*Remarks : Specifications are subject to change without notice.
1-15-1, Kita-otsuka Toshima-ku Tokyo 170-8451, JAPAN (North America area) Phone: +81 3 3917 2223
(Europe area) Phone: +81 3 3917 5157
(Asia area) Phone: +81 3 3917 2814
TAIWAN BRANCH
Room 401, 4F, No.96, Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C. Phone:+886 2 2511 3938
HONG KONG BRANCH
1109, 11F New East Ocean Centre, 9 Science Museum Road, TST East, Kowloon, Hong Kong Phone:+852 2312 6250
SHANGHAI BRANCH
Room 2116, Bldg B, FAR EAST INTERNATIONAL PLAZA, No.317 Xianxia Rd., Shanghai 200051, China Phone:+86 21 6235 1107
468 Amapola Avenue Torrance, California 90501 U.S.A. Phone:+1 310 783 5400
P.A. PARIS NORD II 48 Allee des Erables-VILLEPINTE BP.50286 F-95958 ROISSY CDG CEDEX France Phone:+33 1 48 63 26 61
http://www.sanyodenki.com
CATA LOG No.759-4 '04.8.3DN
STEPPING SYSTEMS
Stepping
Systems
E
ENGLISH
2-PHASE STEPPING SYSTEMS
1
Safety Consideration
The PM drivers and stepping motors are the products designed to be used for the general industrial devices.
When using those, pay enough attention to the following points.
・Read thoroughly the Operation Manual prior to placement, assembly and/or operation in order to use the product properly.
・Refrain from modifying or processing the product in any way.
・Consult with the distributor or professional experts for placement or maintenance services of the product.
・In case of the following uses of the product, contact with us for the special care required to the operation, maintenance and
management such as multiplexing the system, installing an emergency electric generator set, or so forth.
1Use for the medical devices concerned with a fatal accident.
2Use for trains, elevators, and so forth that are likely to cause an accident resulting in injury, damage or death.
3Use in the computer system highly influential to the social life or the public systems.
4Use in other devices highly influential to maintaining the human safety or the public functions.
In addition to the above, consult with us for use in such a vibration environment as automobile or transportation.
Read the Operation Manual thoroughly prior to the use (placement, operation, maintenance and inspection) to put the product
in use properly.
Make yourself knowledgeable and familiarize with the devices, safety issues and cautions before handling the product.
After reading the Operation Manual or the like, keep it in the place where the users can refer to whenever necessary.
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 PM 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 PM driver or stepping motor for which grounding is
required, suggesting that the terminals should be actually grounded.
This label is stuck for the PM 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 PM driver or stepping motor.
Safety ranks of the cautions
Following four ranks are provided.
Use proper
grounding
techniques.
必ずアース線を
接続して下さい
危険
May Cause
感電注意
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
2
＜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 PM 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 PM driver or stepping motor.
Doing so may cause injury, fire or the like.
5. Use the PM 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
PM 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 PM 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.
18. Mount the product on an incombustible material such
as metal. Doing otherwise may cause fire.
＜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 PM 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 PM 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
.
DANGER
CAUTION
3
＜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 PM 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 PM 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.
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 PM 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℃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 PM driver and stepping motor frame. Failure to
do so may cause burns.
32. It is recommended to replace the electrolytic
condenser of the PM driver with a new one for
securing the preventive measure after using for 5
years, the expected life in the average 40℃. The
expected life of the fuse and cooling fan motor is 10
years in the average 40℃. 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.
PROHIBITED
COMPULSORY
4
Stepping System Configuration
P121~P124
HIC
STEPPING DRIVER
The 2-phase Stepping System
DRIVER
P5~P58
* Refer to the pages of driver for cable.
MOTOR
P59~P120
* Refer to the pages of
driver for cable.
PLC Controller PC
Upper
Options
With encoder With harmonic gear With brake Damper
5
P17~P26
PMM-UA-4303-1
AC100V
Unipolar type
Full-step/Half-step
Source input
P17~P26
PMM-UA-4304-1
AC100V
Unipolar high-speed type
Full-step/Half-step
Source input
P45~P58
PMM-MD-23120-10
DC24V/36V
Unipolar type
Micro step specification
Source input
P27~P44
PMM-MD-23220-10
PMM-MD-23221-10
DC24V/36V
Unipolar type
Micro step specification
Source input
P27~P44
PMM-MD-23220-21
PMM-MD-23221-21
DC24V/36V
Unipolar type
Micro step specification
Source input
P27~P44
PMM-MD-23210-10
PMM-MD-23211-10
DC24V/36V
Unipolar type
Micro step specification
Source input
P7~P16
PMM-BA-4803-1
AC100/115V
Bipolar type
Micro step specification
Source input
P7~P16
PMM-BA-4804-1
AC100/115V
Bipolar high-speed type
Micro step specification
Source input
2-Phase Driver Area Chart
Applicable motors Applicable motors Applicable motors
Applicable motorsApplicable motorsApplicable motors
Applicable motors Applicable motors
35
Applicable motor installation angle dimension
（□1.10 inch）（
□1.38 inch）（□1.54 inch）（□1.65 inch）（□1.97 inch）（□2.20 inch）（ □2.36 inch）（ ø3.39 inch）（ø4.17 inch）
AC100V/115V
AC100V
DC24V/36V
□35mm
Source voltage PMM-BA-4803-1
Bipolar type/Micro step specification
PMM-UA-4303-1
Unipolar type/ Full-step.Half-step
PMM-MD-23120-10
Unipolar type/Micro step specification
PMM-MD-23220-21,PMM-MD-23221-21
Unipolar type/Micro step specification
PMM-MD-23210-10,PMM-MD-23211-10
Unipolar type/Micro step specification
PMM-MD-23220-10,PMM-MD-23221-10
Unipolar type/Micro step specification
PMM-BA-4804-1
Bipolar high-speed type/Micro step specification
PMM-UA-4304-1
Unipolar high-speed type/Full-step.Half-step
6
42
50
56
Pulse I/F (AC power input)
7
Standard combined stepping motors
PMM-BA-4803-1
2-phase Stepping Driver
AC100V/115V
Bipolar type
(Applicable motor rated current 1A/phase, 2A/phase)
Micro-step (200 X 1~250 divisions)
(Smooth operation and low vibration even at low speeds.)
●Applicable motor
•For information about the general specifications and dimensions of each stepping motor, refer to its page.
Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia
Mass(Weight)
Page
stepping motor Single shaft Double shaft [A/phase] [N·m(oz·in)]
[x 10-4kg
·
m2
(oz·in
2
)
]
[kg(lbs)]
103H5205-4240 103H5205-4210 1 0.265(37.53) 0.036(0.20) 0.23(0.51)
□42mm 103H5208-4240 103H5208-4210 1 0.39(55.23) 0.056(0.31) 0.29(0.64) 69
(1.65inch) 103H5209-4240 103H5209-4210 1 0.425(60.18) 0.062(0.34) 0.31(0.68) Page
103H5210-4240 103H5210-4210 1 0.51(72.22) 0.074(0.40) 0.37(0.82)
□
50mm(1.97inch)
103H6704-5040 103H6704-5010 2 0.52(73.6) 0.14(0.77) 0.55(1.21)
75Page
103H7121-5040 103H7121-5010 2 0.39(55.2) 0.1(0.55) 0.47(1.04)
□56mm 103H7123-5040 103H7123-5010 2 0.83(117.5) 0.21(1.15) 0.65(1.43) 79
(2.20inch) 103H7126-5040 103H7126-5010 2 1.27(179.8) 0.36(1.97) 0.98(2.16) Page
Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia
Mass(Weight)
Page
stepping motor Single shaft Double shaft [A/phase] [N·m(oz·in)]
[x 10-4kg
·
m2
(oz·in
2
)
]
[kg(lbs)]
103H7821-1740 103H7821-1710 4 0.88(124.6) 0.275(1.50) 0.6(1.32)
□60mm 103H7822-1740 103H7822-1710 4 1.37(194.0) 0.4(2.19) 0.77(1.70) 87
(2.36inch) 103H7823-1740 103H7823-1710 4 2.7(382.3) 0.84(4.59) 1.34(2.95) Page
103H8221-5241 103H8221-5211 6 2.74(388.0) 1.45(7.93) 1.5(3.31) 91
ø86mm 103H8222-5241 103H8222-5211 6 5.09(720.8) 2.9(15.86) 2.5(5.51) Page
(3.39inch) 103H8223-5241 103H8223-5211 6 7.44(1053.6) 4.4(24.06) 3.5(7.72)
ø106mm 103H89222-5241 103H89222-5211 6 13.2(1869.2) 14.6(79.83) 7.5(16.53) 97
(2.36inch) 103H89223-5241 103H89223-5211 6 19(2690.5) 22(120.28) 10.5(23.15) Page
PMM-BA-4804-1
AC100V/115V
Bipolar high-speed type
(Applicable motor rated current 4A/phase, 6A/phase)
Micro-step (200 X 1~250 divisions)
(Smooth operation and low vibration even at low speeds.)
●Applicable motor
60
ø86
ø106
•For information about the general specifications and dimensions of each stepping motor, refer to its page.
PMM-BA-4803-1
PMM-BA-4804-1
8
60
56
50
42
ø86
ø106
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
Specifications of PM Driver
Item
Environment
Basic specifications
I/O signals
Single phase AC 100V/115V+10, -15% 50/60Hz
3A 8A
2A/phase (Changeable to 1A/phase, refer to Page 11) 6A/phase (Changeable to 4A/phase, refer to Page11)
0~+50˚C
-20~+70˚C
35~85%RH (no condensation)
10~90%RH (no condensation)
4.9m/s2Frequency range 10~55Hz, Direction: along X, Y and Z axes, for 2 hours each.
Considering the NDS-C-0110 standard section 3.2.2 division “C”, not influenced.
Not influenced when AC1000V is applied between power input terminal and cabinet for one minute.
10MΩMIN. when measured with DC500V megohmmeter between input terminal and cabinet.
2kg(4.41lbs) 4kg(8.82lbs)
Against PM driver overheat
Pulse input mode selection-- DIP switches enables selection of Pulse and direction and 2-input mode
Resolution setting-- Combination of two rotary switches enables 240 divisions ranging from 1~240 resolution
Micro step selection-- External signal input (S, SEL) enables selection of the DIP switch driven micro
step or the rotary switch driven micro step.
Power down, power low selection-- Current value of the stepping motor can be selected when power signal is input.
Automatic current down selection--- Automatic current down function can be selected.
Driving current switch setting--- The rotary switch enables to set driving current of the stepping motor from rated current to 0%
Power supply monitor, phase origin monitor, pulse monitor, alarm monitor.
In the 2-input mode, inputs driving pulses to rotate in CW direction.
In the Pulse and direction mode, inputs driving pulse train to rotate the step motor rotation.
Photo coupler input method, input resistance 330ΩInput signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
MAX. input frequency:100kpulse/s
In the 2-input mode, inputs driving pulses to rotate in CCW direction.
Pulse and direction
In the pulse and direction mode, inputs rotation direction signals to the stepping motor.
Internal photo couplerON: CW direction.
Internal photo couplerOFF: CCW direction.
Photo coupler input method, input resistance 330ΩInput signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
MAX. input frequency:100kpulse/s
Inputs PD signal to turn off the current that flows through the stepping motor.
(Capable to change by the DIP switch to power low function.)
PD input signal ON (Internal photo coupler ON): Power down function is enabled.
PD input signal OFF (Internal photo coupler OFF): Power down function is disabled.
Photo coupler input method, input resistance 330Ω, Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
Input S.SEL signal to select step angle setting method.
The open position determines to be the mode 1.
Internal photo coupler ON: Mode 2 method step angle setting. (Internal rotary switch setting.)
Internal photo coupler OFF: Mode 1 method step angle setting. (Internal DIP switch setting.)
Photo coupler input method, input resistance 330ΩInput signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
Outputs signal when either alarm circuit is activated in the PM driver.
When this signal is generated, the stepping motor is made in the de-excited state.
Relay contact output (at normal open), contact capacity: DC24V, 0.5A MAX. or AC120V, 0.5A MAX.
Input source
Source current
Rated current
Operating ambient temperature
Conservation temperature
Operating ambient humidity
Conservation humidity
Vibration resistance
Impact resistance
Withstand voltage
Insulation resistance
Mass(Weight)
Protection function
Selection, setting
function
LED indicator
Signal Name (Brevity code)
Silk-screen printing
CW pulse CW+
Input signal (CW)
CW
-
(CK)
CCW pulse CCW+
Input signal (CCW)
CCW
-
(U/D)
Power down PD +
input signal
PD
-
(PD)
Step angle setting
S.SEL+
selection input
S.SEL
-
(S.SEL)
Alarm AL1
output (AL) AL2
Function
PMM-BA-4803-1 PMM-BA-4804-1
•The CW direction indicated above is the rotation direction of the stepping motor in clockwise as facing to the output shaft side (flange side). The CCW direction is the
same in counter-clockwise.
Pulse I/F (AC power input)
9
5µs MIN
1µs MAX.1µs MAX.
Rotation
10%
50%
90%
4.0~5.5V
0~0.5V
330Ω
PM driver
Approx.15mA
+5V
Input signal
+
-
R
Photo coupler
50µs MIN
CCW
CW
330Ω
PM driver
Approx.15mA
+5V
Input signal
+
-
R
Photo coupler
Operation, Connection, and Function
●Input circuit configuration (CW, CCW) --- PMM-BA-4803-1 and PMM-BA-4804-1 in common
•Pulse duty 50% MAX.
•When the crest value of the input signal is 5V, the external limit resistance R
must be 0Ω
When the crest value of the input signal exceeds 5V, use the external limit
resistance R to limit the input current to approximately 15mA.
Timing of command pulse
•The internal photo coupler turns ON within the and, at its falling edge to OFF,
the internal circuit (stepping motor) is activated.
•When applying the pulse to CW, turn OFF the CCW side internal photo coupler.
•When applying the pulse to CCW, turn OFF the CW side internal photo coupler.
Input signal specifications
●Input circuit configuration (PD, S. SEL) --- PMM-BA-4803-1 and PMM-BA-4804-1 in common
•When the crest value of the input signal is 5V, the external limit resistance R
must be 0Ω
When the crest value of the input signal exceeds 5V, use the external limit
resistance R to limit the input current to approximately 15mA.
•2-input mode (CW, CCW)
10µs MIN
U/D
CK
•The internal photo coupler turns ON within the and, at CK side falling edge to
OFF, the internal circuit (stepping motor) is activated.
•Switching of U/D input signal shall be made when CK side internal photo coupler is
OFF.
•Pulse and direction mode (CK, U/D)
Alarm output signal
1
2
Relay
PM driver
●Output circuit configuration (AL) --- PMM-BA-4803-1 and PMM-BA-4804-1 in common
•Alarm output signal
Contact mode: Relay contact output (Normally open)
Contact capacity: DC24V, 0.5A MAX. or AC120V, 0.5A MAX.
60565042 ø86 ø106
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
10
Operation, Connection, and Function
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
O
F
F
2
3
4
5
6
EX1
POWER
MON
PM
AL
A
B
C
D
~
~
AC100/115V
SWH
SWL
EX2
F/R
PD
PL
SL
RUN
STP
CWCCWPDS.SELAL
FG
AC MOTOR
PMM-BA-4803
+- +- +-
21
~~
+-
●PM deriver component names and function selection/setting
PMM-BA-4803-1
4
5
2
3
1
6
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
O
F
F
2
3
4
5
6
EX1
POWER
MON
PM
AL
SWL
SWH
EX2
F/R
PD
PL
SL
RUN
STP
CWFG ALS.SELPDCCW +-+-+-+- 12~~
PMM-BA-4804
AC100/
115V
ABCD
MOTOR
PMM-BA-4804-1
2Function selection DIP switch pack (EX1, EX2, F/R, PD, PL, SL) --- PMM-BA-4803-1 and PMM-BA-4804-1 in common
1Monitor indication (POWER, MON, PM, AL) --- PMM-BA-4803-1 and PMM-BA-4804-1 in common
EX1 EX2 Step Angle
OFF ON
Basic step angle x 1/1 (1. 8°/pulse)
ON ON
Basic step angle x 1/2 (0.9°/pulse)
ON OFF
Basic step angle x 1/4 (0.45°/pulse)
OFF OFF
Basic step angle x 1/5 (0.36°/pulse)
12
EX1, EX2 (Step angle setting selection)
Set the step angle (mode 1)
3
F/R (Pulse-input mode selection)
Select the pulse-input mode.
45
PD, PL (Power-down and power-low selection)
Select stepping motor current value
when power down signal is input.
6
SL (Auto current down selection)
Select Auto current down function selection.
PD PL
Stepping motor winding wire current
OFF ON
Sets current value by the stepping
motor current controller (STP),
when not operating. (Power down)
ON OFF O/A (Power Off)
F/R Pulse-input mode
ON 2-input mode (CW, CCW)
OFF
Pulse and direction mode (CK, U/D)
EX1
EX2
PD
PL
SL
F/R
ON
ON
OFF
ON
ON
ON
ON
1
2
3
4
5
6
•The factory setting is shown in the figure above.
•Turn off the power supply to the PM driver before
changing DIP switch setting.
•
The factory setting of the current value by the
current adjustment controller (STP) is at about
50% of stepping motor current value on operation.
Adjustment by customer is not supported.
Indication
Color State
POWER Green This LED illuminates when internal power supply is ON.
MON Green This LED illuminates when exciting magnetic phase is at the origin (when power is ON).
At the 1 division (or 1.8°step) setting, illuminates once for every 4 pulses. At the 2 divisions (or 0.9°/step) setting, illuminates once for every 8 pulses.
PM Green This LED illuminates when input pulse is applied
AL Red
When the element temperature becomes 80˚C MIN, in the PM driver, heat protective alarm circuit for the internal elements is activated and
this LED illuminates. As the alarm circuit is activated, the wire-wound current is shut and the stepping motor becomes in a de-excited state.
Simultaneously, the alarm output relay is closed to generate the output signal. When the element temperature falls back to 80˚C MAX, the
alarm is automatically released and the current flows into the stepping motor. When the alarm is ON, turn the main power OFF before the
automatic recovery system works, and take measures to reduce heat generation such as forced cooling to the PM driver enclosure
MON
CCW pulse
CW pulse
Timing of MON indicator illumination (At the 1 division)
•At mark, inside photo coupler “ON” MON illuminates.
3
1
2 4 5
6
6
•The temperature increase in the motor
driver can be controlled by setting SL to
On(approx.50% of the rated current).
•
The output torque when SL is On(approx. 50%
of the rated current) is approx.50% of the that
when SL is Off (100% of the rated current).
SL Auto current down
ON
Approx 50% of current rating when stopped
OFF
100% of current rating when stopped
11
Pulse I/F (AC power input)
Operation, Connection, and Function
Capable to set step angle by the rotary switches SWH and SWL (mode 2).
3Step angle setting rotary switch (SWH, SWL) --- PMM-BA-4803-1 and PMM-BA-4804-1 in common
Adjust current of stepping motor during halt in the range from rated current to 0% when automatic current reduction function is operating.
Factory setting is set at 50% of rated current and customers controller (STP) adjustment is not supported.
5Current adjustment controller during halt (STP) --- PMM-BA-4803-1 and PMM-BA-4804-1 in common
Connects I/O signals, single phase AC power supply, and the stepping motor power cord.
6Terminal block (TB) --- PMM-BA-4803-1 and PMM-BA-4804-1 in common
4Operating-current selection switch (RUN)
PMM-BA-4803-1
Step angle = n/N x Basic step angle of the stepping motor.
n: Required division number setting (capable to set by the rotary switches).
N: Basic division number (set at 240 at the factory).
Fundamental Formula
The rotary switches are of the hexadecimal code setting type.
(Example)
To drive the stepping motor with the basic step
angle of 1.8° at the rate of stepping angle of 0.36°.
0.36°= n/240 x 1.8° (n = 48 (by decimal system)
n : 48 (by decimal system) equals to 30 by hexadecimal system.
Therefore, 0.36°/pulse is obtainable by setting the rotary
switch “SWH” at 3, and “SWL” 0
Setting method of the rotary switch.
•Factory setting is 0.09°/pulse (set SWH at “0”, SWL at “C”).
•Step angle setting by the mode 2 is effective by turning on the
S.SEL input signal (internal photo coupler on).
Select operating current value to stepping motor.
PMM-BA-4804-1
•The factory setting is “0”.
Select setting depending on applied motors.
Scale 01234567
Stepping motor current (A/Phase)
2.0 1.9 1.7 1.6 1.4 1.3 1.2 1.0
Scale 8 9 A B C D E F
Stepping motor current (A/Phase)
0.9 0.8 0.6 0.5 0.3 0.2 0.1 0
Scale 01234567
Stepping motor current (A/Phase)
6.0 5.7 5.1 4.8 4.2 3.9 3.6 3.0
Scale 8 9 A B C D E F
Stepping motor current (A/Phase)
2.7 2.4 1.8 1.5 0.9 0.6 0.3 0
•The factory setting is “0”.
Select setting depending on applied motors.
TB
CW
CCW
PD
S.SEL
AL
M
A
B
C
D
FG
AC100V/115V
Note 2) CW pulse input
Note 3)
Note 1)
Note 2) CCW pulse input
Power down input
Step angle setting selection input
Alarm output
Frame grounding output
+10%
–15%
~
~
+
+
+
+
1
2
Orange
Blue
Red
Yellow
●External wiring diagram --- PMM-BA-4803-1 and PMM-BA-4804-1 in commonin common
Note 1) Use twisted pair shielded cables.
Note 2)
Capable to select by the function selection switch F/R for “2-input mode (CW and CCW input mode)” or”Pulse and direction mode (CK, U/D)”.
Note 3) Ground the flange of the stepping motor by fastening the grounding wire together with the mounting screw. The grounding shall be made
at a single point.
60
56
50
42
ø86
ø106
12
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
Dimensions [Unit:mm(inch)]
MAX. 7 mm(.28inch)
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
O
F
F
2
3
4
5
6
EX1
POWER
MON
PM
AL
A
B
C
D
~
~
AC100/115V
SWH
SWL
EX2
E/R
PD
PL
SL
RUN
STP
CWCCWPDS.SELAL
FG
AC MOTOR
PMM-BA-4803
+- +- +-
21
~~
+-
140
(5.51)
4(.16)
MAX.
47
(1.85)
10(.39) MAX. 200
(7.87)
2-M4x0.7(.028)(Screw holes)
23
(.91)
147±0.5
(5.79±.02)
25±0.3
(.98±.01)
8
(.31)
MODEL PMM-BA-4803-1
SER NO.
SANYO DENKI
MADE IN JAPAN D5+30008-4B
Mounting direction and mounting position
•Mount the PM driver as it stands upright.
•Use the mounting holes in the bottom of the PM driver with M4 screws as shown in the figure.
(No mounting hardware is required.)
•The length of the screws projecting inward the driver enclosure shall be shorter than 7mm(0.28inch).
MAX. 7 mm(.28inch)
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
O
F
F
2
3
4
5
6
EX1
POWER
MON
PM
AL
SWL
SWH
EX2
F/R
PD
PL
SL
RUN
STP
CWFG ALS.SELPDCCW +-+-+-+- 12~~
PMM-BA-4804
AC100/
115V
ABCD
MOTOR
230
(9.06)
5(.20)
MAX.
10(.39)MAX.
4(.16)
MAX.
108
(4.25)
140
(5.51)
10
(.39)
210±0.5
(8.27±.02)
75±0.5
(2.95±.2)
15
(.59)
4-M4x0.7(.028) (Screw holes)
PMM-BA-4803-1
PMM-BA-4804-1
PMM-BA-4803-1 PMM-BA-4804-1
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fsfs
70
0
60
50
40
30
20
10
Torque(oz·in.)
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fsfs
70
0
60
50
40
30
20
10
Torque(oz·in.)
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz·in.)
70
0
60
50
40
30
20
10
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
13
Pulse I/F (AC power input)
●103H5205-42□□：100V
Source voltage: AC100V, Operating current:1A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current:1A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current: 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current: 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current:1A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current:1A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
●103H5209-42□□：100V
●103H6704-50□□：100V
●103H5208-42□□：100V
●103H5210-42□□：100V
●103H7121-50□□：100V
fs: No load maximum starting pulse rate ■1-division is specified ■2-division is specified
PMM-BA-4803-1
60
56
50
42
ø86
ø106
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
4
8
12
16
20
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
14
●103H7123-50□□：100V ●103H7126-50□□：100V
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 4A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 4A/phase
Pull-Out torque [JL1=15.3x10-4kg·m2(83.65 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 6A/phase
Pull-Out torque [JL1=15.3x10-4kg·m2(83.65 oz
·in
2) Uses rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 4A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2(14.22 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2(14.22 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
10
20
30
40
50
0
Number of rotations (min-1)
1-division
2-division
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
4
8
12
16
20
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
10
20
30
40
50
0
Number of rotations (min-1)
1-division
2-division
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
●103H7821-17□□：100V
●103H7823-17□□：100V
●103H7822-17□□：100V
●103H8221-52□□：100V
fs: No load maximum starting pulse rate ■1-division is specified ■2-division is specified
PMM-BA-4804-1
PMM-BA-4803-1
15
Pulse I/F (AC power input)
Options
Model No. PM-AP-021
●Terminal board cover
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 110100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
10
20
30
40
50
0
Number of rotations (min-1)
1-division
2-division
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
20
40
60
80
100
0
Number of rotations (min-1)
1-division
2-division
1000 2000 3000 5000100
1000 2000 3000 5000100
2
4
6
8
10
0fs fs
Torque(oz·in.)
1400
0
1200
1000
800
600
400
200
●103H8222-52□□：100V ●103H8223-52□□：100V
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
40
80
120
160
200
0
Number of rotations (min-1)
1-division
2-division
1000 2000 3000 5000100
1000 2000 3000 5000100
4
8
12
16
20
0fs fs
Torque(oz·in.)
2500
0
2000
1500
1000
500
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
40
80
120
160
200
0
Number of rotations (min-1)
1-division
2-division
1000 2000 3000 5000100
1000 2000 3000 5000100
Torque(oz·in.)
2500
0
2000
1500
1000
500
4
8
12
16
20
0fs fs
●103H89222-52□□：100V ●103H89223-52□□：100V
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
PMM-BA-4803-1 PMM-BA-4804-1
Model No. PM-AP-014
PM-AP-018
fs: No load maximum starting pulse rate ■1-division is specified ■2-division is specified
PMM-BA-4804-1
Source voltage: AC100V, Operating current : 6A/phase
Pull-Out torque [JL1=15.3x10-4kg·m2(83.65 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 6A/phase
Pull-Out torque [JL1=43x10-4kg·m2(235.10 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 6A/phase
Pull-Out torque [JL1=43x10-4kg·m2(235.10 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 6A/phase
Pull-Out torque [JL1=15.3x10-4kg·m2(83.65 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
16
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
60
56
50
42
ø86
ø106
Pulse I/F (AC power input)
17
Standard combined stepping motors
PMM-UA-4303-1
2-phase Stepping Driver
AC100V
Unipolar type
(Applicable motor rated current 1.2A/phase, 2A/phase)
Full-step / Half-step
(200 x 1 division) (200 x 2 division)
●Applicable motor
•For information about the general specifications and dimensions of each stepping motor, refer to its page.
42
50
56
60
ø86
ø86
ø106
PMM-UA-4304-1
AC100V
Unipolar high-speed type
(Applicable motor rated current 4A/phase)
Full-step / Half-step
(200 x 1 division) (200 x 2 division)
●Applicable motor
•For information about the general specifications and dimensions of each stepping motor, refer to its page.
