SAN MOTION SANYO DENKI AMERICA CORE PRODUCTS MOTION AND CONT m 4th Edition Rev.2 SANYO DENKI SANMOTION is the brand name for SANYO DENKI motion control systems. SANYO DENKI is a worldwide provider of stepping and servo systems. Our products are known for their high quality, reliability and state of the art design. Our systems are used in a variety of industries which include factory automation, semiconductor, medical, and office automation. With highly sophisticated control, this model offers a reduction in position settling time and advanced safety functions. 2.4 W to 5 kW MOTOR SIZE 14, 20, 40, 60, 80, 86, 130, 220 mm INTERFACE EtherCAT Analog/Pulse Input Indexer Modbus Hybrid system combining the ease-of-use of stepping motors with the reliability of servo motors. 0.05 to 6.1 N*m MOTOR SIZE 28, 42, 60, 86 mm INTERFACE EtherCAT Pulse Input Indexer Introduction High torque bipolar stepping motors and High performance microstep drivers. 0.041 to 4.4 N*m MOTOR SIZE NEMA 11, 17, 60 mm, 86 mm INTERFACE Pulse Input High torque bipolar stepping motors and High performance microstep drivers. 0.0065 to 19 N*m MOTOR SIZE 14 mm, NEMA 11, 17, 23, 50 mm, 60 mm, NEMA 34, 42 INTERFACE Pulse Input Indexer (RTA Product) Analog (RTA Product) SANMOTION C integrates motion control, robot control, and sequence control into one unit to provide major advantages in reduced device costs and shorter development times. For use in material handling robots and general industrial machinery. Image processing devices and a touch panel have also been developed as motion controller peripherals. INTERFACE EtherCAT New Models Evolved, Eco-efficient, and Easy to UseAC Servo Amplifier "SANMOTION R" 3E Model The 3E Model has a speed frequency response of 2.2 kHz, approximately twice that of our conventional product. The 3E Model is equipped with a gain increase function, a function for suppressing micro-vibrations at settling time, an adaptive notch filter for suppressing mechanical resonance, and a feed-forward vibration control function. 4-Axis Integrated EtherCAT Driver Vacuum Stepping Motor High speed serial communication enables 4-axis stepping motor operation. In addition to the conventional closed loop control that eliminates step-out, the new model includes a mode that also eliminates delays in position commands. Without any delays in position commands, device takt time is reduced. Vacuum stepping motors can be driven in a vacuum environment without requiring a vacuum feedthrough. Use as vacuum compatible actuators while retaining the stepping motor benefits of easy high-precision openloop control. 14 mm sq. Compact Stepping Motor 42 mm sq. High Torque Stepping Motor Longer model in the compact 2-phase stepping motor released. Though small in size, its holding torque is significant at 1.42 oz-in. 10%* higher holding torque, 3 dB(A)* lower noise levels, 2.4%* improved efficiency. This enables precise positioning and thereby shortens positioning time as well. * Approximate value. Compared with our current model. Introduction Index Introduction .............................................................. 2 SANMOTION R AC Servo Systems ........................... 6 Features .................................................................... 6 Combination Chart .................................................... 7 Motors ...................................................................... 8 Amplifiers ............................................................... 26 3E Model Analog/Pulse Input Type Servo Amplifier ..... 26 Indexer Type Servo Amplifier .................................. 31 Indexer Modbus Interface Type Servo Amplifier ......... 36 3E Model EtherCAT Interface Type Servo Amplifier ..... 40 EtherCAT Interface Type Servo Amplifier ................... 45 EtherCAT Interface High Speed Type Servo Amplifier ... 50 Analog DC Input Type Servo Amplifier ...................... 55 EtherCAT Interface DC Input Type Servo Amplifier ...... 59 EtherCAT Interface DC Input Type Multi Axis Servo Amplifier ....... 63 SANMOTION Model No. PB Closed Loop Stepping Systems .............................. 70 Features .................................................................. 70 Combination Chart .................................................. 71 Motors .................................................................... 72 Drivers .................................................................... 81 SANMOTION F5 5-phase Stepping Systems ............ 98 Features .................................................................. 98 Combination Chart .................................................. 99 Motors ................................................................... 100 Drivers ................................................................... 112 SANMOTION F2 2-phase Stepping Systems ......... 116 Features ................................................................ 116 Combination Chart ................................................ 116 Motors .................................................................. 119 Drivers .................................................................. 158 SANMOTION C Motion Controller ........................ 162 Features ................................................................ 162 Specifications ....................................................... 163 SANYO DENKI AMERICA CORE PRODUCTS AC SERVO SYSTEMS High Response The 3E Model has a speed frequency response of 2.2 kHz, approximately twice that of our conventional product. Additionally, the position settling time has been shortened to 1/3 of the original time. Position deviation Position command frequency 0 [Pulse/s] Conventional model In-position range 0 [Pulse] Settling time: 1/3 of current model EtherCAT Model Model-based Following Control Auto Tuning Vibration Suppression Control Disturbance Suppression Homing Mode Position Mode (PP, CSV, IP*) Velocity Mode (PV, CSV) Torque Mode (TQ, CST) Safety Function *High speed type only Vibration Suppression Control Feed forward vibration suppression control eliminates the typical vibrations seen at stationary positions in a servo system. This noise suppression is easily reduced by using simple onboard tuning procedures. Indexer Model Auto Tuning Vibration Suppression Control Disturbance Suppression Point data: Max. 254 points Position Command Range: 31 bit Homing Function Point Loop/Conditional Jump Jogging Function Improved Control Accuracy The 3E Model is equipped with a gain increase function, a function for suppressing micro-vibrations at settling time, an adaptive notch filter for suppressing mechanical resonance, and a feed-forward vibration control function. High-gain control Disturbance Speed Conventional model Vibration suppression by adaptive notch filter Conventional model Starts when vibrations occur Adaptive notch filter 6 After adaptation Analog/Pulse Input Model Model-based Following Control Auto Tuning Vibration Suppression Control Disturbance Suppression Position command Pulse Input Frequency: Max. 5M Hz Velocity Command** Analog Voltage: Max. 12V Preset Command: 3 points Torque Command** Analog Voltage: Max. 12V **AC input type only Medium Capacity Motors Rated Power 0.55 kW 1.2 kW 2 kW 5 kW Flange Size mm inch 130 5.12 130 5.12 130 5.12 220 8.67 Rated Peak Torque Servo Amplifier Interface Speed Torque at Stall EtherCAT Indexer Modbus Analog / Pulse Model Page N*m N*m 200 VAC 100 VAC 48 VDC 24 VDC 200 VAC 200 VAC 200 VAC 48 VDC min -1 lb * in lb * in 2.6 7 Max. 5000 21 n n n 23 62 Rated 2000 R2AA13050D 5.7 16 Max. 5000 22 n n n 50 142 Rated 2000 R2AA13120D 9.5 30 Max. 5000 23 n n n 84 265 Rated 2000 R2AA13200D 24 75 Max. 4000 24 n n n 212 664 Rated 2000 R2AA22500L Linear Actuator Rated Thrust 5.1 N Motor Size mm inch 12 0.47 Rated Thrust N lb 5.1 1.2 Peak Servo Amplifier Interface Speed Thrust EtherCAT Indexer Modbus Analog / Pulse Model Page N m/s 200 VAC 100 VAC 48 VDC 24 VDC 200 VAC 200 VAC 200 VAC 48 VDC lb 16.5 Max. 2.0 DE0AC001A03MX00 n25 3.71 Rated 1.0 7 Closed Loop Stepping Systems 5-Phase Stepping Systems Flange Rated Peak Torque Servo Amplifier Interface Speed Size Torque at Stall EtherCAT Indexer Modbus Analog / Pulse Model Page N*m mm N*m -1 min 200 VAC 100 VAC 48 VDC 24 VDC 200 VAC 200 VAC 200 VAC 48 VDC inch lb * in lb * in 14 0.023 0.06 Max. 1500 R2GAD102RM n 8 2.4 W 0.55 0.204 0.53 Rated 1000 0.064 0.23 Max. 6000 R2GA02D20F n 20 0.57 2.04 Rated 3000 9 20 W 0.79 0.064 0.18 Max. 4500 R2FA02D20D n 1.59 Rated 3000 0.53 0.095 0.38 Max. 6000 R2GA02D30F n 20 0.84 3.4 Rated 3000 10 0.095 0.38 Max. 3000 0.79 R2FA02D30H n 3.4 Rated 3000 0.84 0.098 0.37 Max. 6000 R2AA04003F n n n n 30 W 0.87 3.3 Rated 3000 R2EA04003F n 40 0.098 0.24 Max. 6000 R2GA04003F nn 11 1.57 0.87 2.1 Rated 3000 0.33 Max. 6000 0.098 R2FA04003F n 2.9 Rated 3000 0.87 0.159 0.59 Max. 6000 R2AA04005F n n n n 1.41 5.2 Rated 3000 R2EA04005F n 40 0.159 0.54 Max. 6000 R2GA04005F n 12 50 W n 1.57 1.41 4.8 Rated 3000 0.40 Max. 4500 0.159 R2FA04005D n 3.5 Rated 3000 1.41 0.255 0.86 Max. 6000 R2EA04008F n 40 2.27 7.6 Rated 3000 13 80 W 1.57 0.255 0.86 Max. 5000 R2GA04008D n n 2.27 7.6 Rated 3000 40 0.318 1.18 Max. 6000 100 W R2AA04010F n 14 n n n (90 W) 1.57 2.81 10.4 Rated 3000 60 0.318 0.84 Max. 2500 R2FA06007R n 15 70 W 2.36 2.81 7.43 Rated 2100 0.318 1.13 Max. 6000 R2AA06010F n n n n 2.81 10.0 Rated 3000 60 0.318 1 Max. 6000 R2EA06010F 16 100 W 2.36 n 2.81 8.8 Rated 3000 0.318 0.84 Max. 5000 R2GA06010D n n 2.81 7.43 Rated 3000 0.637 2.2 Max. 6000 R2AA06020F n n n n 60 5.64 19.5 Rated 3000 R2EA06020F n 17 200 W 2.36 0.637 1.5 Max. 4500 R2GA06020D n n 5.64 13.3 Rated 3000 1.27 4.8 Max. 6000 R2AA06040FX n n n n 60 11.2 42 Rated 3000 400 W 18 1.15 4.8 Max. 6000 (360 W) 2.36 R2AA06040FC n n n n 10.2 42 Rated 3000 80 2.39 8.5 Max. 6000 R2AA08075F n 750 W n n n19 3.15 21.2 75 Rated 3000 86 3.18 11.6 Max. 6000 R2AAB8100H 1 kW nn n n20 3.39 28.1 102.7 Rated 3000 2-Phase Stepping Systems Rated Power Motion Controller Small Capacity Motors AC Servo Systems Lineup AC SERVO SYSTEMS 2.4 W MOTOR POWER 14 mm (0.55 inch) MOTOR FLANGE SIZE n Specifications n Torque Curve l R2GAD102RM Power Supply 48 VDC Model R2GAD102RMXH30 Rated Power kW0.0024 Maximum Speed min-11500 Rated Speed min-11000 N * m0.023 Rated Torque lb * in0.204 N * m0.06 Peak Torque at Stall lb * in0.53 x10-4 kg * m2 0.0023 Rotor Moment of Inertia lb * in20.000786 Encoder 17bit serial absolute kg0.15 Motor Mass lb0.33 Operating Temperature 0 to 40C (32 to 104F) Humidity20 ~ 90% RH, no condensation Torque (N * m) 0.08 0.04 Instantaneous Zone 0.02 Continuous Zone 0 0 500 1000 1500 2000 Speed (min-1) n Dimension Unit: mm (inch) 0.02 862 (3.39.078) M 1100100 (43.33.9) 150.5 (.59.02) 0.02 0.02 M Encoder cable (shielded) 28AWGx2pairs 2 (.078) 1140100 (44.93.9) [(.18)] ( 4.5) [40 (1.57)] [(.47)] 19 (.75) (12) 0 M 0 ( .16-.0003 ) 2-M2.5 Depth 5(.2) 0 13. 6 (.54 0.1 .0 04) 4 -0.008 14 (.55) 0 11 -0.018 ( .43-.0007) 14 (.55) 0.06 Motor cable Motor, Ground 26AWGx4Cond n Applicable Amplifier Power Supply Motor EtherCAT Amplifier Indexer Modbus R2GAD102RMXH30 48 VDC RF2J14A0HL5 *3 1027-116392 *3 1027-: w/ CPC screw lock type connector assembly. 8 Analog/Pulse n Torque Curve l R2GA02D20F Power Supply Model Rated Power Maximum Speed Rated Speed 48 VDC 24 VDC R2GA02D20F R2FA02D20D kW 0.02 0.02 6000 4500 min-1 3000 3000 min-1 N*m 0.064 0.064 Rated Torque 0.57 0.57 lb * in N*m 0.23 0.18 Peak Torque at Stall 2.04 1.59 lb * in x10-4 kg * m2 0.0033 0.0033 Rotor Moment of Inertia 0.0011 0.0011 lb * in2 2000 P/R incremental 13bit serial absolute Encoder kg 0.14 0.14 Motor Mass lb 0.31 0.31 0 to 40C (32 to 104F) Operating Temperature Humidity20 ~ 90% RH, no condensation 0.25 Torque (N * m) 0.20 0.15 Instantaneous Zone 0.10 0.05 0 Continuous Zone 0 1000 2000 3000 4000 5000 6000 Speed (min-1) l R2FA02D20D 0.25 Torque (N * m) 0.20 0.15 0.10 Instantaneous Zone 0.05 n Dimension 0 Unit: mm (inch) 0.04 20 (.79) sq M 200.8 0.02 (.79.03) 0.06 20.3 M R2GA02D20FXS00: 931 (3.67.04) R2FA02D20DXC00: 891 (3.50.04) Continuous Zone 0 1000 2000 3000 4000 5000 6000 Speed (min-1) Encoder Dimensions for R2FA02D20DXC00 (.08.012) [16 (.63)] ( [ 1.5 (.06)] Motor cable 24AWG (for power and GND) 25030(9.81.18) 25030(9.81.18) [49.5 (1.95)] (6.2) [(.24)] ( 5.1) [(.2)] Encoder cable (shielded) 26AWG, 4 pairs (17.3) [(.68)] [ 4.8 (.19)] 25030 (9.81.18) [7.1(.28)] 0 5 -0.008 0 .20 -.0003 Oilseal eliminated ) M 2-M3x0.5 Effective length 6 (.24) or more 2-Phase Stepping Systems ( 0 17 -0.018 0 .67 -.0003 ) 22 (.87 0.2 .0 0 8) Closed Loop Stepping Systems n Specifications AC Servo Systems 20 mm (0.79 inch) MOTOR FLANGE SIZE 5-Phase Stepping Systems 20 W MOTOR POWER Encoder cable (shielded) AWG26, 2 pairs Power Supply Motor EtherCAT 48 VDC R2GA02D20FXS00 1027-107013*3 24 VDC R2FA02D20DXC00 RS2J04A2HA5 1027-116393*3RF2K24A0HL5 Amplifier Indexer Modbus Analog/Pulse *3 1027-: w/ CPC screw lock type connector assembly. 9 Motion Controller n Applicable Amplifier AC SERVO SYSTEMS 30 W MOTOR POWER MOTOR FLANGE SIZE 20 mm (0.79 inch) n Torque Curve n Specifications l R2GA02D30F Power Supply Model Rated Power Maximum Speed Rated Speed 48 VDC 24 VDC R2GA02D30F R2FA02D30H kW 0.03 0.03 6000 3000 min-1 3000 3000 min-1 * N m 0.095 0.095 Rated Torque 0.84 0.84 lb * in N*m 0.38 0.38 Peak Torque at Stall 3.36 3.36 lb * in x10-4 kg * m2 0.0046 0.0046 Rotor Moment of Inertia 0.0016 0.0016 lb * in2 2000 P/R incremental 13bit serial absolute Encoder kg 0.18 0.18 Motor Mass lb 0.4 0.4 Operating Temperature 0 to 40C (32 to 104F) Humidity20 ~ 90% RH, no condensation Torque (N * m) 0.4 0.3 0.2 Instantaneous Zone 0.1 0 Continuous Zone 1000 2000 3000 4000 5000 6000 0 Speed (min-1) l R2FA02D30H Torque (N * m) 0.4 0.3 0.2 Instantaneous Zone 0.1 Continuous Zone n Dimension 0 0 1000 2000 3000 4000 5000 6000 Speed (min-1) Unit: mm (inch) 0.04 M 0.06 Encoder Dimensions for R2FA02D30FXC00 20.3 (.02.012) M ( 0 17 -0.018 0 .67 -.0003 ) 20 (.79) sq 22 (.87 0.2 .00 8) R2GA02D30FXS00: 1121 (4.41.04) R2FA02D30HXC00: 1081 (4.25.04) 200.8 (.79.03) 0.02 [ 1.5 (.06)] Motor cable 24AWG (for power and GND) (6.2) [(.24)] ( 5.1) [(.2)] Encoder cable (shielded) 26AWG, 4 pairs (17.3) [(.68)] [ 4.8 (.19)] 25030 (9.81.18) [16 (.63)] 25030(9.81.18) 25030(9.81.18) [68.5 (2.70)] ( eliminated [7.1(.28)] 0 5 -0.008 0 .20 -.0003 Oilseal ) M 2-M3x0.5 Effective length 6 (.24) or more Encoder cable (shielded) AWG26, 2 pairs n Applicable Amplifier Power Supply Motor EtherCAT 48 VDC R2GA02D30FXS00 1027-107014*3 24 VDC R2FA02D30HXC00 RS2J04A2HA5 1027-116394*3RF2K24A0HL5 *3 1027-: w/ CPC screw lock type connector assembly. 10 Amplifier Indexer Modbus Analog/Pulse AC Servo Systems 40 mm (1.57 inch) MOTOR FLANGE SIZE n Torque Curve n Specifications l R2AA04003F kW min-1 min-1 N*m Rated Torque lb * in N*m Peak Torque at Stall lb * in x10-4 kg * m2 Rotor Moment of Inertia lb * in2 Encoder kg Motor Mass lb Operating Temperature Humidity 0.35 0.78 100 VAC 48 VDC 24 VDC R2EA04003F R2GA04003F R2FA04003F 0.03 0.03 0.03 6000 6000 6000 3000 3000 3000 0.098 0.098 0.098 0.87 0.87 0.87 0.37 0.37 0.33 3.3 3.3 2.92 0.028 0.0247 0.0247 0.0095 0.0084 0.0084 17 bit serial absolute 0.35 0.35 0.37 0.78 0.78 0.82 0 to 40C (32 to 104F) 20 to 90% RH, no condensation 0.4 Torque (N * m) 200 VAC R2AA04003F 0.03 6000 3000 0.098 0.87 0.37 3.3 0.028 0.0095 0.3 Instantaneous Zone 0.2 0.1 0 Continuous Zone 1000 2000 3000 4000 5000 6000 0 Speed (min-1) l R2EA04003F 0.4 Torque (N * m) Power Supply Model Rated Power Maximum Speed Rated Speed 0.3 Instantaneous Zone 0.2 0.1 0 Continuous Zone Closed Loop Stepping Systems 30 W MOTOR POWER 1000 2000 3000 4000 5000 6000 0 Unit: mm (inch) 25 (1) w/o Brake : 51.51 (2.06.04) w/o Brake for R2FA04003F: 62.51 (2.46.04) w/ Brake for R2FA04003F: 98.51 (3.88.04) 2.5 (.1) 5 (.2) 0.07 M 0.02 0 0 46 (1 20 (.8) ) [ 56 Encoder Dimensions for R2AA04003FXP* R2EA04003FXP* R2GA04003FXP* 0.4 ( 4.5 (.18) 30 -0.021 (1.18-.00084) 2- 0.06 M )] 24 (2. 0 0 6 -0.008 .24-.00032 40 (1.6) l R2GA04003F Torque (N * m) n Dimension 0.3 0.2 Instantaneous Zone 0.1 0 M Continuous Zone 1000 2000 3000 4000 5000 6000 0 Speed (min-1) 5-Phase Stepping Systems Speed (min-1) l R2FA04003F .84 ) Encoder cable (sheilded) 26AWG, 2pair 5 (.19) Encoder cable (shielded) 26AWG, 3pair 0.3 0.2 Instantaneous Zone 0.1 0 Continuous Zone 0 1000 2000 3000 4000 5000 6000 n Applicable Amplifier Power Supply Speed (min-1) Motor EtherCAT 200 VAC R2AA04003FXP00M(E01)*3 RS2A01A0KA4 RS2A01A2HA5 100 VAC R2EA04003FXP00M(E01)*3 RS2E01A0KA4 Amplifier Indexer Modbus RS1A01AC R2GA04003FXP00MRS2K04A2HA5 48 VDC 1027-116504*3RF2K24A0HL5 24 VDC RS1A01AF Analog/Pulse RS3A01A0AA4 RF2G21A0A00 R2FA04003FXR03M 1027-116396*3RS2J04A2HA5 R2FA04003FCR03M 1027-116395*3 w/Brake 2-Phase Stepping Systems 1100100 (40 4) 1100100 (40 4) 5 (.19) RF2K24A0HL5 *3 E01 and 1027-: w/ CPC screw lock type connector assembly. 11 Motion Controller Brake cable 23AWG 5 (.19) Torque (N * m) Motor cable Motor, Ground 0.75 mm2 1100100 (40 4) 1100100 (40 4) 0.4 6 (.23) AC SERVO SYSTEMS 50 W 40 mm (1.57 inch) MOTOR FLANGE SIZE n Torque Curve n Specifications l R2AA04005F 200 VAC R2AA04005F 0.05 6000 3000 0.159 1.41 0.59 5.22 0.0409 0.0139 kW min-1 min-1 N*m Rated Torque lb * in N*m Peak Torque at Stall lb * in x10-4 kg * m2 Rotor Moment of Inertia lb * in2 Encoder kg Motor Mass lb Operating Temperature Humidity 0.39 0.87 100 VAC 48 VDC 24 VDC R2EA04005F R2GA04005F R2FA04005D*2 0.05 0.05 0.05 6000 6000 4500 3000 3000 3000 0.159 0.159 0.159 1.41 1.41 1.41 0.59 0.59 0.40 5.22 5.22 3.54 0.0409 0.0376 0.0376 0.0139 0.0128 0.0128 17bit serial absolute*1 0.39 0.39 0.41 0.87 0.87 0.90 0 to 40C (32 to 104F) 20 to 90% RH, no condensation 0.8 Torque (N * m) Power Supply Model Rated Power Maximum Speed Rated Speed 0.6 0.4 Instantaneous Zone 0.2 0 Continuous Zone 0 1000 2000 3000 4000 5000 6000 Speed (min-1) l R2EA04005F 0.8 Torque (N * m) MOTOR POWER 0.6 0.4 Instantaneous Zone 0.2 0 Continuous Zone 1000 2000 3000 4000 5000 6000 0 Speed (min-1) *1 2000 p/r incremental encoder equipped motor is also available for R2AA04005F. *2 Brake equipped motor is available. Refer to page 67 for brake specifications. l R2GA04005F 0.8 n Dimension w/o Brake : 56.51 (2.24.04) w/o Brake for R2FA04005D: 67.51 (2.66.04) w/ Brake for R2FA04005D: 103.51 (67.5.04) 0.07 M 0.02 (1 5 (.2) 20 (.8) 0.4 Instantaneous Zone 0.2 0 Continuous Zone 1000 2000 3000 4000 5000 6000 0 Speed (min-1) M l R2FA04005D .84 0.8 Motor cable Motor, Ground 0.75 mm2 Brake cable 23AWG 5 (.19) 5 (.19) 1100100 (40 4) 1100100 (40 4) 6 (.23) 1100100 (40 4) 1100100 (40 4) ) Encoder cable (sheilded) 26AWG, 2pair 5 (.19) Encoder cable (shielded) 26AWG, 3pair Torque (N * m) 0 0 46 2.5 (.1) 0 56 30 -0.021 (1.18-.00084) [ 25 (1) 0.06 M )] 24 (2. 0.6 0 4.5 (.18) 6 -0.008 (.24-.00032) 40 (1.6) 2- Encoder Dimensions for R2AA04005DXP* R2EA04005DXP* R2GA04005DXP* Torque (N * m) Unit: mm (inch) 0.6 0.4 Instantaneous Zone 0.2 0 Continuous Zone 0 Speed (min-1) n Applicable Amplifier Power Supply Motor Amplifier Indexer Modbus EtherCAT RS2A01A0KA4 RS2A01A2HA5 200 VAC R2AA04005FXP00M(E01)*3 100 VAC R2EA04005FXP00M(E01)*3RS2E01A0KA4 RS1A01AC R2GA04005FXP00MRS2K04A2HA5 48 VDC RF2K24A0HL5 1027-116505*3 24 VDC R2FA04005DXR03M 1027-116398*3 R2FA04005DCR03M 1027-116397*3 RS2J04A2HA5 w/Brake *3 E01 and 1027-: w/ CPC screw lock type connector assembly. 12 1000 2000 3000 4000 5000 6000 RF2K24A0HL5 RS1A01AF Analog/Pulse RS3A01A0AA4 RF2G21A0A00 n Torque Curve *2 Brake equipped motor is available. Refer to page 67 for brake specifications. l R2EA04008F 1.0 0.8 0.6 Instantaneous Zone 0.4 0.2 0 Continuous Zone 0 1000 2000 3000 4000 5000 6000 Speed (min-1) l R2GA04008D 1.0 0.8 0.6 Instantaneous Zone 0.4 0.2 n Dimension Unit: mm (inch) 0.02 2.5 (.1) 5 (.2) 5 0 M .84 Motor cable (for mounting) (for power and GND) Brake cable (for mounting) 5 (.2) [50 (2)] 1100100 (43.31 4) 5 (.2) [50 (2)] 1100100(43.31 4) 6 (.24) [50 (2)] 1100100 (43.31 4) ) 2-Phase Stepping Systems 35.4 (1.39) 0 (1 0 0 46 1000 2000 3000 4000 5000 6000 20 (.79) 2. 6( 8 -0.009 (.32-.0003) [ Continuous Zone 0 w/o Brake: 721 (2.80.04) w/ Brake:1081 (4.25.04) 25 (.98) 0.06 M )] 20 4.5 (.18) 30 -0.021 (1.18-.00084) 2- 0 Speed (min-1) 0.07 M 40 (1.57) Closed Loop Stepping Systems 100 VAC 48 VDC R2GA04008D*2 R2EA04008F*2 kW 0.08 0.08 6000 5000 min-1 3000 3000 min-1 * N m 0.255 0.255 Rated Torque 2.27 2.27 lb * in N*m 0.86 0.86 Peak Torque at Stall 7.6 7.6 lb * in x10-4 kg * m2 0.066 0.0627 Rotor Moment of Inertia 0.023 0.021 lb * in2 Encoder 17bit serial absolute kg 0.51 0.51 Motor Mass lb 1.13 1.13 Operating Temperature0 to 40C (32 to 104F) Humidity 20 to 90% RH, no condensation Torque (N * m) Power Supply Model Rated Power Maximum Speed Rated Speed Torque (N * m) n Specifications AC Servo Systems 40 mm (1.57 inch) MOTOR FLANGE SIZE 5-Phase Stepping Systems 80 W MOTOR POWER Shield cable (for mounting) (for encoder) Power Supply Motor R2EA04008FXP00M(E01)*3 100 VAC R2EA04008FCP00M(E01)*3 R2GA04008DXP00M 1027-107016*3 48 VDC R2GA04008DCP00M 1027-107015*3 EtherCAT w/ Brake w/ Brake Amplifier Indexer Modbus Analog/Pulse RS2E01A0KA4 RS2K04A2HA5 RF2K24A0HL5 RF2G21A0A00 *3 E01 and 1027-: w/ CPC screw lock type connector assembly. 13 Motion Controller n Applicable Amplifier AC SERVO SYSTEMS 100 W 40 mm (1.57 inch) MOTOR FLANGE SIZE n Specifications n Torque Curve Power Supply Model Rated Power Maximum Speed Rated Speed 200 VAC R2AA04010F*2 kW 0.1 (0.09 *2) 6000 min-1 -1 3000 min N*m 0.318 (0.286*2) Rated Torque 2.81 (2.04*2) lb * in N*m 1.18 Peak Torque at Stall 10.4 lb * in x10-4 kg * m2 0.066 Rotor Moment of Inertia 2 * 0.023 lb in Encoder 17bit serial absolute*1 kg 0.51 Motor Mass lb 1.13 Operating Temperature 0 to 40C (32 to 104F) Humidity20 to 90% RH, no condensation l R2AA04010F 2.0 Torque (N * m) MOTOR POWER 1.5 1.0 Instantaneous Zone 0.5 0 Continuous Zone 0 1000 2000 3000 4000 5000 6000 Speed (min-1) *1 2000 p/r incremental encoder equipped motor is also available. *2 ( ): Specification for brake motor. Refer to page 67 for brake specifications. n Dimension Unit: mm (inch) 0.07 M 0.02 0 0 (1 ) M .84 Motor cable (for mounting) (for power and GND) 5 (.2) Brake cable (for mounting) [50 (2)] 5 (.2) 1100100 (43.31 4) [50 (2)] 6 (.24) [50 (2)] 1100100(43.31 4) ) 1100100 (43.31 4) 46 20 (.8) ( 56 5 (.2) 0 .32-.0003 [ 2.5 (.1) 0 8 -0.009 4.5 (.18) 30 -0.021 (1.18-.00084) 2- w/o Brake: 721 (2.80.04) w/ Brake:1081 (4.25.04) 25 (1) 0.06 M )] 24 (2. 