 1.38 0.42.190.771.70
103H7823-0160 -0130 2.1297.41 10 21.7 0.844.591.342.95
103H7823-0460 -0430 2.1297.42 2.7 5.6 0.844.591.342.95
103H7823-0760 -0730 2.1297.43 1.25 2.4 0.844.591.342.95
Bipolar winding・Lead wire type Dimensions for attaching NEMA23 are interchangeable (47.14mm-pitch)
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H7821-5760 -5730 0.88124.62 1.27 3.3 0.2751.500.61.32
103H7821-1760 -1730 0.88124.64 0.35 0.8 0.2751.500.61.32
103H7822-5760 -5730 1.37194.02 1.55 5.5 0.42.190.771.70
103H7822-1760 -1730 1.37194.04 0.43 1.38 0.42.190.771.70
103H7823-5760 -5730 2.7382.32 2.4 9.5 0.844.591.342.95
103H7823-1760 -1730 2.7382.34 0.65 2.4 0.844.591.342.95
Motor cable
No.4837798-1
Motor cable
No.4837798-1
42
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
●103H7822-01 □□ ● 103H7822-04 □□ ● 103H7822-07 □□
●103H7823-07 □□● 103H7823-01 □□ ● 103H7823-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
Starting
torque at
J
L2
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
Starting
torque at
J
L2
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
●103H7821-01 □□ ● 103H7821-04 □□ ● 103H7821-07 □□
■Pulse rate-torque characteristics
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 3A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
7.4x10
-4
kg
m
2
40.46 oz
in
2
use the rubber coupling
J
L2
=
7.4x10
-4
kg
m
2
40.46 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
7.4x10
-4
kg
m
2
40.46 oz
in
2
use the rubber coupling
J
L2
=
7.4x10
-4
kg
m
2
40.46 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24Voperating current : 3A/phase,
2-phase energization
full-step
J
L1
=
7.4x10
-4
kgm
2
40.46 ozin
2
use the rubber coupling
J
L2
=
7.4x10
-4
kgm
2
40.46 ozin
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
7.4x10
-4
kg
m
2
40.46 oz
in
2
use the rubber coupling
J
L2
=
7.4x10
-4
kg
m
2
40.46 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L1
=
7.4x10
-4
kg
m
2
40.46 oz
in
2
use the rubber coupling
J
L2
=
7.4x10
-4
kg
m
2
40.46 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24Voperating current : 3A/phase,
2-phase energization
full-step
J
L1
=
7.4x10
-4
kgm
2
40.46 ozin
2
use the rubber coupling
J
L2
=
7.4x10
-4
kgm
2
40.46 ozin
2
use the direct coupling
●103H7821-17 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : AC100V
operating current : 4A/phase,
2-phase energization
full-step
J
L
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the rubber coupling
●103H7821-57 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
140
0
120
100
80
60
40
20
10
8
6
4
2
0
0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : AC24V
operating current : 2A/phase,
2-phase energization
full-step
J
L
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the rubber coupling
●103H7822-57 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
280
0
240
200
160
120
80
40
20
16
12
8
4
0
0
0.4
0.8
1.2
1.8
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : AC24Voperating current : 2A/phase,
2-phase energization
full-step
J
L
=
2.6x10
-4
kgm
2
40.46 ozin
2
use the rubber coupling
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
43
●103H7823-17 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Pull-out torque at J
L
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
0
Constant current circuit
Source voltage : AC100Voperating current : 4A/phase,
2-phase energization
full-step
J
L
=
7.4x10
-4
kgm
2
40.46 ozin
2
use the rubber coupling
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
●103H7823-57 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
700
0
600
500
400
300
200
100
50
40
30
20
10
0
0
1
2
3
4
5
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : AC24Voperating current : 2A/phase,
2-phase energization
full-step
J
L
=
7.4x10
-4
kgm
2
40.46 ozin
2
use the rubber coupling
●103H7822-17 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : AC100V
operating current : 4A/phase,
2-phase energization
full-step
J
L
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the rubber coupling
44
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
2-phase stepping motor
86mm sq.
（3.39inch sq.）
SH286 □/SM286 □
1.8°
/step
Unipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
SH2861-0441 -0411 2.53542 2.3 8.0 1.488.091.753.92
SH2861-0941 -0911 2.53544 0.6 2.0 1.488.091.753.92
SH2862-0441 -0411 4.7665.62 3.2 13.0 316.42.96.5
SH2862-0941 -0911 4.7665.64 0.85 3.4 316.42.96.5
SH2863-0441 -0411 6.7948.82 4.0 17.0 4.524.64.08.96
SH2863-0941 -0911 6.7948.84 0.9 4.2 4.524.64.08.96
Bipolar winding・Lead wire type CE・UL model
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
SM2861-5051 -5021 3.3467.32 2.2 15 1.488.091.753.92
SM2861-5151 -5121 3.3467.34 0.56 3.7 1.488.091.753.92
SM2861-5251 -5221 3.3467.36 0.29 1.7 1.488.091.753.92
SM2862-5051 -5021 6.4906.32 3.2 25 3.016.42.96.5
SM2862-5151 -5121 6.4906.34 0.83 6.4 3.016.42.96.5
SM2862-5251 -5221 6.4906.36 0.36 2.8 3.016.42.96.5
SM2863-5051 -5021 91274.42 4.0 32 4.524.64.08.96
SM2863-5151 -5121 91274.44 1.0 7.9 4.524.64.08.96
SM2863-5251 -5221 91274.46 0.46 3.8 4.524.64.08.96
 
Bipolar winding・Terminal block type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
SM2861-5066 3.3467.32 2.03 15 1.488.091.94.19
SM2861-5166 3.3467.34 0.52 3.7 1.488.091.94.19
SM2861-5266 3.3467.36 0.27 1.7 1.488.091.94.19
SM2862-5066 6.4906.32 3.08 25 3.016.43.056.72
SM2862-5166 6.4906.34 0.79 6.4 3.016.43.056.72
SM2862-5266 6.4906.36 0.33 2.8 3.016.43.056.72
SM2863-5066 91274.42 3.83 32 4.524.64.159.15
SM2863-5166 91274.44 0.96 7.9 4.524.64.159.15
SM2863-5266 91274.46 0.48 3.8 4.524.64.159.15
Bipolar winding・Lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
SH2861-5041 -5011 3.3467.32 2.2 15 1.488.091.753.92
SH2861-5141 -5111 3.3467.34 0.56 3.7 1.488.091.753.92
SH2861-5241 -5211 3.3467.36 0.29 1.7 1.488.091.753.92
SH2862-5041 -5011 6.4906.32 3.2 25 3.016.42.96.5
SH2862-5141 -5111 6.4906.34 0.83 6.4 3.016.42.96.5
SH2862-5241 -5211 6.4906.36 0.36 2.8 3.016.42.96.5
SH2863-5041 -5011 91274.42 4.0 32 4.524.64.08.96
SH2863-5141 -5111 91274.44 1.0 7.9 4.524.64.08.96
SH2863-5241 -5211 91274.46 0.46 3.8 4.524.64.08.96
 
Unipolar winding・Lead wire type CE・UL model
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
SM2861-0451 -0421 2.53542 2.3 8.0 1.488.091.753.92
SM2861-0951 -0921 2.53544 0.6 2.0 1.488.091.753.92
SM2862-0451 -0421 4.8679.72 3.2 13.0 316.42.96.5
SM2862-0951 -0921 4.8679.74 0.85 3.4 316.42.96.5
SM2863-0451 -0421 6.6934.62 4.0 17 4.524.64.08.96
SM2863-0951 -0921 6.6934.64 0.9 4.2 4.524.64.08.96
 
45
■Pulse rate-torque characteristics
■SH2861-04 □□ SM2861-04 □□
fs
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : DC100V
operating current : 4A/phase,
2-phase energization
full-step
JL =
7.4x10-4kg
m2
40.46 oz
in2
use the rubber coupling
fs: No load maximum starting pulse rate
■SH2862-04□□ SM2862-04 □□
0.1 1 10 100
1000 2000 3000 5000100
fs
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Pull-out torque at J
L
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
0
Constant current circuit
Source voltage : DC100V
operating current : 2A/phase,
2-phase energization
full-step
JL =
15.3x10-4kg
m2
83.65 oz
in2
use the rubber coupling
fs: No load maximum starting pulse rate
■SH2863-04□□ SM2863-04□□
0.1 1 10 100
1000 2000 3000 5000100
fs
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Pull-out torque at J
L
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
0
Constant current circuit
Source voltage : DC100V
operating current : 4A/phase,
2-phase energization
full-step
JL =
15.3x10-4kg
m2
83.65 oz
in2
use the rubber coupling
fs: No load maximum starting pulse rate
■SH2861-50 □□ SM2861-50 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
560
0
480
400
320
240
160
80
40
32
24
16
8
0 0
0.8
1.6
2.4
3.2
4.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : DC100V
operating current : 2A/phase,
2-phase energization
full-step
JL =
7.4x10-4kg
m2
40.46 oz
in2
use the rubber coupling
■SH2862-50 □□ SM2862-50 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
140 0
0
120 0
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : DC100V
operating current : 2A/phase,
2-phase energization
full-step
JL =
15.3x10-4kg
m2
83.65 oz
in2
use the rubber coupling
■SH2863-50 □□ SM2863-50 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
140 0
0
120 0
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : DC100V
operating current : 2A/phase,
2-phase energization
full-step
JL =
43x10-4kg
m2
235.10 oz
in2
use the rubber coupling
■SH2861-51 □□ SM2861-51 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
560
0
480
400
320
240
160
80
40
32
24
16
8
0 0
0.8
1.6
2.4
3.2
4.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : DC100V
operating current : 4A/phase,
2-phase energization
full-step
JL =
7.4x10-4kg
m2
40.46 oz
in2
use the rubber coupling
■SH2862-51 □□ SM2862-51 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
140 0
0
120 0
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : DC100V
operating current : 4A/phase,
2-phase energization
full-step
JL =
15.3x10-4kg
m2
83.65 oz
in2
use the rubber coupling
■SH2863-51 □□ SM2863-51 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
140 0
0
120 0
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : DC100V
operating current : 4A/phase,
2-phase energization
full-step
JL =
43x10-4kg
m2
235.10 oz
in2
use the rubber coupling
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
■SH2861-09 □□ SM2861-09 □□ 
2.0
1.6
1.2
0.8
0.4
0fs
0.1 1 10 100
Pull-out torque at J
L
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Torquekgfcm
Torqueozin
TorqueNm
■SH2862-09 □□ SM2862-09 □□
5
4
3
2
1
0fs
脱出トルクatJL
0.1 1 10 100
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
Torquekgfcm
Torqueozin
TorqueNm
700
0
600
500
400
300
200
100
10
20
30
40
50
0
■SH2863-09 □□ SH2863-09 □□
5
4
3
2
1
0
脱出トルクatJL
0.1 1 10 100
fs
1000 2000 3000 5000100
Pulse ratekpulse/s
Number of rotationsmin
-1
Torquekgfcm
Torqueozin
TorqueNm
700
0
600
500
400
300
200
100
10
20
30
40
50
0
Constant current circuit
Source voltage : DC100V
operating current : 4A/phase,
2-phase energization
full-step
JL =
7.4x10-4kg
m2
40.46 oz
in2
use the rubber coupling
fs: No load maximum starting pulse rate
Constant current circuit
Source voltage : DC100V
operating current : 4A/phase,
2-phase energization
full-step
JL =
7.4x10-4kg
m2
40.46 oz
in2
use the rubber coupling
fs: No load maximum starting pulse rate
Constant current circuit
Source voltage : DC100V
operating current : 4A/phase,
2-phase energization
full-step
JL =
7.4x10-4kg
m2
40.46 oz
in2
use the rubber coupling
fs: No load maximum starting pulse rate
46
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
Constant current circuit
Source voltage : DC100V
operating current : 6A/phase,
2-phase energization
full-step
JL =
15.3x10-4kg
m2
83.65 oz
in2
use the rubber coupling
■SH2862-52 □□ SM2862-52 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
140 0
0
120 0
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
■SH2863-52 □□ SM2863-52 □□
Constant current circuit
Source voltage : DC100V
operating current : 6A/phase,
2-phase energization
full-step
JL =
43x10-4kg
m2
235.10 oz
in2
use the rubber coupling
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
140 0
0
120 0
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
■SH2861-52 □□ SM2861-52 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
560
0
480
400
320
240
160
80
40
32
24
16
8
0 0
0.8
1.6
2.4
3.2
4.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Constant current circuit
Source voltage : DC100V
operating current : 6A/phase,
2-phase energization
full-step
JL =
15.3x10-4kg
m2
83.65 oz
in2
use the rubber coupling
47
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
●103H89222-52 □□
●103H89223-52 □□
●103H89222-09 □□ ● 103H89223-09 □□
2-phase stepping motor
106mm cir.