PMM-UA-4303-1
PMM-UA-4304-1
Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia
Mass(Weight)
Page
stepping motor Single shaft Double shaft [A/phase] [N-m(oz·in)]
[x 10-4kg
·
m2(
oz·in
2)]
[kg(lbs)]
103H5205-0440 103H5205-0410 1.2 0.2(28.32) 0.036(0.20) 0.23(0.51)
□42mm 103H5208-0440 103H5208-0410 1.2 0.3(42.48) 0.056(0.31) 0.29(0.64) 69
(1.65inch) 103H5209-0440 103H5209-0410 1.2 0.32(45.31) 0.062(0.34) 0.31(0.68) Page
103H5210-0440 103H5210-0410 1.2 0.37(52.39) 0.074(0.40) 0.37(0.82)
103H6701-0440 103H6701-0410 2 0.28(39.6) 0.057(0.31) 0.35(0.77)
□50mm 103H6703-0440 103H6703-0410 2 0.49(69.4) 0.118(0.65) 0.5(1.10) 75
(1.97inch) 103H6704-0440 103H6704-0410 2 0.52(73.6) 0.14(0.77) 0.55(1.21) Page
103H7121-0440 103H7121-0410 2 0.39(55.2) 0.1(0.55) 0.47(1.04)
□56mm 103H7123-0440 103H7123-0410 2 0.83(117.5) 0.21(1.15) 0.65(1.43) 79
(2.20inch) 103H7124-0440 103H7124-0410 2 0.98(138.8) 0.245(1.34) 0.8(1.76) Page
103H7126-0440 103H7126-0410 2 1.27(179.8) 0.36(1.97) 0.98(2.16)
103H7821-0440 103H7821-0410 2 0.78(110.5) 0.275(1.50) 0.6(1.32) 87
□60mm 103H7822-0440 103H7822-0410 2 1.17(165.7) 0.4(2.19) 0.77(1.70) Page
(2.36inch) 103H7823-0440 103H7823-0410 2 2.1(297.4) 0.84(4.59) 1.34(2.95)
103H8221-0441 103H8221-0411 2 2.15(304.5) 1.45(7.93) 1.5(3.31) 91
ø86mm 103H8222-0441 103H8222-0411 2 4.13(584.8) 2.9(15.86) 2.5(5.51) Page
(3.39inch) 103H8223-0441 103H8223-0411 2 6.27(887.9) 4.4(24.06) 3.5(7.72)
Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia
Mass(Weight)
Page
stepping motor Single shaft Double shaft [A/phase] [N-m(oz·in)]
[x 10-4kg
·
m2(
oz·in
2)]
[kg(lbs)]
ø86mm 103H8221-09411103H8221-0911142.15(304.5) 1.45(7.93) 1.5(3.31) 91
103H8222-09411103H8222-0911144.13(584.8) 2.9(15.86) 2.5(5.51) Page
(3.39inch) 103H8223-09411103H8223-0911146.27(887.9) 4.4(24.06) 3.5(7.72)
ø106mm 103H89222-0941 103H89222-0911 4 10.8(1529.4) 14.6(79.83) 7.5(16.53) 97
(4.17inch) 103H89223-0941 103H89223-0911 4 15.5(2194.9) 22(120.28) 10.5(23.15) Page
Input source
Source current
Rated current
Operating ambient temperature
Conservation temperature
Operating ambient humidity
Conservation humidity
Vibration resistance
Impact resistance
Withstand voltage
Insulation resistance
Mass(Weight)
Protection function
Selection, setting
function
LED indicator
Signal Name (Brevity code)
Silk-screen printing
CW pulse CW+
Input signal (CW)
CW-
CCW pulse CCW+
Input signal (CCW)
CCW-
Alarm AL1
output (AL) AL2
I/O signals Function Basic specifications
Environment
PMM-UA-4304-1PMM-UA-4303-1
Item
Single phase AC 100V+10,--15% 50/60Hz±3Hz
3A 5A
2A/phase (Changeable to 1.2A/phase, refer to Page 20)
4A/phase
0~+50˚C
-20~+70˚C
35~85%RH (no condensation)
10~90%RH (no condensation)
4.9m/s2Frequency range 10~55Hz, Direction: along X, Y and Z axes, for 2 hours each.
Considering the NDS-C-0110 standard section 3.2.2 division “C”, not influenced.
Not influenced when AC 1000V is applied between power input terminal and cabinet for one minute.
10MΩMIN. when measured with DC500V megohmmeter between input terminal and cabinet.
0.6kg(1.32lbs) 3kg(6.61lbs)
Against PM driver overheat
Exciting mode selection-- DIP switches enables selection of Full-step and Half-step mode.
Automatic current down selection-- Automatic current down function can be selected.
Driving current switch setting- DIP switch enables setting driving current of the Stepping Motor.
PMM-UA-4303-1 --- 1A/phase, 1.2A/phase, 1.5A/phase, 1.8A/phase, 2A/phase 5 selections.
PMM-UA-4304-1 --- 3.6A/phase, 4A/phase, 4.6A/phase, 5A/phase, 4 selections.
Alarm monitor.
Inputs driving pulses to rotate in CW direction.
Photo coupler input method, input resistance 150ΩInput signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
Maximum input frequency:20kpulse/s
Input driving pulses to rotate in CCW direction.
Photo coupler input method, input resistance 150ΩInput signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
Maximum input frequency:20kpulse/s
Outputs signal when either alarm circuit is activated in the PM driver.
When this signal is generated, the stepping motor is made in the de-excited state.
Photocoupler open collector output (at normal open), Output specification : Veco = 30VDC MAX. Ic = 5mA MAX.
18
56
50
42
60
ø86
ø106
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
Specifications of PM Driver
•The CW direction indicated above is the rotation direction of the stepping motor in clockwise as facing to the output shaft side (flange side). The CCW direction is the
same in counter-clockwise.
Pulse I/F (AC power input)
19
5µs MIN
1µs MAX.1µs MAX.
Rotation
10%
50%
90%
4.0~5.5V
0~0.5V
150Ω
PM driver
Approx.25mA
+5V
Input signal
+
-
R
Photo coupler
50µs MIN
CCW
CW
Operation, Connection, and Function
●Input circuit configuration (CW, CCW) --- MM-UA-4303-1 and PMM-UA-4304-1 in common
•Pulse duty 50% MAX.
•When the crest value of the input signal is 5V, the external limit resistance R
must be 0Ω.
When the crest value of the input signal exceeds 5V, use the external limit
resistance R to limit the input current to approximately 25mA.
Timing of the command pulse 2-input mode (CW, CCW)
•The internal photo coupler turns ON within the and, at its falling edge to OFF,
the internal circuit (stepping motor) is activated.
•When applying the pulse to CW, turn OFF the CCW side internal photo coupler.
•When applying the pulse to CCW, turn OFF the CW side internal photo coupler.
Input signal specifications
Alarm output signal
Photocoupler
PM driver
1
2
MAX. 5mA
MAX. 30V
●Output circuit configuration (AL) --- PMM-UA-4303-1 and PMM-UA-4304-1 in common
•Alarm output signal
Contact mode: Photocoupler open collector output
Contact capacity: 30V DC 5mA MAX.
56
50
42
60
ø86
ø106
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
20
Operation, Connection, and Function
PMM-UA
-4303
CW
CCW
AL
COM
A
B
C
D
AC
1
2
+
-
+
-
~
~PM driver mounting screw
(For frame grounding output)
●PM deriver component names
1
3
2
PMM-UA-4303-1
PMM-UA-4303-1
PMM-UA-4304-1
PMM-UA-4304
CW
CCW
COM1
COM2
AL
AC
1
2
+
-
+
-
A
B
C
D
FG
MOTOR
~
~
use proper
grounding
technigues.
!
WARNING
May Cause
electric shock.
1
3
2
1Monitor indication (AL) --- PMM-UA-4303-1 and PMM-BA-4304-1 in common
Indication
Color State
AL Red When the element temperature becomes 80˚C MIN, in the PM driver, heat protective alarm circuit for the internal
elements is activated and this LED illuminates.As the alarm circuit is activated, the operating current is shut and the
stepping motor becomes in a de-excited state. Simultaneously, the alarm output relay is closed to generate the output
signal. When the element temperature falls back to 80˚C MAX, the alarm is automatically released and the current flows
into the stepping motor. When the alarm is ON, turn the main power OFF before the automatic recovery system works,
and take measures to reduce heat generation such as forced cooling to the PM driver enclosure
1OH (OH selection)
This switch is not used. Do not set
it to OFF.
234
IS1, IS2, IS3 (Operating current selection)
*When excited for single phase:
5
SL (Auto current down selection)
Select for the automatic current
reduction.
6EX (Exciting mode selection)
Select exciting mode.
EX Exciting mode
ON Half step (0.9°/pulse)
OFF Full step (1.8°/pulse)
IS3 IS2 IS1
Wire-wound current (*)
OFF OFF OFF 2A/phase
ON OFF OFF 1.8A/phase
OFF ON OFF 1.5A/phase
OFF OFF ON 1.2A/phase
ON OFF ON 1.0A/phase
IS3
IS1
SL
EX
IS2
OH ON
ON
ON
ON
OFF
OFF
OFF
1
2
3
4
5
6
•The factory setting is shown in the figure above.
•Turn off the power supply to the PM driver before
changing DIP switch setting.
•The operating current reduces to 80%
for the 2-phase exciting.
2Function selection DIP switch pack (OH, IS3, IS2, IS1, SL,EX)
•The temperature increase in the motor
driver can be controlled by setting SL to
On(approx.50% of the rated current).
•
The output torque when SL is On(approx. 50%
of the rated current) is approx.50% of the that
when SL is Off (100% of the rated current).
SL Auto current down
ON
Approx 50% of current rating when stopped
OFF
100% of current rating when stopped
Operation, Connection, and Function
21
Pulse I/F (AC power input)
•The operating current reduces to 80%
for the 2-phase exciting.
1OH (OH selection)
This switch is not used. Do not set
it to OFF.
234
IS1, IS2, IS3 (Operating current selection)
*When excited for single phase:
5
SL (Auto current down selection)
Select for the automatic current
reduction.
6EX (Exciting mode selection)
Select exciting mode.
EX Exciting mode
ON Half step (0.9°/pulse)
OFF Full step (1.8°/pulse)
IS3 IS2 IS1
Wire-wound current (*)
OFF OFF OFF 5A/phase
ON OFF OFF 4.6A/phase
OFF ON OFF 4A/phase
OFF OFF ON 3.6A/phase
IS3
IS1
SL
EX
IS2
OH ON
ON
ON
ON
OFF
ON
OFF
1
2
3
4
5
6
•The factory setting is shown in the figure above.
•Turn off the power supply to the PM driver before
changing DIP switch setting.
PMM-UA-4304-1
PMM-UA-4303-1
TB
CW
CCW COM
AL M
A
B
C
D
PM driver mounting screw
AC100V
CW pulse input
Note 2)
Note 1)
CCW pulse input
Alarm output
Frame ground output
Note 3)
~
~
1
2
+
+
Orange
Black
White
Blue
Red
Yellow
+10%
-15%
●External wiring diagram
Note 1) Use twist pair shielded cables.
Note 2) Ground the flange of the stepping motor by fastening the grounding wire together with its mounting screw.
The grounding shall be made at a single point.
Note 3) Make grounding by the stepping motor mounting screw share for mounting the PM driver. The grounding shall be made at a single point.
TB
CW
CCW
COM1
COM2
AL M
A
B
C
D
FG
AC100V+10%
-15%
CW pulse input
Note 2)
Note 1)
CCW pulse input
Alarm output
Frame ground output
~
~
1
2
+
+
Orange
Black
White
Blue
Red
Yellow
Note 1) Use twist pair shielded cables.
Note 2) Ground the flange of the stepping motor by fastening the grounding wire together with its mounting screw.
The grounding shall be made at a single point.
PMM-UA-4304-1
Connects I/O signals, single phase AC power supply, and the stepping
motor power cord.
3Terminal block (TB) --- PMM-UA-4303-1 and PMM-BA-4304-1 in common
•The temperature increase in the motor
driver can be controlled by setting SL to
On(approx.50% of the rated current).
•
The output torque when SL is On(approx. 50%
of the rated current) is approx.50% of the that
when SL is Off (100% of the rated current).
SL Auto current down
ON
Approx 50% of current rating when stopped
OFF
100% of current rating when stopped
56
50
42
60
ø86
ø106
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
22
Dimensions [Unit:mm(inch)]
PMM-UA
-4303
CW
CCW
AL
COM
A
B
C
D
AC
1
2
+
-
+
-
~
~
10(.39) MAX. 133
(5.24)
4(.16)
MAX.
39
(1.54)
2-M4x0.7(.028) (Screw holes)
65±0.5
(2.56±.02)
15±0.2
(.59±.01)
9
(.35)
20
(.79)
113
(4.45)
PMM-UA-4304
CW
CCW
COM1
COM2
AL
AC
1
2
+
-
+
-
A
B
C
D
FG
MOTOR
~
~
use proper
grounding
technigues.
!
WARNING
May Cause
electric shock.
150
(5.91)
80
(3.15)
10(.39) MAX.
4(.16)
MAX.
130
(5.12)
110±0.5
(4.33±.02)
58±0.3
(2.28±.01)
7
(.28)
15
(.59)
25
(.98)
2-M4x0.7(.028) (Screw holes)
PMM-UA-4303-1
PMM-UA-4304-1
MAX. 7 mm(.28inch)
•Mount the PM driver as it stands upright.
•Use the mounting holes in the bottom of the PM driver with M4 screws as shown in the figure.
(No mounting hardware is required.)
•The length of the screws projecting inward the driver enclosure shall be shorter than 7mm(0.28inch).
MAX. 7 mm(.28inch)
PMM-UA-4303-1 PMM-UA-4304-1
Mounting direction and mounting position [Unit:mm(inch)]
23
Pulse I/F (AC power input)
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
4
8
12
16
20
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0fs fs
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
1
2
3
4
5
0
Pulse rate (kpulse/s)
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz·in.)
70
0
60
50
40
30
20
10
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
●103H5205-04□□：100V
Source voltage: AC100V,Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2(5.14 oz·in2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2(5.14 oz·in2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2(5.14 oz·in2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2(5.14 oz·in2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2(5.14 oz·in2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2(5.14 oz·in2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
●103H5209-04□□：100V
●103H6701-04□□：100V
●103H5208-04□□：100V
●103H5210-04□□：100V
●103H6703-04□□：100V
fs: No load maximum starting pulse rate. ■Full-step ■Half-step
PMM-UA-4303-1
56
50
42
60
ø86
ø106
24
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2(5.14 oz·in2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2(5.14 oz·in2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2(14.22 oz·in2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2(5.14 oz·in2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2(5.14 oz·in2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2(5.14 oz·in2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
●103H6704-04□□：100V
●103H7123-04□□：100V
●103H7126-04□□：100V
●103H7121-04□□：100V
●103H7124-04□□：100V
●103H7821-04□□：100V
fs: No load maximum starting pulse rate. ■Full-step ■Half-step
PMM-UA-4303-1
25
Pulse I/F (AC power input)
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
Torque(oz·in.)
140
0
120
100
80
60
40
20
0.2
0.4
0.6
0.8
1
0fs fs
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
4
8
12
16
20
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
10
20
30
40
50
0
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
4
8
12
16
20
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
10
20
30
40
50
0
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
●103H7822-04□□：100V
●103H8221-04□□：100V
●103H8223-04□□：100V
●103H7823-04□□：100V
●103H8222-04□□：100V
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
4
8
12
16
20
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
●103H8221-09□□：100V
fs: No load maximum starting pulse rate. ■Full-step ■Half-step
PMM-UA-4304-1
PMM-UA-4303-1
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz·in2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [JL1=15.3x10-4kg·m2 (83.65 oz·in2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [JL1=15.3x10-4kg·m2 (83.65 oz·in2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 4A/phase
Pull-Out torque [JL1=15.3x10-4kg·m2 (83.65 oz·in2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [
J
L1
=15.3x10-4kg·m2
(83.65 oz·in2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz·in2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
56
50
42
60
ø86
ø106
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
26
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
40
80
120
160
200
0
1000 2000 3000 5000100
1000 2000 3000 5000100
4
8
12
16
20
0fs fs
Torque(oz·in.)
2500
0
2000
1500
1000
500
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1000 2000 3000 5000100
1000 2000 3000 5000100
Number of rotations (min-1)
Full-step
Half-step
20
40
60
80
100
0
2
4
6
8
10
0fs fs
Torque(oz·in.)
1400
0
1200
1000
800
600
400
200
●103H8223-09□□：100V
●103H89223-09□□：100V
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
10
20
30
40
50
0
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
●103H8222-09□□：100V
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
Full-step
Half-step
20
40
60
80
100
0
1000 2000 3000 5000100
1000 2000 3000 5000100
2
4
6
8
10
0fs fs
Torque(oz·in.)
1400
0
1200
1000
800
600
400
200
●103H89222-09□□：100V
Options
●Terminal board cover
PMM-UA-4303-1 PMM-UA-4304-1
Model No. PM-AP-018 Model No. PM-AP-019
fs: No load maximum starting pulse rate. ■Full-step ■Half-step
PMM-UA-4304-1
Source voltage: AC100V, Operating current : 4A/phase
Pull-Out torque [JL1=15.3x10-4kg·m2 (83.65 oz·in2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 4A/phase
Pull-Out torque [JL1=43x10-4kg·m2 (235.10 oz·in2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V,Operating current 4A/phase
Pull-Out torque [
J
L1
=43x10-4kg·m2
(235.10 oz·in2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: AC100V, Operating current : 4A/phase
Pull-Out torque [
J
L1
=15.3x10-4kg·m2
(83.65 oz·in2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Pulse I/F (DC power input)
27
PMM-MD-23210-10 (Photo coupler input method)
PMM-MD-23211-10 (CMOS input method)
2-phase Stepping Driver
DC24V/36V
Unipolar type
(Applicable motor rated current 1.2A/phase, 2A/phase)
Micro-step (200 X 1~8 divisions)
(Smooth operation and low vibration even at low speeds.)
●Applicable motor
28
PMM-MD-23220-10 (Photo coupler input method)
PMM-MD-23221-10 (CMOS input method)
●Applicable motor
50
56
56
60
ø86
PMM-MD-23220-21 (Photo coupler input method)
PMM-MD-23221-21 (CMOS input method)
●Applicable motor
35
Standard combined stepping motors
PMM-MD-23210-10,PMM-MD-23211-10
PMM-MD-23220-21,PMM-MD-23221-21
PMM-MD-23220-10,PMM-MD-23221-10
•For information about the general specifications and dimensions of each stepping motor, refer to its page.
Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia
Mass(Weight)
Page
stepping motor Single shaft Double shaft [A/phase] [N·m(oz·in)]
[x 10-4kg
·
m2
(oz·in
2
)
]
[kg(lbs)]
□
28mm(1.10inch)
103H3215-5240 103H3215-5210 1 0.062(8.78) 0.016(0.09) 0.22(0.49)
65 Page
Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia
Mass(Weight)
Page
stepping motor Single shaft Double shaft [A/phase] [N·m(oz·in)]
[x 10-4kg
·
m2
(oz·in
2
)
]
[kg(lbs)]
103H6701-0440 103H6701-0410 2 0.28(39.6) 0.057(0.31) 0.35(0.77) 75
□50mm 103H6703-0440 103H6703-0410 2 0.49(69.4) 0.118(0.65) 0.5(1.10) Page
(1.97inch) 103H6704-0440 103H6704-0410 2 0.52(73.6) 0.14(0.77) 0.5(1.10)
103H7121-0440 103H7121-0410 2 0.39(55.2) 0.1(0.55) 0.47(1.04)
□56mm 103H7123-0440 103H7123-0410 2 0.83(117.5) 0.21(1.15) 0.65(1.43) 79
(2.20inch) 103H7124-0440 103H7124-0410 2 0.98(138.8) 0.245(1.34) 0.8(1.76) Page
103H7126-0440 103H7126-0410 2 1.27(179.8) 0.36(1.97) 0.98(2.16)
103H7821-0440 103H7821-0410 2 0.78(110.5) 0.275(1.50) 0.6(1.32) 87
□60mm 103H7822-0440 103H7822-0410 2 1.17(165.7) 0.4(2.19) 0.77(1.70) Page
(2.36inch) 103H7823-0440 103H7823-0410 2 2.1(297.4) 0.84(4.59) 1.34(2.95)
103H8221-0441 103H8221-0411 2 2.15(304.5) 1.45(7.93) 1.5(3.31) 91
ø86mm 103H8222-0441 103H8222-0411 2 4.13(584.8) 2.9(15.86) 2.5(5.51) Page
(3.39inch) 103H8223-0441 103H8223-0411 2 6.27(887.9) 4.4(24.06) 3.5(7.72)
Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia
Mass(Weight)
Page
stepping motor Single shaft Double shaft [A/phase] [N·m(oz·in)]
[x 10-4kg
·
m2
(oz·in
2
)
]
[kg(lbs)]
SH3533-12U40 SH3533-12U10 1.2 0.12(16.99) 0.02(1.09) 0.17(0.37) 61
□35mm SH3537-12U40 SH3537-12U10 1.2 0.15(21.24) 0.025(1.37) 0.2(0.44) Page
SH3552-12U40 SH3552-12U10 1.2 0.24(33.99) 0.043(2.35) 0.3(0.66)
103H5205-0440 103H5205-0410 1.2 0.2(28.32) 0.036(0.20) 0.23(0.51)
□42mm 103H5208-0440 103H5208-0410 1.2 0.3(42.48) 0.056(0.31) 0.29(0.64) 64
(1.65inch) 103H5209-0440 103H5209-0410 1.2 0.32(45.31) 0.062(0.34) 0.31(0.68) Page
103H5210-0440 103H5210-0410 1.2 0.37(52.39) 0.074(0.40) 0.37(0.82)
28
ø86
60
56
50
42
28
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
Specifications of PM Driver
Item
Input source
Getaway
torque
Environment
Basic specifications
I/O signals
DC24V/36V±10%
----- DC5V±5%
2A 2A 3A 2A 2A 3A
----- 0.5A
1A/phase 1.2A/phase 2A/phase 1A/phase 1.2A/phase 2A/phase
0~+50˚C
-20~+70˚C
35~85% RH (no condensation)
10~90% RH (no condensation)
4.9m/s2Frequency range 10~55Hz, Direction: along X,Y and Z axes, for 2 hours each.
Considering the NDS-C-0110 standard section 3.2.2 division “C”, not influenced.
Not influenced when AC500V is applied between power input terminal and cabinet for one minute.
10M
Ω
MIN. when measured with DC500V megohmmeter between input terminal and cabinet.
0.18kg(0.4lbs)
Pulse input mode selection-- DIP switches enables selection of Pulse and direction and 2-input mode.
Resolution setting-- DIP switches enables 4 divisions ranging from 1~8 resolution.
Power down --- External signal input enables to turn off the current that flows through the stepping motor.
Automatic current down selection-- Automatic current down function can be selected.
Resolution selection--- External signal input enables to select 1 division (Full-step) and 2 divisions (Half-step)
(Resolution selection function is only for photo coupler input method type)
In the 2-input mode, inputs driving pulses to rotate in CW direction.
In the Pulse and direction mode, inputs driving pulse train to rotate the step motor rotation.
Photo coupler input method, input resistance 330Ω
CMOS input method
Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
Maximum input frequency:20kpulse/s Maximum input frequency:20kpulse/s.
In the 2-input mode, inputs driving pulses to rotate in CCW direction.
In the Pulse and direction mode, inputs rotation direction signals to the stepping motor.
Internal photo coupler ON (CMOS type: “H” level:) --- CW direction
Internal photo coupler OFF (CMOS type: "L" level)--- CCW direction.
Photo coupler input method, input resistance 330Ω
CMOS input method
Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
Maximum input frequency:20kpulse/s Maximum input frequency:20kpulse/s.
Inputs PD signal to turn off the current that flows through the stepping motor.
Internal photo coupler ON (CMOS type: “L” level input) --- Power down function is enabled.
Photo coupler input method, input resistance 330Ω
CMOS input method
Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
By the input S or SEL signal, the step angle of
full-step or half-step is selected.
“H” level: --- Half-step “L” level --- Full-step
CMOS input method
Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
Indicates ON when the exciting phase is at the origin position.
In the full-step, outputs once for every 4 pulses. In the half-step, outputs once for every 8 pulse
From the photo coupler by the open collector output (ON at the phase origin).
From the transistor by the open collector output (ON at the phase origin).
Output specification: Vceo=30V MAX. Ic=5mA MAX.
Output specification: Vceo=30V MAX. Ic=5mA MAX.
Main power
Control power
Main power
Control power
Rated current
Operating ambient temperature
Conservation temperature
Operating ambient humidity
Conservation humidity
Vibration resistance
Impact resistance
Withstand voltage
Insulation resistance
Mass(Weight)
Selection, setting
function
Pin No. (CN1)
Function
Photo coupler input method
PMM-MD-
23210-10
PMM-MD-
23220-21
PMM-MD-
23220-10
PMM-MD-
23211-10
PMM-MD-
23221-21
PMM-MD-
23221-10
CMOS input method
•Stepping motor rotation in the CW direction means clockwise rotation when facing the output shaft (the flange side) of the stepping motor. CCW direction means
counterclockwise rotation when facing the same side.
•Set the DIP switch as follows when using the step angle selection function by signal input.
•When the half-step is selected by the step angle selection signal, its torque ought to be 70% of that for the full-step.
Signal Name
(Brevity code)
CW pulse
Input signal (CW)
(CK)
1
2
7
Photo coupler
input method
CMOS input
method
CCW pulse Input
signal (CCW)
(U/D)
3
4
8
Power
down
input
signal (PD)
5
6
9
Step angle
selection
input
(S. SEL)
----- 10
Phase origin
monitor
output signal
(MON)
7
811
EX1 EX2 EX3
OFF ON ON
Pulse I/F (DC power input)
29
50µs MIN.
CCW
CW
10µs MIN.
U/D
CK
PM driver
CMOS
5G
5G 5G
Controller
Input signal 7 (8)
6
10kΩ
1kΩ
10%
50%
90%
4.0~5.5V
0~0.5V
Rotation
5µs MAX.5µs MAX.
20µs MIN.
10µs MIN.
U/D
CK
50µs MIN.
CCW
CW
20µs MIN.
5µs MAX.5µs MAX.
Rotation
10%
50%
90%
4.0~5.5V
0~0.5V
330ΩPhoto coupler
PM driver
Approx.15mA
+5V
Input signal
1(3)
2(4)
R
Operation, Connection, and Function
●Input circuit configuration (CW, CCW)
•Pulse duty 50% MAX.
•When the crest value of the input signal is 5V, the external
limit resistance R must be 0
Ω.
When the crest value of the input signal exceeds 5V, use
the external limit resistance R to limit the input current to
approximately 15mA.
Timing of command pulse
•The internal photo coupler turns ON within the and, at
its rising edge to ON, the internal circuit (stepping motor) is
activated.
•When applying the pulse to CW, turn OFF the CCW side
internal photo coupler.
•When applying the pulse to CCW, turn OFF the CW side
internal photo coupler.
•The internal photo coupler turns ON within the and, at
the rising edge to ON of the CK photo coupler, the internal
circuit (stepping motor) is activated.
•Switching the input signal U/D shall be performed while the
internal photo coupler on the CK side is OFF.
Input signal specifications
●Input circuit configuration (CW, CCW)
•Pulse duty 50% MAX.
