2-PHASE STEPPING SYSTEMS STEPPING SYSTEMS Stepping Systems http://www.sanyodenki.com 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 *Remarks : Specifications are subject to change without notice. Phone:+33 1 48 63 26 61 CATALOG No.759-4 '04.8.3DN E ENGLISH 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. Indication byWarning Labelon 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. 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 Use proper grounding techniques. required, suggesting that the terminals should be actually grounded. WARNING This label is stuck for the PM driver or stepping motor to which the power source is applied in the May Cause electric shock voltage exceeding the safety standard, drawing attention against the electric shock. Safety ranks of the cautions Following four ranks are provided. DANGER Improper operations or use is most likely to result in serious injury or death. CAUTION Improper operations or use is likely to result in average or minor injury, or in property damage. In spite of the cautions with the CAUTION CAUTION label, it may cause serious results. Either the contents of the labels is describing important cautions to be followed inevitably. 1 PROHIBITED Indicates what shall not be done. COMPULSORY Indicates what shall be done. DANGER 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. CAUTION 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. 13. Neither reach or touch the electric terminals while electric power is on. Doing so may cause an electric shock. 17. Place the product with a great care so as to prevent from the danger such as a tumble or a turnover. 14. Never disconnect any of the connectors while electric power is on. Doing so may cause an electric shock and corruption. 18. Mount the product on an incombustible material such as metal. Doing otherwise may cause fire. 2 19. Confirm the rotating direction before connecting with the mechanical device. Failure to do so may cause injury or a breakdown. Transportation 34. Handle the product with care during transportation so as to prevent from the danger such as a tumble or a turnover. 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. 35. Do not hold with the cable or the motor spindle. Doing so may cause a trouble or injury. 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. 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. 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 electromagnetic 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. 3 Retirement 36. When scrapping the PM driver or stepping motor, treat it for the general industrial waste. PROHIBITED General matters 3. Do not remove the rating plate. COMPULSORY 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. 4 STEPPING DRIVER The 2-phase Stepping System Stepping System Configuration Upper PC Controller PLC * Refer to the pages of driver for cable. DRIVER P5~P58 * Refer to the pages of driver for cable. HIC MOTOR P59~P120 P121~P124 Options With encoder 5 With harmonic gear With brake Damper 2-Phase Driver Area Chart Source voltage PMM-BA-4803-1 Bipolar type/Micro step specification AC100V/115V PMM-BA-4804-1 Bipolar high-speed type/Micro step specification PMM-UA-4303-1 Unipolar type/Full-step.Half-step AC100V PMM-UA-4304-1 Unipolar high-speed type/Full-step.Half-step PMM-MD-23120-10 Unipolar type/Micro step specification PMM-MD-23220-10,PMM-MD-23221-10 Unipolar type/Micro step specification DC24V/36V 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 35mm 1.10 inch 1.38 inch 1.54 inch 1.65 inch 1.97 inch 2.20 inch 2.36 inch o3.39 inch o4.17 inch Applicable motor installation angle dimension PMM-BA-4803-1 Applicable motors PMM-BA-4804-1 Source input Source input AC100/115V AC100/115V Bipolar type Micro step specification PMM-UA-4303-1 P7~P16 Applicable motors Bipolar high-speed type Micro step specification PMM-UA-4304-1 Applicable motors P7~P16 Applicable motors PMM-MD-23120-10 Source input Source input Source input AC100V AC100V DC24V/36V Unipolar type Full-step/Half-step PMM-MD-23210-10 PMM-MD-23211-10 P17~P26 Applicable motors Unipolar high-speed type Full-step/Half-step PMM-MD-23220-21 PMM-MD-23221-21 P17~P26 Applicable motors 35 Unipolar type Micro step specification PMM-MD-23220-10 PMM-MD-23221-10 Source input Source input Source input DC24V/36V DC24V/36V DC24V/36V Unipolar type Micro step specification P27~P44 Unipolar type Micro step specification P27~P44 Unipolar type Micro step specification Applicable motors P45~P58 Applicable motors P27~P44 6 Pulse I/F (AC power input) 2-phase Stepping Driver PMM-BA-4803-1 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 42 50 56 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 o 86 o 106 Standard combined stepping motors PMM-BA-4803-1 Dimensions of Stepping motor model number stepping motor Holding torque [A/phase] [N*m(oz*in)] Rotor inertia [x 10-4kg*m2(oz*in2)] Mass(Weight) [kg(lbs)] Double shaft 103H5205-4240 103H5208-4240 103H5209-4240 103H5210-4240 103H5205-4210 103H5208-4210 103H5209-4210 103H5210-4210 1 1 1 1 0.265(37.53) 0.39(55.23) 0.425(60.18) 0.51(72.22) 0.036(0.20) 0.056(0.31) 0.062(0.34) 0.074(0.40) 50mm(1.97inch) 103H6704-5040 103H6704-5010 2 0.52(73.6) 0.14(0.77) 0.55(1.21) 56mm 103H7121-5040 103H7123-5040 103H7126-5040 103H7121-5010 103H7123-5010 103H7126-5010 2 2 2 0.39(55.2) 0.83(117.5) 1.27(179.8) 0.1(0.55) 0.21(1.15) 0.36(1.97) 0.47(1.04) 0.65(1.43) 0.98(2.16) 42mm (1.65inch) Rated current Single shaft (2.20inch) 0.23(0.51) 0.29(0.64) 0.31(0.68) 0.37(0.82) Page 69 Page 75Page 79 Page * For information about the general specifications and dimensions of each stepping motor, refer to its page. PMM-BA-4804-1 Dimensions of stepping motor 60mm (2.36inch) o86mm (3.39inch) o106mm (2.36inch) Stepping motor model number Single shaft Double shaft Rated current Holding torque [A/phase] [N*m(oz*in)] Rotor inertia [x 10-4kg*m2(oz*in2)] Mass(Weight) [kg(lbs)] 103H7821-1740 103H7822-1740 103H7823-1740 103H7821-1710 103H7822-1710 103H7823-1710 4 4 4 0.88(124.6) 1.37(194.0) 2.7(382.3) 0.275(1.50) 0.4(2.19) 0.84(4.59) 0.6(1.32) 0.77(1.70) 1.34(2.95) 103H8221-5241 103H8222-5241 103H8223-5241 103H8221-5211 103H8222-5211 103H8223-5211 6 6 6 2.74(388.0) 5.09(720.8) 7.44(1053.6) 1.45(7.93) 2.9(15.86) 4.4(24.06) 1.5(3.31) 2.5(5.51) 3.5(7.72) 103H89222-5241 103H89223-5241 103H89222-5211 103H89223-5211 6 6 14.6(79.83) 22(120.28) 7.5(16.53) 10.5(23.15) 13.2(1869.2) 19(2690.5) * For information about the general specifications and dimensions of each stepping motor, refer to its page. 7 Page 87 Page 91 Page 97 Page 42 50 56 60 o 86 o 106 Item PMM-BA-4803-1 PMM-BA-4804-1 Single phase AC 100V/115V+10, -15% 50/60Hz 3A 8A Rated current 2A/phase (Changeable to 1A/phase, refer to Page 11) 6A/phase (Changeable to 4A/phase, refer to Page11) Operating ambient temperature 0~+50C Conservation temperature -20~+70C Operating ambient humidity 35~85%RH (no condensation) Conservation humidity 10~90%RH (no condensation) Vibration resistance 4.9m/s2 Frequency range 10~55Hz, Direction: along X, Y and Z axes, for 2 hours each. Impact resistance Considering the NDS-C-0110 standard section 3.2.2 division "C", not influenced. Withstand voltage Not influenced when AC1000V is applied between power input terminal and cabinet for one minute. Insulation resistance 10M MIN. when measured with DC500V megohmmeter between input terminal and cabinet. 2kg(4.41lbs) Mass(Weight) PMM-UA-4303 PMM-UA-4304 Source current PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 Input source 4kg(8.82lbs) Against PM driver overheat Protection function PMM-MD-23120 Basic specifications Environment PMM-BA-4803 PMM-BA-4804 Specifications of PM Driver Pulse input mode selection-- DIP switches enables selection of Pulse and direction and 2-input mode Function 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 Selection, setting function 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. LED indicator Signal Name (Brevity code) Silk-screen printing CW pulse CW+ Input signal (CW) CW - 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. (CK) Photo coupler input method, input resistance 330 Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V MAX. input frequency:100kpulse/s CCW pulse CCW+ In the 2-input mode, inputs driving pulses to rotate in CCW direction. Input signal (CCW) CCW - Pulse and direction In the pulse and direction mode, inputs rotation direction signals to the stepping motor. Internal photo couplerON: CW direction. I/O signals (U/D) Internal photo couplerOFF: CCW direction. Photo coupler input method, input resistance 330 Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V MAX. input frequency:100kpulse/s Power down PD + input signal PD - (PD) 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 330, Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V Step angle setting S.SEL+ Input S.SEL signal to select step angle setting method. selection input S.SEL- The open position determines to be the mode 1. (S.SEL) 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 330 Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V Alarm AL1 Outputs signal when either alarm circuit is activated in the PM driver. output (AL) AL2 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. * 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. 8 Pulse I/F (AC power input) Operation, Connection, and Function Input circuit configuration (CW, CCW) --+ Photo coupler 330 +5V Approx.15mA Input signal R - 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 0 When the crest value of the input signal exceeds 5V, use the external limit resistance R to limit the input current to approximately 15mA. PM driver Input signal specifications 5s MIN 4.0~5.5V 90% 50% Rotation 10% 0~0.5V 1s MAX. 1s MAX. Timing of command pulse * 2-input mode (CW, CCW) CW CCW 50s MIN * 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. * Pulse and direction mode (CK, U/D) * 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. CK 10s MIN U/D Input circuit configuration (PD, S. SEL) --+ Photo coupler 330 +5V Approx.15mA Input signal R - * When the crest value of the input signal is 5V, the external limit resistance R must be 0 When the crest value of the input signal exceeds 5V, use the external limit resistance R to limit the input current to approximately 15mA. 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. Relay 1 Alarm output signal 2 PM driver 9 PMM-BA-4803-1 and PMM-BA-4804-1 in common 42 50 56 o 86 60 o 106 Operation, Connection, and Function B CDE 3 4 6 STP RUN 34 56 5 4 3 2 EX1 EX2 F/R PD PL SL SWL 1 O F F 34 56 34 56 ~ FG + CW CCW + - - + PD - S.SEL + - 1 AL 2 2 5 6 F0 12 PD PMM-UA-4303 PMM-UA-4304 ~ 2 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 F0 12 POWER MON PM AL CW F0 12 B CDE CCW F 0 12 + S.SEL F 0 12 AC100/ 115V 1 1 3456 7 8 9A - + RUN O F F PMM-BA-4804 7 8 9A BC D E 3 EX1 EX2 F/R PD PL SL 7 8 9A BC D E 3456 7 8 9A BC D E AL 7 8 9A + PM 7 8 9A - MON 1 3456 4 5 F 0 12 + SWH SWL POWER 2 SWH 3 PMM-BA-4803 PMM-BA-4803 PMM-BA-4804 PM deriver component names and function selection/setting PMM-BA-4803-1 PMM-BA-4804-1 4 6 D MOTOR C B A B CDE - 5 1 STP PMM-MD-23120 AL 6 2 6 MOTOR A B C FG D AC ~ ~ AC100/115V ~ ~ 1Monitor indication (POWER, MON, PM, AL) --- PMM-BA-4803-1 and PMM-BA-4804-1 in common Indication Color POWER Green This LED illuminates when internal power supply is ON. State MON Green This LED illuminates when exciting magnetic phase is at the origin (when power is ON). At the 1 division (or 1.8step) setting, illuminates once for every 4 pulses. At the 2 divisions (or 0.9/step) setting, illuminates once for every 8 pulses. Timing of MON indicator illumination (At the 1 division) CW pulse CCW pulse MON PM Green AL Red * At When the element temperature becomes 80C 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 80C 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 2Function selection DIP switch pack (EX1, EX2, F/R, PD, PL, SL) --- PMM-BA-4803-1 and PMM-BA-4804-1 in common 12 EX1, EX2 (Step angle setting selection) Set the step angle (mode 1) ON 1 EX1 2 EX2 3 F/R 4 PD 5 PL 6 SL mark, inside photo coupler "ON" MON illuminates. This LED illuminates when input pulse is applied ON ON ON ON OFF 3F/R (Pulse-input mode selection) Select the pulse-input mode. EX1 EX2 Step Angle F/R OFF ON Basic step angle x 1/1 (1. 8/pulse) ON 2-input mode (CW, CCW) Pulse-input mode ON ON Basic step angle x 1/2 (0.9/pulse) OFF Pulse and direction mode (CK, U/D) ON OFF Basic step angle x 1/4 (0.45/pulse) OFF OFF Basic step angle x 1/5 (0.36/pulse) ON * The factory setting is shown in the figure above. * Turn off the power supply to the PM driver before changing DIP switch setting. 45 PD, PL (Power-down and power-low selection) Select stepping motor current value when power down signal is input. 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) * 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. 6 SL (Auto current down selection) Select Auto current down function selection. SL Auto current down ON Approx 50% of current rating when stopped OFF 100% of current rating when stopped * 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). 10 Pulse I/F (AC power input) Operation, Connection, and Function 3Step angle setting rotary switch (SWH, SWL) --- PMM-BA-4803-1 and PMM-BA-4804-1 in common Capable to set step angle by the rotary switches SWH and SWL (mode 2). Fundamental Formula Setting method of the rotary switch. 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. 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). 0.36= n/240 x 1.8 (n = 48 (by decimal system) * 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). 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 4Operating-current selection switch (RUN) Select operating current value to stepping motor. PMM-BA-4803-1 Scale 0 1 2 3 4 5 6 7 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 0 1 2 3 4 5 6 7 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. PMM-BA-4804-1 5Current adjustment controller during halt (STP) * The factory setting is "0". Select setting depending on applied motors. --- 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. 6Terminal block (TB) --- 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. External wiring diagram --- PMM-BA-4803-1 and PMM-BA-4804-1 in commonin common TB Note 1) Note 2) CW pulse input Note 2) CCW pulse input Power down input Step angle setting selection input Alarm output +10% AC100V/115V -15% Frame grounding output + + + + CW CCW PD S.SEL 1 AL 2 ~ ~ A B C D Orange Blue Red Yellow M Note 3) FG 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. 11 42 50 56 60 o 86 o 106 Dimensions [Unit:mm(inch)] 10(.39) MAX. 4(.16) MAX. 47 (1.85) PMM-BA-4803 PMM-BA-4804 PMM-BA-4803-1 200 (7.87) PMM-BA-4803 345 F01 AL 7 8 9A CCW 345 BC DE 2 6 + PM PMM-UA-4303 PMM-UA-4304 MON 7 8 9A - F0 12 POWER 6 CW + SWH SWL BC DE - PD + EX1 EX2 E/R PD PL SL O F F 4 MODEL PMM-BA-4803-1 5 - 6 SER NO. 345 7 8 9A F01 6 + RUN S.SEL 1 2 3 2 BC DE - 140 (5.51) SANYO DENKI MADE IN JAPAN D5+30008-4B PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 2 AL 1 STP MOTOR A B C FG D AC ~ ~ AC100/115V 23 (.91) 2-M4x0.7(.028)(Screw holes) 250.3 8 (.98.01) (.31) 1470.5 (5.79.02) PMM-MD-23120 ~ ~ PMM-BA-4804-1 4(.16) MAX. 6 5 4 3 O F F STP RUN 230 (9.06) 5(.20) MAX. PMM-BA-4804 7 8 9A 2 34 56 EX1 EX2 F/R PD PL SL 1 2 SWH SWL E F 01 2 34 56 10(.39)MAX. BC DE BCD BC DE 34 56 78 9 F0 1 7 8 9A A POWER MON PM AL 108 (4.25) F0 12 AC100/ 115V ~ ~ FG + CW CCW + - - PD - S.SEL + - 1 AL 2 A 140 (5.51) D MOTOR C B + 4-M4x0.7(.028) (Screw holes) 750.5 (2.95.2) 2100.5 (8.27.02) 15 (.59) 10 (.39) Mounting direction and mounting position MAX. 7 mm(.28inch) PMM-BA-4804-1 MAX. 7 mm(.28inch) PMM-BA-4803-1 * 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). 12 Pulse I/F (AC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate 1-division is specified 2-division is specified PMM-BA-4803-1 103H5208-42100V 103H5205-42100V 10 70 5 0.5 4 0.4 10 9 4 0.2 3 20 10 0 30 fs 0 0.1 fs 1 2 6 5 4 0.2 3 1 0.1 0 0 2 10 1 0 0 10 3 0.3 20 1 0 40 2 0.1 1 7 Torque (N-m) 5 8 50 Torque(oz*in.) 2 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 30 3 6 0.3 Source current (A) 7 50 40 9 60 8 0.4 4 Torque (kgf-cm) 60 100 fs 0.1 100 2-division 1000 100 0 10 1-division 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: AC100V, Operating current:1A/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:1A/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) 103H5209-42100V 103H5210-42100V 10 140 10 1 8 0.8 10 9 7 100 6 0.3 5 4 0.2 3 20 10 0 fs 0 0.1 fs 10 4 6 5 4 0.4 3 2 0.2 0 0 2 20 1 0 0 1 6 0.6 40 1 0 60 2 0.1 1 80 8 7 Torque (N-m) 2 120 Torque (kgf-cm) 30 3 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 50 9 8 Torque(oz*in.) 0.4 4 Source current (A) 60 100 fs 0.1 100 2-division 1000 100 0 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 0.5 5 70 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: AC100V, Operating current:1A/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:1A/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) 103H6704-50100V 103H7121-50100V 10 70 5 0.5 4 0.4 10 9 4 50 6 0.6 5 4 0.4 3 40 2 1 0 40 30 fs 0 0.1 fs 0 1 10 100 8 7 3 2 6 0.3 5 4 0.2 3 20 2 0.2 20 0 7 Torque (N-m) 60 6 Torque (N-m) 80 Torque (kgf-cm) Torque(oz*in.) 100 60 Torque (kgf-cm) 8 9 8 Torque(oz*in.) 0.8 Source current (A) 120 1 0.1 0 0 2 10 0 1 fs 0.1 100 2-division 1000 100 2000 3000 5000 1-division 100 2-division Number of rotations (min-1) 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), 0 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 1 10 140 13 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 0.5 5 70 Source current (TL=0) 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) 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) 42 50 56 o o 86 60 106 Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate 1-division is specified 2-division is specified 10 4 0.4 Torque(oz*in.) 9 8 7 150 100 12 8 6 1.2 5 4 0.8 3 40 3 2 0.2 2 20 50 4 0.4 0 0 2 1 0 0 fs 0 0.1 fs 1 0 0 1 10 100 fs 0.1 100 2-division 1000 100 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 0 1 Pulse rate (kpulse/s) 1-division fs 100 1000 2-division 2000 3000 5000 100 Number of rotations (min-1) 2000 3000 5000 1000 PMM-MD-23120 4 5 1.6 200 Source current (A) 6 Torque (N-m) 60 Torque (kgf-cm) Torque(oz*in.) 80 6 0.6 16 10 PMM-UA-4303 PMM-UA-4304 7 100 2 250 8 0.8 8 Torque (kgf-cm) 120 20 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 9 Torque (N-m) 1 10 140 103H7126-50100V Source current (A) 103H7123-50100V PMM-BA-4803 PMM-BA-4804 PMM-BA-4803-1 2000 3000 5000 Number of rotations (min-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=2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] Source current (TL=MAX), Source current (TL=0) PMM-BA-4804-1 10 9 7 5 4 0.4 Torque(oz*in.) 4 6 0.6 16 1.6 10 9 8 7 200 Source current (A) 60 6 Torque (N-m) 80 Torque (kgf-cm) Torque(oz*in.) 100 2 250 8 0.8 8 150 100 Torque (kgf-cm) 120 20 12 8 Torque (N-m) 1 10 140 103H7822-17100V 6 1.2 5 4 0.8 3 40 3 2 0.2 2 20 50 4 0.4 0 0 2 1 0 0 fs 0 0.1 fs 1 0 0 1 10 100 fs 0.1 100 2-division 1000 100 0 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 103H7821-17100V 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: AC100V, Operating current : 4A/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 : 4A/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) 103H7823-17100V 103H8221-52100V 10 700 50 5 40 4 10 9 20 6 0.3 5 4 0.2 3 200 10 100 0 1 0 400 300 fs 0 0.1 fs 0 1 10 100 7 30 20 6 3 5 4 2 3 200 2 0.1 8 500 Torque(oz*in.) 300 30 Torque (N-m) 400 Torque (kgf-cm) Torque(oz*in.) 500 Source current (A) 7 Torque (N-m) 40 9 600 8 4 Torque (kgf-cm) 600 10 1 0 0 2 100 0 1 fs 0.1 2-division 100 1000 100 0 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 5 50 700 2000 3000 5000 Number of rotations (min-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) 1-division 2-division 100 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: AC100V, Operating current : 6A/phase Pull-Out torque [JL1=15.3x10-4kg*m2 (83.65 oz*in2) Uses rubber coupling] Source current (TL=MAX), Source current (TL=0) 14 Pulse I/F (AC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate 1-division is specified 2-division is specified PMM-BA-4804-1 103H8222-52100V 10 1400 100 10 80 8 10 9 5 4 2 3 200 100 0 600 40 fs 0 0.1 fs 10 5 3 20 2 0 0 100 1000 2-division 100 100 fs 0.1 fs 0 1 10 1-division 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: AC100V, Operating current : 6A/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 : 6A/phase Pull-Out torque [JL1=15.3x10-4kg*m2 (83.65 oz*in2) Use the rubber coupling] 103H89222-52100V 103H89223-52100V 9 4 8 16 9 8 7 120 1500 1000 80 Torque (N-m) 5 160 10 2000 Torque(oz*in.) 1000 80 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 120 6 12 Source current (A) 7 2000 20 2500 8 16 160 200 Source current (TL=0) 6 12 5 4 8 3 500 40 2 4 3 500 40 4 0 0 2 1 0 0 fs 0 0.1 fs 0 1 10 1 0 100 fs 0.1 2-division 100 1000 100 2000 3000 5000 1-division 2-division Number of rotations (min-1) Source voltage: AC100V, Operating current : 6A/phase Pull-Out torque [JL1=43x10-4kg*m2 (235.10 oz*in2) Use the rubber coupling] Source current (TL=MAX), Source current (TL=0) 100 1000 100 2000 3000 5000 Source voltage: AC100V, Operating current : 6A/phase Pull-Out torque [JL1=43x10-4kg*m2 (235.10 oz*in2) Use the rubber coupling] Source current (TL=MAX), Source current (TL=0) PMM-BA-4804-1 PM-AP-021 2000 3000 5000 1000 Terminal board cover Model No. 100 Number of rotations (min-1) Options PMM-BA-4803-1 0 10 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 10 2500 1500 Source current (TL=MAX), Torque (kgf-cm) 20 200 15 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 2 1 0 Pulse rate (kpulse/s) 1-division 4 4 200 0 1 6 6 400 1 0 800 2 1 10 7 60 Torque (N-m) 6 3 8 1000 Torque(oz*in.) 20 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 300 30 Source current (A) 7 500 400 9 1200 8 4 40 Torque (kgf-cm) 600 Source current (A) 5 50 700 103H8223-52100V Model No. PM-AP-014 PM-AP-018 o 86 PMM-BA-4803 PMM-BA-4804 60 PMM-UA-4303 PMM-UA-4304 56 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 50 PMM-MD-23120 42 o 106 16 Pulse I/F (AC power input) 2-phase Stepping Driver PMM-UA-4303-1 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 42 50 56 o 86 60 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 o 86 o 106 Standard combined stepping motors PMM-UA-4303-1 Dimensions of Rated current Holding torque Single shaft Stepping motor model number Double shaft [A/phase] [N-m(oz*in)] 103H5205-0440 103H5208-0440 103H5209-0440 103H5210-0440 103H5205-0410 103H5208-0410 103H5209-0410 103H5210-0410 1.2 1.2 1.2 1.2 0.2(28.32) 0.3(42.48) 0.32(45.31) 0.37(52.39) 0.036(0.20) 0.056(0.31) 0.062(0.34) 0.074(0.40) 0.23(0.51) 0.29(0.64) 0.31(0.68) 0.37(0.82) 103H6701-0440 103H6703-0440 103H6704-0440 103H6701-0410 103H6703-0410 103H6704-0410 2 2 2 0.28(39.6) 0.49(69.4) 0.52(73.6) 0.057(0.31) 0.118(0.65) 0.14(0.77) 0.35(0.77) 0.5(1.10) 0.55(1.21) 103H7121-0440 103H7123-0440 103H7124-0440 103H7126-0440 103H7121-0410 103H7123-0410 103H7124-0410 103H7126-0410 2 2 2 2 0.39(55.2) 0.83(117.5) 0.98(138.8) 1.27(179.8) 0.1(0.55) 0.21(1.15) 0.245(1.34) 0.36(1.97) 0.47(1.04) 0.65(1.43) 0.8(1.76) 0.98(2.16) 103H7821-0440 103H7822-0440 103H7823-0440 103H7821-0410 103H7822-0410 103H7823-0410 2 2 2 0.78(110.5) 1.17(165.7) 2.1(297.4) 0.275(1.50) 0.4(2.19) 0.84(4.59) 0.6(1.32) 0.77(1.70) 1.34(2.95) 103H8221-0441 103H8222-0441 103H8223-0441 103H8221-0411 103H8222-0411 103H8223-0411 2 2 2 2.15(304.5) 4.13(584.8) 6.27(887.9) 1.45(7.93) 2.9(15.86) 4.4(24.06) 1.5(3.31) 2.5(5.51) 3.5(7.72) stepping motor 42mm (1.65inch) 50mm (1.97inch) 56mm (2.20inch) 60mm (2.36inch) o86mm (3.39inch) Rotor inertia [x 10-4kg*m2(oz*in2)] Mass(Weight) [kg(lbs)] Page 69 Page 75 Page 79 Page 87 Page 91 Page * For information about the general specifications and dimensions of each stepping motor, refer to its page. PMM-UA-4304-1 Dimensions of Rated current Holding torque Rotor inertia Single shaft Double shaft [A/phase] [N-m(oz*in)] [x 10-4kg*m2(oz*in2)] Mass(Weight) [kg(lbs)] o86mm (3.39inch) 103H8221-09411 103H8222-09411 103H8223-09411 103H8221-09111 103H8222-09111 103H8223-09111 4 4 4 2.15(304.5) 4.13(584.8) 6.27(887.9) 1.45(7.93) 2.9(15.86) 4.4(24.06) 1.5(3.31) 2.5(5.51) 3.5(7.72) o106mm (4.17inch) 103H89222-0941 103H89223-0941 103H89222-0911 103H89223-0911 4 4 10.8(1529.4) 15.5(2194.9) 14.6(79.83) 22(120.28) 7.5(16.53) 10.5(23.15) stepping motor Stepping motor model number * For information about the general specifications and dimensions of each stepping motor, refer to its page. 17 Page 91 Page 97 Page 42 50 56 60 o 86 o 106 Item PMM-UA-4303-1 PMM-UA-4304-1 Single phase AC 100V+10,--15% 50/60Hz3Hz 3A Source current 5A 2A/phase (Changeable to 1.2A/phase, refer to Page 20) Operating ambient temperature 0~+50C Conservation temperature -20~+70C Operating ambient humidity 35~85%RH (no condensation) Conservation humidity 10~90%RH (no condensation) Vibration resistance 4.9m/s2 Frequency range 10~55Hz, Direction: along X, Y and Z axes, for 2 hours each. Impact resistance Considering the NDS-C-0110 standard section 3.2.2 division "C", not influenced. Withstand voltage Not influenced when AC 1000V is applied between power input terminal and cabinet for one minute. Insulation resistance 10M MIN. when measured with DC500V megohmmeter between input terminal and cabinet. 