35.4 (1.39) 40 (1.57) Shield cable (for mounting) (for encoder) n Applicable Amplifier Power Supply Motor EtherCAT Amplifier Indexer Modbus Analog/Pulse *3 R2AA04010FXP00M(E01) RS3A01A2HA4 200 VAC R2AA04010FCP00M6(E01) RS2A01A0KA4 *3 *3 E01: w/ CPC screw lock type connector assembly 14 w/ Brake RS2A01A2HA5 RS1A01AC RS1A01AF RS3A01A0AA4 AC Servo Systems 60 mm (2.36 inch) MOTOR FLANGE SIZE n Torque Curve n Specifications l R2FA06007R Power Supply Model Rated Power Maximum Speed Rated Speed 24 VDC R2FA06007R*2 kW 0.07 2500 min-1 2100 min-1 * N m 0.318 Rated Torque 2.81 lb * in N*m 0.84 Peak Torque at Stall 7.43 lb * in x10-4 kg * m2 0.117 Rotor Moment of Inertia 0.040 lb * in2 17bit serial absolute Encoder kg 0.74 Motor Mass lb 1.63 0 to 40C (32 to 104F) Operating Temperature Humidity20 to 90% RH, no condensation Torque (N * m) 1.0 0.8 0.6 0.4 0.2 0 Instantaneous Zone Continuous Zone 0 1000 2000 3000 4000 5000 6000 Speed (min-1) Closed Loop Stepping Systems 70 W MOTOR POWER n Dimension Unit: mm (inch) 0.07 M 0.02 25 (.98) 0.06 M 3 (.12) 20 (.79) ) ( 6 (.23) Motor cable Motor, Ground 0.75 mm2 5 (.19) Brake cable 23AWG 2-Phase Stepping Systems )] 44.4 (1.75) 28 M 1100100 (40 4) (3. 0 .55-.0004 0 0 82 0 14 -0.011 50 -0.025 (2 -.001) [ 6 (.24) ) 2.8 ( 70 1100100 (40 4) 5.5 (.22) w/o Brake: 68.51 (2.70.04) w/ Brake: 92.51 (3.64.04) 1100100 (40 4) 60 (2.36) 4- 5-Phase Stepping Systems *2 Brake equipped motor is available. Refer to page 67 for brake specifications. 5 (.19) Encoder cable (sheilded) 26AWG, 2pair Power Supply 24 VDC Motor EtherCAT R2FA06007RXR03M 1027-116400*3 R2FA06007RCR03M 1027-116399*3 Amplifier Indexer Modbus Analog/Pulse RS2J04A2HA5 w/Brake RF2K24A0HL5 *3 1027-: w/ CPC screw lock type connector assembly. 15 Motion Controller n Applicable Amplifier AC SERVO SYSTEMS 100 W MOTOR FLANGE SIZE 60 mm (2.36 inch) n Torque Curve Power Supply 200 VAC 100 VAC 48 VDC Model R2AA06010F R2EA06010F R2GA06010D Rated Power kW 0.1 0.1 0.1 6000 6000 5000 Maximum Speed min-1 3000 3000 3000 Rated Speed min-1 N*m 0.318 0.318 0.318 Rated Torque 2.81 2.81 2.81 lb * in N*m 1.13 1 0.84 Peak Torque at Stall 10.0 8.80 7.43 lb * in x10-4 kg * m2 0.1203 0.1203 0.117 Rotor Moment of Inertia 0.0409 0.0409 0.0400 lb * in2 Encoder 17bit serial absolute*1 kg 0.71 0.71 0.71 Motor Mass lb 1.58 1.58 1.58 Operating Temperature 0 to 40C (32 to 104F) Humidity20% to 90% RH, no condensation *1 2000 p/r incremental encoder equipped motor is also available for R2AA06010F. n Dimension l R2AA06010F 1.2 1.0 Torque (N * m) n Specifications 0.6 Instantaneous Zone 0.4 0 Continuous Zone 0 l R2EA06010F 1.2 1.0 0.8 0.6 Instantaneous Zone 0.4 0.2 Unit: mm (inch) 0.02 25 (.98) 0.06 M 0 .8) 1.2 44.6 (1.76) M 28 )] Motor cable (for mounting) (for power and GND) 5 (.2) [50 (2)] [50 (2)] 6 (.24) 1.0 Torque (N * m) (3. l R2GA06010D 1100100 (43.31 4) 82 Speed (min-1) 0 0 0 [ 1000 2000 3000 4000 5000 6000 58.51 (2.34.04) 0 50 -0.025 (1.97-.001) (2 8 -0.009 (.31-.0003) 70 Continuous Zone 0 6 (.24) 3 (.12) 20 (.79) 1100100 (43.31 4) 60 (2.36) 5.5 (.22) 1000 2000 3000 4000 5000 6000 Speed (min-1) 0.07 M 4- 0.8 0.2 Torque (N * m) MOTOR POWER 0.8 0.6 Instantaneous Zone 0.4 0.2 0 Continuous Zone 0 1000 2000 3000 4000 5000 6000 Speed (min-1) Shield cable (for mounting) (for encoder) n Applicable Amplifier Power Supply Motor EtherCAT Amplifier Indexer Modbus RS3A01A2HA4 200 VAC R2AA06010FXP00M(E01)*3 RS2A01A0KA4 RS1A01AC RS1A01AF RS2A01A2HA5 R2EA06010FXP00M(E01)*3 100 VAC RS2E01A0KA4 R2EA06010FCP00M(E01)*3 w/ Brake R2GA06010DXP00MRS2K04A2HA5 48 VDC 1027-107017*3RF2K24A0HL5 *3 E01 and 1027-: w/ CPC screw lock type connector assembly 16 Analog/Pulse RS3A01A0AA4 RF2G21A0A00 n Torque Curve 2.0 1.5 0.5 0 Continuous Zone 0 1000 2000 3000 4000 5000 6000 Speed (min-1) l R2EA06020F 2.5 2.0 Unit: mm (inch) 0.07 M 0.02 1.5 Instantaneous Zone 1.0 30 (1.18) 0.06 M M 28 Motor cable (for mounting) (for power and GND) Brake cable (for mounting) [50 (2)] 5 (.2) 1100100 (43.31 4) 5 (.2) [50 (2)] 6 (.24) [50 (2)] 1100100 (43.31 4) )] Shield cable (for mounting) (for encoder) Torque (N * m) 2.5 44.6 (1.76) (3. 0 0 0 82 Speed (min-1) l R2GA06020D 0 50 -0.025 (2 -.001) [ 1000 2000 3000 4000 5000 6000 25 (0.98) .7 (2 14 -0.011 (.55-.0004) 70 Continuous Zone 0 6 (.24) 3 (.12) 6) 0 w/o Brake: 69.51 (2.74.04) w/ Brake: 97.51 (3.84.04) 1100100 (43.31 4) 60 (2.36) 5.5 (.22) Closed Loop Stepping Systems Instantaneous Zone 1.0 0.5 n Dimension 4- 2.5 5-Phase Stepping Systems *1 2000 p/r incremental encoder equipped motor is also available for R2AA06020F. *2 Brake equipped motor is available. Refer to page 67 for brake specifications. l R2AA06020F Torque (N * m) Power Supply 200 VAC 100 VAC 48 VDC R2AA06020F R2EA06020F*2 R2GA06020D*2 Model Rated Power kW 0.2 0.2 0.2 6000 6000 4500 Maximum Speed min-1 3000 3000 3000 Rated Speed min-1 N*m 0.637 0.637 0.637 Rated Torque 5.64 5.64 5.64 lb * in N*m 2.2 2.2 1.5 Peak Torque at Stall 19.5 19.5 13.3 lb * in x10-4 kg * m2 0.2223 0.2223 0.219 Rotor Moment of Inertia 2 * 0.0756 0.0756 0.0748 lb in Encoder 17bit serial absolute*1 kg 0.96 0.96 0.96 Motor Mass lb 2.13 2.13 2.13 Operating Temperature 0 to 40C (32 to 104F) Humidity20% to 90% RH, no condensation Torque (N * m) n Specifications AC Servo Systems 60 mm (2.36 inch) 2.0 1.5 Instantaneous Zone 1.0 0.5 0 Continuous Zone 0 1000 2000 3000 4000 5000 6000 Speed (min-1) n Applicable Amplifier Amplifier Power Supply Motor EtherCAT Indexer Modbus Analog/Pulse *3 R2AA06020FXP00M(E01) RS3A02A2HA4 RS2A01A0KA4 200 VAC R2AA06020FCP00M RS1A01AC RS1A01AF RS3A02A0AA4 w/ Brake 1027-107010*3RS2A01A2HA5 R2EA06020FXP00M(E01)*3 100 VAC RS2E03A0KA4 R2EA06020FCP00M(E01)*3 w/ Brake R2GA06020DXP00M 1027-107019*3RS2K04A2HA5RF2G21A0A00 48 VDC R2GA06020DCP00M RF2K24A0HL5 w/ Brake 1027-107018*3 *3 E01 and 1027-: w/ CPC screw lock type connector assembly 17 2-Phase Stepping Systems MOTOR FLANGE SIZE Motion Controller 200 W MOTOR POWER AC SERVO SYSTEMS 400 W MOTOR POWER 60 mm (2.36 inch) MOTOR FLANGE SIZE n Specifications n Torque Curve l R2AA06040F Power Supply 200 VAC Model R2AA06040F Rated Power kW 0.4 (0.36*2) -1 Maximum Speed min 6000 Rated Speed min-13000 N * m 1.27 (1.15*2) Rated Torque 11.2 (10.2*2) lb * in N * m4.8 Peak Torque at Stall lb * in42 x10-4 kg * m20.4153 Rotor Moment of Inertia lb * in20.142 Encoder 17bit serial absolute*1 kg1.4 Motor Mass lb3.11 Operating Temperature 0 to 40C (32 to 104F) Humidity20 to 90% RH, no condensation Torque (N * m) 8.0 6.0 4.0 Instantaneous Zone 2.0 0 Continuous Zone 0 1000 2000 3000 4000 5000 6000 Speed (min-1) *1 2000 p/r incremental encoder equipped motor is also available. *2 ( ): Specification for brake motor. Refer to page 67 for other brake specifications. n Dimension Unit: mm (inch) 0.07 M 0.02 ) .76 25 (.98) (3. M 23 Motor cable (for mounting) (for power and GND) Brake cable (for mounting) [50 (2)] 5 (.2) 5 (.2) [50 (2)] 6 (.24) 1100100(43.31 4) )] 1100100(43.31 4) 82 44.6 (1.76) 0 0 [ 0 (.55-.0004 ) (2 50 -0.025 (2 -.001) 70 6 (.24) [50 (2)] 5.5 (.22) 3 (.12) 0 14 -0.011 4- w/o Brake: 95.51 (3.76.04) w/ Brake: 123.51 (4.86.04) 30 (1.18) 0.06 M 1100100(43.31 4) 60 (2.36) Shield cable (for mounting) (for encoder) n Applicable Amplifier Power Supply Motor EtherCAT RS3A02A2HA4 R2AA06040FXP00M(E01)*3 RS2A03A0KA4 200 VAC R2AA06040FCP00M6(E01)*3 *3 E01: w/ CPC screw lock type connector assembly. 18 w/ Brake RS2A03A2HA5 Amplifier Indexer Modbus RS1A03AC RS1A03AF Analog/Pulse RS3A02A0AA4 n Specifications AC Servo Systems 80 mm (3.15 inch) MOTOR FLANGE SIZE n Torque Curve l R2AA08075F Power Supply 200 VAC Model R2AA08075F Rated Power kW0.75 Maximum Speed min-16000 Rated Speed min-13000 N * m2.39 Rated Torque lb * in21.2 N * m8.5 Peak Torque at Stall lb * in75 x10-4 kg * m21.8233 Rotor Moment of Inertia lb * in20.620 Encoder 17bit serial absolute*1 kg2.7 Motor Mass lb6 Operating Temperature 0 to 40C (32 to 104F) Humidity20 to 90% RH, no condensation 10 Torque (N * m) 8 6 Instantaneous Zone 4 2 0 Continuous Zone 0 1000 2000 3000 4000 5000 6000 Speed (min-1) Closed Loop Stepping Systems 750 W MOTOR POWER n Dimension Unit: mm (inch) 0.07 M 0.02 . ) 5 (.2) [50 (2)] [50 (2)] 5 (.2) 1100100 (43.31 4) 6 (.24) [50 (2)] 1100100 (43.31 4) 5)] Motor cable (for mounting) Brake cable (for mounting) (for power and GND) Shield cable (for mounting) (for encoder) n Applicable Amplifier Power Supply Motor EtherCAT R2AA08075FXP00M(E01) RS3A03A2HA4 200 VAC RS2A03A0KA4 R2AA08075FCP00M(E01)*3 w/ Brake RS2A03A2HA5 Amplifier Indexer Modbus Analog/Pulse *3 RS1A03AC RS1A03AF RS3A03A0AA4 *3 E01: w/ CPC screw lock type connector assembly. 19 Motion Controller M 4.2 2-Phase Stepping Systems 54.4 (2.14) 8( 35 (1.38) ( 0 10 w/o Brake: 107.31 (4.22.04) w/ Brake:1431 (5.63.04) 8 (.32) 0 .56-.0004 (3 0 [ 3 (.12) 0 16 -0.011 90 70 -0.030 (2.76 -.012 ) 6.6 (.264) 40 (1.57) 0.06 M ) 54 1100100 (43.31 4) 80 (3.15) 4- 5-Phase Stepping Systems *1 2000 p/r incremental encoder equipped motor is also available. AC SERVO SYSTEMS 1 kW MOTOR POWER 86 mm (3.39 inch) MOTOR FLANGE SIZE n Specifications n Torque Curve l R2AAB8100H Power Supply 200 VAC Model R2AAB8100H Rated Power kW1.0 Maximum Speed min-13000 Rated Speed min-13000 N * m3.18 Rated Torque lb * in28.1 N * m11.6 Peak Torque at Stall lb * in102.7 x10-4 kg * m22.38 Rotor Moment of Inertia lb * in20.813 Encoder 17bit serial absolute kg3.6 Motor Mass lb7.9 Operating Temperature 0 to 40C (32 to 104F) Humidity Below 90% RH, no condensation n Dimension 0.02 Torque (N * m) Instantaneous Zone 5 Continuous Zone 0 0 1000 2000 3000 4000 5000 6000 Speed (min-1) 35 (1.38) 0.06 M 3 (.12) ) ( 59.4 (2.34) (4. M 55 5 (.20) [50 (2)] 1100100 (43.31 4) 5 (.20) [50 (2)] 6 (.24) 1100100 (43.31 4) )] 1100100 (43.31 4) 5.5 0 .63-.0004 0 11 0 16 -0.011 0 [ 8 (.31) 30 (1.18) 80 -0.030 ( 3.15 -.0012) 0 ) 10 .94 3 ( w/o Brake:145.81 (5.74.04) w/ Brake:171.81 (6.76.04) [50 (2)] 86 (3.39) 6.6 (.264) 10 Unit: mm (inch) 0.07 M 4- 15 Motor cable (for mounting) (for power and GND) Brake cable (for mounting) Shield cable (for mounting) (for encoder) n Applicable Amplifier Power Supply Motor EtherCAT R2AAB8100HXR00M RS3A03A2HA4 1027-107012*3 RS2A03A0KA4 200 VAC R2AAB8100HCR00M w/ Brake RS2A03A2HA5 1027-107011*3 *3 1027-: w/ CPC screw lock type connector assembly 20 Amplifier Indexer Modbus RS1A03AC RS1A03AF Analog/Pulse RS3A03A0AA4 n Torque Curve l R2AA13050D Power Supply 200 VAC Model R2AA13050D Rated Power kW0.55 Maximum Speed min-15000 Rated Speed min-12000 N * m2.6 Rated Torque lb * in23 N * m7 Peak Torque at Stall lb * in62 x10-4 kg * m23.1 Rotor Moment of Inertia lb * in21.05 Encoder 17bit serial absolute kg5 Motor Mass lb11 Operating Temperature 0 to 40C (32 to 104F) Humidity 20 to 90% RH, no condensation Torque (N * m) 10 8 6 4 Instantaneous Zone 2 0 Continuous Zone 0 1000 2000 3000 4000 5000 6000 n Dimension 5-Phase Stepping Systems Speed (min-1) Unit: mm (inch) 0.08 M 55 (2.17) 4 0.02 0.08 M (.16) Section H-H (46) [(1.81)] (44) [(1.73)] [98 (3.86)] JN2AS10ML2-R (for encoder) JL04V-2E24-11PE-B-R (for power, brake and GND) 2-Phase Stepping Systems 0 2.5 (.1) 6 (.24) [21 (.83)] 2-M6 (Tap for removing motor) H 6 -0.030 M6 depth 20 (.79) M H 0 (.24-.0012 ) Oil seal 0 0 0 ( 1 6 [(6. 5) 50) ] 3 (.12) 50 (2) 42 (1.68) 0 110-0.035 (4.33 -.0014) 5 14 1) 7 (5. 103 (4.06) [12 (.47)] [69 (2.72)] 9 (.35) 22 -0.013 (.87-.00052) 2- [7 (.28)] 130 (5.12) n Applicable Amplifier Power Supply Motor EtherCAT 200 VAC Amplifier Indexer Modbus Analog/Pulse RS3A03A2HA4 R2AA13050DXP00M RS2A03A0KA4 Closed Loop Stepping Systems n Specifications AC Servo Systems 130 mm (5.12 inch) MOTOR FLANGE SIZE RS1A03AC RS3A03A0AA4 RS2A03A2HA5 21 Motion Controller 0.55 kW MOTOR POWER AC SERVO SYSTEMS 1.2 kW MOTOR POWER 130 mm (5.12 inch) MOTOR FLANGE SIZE n Specifications n Torque Curve l R2AA13120D Power Supply 200 VAC Model R2AA13120D Rated Power kW1.2 Maximum Speed min-15000 Rated Speed min-12000 N * m5.7 Rated Torque lb * in50 N * m16 Peak Torque at Stall lb * in142 x10-4 kg * m2 6 Rotor Moment of Inertia lb * in22.04 Encoder 17bit serial absolute kg7 Motor Mass lb16 Operating Temperature 0 to 40C (32 to 104F) Humidity20 to 90% RH, no condensation n Dimension 25 Torque (N * m) 20 15 Instantaneous Zone 10 5 0 Continuous Zone 0 1000 2000 3000 4000 5000 6000 Speed (min-1) Unit: mm (inch) 0.08 M 0.08 M 0 6 -0.030 2.5 (.1) 6 (.24) Section H-H (64) [(1.81)] (44) [(1.73)] JN2AS10ML2-R (for encoder) JL04V-2E24-11PE-B-R (for power, brake and GND) [98 (3.86)] [69 (2.72)] H 0 (.24-.0012 ) M [21 (.83)] 2-M6 (Tap for removing motor) 0 0 0 M6 depth 20 (.79) 120.5 (4.74) [12 (.47)] 50 (2) 3 42 (1.97) (.12) H 0 ( 1 6 [(6. 5) 50) ] (.16) 110-0.035 (4.33 -.0014) 5 14 1) 7 (5. Oil seal 55 (2.17) 4 0.02 9 (.35) 22 -0.013 (.87-.00052) 2- [7 (.28)] 130 (5.12) n Applicable Amplifier Power Supply Motor EtherCAT 200 VAC Analog/Pulse RS3A05A2HA4 R2AA13120DXP00M RS2A05A0KA4 RS2A05A2HA5 22 Amplifier Indexer Modbus RS1A05AC RS3A05A0AA4 130 mm (5.12 inch) n Specifications AC Servo Systems MOTOR FLANGE SIZE n Torque Curve l R2AA13200D Power Supply 200 VAC Model R2AA13200D*2 Rated Power kW2 Maximum Speed min-15000 Rated Speed min-12000 N * m9.5 Rated Torque lb * in84 N * m30 Peak Torque at Stall lb * in265 x10-4 kg * m212.2 Rotor Moment of Inertia lb * in24.15 Encoder 17bit serial absolute kg10 Motor Mass lb22 Operating Temperature 0 to 40C (32 to 104F) Humidity 20 to 90% RH, no condensation 35 Torque (N * m) 30 25 Instantaneous Zone 20 15 10 5 0 Continuous Zone 0 1000 2000 3000 4000 5000 6000 Speed (min-1) Closed Loop Stepping Systems 2 kW MOTOR POWER Unit: mm (inch) 0.08 M 0.08 M 50 (1.97) 3 42 (1.65) (.12) H 0 3 (.12) 7 (.28) Section H-H [99 (3.96)] w/o Brake: [57 (2.24)] w/ Brake: [103 (4.06)] JL04V-2E24-11PE-B-R (for power, brake and GND) JN2AS10ML2-R (for encoder) 2-Phase Stepping Systems ( H M [98 (3.86)] ) [12 (.47)] [21 (.83)] 2-M6 (Tap for removing motor) w/o Brake: 171 (6.73) w/ Brake: 216 (8.50) 8 -0.036 0 (.31-.0014 ) M8 depth 25 (1) 0 1.10-.00052 0 0 ( 1 6 [(6. 5) 50) ] (.16) 0 28 -0.013 5 14 1) 7 (5. Oil seal 55 (2.17) 4 0.02 9 (.35) 110-0.035 (4.33 -.0014) 2- (7) [(.28)] [38 (1.50)] 130 (5.12) n Applicable Amplifier Power Supply Motor EtherCAT RS3A10A2HA4 R2AA13200DXP00M 200 VAC RS2A10A0KA4 R2AA13200DCP00M w/ Brake RS2A10A2HA5 Amplifier Indexer Modbus RS1A10AC Analog/Pulse RS3A10A0AA4 23 Motion Controller n Dimension 5-Phase Stepping Systems *2 Brake equipped motor is available. Refer to page 67 for brake specifications. AC SERVO SYSTEMS 5 kW MOTOR POWER 220 mm (8.66 inch) MOTOR FLANGE SIZE n Specifications n Torque Curve l R2AA22500L Power Supply 200 VAC Model R2AA22500L*2 Rated Power kW5 Maximum Speed min-14000 Rated Speed min-12000 N * m24 Rated Torque lb * in212 N * m75 Peak Torque at Stall lb * in664 x10-4 kg * m255 Rotor Moment of Inertia lb * in218.7 Encoder 17bit serial absolute kg24 Motor Mass lb53 Operating Temperature 0 to 40C (32 to 104F) Humidity20 to 90% RH, no condensation 80 Torque (N * m) 70 60 50 Instantaneous 40 Zone 30 20 10 Continuous Zone 0 0 1000 2000 3000 4000 5000 6000 Speed (min-1) *2 Brake equipped motor is available. Refer to page 67 for brake specifications. n Dimension Unit: mm (inch) 2-M8 For Eye bolt [142 (5.59)] H 3 (.12) 8 (.32) Section H-H (48) (35) [(1.89)] [(1.38)] w/o Brake: [52 (2.05)] [96 (3.78)] w/ Brake: [106 (4.17)] JL04V-2E24-11PE-B-R (for power, brake and GND) Eye bolt 2-M8 (60) [(2.36)] JN2AS10ML2-R (for encoder) [21 (.83)] M8 depth 25 (1) ( Oil seal 4-M12 (Tap for removing motor) 0 10 -0.036 0 .4 -.00143 ) M [38 (1.50)] 60 (2.36) 3 50 (1.97) (.12) H [60 (2.36)] [(142) 5.59] 7 (.28) 0 0 ( 2 [(1 70) 0.6 3)] (.16) 0 5 23 5) 2 (9. 65 (2.6) 4 0 13.5 (.53) 35 -0.016 (1.38 -.00064) 2- 200-0.046 (7.87 -.00184) 0.08 M 0.02 0.08 M 220 (8.66) w/o Brake: 163 (6.42) w/ Brake: 216 (8.50) [16 (.63)] [35 (1.4)] n Applicable Amplifier Power Supply Motor EtherCAT Amplifier Indexer Modbus R2AA22500LXP00MRS3A15A2HA4 200 VAC RS2A15A0KA4 RS1A15AC R2AA22500LCP00M w/ Brake RS2A15A2HA5 24 Analog/Pulse RS3A15A0AA4 n Specifications n Thrust Curve l DE0AC001A03MX00 Power Supply48VDC Model DE0AC001A03MX00 N5.1 Rated Thrust lb 1.15 N16.5 Peak Thrust lb 3.71 Maximum Speed m/s2.0 Rated Speed m/s1.0 Encoder Optical Incremental Encoder Linear Encoder Resolution m 1 (quadratured) g185 Motor Mass lb0.408 Operating Temperature 0 to 40C (32 to 104 F) Humidity 20 to 80% RH, no condensation 20 Thrust (N ) 15 10 Maximum thrust 5 0 Continuous thrust 0.5 0 1 1.5 2 5-Phase Stepping Systems Speed (m/s) n Dimension Unit: mm (inch) 210(8.27) (Max.) 0.1 A Measuring length: 20 mm (.79) 11.8(.46) 180(7.09) (Min.) 7 (.28) 170(6.69) 132(5.2) 24.5 (.96) 29 (1.14) 5 (.2) 3(.12) 300(11.81) 8(.31) Power supply line #26 AWG 6(.24) 5 11.8 (.2) (.46) Hexagonal end face position: random 151 (.59.04) A Z-Channel Output 2-Phase Stepping Systems 30(1.18) (Stroke) 117(4.61) (Min.) 0 12-0.1 0 .47-.004 ( 148(5.83) For cooling ) For mounting 25(.98) 55(2.17) 21(.83) 300 (11.81) 9-pin D-sub connector (Cable length) For mounting 20(.79) 3-M3x4 n Applicable Amplifier Power Supply Motor EtherCAT Amplifier Indexer Modbus Analog/Pulse DE0AC001A03MX00 48 VDC RF2J24A8HL5 1028-107023*3 *3 1028-: w/ CPC screw lock type connector assembly. 25 Motion Controller ) M3x6 10.9 (.43) ( 0 6-0.1 0 .24-.004 AC Servo Systems 12 mm (0.46 inch) MOTOR WIDTH Closed Loop Stepping Systems 5.1 N MOTOR THRUST AC SERVO SYSTEMS 3E Model Analog/Pulse Input Type Servo Amplifier Control function Main circuit power (Note 1) Control power Ambient temperature Storage temperature Operation/Storage humidity Environment Elevation Vibration Shock Structure Position control/Speed control/Torque control (Parameter switching) 3-Phase: 200 to 240 VAC +10, -15%, 50/60 Hz3 Hz Single-phase: 200 to 240 VAC +10, -15%, 50/60 Hz3 Hz (Note 2) Single-phase: 200 to 240 VAC +10, -15%, 50/60 Hz3 Hz 0 to +55C -20 to +65C Below 90% RH (no condensation) Below 1000 m 4.9 m/s 2 19.6 m/s 2 Built-in tray type power supply Note 1) Always use input voltage within the specification range for the main circuit power supply. Note 2) AC200V-single-phase input type corresponds only to RS3A01A0AA4/RS3A02A0AA4/RS3A03A0AA4/RS3A05A0AA4. n Performance Speed control range Frequency characteristics Allowable load inertia moment 1:5000 (Internal speed command) 2200 Hz (In high frequency sampling mode) *Differs for each model. 10 times motor rotor inertia moment n Built-in Functions Protection functions Digital operator Dynamic brake circuit Regenerative resistor Monitor Overcurrent, Current detection error, Overload, Regeneration error, Overheating, External error, Overvoltage, Main circuit power supply under voltage, Main circuit power supply open phase, Control circuit power supply under voltage, Encoder error, Overspeed Speed control error, Speed feedback error, Excessive position deviation, Position command pulse error, Built-in memory error, Parameter error, Cooling fan error Status display, Monitor display, Alarm display, Parameter setting, Test run, Adjustment mode Built-in Built-in Speed monitor (VMON) 2.0V10% (at 1000 min-1) Torque (thrust force) command monitor (TCMON) 2.0 V10% (at 100%) n Input/Output Signals 4M pulse/s (Reverse + Forward pulse, Code +pulse) 1M pulse/s (90-phase difference two-phase pulse) Forward + Reverse command pulse, Code + Pulse train command or 90-phase difference two-phase pulse train command N/D(N=1 to 2097152, D=1 to 2097152), 1/2097152 % N/D % 2097152 Command voltage DC2.0V at 1000min-1 command. Positive command (forward) motor rotation, maximum input voltage 10V. Speed command Input impedance Approximately10k Command voltage DC2.0V at 1000min-1 command. Positive command (forward) motor rotation, maximum input voltage 10V. Torque command Input impedance Approximately 10k Interactive photo coupler (sink, source connection): x8 input Input power voltage range: DC5V5% / DC12V~DC24V10%, 100mA or over(DC24V) Sequence input General input Servo ON, Alarm reset, Torque limit, Encoder clear, Forward rotation prohibit, Command prohibit, Reverse rotation prohibit, Command prohibit, External trip, Forced discharge, Emergency stop, Gain switching, Internal speed setting, etc. 2.0VDC15% (at rated torque), Input impedance: approximately 10k Torque limit input Open collector output: x 8 outputs Power supply for general output circuit (CN1-49,OUT-PWR): DC5V5% / DC12V to DC24V10%, 20mA or over Specification of Power supply for general output circuit * DC5V5% , Maximum current value 10mA (per 1 output ) * DC12V~DC15V10% , Maximum current value 30mA (per 1 output) Sequence output General output * DC24V10% , Maximum current value 50mA (per 1 output) Servo ready, Power ON, Servo ON, Holding brake timing, Torque limiting, Low speed, Velocity attainment, Matching speed, Zero speed, Command acceptable, Status of gain switch, Velocity loop proportional control status, Control mode switchover status, Forward OT, Reverse OT, Reverse OT, Warning, Alarm code (3bits), etc. Encoder output pulse signal N/32768(N=1~32767), 1/N(N=1~64) or 2/N(N=2~64) Position signal output Encoder output serial signal Binary code output, decimal ASCII output Position command 26 Maximum input pulse frequency AC Servo Systems System Configuration: 10A, 20A, 30A, 50A T S R Setup Software Noise Filter (To be arranged by the customer) 11 Electromagnetic Contactor USB Communication Cable 8 10 Communication Cable between amplifiers for tandem operation 4a 4b 5 I/O Cable External Regenerative Resistor Host device (To be provided by the customer) 6a 6b 9 7 5-Phase Stepping Systems Brake Power Safety Off Connector 3 Brake Cable 2 Motor Power Cable 12 1 Battery Encoder Cable Safety Unit, Safety PLC, etc. Servo Motor Item 3 1 Encoder Cable: 10 ft 3 2 Motor Power Cable: 10 ft 3 3 Brake Cable: 10 ft 3 4a I/O Cable: 2 m 4b Terminal Block 3 5 I/O Cable: 2 m 3 6a Connector [CN4] 3 6b Connector [CN4] 7 Connector [EN1, EN2] 8 Connector [CNA] 9 Connector [CNB] 10 Communication Cable: 1m 3 11 USB Communication Cable: 1m 12 Battery [CN3] Parts Number EEXTKABS2410FT EEXTKABS24JN10FT MEXTK1810FT MEXTK18JN10FT MEXTK14JN10FT MEXTBRK2010FT QH0-CJ0201-S01 QH0-TB001-S01 QH0-CJ0203-S01 AL-00718252-01 AL-00718251-01 AL-00632607 AL-00686902-01 AL-Y0004079-01 AL-00911582-01 AL-00896515-01 AL-00880402-01 Description For 0.55 kW and 1.2 kW motor For 0.55 kW motor For 1.2 kW motor Only for brake equipped motor Both sides 50 pin connectors Used with I/O Cable (4a) One side 50 pin connector, one side flying leads For STO, no need if (6b) is selected For STO cancellation, no need if 6a is selected No need if Encoder Cable (1) is selected Supplied with Amplifier No need if Motor Power Cable (2) is selected For tandem operation Communication