（4.17inch cir.）
103H8922 □
1.8°
/step
0.1 1 10 100
1000 2000 3000 5000100
Torque（kgf・cm）
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
2800
0
2400
2000
1600
120 0
800
400
200
160
120
80
40
0 0
4
8
12
16
20
Torque（oz・in）
Torque（N・m）
Starting
torque at
J
L2
0.1 1 10 100
1000 2000 3000 5000100
Torque（kgf・cm）
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
2800
0
2400
2000
1600
120 0
800
400
200
160
120
80
40
0 0
4
8
12
16
20
Torque（oz・in）
Torque（N・m）
Starting
torque at
J
L2
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
140 0
0
120 0
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Torque（kgf・cm）
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L
2800
0
2400
2000
1600
120 0
800
400
200
160
120
80
40
0 0
4
8
12
16
20
Torque（oz・in）
Torque（N・m）
Unipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H89222-0941 -0911 10.81529.44 0.98 6.3 14.679.837.516.53
103H89223-0941 -0911 15.52194.94 1.4 9.7 22120.2810.523.15
Bipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H89222-5241 -5211 13.21869.26 0.45 5.4 14.679.837.516.53
103H89223-5241 -5211 192690.56 0.63 8 22120.2810.523.15
Constant current circuit
Source voltage : AC100V
operating current : 4A/phase,
2-phase energization
full-step
J
L
=
43x10
-4
kg
m
2
235.10 oz
in
2
use the rubber coupling
Constant current circuit
Source voltage : AC100V
operating current : 4A/phase,
2-phase energization
full-step
J
L
=
43x10
-4
kg
m
2
235.10 oz
in
2
use the rubber coupling
Constant current circuit
Source voltage : AC100V
operating current : 6A/phase,
2-phase energization
full-step
J
L1
=
43x10
-4
kg
m
2
235.10 oz
in
2
use the rubber coupling
J
L2
=
43x10
-4
kg
m
2
235.10 oz
in
2
use the rubber coupling
Constant current circuit
Source voltage : AC100V
operating current : 6A/phase,
2-phase energization
full-step
J
L1
=
43x10
-4
kg
m
2
235.10 oz
in
2
use the rubber coupling
J
L2
=
43x10
-4
kg
m
2
235.10 oz
in
2
use the rubber coupling
■Pulse rate-torque characteristics
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
48
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
●103H7121-61 □□ ● 103H7121-67 □□ ● 103H7123-61 □□
●103H7123-67 □□ ● 103H7126-61 □□ ● 103H7126-67 □□
2-phase stepping motor
56mm sq.
（2.20inch sq.）
103H712 □
CE marking
1.8°
/step
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Starting
torque at
J
L2
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Unipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H7121-6140 -6110 0.3955.21 4.8 8 0.10.550.471.04
103H7121-6740 -6710 0.3955.23 0.6 0.8 0.10.550.471.04
103H7123-6140 -6110 0.83117.51 6.7 15 0.211.150.651.43
103H7123-6740 -6710 0.78110.53 0.77 1.58 0.211.150.651.43
103H7126-6140 -6110 1.27179.81 8.6 19 0.361.970.982.16
103H7126-6740 -6710 1.27179.83 0.9 2.2 0.361.970.982.16
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 3A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 1A/phase,
2-phase energization
full-step
J
L1
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the rubber coupling
J
L2
=
2.6x10
-4
kg
m
2
14.22 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : DC24Voperating current : 3A/phase,
2-phase energization
full-step
J
L1
=
2.6x10
-4
kgm
2
14.22 ozin
2
use the rubber coupling
J
L2
=
2.6x10
-4
kgm
2
14.22 ozin
2
use the direct coupling
Constant current circuit
Source voltage : DC24Voperating current : 1A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kgm
2
5.14 ozin
2
use the rubber coupling
J
L2
=
0.8x10
-4
kgm
2
4.37 ozin
2
use the direct coupling
Constant current circuit
Source voltage : DC24V
operating current : 3A/phase,
2-phase energization
full-step
J
L1
=
0.94x10
-4
kg
m
2
5.14 oz
in
2
use the rubber coupling
J
L2
=
0.8x10
-4
kg
m
2
4.37 oz
in
2
use the direct coupling
■Pulse rate-torque characteristics
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
49
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
●103H8221-62 □□ ● 103H8222-63 □□ ● 103H8223-63 □□
2-phase stepping motor
86mm cir.
（3.39inch cir.）
103H822 □
CE marking
1.8°
/step
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Pull-out torque at J
L1
Starting torque
at J
L2
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
0
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Pull-out torque at J
L1
Starting torque
at J
L2
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
0
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
140 0
0
120 0
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Bipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H8221-6240 -6210 2.74388.06 0.3 1.65 1.457.931.53.31
103H8222-6340 -6310 5.09720.86 0.35 2.7 2.915.862.55.51
103H8223-6340 -6310 7.441053.66 0.45 3.4 4.424.063.57.72
Constant current circuit
Source voltage : AC100V
operating current : 6A/phase,
2-phase energization
full-step
J
L1
=
7.4x10
-4
kg
m
2
40.46 oz
in
2
use the rubber coupling
J
L2
=
7.4x10
-4
kg
m
2
40.46 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : AC100V
operating current : 6A/phase,
2-phase energization
full-step
J
L1
=
15.3x10
-4
kg
m
2
83.65 oz
in
2
use the rubber coupling
J
L2
=
15.3x10
-4
kg
m
2
83.65 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : AC100V
operating current : 6A/phase,
2-phase energization
full-step
J
L1
=
43x10
-4
kg
m
2
235.10 oz
in
2
use the rubber coupling
J
L2
=
43x10
-4
kg
m
2
235.10 oz
in
2
use the direct coupling
■Pulse rate-torque characteristics
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
50
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
●103H89222-63 □□ ● 103H89223-63 □□
2-phase stepping motor
106mm cir.
（4.17inch cir.）
103H8922 □
CE marking
1.8°
/step
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
2800
0
2400
2000
1600
120 0
800
400
200
160
120
80
40
0 0
4
8
12
16
20
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
2800
0
2400
2000
1600
120 0
800
400
200
160
120
80
40
0 0
4
8
12
16
20
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Starting
torque at
J
L2
Bipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase  Ω /phase mH/phase [×
10- 4 kg
・
m2
（oz
・
in2）
] [kg
（Ibs）
]
103H89222-6341 -6311 13.21869.26 0.45 5.4 14.679.837.516.53
103H89223-6341 -6311 192690.56 0.63 8 22120.2810.523.15
Constant current circuit
Source voltage : AC100V
operating current : 6A/phase,
2-phase energization
full-step
J
L1
=
43x10
-4
kg
m
2
235.10 oz
in
2
use the rubber coupling
J
L2
=
43x10
-4
kg
m
2
235.10 oz
in
2
use the direct coupling
Constant current circuit
Source voltage : AC100V
operating current : 6A/phase,
2-phase energization
full-step
J
L1
=
43x10
-4
kg
m
2
235.10 oz
in
2
use the rubber coupling
J
L2
=
43x10
-4
kg
m
2
235.10 oz
in
2
use the direct coupling
■Pulse rate-torque characteristics
The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
51
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
Model Number 103H712 □103H822 □／ 103H8922 □
Rated voltage 12-200VDC12-300VDC
Applied standards
Low voltage
diretiveEN60034-1,IEC34-5(EN60034-5),EN60204-1,EN60950,EN61010-1
Operation type S1
continuous rating
Protection grade IP43
Device category Class I
Operation environment Pollution degree 2
Insulation classI Class B
130
Insulation resistance 100M ohm MIN. against DC500V
Withstand voltage 56mm2.2inch
: AC1500V 50/60Hz for 1 minute
86mm3.39inch106mm4.17inch
: AC1600V 50/60Hz for 1 minute
Ambient operation temperature -10 to +50
C
Ambient operation humidity 90% MAX. at less than 40
C, 57% MAX. at less than 50
C , 35% MAX. at 60
C
no condensation
Winding temperature rise 80K MAX.
Based on Sanyo Denki standard
CE marked models
Standard models
Motor type H series motor
Model number 103H52  /103H67  /103H71 /103H78 
Insulation class Class B
130
Withstand voltage
42
1.65inch
AC500V 50/60Hz for 1 minute, 50
1.97inch
56
2.20inch
60
2.36inch
AC1000V 50/60Hz for 1 minute
Insulation resistance 100M ohm MIN. against DC500V
Vibration resistance
Amplitude of 1.52mm
0.06inch
P-P
at frequency range 10 to 500Hz for 15 minutes sweep time along X, Y, and Z axes for 12 times.
Impact resistance 490m/s2 of acceleration for 11 ms with half-sine wave applying three times for X, Y, and Z axes each, 18 times in total.
Operating ambient temperature -10 to 50
Operating ambient humidity 90%MAX. : 40MAX., 57%MAX. : 50MAX., 35%MAX. : 60MAX.
no condensation
Motor type SH series motor
Motor model number SH228  , SH353  , SH142  , SH160 , SH286 ,
Insulation class Class B
130
Withstand voltage
28
1.10inch
35
1.38inch
42
1.65inch
AC500V 50/60Hz for 1 minute, 60
2.36inch
/86
3.38inch
AC1000V
50/60Hz for 1 minute
Insulation resistance 100M ohm MIN. against DC500V
Vibration resistance
Amplitude of 1.52mm
0.06inch
P-P
at frequency range 10 to 500Hz for 15 minutes sweep time along X, Y, and Z axes for 12 times.
Impact resistance 490m/s2 of acceleration for 11 ms with half-sine wave applying three times for X, Y, and Z axes each, 18 times in total.
Operating ambient temperature -10 to 50
Operating ambient humidity 90%MAX. : 40MAX., 57%MAX. : 50MAX., 35%MAX. : 60MAX.
no condensation
Motor type SM series motor
Model number SM286
Type S1
continuous operation
Insulation class Class F
+155
C
Operation altitude 1000m
3280 feetMAX above sea level
Withstand voltage 86mm3.39inch
: AC1500V 50/60Hz for 1 minute
Insulation resistance 100M ohm MIN. against DC500V
Protection grade IP43
Vibration resistance
Amplitude of 1.52mm
0.06inch
P-P
at frequency range 10 to 500Hz for 15 minutes sweep time along X, Y, and Z axes for 12 times.