0.6kg(1.32lbs) Mass(Weight) 4A/phase PMM-UA-4303 PMM-UA-4304 Rated current PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 Input source 3kg(6.61lbs) Against PM driver overheat Protection function PMM-MD-23120 Basic specifications Environment PMM-BA-4803 PMM-BA-4804 Specifications of PM Driver Function 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. Selection, setting function 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. LED indicator I/O signals Signal Name (Brevity code) Silk-screen printing CW pulse CW+ Input signal (CW) CW- Inputs driving pulses to rotate in CW direction. Photo coupler input method, input resistance 150 Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V Maximum input frequency:20kpulse/s CCW pulse CCW+ Input signal (CCW) CCW- Input driving pulses to rotate in CCW direction. Photo coupler input method, input resistance 150 Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V Maximum input frequency:20kpulse/s Alarm AL1 Outputs signal when either alarm circuit is activated in the PM driver. output (AL) AL2 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. * 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. 18 Pulse I/F (AC power input) Operation, Connection, and Function Input circuit configuration (CW, CCW) --+ 150 Photo coupler +5V Approx.25mA Input signal - R 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 0. When the crest value of the input signal exceeds 5V, use the external limit resistance R to limit the input current to approximately 25mA. PM driver Input signal specifications 5s MIN 4.0~5.5V 90% 50% Rotation 10% 0~0.5V 1s MAX. 1s MAX. 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. CW CCW 50s MIN Output circuit configuration (AL) --- 1 Alarm output signal Photocoupler MAX. 30V 2 19 MAX. 5mA PM driver 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. 42 50 56 o 86 60 o 106 PM deriver component names PMM-UA-4303-1 PMM-UA-4304-1 2 CW + CW - CCW + CCW - + - 1 2 AL 2 COM1 3 3 AL COM2 COM A A MOTOR B B C C D D FG ~ AC ~ ~ AC ~ 1Monitor indication (AL) Color Red PMM-MD-23120 1 AL PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 PMM-UA-4304 1 + Indication PMM-UA-4303 PMM-UA-4304 2 PMM-UA -4303 1 PMM-BA-4803 PMM-BA-4804 Operation, Connection, and Function PM driver mounting screw (For frame grounding output) use proper grounding technigues. ! WARNING May Cause electric shock. --- PMM-UA-4303-1 and PMM-BA-4304-1 in common State When the element temperature becomes 80C 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 80C 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 2Function selection DIP switch pack (OH, IS3, IS2, IS1, SL,EX) PMM-UA-4303-1 ON 1 2 3 4 5 6 1 OH (OH selection) 234 IS1, IS2, IS3 (Operating current selection) This switch is not used. Do not set *When excited for single phase: it to OFF. IS3 IS2 IS1 Wire-wound current (*) OH ON IS3 OFF IS2 OFF OFF OFF OFF 2A/phase IS1 OFF ON OFF OFF 1.8A/phase SL ON OFF ON OFF 1.5A/phase EX ON OFF OFF ON 1.2A/phase ON OFF ON 1.0A/phase * The factory setting is shown in the figure above. * Turn off the power supply to the PM driver before changing DIP switch setting. 5 SL (Auto current down selection) Select for the automatic current reduction. SL Auto current down ON Approx 50% of current rating when stopped OFF 100% of current rating when stopped * 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). * The operating current reduces to 80% for the 2-phase exciting. 6 EX (Exciting mode selection) Select exciting mode. EX Exciting mode ON Half step (0.9/pulse) OFF Full step (1.8/pulse) 20 Pulse I/F (AC power input) Operation, Connection, and Function PMM-UA-4304-1 ON 1 2 3 4 5 6 OH ON IS3 OFF IS2 ON IS1 OFF SL ON EX ON 1 OH (OH selection) 234 IS1, IS2, IS3 (Operating current selection) This switch is not used. Do not set *When excited for single phase: it to OFF. * The factory setting is shown in the figure above. * Turn off the power supply to the PM driver before changing DIP switch setting. 5 SL (Auto current down selection) Select for the automatic current reduction. SL Auto current down ON Approx 50% of current rating when stopped OFF 100% of current rating when stopped * 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). IS3 IS2 IS1 OFF OFF OFF Wire-wound current (*) 5A/phase ON OFF OFF 4.6A/phase OFF ON OFF 4A/phase OFF OFF ON 3.6A/phase * The operating current reduces to 80% for the 2-phase exciting. 6 EX (Exciting mode selection) Select exciting mode. EX Exciting mode ON Half step (0.9/pulse) OFF Full step (1.8/pulse) 3Terminal block (TB) --- PMM-UA-4303-1 and PMM-BA-4304-1 in common Connects I/O signals, single phase AC power supply, and the stepping motor power cord. External wiring diagram PMM-UA-4303-1 TB Note 1) + CW pulse input + CCW pulse input CW CCW 1 AL 2 Alarm output COM A B C D White Black Orange Blue Red Yellow M ~ ~ AC100V +10% -15% Frame ground output Note 3) Note 2) PM driver mounting screw 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. PMM-UA-4304-1 TB Note 1) CW pulse input CCW pulse input Alarm output AC100V +10% -15% Frame ground output + + CW CCW 1 AL 2 ~ ~ COM1 COM2 A B C D White Black Orange Blue Red Yellow M Note 2) FG 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. 21 42 50 56 60 o 86 o 106 Dimensions [Unit:mm(inch)] 39 (1.54) 4(.16) MAX. 10(.39) MAX. PMM-BA-4803 PMM-BA-4804 PMM-UA-4303-1 133 (5.24) PMM-UA-4303 PMM-UA-4304 PMM-UA -4303 + CW + CCW AL 2 COM 113 (4.45) 1 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 A B C D ~ AC ~ 2-M4x0.7(.028) (Screw holes) PMM-MD-23120 650.5 (2.56.02) 150.2 (.59.01) 9 (.35) 20 (.79) PMM-UA-4304-1 80 (3.15) 4(.16) MAX. 10(.39) MAX. 150 (5.91) PMM-UA-4304 + CW + CCW 1 AL 130 (5.12) 2 COM1 COM2 A MOTOR B C D FG ~ AC ~ use proper grounding technigues. ! WARNING May Cause electric shock. 1100.5 (4.33.02) 15 (.59) 580.3 (2.28.01) 7 (.28) 25 (.98) 2-M4x0.7(.028) (Screw holes) Mounting direction and mounting position [Unit:mm(inch)] MAX. 7 mm(.28inch) PMM-UA-4304-1 MAX. 7 mm(.28inch) PMM-UA-4303-1 * 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). 22 Pulse I/F (AC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. Full-step Half-step PMM-UA-4303-1 103H5208-04100V 103H5205-04100V 10 0.5 4 0.4 7 50 6 1.2 10 5 4 0.8 3 0 fs 0 0.1 fs 10 2 6 5 4 0.2 3 1 0.1 0 0 2 10 1 0 0 1 3 0.3 20 1 0 30 2 0.4 4 50 40 8 7 Torque (N-m) 8 60 Torque (kgf-cm) 12 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 200 100 5 9 8 Torque(oz*in.) 1.6 16 Source current (A) 250 150 70 9 100 fs 0.1 Full-step 100 1000 100 fs 0 1 Pulse rate (kpulse/s) Half-step 10 100 Pulse rate (kpulse/s) Full-step 2000 3000 5000 1000 100 Half-step 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) 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) 103H5209-04100V 103H5210-04100V 10 70 5 0.5 4 0.4 10 9 7 50 6 0.3 5 4 0.2 3 20 10 0 fs 0 0.1 fs 10 2 6 5 4 0.2 3 1 0.1 0 0 2 10 1 0 0 1 3 0.3 20 1 0 30 2 0.1 1 40 8 7 Torque (N-m) 2 60 Torque (kgf-cm) 30 3 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 50 9 8 Torque(oz*in.) 0.4 4 Source current (A) 60 100 fs 0.1 Full-step 100 1000 100 0 10 100 Pulse rate (kpulse/s) Full-step 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) Half-step Source current (A) 0.5 5 70 100 Half-step 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) 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) 103H6701-04100V 103H6703-04100V 10 70 5 0.5 4 0.4 10 9 2 50 6 0.3 5 4 0.2 3 20 1 1 0 40 30 fs 0 0.1 fs 0 1 10 100 8 7 3 2 6 0.3 5 4 0.2 3 20 2 0.1 10 0 7 Torque (N-m) 30 3 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 50 60 Torque (kgf-cm) 4 9 8 Torque(oz*in.) 0.4 Source current (A) 60 1 0.1 0 0 2 10 0 1 fs 0.1 Full-step 100 1000 100 2000 3000 5000 Full-step 100 Half-step Number of rotations (min-1) 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), 0 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) Half-step Source current (A) 0.5 5 70 23 Source current (A) 2 20 Source current (TL=0) 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) 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) 42 50 56 o o 86 60 106 Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. Full-step Half-step 103H7121-04100V 103H6704-04100V 10 70 5 0.5 4 0.4 10 9 5 4 0.2 3 20 10 0 fs 0 0.1 fs 10 2 6 5 4 0.2 3 1 0.1 0 0 2 10 1 0 0 1 3 0.3 20 1 0 30 7 2 0.1 1 40 100 fs 0.1 Full-step 100 1000 100 fs 0 1 Pulse rate (kpulse/s) Half-step 10 100 Pulse rate (kpulse/s) Full-step 2000 3000 5000 1000 100 Half-step 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) 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) 103H7123-04100V 103H7124-04100V 10 140 10 1 8 0.8 10 9 7 100 6 0.6 5 4 0.4 3 40 20 0 fs 0 0.1 fs 10 4 6 5 4 0.4 3 2 0.2 0 0 2 20 1 0 0 1 6 0.6 40 1 0 60 2 0.2 2 80 8 7 Torque (N-m) 4 120 Torque (kgf-cm) 60 6 Torque (N-m) 80 Torque (kgf-cm) Torque(oz*in.) 100 9 8 Torque(oz*in.) 0.8 8 Source current (A) 120 100 fs 0.1 Full-step 100 1000 100 0 10 100 Pulse rate (kpulse/s) Full-step 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) Half-step Source current (A) 1 10 140 100 Half-step 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) 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) 103H7126-04100V 103H7821-04100V 10 140 10 1 8 0.8 10 9 4 100 6 0.6 5 4 0.4 3 40 2 1 0 80 60 fs 0 0.1 fs 0 1 10 100 8 7 6 4 6 0.6 5 4 0.4 3 40 2 0.2 20 0 7 Torque (N-m) 60 6 Torque (N-m) 80 Torque (kgf-cm) Torque(oz*in.) 100 120 Torque (kgf-cm) 8 9 8 Torque(oz*in.) 0.8 Source current (A) 120 2 0.2 0 0 2 20 0 1 fs 0.1 Full-step 100 1000 100 2000 3000 5000 Full-step 100 Half-step Number of rotations (min-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), 0 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) Half-step Source current (A) 1 10 140 PMM-UA-4303 PMM-UA-4304 6 0.3 8 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 50 PMM-MD-23120 2 7 Torque (N-m) 3 60 Torque (kgf-cm) 30 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 50 9 8 Torque(oz*in.) 0.4 4 Source current (A) 60 Source current (A) 0.5 5 70 PMM-BA-4803 PMM-BA-4804 PMM-UA-4303-1 Source current (TL=0) 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) 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) 24 Pulse I/F (AC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. Full-step Half-step PMM-UA-4303-1 103H7823-04100V 10 9 7 4 5 4 0.4 Torque(oz*in.) 6 6 0.6 16 1.6 10 9 8 7 200 Source current (A) 60 Torque (N-m) 80 Torque (kgf-cm) Torque(oz*in.) 100 2 250 8 0.8 8 150 100 Torque (kgf-cm) 120 20 12 8 Torque (N-m) 1 10 140 6 1.2 5 4 0.8 3 40 3 2 0.2 2 20 50 4 0.4 0 0 2 1 0 0 fs 0 0.1 fs 1 0 0 1 10 100 fs 0.1 Full-step 100 1000 100 fs 0 1 Pulse rate (kpulse/s) Half-step Source current (A) 103H7822-04100V 10 100 Pulse rate (kpulse/s) Full-step 2000 3000 5000 1000 100 1000 Half-step 2000 3000 5000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-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=2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] Source current (TL=MAX), Source current (TL=0) 103H8221-04100V 103H8222-04100V 10 700 40 4 7 500 6 1.2 10 5 4 0.8 3 50 0 fs 0 0.1 fs 10 20 6 5 4 2 3 10 1 0 0 2 100 1 0 0 1 30 3 200 1 0 300 2 0.4 4 400 8 7 Torque (N-m) 8 600 Torque (kgf-cm) 12 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 200 100 5 9 8 Torque(oz*in.) 1.6 16 Source current (A) 250 150 50 9 100 fs fs 0.1 Full-step 100 1000 100 0 1 Pulse rate (kpulse/s) Half-step Source current (A) 2 20 10 100 Pulse rate (kpulse/s) Full-step 2000 3000 5000 1000 100 Half-step 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) 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) 103H8223-04100V 103H8221-09100V PMM-UA-4304-1 10 40 7 5 4 2 8 7 150 100 12 8 6 1.2 5 4 0.8 3 3 200 10 2 1 100 0 Torque(oz*in.) 20 6 3 16 1.6 10 200 Source current (A) 300 30 Torque (N-m) 400 Torque (kgf-cm) Torque(oz*in.) 500 2 9 8 4 Torque (kgf-cm) 600 20 250 50 4 0.4 0 0 2 1 1 0 fs 0 0.1 fs 0 1 10 100 0 fs 0.1 Full-step 100 1000 100 2000 3000 5000 Number of rotations (min-1) 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) 25 0 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) Half-step Source current (A) 9 Torque (N-m) 5 50 700 Full-step Half-step 100 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-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) 42 50 56 o o 86 60 106 Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. Full-step Half-step 103H8222-09100V 103H8223-09100V 10 1400 100 10 80 8 10 9 3 200 100 fs 0 fs 0.1 10 4 2 0 0 2 1 0 100 fs fs 0.1 Full-step 100 1000 100 0 1 Pulse rate (kpulse/s) Half-step 10 100 Pulse rate (kpulse/s) Full-step 2000 3000 5000 1000 100 1000 Half-step 2000 3000 5000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-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=15.3x10-4kg*m2 (83.65 oz*in2) Use the rubber coupling] Source current (TL=MAX), Source current (TL=0) 103H89222-09100V 103H89223-09100V 9 7 40 6 6 5 4 4 9 8 7 120 1500 1000 80 6 12 5 4 8 3 400 20 2 2 200 0 16 2000 Source current (A) 600 60 Torque (N-m) 800 Torque (kgf-cm) Torque(oz*in.) 1000 160 10 2500 8 8 80 20 Torque (N-m) 1200 200 3 500 40 4 0 0 2 1 0 fs fs 0 0.1 0 1 10 100 1 0 fs fs 0.1 Full-step 100 1000 100 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 0 1 Pulse rate (kpulse/s) Half-step Source current (A) 10 Torque (kgf-cm) 10 100 Torque(oz*in.) 1400 PMM-UA-4303 PMM-UA-4304 3 20 200 0 1 5 4 PMM-MD-23120 0 40 6 400 1 0 600 60 2 1 10 800 6 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 4 2 7 Torque (N-m) 5 8 1000 Torque (kgf-cm) 20 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 300 30 6 3 Source current (A) 7 500 400 9 1200 8 4 40 Torque(oz*in.) 600 Source current (A) 5 50 700 PMM-BA-4803 PMM-BA-4804 PMM-UA-4304-1 2000 3000 5000 Full-step Half-step Number of rotations (min-1) 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) 100 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) 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) Options Terminal board cover PMM-UA-4303-1 Model No. PMM-UA-4304-1 PM-AP-018 Model No. PM-AP-019 26 Pulse I/F (DC power input) 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.) 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) Applicable motor 28 Applicable motor 35 56 Applicable motor 50 56 60 o 86 Standard combined stepping motors PMM-MD-23210-10,PMM-MD-23211-10 Dimensions of stepping motor 28mm(1.10inch) Stepping motor model number Single shaft 103H3215-5240 Double shaft 103H3215-5210 Rated current Holding torque [A/phase] [N*m(oz*in)] Rotor inertia [x 10-4kg*m2(oz*in2)] Mass(Weight) [kg(lbs)] Page 1 0.062(8.78) 0.016(0.09) 0.22(0.49) 65 Page Rated current Holding torque Rotor inertia Mass(Weight) [A/phase] [N*m(oz*in)] [x 10-4kg*m2(oz*in2)] [kg(lbs)] PMM-MD-23220-21,PMM-MD-23221-21 Dimensions of stepping motor Stepping motor model number Single shaft Double shaft SH3533-12U40 SH3533-12U10 1.2 0.12(16.99) 0.02(1.09) 0.17(0.37) 35mm SH3537-12U40 SH3552-12U40 103H5205-0440 SH3537-12U10 SH3552-12U10 103H5205-0410 1.2 1.2 1.2 0.15(21.24) 0.24(33.99) 0.2(28.32) 0.025(1.37) 0.043(2.35) 0.036(0.20) 0.2(0.44) 0.3(0.66) 0.23(0.51) 42mm (1.65inch) 103H5208-0440 103H5209-0440 103H5210-0440 103H5208-0410 103H5209-0410 103H5210-0410 1.2 1.2 1.2 0.3(42.48) 0.32(45.31) 0.37(52.39) 0.056(0.31) 0.062(0.34) 0.074(0.40) 0.29(0.64) 0.31(0.68) 0.37(0.82) Rated current Holding torque Rotor inertia [A/phase] [N*m(oz*in)] [x 10-4kg*m2(oz*in2)] Mass(Weight) [kg(lbs)] Page 61 Page 64 Page PMM-MD-23220-10,PMM-MD-23221-10 Dimensions of stepping motor 50mm (1.97inch) 56mm (2.20inch) 60mm (2.36inch) o86mm (3.39inch) Stepping motor model number Single shaft Double shaft 103H6701-0440 103H6703-0440 103H6704-0440 103H6701-0410 103H6703-0410 103H6704-0410 2 2 2 0.28(39.6) 0.49(69.4) 0.52(73.6) 0.057(0.31) 0.118(0.65) 0.14(0.77) 0.35(0.77) 0.5(1.10) 0.5(1.10) 103H7121-0440 103H7123-0440 103H7124-0440 103H7126-0440 103H7121-0410 103H7123-0410 103H7124-0410 103H7126-0410 2 2 2 2 0.39(55.2) 0.83(117.5) 0.98(138.8) 1.27(179.8) 0.1(0.55) 0.21(1.15) 0.245(1.34) 0.36(1.97) 0.47(1.04) 0.65(1.43) 0.8(1.76) 0.98(2.16) 103H7821-0440 103H7822-0440 103H7823-0440 103H7821-0410 103H7822-0410 103H7823-0410 2 2 2 0.78(110.5) 1.17(165.7) 2.1(297.4) 0.275(1.50) 0.4(2.19) 0.84(4.59) 0.6(1.32) 0.77(1.70) 1.34(2.95) 103H8221-0441 103H8222-0441 103H8223-0441 103H8221-0411 103H8222-0411 103H8223-0411 2 2 2 2.15(304.5) 4.13(584.8) 6.27(887.9) 1.45(7.93) 2.9(15.86) 4.4(24.06) 1.5(3.31) 2.5(5.51) 3.5(7.72) * For information about the general specifications and dimensions of each stepping motor, refer to its page. 27 Page 75 Page 79 Page 87 Page 91 Page 28 42 50 56 o 86 60 Photo coupler input method Item PMM-MD23210-10 PMM-MD23211-10 PMM-MD23221-21 PMM-MD23221-10 DC24V/36V10% Main power ----2A Control power DC5V5% 2A 3A 2A 2A ----1A/phase Rated current 1.2A/phase PMM-UA-4303 PMM-UA-4304 Control power Main power Getaway torque CMOS input method PMM-MD23220-10 3A 0.5A 2A/phase 1A/phase 1.2A/phase 2A/phase 0~+50C Conservation temperature - 20~+70C Operating ambient humidity 35~85% RH (no condensation) Conservation humidity 10~90% RH (no condensation) Vibration resistance 4.9m/s2 Frequency range 10~55Hz, Direction: along X,Y and Z axes, for 2 hours each. Impact resistance Considering the NDS-C-0110 standard section 3.2.2 division "C", not influenced. Withstand voltage Not influenced when AC500V is applied between power input terminal and cabinet for one minute. PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 Operating ambient temperature Insulation resistance 10M MIN. when measured with DC500V megohmmeter between input terminal and cabinet. Mass(Weight) 0.18kg(0.4lbs) PMM-MD-23120 Basic specifications Environment Input source PMM-MD23220-21 PMM-BA-4803 PMM-BA-4804 Specifications of PM Driver Pulse input mode selection-- DIP switches enables selection of Pulse and direction and 2-input mode. Function 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. Selection, setting function 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) Signal Name (Brevity code) CW pulse Input signal (CW) Pin No. (CN1) Photo coupler input method CMOS input method 1 2 7 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. (CK) CCW pulse Input signal (CCW) Photo coupler input method, input resistance 330 3 4 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. 8 In the Pulse and direction mode, inputs rotation direction signals to the stepping motor. (U/D) Internal photo coupler ON (CMOS type: "H" level:) --- CW direction I/O signals Internal photo coupler OFF (CMOS type: "L" level)--- CCW direction. Photo coupler input method, input resistance 330 Power down input signal (PD) 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. 5 6 9 Internal photo coupler ON (CMOS type: "L" level input) --- Power down function is enabled. Photo coupler input method, input resistance 330 Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V CMOS input method 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 Step angle selection input (S. SEL) full-step or half-step is selected. ----- 10 "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 Phase origin monitor output signal (MON) Indicates ON when the exciting phase is at the origin position. 7 8 In the full-step, outputs once for every 4 pulses. In the half-step, outputs once for every 8 pulse 11 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. * 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. EX1 EX2 EX3 OFF ON ON * When the half-step is selected by the step angle selection signal, its torque ought to be 70% of that for the full-step. 28 Pulse I/F (DC power input) Operation, Connection, and Function 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) Input circuit configuration (CW, CCW) Input circuit configuration (CW, CCW) 1(3) 330 Photo coupler 7 Input signal +5V (8) 1k CMOS Approx.15mA Input signal 10k 2(4) 6 Controller 5G R 5G 5G PM driver PM driver * Pulse duty 50% MAX. * When the crest value of the input signal is 5V, the external limit resistance R must be 0. When the crest value of the input signal exceeds 5V, use the external limit resistance R to limit the input current to approximately 15mA. * Pulse duty 50% MAX. Input signal specifications Input signal specifications 20s MIN. 4.0~5.5V 20s MIN. 90% 4.0~5.5V 90% Rotation 50% 50% Rotation 10% 10% 0~0.5V 0~0.5V 5s MAX. 5s MAX. 5s MAX. 5s MAX. Timing of command pulse Timing of command pulse * 2-input mode (CW, CCW) * 2-input mode (CW, CCW) CW CW CCW CCW 50s MIN. 50s MIN. * 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 "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. * Pulse and direction mode (CK,U/D) * Pulse and direction mode (CK,U/D) CK CK 10s MIN. 10s MIN. U/D U/D * 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. 29 * 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". 28 42 50 56 o 86 60 Operation, Connection, and Function PMM-MD-23211-10(CMOS input method) PMM-MD-23221-21(CMOS input method) PMM-MD-23221-10(CMOS input method) Input circuit configuration (PD) Input circuit configuration (PD, S, SEL) 330 Photo coupler PMM-UA-4303 PMM-UA-4304 5 PMM-BA-4803 PMM-BA-4804 PMM-MD-23210-10(Photo coupler input method) PMM-MD-23220-21(Photo coupler input method) PMM-MD-23220-10(Photo coupler input method) 10k +5V 5V Input signal (10) 6 CMOS 1k R PM driver PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 Approx.15mA Input signal 9 6 Controller 5G 5G 5G PM driver Output circuit configuration (MON) MAX. 5mA 7 Phase origin monitor output signal 8 PMM-MD-23120 * When the crest value of the input signal is 5V, the external limit resistance R must be 0. When the crest value of the input signal exceeds 5V, use the external limit resistance R to limit the input current to approximately 15mA. Output circuit configuration (MON) 11 Photo coupler MAX. 5mA Transistor MAX. 30V Phase origin monitor output signal MAX. 30V PM driver 6 5G 5G PM driver * Phase origin monitor output signal Contact mode: Open collector output of the photo coupler Contact capacity: DC30V 5mA MAX. * Phase origin monitor output signal Contact mode: Open collector output by the transistor Contact capacity: DC30V 5mA MAX. Timing of MON output (in 1-division setting) Timing of MON output (in 1-division setting) CW pulse CW pulse CCW pulse CCW pulse MON output MON output * The internal photo coupler or transistor turns ON at . * The internal photo coupler or transistor turns ON at . 30 Pulse I/F (DC power input) Operation, Connection, and Function PM deriver component names 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) 1 1 CN3 1 5 CN2 VRI CN1A 1 3 2 SL F/R EX1 CH EX2 SL EX3 IS OV 5V SL F/R EX1 CH EX2 SL EX3 IS OV 5V 1 2 3 4 5 DWS1 1 2 3 4 5 DWS1 CN2 3 4 1Function selection DIP switch pack SL F/R EX1 EX2 EX3 ON ON ON OFF ON OFF * The factory setting is shown in the figure above. * Turn off the power supply to the PM driver before changing DIP switch setting. ON Approx 50% of current rating when stopped OFF Pulse and direction mode (CK, U/D) 100% of current rating when stopped * 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). --- All models in common --- Photo coupler input method Connects I/O line --- Photo coupler input method --- CMOS input method 31 Pulse-input mode OFF Connects motor power line Connect I/O line and DC power line F/R 2-input mode (CW, CCW) --- All models in common The factory setting is at the rated current of standard combined stepping motor. Connects DC power line 2F/R (Pulse-input method selection) Select the pulse-input method. ON The controller is to adjust operating-current of the stepping motor. 6Connector (CN1B) 6 Auto current down 2Operating-current adjustment controller (VR1) 5Connector (CN3) 2 1 SL (Auto current down selection) Select Auto current down function selection. SL 4Connector (CN1A) CN1B --- All models in common 1 2 3 4 5 3Connector (CN2) VRI 1 345 EX1, EX2, EX3 (Step angle setting selection) Enables selection of division numbers of basic step angles when micro step is driven. EX1 EX2 EX3 ON ON ON Number of divisions 1 (Full step) OFF ON OFF 2 (Half step) ON OFF OFF 4 OFF OFF OFF 8 28 42 50 56 o 86 60 External wiring diagram PMM-BA-4803 PMM-BA-4804 Operation, Connection, and Function Note 3) When motor output is connector type CN2 1 2 6 1 3 4 4 2 5 6 5 3 CN2 1 2 1 6 Red 3 2 Yellow 4 3 5 6 5 4 CN2 1 2 1 6 3 2 4 3 5 6 4 5 DC24V/36V 2 DC24G/36G 1 PMM-UA-4303 PMM-UA-4304 CN3 Connector M PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 PMM-MD-23210-10(Photo coupler input method) PMM-MD-23220-21(Photo coupler input method) PMM-MD-23220-10(Photo coupler input method) Note 3) CN1A Note 2) CCW pulse input CN2 2 1 3 2 4 Blue 4 6 5 7 Phase origin monitor output Black Orange 3 5 Power down input White 6 M 8 Connector PMM-MD-23120 Note 2) CW pulse input When motor output is lead wire type 1 M Note 1) Connectors used Use PM Diver side Model number For I/O signal (CN1A) Corresponding connector model number Maker 5045-08AG Corresponding housing: 5051-08 Corresponding contact: 2759PBG Molex For stepping motor (CN2) 5045-06A Corresponding housing: 5051-06 Corresponding contact: 5159PBT Molex For DC power source (CN3) 5273-02A Corresponding housing: 5195-02 Corresponding contact: 5194PBT Molex Connector M * 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 3) When motor output is connector type PMM-MD-23211-10(CMOS input method) PMM-MD-23221-21(CMOS input method) PMM-MD-23221-10(CMOS input method) CN2 1 2 6 1 1 3 4 2 4 2 3 5 6 5 3 CN2 1 2 1 6 3 2 4 3 5 6 5 4 CN2 1 2 1 6 3 2 4 3 5 6 4 5 CN1B DC24/36V DC24/36G 4 DC5V 5 DC5G 6 Note 2) CW pulse input 7 Note 2) CCW pulse input Power down input 8 9 Step angle selection input 10 Phase origin monitor output 11 Note 1) NC Note 3) When motor output is lead wire type Connector M CN2 1 2 3 4 5 6 White Black Orange Blue M Red Yellow 12 Connector M Connectors used Use PM Diver side Model number For DC power source and I/O signals (CN1B) For stepping motor (CN2) Corresponding connector model number 5045-12AG Corresponding housing: 5051-12 Corresponding contact: 2759PBG 5045-06A Corresponding housing: 5051-06 Corresponding contact: 5159PBT Maker Molex Molex * 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.) Connector M 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. 