•2-input mode (CW, CCW)
•Pulse and direction mode (CK,U/D)
Input signal specifications
Timing of command pulse
•The "H" level is input for and, at its rising edge to “H”
level, the internal circuit (stepping motor) is activated.
•Switching the input signal U/D should be performed
while the input level on the CK side is “L”.
•The “H” level is input at and, at its rising edge to “H”
level, the internal circuit (stepping motor) is activated.
•When applying the pulse to CW, turn OFF the CCW side
internal photo coupler.
•When applying the pulse to CCW, turn OFF the CW side
internal photo coupler.
•2-input mode (CW, CCW)
•Pulse and direction mode (CK,U/D)
PMM-MD-23210-10(Photo coupler input method)
PMM-MD-23211-10(CMOS input method)
PMM-MD-23220-21(Photo coupler input method)
PMM-MD-23221-21(CMOS input method)
PMM-MD-23220-10(Photo coupler input method)
PMM-MD-23221-10(CMOS input method)
ø86
60
56
50
42
28
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
30
Operation, Connection, and Function
●Output circuit configuration (MON) ●Output circuit configuration (MON)
CCW pulse
CW pulse
MON output
MAX. 5mA
MAX. 30V
PM driver
Phase origin monitor
output signal
Photo coupler
7
8
•Phase origin monitor output signal
Contact mode: Open collector output of the photo coupler
Contact capacity: DC30V 5mA MAX.
Timing of MON output (in 1-division setting)
CCW pulse
CW pulse
MON output
Timing of MON output (in 1-division setting)
PMM-MD-23210-10(Photo coupler input method)
MAX. 5mA
MAX. 30V
5G 5G
6
11
Phase origin monitor
output signal
Transistor
PM driver
•Phase origin monitor output signal
Contact mode: Open collector output by the transistor
Contact capacity: DC30V 5mA MAX.
PMM-MD-23211-10(CMOS input method)
PMM-MD-23220-21(Photo coupler input method)
PMM-MD-23221-21(CMOS input method)
PMM-MD-23220-10(Photo coupler input method)
PMM-MD-23221-10(CMOS input method)
●Input circuit configuration (PD)
330Ω
PM driver
Approx.15mA
+5V
Input signal
R
Photo coupler
5
6
•When the crest value of the input signal is 5V, the external
limit resistance R must be 0
Ω.
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 circuit configuration (PD, S, SEL)
10kΩ
9 (10)
6
1kΩ
5V
5G
5G5G
Controller
Input signal
PM driver
CMOS
•The internal photo coupler or transistor turns ON at .•The internal photo coupler or transistor turns ON at .
31
Pulse I/F (DC power input)
Operation, Connection, and Function
DWS1
SL
SL
IS
OV
5V
F/R
EX1
EX2
EX3
1
1
1
2
3
4
5
CH
CN2
CN3 CN1A
VRI
DWS1
SL
SL
IS
OV
5V
F/R
EX1
EX2
EX3
1
1
2
3
4
5
CH
CN1B
CN2 VRI
●PM deriver component names
PMM-MD-23210-10(Photo coupler input method) PMM-MD-23211-10(CMOS input method)
PMM-MD-23220-21(Photo coupler input method) PMM-MD-23221-21(CMOS input method)
PMM-MD-23220-10(Photo coupler input method) PMM-MD-23221-10(CMOS input method)
1
45 3 2
1
623
•The factory setting is shown in the figure above.
•Turn off the power supply to the PM driver before
changing DIP switch setting.
345
EX1, EX2, EX3 (Step angle setting selection)
Enables selection of division numbers of
basic step angles when micro step is driven.
1
SL (Auto current down selection)
Select Auto current down function
selection.
2
F/R (Pulse-input method selection)
Select the pulse-input method.
F/R Pulse-input mode
ON 2-input mode (CW, CCW)
OFF
Pulse and direction mode (CK, U/D)
EX1 EX2 EX3
Number of divisions
ON ON ON 1 (Full step)
OFF ON OFF 2 (Half step)
ON OFF OFF 4
OFF OFF OFF 8
SL EX1 EX2 EX3F/R
ON OFFONOFFON
ON
12345
1Function selection DIP switch pack --- All models in common
The controller is to adjust operating-current of the stepping motor.
The factory setting is at the rated current of standard combined stepping motor.
2Operating-current adjustment controller (VR1) --- All models in common
Connects I/O line
4Connector (CN1A) --- Photo coupler input method
Connects motor power line
3Connector (CN2) --- All models in common
Connect I/O line and DC power line
6Connector (CN1B) --- CMOS input method
Connects DC power line
5Connector (CN3) --- Photo coupler input method
•The temperature increase in the motor
driver can be controlled by setting SL to
On(approx.50% of the rated current).
•
The output torque when SL is On(approx. 50%
of the rated current) is approx.50% of the that
when SL is Off (100% of the rated current).
SL Auto current down
ON
Approx 50% of current rating when stopped
OFF
100% of current rating when stopped
ø86
60
56
50
42
28
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
32
Operation, Connection, and Function
White
Black
Orange
Blue
Red
Yellow
M
1
CN2
CN3
DC24V/36V
DC24G/36G
Note 2) CW pulse input
Note 2) CCW pulse input
CN1A
2
3
4
5
6
1
2
2
1
3
4
5
6
7
8
Power down input
Phase origin monitor output
Note 1)
Note 3)
When motor output is lead wire type
●External wiring diagram
PMM-MD-23210-10(Photo coupler input method)
PMM-MD-23220-21(Photo coupler input method)
PMM-MD-23220-10(Photo coupler input method)
●Connectors used
●Connectors used
PM Diver side Corresponding connector model number Maker
Use Model number
For I/O signal 5045-08AG Corresponding housing: 5051-08 Molex
(CN1A) Corresponding contact: 2759PBG
For stepping motor 5045-06A Corresponding housing: 5051-06 Molex
(CN2) Corresponding contact: 5159PBT
For DC power source
5273-02A Corresponding housing: 5195-02 Molex
(CN3) Corresponding contact: 5194PBT
•
For the applicable connector, the client is requested to procure or place orders with us from the optional connector sets or the connector cables we offer. (Refer to the page 41.)
Note 1) Use twist pair shielded cables.
Note 2) Selection is possible between “2-input mode (CW, CCW)” and “Pulse and direction mode (CK, U/D)” by the function selection switch F/R.
Note 3) Motor output of stepping motor models 103H3215, 103H52 □□ , 103H782 □are connector type.
Motor side pin number and driver side connector(CN2) pin number is not match. So please be careful when connecting.
PM Diver side Corresponding connector model number Maker
Use Model number
For DC power source and I/O signals
5045-12AG Corresponding housing: 5051-12 Molex
(CN1B) Corresponding contact: 2759PBG
For stepping motor 5045-06A Corresponding housing: 5051-06 Molex
(CN2) Corresponding contact: 5159PBT
•
For the applicable connector, the client is requested to procure or place orders with us from the optional connector sets or the connector cables we offer. (Refer to the page 41.)
White
Black
Orange
Blue
Red
Yellow
1
CN2
DC24/36V
DC24/36G
Note 2) CW pulse input
Note 2) CCW pulse input
CN1B
DC5V
DC5G
NC
2
3
4
5
6
1
2
3
4
5
6
7
8
9
10
11
12
Note 3)
Step angle selection input
Phase origin monitor output
Power down input
Note 1)
M
When motor output is lead wire type
PMM-MD-23211-10(CMOS input method)
PMM-MD-23221-21(CMOS input method)
PMM-MD-23221-10(CMOS input method)
CN2
M
1
2
3
4
5
6
6
Connector
1
4
2
5
3
CN2
M
1
2
3
4
5
6
1
Connector
6
2
3
5
4
CN2
M
1
2
3
4
5
6
1
Connector
6
2
3
4
5
CN2
M
1
2
3
4
5
6
6
Connector
1
4
2
5
3
CN2
M
1
2
3
4
5
6
1
Connector
6
2
3
5
4
CN2
M
1
2
3
4
5
6
1
Connector
6
2
3
4
5
When motor output is connector type
Note 3)
When motor output is connector type
Note 3)
33
Pulse I/F (DC power input)
M3
Dimensions [Unit:mm(inch)]
Mounting direction and mounting position
•Install the PM driver vertically.
•As shown in the figure, fix the PM driver by using
the M3 screws through two fitting holes (2-φ4) on
the bottom surface of PM driver(no fitting metals
are necessary).
PMM-MD-23210-10(Photo coupler input method)
PMM-MD-23220-21(Photo coupler input method)
PMM-MD-23220-10(Photo coupler input method)
83(3.27)
73(2.87)5
(.20)
5
(.20)
42
(1.65) 55.5
(2.19)
14.5
(.57)
10
(.39)
31
(1.22)
2-ø4(2-ø.16)
Screw holes
DSW1
SL
SL
IS
OV
5V
F/R
EX1
EX2
EX3
1
1
1
2
3
4
5
CH
CN2
CN3 CN1A
VRI
83(3.27)
73(2.87)5
(.20)
5
(0.20)
42
(1.65)
55.5
(2.19)
14.5
(.57)
10
(.39)
31
(1.22)
2-ø4(2-ø.16)
Screw holes
DWS1
SL
SL
IS
OV
5V
F/R
EX1
EX2
EX3
1
1
2
3
4
5
CH
CN1B
CN2 VRI
PMM-MD-23211-10(CMOS input method)
PMM-MD-23221-21(CMOS input method)
PMM-MD-23221-10(CMOS input method)
ø86
60
56
50
42
28
34
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
0.2
0.4
0.6
0.8
1.0
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.02
0.04
0.06
0.08
0.1
0fs fs
Torque(oz·in.)
14
0
12
10
8
6
4
2
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
0.2
0.4
0.6
0.8
1.0
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.02
0.04
0.06
0.08
0.1
0fs fs
Torque(oz·in.)
14
0
12
10
8
6
4
2
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
●103H3215-52□□：24V
Source voltage: DC24V, Operating current :1A/phase
Pull-Out torque [JL1=0.33x10-4kg·m2 (1.80 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current :1A/phase
Pull-Out torque [JL1=0.33x10-4kg·m2 (1.80 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
●103H3215-52□□：36V
fs: No load maximum starting pulse rate.
■
1-division is specified
■
2-division is specified
PMM-MD-23210-10 PMM-MD-23211-10
PMM-MD-23220-21 PMM-MD-23221-21
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1000 2000 3000 5000100
1000 2000 3000 5000100
0.04
0.08
0.12
0.16
0.2
0
fs fs
Torque (kgf-cm)
0.4
0.8
1.2
1.6
2
0
Torque(oz·in.)
25
0
20
15
10
5
●SH3533-12U□□：24V
Source voltage: DC24V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.33x10-4kg·m2 (1.80 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
回転数（ｍｉｎ
-1）
1-division
2-division
0.4
0.8
1.2
1.6
2
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.04
0.08
0.12
0.16
0.2
0
fs fs
Torque(oz·in.)
25
0
20
15
10
5
Source voltage: DC36V, Operating current :1.2A/phase 2-phase energization (full-step)
Pull-Out torque [JL1=0.33x10-4kg·m2 (1.80 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
●SH3533-12U□□：36V
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
0.4
0.8
1.2
1.6
2
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.04
0.08
0.12
0.16
0.2
0
fs fs
Torque(oz·in.)
25
0
20
15
10
5
●SH3537-12U□□：24V
Source voltage: DC36V, Operating current :1.2A/phase 2-phase energization (full-step)
Pull-Out torque [JL1=0.33x10-4kg·m2 (1.80 oz·in2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
0.4
0.8
1.2
1.6
2
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.08
0.12
0.16
0.2
0
fs fs
Torque(oz·in.)
25
0
20
15
10
5
Source voltage: DC36V, Operating current :1.2A/phase 2-phase energization (full-step)
Pull-Out torque [JL1=0.33x10-4kg·m2 (1.80 oz·in2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
●SH3537-12U□□：36V
35
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
Pulse I/F (DC power input)
Source voltage: DC24V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current:1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
fs fs
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
●103H5205-04□□：24V
●103H5208-04□□：24V
●103H5205-04□□：36V
●103H5208-04□□：36V
PMM-MD-23220-21 PMM-MD-23221-21
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz·in.)
70
0
60
50
40
30
20
10
●SH3552-12U□□：24V
Source voltage: DC24V, Operating current :1.2A/phase 2-phase energization (full-step)
Pull-Out torque [JL1=0.33x10-4kg·m2 (1.80 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
7
8
9
10
4
5
0.4
0.5
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
Number of rotations (min-1)
1-division
2-division
1
2
3
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0
fs fs
Torque(oz·in.)
70
0
60
50
40
30
20
10
Source voltage: DC36V, Operating current :1.2A/phase 2-phase energization (full-step)
Pull-Out torque [JL1=0.33x10-4kg·m2 (1.80 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
●SH3552-12U□□：36V
fs: No load maximum starting pulse rate.
■
1-division is specified
■
2-division is specified
36
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
ø86
60
56
50
42
28
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
●103H5209-04□□：24V ●103H5209-04 □□：36V
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
●103H5210-04□□：24V ●103H5210-04 □□：36V
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
●103H6701-04□□：24V ●103H6701-04 □□：36V
fs: No load maximum starting pulse rate.
■
1-division is specified
■
2-division is specified
PMM-MD-23220-10 PMM-MD-23221-10
PMM-MD-23220-21 PMM-MD-23221-21
Source voltage: DC24V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
37
Pulse I/F (DC power input)
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1.0
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1.0
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1.0
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1.0
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
●103H6703-04□□：24V
●103H6704-04□□：24V
●103H6703-04□□：36V
●103H6704-04□□：36V
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
0.1
0.2
0.3
0.4
0.5
0fs fs
●103H7121-04□□：24V ●103H7121-04 □□：36V
fs: No load maximum starting pulse rate.
■
1-division is specified
■
2-division is specified
PMM-MD-23220-10 PMM-MD-23221-10
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
38
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
ø86
60
56
50
42
28
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1.0
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
4
8
12
16
20
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1.0
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
4
8
12
16
20
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
●103H7123-04□□：24V
●103H7124-04□□：24V
●103H7123-04□□：36V
●103H7124-04□□：36V
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1-division
2-division
Number of rotations (min-1)
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0
4
8
12
16
20
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
4
8
12
16
20
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
●103H7126-04□□：24V ●103H7126-04□□：36V
PMM-MD-23220-10 PMM-MD-23221-10
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [
JL1=2.6x10-4kg·m2
(14.22 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
fs: No load maximum starting pulse rate.
■
1-division is specified
■
2-division is specified
39
Pulse I/F (DC power input)
fs: No load maximum starting pulse rate.
■
1-division is specified
■
2-division is specified
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1.0
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
4
8
12
16
20
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1.0
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
4
8
12
16
20
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
●103H7821-04□□：24V
●103H7822-04□□：24V
●103H7821-04□□：36V
●103H7822-04□□：36V
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
10
20
30
40
50
0
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
10
20
30
40
50
0
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
●103H7823-04□□：24V ●103H7823-04 □□：36V
PMM-MD-23220-10 PMM-MD-23221-10
Source voltage: DC24V, Operating current 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V,Operating current 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current 2A/phase
Pull-Out torque [JL1=7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current 2A/phase
Pull-Out torque [
J
L1
=7.4x10-4kg·m2
(40.46 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
40
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
ø86
60
56
50
42
28
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
10
20
30
40
50
0
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
10
20
30
40
50
0
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
10
20
30
40
50
0
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
0
1
2
3
4
5
6
7
8
9
10
10
20
30
40
50
0
Number of rotations (min-1)
1-division
2-division
Pulse rate (kpulse/s)
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
●103H8221-04□□：24V
●103H8222-04□□：24V
●103H8221-04□□：36V
●103H8222-04□□：36V
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1000 2000 3000 5000100
1000 2000 3000 5000100
2
4
6
8
10
0
20
40
60
80
100
0fs fs
Torque(oz·in.)
1400
0
1200
1000
800
600
400
200
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1000 2000 3000 5000100
1000 2000 3000 5000100
2
4
6
8
10
0
20
40
60
80
100
0fs fs
Torque(oz·in.)
1400
0
1200
1000
800
600
400
200
●103H8223-04□□：24V ●103H8223-04 □□：36V
fs: No load maximum starting pulse rate.
■
1-division is specified
■
2-division is specified
PMM-MD-23220-10 PMM-MD-23221-10
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=7.4x10-4kg·m2 (40.46 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=15.3x10-4kg·m2 (83.65 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=15.3x10-4kg·m2 (83.65 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [
J
L1
=7.4x10-4kg·m2
(40.46 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [
J
L1
=15.3x10-4kg·m2
(83.65 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [
J
L1
=15.3x10-4kg·m2
(83.65 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
41
Pulse I/F (DC power input)
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
Option
●Connector set
Model
PM-AP-009
Stepping motor
(CN2)
I/O signal
(CN1A)
Applicable housing:5051-08 1
8
1
6
1
6
1
2
Applicable contact:2759PBGL
Applicable housing:5051-06
Applicable contact:5159PBTL
Applicable housing:PHR-6
Applicable contact:
SPH-002T-P0.5S
Applicable housing:5195-02
Applicable contact:5194PBTL
DC power supply
(CN3)
PM-AP-053
PM-AP-013
Used for Contents of set
Quantity
Manufacturer
Molex
Molex
AWG22~28 JHTR2262A
JHTR2262J
JHTR2262A
JHTR2262J
YRS-240
JHTR5904
AWG24~28
AWG18~24
J.S.T. MFG.
CO., LTD.
Molex
Applicable wire size
Crimp tool number
PMM-MD-23210-10 (Photo coupler input method)
PMM-MD-23211-10 (CMOS input method)
PM-AP-011
Stepping motor
(CN2)
Power supply
I/O signal (CN1B)
Applicable housing:5051-12 1
12
1
6
1
6
Applicable contact:2759PBGL
Applicable housing:5051-06
Applicable contact:5159PBTL
Applicable housing:PHR-6
Applicable contact:
SPH-002T-P0.5S
PM-AP-053
Molex
Molex
AWG22~28 JHTR2262A
JHTR2262J
JHTR2262A
JHTR2262J
YRS-240
AWG24~28
J.S.T. MFG.
CO.,LTD
Model Used for Contents of set
Quantity
Manufacturer
Applicable wire size
Crimp tool number
PMM-MD-23220-21 (Photo coupler input method)
PM-AP-009
Stepping motor
(CN2)
I/O signal
(CN1A)
Applicable housing:5051-08 1
8
1
6
1
6
1
2
Applicable contact:2759PBGL
Applicable housing:5051-06
Applicable contact:5159PBTL
Applicable housing:EHR-6
Applicable contact:
SEH-001T-P0.6
Applicable housing:5195-02
Applicable contact:5194PBTL
DC Power supply
(CN3)
PM-AP-054
PM-AP-013
Molex
Molex
AWG22~28 JHTR2262A
JHTR2262J
JHTR2262A
JHTR2262J
YRS-260
JHTR5904
AWG22~28
AWG18~24
J.S.T. MFG.
CO., LTD.
Molex
Model Used for Contents of set
Quantity
Manufacturer
Applicable wire size
Crimp tool number
PMM-MD-23221-21 (CMOS input method)
PM-AP-011
Stepping motor
(CN2)
Power supply
I/O signal (CN1B)
Applicable housing:5051-12 1
12
1
6
1
6
Applicable contact:2759PBGL
Applicable housing:5051-06
Applicable contact:5159PBTL
Applicable housing:EHR-6
Applicable contact:
SEH-001T-P0.6
PM-AP-054
Molex
Molex
AWG22~28
AWG22~28
JHTR2262A
JHTR2262J
JHTR2262A
JHTR2262J
YRS-260
J.S.T. MFG.
CO., LTD.
Model Used for Contents of set
Quantity
Manufacturer
Applicable wire size
Crimp tool number
PMM-MD-23220-10 (Photo coupler input method)
PM-AP-009
Stepping motor
(CN2)
I/O signal
(CN1A)
Applicable housing:5051-08 1
8
1
6
1
6
1
6
1
2
Applicable contact:2759PBGL
Applicable housing:5051-06
Applicable contact:5159PBTL
Applicable housing:VHR-6N
Applicable contact:SVH-21T-P1.1
Applicable housing:5051-06
Applicable contact:5159PBTL
Applicable housing:5195-02
Applicable contact:5194PBTL
DC Power supply
(CN3)
PM-AP-047
H782 type
PM-AP-008
Other types
PM-AP-013
Molex
Molex
AWG22~28 JHTR2262A
JHTR2262J
JHTR2262A
YC-160R
JHTR2262A
JHTR5904
AWG22
AWG22
AWG18~24
J.S.T. MFG.
CO., LTD.
Molex
Molex
Model Used for Contents of set
Quantity
Manufacturer
Applicable wire size
Crimp tool number
PMM-MD-23221-10 (CMOS input method)
PM-AP-011 Applicable housing:5051-12 1
12
1
6
1
6
1
6
Applicable contact:2759PBGL
Applicable housing:5051-06
Applicable contact:5159PBTL
Applicable housing:VHR-6N
Applicable contact:
SVH-21T-P1.1
Applicable housing:5051-06
Applicable contact:5159PBTL
PM-AP-047
H782 type
PM-AP-008
Other types
Molex
Molex
AWG22~28 JHTR2262A
JHTR2262J
JHTR2262A
YC-160R
JHTR2262A
AWG22
AWG22
AWG22
J.S.T. MFG.
CO., LTD.
Molex
Power supply I/O
signal (CN1B)
Stepping motor
(CN2)
Model Used for Contents of set
Quantity
Manufacturer
Applicable wire size
Crimp tool number
42
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
ø86
60
56
50
42
28
Option
●Connector cable
Model Used for
PM-C08S0100-01 I/O signal (CN1A) connector cable
PM-C02P0100-02 DC power supply (CN3) connector cable
PM-C06M0100-□□Stepping motor (CN2) connector cable
Model Used for
PM-C12T0100-01
DC power supply, I /O signal(CN1B) connector cable
PM-C06M0100-□□Stepping motor (CN2) connector cable
PMM-MD-23210-10 (Photo coupler input method)
PMM-MD-23220-21 (Photo coupler input method)
PMM-MD-23220-10 (Photo coupler input method)
PMM-MD-23211-10 (CMOS input method)
PMM-MD-23221-21 (CMOS input method)
PMM-MD-23221-10 (CMOS input method)
Model No. of stepping motor cable (Separate Table 1)
Serial No. Stepping motor model No.
103H6701-04□□
103H6703-04□□
103H6704-53□□
103H7121-04□□
103H7123-04□□
103H7124-04□□
103H7126-04□□
103H8221-04□□
103H8222-04□□
103H8223-04□□
01
Serial No. Stepping motor model No.
103H7821-04□□
103H7822-04□□
103H7823-04□□
103H3215-52□□
103H5205-04□□
103H5208-04□□
103H5209-04□□
103H5210-04□□
03
05
06
●Cable 1 (Power source cable)
21
1m
(39.37inch)
UL1430AWG22
300V, 105˚C
Pin No. Color
1
2
Driver side
White
Black
Model of cable Length
1m(39.37inch)
PM-C02P0100-02
●Cable 2(Power source, signal cable)
12 1
1m
(39.37inch)
UL1430AWG22
300V, 105˚C
Pin No. Color
Driver side
Black
White
White
Black
1
2
3
4
5
6
7
8
9Blue
10
11
12
Model of cable Length
1m(39.37inch)
PM-C12T0100-01
•The connector cables consist of each interface connector
with a 1m cable assembled.
□□…is 01, 03, 05 or 06. (Refer to separate table 1.)
43
Option
Pulse I/F (DC power input)
●Cable 3 (Signal cable)
81
UL1430AWG22
300V, 105˚C
Pin No. Color
1
2
3
4
5
Driver side
Blue
6
7
8
1m
(39.37inch)
Model of cable Length
1m(39.37inch)
PM-C08S0100-01
●Cable 4(Stepping motor extension cable)
Pin No. Color
1
2
3
4
5
Driver side
Orange
Black
White
Red
6Yellow
Blue
Applicable stepping motor
UL1430AWG22
300V, 105˚C
61
1m
(39.37inch)
Model of cable Length
1m(39.37inch)
PM-C06M0100-01
●Cable 5 (Stepping motor extension cable)
Pin No. Color
1
2
3
4
5
Driver side
Orange
Black
White
Red
6Yellow
Blue
Pin No. Color
1
2
3
4
5
6
Stepping motor side
Applicable stepping motor
Blue
Orange
White
Yellow
Black
Red
UL1430AWG22
300V, 105˚C
16
16
1m
(39.37inch)
Model of cable Length
1m(39.37inch)
PM-C06M0100-03
●Cable 6 (Stepping motor extension cable)
Pin No. Color
1
2
3
4
5
Driver side
Orange
Black
White
Red
6Yellow
Blue
Pin No. Color
1
2
3
4
5
6
Stepping motor side
Applicable stepping motor
Yellow
Blue
Black
Red
White
Orange
UL1430AWG24
300V, 105˚C
61
61
1m
(39.37inch)
Model of cable Length
1m(39.37inch)
PM-C06M0100-05
●Cable 7(Stepping motor extension cable)
Pin No. Color
1
2
3
4
5
Driver side
Orange
Black
White
Red
6Yellow
Blue
Pin No. Color
1
2
3
4
5
6
Stepping motor side
Applicable stepping motor
Blue
Orange
White
Red
Black
Yellow
1m
(39.37inch)
Model of cable Length
1m(39.37inch)
PM-C06M0100-06
UL1430AWG22
300V, 105˚C
61
61
44
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
ø86
60
56
50
42
28
Pulse I/F (DC power input)
45
Standard combined stepping motors
•For information about the general specifications and dimensions of each stepping motor, refer to its page.
PMM-MD-23120-10
DC24V/36V
Unipolar type
(Applicable motor rated current 1.2A/phase, 2A/phase)
Micro-step (200 X 1~180 divisions)
(Smooth operation and low vibration even at low speeds.)
●Applicable motor
42
50
56
60
ø86
2-phase Stepping Driver
Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia
Mass(Weight)
Page
stepping motor Single shaft Double shaft [A/phase] [N·m(oz·in)]
[x 10-4kg
·
m2(
oz·in
2)]
[kg(lbs)]
103H5205-0440 103H5205-0410 1.2 0.2(28.32) 0.036(0.20) 0.23(0.51)
□42mm 103H5208-0440 103H5208-0410 1.2 0.3(42.48) 0.056(0.31) 0.29(0.64) 69
103H5209-0440 103H5209-0410 1.2 0.32(45.31) 0.062(0.34) 0.31(0.68) Page
103H5210-0440 103H5210-0410 1.2 0.37(52.39) 0.074(0.40) 0.37(0.82)
103H6701-0440 103H6701-0410 2 0.28(39.6) 0.057(0.31) 0.35(0.77) 75
□50mm 103H6703-0440 103H6703-0410 2 0.49(69.4) 0.118(0.65) 0.5(1.10) Page
103H6704-0440 103H6704-0410 2 0.52(73.6) 0.14(0.77) 0.5(1.10)
103H7121-0440 103H7121-0410 2 0.39(55.2) 0.1(0.55) 0.47(1.04)
□56mm 103H7123-0440 103H7123-0410 2 0.83(117.5) 0.21(1.15) 0.65(1.43) 79
103H7124-0440 103H7124-0410 2 0.98(138.8) 0.245(1.34) 0.8(1.76) Page
103H7126-0440 103H7126-0410 2 1.27(179.8) 0.36(1.97) 0.98(2.16)
103H7821-0440 103H7821-0410 2 0.78(110.5) 0.275(1.50) 0.6(1.32) 87
□60mm 103H7822-0440 103H7822-0410 2 1.17(165.7) 0.4(2.19) 0.77(1.70) Page
103H7823-0440 103H7823-0410 2 2.1(297.4) 0.84(4.59) 1.34(2.95)
103H8221-0441 103H8221-0411 2 2.15(304.5) 1.45(7.93) 1.5(3.31) 91
ø86mm 103H8222-0441 103H8222-0411 2 4.13(584.8) 2.9(15.86) 2.5(5.51) Page
103H8223-0441 103H8223-0411 2 6.27(887.9) 4.4(24.06) 3.5(7.72)
46
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
ø86
60
56
50
42
28
Specifications of PM Driver
Environment
PMM-MD-23120-10
DC24V/36V±10%
3A
2A/phase (Changeable to 1.2A/phase, refer to Page 46)
0~+50˚C
-20~+70˚C
35~85% RH (no condensation)
10~90% RH (no condensation)
4.9m/s2Frequency range 10~55Hz, Direction: along X,Y and Z axes, for 2 hours each.