Impact resistance 490m/s2 of acceleration for 11 ms with half-sine wave applying three times for X, Y, and Z axes each, 18 times in total.
Ambient operation temperature -10 to +50
C
Ambient operation humidity 90% MAX. at less than 40
C, 57% MAX. at less than 50
C , 35% MAX. at 60
C
no condensation
Radial load
Thrust load
Allowable radial / thrust load
Frange size Model number
Distance from end of shaft : mm（inch）Thrust load
N（Ibs）
0 5（0.20）10（0.39）15（0.59）
Radial load : N（lbs）
28mm1.10inchSH228 42948105612661430.67
35mm1.38inchSH353 408501167159822102.25
42mm1.65inch
103H52 
103-59
SH142
2242653374610102.25
50mm1.97inch103H670 711587191152516737153.37
56mm2.20inch103H712 52116514851912327153.37
103H7128 8519105231383120044153.37
60mm2.36inch103H782
SH160 701587191142516537204.50
86mm3.39inchSM286
SH286 167371934322951280626013.488
86mm 3.39inch103H822 191422345230167421936013.488
106mm 4.17inch103H8922 32172356794019045710110022.48
52
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
Internal Wiring and Rotation Direction
Direction of motor rotate
The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
(2)
(1)
(3)
(5) (6) (4)
Internal wire connec tion
( ) connector pin number
●103H52 □□ Connector type
(2)
(1)
(3)
(4) (6) (5)
Internal wire connec tion
( ) connector pin number
●103H782 □ Connector type
Orange
White
Blue
Red YellowBlack
Internal wire connec tion
●Lead wire type
Direction of motor rotate
The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
Connector type pin number
Exciting
order
（1.6）
＋
＋
＋
＋
1
2
3
4
（5）
－
－
（3）
－
－
（4）
－
－
（2）
－
－
Direction of motor rotate
The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
Exciting
order
（1.6）
＋
＋
＋
＋
1
2
3
4
（4）
－
－
（3）
－
－
（5）
－
－
（2）
－
－
Connector type pin number
Exciting
order
White
& black
＋
＋
＋
＋
1
2
3
4
Red
－
－
Blue
－
－
Yellow
－
－
Orange
－
－
Lead wire color
Bipolar winding
Red Yellow
(1)Orange
(2)Blue
(3) (4)
Internal wire connec tion
( ) connector pin number Direction of motor rotate
The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
Lead wire color, connector type pin teminal blocknumber
Lead wire
Connector
Exciting order
1
2
3
4
103H782 □
SM286 □
Red
–
+
+
–
3
3
Blue
–
–
+
+
2
2
Yellow
+
–
–
+
4
4
Orange
+
+
–
–
1
1
Teminal
block
Unipolar winding
53
Dimensions
2-phase STEPPING SYSTEMS
▽：Motor shaft specification code
Motor shaft spec Set type code Motor type code
Single shaft S 7
Double shafts D 3
：Motor shaft specification code
Motor shaft spec Set type code Motor type code
Single shaft S 4
Double shafts D 1
Connector type
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar
DU15H521 103H5205-04 0 33
1.25Connector
DU15H522 103H5208-04 0 39
1.54Connector
DU15H524 103H5210-04 0 48
1.89Connector
103H5209-04 0 41
1.61Connector
□42mm
（□1.65inch）
Effective tapping depth depth 4(.16) MIN.
4-M3 x0.5
L±0.5 24±0.5
□42±0.25
4-31±0.25
Pin No.
1 · · · 6
15±1
0.013
ø5-0.013
0.013
ø5-0.013
0.05
ø22-0.05
Applicable connector (J.S.T. MFG., CO.)
Connector: EHR-6
Terminal: SEH-001T-P0.6
(.59
±.04
)
(L±.02) (.94±.02)
.00003
(
ø.1968-.0005
)
.00003
(
ø.1968-.0005
)
.0003
(
ø.87-.002
)
(□1.65±.01)
(4-1.22±.01)
27(1.06)
MAX.
7(.28) MAX.
1.5±0.76
(.59±.03)
28(1.1)
MIN.
11(.44)
MAX.
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar
DU15S141 SH1421-04 1 33
1.25Lead wire
DU15S142 SH1422-04 1 39
1.54Lead wire
DU15S144 SH1424-04 1 48
1.89Lead wire
Bipolar
DB16S141 SH1421-52 1 33
1.25Lead wire
DB16S142 SH1422-52 1 39
1.54Lead wire
DB16S144 SH1424-52 1 48
1.89Lead wire
□42mm
（□1.65inch）
42±0.25
4-31±0.25
4-M3×0.5
Leadwire：
UL3385AWG24
300MIN
(11.81MIN.)
R3MIN
(R.12MIN.)
CrosssectionS-S
S
S
(1.65±.01)
24±0.5
(.94±.02)
L±0.8
(L ±.02)
15±1
(.59±.04)
4.5±0.15
(.1771±.0059)
4.5±0.15
(.1771±.0059)
1.5±0.76
(.06±.03)
(4-1.22±.01)
φ
22-0.05
0
φ
5-0.013
0
150
+1
φ
.8661-.0019
.0000
φ
.1968-.0005
.0000
φ5-0.013
0
φ
.1968-.0005
.0000
.59.00
+.04
Lead wire type
□35mm
（□1.65inch）
L±1
（2.05±.04）
20±0.5
(.79
±.02
)
40（1.57）MIN.
2±0.25
(.08
±.01
)
φ5-0.013
0
φ5-0.013
0
300(11.81)MIN.
4-M3×0.5
φ35.6(φ1.40) only stator part
Lead wire:UL1007 CSA,AWG26
Effective tapping depth 4(.16) MIN.
φ.1968-.0005
.0000
( )
φ.1968-.0005
.0000
( )
26±0.25
29±0.25
15±1
(.59
±.04
)
9(.35)
MAX.
□
35
±0.5
(
□
1.38
±.02
)
29
±0.25
(1.14
±.01
)
26
±0.25
(1.02
±.01
)
22(.87)MAX.
5(.20)MAX.
(1.02±.01)
(1.14±.01)
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar
SH3533-12U 0 33
1.25Lead wire
SH3537-12U 0 37
1.54Lead wire
SH3552-12U 0 52
1.89Lead wire
Lead wire type
L±0.5
□42±0.25
(L±.02)
24±0.5
(.94±.02)
(□1.65±.01)
31±0.25
5MAX
(.20MAX)
A
(ø.197-0.0005)
0
4-M3 x 0.5
.16 MIN.DP.
(R.12MIN.)
(1.22±.01)
(1.22±.01)
31±0.25
(.177±.006)
(.71MAX.)
18MAX
R3MIN
6MAX
22ø 0
-0.05
0
ø.866-0.002
(
(
+1
150
+0.04
0
.59
(.06±.03)
1.5±0.76
24MIN.
(.94MIN.)
(.24MAX.)
(.591±.04)
0
(ø.197-0.0005)
ø5-0.013
0
(
(
4.5±0.15
15±1
0
ø5-0.013
□42mm
（□1.65inch）
Lead wire type
Set part number Motor model number Motor length :
mm（inch）Cable type
Bipolar
DB14H521 103H5205-52 0 33
1.25Lead wire
DB14H522 103H5208-52 0 39
1.54Lead wire
DB14H524 103H5210-52 0 48
1.89Lead wire
103H5205-50 0 33
1.25Lead wire
103H5205-51 0 33
1.25Lead wire
103H5208-50 0 39
1.54Lead wire
103H5208-51 0 39
1.54Lead wire
103H5209-50 0 41
1.61Lead wire
103H5209-51 0 41
1.61Lead wire
103H5209-52 0 41
1.61Lead wire
103H5210-50 0 48
1.89Lead wire
103H5210-51 0 48
1.89Lead wire
Motors［Unit: mm（inch）］
□28mm
（□1.10inch）
Lead wire type
Connector type
4.5±0.15
(.17771±0.059)
□28±0.5
(
□
1.10±0.2)
4‑23±0.25
(4
‑
.91±0.01)
4-M2.5×0.45
0.013
φ5-0.013
.0000 
(φ.1968-.0005）
0.13
φ22-0.05
.0000 
(
φ.8661-.0019）
+1
10 0
+.04
（.39 .00)
(Effective lenght)
Lead wire:UL3265 AWG28
L±0.8
（L±0.3）
15±0.5
（.59±0.2）
1.5±0.76
（.06±0.3）
(R.12 MIN.)
R3
MAX.
0.013
φ5-0.013
.0000 
（φ.1968-.0005）
10±1
（.39±0.4）
11.81MIN.
300
MAX.
S
S
4.5±0.15
（.1771±0.059）
Cross section S-S
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar
DU14S281 SH2281-51 1 32
1.26Lead wire
DU14S281 SH2281-52 1 32
1.26Lead wire
DU14S285 SH2285-51 1 51.5
2.03Lead wire
DU14S285 SH2285-52 1 51.5
2.03Lead wire
Bipolar
DB14S281 SH2281-56 1 32
1.26Lead wire
DB14S281 SH2281-57 1 32
1.26Lead wire
DB14S285 SH2285-56 1 51.5
2.03Lead wire
DB14S285 SH2285-57 1 51.5
2.03Lead wire
N.P
(11.8MIN.)
(.20±.04)
(L±.02)
(.28±.02)
(Ø .1968-.0005)
.0000
(Ø .1968-.0005)
(Ø .8661-.0019)
.0000
.0000
(□1.65±.020)
(2-1.22±.012)
( .94MAX.)
( .20MAX.)
2-31±0.3
24MAX.
□42±0.5
5MAX.
300MIN.
Lead wire UL1007 AWG26
7±0.5
Ø22 0
-0.05
Ø5 0
-0.013
5±1L±0.5
0
-0.013
2-M3×0.5
Ø5
□42mm
（□1.65inch）
Lead wire type
Set part number Motor model number Motor length :
mm（inch）Cable type
Bipolar
SS2421-50 1 11.6
.457Lead wire
SS2422-50 1 18.6
.732Lead wire
SS2423-50 1 25.6
1.008
Lead wire
5 0 0（ 1 . 6 4 f e e t ）M I N .
2
JST
3456
6
5
3
4
2
1
Pin No.
Maker：J.S.TMfg.Co.,Ltd
LeadWireUL1430AWG26
Housing：HER-6BLACK
Pin：SEH-001T-P0.6
Lead wire color
White
Orange
Blue
Yellow
Red
Black
Motor cable4835710-1
54
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
+0.5
4-ø4.5 0.0
+.02
(
4-ø.18 .00
)
8(.31)MAX.
26(1.02) MAX.
Lead wire UL1430 AWG22
305(12)MIN.