32 Pulse I/F (DC power input) Dimensions [Unit:mm(inch)] CN3 1 CN2 5 (.20) 10 (.39) 14.5 (.57) SL F/R EX1 CH EX2 SL EX3 IS OV 5V 1 2 3 4 5 DSW1 55.5 (2.19) 31 (1.22) PMM-MD-23210-10(Photo coupler input method) PMM-MD-23220-21(Photo coupler input method) PMM-MD-23220-10(Photo coupler input method) VRI CN1A 1 73(2.87) 5 (.20) 83(3.27) 42 (1.65) 2-o4(2-o.16) Screw holes CN2 5 (.20) VRI 1 73(2.87) 83(3.27) CN1B 10 (.39) 14.5 (.57) SL F/R EX1 CH EX2 SL EX3 IS OV 5V 1 2 3 4 5 DWS1 55.5 (2.19) 31 (1.22) PMM-MD-23211-10(CMOS input method) PMM-MD-23221-21(CMOS input method) PMM-MD-23221-10(CMOS input method) 5 (0.20) 42 (1.65) 2-o4(2-o.16) Screw holes Mounting direction and mounting position * Install the PM driver vertically. * As shown in the figure, fix the PM driver by using M3 33 the M3 screws through two fitting holes (2-4) on the bottom surface of PM driver(no fitting metals are necessary). 28 42 50 56 o 86 60 Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. 1-division is specified 2-division is specified 103H3215-5224V 103H3215-5236V 10 14 1.0 0.1 0.8 0.08 10 9 5 4 0.04 3 4 0.2 2 0 8 6 fs 0 0.1 fs 10 0.4 6 5 4 0.04 3 0.2 0.02 0 0 2 2 1 0 0 1 0.6 0.06 4 1 0 7 2 0.02 100 fs 0.1 100 1000 2-division 100 1-division 100 1000 2-division 2000 3000 5000 100 Number of rotations (min-1) 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, Operating current :1A/phase Pull-Out torque [JL1=0.33x10-4kg*m2 (1.80 oz*in2) Use the rubber coupling] Source current (TL=MAX), 0 10 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division PMM-UA-4303 PMM-UA-4304 6 0.06 8 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 10 PMM-MD-23120 0.4 7 Torque (N-m) 6 0.6 12 Torque (kgf-cm) 8 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 10 9 8 Torque(oz*in.) 0.08 0.8 Source current (A) 12 Source current (A) 0.1 1.0 14 PMM-BA-4803 PMM-BA-4804 PMM-MD-23210-10 PMM-MD-23211-10 Source current (TL=0) Source voltage: DC36V, Operating current :1A/phase Pull-Out torque [JL1=0.33x10-4kg*m2 (1.80 oz*in2) Use the rubber coupling] Source current (TL=MAX), Source current (TL=0) PMM-MD-23220-21 PMM-MD-23221-21 SH3533-12U24V SH3533-12U36V 0.2 2 10 25 7 1.6 0.16 10 9 4 0.08 3 10 0.8 6 0.12 5 4 0.08 3 2 0.04 0.4 5 15 1.2 Torque (N-m) 5 7 Torque (kgf-cm) 0.8 6 0.12 8 20 Torque(oz*in.) 1.2 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 20 10 0.2 25 8 0.16 1.6 15 2 9 5 0.4 0.04 0 0 2 1 0 0 fs 0 0.1 fs 1 0 1 10 0 100 0.1 Pulse rate (kpulse/s) 1-division 100 2-division 1000 100 fs 0 1 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 fs 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 -1 Source voltage: DC24V, Operating current :1.2A/phase Pull-Out torque [JL1=0.33x10-4kg*m2 (1.80 oz*in2) Use the rubber coupling] Source current (TL=MAX), Source current (TL=0) 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) SH3537-12U24V SH3537-12U36V 0.2 2 10 25 7 0.16 9 4 0.08 0.4 2 0.04 15 10 1.2 0.8 Torque (N-m) 5 8 7 Torque (kgf-cm) 0.8 6 0.12 3 5 1.6 10 20 Torque(oz*in.) 1.2 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 20 10 0.2 25 8 0.16 1.6 15 2 9 6 0.12 5 4 0.08 3 5 0.4 0.4 0 0 2 1 0 0 fs 0 0.1 fs 0 1 10 100 Pulse rate (kpulse/s) 1-division 2-division 100 1000 100 fs fs 0.1 0 1 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 1 0 2000 3000 5000 Number of rotations (min-1) 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) 1-division 2-division 100 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) 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) 34 Pulse I/F (DC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. 1-division is specified 2-division is specified PMM-MD-23220-21 PMM-MD-23221-21 SH3552-12U24V 0.5 5 70 SH3552-12U36V 10 70 5 0.5 4 0.4 10 9 2 60 7 50 6 0.3 5 4 0.2 3 20 0.1 1 fs 0 0.1 fs 10 5 3 1 0.1 0 0 100 2-division 1000 100 fs 0.1 fs 0 1 10 1-division 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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) 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) 103H5205-0424V 103H5205-0436V 10 70 5 0.5 4 0.4 10 9 7 50 6 0.3 5 4 0.2 3 20 10 0 fs 0 0.1 fs 10 2 6 5 4 0.2 3 1 0.1 0 0 2 10 1 0 0 1 3 0.3 20 1 0 30 2 0.1 1 40 8 7 Torque (N-m) 2 60 Torque (kgf-cm) 30 3 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 50 9 8 Torque(oz*in.) 0.4 4 Source current (A) 60 100 fs 0.1 100 2-division 1000 100 0 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 0.5 5 70 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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: DC36V, 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) 103H5208-0424V 103H5208-0436V 10 70 5 0.5 4 0.4 10 9 2 50 6 0.3 5 4 0.2 3 20 1 1 0 40 30 fs 0 0.1 fs 0 1 10 100 8 7 3 2 6 0.3 5 4 0.2 3 20 2 0.1 10 0 7 Torque (N-m) 30 3 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 50 60 Torque (kgf-cm) 4 9 8 Torque(oz*in.) 0.4 Source current (A) 60 1 0.1 0 0 2 10 0 1 fs 0.1 2-division 100 1000 100 0 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 0.5 5 70 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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) 35 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 2 1 0 100 Pulse rate (kpulse/s) 1-division 4 0.2 10 0 1 2 6 0.3 20 1 0 30 2 10 0 40 8 7 3 Torque (N-m) 30 3 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 50 9 8 Torque (kgf-cm) 0.4 4 Torque(oz*in.) 60 1-division 2-division 100 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC36V, 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) 28 42 50 56 o 86 60 Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. 1-division is specified 2-division is specified 103H5209-0424V 103H5209-0436V 10 70 5 0.5 4 0.4 10 9 6 0.3 5 4 0.2 3 20 10 fs 0 0.1 fs 10 5 4 0.2 3 1 0.1 0 0 2 10 1 0 0 1 2 6 100 fs 0.1 100 2-division 1000 100 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 0 1 Pulse rate (kpulse/s) 1-division fs 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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: DC36V, 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) 103H5210-0424V 103H5210-0436V 10 70 5 0.5 4 0.4 10 9 7 50 6 0.3 5 4 0.2 3 20 10 0 fs fs 0 0.1 10 2 6 5 4 0.2 3 1 0.1 0 0 2 10 1 0 0 1 3 0.3 20 1 0 30 2 0.1 1 40 8 7 Torque (N-m) 2 60 Torque (kgf-cm) 30 3 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 50 9 8 Torque(oz*in.) 0.4 4 Source current (A) 60 100 fs fs 0.1 100 2-division 1000 100 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 0 1 Pulse rate (kpulse/s) 1-division Source current (A) 0.5 5 70 PMM-MD-23120 0 3 0.3 20 1 0 30 7 2 0.1 1 40 8 PMM-UA-4303 PMM-UA-4304 50 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 7 Torque (N-m) 2 60 Torque (kgf-cm) 30 3 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 50 9 8 Torque(oz*in.) 0.4 4 Source current (A) 60 Source current (A) 0.5 5 70 PMM-BA-4803 PMM-BA-4804 PMM-MD-23220-21 PMM-MD-23221-21 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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: DC36V, 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) PMM-MD-23220-10 PMM-MD-23221-10 103H6701-0424V 10 70 5 0.5 4 0.4 10 9 2 50 6 0.3 5 4 0.2 3 20 1 1 0 40 30 fs fs 0 0.1 0 1 10 100 8 7 3 2 6 0.3 5 4 0.2 3 20 2 0.1 10 0 7 Torque (N-m) 30 3 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 50 60 Torque (kgf-cm) 4 9 8 Torque(oz*in.) 0.4 Source current (A) 60 1 0.1 0 0 2 10 0 1 fs fs 0.1 2-division 100 1000 100 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 0 1 Pulse rate (kpulse/s) 1-division Source current (A) 0.5 5 70 103H6701-0436V 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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) 1-division 2-division 100 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC36V, 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) 36 Pulse I/F (DC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. 1-division is specified 2-division is specified PMM-MD-23220-10 PMM-MD-23221-10 103H6703-0424V 10 140 10 1.0 8 0.8 10 9 4 0.4 3 40 20 fs 0 0.1 fs 10 5 4 0.4 3 2 0.2 0 0 2 20 1 0 0 1 4 6 100 fs 0.1 100 1000 100 1-division 2000 3000 5000 1000 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 Source current (TL=MAX), Source current (TL=0) 103H6704-0436V 1.0 10 2000 3000 5000 1000 Source voltage: DC36V, Operating current : 2A/phase Pull-Out torque [JL1=0.94x10-4kg*m2 (5.14 oz*in2)Use the rubber coupling] Source current (TL=0) 103H6704-0424V 140 10 140 10 1.0 8 0.8 10 9 9 4 0.4 3 40 7 80 60 4 6 0.6 5 4 0.4 3 40 0.2 2 6 Torque (N-m) 5 8 100 Torque(oz*in.) 4 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 60 6 6 0.6 Source current (A) 7 100 80 120 8 0.8 8 Torque (kgf-cm) 120 2 0.2 0 0 2 20 20 0 0 fs 0 0.1 fs 1 0 1 10 fs 0.1 100 100 2-division 1000 100 1-division 100 2-division 2000 3000 5000 1000 100 Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] 2000 3000 5000 Source current (TL=MAX), Source current (TL=0) 103H7121-0436V 0.5 5 2000 3000 5000 1000 Source voltage: DC36V, Operating current : 2A/phase Pull-Out torque [JL1=0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] Source current (TL=0) 103H7121-0424V 70 10 70 5 0.5 4 0.4 10 9 2 50 6 0.3 5 4 0.2 3 20 1 1 0 40 30 fs 0 0.1 fs 0 1 10 100 8 7 3 2 6 0.3 5 4 0.2 3 20 2 0.1 10 0 7 Torque (N-m) 30 3 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 50 60 Torque (kgf-cm) 4 9 8 Torque(oz*in.) 0.4 Source current (A) 60 1 0.1 0 0 2 10 0 1 fs 0.1 2-division 100 1000 100 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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) 37 0 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division 100 Number of rotations (min-1) Number of rotations (min-1) Source current (TL=MAX), 0 10 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division 100 Number of rotations (min-1) Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] Source current (TL=MAX), 10 Pulse rate (kpulse/s) Source current (A) 2-division 0 1 Pulse rate (kpulse/s) 1-division fs Source current (A) 0 60 6 0.6 40 1 0 80 2 0.2 2 7 Torque (N-m) 5 8 100 Torque(oz*in.) 4 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 60 6 6 0.6 Source current (A) 7 100 80 9 120 8 0.8 8 Torque (kgf-cm) 120 Source current (A) 1.0 10 140 103H6703-0436V 1-division 2-division 100 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC36V, 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) 28 42 50 56 o 86 60 Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. 1-division is specified 2-division is specified 103H7123-0424V 103H7123-0436V 10 140 10 1.0 8 0.8 10 9 6 0.6 5 4 0.4 3 40 20 60 0.1 fs 10 5 4 0.4 3 2 0.2 0 0 2 20 1 0 0 1 4 6 100 fs 0.1 100 1000 100 1-division 2000 3000 5000 1000 100 2-division 2000 3000 5000 Source current (TL=MAX), 10 7 4 0.8 16 1.6 10 9 8 7 150 100 Torque (kgf-cm) 5 Torque(oz*in.) Torque (N-m) 6 1.2 2 200 Source current (A) 100 Torque (kgf-cm) Torque(oz*in.) 200 8 Source current (TL=0) 250 8 1.6 20 12 8 Torque (N-m) 2 9 12 2000 3000 5000 103H7124-0436V 250 150 2000 3000 5000 1000 Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] Source current (TL=0) 103H7124-0424V 16 100 Number of rotations (min-1) Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] 20 1000 100 Number of rotations (min-1) Source current (TL=MAX), 10 Pulse rate (kpulse/s) 6 1.2 5 4 0.8 3 50 3 2 0.4 4 50 4 0.4 0 0 2 1 0 0 fs 0 0.1 fs 1 0 0 1 10 100 fs 0.1 100 2-division 1000 100 1-division 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) Source current (TL=MAX), 10 7 16 1.6 10 8 7 150 100 Torque (kgf-cm) 4 0.8 Torque(oz*in.) 5 2 200 Source current (A) Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 100 8 6 1.2 20 9 8 1.6 200 150 Source current (TL=0) 250 12 8 Torque (N-m) 2 9 12 2000 3000 5000 103H7126-0436V 250 16 2000 3000 5000 1000 Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] Source current (TL=0) 103H7126-0424V 20 6 1.2 5 4 0.8 3 50 4 2 0.4 3 50 4 0.4 0 0 2 1 0 0 fs 0 0.1 fs 0 1 10 100 1 0 fs 0.1 2-division 100 1000 100 0 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division 100 Number of rotations (min-1) Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] Source current (TL=MAX), 0 10 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 2-division 0 1 Pulse rate (kpulse/s) 1-division fs PMM-MD-23120 fs 0 6 Source current (A) 0 80 0.6 40 1 0 7 2 0.2 2 8 PMM-UA-4303 PMM-UA-4304 100 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 7 Torque (N-m) 4 120 Torque (kgf-cm) 60 6 Torque (N-m) 80 Torque (kgf-cm) Torque(oz*in.) 100 9 8 Torque(oz*in.) 0.8 8 Source current (A) 120 Source current (A) 1.0 10 140 PMM-BA-4803 PMM-BA-4804 PMM-MD-23220-10 PMM-MD-23221-10 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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) 1-division 2-division 100 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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) 38 Pulse I/F (DC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. 1-division is specified 2-division is specified PMM-MD-23220-10 PMM-MD-23221-10 103H7821-0424V 10 140 10 1.0 8 0.8 10 9 7 100 6 0.6 5 4 0.4 3 40 fs 0 0.1 fs 10 4 6 5 4 0.4 3 2 0.2 0 0 2 20 1 0 0 1 6 40 1 100 fs 0.1 100 2-division 1000 100 1-division 2000 3000 5000 100 2-division 2000 3000 5000 Source current (TL=MAX), 10 7 4 0.8 16 1.6 10 9 8 7 150 100 Torque (kgf-cm) 5 Torque(oz*in.) 6 1.2 2 200 Source current (A) Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 200 100 Source current (TL=0) 250 8 1.6 20 12 8 Torque (N-m) 2 250 8 2000 3000 5000 103H7822-0436V 9 12 2000 3000 5000 1000 Source voltage: DC24V, Operating current 2A/phase Pull-Out torque [JL1=2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] Source current (TL=0) 103H7822-0424V 150 100 Number of rotations (min-1) Source voltage: DC24V, Operating current 2A/phase Pull-Out torque [JL1=2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] 16 1000 100 Number of rotations (min-1) 20 10 Pulse rate (kpulse/s) 1000 Source current (TL=MAX), 0 1 Pulse rate (kpulse/s) 1-division fs 6 1.2 5 4 0.8 3 50 3 2 0.4 4 50 4 0.4 0 0 2 1 0 0 fs 0 0.1 fs 1 0 0 1 10 100 fs 0.1 100 2-division 1000 100 1-division 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 Source current (TL=MAX), Source current (TL=0) 103H7823-0436V 5 50 2000 3000 5000 1000 Source voltage: DC24V, Operating current 2A/phase Pull-Out torque [JL1=2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] Source current (TL=0) 103H7823-0424V 700 10 700 50 5 40 4 10 9 6 3 5 4 2 3 200 10 100 0 1 0 400 300 fs 0 0.1 fs 0 1 10 100 7 30 20 6 3 5 4 2 3 200 2 1 8 500 Torque(oz*in.) 20 Torque (N-m) 300 Torque (kgf-cm) Torque(oz*in.) 400 30 Source current (A) 7 500 Torque (N-m) 40 9 600 8 4 Torque (kgf-cm) 600 10 1 0 0 2 100 0 1 fs 0.1 2-division 100 1000 100 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, Operating current 2A/phase Pull-Out torque [JL1=7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] Source current (TL=MAX), Source current (TL=0) 39 0 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division 100 Number of rotations (min-1) Source voltage: DC24V,Operating current 2A/phase Pull-Out torque [JL1=2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] Source current (TL=MAX), 0 10 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 0 60 2 0.2 20 0 80 0.6 Source current (A) 2 8 7 Torque (N-m) 4 120 Torque (kgf-cm) 60 6 Torque (N-m) 80 Torque (kgf-cm) Torque(oz*in.) 100 9 8 Torque(oz*in.) 0.8 8 Source current (A) 120 Source current (A) 1.0 10 140 103H7821-0436V 1-division 2-division 100 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, Operating current 2A/phase Pull-Out torque [JL1=7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] Source current (TL=MAX), Source current (TL=0) 28 42 50 56 o 86 60 Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. 1-division is specified 2-division is specified 103H8221-0424V 103H8221-0436V 10 700 50 5 40 4 10 9 300 3 200 100 0.1 fs 3 10 10 1 0 0 2 100 1 0 0 1 4 100 fs 0.1 100 1000 2-division 100 1-division 2000 3000 5000 1000 100 1000 2-division 2000 3000 5000 100 2000 3000 5000 1000 2000 3000 5000 Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] Source current (TL=0) Source current (TL=MAX), 103H8222-0424V Source current (TL=0) 103H8222-0436V 10 700 50 5 40 4 10 9 4 2 400 300 3 200 100 0 20 fs 0 0.1 fs 10 5 4 2 3 10 1 0 0 2 100 1 0 0 1 6 3 200 1 0 30 2 1 10 7 Torque (N-m) 5 8 500 Torque(oz*in.) 20 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 300 30 6 3 Source current (A) 7 500 400 9 600 8 4 40 Torque (kgf-cm) 600 100 fs fs 0.1 100 1000 2-division 100 1-division 100 1000 2-division 2000 3000 5000 100 Number of rotations (min-1) 2000 3000 5000 Source current (TL=MAX), Source current (TL=0) 103H8223-0436V 10 100 2000 3000 5000 1000 Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=15.3x10-4kg*m2 (83.65 oz*in2) Use the rubber coupling] Source current (TL=0) 103H8223-0424V 1400 100 Number of rotations (min-1) Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=15.3x10-4kg*m2 (83.65 oz*in2) Use the rubber coupling] Source current (TL=MAX), 10 Pulse rate (kpulse/s) 2000 3000 5000 1000 0 1 Pulse rate (kpulse/s) 1-division 10 1400 100 10 80 8 10 9 6 6 5 4 4 3 400 20 200 0 1 0 800 600 fs 0 fs 0.1 0 1 10 100 7 60 40 6 6 5 4 4 3 400 2 2 8 1000 Torque (N-m) 40 Torque (N-m) 600 Torque (kgf-cm) Torque(oz*in.) 800 60 Source current (A) 7 1000 Torque (kgf-cm) 80 9 1200 8 8 Torque(oz*in.) 1200 20 2 0 0 2 200 0 1 fs fs 0.1 2-division 100 1000 100 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 0 1 Pulse rate (kpulse/s) 1-division Source current (A) 5 50 100 Number of rotations (min-1) Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] 700 10 Pulse rate (kpulse/s) Number of rotations (min-1) Source current (TL=MAX), 0 1 Pulse rate (kpulse/s) 1-division fs PMM-MD-23120 fs 0 5 2 Source current (A) 0 20 6 200 1 0 30 2 1 10 PMM-UA-4303 PMM-UA-4304 400 3 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 4 2 7 Torque (N-m) 5 8 500 Torque(oz*in.) 20 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 300 30 6 3 Source current (A) 7 500 400 9 600 8 4 40 Torque (kgf-cm) 600 Source current (A) 5 50 700 PMM-BA-4803 PMM-BA-4804 PMM-MD-23220-10 PMM-MD-23221-10 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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) 1-division 2-division 100 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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) 40 Pulse I/F (DC power input) Option Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics Connector set PMM-MD-23210-10 (Photo coupler input method) Model Used for PM-AP-009 I/O signal (CN1A) PM-AP-053 Stepping motor (CN2) PM-AP-013 DC power supply (CN3) Contents of set Quantity Applicable housing:5051-08 1 Applicable contact:2759PBGL 8 Applicable housing:5051-06 1 Applicable contact:5159PBTL 6 Applicable housing:PHR-6 1 Applicable contact:SPH-002T-P0.5S 6 1 Applicable housing:5195-02 Applicable contact:5194PBTL 2 Manufacturer Molex Molex J.S.T. MFG. CO., LTD. Molex Applicable wire size Crimp tool number JHTR2262A AWG22~28 JHTR2262J JHTR2262A JHTR2262J AWG24~28 YRS-240 AWG18~24 JHTR5904 PMM-MD-23211-10 (CMOS input method) Model Used for PM-AP-011 Power supply I/O signal (CN1B) PM-AP-053 Stepping motor (CN2) Contents of set Quantity 1 Applicable contact:2759PBGL 12 Applicable housing:5051-06 1 Applicable contact:5159PBTL 6 Applicable housing:PHR-6 1 Applicable contact:SPH-002T-P0.5S 6 Applicable housing:5051-12 Manufacturer Molex Molex J.S.T. MFG. CO.,LTD Applicable wire size Crimp tool number JHTR2262A AWG22~28 JHTR2262J JHTR2262A JHTR2262J AWG24~28 YRS-240 PMM-MD-23220-21 (Photo coupler input method) Model Used for PM-AP-009 I/O signal (CN1A) PM-AP-054 Stepping motor (CN2) PM-AP-013 DC Power supply (CN3) Contents of set Quantity Applicable housing:5051-08 1 Applicable contact:2759PBGL 8 Applicable housing:5051-06 1 Applicable contact:5159PBTL 6 Applicable housing:EHR-6 1 Applicable contact:SEH-001T-P0.6 6 1 Applicable housing:5195-02 2 Applicable contact:5194PBTL Manufacturer Molex Molex J.S.T. MFG. CO., LTD. Molex Applicable wire size Crimp tool number JHTR2262A AWG22~28 JHTR2262J JHTR2262A JHTR2262J AWG22~28 YRS-260 AWG18~24 JHTR5904 PMM-MD-23221-21 (CMOS input method) Model Used for PM-AP-011 Power supply I/O signal (CN1B) PM-AP-054 Stepping motor (CN2) Contents of set Quantity Applicable housing:5051-12 1 Applicable contact:2759PBGL 12 Applicable housing:5051-06 1 Applicable contact:5159PBTL 6 Applicable housing:EHR-6 1 Applicable contact:SEH-001T-P0.6 6 Manufacturer Molex Molex J.S.T. MFG. CO., LTD. Applicable wire size Crimp tool number JHTR2262A AWG22~28 JHTR2262J JHTR2262A JHTR2262J AWG22~28 YRS-260 PMM-MD-23220-10 (Photo coupler input method) Model PM-AP-009 PM-AP-047 H782 type Used for I/O signal (CN1A) Stepping motor (CN2) PM-AP-008 Other types PM-AP-013 DC Power supply (CN3) Contents of set Quantity Applicable housing:5051-08 1 Applicable contact:2759PBGL 8 Applicable housing:5051-06 1 Applicable contact:5159PBTL 6 Applicable housing:VHR-6N 1 6 Applicable contact:SVH-21T-P1.1 1 Applicable housing:5051-06 6 Applicable contact:5159PBTL 1 Applicable housing:5195-02 Applicable contact:5194PBTL 2 Manufacturer Molex Applicable wire size Crimp tool number JHTR2262A AWG22~28 JHTR2262J Molex J.S.T. MFG. CO., LTD. JHTR2262A AWG22 YC-160R Molex AWG22 JHTR2262A Molex AWG18~24 JHTR5904 PMM-MD-23221-10 (CMOS input method) Model Used for PM-AP-011 Power supply I/O signal (CN1B) PM-AP-047 H782 type PM-AP-008 Other types 41 Stepping motor (CN2) Contents of set Quantity Applicable housing:5051-12 1 Applicable contact:2759PBGL 12 Applicable housing:5051-06 1 Applicable contact:5159PBTL 6 Applicable housing:VHR-6N 1 Applicable contact:SVH-21T-P1.1 6 1 Applicable housing:5051-06 6 Applicable contact:5159PBTL Manufacturer Molex Applicable wire size Crimp tool number JHTR2262A AWG22~28 JHTR2262J Molex AWG22 JHTR2262A J.S.T. MFG. CO., LTD. AWG22 YC-160R Molex AWG22 JHTR2262A 28 42 50 56 60 o 86 Option PMM-UA-4303 PMM-UA-4304 Model PMM-BA-4803 PMM-BA-4804 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) Used for PM-C08S0100-01 I/O signal (CN1A) connector cable DC power supply (CN3) connector cable PM-C06M0100- Stepping motor (CN2) connector cable PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 PM-C02P0100-02 PMM-MD-23211-10 (CMOS input method) PMM-MD-23221-21 (CMOS input method) PMM-MD-23221-10 (CMOS input method) * The connector cables consist of each interface connector Used for PMM-MD-23120 Model with a 1m cable assembled. PM-C12T0100-01 DC power supply, I /O signal(CN1B) connector cable PM-C06M0100- Stepping motor (CN2) connector cable ... is 01, 03, 05 or 06. (Refer to separate table 1.) Model No. of stepping motor cable (Separate Table 1) Serial No. Stepping motor model No. Serial No. Stepping motor model No. 03 103H7822-04 05 103H3215-52 103H6701-04 103H7821-04 103H6703-04 103H6704-53 103H7823-04 103H7121-04 103H7123-04 01 103H5205-04 103H7124-04 06 103H5208-04 103H7126-04 103H5209-04 103H8221-04 103H5210-04 103H8222-04 103H8223-04 1 (Power source cable) UL1430AWG22 300V, 105C Model of cable Length PM-C02P0100-02 1m(39.37inch) 2 Driver side Pin No. Color 1 Black 2 White 1 Cable 1m (39.37inch) 2(Power source, signal cable) Model of cable 1 Driver side Pin No. Color 1 White 2 3 Black 4 5 White 6 Black 7 8 9 Blue 10 11 12 12 Cable UL1430AWG22 300V, 105C Length PM-C12T0100-01 1m(39.37inch) 1m (39.37inch) 42 Pulse I/F (DC power input) Option 3 (Signal cable) 1 1 6 Length Applicable stepping motor 1m (39.37inch) UL1430AWG22 300V, 105C Stepping motor side 6 6 1 1 1m (39.37inch) Pin No. Color 1 White 2 Orange 3 Blue Red 4 5 Yellow 6 Black Model of cable Length PM-C06M0100-03 1m(39.37inch) Applicable stepping motor Stepping motor side 1 6 6 1 UL1430AWG24 300V, 105C 1m (39.37inch) Pin No. Color 1 Black 2 Blue 3 Yellow Orange 4 5 Red 6 White Model of cable Length PM-C06M0100-05 1m(39.37inch) Applicable stepping motor 7(Stepping motor extension cable) UL1430AWG22 300V, 105C Stepping motor side 6 1 Driver side Pin No. Color 1 White 2 Black Orange 3 Blue 4 5 Red 6 Yellow 43 Model of cable PM-C06M0100-01 1m(39.37inch) 6 (Stepping motor extension cable) Driver side Pin No. Color 1 White 2 Black Orange 3 Blue 4 5 Red 6 Yellow Cable UL1430AWG22 300V, 105C 5 (Stepping motor extension cable) Driver side Pin No. Color 1 White 2 Black Orange 3 Blue 4 5 Red 6 Yellow Cable Length 4(Stepping motor extension cable) Driver side Pin No. Color 1 White 2 Black Orange 3 Blue 4 5 Red 6 Yellow Cable Model of cable PM-C08S0100-01 1m(39.37inch) 1m (39.37inch) 1 Cable UL1430AWG22 300V, 105C 8 Driver side Pin No. Color 1 2 3 4 Blue 5 6 7 8 6 Cable 1m (39.37inch) Pin No. Color 1 White Orange 2 3 Blue Yellow 4 5 Red 6 Black Model of cable Length PM-C06M0100-06 1m(39.37inch) Applicable stepping motor 60 PMM-BA-4803 PMM-BA-4804 56 PMM-UA-4303 PMM-UA-4304 50 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 42 PMM-MD-23120 28 o 86 44 Pulse I/F (DC power input) 2-phase Stepping Driver 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 o 86 Standard combined stepping motors Dimensions of stepping motor Stepping motor model number Single shaft Double shaft Rated current Holding torque [A/phase] [N*m(oz*in)] Mass(Weight) [kg(lbs)] 42mm 103H5205-0440 103H5208-0440 103H5209-0440 103H5210-0440 103H5205-0410 103H5208-0410 103H5209-0410 103H5210-0410 1.2 1.2 1.2 1.2 0.2(28.32) 0.3(42.48) 0.32(45.31) 0.37(52.39) 0.036(0.20) 0.056(0.31) 0.062(0.34) 0.074(0.40) 0.23(0.51) 0.29(0.64) 0.31(0.68) 0.37(0.82) 50mm 103H6701-0440 103H6703-0440 103H6704-0440 103H6701-0410 103H6703-0410 103H6704-0410 2 2 2 0.28(39.6) 0.49(69.4) 0.52(73.6) 0.057(0.31) 0.118(0.65) 0.14(0.77) 0.35(0.77) 0.5(1.10) 0.5(1.10) 56mm 103H7121-0440 103H7123-0440 103H7124-0440 103H7126-0440 103H7121-0410 103H7123-0410 103H7124-0410 103H7126-0410 2 2 2 2 0.39(55.2) 0.83(117.5) 0.98(138.8) 1.27(179.8) 0.1(0.55) 0.21(1.15) 0.245(1.34) 0.36(1.97) 0.47(1.04) 0.65(1.43) 0.8(1.76) 0.98(2.16) 60mm 103H7821-0440 103H7822-0440 103H7823-0440 103H7821-0410 103H7822-0410 103H7823-0410 2 2 2 0.78(110.5) 1.17(165.7) 2.1(297.4) 0.275(1.50) 0.4(2.19) 0.84(4.59) 0.6(1.32) 0.77(1.70) 1.34(2.95) o86mm 103H8221-0441 103H8222-0441 103H8223-0441 103H8221-0411 103H8222-0411 103H8223-0411 2 2 2 2.15(304.5) 4.13(584.8) 6.27(887.9) 1.45(7.93) 2.9(15.86) 4.4(24.06) 1.5(3.31) 2.5(5.51) 3.5(7.72) * For information about the general specifications and dimensions of each stepping motor, refer to its page. 45 Rotor inertia [x 10-4kg*m2(oz*in2)] Page 69 Page 75 Page 79 Page 87 Page 91 Page 28 42 50 56 60 o 86 DC24V/36V10% Source current 3A Rated current 2A/phase (Changeable to 1.2A/phase, refer to Page 46) Operating ambient temperature 0~+50C Conservation temperature -20~+70C Operating ambient humidity 35~85% RH (no condensation) Conservation humidity 10~90% RH (no condensation) Vibration resistance 4.9m/s2 Frequency range 10~55Hz, Direction: along X,Y and Z axes, for 2 hours each. Impact resistance Considering the NDS-C-0110 standard section 3.2.2 division "C", not influenced. Withstand voltage Not influenced when AC500V is applied between power input terminal and cabinet for one minute. Insulation resistance 10M MIN. measured with DC500V megohmmeter between input terminal and cabinet. Mass(Weight) 0.6kg(1.32lbs) PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 Input source PMM-UA-4303 PMM-UA-4304 PMM-MD-23120-10 Item Basic specifications Environment PMM-BA-4803 PMM-BA-4804 Specifications of PM Driver PMM-MD-23120 Pulse input mode selection-- DIP switches enables selection of Pulse and direction and 2-input mode. Function 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. Selection, setting function 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%. Signal Name (Brevity code) CW pulse Input signal (CW) Pin No. (CN3) 1 In the 2-input mode, inputs driving pulses to rotate in CW direction. 