with SANMOTION MOTOR Setup software Used when using a battery -backup method absolute encoder To build a complete system, you need to have checked items. Note: I/O cable can be chosen either 4a or 5. Connector for CN4 can be chosen either 6a or 6b. 27 2-Phase Stepping Systems (To be arranged by the customer) Model: RS3A01A0AA4 RS3A02A0AA4 RS3A03A0AA4 RS3A05A0AA4 Closed Loop Stepping Systems Servo Amplifier (To be arranged by the customer) Motion Controller Circuit Breaker (MCCB) AC SERVO SYSTEMS System Configuration: 100A, 150A T S R Setup Software Circuit Breaker (MCCB) (To be arranged by the customer) Servo Amplifier Model: RS3A10A0AA4 RS3A15A0AA4 Noise Filter (To be arranged by the customer) 10 USB Communication Cable 9 Electromagnetic Contactor (To be arranged by the customer) Communication Cable between amplifiers for tandem operation 4a 4b 5 I/O Cable Host Device (To be provided by the customer) 8 External Regenerative Resistor 6a 6b Safety Off Connector 7 3 Motor Power + Brake Cable 2 Motor Power Cable 11 Battery 1 Encoder Cable Safety Unit, Safety PLC, etc. Servo Motor Item 3 1 Encoder Cable: 10 ft 3 2 Motor Power Cable: 10 ft 3 3 Motor Power + Brake Cable: 10 ft 3 4a I/O Cable: 2 m 4b Terminal Block 3 5 I/O Cable: 2 m 3 6a Connector [CN4] 3 6b Connector [CN4] 7 Connector [EN1, EN2] 3 8 Connector [CNA] 9 Communication Cable: 1m 3 10 USB Communication Cable: 1m 11 Battery [CN3] Parts Number EEXTKABS24JN10FT MEXT10JN10FT MEXT08JN10FT MEXTB10JN10FT MEXTB08JN10FT QH0-CJ0201-S01 QH0-TB001-S01 QH0-CJ0203-S01 AL-00718252-01 AL-00718251-01 AL-00632607 AL-Y0005159-01 AL-00911582-01 AL-00896515-01 AL-00880402-01 Description For 2 kW motor For 5 kW motor For brake equipped 2 kW motor For brake equipped 5 kW motor Both sides 50 pin connectors, no need if (5) is selected Used with I/O Cable (4a) One side 50 pin connector, one side flying leads For STO For STO cancellation No need if Encoder Cable (1) is selected For tandem operation Communication with SANMOTION MOTOR Setup software Used when using a battery -backup method absolute encoder To build a complete system, you need to have checked items. Note: I/O cable can be chosen either 4a or 5. Connector for CN4 can be chosen either 6a or 6b. 28 Amplifier capacity 10 to 50 A CN4 1 2 *10 *12 24 VDC Models equipped with the Safe Torque Off function only *12 Fan R S T EN1 Encoder NC SH NC 4 HWGOFF1+ 3 HWGOFF1- 6 HWGOFF2+ 5 HWGOFF2- 8 EDM+ 7 EDM- SH *5 For servo motor with fan For cannon plug Single-phase 200 VAC (amplifier capacity 10 to 50 A) User unit Line driver Equivalent to HD26C31 24 VDC AO VT SG Position command pulse input SG 28 Counterclockwise pulse *6 F-PC 47 VT SG Velocity command and Torque command input BO 5 BO 6 ZO 7 ZO 8 PS 9 PS 10 ZOP 11 SG 12 MON1 30 SG 31 +5 V 150 F-PC 27 4 R-PC SG 29 R-PC 48 SG 21 V-REF SG /T-REF 20 SG 150 SG T-COMP 23 SG - SG Torque control input Counterclockwise side Lithium battery 3.6 VDC Battery input *12 SG F-TLA 17 SG 19 R-TLA SG 1 BTP-I SG 2 BTN-I 50 CONT-COM 37 CONT1 36 35 34 32 13 S *1 5 VDC, 12 to 24 VDC SG OUT-PWR 49 OUT1 39 OUT2 40 OUT3 41 OUT4 42 OUT5 43 CONT3 General output CONT4 44 OUT7 45 OUT8 46 is a maintenance terminal (high-voltage circuit). Do not wire this terminal. *4 Motor connection differs by the motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. When they are the cannon plug type, connect them according to the motor specifications. CONT2 OUT6 Use a twisted pair shielded cable. *2 For amplifier capacity 10 to 50 A: Connect a external regenerative resistor between the RB1-RB2 terminals. When using an external regenerative resistor, remove the wiring of the built-in regenerative resistor connected between the RB1 and RB2 terminals and then connect the external regenerative resistor between the RB1 and RB2 terminals. For amplifier capacity 100 to 150 A: When using the built-in regenerative resistor, short the circuit between the RB1-RB4 terminals. When using an external regenerative resistor, remove the shorting bar connected between the RB1 and RB4 terminals and then connect the regenerative resistor between the RB1 and RB2 terminals. *3 *5 Refer to the encoder connection figure for the wiring of the connector for the encoder connection. *6 Be sure to connect SG (signal ground) between the equipment and the servo amplifier when you use a differential input signal. *7 R, S, T, r, t, , RB1, RB2, U, V, W are high-voltage circuits. All other lines are low-voltage. Ensure that there is sufficient differential between the high- and low-voltage circuits. CONT5 *8 Use a line driver with a differential voltage difference (VT) from 2.5 V to 3.8 V. If the differential voltage is less than 2.5 V or more than 3.8 V, it may lead to malfunction due to missing pulses. CONT6 *9 CN4 is a connector for safety function signals. To turn the servo motor power ON, a safety device must be connected and the wiring to activate the safety function must be done. When not using the safety function, use an optional connector (P.N: AL-00718251-01) inserted into the CN4. CONT7 *10 Do not connect anything to CN4 pin 1 and 2. 25 *11 An earth leakage circuit breaker conforming either to UL, IEC, or EN standards is recommended. CONT8 SH SH r Monitor output *12 OUT-COM Shield processing + T CNA OUT-COM 24 15 Built-in regenerative resistor R SG General input 33 External regenerative resistor *2 *3 t + 18 5 to 24 VDC Amplifier capacity 100 to 150 A Terminal block SG SG Clockwise side Encoder divided signal output Terminal block + 22 t Start ready Start ready ON OFF MC MC Emergency stop System error - SG Torque compensation input r *13 RB2 14 26 AO +5 V RB1 Clockwise pulse T *11 16 R S 50/60 Hz 3 CN1 Line driver *8 CNA MC AC power, single-phase 200 to 240 V RB4 Emergency System error stop Holding brake (Install only devices with brakes) Green (Green/Yellow) Servo amplifier *9 MC 24 V Orange (Yellow) Black W t RY1 Orange (Yellow) Closed Loop Stepping Systems r Start ready Start ready ON OFF Red White V T MC *4 U + S 5-Phase Stepping Systems R Servo motor 2-Phase Stepping Systems RB1 CNA MC For cannon plug 10 to 50 A: CNB 100 to 150 A: Terminal block Built-in regenerative resistor Shield processing *12 The external power supply is to be arranged by the customer. *13 Do not wire the S phase for a single-phase power supply. 29 Motion Controller *2 *3 *11 RB2 User unit AC power 3 200 to 240 V 50/60 Hz CNA 3-Phase 200 V AC Servo Systems Wiring Diagram AC SERVO SYSTEMS Dimensions n RS3A02A0AA4 Mass: 0.8 kg (1.76 lb) Unit: mm (inch) [5 (.2)] [5 (.2)] 5 (.2) Unit: mm (inch) Mass: 0.9 kg (1.98 lb) [19.5 (.77)] 152 (5.98) [3 (.12)] 152 (5.98) n RS3A15A0AA4 (70) [19.5 (.77)] 120 (4.72) 100 (3.44) 75 (2.95) 6 (.24) 15 (.59) [16.5 (.65)] 5 (.2) 220 (8.66) 2 (.08) Unit: mm (inch) Mass: 4.9 kg (10.8 lb) 205 (8.07) Unit: mm (inch) 235 (9.25) 225 (8.86) [19.5 (.77)] 15 (.59) 205 (8.07) 5 (.2) [70 (2.76)] 130 (5.12) [16.5 (.65)] 160 (6.3) 85 (3.35) Mass: 4.2 kg (9.26 lb) 235 (9.25) 225 (8.86) [5 (.2)] [70 (2.76)] [19.5 (.77)] 5 40 (1.57) (.2) 5 (.2) [19.5 (.77)] (5) [(.2)] n RS3A10A0AA4 30 Unit: mm (inch) Mass: 1.6 kg (3.53 lb) 130 (5.12) [16.5 (.65)] 5 (.2) 100 (3.94) 50 (1.97) 6 (.24) 30 5 (1.18) (.2) 5 (.2) [5 (.2)] 160 (6.3) 50 (1.97) (5) [(.2)] n RS3A05A0AA4 n RS3A03A0AA4 [70 (2.76)] 40 (1.57) [3 (.12)] 160 (6.3) 152 (5.98) (5) 30 5 [(.2)] (1.18) (.2) 130 (5.12) (16.5) [(.65)] 160 (6.3) (16.5) [(.65)] 5 (.2) [19.5 (.77)] 40 (1.57) [70 (2.76)] 130 (5.12) [70 (2.76)] 5 (.2) Mass: 0.8 kg (1.76 lb) Unit: mm (inch) [3 (.12)] n RS3A01A0AA4 220 (8.66) (16.5) [(.65)] 2 (.08) n Performance Speed control range Frequency characteristics 1:5000 (Internal speed command) 600 Hz n Built-in Functions Protection functions LED display Dynamic brake circuit Regeneration process Monitor Over current, Current detection error, Overload, Regeneration error, Amplifier overheating, External overheating, Over voltage, Main circuit low voltage, Main circuit open phase, Control power supply error, Encoder error, Over speed, Speed control error, Speed feedback error, Excessive position error, Position command pulse error, CPU error, Built-in memory error, Battery error, Parameter error Status display, Monitor display, Alarm display, Parameter setting, Adjustment mode Built-in Built-in Speed monitor (VMON) 2.0V10% (at 1000 min-1) Torque monitor (TCMON) 2.0V10% (at 100%) Number of control axis Number of registration points Maximum command amounts Command unit Fast-forwarding speed Addition & Reduction speed Point data setting Traveling point number setting Current limitation Software limitation Traveling mode Area signal 2-Phase Stepping Systems n Positioning Function 1 pc It is possible to set it up to 254 points (P000 to P253) -2,147,483,648 to +2,147,483,647 mm or pulse 2,147,483.647 mm/sec (0.001 mm/pulse selection) Automatic addition & Reduction speed (Straight line/S curve shift) Setting by numeric value input with PC or teaching Parallel 8 bit (Binary code) 0 to 510% (Rating = 100%), however, less than instant maximum stall current Yes Zero-point return, Analog (JOG, 1 Step), Specified point traveling 8 zones in maximum n Input/Output Signals Sequence input signal Sequence output signal Closed Loop Stepping Systems Note 1) Power source voltage should be within the specified range 200 VAC Power input type: Specified power supply range = 170 to 253 VAC Note 2) The 200 VAC single-phase input types corresponds only to the RS1A01AC, RS1A03AC, RS1A05AC 5-Phase Stepping Systems Main circuit power (Note 1) Control circuit power Ambient temperature Storage temperature Operation/Storage humidity Environment Elevation Vibration Shock Structure Position control Three-phase: 200 to 230 VAC +10, -15%, 50/60 Hz 3Hz Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz 3Hz (Note 2) Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz 3Hz 0 to +55C -20 to +65C Below 90% RH (no condensation) Below 1000 m 4.9 m/s 2 Frequency range 10 to 55 Hz tested for 2 hours in each direction X.Y.Z 19.6 m/s 2 Built-in tray type power supply Servo ON, Alarm rest, Start-up, Zero-return, Analog, Override/analog high-speed, Cancellation, Speed reduction short of zero-point, External defect, Over-travel, External data setting, 1 step travel, Interrupt start-up, Output selection, MFIN, Point specification input NC-ready, Holding brake timing, Error, Effective external operation, On operation, Positioning completion, In-position output, Zero-return completion, Multiple purpose output (8 bits) 31 Motion Controller Control function AC Servo Systems Indexer Type Servo Amplifier AC SERVO SYSTEMS System Configuration: 15A, 30A, 50A T S R Setup Software Circuit Breaker (MCCB) Used to protect the power line. Cuts off power in the case of an overload. (To be arranged by the customer) Servo Amplifier Noise Filter Model: RS1A01AC RS1A03AC RS1A05AC Parameter configuration and monitoring is possible via communication with a PC. Attached to prevent external noise from the power source line. (To be arranged by the customer) 11 8 66 Electromagnetic Contactor Switches power on and off. Protective circuit must be created. (To be arranged by the customer) 9 PC Interface Cable 4a I/O Cable 4b Terminal block 5 I/O Cable 7 External Regenerative Resistor DC Power Source for Brake 10 3 2 Motor Power Cable Host Devices General-purpose I/O connector, homing, probing, and general-purpose signals Brake Cable 1 Encoder Cable 12 Battery Servo motor Item 3 1 Encoder Cable: 10 ft 3 2 Motor Power Cable: 10 ft 3 Brake Cable: 10 ft 3 4a I/O Cable: 2 m 4b Terminal block 3 5 I/O Cable: 2 m 6 Connector [CN1] 7 Connector [CN2] 3 8 Connector [CNA] 9 Connector [CNB] 10 Connector [CNC] 11 PC Interface Cable 12 Battery To build a complete system, you need to have checked items. Note: I/O Cable can be chosen either 4a or 5. 32 Parts Number EEXTABS2410FT MEXT1810FT MEXTBRK2010FT QH0-CJ0201-S01 QH0-TB001-S01 QH0-CJ0203-S01 AL-00385594 AL-00385596 AL-00329461-01 AL-Y0000988-01 AL-00329458-01 AL-00490833-01 AL-00494635-01 Description Only for Brake Equipped Motor Both sides 50 pin connectors Used with I/O Cable (4a) One side 50 pin connector, one side flying leads No need if I/O cable (4a or 5) is selected No need if Encoder Cable (1) is selected Supplied with Amplifier No need if Motor Power Cable (2) is selected Communication with SANMOTION R Setup Software T S AC Servo Systems System Configuration: 100A, 150A R Circuit Breaker (MCCB) Cuts off power in the case of an overload, to protect the power line. (To be arranged by the customer) Setup Software Servo Amplifier Noise Filter Attached to prevent external noise from the power source line. Model: RS1A10AC RS1A15AC Parameter configuration and monitoring is possible via communication with a PC. 8 Closed Loop Stepping Systems (To be arranged by the customer) PC Interface Cable Electromagnetic Contactor Switches power on and off. Create the protective circuit. 6 (To be arranged by the customer) DC Power Source for Brake 4a I/O Cable 4b Terminal block 5 I/O Cable 5-Phase Stepping Systems External Regeneration Resistor 7 2 Motor Power Cable Host Devices General-purpose I/O connector, homing, probing, and general-purpose signals 1 Encoder Cable 9 Battery Servo Motor Item 3 1 Encoder Cable: 10 ft 3 2 Motor Power Cable: 10 ft 3 Motor Power + Brake Cable: 10 ft 3 4a I/O Cable: 2 m 4b Terminal block 3 5 I/O Cable: 2 m 6 Connector [CN1] 7 Connector [CN2] 8 PC Interface Cable 9 Battery Parts Number EEXTABS24JN10FT MEXT18JN10FT MEXT12JN10FT MEXT10JN10FT MEXTB10JN10FT QH0-CJ0201-S01 QH0-TB001-S01 QH0-CJ0203-S01 AL-00385594 AL-00385596 AL-00490833-01 AL-00494635-01 Description for 0.55 kW for 1.2 kW for 2 kW, 5 kW Only for Brake Equipped Motor Both sides 50 pin connectors Used with I/O Cable (4a) One side 50 pin connector, one side flying leads No need if I/O cable (4a or 5) is selected No need if Encoder Cable (1) is selected Communication with SANMOTION R Setup Software To build a complete system, you need to have checked items. Note: I/O Cable can be chosen either 4a or 5. 33 2-Phase Stepping Systems Motor Power + Brake Cable Motion Controller 3 AC SERVO SYSTEMS Wiring Diagram CNA MC P RB1 RB2 - 3-phase AC power Regenerative resistor CNB User Unit DL1 DL2 Note 2 Note 3 Note 4 3-phase (200V AC) T Note 11 200 to 230V 50/60Hz SERVO MOTOR S CNC R r MC Operation Prep. Operation Prep. ON OFF SERVO AMPLIFIER Power ON ready (A-RDY) Note 2 50 SH Plug: 10120-3000PE Shell: 10320-52A0-008 3 4 Error output (Err) 5 External operation effective (EXT) 6 While in operation (MOVE) 7 Positioning complete (PFIN) 8 In-position (INPS) 9 1-phase AC power Homing complete (ZFIN) 10 200 to 230V 50/60Hz OUT(1) 11 OUT(2) 12 General-purpose output NC ready (NCRDY) OUT(3) 13 OUT(4) 14 OUT(5) 15 OUT(6) 16 OUT(7) 17 OUT(8) Common for output external power (24G) 18 24 25 Note 8 User Unit MC Note 10 Operation Prep. Operation Prep. ON OFF MC MC Emergency System Error Stop 26 19 Over travel (+0T) 20 Over travel (-0T) 21 External data setting (E_STR) 22 External error (EXT_E) 23 Start (RUN) 27 Homing start (ZRT) 28 Manual feeding (+JOG) 29 Manual feeding (-JOG) 30 Override (OVRID)/Manual high speed (RAP) 31 Alarm reset (ARST) 32 Cancel (CACL) 33 Servo ON (S-ON) 34 Output selection 1 (SEL1) 35 Output selection 2 (SEL2) 36 Output selection 3 (SEL3) 37 1 step feeding (+1step) 38 1 step feeding (-1step) 39 Interruption start (I_RUN) 40 MFIN (MFIN) 41 IN(1) 42 IN(2) 43 IN(4) 44 IN(8) 45 IN(16) 46 IN(32) 47 IN(64) 48 IN(128) 49 Point specification 1-phase(200V AC) Note 1) For the parts marked , use a shielded cable. Note 2) Connect regenerative resistor between RB1 and RB2 terminals. When using external regenerative resistor, terminals. When using external regenerative resistor, connect it between RB1 and RB2 terminals after removing the wiring of built-in regenerative resistor. Note 3) The DL1 and DL2 terminals are for connecting a DC reactor. If a DC reactor is not used, short the DL1 and DL2 terminals using the short bar supplied. terminal and the P terminal are for maintenance. Note 4) The Note 5) Refer to the instruction manual for instructions on the shielding process. Note 6) The motor-side connection depends on the motor specification. The red, white, black green and orange markings are for use with lead type motor power line and brake line. Refer to the motor specifications for cannon plug type connections. Note 7) Refer to the encoder connection diagram in the instruction manual regarding the encoder connector wiring. Note 8) Power should be supplied by the user. Either of the inputs can be selected. Note 9) R,S,T,t,r, ,P,DL1,DL2,RB1,RB2,U,V,W are high-voltage circuits, all other lines are low-voltage. Ensure sufficient distance between the high- and low-voltage circuits. Note 10) It is recommended to use a ground fault interrupter conforming to the UL, IEC and EN standards. Note 11) Do not wire the S phase for a single-phase power amplifier. Plug: 10150-3000PE Shell: 10350-52A0-008 34 SH Note 5 Holding brake excitation timing output (HBON) External power source for input (+24V) Slow down before Home (SDN) Encoder Note 7 1 2 24V Holding brake (for the type with a brake only) Green (Green/Yellow) Encoder connector CN2 CN1 RY1 Orange (Yellow) Red U MC Note 8 Orange (Yellow) White V Emergency System Error Stop External power source for output (+24V) Black W t Note 10 Note 6 n RS1A03AC Mass: 1.0 kg (2.2 lb) Unit: mm (inch) 50.5 (.2.02) Screw M4 50.5 (.2.02) Screw M4 7 (.28) [27 (1.06)] 5 (.2) 33 (1.3) 4 (.16) 168 (6.61) TYPE 160 (6.3) 168 (6.61) TYPE 50 (1.97) [(.94)] 130 (5.2) 135.5 (5.33) 7 (.28) 38 (1.5) 4 (.16) 160 (6.3) 135.5 (5.33) (24) [(.94)] (70) [(2.76)] (24) 130 (5.12) [27 (1.06)] (70) [(2.76)] Closed Loop Stepping Systems Mass: 0.9 kg (2.0 lb) Unit: mm (inch) 5 (.2) n RS1A01AC 45 (1.77) AC Servo Systems Dimensions Fan Wind direction 4 (.16) n RS1A10AC R t TYPE POWER P C C N A r C N 1 DL1 DL2 P Fan C N B Wind direction RB2 15 (.59) 5 (.2) ) AC SERVO SYSTEMS R RS1A10A* R S T MODE CHARGE WR/ TYPE POWER P C DL1 DL2 P C N 1 RB4 RB1 RB2 RB1 RB2 RB1 100 (3.94) 50 (2) 5-Phase Stepping Systems S 5 (.2) 6 (.24) 205 (8.07) 168 (6.61) CHARGE T 80 (3.15) [70 (2.76)] 5.5 (.2) [24 (.94)] [27 (1.06)] WR/ MODE 2 (.08) 160 (6.3) RS1A05AC 235 (9.25) 4 (.16) [27 (1.06)] AC SERVO SYSTEMS 130 (5.12) 135.5 (5.33) 6 (70) [(2.76)] (24) [(.94)] Unit: mm (inch) Mass: 5.2 kg (11.5 lb) 5 (.2) Screw M4 5 (.2) Mass: 2.2 kg (4.9 lb) (.24 Unit: mm (inch) 235 (9.25) 225 (8.86) n RS1A05AC 90 (3.54) 4 (.16) C N 2 U V U C N C C N 2 W 2-Phase Stepping Systems W V r 5 (.2) t Fan Wind direction [6 (.23)] [75 (2.95)] n RS1A15AC Mass: 6.5 kg (14.3 lb) Motion Controller 15 (.59) (.246 ) 5 (.2) 130 (5.12) 100 (3.94) 50 (2) 6 (.24) AC SERVO SYSTEMS RS1A15A* R MODE WR/ TYPE S T CHARGE POWER 205 (8.07) [27 (1.06)] 2 (.08) [70 (2.76)] 5.5 (.2) [24 (.94)] 235 (9.25) 225 (8.56) 235 (9.25) Unit: mm (inch) P C DL1 DL2 P C N 1 RB4 RB1 RB2 C N 2 U V W r t Fan Wind direction [6 (.23)] [75 (2.95)] 35 AC SERVO SYSTEMS Indexer Modbus Interface Type Servo Amplifier n Specifications Control function (Note 1) Main circuit power Control circuit power Ambient temperature Storage temperature Operation/Storage humidity Environment Elevation Vibration Shock Structure Position control Three-phase: 200 to 230 VAC +10, -15%, 50/60 Hz 3Hz Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz 3Hz (Note 2) Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz 3Hz 0 to +55C -20 to +65C Below 90% RH (no condensation) Below 1000 m 4.9 m/s 2 Frequency range 10 to 55 Hz tested for 2 hours in each direction X.Y.Z 19.6 m/s 2 Built-in tray type power supply Note 1) Power source voltage should be within the specified range. 200 VAC Power input type: Specified power supply range = 170 to 253 VAC Note 2) The 200 VAC single-phase input types corresponds only to the RS1A01AF, RS1A03AF n Performance Speed control range Frequency characteristics 1:5000 (Internal speed command) 600 Hz n Built-in Functions Protection functions LED display Dynamic brake circuit Regeneration process Monitor Over current, Current detection error, Overload, Regeneration error, Amplifier overheating, External overheating, Over voltage, Main circuit low voltage, Main circuit open-phase, Control power supply error, Encoder error, Over speed, Speed control error, Speed feedback error, Excessive position error, Position command pulse error, CPU error, Built-in memory error, Battery error, Parameter error Status display, Monitor display, Alarm display, Parameter setting, Adjustment mode Built-in Built-in Speed monitor (VMON) 2.0V10% (at 1000 min-1) Torque monitor (TCMON) 2.0V10% (at 100%) n Positioning Function Number of control axis Number of registration points Maximum command amounts Command unit Fast-forwarding speed Addition & Reduction speed Point data setting Traveling point number setting Current limitation Software limitation Traveling mode Area signal 1 pc It is possible to set it up to 254 points (P000 to P253) -2,147,483,648 to +2,147,483,647 mm or pulse 2,147,483.647 mm/sec (0.001 mm/pulse selection) Automatic addition & Reduction speed (Straight line/S curve shift) Setting by numeric value input with PC or teaching Parallel 8 bit (Binary code) 0 to 510% (Rating = 100%), however, less than instant maximum stall current Yes Zero-point return, analog (JOG, 1 Step), Specified point traveling 8 zones in maximum n Modbus Interface Item Content Default Value Protocol Modbus-RTU Interface RS-485 (1:N) Baud rate (bps) 4800, 9600, 19200, 38400, 57600, 115200 115200 Start bit 1 1 Data length (bit) 8 8 Parity None, even/odd number even Stop bit 1, 2 1 RS-485 compliant Based on RS-485 Electric specification (half duplex communication) (half duplex communication) Connector RJ-45 - Remark Binary mode fixed (No compliant with ASCII mode) N=8 (Note 1) (Note 2) Fixed Fixed (Note 3) (Note 3) Fixed - Note 1) From the limitation of general RS-485 physical layer (distance, terminator) specification, connectable amplifier (or other slave units) number is up to 31 per one segment. (Maximum number of devices without repeater.) Set up a node address with the rotary switch front of amplifier or in the R-Setup (personal computer interface) software. Note 2) Set up a communication setup (access speed) with the rotary switch on the front surface of amplifier or in R-Setup (personal computer interface). Note 3) Communication setup (transfer speed, and stop bit) is set up by the R-Setup software (interface with PC). 