Considering the NDS-C-0110 standard section 3.2.2 division “C”, not influenced.
Not influenced when AC500V is applied between power input terminal and cabinet for one minute.
10M
Ω
MIN. measured with DC500V megohmmeter between input terminal and cabinet.
0.6kg(1.32lbs)
Pulse input mode selection-- DIP switches enables selection of Pulse and direction and 2-input mode
.
Resolution setting-- Rotary switches enables 8 divisions ranging from 1~180 resolutions.
Power down --- External signal input enables to turn off the current that flows through the stepping motor.
Automatic current down selection-- Automatic current down function can be selected.
Resolution selection--- External signal input enables to select 2 resolutions.
Driving current switch setting--- The rotary switch enables to set driving current of the stepping motor from rated current to 0%.
In the 2-input mode, inputs driving pulses to rotate in CW direction.
In the Pulse and direction mode, inputs driving pulse train to rotate the step motor rotation.
Photo coupler input method, input resistance 330Ω
Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
Maximum input frequency:20kpulse/s
In the 2-input mode, inputs driving pulses to rotate in CCW direction.
In the Pulse and direction mode, inputs rotation direction signals to the stepping motor.
Internal photo coupler ON (CMOS type: “H” level:) --- CW direction
Internal photo coupler OFF (CMOS type: “L” level)--- CCW direction.
Photo coupler input method, input resistance 330Ω
Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
Maximum input frequency:20kpulse/s
Input S.SEL signal to select step angle selection rotary switch (S.SEL).
S.SEL input signal ON (Internal photo coupler ON) --- SEL2 setting is enabled.
S.SEL input signal OFF (Internal photo coupler OFF) --- SEL1 setting is enabled.
Photo coupler input method, input resistance 330Ω
Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V
Inputs PD signal to turn off the current that flows through the stepping motor.
PD input signal ON (Internal photo coupler ON) --- Power down functrion is enabled.
PD input signal OFF (Internal photo coupler OFF) --- Power down function is disabled.
Photo coupler input method, input resistance 330Ω
Basic specificationsFunctionI/O signals
Item
Input source
Source current
Rated current
Operating ambient temperature
Conservation temperature
Operating ambient humidity
Conservation humidity
Vibration resistance
Impact resistance
Withstand voltage
Insulation resistance
Mass(Weight)
Selection, setting function
Signal Name (Brevity code)
Pin No. (CN3)
1
2
3
4
5
6
7
8
•Stepping motor rotation in the CW direction means clockwise rotation when facing the output shaft (the flange side) of the stepping motor. CCW direction means
counterclockwise rotation when facing the same side.
CW pulse
Input signal (CW)
(CK)
CCW pulse
Input signal (CCW)
(U/D)
Power down input
signal (PD)
Step angle setting
selection input (S. SEL)
Pulse I/F (DC power input)
47
Operation, Connection, and Function
5µs MIN.
1µs MAX.1µs MAX.
Rotation
10%
50%
90%
4.0~5.5V
0~0.5V
330Ω
PM driver
Approx.15mA
+5V
Input signal
1 (3)
2 (4)
R
Photo coupler
50µs MIN.
CCW
CW
330Ω
PM driver
Approx.15mA
+5V
Input signal
5 (7)
6 (8)
R
Photo coupler
●Input circuit configuration (CW, CCW)
•Pulse duty 50% MAX.
•When the crest value of the input signal is 5V, the external limit resistance R
must be 0Ω
When the crest value of the input signal exceeds 5V, use the external limit
resistance R to limit the input current to approximately 15mA.
Timing of command pulse
•The internal photo coupler turns ON within the and, at its rising edge to ON, the
internal circuit (stepping motor) is activated.
•When applying the pulse to CW, turn OFF the CCW side internal photo coupler.
•When applying the pulse to CCW, turn OFF the CW side internal photo coupler.
Input signal specifications
●Input circuit configuration (PD, S, SEL)
•When the crest value of the input signal is 5V, the external limit resistance R
must be 0Ω
When the crest value of the input signal exceeds 5V, use the external limit
resistance R to limit the input current to approximately 15mA.
•2-input mode (CW, CCW)
10µs MIN.
U/D
CK
•The internal photo coupler turns ON within the and, at the rising edge to ON
of the CK photo coupler, the internal circuit (stepping motor) is activated.
•Switching the input signal U/D shall be performed while the internal photo coupler
on the CK side is OFF.
•Pulse and direction mode (CK,U/D)
ø86
60
56
50
42
28
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
48
Operation, Connection, and Function
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
S.SEL
FG
RUN
M.SEL CN2
CN1
CH
PWM IL VCC OV
CN3-1
CN3-2
1
1
1
1
●PM deriver component names
2
1
3
4 6
Enable to select operating current value to stepping motor.
•Factory setting is “0”.
Dial 01234567
Stepping motor current (A/phase)
2.0 1.8 1.6 1.4 1.2 1.0 0.8 0.6
Dial 8 9 A B C D E F
Stepping motor current (A/phase)
00000000
Enable to select standard step angle of stepping motor for 8 divisions ranging from 1~180 resolutions.
•Factory setting is “E”.
Dial 01234567
Division SEL1 1 2 5 10 20 40 80 180
SEL2 11111111
Dial 8 9 A B C D E F
Division SEL1 1 2 5 10 20 40 80 180
SEL2 22222222
Enable to select every mode
•Factory setting is “2”.
•Enable at ○
•When low vibration is selected at 8~F, S.SEL
setting is ignored and operate at low vibration
mode of 1 division.
Dial 0123456789ABCDEF
Pulse input 2 input ○○○○○○○○
Pulse and direction
○○○○○○○○
Automatic OFF ○○ ○○ ○○ ○○
current down ON ○○ ○○ ○○ ○○
Low vibration OFF ○○○○○○○○
method ON ○○○○○○○○
Connect motor power wire.
4Connector (CN1)
Connect DC power wire.
5Connector (CN2)
Connect I/O wire.
6Connector (CN3)
1Operation-current selection rotary switch (RUN)
2Stepping angle selection rotary switch (S.SEL)
3Mode selection rotary switch (M.SEL)
5
Operation, Connection, and Function
49
Pulse I/F (DC power input)
M
White
Black
Orange
Blue
Red
Yellow
1
CN1
CN2
DC24V/36V
DC24G/36G
Note 2) CW pulse input
Note 2) CCW pulse input
CN3
2
3
4
5
6
1
2
1
2
3
4
5
6
7
8
Step angle selection input
Power down input
Note 1)
Note 3)
When motor output is lead wire type
●External wiring diagram
Note 1) Use twist pair shielded cables.
Note 2)
Selection is possible between “2-input mode (CW pulse, CCW pulse)” and “Pulse and direction mode (CW, C/D)” by the mode selection rotary switch
Note 3) Motor output of stepping motor models 103H52 □□ is connector type. Motor side pin number and driver side connector (CN1) pin
number is not match. So please be careful when connecting.
CN1
M
1
2
3
4
5
6
1
Connector
6
2
3
5
4
For 103H-52 -
●Connectors used
•For the applicable connector, the client is requested to procure or place orders with us from the optional connector sets or the connector cables we
offer (Refer to the page 55).
Driver side Corresponding connector model number Maker
Use for Model No.
Stepping motor B6P-VH Applicable housing: VHR-6N J.S.T. MFG.
(CN1) Applicable contact: BVH-21T-P1.1 CO., LTD
DC Power source B2P-VH Applicable housing: VHR-2N J.S.T. MFG.
(CN2) Applicable contact: BVH-21T-P1.1 CO., LTD
I/O signal IL-8P-S3 Applicable housing: IL-8S-S3L-(N) Japan Aviation
(CN3) EN2-1Applicable contact: IL-C2-1-10000 Electronics Industry,Ltd
When motor output is connector type
Note 3)
ø86
60
56
50
42
28
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
50
M3
Dimensions [Unit:mm(inch)]
Mounting direction and mounting position
•Install the PM driver vertically.
•As shown in the figure, fix the PM driver by using
the M3 screws through two fitting holes (2-φ4) on
the bottom surface of PM driver(no fitting metals
are necessary).
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
S.SEL
FG
RUN
M.SEL CN2
CN1
CH
PWM IL VCC OV
CN3-1
CN3-2
1
1
1
1
35.5(1.40)34.5(1.36)
70(2.76)
2ー
φ
4(2ー
φ
.16)
Screw holes
2ー
φ
4(2ー
φ
.16)
Screw holes
82(3.23) 5(.20)
5(.20)5(.20)
5(.20)
90(3.54)
82(3.23)
10
(.39)
26(1.02)
36(1.42)
51
Pulse I/F (DC power input)
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1-division
2-division
Number of rotations (min-1)
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0
1
4
3
4
5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1-division
2-division
Number of rotations (min-1)
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1-division
2-division
Number of rotations (min-1)
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
1000 2000 3000 5000100
1000 2000 3000 5000100
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1-division
2-division
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
●103H5205-04□□：24V
●103H5208-04□□：24V
●103H5209-04□□：24V
●103H5205-04□□：36V
●103H5208-04□□：36V
●103H5209-04□□：36V
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
fs: No load maximum starting pulse rate. ■1-division is specified ■2-division is specified
Source voltage: DC24V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current :1.2A/phase
Pull-Out torque [
J
L1
=0.94x10-4kg·m2
(5.14 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current :1.2A/phase
Pull-Out torque [
J
L1
=0.94x10-4kg·m2
(5.14 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current :1.2A/phase
Pull-Out torque [
J
L1
=0.94x10-4kg·m2
(5.14 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
ø86
60
56
50
42
28
52
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1.0
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1-division
2-division
Number of rotations (min-1)
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
1000 2000 3000 5000100
1000 2000 3000 5000100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1-division
2-division
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
1000 2000 3000 5000100
1000 2000 3000 5000100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1-division
2-division
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1
0
2
4
6
8
10
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
●103H5210-04□□：24V
●103H6701-04□□：24V
●103H6703-04□□：24V
●103H5210-04□□：36V
●103H6701-04□□：36V
●103H6703-04□□：36V
fs: No load maximum starting pulse rate. ■1-division is specified ■2-division is specified
Source voltage: DC24V, Operating current :1.2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current :1.2A/phase
Pull-Out torque [
J
L1
=0.94x10-4kg·m2
(5.14 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current : 2A/phase
Pull-Out torque [
J
L1
=0.94x10-4kg·m2
(5.14 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC36V, Operating current : 2A/phase
Pull-Out torque [
J
L1
=0.94x10-4kg·m2
(5.14 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1-division
2-division
Number of rotations (min-1)
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0
2
4
6
8
10
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1-division
2-division
Number of rotations (min-1)
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0
2
4
6
8
10
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1.0
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1
2
3
4
5
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0fs fs
Torque(oz
·
in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
53
●103H6704-04□□： 24V
●103H7121-04□□：24V
●103H7123-04□□：24V
●103H6704-04□□：36V
●103H7121-04□□：36V
●103H7123-04□□：36V
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
Pulse I/F (DC power input)
fs: No load maximum starting pulse rate. ■1-division is specified ■2-division is specified
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [
J
L1
=0.94x10-4kg·m2
(5.14 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [
J
L1
=0.94x10-4kg·m2
(5.14 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
ø86
60
56
50
42
28
54
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1-division
2-division
Number of rotations (min-1)
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0
2
4
6
8
10
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1-division
2-division
Number of rotations (min-1)
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0
4
8
12
16
20
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1-division
2-division
Number of rotations (min-1)
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0
2
4
6
8
10
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
1-division
2-division
Number of rotations (min-1)
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0
2
4
6
8
10
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
4
8
12
16
20
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
2
4
6
8
10
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1
0fs fs
Torque(oz·in.)
140
0
120
100
80
60
40
20
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
●103H7124-04□□：24V
●103H7126-04□□：24V
●103H7821-04□□：24V
●103H7124-04□□：36V
●103H7126-04□□：36V
●103H7821-04□□：36V
fs:No load maximum starting pulse rate. ■1-division is specified ■2-division is specified
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current t: 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
4
8
12
16
20
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
10
20
30
40
50
0
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
10
20
30
40
50
0
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
4
8
12
16
20
0
1000 2000 3000 5000100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2
0fs fs
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
10
20
30
40
50
0
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
10
20
30
40
50
0
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
55
●103H7822-04□□：24V
●103H7823-04□□：24V
●103H8221-04□□：24V
●103H7822-04□□：36V
●103H7823-04□□：36V
●103H8221-04□□：36V
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
Pulse I/F (DC power input)
fs: No load maximum starting pulse rate. ■1-division is specified ■2-division is specified
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=7.4x10-4kg·m2 (40.46 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=2.6x10-4kg·m2 (14.22 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [
J
L1
=7.4x10-4kg·m2
(40.46 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=7.4x10-4kg·m2 (40.46 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
ø86
60
56
50
42
28
56
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
10
20
30
40
50
0
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
20
40
60
80
100
0
1000 2000 3000 5000100
1000 2000 3000 5000100
2
4
6
8
10
0fs fs
Torque(oz·in.)
1400
0
1200
1000
800
600
400
200
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
10
20
30
40
50
0
1000 2000 3000 5000100
1000 2000 3000 5000100
1
2
3
4
5
0fs fs
Torque(oz·in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Source current (A)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
0
1
2
3
4
5
6
7
8
9
10
Number of rotations (min-1)
1-division
2-division
1000 2000 3000 5000100
1000 2000 3000 5000100
2
4
6
8
10
0
20
40
60
80
100
0fs fs
Torque(oz·in.)
1400
0
1200
1000
800
600
400
200
Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics
●103H8222-04□□：24V
●103H8223-04□□：24V
●103H8222-04□□：36V
●103H8223-04□□：36V
fs: No load maximum starting pulse rate. ■1-division is specified ■2-division is specified
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=15.3x10-4kg·m2 (83.65 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [JL1=15.3x10-4kg·m2 (83.65 oz
·in
2) Use the rubber coupling]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [
J
L1
=15.3x10-4kg·m2
(83.65 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
Source voltage: DC24V, Operating current : 2A/phase
Pull-Out torque [
J
L1
=15.3x10-4kg·m2
(83.65 oz
·in
2)
Use the rubber coupling
]
Source current (TL=MAX), Source current (TL=0)
57
Pulse I/F (DC power input)
Option
●Connector cable
□□…is 02, 04, or 07. (Refer to separate table 1.)
Model No. of stepping motor cable (Supplement table 1)
Model of stepping motor
103H6701-04□□
103H6703-04□□
103H6704-04□□
103H7121-04□□
103H7123-04□□
103H7124-04□□
103H7126-04□□
103H8221-04□□
103H8222-04□□
103H8223-04□□
103H7821-04□□
103H7822-04□□
103H7823-04□□
103H5205-04□□
103H5208-04□□
103H5209-04□□
103H5210-04□□
02
04
07
Model
Stepping motor
(CN1)
Applicable housing: VHR-6N 1
6
1
6
2
12
1
6
1
2
1
8
Applicable contact: SVH-21T-P1.1
Applicable housing: EHR-6
Applicable contact: SEH-001T-P0.6
Applicable housing: VHR-6N
Applicable contact: SVH-21T-P1.1
Applicable housing: VHR-6N
Applicable contact: SVH-21T-P1.1
Applicable housing: VHR-2N
Applicable contact: SVH-21T-P1.1
Applicable housing: IL-8S-S3L-(N)
Applicable contact: IL-C2-1-0001
DC power supply
(CN2)
I/O signal
(CN3)
PM-AP-037
(Type other than above)
PM-AP-036
PM-AP-038
Used for Contents of set
Quantity
Manufacturer
J.S.T. MFG.
CO.,LTD. AWG22
YC-160R
YC-260R
YC-160R
YC-160R
YC-160R
CT150-1-IL
CT150-1B-IL
CT150-1C-IL
AWG22
AWG22
AWG22
AWG22~28
Applicable wire size
Crimp tool number
J.S.T. MFG.
CO.,LTD.
J.S.T. MFG.
CO.,LTD.
J.S.T. MFG.
CO.,LTD.
Japan Aviation
Electronics Industry,Ltd
Model No. Use for
PM-C06M0100-□□Stepping motor (CN1) connector cable
PM-C02P0100-03 DC power supply (CN2) connector cable
PM-C08S0100-02 I/O signal (CN3) connector cable
●Connector set
•The connector cable is 1-meter cable assembled with each interface
connector.
ø86
60
56
50
42
28
PMM-BA-4803
PMM-BA-4804
PMM-UA-4303
PMM-UA-4304
PMM-MD-23120
PMM-MD-23210-10/23211-10
PMM-MD-23220-21/23221-21
PMM-MD-23220-10/23221-10
58
Option
●Cable 1 (Power cable)
Pin No. Color
1
2
White
Black
1m
(39.37inch)
UL1430AWG22
300V, 105˚C
Cable model No.
1m(39.37inch)
PM-C02P0100-03
Driver side
12
Length
●Cable 2 (Signal cable)
UL1430AWG24
300V, 105˚C
18
Pin No. Color
1
2
3
4
5
Driver side
Blue
Black
Blue
Black
Blue
6Black
7Blue
8Black
1m
(39.37inch)
Cable model No.
1m(39.37inch)
PM-C08S0100-02
Length
●Cable 3 (Stepping motor extension cable 1)
Applicable stepping motor
Pin No. Color
1
2
3
4
5
Driver side
Orange
Black
White
Red
6Yellow
Blue
UL1430AWG22
300V, 105˚C
16
1m
(39.37inch)
Cable model No.
1m(39.37inch)
PM-C06M0100-02
Length
●Cable 4 (Stepping motor extension cable 2)
16
16
UL1430AWG22
300V, 105˚C Pin No. Color
1
2
3
4
5
6
Stepping motor side
Applicable stepping motor
Pin No. Color
1
2
3
4
5
Driver side
Orange
Black
White
Red
6Yellow
Blue Blue
Orange
White
Yellow
Black
Red
1m
(39.37inch)
Cable model No.
1m(39.37inch)
PM-C06M0100-04
Length
●Cable 5 (Stepping motor extension cable 3)
Pin No. Color
1
2
3
4
5
Driver side
Orange
Black
White
Red
6Yellow
Blue
Pin No. Color
1
2
3
4
5
6
Stepping motor side
Applicable stepping motor
Blue
Orange
White
Red
Black
Yellow
UL1430AWG22
300V, 105˚C
61
16
1m
(39.37inch)
Cable model No.
1m(39.37inch)
PM-C06M0100-07
Length
59
MOTOR
The 2-phase Stepping Motor
Synchronous Motor
Ultra-vacuum Stepping Motor
DRIVER
P5~P58
P59~P120
P121~P124
HIC
0.01
0.1
1
10
0.10.01 1 10 100
STEPPING MOTOR
The 2-phase Stepping System
Upper
* Refer to the pages of
driver for cable.
* Refer to the pages of driver for cable.
100
(3.39inch)
(4.17inch)
(2.36inch)
(2.20inch)
(1.97inch)
(1.65inch)
(1.10inch)
10 100 1000 10000
□35mm
(1.38inch)
0.1
1
10
100
Rotor inertia(oz·in2)
Torque(oz·in)
Torque(N m)
60
(59.47 oz·in)
(4.53~8.78 oz·in)
(□1.10inch)
(55.23~179.8 oz·in)
(□2.20inch)
(55.23~179.8 oz·in)
(□2.20inch)
(110.5~297.4 oz·in)
(□2.36inch)
(28.32~72.22 oz·in)
(□1.65inch)
(39.6~75.1 oz·in)
(14.16~33.99 oz·in)
(4.53 oz·in) (14.16 oz·in)
(□1.97inch)
(□1.38inch) (□1.54inch) (□1.65inch)
(304.5~1053.6 oz·in)
(ø3.39inch)
(388.0~1053.6 oz·in)
(ø3.39inch)
(1529.4~2690.5 oz·in)
(ø4.17inch)
(1869.2~26905 oz·in)
(80.72~778.8 oz·in)
(ø4.17inch)
Recommendable
Refer to the page27.
Recommendable
Refer to the page7,17,
27 and 43.
Recommendable
Refer to the page7,17,
27 and 43.
Recommendable
Refer to the page7,17,
27 and 43.
Recommendable
Refer to the page7,17,
27 and 43.
Recommendable
Refer to the page7,17,
27 and 43.
Recommendable
Refer to the page7 and 17.
P
61~
P
62
□35mm
0.1〜0.24N・m
P63
□39mm
0.9°
0.032N・m
1.8°
P64
□42mm
0.9°
0.1N・m
P
75~
P
78
P
69~
P
74
P
65~
P
68
P
91~
P
96
P
87~
P
90
P
79~
P
86
P
101~
P
102
P
99~
P
100
P
97~
P
98
P
109~
P
110
P
111~
P
112
P
103~
P
104
61
2-phase stepping motor
□35mm
(1.38inch sq.)
SH35□□
1.8˚/step
2-phase Stepping Motor
Specifications
Dimensions [Unit:mm(inch)]
Model
Shingle shaft
Double shafts
SH3533-12U40
SH3537-12U40
SH3552-12U40
Holding torque at
2-phase energization
N·m(oz·in) MIN.
0.12(16.99)
0.15(21.24)
0.23(32.57)
Rated
current
A/phase
1.2
1.2
1.2
Resistance
Ω/phase
2.4
2.7
3.4
Inductance
mH/phase
1.3
2
2.8
Rotor inertia
x10-4kg·m2
(oz·in
2
)
0.02(1.09)
0.025(1.37)
0.043(2.35)
Mass(Weight)
kg(lbs)
0.17(0.37)
0.2(0.44)
0.3(0.66)
SH3533-12U40(Single shaft)
SH3533-12U10(Double shaft)
SH3537-12U40(Shingle shaft)
SH3537-12U10(Double shaft)
Unipolar winding
−
12U10
−
12U10
52±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
φ22-0.05
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.
.0000
φ.8661-.0019
( )
□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)
4-M3×0.5
φ35.6(φ1.40) only stator part
25(.98)MIN.
37±1
(1.46±.04)
2±0.25
(.08±.01)
φ5-0.013
0
φ22-0.05
0
Lead wire:UL1007 CSA,AWG26
Effective tapping depth 4(.16) MIN.
φ.1968-.0005
.0000
φ5-0.013
0
φ.1968-.0005
.0000
( )
( )
300(11.81)MIN.
20±0.5
(.79±.02)
26±.25
29±.25
15±1
(.59±.04)
9(.35)
MAX.
.0000
φ.8661-.0019
( )
□35±0.5(□1.38±.02)
29±0.25(1.14±.01)
26±0.25(1.02±.01)
22(.87)MAX.
(1.02±.01)
(1.14±.01)
5(.20)MAX.
−
12U10
SH3552-12U40(Single shaft)
SH3552-12U10(Double shaft)
Lead wire:UL1007 CSA,AWG26
21(.83)MIN.
15±1
(.59±.04)
33±1
(1.30±.04)
20±0.5
(.79±.02)
9(.35)
MAX.
300(11.81)MIN.
2±0.25
(.08±.01)
φ.1968-.0005
.0000
φ5-0.013
0
φ5-0.013
0
.0000
φ22-0.05
0
4-M3×0.5
φ35.6(φ1.40) only stator part
□35±0.5(□1.38±.02)
29±0.25(1.14±.01)
26±0.25(1.02±.01)
22(.87)MAX.
26±.25
(1.02±.01)
(1.14±.01)
5(.20)MAX.
29±.25
Effective tapping depth 4(.16) MIN.
( )
φ.1968-.0005
.0000
( )
φ.8661-.0019
( )
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
62
Pulse Rate - Torque Characteristics
●SH3533-12U40/SH3533-12U10 ●SH3537-12U40/SH3537-12U10
Sanyo constant current circuit
Source voltage: DC24V
Operating current : 1.2A/phase,2-phase energization (full-step)
JL1=[0.33×10-4kg
・
m2 (1.80 oz
·in
2) Use the rubber coupling]
Sanyo constant current circuit
Source voltage: DC24V
Operating current : 1.2A/phase,2-phase energization (full-step)
JL1=[0.33×10-4kg
・
m2 (1.80 oz
·in
2) Use the rubber coupling]
0.1 1 10 100
Pull-out torque
at J
L1
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
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 JL1
Torque(oz·in.)
25
0
20
15
10
5
Sanyo constant current circuit
Source voltage: DC24V
Operating current : 1.2A/phase,2-phase energization (full-step)
JL1=[0.94×10-4kg
・
m2 (5.14 oz
·in
2) Use the rubber coupling]
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 JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●SH3552-12U40/SH3552-12U10
63
2-phase stepping motor
Torque (kgf.cm)
Torque (N.m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.01
0.02
0.03
0.04
0.05
0
0.1
0.2
0.3
0.4
0.5
0
Starting torque
at J
L2
Pull-out torque
at J
L1
Torque(oz·in.)
7
0
6
5
4
3
2
1
Effective tapping depth 4(.16)Min
4-M3 x 0.5
□39.5(1.56)
MAX.
4-31±0.25
(4-1.22±.01)
Lead wire UL1430 AWG28
7±1
(.28±.04)
(.7±.02)
(.66±.008)
16.8±0.2
18±0.5
4
(.16)
A-section
ø21.5±0.3
(ø.85±.01)
0.013
ø5-0.013
.00005
(
ø.1968-.0005
)
.0000
(
ø.1968-.0005
)
.000
(
ø.87-.002
)
0.013
ø5-0.013
0.05
ø22-0.05
200(7.87)MIN.
2±0.5
(.08±.02)
(4)
A-section detail
39mm sq.
(1.54inch sq.)
103-4902
0.9˚/step
2-phase Stepping Motor
Specifications
Dimensions [Unit:mm(inch)] Pulse Rate - Torque Characteristics
●103-4902-0650
Model
Single shaft
Double shaft
103-4902-0650
Holding torque at
2-phase energization
N·m(oz·in) MIN.
0.032(4.53)
Rated
current
A/phase
0.4
Resistance
Ω/phase
16.5
Inductance
mH/phase
3.5
Rotor inertia
x10-4kg·m2
(oz·in
2
)
0.009(0.05)
Mass(Weight)
kg(lbs)
0.135(0.30)
103-4902-0650 (Single shaft)
103-4902-0610 (Double shaft)
Sanyo constant current circuit
Source voltage: DC24V Operating current : 0.4A/phase, 2-phase energization (full-step)
JL1=[0.05x10-4kg·m2 (0.27 oz
·in
2) pulley balancer method]
JL2=[0.05x10-4kg·m2 (0.27 oz
·in
2) pulley balancer method]
Unipolar winding
-0610
64
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.04
0.08
0.12
0.16
0.2
0
0.4
0.8
1.2
1.6
0
2.0
Starting torque
at J
L2
Pull-out torque at JL1
Torque(oz·in.)