2 In the Pulse and direction mode, inputs driving pulse train to rotate the step motor rotation. (CK) Photo coupler input method, input resistance 330 Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V Maximum input frequency:20kpulse/s CCW pulse Input signal (CCW) 3 In the 2-input mode, inputs driving pulses to rotate in CCW direction. 4 In the Pulse and direction mode, inputs rotation direction signals to the stepping motor. (U/D) I/O signals 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 330 Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V Maximum input frequency:20kpulse/s 5 Input S.SEL signal to select step angle selection rotary switch (S.SEL). 6 S.SEL input signal ON (Internal photo coupler ON) --- SEL2 setting is enabled. Step angle setting selection input (S. SEL) S.SEL input signal OFF (Internal photo coupler OFF) --- SEL1 setting is enabled. Photo coupler input method, input resistance 330 Input signal voltage: H = 4.0 to 5.5V, L = 0 to 0.5V Power down input signal (PD) 7 Inputs PD signal to turn off the current that flows through the stepping motor. 8 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 330 * 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. 46 Pulse I/F (DC power input) Operation, Connection, and Function Input circuit configuration (CW, CCW) 1 (3) 330 * Pulse duty 50% MAX. * When the crest value of the input signal is 5V, the external limit resistance R must be 0 When the crest value of the input signal exceeds 5V, use the external limit resistance R to limit the input current to approximately 15mA. Photo coupler +5V Approx.15mA Input signal R 2 (4) PM driver Input signal specifications 5s MIN. 4.0~5.5V 90% 50% Rotation 10% 0~0.5V 1s MAX. 1s MAX. Timing of command pulse * 2-input mode (CW, CCW) CW CCW 50s MIN. * 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. * Pulse and direction mode (CK,U/D) * 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. CK 10s MIN. U/D Input circuit configuration (PD, S, SEL) 5 (7) 330 Photo coupler +5V Approx.15mA Input signal R 47 6 (8) PM driver * When the crest value of the input signal is 5V, the external limit resistance R must be 0 When the crest value of the input signal exceeds 5V, use the external limit resistance R to limit the input current to approximately 15mA. 28 42 50 56 60 o 86 Operation, Connection, and Function D ABC PMM-BA-4803 PMM-BA-4804 1 78 9 D ABC EF012 2 3456 78 9 S.SEL RUN 3456 CH EF012 PMM-UA-4303 PMM-UA-4304 PWM IL VCC OV PM deriver component names PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 CN3-1 CN3-2 78 9 CN1 1 1 6 PMM-MD-23120 CN2 FG 3 M.SEL 4 3456 1 1 5 CD AB E F012 1Operation-current selection rotary switch (RUN) Enable to select operating current value to stepping motor. * Factory setting is "0". Dial 0 1 2 3 4 5 6 7 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) 0 0 0 0 0 0 0 0 2Stepping angle selection rotary switch (S.SEL) Enable to select standard step angle of stepping motor for 8 divisions ranging from 1~180 resolutions. Dial Division 1 2 3 4 5 6 7 SEL1 1 2 5 10 20 40 80 180 SEL2 1 1 1 1 1 1 1 1 8 9 A B C D E F SEL1 1 2 5 10 20 40 80 180 SEL2 2 2 2 2 2 2 2 2 Dial Division * Factory setting is "E". 0 3Mode selection rotary switch (M.SEL) Enable to select every mode Dial Pulse input 0 2 input Automatic current down Low vibration method OFF 2 3 Pulse and direction OFF 1 ON ON 4 5 6 7 8 9 B A D C F E * 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. 4Connector (CN1) Connect motor power wire. 5Connector (CN2) Connect DC power wire. 6Connector (CN3) Connect I/O wire. 48 Pulse I/F (DC power input) Operation, Connection, and Function External wiring diagram CN2 DC24V/36V 1 DC24G/36G 2 Note 3) When motor output is connector type Note 3) CN3 Note 2) CW pulse input Note 2) CCW pulse input Step angle selection input Power down input When motor output is lead wire type 1 CN1 2 1 3 2 4 5 6 7 3 4 5 6 White Black Orange Blue M Red Yellow For 103H-52 - CN1 1 2 1 6 3 2 4 3 5 6 5 4 Connector M 8 Note 1) 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. Connectors used Driver side Use for Model No. Corresponding connector model number Maker Stepping motor (CN1) B6P-VH Applicable housing: VHR-6N Applicable contact: BVH-21T-P1.1 J.S.T. MFG. CO., LTD DC Power source (CN2) B2P-VH Applicable housing: VHR-2N Applicable contact: BVH-21T-P1.1 J.S.T. MFG. CO., LTD I/O signal (CN3) IL-8P-S3 EN2-1 Applicable housing: IL-8S-S3L-(N) Applicable contact: IL-C2-1-10000 Japan Aviation Electronics Industry,Ltd * 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). 49 28 42 50 56 60 o 86 1 PMM-UA-4303 PMM-UA-4304 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 D ABC 24(2.16) Screw holes 1 PMM-MD-23120 CN1 CN2 FG CN3-1 CN3-2 82(3.23) 78 9 1 M.SEL 5(.20) 1 3456 EF012 34.5(1.36) 78 9 S.SEL RUN 78 9 D ABC 3456 EF012 70(2.76) D ABC CH 3456 EF012 35.5(1.40) PWM IL VCC OV PMM-BA-4803 PMM-BA-4804 Dimensions [Unit:mm(inch)] 5(.20) 90(3.54) 82(3.23) 5(.20) 24(2.16) Screw holes 36(1.42) 26(1.02) 10 (.39) 5(.20) Mounting direction and mounting position * Install the PM driver vertically. * As shown in the figure, fix the PM driver by using M3 the M3 screws through two fitting holes (2-4) on the bottom surface of PM driver(no fitting metals are necessary). 50 Pulse I/F (DC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. 1-division is specified 2-division is specified 103H5205-0436V 103H5205-0424V 10 70 5 0.5 4 0.4 10 9 4 0.2 3 20 10 0 30 fs 0 0.1 fs 10 2 6 5 4 0.2 3 1 0.1 0 0 2 10 1 0 0 1 3 0.3 20 1 0 40 2 0.1 1 7 Torque (N-m) 5 8 50 Torque(oz*in.) 2 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 30 3 6 0.3 Source current (A) 7 50 40 9 60 8 0.4 4 Torque (kgf-cm) 60 100 fs 0.1 100 2-division 1000 100 0 10 1-division 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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: DC36V, 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) 103H5208-0424V 103H5208-0436V 10 70 5 0.5 4 0.4 10 9 4 0.2 3 20 10 0 30 fs 0 0.1 fs 10 2 6 5 4 0.2 3 1 0.1 0 0 2 10 1 0 0 1 3 0.3 20 1 0 40 2 0.1 1 7 Torque (N-m) 5 8 50 Torque(oz*in.) 4 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 30 3 6 0.3 Source current (A) 7 50 40 9 60 8 0.4 4 Torque (kgf-cm) 60 100 fs 0.1 100 2-division 1000 100 0 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 0.5 5 70 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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: DC36V, 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) 103H5209-0424V 103H5209-0436V 10 70 5 0.5 4 0.4 10 9 2 6 0.3 5 4 0.2 3 20 1 10 0 1 0 40 30 fs 0 0.1 fs 0 1 10 100 7 3 2 6 0.3 5 4 0.2 3 20 2 0.1 8 50 Torque(oz*in.) 30 3 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 50 Source current (A) 7 Torque (N-m) 4 9 60 8 0.4 Torque (kgf-cm) 60 1 0.1 0 0 2 10 0 1 fs 0.1 100 2-division 1000 100 2000 3000 5000 1-division 100 2-division Number of rotations (min-1) Source voltage: DC24V, 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), 0 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 0.5 5 70 51 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 0.5 5 70 Source current (TL=0) 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC36V, 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) 28 42 50 56 o 86 60 Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics 103H5210-0436V 103H5210-0424V 10 70 5 0.5 4 0.4 10 9 3 20 10 0 fs 0 0.1 fs 10 4 1 0.1 0 0 2 1 100 fs 0.1 100 2-division 1000 100 fs 0 1 Pulse rate (kpulse/s) 1-division 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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: DC36V, 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) 103H6701-0424V 103H6701-0436V 10 70 5 0.5 4 0.4 10 9 2 5 4 0.2 3 20 10 0 40 30 fs 0 0.1 fs 10 2 6 5 4 0.2 3 1 0.1 0 0 2 10 1 0 0 1 3 0.3 20 1 0 7 2 0.1 1 8 50 Torque (N-m) 3 6 0.3 Torque(oz*in.) 30 Torque (N-m) Torque (kgf-cm) 40 Source current (A) 7 50 Torque(oz*in.) 9 60 8 0.4 4 Torque (kgf-cm) 60 100 fs 0.1 100 2-division 1000 100 fs 0 1 Pulse rate (kpulse/s) 1-division Source current (A) 0.5 5 70 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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: DC36V, 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) 103H6703-0424V 103H6703-0436V 10 140 10 1 8 0.8 10 9 4 100 6 0.6 5 4 0.4 3 40 2 1 0 80 60 fs 0 0.1 fs 0 1 10 100 8 7 6 4 6 0.6 5 4 0.4 3 40 2 0.2 20 0 7 Torque (N-m) 60 6 Torque (N-m) 80 Torque (kgf-cm) Torque(oz*in.) 100 120 Torque (kgf-cm) 8 9 8 Torque(oz*in.) 0.8 Source current (A) 120 2 0.2 0 0 2 20 0 1 fs 0.1 100 2-division 1000 100 2000 3000 5000 1-division 100 2-division Number of rotations (min-1) Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] Source current (TL=MAX), 0 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 1.0 10 140 PMM-UA-4303 PMM-UA-4304 3 0 0 1 5 0.2 10 1 0 2 6 20 2 0.1 1 30 3 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 4 0.2 40 0.3 PMM-MD-23120 2 5 7 Torque (N-m) 3 6 0.3 8 50 Torque(oz*in.) 30 Torque (N-m) Torque (kgf-cm) 40 Source current (A) 7 50 Torque(oz*in.) 9 60 8 0.4 4 Torque (kgf-cm) 60 Source current (A) 0.5 5 70 PMM-BA-4803 PMM-BA-4804 fs: No load maximum starting pulse rate. 1-division is specified 2-division is specified Source current (TL=0) 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC36V, 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) 52 Pulse I/F (DC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. 1-division is specified 2-division is specified 103H6704-0436V 103H6704-0424V 10 140 10 1.0 8 0.8 10 9 7 100 6 0.6 5 4 0.4 3 40 20 0 fs 0 0.1 fs 10 4 6 5 4 0.4 3 2 0.2 0 0 2 20 1 0 0 1 6 0.6 40 1 0 60 2 0.2 2 80 8 7 Torque (N-m) 4 120 Torque (kgf-cm) 60 6 Torque (N-m) 80 Torque (kgf-cm) Torque(oz*in.) 100 9 8 Torque(oz*in.) 0.8 8 Source current (A) 120 100 fs 0.1 100 2-division 1000 100 fs 0 1 Pulse rate (kpulse/s) 1-division 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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: DC24V, 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) 103H7121-0424V 103H7121-0436V 10 70 5 0.5 4 0.4 10 9 2 5 4 0.2 3 20 10 0 40 30 fs 0 0.1 fs 10 2 6 5 4 0.2 3 1 0.1 0 0 2 10 1 0 0 1 3 0.3 20 1 0 7 2 0.1 1 8 50 Torque (N-m) 3 6 0.3 Torque(oz*in.) 30 Torque (N-m) Torque (kgf-cm) 40 Source current (A) 7 50 Torque(oz*in.) 9 60 8 0.4 4 Torque (kgf-cm) 60 100 fs 0.1 100 2-division 1000 100 fs 0 1 Pulse rate (kpulse/s) 1-division Source current (A) 0.5 5 70 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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: DC24V, 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) 103H7123-0424V 103H7123-0436V 10 140 10 1 8 0.8 10 9 4 100 6 0.6 5 4 0.4 3 40 2 1 0 80 60 fs 0 0.1 fs 0 1 10 100 8 7 6 4 6 0.6 5 4 0.4 3 40 2 0.2 20 0 7 Torque (N-m) 60 6 Torque (N-m) 80 Torque (kgf-cm) Torque(oz*in.) 100 120 Torque (kgf-cm) 8 9 8 Torque(oz*in.) 0.8 Source current (A) 120 2 0.2 0 0 2 20 0 1 fs 0.1 100 2-division 1000 100 2000 3000 5000 1-division 100 2-division Number of rotations (min-1) Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] Source current (TL=MAX), 0 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 1 10 140 53 Source current (A) 1 10 140 Source current (TL=0) 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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) 28 42 50 56 o 86 60 Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics 103H7124-0436V 103H7124-0424V 10 140 10 1 8 0.8 10 9 6 0.6 5 4 0.4 80 60 3 40 20 fs 0 0.1 fs 10 5 4 0.4 3 2 0.2 0 0 2 20 1 0 0 1 4 6 100 fs 0.1 100 2-division 1000 100 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 0 1 Pulse rate (kpulse/s) 1-division fs 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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: DC24V, 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) 103H7126-0424V 103H7126-0436V 10 250 7 4 0.8 1.6 9 8 7 150 100 Torque (kgf-cm) 5 16 10 200 Torque(oz*in.) 8 6 1.2 Source current (A) 100 12 Torque (N-m) 150 Torque (kgf-cm) Torque(oz*in.) 200 2 250 8 1.6 16 20 12 8 6 1.2 5 4 0.8 3 50 3 2 0.4 4 50 4 0.4 0 0 2 1 0 0 fs 0 0.1 fs 1 0 0 1 10 100 fs 0.1 100 2-division 1000 100 0 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 9 Torque (N-m) 2 20 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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: DC24V, 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) 103H7821-0424V 103H7821-0436V 10 140 10 1 8 0.8 10 9 4 100 6 0.6 5 4 0.4 3 40 2 1 0 80 60 fs 0 0.1 fs 0 1 10 100 8 7 6 4 6 0.6 5 4 0.4 3 40 2 0.2 20 0 7 Torque (N-m) 60 6 Torque (N-m) 80 Torque (kgf-cm) Torque(oz*in.) 100 120 Torque (kgf-cm) 8 9 8 Torque(oz*in.) 0.8 Source current (A) 120 2 0.2 0 0 2 20 0 1 fs 0.1 100 2-division 1000 100 2000 3000 5000 1-division 100 2-division 100 Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] Source current (TL=0) 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Number of rotations (min-1) Source current (TL=MAX), 0 10 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 1 10 140 PMM-MD-23120 0 6 0.6 40 1 0 7 2 0.2 2 8 PMM-UA-4303 PMM-UA-4304 100 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 7 Torque (N-m) 4 120 Torque (kgf-cm) 60 6 Torque (N-m) 80 Torque (kgf-cm) Torque(oz*in.) 100 9 8 Torque(oz*in.) 0.8 8 Source current (A) 120 Source current (A) 1 10 140 PMM-BA-4803 PMM-BA-4804 fs:No load maximum starting pulse rate. 1-division is specified 2-division is specified Source voltage: DC24V, Operating current t: 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) 54 Pulse I/F (DC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. 1-division is specified 2-division is specified 103H7822-0436V 10 9 250 7 4 0.8 1.6 9 8 7 150 100 Torque (kgf-cm) 5 Torque(oz*in.) 8 6 1.2 16 10 200 Source current (A) 100 12 Torque (N-m) 150 Torque (kgf-cm) Torque(oz*in.) 200 2 250 8 1.6 16 20 12 8 Torque (N-m) 2 20 6 1.2 5 4 0.8 3 4 50 3 2 0.4 50 4 0.4 0 0 2 1 0 0 fs 0 0.1 fs 1 0 0 1 10 100 fs 0.1 100 2-division 1000 100 fs 0 1 Pulse rate (kpulse/s) 1-division 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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: DC24V, 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) 103H7823-0424V 103H7823-0436V 10 700 50 5 40 4 10 9 7 500 6 3 5 4 2 3 200 100 0 fs 0 0.1 fs 10 20 6 5 4 2 3 10 1 0 0 2 100 1 0 0 1 30 3 200 1 0 300 2 1 10 400 8 7 Torque (N-m) 20 600 Torque (kgf-cm) 300 30 Torque (N-m) 400 Torque (kgf-cm) Torque(oz*in.) 500 9 8 Torque(oz*in.) 4 40 Source current (A) 600 100 fs 0.1 fs 100 2-division 1000 100 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 0 1 Pulse rate (kpulse/s) 1-division Source current (A) 5 50 700 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=7.4x10-4kg*m2 (40.46 oz*in2) 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*in2) Use the rubber coupling] Source current (TL=MAX), Source current (TL=0) 103H8221-0424V 103H8221-0436V 10 700 50 5 40 4 10 9 20 500 6 3 5 4 2 3 200 10 1 0 400 300 fs 0 0.1 fs 0 1 10 100 8 7 30 20 6 3 5 4 2 3 200 2 1 100 0 7 Torque (N-m) 300 30 Torque (N-m) 400 Torque (kgf-cm) Torque(oz*in.) 500 600 Torque (kgf-cm) 40 9 8 Torque(oz*in.) 4 Source current (A) 600 10 1 0 0 2 100 0 1 fs 0.1 100 2-division 1000 100 2000 3000 5000 1-division 100 2-division Number of rotations (min-1) Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] Source current (TL=MAX), 0 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 fs 1 Pulse rate (kpulse/s) 1-division Source current (A) 5 50 700 55 Source current (A) 103H7822-0424V Source current (TL=0) 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, Operating current : 2A/phase Pull-Out torque [JL1=7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] Source current (TL=MAX), Source current (TL=0) 28 42 50 56 o 86 60 Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics 103H8222-0424V 103H8222-0436V 10 700 50 5 40 4 10 9 5 4 2 3 200 100 0 30 20 fs 0 fs 0.1 10 5 4 2 3 10 1 0 0 2 100 1 0 0 1 6 3 200 1 0 300 7 2 1 10 400 100 fs fs 0.1 100 2-division 1000 100 0 1 Pulse rate (kpulse/s) 1-division 10 100 Pulse rate (kpulse/s) 1-division 2000 3000 5000 1000 100 2-division 2000 3000 5000 1000 100 Number of rotations (min-1) 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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: DC24V, 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) 103H8223-0424V 103H8223-0436V 10 100 10 1400 100 10 80 8 10 9 1000 6 6 5 4 4 3 400 20 1 0 800 600 fs 0 0.1 fs 0 1 10 100 8 7 60 40 6 6 5 4 4 3 400 2 2 200 0 7 Torque (N-m) 40 1200 Torque (kgf-cm) 600 60 Torque (N-m) 800 Torque (kgf-cm) Torque(oz*in.) 1000 9 8 Torque(oz*in.) 8 80 Source current (A) 1200 20 2 0 0 2 200 0 1 fs fs 0.1 2-division 100 1000 100 10 100 Pulse rate (kpulse/s) 2000 3000 5000 1000 0 1 Pulse rate (kpulse/s) 1-division Source current (A) 1400 PMM-UA-4303 PMM-UA-4304 6 3 8 PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 500 PMM-MD-23120 20 7 Torque (N-m) 30 600 Torque (kgf-cm) 300 Torque (N-m) 400 Torque (kgf-cm) Torque(oz*in.) 500 9 8 Torque(oz*in.) 4 40 Source current (A) 600 Source current (A) 5 50 700 PMM-BA-4803 PMM-BA-4804 fs: No load maximum starting pulse rate. 1-division is specified 2-division is specified 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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) 1-division 2-division 100 1000 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Source voltage: DC24V, 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) 56 Pulse I/F (DC power input) Option Connector set Used for Model Stepping motor (CN1) PM-AP-037 (Type other than above) PM-AP-036 DC power supply (CN2) PM-AP-038 I/O signal (CN3) Contents of set Quantity Applicable housing: VHR-6N 1 6 Applicable contact: SVH-21T-P1.1 1 Applicable housing: EHR-6 6 Applicable contact: SEH-001T-P0.6 2 Applicable housing: VHR-6N 12 Applicable contact: SVH-21T-P1.1 1 Applicable housing: VHR-6N 6 Applicable contact: SVH-21T-P1.1 1 Applicable housing: VHR-2N 2 Applicable contact: SVH-21T-P1.1 1 Applicable housing: IL-8S-S3L-(N) Applicable contact: IL-C2-1-0001 8 Manufacturer J.S.T. MFG. CO.,LTD. Applicable wire size Crimp tool number YC-160R AWG22 YC-260R J.S.T. MFG. CO.,LTD. AWG22 YC-160R J.S.T. MFG. CO.,LTD. AWG22 YC-160R J.S.T. MFG. CO.,LTD. AWG22 YC-160R Japan Aviation Electronics Industry,Ltd AWG22~28 CT150-1-IL CT150-1B-IL CT150-1C-IL Connector cable 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 ... 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 02 103H7123-04 103H7124-04 103H7126-04 103H8221-04 103H8222-04 103H8223-04 103H7821-04 04 103H7822-04 103H7823-04 103H5205-04 07 103H5208-04 103H5209-04 103H5210-04 57 * The connector cable is 1-meter cable assembled with each interface connector. 28 42 50 56 60 o 86 Option 1 (Power cable) PMM-BA-4803 PMM-BA-4804 Cable PMM-UA-4303 PMM-UA-4304 UL1430AWG22 300V, 105C 2 Length Cable model No. PM-C02P0100-03 1m(39.37inch) 1 Driver side Pin No. Color 1 White 2 Black UL1430AWG22 300V, 105C 1 6 Length Cable model No. PM-C06M0100-02 1m(39.37inch) Applicable stepping motor 1m (39.37inch) 4 (Stepping motor extension cable 2) UL1430AWG22 300V, 105C 6 1 1 6 Driver side Pin No. Color 1 White 2 Black Orange 3 Blue 4 5 Red 6 Yellow Cable 8 3 (Stepping motor extension cable 1) Driver side Pin No. Color 1 White 2 Black Orange 3 Blue 4 5 Red 6 Yellow Cable Length Cable model No. PM-C08S0100-02 1m(39.37inch) 1m (39.37inch) 1m (39.37inch) Stepping motor side Pin No. Color 1 White Orange 2 3 Blue Red 4 5 Yellow 6 Black Cable model No. Length PM-C06M0100-04 1m(39.37inch) Stepping motor side Pin No. Color 1 White Orange 2 3 Blue Yellow 4 5 Red 6 Black Cable model No. Length PM-C06M0100-07 1m(39.37inch) Applicable stepping motor 5 (Stepping motor extension cable 3) UL1430AWG22 300V, 105C 6 1 Driver side Pin No. Color 1 White 2 Black Orange 3 Blue 4 5 Red 6 Yellow 6 Cable UL1430AWG24 300V, 105C 1 Driver side Pin No. Color 1 Blue 2 Black 3 Blue 4 Black 5 Blue 6 Black 7 Blue 8 Black PMM-MD-23120 2 (Signal cable) 1 Cable PMM-MD-23210-10/23211-10 PMM-MD-23220-21/23221-21 PMM-MD-23220-10/23221-10 1m (39.37inch) 1m (39.37inch) Applicable stepping motor 58 STEPPING MOTOR The 2-phase Stepping System Upper DRIVER P5~P58 * Refer to the pages of driver for cable. HIC P121~P124 * Refer to the pages of driver for cable. MOTOR P59~P120 The 2-phase Stepping Motor Synchronous Motor Ultra-vacuum Stepping Motor 100 (4.17inch) 100 10 2 Rotor inertia(oz*in ) (3.39inch) 10 1 (2.36inch) (2.20inch) (1.97inch) 1 0.1 35 (1.65inch) mm (1.10inch) 0.1 (1.38inch) 0.01 0.01 0.1 1 10 100 Torque(N m) 10 100 Torque(oz*in) 59 1000 10000 35mm (1.38inch) 42mm (1.65inch) 39mm (1.54inch) 0.9 1.8 0.9 0.10.24Nm (14.16~33.99 oz*in) P61~P62 0.032Nm (4.53 oz*in) Recommendable (1.10inch) Refer to the page27. (55.23~179.8 oz*in) P79~P86 Recommendable (1.97inch) (28.32~72.22 oz*in) P69~P74 (2.36inch) Refer to the page7,17, 27 and 43. (110.5~297.4 oz*in) P87~P90 Refer to the page7,17, 27 and 43. (39.6~75.1 oz*in)P75~P78 Recommendable Recommendable Refer to the page7,17, 27 and 43. Refer to the page7,17, 27 and 43. P64 0.1Nm (14.16 oz*in) Recommendable (1.65inch) (4.53~8.78 oz*in) P65~P68 (2.20inch) P63 Recommendable (o3.39inch) Refer to the page7,17, 27 and 43. (304.5~1053.6 oz*in) P91~P96 Recommendable (o4.17inch) Refer to the page7 and 17. (o3.39inch) (2.20inch) (1529.4~2690.5 oz*in) P97~P98 (55.23~179.8 oz*in) P99~P100 (1869.2~26905 oz*in) P103~P104 (80.72~778.8 oz*in) P109~P110 (388.0~1053.6 oz*in) P101~P102 (o4.17inch) (59.47 oz*in) P111~P112 60 2-phase stepping motor 2-phase Stepping Motor 35mm SH35 1.8/step (1.38inch sq.) Specifications Unipolar winding Holding torque at Rated 2-phase energization current Resistance Inductance Model Shingle shaft Double shafts N*m(oz*in) MIN. A/phase /phase SH3533-12U40 -12U10 0.12(16.99) 1.2 2.4 SH3537-12U40 -12U10 0.15(21.24) 1.2 SH3552-12U40 -12U10 0.23(32.57) 1.2 Mass(Weight) Rotor inertia x10 -4kg*m2(oz*in2) mH/phase kg(lbs) 1.3 0.02(1.09) 0.17(0.37) 2.7 2 0.025(1.37) 0.2(0.44) 3.4 2.8 0.043(2.35) 0.3(0.66) Dimensions [Unit:mm(inch)] SH3533-12U40(Single shaft) SH3533-12U10(Double shaft) SH3537-12U40(Shingle shaft) SH3537-12U10(Double shaft) 61 200.5 (.79.02) 22(.87)MAX. part 35.6(1.40) only stator 260.25(1.02.01) 4-M3x0.5 Effective tapping depth 4(.16) MIN. 35.6(1.40) only stator part 22(.87)MAX. 26.25 (1.02.01) 29.25 (1.14.01) 0 290.25(1.14.01) 5(.20)MAX. 350.5(1.38.02) 5-0.013 0 260.25 (1.02.01) 290.25 (1.14.01) ( 0 22-0.05 .0019 ) ( .8661-.0000 0 .0000 .1968-.0005 260.25(1.02.01) 4-M3x0.5 Effective tapping depth 4(.16) MIN. 5(.20)MAX. 350.5(1.38.02) 290.25(1.14.01) ) 5-0.013 300(11.81)MIN. 0 .0000 ( .1968-.0005 5-0.013 ) Lead wire:UL1007 CSA,AWG26 521 2.05.04 401.57MIN. 20.25 (.08.01) 200.5 (.79.02) .0000 (.1968-.0005 ) 0 5-0.013 SH3552-12U40(Single shaft) SH3552-12U10(Double shaft) 151 (.59.04) 9(.35) MAX. 371 (1.46.04) 25(.98)MIN. 20.25 (.08.01) .0019 ) ( .8661-.0000 part 35.6(1.40) only stator .0000 ( .1968-.0005 ) 22(.87)MAX. 4-M3x0.5 Effective tapping depth 4(.16) MIN. 26.25 (1.02.01) 29.25 (1.14.01) 0 260.25(1.02.01) 5(.20)MAX. 290.25(1.14.01) .0019 ) ( .8661-.0000 0 5-0.013 350.5(1.38.02) .0000 ( .1968-.0005 ) 