36 AC Servo Systems System Configuration T S R Circuit Breaker (MCCB) Setup Software Used to protect the power line. Cuts off power in the case of an overload. (To be arranged by the customer) Servo Amplifier Model: RS1A01AF RS1A03AF Parameter configuration and monitoring is possible via communication with a PC. Noise Filter 10 7 Closed Loop Stepping Systems Attached to prevent external noise from the power source line. (To be arranged by the customer) PC Interface Cable To next device Electromagnetic Contactor Switches power on and off. Protective circuit must be created. (To be arranged by the customer) Master Controller 8 5 External Regenerative Resistor 4 I/O Cable General-purpose I/O 5-Phase Stepping Systems 6 DC Power Source for Brake 9 2 Motor Power Cable Encoder Cable 11 2-Phase Stepping Systems 1 Battery Servo motor Item 3 1 Encoder Cable: 10 ft 3 2 Motor Power Cable: 10 ft 3 Brake Cable: 10 ft 3 4 I/O Cable: 3 ft 5 Connector [CN1] 6 Connector [CN2] 3 7 Connector [CNA] 8 Connector [CNB] 9 Connector [CNC] 10 PC Interface Cable 11 Battery Parts Number EEXTABS2410FT MEXT1810FT MEXTBRK2010FT 1026-100410 AL-Y0004290 AL-00385596 AL-00329461-01 AL-Y0000988-01 AL-00329458-01 AL-00490833-01 AL-00494635-01 Description Only for Brake Equipped Motor No need if I/O Cable (4) is selected No need if Encoder Cable (1) is selected Supplied with Amplifier No need if Motor Power Cable (2) is selected Communication with SANMOTION R Setup Software To build a complete system, you need to have checked items. 37 Motion Controller 3 Brake Cable AC SERVO SYSTEMS Wiring Diagram 1-phase(200V AC) User Unit 1-phase AC power 200 to 230V 50/60Hz MC Note 10 Operation Prep. Operation Prep. ON OFF MC MC Emergency Stop System Error Note 2 Note 3 Note 4 User Unit DL1 DL2 P RB1 RB2 CNA MC 3-phase AC power 200 to 230V 50/60Hz T S R t r Note 11 Note10 + SERVO AMPLIFIER Operation Prep. Operation Prep. ON OFF MC Regenerative resistor CNB 3-phase(200V AC) MC System Error Emergency Stop SW2 Note 1 1/4W 120 B/B' 4 A/A' 5 GND 8 Note 6 V RS-485 TRANCEIVER Orange (Yellow) White Orange (Yellow) B/B' 4 A/A' 5 GND 8 SH 24V Encoder SH SH CN4 RY1 Holding brake (for the type with a brake only) Green (Green/Yellow) Encoder connector Note 7 SH Combination Plug: TM21P-88P or equivalent Note 1 Black Red U CN2 (Hirose) SERVO MOTOR CNC W CN3 Combination Plug: 10120-3000PE, Shell: 10320-52A0-008 Note 5 (3M) SG Note 8 Combination Plug: TM21P-88P or equivalent OUT-PWR 24VDC 9 (Hirose) OUT1 7 OUT2 8 CN1 Note 8 1 24VDC General-purpose Output CONT-COM 2 CONT1 3 CONT2 4 CONT3 5 CONT4 6 OUT-COM General-purpose Input SH Note 1) Note 2) Note 3) SH Combination Plug kit: MUF-PK10K-X or equivalent (J.S.T. Mfg. CO., LTD) 38 For the parts marked , use a shielded cable. Connect regenerative resistor between RB1 and RB2 terminals. The DL1 terminal and DL2 terminal are terminals to connect to the DC reactor. When a DC reactor is not used, short-circuit between DL1 and DL2 terminals with the supplied short-circuit bar. Note 4) The terminal and the P terminal are for maintenance Note 5) Refer to the instruction manual for instructions on the shielding process. Note 6) The motor-side connection depends on the motor specification. The red, white, black green and orange markings are for use with lead type motor power line and brake line. Refer to the instruction manual for cannon plug type connections. Note 7) Refer to the encoder connection diagram regarding the encoder connector wiring. Note 8) Power should be supplied by the user. Either of the inputs can be selected. Note 9) R,S,T,t,r, ,P,DL1,DL2,RB1,RB2,U,V,W are high-voltage circuits, all other lines are low-voltage. Ensure sufficient distance between the high- and low-voltage circuits. Note 10) It is recommended to use a ground fault interrupter conforming to the UL, IEC and EN standards. Note 11) Do not wire the S phase for a single-phase power amplifier. 50.5 (.2.02) Screw M4 n RS1A01AF AC Servo Systems Dimensions Unit: mm (inch) Mass: 0.9 kg (2.0 lb) 33 (1.3) 4 (.16) 7 (.28) [27 (1.06)] TYPE 168 (6.61) 135.5 (5.33) 5 (.2) (24) [(.94)] 45 (1.77) Closed Loop Stepping Systems 130 (5.12) 160 (6.3) P C C N 3 C N 4 C N 1 5-Phase Stepping Systems C N 2 4 (.16) 50.5 (.2.02) Screw M4 Mass: 1.0 kg (2.2 lb) Unit: mm (inch) 2-Phase Stepping Systems n RS1A03AF 130 (5.12) 38 (1.5) 4 (.16) C N 4 C N 2 Motion Controller C N 3 C N 1 7 (.28) 160 (6.3) P C 135.5 (5.33) [27 (1.06)] 168 (6.61) TYPE [(.94)] 5 (.2) (24) 50 (1.97) Fan Wind direction 4 (.16) 39 AC SERVO SYSTEMS 3E Model EtherCAT Interface Servo Amplifier Control function Main Circuit Power (Note 1) Control Power Ambient temperature Storage temperature Operation/Storage humidity Environment Elevation Vibration Shock Structure Speed control/Torque control/Position control (Parameter changeover) 3-Phase: 200 to 240 VAC +10, -15%, 50/60 Hz3 Hz Single-phase: 200 to 240 VAC +10, -15%, 50/60 Hz3 Hz (Note 2) Single-phase: 200 to 240 VAC +10, -15%, 50/60 Hz3 Hz 0 to +55C -20 to +65C Below 90% RH (no condensation) Below 1000 m 4.9 m/s 2 19.6 m/s 2 Built-in tray type power supply Note 1) Always use input voltage within the specification range for the main circuit power supply. Note 2) AC200V-single-phase input type corresponds only to RS3A01A0HA4/RS3A02A0HA4/RS3A03A0HA4/RS3A05A0HA4. n Performance Speed control range Frequency characteristics Allowable load inertia moment 1:5000 (Internal speed command) 2200 Hz (In high frequency sampling mode) *Differs for each model. 10 times motor rotor inertia moment n Built-in Functions Protection functions Digital operator Dynamic brake circuit Regenerative resistor Monitor Over current, Current detection error, Overload, Regeneration error, Overheat error, External overheating, Over voltage, Main circuit power low voltage, Main circuit power supply open phase, Control power supply low voltage, Encoder error, Over speed, Speed control error, Speed feedback error, Excessive position, Position command pulse error, Built-in memory error, Parameter error, Cooling fan error. Status display, Monitor display, Alarm display, Test operation Built-in Built-in Speed monitor (VMON) 2.0V10% (at 1000 min-1) Torque (thrust force) command monitor (TCMON) 2.0 V10% (at 100%) n Safety Standard Servo amplifier type Safety standards UL, c-UL ratings UL 61800-5-1 Low-voltage directive IEC/EN 61800-5-1 * IEC/EN 61000-6-4 * IEC/EN 61800-3 All models EN standards * IEC/EN 61000-6-2 * IEC/EN 61326-1 EMC directive * EN61000-6-7 KC mark (Korea Certification Mark) KN 61000-6-2, KN 61000-6-4 * IEC61508, SIL3 * ISO13894-1, Cat3, PL=e Model with safety function Function safety standards * IEC62061, SILCL3 n EtherCAT Interface Specifications Physical layer Data link layer Application layer Device profile Communication port Baud rate Max. No. of nodes Transmission distance/topology Cable Communication object Minimum communication cycle time PDO length Synchronization function Operation mode LED indicator General Input/Output 40 IEC61158-2 IEEE802.3u 100BASE-TX IEC61158-3,-4 Type12 IEC61158-5,-6 Type12 IEC61800-7 Profile type1(CiA402) CoE (CANopen over EtherCAT) FoE (File access over EtherCAT) RJ45 connector (2 ports) 100 Mbps (Full duplex) 65535 nodes Max. 100 m (between nodes)/Daisy-chain Twisted-pair CAT5e (straight or cross) SDO (Service Data Object) PDO (Process Data Object) 125 s (62.5 s: speed/torque control only) Output: Max. 31 objects, Input: Max. 31 objects Total: Max. 62 objects SYNC0, SYNC1 Event Synchronization Mode , Synchronous with SM2 Event Mode, Asynchronous Mode Profile Position Mode, Profile Velocity Mode, Profile Torque Mode, Homing Mode, Cycle Sync Position Mode, Cycle Sync Velocity Mode, Cycle Sync Torque Mode Port 0/1 link display, RUN display, error display 7 inputs, 2 outputs (9 total) T S AC Servo Systems 3E ModelConfiguration: System Analog/Pulse Input 10A, 20A, Type 30A, Servo50A Amplifier R Circuit Breaker (MCCB) Setup Software (To be arranged by the customer) Noise Filter (To be arranged by the customer) Electromagnetic Contactor (To be arranged by the customer) Model: RS3A01A2HA4 RS3A02A2HA4 RS3A03A2HA4 RS3A05A2HA4 9 7 Closed Loop Stepping Systems Servo Amplifier USB Communication Cable To next amplifier 6 General-purpose I/O Master Controller External Regenerative Resistor 5 8 5-Phase Stepping Systems 4 DC Power Source for Brake 3 2 Motor Power Cable Brake Cable 1 Encoder Cable 10 Battery Safety Unit, Safety PLC, etc. 3 1 Encoder Cable: 10 ft 3 2 Motor Power Cable: 10 ft 3 3 4 5 6 7 8 9 10 Brake Cable: 10 ft Connector [EN1, EN2] Connector [CN4] Connector [CN2] Connector [CNA] Connector [CNB] USB Communication Cable: 1m Battery [CN3] 3 Parts Number EEXTKABS2410FT EEXTKABS24JN10FT MEXTK1810FT MEXTK18JN10FT MEXTK14JN10FT MEXTBRK2010FT AL-Y0004079-01 AL-00718252-01 AL-00842383 AL-00686902-01 AL-Y0004079-01 AL-00896515-01 AL-00880402-01 Description For 0.55 kW and 1.2 kW motor For 0.55 kW motor For 1.2 kW motor Only for brake equipped motor No need if Encoder Cable (1) is selected For STO, no need if safety device is not installed For general I/O signals Supplied with Amplifier No need if Motor Power Cable (2) is selected Communication with SANMOTION MOTOR Setup software Used when using a battery -backup method absolute encoder To build a complete system, you need to have checked items. 41 Motion Controller Item 2-Phase Stepping Systems Servo motor AC SERVO SYSTEMS 3E ModelConfiguration: System Analog/Pulse Input 100A,Type 150AServo Amplifier T S R Setup Software Circuit breaker (MCCB) Model: RS3A10A2HA4 RS3A15A2HA4 Servo Amplifier (To be arranged by the customer) Noise filter (To be arranged by the customer) 8 USB communication cable Electromagnetic contactor To next amplifier (To be arranged by the customer) Master Controller 6 7 DC Power Source for Brake General-purpose I/O 5 4 External Regeneration Resistor 3 2 Motor Power + Brake Cable Motor Power Cable 1 Encoder Cable Safety Unit, Safety PLC, etc. 9 Battery Servo Motor Item 3 1 Encoder Cable: 10 ft 3 2 Motor Power Cable: 10 ft 3 3 Motor Power + Brake Cable: 10 ft 4 Connector [EN1, EN2] 5 Connector [CN4] 6 Connector [CN2] 3 7 Connector [CNA] 3 8 USB Communication Cable: 1m 9 Battery [CN3] Parts Number EEXTKABS24JN10FT MEXT10JN10FT MEXT08JN10FT MEXTB10JN10FT MEXTB08JN10FT AL-Y0004079-01 AL-00718252-01 AL-00842383 AL-Y0005159-01 AL-00896515-01 AL-00880402-01 To build a complete system, you need to have checked items. 42 Description For 2 kW motor For 5 kW motor For brake equipped 2 kW motor For brake equipped 5 kW motor No need if Encoder Cable (1) is selected For STO, no need if safety device is not installed For general I/O signals Communication with SANMOTION MOTOR Setup software Used when using a battery -backup method absolute encoder Amplifier capacity 10 to 50 A U RY1 24 V Holding brake (Install only devices with brakes) Green (Green/Yellow) Servo amplifier EN1 MC EN2 SH SH Encoder For cannon plug IN/OUT 4 5 EtherCAT Input/Output 1 Reserved (Do not connect) 3 *8 4 HWGOFF1- 3 HWGOFF2+ 6 HWGOFF2- 5 Built-in regenerative resistor *10 DC24 V + 6 7 8 SH Shield processing CN2 *10 DC5~24 V 1 EDM+ EDM- CONT7+ 2 CONT7- 3 CONT1+ 4 CONT1- 5 CONT2+ 6 CONT2- 7 CONT3+ 8 CONT3- 9 CONT4+ 10 CONT4- 11 CONT5+ 12 CONT5- 14 CONT6+ External regenerative resistor *2 *3 Terminal block 2 HWGOFF1+ 300 A External regenerative resistor *2 *3 + Single-phase 200 VAC (amplifier capacity 10 to 50 A) User unit AC Power single-phase 200~230 V 50/60 Hz 8 MC *9 R S T r t 7 Start ready Start ready ON OFF MC *10 DC24 V Models equipped with the Safe Torque Off function only RB2 2 *11 Amplifier capacity 75 A: CNA 100 A, 150 A: TB RB1 1 Amplifier capacity P CN4 RB2 *7 *5 RB4 MC Emergency System error stop SH MC Emergency System error stop Shieled CN3 *1 2 General-purpose input General-purpose output 1 Lithium battery DC3.6 V 15 CONT6- 16 OUT1+ 17 OUT1- 18 OUT2+ 19 OUT2- is a maintenance terminal (high-voltage circuit). Do not wire this terminal. *4 Motor connection differs by the motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. When they are the cannon plug type, connect them according to the motor specifications. *5 Refer to the encoder connection figure for the wiring of the connector for the encoder connection. *6 R, S, T, r, t, , RB1, RB2, U, V, W are high-voltage circuits. All other lines are low-voltage. Ensure that there is sufficient differential between the high- and low-voltage circuits. *7 Use a shielded twisted pair cable (STP) of category 5e (TIA standard) or later. 21 22 *8 Do not connect anything to CN4 pin 1 and 2. Reserved (Do not connect) 23 24 *12 25 *9 An earth leakage circuit breaker conforming either to UL, IEC, or EN standards is recommended. Do not wire the S phase for a single-phase power supply. *10 The external power supply is to be arranged by the customer. 13 26 SH Use a twisted pair shielded cable. *2 For amplifier capacity 110 to 50 A: Connect a external regenerative resistor between the RB1-RB2 terminals. When using an external regenerative resistor, remove the wiring of the built-in regenerative resistor connected between the RB1 and RB2 terminals and then connect the external regenerative resistor between the RB1 and RB2 terminals. For amplifier capacity 100 to 150 A: When using the built-in regenerative resistor, short the circuit between the RB1-RB4 terminals. When using an external regenerative resistor, remove the shorting bar connected between the RB1 and RB4 terminals and then connect the regenerative resistor between the RB1 and RB2 terminals. *3 20 Shield processing Battery input for encoder Closed Loop Stepping Systems Start ready Start ready ON OFF Orange (Yellow) Black W r t Orange (Yellow) White V 10~50 A, 100~150 A: CNA For cannon plug Servo motor 5-Phase Stepping Systems + 10~50 A: CNB 100~150 A: TB *4 Red RB1 *9 Built-in regenerative resistor 2-Phase Stepping Systems R S T SG *11 CN4 is a connector for safety function signals. To turn the servo motor power ON, a safety device must be connected and the wiring to activate the safety function must be done. When not using the safety function, use an optional connector (P.N: AL-00718251-01) inserted into the CN4. *12 Do not connect anything to CN2 pin 20 to 25. 43 Motion Controller MC RB1 AC power 3-phase 200 to 240 V 50/60 Hz U *2 *3 10~50 A: CNA 100~150 A: TB RB2 User Unit CNA 3-Phase 200 V AC Servo Systems 3E Model Wiring Diagram Analog/Pulse Input Type Servo Amplifier AC SERVO SYSTEMS Dimensions n RS3A02A2HA4 Mass: 0.8 kg (1.76 lb) Unit: mm (inch) (5) [(.2)] (5) [(.2)] 5 (.2) 40 (1.57) [3 (.12)] Unit: mm (inch) [70 (2.76)] [19.5 (.77)] 120 (4.72) 100 (3.94) 75 (2.95) 4-6 (.24) 15 (.59) 2 (.08) 5 (.2) 220 (8.66) (16.5) [(.65)] 5 (.2) 152 (5.98) Mass: 4.9 kg (10.8 lb) 235 (9.25) 225 (8.86) [19.5 (.77)] 15 (.59) 2-5 (.2) 205 (8.07) Unit: mm (inch) [70 (2.76)] 205 (8.07) [.12 (3)] 160 (6.3) 5 (.2) [5 (.2)] 75 (2.95) n RS3A15A2HA4 Mass: 4.2 kg (9.26 lb) 235 (9.25) 225 (8.86) 85 (3.35) 220 (8.66) (16.5) [(.65)] 2 (.08) [3 (.12)] 5 (.2) 130 (5.12) (16.5) [(.65)] 160 (6.3) 40 (1.57) 152 (5.98) (5) [(.2)] [19.5 (.77)] [70 (2.76)] 5 (.2) 130 (5.12) (16.5) [(.65)] n RS3A10A2HA4 44 (5) [(.2)] (5) [(.2)] 5 (.2) 100 (3.94) 50 (1.97) 4-6 (.24) Unit: mm (inch) Mass: 1.6 kg (3.53 lb) 5 (.2) [19.5 (.77)] 5 (.2) Unit: mm (inch) Mass: 0.9 kg (1.98 lb) 50 (1.97) 30 5 (1.18) (.2) n RS3A05A2HA4 n RS3A03A2HA4 [70 (2.76)] (5) [(.2)] 160 (6.3) 160 (6.3) 5 (.2) 130 (5.12) (16.5) [(.65)] 152 (5.98) 30 (1.18) [19.5 (.77)] (5) [(.2)] 152 (5.98) 40 (1.57) [70 (2.76)] 130 (5.12) (16.5) [(.65)] 5 (.2) [19.5 (.77)] [70 (2.76)] [3 (.12)] Mass: 0.8 kg (1.76 lb) Unit: mm (inch) 5 (.2) n RS3A01A2HA4 (Note 1) Control circuit power Ambient temperature Storage temperature Operation/Storage humidity Environment Elevation Vibration Shock Structure Position control/Speed control/Torque control (Parameter changeover) Three-phase: 200 to 230 VAC +10, -15%, 50/60 Hz 3Hz Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz 3Hz (Note 2) Single-phase: 100 to 115 VAC +10, -15%, 50/60 Hz 3Hz (Note 3) Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz 3Hz Single-phase: 100 to 115 VAC +10, -15%, 50/60 Hz 3Hz (Note 3) 0 to +55C -20 to +65C Below 90% RH (no condensation) Below 1000 m 4.9 m/s 2 Frequency range 10 to 55 Hz tested for 2 hours in each direction X.Y.Z 19.6 m/s 2 Built-in tray type power supply Note 1) Power source voltage should be within the specified range 200 VAC Power input type: Specified power supply range = 170 to 253 VAC 100 VAC Power input type: Specified power supply range = 85 to 127 VAC Note 2) 200 VAC single-phase input type corresponds only to the RS2A01A0KA4, RS2A03A0KA4 and RS2A05A0KA4 Note 3) 100 VAC single-phase input type corresponds only to the RS2E01A0KA4 and RS2E03A0KA4 n Performance Speed control range Frequency characteristics 1:5000 (Internal speed command) 800 Hz n Built-in Functions Protection functions LED display Dynamic brake circuit Regeneration process Monitor Over current, Current detection error, Overload, Regeneration error, Amplifier overheating, External overheating, Over voltage, Main circuit power low voltage, Main circuit power supply open phase, Control power supply low voltage, Encoder error, Over speed, Speed control error, Speed feedback error, Excessive position, Position command pulse error, Built-in memory error, Parameter error Status display, Monitor display, Alarm display, Parameter setting, Adjustment mode Built-in Built-in Speed monitor (VMON) 2.0V10% (at 1000 min-1) Torque monitor (TCMON) 2.0V10% (at 100%) n Safety Standard * EN61800-5-1 * EN55011, G1, ClassA * EN61000-6-2 * EN61800-3 * IEC62061, SILCL2 * EN954-1, Cat. 3 n EtherCAT Interface Specifications Physical layer Data link layer Application layer Device profile Communication port Baud rate Max. No. of nodes Transmission distance/topology Cable Communication object PDO length Synchronization function Operation mode LED indicator General Input/Output IEC61158-2 IEEE802.3u 100BASE-TX IEC61158-3,-4 Type12 IEC61158-5,-6 Type12 * CoE (CANopen over EtherCAT) * FoE (File access over EtherCAT) IEC61800-7 Profile type1(CiA402) RJ45 connector (2 ports) 100 Mbps (Full duplex) 65535 nodes Max. 100 m (between nodes)/Daisy-chain Twisted-pair CAT5e (straight or cross) SDO (Service Data Object) PDO (Process Data Object) Output: Max.64Byte Input: Max.64Byte Total: Max. 128 Bytes SYNC0, SYNC1 Event Synchronization Mode (DC Mode), Synchronous with SM2 Event Mode, Asynchronous Mode Profile Position Mode, Profile Velocity Mode, Profile Torque Mode, Homing Mode, Cycle Sync Position Mode, Cycle Sync Velocity Mode, Cycle Sync Torque Mode Port 0/1 link display, RUN display, error display 2 inputs, 2 outputs (4 total) 45 2-Phase Stepping Systems Servo amplifier type Motion Controller Safety standards UL ratings UL508C Low-voltage directive All models EN standards EMC directive * IEC61508, SIL2 Function safety Model with safety function * ISO13849-1, Cat.3, PL = d standards Closed Loop Stepping Systems Control function Main circuit power 5-Phase Stepping Systems n Specifications AC Servo Systems EtherCAT Interface Type Servo Amplifier AC SERVO SYSTEMS System Configuration: 15A, 30A, 50A T S R Setup Software Parameter configuration and monitoring is possible via communication with a PC. Circuit Breaker (MCCB) Used to protect the power line. Cuts off power in the case of an overload. (To be arranged by the customer) Servo Amplifier Noise Filter Attached to prevent external noise from the power source line. (To be arranged by the customer) Model: RS201A0KA4 RS203A0KA4 RS2A05A0KA4 Electromagnetic Contactor Switches power on and off. Protective circuit must be created. (To be arranged by the customer) 11 9 4 PC Interface Cable I/O Cable General-purpose I/O To next amplifier External Regenerative Resistor 7 Master Controller 10 DC Power Source for Brake 3 2 8 Motor Power Cable 5 Safety Off Cable 6 Safety Off/ Battery Cable Brake Cable 1 Safety Unit, Safety PLC, etc. Encoder Cable 12 Battery Servo motor Item 3 1 Encoder Cable: 10 ft 3 2 Motor Power Cable: 10 ft 3 Brake Cable: 10 ft 4 I/O Cable: 3 ft 3 5 Safety Off Cable: 3 ft 6 Safety Off / Battery Cable: 3 ft 7 Connector [CN2] 8 Connector [EN1] 9 Connector [CNA] 10 Connector [CNB] 11 PC Interface Cable 12 Battery Parts Number EEXTKABS2410FT MEXTK1810FT MEXTBRK2010FT 1026-100407 1026-100410 1026-100416 AL-Y0004290-02 AL-00632607 AL-00686902-01 AL-Y0004079-01 AL-00689703-01 1025-106187 To build a complete system, you need to have checked items. 46 Description Only for Brake Equipped Motor One side flying leads One side flying leads + Battery + Holder No need if Safety Off Cable (5) is selected No need if Encoder Cable (1) is selected Supplied with Amplifier No need if Motor Power Cable (2) is selected Communication with SANMOTION MOTOR Setup Software Battery + Holder (ask us) T S AC Servo Systems System Configuration: 100A, 150A R Circuit Breaker (MCCB) Cuts off power in the case of an overload, to protect the power line. (To be arranged by the customer) Setup Software Model: RS2A10A0KA4 RS2A15A0KA4 Servo Amplifier Parameter configuration and monitoring is possible via communication with a PC. Noise Filter 11 Closed Loop Stepping Systems Attached to prevent external noise from the power source line. (To be arranged by the customer) PC Interface Cable 4 I/O Cable To next amplifier 9 Switches power on and off. 8 Master Controller 7 External Regeneration Resistor Motor Power + Brake Cable 2 Motor Power Cable 1 5 Safety Off Cable 6 Safety Off/ Battery Cable Safety Unit, Safety PLC, etc. Encoder Cable 11 Battery 2-Phase Stepping Systems 3 5-Phase Stepping Systems Electromagnetic Contactor DC Power Source Create the protective circuit. (To be arranged by the customer) for Brake Servo Motor Parts Number EEXTKABS24JN10FT MEXTK18JN10FT MEXTK14JN10FT 3 2 Motor Power Cable: 10 ft MEXT10JN10FT MEXT08JN10FT MEXTB10JN10FT 3 Motor Power + Brake Cable: 10 ft MEXTB08JN10FT 4 I/O Cable: 3 ft 1026-100407 3 5 Safety Off Cable: 3 ft 1026-100410 6 Safety Off / Battery Cable: 3 ft 1026-100416 7 Connector [EN1] AL-00632607 8 Connector [CN2] AL-Y0004290-02 3 9 Connector [CNA] AL-Y0005159-01 10 PC Interface Cable AL-00689703-01 11 Battery 1025-106187 Description For 0.5 kW motor For 1.2 kW motor For 2 kW motor For 5 kW motor For brake equipped 2 kW motor For brake equipped 5 kW motor Motion Controller Item 3 1 Encoder Cable: 10 ft One side flying leads One side flying leads + Battery + Holder No need if Encoder Cable (1) is selected No need if Safety Off Cable (5) is selected Communication with SANMOTION MOTOR Setup Software Battery + Holder (ask us) To build a complete system, you need to have checked items. 