25
0
20
15
10
5
Effective tapping depth
4(.16)
MIN.
4-M3 x 0.5
Lead wire UL3266 AWG26
15±1
(.59±.04)
33.5±0.5
(1.32±.02)
□42±0.25
(□1.65±.01)
4-31±0.25
(4-1.22±.01)
24±0.5
(.94±.02)
1.5±0.76
(.059±.03)
200(7.8) MIN.
0.013
ø5-0.013
ø0.20-.0000)
(
ø.1968-.0005
)
ø0.20-.0000)
(
ø.1968-.0005
)
ø0.20-.0000)
(
ø.87-.0002
)
0.013
ø5-0.013
0.05
ø22-0.05
Specifications
Dimensions [Unit:mm(inch)] Pulse Rate - Torque Characteristics
●103-591-0241
Model
Single shaft
Double shaft
103-591-0241
Holding torque at
2-phase energization
N·m(oz·in) MIN.
0.1(14.16)
Rated
current
A/phase
0.85
Resistance
Ω/phase
3.3
Inductance
mH/phase
3.7
Rotor inertia
x10-4kg·m2
(oz·in
2
)
0.03(0.16)
Mass(Weight)
kg(lbs)
0.2(0.44)
103-591-0241 (Single shaft)
103-591-0210 (Double shaft)
Sanyo constant current circuit
Source voltage: DC24V Operating current: 0.85A/phase, 2-phase energization (full-step)
JL1=[0.33x10-4kg·m2 (1.80 oz
·in
2) Uses rubber coupling]
JL2=[0.18x10-4kg·m2 (0.98 oz
·in
2) Use the direct coupling]
42mm sq.
(1.65inch sq.)
103-591
0.9˚/step
2-phase Stepping Motor
Unipolar winding
-0210
65
28mm sq.
(1.10inch sq.)
103H32□□
1.8˚/step
2-phase Stepping Motor
Specifications
Model
Single shaft
Double shafts
103H3205-5040
103H3205-5140
103H3215-5140
103H3215-5240
Holding torque at
2-phase energization
N·m(oz·in) MIN.
0.032(4.53)
0.032(4.53)
0.062(8.78)
0.062(8.78)
Rated
current
A/phase
0.25
0.5
0.5
1
Resistance
Ω/phase
40
9.4
11
2.6
Inductance
mH/phase
9.1
2.4
3.1
0.8
Rotor inertia
x10-4kg·m2
(oz·in
2
)
0.009(0.05)
0.009(0.05)
0.016(0.09)
0.016(0.09)
Mass(Weight)
kg(lbs)
0.11(0.24)
0.11(0.24)
0.2(0.44)
0.2(0.44)
2-phase stepping motor
Unipolar winding · connector type
Model
Single shaft
Double shafts
103H3205-5570
103H3205-5670
103H3205-5770
103H3215-5570
103H3215-5670
103H3215-5770
Holding torque at
2-phase energization
N·m(oz·in) MIN.
0.048(6.80)
0.051(7.22)
0.051(7.22)
0.09(12.74)
0.09(12.74)
0.1(14.16)
Rated
current
A/phase
0.25
0.5
1
0.25
0.5
1
Resistance
Ω/phase
38.3
10.4
2.5
51.8
12.5
3.5
Inductance
mH/phase
19.5
6.2
1.6
30.7
8
2.3
Rotor inertia
x10-4kg·m2
(oz·in
2
)
0.009(0.05)
0.009(0.05)
0.009(0.05)
0.016(0.09)
0.016(0.09)
0.016(0.09)
Mass(Weight)
kg(lbs)
0.11(0.24)
0.11(0.24)
0.11(0.24)
0.2(0.44)
0.2(0.44)
0.2(0.44)
Unipolar winding · lead wire type
Bipolar winding · lead wire type
Recommendable Driver
Refer to the page 27.
-5010
-5110
-5110
-5210
-5530
-5630
-5730
-5530
-5630
-5730
Model
Single shaft
Double shafts
103H3205-5070
103H3205-5170
103H3215-5170
103H3215-5270
Holding torque at
2-phase energization
N·m(oz·in) MIN.
0.032(4.53)
0.032(4.53)
0.062(8.78)
0.062(8.78)
Rated
current
A/phase
0.25
0.5
0.5
1
Resistance
Ω/phase
40
9.4
11
2.6
Inductance
mH/phase
9.1
2.4
3.1
0.8
Rotor inertia
x10-4kg·m2
(oz·in
2
)
0.009(0.05)
0.009(0.05)
0.016(0.09)
0.016(0.09)
Mass(Weight)
kg(lbs)
0.11(0.24)
0.11(0.24)
0.2(0.44)
0.2(0.44)
-5030
-5130
-5130
-5230
Applicable connector :JST Mfg.Co.,Ltd
Connector : PHR-6
Terminal : SPH-002T-P0.5S
Effective tapping depth
3.2(.13)
Min
4-M2.6 x0.45
31±0.8 20±0.5 □28±0.5
(□1.10±.02)
4-23±0.25
(4-.91±.01)
18(.71)
MAX.
6.5(.26) MAX.
Pin No.
1. . 6
2
(.079)
10±1
19.5(.76)
MIN.
8.5(.33)
MAX.
(.39±.039) (1.25±.031) (.79±.02)
0.013
ø5-0.013
.00003
(
ø.1968-.0005
)
.00003
(
ø.1968-.0005
)
.0003
(
ø.87-.002
)
0.013
ø5-0.013
0.05
ø22-0.05
66
103H3205-5040/5140 (Single shaft)
103H3205-5010/5110 (Double shaft)
Applicable connector :JST Mfg.Co.,Ltd
Connector : PHR-6
Terminal : SPH-002T-P0.5S
Effective tapping depth
3.2(.13)
MIN.
4-M2.6 x0.45
50.3±0.810±1
(.39±.39) (1.98±.031) (.79±.02)
0.013
ø5-0.013
.00003
(
ø.1968-.0005
)
.00003
(
ø.1968-.0005
)
.0003
(
ø.87-.002
)
0.013
ø5-0.013
0.05
ø22-0.05
6.5(.26) MAX.
20±0.5 □28±0.5
4-23±0.25
18(.71)
MAX.
Pin No.
1 6
2
(.079)
(□1.10±.02)
(4-.91±.01)
38.5(1.51)
MIN.
8.5(.33)
MAX.
103H3215-5140/5240 (Single shaft)
103H3215-5110/5210 (Double shaft)
Effective tapping depth
3.2(.13)
MIN.
4-M2.6 x0.45
Lead wire UL1007AWG26
10±1
(.39±.039)
300(11.8) MIN.
0.013
ø5-0.013
.00003
(
ø.1968-.0005
)
.00003
(
ø.1968-.0005
)
.0003
(
ø.87-.002
)
0.013
ø5-0.013
0.05
ø22-0.05
31±0.8
(1.25±.031) (.79±.02)
20±0.5 □28±0.5
(□1.10±.02)
4-23±0.25
(4-.91±.01)
16(.71)
MAX.
2.5(.10) MAX.
2
(.079)
23(.90)
MIN.
6.5(.26)
MAX.
Dimensions [Unit:mm(inch)]
103H3205-5070/5170 (Single shaft)
103H3205-5030/5130 (Double shaft)
Bipolar winding
.00003
(
ø.1968-.0005
)
.00003
(
ø.1968-.0005
)
.0003
(
ø.87-.002
)
Effective tapping depth 3.2(.13) M
4-M2.6 x0.45
Lead wire UL1007 AWG26
10±1
(.39±.039) (1.98±.031) (.79±.02)
300(11.8) MIN.
0.013
ø5-0.013
0.013
ø5-0.013
0.05
ø22-0.05
50.3±0.8 20±0.5 □28±0.5
4-23±0.25
16(.71)
MAX.
2.5(.10) MAX.
2
(.079)
(□1.10±.02)
(4-.91±.01)
42(1.65)
MIN.
6.5(.26)
MAX.
103H3215-5170/5270 (Single shaft)
103H3215-5130/5230 (Double shaft)
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
103H3205-5570/5670/5770
(Single shaft)
103H3205-5530/5630/5730
(Double shaft)
Dimensions [Unit: mm (inch) ]
4-M2.6 x0.45
Lead wire UL1007 AWG26
R3MIN.
(R.12MIN.)
(Effective length)
Cross SectionS-S
S
S
4.5±0.15
20±0.5L±0.8
2±0.76
2.5(.10) MAX.
□28±0.5
4-23±0.25
16(.63)
MAX
4.5±0.15
+1
15 0
.00003
(
ø.1968-.0005
)
.00003
(
ø.1968-.0005
)
.0003
(
ø..8661-.0019
)
10±1
(.39±.039)
(.1771±.0059)
(L±.03)
(.08±.03)
(.79±.02)
0.013
ø5-0.013
0.013
ø5-0.013
0.05
ø22-0.05
(□1.10±.02)
(4-.91±.01)
300(11.8)
MIN.
+.04
(.59 .00)
Model L
103H3205-55□0
103H3205-56□0
103H3205-57□0
103H3215-55□0
103H3215-56□0
103H3215-57□0
31
(1.22)
50.3
(1.98)
67
2-phase stepping motor
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
0.01
0.02
0.03
0.04
0.05
0
Starting torque
at J
L2
Pull-out torque at J
L1
Torque(oz·in.)
7
0
6
5
4
3
2
1
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
Starting torque
at J
L2
Pull-out torque at J
L1
1000 2000 3000 5000100
Number of rotations (min-1)
0.01
0.02
0.03
0.04
0.05
0
0.1
0.2
0.3
0.4
0.5
0
Torque(oz·in.)
7
0
6
5
4
3
2
1
Pulse Rate - Torque Characteristics
●103H3205-5040/103H3205-5070 ●103H3205-5140/103H3205-5170
Sanyo constant current circuit
Source voltage: DC24V Operating current: 0.25A/phase, 2-phase energization (full-step)
JL1=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
JL2=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 0.5A/phase, 2-phase energization (full-step)
JL1=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
JL2=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.02
0.04
0.06
0.08
0.1
0
0.2
0.4
0.6
0.8
1.0
0
Starting torque
at J
L2
Pull-out torque at J
L1
Torque(oz·in.)
14
0
12
10
8
6
4
2
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.02
0.04
0.06
0.08
0.1
0
0.2
0.4
0.6
0.8
1.0
0
Starting torque at J
L2
Pull-out torque at J
L1
Torque(oz·in.)
14
0
12
10
8
6
4
2
●103H3215-5140/103H3215-5170 ●103H3215-5240/103H3215-5270
Sanyo constant current circuit
Source voltage: DC24V Operating current: 0.5A/phase, 2-phase energization (full-step)
JL1=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
JL2=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step)
JL1=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
JL2=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
Torque (kgf-cm)
Torque (kgf-cm)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
0.02
0.04
0.06
0.08
0.1
0
Pull-out torque at JL1
Starting torque at J
L2
Torque(oz·in.)
14
0
12
10
8
6
4
2
Torque (kgf-cm)
Torque (kgf-cm)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
0.02
0.04
0.06
0.08
0.1
0
Pull-out torque at JL1
Starting torque at J
L2
Torque(oz·in.)
14
0
12
10
8
6
4
2
●103H3205-5570 ●103H3205-5670
Sanyo constant current circuit
Source voltage: DC24V Operating current: 0.25A/phase, 2-phase energization (full-step)
JL1=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
JL2=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 0.5A/phase, 2-phase energization (full-step)
JL1=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
JL2=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
68
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
Pulse Rate - Torque Characteristics
Torque (kgf-cm)
Torque (kgf-cm)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
0.02
0.04
0.06
0.08
0.1
0
Pull-out torque at JL1
Starting torque at J
L2
Torque(oz·in.)
14
0
12
10
8
6
4
2
Torque (kgf-cm)
Torque (kgf-cm)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
0.02
0.04
0.06
0.08
0.1
0
Pull-out torque at JL1
Starting torque at J
L2
Torque(oz·in.)
14
0
12
10
8
6
4
2
●103H3205-5770 ●103H3215-5570
Sanyo constant current circuit
Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step)
JL1=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
JL2=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 0.25A/phase, 2-phase energization (full-step)
JL1=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
JL2=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
Torque (kgf-cm)
Torque (kgf-cm)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
0.02
0.04
0.06
0.08
0.1
0
Pull-out torque at JL1
Starting torque at J
L2
Torque(oz·in.)
14
0
12
10
8
6
4
2
Torque (kgf-cm)
Torque (kgf-cm)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
0.02
0.04
0.06
0.08
0.1
0
Pull-out torque at JL1
Starting torque at J
L2
Torque(oz·in.)
14
0
12
10
8
6
4
2
●103H3215-5670 ●103H3215-5770
Sanyo constant current circuit
Source voltage: DC24V Operating current: 0.5A/phase, 2-phase energization (full-step)
JL1=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
JL2=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step)
JL1=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
JL2=[0.01x10-4kg·m2 (0.05 oz
·in
2) pulley balancer method]
69
42mm sq.
(1.65inch sq.)
103H52□□
1.8˚/step
2-phase Stepping Motor
Specifications
Model
Single shaft
Double shaft
103H5205-0440
103H5208-0440
103H5209-0440
103H5210-0440
Holding torque at
2-phase energization
N·m (oz·in)MIN.
0.2(28.32)
0.3(42.48)
0.32(45.31)
0.37(52.39)
Rated
current
A/phase
1.2
1.2
1.2
1.2
Resistance
Ω/phase
2.4
2.9
3
3.3
Inductance
mH/phase
2.3
3.4
3.9
3.4
Rotor inertia
x10-4kg·m2
(oz·in
2
)
0.036(0.20)
0.056(0.31)
0.062(0.34)
0.074(0.40)
Mass(Weight)
kg(lbs)
0.23(0.51)
0.29(0.64)
0.31(0.68)
0.37(0.82)
2-phase stepping motor
Unipolar winding
Model
Single shaft
Double shaft
Holding torque at
2-phase energization
N·m (oz·in)MIN.
Rated
current
A/phase
Resistance
Ω/phase
Inductance
mH/phase
Rotor inertia
x10-4kg·m2
(oz·in
2
)
Mass(Weight)
kg(lbs)
Bipolar winding
Recommendable Driver
Refer to the page 7,17,27 and 45.
-0410
-0410
-0410
-0410
103H5205-4240
103H5205-5040
103H5205-5140
103H5205-5240
103H5208-4240
103H5208-5040
103H5208-5140
103H5208-5240
103H5209-4240
103H5209-5040
103H5209-5140
103H5209-5240
103H5210-4240
103H5210-5040
103H5210-5140
103H5210-5240
0.265(37.53)
0.23(32.57)
0.25(35.40)
0.265(37.53)
0.39(55.23)
0.35(49.56)
0.38(53.81)
0.39(55.23)
0.425(60.18)
0.38(53.81)
0.41(58.06)
0.425(60.18)
0.51(72.22)
0.465(65.85)
0.49(69.39)
0.51(72.22)
1
0.25
0.5
1
1
0.25
0.5
1
1
0.25
0.5
1
1
0.25
0.5
1
6.5
78
23.4
6.5
9.5
116
34
9.5
11
132
39
11
9.5
123.3
35
9.5
0.036(0.20)
0.036(0.20)
0.036(0.20)
0.036(0.20)
0.056(0.31)
0.056(0.31)
0.056(0.31)
0.056(0.31)
0.062(0.34)
0.062(0.34)
0.062(0.34)
0.062(0.34)
0.074(0.40)
0.074(0.40)
0.074(0.40)
0.074(0.40)
0.23(0.51)
0.23(0.51)
0.23(0.51)
0.23(0.51)
0.3(0.66)
0.3(0.66)
0.3(0.66)
0.3(0.66)
0.31(0.68)
0.31(0.68)
0.31(0.68)
0.31(0.68)
0.37(0.82)
0.37(0.82)
0.37(0.82)
0.37(0.82)
-
4210
-
5010
-
5110
-
5210
-
4210
-
5010
-
5110
-
5210
-
4210
-
5010
-
5110
-
5210
-
4210
-
5010
-
5110
-
5210
3.4
54
13.4
3.4
4.1
66
16.5
4.1
4.4
71.4
18.2
4.4
4.8
80
20
4.8
Effective tapping depth 4(.16) Min
4-M3 x0.5
15±1
(.59
±.04
)
(1.30±.02) (.94±.02)
0.013
ø5-0.013
.00003
(
ø.1968-.0005
)
.00003
(
ø.1968-.0005
)
.0003
(
ø.87-.002
)
0.013
ø5-0.013
0.05
ø22-0.05
33±0.5 24±0.5 □42±0.25
(□1.65±.01)
4-31±0.25
(4-1.22±.01)
27(1.06)
MAX.
7(.28) MAX.
Pin No.
1 · · · 6
1.5±0.76
(.59±.03)
Applicable connector (J.S.T. MFG., CO.)
Connector: EHR-6
Terminal: SEH-001T-P0.6
20(.78)
MIN.
11(.44)
MAX.
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
70
103H5205-0440 (Single shaft)
103H5205-0410 (Double shaft)
Effective tapping depth
depth 4(.16)
Min
4-M3 x0.5
39±0.515±1
0.013
ø5-0.013
0.013
ø5-0.013
0.05
ø22-0.05
24±0.5
□42±0.25
4-31±0.25
Pin No.
1 · · · 6
Applicable connector (J.S.T. MFG., CO.)
Connector: EHR-6
Ter minal: SEH-001T-P0.6
(.59
±.04
)
(1.54±.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)
26(1.02)
MIN.
11(.44)
MAX.
103H5208-0440 (Single shaft)
103H5208-0410 (Double shaft)
Effective tapping depth
depth 4(.16)
Min
4-M3 x0.5
41±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
)
(1.61±.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.
Dimensions [Unit:mm(inch)]
103H5209-0440 (Single shaft)
103H5209-0410 (Double shaft)
103H520
□
-
□□
40 (Single shaft)
103H520
□
-
□□
10 (Double shaft)
Bipolar winding
Effective tapping depth
depth 4(.16)
Min
4-M3 x0.5
Applicable connector (J.S.T. MFG., CO.)
Connector: EHR-6
Terminal: SEH-001T-P0.6
48±0.515±1
0.013
ø5-0.013
0.013
ø5-0.013
0.05
ø22-0.05
24±0.5
□42±0.25
4-31±0.25
Pin No.
1 · · · 6
(.59
±.04
)
(1.89±.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)
35(1.37)
MIN.
11(.44)
MAX.
103H5210-0440 (Single shaft)
103H5210-0410 (Double shaft)
4-M3 x0.5
Lead wire UL1007 AWG26
S
S
5(.20) MAX.
18(.71)
MAX.
□42±0.25
R3(R.12)MIN.
4.5±0.15
1.5±0.76
L±0.5 24±0.5
+1
15 0
4-31±0.25
4.5±0.15
.0003
(
ø.8661-.0019
)
0.05
ø22-0.05
(□1.65±.01)
(4-1.22±.01)
(.1771±.0059)
(Effective length)
Cross SectionS-S
.00003
(
ø.1968-.0005
)
15±1
(.59±.04)
(.1771±.0059)
(L±.02)
(.06±.03)
(.94±.02)
0.013
ø5-0.013
.00003
(
ø.1968-.0005
)
0.013
ø5-0.013
300(11.8)
MIN.
+.04
(.59 .00)
Model L
103H5205-□□□□
103H5208-□□□□
103H5209-□□□□
103H5210-□□□□
33
(1.30)
39
(1.54)
41
(1.61)
48
(1.89)
71
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Pulse Rate - Torque Characteristics
●103H5205-0440 ●103H5208-0440
Sanyo constant current circuit
Source voltage: DC24V Operating current :1.2A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1.2A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H5209-0440 ●103H5210-0440
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1.2A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
JL2=[0.8x10-4kg·m2(4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1.2A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H5205-4240
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
2-phase stepping motor
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H5205-5040
Sanyo constant current circuit
Source voltage: DC24V Operating current : 25A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
72
Pulse Rate - Torque Characteristics
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H5208-4240
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 110100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H5205-5140
Sanyo constant current circuit
Source voltage: DC24V Operating current : 0.5A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H5205-5240
●103H5208-5040
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 0.25A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H5208-5140
Sanyo constant current circuit
Source voltage: DC24V Operating current : 0.5A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H5208-5240
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
73
Pulse Rate - Torque Characteristics
2-phase stepping motor
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H5209-4240
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H5210-4240
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2) Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H5209-5040
●103H5209-5140
Sanyo constant current circuit
Source voltage: DC24V Operating current : 0.25A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 0.5A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2) Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H5209-5240
●103H5210-5040
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 0.25A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2) Use the direct coupling]
74
Pulse Rate - Torque Characteristics
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H5210-5140 ●103H5210-5240
Sanyo constant current circuit
Source voltage: DC24V Operating current : 0.5A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
75
50mm sq.
(1.97inch sq.)
103H670□
1.8˚/step
2-phase Stepping Motor
Specifications
Model
Single shaft
Double shaft
103H6701-0140
103H6701-0440
103H6701-0740
103H6703-0140
103H6703-0440
103H6703-0740
103H6704-0140
103H6704-0440
103H6704-0740
Holding torque at
2-phase energization
N·m(oz·in) MIN.
0.28(39.6)
0.28(39.6)
0.28(39.6)
0.49(69.4)
0.49(69.4)
0.49(69.4)
0.53(75.1)
0.52(73.6)
0.53(75.1)
Rated
current
A/phase
1
2
3
1
2
3
1
2
3
Resistance
Ω/phase
4.3
1.1
0.6
6
1.6
0.83
6.5
1.7
0.9
Inductance
mH/phase
6.8
1.6
0.7
13
3.2
1.4
16.5
3.8
1.7
Rotor inertia
x10-4kg·m2
(oz·in
2
)
0.057(0.31)
0.057(0.31)
0.057(0.31)
0.118(0.65)
0.118(0.65)
0.118(0.65)
0.14(0.77)
0.14(0.77)
0.14(0.77)
Mass(Weight)
kg(lbs)
0.35(0.77)
0.35(0.77)
0.35(0.77)
0.5(1.10)
0.5(1.10)
0.5(1.10)
0.55(1.21)
0.55(1.21)
0.55(1.21)
2-phase stepping motor
Unipolar winding
Model
Single shaft
Double shaft
103H6704-5040
Holding torque at
2-phase energization
N·m(oz·in) MIN.
0.52(73.6)
Rated
current
A/phase
2
Resistance
Ω/phase
0.9
Inductance
mH/phase
3.8
Rotor inertia
x10-4kg·m2
(oz·in
2
)
0.14(0.77)
Mass(Weight)
kg(lbs)
0.55(1.21)
Bipolar winding
Recommendable Driver
Refer to the page 7,17,27 and 45.
-0110
-0410
-0710
-0110
-0410
-0710
-0110
-0410
-0710
-5010
15.5±1
(.61±.04) (1.57±.03) (.81±.02)
39.8±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
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
76
103H6701-0140/0440/0740 (Single shaft)
103H6701-0110/0410/0710 (Double shaft)
Lead wire UL3266 AWG22
25(.98)
MAX.
6(.24)MAX.
305(12)MIN.
15.5±151.3±0.8 20.6±0.5
5
1.5 4-41±0.13
□50±0.5
0.000
ø6.35-0.013
0.000
ø6.35-0.013
0.000
ø36-0.039
+0.5
4-ø4.5 0.5
(.61±.04) (2.02±.03) (.81±.02)
(□1.97±.02)
(4-1.61±.005)
+.02
(
4-ø.18 .00
)
(.06)
(.2)
.00000
(
ø.25-.0005
)
.00000
(
ø.25-.0005
)
.0000
(
ø1.42-.002
)
103H6703-0140/0440/0740 (Single shaft)
103H6703-0110/0410/0710 (Double shaft)
Lead wire UL3266 AWG22
+0.5
4-ø4.5 0.0
305(12)
MIN.
25(.98) MAX.
4-41±0.13
□50±0.5
6(.24) MAX.
15.5±155.8±0.8 20.6±0.5
1.5
5
0.000
ø6.35-0.013
0.000
ø6.35-0.013
0.000
ø36-0.039
(.61±.04) (2.20±.03) (.81±.02)
(□1.97±.02)
(4-1.61±.005)
+.02
(
4-ø.18 .00
)
(.06)
(.2)
.00000
(
ø.25-.0005
)
.00000
(
ø.25-.0005
)
.0000
(
ø1.42-.002
)
Dimensions [Unit:mm(inch)]
103H6704-0140/0440/0740/5040 (Single shaft)
103H6704-0110/0410/0710/5010 (Double shaft)
25(.98)
MAX.
6(.24)MAX.
4-41±0.13
□50±0.5
+0.5
4-ø4.5 0.5
(□1.97±.02)
(4-1.61±.005)
+.02
(
4-ø.18 .00
)
Lead wire UL3266 AWG22
305(12)
MIN.
15.5±155.8±0.8 20.6±0.5
1.5
5
0.000
ø6.35-0.013
0.000
ø6.35-0.013
0.000
ø36-0.039
(.61±.04) (2.20±.03) (.81±.02)
(.06)
(.2)
.00000
(
ø.25-.0005
)
.00000
(
ø.25-.0005
)
.0000
(
ø1.42-.002
)
Bipolar winding
103H6704-5040(Single shaft)
103H6704-5010(Double shaft)
77
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at J
L2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Pulse Rate - Torque Characteristics
●103H6701-0140 ●103H6703-0140
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H6701-0440 ●103H6703-0440
Sanyo constant current circuit
Source voltage: DC24V Operating current : 2A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 2A /phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103H6701-0740 ●103H6703-0740
Sanyo constant current circuit
Source voltage: DC24V Operating current : 3A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 3A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
2-phase stepping motor
78
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting torque
at J
L2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting torque
at J
L2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
Pulse Rate - Torque Characteristics
●103H6704-0140 ●103H6704-5040
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the directcoupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 2A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.14x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
●103H6704-0440
●103H6704-0740
Sanyo constant current circuit
Source voltage: DC24V Operating current : 2A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 3A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
79
56mm sq.
(2.20inch sq.)
103H712□
1.8˚/step
2-phase Stepping Motor
Specifications
Model
Single shaft
Double shaft
103H7121-0140
103H7121-0440
103H7121-0740
103H7123-0140
103H7123-0440
103H7123-0740
103H7124-0140
103H7124-0440
103H7124-0740
103H7126-0140
103H7126-0440
103H7126-0740
Holding torque at
2-phase energization
N·m (oz·in) MIN.
0.39(55.2)
0.39(55.2)
0.39(55.2)
0.83(117.)
0.83(117.5)
0.78(110.5)
0.98(138.8)
0.98(138.8)
0.98(138.8)
1.27(179.8)
1.27(179.8)
1.27(179.8)
Rated
current
A/phase
1
2
3
1
2
3
1
2
3
1
2
3
Resistance
Ω/phase
4.8
1.25
0.6
6.7
1.6
0.77
7
1.7
0.74
8.6
2
0.9
Inductance
mH/phase
8
1.9
0.8
15
3.8
1.58
12.5
3.1
1.4
19
4.5
2.2
Rotor inertia
x10-4kg·m2
(oz·in
2
)
0.1(0.55)
0.1(0.55)
0.1(0.55)
0.21(1.15)
0.21(1.15)
0.21(1.15)
0.245(1.34)
0.245(1.34)
0.245(1.34)
0.36(1.97)
0.36(1.97)
0.36(1.97)
Mass(Weight)
kg(lbs)
0.47(1.04)
0.47(1.04)
0.47(1.04)
0.65(1.43)
0.65(1.43)
0.65(1.43)
0.8(1.76)
0.8(1.76)
0.8(1.76)
0.98(2.16)
0.98(2.16)
0.98(2.16)
2-phase stepping motor
Unipolar winding
Model
Single shaft
Double shaft
Holding torque at
2-phase energization
N·m (oz·in) MIN.