20.25 (.08.01) 151 (.59.04) 9(.35) MAX. 22-0.05 200.5 (.79.02) 22-0.05 300(11.81)MIN. 0 5-0.013 .0005 ) ( .1968-.0000 9(.35) MAX. 331 (1.30.04) 21(.83)MIN. 300(11.81)MIN. Lead wire:UL1007 CSA,AWG26 Lead wire:UL1007 CSA,AWG26 151 (.59.04) Pulse Rate - Torque Characteristics 0.16 1.2 0.12 0.08 0.4 0.04 0 0 0 10 0.8 Pull-out torque at JL1 0.08 5 0.4 0.04 0 0 0 0.1 1 10 100 0.1 1 100 Pulse rate (kpulse/s) Pulse rate (kpulse/s) 100 10 42mm(1.65)/1.8 5 15 28mm(1.10)/1.8 Pull-out torque at JL1 Torque (N-m) 0.12 Torque(oz*in.) 0.8 Torque (N-m) 1.2 Torque (kgf-cm) 20 Torque (kgf-cm) Torque(oz*in.) 1.6 39mm(1.54)/0.9 42mm(1.65)/0.9 0.16 1.6 20 10 0.2 25 25 15 2.0 0.2 2.0 35mm(1.38)/1.8 SH3537-12U40/SH3537-12U10 SH3533-12U40/SH3533-12U10 100 1000 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Number of rotations (min-1) 50mm(1.97)/1.8 Sanyo constant current circuit Source voltage: DC24V Operating current : 1.2A/phase,2-phase energization (full-step) JL1=[0.33x10- 4 kgm2 (1.80 oz*in2) Use the rubber coupling] 56mm(2.20)/1.8 Sanyo constant current circuit Source voltage: DC24V Operating current : 1.2A/phase,2-phase energization (full-step) JL1=[0.33x10- 4 kgm2 (1.80 oz*in2) Use the rubber coupling] 70 5 0.5 4 0.4 3 0.3 60mm(2.36)/1.8 SH3552-12U40/SH3552-12U10 60 2 o86mm(3.39)/1.8 30 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 50 Pull-out torque at JL1 0.2 1 0.1 0 0 o106mm(4.17)/1.8 20 10 0 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 56mm(2.20)/CE Number of rotations (min-1) o106mm(4.17)/CE o86mm(3.39)/CE Sanyo constant current circuit Source voltage: DC24V Operating current : 1.2A/phase,2-phase energization (full-step) JL1=[0.94x10- 4 kgm2 (5.14 oz*in2) Use the rubber coupling] 62 2-phase stepping motor 2-phase Stepping Motor 39mm sq. 103-4902 0.9/step (1.54inch sq.) Specifications Unipolar winding Holding torque at Rated 2-phase energization current Resistance Inductance Rotor inertia A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) 3.5 0.009(0.05) 0.135(0.30) Single shaft Double shaft N*m(oz*in) MIN. 103-4902-0650 -0610 0.032(4.53) 0.4 16.5 Dimensions [Unit:mm(inch)] Mass(Weight) Pulse Rate - Torque Characteristics 103-4902-0650 (Single shaft) 103-4902-0610 (Double shaft) 103-4902-0650 7 39.5(1.56) MAX. 4-310.25 (4-1.22.01) 4 (.16) 0.05 0.4 0.04 6 5 4 3 A-section Torque (kgf.cm) 200(7.87)MIN. 180.5 (.7.02) 0.5 A-section detail (4) 20.5 (.08.02) 16.80.2 (.66.008) Torque(oz*in.) 71 (.28.04) o21.50.3 (o.85.01) Lead wire UL1430 AWG28 Pull-out torque at JL1 0.3 0.2 Torque (N.m) Model 0.03 0.02 .000 (o.87-.002) Starting torque at JL2 0.1 0.01 0 0 1 0 .0000 0.013 o5-0.013 (o.1968-.0005) .00005 (o.1968-.0005) 0.013 o5-0.013 0.05 o22-0.05 2 0.1 1 10 100 Pulse rate (kpulse/s) 4-M3 x 0.5 Effective tapping depth 4(.16)Min 100 1000 2000 3000 5000 Number of rotations (min-1) 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*in2) pulley balancer method] JL2=[0.05x10-4kg*m2 (0.27 oz*in2) pulley balancer method] 63 2-phase Stepping Motor 103-591 0.9/step 35mm(1.38)/1.8 42mm sq. 56mm(2.20)/1.8 50mm(1.97)/1.8 42mm(1.65)/1.8 28mm(1.10)/1.8 39mm(1.54)/0.9 42mm(1.65)/0.9 (1.65inch sq.) Specifications Single shaft Inductance Rotor inertia A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) 3.7 0.03(0.16) 0.2(0.44) Double shaft N*m(oz*in) MIN. -0210 0.1(14.16) 0.85 3.3 Mass(Weight) o86mm(3.39)/1.8 103-591-0241 Holding torque at Rated 2-phase energization current Resistance 60mm(2.36)/1.8 Model Unipolar winding Pulse Rate - Torque Characteristics 103-591-0241 (Single shaft) 103-591-0210 (Double shaft) o106mm(4.17)/1.8 Dimensions [Unit:mm(inch)] 2.0 0.2 1.6 0.16 56mm(2.20)/CE 103-591-0241 25 0.013 o5-0.013 o0.20-.0000) 10 0.8 0.12 1.2 Pull-out torque at JL1 0.08 Starting torque at JL2 5 0 4-M3 x 0.5 0.4 0.04 0 0 0.1 1 10 o106mm(4.17)/CE 0.05 o22-0.05 1.50.76 (.059.03) 15 o86mm(3.39)/CE Torque(oz*in.) 240.5 (.94.02) Torque (N-m) 20 4-310.25 (4-1.22.01) (o.1968-.0005) 0.013 o5-0.013 o0.20-.0000) (o.1968-.0005) 420.25 (1.65.01) o0.20-.0000) (o.87-.0002) 200(7.8) MIN. 33.50.5 (1.32.02) Torque (kgf-cm) Lead wire UL3266 AWG26 151 (.59.04) 100 Pulse rate (kpulse/s) Effective tapping depth 4(.16)MIN. 100 1000 2000 3000 5000 Number of rotations (min-1) 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*in2) Uses rubber coupling] JL2=[0.18x10-4kg*m2 (0.98 oz*in2) Use the direct coupling] 64 2-phase stepping motor 2-phase Stepping Motor 28mm sq. (1.10inch sq.) Recommendable Driver Refer to the page 27. Specifications Unipolar winding * connector type Model Single shaft Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) Mass(Weight) Double shafts N*m(oz*in) MIN. 103H3205-5040 -5010 0.032(4.53) 0.25 40 9.1 0.009(0.05) 0.11(0.24) 103H3205-5140 -5110 0.032(4.53) 0.5 2.4 0.009(0.05) 0.11(0.24) 103H3215-5140 -5110 0.062(8.78) 0.5 3.1 0.016(0.09) 0.2(0.44) 103H3215-5240 -5210 0.062(8.78) 1 0.8 0.016(0.09) 0.2(0.44) Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia Mass(Weight) A/phase /phase 9.4 11 2.6 Unipolar winding * lead wire type Model mH/phase x10 -4kg*m2(oz*in2) kg(lbs) 0.25 40 9.1 0.009(0.05) 0.11(0.24) 0.032(4.53) 0.5 2.4 0.009(0.05) 0.11(0.24) 0.062(8.78) 0.5 3.1 0.016(0.09) 0.2(0.44) 0.062(8.78) 1 0.8 0.016(0.09) 0.2(0.44) Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia Mass(Weight) mH/phase x10 -4kg*m2(oz*in2) kg(lbs) 19.5 0.009(0.05) 0.11(0.24) 10.4 Single shaft Double shafts N*m(oz*in) MIN. 103H3205-5070 -5030 0.032(4.53) 103H3205-5170 -5130 103H3215-5170 -5130 103H3215-5270 -5230 9.4 11 2.6 Bipolar winding * lead wire type Model 65 Single shaft Double shafts N*m(oz*in) MIN. A/phase /phase 103H3205-5570 -5530 0.048(6.80) 0.25 38.3 103H3205-5670 -5630 0.051(7.22) 0.5 6.2 0.009(0.05) 0.11(0.24) 103H3205-5770 -5730 0.051(7.22) 1 2.5 1.6 0.009(0.05) 0.11(0.24) 103H3215-5570 -5530 0.09(12.74) 0.25 51.8 30.7 0.016(0.09) 0.2(0.44) 103H3215-5670 -5630 0.09(12.74) 0.5 8 0.016(0.09) 0.2(0.44) 103H3215-5770 -5730 0.1(14.16) 1 2.3 0.016(0.09) 0.2(0.44) 12.5 3.5 103H32 1.8/step Dimensions [ Unit: mm (inch) ] 310.8 (1.25.031) 19.5(.76)MIN. 8.5(.33) MAX. 2 (.079) 101 (.39.39) 50.30.8 (1.98.031) 8.5(.33) MAX. Applicable connector :JST Mfg.Co.,Ltd Connector : PHR-6 Terminal : SPH-002T-P0.5S 280.5 (1.10.02) 4-230.25 (4-.91.01) 18(.71) MAX. 200.5 (.79.02) 38.5(1.51)MIN. 2 (.079) Pin No. 1 6 28mm(1.10)/1.8 6.5(.26) MAX. .0003 .00003 42mm(1.65)/1.8 0.013 o5-0.013 (o.1968-.0005) 0.05 50mm(1.97)/1.8 2 (.079) 60mm(2.36)/1.8 ( 0.05 o22-0.05 .0003 o.87-.002 ) 4-M2.6 x0.45 Effective tapping depth 3.2(.13) M o86mm(3.39)/1.8 ( 0.013 o5-0.013 .00003 o.1968-.0005 .00003 (o.1968-.0005) 0.013 o5-0.013 4-M2.6 x0.45 Effective tapping depth 3.2(.13) MIN. 56mm(2.20)/1.8 42(1.65)MIN. 6.5(.26) MAX. 280.5 (1.10.02) 4-230.25 (4-.91.01) 16(.71) MAX. 200.5 (.79.02) 2.5(.10) MAX. 50.30.8 (1.98.031) ) 2.5(.10) MAX. .0003 .00003 0.013 o5-0.013 (o.1968-.0005) 0.05 o22-0.05 2 (.079) .00003 0.013 101 (.39.039) 300(11.8) MIN. 23(.90)MIN. 6.5(.26) MAX. (o.1968-.0005) o5-0.013 Lead wire UL1007 AWG26 280.5 (1.10.02) 4-230.25 (4-.91.01) 16(.71) MAX. 200.5 (.79.02) (o.87-.002) 300(11.8) MIN. 310.8 (1.25.031) 4-M2.6 x0.45 Effective tapping depth 3.2(.13) MIN. 103H3215-5170/5270 (Single shaft) 103H3215-5130/5230 (Double shaft) Lead wire UL1007AWG26 101 (.39.039) (o.87-.002) o22-0.05 103H3205-5070/5170 (Single shaft) 103H3205-5030/5130 (Double shaft) .00003 0.013 o5-0.013 4-M2.6 x0.45 Effective tapping depth 3.2(.13) Min (o.1968-.0005) 0.05 o22-0.05 .0003 (o.87-.002) .00003 0.013 o5-0.013 (o.1968-.0005) 0.013 .00003 o5-0.013 (o.1968-.0005) 6.5(.26) MAX. Pin No. 1. .6 280.5 (1.10.02) 4-230.25 (4-.91.01) 18(.71) MAX. 200.5 (.79.02) 103H3215-5140/5240 (Single shaft) 103H3215-5110/5210 (Double shaft) 39mm(1.54)/0.9 42mm(1.65)/0.9 101 (.39.039) Applicable connector :JST Mfg.Co.,Ltd Connector : PHR-6 Terminal : SPH-002T-P0.5S 103H3205-56 0 103H3205-57 0 103H3215-55 0 103H3215-56 0 103H3215-57 0 31 (1.22) 56mm(2.20)/CE 2.5(.10) MAX. .0003 0.05 R3MIN. (R.12MIN.) (o..8661-.0019) o22-0.05 4-M2.6 x0.45 L 50.3 (1.98) .00003 o5-0.013 0.013 +.04 (.59 .00) (Effective length) Model 103H3205-55 0 4.50.15 o106mm(4.17)/CE Cross SectionS-S +1 15 0 S S 4.50.15 (.1771.0059) 20.76 (.08.03) 200.5 (.79.02) (o.1968-.0005) 300(11.8) MIN. 0.013 .00003 o5-0.013 (o.1968-.0005) L0.8 (L.03) o86mm(3.39)/CE 280.5 (1.10.02) 4-230.25 (4-.91.01) 16(.63) MAX Lead wire UL1007 AWG26 o106mm(4.17)/1.8 Bipolar winding 103H3205-5570/5670/5770 (Single shaft) 103H3205-5530/5630/5730 (Double shaft) 101 (.39.039) 103H3205-5040/5140 (Single shaft) 103H3205-5010/5110 (Double shaft) 35mm(1.38)/1.8 Dimensions [Unit:mm(inch)] 66 2-phase stepping motor Pulse Rate - Torque Characteristics 103H3205-5040/103H3205-5070 7 0.5 0.05 0.4 0.04 103H3205-5140/103H3205-5170 7 6 0.05 0.4 0.04 6 Pull-out torque at JL1 0.02 4 3 2 0.3 0.2 Torque (N-m) 0.2 0.03 Torque (kgf-cm) 3 0.3 Torque(oz*in.) 4 Torque (N-m) 5 Torque (kgf-cm) 5 Torque(oz*in.) 0.5 0.03 Pull-out torque at JL1 0.02 2 0.01 0.1 1 0 0 0 0.1 0.1 0.01 0 0 1 Starting torque at JL2 0 1 10 100 Starting torque at JL2 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 100 1000 Number of rotations (min-1) 100 2000 3000 5000 Number of rotations (min-1) 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*in2) pulley balancer method] JL2=[0.01x10-4kg*m2 (0.05 oz*in2) 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*in2) pulley balancer method] JL2=[0.01x10-4kg*m2 (0.05 oz*in2) pulley balancer method] 103H3215-5140/103H3215-5170 103H3215-5240/103H3215-5270 14 1.0 0.1 0.8 0.08 12 14 0.1 0.8 0.08 0.06 Pull-out torque at JL1 0.04 8 6 0.6 0.4 Torque (N-m) 0.4 Torque(oz*in.) 6 0.6 Torque (N-m) 8 Torque (kgf-cm) 10 Torque (kgf-cm) Torque(oz*in.) 1.0 12 10 0.06 Pull-out torque at JL1 0.04 4 4 0.02 0.2 2 0 0 0 0.2 0.02 0 0 2 Starting torque at JL2 0.1 Starting torque at JL2 0 1 10 0.1 100 1 100 1000 10 100 Pulse rate (kpulse/s) Pulse rate (kpulse/s) 100 2000 3000 5000 1000 2000 3000 5000 Number of rotations (min-1) Number of rotations (min-1) 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*in2) pulley balancer method] JL2=[0.01x10-4kg*m2 (0.05 oz*in2) 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*in2) pulley balancer method] JL2=[0.01x10-4kg*m2 (0.05 oz*in2) pulley balancer method] 103H3205-5570 103H3205-5670 14 1.0 0.1 0.8 0.08 12 14 0.8 0.08 0.04 4 8 6 0.6 0.4 Torque (kgf-cm) Pull-out torque at JL1 Torque (kgf-cm) 0.4 0.06 Torque(oz*in.) 0.6 Torque (kgf-cm) 6 0.1 10 Torque (kgf-cm) Torque(oz*in.) 8 1.0 12 10 0.06 Pull-out torque at JL1 0.04 4 0.2 0.02 0.2 2 0.02 2 Starting torque at JL2 Starting torque at JL2 0 0 0 0 0.1 1 10 100 0 0 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) 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*in2) pulley balancer method] JL2=[0.01x10-4kg*m2 (0.05 oz*in2) pulley balancer method] 67 10 Pulse rate (kpulse/s) 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) 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*in2) pulley balancer method] JL2=[0.01x10-4kg*m2 (0.05 oz*in2) pulley balancer method] Pulse Rate - Torque Characteristics 0.08 0.8 0.08 Pull-out torque at JL1 0.04 4 8 6 0.4 0.06 0.04 Pull-out torque at JL1 0.6 Torque (kgf-cm) Torque(oz*in.) 0.4 0.06 Torque (kgf-cm) 0.6 Torque (kgf-cm) 10 Torque (kgf-cm) 4 0.02 0.2 0.02 0.2 2 2 Starting torque at JL2 0 0 1 10 0 100 0.1 1 Pulse rate (kpulse/s) 100 1000 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) 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*in2) pulley balancer method] JL2=[0.01x10-4kg*m2 (0.05 oz*in2) pulley balancer method] 103H3215-5670 103H3215-5770 0.1 0.8 0.08 1.0 0.1 0.8 0.08 Pull-out torque at JL1 12 12 14 56mm(2.20)/1.8 1.0 Sanyo constant current circuit Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step) JL1=[0.01x10-4kg*m2 (0.05 oz*in2) pulley balancer method] JL2=[0.01x10-4kg*m2 (0.05 oz*in2) pulley balancer method] 14 Starting torque at JL2 42mm(1.65)/1.8 0 0.1 0 0 50mm(1.97)/1.8 Torque(oz*in.) 6 0.1 12 10 8 1.0 35mm(1.38)/1.8 0.8 12 14 0.1 39mm(1.54)/0.9 42mm(1.65)/0.9 1.0 14 103H3215-5570 28mm(1.10)/1.8 103H3205-5770 Pull-out torque at JL1 0.4 60mm(2.36)/1.8 6 0.6 0.06 0.04 0.04 8 Torque (kgf-cm) Torque(oz*in.) 0.4 10 0.06 Torque (kgf-cm) 6 0.6 Torque (kgf-cm) 8 Torque (kgf-cm) Torque(oz*in.) 10 0.02 0.2 0.02 2 Starting torque at JL2 Starting torque at JL2 0 10 100 0 0 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) 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*in2) pulley balancer method] JL2=[0.01x10-4kg*m2 (0.05 oz*in2) pulley balancer method] 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 o106mm(4.17)/1.8 1 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step) JL1=[0.01x10-4kg*m2 (0.05 oz*in2) pulley balancer method] JL2=[0.01x10-4kg*m2 (0.05 oz*in2) pulley balancer method] 56mm(2.20)/CE 0 0.1 0 o86mm(3.39)/CE 0 o86mm(3.39)/1.8 4 0.2 2 o106mm(4.17)/CE 4 68 2-phase stepping motor 2-phase Stepping Motor 42mm sq. 103H52 1.8/step (1.65inch sq.) Recommendable Driver Refer to the page 7,17,27 and 45. Specifications Unipolar winding Model Single shaft Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) Mass(Weight) Double shaft N*m (oz*in)MIN. 103H5205-0440 -0410 0.2(28.32) 1.2 2.4 2.3 0.036(0.20) 0.23(0.51) 103H5208-0440 -0410 0.3(42.48) 1.2 2.9 3.4 0.056(0.31) 0.29(0.64) 103H5209-0440 -0410 0.32(45.31) 1.2 3 3.9 0.062(0.34) 0.31(0.68) 103H5210-0440 -0410 0.37(52.39) 1.2 3.3 3.4 0.074(0.40) 0.37(0.82) Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia Mass(Weight) A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) 6.5 0.036(0.20) 0.23(0.51) Bipolar winding Model 69 Single shaft Double shaft N*m (oz*in)MIN. 103H5205-4240 -4210 0.265(37.53) 1 103H5205-5040 -5010 0.23(32.57) 0.25 54 78 0.036(0.20) 0.23(0.51) 103H5205-5140 -5110 0.25(35.40) 0.5 13.4 23.4 0.036(0.20) 0.23(0.51) 103H5205-5240 -5210 0.265(37.53) 1 3.4 6.5 0.036(0.20) 0.23(0.51) 103H5208-4240 -4210 0.39(55.23) 1 4.1 9.5 0.056(0.31) 0.3(0.66) 103H5208-5040 -5010 0.35(49.56) 0.25 66 116 0.056(0.31) 0.3(0.66) 103H5208-5140 -5110 0.38(53.81) 0.5 34 0.056(0.31) 0.3(0.66) 103H5208-5240 -5210 0.39(55.23) 1 4.1 0.056(0.31) 0.3(0.66) 103H5209-4240 -4210 0.425(60.18) 1 4.4 11 0.062(0.34) 0.31(0.68) 103H5209-5040 -5010 0.38(53.81) 0.25 71.4 132 0.062(0.34) 0.31(0.68) 103H5209-5140 -5110 0.41(58.06) 0.5 18.2 39 0.062(0.34) 0.31(0.68) 103H5209-5240 -5210 0.425(60.18) 1 4.4 11 0.062(0.34) 0.31(0.68) 103H5210-4240 -4210 0.51(72.22) 1 4.8 9.5 0.074(0.40) 0.37(0.82) 103H5210-5040 -5010 0.465(65.85) 0.25 80 123.3 0.074(0.40) 0.37(0.82) 103H5210-5140 -5110 0.49(69.39) 0.5 35 0.074(0.40) 0.37(0.82) 103H5210-5240 -5210 0.51(72.22) 1 0.074(0.40) 0.37(0.82) 3.4 16.5 20 4.8 9.5 9.5 330.5 (1.30.02) 20(.78)MIN. 11(.44) MAX. 1.50.76 (.59.03) 151 (.59.04) 11(.44) MAX. 390.5 (1.54.02) 26(1.02)MIN. 420.25 (1.65.01) 4-310.25 (4-1.22.01) 27(1.06) MAX. 240.5 (.94.02) 1.50.76 (.59.03) Pin No. 1***6 420.25 (1.65.01) 4-310.25 (4-1.22.01) 27(1.06) MAX. 240.5 (.94.02) Applicable connector (J.S.T. MFG., CO.) Connector: EHR-6 Terminal: SEH-001T-P0.6 39mm(1.54)/0.9 42mm(1.65)/0.9 151 (.59.04) 103H5208-0440 (Single shaft) 103H5208-0410 (Double shaft) Applicable connector (J.S.T. MFG., CO.) Connector: EHR-6 Terminal: SEH-001T-P0.6 28mm(1.10)/1.8 7(.28) MAX. .0003 (o.87-.002) 0.05 o22-0.05 .00003 (o.1968-.0005) 42mm(1.65)/1.8 0.013 o5-0.013 50mm(1.97)/1.8 56mm(2.20)/1.8 35(1.37)MIN. 420.25 (1.65.01) 4-310.25 (4-1.22.01) 240.5 (.94.02) 1.50.76 (.59.03) 27(1.06) MAX. 60mm(2.36)/1.8 .0003 (o.87-.002) 0.05 o22-0.05 4-M3 x0.5 Effective tapping depth depth 4(.16) Min o86mm(3.39)/1.8 ( .00003 0.013 o5-0.013 (o.1968-.0005) ( 4-M3 x0.5 Effective tapping depth depth 4(.16) Min 7(.28) MAX. Pin No. 1***6 7(.28) MAX. ) ( .0003 o.87-.002 0.05 o22-0.05 .00003 o.1968-.0005 0.013 o5-0.013 ) .00003 0.013 o5-0.013 (o.1968-.0005) .00003 0.013 11(.44) MAX. Pin No. 1***6 480.5 (1.89.02) ) 1.50.76 (.59.03) 151 (.59.04) .00003 o.1968-.0005 28(1.1)MIN. 11(.44) MAX. 420.25 (1.65.01) 4-310.25 (4-1.22.01) 27(1.06) MAX. 240.5 (.94.02) Applicable connector (J.S.T. MFG., CO.) Connector: EHR-6 Terminal: SEH-001T-P0.6 0.013 410.5 (1.61.02) 4-M3 x0.5 Effective tapping depth depth 4(.16) Min 103H5210-0440 (Single shaft) 103H5210-0410 (Double shaft) Applicable connector (J.S.T. MFG., CO.) Connector: EHR-6 Terminal: SEH-001T-P0.6 o5-0.013 103H5209-0440 (Single shaft) 103H5209-0410 (Double shaft) 151 (.59.04) o5-0.013 0.05 4-M3 x0.5 Effective tapping depth 4(.16) Min (o.1968-.0005) .0003 (o.87-.002) o22-0.05 0.013 o5-0.013 .00003 (o.1968-.0005) .00003 0.013 o5-0.013 (o.1968-.0005) 7(.28) MAX. Pin No. 1***6 Bipolar winding 103H5209- 103H5210- 56mm(2.20)/CE 5(.20) MAX. .0003 (o.8661-.0019) R3(R.12)MIN. 103H5208- L 33 (1.30) 39 (1.54) 41 (1.61) 48 (1.89) o86mm(3.39)/CE .00003 S S 103H5205- 4-M3 x0.5 0.05 o22-0.05 +.04 (.59 .00) (Effective length) 0.013 +1 15 0 (o.1968-.0005) 240.5 (.94.02) o5-0.013 300(11.8) MIN. ) ( .00003 o.1968-.0005 0.013 o5-0.013 Cross SectionS-S 4.50.15 (.1771.0059) o106mm(4.17)/CE 4.50.15 (.1771.0059) 1.50.76 (.06.03) Model 420.25 (1.65.01) 4-310.25 (4-1.22.01) 18(.71) MAX. Lead wire UL1007 AWG26 L0.5 (L.02) o106mm(4.17)/1.8 103H520- 40 (Single shaft) 103H520- 10 (Double shaft) 151 (.59.04) 103H5205-0440 (Single shaft) 103H5205-0410 (Double shaft) 35mm(1.38)/1.8 Dimensions [Unit:mm(inch)] 70 2-phase stepping motor Pulse Rate - Torque Characteristics 103H5205-0440 70 5 0.5 4 0.4 60 103H5208-0440 70 4 0.4 30 Pull-out torque at JL1 20 3 2 Torque (N-m) 0.2 40 Torque (kgf-cm) 2 0.3 Torque(oz*in.) 3 Torque (N-m) 50 Torque (kgf-cm) Torque(oz*in.) 30 0.5 60 50 40 5 0.3 Pull-out torque at JL1 0.2 20 0.1 1 10 1 0.1 0 0 10 Starting torque at JL2 0 0 Starting torque at JL2 0 0 0.1 1 10 100 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 100 1000 Number of rotations (min-1) 100 2000 3000 5000 Number of rotations (min-1) 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*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) 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*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 103H5209-0440 103H5210-0440 70 5 0.5 4 0.4 60 70 4 0.4 20 30 3 2 Torque (N-m) Pull-out torque at JL1 0.2 40 Torque (kgf-cm) 2 0.3 Torque(oz*in.) 3 Torque (N-m) 30 0.5 50 Torque (kgf-cm) Torque(oz*in.) 40 5 60 50 0.3 Pull-out torque at JL1 0.2 20 0.1 1 10 0 1 0.1 0 0 Starting torque at JL2 0 0 0.1 1 10 Starting torque at JL2 0 10 100 0.1 1 Pulse rate (kpulse/s) 100 1000 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 1000 Number of rotations (min-1) 2000 3000 5000 Number of rotations (min-1) 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*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2(4.37 oz*in2) 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*in2)Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 103H5205-4240 103H5205-5040 70 5 0.5 4 0.4 70 60 4 0.4 20 30 3 2 Torque (N-m) Pull-out torque at JL1 0.2 40 Torque (kgf-cm) 2 0.3 Torque(oz*in.) 3 Torque (N-m) 30 0.5 50 Torque (kgf-cm) Torque(oz*in.) 40 5 60 50 0.3 0.2 Pull-out torque at JL1 20 1 0.1 10 1 0.1 0 0 10 Starting torque at JL2 0 0 0 0 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 71 10 Pulse rate (kpulse/s) Starting torque at JL2 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 25A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] Pulse Rate - Torque Characteristics 0.5 4 0.4 70 60 4 0.4 39mm(1.54)/0.9 42mm(1.65)/0.9 Pull-out torque at JL1 0.2 28mm(1.10)/1.8 2 0.3 20 0.1 0 0 0 1 10 100 Starting torque at JL2 0.1 1 Pulse rate (kpulse/s) 100 1000 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 42mm(1.65)/1.8 0 0.1 0.1 2000 3000 5000 Number of rotations (min-1) 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*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) 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*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 0 0 1 10 Starting torque at JL2 50mm(1.97)/1.8 1 10 20 30 3 Torque (N-m) Pull-out torque at JL1 0.2 40 Torque (kgf-cm) 2 0.3 Torque(oz*in.) 3 Torque (N-m) 50 Torque (kgf-cm) Torque(oz*in.) 30 0.5 60 50 40 5 35mm(1.38)/1.8 5 70 103H5205-5240 103H5208-5040 70 0.5 4 0.4 60 2 Pull-out torque at JL1 40 30 0.2 Pull-out torque at JL1 0 Starting torque at JL2 0 0.2 1 0.1 0 0 10 0.1 10 0 2 0.3 20 20 1 3 60mm(2.36)/1.8 Torque(oz*in.) 0.3 30 3 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 50 Torque (N-m) 50 Torque (kgf-cm) 60 Starting torque at JL2 0.1 0 o86mm(3.39)/1.8 4 0.4 5 1 10 100 Pulse rate (kpulse/s) 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 o106mm(4.17)/1.8 70 0.5 56mm(2.20)/1.8 103H5208-4240 5 Number of rotations (min-1) 100 1000 2000 3000 5000 Number of rotations (min-1) 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*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 103H5208-5140 103H5208-5240 0.5 4 0.4 70 60 0.4 2 0.3 o106mm(4.17)/CE Pull-out torque at JL1 30 3 Torque (N-m) 0.2 40 Torque (kgf-cm) 0.3 Torque(oz*in.) 2 Torque (N-m) 3 20 Pull-out torque at JL1 0.2 20 1 0.1 10 0 4 50 Torque (kgf-cm) Torque(oz*in.) 30 0.5 60 50 40 5 o86mm(3.39)/CE 5 56mm(2.20)/CE Sanyo constant current circuit Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 70 0 103H5205-5140 0 0.1 1 0.1 0 0 10 Starting torque at JL2 0 1 10 100 Starting torque at JL2 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) 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*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 72 2-phase stepping motor Pulse Rate - Torque Characteristics 103H5209-4240 70 5 0.5 4 0.4 103H5209-5040 70 60 4 0.4 20 30 3 2 Torque (N-m) Pull-out torque at JL1 0.2 40 Torque (kgf-cm) 2 0.3 Torque(oz*in.) 3 Torque (N-m) 50 Torque (kgf-cm) Torque(oz*in.) 30 0.5 60 50 40 5 0.3 0.2 Pull-out torque at JL1 20 0.1 1 10 1 0.1 0 0 10 0 0 Starting torque at JL2 0 0.1 1 0 10 100 Pulse rate (kpulse/s) 100 1000 Starting torque at JL2 0.1 1 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 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*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2)Use the direct coupling] 103H5209-5140 103H5209-5240 70 5 0.5 4 0.4 70 60 4 0.4 30 3 2 Torque (N-m) 0.2 40 Torque (kgf-cm) 2 0.3 Torque(oz*in.) 3 Torque (N-m) 50 Torque (kgf-cm) Torque(oz*in.) 30 0.5 60 50 40 5 0.3 Pull-out torque at JL1 0.2 Pull-out torque at JL1 20 20 0.1 1 10 0 0 0 1 0.1 0 0 10 Starting torque at JL2 0 0.1 1 10 100 Starting torque at JL2 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 100 Number of rotations (min-1) 100 1000 2000 3000 5000 Number of rotations (min-1) 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*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) 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*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 103H5210-4240 103H5210-5040 70 5 0.5 4 0.4 70 60 20 0.4 30 3 2 0.3 0.2 Pull-out torque at JL1 20 1 0.1 Starting torque at JL2 10 0 4 Torque (N-m) Pull-out torque at JL1 0.2 40 Torque (kgf-cm) 2 0.3 Torque(oz*in.) 3 Torque (N-m) 30 0.5 50 Torque (kgf-cm) Torque(oz*in.) 40 5 60 50 0 0 1 10 100 Pulse rate (kpulse/s) 100 1000 1 0.1 0 0 10 0 0.1 2000 3000 5000 Starting torque at JL2 0.1 1 Sanyo constant current circuit Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 10 100 Pulse rate (kpulse/s) 100 Number of rotations (min-1) 73 10 Pulse rate (kpulse/s) 1000 2000 3000 5000 Number of rotations (min-1) 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*in2)Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] Pulse Rate - Torque Characteristics 0.5 4 0.4 70 60 0.4 39mm(1.54)/0.9 42mm(1.65)/0.9 Pull-out torque at JL1 0.2 2 0.3 28mm(1.10)/1.8 30 3 Torque (N-m) Pull-out torque at JL1 0.2 40 Torque (kgf-cm) 0.3 Torque(oz*in.) 2 Torque (N-m) 3 20 0 0 0.1 1 42mm(1.65)/1.8 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 50mm(1.97)/1.8 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*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 100 2000 3000 5000 56mm(2.20)/1.8 1000 Number of rotations (min-1) 100 100 10 Pulse rate (kpulse/s) 60mm(2.36)/1.8 100 10 Pulse rate (kpulse/s) o86mm(3.39)/1.8 1 Starting torque at JL2 o106mm(4.17)/1.8 0.1 0 56mm(2.20)/CE 0 0.1 0 1 10 Starting torque at JL2 0.1 o86mm(3.39)/CE 1 10 o106mm(4.17)/CE 20 0 4 50 Torque (kgf-cm) Torque(oz*in.) 30 0.5 60 50 40 5 35mm(1.38)/1.8 5 70 103H5210-5240 103H5210-5140 74 2-phase stepping motor 2-phase Stepping Motor 50mm sq. 103H670 1.8/step (1.97inch sq.) Recommendable Driver Refer to the page 7,17,27 and 45. Specifications Unipolar winding Model Single shaft Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) Mass(Weight) Double shaft N*m(oz*in) MIN. 103H6701-0140 -0110 0.28(39.6) 1 4.3 6.8 0.057(0.31) 0.35(0.77) 103H6701-0440 -0410 0.28(39.6) 2 1.1 1.6 0.057(0.31) 0.35(0.77) 103H6701-0740 -0710 0.28(39.6) 3 0.6 0.7 0.057(0.31) 0.35(0.77) 103H6703-0140 -0110 0.49(69.4) 1 6 0.118(0.65) 0.5(1.10) 103H6703-0440 -0410 0.49(69.4) 2 1.6 3.2 0.118(0.65) 0.5(1.10) 103H6703-0740 -0710 0.49(69.4) 3 0.83 1.4 0.118(0.65) 0.5(1.10) 103H6704-0140 -0110 0.53(75.1) 1 6.5 16.5 0.14(0.77) 0.55(1.21) 103H6704-0440 -0410 0.52(73.6) 2 1.7 3.8 0.14(0.77) 0.55(1.21) 103H6704-0740 -0710 0.53(75.1) 3 0.9 1.7 0.14(0.77) 0.55(1.21) Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia Mass(Weight) A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) 3.8 0.14(0.77) 0.55(1.21) 13 Bipolar winding Model Single shaft 103H6704-5040 75 Double shaft N*m(oz*in) MIN. -5010 0.52(73.6) 2 0.9 Dimensions [Unit:mm(inch)] 500.5 (1.97.02) 4-410.13 (4-1.61.005) 1.5 (.06) 5 (.2) 6(.24)MAX. .0000 +0.5 42mm(1.65)/1.8 0.000 .00000 0.000 (o.25-.0005) o6.35-0.013 ) 28mm(1.10)/1.8 25(.98) MAX. .00000 0.000 +.02 .00 (4-o.18 (o.25-.0005) o6.35-0.013 +0.5 4-o4.5 0.5 39mm(1.54)/0.9 42mm(1.65)/0.9 20.60.5 (.81.02) o36-0.039 6(.24)MAX. .0000 .00000 0.000 o6.35-0.013 .00000 0.000 (o.25-.0005) 0.000 o36-0.039 5 (.2) 51.30.8 (2.02.03) 305(12)MIN. 500.5 (1.97.02) 4-410.13 (4-1.61.005) 25(.98)MAX. 1.5 (.06) (o.25-.0005) o6.35-0.013 15.51 (.61.04) (o1.42-.002) 20.60.5 (.81.02) (o1.42-.002) 305(12) MIN. 39.80.8 (1.57.03) Lead wire UL3266 AWG22 Lead wire UL3266 AWG22 15.51 (.61.04) 35mm(1.38)/1.8 103H6703-0140/0440/0740 (Single shaft) 103H6703-0110/0410/0710 (Double shaft) 4-o4.5 0.5 +.02 .00 (4-o.18 ) 50mm(1.97)/1.8 103H6704-0140/0440/0740/5040 (Single shaft) 103H6704-0110/0410/0710/5010 (Double shaft) 20.60.5 (.81.02) 56mm(2.20)/1.8 500.5 (1.97.02) 4-410.13 (4-1.61.005) 1.5 (.06) 25(.98) MAX. 5 (.2) 6(.24) MAX. ) 0.000 o36-0.039 .0000 o1.42-.002 ( o86mm(3.39)/1.8 .00000 (o.25-.0005) 0.000 o6.35-0.013 0.000 .00000 (o.25-.0005) o6.35-0.013 60mm(2.36)/1.8 305(12) MIN. 55.80.8 (2.20.03) Lead wire UL3266 AWG22 15.51 (.61.04) 103H6701-0140/0440/0740 (Single shaft) 103H6701-0110/0410/0710 (Double shaft) +0.5 4-o4.5 0.0 +.02 .00 ) o106mm(4.17)/1.8 (4-o.18 Bipolar winding 103H6704-5040(Single shaft) 103H6704-5010(Double shaft) 20.60.5 (.81.02) 5 (.2) ( o86mm(3.39)/CE ) o106mm(4.17)/CE 6(.24)MAX. .0000 0.000 (o1.42-.002) 25(.98) MAX. 0.000 o6.35-0.013 .00000 o.25-.0005 0.000 .00000 (o.25-.0005) o6.35-0.013 500.5 (1.97.02) 4-410.13 (4-1.61.005) 1.5 (.06) o36-0.039 305(12) MIN. 55.80.8 (2.20.03) 56mm(2.20)/CE Lead wire UL3266 AWG22 15.51 (.61.04) +0.5 4-o4.5 0.5 +.02 .00 (4-o.18 ) 76 2-phase stepping motor Pulse Rate - Torque Characteristics 103H6701-0140 70 5 0.5 4 0.4 60 103H6703-0140 70 4 0.4 Pull-out torque at JL1 0.2 40 30 3 2 Torque (N-m) 0.3 Torque(oz*in.) 2 Torque (N-m) 3 Torque (kgf-cm) 50 Torque (kgf-cm) Torque(oz*in.) 30 0.5 60 50 40 5 0.3 Pull-out torque at JL1 0.2 20 20 0.1 1 Starting torque at JL2 10 0 0 0.1 0 0 Starting torque at JL2 0 0 0.1 1 10 1 10 0.1 100 1 100 1000 100 2000 3000 5000 100 1000 2000 3000 5000 Number of rotations (min-1) Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] Sanyo constant current circuit Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 103H6701-0440 103H6703-0440 70 5 0.5 4 0.4 60 70 4 0.4 20 30 3 2 Torque (N-m) Pull-out torque at JL1 0.2 40 Torque (kgf-cm) 2 0.3 Torque(oz*in.) 3 Torque (N-m) 30 0.5 50 Torque (kgf-cm) Torque(oz*in.) 40 5 60 50 0.3 Pull-out torque at JL1 0.2 20 0.1 1 10 1 0.1 0 0 10 Starting torque at JL2 0 0 Starting torque at JL2 0 0 0.1 1 10 100 0.1 1 Pulse rate (kpulse/s) 100 1000 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 2A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] Sanyo constant current circuit Source voltage: DC24V Operating current : 2A /phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 103H6701-0740 103H6703-0740 70 5 0.5 4 0.4 60 70 0.2 20 0.4 40 30 3 2 0.3 Pull-out torque at JL1 0.2 20 1 0.1 10 0 4 Torque (N-m) Pull-out torque at JL1 Torque (kgf-cm) 2 0.3 Torque(oz*in.) 3 Torque (N-m) 30 0.5 50 Torque (kgf-cm) Torque(oz*in.) 40 5 60 50 0 0 1 1 0.1 0 0 10 Starting torque at JL2 0 0.1 10 100 Starting torque at JL2 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 3A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 77 10 Pulse rate (kpulse/s) Pulse rate (kpulse/s) 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 3A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] Pulse Rate - Torque Characteristics 1.0 8 0.8 140 0.8 4 39mm(1.54)/0.9 42mm(1.65)/0.9 60 6 0.6 0.4 Pull-out torque at JL1 Pull-out torque at JL1 0.4 80 Torque (N-m) 0.6 Torque (kgf-cm) 4 Torque(oz*in.) 6 Torque (N-m) Torque (kgf-cm) 2 0.2 0.2 Starting torque at JL2 20 0.1 0 1 10 100 0 0 0.1 1 100 1000 100 2000 3000 5000 10 100 Pulse rate (kpulse/s) Pulse rate (kpulse/s) 1000 0 42mm(1.65)/1.8 0 0 Starting torque at JL2 2000 3000 5000 Number of rotations (min-1) Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the 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*in2) Use the rubber coupling] JL2=[0.14x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 2 20 28mm(1.10)/1.8 40 40 50mm(1.97)/1.8 Torque(oz*in.) 8 100 100 60 1.0 120 120 80 10 35mm(1.38)/1.8 10 140 103H6704-5040 1.0 8 0.8 120 56mm(2.20)/1.8 10 103H6704-0440 140 103H6704-0140 60mm(2.36)/1.8 4 0.6 0.4 Pull-out torque at JL1 60 6 Torque (N-m) 80 Torque (kgf-cm) Torque(oz*in.) 100 2 0.2 0 0 20 0 o86mm(3.39)/1.8 40 Starting torque at JL2 0.1 1 10 100 Pulse rate (kpulse/s) 1000 2000 3000 5000 o106mm(4.17)/1.8 100 Number of rotations (min-1) 56mm(2.20)/CE Sanyo constant current circuit Source voltage: DC24V Operating current : 2A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 10 1.0 8 0.8 120 o86mm(3.39)/CE 140 103H6704-0740 4 0.6 o106mm(4.17)/CE 60 6 Torque (N-m) 80 Torque (kgf-cm) Torque(oz*in.) 100 Pull-out torque at JL1 0.4 40 2 0.2 0 0 20 Starting torque at JL2 0 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 3A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 78 2-phase stepping motor 2-phase Stepping Motor 56mm sq. 103H712 1.8/step (2.20inch sq.) Recommendable Driver Refer to the page 7,17,27 and 45. Specifications Unipolar winding Model Single shaft Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) Mass(Weight) Double shaft N*m (oz*in) MIN. 103H7121-0140 -0110 0.39(55.2) 1 4.8 8 0.1(0.55) 0.47(1.04) 103H7121-0440 -0410 0.39(55.2) 2 1.25 1.9 0.1(0.55) 0.47(1.04) 103H7121-0740 -0710 0.39(55.2) 3 0.6 0.8 0.1(0.55) 0.47(1.04) 103H7123-0140 -0110 0.83(117.) 1 6.7 0.21(1.15) 0.65(1.43) 103H7123-0440 -0410 0.83(117.5) 2 1.6 3.8 0.21(1.15) 0.65(1.43) 103H7123-0740 -0710 0.78(110.5) 3 0.77 1.58 0.21(1.15) 0.65(1.43) 103H7124-0140 -0110 0.98(138.8) 1 7 12.5 0.245(1.34) 0.8(1.76) 103H7124-0440 -0410 0.98(138.8) 2 1.7 3.1 0.245(1.34) 0.8(1.76) 103H7124-0740 -0710 0.98(138.8) 3 0.74 1.4 0.245(1.34) 0.8(1.76) 103H7126-0140 -0110 1.27(179.8) 1 8.6 0.36(1.97) 0.98(2.16) 103H7126-0440 -0410 1.27(179.8) 2 2 4.5 0.36(1.97) 0.98(2.16) 103H7126-0740 -0710 1.27(179.8) 3 0.9 2.2 0.36(1.97) 0.98(2.16) Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia Mass(Weight) A/phase /phase mH/phase x10 -4kg*m2(oz*in2) 15 19 Bipolar winding Model Double shaft N*m (oz*in) MIN. 103H7121-5040 -5010 0.39(55.2) 2 0.65 1.9 0.1(0.55) 0.47(1.04) Single shaft 79 kg(lbs) 103H7121-5640 -5610 0.55(77.9) 1 4.3 14.5 0.1(0.55) 0.47(1.04) 103H7121-5740 -5710 0.55(77.9) 2 1.1 3.7 0.1(0.55) 0.47(1.04) 103H7121-5840 -5810 0.55(77.9) 3 0.54 1.74 0.1(0.55) 0.47(1.04) 103H7123-5040 -5010 0.83(117.5) 2 0.8 3.8 0.21(1.15) 0.65(1.43) 103H7123-5640 -5610 1.0(141.6) 1 5.7 29.4 0.21(1.15) 0.65(1.43) 103H7123-5740 -5710 1.0(141.6) 2 1.5 7.5 0.21(1.15) 0.65(1.43) 103H7123-5840 -5810 1.0(141.6) 3 0.7 3.5 0.21(1.15) 0.65(1.43) 103H7126--5040 -5010 1.27(179.8) 2 1.05 4.5 0.36(1.97) 0.98(2.16) 103H7126-5640 -5610 1.6(226.6) 1 7.7 34.6 0.36(1.97) 0.98(2.16) 103H7126-5740 -5710 1.6(226.6) 2 2 9.1 0.36(1.97) 0.98(2.16) 103H7126-5840 -5810 1.6(226.6) 3 0.94 4 0.36(1.97) 0.98(2.16) 103H7128-5640 -5610 2(283.2) 1 8.9 40.1 0.49(2.68) 1.3(2.87) 103H7128-5740 -5710 2(283.2) 2 2.3 10.4 0.49(2.68) 1.3(2.87) 103H7128-5840 -5810 2(283.2) 3 1.03 4.3 0.49(2.68) 1.3(2.87) Dimensions [Unit:mm(inch)] 35mm(1.38)/1.8 103H7123-0140/0440/0740/5040 (Single shaft) 103H7123-0110/0410/0710/5010 (Double shaft) 103H7121-0140/0440/0740/5040 (Single shaft) 103H7121-0110/0410/0710/5010 (Double shaft) 39mm(1.54)/0.9 42mm(1.65)/0.9 +0.5 4-o4.5 0.5 (4-o.18 +.02 .00 ) ) 50mm(1.97)/1.8 103H7126-0140/0440/0740/5040 (Single shaft) 103H7126-0110/0410/0710/5010 (Double shaft) Lead wire UL1430 AWG22 4-47.140.13 (4-1.86.0005) 26(1.02)MAX. 305(12) MIN. 60mm(2.36)/1.8 .00000 +0.5 4-o4.5 0.5 +.02 .00 (4-o.18 o86mm(3.39)/1.8 o38.10.025 ) (o.25-.0005) 0.013 o6.35-0.013 .00000 0.013 +.02 .00 (4-o.18 5 (.20) 20.60.5 (.81.02) 1.5 (.06) (o.25-.0005) o6.35-0.013 8(.31) MAX. +0.5 4-o4.5 0.5 560.5 (2.20.02) 75.80.8 (2.98.03) 8(.31) MAX. 15.51 (.61.04) (o1.50.001) .00000 o38.10.025 (o.25-.0005) 0.000 o6.35-0.013 .00000 0.000 560.5 (2.20.02) 4-47.140.13 (4-1.86.0005) 26(1.02)MAX. 20.60.5 (.81.02) 5 (.20) 1.5 (.06) (o.25-.0005) o6.35-0.013 305(12) MIN. 63.80.8 (2.51.03) (o1.50.001) Lead wire UL1430 AWG22 15.51 (.61.04) 56mm(2.20)/1.8 103H7124-0140/0440/0740 (Single shaft) 103H7124-0110/0410/0710 (Double shaft) 28mm(1.10)/1.8 8(.31)MAX. o38.10.025 (o1.50.001) 0.000 .00000 .00000 0.000 (o.25-.0005) o6.35-0.013 8(.31)MAX. (o1.50.001) o38.10.025 .00000 (o.25-.0005) 0.000 o6.35-0.013 1.5 (.06) +0.5 +.02 .00 20.60.5 (.81.02) 5 (.20) 4-o4.5 0.0 (4-o.18 4-47.140.13 (4-1.86.0005) 26(1.02) MAX. (o.25-.0005) 26(1.02) MAX. o6.35-0.013 305(12)MIN. .00000 0.000 20.60.5 (.81.02) 53.80.8 (2.12.03) 1.5 (.06) (o.25-.0005) o6.35-0.013 5 (.20) 560.5 (2.20.02) Lead wire UL1430 AWG22 15.51 (.61.04) 4-47.140.13 (4-1.86.0005) 305(12) MIN. 41.80.8 (1.65.03) 42mm(1.65)/1.8 560.5 (2.20.02) Lead wire UL1430 AWG22 15.51 (.61.04) ) o106mm(4.17)/1.8 Bipolar winding 103H712-5 40 (Single shaft) 103H712-5 10 (Double shaft) (Effective length) (Effective length) S S R4 MIN. (R.16MIN.) R4 MIN. (R.16MIN.) 103H7121- 103H7123- 103H7126- 103H7128- L 41.8 (1.65) 53.8 (2.12) 75.8 (2.98) 94.8 (3.73) D1 D2 6.35 (.25) 5.8 (.23) 8 (.3149) 7.5 (.30) ) 8(.31) MAX 0 .00003 (o.25-.0005) 0.013 o6.35-0.013 Cross SectionS-S D20.15 (D2.0059) o106mm(4.17)/CE 5.80.15 (.2283.0059) +.04 (.59 .00) +1 15 0 +.04 (.59 .00) +.02 .00 .00003 oD1-.013 (4o.18 (oD1-.0005) +1 15 0 Model 560.5 (2.2.02) 4-47.140.13 (4-1.86.01) 26(1.02) MAX. o86mm(3.39)/CE 20.60.5 (.81.02) +0.5 1.50.25 4-o4.5 0 o38.10.025 (o1.50.0009) L0.8 (L.03) 50.25 56mm(2.20)/CE Lead wire UL1430 AWG22 15.51 (.61.04) 80 2-phase stepping motor Pulse Rate - Torque Characteristics 103H7121-0140 70 5 0.5 4 0.4 103H7123-0140 140 60 8 0.8 0.2 20 80 60 6 4 Torque (N-m) Pull-out torque at JL1 Torque (kgf-cm) 2 0.3 Torque(oz*in.) 3 Torque (N-m) 100 Torque (kgf-cm) Torque(oz*in.) 30 1.0 120 50 40 10 0.6 Pull-out torque at JL1 0.4 40 0.1 1 10 0 0 0 0 0.1 2 0.2 0 0 20 Starting torque at JL2 1 10 100 Starting torque at JL2 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 100 Number of rotations (min-1) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] Sanyo constant current circuit Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 103H7121-0440 103H7123-0440 70 5 0.5 4 0.4 140 60 8 0.8 0.2 20 80 60 6 4 Torque (N-m) Pull-out torque at JL1 Torque (kgf-cm) 2 0.3 Torque(oz*in.) 3 Torque (N-m) 30 1.0 100 Torque (kgf-cm) Torque(oz*in.) 40 10 120 50 0.6 Pull-out torque at JL1 0.4 40 0.1 1 0.2 2 10 Starting torque at JL2 20 Starting torque at JL2 0 0 0 0 0 0.1 1 10 0 100 0.1 1 Pulse rate (kpulse/s) 100 1000 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 2A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] Sanyo constant current circuit Source voltage: DC24V Operating current : 2A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 103H7121-0740 103H7123-0740 70 5 0.5 4 0.4 140 60 8 0.8 0.2 20 80 60 6 4 Torque (N-m) Pull-out torque at JL1 Torque (kgf-cm) 2 0.3 Torque(oz*in.) 3 Torque (N-m) 30 1.0 100 Torque (kgf-cm) Torque(oz*in.) 40 10 120 50 0.6 Pull-out torque at JL1 0.4 40 1 0.1 10 2 0.2 0 0 20 Starting torque at JL2 0 0 Starting torque at JL2 0 0 0.1 1 10 100 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 3A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 81 10 Pulse rate (kpulse/s) 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 3A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] Pulse Rate - Torque Characteristics 10 1.0 8 0.8 20 2.0 16 1.6 35mm(1.38)/1.8 140 103H7126-0140 100 Pull-out torque at JL1 39mm(1.54)/0.9 42mm(1.65)/0.9 8 1.2 0.8 0.4 12 Pull-out torque at JL1 40 0.2 50 0.1 0 1 10 0 0 100 Starting torque at JL2 0.1 1 Pulse rate (kpulse/s) 100 1000 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22 oz*in2) Use the direct coupling] 103H7124-0440 103H7126-0440 1.0 8 0.8 20 2.0 16 1.6 56mm(2.20)/1.8 10 Sanyo constant current circuit Source voltage: DC24V Operating current : 1A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22 oz*in2) Use the direct coupling] 140 42mm(1.65)/1.8 0 4 0 0 Starting torque at JL2 50mm(1.97)/1.8 2 20 0.4 28mm(1.10)/1.8 150 0.6 Torque (N-m) Torque(oz*in.) 4 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 60 6 Torque (kgf-cm) 200 100 80 250 120 250 120 103H7124-0140 Pull-out torque at JL1 0.4 100 12 8 60mm(2.36)/1.8 150 1.2 0.8 0.6 Torque (N-m) 4 Torque(oz*in.) 6 Torque (N-m) 2 0.2 0 0 50 20 4 0.4 0 0 Starting torque at JL2 Starting torque at JL2 0 0 0.1 1 10 100 0.1 1 Pulse rate (kpulse/s) 100 1000 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 2A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22 oz*in2) Use the direct coupling] 103H7124-0740 103H7126-0740 1.0 8 0.8 20 2.0 16 1.6 o86mm(3.39)/CE 10 56mm(2.20)/CE Sanyo constant current circuit Source voltage: DC24V Operating current : 2A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22 oz*in2) Use the direct coupling] 140 o86mm(3.39)/1.8 Pull-out torque at JL1 40 o106mm(4.17)/1.8 60 Torque (kgf-cm) Torque(oz*in.) 80 Torque (kgf-cm) 200 100 250 120 150 Pull-out torque at JL1 0.4 100 12 8 1.2 o106mm(4.17)/CE 0.6 Torque (N-m) 4 Torque(oz*in.) 6 Torque (N-m) 60 Torque (kgf-cm) Torque(oz*in.) 80 Torque (kgf-cm) 200 100 Pull-out torque at JL1 0.8 40 2 0.2 50 20 4 0.4 Starting torque at JL2 Starting torque at JL2 0 0 0 0 0.1 1 10 100 0 0 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 3A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22 oz*in2) Use the direct coupling] 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current : 3A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22 oz*in2) Use the direct coupling] 82 2-phase stepping motor Pulse Rate - Torque Characteristics 103H7121-5040 70 5 0.5 4 0.4 103H7121-5840 140 60 120 0.8 0.2 20 80 60 6 4 Torque (N-m) 2 0.3 Torque (kgf-cm) 3 Torque(oz*in.) Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 30 0.6 Pull-out torque at JL1 0.4 40 0.1 1 10 2 0.2 0 0 20 0 0 Starting torque at JL2 0 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 120 1.0 8 0.8 6 4 Torque (N-m) 60 Torque (kgf-cm) 100 80 0.6 Pull-out torque at JL1 0.4 40 2 0.2 0 0 20 0 Starting torque at JL2 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 103H7121-5740 140 120 10 1.0 8 0.8 6 4 Torque (N-m) 60 Torque (kgf-cm) 100 80 0.6 Pull-out torque at JL1 0.4 40 2 0.2 0 0 20 0 Starting torque at JL2 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 1 10 100 1000 2000 3000 5000 Number of rotations (min-1) 103H7121-5640 10 Starting torque at JL2 0.1 100 Sanyo constant current circuit Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 140 0 Pulse rate (kpulse/s) Number of rotations (min-1) Torque(oz*in.) 8 100 40 Torque(oz*in.) 1.0 Pull-out torque at JL1 50 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 83 10 Sanyo constant current circuit Source voltage: DC24V Operatingcurrent: 3A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] Pulse Rate - Torque Characteristics 10 1.0 8 0.8 20 2.0 16 1.6 35mm(1.38)/1.8 140 103H7123-5840 100 8 39mm(1.54)/0.9 42mm(1.65)/0.9 12 1.2 Pull-out torque at JL1 0.8 0.4 150 28mm(1.10)/1.8 Pull-out torque at JL1 Torque (N-m) 0.6 Torque(oz*in.) 4 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 60 6 Torque (kgf-cm) 200 100 80 250 120 40 50 Starting torque at JL2 0 1 10 100 Pulse rate (kpulse/s) 100 1000 0 0 0 Starting torque at JL2 0.1 1 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 42mm(1.65)/1.8 0.1 0.4 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22 oz*in2) Use the direct coupling] Sanyo constant current circuit Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 0 0 4 0.2 50mm(1.97)/1.8 2 20 2.0 16 1.6 56mm(2.20)/1.8 103H7123-5640 20 60mm(2.36)/1.8 250 1.2 0.8 8 Torque (N-m) 12 Pull-out torque at JL1 50 0 4 0.4 0 0 o86mm(3.39)/1.8 100 Torque (kgf-cm) Torque(oz*in.) 200 150 Starting torque at JL2 0.1 1 10 100 100 1000 o106mm(4.17)/1.8 Pulse rate (kpulse/s) 2000 3000 5000 Number of rotations (min-1) 56mm(2.20)/CE Sanyo constant current circuit Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22 oz*in2) Use the direct coupling] 16 1.6 o86mm(3.39)/CE 2.0 103H7123-5740 20 103H7123-5040 250 50 0 8 o106mm(4.17)/CE 100 12 Torque (N-m) 150 Torque (kgf-cm) Torque(oz*in.) 200 1.2 0.8 Pull-out torque at JL1 4 0.4 0 0 Starting torque at JL2 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22 oz*in2) Use the direct coupling] 84 2-phase stepping motor Pulse Rate - Torque Characteristics 103H7126-5040 103H7126-5840 2.0 20 250 1.6 16 4 50 0 16 1.6 Pull-out torque at JL1 0.8 0.4 0 150 100 50 Starting torque at JL2 0 0.1 12 8 Torque (N-m) 1.2 Torque (kgf-cm) 8 Torque(oz*in.) 12 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 100 2.0 200 200 150 20 250 1.2 0.8 Pull-out torque at JL1 4 0.4 Starting torque at JL2 0 1 10 100 0 0 0.1 1 100 1000 100 2000 3000 5000 Sanyo constant current circuit Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22oz*in2) Use the direct coupling] 103H7126-5640 2.0 16 1.6 250 100 12 8 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 200 150 1.2 0.8 Pull-out torque at JL1 50 0 4 0.4 0 0 Starting torque at JL2 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22 oz*in2) Use the direct coupling] 103H7126-5740 20 2.0 16 1.6 250 100 50 0 12 8 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 200 150 1.2 0.8 Pull-out torque at JL1 4 0.4 0 0 Starting torque at JL2 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22 oz*in2) Use the direct coupling] 85 100 1000 2000 3000 5000 Number of rotations (min-1) Number of rotations (min-1) 20 10 Pulse rate (kpulse/s) Pulse rate (kpulse/s) Sanyo constant current circuit Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22 oz*in2) Use the direct coupling] Pulse Rate - Torque Characteristics 5.0 40 4.0 600 50 39mm(1.54)/0.9 42mm(1.65)/0.9 2.0 20 3.0 Pull-out torque at JL1 200 10 1.0 0 0 100 0 28mm(1.10)/1.8 300 30 Torque (N-m) 400 Torque (kgf-cm) Torque(oz*in.) 500 Starting torque at JL2 0.1 1 10 100 42mm(1.65)/1.8 1000 Pulse rate (kpulse/s) 100 2000 3000 5000 Number of rotations (min-1) 50mm(1.97)/1.8 Sanyo constant current circuit Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step) JL1=[7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] JL2=[7.4x10-4kg*m2 (40.46 oz*in2) Use the direct coupling] 5.0 40 4.0 600 56mm(2.20)/1.8 50 103H7128-5740 700 20 60mm(2.36)/1.8 30 Torque (N-m) 3.0 2.0 10 1.0 0 0 100 0 Pull-out torque at JL1 200 o86mm(3.39)/1.8 300 Torque (kgf-cm) Torque(oz*in.) 500 400 Starting torque at JL2 0.1 1 10 100 Pulse rate (kpulse/s) 1000 2000 3000 5000 o106mm(4.17)/1.8 100 Number of rotations (min-1) Sanyo constant current circuit 56mm(2.20)/CE Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] JL2=[7.4x10-4kg*m2 (40.46 oz*in2) Use the direct coupling] 50 5.0 40 4.0 600 o86mm(3.39)/CE 700 103H7128-5840 20 3.0 o106mm(4.17)/CE 30 Torque (N-m) 300 Torque (kgf-cm) Torque(oz*in.) 500 400 2.0 Pull-out torque at JL1 200 10 1.0 0 0 100 0 700 35mm(1.38)/1.8 103H7128-5640 Starting torque at JL2 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step) JL1=[7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] JL2=[7.4x10-4kg*m2 (40.46 oz*in2) Use the direct coupling] 86 2-phase stepping motor 2-phase Stepping Motor 60mm sq. 103H782 1.8/step (2.36inch sq.) Recommendable Driver Refer to the page 7,17,27 and 45. Specifications Unipolar winding Model Single shaft Double shaft Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) N*m (oz*in) MIN. Mass(Weight) 103H7821-0140 -0110 0.78(110.5) 1 5.7 8.3 0.275(1.50) 0.6(1.32) 103H7821-0440 -0410 0.78(110.5) 2 1.5 2 0.275(1.50) 0.6(1.32) 103H7821-0740 -0710 0.78(110.5) 3 0.68 0.8 0.275(1.50) 0.6(1.32) 103H7822-0140 -0110 1.17(165.7) 1 6.9 0.4(2.19) 0.77(1.70) 103H7822-0440 -0410 1.17(165.7) 2 1.8 3.6 0.4(2.19) 0.77(1.70) 103H7822-0740 -0710 1.17(165.7) 3 0.8 1.38 0.4(2.19) 0.77(1.70) 103H7823-0140 -0110 2.1(297.4) 1 21.7 0.84(4.59) 1.34(2.95) 103H7823-0440 -0410 2.1(297.4) 2 2.7 5.6 0.84(4.59) 1.34(2.95) 103H7823-0740 -0710 2.1(297.4) 3 1.25 2.4 0.84(4.59) 1.34(2.95) 10 14 Bipolar winding Model Inductance Rotor inertia A/phase /phase Mass(Weight) Double shaft N*m (oz*in) MIN. mH/phase x10 -4kg*m2(oz*in2) kg(lbs) 103H7821-1740 -1710 0.88(124.6) 4 0.35 0.8 0.275(1.50) 0.6(1.32) 103H7822-1740 -1710 1.37(194.0) 4 0.43 1.38 0.4(2.19) 0.77(1.70) 103H7823-1740 -1710 2.7(382.3) 4 0.65 2.4 0.84(4.59) 1.34(2.95) Single shaft 87 Holding torque at Rated Resistance 2-phase energization current Dimensions [Unit:mm(inch)] 15+0 (.59+.00 ) (effective length) ( ( 1.5 (.06) ) 35mm(1.38)/1.8 33(1.30) MAX. Pin No. 1***6 12(.47) MAX. .0000 (o1.42-.002) 0.000 o36-0.039 .00000 +0.5 4-o4.5+0.0 +.02 (4-o.18+.00).0 50mm(1.97)/1.8 ( +.02 4-o.18+.00 .0 S R4 MIN. (R.157MIN.) 0.000 0.000 +0.5 4-o4.5+0.0 .00000 o8-0.015 R4 MIN. (R.157MIN.) S o8-0.015 S 39mm(1.54)/0.9 42mm(1.65)/0.9 4-500.13 (4-1.97.005) ) (o.315-.0006) S 12(.47) MAX. .0000 0.000 o36-0.039 .00000 (o.315-.0006) 0.000 R4 MIN. (R.157MIN.) ) (effective length) (o1.42-.002) S +1 15+0 +.04 .59+.00 600.5 (2.36.02) (effective length) .00000 S o8-0.015 S (o.315-.0006) S R4 MIN. (R.157MIN.) 0.000 +.04 .59+.00 +.04 (effective length) o8-0.015 15+0 Pin No. 1***6 (o.315-.0006) +1 +.04 7 (.28) +1 33(1.30) MAX. 1.5 (.06) +1 15+0 (.59+.00 ) 4-500.13 (4-1.97.005) 20.60.5 (.81.02) 20.60.5 (.81.02) 7 (.28) 53.80.8 (2.12.03) 15.51 (.61.04) Cross section S-S 600.5 (2.36.02) 44.80.8 (1.76.03) Applicable connector :JST Mfg.Co.,Ltd Connector : VHR-6N Terminal : SVH-21T-P1.1 7.50.1 (.3.004) 7.50.1 (.3.004) Cross section S-S 15.51 (.61.04) 7.50.1 (.3.004) 28mm(1.10)/1.8 90 Applicable connector :JST Mfg.Co.,Ltd Connector : VHR-6N Terminal : SVH-21T-P1.1 7.50.1 (.3.004) 90 103H7822-0140/0440/0740 (Single shaft) 103H7822-0110/0410/0710 (Double shaft) 42mm(1.65)/1.8 103H7821-0140/0440/0740 (Single shaft) 103H7821-0110/0410/0710 (Double shaft) 56mm(2.20)/1.8 103H7823-0140/0440/0740 (Single shaft) 103H7823-0110/0410/0710 (Double shaft) 7.50.1 (.3.004) 7.50.1 (.3.004) 90 60mm(2.36)/1.8 Applicable connector :JST Mfg.Co.,Ltd Connector : VHR-6N Terminal : SVH-21T-P1.1 Cross section S-S 600.5 (2.36.02) 20.60.5 (.81.02) 7 (.28) +1 +1 (.59+.00 ) 15+0 (effective length) (.59+.00 ) (effective length) o106mm(4.17)/1.8 .0000 +0.5 4-o4.5+0.0 +.02 (4-o.18+.00).0 56mm(2.20)/CE ( .00000 (o.315-.0006) 0.000 o8-0.015 .00000 o.315-.0006 ) R4 MIN. (R.157MIN.) 12(.47) MAX. S R4 MIN. (R.157MIN.) (o1.42-.002) 0.000 o36-0.039 S S 0.000 Pin No. 1***6 +.04 S o8-0.015 33(1.30) MAX. 1.5 (.06) 15+0 +.04 4-500.13 (4-1.97.005) 85.80.8 (3.38.03) o86mm(3.39)/1.8 15.51 (.61.04) 7.50.1 (.3.004) 7.50.1 (.3.004) Applicable connector :JST Mfg.Co.,Ltd Connector : VHR-4N Terminal : SVH-21T-P1.1 Model Cross section S-S 103H7821- 600.5 (2.36.02) L 15.51 (.61.04) 20.60.5 (.81.02) 7 (.28) 33(1.30) MAX. +1 1.5 (.06) 15+0 +.04 +1 (.59+.00 ) 15+0 (effective length) +.04 .59+.00 ( 103H7822- 4-500.13 (4-1.97.005) 103H7823- Pin No. 1***4 12(.47) MAX. ) S .00000 (o.315-.0006) 0.000 ) +0.5 4-o4.5+0.0 +.02 (4-o.18+.00).0 ( 0.000 .00000 o.315-.0006 o8-0.015 R4 MIN. (R.157MIN.) o8-0.015 ( S .0000 o1.42-.002 0.000 o36-0.039 S R4 MIN. (R.157MIN.) L 44.80.8 (1.760.03) 53.80.8 (2.120.03) 85.80.8 (3.380.03) ) (effective length) S o106mm(4.17)/CE 90 o86mm(3.39)/CE Bipolar winding 103H7821-1740/103H7822-1740/103H7823-1740(Single shaft) 103H7821-1710/103H7822-1710/103H7823-1710(Double shaft) 88 2-phase stepping motor Pulse Rate - Torque Characteristics 103H7821-0140 140 10 1.0 8 0.8 103H7822-0140 20 2.0 16 1.6 250 120 0.6 150 Pull-out torque at JL1 0.4 100 12 8 Torque (N-m) 4 Torque(oz*in.) 6 Torque (N-m) 60 Torque (kgf-cm) Torque(oz*in.) 80 Torque (kgf-cm) 200 100 1.2 0.8 Pull-out torque at JL1 40 2 0.2 0 0 50 20 0 Starting torque at JL2 0.1 0 1 10 4 0.4 0 0 100 Starting torque at JL2 0.1 1 Pulse rate (kpulse/s) 100 1000 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] Sanyo constant current circuit Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step) JL1=[7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] JL2=[7.4x10-4kg*m2 (40.46 oz*in2) Use the direct coupling] 103H7821-0440 103H7822-0440 140 10 1.0 8 0.8 20 2.0 16 1.6 250 120 0.6 150 Pull-out torque at JL1 0.4 100 12 8 Torque (N-m) 4 Torque(oz*in.) 6 Torque (N-m) 60 Torque (kgf-cm) Torque(oz*in.) 80 Torque (kgf-cm) 200 100 1.2 0.8 Pull-out torque at JL1 40 2 0.2 50 Starting torque at JL2 20 0 0 0 0 0.1 1 10 4 0.4 0 0 100 Starting torque at JL2 0.1 1 Pulse rate (kpulse/s) 100 1000 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] Sanyo constant current circuit Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] JL2=[7.4x10-4kg*m2 (40.46 oz*in2) Use the direct coupling] 103H7821-0740 103H7822-0740 140 10 1.0 8 0.8 20 2.0 16 1.6 250 120 0.6 Pull-out torque at JL1 150 0.4 100 12 8 Torque (N-m) 4 Torque(oz*in.) 6 Torque (N-m) 60 Torque (kgf-cm) Torque(oz*in.) 80 Torque (kgf-cm) 200 100 1.2 Pull-out torque at JL1 0.8 40 2 0.2 50 20 0 4 0.4 Starting torque at JL2 Starting torque at JL2 0 0 0 0.1 1 10 100 0 0 0.1 1 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 89 10 100 Pulse rate (kpulse/s) Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step) JL1=[7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] JL2=[7.4x10-4kg*m2 (40.46 oz*in2) Use the direct coupling] Pulse Rate - Torque Characteristics 2.0 16 1.6 140 10 1.0 8 0.8 35mm(1.38)/1.8 20 103H7821-1740 120 39mm(1.54)/0.9 42mm(1.65)/0.9 0.4 4 0.6 28mm(1.10)/1.8 60 6 Torque (N-m) Pull-out torque at JL1 0.8 80 Torque (kgf-cm) 8 1.2 Torque(oz*in.) 100 12 Torque (N-m) 150 Pull-out torque at JL1 100 Torque (kgf-cm) Torque(oz*in.) 200 250 40 0.4 0.1 0 1 10 0 0 0.1 100 1 Pulse rate (kpulse/s) 100 1000 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] 103H7823-0440 103H7822-1740 16 1.6 2.0 16 1.6 250 250 20 56mm(2.20)/1.8 2.0 Sanyo constant current