47 AC SERVO SYSTEMS Wiring Diagram MC Terminal block Start ready ON Start ready OFF Terminal block Built in regeneration resistor MC MC MC Emergency System error stop Emergency stop System error RB2 Note 9 Start ready OFF P Start ready ON External regeneration resistor Note 2 Note 3 - Note 9 Amp capacity 300A External regeneration resistor Note 2 Note 3 RB2 50/60 Hz Amp capacity 100A,150A MC RB1 Power Supply Single-phase 200 to 230V 50/60 Hz - MC Power Supply Single-phase 100 to 115V RB1 Single-phase 200V (Amp capacity 15 to 50A) User Unit RB4 Single-phase 100V (Amp capacity 15A, 30A) User Unit + + Amp capacity Note 2 Note 3 200 to 230V 50/60 Hz 50A: CNA 100 to 150A: Terminal block MC Power Supply 3-phase RB2 RB1 User Unit CNA 15A to 50A 3-phase 200V (Amp capacity 50 to 150A) Built in regeneration resistor R CNA Note 9 U + S T V r W 50A: CNB 100 to 150A: Terminal block Note 4 Red Orange (Yellow) White Orange (Yellow) Black t Start ready ON With Cannon plug SERVO MOTOR (Green/Yellow) EN1 MC 24V Holding brake (models equipped with brakes only) Green SERVO AMPLIFIER Start ready OFF RY1 Encoder MC Emergency System error stop SH Note 5 SH With Cannon plug Note 7 CN0/1 CN2 1 2 BAT+ 1 BAT- 2 Note 11 Lithium battery 3.6VDC 4 Battery input 5 Ethernet I/O 3 3 6 Reserved (Do not connect) 7 Note 8 4 8 SH HWGOFF1+ 5 HWGOFF1- 6 HWGOFF2+ 7 HWGOFF2- 8 EDM+ 9 EDM- 10 Note 10 24VDC Shield processing CN3 General-purpose output 1 OUT1+ 2 OUT1- 3 OUT2+ 4 Note 10 5 to 24VDC General-purpose input SH Shield processing 48 OUT2- 5 CONT1+ 6 CONT1- 7 CONT2+ 8 CONT2- Safe Torque Off function model only Note10 24VDC SH Shield processing Note 1) For the parts marked ,use a twisted pair shielded cable. Note 2) Amp capacity 15A, 30A, 50A When using an external regeneration resistor, connect it between RB1 and 2. If RB1 and 2 are connected to the internal amplifier's resistor, or if a shorting bar is connected between RB1and 4, first disconnect them. Amp capacity 100A,150A When using internal regeneration resistor, connect short-circuit bar between RB1 and RB4 terminals. When using external regeneration resistor, connect it between RB1 and RB2 terminals after removing short-circuit bar between RB1 and RB4 terminals. Note 3) The terminal and the P terminal are for maintenance (high voltage circuit). Do not wire this terminal. Note 4) Motor connection differs by the motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. When they are the Cannon plug type, connect them according to the motor specification. Refer to pin assignment symbols in the instruction manual. Note 5) Refer to encoder connection diagram in instruction manual for the wiring for the connector for the encoder connection. Note 6) R,S,T,t,r, ,P,DL1,DL2,RB1,RB2, RB4 (100A, 150A only), U,V,W are high-voltage circuits, all other lines are low-voltage. Ensure sufficient distance between the high- and low-voltage circuits. Note 7) Use a TIA category 5e or better shielded twisted pair (STP) cable. Note 8) Nothing should connect with CN2-3 and 4 pin. Note 9) It is recommend to use a ground fault interrupter conforming to the UL, IEC and EN standards. Do not wire the S phase for a single-phase power amplifier. Note 10) External power is to be supplied by user. Note 11) CN2 is a Safe Torque Off function connector. If it is not connected to the safety device to enable the Safe Torque Off function to work, the servo does not turn on (the motor is not energized). n RS2A03A0KA4 n RS2E03A0KA4 (5) [(.2)] 130 (5.12) 30 (1.18) 5 (.2) 50 (1.97) 40 (1.57) .2) 5 (.2) [70 (2.76)] (17) [(.67)] Mass: 0.95 kg (2.1 lb) Unit: mm (inch) 4 (.16) (70) [(2.76)] (17) [(.67)] n RS2A10A0KA4 (17) [(.67)] 2 (.08) 220 (8.66) 203 (7.99) 2 (.08) 235 (9.25) 225 (8.86) 160 (6.3) (6) [(.24)] (75) [(2.95)] 4 (.16) n RS2A15A0KA4 N. P. 2-Phase Stepping Systems (3) [(.12)] 152 (5.98) Fan Wind direction 15 (.59) 85 (3.35) (70) [(2.76)] 17 (.67) (20) [(.79)] (20) 5 (.2) (70) [(2.76)] 50 (1.97) 6 (.24) 205 (8.07) (17) [(.67)] 5 (.2) 130 (5.12) 5( 5 (.2) Unit: mm (inch) Mass: 5.0 kg (11 lb) [(.79)] .2) 5 (.2) 5-Phase Stepping Systems Unit: mm (inch) (3) [(.12)] 4 (.16) 100 (3.94) 4 (.16) .2) 5( Wind n o directi Mass: 1.65 kg (3.6 lb) 5 (.2) 5 (.2) 152 (5.98) 160 (6.3) 152 (5.98) n RS2A05A0KA4 75 (2.95) 40 (1.57) Fan 5 (.2) [3 (.12)] 160 (6.3) 4 (.16) (5) [(.2)] (5) [(.2)] 130 (5.12) (20) [(.79)] (20) [(.79)] 5( Unit: mm (inch) 4 (.16) Closed Loop Stepping Systems Mass: 0.75 kg (1.65 lb) 5 (.2) n RS2A01A0KA4 n RS2E01A0KA4 40 (1.57) AC Servo Systems Dimensions Fan Wind direction Unit: mm (inch) 2 (.08) 220 (8.66) 203 (7.99) 2 (.08) Motion Controller (17) [(.67)] (70) [(2.76)] 17 (.67) 205 (8.07) 235 (9.25) 225 (8.86) (20) [(.79)] 120 (4.72) 100 (3.94) 75 (2.95) 6 (.24) 15 (.59) 5 (.2) Mass: 5.3 kg (11.7 lb) (6) [(.24)] (50) [(1.97)] N. P. Fan Wind direction 49 AC SERVO SYSTEMS EtherCAT Interface High Speed Type Servo Amplifier n Specifications Control function Main circuit power (Note 1) Control circuit power Ambient temperature Storage temperature Environment Operation/Storage humidity Elevation Vibration Shock Structure Position control/Speed control/Torque control (Parameter changeover) Three-phase: 200 to 230 VAC +10, -15%, 50/60Hz3Hz Single-phase: 200 to 230 VAC +10, -15%, 50/60Hz3Hz (Note 2) Single-phase: 200 to 230 VAC +10, -15%, 50/60Hz3Hz 0 to +55C -20 to +65C Below 90% RH (no condensation) Below 1000 m 5 m/s 2 Frequency range 10 to 55Hz tested for 2h in each direction X.Y.Z 20m/s 2 Built-in tray type power supply Note 1) Power source voltage should be within the specified range 200 VAC Power input type: Specified power supply range = 170 to 253 VAC Note 2) 200 VAC single-phase input type corresponds only to the RS2A01A0KA4, RS2A03A0KA4, RS2A05A0KA4 n Performance Speed control range Frequency characteristics 1:5000 (Internal speed command) 800 Hz n Built-in Functions Protection functions LED display Dynamic brake circuit Regeneration process Monitor Over current, Current detection error, Overload, Regeneration error, Magnetic pole position estimation error, Amplifier overheating, External overheating, Over voltage, Main circuit power low voltage, Main circuit power supply open phase, Control power supply low voltage, Encoder error, Over speed, Speed control error, Speed feedback error, Excessive position, Position command error, Built-in memory error, Parameter error Status display, Monitor display, Alarm display, Test operation, Adjustment mode Built-in Built-in Speed monitor (VMON) 2.0V10% (at 1000 min-1) Torque monitor (TCMON) 2.0V10% (at 100%) n Safety Standard Servo amplifier type Safety standards UL ratings UL508C * EN61800-5-1 Low-voltage directive * EN61000-6-2 All models EN standards * EN61800-3 EMC directive * EN61326-3-1 * IEC61508, SIL2 * ISO13894-1, Cat3, PL=d Function safety Model with safety function * IEC62061, SILCL2 standards n EtherCAT Interface Specifications Physical layer Data link layer Application layer Device profile Communication port Baud rate Max. No. of nodes Transmission distance/topology Cable Communication object PDO length Synchronization function Operation mode LED indicator General Input/Output 50 IEC61158-2 IEEE802.3u 100BASE-TX IEC61158-3,-4 Type12 IEC61158-5,-6 Type12 * CoE (CANopen over EtherCAT) * FoE (File access over EtherCAT) IEC61800-7 Profile type1(CiA402) RJ45 connector (2 ports) 100 Mbps (Full duplex) 65535 nodes Max. 100 m (between nodes)/Daisy-chain Twisted-pair CAT5e (straight or cross) SDO (Service Data Object) PDO (Process Data Object) Output: Max. 20 objects, Input: Max. 20 objects Total: Max. 40 objects SYNC0, SYNC1 Event Synchronization Mode (DC Mode),Synchronous with SM2 Event Mode, Asynchronous Mode Profile Position Mode, Profile Velocity Mode, Profile Torque Mode, Homing Mode, Cycle Sync Position Mode, Cycle Sync Velocity Mode, Cycle Sync Torque Mode Port 0/1 link display, RUN display, error display 6 inputs, 2 outputs (8 total) R Setup Software Parameter configuration and monitoring is possible via communication with a PC. Circuit Breaker (MCCB) Servo Amplifier Noise Filter Attached to prevent external noise from the power source line. (To be arranged by the customer) Model: RS2A01A2HA5 RS2A03A2HA5 RS2A05A2HA5 Electromagnetic Contactor Switches power on and off. Protective circuit must be created. (To be arranged by the customer) 10 8 Closed Loop Stepping Systems Used to protect the power line. Cuts off power in the case of an overload. (To be arranged by the customer) PC Interface Cable 7 General-purpose I/O To next amplifier 5 6 Master Controller 9 DC Power Source for Brake 5-Phase Stepping Systems External Regenerative Resistor 4 3 2 Motor Power Cable Brake Cable Safety Unit, Safety PLC, etc. Encoder Cable 11 Battery 2-Phase Stepping Systems 1 Servo motor Item 3 1 Encoder Cable: 10 ft 3 2 Motor Power Cable: 10 ft 3 Brake Cable: 10 ft 4 Connector [EN1, EN2] 5 Connector [CN1] 6 Connector [CN1] 7 Connector [CN2] 8 Connector [CNA] 9 Connector [CNB] 10 PC Interface Cable 11 Battery Parts Number EEXTKABS2410FT MEXTK1810FT MEXTBRK2010FT AL-00632607 AL-00718252-01 AL-00849548-02 AL-00842383 AL-00686902-01 AL-Y0004079-01 AL-00689703-01 1025-106187 Description Only for Brake Equipped Motor No need if Encoder Cable (1) is selected For STO, no need if safety device is not installed For STO cancellation, supplied with Amplifier. For general I/O signal Supplied with Amplifier No need if Motor Power Cable (2) is selected Communication with SANMOTION MOTOR Setup software Battery + Holder (ask us) To build a complete system, you need to have checked items. 51 Motion Controller T S AC Servo Systems System Configuration: 15A, 30A, 50A AC SERVO SYSTEMS System Configuration: 100A, 150A T S R Circuit Breaker (MCCB) Cuts off power in the case of an overload, to protect the power line. (To be arranged by the customer) Setup Software Parameter configuration and monitoring is possible via communication with a PC. Model: RS2A10A2HA5 RS2A15A2HA5 Servo Amplifier Noise Filter Attached to prevent external noise from the power source line. (To be arranged by the customer) 9 PC Interface Cable 7 General-purpose I/O To next amplifier Electromagnetic Contactor 8 Switches power on and off. DC Power Source Create the protective circuit. (To be arranged by the customer) for Brake 5 6 Master Controller External Regeneration Resistor 3 Motor Power + Brake Cable 2 Motor Power Cable 1 4 Safety Unit, Safety PLC, etc. Encoder Cable 10 Battery Servo Motor Item 3 1 Encoder Cable: 10 ft Parts Number EEXTKABS24JN10FT MEXTK18JN10FT MEXTK14JN10FT 3 2 Motor Power Cable: 10 ft MEXT10JN10FT MEXT08JN10FT MEXTB10JN10FT 3 Motor Power + Brake Cable: 10 ft MEXTB08JN10FT 4 Connector [EN1, EN2] AL-00632607 5 Connector [CN1] AL-00718252-01 6 Connector [CN1] AL-00849548-02 7 Connector [CN2] AL-00842383 3 8 Connector [CNA] AL-Y0005159-01 9 PC Interface Cable AL-00689703-01 10 Battery 1025-106187 To build a complete system, you need to have checked items. 52 Description For 0.55 kW motor For 1.2 kW motor For 2 kW motor For 5 kW motor For brake equipped 2 kW motor For brake equipped 5 kW motor No need if Encoder Cable (1) is selected For STO, no need if safety device is not installed For STO cancellation, supplied with Amplifier. For general I/O signal Communication with SANMOTION MOTOR Setup software Battery + Holder (ask us) Amp.capacity 100A,150A *2 External regeneration resistor *3 U Orange (Yellow) White V Green (Green/Yellow) IN/OUT Fan R S T CN1 1 2 *5 SH With Cannon plug For fan equipped motor Single-phase 100V (Amp capacity 15A, 30A) *11 User Unit 1 4 Reserved (Do not connect) 5 50/60 Hz HWGOFF1+ 4 HWGOFF1- 3 HWGOFF2+ 6 HWGOFF2- 5 *10 24VDC MC 8 SH Lithium battery 3.6VDC CN2 EDM+ 8 1 EDM- 7 BAT- *10 5 to 24VDC MC Emergency stop System error User Unit 2 3 CONT1+ 4 CONT1- 5 CONT2+ 6 CONT2- 7 CONT3+ 8 CONT3- 9 CONT4+ 10 CONT4- 11 CONT5+ 12 CONT5- 14 CONT6+ 15 CONT6- 16 OUT1+ 17 OUT1- 18 OUT2+ 19 OUT2- Safe Torque Off function model only MC Power Supply Single-phase 200 to 230V 50 / 60Hz BAT+ Start ready Start ready ON OFF Single-phase 200V (Amp. capacity 15 to 50A) Shield processing Battery input R S T r t *9 6 7 CNA MC Power Supply Single-phase 100 to 115V *8 2 Ethernet I/O 3 RB2 + Encoder SH CNA *9 Start readyStart ready ON OFF *10 24VDC MC Shield processing R S T r t MC Emergency stop System error *1 *2 Use a twisted pair shielded cable. Amplifier capacity 15A, 30A, 50A When using an external regenerative resistor, connect it between RB1 and 2. When using an ecternal regeneration resistor, connect it to RB1 and RB2 after removing internal regenerative resistor. 5-Phase Stepping Systems *7 SH *3 Holding brake (models equipped with brakes only) EN2 *13 24V Terminalblock EN1 MC Emergency System errorstop External regeneration resistor Amp.capacity 300A *2 RY1 Orange (Yellow) Black W r t Start readyStart ready ON OFF SERVO MOTOR Red Closed Loop Stepping Systems Built in regeneration resistor RB2 CNA + With Cannon plug 50A: CNB 100 to 150A: Terminal block *4 RB1 *9 RB2 RB1 R S T Built in regeneration resistor + CNA 50A: CNA 100 to 150A: Terminal block MC MC *2 *3 P General-purpose output When using internal regeneration resistor, connect short-circuit bar between RB1 and RB4 terminals. When using external regeneration resistor, connect it between RB1 and RB2 terminals after removing short-circuit bar between RB1 and RB4 terminals. *4 Motor connection differs by the motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. When they are the Cannon plug type, connect them according to the motor specification. Refer to pin assignment symbols in the instruction maual. *5 Refer to encoder connection diagram in instruction manual for the wiring for the connector for the encoder connection. *6 R,S,T,t,r, ,P,DL1,DL2,RB1,RB2, RB4 (100A, 150A only), U,V,W are high-voltage circuits, all other lines are low-voltage. Ensure sufficient distance between the high- and low-voltage circuits. *7 Use a TIA category 5e or better shielded twisted pair (STP) cable. 22 *8 Nothing should connect with CN2-3 and 4pin. 23 *12 *9 It is recommend to use a ground fault interrupter conforming to the UL,IEC and EN standards. Do not wire the S phase for a single-phase power amplifier. 21 24 25 Shield processing , P(only for 300A) are for maintenance (high voltage circuit). Do not wire these terminals. Reserved (Do not connect) 20 SH *3 13 *10 External power is to be supplied by user. 26 *11 CN2 is a Safe Torque Off function connector. If it is SG not connected to the safety device to enable the Safe Torque Off function to work, the servo does not turn on (the motor is not energized). *12 Do not connect anything to CN2-20~25. *13 When usgin pulse encoder in semi closed system, connect it to EN2. 53 2-Phase Stepping Systems Amplifier capacity 100A,150A General-purpose input Motion Controller 200 to 230V 50/60 Hz 15A to 50A RB4 Amp capacity User Unit Power Supply 3-phase RB1 Terminalblock 3-phase 200V (Amp capacity 50 to 150A) AC Servo Systems Wiring Diagram AC SERVO SYSTEMS Dimensions n RS2A03A2HA5 n RS2A01A2HA5 Mass: 0.95 kg (2.1 lb) Mass: 0.75 kg (1.65 lb) 30 (1.18) 5 (.2) .2) [3 (.12)] 85 (3.35) [3 (.12)] 220 (8.7) 2 (.08) Unit: mm (inch) 100 (3.9) 50 (1.97) 6 (.24) [6 (.24)] [75 (2.95)] 4 (.16) 15 (.59) Unit: mm (inch) 205 (8.1) 120 (4.7) 100 (3.9) 75 (2.95) 6 (.24) 235 (9.3) 225 (8.5) 5 (.2) Mass: 5.3 kg (11.7 lb) [6 (.24)] (50) [(1.97)] 54 5 (.2) 205 (8.1) 160 (6.3) 152 (5.98) Wind Direction n RS2A15A2HA5 2 (.08) Mass: 5.0 kg (11 lb) 235 (9.3) 225 (8.5) 5 (.2) [70 (2.76)] Fan 220 (8.7) 2) 5(. [20 (.79)] 2) 5(. 5 (.2) Fan 5 (.2) 15 (.59) Unit: mm (inch) 130 (5.12) 4 (.16) [17 (.67)] 5 (.2) 40 (1.58) n RS2A10A2HA5 Mass: 1.65 kg (3.6 lb) 75 (2.95) (5) [(.2)] Wind ction Dire 4 (.16) n RS2A05A2HA5 (5) [(.2)] 130 (5.12) [17 (.67)] 5 (.2) [3 (.12)] 4 (.16) [70 (2.76)] 160 (6.3) 5( 152 (5.98) 160 (6.3) 50 (1.97) 40 (1.57) 5 (.2) 5 (.2) (5) [(.2)] 152 (5.98) 130 (5.12) [17 (.67)] Unit: mm (inch) 4 (.16) 5 (.2) [70 (2.76)] [20 (.79)] 40 (1.57) Unit: mm (inch) [20 (.79)] 4 (.16) Wind Direction Fan Fan Wind Direction Position control 48 VDC 10% (Note 1) 5 VDC 5% (Note 2) 0 to +40C (Note 3) -20 to +65C Below 90% RH (no condensation) Below 1000 m 4.9 m/s2 Frequency range 10 to 55 Hz tested for 2 hours in each direction X.Y.Z 19.6 m/s 2 Built-in tray type power supply Note 1) Enter the voltage within specification ranges to the power source voltage of the main circuit. Note 2) The control power source is used as the power source to the encoder. Even if the voltage input is within the specification field, when the wiring is long to the encoder, the voltage may decrease as a result of the wiring and the encoder may not operate properly. Note 3) Use within the operation ambient temperature range. n Performance Speed control range Frequency characteristics 1:5000 (Internal speed command) 1200 Hz n Built-in Functions Protection functions LED display Dynamic brake circuit Over current, Current detection error, Overload, Amplifier overheating, External overheating, Over voltage, Main circuit power low voltage, Control power supply low voltage, Encoder error, Over velocity, Velocity control error, Velocity feedback error, Excessive position, Position command pulse error, Built-in memory error, Parameter error Status display, Alarm display, Power-supplied-state display Built-in Closed Loop Stepping Systems Control function Main circuit power Control circuit power Ambient temperature Storage temperature Environment Operation/Storage humidity Elevation Vibration Shock Structure 5-Phase Stepping Systems n Specifications AC Servo Systems Analog DC Input Type Servo Amplifier 5M PPS (reverse rotation + normal rotation pulse and code + pulse) 1.25M PPS (90 phase difference, two-phase pulse) Normal rotation + reverse rotation command pulse, code + pulse train command, or 90 phase difference, two-phase pulse train command N/D (N=1 through 2097152, D=1 through 2097152), 1/2097152N/D2097152 Servo-on, alarm reset, torque limit, encoder-clear, forward rotation prohibit, reverse rotation prohibit, command prohibit, external trip, forced discharge, emergency stop, gain switching, internal velocity setting, etc. Servo-ready, power-on, servo-on, holding brake timing, torque and velocity limited state, low velocity, velocity attainment, velocity-matching, zero-velocity, command acceptable, status of gain switch, velocity loop proportional control state, control mode switching state, forward OT, reverse OT, warning, alarm code (3 bits), etc. N/32768 (N=1 through 32767), 1/N (N=1 through 64) or 2/N (N=2 through 64) 55 Motion Controller Maximum input pulse frequency Position command Input pulse configuration Electronic gear Sequence input signal Sequence output signal Position output signal 2-Phase Stepping Systems n Input Command AC SERVO SYSTEMS System Configuration Servo Amplifier 4 Power input 5 VDC Amplifier Power Cable Model: RF2G21A0A00 Power input 48 VDC Host devices General-purpose I/O connector, homing, probing, and general-purpose signals 6 Regenerative unit 5 7 8 I/O Cable Set PC Interface Cable Setup Software 1 Parameter configuration and monitoring is possible via communication with a PC. Encoder Cable 2 3 Motor Power Cable Brake Cable DC Power Source for Brake 9 Battery Servo Motor Item 3 1 Encoder Cable: 10 ft 3 2 Motor Power Cable: 10 ft 3 Brake Cable: 10 ft 3 4 Amplifier Power Cable: 2 m 3 5 I/O Cable Set, for CN1A and CN1B 6 Regenerative Unit 7 Connector [CNA] 3 8 PC Interface Cable 9 Battery Parts Number Description EEXTGABS2410FT MEXTG1810FT MEXTGBRK2010FT Only for Brake Equipped Motor AL-00745943-01 AL-00745949-01 RF1BB00 No need if I/O Cable (5) is selected AL-00329461-01 AL-00490833-01 Communication with SANMOTION MOTOR Setup Software AL-00494635-01 To build a complete system, you need to have checked items. 56 AC Servo Systems Wiring Diagram User Devices CNB CNA 2 Control power 5VDC 3 1 48G V Servo Amplifier 5V W 5G Note 4 1 Servo Motor Red 2 White 3 Black 4 Normal Rotation Pulse SG +5V CN1A 11 F-PC 12 F-PC 10 SG Note 6 +5V SG Position Command Pulse Input SG +5V +5V Reverse Rotation Pulse 13 R-PC 14 R-PC 2 FG SG Battery Input Lithium Battery 3.6VDC Note 2 1 2 24V Holding Brake (Install with Brake only) Green Encoder SH Note 1 RY1 (Green / yellow) FG CN2 Corresponding Line Driver HD26C31 Orange (yellow) Orange (yellow) Corresponding Line Receiver HD26C32 Corresponding Line Driver HD26C31 Note 5 Closed Loop Stepping Systems 5 U SH CN1A AO 1 AO 3 BO 4 BO 5 ZO 6 ZO 7 PS 8 PS 9 Divided Encoder Output Signal 5-Phase Stepping Systems Main circuit power 48VDC 48V BTP-I BTN-I Analogue Monitor Box Note 3 CONT-COM 3 CONT1 4 CONT2 5 CONT3 6 CONT4 7 CONT5 8 CONT6 9 CONT7 10 CONT8 2 FG 11 OUT1 12 OUT2 13 OUT3 14 OUT4 15 OUT5 16 OUT6 17 OUT7 18 OUT8 20 5VDC, 12 to 24VDC 19 OUT-COM Note 1) Shield processing 2-Phase Stepping Systems General-purpose Inputs DC5V to 24V 1 OUT-PWR General-purpose Outputs CN1B CN1B Use twisted-pair cable with shield inserted under jacket. Note 2) The battery connection connector is located on the underside of the amplifier. Note 3) The analog monitor box is sold separately from the servo amplifier. The connection connector is located on the underside of the amplifier. Note 4) The motor-side connection depends on the motor specification. Red, white, black, green, orange tags indicate lead types for the motor power lines and brake wires. External power sources must be supplied by user. Note 5) Refer to the encoder connection diagram in the instruction manual. Note 6) Connect the SG (signal ground) between the servo amplifier and equipment. 