15.5±1
(.61±.04) (L±.03)
(.81±.02)
L±0.8
20.6±0.5
□56±0.5
(□2.20±.02)
(4-1.86±.0005)
4-47.14±0.13
5
(.20)
(.06)
1.5
0.000
ø6.35-0.013
.00000
(
ø.25-.0005
)
.00000
(
ø.25-.0005
)
0.000
ø6.35-0.013
ø38.1±0.025
(ø1.50±.001)
□56mm
（□2.20inch）
Lead wire type
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar
DU16H711 103H7121-04 0 41.81.65Lead wire
DU16H713 103H7123-04 0 53.82.12Lead wire
DU16H716 103H7126-04 0 75.82.98Lead wire
103H7121-01 0 41.81.65Lead wire
103H7121-07 0 41.81.65Lead wire
103H7123-01 0 53.82.12Lead wire
103H7123-07 0 53.82.12Lead wire
103H7124-01 0 63.82.51Lead wire
103H7124-04 0 63.82.51Lead wire
103H7124-07 0 63.82.51Lead wire
103H7126-01 0 75.82.98Lead wire
103H7126-07 0 75.82.98Lead wire
□50mm
（□1.97inch）
Lead wire type
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar
103H6701-01 0 39.8
1.57Lead wire
103H6701-04 0 39.8
1.57Lead wire
103H6701-07 0 39.8
1.57Lead wire
103H6703-01 0 51.3
2.02Lead wire
103H6703-04 0 51.3
2.02Lead wire
103H6703-07 0 51.3
2.02Lead wire
103H6704-01 0 55.8
2.20Lead wire
103H6704-04 0 55.8
2.20Lead wire
103H6704-07 0 55.8
2.20Lead wire
Bipolar
DB16H671 103H6701-50 0 39.8
1.57Lead wire
DB16H672 103H6703-50 0 51.3
2.02Lead wire
103H6704-50 0 55.8
2.20Lead wire
15.5±1
(.61±.04)(L±.03)(.81±.02)
L±0.8 20.6±0.5
□50±0.5
(□1.97±.02)
(4-1.61±.005)
4-41±0.13
Lead wire UL3266 AWG22
+0.5
4-ø4.5 0.5
+.02
(
4-ø.18 .00
)
6(.24)MAX.
25(.98)MAX.
305(12) MIN.
1.5
(.06)
5
(.2)
0.000
ø6.35-0.013
.00000
(
ø.25-.0005
)
.00000
(
ø.25-.0005
)
.0000
(
ø1.42-.002
)
0.000
ø36-0.039
0.000
ø6.35-0.013
△：Motor shaft specification code
Motor shaft spec Set type code Motor type code
Single shaft S 4
Double shafts D 1
▽：Motor shaft specification code
Motor shaft spec Set type code Motor type code
Single shaft S 7
Double shafts D 3
Set part number Motor model number Motor length :
mm（inch）Cable type
Bipolar SS2501-50 1 11
.433Lead wire
SS2502-50 1 16
.63Lead wire
□50mm
（□1.97inch）
N.P
300MIN.
(11.81MIN.)
Lead wire UL1007 AWG26
5±1
(0.20±0.04)
L±0.3
(L±0.012)
(0.20±0.012)
5±0.3
Ø5 0
-0.013
(Ø0.1968-0.0005)
0.0000
0
-0.013
(Ø0.1968-0.0005)
0.0000
4-M2.5×0.45
4-41±0.3
50±0.5
(1.97±0.020)
(4-1.61±0.012)
66.5±0.025
(Ø2.618±0.001)
Ø5
20MAX.
6MAX.
20MAX.
Lead wire type
R.P
B
11(.44)
MAX.
A
Lead wire UL1430 CSA, AWG22
0.000
ø6.35-0.013
.00000
(
ø.25-.0005
)
0.000
ø6.35-0.013
.00000
(
ø.25-.0005
)
15.5±1
(.61±.04)(L±.03)
L±0.8
ø38.1±0.025
(ø1.50±.001)
□56±0.5
(2.20±.02)
(1.86±.0005)
4-47.14±0.13
+0.5
4-ø4.5 05
+0.2
(
4-ø1.8 .00
)
(.06±.0098)
1.5±0.25
(.2±.0098)
5±0.25
(.81±.02)
20.6±0.5
□56mm
（□2.20inch）
Lead wire type
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar
103H7121-61 0 41.81.65
Lead wire
CE
103H7121-67 0 41.81.65
Lead wire
CE
103H7123-61 0 53.82.12
Lead wire
CE
103H7123-67 0 53.82.12
Lead wire
CE
103H7126-61 0 75.82.98
Lead wire
CE
103H7126-67 0 75.82.98
Lead wire
CE
55
4-φ4.50
+0.5
()
4-φ.18.00
+.02
R4MIN.
(R.16MIN.)
R4MIN.
(R.16MIN.)
0
+1
15
()
0
+0.4
.59 0
+1
15
()
0
+0.4
.59
(EFFECTIVELENGTH)
(EFFECTIVELENGTH)
φ38.1±0.025
(ø1.5±.001)
（2.36±0.2）
（1.86±.0051）
（.98MAX.）
（.98MAX.）
□60±0.5
1.5±0.25
20.6±0.5
(.81±.02)(.61±0.4)
(.06±.01)
7±0.25
(.27±.01)
15.5±1 L±1
(L±.04)
305MIN.(12.01MIN.)
φ8-0.015
0
(ø.31-00005)
0
4-47.14±0.13
25MAX.
6MAX.
7.5±0.1
(.29±0.003)
7.5±0.1
(.29±0.003)
LeadWireUL1430AWG22
φ8-0.015
0
(ø.31±0.0005)
0
2-phase STEPPING SYSTEMS
Dimensions
◇：Motor shaft specification code
Motor shaft spec Set type code Motor type code
Single shaft S5
Double shafts D2
△：Motor shaft specification code
Motor shaft spec Set type code Motor type code
Single shaft S 4
Double shafts D 1
□60mm
（□2.36inch）
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar
103H7821-01 0 44.81.76Connector
103H7821-04 0 44.81.76Connector
103H7821-07 0 44.81.76Connector
103H7822-01 0 53.82.12Connector
103H7822-04 0 53.82.12Connector
103H7822-07 0 53.82.12Connector
103H7823-01 0 85.83.38Connector
103H7823-04 0 85.83.38Connector
103H7823-07 0 85.83.38Connector
Bipolar
DB16H781 103H7821-57 0 44.81.76Connector
DB16H782 103H7822-57 0 53.82.12Connector
DB16H783 103H7823-57 0 85.83.38Connector
103H7821-17 0 44.81.76Connector
103H7822-17 0 53.82.12Connector
103H7823-17 0 85.83.38Connector
Connector type
R4MIN.
R4MIN.
60±0.5
1.5±0.25
NP
7.5±0.1
7.5±0.1
7.5±0.1
CONNECTOR
B4P−VH
φ
36
−
0.039
(φ
1.41
−
0.001)
φ
8
−
0.015
0
φ
8
−
0.015
0
50±0.13
50±0.13
60±0.5
(2.36±0.2)
(2.36±0.019)
(.06±0.009)
(.27±0.029)
(L±0.031)
(1.96±0.005)
(1.96±0.005)
33MAX.
12MAX.
（.47MAX.）
（1.29MAX.）
4-φ4.50
+0.5
φ
.31
−
0.005
0
()
4-φ.18.00
+.02
(.29±0.003)
(.29±0.003)
(.29±0.003)
(.29±0.003)
7.5±0.1
7±0.75
11MAX
()
φ
.31
−
0.005
0
()
(EFFECTIVELENGTH)
(EFFECTIVELENGTH)
0
+1
15
()
0
+0.4
.59
()
0
+0.4
.59
0
+1
15
L±0.8 20.6±0.5
□60mm
（□2.36inch）
B
A
60±0.5
（2.36±0.2）
（φ1.5±.0009）
（.2755±.0098）
（.06±.0098）
（2.36±.02）
（1.86±.0051）
.0000 
（φ.25-.0005）
.0000 
（φD-.0005）
+.02 
（4-φ.18 .00）
15.5±1L±0.8
7±0.25
1.5±0.25
φ38.1±0.025
20.6±0.5 □60±0.5
4-47.14±0.13
+0.5
4-φ4.5 0
0-0.
φ6.35013
0
φD-0.013
N.P
（L±.03）（.81±0.2）
（.61±.04）
Lead wire type
Lead wire UL1430 CSA, AWG22
R4MIN.
+.02
4-ø 4.5
+0.5
15 0
15.5±1
8MAX.
L±0.8
32.2MIN.
5±0.25
20.6±0.5
1.5±0.25
øD-02.013
0
ø38.1±0.025
56±0.5
47.14±0.13
26MAX.
8MAX.
T±0.15
□56±0.5
+1
A
(EFFECTIVE
LENGTH)
(EFFECTIVE LENGTH)
B
BB
B
B
B
B
R4MIN.
305 MIN.
(12.01MIN.)
5.8±0.15
Lead wire UL1430 CSA, AWG22
φ6.35-0.013
0
(φ0.25-0.0005)
0
15+1
0
(.06±.01)
(1.27MIN.)
(.2±0.1)
(øD- .0005)
(ø1.5±.001)
(.31MAX.)
(.59 0 )
(L±.03) (.81±.02)
(.61±0.4)
0
(R.16MIN.)
(ø2.2±.02)
+.04
(2.2±.02)
(1.86±.01)
(1.02MAX.)
(.31MAX.)
(T±.006)
(4-ø .18 )
(R.16MIN.)
(0.22±.0005)
(.59 0 )
+0.4
□56mm
（□2.20inch）
Lead wire type
Motors［Unit: mm（inch）］
□60mm
（□2.36inch）
Set part number Motor model number Motor length :
mm（inch）
Cable type
Unipolar
103H7821-01 0 43.5 Lead wire
103H7821-04 0 43.5 Lead wire
103H7821-07 0 43.5 Lead wire
103H7822-01 0 52.5 Lead wire
103H7822-04 0 52.5 Lead wire
103H7822-07 0 52.5 Lead wire
103H7823-01 0 84.5 Lead wire
103H7823-04 0 84.5 Lead wire
103H7823-07 0 84.5 Lead wire
103H7821-57 0 43.5 Lead wire
103H7821-17 0 43.5 Lead wire
Bipolar
103H7822-57 0 52.5 Lead wire
103H7822-17 0 52.5 Lead wire
103H7823-57 0 84.5 Lead wire
103H7823-17 0 84.5 Lead wire
Lead wire type
Motor cable Unipolar 4837798-1
500（1.64feet）MIN.
1
2
3
4
5
6
Pin No
Lead wire color
LeadWireUL1430AWG22
Maker：J.S.TMfg.Co.,Ltd
Housing：VHR-6N
Pin：SVH-21T-P1.1
Black
Yellow
Red
Blue
Orange
White
Motor cable Bipolar 4837798-1
1
2
3
4
Pin No
Lead wire color
LeadWireUL1430AWG22
Maker：J.S.TMfg.Co.,Ltd
Housing：VHR-4N
Pin：SVH-21T-P1.1
Yellow
Red
Blue
Orange
500（1.64feet）MIN.
Set part
number
Motor model
number
Motor length :
mm
（
inch
）
Shaft
diameter(D)
Cable type
Unipolar
SH1601-04
0 42
1.65
6.35 Lead wire
SH1602-04
0 54
2.13
6.35 Lead wire
SH1603-04
0 76
2.99
8 Lead wire
Bipolar
DB16S161
SH1601-52
0 42
1.65
6.35 Lead wire
DB16S162
SH1602-52
0 54
2.13
6.35 Lead wire
DB16S163
SH1603-52
0 76
2.99
8 Lead wire
Set part number Motor model
number
Motor length :
mm（inch）
Shaft
diameter
(D)
Dcut
thickness
(T)
Cable type
Bipolar
DB16H711
103H7121-57
0
41.81.65
6.35 5.8 Lead wire
DB16H713
103H7123-57
0
53.82.12
6.35 5.8 Lead wire
DB16H716
103H7126-57
0
75.82.98
6.35 5.8 Lead wire
103H7121-56
0
41.81.65
6.35 5.8 Lead wire
103H7121-58
0
41.81.65
6.35 5.8 Lead wire
103H7123-56
0
53.82.12
6.35 5.8 Lead wire
103H7123-58
0
53.82.12
6.35 5.8 Lead wire
103H7126-56
0
75.82.98
6.35 5.8 Lead wire
103H7126-58
0
75.82.98
6.35 5.8 Lead wire
103H7128-56
0
94.83.73
8 7.5 Lead wire
103H7128-57
0
94.83.73
8 7.5 Lead wire
103H7128-58
0
94.83.73
8 7.5 Lead wire
Dimensions for attaching NEMA23
are interchangeable
56
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
A(CE)
B(CE)
CE type
N.P
N.P
MOTOR CABLE UL2517
300V 105? BLACK
（NOTE4）
EARTH TERMINAL
M4×0.7×6L
LEAD WIRE
UL3398 CSA AWG22
27(1.06)MAX.