circuit Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step) JL1=[7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] JL2=[7.4x10-4kg*m2 (40.46 oz*in2) Use the direct coupling] 20 0 42mm(1.65)/1.8 0 0.2 0 2 20 Starting torque at JL2 50mm(1.97)/1.8 4 50 103H7823-0140 0.4 0 0 0.1 0 1 10 0.8 4 0.4 0 0 100 0.1 1 Pulse rate (kpulse/s) 100 1000 60mm(2.36)/1.8 Pull-out torque at JL1 50 Starting torque at JL2 8 1.2 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] 103H7823-0740 103H7823-1740 16 1.6 700 50 5 40 4 o86mm(3.39)/CE 2.0 56mm(2.20)/CE Sanyo constant current circuit Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] JL2=[7.4x10-4kg*m2 (40.46 oz*in2) Use the direct coupling] 20 o86mm(3.39)/1.8 0.8 Torque (N-m) Pull-out torque at JL1 12 o106mm(4.17)/1.8 0 150 100 4 50 1.2 Torque (kgf-cm) 8 Torque(oz*in.) 100 12 Torque (N-m) 150 200 Torque (kgf-cm) Torque(oz*in.) 200 250 600 20 3 o106mm(4.17)/CE 300 30 Torque (N-m) Pull-out torque at JL1 0.8 400 Torque (kgf-cm) 8 1.2 Torque(oz*in.) 100 12 Torque (N-m) 150 500 Torque (kgf-cm) Torque(oz*in.) 200 2 Pull-out torque at JL1 200 50 0 4 0.4 Starting torque at JL2 0 0 0 0.1 1 10 1 0 0 100 10 100 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step) JL1=[7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] JL2=[7.4x10-4kg*m2 (40.46 oz*in2) Use the direct coupling] 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 4A/phase, 2-phase excitation (full-step) JL1=[7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] 90 2-phase stepping motor 2-phase Stepping Motor 86mm cir. 103H822 1.8/step (3.39inch cir.) Recommendable Driver Refer to the page 7,17,27 and 45. Specifications Unipolar winding Model Single shaft Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) 7.2 1.45(7.93) 1.5(3.31) 1.8 1.45(7.93) 1.5(3.31) 2.9(15.86) 2.5(5.51) 2.9(15.86) 2.5(5.51) 4.4(24.06) 3.5(7.72) 5.6 4.4(24.06) 3.5(7.72) Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia Mass(Weight) A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) 1.45(7.93) 1.5(3.31) Double shaft N*m (oz*in) MIN. 103H8221-0441 -0411 2.15(304.5) 2 2.5 103H8221-0941 -0911 2.15(304.5) 4 0.62 103H8222-0441 -0411 4.13(584.8) 2 4.0 103H8222-0941 -0911 4.13(584.8) 4 0.97 103H8223-0441 -0411 6.27(887.9) 2 5.6 103H8223-0941 -0911 6.27(887.9) 4 1.35 15 3.6 24 Mass(Weight) Bipolar winding Model Single shaft 91 Double shaft N*m (oz*in) MIN. 103H8221-5041 -5011 2.74(388.0) 2 2.3 103H8221-5141 -5111 2.74(388.0) 4 0.6 3.5 1.45(7.93) 1.5(3.31) 103H8221-5241 -5211 2.74(388.0) 6 0.3 1.65 1.45(7.93) 1.5(3.31) 103H8222-5041 -5011 5.09(720.8) 2 2.7 2.9(15.86) 2.5(5.51) 103H8222-5141 -5111 5.09(720.8) 4 0.7 5.7 2.9(15.86) 2.5(5.51) 103H8222-5241 -5211 5.09(720.8) 6 0.35 2.7 2.9(15.86) 2.5(5.51) 103H8223-5041 -5011 7.44(1053.6) 2 3.6 32.5 4.4(24.06) 3.5(7.72) 103H8223-5141 -5111 7.44(1053.6) 4 0.9 8.1 4.4(24.06) 3.5(7.72) 103H8223-5241 -5211 7.44(1053.6) 6 0.45 3.4 4.4(24.06) 3.5(7.72) 14 23 Dimensions [Unit:mm(inch)] .00000 .0000 0.00 4-0.03 39mm(1.54)/0.9 42mm(1.65)/0.9 28mm(1.10)/1.8 o73.0250.025 (o2.87.001) .00000 0.000 o12-0.018 S 0.000 (.1575-.0011) 0.00 .00000 4-0.03 (.1575-.0011) 305(12) MIN. S o9.5-0.013 4.83 (.19) 82.550.5 (2.16.02) 4-69.60.25 (4-2.74.001) +0.5 4-o5.35+0.0 4-o5.35+.02 (4-o.21 .00 ) 50mm(1.97)/1.8 ( 4-o5.35+0.5 4-o5.35 0 4-o5.35+.02 (4-o.21 .00 ) (.1575-.0011) Parallel key (attached to the motor) 300.5 (1.18.02) 27.50.5 (1.1.02) (o.374-.0005) 0.000 o12-0.018 .00000 o.4724-.0007 ) (.06) o860.5 (o3.39.02) 4-69.60.25 (4-2.74.001) ) .00000 (o.374-.0005) 0.000 o9.5 -0.013 S Lead wire UL1430 AWG22 92.20.8 (3.63.03) 1.52 281 (1.10.04) 82.550.5 (2.16.02) o73.0250.025 (o2.87.001) 305(12) MIN. o860.5 (o3.39.02) S ( .00000 .0000 (1.0-.008) (o.4724-.0007) Lead wire UL1430 AWG22 300.5 (1.18.02) 1.52 (.06) 4.83 (.19) 27.50.5 (1.1.02) 620.8 (2.44.03) +0.1 2.5+0.0 +.004 .1 .000 Cross section S-S Parallel key (attached to the motor) Cross section S-S 281 (1.10.04) .00000 0.00 4-0.03 +.004 (.1 .000 ) (.1575-.0011) .00000 0.00 4-0.03 (.1575-.0011) +0.1 4-0.03 25-0.21 .00000 (.1575-.0011) 2.5 0.00 0.00 0.00 4-0.03 .0000 0.00 0.00 25-0.21 (1.0-.008) 35mm(1.38)/1.8 103H8222-0441/0941 (Single shaft) 103H8222-0411/0911 (Double shaft) 42mm(1.65)/1.8 103H8221-0441/0941 (Single shaft) 103H8221-0411/0911 (Double shaft) 103H8223-0441/0941 (Single shaft) 103H8223-0411/0911 (Double shaft) 0.00 0.00 300.5 (1.18.02) 4-69.60.25 (4-2.74.001) .00000 0.000 o12-0.018 (o.4724-.0007) ) +0.5 4-o5.35+0.0 4-o5.35+.02 (4-o.21 .00 ) o106mm(4.17)/1.8 ( o86mm(3.39)/1.8 S S .00000 o.374-.0005 4.83 (.19) o73.025.025 (o2.87.001) 27.50.5 (1.1.02) 82.550.5 (2.16.02) 305(12)MIN. 1.52 (.06) o860.5 (o3.39.02) 0.000 o9.5-0.013 .00000 Parallel key (attached to the motor) 60mm(2.36)/1.8 125.80.8 (4.95.03) 56mm(2.20)/1.8 Cross section S-S (0.1575-.0011) ) Lead wire UL1430 AWG22 281 (1.10.04) .0000 (.1575-.0011) 0.00 ( 4-0.03 .0000 (1.0-.008) 4-0.03 .00000 0.00 4-0.03 (0.1575-.0011) 25-0.21 +0.1 2.5+0.0 +.004 .1 .000 56mm(2.20)/CE Bipolar winding 1.520.25 (.06.01) 27.50.5 (1.08.02) .0000 o12-.018 o73.0250.025 (o2.875.0009) S +0.5 4-o4.35 0 ( 0 S Model +.02 4-o.21 .00 (o.4724-.0007) 305 MIN. (12.01MIN.) 0 o85.850.5 (o3.38.02) 4-82.550.5 (4-3.25.02) 4-69.60.25 (4-2.74.01) 300.5 .0000 o9.5-.013 (o.374-.0005) L0.8 (.19.03) 4.830.5 (.19.02) ) 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 AWG L 22 62 (2.44) 18 22 18 22 18 92.2 (3.63) o106mm(4.17)/CE Lead wire UL1430 281 (1.10.04) o86mm(3.39)/CE 103H8221/103H8222/103H8223-5 41 (Single shaft) 103H8221/103H8222/103H8223-5 11 (Double shaft) 125.8 (4.95) 92 2-phase stepping motor Pulse Rate - Torque Characteristics 103H8221-0441 20 2.0 16 1.6 103H8221-0941 250 16 1.6 Pull-out torque at JL1 50 0 150 0.8 100 4 0.4 0 0 12 8 50 0 0.1 1 10 Torque (N-m) Torque(oz*in.) 8 1.2 Torque (kgf-cm) 200 Pull-out torque at JL1 12 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 100 2.0 250 200 150 20 1.2 0.8 4 0.4 0 0 100 0.1 1 Pulse rate (kpulse/s) 100 1000 10 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[7.4x10-4kg*m2 (40.46 oz*in2) 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*in2) Use the rubber coupling] 103H8222-0441 103H8222-0941 700 50 5 40 4 600 700 40 4 Pull-out torque at JL1 2 200 400 300 30 20 Torque (N-m) Pull-out torque at JL1 Torque (kgf-cm) 20 3 Torque(oz*in.) 30 Torque (N-m) 300 5 500 Torque (kgf-cm) Torque(oz*in.) 400 50 600 500 3 2 200 1 10 100 10 1 0 0 100 0 0 0 0 0.1 1 10 100 0.1 1 Pulse rate (kpulse/s) 100 1000 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[15.3x10-4kg*m2 (83.65 oz*in2) 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*in2) Use the rubber coupling] 103H8223-0441 103H8223-0941 700 50 5 40 4 1400 Pull-out torque at JL1 600 8 800 600 60 40 Torque (N-m) 2 200 6 Pull-out torque at JL1 4 400 10 1 100 0 80 Torque (kgf-cm) 20 3 Torque(oz*in.) 30 Torque (N-m) 300 10 1000 Torque (kgf-cm) Torque(oz*in.) 400 100 1200 500 20 2 0 0 200 0 0 0 0.1 1 10 100 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[15.3x10-4kg*m2 (83.65 oz*in2) Use the rubber coupling] 93 100 Pulse rate (kpulse/s) 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step) JL1=[15.3x10-4kg*m2 (83.65 oz*in2) Use the rubber coupling] Pulse Rate - Torque Characteristics 5 40 4 600 700 40 4 39mm(1.54)/0.9 42mm(1.65)/0.9 20 Pull-out torque at JL1 2 300 3 28mm(1.10)/1.8 2 200 30 Torque (N-m) Pull-out torque at JL1 400 Torque (kgf-cm) 20 3 Torque(oz*in.) 30 Torque (N-m) 500 Torque (kgf-cm) 200 1 10 100 10 1 0 0 100 Starting torque at JL2 Starting torque at JL2 0 1 10 100 0.1 1 Pulse rate (kpulse/s) 100 1000 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step) JL1=[7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] JL2=[7.4x10-4kg*m2 (40.46 oz*in2) Use the direct coupling] 103H8221-5241 103H8222-5041 5 40 4 700 5 40 4 600 600 50 56mm(2.20)/1.8 50 Sanyo constant current circuit Source voltage: AC100V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] JL2=[7.4x10-4kg*m2 (40.46 oz*in2) Use the direct coupling] 700 42mm(1.65)/1.8 0.1 0 0 0 50mm(1.97)/1.8 Torque(oz*in.) 300 5 600 500 400 50 35mm(1.38)/1.8 50 700 103H8221-5141 103H8221-5041 60mm(2.36)/1.8 20 3 Pull-out torque at JL1 2 300 30 Torque (N-m) Pull-out torque at JL1 2 400 Torque (kgf-cm) 20 3 Torque(oz*in.) 300 30 Torque (N-m) 400 500 Torque (kgf-cm) Torque(oz*in.) 500 200 1 10 100 Starting torque at JL2 100 0 0 0 0.1 1 10 0 100 0.1 Pulse rate (kpulse/s) 100 1000 1 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[15.3x10-4kg*m2 (83.65 oz*in2) Use the rubber coupling] JL2=[15.3x10-4kg*m2 (83.65 oz*in2) Use the direct coupling] 103H8222-5141 103H8222-5241 3 Torque(oz*in.) 20 2 200 Pull-out torque at JL1 400 300 30 20 3 2 200 10 1 100 0 4 500 Pull-out torque at JL1 Torque (N-m) 300 Torque (kgf-cm) Torque(oz*in.) 400 40 600 500 30 5 o86mm(3.39)/CE 4 50 o106mm(4.17)/CE 40 600 700 Torque (N-m) 5 Torque (kgf-cm) 50 56mm(2.20)/CE Sanyo constant current circuit Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step) JL1=[15.3x10-4kg*m2 (83.65 oz*in2) Use the rubber coupling] 700 o106mm(4.17)/1.8 0 0 o86mm(3.39)/1.8 200 1 10 0 0 0 0.1 1 10 10 1 0 0 100 Starting torque at JL2 100 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step) JL1=[15.3x10-4kg*m2 (83.65 oz*in2) Use the rubber coupling] JL2=[15.3x10-4kg*m2 (83.65 oz*in2) Use the direct coupling] 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step) JL1=[15.3x10-4kg*m2 (83.65 oz*in2) Use the rubber coupling] 94 2-phase stepping motor Pulse Rate - Torque Characteristics 103H8223-5041 100 10 80 8 1200 1400 80 8 Pull-out torque at JL1 4 400 800 600 60 40 Torque (N-m) 40 6 Torque(oz*in.) 60 Torque (N-m) 1000 Torque (kgf-cm) Torque(oz*in.) 600 10 1200 1000 800 100 Torque (kgf-cm) 1400 103H8223-5141 6 Pull-out torque at JL1 4 400 2 20 200 20 2 0 0 200 0 0 Starting torque at JL2 0 0.1 1 0 10 100 Starting torque at JL2 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 100 Number of rotations (min-1) 103H8223-5241 100 10 80 8 1200 600 60 40 Torque (N-m) 800 Torque (kgf-cm) Torque(oz*in.) 1000 Pull-out torque at JL1 6 4 400 20 2 0 0 200 0 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step) JL1=[15.3x10-4kg*m2 (83.65 oz*in2) Use the rubber coupling] 95 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[15.3x10-4kg*m2 (83.65 oz*in2) Use the rubber coupling] JL2=[15.3x10-4kg*m2 (83.65 oz*in2) Use the direct coupling] 1400 10 Pulse rate (kpulse/s) Sanyo constant current circuit Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step) JL1=[15.3x10-4kg*m2 (83.65 oz*in2) Use the rubber coupling] JL2=[15.3x10-4kg*m2 (83.65 oz*in2) Use the direct coupling] 96 o106mm(4.17)/CE o86mm(3.39)/CE 56mm(2.20)/CE o106mm(4.17)/1.8 o86mm(3.39)/1.8 60mm(2.36)/1.8 56mm(2.20)/1.8 50mm(1.97)/1.8 42mm(1.65)/1.8 28mm(1.10)/1.8 39mm(1.54)/0.9 42mm(1.65)/0.9 35mm(1.38)/1.8 2-phase stepping motor 2-phase Stepping Motor 106mm cir. 103H8922 1.8/step (4.17inch cir.) Recommendable Driver Refer to the page 7 and 17. Specifications Unipolar winding Model Single shaft Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) Mass(Weight) Double shaft N*m (oz*in) MIN. 103H89222-0941 -0911 10.8(1529.4) 4 0.98 6.3 14.6(79.83) 7.5(16.53) 103H89223-0941 -0911 15.5(2194.9) 4 1.4 9.7 22(120.28) 10.5(23.15) Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia Mass(Weight) A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) Bipolar winding Model Single shaft Double shaft N*m (oz*in) MIN. 103H89222-5241 -5211 13.2(1869.2) 6 0.45 5.4 14.6(79.83) 7.5(16.53) 103H89223-5241 -5211 19(2690.5) 6 0.63 8 22(120.28) 10.5(23.15) Dimensions [Unit:mm(inch)] 103H89223-0941/5241 (Single shaft) 103H89223-0911/5211 (Double shaft) 0.00 (4-o.27 +.02 .00 .00000 0.00 5-0.03 .0000 0.00 5-0.03 (.1968 -.0001) 106.40.5 (4.2.002) 4-88.90.25 (4-3.5.001) ) (o2.19.002) 0.000 .00000 o16-0.018 S +.04 .00 .00000 S 0.000 ) 1.52 (.06) +1 o106.41 (o4.2.04) o55.5240.05 (o2.19.002) 0.000 o16-0.018 .00000 (o.5-.0007) 0.000 +0.5 4-o6.9 0.0 350.5 (1.38.02) 8.6 (.34) (1.2 ) .00000 S S o12.7-0.018 97 +.04 .00 (o.63-.0007) o106.41 (o4.2.04) (1.2 221.31 (8.71.04) 30.5+0 (o.5-.0007) +1 30.5 0 281 (1.10.04) 106.40.5 (4.2.002) 4-88.90.25 (4-3.5.001) Parallel key (attached to the motor) Lead wire UL1430 AWG18 305(12) MIN. 350.5 (1.38.02) 8.6 (.34) 1.52 (.06) .00000 (.1968 -.0001) ) Cross section S-S Parallel key (attached to the motor) o12.7-0.018 305(12) MIN. 163.31 (6.4.04) ( 5-0.03 .0000 (1.1 -.008) +0.1 3+0.0 +.004 0.12 .000 (o.63-.0007) o55.5240.05 0.00 5 -0.03 +.004 (.12 .000 ) Cross section S-S Lead wire UL1430 AWG18 281 (1.10.04) .0000 (.1968 -.0001) .00000 .0000 0.00 5 -0.03 (.1968 -.0001) .0000 (1.1 -.008) +0.1 3 0.0 0.00 28-0.21 0.00 5 -0.03 (.1968 -.0001) 0.00 28 -0.21 (.1968 -.0001) 103H89222-0941/5241 (Single shaft) 103H89222-0911/5211 (Double shaft) +0.5 4-o6.9+0.0 (4-o.27 +.02 .00 ) Pulse Rate - Torque Characteristics 20 160 16 0 40 4 0 0 0 0.1 1 10 100 Starting torque at JL2 0.1 1 Pulse rate (kpulse/s) 100 1000 39mm(1.54)/0.9 42mm(1.65)/0.9 Starting torque at JL2 0 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step) JL1=[43x10-4kg*m2 (235.10 oz*in2) Use the rubber coupling] JL2=[43x10-4kg*m2 (235.10 oz*in2) Use the direct coupling] 103H89222-0941 103H89223-0941 10 80 8 200 20 160 16 56mm(2.20)/1.8 100 Sanyo constant current circuit Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step) JL1=[43x10-4kg*m2 (235.10 oz*in2) Use the rubber coupling] JL2=[43x10-4kg*m2 (235.10 oz*in2) Use the direct coupling] 1400 28mm(1.10)/1.8 0 500 8 42mm(1.65)/1.8 4 80 Pull-out torque at JL1 40 1000 12 8 120 1500 Torque (N-m) Pull-out torque at JL1 Torque (kgf-cm) Torque(oz*in.) 12 50mm(1.97)/1.8 500 80 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 16 2000 120 1000 160 2500 2000 1500 20 2500 200 35mm(1.38)/1.8 200 103H89223-5241 2500 1200 Pull-out torque at JL1 80 60mm(2.36)/1.8 1000 12 Pull-out torque at JL1 8 4 120 1500 Torque (N-m) 6 Torque(oz*in.) 40 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 600 60 Torque (kgf-cm) 2000 1000 800 103H89222-5241 0 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Sanyo constant current circuit Source voltage: AC100VOperating current: 4A/phase, 2-phase energization (full-step) JL1=[43x10-4kg*m2 (235.10 oz*in2) Use the rubber coupling] 0 0 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 o106mm(4.17)/1.8 0 4 Sanyo constant current circuit Source voltage: AC100V Operating current: 4A/phase, 2-phase energization (full-step) JL1=[43x10-4kg*m2 (235.10 oz*in2) Use the rubber coupling] 56mm(2.20)/CE 0 40 0 500 o86mm(3.39)/CE 2 o106mm(4.17)/CE 20 200 o86mm(3.39)/1.8 400 98 2-phase stepping motor (CE) 2-phase Stepping Motor 56mm sq. (2.20inch sq.) 103H712 Conforming to the CE marking 1.8/step Specifications Unipolar winding Model Single shaft Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia A/phase /phase mH/phase x10 -4kg*m2(oz*in2) Double shaft N*m(oz*in) MIN. 103H7121-6140 -6110 0.39(55.2) 1 4.8 103H7121-6740 -6710 0.39(55.2) 3 0.6 103H7123-6140 -6110 0.83(117.5) 1 6.7 103H7123-6740 -6710 0.78(110.5) 3 0.77 103H7126-6140 -6110 1.27(179.8) 1 8.6 103H7126-6740 -6710 1.27(179.8) 3 0.9 Mass(Weight) kg(lbs) 8 0.1(0.55) 0.47(1.04) 0.8 0.1(0.55) 0.47(1.04) 0.21(1.15) 0.65(1.43) 0.21(1.15) 0.65(1.43) 0.36(1.97) 0.98(2.16) 0.36(1.97) 0.98(2.16) 15 1.58 19 2.2 Dimensions [Unit:mm(inch)] 103H7121-6140/6740 (Single shaft) 103H7121-6110/6710 (Double shaft) 103H7123-6140/6740 (Single shaft) 103H7123-6110/6710 (Double shaft) Lead wire UL1430 AWG22 103H7126-6140/6740 (Single shaft) 103H7126-6110/6710 (Double shaft) Lead wire UL1430 AWG22 o38.10.025 (o1.5.001) 0.000 o6.35-0.013 .00000 o.25-.0005 Grounding terminal M3x0.5x6L ( 99 560.5 (2.2.02) 4-47.140.13 (4-1.86.005) ) .00000 0.000 (o.25-.0005) o6.35-0.013 5 (.2) 1.5 (.06) 20.60.5 (.8.02) 11(.43) MAX. 75.80.8 (2.98.03) 305(12) MiN. 15.51 (.6.04) +0.5 4-o4.5 0.5 +.02 .00 (4-o.18 ) 560.5 (2.2.02) 11(.43) MAX. 4-47.140.13 (4-1.86.005) o38.10.025 (o1.5.001) 305(12) MIN. ) 5 (.2) 1.5 (.06) 0.000 .00000 Grounding terminal M3x0.5x6L o6.35-0.013 ( +.02 4-o.18 .00 20.60.5 (.8.02) .00000 0.000 +0.5 4-o4.5 0.5 (o.25-.0005) o6.35-0.013 11(.43) MAX. (o1.5.001) o38.10.025 .00000 0.000 4-47.140.13 (4-1.86.005) (o.25-.0005) Grounding terminal M3x0.5x6L o6.35-0.013 0.000 5 (.2) 1.5 (.06) 53.80.8 (2.1.03) 15.51 (.6.04) 560.5 (2.2.02) 20.60.5 (.8.02) .00000 (o.25-.0005) o6.35-0.013 305(12) MIN. 41.80.8 (1.6.03) (o.25-.0005) Lead wire UL1430 AWG22 15.51 (.6.04) +0.5 4-o4.5 0.5 (4-o0.18 +.02 .00 ) Pulse Rate - Torque Characteristics 0.4 4 0.4 30 Pull-out torque at JL1 3 2 0.3 0.2 0.2 20 40 Torque (N-m) Pull-out torque at JL1 Torque (kgf-cm) 2 0.3 Torque(oz*in.) 3 Torque (N-m) 50 Torque (kgf-cm) 20 0.1 0.1 0 0 Starting torque at JL2 0 0 1 10 100 0.1 1 Pulse rate (kpulse/s) 100 1000 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 103H7123-6140 103H7123-6740 1.0 8 0.8 140 1.0 8 0.8 120 120 10 56mm(2.20)/1.8 10 Sanyo constant current circuit Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 140 0 0.1 42mm(1.65)/1.8 0 1 10 Starting torque at JL2 1 10 50mm(1.97)/1.8 Torque(oz*in.) 30 0.5 60 50 40 5 35mm(1.38)/1.8 4 60 70 0.5 39mm(1.54)/0.9 42mm(1.65)/0.9 5 70 103H7121-6740 28mm(1.10)/1.8 103H7121-6140 4 60mm(2.36)/1.8 60 6 0.6 Pull-out torque at JL1 0.4 0.4 80 Torque (N-m) Pull-out torque at JL1 Torque (kgf-cm) 4 0.6 Torque(oz*in.) 60 6 Torque (N-m) 80 100 Torque (kgf-cm) Torque(oz*in.) 100 40 0.2 0 0 0.2 0 0 Starting torque at JL2 0 0 0.1 2 20 Starting torque at JL2 1 10 100 0.1 1 Pulse rate (kpulse/s) 100 1000 10 100 Pulse rate (kpulse/s) 2000 3000 5000 100 Number of rotations (min-1) 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 103H7126-6140 103H7126-6740 16 1.6 250 50 0 16 1.6 Pull-out torque at JL1 0.8 100 4 0 0.4 50 Starting torque at JL2 0 0.1 0 1 10 100 12 8 4 1.2 Pull-out torque at JL1 0.8 0.4 Starting torque at JL2 0 0 0.1 1 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22 oz*in2) Use the direct coupling] o106mm(4.17)/CE 150 Torque (N-m) 1.2 Torque (kgf-cm) 8 Torque(oz*in.) 12 Torque (N-m) 200 Torque (kgf-cm) Torque(oz*in.) 100 2 250 200 150 20 o86mm(3.39)/CE 2 56mm(2.20)/CE Sanyo constant current circuit Source voltage: DC24V Operating current: 1A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling ] 20 o106mm(4.17)/1.8 2 20 o86mm(3.39)/1.8 40 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 3A/phase, 2-phase energization (full-step) JL1=[2.6x10-4kg*m2 (14.22 oz*in2) Use the rubber coupling] JL2=[2.6x10-4kg*m2 (14.22 oz*in2) Use the direct coupling] 100 2-phase stepping motor (CE) 2-phase Stepping Motor 86mm cir. (3.39inch cir.) 103H822 Conforming to the CE marking 1.8/step Specifications Bipolar winding Model Single shaft Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) Mass(Weight) Double shaft N*m(oz*in) MIN. 103H8221-6240 -6210 2.74(388.0) 6 0.3 1.65 1.45(7.93) 1.5(3.31) 103H8222-6340 -6310 5.09(720.8) 6 0.35 2.7 2.9(15.86) 2.5(5.51) 103H8223-6340 -6310 7.44(1053.6) 6 0.45 3.4 4.4(24.06) 3.5(7.72) 0.00 4-0.03 S Parallel key 4x4x25 (.1575x.16x.984) 4 (.1575) 2.5 ( .1) Cross section S-S 82.550.5 (3.25.02) 4-69.6.2 (4-2.74.008) +0.5 4-o5.35+0.0 + .02 (4-o.2+.00) 4.83 (.19) 27.50.5 (1.08.02) 25 (.98) S .00000 0.000 .00000 Grounding terminal M4x0.7x6L 2.5 (.1) Cross section S-S 82.550.5 (3.25.02) 4-69.60.2 (4-2.74.008) o73.0250.025 (o2.9.001) S .00000 0.00 300.5 (1.2.02) Parallel key 4x4x25 (.1575x.1575x.984) 4 (.1575) (.1575.0001) 4-0.03 1.52 (.06) o12-0.018 ) 25 (.98) ( ) ( .00000 o.374-.0005 0.000 o9.5-0.013 101 Grounding terminal M4x0.7x6L 92.20.8 (3.63.03) 25020 (9.8.8) 305(12) MIN. +.02 4-o.2+.00 ) S 4.83 (.19) 0.000 o12-0.018 .00000 o.4724-.0007 o73.0250.025 (o2.9.001) 25020 (9.8.8) 27.50.5 (1.08.02) o860.5 (o3.4.02) 305(12) MIN. 300.5 (1.2.02) 1.52 (.06) UL vinyl tube Lead wire UL1430 AWG18 o860.5 (o3.4.02) ( Lead wire UL1430 AWG18 125.90.8 (4.96.03) 0.000 +0.5 4-o5.35+0.0 103H8223-6340 (Single shaft) 103H8223-6310 (Double shaft) 281 (1.10.04) o9.5-0.013 .00000 0.000 o12-0.018 ( (o.4724-.0007) ) S Grounding terminal M4x0.7x6L 4.83 (.19) o73.0250.025 (o2.9.001) 25 (.98) 4-69.60.2 (4-2.74.008) 281 (1.10.04) (o.374-.0005) 27.50.5 (1.08.02) 82.550.5 (3.25.02) .00000 25020 (9.8.8) 1.52 (.06) UL vinyl tube (o.4724-.0007) 0.00 300.5 (1.2.02) S .00000 o.374-.0005 0.000 4-0.03 620.8 (2.4.03) 103H8222-6340 (Single shaft) 103H8222-6310 (Double shaft) Cross section S-S (.1575-.0001) 281 (1.10 .04) o9.5-0.013 2.5 (.1) Lead wire UL1430 AWG18 o860.5 (o3.4.02) 305(12) MIN. UL vinyl tube Parallel key 4x4x25 (.1575x.1575x.984) 4 (.1575) (.1575-.0001) 103H8221-6240 (Single shaft) 103H8221-6210 (Double shaft) .00000 Dimensions [Unit:mm(inch)] +0.5 4-o5.35+0.0 +.02 (4-o.2+.00) Pulse Rate - Torque Characteristics 5 40 4 600 50 39mm(1.54)/0.9 42mm(1.65)/0.9 Pull-out torque at JL1 2 20 3 28mm(1.10)/1.8 300 30 Torque (N-m) 400 Torque (kgf-cm) Torque(oz*in.) 500 200 1 10 Starting torque at JL2 100 0 0 0.1 1 10 100 0 1000 42mm(1.65)/1.8 Pulse rate (kpulse/s) 100 2000 3000 5000 Number of rotations (min-1) 50mm(1.97)/1.8 Sanyo constant current circuit Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step) JL1=[7.4x10-4kg*m2 (40.46 oz*in2) Use the rubber coupling] JL2=[7.4x10-4kg*m2 (40.46 oz*in2) Use the direct coupling] 5 40 4 600 60mm(2.36)/1.8 3 2 20 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 300 30 Pull-out torque at JL1 500 400 56mm(2.20)/1.8 50 103H8222-6340 700 700 35mm(1.38)/1.8 103H8221-6240 o86mm(3.39)/1.8 200 1 10 Starting torque at JL2 100 0 0 0 0.1 1 10 100 Pulse rate (kpulse/s) 1000 2000 3000 5000 o106mm(4.17)/1.8 100 Number of rotations (min-1) Sanyo constant current circuit 56mm(2.20)/CE Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step) JL1=[15.3x10-4kg*m2 (83.65 oz*in2) Use the rubber coupling] JL2=[15.3x10-4kg*m2 (83.65 oz*in2) Use the direct coupling] 100 10 80 8 12000 o86mm(3.39)/CE 14000 103H8223-6340 40 6 o106mm(4.17)/CE 6000 60 Torque (N-m) 8000 Torque (kgf-cm) Torque(oz*in.) 10000 Pull-out torque at JL1 4 4000 20 2 0 0 2000 0 Starting torque at JL2 0.1 1 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Winding current: 6A/phase, 2-phase energization (full-step) JL1=[43x10-4kg*m2 (235.10 oz*in2) Use the rubber coupling] JL2=[43x10-4kg*m2 (235.10 oz*in2) Use the direct coupling] 102 2-phase stepping motor (CE) 2-phase Stepping Motor 106mm cir. (4.17inch cir.) 103H8922 Conforming to the CE marking 1.8/step Specifications Bipolar winding Model Single shaft Holding torque at Rated Resistance 2-phase energization current Inductance Rotor inertia A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) Mass(Weight) Double shaft N*m (oz*in) MIN. 103H89222-6341 -6311 13.2(1869.2) 6 0.45 5.4 14.6(79.83) 7.5(16.53) 103H89223-6341 -6311 19(2690.5) 6 0.63 8 22(120.28) 10.5(23.15) Dimensions [Unit:mm(inch)] 5 (.1968) 281 (1.1.04) 106.40.5 (4.2.02) 4-88.90.25 (4-3.5.01) 28010 (11.4) 1.52 (.06) Lead wire UL1430CSA AWG18 305(12) MIN. 8.6 (.34) 30.5 (1.2) o106.41 (o4.2.04) 28010 (11.4) 350.5 (1.38.02) 221.31 (8.7.04) 8.6 (.34) UL vinyl tube 1.52 (.06) 30.5 (1.2) Cross section S-S 106.40.5 (4.2.02) 4-88.90.25 (4-3.5.01) o106.41 (o4.2.04) M4x0.7x6L .00000 o55.5240.05 (o2.2.002) 0.000 .00000 o16-0.018 Grounding terminal (o.63-.0007) ) 0.000 ( S .00000 (o.5-.0007) M4x0.7x6L +0.5 4-o6.9 0.0 +.02 4-o.27 .00 S o12.7-0.018 Grounding terminal o55.5240.05 (o2.2.002) 0.000 o16-0.018 S (o.63-.0007) 305(12) MIN. UL vinyl tube Cross section S-S S .00000 (o.5-.0007) 0.000 o12.7-0.018 103 350.5 (1.39.02) 163.31 (6.4.04) Parallel key 5x5x28 (.1968x.1968x1.1 3 (.1) 5 (.1968) Lead wire UL1430CSA AWG18 281 (1.1.04) .0000 0.00 5-0.03 Parallel key 5x5x28 (.1968x.1968x1.1) 3 (.1) (.1968-.001) .0000 0.00 5 -0.03 103H89223-6341 (Single shaft) 103H89223-6311 (Double shaft) (.1968-.001) 103H89222-6341 (Single shaft) 103H89222-6311 (Double shaft) +0.5 4-o6.9+0.0 (4-o.27 +.02 .00 ) Pulse Rate - Torque Characteristics 20 160 16 0 0 Starting torque at JL2 0.1 1 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step) JL1=[43x10-4kg*m2 (235.10 oz*in2) Use the rubber coupling] JL2=[43x10-4kg*m2 (235.10 oz*in2) Use the rubber coupling] 50mm(1.97)/1.8 Sanyo constant current circuit Source voltage: AC100V Operating current: 6A/phase, 2-phase energization (full-step) JL1=[43x10-4kg*m2 (235.10 oz*in2) Use the rubber coupling] JL2=[43x10-4kg*m2 (235.10 oz*in2) Use the rubber coupling] 100 2000 3000 5000 56mm(2.20)/1.8 1000 Number of rotations (min-1) 100 100 10 Pulse rate (kpulse/s) 42mm(1.65)/1.8 Pulse rate (kpulse/s) 60mm(2.36)/1.8 100 0 10 4 o86mm(3.39)/1.8 1 40 o106mm(4.17)/1.8 0.1 8 56mm(2.20)/CE 0 80 28mm(1.10)/1.8 500 Starting torque at JL2 0 1000 12 4 1500 Torque (N-m) 8 Torque (kgf-cm) Torque(oz*in.) Pull-out torque at JL1 39mm(1.54)/0.9 42mm(1.65)/0.9 Pull-out torque at JL1 120 o86mm(3.39)/CE 40 12 o106mm(4.17)/CE 0 80 Torque (N-m) Torque (kgf-cm) Torque(oz*in.) 500 16 2000 120 1000 160 2500 2000 1500 20 2500 200 35mm(1.38)/1.8 200 103H89223-6341 103H89222-6341 104 2-phase stepping motor Specifications of 2-Phase Stepping Motor General Specifications 103-591 103-4902 103-771 Insulation class Insulation resistance Withstand voltage 103H32 103H52 Class B (130C) Not less than 100M between 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: -10C~+50C Operating environment Ambient humidity: 20~90% RH (no condensation) 80K MAX. (Based on Sanyo Denki standard) Winding temperature rise Standing angle error Axial play 0.045 0.054 0.045 0.09 0.09 0.075mm(0.003inch) MAX 0.075mm(0.003inch) MAX 0.075mm(0.003inch) MAX 0.075mm(0.003inch) MAX 0.075mm(0.003inch) MAX Load 4.4N(1Ibs) Load 4.4N(1Ibs) Load 9N(2Ibs) Load 4.4N(1Ibs) Load 4.4N(1Ibs) Radial play (Note 1) 0.025mm(0.001inch) MAX Load 4.4N(1Ibs) Shaft runouts 0.025mm(0.001inch) Concentricity of mounting spigot relative to shaft o0.05mm(0.002inch) o0.05mm(0.002inch) o0.075mm(0.003inch) o0.05mm(0.002inch) o0.05mm(0.002inch) Perpendicularity