57 Motion Controller 4 AC SERVO SYSTEMS Dimensions n RF2G21A0A00 Mass: 0.23 kg (0.51 lb) Unit: mm (inch) Battery connector 58 15 (.59) 108 (4.3) 3 (.12) 100 (3.9) 116 (4.6) 30 (1.2) 4 (.16) 70 (2.8) AC Servo Systems EtherCAT Interface DC Input Type Servo Amplifier n Specifications Closed Loop Stepping Systems RS2K04A2HA5 RS2J04A2HA5 Position control/Speed control/Torque control (Parameter changeover) 48 VDC 10% 24 VDC 10% 24 VDC 10% 0 to + 40C -20 to + 65C Below 90% RH (no condensation) Below 1000 m 5 m/s2 Frequency range 10 to 55 Hz tested for 2 hours in each direction X.Y.Z 20 m/s2 Built-in tray type power supply n Performance Speed control range Frequency characteristics 1:5000 (Internal speed command) 800 Hz n Built-in Functions Over current, Current detection error, Over load, Regeneration error, Magnetic pole position estimation error, Amplifier overheating, External overheating, Over voltage, Main circuit power low voltage, Main circuit power supply open phase, Control Protection functions power supply low voltage, encoder error, Over speed, Speed control error, Speed feedback error, Excessive position, Position command error, Built-in memory error, Parameter error. LED display Status display, Monitor display, Alarm display, Test operation, Adjustment mode Dynamic brake circuit Built-in Regeneration process circuit Built-in Speed monitor (VMON) 2.0V10% (at 1000 min-1) Monitor Torque monitor (TCMON) 2.0V10% (at 100%) n EtherCAT Interface Specifications Device profile Communication port Baud rate Max. No. of nodes Transmission distance/topology Cable Communication object PDO length Synchronization function Operation mode LED indicator General Input/Output 2-Phase Stepping Systems Data link layer Application layer IEC61158-2 IEEE802.3u 100BASE-TX IEC61158-3,-4 Type12 IEC61158-5,-6 Type12 IEC61800-7 Profile type1(CiA402) * CoE (CANopen over EtherCAT) * FoE (File access over EtherCAT) RJ45 connector (2 ports) 100 Mbps (Full duplex) 65535 nodes Max. 100 m (between nodes)/Daisy-chain Twisted-pair CAT5e (straight or cross) SDO (Service Data Object) PDO (Process Data Object) Output: Max. 20 objects, Input: Max. 20 objects Total: Max. 40 Bytes SYNC0, SYNC1 Event Synchronization Mode (DC Mode), Synchronous with SM2 Event Mode, Asynchronous Mode Profile Position Mode, Profile Velocity Mode, Profile Torque Mode, Homing Mode, Cycle Sync Position Mode, Cycle Sync Velocity Mode, Cycle Sync Torque Mode Port 0/1 link display, RUN display, error display 6 inputs, 2 outputs (8 total) Motion Controller Physical layer 5-Phase Stepping Systems Amplifier Model Control function Main circuit power Control circuit power Ambient temperature Storage temperature Operation/Storage humidity Environment Elevation Vibration Shock Structure 59 AC SERVO SYSTEMS System Configuration Servo Amplifier Model: RS2K04A2HA5 RS2J04A2HA5 Main Power Input 48 or 24 VDC Setup Software 10 Control Power Input 24 VDC Parameter configuration and monitoring is possible via communication with a PC. PC Interface Cable 8 4 General-purpose I/O To next amplifier External Regenerative Resistor 9 2 6 7 Master Controller Motor Power Cable 5 1 Encoder Cable Safety Unit, Safety PLC, etc. 3 Brake Cable DC Power Source for Brake Servo Motor Item 3 1 Encoder Cable: 10 ft 3 2 Motor Power Cable: 10 ft 3 Brake Cable: 10 ft 4 I/O Connector [CN2] 5 Connector [EN1] 3 6 Connector [CN1] 3 7 Connector [CN1] 8 Connector [CNA] Parts Number EEXTKABS2410FT MEXTK1810FT MEXTBRK2010FT AL-00842383 AL-00632607 AL-00718252-01 AL-00849548-02 AL-Y0010913-01 No need if Encoder Cable (1) is selected For STO function, no need if connector (7) is selected For STO function cancellation, no need if connector (6) is selected Supplied with Amplifier 9 10 AL-Y0004079-01 AL-00689703-01 No need if Motor Power Cable (2) is selected Communication with SANMOTION MOTOR Setup Software Connector [CNB] PC Interface Cable To build a complete system, you need to have checked items. 60 Description Only for Brake Equipped Motor CNA CNB Built in regeneration resistor V N DC Power Supply 24VDC Note 3 CP SERVO AMPLIFIER CN Note 6 MC Emergency System error stop Orange (Yellow) White Orange (Yellow) RY1 24V Holding brake (models equipped with brakes only) Green (Green/Yellow) EN1 / EN2 Start ready Start ready ON OFF Black Red U + MC SERVO MOTOR Note 4 W Encoder Closed Loop Stepping Systems + SH Note 5 SH Note 7 IN/OUT CN1 1 2 Note 11 1 4 Reserved (Do not connect) 5 Note 8 2 Ethernet I/O 3 HWGOFF1+ 4 HWGOFF1- 3 HWGOFF2+ 6 HWGOFF2- 5 Note10 24VDC 6 7 8 SH Shield processing Battery Power CN2 EDM+ 8 BAT+ 1 EDM- 7 BAT- 2 Note 10 5 to 24VDC General-purpose input General-purpose output 3 CONT1+ 4 CONT1- 5 CONT2+ 6 CONT2- 7 CONT3+ 8 CONT3- 9 CONT4+ 10 CONT4- 11 CONT5+ 12 CONT5- 14 CONT6+ 15 CONT6- 16 OUT1+ 17 OUT1- 18 OUT2+ 19 OUT2- Safe Torque Off function model only 20 21 22 Reserved (Do not connect) 23 24 25 Note 12 13 26 SH Shield processing SG SH Note10 24VDC 5-Phase Stepping Systems Lithium battery 3.6VDC Shield processing Note 1) For the parts marked ,use a twisted pair shielded cable. Note 2) AMP. capacity 25A, 40A When using an external regeneration resistor, connect it between RB1 and 2. If RB1 and 2 are connected to the internal amplifier's resistor, or if a shorting bar is connected between RB1and 4, first disconnect them. Note 3) An electrolytic capacitor between P-N and CP-CN is installed to the amplifier side as necessary in case that wiring from DC power source to the amplifier is long. When the battery is used for the DC power source between P-N and CP-PN, an electrolytic capacitor has to be installed. (Recommendation: more than 2000F) Note 4) Motor connection differs by the motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. Note 5) Refer to encoder connection diagram in the instruction manual for the wiring for the connector for the encoder connection. Note 6) For protecting the servo amplifier, ensure the power-off system like emergency stop and so on should shut down the DC power input. Note 7) Use a TIA category 5e or better shielded twisted pair (STP) cable. Note 8) Do not use 1 and 2 pins in CN1. Note 9) It is recommend to use a ground fault interrupter conforming to the UL, IEC and EN standards. Do not wire the S phase for a single-phase power amplifier. Note 10) External power source is to be supplied by user. Note 11) CN1 is a Safe Torque Off function connector. If it is not connected to the safety device to enable the Safe Torque Off function to work, the servo does not turn on (the motor is not energized). Note 12) Do not use 20 to 25 pins in CN2. 61 2-Phase Stepping Systems P + Motion Controller MC 48 or 24 VDC AC Power Supply RB1 Note 9 Note 2 25A, 40A CNA DC Power Supply RB2 User Unit AC Servo Systems Wiring Diagram AC SERVO SYSTEMS Dimensions n RS2K04A2HA5 n RS2J04A2HA5 4 (.16) Mass: 0.55 kg (1.2 lb) [70 (2.76)] 85 (3.35) 5 (.2) (18) [(.71)] .2) 5( 152 (5.98) [3 (0.12)] 160 (6.3) [20 (.79)] 5 (.2) 40 (1.57) Unit: mm (inch) 62 5 (.2) AC Servo Systems EtherCAT Interface DC Input Type Multi Axis Servo Amplifier n Specificaitons RF2J14A0HL5 RF2K24A0HL5 RF2J24A8HL5 2.4 W 20 to 200 W Linear actuator 9.6 W 300 W 120 W Position control/Speed control/Torque control (Parameter switching) 48/24 VDC10% (Note 1) 24 VDC10% (Note 1) 0 to +55C -20 to +65C Below 90% RH (no condensation) 1000 m or lower 4.9 m/s 2 freq. range 10 to 55 Hz in X, Y, and Z direction each, within 2 hours 19.6 m/s 2 External tray type DC power supply Closed Loop Stepping Systems Amplifier Model Combined Motor Total 4 axes output limitation Control function Main circuit power (Note 1) Control circuit power Ambient temperature Storage temperature Environment Operation/Storage humidity Elevation Vibration Shock Structure Note 1) Always use input voltage within the specification range for the main circuit power supply. n Performance 1:5000 800 Hz n Built-in Functions Protection functions LED display Regeneration process Over current, Current detection error, Overload, Regeneration error, Overheating, External disorder, Over voltage, Main circuit power low voltage, Encoder error, Over speed, Speed control error, Speed feedback error, Unreasonable position deviation, Position command pulse error, Built-in memory error, Parameter error Alarm display (red), status display (green), control power establishment (green), main circuit charge (red), communication link (green) x 2, communication RUN (green), communication Error (red) External type (Connect to the CNC connector, if a regenerative resistor is required.) 2-Phase Stepping Systems n EtherCAT interface specifications 5-Phase Stepping Systems Speed control range Frequency characteristics Motion Controller IEC61158-2 Physical layer IEEE802.3u 100BASE-TX Data link layer IEC61158-3,-4 Type12 Application layer IEC61158-5,-6 Type12 IEC61800-7 Profile type1(CiA402) * CoE (CANopen over EtherCAT) Device profile * FoE (File access over EtherCAT) Communication port RJ45 connector (2 ports) Baud rate 100 Mbps (Full duplex) Max. No. of nodes 65535 nodes Transmission distance/topology Max. 100 m (between nodes)/Daisy-chain Cable Twisted-pair CAT5e (straight or cross) SDO (Service Data Object) Communication object PDO (Process Data Object) Synchronization types SYNC0, SYNC1 Event Synchronization Mode, Asynchronous Mode Profile Position Mode, Profile Velocity Mode, Profile Torque Mode, Homing Mode, Cycle Operation mode Sync Position Mode, Cycle Sync Velocity Mode, Cycle Sync Torque Mode LED indicator Port 0/1 link display, RUN display, error display General Input/Output Input: 8 points (total), Output: 2 points / axis (8 points in total) 63 AC SERVO SYSTEMS System Configuration Main circuit power supply 48/24 VDC Servo Amplifier Control power 24 VDC 7 Model: RF2J14A0HL5 RF2K24A0HL5 RF2J24A8HL5 Safety unit, safety PLC, etc. The I/O signals of the Safe Torque Off function are connected to safety devices such as the safety unit and safety PLC. External regenerative resistor 8 3 To 4-axis servo motor 9 Setup software Parameter setting and monitoring are possible via communication with a PC. 10 To 3-axis servo motor 3 To 2-axis servo motor PC Interface Cable 5 6 To 4-axis servo motor To the next amplifier To 3-axis servo motor To 2-axis servo motor 2 Motor Power Cable 11 4 Battery Host devices 1 Encoder Cable Servo Motor 1-axis servo motor Item 3 1 Encoder Cable: 10 ft 3 3 2 Motor Power Cable: 10 ft 3 4 5 6 7 8 Connector [EN1 to 4] Connector [MOT1 to 4] Connector [CN1] Connector [CN1] Connector [CNA] Connector [CNC] Parts Number EEXTKABS2410FT 1026-107008 1026-107024 1026-107009 1026-107025 AL-00632607 AL-00922660 AL-00718252-01 AL-00849548-02 AL-00922656 AL-00922658 Connector [I/O] PC Interface Cable Battery [CN3] AL-00922662 AL-00490833-01 AL-00880402-01 9 10 11 To build a complete system, you need to have checked items. 64 2-axis servo motor 3-axis servo motor 4-axis servo motor Description For 1027-107013 and 1027-107014 motor For 1028-107023 motor For 1028-107023 motor No need if Encoder Cable (1) is selected No need if Motor Cable (2) is selected For STO, no need if safety device is not installed For STO cancellation, supplied with Amplifier. For amplifierr power supply For refenerative resistor connection For general I/O singal Communication with SANMOTION MOTOR Setup software Used when using a battery-backup method absolute encoder CNC 1 2 Main circuit power supply MC 48/24 VDC + 3 N V 3 White P W 2 Black 8 7 N 6 CP 2 CN 1 FG 5 FG Control power *3) 24 VDC + *6) Start ready Start ready ON OFF MC Emergency U Red Orange (Yellow) Orange (Yellow) 90 V (24 V) Holding brake (Install only devices with brakes) Green 1 RY1 (Green/Yellow) Encoder SH *5) EN1 to 4 SH stop *7) IN/OUT 1 2 4 5 Ethernet I/O CN1 *10) 3 6 7 8 SH Shield processing I/O *9) 5 VDC to 24 V General input 1 *8) 2 Reserved (Do not connect.) 1 CONT1+ 2 CONT1- 3 CONT2+ 4 CONT2- 5 CONT3+ 6 CONT3- 7 CONT4+ 8 CONT4- 19 CONT5+ 20 21 HWGOFF1+ 4 HWGOFF1- 3 HWGOFF2+ 6 HWGOFF2- 5 EDM+ 8 EDM- 7 SH Shield 11 OUT1- 12 CONT5- OUT2+ 13 CONT6+ OUT2- 14 OUT3+ 15 OUT3- 16 OUT4+ 17 OUT4- 18 OUT5+ 29 OUT5- 30 OUT6+ 31 OUT6- 32 OUT7+ 33 OUT7- 34 OUT8+ 35 OUT8- 36 CONT6- 23 CONT7+ 24 CONT7- 25 CONT8+ 26 CONT8- 9 10 27 28 *10) 24 VDC processing OUT1+ 22 *9) 24 VDC 5-Phase Stepping Systems System error Servo motor P *12) MC MOT1 to 4 *4) 4 CNA 4 Reserved (Do not connect.) *11) 2-Phase Stepping Systems *8) AC power External regenerative resistor *2) Closed Loop Stepping Systems User unit AC Servo Systems Wiring Diagram General output SH *1 *2 *3 *4 *5 Use a twisted pair shielded cable. The servo amplifier contains an internal regenerative process circuit. If DC voltage increases due to the regenerative power occuring when the motor is stopped, connect a regenerative resistor. * When the wiring from the DC power supply to the servo amplier is long, install an electrolytic capacitor on the amplifier side between P-N and CP-CN if necessary. * When using a battery for the DC power supply between P-N and CP-CN, always install an electrolytic capacitor (2000 F or more). Motor connection differs by the motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. Refer to the encoder connection figure for the wiring of the connector for the encoder connection. Motion Controller Shield processing *6 Turn the power off as a way to shut off the main circuit power for the protection of the servo amplifier during emergency stops. Use a shielded twisted pair cable (STP) with Category 5e (TIA standards) or higher. An earth leakage circuit breaker conforming to UL and either IEC or EN standards is recommended. *9 The external power supply is to be arranged by the customer. *10 CN1 is a connector for the Safe Torque Off function. Connect the connector to the safety function to make the Safe Torque Off function active. Otherwise, the servo will not be turned on (no power to the motor). *11 Do not connect anything to I/O-9, 10, 27 and 28. *12 Contact us for main circuit power supply 24 VDC. *7 *8 65 AC SERVO SYSTEMS Dimensions n RF2J14A0HL5 n RF2K24A0HL5 n RF2J24A8HL5 Mass: 0.75 kg (1.65 lb) Mass: 0.8 kg (1.76 lb) Mass: 0.75 kg (1.65 lb) Unit: mm (inch) 5 (.2 30 (1.18) ) 4.5 (.18) 10.8 (.43) 66 10 (.39) 5 (.2) 130 (5.3) 2- 190 (7.5) 50 (1.97) [70 (2.76)] 200 (7.9) 182 (7.2) 9 (.35) 4.5 (.18) 2- 5 (.2) R2GA04008D 80 W 48 VDC 24 10% 0.27 0.32 2.8 0.0078 0.0027 0.27 0.60 R2AA04010F 90 W 200 VAC 24 10% 0.27 0.32 2.8 0.0078 0.0027 0.27 0.60 Motor Model Rated Power Power Supply Input Voltage VDC Input Current Amp Minimum Static Friction N * m Torque lb * in -4 kg * m2 x10 Inertia lb * in2 kg Mass lb R2FA06007R R2FA04003F 70 W 24 VDC 24 10% 0.27 0.36 3.2 0.06 0.021 0.36 0.80 R2EA06020F R2FA04005D 200 W 100 VAC 24 10% 0.32 1.37 12.1 0.06 0.021 0.39 0.86 R2GA06020D R2EA04008F 200 W 48 VDC 24 10% 0.32 1.37 12.1 0.06 0.021 0.35 0.78 R2AA06040F R2GA04008D 400 W 200 VAC 24 10% 0.32 1.37 12.1 0.06 0.021 0.39 0.86 R2AA08075F R2AA04010F 750 W 200 VAC 24 10% 0.37 2.55 22.6 0.25 0.085 0.89 2.0 Motor Model Rated Power Power Supply Input Voltage VDC Input Current Amp Minimum Static Friction N * m Torque lb * in -4 kg * m2 x10 Inertia * lb in2 kg Mass lb R2AAB8100H 1 kW 200 VAC 24 10% 0.3 3.92 34.7 0.343 0.117 0.84 1.9 R2AA13200D 2 kW 200 VAC 24 10% 0.66 12 106 0.5 0.17 1.5 3.3 R2AA22500L 5 kW 200 VAC 24 10% 1.2 42 372 5.1 1.7 5.5 12 Motion Controller Brake Brake Closed Loop Stepping Systems R2EA04008F 80 W 100 VAC 24 10% 0.27 0.32 2.8 0.0078 0.0027 0.27 0.60 5-Phase Stepping Systems R2FA04005D 50 W 24 VDC 24 10% 0.27 0.32 2.8 0.0078 0.0027 0.27 0.60 2-Phase Stepping Systems R2FA04003F 30 W 24 VDC 24 10% 0.27 0.32 2.8 0.0078 0.0027 0.27 0.60 Brake Motor Model Rated Power Power Supply Input Voltage VDC Input Current Amp Minimum Static Friction N * m Torque lb * in x10-4 kg * m2 Inertia lb * in2 kg Mass lb AC Servo Systems Brake Equipped Motors 67 AC SERVO SYSTEMS Incremental Encoder with Hall Sensor Equipped Motor Unit: mm (inch) LC LL 1 LR 0.8 LE Q 0.3 LZ LG Figure B ( 6) [( .23)] Dimensions n Dimensions R2AA08075FCK00M Unit: mm (inch) LL LG 68.5 (2.70) 104.5 (4.11) 5 84 (3.31) (.2) 120 (4.72) 78.2 (3.08) 106.2 (4.18) 89.2 (3.51) 6 117.2 (4.61) (.24) 115.2 (4.54) 143.2 (5.64) 128.3 (5.05) 8 163.7 (6.44) (.31) LB KL LA LE 34.4 (1.35) 0 30 -0.021 2.5 35.3 (1.39) 46 0 34.4 (1.35) (1.81) (1.18 -.00084) (.1) 35.3 (1.39) 44.6 (1.76) ( 8) [( .31)] Encoder Cable 26AWG, 7pair, Shielded Brake Cable 23AWG Note: *1 P/N R2AA04005FXK30M *1 R2AA04005FCK30M *1 R2AA04010FXK00M R2AA04010FCK00M R2AA06010FXK30M *1 R2AA06010FCK30M *1 R2AA06020FXK00M R2AA06020FCK00M R2AA06040FXK00M R2AA06040FCK00M R2AA08075FXK00M ( 5) [( .19)] 0 70 50 -0.025 0 (2.76) (1.97 -.001) 3 (.12) n Encoder Specifications Item Pulse per Revolution Channel CS Pulse per Revolution CS Channel Frequency Response Input Voltage Input Current Output Signal Insulation Resistance 54.4 (2.14) 1100100 (43.31 4) Motor Cable Motor, Ground 0.75 mm 2 1100100 (43.31 4) QE Tapping Depth LT Rear Oilseal eliminated Front LH 1100100 (43.31 4) KL S LB LA 90 (3.54) 0 70 -0.030 0 (2.76 -.0012) Q QE LT P/N LH LC LZ LR S R2AA04005FXK30M *1 R2AA04005FCK30M *1 56 40 2-o4.5 0 R2AA04010FXK00M (2.20) (1.57) (2-o.18) 25 8 -0.009 20 N/A N/A 0 R2AA04010FCK00M (.98) (.31 -.004) (.79) R2AA06010FXK30M *1 R2AA06010FCK30M *1 R2AA06020FXK00M 82 60 4-o5.5 0 R2AA06020FCK00M (3.23) (2.36) (4-o.22) 30 14 -0.011 25 0 R2AA06040FXK00M (1.18) (.55 -.004) (.98) M5 12 (.47) R2AA06040FCK00M 0 R2AA08075FXK00M 108 80 4-o6.6 40 16 -0.011 35 0 R2AA08075FCK00M (4.25) (3.15) (4-o.26) (1.57) (.63 -.004) (1.38) Specification 2000 P/R 3 (A, B, Z Channel) 5 Pulse/Rate 3 (U, V, W Channel) 0 to 7200 min -1 +5 0.25 VDC 300 mA Max. Line Driver AM26LS31 Equivalent 50 M Min. 250 VDC between frame and lead wire (without shield wire) Operating Temp. Range 0 to 85 C (Motor: 0 to 40 C) Rotor Inertia 0.007 x 10 -4 (kg*m2 ) Incremental (EN) Commutation Sensor (CS) Note: *1 - The motor and encoder connectors of R2AA04005F and R2AA06010F are mounted towared the rear side of motor (Figure B). Other motos have Figure A. 68 n Motor R 2 AA 06 020 F C P 00 M R Series Connector 2 *** Middle intertia AA *** 200 VAC GA *** 48 VDC Closed Loop Stepping Systems Standard Indentification Supply Voltage M *** CE and UL EA *** 100 VAC FA *** 24 VDC Specification 00 *** Standard Flange Size Encoder Type 08 *** 80 mm 13 *** 130 mm B8 *** 86 mm 22 *** 220 mm C *** Absolute encoder for incremental system [MA018] H *** Absolute encoder for incremental system K *** 2000 P/R incremental encoder [PP031] P *** Battery backup method absolute enocoder [PA035C] R *** Battery less optical absolute encoder [HA035] S *** 8192 P/R incremental encoder [PP018T] Rated Output 008 *** 80 W 010 *** 100 W 020 *** 200 W 040 *** 400 W 050 *** 550 W 075 *** 750 W 120 *** 1.2 kW 200 *** 2 kW 500 *** 5 kW Holding Brake X *** w/o brake 5-Phase Stepping Systems 02R *** 2.4 W D20 *** 20 W 003 *** 30 W 005 *** 50 W 007 *** 70 W E01 Blank *** Flying wire E01 *** CPC Connector Motor Type 02 *** 20 mm 04 *** 40 mm 06 *** 60 mm AC Servo Systems Model Numbering System C *** w/ 24 VDC brake Max. Rotation Speed F *** 6000 min-1 H *** 3500 min-1 RS2 A 01 0 A A 0 Input Voltage, Structure RS3, RS2 Series A *** 200 VAC E *** 100 VAC K *** 48 VDC J *** 24 VDC J *** Without fan RS1 Series A *** 200 VAC, w/ DB resigtor 15, 30A: w/o regen. resistor 50, 100, 150A: w/ regen. resistor Servo Amplifier Capacity 01 *** 10/15 A 05 *** 50 A 02 *** 20 A 10 *** 100 A 03 *** 30 A 14 *** 25 A 04 *** 40 A 15 *** 150 A 21 *** Large-sized 24 *** 40 A 4 *** Available (with delay circuit) 5 *** Available (with delay circuit) 00*** Standard Option 1 * RS2 Series A *** With built-in regen. resistor, with DB resistor L *** Without built-in regen. resistor, with DB resistor RF2 Series L *** Without built-in regen. resistor, with DB NA ...for RF2G21A0A00 Interface Type A *** Analog pulse control, NPN (Sink) output C *** Indexer F *** Indexer with Modbus K *** EtherCAT H *** EtherCAT (High-speed communication) Motor Type A *** Rotary motor *** Compact cylinder linear motor 2-Phase Stepping Systems Safe Torque Off Fucntion * / Specification Identification ** Series RF2 Series G *** 48 VDC K *** With fan A Motion Controller n Amplifier D *** 4500 / 5000 min-1 L *** 3000 / 4000 min-1 Encoder Type * 0 *** EN1, EN1 to 4, CN2: Serial Encoder 2 *** EN1: Serial Encoder, EN2: N/A 8 *** EN1 to 4: Pulse Encoder * RS3, RS2 and RF2 series only ** RF2 series analog input type only 69 CLOSED LOOP STEPPING SYSTEMS High Speed Positioning High torque performance in the low speed range delivers a shorter positioning time for a short stroke/high hit rate application. Indexer Model Zero Motor Hunting PB system eliminates the usual motor hunting seen in servo systems; this is done by applying constant torque delivered to the motor which is a typical characteristic of stepping motor systems. CW Servo system Motor Speed 0 Homing Function Position Command Range: 31 bit Relative/Absolute Travel Point Mode Point data: Max. 128 points Program Mode Program size: Max. 1024 lines Point Loop/Conditional Jump Jogging Function Torque Limit Function Alarm/ OT Holding Brake Control Model No. PB system 0 Pulse Input Model CCW +1 pulse Target position -1 pulse Time Improved Efficiency Low motor heat generation is achieved by controlling the current to the motor which gives you optimum motor performance through all of the motors speed/torque range. Homing Function Jogging Function Pulse Input Frequency: Max. 400 kHz Resolution: 100 to 16,000 P/R Encoder Signal Output ALM Output In-position Output Holding Brake Control Motor temperature rise Temp increase (K) 80 60 Model No.PB 40 20 0 500 70 EtherCAT Model Open control stepping system 1000 1500 Speed (min-1) 2000 Two Axis Control Homing Mode Position Mode (PP, CSV) Velocity Mode (PV, CSV) Jogging Function Holding Brake Control 42 mm 1.7 inch 60 mm 2.4 inch 86 mm 3.4 inch oz * in 100 VAC 200 VAC 24/48 VDC 100 VAC 200 VAC 24/48 VDC EtherCAT Type E Type E Multi-axis Page 24/48 VDC 24/48 VDC 0.055 PBM281DXE50n 72 7.79 0.05 PBM282FXE20 nn73 7.08 0.155 PBM284FXE20 n n 22.0 74 0.115 PBM284FXE50n 16.3 0.115 PBM285DXE50n 75 16.3 0.35 PBM423FXK30-M n n n n 49.6 0.39 PBM423FXE20 n n 55.276 0.39 PBM423FXE50n 55.2 0.39 PBM423DXK50n 55.2 1.3 PBM603FXK30-M n n n n 184.1 1.3 PBM603FXE20 nn 184.1 77 1.3 PBM603FXE50 n 184.1 1.05 PBM603DXK50n 148.7 1.9 PBM604FXK30-M n n n n 269.1 1.9 PBM604FXE20 n n 269.178 1.9 PBM604FXE50 n 269.1 1.85 PBM604DXK50n 262 3.1 PBM861FXK30-M 79 n n n n 439 6.1 PBM862FXK30-M 80 n n n n 863.9 Closed Loop Stepping Systems 1.1 inch 59.2 2.33 58.5 2.30 117.1 4.61 117.1 4.61 78.5 3.09 55.9 2.20 57.6 2.27 55.9 2.20 55.9 2.20 68.8 2.71 70.3 2.77 68.8 2.71 68.8 2.71 100.8 3.97 102.3 4.03 100.8 3.97 100.8 3.97 79.5 3.13 110 4.33 Driver Max. Stall IndexerPulse Input Torque Model Type R Type M Type P Type M N * m 5-Phase Stepping Systems 28 mm Motor Length mm inch Driver Command Type Driver Type AC Input DC Input Indexer Model Motion Controller Startup via I/O Signal Startup preset points or programs in the driver memory using the Input/Output signals. Type R Startup via RS-485 Serial Communication Control by transmitting speed, acceleration/deceleration and distance data via serial communication. Type M 2-Phase Stepping Systems Flange Size AC Servo Systems Lineup Pulse Input Model Controlled by Pulse Stream Signal Type P Motion is generated by responding to pulse input commands from a host device. EtherCAT Model Controlled through EtherCAT interface Type E Motion command is sent through EtherCAT which is a field-bus system that allows 100Mbps high-speed and highly reliable communication. 