Rated
current
A/phase
Resistance
Ω/phase
Inductance
mH/phase
Rotor inertia
x10-4kg·m2
(oz·in
2
)
Mass(Weight)
kg(lbs)
Bipolar winding
Recommendable Driver
Refer to the page 7,17,27 and 45.
-0110
-0410
-0710
-0110
-0410
-0710
-0110
-0410
-0710
-0110
-0410
-0710
0.39(55.2)
0.55(77.9)
0.55(77.9)
0.55(77.9)
0.83(117.5)
1.0(141.6)
1.0(141.6)
1.0(141.6)
1.27(179.8)
1.6(226.6)
1.6(226.6)
1.6(226.6)
2(283.2)
2(283.2)
2(283.2)
103H7121
-
5040
103H7121
-
5640
103H7121
-
5740
103H7121
-
5840
103H7123
-
5040
103H7123
-
5640
103H7123
-
5740
103H7123
-
5840
103H7126
--
5040
103H7126
-
5640
103H7126
-
5740
103H7126
-
5840
103H7128
-
5640
103H7128
-
5740
103H7128
-
5840
-
5010
-
5610
-
5710
-
5810
-
5010
-
5610
-
5710
-
5810
-
5010
-
5610
-
5710
-
5810
-
5610
-
5710
-
5810
2
1
2
3
2
1
2
3
2
1
2
3
1
2
3
0.65
4.3
1.1
0.54
0.8
5.7
1.5
0.7
1.05
7.7
2
0.94
8.9
2.3
1.03
1.9
14.5
3.7
1.74
3.8
29.4
7.5
3.5
4.5
34.6
9.1
4
40.1
10.4
4.3
0.1(0.55)
0.1(0.55)
0.1(0.55)
0.1(0.55)
0.21(1.15)
0.21(1.15)
0.21(1.15)
0.21(1.15)
0.36(1.97)
0.36(1.97)
0.36(1.97)
0.36(1.97)
0.49(2.68)
0.49(2.68)
0.49(2.68)
0.47(1.04)
0.47(1.04)
0.47(1.04)
0.47(1.04)
0.65(1.43)
0.65(1.43)
0.65(1.43)
0.65(1.43)
0.98(2.16)
0.98(2.16)
0.98(2.16)
0.98(2.16)
1.3(2.87)
1.3(2.87)
1.3(2.87)
+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) (1.65±.03)
(.81±.02)
41.8±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)
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
80
103H7121-0140/0440/0740/5040 (Single shaft)
103H7121-0110/0410/0710/5010 (Double shaft)
8(.31)MAX.
26(1.02)
MAX.
Lead wire UL1430 AWG22
305(12)
MIN.
15.5±153.8±0.8
20.6±0.5
5
1.5
0.000
ø6.35-0.013
+0.5
4-ø4.5 0.5
0.000
ø6.35-0.013
ø38.1±0.025
4-47.14±0.13
□56±0.5
+.02
(
4-ø.18 .00
)
(.61±.04) (2.12±.03)
(.81±.02)
(□2.20±.02)
(.20)
(.06)
.00000
(
ø.25-.0005
)
.00000
(
ø.25-.0005
)
(ø1.50±.001)
(4-1.86±.0005)
103H7123-0140/0440/0740/5040 (Single shaft)
103H7123-0110/0410/0710/5010 (Double shaft)
+.02
(
4-ø.18 .00
)
(.61±.04)(2.51±.03)
(.81±.02)
(□2.20±.02)
(4-1.86±.0005)
(.20)
(.06)
.00000
(
ø.25-.0005
)
.00000
(
ø.25-.0005
)
(ø1.50±.001)
Lead wire UL1430 AWG22
15.5±163.8±0.8
305(12)
MIN.
20.6±0.5
5
1.5
0.000
ø6.35-0.013
0.000
ø6.35-0.013
□56±0.5
26(1.02)MAX.
4-47.14±0.13
8(.31) MAX.
+0.5
4-ø4.5 0.5
ø38.1±0.025
Dimensions [Unit:mm(inch)]
103H7124-0140/0440/0740 (Single shaft)
103H7124-0110/0410/0710 (Double shaft)
+.02
(
4-ø.18 .00
)
(□2.20±.02)
(4-1.86±.0005)
.00000
(
ø.25-.0005
)
.00000
(
ø.25-.0005
)
(ø1.50±.001)
+0.5
4-ø4.5 0.5
Lead wire UL1430 AWG22
0.013
ø6.35-0.013
15.5±1
305(12)
MIN.
75.8±0.8
20.6±0.5
5
1.5
0.013
ø6.35-0.013
ø38.1±0.025
□56±0.5
4-47.14±0.13
(.61±.04)(2.98±.03)
(.81±.02)
(.20)
(.06)
26(1.02)MAX.
8(.31) MAX.
103H7126-0140/0440/0740/5040 (Single shaft)
103H7126-0110/0410/0710/5010 (Double shaft)
Lead wire UL1430 AWG22
S
S
0
øD1-.013
5.8±0.15
+1
15 0
+1
15 0
L±0.8 20.6±0.5
5±0.25
1.5±0.25
□56±0.5
26(1.02)
MAX.
4-47.14±0.13
8(.31) MAX
D2±0.15
ø38.1±0.025
(□2.2±.02)
Cross SectionS-S
15.5±1
(.61±.04)
(.2283±.0059)
(L±.03) (.81±.02)
.00003
(
ø.25-.0005
)
0.013
ø6.35-0.013
.00003
(
øD1-.0005
)
(Effective length)
+.04
(.59 .00)
(Effective length)
+.04
(.59 .00)
(4-1.86±.01)
(D2±.0059)
+.02
(
4ø.18 .00
)
4-ø4.5 0
+0.5
R4 MIN.
(R.16MIN.)
R4 MIN.
(R.16MIN.)
(ø1.50±.0009)
Bipolar winding
103H712□-5 □40 (Single shaft)
103H712□-5 □10 (Double shaft)
Model L D1 D2
103H7121-□□□□
103H7123-□□□□
103H7126-□□□□
103H7128-□□□□
41.8
(1.65)
53.8
(2.12)
75.8
(2.98)
94.8
(3.73)
6.35
(.25)
8
(.3149)
5.8
(.23)
7.5
(.30)
81
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting torque
at J
L2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
Pulse Rate - Torque Characteristics
●103H7121-0140 ●103H7123-0140
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
●103H7121-0440 ●103H7123-0440
Sanyo constant current circuit
Source voltage: DC24V Operating current : 2A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 2A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
●103H7121-0740 ●103H7123-0740
Sanyo constant current circuit
Source voltage: DC24V Operating current : 3A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 3A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
2-phase stepping motor
82
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Pull-out torque at JL1
Starting torque
at J
L2
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque
at J
L2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
Pulse Rate - Torque Characteristics
●103H7124-0140 ●103H7126-0140
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Pull-out torque at JL1
Starting torque at JL2
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
●103H7124-0440 ●103H7126-0440
Sanyo constant current circuit
Source voltage: DC24V Operating current : 2A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 2A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Pull-out torque at JL1
Starting torque at JL2
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
●103H7124-0740 ●103H7126-0740
Sanyo constant current circuit
Source voltage: DC24V Operating current : 3A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current : 3A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the direct coupling]
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
83
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Pulse Rate - Torque Characteristics
●103H7121-5040
Sanyo constant current circuit
Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
2-phase stepping motor
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting torque at J
L2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting torque at J
L2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
●103H7121-5640
●103H7121-5740
Sanyo constant current circuit
Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
●103H7121-5840
Sanyo constant current circuit
Source voltage: DC24V Operatingcurrent: 3A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
84
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
Pulse Rate - Torque Characteristics
●103H7123-5040
Sanyo constant current circuit
Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque
at J
L2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque at
J
L2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
●103H7123-5640
●103H7123-5740
Sanyo constant current circuit
Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2) Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque at J
L2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
●103H7123-5840
Sanyo constant current circuit
Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22 oz
·in
2) Use the direct coupling]
85
Pulse Rate - Torque Characteristics
2-phase stepping motor
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque
at J
L2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
●103H7126-5040
Sanyo constant current circuit
Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque
at
J
L2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque
at
J
L2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
●103H7126-5740
Sanyo constant current circuit
Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 110100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque at
J
L2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
●103H7126-5840
Sanyo constant current circuit
Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the direct coupling]
●103H7126-5640
86
Pulse Rate - Torque Characteristics
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
1.0
2.0
3.0
4.0
5.0
0
10
20
30
40
50
0
Starting torque
at
J
L2
Pull-out torque at JL1
Torque(oz·in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
1.0
2.0
3.0
4.0
5.0
0
10
20
30
40
50
0
Starting torque
at
J
L2
Pull-out torque at JL1
Torque(oz·in.)
700
0
600
500
400
300
200
100
●103H7128-5640
●103H7128-5740
Sanyo constant current circuit
Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
JL2=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
JL2=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
1.0
2.0
3.0
4.0
5.0
0
10
20
30
40
50
0
Starting torque
at
J
L2
Pull-out torque at JL1
Torque(oz·in.)
700
0
600
500
400
300
200
100
●103H7128-5840
Sanyo constant current circuit
Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
JL2=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the direct coupling]
87
60mm sq.
(2.36inch sq.)
103H782□
1.8˚/step
2-phase Stepping Motor
Specifications
Model
Single shaft
Double shaft
103H7821-0140
103H7821-0440
103H7821-0740
103H7822-0140
103H7822-0440
103H7822-0740
103H7823-0140
103H7823-0440
103H7823-0740
Holding torque at
2-phase energization
N·m (oz·in) MIN.
0.78(110.5)
0.78(110.5)
0.78(110.5)
1.17(165.7)
1.17(165.7)
1.17(165.7)
2.1(297.4)
2.1(297.4)
2.1(297.4)
Rated
current
A/phase
1
2
3
1
2
3
1
2
3
Resistance
Ω/phase
5.7
1.5
0.68
6.9
1.8
0.8
10
2.7
1.25
Inductance
mH/phase
8.3
2
0.8
14
3.6
1.38
21.7
5.6
2.4
Rotor inertia
x10-4kg·m2
(oz·in
2
)
0.275(1.50)
0.275(1.50)
0.275(1.50)
0.4(2.19)
0.4(2.19)
0.4(2.19)
0.84(4.59)
0.84(4.59)
0.84(4.59)
Mass(Weight)
kg(lbs)
0.6(1.32)
0.6(1.32)
0.6(1.32)
0.77(1.70)
0.77(1.70)
0.77(1.70)
1.34(2.95)
1.34(2.95)
1.34(2.95)
2-phase stepping motor
Unipolar winding
Recommendable Driver
Refer to the page 7,17,27 and 45.
-0110
-0410
-0710
-0110
-0410
-0710
-0110
-0410
-0710
Model
Single shaft
Double shaft
103H7821-1740
103H7822-1740
103H7823-1740
Holding torque at
2-phase energization
N·m (oz·in) MIN.
0.88(124.6)
1.37(194.0)
2.7(382.3)
Rated
current
A/phase
4
4
4
Resistance
Ω/phase
0.35
0.43
0.65
Inductance
mH/phase
0.8
1.38
2.4
Rotor inertia
x10-4kg·m2
(oz·in
2
)
0.275(1.50)
0.4(2.19)
0.84(4.59)
Mass(Weight)
kg(lbs)
0.6(1.32)
0.77(1.70)
1.34(2.95)
Bipolar winding
-1710
-1710
-1710
Pin No.
Cross section S-S
1 · · · 6
(effective length)
(effective length)
S
S
S
S
0.000
ø8-0.015
.00000
(
ø.315-.0006
)
.00000
(
ø.315-.0006
)
.0000
(
ø1.42-.002
)
R4
MIN.
R4
MIN.
+1
15+0
+.04
(
.59+.00
)
+.04
(
.59+.00
)
15.5±1
(.61±.04) (1.76±.03) (.81±.02)
(R.157MIN.) (R.157MIN.)
44.8±0.8 20.6±0.5
7
(.28)
(.06)
1.5
+1
15+0
0.000
ø8-0.015
0.000
ø36-0.039
33(1.30)
MAX.
4-50±0.13
□60±0.5
(□2.36±.02)
(4-1.97±.005)
12(.47) MAX.
+0.5
4-ø4.5+0.0
+.02
(
4-ø.18+.00
)
.0
7.5±0.1
90˚
7.5±0.1
(.3±.004)
(.3±.004)
Applicable connector :JST Mfg.Co.,Ltd
Connector : VHR-6N
Terminal : SVH-21T-P1.1
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
88
103H7821-0140/0440/0740 (Single shaft)
103H7821-0110/0410/0710 (Double shaft)
(.61±.04) (2.12±.03) (.81±.02)
(.28)
(.06)
(□2.36±.02)
(.3±.004)
(.3±
.004
)
Pin No.
1 · · · 6
(effective length)
(effective length)
S
S
S
S
Cross section S-S
15.5±153.8±0.8 20.6±0.5
7
1.5
+1
15+0
+1
15+0
0.000
ø36-0.039
0.000
ø8-0.015
R4
MIN.
R4
MIN.
0.000
ø8-0.015
+0.5
4-ø4.5+0.0
4-50±0.13
□60±0.5
Applicable connector :JST Mfg.Co.,Ltd
Connector : VHR-6N
Ter minal : SVH-21T-P1.1
7.5±0.1
90˚
7.5±0.1
.00000
(
ø.315-.0006
)
.00000
(
ø.315-.0006
)
.0000
(
ø1.42-.002
)
+.04
(
.59+.00
)
+.04
(
.59+.00
)
(R.157MIN.) (R.157MIN.)
33(1.30)
MAX.
(4-1.97±.005)
12(.47) MAX.
+.02
(
4-ø.18+.00
)
.0
103H7822-0140/0440/0740 (Single shaft)
103H7822-0110/0410/0710 (Double shaft)
Pin No.
S
S
S
S
Cross section S-S
1 · · · 6
(effective length)
+1
15+0
(effective length)
+1
15+0
15.5±185.8±0.8 20.6±0.5
7
1.5
0.000
ø36-0.039
0.000
ø8-0.015
0.000
ø8-0.015
R4
MIN.
4-50±0.13
□60±0.5
+0.5
4-ø4.5+0.0
Applicable connector :JST Mfg.Co.,Ltd
Connector : VHR-6N
Terminal : SVH-21T-P1.1
7.5±0.1
90˚
7.5±0.1
R4
MIN.
(.61±.04) (3.38±.03) (.81±.02)
(.28)
(.06)
(□2.36±.02)
(.3±.004)
(.3±.004)
.00000
(
ø.315-.0006
)
.00000
(
ø.315-.0006
)
.0000
(
ø1.42-.002
)
+.04
(
.59+.00
)
+.04
(
.59+.00
)
(R.157MIN.) (R.157MIN.)
33(1.30)
MAX.
(4-1.97±.005)
12(.47) MAX.
+.02
(
4-ø.18+.00
)
.0
Dimensions [Unit:mm(inch)]
103H7823-0140/0440/0740 (Single shaft)
103H7823-0110/0410/0710 (Double shaft)
Pin No.
1 · · · 4
4-50±0.13
□60±0.5
+0.5
4-ø4.5+0.0
Applicable connector :JST Mfg.Co.,Ltd
Connector : VHR-4N
Terminal : SVH-21T-P1.1
(□2.36±.02)
33(1.30)
MAX.
(4-1.97±.005)
12(.47) MAX.
+.02
(
4-ø.18+.00
)
.0
S
S
S
S
Cross section S-S
(effective length)
+1
15+0
(effective length)
+1
15+0
15.5±120.6±0.5
7
1.5
0.000
ø36-0.039
0.000
ø8-0.015
0.000
ø8-0.015
R4
MIN.
7.5±0.1
90˚
7.5±0.1
R4
MIN.
(.61±.04)
L
(.81±.02)
(.28)
(.06)
(.3±.004)
(.3±.004)
.00000
(
ø.315-.0006
)
.00000
(
ø.315-.0006
)
.0000
(
ø1.42-.002
)
+.04
(
.59+.00
)
+.04
(
.59+.00
)
(R.157MIN.) (R.157MIN.)
Bipolar winding
103H7821-1740/103H7822-1740/103H7823-1740(Single shaft)
103H7821-1710/103H7822-1710/103H7823-1710(Double shaft)
Model L
103H7821
-
□□□□
103H7822
-
□□□□
103H7823
-
□□□□
44.8±0.8
(1.76±0.03)
53.8±0.8
(2.12±0.03)
85.8±0.8
(3.38±0.03)
89
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting torque
at J
L2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting
torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
Pulse Rate - Torque Characteristics
●103H7821-0140 ●103H7822-0140
Sanyo constant current circuit
Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
JL2=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque
at J
L2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
●103H7821-0440 ●103H7822-0440
Sanyo constant current circuit
Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
JL2=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
●103H7821-0740 ●103H7822-0740
Sanyo constant current circuit
Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
JL2=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the direct coupling]
2-phase stepping motor
90
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque
at J
L2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque
at J
L2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
Pulse Rate - Torque Characteristics
●103H7823-0140
●103H7823-0440
Sanyo constant current circuit
Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
JL2=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
JL2=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
4
8
12
16
20
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
●103H7823-0740
Sanyo constant current circuit
Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
JL2=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 110100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
2
4
6
8
10
0
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
4
8
12
16
20
0
0.4
0.8
1.2
1.6
2.0
0
Number of rotations (min-1)
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
●103H7821-1740
●103H7822-1740
Sanyo constant current circuit
Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
Sanyo constant current circuit
Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
Torque (N-m)
Torque (kgf-cm)
0.1 1 10 100
Pulse rate (kpulse/s)
10
20
30
40
50
0
Pull-out torque at JL1
1000 2000 3000 5000100
Number of rotations (min-1)
1
2
3
4
5
0
Torque(oz
·
in.)
700
0
600
500
400
300
200
100
●103H7823-1740
Sanyo constant current circuit
Source voltage: AC100V Operating current: 4A/phase, 2-phase excitation (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
91
86mm cir.
(3.39inch cir.)
103H822□
1.8˚/step
2-phase Stepping Motor
Specifications
2-phase stepping motor
Unipolar winding
Model
Single shaft
Double shaft
103H8221-0441
103H8221-0941
103H8222-0441
103H8222-0941
103H8223-0441
103H8223-0941
Holding torque at
2-phase energization
N·m (oz·in) MIN.
2.15(304.5)
2.15(304.5)
4.13(584.8)
4.13(584.8)
6.27(887.9)
6.27(887.9)
Rated
current
A/phase
2
4
2
4
2
4
Resistance
Ω/phase
2.5
0.62
4.0
0.97
5.6
1.35
Inductance
mH/phase
7.2
1.8
15
3.6
24
5.6
Rotor inertia
x10-4kg·m2
(oz·in
2
)
1.45(7.93)
1.45(7.93)
2.9(15.86)
2.9(15.86)
4.4(24.06)
4.4(24.06)
Mass(Weight)
kg(lbs)
1.5(3.31)
1.5(3.31)
2.5(5.51)
2.5(5.51)
3.5(7.72)
3.5(7.72)
Recommendable Driver
Refer to the page 7,17,27 and 45.
-0411
-0911
-0411
-0911
-0411
-0911
Bipolar winding
Model
Single shaft
Double shaft
103H8221-5041
103H8221-5141
103H8221-5241
103H8222-5041
103H8222-5141
103H8222-5241
103H8223-5041
103H8223-5141
103H8223-5241
Holding torque at
2-phase energization
N·m (oz·in) MIN.
2.74(388.0)
2.74(388.0)
2.74(388.0)
5.09(720.8)
5.09(720.8)
5.09(720.8)
7.44(1053.6)
7.44(1053.6)
7.44(1053.6)
Rated
current
A/phase
2
4
6
2
4
6
2
4
6
Resistance
Ω/phase
2.3
0.6
0.3
2.7
0.7
0.35
3.6
0.9
0.45
Inductance
mH/phase
14
3.5
1.65
23
5.7
2.7
32.5
8.1
3.4
Rotor inertia
x10-4kg·m2
(oz·in
2
)
1.45(7.93)
1.45(7.93)
1.45(7.93)
2.9(15.86)
2.9(15.86)
2.9(15.86)
4.4(24.06)
4.4(24.06)
4.4(24.06)
Mass(Weight)
kg(lbs)
1.5(3.31)
1.5(3.31)
1.5(3.31)
2.5(5.51)
2.5(5.51)
2.5(5.51)
3.5(7.72)
3.5(7.72)
3.5(7.72)
-5011
-5111
-5211
-5011
-5111
-5211
-5011
-5111
-5211
27.5±0.5
(1.1±.02)
(.19)
(.06)
4-ø5.35+0.5
4-ø5.35 0
4-ø5.35+.02
(
4-ø.21 .00
)
Parallel key
(attached to the motor)
Lead wire UL1430 AWG22
305(12)
MIN.
S
S
Cross section S-S
0.00
25-0.21
.0000
(
1.0-.008
)
.00000
(
.1575-.0011
)
.00000
(
.1575-.0011
)
0.00
4-0.03
.00000
(
.1575-.0011
)
0.00
4-0.03
+0.1
2.5 0.00
+.004
(
.1 .000
)
62±0.828±1
(1.10±.04) (2.44±.03) (1.18±.02)
ø86±0.5
(ø3.39±.02)
0.000
ø9.5 -0.013
.00000
(
ø.374-.0005
)
.00000
(
ø.4724-.0007
)
0.000
ø12-0.018
ø73.025±0.025
(ø2.87±.001)
4.83
1.52
30±0.5
4-69.6±0.25
(4-2.74±.001)
□82.55±0.5
(□2.16±.02)
0.00
4-0.03
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
92
103H8221-0441/0941 (Single shaft)
103H8221-0411/0911 (Double shaft)
Lead wire UL1430 AWG22
Cross section S-S Parallel key
(attached to the motor)
S
S
28±192.2±0.8 30±0.5
1.52
4.83
27.5±0.5
305(12)
MIN.
ø86±0.5
0.000
ø9.5-0.013
0.000
ø12-0.018
ø73.025±0.025
+0.5
4-ø5.35+0.0
□82.55±0.5
4-69.6±0.25
0.00
25-0.21 0.00
4-0.03
0.00
4-0.03
+0.1
2.5+0.0
0.00
4-0.03
(1.1±.02)
(.19)
(.06)
4-ø5.35+.02
(
4-ø.21 .00
)
.0000
(
1.0
-.008
)
.00000
(
.1575
-.0011
)
.0000
(
.1575-.0011
)
.00000
(
.1575-.0011
)
+.004
(
.1 .000
)
(1.10±.04)(3.63±.03) (1.18±.02)
(ø3.39±.02)
.00000
(
ø.374-.0005
)
.00000
(
ø.4724-.0007
)
(ø2.87±.001)
(4-2.74±.001)
(□2.16±.02)
103H8222-0441/0941 (Single shaft)
103H8222-0411/0911 (Double shaft)
Lead wire UL1430 AWG22
S
Cross section S-S Parallel key
(attached to the motor)
S
305(12)MIN.
28±1125.8±0.8 30±0.5
1.52
4.83
27.5±0.5
ø73.025±.025
0.000
ø12-0.018
0.000
ø9.5-0.013
ø86±0.5
□82.55±0.5
4-69.6±0.25
+0.5
4-ø5.35+0.0
0.00
4-0.03
0.00
4-0.03
0.00
25-0.21
+0.1
2.5+0.0
0.00
4-0.03
(1.1±.02)
(.19)
(.06)
4-ø5.35+.02
(
4-ø.21 .00
)
.0000
(
1.0
-.008
)
.0000
(
.1575
-.0011
)
.00000
(
0.1575-.0011
)
.00000
(
0.1575-.0011
)
+.004
(
.1 .000
)
(1.10±.04) (4.95±.03) (1.18±.02)
(ø3.39±.02)
.00000
(
ø.374-.0005
)
.00000
(
ø.4724-.0007
)
(ø2.87±.001)
(4-2.74±.001)
(□2.16±.02)
Dimensions [Unit:mm(inch)]
103H8223-0441/0941 (Single shaft)
103H8223-0411/0911 (Double shaft)
S
S
305
MIN.
ø73.025±0.025
28±1
Lead wire UL1430
L±0.8 30±0.5
4.83±0.5 1.52±0.25
27.5±0.5
ø85.85±0.5
4-82.55±0.5
4-69.6±0.25
0
ø12-.018
(ø3.38±.02)
(4-3.25±.02)
(4-2.74±.01)
+.02
(
4-ø.21 .00
)
4-ø4.35 0
+0.5
(12.01MIN.)
(ø2.875±.0009)
.0000
(
ø.4724-.0007
)
0
ø9.5-.013
.0000
(
ø.374-.0005
)
(1.08±.02)
(.06±.01)
(.19±.03)(1.10±.04)
(.19±.02)
Bipolar winding
103H8221/103H8222/103H8223-5□41 (Single shaft)
103H8221/103H8222/103H8223-5□11 (Double shaft)
Model AWG L
103H8221-50□1
103H8221-51□1
103H8221-52□1
103H8222-50□1
103H8222-51□1
103H8222-52□1
103H8223-50□1
103H8223-51□1
103H8223-52□1
22
18
22
18
22
18
62
(2.44)
92.2
(3.63)
125.8
(4.95)
93
2-phase stepping motor
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
4
8
12
16
20
0
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
4
8
12
16
20
0
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2.0
0
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
Pulse Rate - Torque Characteristics
●103H8221-0441 ●103H8221-0941
Sanyo constant current circuit
Source voltage: AC100V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
Sanyo constant current circuit
Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
10
20
30
40
50
0
Number of rotations (min-1)
1
2
3
4
5
0
Pull-out torque at JL1
Torque(oz
·
in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
10
20
30
40
50
0
Number of rotations (min-1)
1
2
3
4
5
0
Pull-out torque at JL1
Torque(oz
·
in.)
700
0
600
500
400
300
200
100
●103H8222-0441 ●103H8222-0941
Sanyo constant current circuit
Source voltage: AC100V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the rubber coupling]
Sanyo constant current circuit
Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step)
JL1=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the rubber coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
10
20
30
40
50
0
Number of rotations (min-1)
1
2
3
4
5
0
Pull-out torque at JL1
Torque(oz
·
in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
20
40
60
80
100
0
Number of rotations (min-1)
2
4
6
8
10
0
Pull-out torque at JL1
Torque(oz·in.)
1400
0
1200
1000
800
600
400
200
●103H8223-0441 ●103H8223-0941
Sanyo constant current circuit
Source voltage: AC100V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the rubber coupling]
Sanyo constant current circuit
Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step)
JL1=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the rubber coupling]
94
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
1
2
3
4
5
0
10
20
30
40
50
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz
·
in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
1
2
3
4
5
0
10
20
30
40
50
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz
·
in.)
700
0
600
500
400
300
200
100
Pulse Rate - Torque Characteristics
●103H8221-5041 ●103H8221-5141
Sanyo constant current circuit
Source voltage: AC100V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
JL2=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
JL2=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
1
2
3
4
5
0
10
20
30
40
50
0
Starting torque
at J
L2
Pull-out torque at JL1
Torque(oz
·
in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
1
2
3
4
5
0
10
20
30
40
50
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz
·
in.)