12(.47)MAX.
69.6±0.25(2.74±0.1)
85.5±0.5(3.366±0.2)
69.6±0.25(2.74±0.1)
85.5±0.5 (3.366±0.2)
4-φ5.6±0.2
(4-φ.2205±.0079)
L±1(L±0.4)30±1(1.18±.04)
1.5±0.25（.06±0.1）
8±0.5(.31±0.1)
30±0.5(1.18±0.1)
S
S
S
S
13±0.15
(.5118±0.059)
90°
13±0.15
(.5118±0.059)
Grounding terminal
M4×0.7×6L
25 +0.4
0
+1
0(.91 )
R4(R.16)MIN. R4(R.16)MIN.
Lead wire:
UL3398 CSA AWG22
Cross section
S-S
(Effective length)
25 +0.4
0
+1
0(.91 )
(Effective length)
φ14
0
-0.018
(φ.55 )
0
-0.001
φ14
0
-0.018
(φ.55 )
0
-0.001
φ73.025±0.025
(φ2.875±0.001)
MOTOR CABLE UL2517
300V 105? BLACK
（NOTE4）
EARTH TERMINAL
M4×0.7×6L
LEAD WIRE
UL3398 CSA AWG22
27(1.06)MAX.
12(.47)MAX.
69.6±0.25(2.74±0.1)
85.5±0.5(3.366±0.2)
69.6±0.25(2.74±0.1)
85.5±0.5 (3.366±0.2)
4-φ5.6±0.2
(4-φ.2205±.0079)
305(12.01)MIN.
50(1.97)
23(.91)
MAX.
L±1(L±0.4)30±1(1.18±.04)
1.5±0.25（.06±0.1）
8±0.5(.31±0.1)
30±0.5(1.18±0.1)
S
S
S
S
13±0.15
(.5118±0.059)
90°
13±0.15
(.5118±0.059)
Grounding terminal
M4×0.7×6L
25 +0.4
0
+1
0(.91 )
R4(R.16)MIN. R4(R.16)MIN.
Lead wire:
UL3398 CSA AWG22
Motor cable
UL2517 300V 105℃ BLACK
Cross section
S-S
(Effective length)
25 +0.4
0
+1
0(.91 )
(Effective length)
φ14
0
-0.018
(φ.55 )
0
-0.001
φ14
0
-0.018
(φ.55 )
0
-0.001
φ73.025±0.025
(φ2.875±0.001)
必ず
ｔｅ
ｃｈｎｉｑｕｅｓ．
ｇｒ
ｏｕｎｄｉｎｇ
Ｕｓ
ｅ ｐｒｏｐｅｒ
アース線を接続せよ
必ず
ｔｅ
ｃｈｎｉｑｕｅｓ．
ｇｒｏｕｎｄｉ
ｎｇ
Ｕｓ
ｅ ｐｒｏｐｅｒ
アース線を接続せよ
必ず
ｔｅｃｈｎｉｑｕｅｓ．
ｇｒｏｕｎｄｉ
ｎｇ
Ｕｓｅ ｐｒｏｐｅｒ
アース線を接続せよ
N.P
N.P
MOTOR CABLE UL2517
300V 105? BLACK
（NOTE4）
EARTH TERMINAL
M4×0.7×6L
LEAD WIRE
UL3398 CSA AWG22
27(1.06)MAX.
12(.47)MAX.
69.6±0.25(2.74±0.1)
85.5±0.5(3.366±0.2)
69.6±0.25(2.74±0.1)
85.5±0.5 (3.366±0.2)
4-φ5.6±0.2
(4-φ.2205±.0079)
L±1(L±0.4)30±1(1.18±.04)
1.5±0.25（.06±0.1）
8±0.5(.31±0.1)
30±0.5(1.18±0.1)
S
S
S
S
13±0.15
(.5118±0.059)
90°
13±0.15
(.5118±0.059)
Grounding terminal
M4×0.7×6L
25 +0.4
0
+1
0(.91 )
R4(R.16)MIN. R4(R.16)MIN.
Lead wire:
UL3398 CSA AWG22
Cross section
S-S
(Effective length)
25 +0.4
0
+1
0(.91 )
(Effective length)
φ14
0
-0.018
(φ.55 )
0
-0.001
φ14
0
-0.018
(φ.55 )
0
-0.001
φ73.025±0.025
(φ2.875±0.001)
MOTOR CABLE UL2517
300V 105? BLACK
（NOTE4）
EARTH TERMINAL
M4×0.7×6L
LEAD WIRE
UL3398 CSA AWG22
27(1.06)MAX.
12(.47)MAX.
69.6±0.25(2.74±0.1)
85.5±0.5(3.366±0.2)
69.6±0.25(2.74±0.1)
85.5±0.5 (3.366±0.2)
4-φ5.6±0.2
(4-φ.2205±.0079)
305(12.01)MIN.
50(1.97)
23(.91)
MAX.
L±1(L±0.4)30±1(1.18±.04)
1.5±0.25（.06±0.1）
8±0.5(.31±0.1)
30±0.5(1.18±0.1)
S
S
S
S
13±0.15
(.5118±0.059)
90°
13±0.15
(.5118±0.059)
Grounding terminal
M4×0.7×6L
25 +0.4
0
+1
0(.91 )
R4(R.16)MIN. R4(R.16)MIN.
Lead wire:
UL3398 CSA AWG22
Motor cable
UL2517 300V 105℃ BLACK
Cross section
S-S
(Effective length)
25 +0.4
0
+1
0(.91 )
(Effective length)
φ14
0
-0.018
(φ.55 )
0
-0.001
φ14
0
-0.018
(φ.55 )
0
-0.001
φ73.025±0.025
(φ2.875±0.001)
必ず
ｔｅ
ｃｈｎｉｑｕｅｓ．
ｇｒ
ｏｕｎｄｉｎｇ
Ｕｓ
ｅ ｐｒｏｐｅｒ
アース線を接続せよ
必ず
ｔｅ
ｃｈｎｉｑｕｅｓ．
ｇｒｏｕｎｄｉ
ｎｇ
Ｕｓ
ｅ ｐｒｏｐｅｒ
アース線を接続せよ
必ず
ｔｅｃｈｎｉｑｕｅｓ．
ｇｒ
ｏｕｎｄｉｎｇ
Ｕｓｅ ｐｒｏｐｅｒ
アース線を接続せよ
□86mm
（□3.39inch）
Lead wire type
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar
SH2861-04 1 66
2.6Lead wire
SH2862-04 1 96.5
3.8Lead wire
SH2863-04 1 127
5Lead wire
Bipolar
SM2861-50 1 66
2.6
Lead wire
CE
SM2861-51 1 66
2.6
Lead wire
CE
SM2861-52 1 66
2.6
Lead wire
CE
SM2862-50 1 96.5
3.8
Lead wire
CE
SM2862-51 1 96.5
3.8
Lead wire
CE
SM2862-52 1 96.5
3.8
Lead wire
CE
SM2863-50 1 127
5
Lead wire
CE
SM2863-51 1 127
5
Lead wire
CE
SM2863-52 1 127
5
Lead wire
CE
N.P
N.P
MOTOR CABLE UL2517
300V 105 BLACK
（NOTE4）
EARTH TERMINAL
M4×0.7×6L
LEAD WIRE
UL3398 CSA AWG22
27(1.06)MAX.
12(.47)MAX.
69.6±0.25(2.74±0.1)
85.5±0.5(3.366±0.2)
69.6±0.25(2.74±0.1)
85.5±0.5(3.366±0.2)
4-φ5.6±0.2
(4-φ.2205±.0079)
L±1(L±0.4)30±1(1.18±.04)
1.5±0.25（.06±0.1）
8±0.5(.31±0.1)
30±0.5(1.18±0.1)
S
S
S
S
13±0.15
(.5118±0.059)
90°
13±0.15
(.5118±0.059)
Grounding terminal
M4×0.7×6L
25 +0.4
0
+1
0(.91 )
R4(R.16)MIN. R4(R.16)MIN.
Lead wire:
UL3398 CSA AWG22
Cross section
S-S
(Effective length)
25 +0.4
0
+1
0(.91 )
(Effective length)
φ14
0
-0.018
(φ.55 )
0
-0.001
φ14
0
-0.018
(φ.55 )
0
-0.001
φ73.025±0.025
(φ2.875±0.001)
MOTOR CABLE UL2517
300V 105 BLACK
（NOTE4）
EARTH TERMINAL
M4×0.7×6L
LEAD WIRE
UL3398 CSA AWG22
27(1.06)MAX.
12(.47)MAX.
69.6±0.25(2.74±0.1)
85.5±0.5(3.366±0.2)
69.6±0.25(2.74±0.1)
85.5±0.5(3.366±0.2)
4-φ5.6±0.2
(4-φ.2205±.0079)
305(12.01)MIN.
50(1.97)
23(.91)
MAX.
L±1(L±0.4)30±1(1.18±.04)
1.5±0.25（.06±0.1）
8±0.5(.31±0.1)
30±0.5(1.18±0.1)
S
S
S
S
13±0.15
(.5118±0.059)
90°
13±0.15
(.5118±0.059)
Grounding terminal
M4×0.7×6L
25 +0.4
0
+1
0(.91 )
R4(R.16)MIN. R4(R.16)MIN.
Lead wire:
UL3398 CSA AWG22
Motor cable
UL2517 300V 105℃BLACK
Cross section
S-S
(Effective length)
25 +0.4
0
+1
0(.91 )
(Effective length)
φ14 0
-0.018
(φ.55 )
0
-0.001
φ14 0
-0.018
(φ.55 )
0
-0.001
φ73.025±0.025
(φ2.875±0.001)
A
B
φ86mm
（φ3.39inch）
Lead wire type
Set part number Motor model number Motor length :
mm（inch）Cable type
Bipolar
103H8221-62 0 62
3.31
Lead wire
CE
103H8222-63 0 92.2
5.51
Lead wire
CE
103H8223-63 0 125.9
7.72
Lead wire
CE
Lead wire UL1430 AWG18UL vinyl tube
Grounding terminal
M4x0.7x6L
305(12)
MIN.
250±20
(9.8±.8)
ø86±0.5
(ø3.4±.02)
0.000
ø9.5-0.013
.00000
(
ø.374-.0005
)
.00000
(
ø.4724-.0007
)
0.000
ø12-0.018
ø73.025±0.025
(ø2.9±.001)
25
(.98)
27.5±0.5
4.83
1.52
30±0.5L±0.828±1
(1.10±
.04
)
(L±.03) (1.2±.02)
(1.08±.02)
(.06)
(.19)
+0.5
4-ø5.35+0.0
+.02
(
4-ø.2+.00
)
□82.55±0.5
(□3.25±.02)
4-69.6±0.2
(4-2.74±.008)
Cross section S-S
Parallel key 4x4x25
4
(.1575)
(.1)
0.00
4-0.03
.00000
(
.1575
-.0001
)
2.5
(.1575x.1575x.984)
+0.5
4-ø6.9 0.0
+.02
(
4-ø.27 .00
)
Lead wire UL1430 AWG18
305(12)
MIN.