71 CLOSED LOOP STEPPING SYSTEMS 28 mm (1.10 inch) 59.2 mm (2.33 inch) MOTOR LENGTH n Specifications n Torque Curve l PBM281DXE50 24/48 VDC PBM281DXE50 Type E Multi 0.055 7.79 0.01 0.055 2000 P/R (500 P/R x4) 0.16 0.35 -10 to 40C (16 to 104F) 20 to 90% RH, no condensation Torque 48 VDC Power supply current 48 VDC 0.10 0.08 Torque (N*m) Power Supply Model Driver Type N*m Maximum Stall Torque oz * in x10-4 kg * m2 Rotor Moment of Inertia oz * in2 Incremental Encoder kg Motor Weight lb Operating Temperature Humidity 0.06 0.04 0.02 0 0 24 VDC 24 VDC 10 9 8 7 6 5 4 3 2 1 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed (min-1) n Dimension Unit: mm (inch) ENCODER CONNECTOR MOTOR CONNECTOR 230.5 (.9.02) ) 0 o22 -0.05 0 (.87 -.002 ) ( 59.21 (2.33.04) 150.5 (.59.02) 2-M2.5x0.45 Tapping depth: 3.2 min. 230.5 (.9.02) 280.5 (1.1.02) +1 0 +1 .39 0 10 0 1.50.25 (.049.01) 0 UL VINYL TUBE o5 -0.013 (.2 -.0005 ) ENCODER CBALE 50020 (19.7.79) 50020 (19.7.79) MOTOR LEAD WIRE UL 3265 AWG28 4.50.2 (.18.0079) 280.5 (1.1.02) n Applicable Driver Power Supply Motor Indexer 24/48 VDC 72 PBM281DXE50 Driver Pulse Input EtherCAT PB4D003E440 Power supply current (A) MOTOR FLANGE SIZE n Specifications AC Servo Systems 58.5 mm (2.30 inch) MOTOR LENGTH n Torque Curve l PBM282FXE20 24/48 VDC PBM282FXE20 Type M 0.05 7.08 0.008 0.044 2000 P/R (500 P/R x4) 0.16 0.35 -10 to 40C (16 to 104F) 20 to 90% RH, no condensation PBM282 0.1 10 0.08 8 0.06 6 0.04 4 0.02 2 0 0 1000 2000 3000 4000 0 Power Consumption (A) Torque 24 VDC Power Consumption 24 VDC Torque (N * m) Power Supply Model Driver Type N*m Maximum Stall Torque oz * in -4 kg * m2 x10 Rotor Moment 2 * of Inertia oz in Incremental Encoder kg Motor Weight lb Operating Temperature Humidity Speed (min-1) Unit: mm (inch) n Dimension Closed Loop Stepping Systems 28 mm (1.10 inch) MOTOR FLANGE SIZE Unit: mm (inch) 4.50.2 (.18.008) 230.5 (.91.02) 280.5 (1.1.02) 0 0 2-M2.5x0.45 2-Phase Stepping Systems UL VINYL TUBE +1 0 ( .59+.04 0 ) 5 -0.013( .2 -.0005) ENCODER CABLE 50020 (19.7.79) 50020 (19.7.79) 2.3 (.1) MAX. 15 16 (.63) MAX. 5-Phase Stepping Systems 280.5 (1.1.02) 230.5 (.91.02) 200.5 (.79.02) 20.25 (.079.01) 0 0 ( .87 -.002 ) 22 -0.05 58.51 (2.31.04) MOTOR LEAD WIRE UL1430 AWG26 MOTOR CONNECTOR ENCODER CONNECTOR Power Supply Motor Indexer 24/48 VDC PBM282FXE20 Driver Pulse Input Motion Controller n Applicable Driver EtherCAT PB3D003M200 73 CLOSED LOOP STEPPING SYSTEMS 28 mm (1.10 inch) 117.1 mm (4.61 inch) MOTOR LENGTH n Torque Curve n Specifications l PBM284FXE20 Power Supply 24/48 VDC 48 VDC Model PBM284FXE20PBM284FXE50 Driver Type Type M EtherCAT 0.1550.115 N*m Maximum Stall Torque oz * in 22.016.3 -4 2 * 0.0160.016 x10 kg m Rotor Moment of Inertia oz * in2 0.0880.088 Incremental Encoder 2000 P/R (500 P/R x4) 500 P/R kg 0.230.23 Motor Weight lb 0.510.51 Operating Temperature-10 to 40C (16 to 104F) Humidity 20 to 90% RH, no condensation PBM284FXE50 0.16 8 0.12 6 0.08 4 0.04 2 0 0 Torque 48 VDC Power Consumption 48 VDC 230.5 (.91.02) 280.5 (1.1.02) 0 0 UL VINYL TUBE ) 4000 0 l PBM284FXE50 4.50.2 (.18.0079) 24 VDC 24 VDC 0.14 3 0.12 2.5 0.1 2 0.08 1.5 0.06 1 0.04 0.5 0.02 0 0 ( .2 -.0005 ) 5 -0.013 ENCODER CABLE ( 50020 (19.7.79) 16 (.63) MAX. +1 15 0 .59+.04 0 3000 Speed (min ) 280.5 (1.1.02) 230.5 (.91.02) 200.5 (.79.02) 20.25 (.079.01) 22 -0.05 ( .87 -.002) 117.11 (4.61.04) 2000 -1 Torque (N * m) PBM284FXE50 1000 0 2-M2.5x0.45 0 1000 2000 3000 4000 0 Speed (min-1) MOTOR LEAD WIRE UL1430 AWG26 PBM284FXE20MOTOR CONNECTOR ENCODER CONNECTOR Unit: mm (inch) PBM284FXE20 280.5 (1.1.02) 230.5 (.91.02) 200.5 (.79.02) 20.25 (.079.01) 4.50.2 (.18.0079) ENCODER CABLE UL VINYL TUBE 0 +1 0 ( .59+.04 0 ) 2-M2.5x0.45 0 50020 (19.7.79) 50020 (19.7.79) 2.3 (.1) MAX. 15 16 (.63) MAX. 5 -0.013( .2 -.0005) 0 0 230.5 (.91.02) 280.5 (1.1.02) 22 -0.05 ( .87 -.002) 117.11 (4.61.04) MOTOR LEAD WIRE UL1430 AWG26 MOTOR CONNECTOR ENCODER CONNECTOR n Applicable Driver Power Supply Motor Indexer Driver Pulse Input 24/48 VDC PBM284FXE20 48 VDC PBM284FXE50 74 Power Consumption (A) Torque (N * m) 10 Unit: mm (inch) n Dimension 50020 (19.7.79) 2.3 (.1) MAX. Torque 24 VDC Power Consumption 24 VDC 0.2 EtherCAT PB3D003M200 PB4D003E2D0 Power Consumption (A) MOTOR FLANGE SIZE AC Servo Systems 78.5 mm (3.09 inch) MOTOR LENGTH n Torque Curve n Specifications l PBM285DXE50 Torque 48 VDC Power supply current 48 VDC 0.20 0.16 0.12 0.08 0.04 0 0 24 VDC 24 VDC 10 9 8 7 6 5 4 3 2 1 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Power supply current (A) 24/48 VDC PBM285DXE50 Type E Multi 0.115 16.3 0.022 0.12 2000 P/R (500 P/R x4) 0.26 0.57 -10 to 40C (16 to 104F) 20 to 90% RH, no condensation Torque (N*m) Power Supply Model Driver Type N*m Maximum Stall Torque oz * in x10-4 kg * m2 Rotor Moment of Inertia oz * in2 Incremental Encoder kg Motor Weight lb Operating Temperature Humidity Speed (min-1) n Dimension ENCODER CONNECTOR MOTOR CONNECTOR Unit: mm (inch) 5-Phase Stepping Systems 0 0 (.87 -.002 ) 0 o22 -0.05 150.5 (.59.02) 2-M2.5x0.45 Tapping depth: 3.2 min. 230.5 (.9.02) 4.50.2 (.18.0079) 280.5 (1.1.02) 2-Phase Stepping Systems 78.51 (3.09.04) 280.5 (1.1.02) +1 0 230.5 (.9.02) 10 (.39+10 ) 0 1.50.25 (.049.01) o5 -0.013 (.2 -.0005 ) UL VINYL TUBE 50020 (19.7.79) 50020 (19.7.79) MOTOR LEAD WIRE UL 3265 AWG28 ENCODER CBALE Power Supply Motor Indexer PBM285DXE50 Driver Pulse Input Motion Controller n Applicable Driver 24/48 VDC Closed Loop Stepping Systems 28 mm (1.10 inch) MOTOR FLANGE SIZE EtherCAT PB4D003E440 75 CLOSED LOOP STEPPING SYSTEMS 42 mm (1.65 inch) MOTOR LENGTH 55.9/57.6 mm (2.2/2.27 inch) n Torque Curve n Specifications l PBM423FXK30-M 3 0.2 2 0.1 0 1 0 0 55.91 (2.2.04) PBM423FXE20 5.50.2 (.22.008) 20.60.5 (.81.02) 8 0.3 6 0.2 4 0.1 2 4-M3x0.5 310.25 (1.22.01) 310.25 (1.22.01) 0 20.60.5 (.81.02) 5.50.2 (.22.008) 310.25 (1.22.01) 16 (.63) MAX. 32 (1.3) MAX. 420.25 (1.65.01) 0 6 -0.013 0 ( .24 -.0005 ) UL VINYL TUBE 22 -0.05 0 ( .87 -.002 ) 50020 (19.7.79) ENCODER CABLE 57.61 (2.27.04) 4000 24 VDC 24 VDC 4 3.5 3 2.5 2 1.5 1 0.5 0 1000 2000 3000 4000 0 0.3 0.2 0.1 0 0 24 VDC 24 VDC 10 9 8 7 6 5 4 3 2 1 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed (min-1) 4-M3x0.5 420.25 (1.65.01) n Applicable Driver Driver Power Supply Motor Indexer Pulse Input 200 VAC PB4A002R301 PB4A002P301 PBM423FXK30-M 100 VAC PB4A002R300 PB4A002P300 PBM423FXE20 PB3D003M200 24/48 VDC PBM423FXE50 PBM423DXK50 76 0 (min-1) Torque 48 VDC Power supply current 48 VDC 0.4 +1 0 3000 l PBM423DXK50 MOTOR LEAD WIRE UL3266 AWG24 15 2000 Speed (min-1) 0.5 (.59+.04 0 ) 1000 Torque 48 VDC Power Consumption 48 VDC 0.45 0.4 0.35 0.3 0.25 0.2 0.15 0.1 0.05 0 MOTOR CONNECTOR 1.70.25 (.067.01) 0 Power Consumption (A) 10 0.4 ENCODER CONNECTOR 4-R5.5 (.22) 24 VDC 24 VDC l PBM423FXE50 Unit: mm (inch) EARTH TERMINAL M2.5 0 0.5 Speed 420.25 (1.65.01) PBM423FXE20 4000 (min-1) Torque 48 VDC Power Consumption 48 VDC Torque (N * m) ) 22 -0.05 0 (.87 -.002 ) ( 3000 l PBM423FXE20 UL VINYL TUBE 310.25 (1.22.01) +1 0 .59+.04 0 15 0 6 -0.013 4-R5.5 (.22) 2000 Speed MOTOR LEAD WIRE UL3266 AWG24 420.25 (1.65.01) 1.70.25 (.067.01) 50020 (19.7.79) EARTH TERMINAL M2.5 FOR PBM423FXK30-M PBM423FXE50 1000 Power Consumption (A) Torque (N * m) 4 0.3 MOTOR CONNECTOR 0 (.24 -.0005 ) 1.5 (.06) MAX. 50020 (19.7.79) 5 Unit: mm (inch) ENCODER CABLE 50020 (19.7.79) 6 0.4 0 ENCODER CONNECTOR 3 -200 VAC EtherCAT PB4D003E2D0 PB4D003E440 Power supply current (A) PBM423FXK30-M PBM423FXE50 PBM423DXK50 1 -200 VAC Power Consumption (A) n Dimension Power Consumption 1 -100 VAC 0.5 Torque (N * m) Power Supply 100/200 VAC 24/48 VDC 24/48 VDC 24/48 VDC PBM423FXK30-M PBM423FXE20 PBM423FXE50 PBM423DXK50 Model Driver Type Type R, Type P Type M Type E Type E Multi Maximum Stall Torque N * m 0.35 0.39 0.39 0.39 * 49.6 55.2 55.2 55.2 oz in x10-4 kg * m2 0.056 0.056 0.056 0.056 Rotor Moment of Inertia 0.31 0.31 0.31 0.31 oz * in2 Incremental Encoder 16000 P/R (4000 P/R x4) 2000 P/R (500 P/R x4) 500 P/R 16000 P/R (4000 P/R x4) kg 0.35 0.35 0.35 0.35 Motor Weight lb 0.77 0.77 0.77 0.77 Operating Temperature -10 to 40C (16 to 104F) Humidity 20 to 90% RH, no condensation Torque (N*m) MOTOR FLANGE SIZE l PBM603FXK30-M 4 0.4 2 0 1000 Torque 48 VDC Power Consumption 48 VDC 10 1.6 8 1.2 6 0.8 4 0.4 2 0 1000 0 36 -0.039 0 (1.4 -.0015 ) 0 10 -0.015 20.60.5 (.81.02) 0 (.39-.0006 ) 68.81 (2.71.04) 90.2 (.35.008) 600.5 (2.36.02) 3000 0 4000 l PBM603FXE50 24 VDC 24 VDC Torque 48 VDC Power Consumption 48 VDC 1.4 4 3.5 1.2 3 1 2.5 0.8 2 0.6 1.5 0.4 1 0.2 0 0.5 0 500 1000 1500 2000 2500 0 3000 Speed (min-1) +0.5 500.13 (1.97.005) 2000 4- 4.5 0 (.18 +.02 0 ) l PBM603DXK50 Unit: mm (inch) PBM603FXE20 24 VDC 24 VDC Torque 48 VDC Power supply current 48 VDC 2.0 ENCODER CONNECTOR MOTOR CONNECTOR +1 0 (.59+.04 0 ) 0 70.31 (2.77.04) 20.60.5 (.81.02) 0 ( .39 -.0006 ) 10 -0.015 ( 1.42 0 -.0015 ) 0 36 -0.039 4-32.40.5 (1.28.02) 15 90.2 (.35.008) Torque (N*m) 1.50.25 (.059.01) 500.13 (1.97.005) 70.25 (.28.01) UL VINYL TUBE 500.13 (1.97.005) 600.5 (2.36.02) 1.2 0.8 0.4 600.5 (2.36.02) 50020 (19.7.79) 25 (.98) MAX. 51 (2) Max. 1.6 MOTOR LEAD WIRE UL3266 AWG22 ENCODER CABLE Power Consumption (A) (.59+.04 0 ) 24 VDC 24 VDC 2 Torque (N * m) +1 0 41.70.5 (1.64.02) 15 0 4000 l PBM603FXE20 UL VINYL TUBE 500.13 (1.97.005) 1.50.25 (.059.01) 3000 Speed (min-1) 600.5 (2.36.02) 50020 (19.7.79) 1.5 (.06) MAX. 70.25 (.28.01) 2000 Power Consumption (A) Torque (N * m) 6 0.8 Speed (min-1) MOTOR CONNECTOR MOTOR LEAD WIRE UL3266 AWG22 EARTH TERMINAL M2.5 FOR PBM603FXK30-M PBM603FXE50 50020 (19.7.79) 1.2 Unit: mm (inch) 41.70.5 (1.64.02) 50020 (19.7.79) 1.6 0 ENCODER CONNECTOR PBM603FXE20 10 8 0 ENCODER CABLE 3 -200 VAC 0 0 500 1000 1500 2000 2500 3000 10 9 8 7 6 5 4 3 2 1 0 Power supply current (A) PBM603FXK30-M PBM603FXE50 PBM603DXK50 1 -200 VAC Power Consumption (A) n Dimension Power Consumption 1 -100 VAC 2 Torque (N * m) Power Supply 100/200 VAC 24/48 VDC 24/48 VDC 24/48 VDC PBM603FXK30-M PBM603FXE20 PBM603FXE50 PBM603DXK50 Model Driver Type Type R, Type P Type M Type E Type E Multi Maximum Stall Torque N * m 1.3 1.3 1.3 1.05 * 184.1 184.1 184.1 148.7 oz in x10-4 kg * m2 0.4 0.4 0.4 0.4 Rotor Moment of Inertia 2.2 2.2 2.2 2.19 oz * in2 Incremental Encoder 16000 P/R (4000 P/R x4) 2000 P/R (500 P/R x4) 500 P/R 16000 P/R (4000 P/R x4) kg 0.85 0.85 0.85 0.85 Motor Weight lb 1.87 1.87 1.87 1.87 Operating Temperature -10 to 40C (16 to 104F) Humidity 20 to 90% RH, no condensation Closed Loop Stepping Systems n Torque Curve n Specifications AC Servo Systems 68.8/ 70.3 mm (2.71/2.77 inch) 5-Phase Stepping Systems MOTOR LENGTH Speed (min-1) 4- 4.5+0.5 (.18+.02 ) 2-Phase Stepping Systems 60 mm (2.36 inch) MOTOR FLANGE SIZE Power Supply Motor Indexer 200 VAC PBM603FXK30-M 100 VAC PBM603FXE20 24/48 VDC PB4A002R301 PB4A002R300 Driver Pulse Input Motion Controller n Applicable Driver EtherCAT PB4A002P301 PB4A002P300 PB3D003M200 PBM603FXE50 PBM603DXK50 PB4D003E2D0 PB4D003E440 77 CLOSED LOOP STEPPING SYSTEMS 60 mm (2.36 inch) MOTOR LENGTH 100.8/102.3 mm (3.97/4.03 inch) n Torque Curve n Specifications l PBM604FXK30-M 8 1.5 6 1.0 4 2 0.5 0 0 1000 Speed (min-1) l PBM604FXE20 10 1.6 8 1.2 6 0.8 4 0.4 2 0 1000 +0.5 500.13 (1.97.005) 600.5 (2.36.02) 4- 4.5 0 (.18 +.02 0 ) MOTOR CONNECTOR ENCODER CABLE MOTOR LEAD WIRE UL3266 AWG22 +1 0 20.60.5 (.81.02) 0 (1.42 -.0015 ) 0 0 10 -0.015 102.31 (4.03.04) 0 ( .39 -.0006 ) 51 (2) Max. (.59+.04 0 ) 36 -0.039 4-32.40.5 (1.28.02) 15 90.2 (.35.008) 500.13 (1.97.005) 600.5 (2.36.02) 4 3.5 3 2.5 2 1.5 1 0 500 1000 0.5 0 1500 2000 2500 3000 Torque 48 VDC Power supply current 48 VDC 24 VDC 24 VDC 1.6 Torque (N*m) 1.50.25 (.059.01) 24 VDC 24 VDC 2.0 UL VINYL TUBE 500.13 (1.97.005) 70.25 (.28.01) 2.5 2.25 2 1.75 1.5 1.25 1 0.75 0.5 0.25 0 l PBM604DXK50 600.5 (2.36.02) 50020 (19.7.79) ENCODER CONNECTOR 25 (.98) MAX. 1.2 0.8 0.4 0 0 500 1000 1500 2000 2500 Speed (min-1) 4- 4.5+0.5 (.18+.02 ) n Applicable Driver Power Supply Motor Indexer 200 VAC PBM604FXK30-M 100 VAC PBM604FXE20 24/48 VDC 78 PB4A002R301 PB4A002R300 0 4000 Speed (min-1) Unit: mm (inch) PBM604FXE20 3000 Power Consumption (A) 90.2 (.35.008) 2000 Torque 48 VDC Power Consumption 48 VDC Torque (N * m) 500.13 (1.97.005) 0 36 -0.039 0 10 -0.015 0 (.39 -.0006 ) 20.60.5 (.81.02) 100.81 (3.97.04) PBM604FXE20 (.59+.04 0 ) +1 0 41.70.5 (1.64.02) 15 24 VDC 24 VDC Torque 48 VDC Power Consumption 48 VDC 2 UL VINYL TUBE 600.5 (2.36.02) 50020 (19.7.79) 1.50.25 (.059.01) 0 4000 l PBM604FXE50 MOTOR CONNECTOR MOTOR LEAD WIRE UL3266 AWG22 0 (1.4-.0015 ) 1.5 (.06) MAX. 50020 (19.7.79) 70.25 (.28.01) 3000 Speed (min-1) ENCODER CONNECTOR EARTH TERMINAL M2.5 FOR PBM604FXK30-M PBM604FXE50 2000 Power Consumption (A) 10 2.0 Unit: mm (inch) 41.70.5 (1.64.02) 50020 (19.7.79) 12 2.5 0 ENCODER CABLE 3 -200 VAC Driver Pulse Input EtherCAT PB4A002P301 PB4A002P300 PB3D003M200 PBM604FXE50 PBM604DXK50 PB4D003E2D0 PB4D003E440 10 9 8 7 6 5 4 3 2 1 0 3000 Power supply current (A) PBM604FXK30-M PBM604FXE50 PBM604DXK50 1 -200 VAC 3 Power Consumption (A) n Dimension Power Consumption 1 -100 VAC Torque (N * m) Power Supply 100/200 VAC 24/48 VDC 24/48 VDC 24/48 VDC PBM604FXK30-M PBM604FXE20 PBM604FXE50 PBM603DXK50 Model Driver Type Type R, Type P Type M Type E Type E Multi Maximum Stall Torque N * m 1.9 1.9 1.9 1.85 269.1 269.1 269.1 262 oz * in x10-4 kg * m2 0.84 0.84 0.84 0.84 Rotor Moment of Inertia 4.6 4.6 4.6 4.6 oz * in2 Incremental Encoder 1600 P/R (4000 P/R x4) 2000 P/R (500 P/R x4) 500 P/R 1600 P/R (4000 P/R x4) kg 1.42 1.42 1.42 1.42 Motor Weight lb 3.13 3.13 3.13 3.13 Operating Temperature -10 to 40C (16 to 104F) Humidity 20 to 90% RH, no condensation Torque (N * m) MOTOR FLANGE SIZE n Torque Curve Power Supply Model Driver Type N*m Maximum Stall Torque oz * in x10-4 kg * m2 Rotor Moment of Inertia oz * in2 Incremental Encoder kg Motor Weight lb Operating Temperature Humidity 100/200 VAC PBM861FXK30-M Type R, Type P 3.1 439.0 1.48 8.1 16000 P/R (4000 P/R x4) 1.9 4.2 -10 to 40C (16 to 104F) 20 to 90% RH, no condensation PBM861FXK30-M n Dimension 1 -200 VAC 3 -200 VAC 12 2.5 10 2.0 8 1.5 6 1.0 4 0.5 2 0 1000 0 2000 3000 4000 0 Speed (min-1) 301 (1.18.04) 130.15 (.51.006) 5-Phase Stepping Systems 0 73.025-0.025 130.15 (.51.006) 69.60.25 (2.74.01) 85.50.5 (3.37.02) 4- 5.6+0.2 (.22+.008 ) 2-Phase Stepping Systems 79.51 (3.13.04) 85.50.5 (3.37.02) +1 0 69.60.25 (2.74.01) 25 (.1 +.040) 0 14 -0.018 41.70.5 (1.64.02) 80.5 (.31.02) 1.50.25 (.059.0098) 0 ( 2.875-.001 ) 41.70.5 1.5 (.06) (1.64.02) MAX. ENCODER CABLE MOTOR CONNECTOR MOTOR CABLE 0 ( .55 -.0007 ) EARTH TERMINAL M4 50020 (19.7.79) Unit: mm (inch) Unit: mm (inch) ENCODER CONNECTOR 50020 (19.7.79) Power Consumption 1 -100 VAC 3 Power Consumption (A) n Specifications 200 VAC 100 VAC PB4A002R301 PBM861FXK30-M PB4A002R300 Driver Pulse Input Motion Controller n Applicable Driver Power Supply Motor Indexer AC Servo Systems 79.5 mm (3.13 inch) MOTOR LENGTH Closed Loop Stepping Systems 86 mm (3.37 inch) Torque (N * m) MOTOR FLANGE SIZE EtherCAT PB4A002P301 PB4A002P300 79 CLOSED LOOP STEPPING SYSTEMS 86 mm (3.37 inch) 110 mm (4.33 inch) MOTOR LENGTH n Torque Curve Power Supply Model Driver Type N*m Maximum Stall Torque oz * in x10-4 kg * m2 Rotor Moment of Inertia oz * in2 Incremental Encoder kg Motor Weight lb Operating Temperature Humidity 100/200 VAC PBM862FXK30-M Type R, Type P 6.1 863.8 3 16 16000 P/R (4000 P/R x4) 3.1 6.8 -10 to 40C (16 to 104F) 20 to 90% RH, no condensation Power Consumption 1 -100 VAC 1 -200 VAC 3 -200 VAC 7 14 6 12 5 10 4 8 3 6 2 4 2 1 0 0 1000 2000 3000 4000 Speed (min ) -1 BM862FXK30-M n Dimension 41.70.5 (1.64.02) +1 0 1101 (4.33.04) 301 (1.18.04) 130.15 (.51.006) 0 73.025-0.025 0 ( 2.875-.001 ) 130.15 (.51.006) 69.60.25 (2.74.01) 85.50.5 (3.37.02) 85.50.5 (3.37.02) 25 (.1 +.040) 69.60.25 (2.74.01) 80.5 (.31.02) 1.50.25 (.059.0098) 0 14 -0.018 ENCODER CABLE MOTOR CONNECTOR MOTOR CABLE 41.70.5 1.5 (.06) (1.64.02) MAX. 50020 (19.7.79) EARTH TERMINAL M4 0 ( .55 -.0007 ) ENCODER CONNECTOR 50020 (19.7.79) mm (inch) Unit:Unit: mm (inch) 4- 5.6+0.2 (.22+.008 ) n Applicable Driver Power Supply Motor Indexer 200 VAC 100 VAC 80 PB4A002R301 PBM862FXK30-M PB4A002R300 Driver Pulse Input PB4A002P301 PB4A002P300 EtherCAT 0 Power Consumption (A) n Specifications Torque (N * m) MOTOR FLANGE SIZE Functions Input Signals Input/Output Electric Signals Functions Output Signals Electric Power Voltage Error, Regeneration Voltage Error, Over-speed, Encoder Disconnection, CPU Error, Overload Stop, Servo Error, Zero-return Error, Nonvolatile Memory Error, Initialization Error, Over-current, Amplifier Overheat, Motor Overheat, Counter Overflow 7SEG LED Display (2 pieces) Resolution, Related Motor, Positive Direction Definition, Gain, Node Address, Trans. Speed, Holding Brake Control, Jog Driving Auto Zero-return / Push Operation (Current limit) RS-485 Start-Stop Synchronization, Half Duplex Communication, Trans. Speed: 9600, 38400, 115200, 307200bps ALMCLR General-purpose Input x8 (Point, STOP, EXE, SELECT, HOME sensor, Limit, Deviation CLR, Pause, Jog, Interlock) General-purpose Input: Interactive Input Photo Coupler DC5V to 24V ALMCLR General-purpose Output x7 (Point No., Ack, Busy, HOME END, Push END, ZONE, Input Monitor, In-position, Bit Out) General-purpose Output: Open Collector, DC30V/15 mA Max. n Dimension 2 789 CD AB E 3 4 56 Unit: mm (inch) F0 1 42 (1.65) 5 (.2) 33 (1.3) SW 120 (4.72) 4.5 (.18) 4.5 (.18) 10 (.39) o5 (.2) MODE Direction of Installation Up DATA Closed Loop Stepping Systems Internal 5-Phase Stepping Systems Digital Operator Operation Functions Communication Specifications (PCIF) PB4A002R300 PB4A002R301 Single phase AC100V to 115V -15% +10% 50/60Hz Single phase / 3-phase AC200V to 230V -15% +10% 50/60Hz 0 to 55C -20 to 65C 90% RH (non-condensing) 0.5G (tested with frequency range 10 to 55 Hz, X, Y, Z each direction 2h) Tray Structure, Rear Mounting Type Approx. 0.65kg W42xH150xD120 mm 0 to 4500 min-1 (86 mm: 0 to 4000 min-1) Electronic Gear 100 to 16000 Internal (software processing) 2-Phase Stepping Systems Driver Model Power Supply Ambient Operating Temp. Storage Environment Operating / Storage Humidity Vibration Resistance Structure Mass Dimensions Rotation Speed Resolution (P/R) Regeneration Process Holding Brake Control Function Functions Protective Functions Display AC Servo Systems AC Input Driver Indexer Model Type R Model No.PB CLOSED LOOP STEPPING SYSTEMS CN6 MADE IN JAPAN 00****** Electric shock cautions. Motion Controller 150 (5.91) CN1 170 (6.69) 160 (6.3) CN5 Do not touch drive unit or terminal cover during power on or within 10MIN after power off. Be sure that the charge lamp is off at the time of maintenance and check. CN2 Equipment may be damaged if mistaken connection is made. Fear of a burn! Do not touch a heat sink. CN3 Connect earth terminal against electric shock. 5 (.2) [10 (.39)] [5 (.2)] CN4 81 CLOSED LOOP STEPPING SYSTEMS System Configuration Setup Software Circuit Breaker (MCCB) Parameter configuration and monitoring is possible via communication with a PC. Used to protect the power line. Cuts off power in the case of an overload. (To be arranged by the customer) PB Driver Model: PB4A002R300 PB4A002R301 To Other Slaves Noise Filter Communication Cable Attached to prevent external noise from the power source line. (To be arranged by the customer) 5 CN6 6 CN5 Electromagnetic Contactor CN1 Switches power on and off. Protective circuit must be created. Protective circuit must be created. (To be arranged by the customer) Communication Converter Unit 4 I/O Cable CN2 1 Host Devices Power Cable CN3 100 - 115 VAC /200 - 230 VAC CN4 2 Motor Power Cable 3 Encoder Cable General-purpose I/O connector, homing, probing, and general-purpose signals PB motor Item 3 1 Power Cable: 1 m 2 Motor Power Cable: 3 m 3 Encoder Cable: 3 m 4 I/O Cable (unshielded): 1 m 5 Communication Cable: 0.3 m Parts Number PBC8P0010A PBC7M0030A PBC7E0030A PBC5S0010A PBC6C0003A 3 6 Communication Converter Unit PBFM-U6 To build a complete system, you need to have checked items. 82 Description Extension Cable Extension Cable 26 pin, Unshielded Cable USB/RS-485 conversion Communication with SPBALL-01 Setup Software User Unit Driver CN4 CN5,6 COM1 Host Controller N.C N.C (CMD9 enabled) GND COM2 PCIF N.C 24VDC GND 1 2 3 4 N.C N.C 5 6 7 8 9 10 CN2 A A B B C C 5V 5G N.C O.H FG N.C 1 2 3 4 5 6 7 8 9 10 11 12 OPTICAL ENCODER TH CN3 GND +5V 24V GND 1 2 3 4 5 BRK+ BRK- 6 A A B B Holding Brake/(24V) 200 to 230 VAC Input Driver Model: PB4A002R301 Motor CN1 COM ALMCLR IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 ALM OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 1 2 *) 3 User Unit Driver Twisted Pair Cable with External Shield CN4 4 Input Power Single/Three-phase 200 to 230VAC 5 N.C N.C N.C 6 R S T 2 4 6 1 3 5 CN5,6 7 Host Controller 8 N.C N.C 9 GND N.C 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 PCIF 24VDC GND 1 2 3 4 N.C N.C 5 6 7 8 9 10 PB4A002R301 CN2 A A B B C C 5V 5G N.C O.H FG N.C 1 2 3 4 5 6 7 8 9 10 11 12 OPTICAL ENCODER TH CN3 GND +5V 24V GND A A B B BRK+ BRK- 1 2 3 4 5 6 Holding Brake Motor CN1 COM ALMCLR (EXE) IN1 (Point1) IN2 P.E(M4) (Point2) IN3 (Point3) IN4 (Point4) IN5 (+ H.Limit) IN6 (- H.Limit) IN7 (STOP) IN8 ALM (ACK) OUT1 (In-Posi) OUT2 (Busy) OUT3 (PEND1) OUT4 (PEND2) OUT5 (PEND3) OUT6 (PEND4) OUT7 1 2 *) 3 Twisted Pair Cable with External Shield 4 5 6 7 8 2-Phase Stepping Systems N.C N.C 2 4 6 1 3 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 Motion Controller Input Power Single-phase 100 to 115VAC N.C PB4A002R300 5-Phase Stepping Systems 100 to 115 VAC Input Driver Model: PB4A002R300 Closed Loop Stepping Systems AC Servo Systems Wiring Diagram P.E(M4) 83 CLOSED LOOP STEPPING SYSTEMS AC Input Driver Pulse Input Model Type P Driver Model Power Supply Ambient Operating temp. Storage Environment Operating / Storage Humidity Vibration Resistance Structure Mass Dimensions Rotation Speed Resolution (P/R) Regeneration Process Holding Brake Control Function Functions Protective Functions Display Digital Operator Operation Functions Communication Specifications (PCIF) Functions Input Signals Electric Input/Output Signals Functions Output Signals Electric PB4A002P300 PB4A002P301 Single phase AC100V to 115V -15% +10% 50/60Hz Single phase / 3-phase AC200V to 230V -15% +10% 50/60Hz 0 to 55C -20 to 65C 90% RH (non-condensing) 0.5G (tested with frequency range 10 to 55 Hz, X, Y, Z each direction 2h) Tray Structure, Rear Mounting Type Approx. 