of mounting surface relative to shaft 0.075mm(0.03inch) 0.075mm(0.03inch) 0.075mm(0.003inch) 0.1mm(0.004inch) 0.1mm(0.004inch) 103H782 103H822 103H8922 (Note 1) When load is applied at 1/3 length from output shaft edge. 103H670 103H712 Insulation class Insulation resistance Class B (130C) Not less than 100M between 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 Withstand voltage winding and frame at nomal temperature and humidity. Ambient temperature: -10C~+50C Operating environment Ambient humidity: 20~90% RH (no condensation) 80K MAX. (Based on Sanyo Denki standard) Winding temperature rise Standing angle error Axial play 0.09 0.054 0.054 0.09 0.09 0.075mm(0.003inch) MAX 0.075mm(0.003inch) MAX 0.075mm(0.003inch) MAX 0.075mm(0.003inch) MAX 0.075mm(0.003inch) MAX Load 9N(2Ibs) Load 9N(2Ibs) Load 9N(2Ibs) Load 9N(2Ibs) Load 9N(2Ibs) Radial play (Note 1) 0.025mm MAX. Load 4.4N(1Ibs) Shaft runouts 0.025mm(0.001inch) Concentricity of mounting spigot relative to shaft o0.075mm(0.003inch) o0.075mm(0.003inch) o0.075mm(0.003inch) o0.075mm(0.003inch) o0.075mm(0.003inch) Perpendicularity of mounting surface relative to shaft 0.075mm(0.003inch) 0.075mm(0.003inch) 0.075mm(0.003inch) 0.075mm(0.003inch) 0.075mm(0.003inch) (Note 1) When load is applied at 1/3 length from output shaft edge. General Specifications (CE Marked Models) Rated voltage 103H712 103H822 103H8922 12-200VDC 12-300VDC 12-300VDC EN60034-1, IEC34-5(EN60034-5),EN60204-1,EN60950,EN61010-1 Applied standards(Low voltage diretive) S1 (continuous rating) Operation type Protection grade IP43 Device category Class Operation environment Pollution dgree Insulation classI Class B (130C) Insulation resistance Withstand voltage Not less than 100M between 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: -10C~+40C Operating environment Ambient humidity 20~90% (no condensation) Winding temperature rise 80K MAX. (Based on Sanyo Denki standard) Standing angle error 0.054 Axial play Radial play (Note 1) 0.025mm(.001inch) o0.075mm(0.003inch) o0.075mm(0.03inch) o0.075mm(0.03inch) 0.1mm(0.04inch) 0.1mm(0.004inch) 0.1mm(0.004inch) Perpendicularity of mounting surface relative to shaft (Note 1) When load is applied at 1/3 length from output shaft edge. 105 0.09 0.025mm(0.001inch) MAX. Load 4.4N(1Ibs) Shaft runouts Concentricity of mounting spigot relative to shaft 0.09 0.075mm(0.003inch) MAX. Load 9N(2Ibs) 28mm(1.10)/1.8 Radial load 39mm(1.54)/0.9 42mm(1.65)/0.9 35mm(1.38)/1.8 Allowable radial load / thrust load Frange size Model. No. 0 Distance from end of shaft:mminch 5(0.20) 10(0.39) 15(0.59) 56mm(2.20)/1.8 50mm(1.97)/1.8 42mm(1.65)/1.8 Thrust load Thrust load N(Ibs) 30(6) 38(8) 53(11) 84(18) 3(0.67) 35mm(1.38inch) SH35 40(8) 50(11) 67(15) 98(22) 10(2.25) 39mm(1.54inch) 103-49 43(9) 59(13) 93(20) 216(48) 30(6.75) 22(4) 26(5) 33(7) 46(10) 10(2.25) 103H670 71(15) 87(19) 115(25) 167(37) 15(3.37) 103H712 52(11) 65(14) 85(19) 123(27) 15(3.37) 60mm(2.36)/1.8 103H32 28mm(1.10inch) Radial load:N(lbs) o86mm(3.39)/1.8 103H52 42mm(1.65inch) 103-59 50mm(1.97inch) 200(44) 15(3.37) 121(27) 176(39) 15(3.37) 60mm(2.36inch) 103H782 70(15) 87(19) 114(25) 165(37) 20(4.50) 86mm(3.39inch) 103H822 191(42) 234(52) 301(67) 421(94) 60(13.488) 106mm(4.17inch) 103H8922 321(72) 356(80) 401(90) 457(102) 100(22.48) 56mm(2.20)/CE 138(31) 92(20) 105(23) 75(16) o86mm(3.39)/CE 85(19) 103-77 o106mm(4.17)/CE 103H7128 56mm(2.20inch) o106mm(4.17)/1.8 56mm(2.20inch) 106 2-phase stepping motor Internal Wiring and Rotation Direction Unipolar winding 103H32 Direction Direction of of motor motor rotate rotate Internal wire connection ( ) connector pin number (4) Orange The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. Lead wire color, connector type pin number (2) Blue Lead wire White & black Red Connector (1.6) (5) (2) 1 + - - 2 + 3 + 4 + Exciting order (6) White Red Black Yellow (5) (1) (3) Blue Yellow Orange (3) - (4) - - - - - 103H52 Internal wire connection ( ) connector pin number (2) Direction of motor rotate The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. Connector type pin number (1.6) (5) (3) (3) 1 + - - 2 + 3 + 4 + Exciting order (1) (5) (6) (4) (4) - (2) - - - - - 103H782 Internal wire connection ( ) connector pin number (2) Direction of motor rotate The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. Connector type pin number (1) Exciting order (3) (4) (6) (5) (1.6) (4) (3) 1 + - - 2 + 3 + 4 + (5) - (2) - - - - - Other than 103H32 103H52 103H782 Internal wire connection Direction of motor rotate The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. Orange Lead wire color White Exciting order Blue Red Black Yellow White & black Red 1 + - 2 + 3 + 4 + Blue Yellow Orange - - - - - - - Bipolar winding Direction of motor rotate Internal wire connection ,( ) connector pin number 3(1)Orange The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. Red Blue Exciting order 1 - - + + 2 + - - + 3 + + - - 4 - + + - Connector Lead wire color, connector type pin number 103H52 6 1 4 3 103H782 3 2 4 1 Lead wire 1(2)Blue Red Yellow (4) (3) 6 4 107 Yellow Orange 108 o106mm(4.17)/CE o86mm(3.39)/CE 56mm(2.20)/CE o106mm(4.17)/1.8 o86mm(3.39)/1.8 60mm(2.36)/1.8 56mm(2.20)/1.8 50mm(1.97)/1.8 42mm(1.65)/1.8 28mm(1.10)/1.8 39mm(1.54)/0.9 42mm(1.65)/0.9 35mm(1.38)/1.8 2-phase synchronous motor 2-Phase Synchronous Motor Principle 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. Characteristics Range of Uses * A constant rotation speed is maintained without slip within the load range to the motor torque. * Widely used in various fields such as conveyer drives, printers, cryopump ultimate freezers, and general industrial devices. * 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. General Specifications 103H7093-0140 103H823 Insulation class 103H8923 103-830-0140 Class B (130C) Insulation resistance Not less than 100M between 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 Withstand voltage winding and frame at nomal temperature and humidity. Ambient temperature: -10C~+50C Operating environment Ambient humidity: 20~95% RH (no condensation) 80K MAX (Based on Sanyo Denki standard) Winding temperature rise 0.075mm(0.003inch) MAX Axial play Load 9N (2Ibs) 0.025mm(0.001inch) MAX Load 4.4N(1Ibs) Radial play (Note 1) 0.025mm(0.001inch) Shaft runouts Concentricity of mounting spigot relative to shaft o0.075mm(0.003inch) o0.075mm(0.003inch) o0.075mm(0.003inch) o0.075mm(0.003inch) Perpendicularity of mounting surface relative to shaft 0.075mm(0.003inch) 0.075mm(0.003inch) 0.075mm(0.003inch) 0.075mm(0.003inch) Allowable thrust load 15N(3.4Ibs) 60N(13.5Ibs) 100N(22.5Ibs) 60N(13.5Ibs) Allowable radial load (Note 1) 75N(16.9Ibs) 220N(49.5Ibs) 360N(80.9Ibs) 130N(29.2Ibs) (Note 1) When load is applied at 1/3 length from output shaft edge. Internal wiring and rotation direction Internal wire connection Lead wire color Direction of motor rotate Black CW R CCW C White AC Red 109 The output shaft shall rotate clockwise as seen from the shaft side, when the switch is selected CW at the internal wiring indicated left. Specifications 50Hz 60Hz Resister () 50Hz 60Hz kg(lbs) 35mm(1.38)/1.8 Capacitor (F) A VAC Mass(Weight) 0.568(80.4) 100 0.15 1.7 1.7 - 60 72 0.65(1.43) 103H8231-0140 1.6(226.6) 100 0.5 6.75 5 180 60 72 1.5(3.31) 103H8232-0240 3(424.8) 220 0.5 2.4 1.8 500 60 72 2.5(5.51) 103H89235-0140 2.6(368.2) 120 0.4 - - - 60 72 5(11.02) 103H89236-0140 5.5(778.8) 120 0.9 - - - 60 72 7.5(16.53) 103-830-0140 0.54(76.5) 120 0.33 3.75 3.75 300 166 200 2.5(5.51) 103H7093-0140 39mm(1.54)/0.9 42mm(1.65)/0.9 N*m(oz*in) MIN. Number of rotation (min- 1) Model Phase shifter 42mm(1.65)/1.8 28mm(1.10)/1.8 Synchronous pull-out torque Rated voltage Rated current Dimensions [Unit:mm(inch)] S .000 56mm(2.20)/1.8 +.02 .00 ) o86mm(3.39)/1.8 0 ) 350.5 (1.4.02) 1.52 (.06) +1 106.40.5 (4.2.02) 4-88.90.25 (4-3.5.01) 30.5 0 +.004 .000) (1.2 S o86mm(3.39)/CE +.02 .00 ) ) 103-830-0140 +0.1 3 0 +.004 .000 (.12 ) Lead wire UL3266 AWG22 S 0 o55.5240.05 (o2.2.002) .0000 0 (o.63-.0007) o16 -0.018 S +0.5 4 -o6.9 0 (4-o.27 +.02 .00 ) 4.83 (.2) ) 4 - 88.90.25 (4-3.5.01) 31.80.5 (1.25.02) 1.52 (.06) 82.550.5 (3.25.02) 4-69.60.25 (4-2.74.01) o73.0250.025 (o2.9.001) 1.52 (.06) o860.5 (o3.4.02) +1 30.5 0 +.004 (1.2 .000 ) 106.40.5 (4.2.02) o9.525 -0.013 300.5 (1.2.02) 93.50.8 (3.7.03) 305(12) MIN. Lead wire UL3266 AWG22 151.81 (6.04) 8.6 (.3) ( Cross section S-S .0000 o.375 -.0005 ( 0 5 -0.03 .000 .1968-.001 ) 103H89236-0140 +0.5 4 -o6.9 0 (4-o.27 o106mm(4.17)/CE ( o55.5240.05 (o2.2.002) +0.5 4 -o5.35 0 +.02 4- o.2 .00 .0000 0 o16-0.018 S (o.63-.0007) .0000 (o.4724 -.0007) 0 o12 -0.018 +.004 .000 56mm(2.20)/CE Lead wire UL3266 AWG22 104.31 (4.1.04) 8.6 (.3) o106.41 (o4.2.04) S o106mm(4.17)/1.8 0 305(12) MIN. 4 - 69.6.25 (4-2.74.01) o73.0250.025 (o2.9.001) S +0.1 3 0 (.12 Cross section S-S 82.550.5 (3.25.02) 4.83 (.2) .000 5-0.03 +.004 (.1 .000 ) (.1968-.001) .000 0 +0.1 2.5 0 27.50.5 (1.1.02) o860.5 (o3.4.02) (4-o.2 Cross section S-S 300.5 (1.2.02) 1.52 (.06) 305(12) MIN. (.1575 -.001) 4 -0.03 92.20.8 (3.36.03) 305(12) MIN. +0.5 4-o5.35 0 103H89235-0140 Lead wire UL3266 AWG22 o106.41 (o4.2.04) 60mm(2.36)/1.8 S ) 103H8232-0240 4-69.60.25 (4-2.74.01) 4.83 (.2) o12 -0.018 ( 82.550.5 (3.25.02) o73.0250.025 (o2.9.001) +0.5 4 -o4.5 0 +.02 4-o.18 .00 300.5 (1.2.02) 27.50.5 (1.1.02) o860.5 (o3.4.02) .000 (o1.5-.001) .0000 o38.10.025 0 (o.25-.0005) o6.35-0.013 8(.3) MAX. 1.5 (.06) Cross section S-S 1.52 (.06) 305(12) MIN. 305(12) MIN. 620.8 (2.4.03) 26(1.0) MAX. +.004 (.1 .000 ) 4-47.140.13 (4-1.86.0005) 20.60.5 (.8.02) 5 (.2) Lead wire UL3266 AWG22 +0.1 2.5 0 .0000 53.80.8 (2.12.03) 560.5 (2.2.02) (o.47 -.0007) Lead wire UL3266 AWG22 50mm(1.97)/1.8 0 4 -0.03 103H8231-0140 (.1575 -.001) 103H7093-0140 +0.5 4 -o5.35 0 +.02 .00 (4 -o.2 ) 110 In-vacuum stepping motor 2-Phase Stepping Motor for Vacuum Environment 1. What Is Stepping Motor for Vacuum Environment 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. 2. Characteristics * Enables use in a vacuum environment of ultrahigh degree (10- 8Pa). * Enables baking at the temperature 200C. * A line of the product models is available to be selected for various uses. 3. Range of 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. General Specifications 103-770-12V1 Class C (200C) Insulation class 100M MIN. when measured with a DC500V megohmmeter between the motor wiring and the frame at normal temperature and humidity. Insulation resistance Not influenced when applied 1kVAC, 50/60Hz between the motor wound-wire and the frame for 1 minute Withstand voltage (leak current 1mA) at room temperature and humidity. 10- 8Pa (reference value) Ambient pressure 0.09 Standing angle error 0.075mm(0.003inch) MAX (With 9N loaded) Axial play 0.025mm(0.001inch) MAX (With 4.4N loaded) Radial play (Note 1) Shaft runouts 0.025mm(0.001inch) Concentricity of mounting spigot relative to shaft o0.075mm(0.003inch) Perpendicularity of mounting surface relative to shaft 0.075mm(0.003inch) Allowable thrust load 15N Allowable radial load (Note 1) 80N (Note 1) When load is applied at 1/3 length from output shaft edge. 103-770-12V1 Internal wiring connection Direction of motor rotate The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. Orange Lead wire color Red Blue 1 - - + + 2 + - - + 3 + + - - 4 - + + - Lead wire Exciting order Blue Red 111 Yellow Yellow Orange The Stepping Motor for Ultra-vacuum Environment 50mm(1.97)/1.8 42mm(1.65)/1.8 28mm(1.10)/1.8 39mm(1.54)/0.9 42mm(1.65)/0.9 35mm(1.38)/1.8 Ambient pressure 10- 8Pa (reference value) Inductance Rotor inertia A/phase /phase mH/phase x10 -4kg*m2(oz*in2) kg(lbs) 2.12 0.105(0.57) 0.8(1.76) 1.8 0.421(59.6) 2.2 0.73 N*m(oz*in) Min Mass(Weight) Dimensions [Unit:mm(inch)] o106mm(4.17)/1.8 o86mm(3.39)/1.8 103-770-12V1 Holding torque Rated Resistance at 2-phase energization current 60mm(2.36)/1.8 Basic step angle Model 56mm(2.20)/1.8 Specifications Pulse Rate - Torque Characteristics 103-770-12V1 5.50.2 (.2165.007) 70 +.004 0.013 o6.35-0.013 R4 MIN. (R.157MIN) 30 2 0.3 Pull-out torque at JL1 0.2 20 o38.10.025 (o1.5.0001) S 1 0.1 0 0 10 .00003 S (o.25-.0005) o56.40.5 (o2.2.02) (.6 .000 ) (Effective length) 3 o86mm(3.39)/CE 15 0 40 0 Starting torque torque at JL2 0.1 +0.25 1 10 100 Pulse rate (kpulse/s) 4-o5.08 -0.05 +.01 4-o.2 -.002 ( o106mm(4.17)/CE +1 56.40.5 (2.2.02) 4-47.140.13 (4-1.86.005) Torque (N-m) 4.83 (.2) 0.4 50 Torque (kgf-cm) 1000(39.4) MIN. 1.52 (.06) 4 Cross section S-S Torque(oz*in.) 20.60.5 (.8.02) 0.5 60 Lead wire: Teflon AWG24 50.80.8 (2.03) 5 56mm(2.20)/CE 103-770-12V1 ) 100 1000 2000 3000 5000 Number of rotations (min-1) Sanyo constant current circuit Source voltage: DC24V Operating current: 2A/phase, 2-phase energization (full-step) JL1=[0.94x10-4kg*m2 (5.14 oz*in2) Use the rubber coupling] JL2=[0.8x10-4kg*m2 (4.37 oz*in2) Use the direct coupling] 112 HIC (AC power input) Universal Controller IC for the 2-Phase Stepping Motor Drive PMM8713PT 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 * * * * Source voltage High output current High noise margin 2 types of pulse input * Excited status verification monitor : The following 3 types of energization mode can be selected by switching at the energization mode switching terminal 1EX / 1-2EX / 2EX : Vcc=4.5~5.5V : 24mA MIN. (sink, source) : Schmitt trigger circuit is incorporated for the all input terminals. : 2 input mode (CW, CCW input mode) Pulse and direction mode (CK, U/D input mode) : Outputs the monitor signal of the controller status. Maximum Rating (Ta=25C) Item Source voltage Symbol VCC Recommended Operating Conditions (Ta=-20~85C) Rating Unit -0.3~7 V Output current "H" level IOH o -35 on "L" level IOL o 35 Output current "H" level IOH Rating Item Symbol MIN. Standard MAX. Source voltage VCC 4.5 - 5.5 Output current "H" level IOH o -24 - - on IOL o 24 - - Output current "H" level IOH -2 - - CO,EM,HL IOL 2 - - VIN 0 - VCC Unit V mA mA "L" level A CO,EM "L" level IOL mA 113 Input voltage VIN -0.3~VCC+0.3 V Input current Operating current IIN 10 mA Topr -20~85 C Conservation temperature Tstg -40~125 C Input voltage "L" level V Dimensions [Unit: mm(inch)] CU Input pulse UP clock input Function 2. CD Input pulse DOWN clock input 3. CK Input pulse clock input 4. U/D Rotation direction conversion 5. EA energization mode switching input 6. EB energization mode switching input 7. oC energization mode switching input 8. VSS GND o3 o3 output 12. o2 o2 output 13. o1 o1 output 14. EM energization monitor output 15. CO Input pulse monitor output 16. VCC 4.5~5.5V 0.4(.016) 0.6(.024) 2.54(.1)TYP 0.51(.02)MIN. 1.53(.06)TYP PMM2101 11. 19.250.2 (.76.008) 7.62(.3)TYP PMM2301 Reset input o4 output 4.45(.17)MAX. R o4 19.75(.78)MAX. 0~15 2.9(.11)MIN. 9. 10. PMM8713PT Name 1. 6.2(.24) 6.6(.26) Pin No. 0.20(. 00 0.35(. 8) 014) Electrical Characteristics Direct current characteristics (Ta=-20~85C) Standard value Item Input voltage Output voltage Symbol Condition VCC [V] Unit MIN. Standard MAX. "H" level VIH 5 ---- 3.5 - - "L" level VIL 5 ---- - - 1.5 "H" level VOH 5 VH = 5V VL = 0V 4.9 - - - - 0.1 -24 - - 24 - - -2 - - 2 - - IOH = 0 "L" level VOL 5 VH = 5V VL = 0V "H" level IOH 5 VH = 5V VL = 0V V V IOH = 0 Output current o1~o4 VOUT = 2.4V "L" level IOL 5 VH = 5V VL = 0V "H" level IOH 5 VH = 5V VL = 0V mA VOUT = 0.4V Output current CO,EM VOUT = 2.4V "L" level mA IOL 5 VH = 5V VL = 0V I 5 ---- - 10 - A ICC 5 VH = 5V VL = 0V - 1 - mA VOUT = 0.4V Input current Static current consumption Switching characteristics (Ta=-20~85C) Standard value Item Symbol Condition VCC [V]a Unit MIN. Standard MAX. fMAX 5 tr=tf=20ns,CL=50pF 1 - - MIN. width of clock pulse tWL,tWH 5 tr=tf=20ns,CL=50pF - - 500 ns MIN. width of reset pulse tWR 5 tr=tf=20ns,CL=50pF - - 1000 ns Time delay tpd 5 tr=tf=20ns,CL=50pF - - 2000 tSET 5 tr=tf=20ns,CL=50pF 0 - - ns tHOLD 5 tr=tf=20ns,CL=50pF 250 - - ns MAX. clock frequency (from clock input to o output) Set time Holding time MHZ ns 114 HIC (AC power input) Electrical Characteristics Measured waveforms on switching time scale 1/f 90% CU CD CK 90% 50% 50% 10% 50% 10% tf tr tWH tWL o1~o4 50% tpd 90% 90% CK 50% 10% 50% 10% tf tr tr or tf 90% 50% U/D 10% tHOLD tSET Function Table Input modes and rotation direction Energization modes Input Excitation Input mode Input Rotation direction CU 2 input mode CD CK U/D R EA EB oC L L L CW 1 EX H H L H L L CCW 1-2EX H H H H 2 EX H L L H mode (CW,CCW) L Pulse and direction mode L L H CW (CK, U/D) L L L CCW Energization Sequence 1EX Pulse Phase 2EX 0 1 2 3 4 (Reset) Pulse Phase 1-2EX 0 1 2 3 4 (Reset) Pulse Phase 0 1 2 3 4 5 6 7 8 (Reset) o1 1 0 0 0 1 o1 1 1 0 0 1 o1 1 1 1 0 0 0 0 0 1 o2 0 1 0 0 0 o2 0 1 1 0 0 o2 0 0 1 1 1 0 0 0 0 o3 0 0 1 0 0 o3 0 0 1 1 0 o3 0 0 0 0 1 1 1 0 0 o4 0 0 0 1 0 o4 1 0 0 1 1 o4 1 0 0 0 0 0 1 1 1 EM 0 0 0 0 0 EM 1 1 1 1 1 EM 1 0 1 0 1 0 1 0 1 UP UP DOWN DOWN UP DOWN * Reset after changing the energization mode. 115 PMM8713PT Input Pulse Monitor CU Input PMM2101 CD CK Output PMM2301 CO Example of Application Circuit (Bipolar wiring motor) Combined with the power hybrid IC 24V + P.GND 5V + GND 13 GND 1 2 3 4 Driving input 5V 5 6 7 Reset input 9 Energization mode setting 16 8 20 9 14 15 11 15 19 8 10 External output 12 14 18 4 25 3 24 13 12 11 10 5V 6 22 23 26 21 7 2 PMM8713PT Stepping motor 5 1 GND PMM2101 GND GND 5V Energization mode setting Pin No. 5,6 Terminal symbol EA,EB Input level Motor operation H 1-2EX L 2EX The normal initial reset may not be performed during unstable VCC after turning the power ON. For reliable resetting, hold the R terminal (9-pin) at the "L" level till the VCC becomes stable. Vcc (16-pin) 4.5V R (9-pin) 1.5V MAX. CV Power hybrid IC: Refer to page 117for the PMM2101 specifications. Refer to the PMM8713PT Operation Manual for other application circuit examples. 116 HIC (DC power input) HIC for 2-Phase Stepping Motor PMM2101 Full Step / Half Step Outline The stepping motor driver IC "PMM2101" is a monolithic-type power hybrid driver IC (HIC) packaging the circuits for 2phase 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. Maximum Rating (Tc=25C) Item Symbol Rated value Unit Source voltage -1 VCC1 8~60 V Source voltage -2 VCC2 0~7 V Output current IO 1.4 A PT 35 W Allowable loss (Tc=25C) Thermal jc 3.57 C/W resistance ja 25 C/W Junction temperature Tjmax 150 C Conservation temperature Tstg -40~150 C Recommended Operating Conditions(Tc=25C) Item 117 Symbol Rated value Unit Source voltage -1 VCC1 100~50 V Source voltage -2 VCC2 4.75~5.25 V Output current IO 1.0 A Oscillator frequency FC 20~27 kHz Operation temperature Tc -25~85 C Enable input terminal o1 Arm drive input 4. o2 Arm drive input 5. CR A One shot time constant setting terminal 6. Vref A Motor current setting terminal 7. LG A GND 8. VCC1 A Motor driver power terminal 9. VsA Motor current detection terminal 10. M1 Motor output 11. RS A Detection resistor connecting terminal 12. M2 Motor output 13. PG P.GND 14. M3 Motor output 15. RS B Detection resistor connecting terminal 16. NC - 17. NC - 18. M4 Motor output 19. Vs B Motor current detection terminal 1 (.04) PMM2101 1 27 3.5 (.14) Control No. and Lot No. 1.27 (.05) VCC1 B Motor driver power terminal 21. LG B GND Operational 22. Vref B Motor current setting terminal 23. CR B One shot time constant setting terminal 24. o3 Arm drive input 25. o4 Arm drive input 26. ENA B Enable terminal 27. AL Overheat alarm output terminal 0.25 (.01) +0.2 0.6 - 0.05 +.008 .02 - .002 ( 26x1.27=33.02 (26x.05=1.3) 20. 40.3 (.16.012) 3.80.2 1 (.15.008) (.04) PMM2101 ENA A 3. ) 2.54 (.1) 3.4 (.13) PMM2301 2. 400.3 (1.57.01) 250.2 (.98.008) o3.30.2 (o.13.008) 1.50.2 (.06.06) Function 30.2 (.12.008) Power terminal for controller section 4.50.5 (.178.02) VCC2 3.30.2(.13.008) 90.2(.35.008) 130.3(.51.011) Name 1. 8 (.31) Pin No. PMM8713PT Dimensions [Unit: mm(inch)] truth value table ENA A (ENA B) o1 (o3) o2 (o4) M1 (M3) M2 (M4) L L L L H L L H H - L H L H - OFF L H OFF OFF OFF H L OFF OFF Electrical Characteristics (Ta= -20 120C) Rating Item Symbol Condition 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 "L" level input current IIL VCC2=5V,VI=0V - - -50 A Reference voltage (Vref) input current Iref VCC2=5V,Vref=0V - - -10 A Current detection (VS) input current IS VCC2=5V,VS=0V - - -10 A Forward direction voltage of FET diod VF IF=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 IR VCC1=60V,VOUT=0V - - VOUT=60V,VRS=0V - - 10 A Power current to controller section ICC2 VCC2=5V(during circuit operation) - - 75 mA Alarm terminal current Output leak current 1.3 10 A V A Ialm VCC2=5V,Valm=0.5V - - 2 mA Overheat alarm operating temperature - - - 125 - C Overheat protection stop temperature - - - 150 - C Overheat Alarm Output The overheat protection circuit outputs an alarm signal at +125C at the internal junction in the IC, and activates (motor excitation OFF) at +150C. VCC2(+5V) External pull-up resistor 27-pin (approximate 10k) Open collector output * 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. PMM2101 118 HIC (DC power input) Example of Application Circuit 24V + C5 P.GND 5V R1 R2 R3 R4 C2 C1 + GND 13 GND 1 16 2 3 4 Driving input Energization mode setting 5 6 7 5V Reset input 9 14 15 11 15 Orange 19 8 10 External output 9 5V R8 23 26 21 7 C4 1 PMM2101 GND GND GND 5V Refer to page 113 for the PMM8713PT specifications. APPLICABLE CONSTANT R1,R2 5W 0.68 C1,C2 1000PF R3,R4 1/4W 3.9K C3,C4 3300PF R7,R8 1/4W 15K C5 330F Determine on the R5 and R6 constants referring to the Vref-output current characteristics. Peak reverse voltage Output current 1A Reverse recovery time 119 100V 100ns Output current (A) 1.2 Recommended circuit constants for PMM2101 Stepping motor C3 2 R5 R7 5 6 22 R6 Determine on D1~D4. Red Yellow 18 4 25 3 24 13 12 11 10 CONSTANT Blue 12 14 PMM8713PT APPLICABLE D1~D4 20 8 Vref-Output current characteristics 1.0 0.8 0.6 0.4 0.2 0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 Vref Voltage (V) 120 PMM2301 PMM2101 PMM8713PT HIC (DC power input) HIC for 2-Phase Stepping Motor PMM2301 Micro Step Outline 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. Maximum Rating (Tc=25C) Condition Rated value Unit Source voltage -1 Item VCC1 max Symbol VCC2=0V 52 V Source voltage -2 VCC2 max With no signal 7 V Input voltage Vin max Logic input terminal 7 V Phase current IOH max 0.5sec,1pulse,VCC1 applied 4 A Operating temperature on PCB TC max - 105 C Junction temperature Tj max - 150 C Conservation temperature Tstg - -40~125 C Recommended Operating Conditions (Ta=25C) Item 121 Condition Rated value Unit Source voltage -1 VCC1 Symbol With signal 10~45 V Source voltage -2 VCC2 With signal 5.05% 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 67 (2.64) 60 (2.36) PMM2301 1 1 (.04) 9 (.35) 22 +0.2 +0.2 2-3.6 (2-.14) 0.5-0.05 21x2=42 (.35) (21x.08=1.68) 0.4-0.05 (.016-+.008 .002 ) 2.9 (.11) PMM2301 [9] (.02-+.008 .002 ) 4 (.16) VCC2 VCC2 Clock CW/CCW Reset Return Enable M0I M01 M02 GND PMM2101 Terminal name 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 25.5 (1.00) Pin No. B B P.GND A P.GND B A A VCC2 Vref Mode 1 Mode 2 Mode 3 16(.63) Terminal name 11(.43) 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 5.6 (.22) Pin No. PMM8713PT Dimensions [Unit: mm(inch)] Each Terminal Function Terminal name Function Functioning condition Vref Motor current setting input - Clock Motor driving pulse input Mode 3="H"level: Operates at rising edge CW/CCW Motor rotation direction setting input 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 Mode 3="L"level: Operates at rising and falling edges "H" level= CW rotation "L" level= CCW rotation Outputs level signal on the present phase energization status. energization status B phase _ A phase _ B phase H L L H L H L H Phase coordinate A phase M01 M02 Energization Mode Table Input condition Energization mode Mode 3 1 step angle (degree) Number of basic angle division Mode 1 Mode 2 L L H 2EX 1.8 1 /1 H L H 1-2EX 0.9 1 /2 1 /4 L H H W1-2EX 0.45 H H H 2W1-2EX 0.225 1/ 8 H H L 4W1-2EX 0.1125 1/16 * Conditioned on the Mode 3=L, one pulse operation is performed at every rising and falling edge of the clock pulse. Accordingly, the operation becomes unstable if the driving pulse duty ratio deviates from 50%. 122 HIC (DC power input) Electrical Characteristics (Tc=25C, Vcc1=24V, Vcc2=5V) Rating Item Symbol Condition Unit MIN. Standard MAX. VCC2 Power current ICCO Enable="L" - 4.5 Effective output current Io ave Each phase R/L=3.5/3.8mH 0.45 0.50 0.55 A V 15 mA Vref=0.6V Forward direction voltage of FET diode Vdf If=1A - 1.2 1.8 Output saturating voltage Vsat RL=7.5 (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 - Input current IIL 9~11,14~18 pins=GND level 125 Vref input voltage Vr 8-pin 0 - VCC2/2 V Vref input curren Ir 8-pin - 1 - A VOH 19~21 pins I=3mA 2.4 - - V - - 0.4 V - 250 1.0 V 510 A Pull-up resistor 20k "H" level output voltage M0I,M01,M02 I=-3mA VOL "L" level output voltage 19~21 pins I=3mA M0I,M01,M02 I=3mA - FC PWM frequency 37 47 57 kH Example of Application Circuit VCC2(5V) PMM2301 VCC1 7 19 12 20 13 21 9 6 10 5 11 2 Clook 14 1 CW/CCW 15 Reset 16 Return 17 Endde 18 10~45V External output White Orange + Blue Energization mode setting C1 Red Yellow Stepping motor 3 4 8 22 P.GND R1 + Vref C2 R2 GND Recommended circuit constants C1 C2 100F OR OVER 10F * 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 0.6 123 Black 124 PMM2301 PMM2101 PMM8713PT MEMO 125 126 2-PHASE STEPPING SYSTEMS STEPPING SYSTEMS Stepping Systems http://www.sanyodenki.com 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 *Remarks : Specifications are subject to change without notice. Phone:+33 1 48 63 26 61 CATALOG No.759-4 '04.8.3DN E ENGLISH