700
0
600
500
400
300
200
100
●103H8222-5041
●103H8222-5141
Sanyo constant current circuit
Source voltage: AC100V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the rubber coupling]
JL2=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step)
JL1=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the rubber coupling]
JL2=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
10
20
30
40
50
0
1000 2000 3000 5000100
Number of rotations (min-1)
1
2
3
4
5
0
Pull-out torque at JL1
Torque(oz
·
in.)
700
0
600
500
400
300
200
100
●103H8221-5241
Sanyo constant current circuit
Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step)
JL1=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the rubber coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
10
20
30
40
50
0
Pull-out torque at JL1
1000 2000 3000 5000100
Number of rotations (min-1)
1
2
3
4
5
0
Torque(oz
·
in.)
700
0
600
500
400
300
200
100
●103H8222-5241
Sanyo constant current circuit
Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step)
JL1=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the rubber coupling]
95
2-phase stepping motor
Pulse Rate - Torque Characteristics
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
20
40
60
80
100
0
Pull-out torque at JL1
1000 2000 3000 5000100
Number of rotations (min-1)
2
4
6
8
10
0
Torque(oz·in.)
1400
0
1200
1000
800
600
400
200
●103H8223-5241
Sanyo constant current circuit
Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step)
JL1=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the rubber coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
2
4
6
8
10
0
20
40
60
80
100
0Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
1400
0
1200
1000
800
600
400
200
●103H8223-5141
Sanyo constant current circuit
Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step)
JL1=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the rubber coupling]
JL2=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
2
4
6
8
10
0
20
40
60
80
100
0Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
1400
0
1200
1000
800
600
400
200
●103H8223-5041
Sanyo constant current circuit
Source voltage: AC100V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the rubber coupling]
JL2=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the direct coupling]
96
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
S
+0.5
4-ø6.9 0.0
+.02
(
4-ø.27 .00
)
Lead wire UL1430 AWG18
Parallel key
(attached to the motor)
Cross section S-S
S
305(12)
MIN.
ø106.4±1
(ø4.2±.04)
(ø2.19±.002)
28±1
(1.10±.04) (6.4±.04) (1.38±.02)
163.3±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)
0.00
5 -0.03
0.00
28 -0.21
+0.1
3 0.0
+.004
(
.12
.000
)
0.00
5 -0.03
.0000
(
.1968
-.0001
)
.00000
(
.1968
-.0001
)
.0000
(
.1968
-.0001
)
.0000
(
1.1
-.008
)
0.00
5 -0.03
0.000
ø16-0.018
97
106mm cir.
(4.17inch cir.)
103H8922□
1.8˚/step
2-phase Stepping Motor
Specifications
103H89222-0941/5241 (Single shaft)
103H89222-0911/5211 (Double shaft)
Lead wire UL1430 AWG18
Parallel key
(attached to the motor)
Cross section S-S
ø106.4±1
305(12)
MIN.
0.000
ø12.7-0.018
28±1221.3±135±0.5
8.6
1.52
+1
30.5+0
0.000
ø16-0.018
ø55.524±
0.05
S
S
□106.4±0.5
4-88.9±0.25
+0.5
4-ø6.9+0.0
0.00
5-0.03
0.00
5-0.03
0.00
28-0.21
+0.1
3+0.0
0.00
5-0.03
+.02
(
4-ø.27 .00
)
(ø4.2±.04)
(ø2.19±.002)
(1.10±.04) (8.71±.04) (1.38±.02)
(.34)
(.06)
+.04
(
1.2 .00
)
.00000
(
ø.5-.0007
)
.00000
(
ø.63-.0007
)
(□4.2±.002)
(4-3.5±.001)
+.004
(
0.12
.000
)
.0000
(
.1968
-.0001
)
.00000
(
.1968
-.0001
)
.00000
(
.1968
-.0001
)
.0000
(
1.1
-.008
)
103H89223-0941/5241 (Single shaft)
103H89223-0911/5211 (Double shaft)
Dimensions [Unit:mm(inch)]
2-phase stepping motor
Unipolar winding
Model
Single shaft
Double shaft
103H89222-0941
103H89223-0941
Holding torque at
2-phase energization
N·m (oz·in) MIN.
10.8(1529.4)
15.5(2194.9)
Rated
current
A/phase
4
4
Resistance
Ω/phase
0.98
1.4
Inductance
mH/phase
6.3
9.7
Rotor inertia
x10-4kg·m2
(oz·in
2
)
14.6(79.83)
22(120.28)
Mass(Weight)
kg(lbs)
7.5(16.53)
10.5(23.15)
Recommendable Driver
Refer to the page 7 and 17.
-0911
-0911
Bipolar winding
Model
Single shaft
Double shaft
103H89222-5241
103H89223-5241
Holding torque at
2-phase energization
N·m (oz·in) MIN.
13.2(1869.2)
19(2690.5)
Rated
current
A/phase
6
6
Resistance
Ω/phase
0.45
0.63
Inductance
mH/phase
5.4
8
Rotor inertia
x10-4kg·m2
(oz·in
2
)
14.6(79.83)
22(120.28)
Mass(Weight)
kg(lbs)
7.5(16.53)
10.5(23.15)
-5211
-5211
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
98
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
4
8
12
16
20
0
40
80
120
160
200
0
Pull-out torque at JL1
Starting torque at JL2
Torque(oz·in.)
2500
0
2000
1500
1000
500
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
4
8
12
16
20
0
40
80
120
160
200
0Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
2500
0
2000
1500
1000
500
Pulse Rate - Torque Characteristics
●103H89222-5241 ●103H89223-5241
Sanyo constant current circuit
Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step)
JL1=[43x10-4kg·m2 (235.10 oz
·in
2)Use the rubber coupling]
JL2=[43x10-4kg·m2 (235.10 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step)
JL1=[43x10-4kg·m2 (235.10 oz
·in
2)Use the rubber coupling]
JL2=[43x10-4kg·m2 (235.10 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
20
40
60
80
100
0
2
4
6
8
10
0
Pull-out torque at JL1
Torque(oz·in.)
1400
0
1200
1000
800
600
400
200
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
40
80
120
160
200
0
4
8
12
16
20
0
Pull-out torque at JL1
Torque(oz·in.)
2500
0
2000
1500
1000
500
●103H89222-0941 ●103H89223-0941
Sanyo constant current circuit
Source voltage: AC100VOperating current: 4A/phase, 2-phase energization (full-step)
JL1=[43x10-4kg·m2 (235.10 oz
·in
2)Use the rubber coupling]
Sanyo constant current circuit
Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step)
JL1=[43x10-4kg·m2 (235.10 oz
·in
2)Use the rubber coupling]
Lead wire UL1430 AWG22
305(12)
MIN.
M3x0.5x6L
Grounding terminal
11(.43) MAX.
15.5±1
(.6±.04)
(.8±.02)
(1.6±.03)
41.8±0.8
20.6±0.5
5
1.5
(.06)
(.2)
0.000
ø6.35-0.013
.00000
(
ø.25-.0005
)
.00000
(
ø.25-.0005
)
0.000
ø6.35-0.013
ø38.1±0.025
(ø1.5±.001)
□56±0.5
(□2.2±.02)
(4-1.86±.005)
4-47.14±0.13
+0.5
4-ø4.5 0.5
+.02
(
4-ø.18 .00
)
99
Specifications
103H7121-6140/6740 (Single shaft)
103H7121-6110/6710 (Double shaft)
(.6±.04)
(.8±.02)
(2.1±.03)
(.06)
(.2)
.00000
(
ø.25-.0005
)
.00000
(
ø.25-.0005
)
(ø1.5±.001)
(□2.2±.02)
(4-1.86±.005)
+.02
(
4-ø0.18 .00
)
Lead wire UL1430 AWG22
305(12)
MIN.
M3x0.5x6L
Grounding terminal
15.5±153.8±0.8
20.6±0.5
5
1.5
0.000
ø6.35-0.013
0.000
ø6.35-0.013
ø38.1±0.025
□56±0.5
4-47.14±0.13
+0.5
4-ø4.5 0.5
11(.43) MAX.
103H7123-6140/6740 (Single shaft)
103H7123-6110/6710 (Double shaft)
(.6±.04)
(.8±.02)
(2.98±.03)
(.06)
(.2)
.00000
(
ø.25-.0005
)
.00000
(
ø.25-.0005
)
(ø1.5±.001)
(□2.2±.02)
(4-1.86±.005)
+.02
(
4-ø.18 .00
)
Lead wire UL1430 AWG22
305(12)
MiN.
M3x0.5x6L
Grounding terminal
11(.43) MAX.
15.5±175.8±0.8
20.6±0.5
5
1.5
0.000
ø6.35-0.013
0.000
ø6.35-0.013
ø38.1±0.025
□56±0.5
4-47.14±0.13
+0.5
4-ø4.5 0.5
Dimensions [Unit:mm(inch)]
103H7126-6140/6740 (Single shaft)
103H7126-6110/6710 (Double shaft)
2-phase stepping motor (CE)
Unipolar winding
Model
Single shaft
Double shaft
103H7121-6140
103H7121-6740
103H7123-6140
103H7123-6740
103H7126-6140
103H7126-6740
Holding torque at
2-phase energization
N·m(oz·in) MIN.
0.39(55.2)
0.39(55.2)
0.83(117.5)
0.78(110.5)
1.27(179.8)
1.27(179.8)
Rated
current
A/phase
1
3
1
3
1
3
Resistance
Ω/phase
4.8
0.6
6.7
0.77
8.6
0.9
Inductance
mH/phase
8
0.8
15
1.58
19
2.2
Rotor inertia
x10-4kg·m2
(oz·in
2
)
0.1(0.55)
0.1(0.55)
0.21(1.15)
0.21(1.15)
0.36(1.97)
0.36(1.97)
Mass(Weight)
kg(lbs)
0.47(1.04)
0.47(1.04)
0.65(1.43)
0.65(1.43)
0.98(2.16)
0.98(2.16)
103H712□
Conforming to the CE marking
1.8˚/step
2-phase Stepping Motor
56mm sq.
(2.20inch sq.)
-6110
-6710
-6110
-6710
-6110
-6710
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
100
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
70
0
60
50
40
30
20
10
Pulse Rate - Torque Characteristics
●103H7121-6140 ●103H7121-6740
Sanyo constant current circuit
Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting
torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.2
0.4
0.6
0.8
1.0
0
2
4
6
8
10
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
140
0
120
100
80
60
40
20
●103H7123-6140 ●103H7123-6740
Sanyo constant current circuit
Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling ]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2
0
4
8
12
16
20
0
Starting
torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
0.4
0.8
1.2
1.6
2
0
4
8
12
16
20
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
250
0
200
150
100
50
●103H7126-6140 ●103H7126-6740
Sanyo constant current circuit
Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step)
JL1=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the rubber coupling]
JL2=[2.6x10-4kg·m2 (14.22 oz
·in
2)Use the direct coupling]
S
Lead wire UL1430 AWG18UL vinyl tube
Grounding terminal
M4x0.7x6L
S
Cross section S-S
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±0.562±0.828±1
(1.10± .04)
(2.4±.03) (1.2±.02)
(.1575x.1575x.984)
(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)
Parallel key 4x4x25
4
(.1575)
(.1)
0.00
4-0.03
.00000
(
.1575
-.0001
)
2.5
101
Specifications
103H8221-6240 (Single shaft)
103H8221-6210 (Double shaft)
S
S
Lead wire UL1430 AWG18
UL vinyl tube
Grounding terminal
M4x0.7x6L
Cross section S-S
Parallel key 4x4x25
28±192.2±0.8 30±0.5
1.52
25
4.83
27.5±0.5
ø73.025±0.025
0.000
ø12-0.018
0.000
ø9.5-0.013
ø86±0.5
305(12)
MIN.
250±20
4-69.6±0.2
□82.55±0.5
+0.5
4-ø5.35+0.0
0.00
4-0.03
2.5
4
(9.8±.8)
(ø3.4±.02)
.00000
(
ø.374-.0005
)
.00000
(
ø.4724-.0007
)
(ø2.9±.001)
(.98)
(1.10±.04)
(3.63±.03) (1.2±.02)
(1.08±.02)
(.06)
(.19)
+.02
(
4-ø.2+.00
)
(□3.25±.02)
(4-2.74±.008)
(.1575)
(.1)
.00000
(
.1575
.0001
)
(.1575x.1575x.984)
103H8222-6340 (Single shaft)
103H8222-6310 (Double shaft)
(9.8±.8)
(ø3.4±.02)
.00000
(
ø.374-.0005
)
.00000
(
ø.4724-.0007
)
(ø2.9±.001)
(.98)
(1.10±.04)
(4.96±.03) (1.2±.02)
(1.08±.02)
(.06)
(.19)
+ .02
(
4-ø.2+.00
)
(□3.25±.02)
(4-2.74±.008)
(.1575)
( .1)
.00000
(
.1575-.0001
)
Lead wire UL1430 AWG18
Cross section S-S
UL vinyl tube
Grounding terminal
M4x0.7x6L
S
S
28±1125.9±0.8 30±0.5
1.52
4.83
27.5±0.5
25
ø73.025±0.025
0.000
ø12-0.018
0.000
ø9.5-0.013
ø86±0.5
305(12)
MIN.
250±20
□82.55±0.5
4-69.6±.2
+0.5
4-ø5.35+0.0
Parallel key 4x4x25
0.00
4-0.03
2.5
4
(.1575x.16x.984)
Dimensions [Unit:mm(inch)]
103H8223-6340 (Single shaft)
103H8223-6310 (Double shaft)
2-phase stepping motor (CE)
Bipolar winding
Model
Single shaft
Double shaft
103H8221-6240
103H8222-6340
103H8223-6340
Holding torque at
2-phase energization
N·m(oz·in) MIN.
2.74(388.0)
5.09(720.8)
7.44(1053.6)
Rated
current
A/phase
6
6
6
Resistance
Ω/phase
0.3
0.35
0.45
Inductance
mH/phase
1.65
2.7
3.4
Rotor inertia
x10-4kg·m2
(oz·in
2
)
1.45(7.93)
2.9(15.86)
4.4(24.06)
Mass(Weight)
kg(lbs)
1.5(3.31)
2.5(5.51)
3.5(7.72)
86mm cir.
(3.39inch cir.)
103H822□
Conforming to the CE marking
1.8˚/step
2-phase Stepping Motor
-6210
-6310
-6310
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
102
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
1
2
3
4
5
0
10
20
30
40
50
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz
·
in.)
700
0
600
500
400
300
200
100
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
1
2
3
4
5
0
10
20
30
40
50
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz
·
in.)
700
0
600
500
400
300
200
100
Pulse Rate - Torque Characteristics
●103H8221-6240
●103H8222-6340
Sanyo constant current circuit
Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step)
JL1=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the rubber coupling]
JL2=[7.4x10-4kg·m2 (40.46 oz
·in
2)Use the direct coupling]
Sanyo constant current circuit
Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step)
JL1=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the rubber coupling]
JL2=[15.3x10-4kg·m2 (83.65 oz
·in
2)Use the direct coupling]
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
20
40
60
80
100
0
2
4
6
8
10
0
Starting torque at JL2
Pull-out torque at JL1
Torque(oz·in.)
14000
0
12000
10000
8000
6000
4000
2000
●103H8223-6340
Sanyo constant current circuit
Source voltage: AC100V Winding current: 6A/phase, 2-phase energization (full-step)
JL1=[43x10-4kg·m2 (235.10 oz
·in
2)Use the rubber coupling]
JL2=[43x10-4kg·m2 (235.10 oz
·in
2)Use the direct coupling]
0.00
5 -0.03
.0000
(
.1968-.001
)
280±10
(11±.4)
S
+0.5
4-ø6.9 0.0
+.02
(
4-ø.27 .00
)
Cross section S-S
M4x0.7x6L
Grounding terminal
UL vinyl tube
Lead wire UL1430CSA AWG18
S
305(12)
MIN.
ø106.4±1
(ø4.2±.04)
0.000
ø12.7-0.018
.00000
(ø.5-.0007)
.00000
(ø.63-.0007)
0.000
ø16-0.018
28±1
(1.1±.04) (6.4±.04) (1.39±.02)
163.3±135±0.5
8.6
(.34)
(.06)
1.52
30.5
(1.2)
ø55.524±0.05
(ø2.2±.002)
4-88.9±0.25
(4-3.5±.01)
□106.4±0.5
(□4.2±.02)
5
(.1968)
(.1)
3
Parallel key 5x5x28
(.1968x.1968x1.1)
103
Specifications
103H89222-6341 (Single shaft)
103H89222-6311 (Double shaft)
M4x0.7x6L
Grounding terminal
UL vinyl tube
Lead wire UL1430CSA AWG18
S
S
Cross section S-S
ø106.4±1
305(12)
MIN.
0.000
ø12.7-0.018
0.000
ø16-0.018
ø55.524±0.05
28±1221.3±135±0.5
8.6
1.52
30.5
4-88.9±0.25
□106.4±0.5
+0.5
4-ø6.9+0.0
0.00
5-0.03
5
Parallel key 5x5x28
3
280±10
.0000
(
.1968-.001
)
(11±.4)
+.02
(
4-ø.27 .00
)
(ø4.2±.04)
.00000
(ø.5-.0007)
.00000
(ø.63-.0007)
(1.1±.04) (8.7±.04) (1.38±.02)
(.34)
(.06)
(1.2)
(ø2.2±.002)
(4-3.5±.01)
(□4.2±.02)
(.1968)
(.1)
(.1968x.1968x1.1
103H89223-6341 (Single shaft)
103H89223-6311 (Double shaft)
Dimensions [Unit:mm(inch)]
2-phase stepping motor (CE)
Bipolar winding
Model
Single shaft
Double shaft
103H89222-6341
103H89223-6341
Holding torque at
2-phase energization
N·m (oz·in) MIN.
13.2(1869.2)
19(2690.5)
Rated
current
A/phase
6
6
Resistance
Ω/phase
0.45
0.63
Inductance
mH/phase
5.4
8
Rotor inertia
x10-4kg·m2
(oz·in
2
)
14.6(79.83)
22(120.28)
Mass(Weight)
kg(lbs)
7.5(16.53)
10.5(23.15)
106mm cir.
(4.17inch cir.)
103H8922□
Conforming to the CE marking
1.8˚/step
2-phase Stepping Motor
-6311
-6311
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
104
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
4
8
12
16
20
0
40
80
120
160
200
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
2500
0
2000
1500
1000
500
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
4
8
12
16
20
0
40
80
120
160
200
0
Starting torque
at JL2
Pull-out torque at JL1
Torque(oz·in.)
2500
0
2000
1500
1000
500
Pulse Rate - Torque Characteristics
●103H89222-6341 ●103H89223-6341
Sanyo constant current circuit
Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step)
JL1=[43x10-4kg·m2 (235.10 oz
·in
2)Use the rubber coupling]
JL2=[43x10-4kg·m2 (235.10 oz
·in
2)Use the rubber coupling]
Sanyo constant current circuit
Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step)
JL1=[43x10-4kg·m2 (235.10 oz
·in
2)Use the rubber coupling]
JL2=[43x10-4kg·m2 (235.10 oz
·in
2)Use the rubber coupling]
105
Specifications of 2-Phase Stepping Motor
Insulation class
Insulation resistance
Withstand voltage
Operating environment
Winding temperature rise
Standing angle error
Axial play
Radial play (Note 1)
Shaft runouts
Concentricity of mounting spigot relative to shaft
Perpendicularity of mounting surface relative to shaft
103-591
±0.054°
0.075mm(0.003inch) MAX
Load 4.4N(1Ibs)
ø0.05mm(0.002inch)
0.075mm(0.03inch)
103
−
771□
±0.045°
0.075mm(0.003inch) MAX
Load 9N(2Ibs)
ø0.075mm(0.003inch)
0.075mm(0.003inch)
103H32□□
±0.09°
0.075mm(0.003inch) MAX
Load 4.4N(1Ibs)
ø0.05mm(0.002inch)
0.1mm(0.004inch)
103H52□□
±0.09°
0.075mm(0.003inch) MAX
Load 4.4N(1Ibs)
ø0.05mm(0.002inch)
0.1mm(0.004inch)
Class B (130˚C)
Not less than 100MΩbetween winding and frame by DC500V megger or normal temperture and humidity.
Without abnormality when applying 50/60Hz, 0.5kV AC (1KV AC for 103.
.771□) for 1minute (leakage
current 1mA) between winding and frame at nomal temperature and humidity.
Ambient temperature: -10˚C~+50˚C
Ambient humidity: 20~90% RH (no condensation)
80K MAX. (Based on Sanyo Denki standard)
0.025mm(0.001inch) MAX Load 4.4N(1Ibs)
0.025mm(0.001inch)
Rated voltage
Applied standards(Low voltage diretive)
Operation type
Protection grade
Device category
Operation environment
Insulation classI
Insulation resistance
Withstand voltage
Operating environment
Winding temperature rise
Standing angle error
Axial play
Radial play (Note 1)
Shaft runouts
Concentricity of mounting spigot relative to shaft
Perpendicularity of mounting surface relative to shaft
103H712□
12-200VDC
±0.054°
ø0.075mm(0.003inch)
0.1mm(0.04inch)
103H822□
12-300VDC
±0.09°
ø0.075mm(0.03inch)
0.1mm(0.004inch)
103H8922□
12-300VDC
±0.09°
ø0.075mm(0.03inch)
0.1mm(0.004inch)
EN60034-1, IEC34-5(EN60034-5),EN60204-1,EN60950,EN61010-1
S1 (continuous rating)
IP43
Class Ⅰ
Pollution dgree
Class B (130˚C)
Not less than 100MΩbetween winding and frame by DC500V megger or normal temperture and humidity.
Without abnormality when applying 50/60Hz, 1600V AC (1500V AC for 103H712□) for 1minute (leakage
current 10mA) between winding and frame at nomal temperature and humidity.
Ambient temperature: -10˚C~+40˚C
Ambient humidity 20~90% (no condensation)
80K MAX. (Based on Sanyo Denki standard)
0.075mm(0.003inch) MAX. Load 9N(2Ibs)
0.025mm(0.001inch) MAX. Load 4.4N(1Ibs)
0.025mm(.001inch)
2-phase stepping motor
(Note 1) When load is applied at 1/3 length from output shaft edge.
(Note 1) When load is applied at 1/3 length from output shaft edge.
(Note 1) When load is applied at 1/3 length from output shaft edge.
103-4902
±0.045°
0.075mm(0.003inch) MAX
Load 4.4N(1Ibs)
ø0.05mm(0.002inch)
0.075mm(0.03inch)
Insulation class
Insulation resistance
Withstand voltage
Operating environment
Winding temperature rise
Standing angle error
Axial play
Radial play (Note 1)
Shaft runouts
Concentricity of mounting spigot relative to shaft
Perpendicularity of mounting surface relative to shaft
103H712□
±0.054°
0.075mm(0.003inch) MAX
Load 9N(2Ibs)
ø0.075mm(0.003inch)
0.075mm(0.003inch)
103H782□
±0.054°
0.075mm(0.003inch) MAX
Load 9N(2Ibs)
ø0.075mm(0.003inch)
0.075mm(0.003inch)
103H822□□
±0.09°
0.075mm(0.003inch) MAX
Load 9N(2Ibs)
ø0.075mm(0.003inch)
0.075mm(0.003inch)
103H8922□□
±0.09°
0.075mm(0.003inch) MAX
Load 9N(2Ibs)
ø0.075mm(0.003inch)
0.075mm(0.003inch)
Class B (130˚C)
Not less than 100MΩbetween winding and frame by DC500V megger or normal temperture and humidity.
Without abnormality when applying 50/60Hz, 1kV AC for 1minute (leakage current 1mA) between
winding and frame at nomal temperature and humidity.
Ambient temperature: -10˚C~+50˚C
Ambient humidity: 20~90% RH (no condensation)
80K MAX. (Based on Sanyo Denki standard)
0.025mm MAX. Load 4.4N(1Ibs)
0.025mm(0.001inch)
103H670□
±0.09°
0.075mm(0.003inch) MAX
Load 9N(2Ibs)
ø0.075mm(0.003inch)
0.075mm(0.003inch)
General Specifications
General Specifications (CE Marked Models)
106
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
Allowable radial load / thrust load
□28mm(□1.10inch)
□35mm(□1.38inch)
□39mm(□1.54inch)
□42mm(□1.65inch)
□50mm(□1.97inch)
□56mm(□2.20inch)
φ56mm(φ2.20inch)
□60mm(□2.36inch)
φ86mm(φ3.39inch)
φ106mm(φ4.17inch)
103H32□□
SH35□□
103-49□□
103H52□□
103-59□
103H670□
103H712□
103H7128
103-77□□
103H782□
103H822□
103H8922□
30(6)
40(8)
43(9)
22(4)
71(15)
52(11)
85(19)
75(16)
70(15)
191(42)
321(72)
38(8)
50(11)
59(13)
26(5)
87(19)
65(14)
105(23)
92(20)
87(19)
234(52)
356(80)
53(11)
67(15)
93(20)
33(7)
115(25)
85(19)
138(31)
121(27)
114(25)
301(67)
401(90)
84(18)
98(22)
216(48)
46(10)
167(37)
123(27)
200(44)
176(39)
165(37)
421(94)
457(102)
3(0.67)
10(2.25)
30(6.75)
10(2.25)
15(3.37)
15(3.37)
15(3.37)
15(3.37)
20(4.50)
60(13.488)
100(22.48)
Frange size Model. No.
Distance from end of shaft:mm（inch）
0
Radial load:N(lbs)
5(0.20) 10(0.39) 15(0.59) Thrust load
N(Ibs)
Radial load
Thrust load
107
2-phase stepping motor
(4) Orange
(6) White
(2) Blue
Red Yellow
(5)
Black
(1) (3)
Direction of motor rotate
Internal wire connection
( ) 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.
Unipolar winding
Bipolar winding
●103H32□□
(2)
(1)
(3)
(5) (6) (4)
Internal wire connection
( ) connector pin number
●103H52□□
(2)
(1)
(3)
(4) (6) (5)
Internal wire connection
( ) connector pin number
●103H782□
Orange
White
Blue
Red YellowBlack
Internal wire connection
●Other than 103H32□□、103H52□□、103H782 □
Red Yellow
〈3〉(1)Orange
〈1〉(2)Blue
(3) (4)
〈6〉〈4〉
Internal wire connection
〈〉
,( ) connector pin number
Direction of motor rotate
Direction of motor rotate
The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
Direction of motor rotate
Direction of motor rotate
The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
Direction of motor rotate
Direction of motor rotate
The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
Direction of motor rotate
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)
+
+
+
+
White
& black
1
2
3
4
Red
(5)
–
–
Blue
(2)
–
–
Yellow
(3)
–
–
Orange
(4)
–
–
Lead wire color, connector type pin number
Lead wire
Connector
Exciting order
Red
–
+
+
–
＜6＞
（3）
1
2
3
4
103H52□□
103H782□
Blue
–
–
+
+
＜1＞
（2）
Yellow
+
–
–
+
＜4＞
（4）
Orange
+
+
–
–
＜3＞
（1）
Lead wire color, connector type pin number
Lead wire
Exciting
order
(1.6)
+
+
+
+
1
2
3
4
(5)
–
–
(3)
–
–
(4)
–
–
(2)
–
–
Connector type pin number
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
Internal Wiring and Rotation Direction
Connector
108
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
109
2-phase synchronous motor
•A constant rotation speed is maintained without slip
within the load range to the motor torque.
•Enables ultra-low speed rotation and high torque.
•
Enables cost saving as it operates on the commercial power
supply and therefore the driving circuit is not required.
Characteristics
General Specifications
Internal wiring and rotation direction
•Widely used in various fields such as conveyer drives,
printers, cryopump ultimate freezers, and general
industrial devices.