ø106.4
±
1
(ø4.2±.04)
(ø2.19±.002)
28±1
(1.10±.04) (L±.04) (1.38±.02)
L±135±0.5
8.6
(.34)
(.06)
1.52 +1
30.5 0
+.04
(
1.2 .00
)
0.000
ø12.7-0.018
.00000
(
ø.5-.0007
)
.00000
(
ø.63-.0007
)
ø55.524±
0.05
4-88.9±0.25
□106.4±0.5
(□4.2±.002)
(4-3.5±.001)
0.000
ø16-0.018
30
5-0.03
CrosssectionS-S
+0.1
0 .118
0
(
(
(
(
-0.002
.197
+0.004
0
0












  



















  







A(CE)
B(CE)
AB
Lead wire type
CE type
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar 103H89222-09 1 163.3
6.4Lead wire
103H89223-09 1 221.3
8.7Lead wire
Bipolar
103H89222-52 1 163.3
6.4Lead wire
103H89223-52 1 221.3
8.7
Lead wire
CE
103H89222-63 1 163.3
6.4
Lead wire
CE
103H89223-63 1 221.3
8.7Lead wire
φ106mm
（φ4.17inch）
□86mm
（□3.39inch）
Terminal Block
Terminal Screw
Terminal No.
M4×8L
Cable Grand
Skintop St11
Earth Terminal
M4×0.7×8L
L±1.5
(L±.06)
25(.98)Max.
N.P
1.5±0.25 (.06±.01)
30±0.5
(1.18±.02)
(.31±.02)
8±0.5
0  
φ14-0.018
φ73.025
±
0.025
(φ2.88
±
.0010)
Sheet Packing
(Effective Length)
＋.04
(
.98 .00
)
R4MIN.
S
S
□85.5±0.5
(3.37±.02)
(4-
φ
.22±.008)
4-69.6±0.25
(2.74±.01)
4-φ
5.6±0.2
1
2
3
4
Use proper
grounding
techniques.
32(1.26)Max.
＋1
25 0
（90°）
13±0.15
(.512±.006)
(.512±.006)
Cross section S-S
13±0.15
Set part number Motor model number Motor length :
mm（inch）Cable type
Terminal
block
SM2861-5066 97.9
3.9Terminal block
SM2861-5166 97.9
3.9Terminal block
SM2861-5266 97.9
3.9Terminal block
SM2862-5066 128.4
5.1Terminal block
SM2862-5166 128.4
5.1Terminal block
SM2862-5266 128.4
5.1Terminal block
SM2863-5066 158.8
6.3Terminal block
SM2863-5166 158.8
6.3Terminal block
SM2863-5266 158.8
6.3Terminal block
Terminal block type
△：Motor shaft specification code
Motor shaft spec Set type code Motor type code
Single shaft S 4
Double shafts D 1
▽：Motor shaft specification code
Motor shaft spec Set type code Motor type code
Single shaft S 7
Double shafts D 3
57
Drivers［Unit: mm（inch）］
■Safety standards
2-phase STEPPING SYSTEMS
Dimensions
SM series motor(UL/CE),H series motor(CE)
UL
Acquired standards File No.
UL UL1004-1 E208878
UL for Canada
CE
Standard category Standard part
Low-voltage directives
EN-60034-1
IEC34-5
(EN-60034-5)
driver
UL
Acquired standards File No.
UL UL508C E179775
UL for Canada
CE
TÜV
Directives Category Name Standard part
Low-voltage
directives EN61010-1
EMC
directives
Emission Terminal disturbance voltage EN55011-A
Electromagnetic radiation disturbance EN55011-A
Immunity
ESD
Electrostatic dischargeEN61000-4-2
RS
Radio-frequency amplitude
modulated electromagnetic fieldEN61000-4-3
Fast transionts
EN61000-4-4
Surges EN61000-4-6
EMC characteristics may vary depending on the configuration of the userscontrol panel, which contains
the driver or stepping motor, or the arrangement and wiring of other electrical devices.
Parts for EMC noise suppression like noise filters and troidal type ferrite cores may be required depending
on circumstances.
Validation test of F series driver has been performed for low-voltage EMC directives at TÜV
TÜV product
servicefor self-declaration of CE marking.
58
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
IC for stepping motor
2-phase STEPPING SYSTEMS
Specifications
■Characteristics
■Maximum Rating
（Ta=25℃）
Universal controller IC for the 2-phase stepping motor drive
PMM8713PT
Item Symbol Rating Unit
Source voltage VCC -0.3 to 7 V
Output
current n
Hlevel IOH -35 mA
Llevel IOL 35
Output
current CO,EM
Hlevel IOH A
Llevel IOL
Input voltage VIN -0.3 to VCC +0.3 V
Input current IIN 10 mA
operating current Topr -20 to 85
Conservation temperature Tstg -40 to 125
Item Symbol Rating Unit
MIN. Standard MAX.
Source voltage VCC 4.5 5.5 V
Output
current n
Hlevel IOH -24 mA
Llevel IOL 24
Output
current CO,EM
Hlevel IOH -2 mA
Llevel IOL 2
Input voltage VIN 0VCC V
■
Recommended Operating Conditions
（
Ta=-20 to 85
℃）
Pin No. Name Function
1. CUInput pulse UP clock input
2. CDInput pulse DOWN clock input
3. CKInput pulse clock input
4. U/D Rotation direction conversion
5. EAenergization mode switching
input
6. EBenergization mode switching
input
7. Cenergization mode switching
input
8. VSS GND
9. R Reset input
10. 44 output
11. 33 output
12. 22 output
13. 11 output
14. EMenergization monitor output
15. COInput pulse monitor output
16. VCC 4.5 to 5.5V
■Dimensions
［Unit : mm
（inch）］
6.6(.26)
4.45(.17)MAX.
6.2(.24)
7.62(.3)TYP
0~15˚
0.20(.008)
0.35(.014)
19.75(.78)MAX.
19.250.2
(.76.008)
0.51(.02)MIN.
2.9(.11)MIN.
0.4(.016)
0.6(.024)
2.54(.1)TYP
1.53(.06)TYP
Universal controller : The following 3 types of energization mode can be selected by switching at the energization mode switching
terminal
1EX/1-2EX/2EX
Source voltage : Vcc = 4.5 to 5.5V
High output current : 24mA MIN.
sink, source
High noise margin : Schmitt trigger circuit is incorporated for the all input terminals.
2 types of pulse input : 2 input mode
CW, CCW input mode
Pulse and direction mode
CK, U/D input mode
Excited status
verification monitor : Outputs the monitor signal of the controller status.
59
■Electrical Characteristics
Direct current characteristics（Ta = -20 to 85℃）
Item
Symbol
Condition Standard value Unit
VCC[V] MIN.
Standard
MAX.
Input
voltage
Hlevel VIH 53.5 V
Llevel VIL 5 1.5
Output
voltage
Hlevel VOH 5VH=5VVL=0V
IOH=0 4.9 V
Llevel VOL 5VH=5VVL=0V
IOH=0 0.1
Output
current
1 to 4
Hlevel IOH 5VH=5VVL=0V
VOUT=2.4V -24 mA
Llevel IOL 5VH=5VVL=0V
VOUT=0.4V 24
Output
current
CO, EM
Hlevel IOH 5VH=5VVL=0V
VOUT=2.4V -2 mA
Llevel IOL 5VH=5VVL=0V
VOUT=0.4V 2
Input current I 5 10 A
Static current
consumption ICC 5 VH=5VVL=0V 1mA
Switching characteristics（Ta = -20 to 85℃）
Item
Symbol
Condition Standard value Unit
VCC[V]a MIN.
Standard
MAX.
MAX. clock
frequency fMAX 5tr tf 20ns,
CL50pF 1 MHZ
MIN. width of clock
pulse
tWL,
tWH
5tr tf 20ns,
CL50pF 500 ns
MIN. width of reset
pulse tWR 5tr tf 20ns,
CL50pF 1000 ns
Time delay
from clock input
to output
tpd 5tr tf 20ns,
CL50pF 2000 ns
Set time tSET 5tr tf 20ns,
CL50pF 0 ns
Holding time tHOLD 5tr tf 20ns,
CL50pF 250 ns
Energization modes
Excitation
mode
Input
R EA EB φC
1 EX H H L H
1-2EX H H H H
2 EX H L L H
Input modes and rotation direction 
Input mode Input Rotation
direction
CU CD CK U ／D
2 input mode
CW,
CCW
LLLCW
L L L CCW
Pulse and direction
mode
CK, U/D
L L H CW
L L L CCW
■Function Table
90% 90%
50% 50%
50%
50%
50%
10% 10%
90%
90%
10%
90%
50%
50%
10%10%
tHOLD
CK
CU
CD
CK
tf
tr or tf
tr
tr
tSET
tWL
tWH
tpd
UD
1f
1 to 4
tf
Measured waveforms on switching time scale
60
Dimensions Stepping Motors with Internal drivers Stepping motor Set modelIC for stepping motor
24V
P. GND
5V
5V
Reset input
Driving input
Energization mode setting
1
2
3
4
5
6
7
9
10
11
12
13
15
14
816
GND
External output
PMM8713PT
5V
5V
GND
GND
PMM2101
2 1
22
6
24
3
25
4
91115198
10
12
14
18
5
23
13
72126
+
20
Stepping motor
GND
GND
+
1EX
Pulse 0
（Reset）
1234
Face
1 1 0 0 0 1
2 0 1 0 0 0
3 0 0 1 0 0
4 0 0 0 1 0
EM0 0000
UP
DOWN
2EX
Pulse 0
（Reset）
1234
Face
1 1 1 0 0 1
2 0 1 1 0 0
3 0 0 1 1 0
4 1 0 0 1 1
EM1 1111
UP
DOWN
1-2EX
Pulse 0
（Reset）
12345678
Face
1 1 11000001
2 0 01110000
3 0 00011100
4 1 00000111
EM1 01010101
UP
DOWN
Reset after changing the energization mode.
Energization mode setting
Pin No. Terminal symbol Input level Motor operation
5,6 EA, EB
H 1-2EX
L 2EX
The normal initial reset may not be performed during unstable VCC after turning the power ON. For
reliable resetting, hold the R terminal
9-pinat the Llevel till the VCC becomes stable.
■Energization Sequence
■Input Pulse Monitor
CU
CD
CK
CO
Input
Output
CV
4.5V
1.5V MAX.
Vcc (16-pin)
R (9-pin)
■Example of Application Circuit
（Bipolar wiring motor）
Combined with the power hybrid IC
Power hybrid IC : Refer to page 61 for the PMM2101 specifications.
Refer to the PMM8713PT Operation Manual for other application circuit examples.
Universal controller IC for the 2-phase stepping motor drive
PMM8713PT
IC for stepping motor
2-phase STEPPING SYSTEMS
Specifications
61
40.3
(.16.012)
3.80.2
(.15.008)
+0.2
0.6 – 0.05
+.008
(
.02 – .002
)
26x1.27=33.02
(26x.05=1.3)
400.3
(1.57.01)
250.2
(.98.008)
ø3.30.2
(ø.13.008)
1.27
(.05) 3.4
2.54
(.1) (.13)
0.25
(.01)
1.50.2
4.50.5
(.178.02)
130.3(.51.011)
90.2(.35.008)
3.30.2(.13.008)
83.5
(.14)
(.31)
30.2
(.12.008) (.06.06)
1
(.04)(.04)
1 27
PMM2101
1
Control No.
and Lot No.
HIC for the 2-phase stepping motor
PMM2101
Full Step / Half Step
Bipolar
■Characteristics
■Maximum Rating
（Tc=25℃） ■
Recommended Operating Conditions
（
Tc=25
℃）
Enables high speed and high torque operation by using bipolar constant current switching method.
Enables compact driving circuit configuration with few of externally attached parts.
The overheat protection circuit is incorporated to assist the safety design.
■Dimensions
［Unit : mm
（inch）］
Item Symbol Rated value Unit
Source voltage-1 VCC1 8 to 60 V
Source voltage-2 VCC2 0 to 7 V
Output current IO1.4 A
Allowable loss PT35
Tc 25 W
Thermal
resistance
jc 3.57 W
ja 25  W
Junction
temperature Tjmax 150
Conservation
temperature Tstg -40 150
Item Symbol Rated value Unit
Source voltage-1 VCC1 10 to 50 V
Source voltage-2 VCC2 4.75 to 5.25 V
Output current IO1.0 A
Oscillator
frequency FC20 to 27 kHz
Operation
temperature TC-25 to 85
Pin No. Name Function
1. VCC2 Power terminal for controller section
2. ENA A Enable input terminal
3. 1 Arm drive input
4. 2 Arm drive input
5. CR A One shot time constant setting terminal
6. Vref A Motor current setting terminal
7. LG A GND
8. VCC1 A Motor driver power terminal
9. VSA Motor current detection terminal
10. M1 Motor output
11. RS A Detection resistor connecting terminal
12. M2 Motor output
13. PG P.GND
14. M3 Motor output
15. RS B Detection resistor connecting terminal
16. NC
17. NC
18. M4 Motor output
19. VS B Motor current detection terminal
20. VCC1 B Motor driver power terminal
21. LG B GND
22. Vref B Motor current setting terminal
23. CR B One shot time constant setting terminal
24. 3 Arm drive input
25. 4 Arm drive input
26. ENA B Enable terminal
27. AL Overheat alarm output terminal
Operational truth value table
ENA A(ENA B) φ1( φ3) φ2( φ4) M1(M3) M2(M4)
L L L OFF OFF
LLHLH
L H L H L
L H H OFF OFF
H OFF OFF
IC for stepping motor
2-phase STEPPING SYSTEMS
62
24V
+
+
C2
C1
R2R1
R3 R4
R5
R6
R7
P. GND
D1~D4
Orange
Blue
Red
Yellow
Stepping motor
C3
R8
C4
C5
5V
5V
5V
5V
GND
GND
GND
GND
GND
PMM2101
PMM8713PT 2 1
13 20
91115198
10
12
14
18
5
23
721
22
6
24
3
25
4
26
1
2
3
4
5
6
7
9
10
11
12
13
15
14
816
Reset input
Driving input
External output
Energization mode setting
Item Symbol Condition Rating Unit
MIN. Standard MAX.
"H"level input voltage VIH VCC2 5V 2.7 VCC2 V
"L"level input voltage VIL VCC2 5V 0 1.0 V
"H"level input current IIH VCC2 5VVI5V 10 A
"L"level input current IIL VCC2 5VVI0V -50 A
Reference voltage (Vref) input current Iref VCC2 5VVref 0V -10 A
Current detection (Vs) input current ISVCC2 5VVS0V -10 A
Forward direction voltage of FET diod VFIF1A 1.3 1.5 V
High output saturating voltage Vce (sat)H IC1A 1.0 1.4 V
Low output saturating voltage Vce (sat)L IC1A 1.0 1.3 V
Low output saturating voltage IR
VCC1 60VVOUT 0V 10 A
VOUT 60VVRS 0V 10 A
Power current to controller section ICC2 VCC2 = 5V
during circuit operation 75 mA
Alarm terminal current Ialm VCC2 5VValm 0.5V 2 mA
Overheat alarm operating temperature 125
Overheat protection stop temperature 150
Applicable Constant Applicable Constant
R1,R2 5W0.68 C1, C2 1000pF
R3,R4 1 4W3.9k C3, C4 3300pF
R7,R8 1 4W15k C5 330 F
■Electrical Characteristics
（Ta=25）
■Overheat Alarm Output
The overheat protection circuit outputs an alarm signal at +125 at the internal junction in the IC, and activates
motor excitation OFF
at +150.
■Example of Application Circuit
Refer to page 58 for the PMM8713PT specifications.
Recommended circuit constants for PMM2101
Determine on the R5 and R6 constants referring to the Vref-
output current characteristics.
Determine on D1 to D4.
Peak reverse voltage 100V
Output current 1A
Reverse recovery time 100ns
External pull-up resistor
Open collector output
(approximate 10kW)
27-pin
PMM2101
VCC2(+5V) Transistor ON during alarming
Vce
ON
: 0.5V MAX.
lalm : 2mA MAX.
The alarming signal output and overheat protection circuit
recover automatically when the temperature lowers.
Vref–Output current characteristics
Vref Voltage (V)
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
0.0
0.2
0.4
0.6
0.8
1.0
1.2
Output current (A)
HIC for the 2-phase stepping motor
PMM2101 Full Step / Half Step
IC for stepping motor
2-phase STEPPING SYSTEMS
Specifications
IC for stepping motor Dimensions Stepping motor Set model Stepping Motors with Internal drivers
63
+0.2
0.4–0.05
+.008
(
.016–.002
)
+0.2
0.5–0.05
+.008
(
.02–.002
)
2.9
(.11)
25.5
(1.00)
16(.63)
5.6
(.22)
11(.43)
9
(.35)
4
(.16) (.04)
1
221
[9]
(.35)
67
(2.64)
60
(2.36)
21x2=42
(21x.08=1.68)
2–3.6
(2–.14)
PMM2301
HIC for the 2-phase stepping motor
PMM2301
Micro Step
Unipolar
■Characteristics
■Maximum Rating
（Tc=25℃） ■
Recommended Operating Conditions
（
Ta=25
℃）
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.
■Dimensions
［unit: mm
（inch）］
Item Symbol Condition Rated value Unit
Source voltage-1 VCC1 MAX. VCC2 0V 52 V
Source voltage-2 VCC2 MAX. With no signal 7 V
Input voltage Vin MAX. Logic input terminal 7 V
Phase current IOH MAX. 0.5sec, 1pulse, VCC1 applied 4 A
Operating
temperature on
PCB
TC MAX. 105
Junction
temperature Tj MAX. 150
Conservation
temperature Tstg -40 to 125
Item Symbol Condition Rated value Unit
Source voltage-1 VCC1 With signal 10 to 45 V
Source voltage-2 VCC2 With signal 5.0 5V
Input voltage VIH 0 to VCC2 V
Phase current IOH Duty 503 A
Clock frequency Clock DC to 50 kHz
Withstand voltage of
phase driver VDSS 100 V
Pin No. Terminal name
12. VCC2
13. VCC2
14. Clock
15. CW CCW
16. Reset
17. Return
18. Enable
19. M0I
20. M01
21. M02
22. GND
Pin No. Terminal name
1. B
2. B
3. P.GND A
4. P.GND B
5. A
6. A
7. VCC2
8. Vref
9. Mode 1
10. Mode 2
11. Mode 3
Terminal name Function Functioning condition
Vref Motor current setting input
Clock Motor driving pulse input Mode 3 = Hlevel : Operates at rising edge
Mode 3 = Llevel : Operates at rising and falling edges
CW / CCW Motor rotation direction setting input Hlevel = CW rotation
Llevel = CCW rotation
Reset System reset Reset "L"
Return Forced return to phase origin Forced shift to the origin of the present energization phase with Return = H
Enable Power OFF input Enable "L"
M0I Phase origin monitor output Llevel output at the phase origin.
M01M02 Monitor output on phase energization status Outputs level signal on the present phase energization status.
Phase
coordinate A phase B phase A phase B phase
M01 H L L H
M02 L H L H
■Each Terminal Function
IC for stepping motor
2-phase STEPPING SYSTEMS
Specifications
64
P. GND
C1
GND
710 to 45 V
VCC2(5V)
Vref
VCC1
R2
R1
C2
+
Return
Clook
Energization mode setting
External output
Stepping motor
PMM2301
CW/CCW
Reset
Endde
+
White
Black
Orange
Blue
Red
Yellow
12
13
9
10
11
14
15
16
17
18
822
4
3
1
2
5
6
21
20
19
■Energization Mode Table
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%.
Input condition Energization
mode
1 step angle
（degree）
Number of basic
angle division
Mode1 Mode2 Mode3
L L H 2EX 1.8 1/1
H L H 1-2EX 0.9 1/2
L H H W1-2EX 0.45 1/4
H H H 2W1-2EX 0.225 1/8
H H L 4W1-2EX 0.1125 1/16
■Electrical Characteristics
（Tc=25℃、Vcc1=24V、Vcc2=5V）
Item Symbol Condition Rating Unit
MIN. Standard MAX.
VCC2 Power current ICCO 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
of FET diode Vdf If1A 1.2 1.8 V
Output saturating voltage Vsat RL = 7.5 I3.0A 1.4 2.6 V
Hlevel input voltage VIH 9 to 11, 14 to 18 pins 4.0 V
Llevel input voltage VIL 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 Vr8-pin 0 VCC2 2 V
Vref input curren Ir8-pin 1 A
Hlevel output voltage
M0IM01M02
VOH 19 to 21 pins I = 3mA, I = -3mA 2.4 V
Llevel output voltage
M0IM01M02
VOL 19 to 21 pins I = 3mA, I = -3mA 0.4 V
PWM frequency FC37 47 57 kHz
■Example of Application Circuit
Recommended circuit constants
C1 C2
100 F or over 10 F
Determine on the R1 and R2 constants based on the Vref voltage calculated from the following formula.
Vref
V
= Motor current adjusted value
A/phasex 0.6
HIC for the 2-phase stepping motor
PMM2301 Micro Step
2-phase STEPPING SYSTEMS
IC for stepping motor
Specifications
IC for stepping motor Dimensions Stepping motor Set model Stepping Motors with Internal drivers
65
Safety Consideration
The drivers and stepping motors are the products designed to be used for the general industrial devices.
When using those, pay enough attention to the following points.
Read thoroughly the Operation Manual prior to placement, assembly and/or operation in order to use the product properly.
Refrain from modifying or processing the product in any way.
Consult with the distributor or professional experts for placement or maintenance services of the product.
In case of the following uses of the product, contact with us for the special care required to the operation, maintenance and
management such as multiplexing the system, installing an emergency electric generator set, or so forth.
❶Use for the medical devices concerned with a fatal accident.
❷
Use for trains, elevators, and so forth that are likely to cause an accident resulting in injury, damage or death.
❸Use in the computer system highly influential to the social life or the public systems.
❹Use in other devices highly influential to maintaining the human safety or the public functions.
In addition to the above, consult with us for use in such a vibration environment as automobile or transportation.
Read the Operation Manual thoroughly prior to the use (placement, operation, maintenance and inspection) to put the product
in use properly.
Make yourself knowledgeable and familiarize with the devices, safety issues and cautions before handling the product.
After reading the Operation Manual or the like, keep it in the place where the users can refer to whenever necessary.
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
required, suggesting that the terminals should be actually grounded.
This label is stuck for the driver or stepping motor to which the power source is applied in the voltage
exceeding the safety standard, drawing attention against the electric shock.
Indication by（Warning Label）on the product
Either or all of the following indications are given by the Warning Labels depending on the type of the driver or stepping motor.
Safety ranks of the cautions
Following four ranks are provided.
Use proper
grounding
techniques.


危険
May Cause

electric shock
WARNING
Improper operations or use is most likely to result in serious injury or death.