・
The stepping motor is transformed into a synchronous
motor by replacing the wound-wire for the AC power
specification.
・
A synchronous motor rotates at a constant speed in
proportion to the AC power frequency of which current
is applied directly to the wound-wire, while a stepping
motor rotates in accordance with the switched phase
by the driving circuit.
・
The 2-phase synchronous motor is driven by the phase
shifter (condenser and resistor) used on the supplied
single phase current.
Range of Uses
Principle
Direction of motor rotate
Lead wire color
Black
Red
White
CW R
C
CCW
AC
Internal wire connection
Direction of motor rotate
Insulation class
Insulation resistance
Withstand voltage
Operating environment
Winding temperature rise
Axial play
Radial play (Note 1)
Shaft runouts
Concentricity of mounting spigot relative to shaft
Perpendicularity of mounting surface relative to shaft
Allowable thrust load
Allowable radial load (Note 1)
103H7093-0140
ø0.075mm(0.003inch)
0.075mm(0.003inch)
15N(3.4Ibs)
75N(16.9Ibs)
103H823□
ø0.075mm(0.003inch)
0.075mm(0.003inch)
60N(13.5Ibs)
220N(49.5Ibs)
103H8923□
ø0.075mm(0.003inch)
0.075mm(0.003inch)
100N(22.5Ibs)
360N(80.9Ibs)
103-830-0140
ø0.075mm(0.003inch)
0.075mm(0.003inch)
60N(13.5Ibs)
130N(29.2Ibs)
Class B (130˚C)
Not less than 100MΩbetween winding and frame by DC500V megger or normal temperture and humidity.
Without abnormality when applying 50/60Hz, 1KV AC for 1minute (leakage current 1mA) between
winding and frame at nomal temperature and humidity.
Ambient temperature: -10˚C~+50˚C
Ambient humidity: 20~95% RH (no condensation)
80K MAX (Based on Sanyo Denki standard)
0.075mm(0.003inch) MAX
Load 9N (2Ibs)
0.025mm(0.001inch) MAX Load 4.4N(1Ibs)
0.025mm(0.001inch)
The output shaft shall rotate clockwise as seen from
the shaft side, when the switch is selected CW at the
internal wiring indicated left.
(Note 1) When load is applied at 1/3 length from output shaft edge.
2-Phase Synchronous Motor
110
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
Specifications
Model
103H7093-0140
103H8231-0140
103H8232-0240
103H89235-0140
103H89236-0140
103-830-0140
Synchronous pull-out torque
N·m(oz·in)
MIN.
0.568(80.4)
1.6(226.6)
3(424.8)
2.6(368.2)
5.5(778.8)
0.54(76.5)
Rated voltage
VAC
100
100
220
120
120
120
Rated current
A
0.15
0.5
0.5
0.4
0.9
0.33
Capacitor
(µF)
Phase shifter
50Hz
1.7
6.75
2.4
–
–
3.75
60Hz
1.7
5
1.8
–
–
3.75
Resister
(Ω)
–
180
500
–
–
300
Number of rotation (min– 1)
60Hz
72
72
72
72
72
200
50Hz
60
60
60
60
60
166
Mass(Weight)
kg(lbs)
0.65(1.43)
1.5(3.31)
2.5(5.51)
5(11.02)
7.5(16.53)
2.5(5.51)
53.8±0.8
(2.12±.03)
(.8±.02)
(.2)
(.06)
□56±0.5
(□2.2±.02)
4-47.14±0.13
(4-1.86±.0005)
20.6±0.5
ø38.1±0.025
305(12) MIN.
1.5
26(1.0) MAX.
8(.3) MAX.
5
Lead wire UL3266 AWG22
0
ø6.35-0.013
.0000
(
ø.25-.0005
)
.000
(
ø1.5-.001
)
+0.5
4 -ø4.5 0
+.02
(
4-ø.18 .00
)
30±0.5
27.5±0.5
□82.55±0.5
(□3.25±.02)
4-69.6±0.25
(4-2.74±.01)
62±0.8
(2.4±.03) (1.2±.02)
(1.1±.02)
(.06)
(.2)
ø73.025±0.025
(ø2.9±.001)
ø86±0.5
(ø3.4±.02)
305(12)
MIN.
1.52
4.83
Lead wire UL3266 AWG22
0
4 -0.03
.000
(
.1575
-.001
)
+0.1
2.5 0
+.004
(
.1 .000
)
Cross section S-S
0
ø12 -0.018
.0000
(
ø.47 -.0007
)
+0.5
4-ø5.35 0
+.02
(
4-ø.2 .00
)
S
S
Dimensions [Unit:mm(inch)]
103H8231-0140103H7093-0140
30±0.5
27.5±0.5
□82.55±0.5
4 - 69.6±.25
92.2±0.8
ø73.025±0.025
ø86±0.5
305(12) MIN.
1.52
4.83
Lead wire UL3266 AWG22
0
4 -0.03
+0.1
2.5 0
Cross section S-S
0
ø12 -0.018
+0.5
4 -ø5.35 0
S
S
(□3.25±.02)
(4-2.74±.01)
(3.36±.03) (1.2±.02)
(1.1±.02)
(.06)
(.2)
(ø2.9±.001)
(ø3.4±.02)
.000
(
.1575 -.001
)
+.004
(
.1 .000
)
.0000
(
ø.4724 -.0007
)
+.02
(
4- ø.2 .00
)
35±0.5 □106.4±0.5
(□4.2±.02)
4-88.9±0.25
(4-3.5±.01)
104.3±1
(4.1±.04) (1.4±.02)
(.3)
(.06)
ø55.524±0.05
(ø2.2±.002)
ø106.4±1
(ø4.2±.04)
305(12)
MIN.
1.52
8.6
Lead wire UL3266 AWG22
0
5-0.03
.000
(
.1968-.001
)
+0.1
3 0
+.004
(
.12 .000
)
Cross section S-S
0
ø16-0.018
.0000
(
ø.63-.0007
)
+0.5
4 -ø6.9 0
+.02
(
4-ø.27 .00
)
S
S
+1
30.5 0
+.004
(
1.2 .000
)
103H89235-0140103H8232-0240
30±0.5 □106.4±0.5
4 - 88.9±0.25
151.8±1
ø55.524±0.05
ø106.4±1
305(12) MIN.
1.52
8.6
Lead wire UL3266 AWG22
0
5 -0.03
+0.1
3 0
Cross section S-S
0
ø16 -0.018
+0.5
4 -ø6.9 0
S
S
+1
30.5 0
(□4.2±.02)
(4-3.5±.01)
(6±.04) (1.2±.02)
(.3)
(.06)
(ø2.2±.002)
(ø4.2±.04)
.000
(
.1968-.001
)
+.004
(
.12 .000
)
.0000
(
ø.63-.0007
)
+.02
(
4-ø.27 .00
)
+.004
(
1.2 .000
)
31.8±0.5 □82.55±0.5
(□3.25±.02)
4-69.6±0.25
(4-2.74±.01)
93.5±0.8
(3.7±.03) (1.25±.02)
(.2)
(.06)
ø73.025±0.025
(ø2.9±.001)
ø86±0.5
(ø3.4±.02)
305(12) MIN.
1.52
4.83
Lead wire UL3266 AWG22
0
ø9.525 -0.013
.0000
(
ø.375 -.0005
)
+0.5
4 -ø5.35 0
+.02
(
4 -ø.2 .00
)
103-830-0140103H89236-0140
111
In-vacuum stepping motor
We have developed the stepping motor for use under a vacuum environment in response to the demand for the
actuator that can operate without a vacuum introducer.
The stepping motor for a vacuum environment secures the highly accurate operation in speed control and position
control by the open-loop control system, the features realized with the general stepping motor.
•Enables use in a vacuum environment of ultrahigh degree (10– 8Pa).
•Enables baking at the temperature 200˚C.
•A line of the product models is available to be selected for various uses.
The stepping motors for vacuum environment are utilized in the devices of the following fields.
•Industrial robots on satellites (Space industry)
•Semiconductor production systems
•Scanning electron microscopes
•Large scale experiment facilities (Particle accelerator, radial light analyzer)
etc.
Insulation class
Insulation resistance
Withstand voltage
Ambient pressure
Standing angle error
Axial play
Radial play (Note 1)
Shaft runouts
Concentricity of mounting spigot relative to shaft
Perpendicularity of mounting surface relative to shaft
Allowable thrust load
Allowable radial load (Note 1)
103-770-12V1
Class C (200˚C)
100M
Ω
MIN. when measured with a DC500V megohmmeter between the motor wiring and the frame at normal temperature and humidity
.
Not influenced when applied 1kVAC, 50/60Hz between the motor wound-wire and the frame for 1 minute
(leak current 1mA) at room temperature and humidity.
10– 8Pa (reference value)
±0.09˚
0.075mm(0.003inch) MAX (With 9N loaded)
0.025mm(0.001inch) MAX (With 4.4N loaded)
0.025mm(0.001inch)
ø0.075mm(0.003inch)
0.075mm(0.003inch)
15N
80N
(Note 1) When load is applied at 1/3 length from output shaft edge.
●103-770-12V1
Orange
Blue
Red Yellow
Internal wiring connection Direction of motor rotate
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
Red
–
+
+
–
1
2
3
4
Blue
–
–
+
+
Yellow
+
–
–
+
Orange
+
+
–
–
Lead wire color
Lead wire
2-Phase Stepping Motor for Vacuum Environment
1. What Is Stepping Motor for Vacuum Environment
2. Characteristics
3. Range of Uses
General Specifications
112
□
39mm(1.54)/0.9
˚
□
42mm(1.65)/0.9˚
□35mm(1.38)/1.8°
□28mm(1.10)/1.8°
□42mm(1.65)/1.8°
□50mm(1.97)/1.8°
□56mm(2.20)/1.8°
□60mm(2.36)/1.8°
ø86
mm
(3.39)/1.8°
ø86mm(3.39)/CE
ø106
mm
(4.17)/1.8°
ø106
mm
(4.17)/CE
□56mm(2.20)/CE
Lead wire: Teflon AWG24
50.8±0.8
(2±.03) (.8±.02)
1000(39.4)
MIN.
ø56.4±0.5
(ø2.2±.02)
0.013
ø6.35-0.013
.00003
(
ø.25-.0005
)
ø38.1±0.025
(ø1.5±.0001)
□56.4±0.5
(□2.2±.02)
4-47.14±0.13
(4-1.86±.005)
1.52
(.06)
(.2)
4.83
S
S
+0.25
4-ø5.08 -0.05
+.01
(
4-ø.2 -.002
)
R4 MIN.
20.6±0.5
(Effective length)
+1
15 0
+.004
(
.6 .000
)
5.5±0.2
(.2165±.007)
Cross section S-S
(R.157MIN)
Ambient pressure 10– 8Pa
(reference value)
Specifications
103-770-12V1
Dimensions [Unit:mm(inch)] Pulse Rate - Torque Characteristics
Basic
Model step
angle
103-770-12V1 1.8°
Holding torque
at 2-phase energization
N·m(oz·in) Min
0.421(59.6)
Rated
current
A/phase
2.2
Resistance
Ω/phase
0.73
Inductance
mH/phase
2.12
Rotor inertia
x10-4kg·m2(oz·in2)
0.105(0.57)
Mass(Weight)
kg(lbs)
0.8(1.76)
Torque (kgf-cm)
Torque (N-m)
0.1 1 10 100
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Number of rotations (min-1)
Starting torque
torque at JL2
Pull-out torque at JL1
0.1
0.2
0.3
0.4
0.5
0
1
2
3
4
5
0
Torque(oz·in.)
70
0
60
50
40
30
20
10
●103-770-12V1
Sanyo constant current circuit
Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step)
JL1=[0.94x10-4kg·m2 (5.14 oz
·in
2)Use the rubber coupling]
JL2=[0.8x10-4kg·m2 (4.37 oz
·in
2)Use the direct coupling]
The Stepping Motor for Ultra-vacuum Environment
113
Item Symbol
Rating
Unit
MIN.
Standard
MAX.
Source voltage VCC 4.5 – 5.5 V
Output current “H” level IOH ø–24 – –
mA
øn “L” level IOL ø24 – –
Output current “H” level IOH –2 – –
mA
CO,EM,HL “L” level IOL 2––
Input voltage VIN 0–VCC V
Item Symbol Rating Unit
Source voltage VCC –0.3~7 V
Output current “H” level IOH ø–35
mA
øn “L” level IOL ø35
Output current “H” level IOH
µA
CO,EM“L” level IOL
Input voltage VIN –0.3~VCC+0.3 V
Input current IIN ±10 mA
Operating current Topr –20~85 ˚C
Conservation temperature Tstg –40~125 ˚C
Maximum Rating (Ta=25˚C)
Recommended Operating Conditions (Ta=
–
20
~
85˚C)
Outline
The universal controller “PMM8713PT” is the gate array IC (HIC) to control the 2-phase stepping motor drive.
This product has been developed for the purpose to further simplify 2-phase stepping motor use, as combined only
with switching elements or power hybrid ICs to configure a 2-phase stepping motor driver.
Characteristics
•Universal controller
: The following 3 types of energization mode can be selected by switching at the energization mode switching terminal
1EX / 1-2EX / 2EX
•Source voltage : Vcc=4.5~5.5V
•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.
HIC (AC power input)
PMM8713PT
Universal Controller IC for the
2-Phase Stepping Motor Drive
114
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.
19.25±0.2
(.76±.008)
0.51(.02)MIN.
2.9(.11)MIN.
0.4(.016)
0.6(.024)
2.54(.1)TYP
1.53(.06)TYP
Item Symbol Condition
Standard value
Unit
VCC [V] MIN. Standard MAX.
Input voltage “H” level VIH 5–––– 3.5 – – V
“L” level VIL 5–––– – – 1.5
Output voltage “H” level VOH 5V
H= 5V VL= 0V 4.9 – –
IOH = 0 V
“L” level VOL 5V
H= 5V VL= 0V – – 0.1
IOH = 0
Output current “H” level IOH 5V
H= 5V VL= 0V –24 – –
ø1~ø4 VOUT = 2.4V mA
“L” level IOL 5V
H= 5V VL= 0V 24 – –
VOUT = 0.4V
Output current “H” level IOH 5V
H= 5V VL= 0V –2 – –
CO,EMVOUT = 2.4V mA
“L” level IOL 5V
H= 5V VL= 0V 2 – –
VOUT = 0.4V
Input current I5–––– – 10 – µA
Static current consumption ICC 5V
H= 5V VL= 0V – 1 – mA
Electrical Characteristics
Direct current characteristics (Ta=–20~85˚C)
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. øCenergization mode switching input
8. VSS GND
9. R Reset input
10. ø4 ø4 output
11. ø3 ø3 output
12. ø2 ø2 output
13. ø1 ø1 output
14. EMenergization monitor output
15. COInput pulse monitor output
16. VCC 4.5~5.5V
PMM8713PTPMM2101PMM2301
Dimensions [Unit: mm(inch)]
Item Symbol Condition
Standard value
Unit
VCC [V]a MIN. Standard MAX.
MAX. clock frequency fMAX 5tr=tf=20ns,CL=50pF 1 – – MHZ
MIN. width of clock pulse tWL,tWH 5tr=tf=20ns,CL=50pF – – 500 ns
MIN. width of reset pulse tWR 5tr=tf=20ns,CL=50pF – – 1000 ns
Time delay tpd 5tr=tf=20ns,CL=50pF – – 2000 ns
(from clock input to ø output)
Set time tSET 5tr=tf=20ns,CL=50pF 0 – – ns
Holding time tHOLD 5 tr=tf=20ns,CL=50pF 250 – – ns
Switching characteristics (Ta=–20~85˚C)
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
U/D
1/f
ø1~ø4
tf
Measured waveforms on switching time scale
Function Table
Pulse
01234
Phase
(Reset)
ø1 1 0 0 0 1
ø2 0 1 0 0 0
ø3 0 0 1 0 0
ø4 0 0 0 1 0
EM00000
UP
DOWN
Energization Sequence
1EX 1–2EX2EX
Excitation Input
mode RE
AEBøC
1 EX H H L H
1–2EX H H H H
2 EX H L L H
Input mode
Input
Rotation direction
CUCDCKU/D
2 input mode L L L CW
(CW,CCW) L L L CCW
Pulse and direction mode
LL H CW
(CK, U/D) L L L CCW
Input modes and rotation direction Energization modes
Electrical Characteristics
HIC (AC power input)
Pulse
012345678
Phase
(Reset)
ø1 1 1 1 0 0 0 0 0 1
ø2 0 0 1 1 1 0 0 0 0
ø3 0 0 0 0 1 1 1 0 0
ø4 1 0 0 0 0 0 1 1 1
EM101010101
UP
DOWN
Pulse
01234
Phase
(Reset)
ø1 1 1 0 0 1
ø2 0 1 1 0 0
ø3 0 0 1 1 0
ø4 1 0 0 1 1
EM11111
UP
DOWN
•Reset after changing the energization mode.
115
CU
CD
CK
CO
Input
Output
Input Pulse Monitor
116
CV
4.5V
1.5V MAX.
Vcc (16-pin)
R (9-pin)
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
21
22
6
24
3
25
4
91115198
10
12
14
18
5
23
13
72126
+
20
Stepping motor
GND
GND
+
Example of Application Circuit (Bipolar wiring motor)
Energization mode setting
Pin No. Terminal symbol Input level Motor operation
5,6 EA,EB
H1–2EX
L2EX
●The normal initial reset may not be performed during unstable VCC after turning the power ON.
For reliable resetting, hold the R terminal (9-pin) at the “L” level till the VCC becomes stable.
●Power hybrid IC: Refer to page 117for the PMM2101 specifications.
●Refer to the PMM8713PT Operation Manual for other application circuit examples.
●Combined with the power hybrid IC
PMM8713PTPMM2101PMM2301
Item Symbol Rated value Unit
Source voltage –1
VCC1 8~60 V
Source voltage –2
VCC2 0~7V
Output current IO1.4 A
Allowable loss PT35 W
(Tc=25˚C)
Thermal jc 3.57 ˚C/W
resistance ja 25 ˚C/W
Junction temperature
Tjmax 150 ˚C
Conservation temperature
Tstg –40~150 ˚C
Outline
Maximum Rating (Tc=25˚C)
Recommended Operating Conditions(Tc=25˚C)
The stepping motor driver IC “PMM2101” is a monolithic-type power hybrid driver IC (HIC) packaging the circuits for 2-
phase stepping motor driving.
This product is developed for the purpose to further simplify 2-phase stepping motor use, as combined only with the
universal controller “PMM8713PT” for stepping motor driving, or the step sequence circuit, to configure a 2-phase
stepping motor driver.
Characteristics
•Enables high speed and high torque operation by using bipolar constant current switching method.
•Enables compact driving circuit configuration with few of externally attached parts.
•The overheat protection circuit is incorporated to assist the safety design.
HIC (DC power input)
Item Symbol Rated value Unit
Source voltage –1
VCC1 100~50 V
Source voltage –2
VCC2 4.75~5.25 V
Output current IO1.0 A
Oscillator frequency
FC20~27 kHz
Operation temperature
Tc –25~85 ˚C
117
HIC for 2-Phase Stepping Motor
PMM2101
Full Step / Half Step
4±0.3
(.16±.012)
3.8±0.2
(.15±.008)
+0.2
0.6 – 0.05
+.008
(
.02 – .002
)
26x1.27=33.02
(26
x
.05=1.3)
40±0.3
(1.57±.01)
25±0.2
(.98±.008)
ø3.3±0.2
(ø
.13±
.008)
1.27
(.05)
3.4
2.54
(.1) (.13)
0.25
(.01)
1.5±0.2
4.5±0.5
(.178±.02)
13±0.3(.51±.011)
9±0.2(.35±.008)
3.3±0.2(.13±.008)
83.5
(.14)
(.31)
3±0.2
(.12±.008) (.06±.06)
1
(.04)(.04)
127
PMM2101
1
Control No.
and Lot No.
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=5V,VI=5V – – 10 µA
“L” level input current IIL VCC2=5V,VI=0V – – –50 µA
Reference voltage (Vref) input current
Iref VCC2=5V,Vref=0V – – –10 µA
Current detection (
V
S) input current
ISVCC2=5V,VS=0V – – –10 µA
Forward direction voltage of FET diod
VFIF=1A – 1.3 1.5 V
High output saturating voltage
Vce (sat)H IC=1A – 1.0 1.4 V
Low output saturating voltage
Vce (sat)L IC=1A – 1.0 1.3 V
Output leak current IRVCC1=60V,VOUT=0V – – 10 µA
VOUT=60V,VRS=0V – – 10 µA
Power current to controller section
ICC2 VCC2=5V(during circuit operation) ––75mA
Alarm terminal current Ialm VCC2=5V,Valm=0.5V – – 2 mA
Overheat alarm operating temperature
–– –125 – ˚C
Overheat protection stop temperature
–– –150 – ˚C
Dimensions [Unit: mm(inch)]
Electrical Characteristics (Ta= –20
〜
120˚C)
Overheat Alarm Output
PMM8713PTPMM2101PMM2301
Pin No.
Name Function
1. VCC2 Power terminal for controller section
2. ENA A Enable input terminal
3. ø1 Arm drive input
4. ø2 Arm drive input
5. CR A
One shot time constant setting terminal
6. Vref AMotor current setting terminal
7. LG A GND
8. VCC1 AMotor driver power terminal
9. VsA Motor current detection terminal
10. M1 Motor output
11. RSA
Detection resistor connecting terminal
12. M2 Motor output
13. PG P.GND
14. M3 Motor output
15. RSB
Detection resistor connecting terminal
16. NC –
17. NC –
18. M4 Motor output
19. Vs B Motor current detection terminal
20. VCC1 BMotor driver power terminal
21. LG B GND
22. Vref BMotor current setting terminal
23. CR B
One shot time constant setting terminal
24. ø3 Arm drive input
25. ø4 Arm drive input
26. ENA B Enable terminal
27. AL Overheat alarm output terminal
●Operational truth value table
ENA A ø1 ø2 M1 M2
(ENA B) (ø3) (ø4) (M3) (M4)
LLLOFF OFF
LLHLH
LHLHL
LHHOFF OFF
H––OFF OFF
External pull-up resistor
Open collector output
(approximate 10kΩ)
27-pin
PMM2101
VCC2(+5V)
The overheat protection circuit outputs an alarm signal at +125˚C at the internal junction in the IC, and activates (motor excitation OFF) at +150˚C.
•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.
118
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)
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 21
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
APPLICABLE CONSTANT APPLICABLE CONSTANT
R1,R2 5W 0.68ΩC1,C2 1000PF
R3,R4 1/4W 3.9KΩC3,C4 3300PF
R7,R8 1/4W 15KΩC5 330µF
Example of Application Circuit
●Refer to page 113 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~D4.
Peak reverse voltage 100V
Output current 1A
Reverse recovery time 100ns
HIC (DC power input)
119
PMM8713PTPMM2101PMM2301
120
Item Symbol Condition Rated value Unit
Source voltage –1
VCC1 max VCC2=0V 52 V
Source voltage –2
VCC2 max With no signal 7V
Input voltage Vin max Logic input terminal 7V
Phase current IOH max 0.5sec,1pulse,VCC1 applied 4A
Operating temperature on PCB
TC max –105 ˚C
Junction temperature
Tj max –150 ˚C
Conservation temperature
Tstg ––
40~125 ˚C
Outline
Maximum Rating (Tc=25˚C)
Recommended Operating Conditions (Ta=25˚C)
The Stepping motor driver IC “PMM2301” is a power hybrid IC (HIC) packaging the integrated excitation mode
generation circuits and related switching elements for 2-phase stepping motor driving.
This product is developed for the purpose to further simplify 2-phase stepping motor use, as combined only with a few
peripheral parts to configure a 2-phase stepping motor driver.
Characteristics
•Sine wave driven micro-step driver.
•The current detection resistor is incorporated.
•MOSFET is used for the power driving circuit to reduce heating.
•Totally packaged to reduce parts for the peripheral circuit.
•Enables selection from the 5 various excitation modes by the external bit signal.
HIC (DC power input)
Item Symbol Condition Rated value Unit
Source voltage –1
VCC1 With signal 10~45 V
Source voltage –2
VCC2 With signal 5.0±5% V
Input voltage VIH –0~VCC2 V
Phase current IOH Duty 50% 3 A
Clock frequency Clock –DC~50 kHz
Withstand voltage of phase driver
VDSS –100 V
121
HIC for 2-Phase Stepping Motor
PMM2301
Micro Step
+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
Dimensions [Unit: mm(inch)]
Each Terminal Function
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%.
PMM8713PTPMM2101PMM2301
Pin No. Terminal name
1. ー
B
2. B
3. P.GND A
4. P.GND B
5. ー
A
6. A
7. VCC2
8. Vref
9. Mode 1
10. Mode 2
11. Mode 3
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
Terminal name Function Functioning condition
Vref Motor current setting input –
Clock Motor driving pulse input Mode 3=”H”level: Operates at rising edge
Mode 3=”L”level: Operates at rising and falling edges
CW/CCW Motor rotation direction setting input “H” level= CW rotation
“L” level= 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 “L” level output at the phase origin.
M01,M02 Monitor output on phase
Outputs level signal on the present phase energization status.
energization status
Phase coordinate
A phase B phase A
_
phase B
_
phase
M01 HLLH
M02 LHLH
Input condition
Energization mode
1 step angle
Number of basic
Mode 1 Mode 2 Mode 3 (degree) angle division
LLH 2EX 1.8 1/1
HLH 1
–2EX 0.9 1/2
LHHW1
–2EX 0.45 1/4
HHH2W1
–2EX 0.225 1/8
HHL4W1
–2EX 0.1125 1/16
122
HIC (DC power input)
P.GND
C1
GND
710~45V
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
C1 C2
100µF OR OVER 10µF
Example of Application Circuit
●Recommended circuit constants
•Determine on the R1 and R2 constants based on the Vref voltage calculated from
the following formula.
Vref(V)=Motor current adjusted value (A/phase) x 0.6
Item Symbol Condition
Rating
Unit
MIN. Standard MAX.
VCC2 Power current ICCO Enable=”L” –4.5 15 mA
Effective output current Io ave Each phase R/L=3.5Ω/3.8mH 0.45 0.50 0.55 A
Vref=0.6V
Forward direction voltage of FET diode
Vdf If=1A –1.2 1.8 V
Output saturating voltage Vsat RL=7.5Ω(I 3.0A) –1.4 2.6 V
“H” level input voltage VIH 9~11,14~18 pins 4.0 –– V
“L” level input voltage VIL 9~11,14~18 pins ––
1.0 V
Input current IIL
9
~
11
,
14
~
18
pins=
GND
level 125 250 510 µA
Pull-up resistor 20kΩ
Vref input voltage Vr8-pin 0 –VCC2/2 V
Vref input curren Ir8-pin –1–µA
“H” level output voltage VOH 19~21 pins I=3mA 2.4 –– V
M0I,M01,M02 I=–3mA
“L” level output voltage VOL 19~21 pins I=3mA ––
0.4 V
M0I,M01,M02 I=3mA
PWM frequency FC–37 47 57 kH
Electrical Characteristics (Tc=25˚C, Vcc1=24V, Vcc2=5V)
123
PMM8713PTPMM2101PMM2301
124
125
MEMO
126
*Remarks : Specifications are subject to change without notice.
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CATA LOG No.759-4 '04.8.3DN
STEPPING SYSTEMS
Stepping
Systems
E
ENGLISH
2-PHASE STEPPING SYSTEMS