Improper operations or use is likely to result in average or minor injury, or in property damage.
Indicates what shall not be done.
Indicates what shall be done.
DANGER
CAUTION
PROHIBITED
COMPULSORY
In spite of the cautions with the CAUTION label, it may cause serious results. Either
the contents of the labels is describing important cautions to be followed inevitably.
CAUTION
66
18.Mount the product on an incombustible material such as metal. Doing
otherwise may cause fire.
19.Confirm the rotating direction before connecting with the mechanical
device. Failure to do so may cause injury or a breakdown.
20. Do not touch the motor output spindle (including the key slot and gears) with a bare
hand. Doing so may cause injury.
Operation
21.The stepping motor is not equipped with any protective device. Take
protective measures using an over-current protective relay, a ground fault
interrupter, a protective device from excess temperature, and an emergency
stopping device. Failure to do so may cause injury or fire.
22.Do not touch the product for a period after the power is on or has been turned
off, since the driver and stepping motor remain in the high temperature. Doing
so may cause burns. Especially the temperature rises considerably of the
stepping motor depending on the operating conditions. Use the motor on the
condition so that its surface temperature becomes 100°C or under.
23. Stop the operation immediately when an emergency occurs. Failure to do so may
cause an electric shock, injury or fire.
24. Do not change adjustment to an extreme, for such a change results in the unstable
operation. Doing so may cause injury.
25.When conducting the trial operation, make the stepping motor fixed firmly, and
confirm the operation by disconnecting with the mechanical system before
connecting with it. Failure to do so may cause injury.
26.When the alarm has been activated, eliminate the cause and ensure the
safety to resume operation. Failure to do so may cause injury.
27.When the electric power recovers after the momentary interruption, do not
approach the devices because the system may re-start operation by itself.
(Set the system so as to secure the safety even when it re-start on such
occasion.) Failure to do so may cause injury.
28. Confirm that the electric power supply is all proper conforming to the
specifications. Failure to do so may cause a trouble.
29.The brake mechanism of the motor with the electro-magnetic brake is to
hold the movable section and the motor position. Do not use it as a safety
measure, or doing so may cause the breakdown of the system.
30.Fix the key firmly when operating the motor with key individually. Failure to
do so may cause injury.
Maintenance services
31. Be careful when performing maintenance services or inspection about the
temperature which rises highly in the driver and stepping motor frame.
Failure to do so may cause burns.
32. It is recommended to replace the electrolytic condenser of the driver with a
new one for securing the preventive measure after using for 5 years, the
expected life in the average 40°C. The expected life of the fuse
is 10 years
in the average 40°C. Thus, the periodical replacement is recommended.
33.Contact with us for repair. If the product is disassembled by the user, it may
put it out of action.
Transportation
34. Handle the product with care during transportation so as to prevent from the
danger such as a tumble or a turnover.
35.Do not hold with the cable or the motor spindle. Doing so may cause a
trouble or injury.
Retirement
36.When scrapping the driver or stepping motor, treat it for the general
industrial waste.
Storage
1. Avoid the place exposed to rain or water drops, or in an environment with
hazardous gas or liquid for storing the product. Failure to do so may cause a
trouble.
Maintenance services
2. Do not assemble or repair the product. Doing so may cause fire or an
electric shock.
General matters
3. Do not remove the rating plate.
Storage
1. Store the product within the specified conservation temperature and
humidity in the place not exposed to the sun beam.
2. If the driver has been stored for a long period (3 years or longer for a guide),
consult with us. The capacitance may have decreased with the electrolytic
condenser due to the long period storage, and it may cause a trouble.
Operation
3. Install an external emergency stop circuit to turn the power off for the
instant halt of operation.
4. Put the product into operation in the specified ambient temperature and
humidity.
Transportation
5. Excess loading of the product on the carrier may cause the load to fall in
pieces. Follow the instructions given outside the package.
General matters
1. Do not use the product in an explosive, flammable or corrosive atmosphere, watery
place or near a combustible material. Doing so may cause injury or fire.
2. Have a person with expert knowledge for performing the transportation,
placement, wiring, operation, maintenance or inspection of the product.
Without such knowledge, it may cause an electric shock, injury or fire.
3. Do not work for wiring, maintenance servicing or inspection with the electric
power on. Perform either of those five minutes after turning the power off,
or otherwise, it may cause an electric shock.
4. When the protective functions of the product is activated, turn the power off
immediately and eliminate the cause. If continuing the operation without
eliminating the cause, the product may operate improperly and cause injury
or a breakdown of the system devices.
5. Stepping motor may run out of order at the operating and stopping
occasions, depending on the magnitude of the load. Put the product into use
after confirming with the adequate trial test operation in the maximum load
conditions that the product performs reliable operation. Doing otherwise
may cause a breakdown of the system. (Should the product run out of order
in the use to drive upward/downward, it may cause a fall of the load.)
6. Do not touch the internal parts of the driver. Doing so may cause an electric
shock.
Wiring
7. Do not connect the stepping motor directly with the commercial power
outlet. Doing so may cause an electric shock, injury or fire. The power shall
be supplied to the stepping motor through the driving circuit.
8. Use the electric power source within the rated input voltage. Using
otherwise may cause fire or an electric shock.
9. Connect the driver and stepping motor to the ground. Using without
grounding may cause an electric shock.
10. Do not harm, forcibly put a stress, or load a heavy article on the cable or get
it caught between the articles. Doing so may cause an electric shock.
11. Perform wiring with the power cable as instructed by the wiring diagram or
the Operation Manual. Doing otherwise may cause an electric shock or fire.
Operation
12. Be sure not to touch the rotating part of the stepping motor during its
operation. Touching it may cause injury.
13. Neither reach or touch the electric terminals while electric power is on.
Doing so may cause an electric shock.
14.
Never disconnect any of the connectors while electric power is on. Doing so may
cause an electric shock and corruption.
General matters
1. Prior to placement, operation, maintenance servicing or inspection, be sure
to read the Operation Manual and follow the instructions to perform those.
Failure to follow the instructions may cause an electric shock, injury or fire.
2. Do not use the driver or the stepping motor outside the specified conditions.
Doing so may cause an electric shock, injury or fire.
3. Do not insert a finger or a thing into the opening of the product. Doing so may cause
an electric shock, injury or fire.
4. Do not use the damaged driver or stepping motor. Doing so may cause
injury, fire or the like.
5. Use the driver and stepping motor in the designated combination. Using
otherwise may cause fire or a trouble.
6. Be careful that the temperature rises in the operating driver, stepping motor
or peripheral devices. Failure to be careful may cause a burn.
Unpacking
7. Unpack while confirming the ceiling. Failure to do so may cause injury.
8. Confirm if the product is the one having been ordered. Installing an incorrect
product may cause a breakdown.
Wiring
9. Do not perform measurement of the insulation resistance or withstand
insulation voltage of the product. Doing so may cause a breakdown. Instead,
contact with us for such inspection.
10. Perform wiring conforming to the technical standards of electric facility or
the internal rule. Doing otherwise may cause burning or fire.
11. Ensure that wiring has been correctly done. Operating without correct
wiring may cause the stepping motor to run out of control and result in
injury.
12. Take insulation process for the attached condenser or the external resistance
connection terminals. Failure to do so may cause an electric shock.
Placement
13. Do not climb or attach a heavy article on the product. Doing so may cause
injury.
14. Neither block nor stuff the aspiration/exhaust vent with a foreign particle.
Doing so may cause fire.
15. Follow the instructions for the direction to place. Failure to do so may cause
a trouble.
16. Keep a distance as instructed by the Operation Manual for the driver from
the inner surface of the control console or other devices. Failure to do so
may cause a trouble.
17. Place the product with a great care so as to prevent from the danger such as
a tumble or a turnover.
DANGER CAUTION
PROHIBITED
COMPULSORY
70
1Name of target equipment Equipment name, category (transport, processing, test, other)
9Encoder type
Encoder type specified ( yes / no )
Yes:(incremental , optical absolute , optical absolute with incremental function, resolver absolute)
Resolution（      ）
2Name of servo axis Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no)
3Current condition of above axis
Manufacturer Name ( ) Series Name ( ) Motor Capacity ( ) Hydraulic, Mechanical, or New System ( )
4Positioning accuracy ±   mm・±   μm
5Operation pattern
Accelerationα：＿＿G・＿＿＿[m/s2]
Feeding SpeedＶ：＿＿＿＿[m/s]
Feeding
Speed
[m/sec]
【Reference formula】
【1G=9.8[m/s2]､1[m/s2]≒0.1G】
【α[m/s2]＝V[m/sec]÷t1[sec]】
【D[m]＝V[m/sec]×(t1+t2)[sec]】
Moving DistanceＤ：＿＿＿[m]
(Stroke)
6Mechanism Ball-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal),
rack and pinion (horizontal), belt/chain (horizontal), rotary table, roll feed, instability
7Mechanical structure
WT（table mass）kg WL（work mass）kg
WA
（mass of other drive parts）
kg
WR（rack mass）kg
WB（belt/chain mass）
kg
WC（counterbalance mass）
kg
Fa
（external force axial direction）
N Fb
（ball-screw preload）
N T（roll pushing force）N
Dr1（drive-side roll diameter）mm Dr2（follower-side roll diameter）mm
Lr1
（drive-side roll length）
mm Lr2（follower-side roll length）mm G
（reduction ratio）
JG
（speed-reducer inertia）
kg・m2JC（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
Dp
（pinion/pulley diameter）
mm Lp
（pinion axial length）
mm tp（pully thickness）mm
Dt（table diameter）mm Dh
（table-support dianeter）
mm LW
（load shift from axis）
mm
Ds（table shaft diameter）mm
Ls（table shaft length）
mm
ρ
（specific gravity of ball-screw/pinion/pulley/table-shaft material）
kg・cm3
μ
（friction coefficient between sheet and shiliding-surface/support-section/roll）
ρ1
（specific gravity of roll-1 material）
kg／cm3
ρ2
（specific gravity of roll-2 material）
kg／cm3κ（internal friction coefficient of preload nut）
η（mechanical efficiency） JL
（load inertia of motor-axis conversion）
kg・m2
TF
（friction torque of motor axis conversion）
N・mTu
（imbalance torque of motor axis conversion）
N・m
0Input format Position , velocity , torque , other (       )
A
Host equipment (controller)
Sequencer , laptop , customer-developed product , Sanyo dennki-provided , other (       )
CEstimated production Single product: (       ) units/mouth (       ) units/year
DDevelopment schedule Prototype period: (    )Year (    ) Month Production period: (    )Year (    ) Month
Various measures
Related documentation ( already submitted; send later by mail) Visit/PR desired ( yes / no ) Meeting desired ( yes / no )
E
F
Miscellaneous
(questions, pending problems,
unresolved issues, etc.)
B
Usage environment and other requirements
Cutting , clean-room use , anti-dust measures , other (       )
8Speed reducer Customer-provided ( ／ )・Sanyo denki standard(planet/spur/no-backlash-planet ／ ) other( ／ )
Item Contents
Time
Inquiry Check Sheet
For more information regarding any products or services described here in,
please contact your nearest office listed on the back of this catalog.
Date：
To SANYO DENKI Co.,LTD.
Company:
Department:
Name:
Tel:              FAX:
E-mail:
CATALOG No. 832-8 ’10.1.N
＊For any question or inquiry regarding the above, contact our Sales Department.
Cautions
■Precautions For Adoption
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.
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Cautions
The names of companies and/or their products specified in this catalogue are the trade names, and/or trademarks and/or registered trademarks of such respective companies.
*Remarks : Specifications Are SubjectTo Change Without Notice.