0.65kg W42xH150xD120 mm 0 to 4500 min-1 (86 mm: 0 to 4000 min-1) Electronic gear 100 to 16000 Internal (software processing) Internal Power Voltage Error, Regeneration Voltage Error, Over-speed, Encoder Disconnection, CPU Error, Overload Stop, Servo Error, Zero-return Error, Nonvolatile Memory Error, Initialization Error, Over-current, Amplifier Overheat, Motor Overheat, Counter Overflow 7SEG LED Display (2 pieces) Resolution, Related Motor, Positive Direction Definition, Gain, Node Address, Trans. Speed, Holding Brake Control, Jog Driving Auto Zero-return / Push Operation (Current limit) RS-485 Start-Stop Synchronization, Half Duplex Communication, Trans. Speed: 115200bps Pulse Input, STOP, ALMCLR General-purpose Input x2 (Deviation CLR, HOME, Push, Brake Control, Counter Reset) Pulse Input: Line receiver (1 or 2 input mode) General-purpose Input: Interactive Input Photo Coupler DC5V to 24V Encoder Signal (A / B / C) ALM, In-position General-purpose Output x2 (HOME END, Push END, ZONE, Input Monitor) Encoder Signal Output: Line Amplifier 4000P/R *C-phase / phase origin signal outputs will not be emitted at velocities over 200 min-1. General-purpose Output: Open collector DC30V / 15mA Max. * A function that finely adjusts the unit step angle per pulse parameters. Setup software is required. n Dimension Unit: mm (inch) 120 (4.7) 33 (1.3) 4.5 (.18) 4.5 (.18) 10 (3.9) o5 (.2 ) 5 (.2) 42 (1.7) SW MODE Direction of Installation Up DATA Model No.PB CLOSED LOOP STEPPING SYSTEMS CN6 150 (5.9) CN1 170 (6.7) 160 (6.3) CN5 MADE IN JAPAN 00****** Electric shock cautions. Do not touch drive unit or terminal cover during power on or within 10MIN after power off. Be sure that the charge lamp is off at the time of maintenance and check. CN2 Equipment may be damaged if mistaken connection is made. Fear of a burn! Do not touch a heat sink. CN3 Connect earth terminal against electric shock. 84 5 (.2) [10 (.39)] [5 (.2)] CN4 AC Servo Systems System Configuration Setup Software Circuit Breaker (MCCB) Parameter configuration and monitoring is possible via communication with a PC. PB Driver Model: PB4A002P300 PB4A002P301 Closed Loop Stepping Systems Used to protect the power line. Cuts off power in the case of an overload. (To be arranged by the customer) To External Limit Noise Filter Limit Input Cable Attached to prevent external noise from the power source line. (To be arranged by the customer) 5 CN6 CN5 Electromagnetic Contactor 6 Communication Converter Unit CN1 4 I/O Cable 5-Phase Stepping Systems Switches power on and off. Protective circuit must be created. Protective circuit must be created. (To be arranged by the customer) CN2 1 Host Devices PLC Pulse Board Power Cable CN3 CN4 2 Motor Power Cable 3 Encoder Cable 2-Phase Stepping Systems 100 - 115 VAC /200 - 230 VAC PB motor Parts Number PBC8P0010A PBC7M0030A PBC7E0030A PBC5S0010C PBC7S0010A 3 6 Communication Converter Unit PBFM-U6 Description Motion Controller Item 3 1 Power Cable: 1 m 2 Motor Power Cable: 3 m 3 Encoder Cable: 3 m 4 I/O Cable: 1 m 5 Limit Input Cable 1 m Extension Cable Extension Cable 26 pin, Shielded Cable USB/RS-485 conversion Communication with SPBALL-01 Setup Software To build a complete system, you need to have checked items. 85 CLOSED LOOP STEPPING SYSTEMS Wiring Diagram 100 to 115 VAC Input Driver Model: PB4A002P300 User Unit Driver CN4 Input Power Single-phase 100 to 115 VAC N.C N.C N.C N.C R S 2 4 6 1 3 5 CN5 PCIF N.C N.C GND N.C 1 2 3 4 N.C N.C 5 6 PLIMIT NLIMIT 1 2 3 24V GND Negative DIR Pulse (Direction) COM STOP ALMCLR A A B B C C 5V 5G N.C O.H FG N.C 1 2 3 4 5 6 7 8 9 10 11 12 OPTICAL ENCODER TH 1 2 3 4 5 BRK+ BRK- 6 A A B B Holding Brake Motor 200 to 230 VAC Input Driver Model: PB4A002P301 4 5 6 CN1 Positive DIR Pulse (Pulse) CN2 CN3 GND +5V CN6 Back Up Power (Option) GND PB4A002P300 *) Twisted Pair Cable with External Shield 1 2 3 4 CN4 14 Input Power *1 5 Single/Three phase 200 to 230 VAC N.C 6 N.C N.C IN1 Driver User Unit R 2 S 4 T B B 6 1 C C 5 5V CN5 1 IN2 GND ALM ENC In-position SON OUT1 (HOME END) OUT2 (Push END) ENA ENB 8 PCIF 13 2 N.C N.C 9 10 11 12 15 16 17 18 19 20 21 22 23 24 25 26 GND N.C 4 N.C 6 N.C N.C PLIMIT NLIMIT 1 2 3 1 OPTICAL ENCODER 2 3 4 5 6 7 5G 8 FG 11 N.C 9 O.H 10 TH N.C 12 N.C 5 CN3 GND +5V CN6 N.C N.C A A B B 1 2 3 4 5 BRK+ BRK- 6 Holding Brake Motor 4 5 6 *) CN1 P.E(M4) 1 Positive DIR Pulse (Pulse) Negative DIR Pulse (Direction) COM STOP ALMCLR IN1 IN2 GND 4 14 5 6 7 8 13 ENC 11 12 In-position 15 16 ENA 17 18 19 20 21 22 23 24 ENB 25 26 OUT2 (Push END) *1 When using with single-phase power supply, wire to pins 2 and 4. 3 9 10 OUT1 (HOME END) Twisted Pair Cable with External Shield 2 ALM RDY 86 3 CN2 A A 3 7 PB4A002P301 P.E(M4) * A function that finely adjusts the unit step angle per pulse parameters. Setup software is required. Unit: mm (inch) n Dimension 30 (1.18) MAX. 10 (.39) 20 (.79) o5 (.2 ) 5 (.2) 32 (1.26) 6 (.24) Closed Loop Stepping Systems 5-Phase Stepping Systems 2-Phase Stepping Systems Driver Model PB3D003M200 Interface Generic Input (SW1=ON) Pulse Train Input (SW1 = OFF) Power Supply DC24V/48V 10% (28 mm Motor is only available as 24V.) Ambient Operating 0 to 55C temp. Storage -20 to 70C Environment Operating / Storage Humidity 90% RH (non-condensing) Vibration Resistance 0.5G (tested with frequency range 10 to 55 Hz, X, Y, Z each direction 2h) Mass/Dimensions Approx. 0.36Kg/W32xH160xD95 mm Rotation Speed 0 to 4500 min-1 Resolution (P/R) 500, 1000, 2000, 4000, 5000, 10000 Regeneration Process Internal Power Voltage Error, Regeneration Voltage Error, Over-speed, Encoder Disconnection, CPU Protective Functions Error, Overload Stop, Excessive Position Deviation, Zero-return Error, Nonvolatile Memory Error, Initialization Error (Power Line Disconnection) Display 7SEG LED Display Functions Normal Drive (incremental move, absolute move), Zero-return, Module Operation, Push Operation, Teaching Functions Functions Normal Drive, Zero-return Point Functions: 128Point Program Functions: 1PRGx1024Line, 32PRGx32Line, 128PRGx8Line Normalize velocity loop gain setting Rotary Switch Node Address Setting (0 to F) SSW1: Interface Selection (On: RS-485, OFF: Pulse) DIP-Switches SW2: Terminating Resistor Setting (On: with terminating resistance) (Normal Mode) STOP, EXE, POINT, HOME, JOG, SELECT, Pause, Interlock, Generic Input, MODE SELECT, Hard Limit, ALM CLR (Teaching Mode) Pulse, STOP, ALMCLR, Gain Setting, Input Signals STOP, JOG, Point, PWR Deviation Clear, HOME Pulse input: Photo coupler: DC3V to 5V (Input resistance=270) Input signal: DC5V to 24V (Normal Mode) Ack, PEND, END, Busy, Zone, Mode MON, Input/Output STOP MON, In-position, Homing complete, Generic Output, Signals ALM, STOP MON, In-position, Encoder Output, SON MON, ALM, HEND, Input Monitor (Teaching Output Signals Homing complete, Encoder Mode) PEND, HEND, In-position, Mode MON, SON MON Output, SON MON, STOP MON Output signal: Open collector DC30V / 30mA Max. *Encoder C-phase signal outputs within 200 min-1 Communication RS-485 Standard Start-Stop Synchronization, Half Duplex Specifications Trans. 9600, 38400, 115200, 128000bps 9600bps AC Servo Systems DC Input Driver Indexer / Pulse Input Model Type M 95 (3.74) 4 (.16) CLOSED LOOP STEPPING SYSTEMS Model No. PB CN6 Motion Controller Direction of Installation Up RSW 140 (5.51) 150 (5.91) CN1 CN2 CN3 CN4 [5 (.2)] 160 (6.30) CN5 5 (.2) 87 CLOSED LOOP STEPPING SYSTEMS System Configuration Setup Software Circuit Breaker (MCCB) Parameter configuration and monitoring is possible via communication with a PC. Used to protect the power line. Cuts off power in the case of an overload. (To be arranged by the customer) PB Driver Model: PB3D003M200 To Other Slaves (When using as Type R) Noise Filter Communication Cable Attached to prevent external noise from the power source line. (To be arranged by the customer) 5 CN6 6 CN5 Electromagnetic Contactor CN1 Switches power on and off. Protective circuit must be created. Protective circuit must be created. (To be arranged by the customer) Communication Converter Unit 4a 4b I/O Cable CN2 Host Devices 1 Power Cable CN3 DC power source CN4 24/48 VDC 2 Motor Power Cable 3 Encoder Cable General-purpose I/O connector, homing, probing, and general-purpose signals PB motor Item 3 1 Power Cable: 1 m 2 Motor Power Cable: 3 m 3 Encoder Cable: 3 m 4a I/O Cable: 1 m 4b I/O Cable: 1 m 5 Communication Cable: 0.3 m Parts Number PBC6P0010A PBC6M0030A PBC6E0030A PBC5S0010A PBC5S0010C PBC6C0003A 3 6 Communication Converter Unit PBFM-U6 To build a complete system, you need to have checked items. 88 Description Extension Cable Extension Cable 26 pin, Unshielded Cable 26 pin, Shielded Cable USB/RS-485 conversion Communication with SPBA1W-01 Setup Software SW1: ON Driver 4 CN4 N.C 2 3 CN5,6 1 2 CTXD RTXD NC GND STOP Vcc 6 5 7 10 GND Normal (initial value)/ Teaching CN1 Preliminary 1 2 Preliminary 3 4 -COM 25 IN2(Point0)/Point0 6 IN3(Point1)/Point1 7 IN4(Point2)/Point2 8 IN5(Point3)/Point3 9 IN6(Point4)/Point4 10 11 IN8(STOP)/STOP 12 ALMCLR/Jog- 13 15 17 OUT3(PEND2)/PEND2 18 OUT4(PEND3)/PEND3 19 OUT6(HEND)/HEND OUT7(In-position)/In-position OUT8(MODE MON)/MODE MON OUT9(SON MON)/SON MON -COM 1 2 3 4 5 6 Holding Brake (24VDC) Motor Twisted Pair Cable with External Shield Pulse Input DIP Switch SW1: OFF Generic Input DIP Switch SW1:OFF 20 Driver User Device 4 CN4 Input Power 24/48VDC N.C 16 OUT2(PEND1)/PEND1 OUT5(PEND4)/PEND4 A A B B BRK+ BRK- OPTICAL ENCODER 5 IN7(HOME)/Jog+ ALM/ALM CN3 14 +COM(+5 to 24V) IN1(EXE)/PWR OUT1(PEND0)/PEND0 DIP SW-2 1 2 3 4 5 6 7 8 9 10 11 12 PB3D003M200 CN2 A A B B C GND C 5V 5G NC NC CTXD FG CRXD NC Terminating Resistance Pow 1 2 3 CN5,6 1 2 CTXD RTXD NC GND STOP Vcc 6 5 7 10 GND DIP SW-2 21 22 23 24 26 CN1 Positive direction Pulse+/Pulse+ Positive direction Pulse-/Pulse- 1 2 Negative direction Pulse+/Rotation direction+ Negative direction Pulse-/Rotation direction- 3 4 -COM Note: The CN1 general-purpose input/output signal function is selected through communication. Please see the basic specifications for details. +COM(+5V to 24VDC) Positive direction Limit Negative direction Limit IN1 (HOME) IN2 (Deviation CLR) IN3 (Gain SEL1) IN4 (Gain SEL2) IN5 (Current Limit) STOP ALMCLR ALM HEND SON MON STOP MON Reserved Reserved In-position ENC/Phase origin ENA ENB -COM 5-Phase Stepping Systems 24/48VDC A A B B C GND C 5V 5G NC NC CTXD FG CRXD NC Terminating Resistance Pow 1 14 25 CN3 A A B B BRK+ BRK- 1 2 3 4 5 6 7 8 9 10 11 12 OPTICAL ENCODER 1 2 3 4 5 6 Holding Brake (24VDC) Motor Twisted Pair Cable with External Shield 5 6 7 8 9 10 11 12 13 15 16 17 18 19 Motion Controller Input Power PB3D003M200 CN2 Closed Loop Stepping Systems User Device 2-Phase Stepping Systems Indexer DIPSW1:ON Switch Generic Input DIP Switch AC Servo Systems Wiring Diagram 20 21 22 23 24 26 Note: The CN1 general-purpose input/output signal function is selected through communication. Please see the basic specifications for details. 89 CLOSED LOOP STEPPING SYSTEMS DC Input Driver EtherCAT Model Driver Model Power Supply Operating Ambient temp. Storage Operating / Storage Humidity Environment Vibration Resistance Impact resistance Elevation Structure Mass Dimensions Rotation Speed Resolution (P/R) Regeneration Process Holding Brake Control Function Functions Protective Functions Display Digital Operator Physical layer / Protocol Transmission speed Communication port / Topology Interface Device profile PB4D003E2D0 Main power supply DC24 / 48V 10% 5A Control power supply DC24V 10% 0.5A 0 to 55C -20 to 65C 90% RH (non-condensing) 0.5G (tested with frequency range 10 to 55 Hz, X, Y, Z each direction 2h) 5G Maximum 2000 m above sea level Tray structure rear mounting type Approx. 0.5 kg W45xH160xD95 mm 0 to 4500 min-1 10000 Regenerative resistor (Option) Internal Power voltage error, Regeneration voltage error, Over-speed, Sensor error, Wrap around, CPU error, Overload stop, Zero-return error, Nonvolatile memory error, Deviation counter overflow, Initialization error, Over-current, Amplifier overheat, Servo error, Push abnormality, Communications abnormality, etc. 7SEG LED display (2 pieces) Related motor (Absolute encoder is automatically recognized), Jog driving, Node address, Holding brake control 100BASE-TX / IEEE802.3 compliant Ethernet 100 Megabits Full duplex 2 ports (RJ45) / Daisy-chain (Max. 65535 nodes) CoE (IEC61800-7-201), FoE (ASCII code access) SM2 event synchronization, DC synchronization (SYNC0 / SYNC1), asynchronous *0x1C32,0x05: Shortest cycle time = 1 ms Interactive input photo coupler 5 to 24 VDC Positive & negative direction limit, HOME input: each axis Open collector, 30 VDC / 15mA Max. 2 general purpose outputs (each axis), hardware gate OFF input Synchronization Functions Input Input/Output Signals Electric Signals Functions Output Signals Electric n Dimension Unit: mm (inch) 45 (1.77) 20 (.79) 12.5 (.49) 4.5 (.18) 10 (3.9) 5 (.2) Unit: mm (inch) 90 160 (6.30) 140 (5.51) 5 (.2) [10 (.39)] [5 (.2)] 150 (5.91) Direction of installation Up 95 (3.74) PB Driver Parameter configuration and monitoring is possible via communication with a PC. Communication Converter Unit CN8 2 Motor Power Cable 1 Power Cable Closed Loop Stepping Systems 5 Model: PB4D003E2D0 CN5 CN4 3 Encoder Cable CN3 CN6 48 VDC CN2 24 VDC To Other Slave 4 I/O Cable 5-Phase Stepping Systems CN7 CN1 General I/O Sensor CN0 2-Phase Stepping Systems Master Controller PB motor Item 3 1 Power Cable: 1 m 2 Motor Power Cable: 3 m 3 Encoder Cable: 3 m 4 I/O Cable: 1 m Parts Number PBC9P0020A PBC8M0030A PBC7E0030A PBC1S0010A 3 6 Communication Converter Unit PBFM-U6 Description Extension Cable Extension Cable 20 pin, Unshielded Cable USB/RS-485 conversion Communication with SANMOTION MOTOR Setup Software To build a complete system, you need to have checked items. 91 Motion Controller Setup Software AC Servo Systems System Configuration CLOSED LOOP STEPPING SYSTEMS Wiring Diagram Driver User Unit CN6 Main power supply 24/48VDC Control power supply 24VDC FG PCIF N.C N.C GND N.C PB4D003E2D0 CN2,3 1 2 3 4 5 1 2 3 4 1 2 3 B 4 B 5 C 6 C 5V 7 5G 8 N.C 9 10 FG 11 N.C 12 A A CN8 N.C N.C 5,10 6 to 9 GND CN4,5 CN7 COM 1 Preliminary 2 Axis 1 Touch probe input 3 Axis 2 Touch probe input 4 Axis 1 Positive direction limit input 5 Axis 1 Negative direction limit input 6 Axis 1 Home input 7 Axis 2 Positive direction limit input 8 Axis 2 Negative direction limit input 9 Axis 2 Home input 10 11 Gate OFF input Gate OFF monitor 12 13 14 15 16 17 18 N.C 19 20 General-purpose output 1 General-purpose output 2 1 2 3 B 4 B 5 BRK+ BRK- 6 A A Holding brake Motor CN0,1 TX + 1 4 5 2 3 7 8 6 TX - RX + RX - 75 1M *) Twisted pair cable with external shield FG 92 Optical incremental encoder n Dimension 4 (.16) Unit: mm (inch) [5 (.2)] [70 (2.8)] 60 (2.4) 95 (3.7) 160 (6.3) Closed Loop Stepping Systems Motion Controller o5 2) (. 150 (5.9) 5(.2) 6.5 (.26) 5-Phase Stepping Systems PB4D003E440 Main power supply 24/48VDC 10% 14A Control power supply 24VDC 10% 1.5A 0 to 55C -20 to 65C 90% RH (non-condensing) 5m/s2 (Tested X, Y and Z directions for 2 hours in the frequency range between 10 to 55Hz.) 20m/s2 Below 1,000m above sea level 0.7kg W60xH160xD95mm 0 to 4500 min-1 (0 to 3000 min-1 for 60 mmsq. motor) 10000 Regenerative resistor (Option) Built in Main circuit overcurrent, Overload, Initializing operation error, Driver overheat, Main circuit overvoltage, Regeneration error, Main circuit voltage lack, Control circuit voltage lack, Encoder disconnection, Overspeed, Position deviation error, Wrap around, Memory error, CPU and around circuit error, Communication error. Status display, Alarm display USB2.0 100BASE-TX / IEEE802.3 compliant ethernet 100Mbit/s, Full duplex 2 ports (RJ45) / Daisy-chain (Max. 65535 nodes) CoE (IEC61800-7-201), FoE (ASCII code access) SM2 event synchronization, DC synchronization (SYNC0 / SYNC1), Asynchronous Synchronization Minimum Cycle Time 0.25ms Photocoupler input type, Number of inputs: 16 Input Signal Input resistance: 2.2k Input voltage: "H" level: 4.0 to 26.4VDC, "L" level: 0 to 1.0VDC I/O Signals Open-collector output via photocoupler, Number of outputs: 12 Output Signal Output signal standards: VCEO: 4.75 to 26.4V IC: 50mA or less (In use of 24VDC.) 2-Phase Stepping Systems Driver Model Power Supply Operating Ambient temp. Storage Operating / Storage Humidity Vibration Resistance Shock resistance Elevation Mass Dimensions Rotation Speed Resolution (P/R) Regeneration Process Holding Brake Control Function Functions Protective Functions Display PC interface Physical layer / Protocol Transmission speed Communication port / Topology Interface Device profile AC Servo Systems DC Input Driver EtherCAT Multi-Axis Model 5 (.2) 93 CLOSED LOOP STEPPING SYSTEMS System Configuration Setup Software PB Driver DC Power Supply Model: PB4D003E440 5 USB Communication Cable PC Master Controller 2 To the next EtherCAT slave OUT IN Motor Power Cable CN10 CN9 CN8 4 I/O Cable 3 Encoder Cable CN11 CN6 CN7 CN5 Power Cable To another driver Power Cable 6 CN2 CN4 1 CN1 CN3 Regenerative Unit Motor (axis 1) Motor (axis 2) Motor (axis 3) Motor (axis 4) PB Motor Item 3 3 1 2 3 4 5 6 Power Cable: 1 m Motor Power Cable: 3 m Encoder Cable: 3 m USB Communication Cable: 1 m Regen Unit To build a complete system, you need to have checked items. 94 Parts Number PBC10P0010A PBC8M0030A PBC7E0030A PBC9S0010C AL-00896515-01 PBFE-02 Description Extension Cable Extension Cable Communication with SANMOTION MOTOR Setup Software Need when using 60 mmsq motor. (Ask us) 4,8 3,7 6 2 1,5 FG CN2 To the next driver power supply 4,8 3,7 6 2 1,5 IN,OUT TX+ 1 4 5 2 3 7 8 6 EtherCAT TX- RX+ RX- COMI IN1(NLMT1) 3 IN2(PLMT1) 4 IN3(HOME1) 5 IN4(TPRB1) 6 IN5(NLMT2) 7 IN6(PLMT2) 8 IN7(HOME2) 9 IN8(TPRB2) 10 IN9(NLMT3) 11 IN10(PLMT3) 12 IN11(HOME3) 13 IN12(TPRB3) 14 IN13(NLMT4) 15 IN14(PLMT4) 16 IN15(HOME4) 17 IN16(TPRB4) 18 19 ~ 25 N.C. Encoder 1 2 3 4 BRK+ 5 BRK- 6 Holding brake PC 1 2 3 4 5 CN11 1,2 CN7~10 A A B B 1 2 3 4 5 6 7 8 9 10 11 12 Motor PCIF (USB) CN11 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 5-Phase Stepping Systems Control circuit power supply 24 VDC CN3~6 A/ES+ A/ESB B Z Z 5V 5G N.C N.C FG N.C OUT1 OUT1G OUT2 OUT2G OUT3 OUT3G OUT4 OUT4G OUT5 OUT5G OUT6 OUT6G OUT7 OUT7G OUT8 OUT8G OUT9 OUT9G OUT10 OUT10G OUT11 OUT11G OUT12 OUT12G N.C 2-Phase Stepping Systems * Main circuit power supply 24/48 VDC Driver PB4D003E440 Closed Loop Stepping Systems CN1 AC Servo Systems Wiring Diagram Shielded twisted-pair cable Motion Controller * Keep the max. extended length to 2 m or less and the max. current consumption to 14 A or less (7 A for normal operation) while in use. 95 CLOSED LOOP STEPPING SYSTEMS Model Numbering System n Motor PBM 60 3 F X K 30 M Series Standard Indentification Model No. PB motor M *** CE and UL Specification Identification Motor Flange Size (mm) 20, 30, 50 *** Standard Motor Length Encoder Type Power Input F: AC, DC (Type M) K *** 16000 (4000x4) P/R with Z-phase output E *** 2000 (500x4) P/R with Z-phase output D: DC (multi-axis) Options X: Without option n Driver PB3 D 003 M 2 00 Specification Identification Series 00 *** Standard Power Input Encoder Type A *** AC power source D *** DC power source Motor Excitation Current 001 *** 1 A 002 *** 2 A 003 *** 3 A 1 *** Optical Incremental 800 (200x4) P/R 2 *** Optical Incremental 2000 (500x4) P/R 3 *** Optical Incremental 16000 (4000x4) P/R 4 *** Optical Incremental, Battery-less optical absolute Interface Type R *** Indexer P *** Pulse Input 96 M *** Indexer + Pulse Input E *** EtherCAT MEMO 5-PHASE STEPPING SYSTEMS The SANMOTION F5 is a five-phase stepping system that provides precise positioning with simple control. The typical basic step angle is 0.72, precisely controlled by pulse signals.The products can be used in a wide variety of applications, including fixed-speed drive synchronized to a command pulse, accurate positioning, and stable stopping. Low Vibration Microstep drive Low-vibration mode function provides smooth driving, even with one-division (full step) and two-division (half step) coarse resolution settings. This allows vibrations to be suppressed without control system restrictions. The basic step angle of 0.72 can be set to a resolution of up to 250 divisions in 16 levels. This allows for smooth operation with minimal vibrations. Application Examples The SANMOTION F5 can be used in a wide variety of applications, including fixed-speed drive synchronized to a command pulse, accurate positioning, and stable stopping. * Semiconductor devices, analytical and testing devices used in medical and environmental fields, ATMs, monitoring cameras and spotlights, packaging machines, embroidering machines, automatic ticket gates and more ATMs Blood analyzers Wafer cleaners Food packaging machines Embroidering machines All model numbers in this catalog are compliant with the tolerances for specified toxic substances (cadmium, lead, mercury, hexavalent chromium, PBB, and PBDE) found in supplement II of the EU RoHS directive (2011/65/EU), as of the October 2012 production lot. Also, SANMOTION F5 drivers and motors whose model numbers start with "SM" feature standard specifications that are compliant with CE (European Norm) and UL standards. 98 5-Phase Stepping Motor Holding Torque Motor Length Current Driver N * m Model Shape mm Ampinch 24/48 VDC input oz * in NEMA 11 42 mm NEMA 17 60 mm 2.36 inch 86 mm 3.39 inch F5PAE140P100 100 F5PAE140P100 101 F5PAE140P100 102 F5PAE140P100 103 F5PAE140P100 104 F5PAE140P100 105 F5PAE140P100 106 F5PAE140P100 107 F5PAE140P100 108 F5PAE140P100 109 Driver 24/48 VDC input Page Closed Loop Stepping Systems 28 mm 32 1.26 51.5 2.03 35 1.38 41 1.61 49 1.93 49 1.93 60 2.36 89 3.50 66 2.60 96.5 3.80 5-Phase Stepping Systems 0.041 0.75 SH5281-7241 S 5.81 0.078 0.75 SH5285-7241 S 11 0.125 1.4 SF5421-8241 S 17.7 0.185 1.4 SF5422-8241 S 26.2 0.245 1.4 SF5423-8241 S 34.7 0.57 1.4 SM5601-8241 S 80.7 0.9 1.4 SM5602-8241 S 127 1.55 1.4 SM5603-8241 S 219 2.1 1.4 SM5861-8241 S 297 4.4 1.4 SM5862-8241 S 623 Page Shape S: Single Shaft Linear Actuator 42 mm 1.65 inch 60 mm 2.36 inch Shape Holding Torque N (lb) Current Model Shape Amp Motor Length mm (inch) 87 SL5421-7241 S 3.43 370 0.75 F5PAE140P100 110 83.2 117 SL5421-72XB41 S, BRK 4.61 SL5601-8241 S 450 135.6 1.4 101 5.34 SL5601-82XB41 S, BRK S: Single Shaft F5PAE140P100 111 BRK: Electrical Magnetic Brake Equipped Motion Controller Motor Size 2-Phase Stepping Systems Motor Size AC Servo Systems Lineup 99 5-PHASE STEPPING SYSTEMS 28 mm (NEMA 11) 32 mm (1.26 inch) MOTOR LENGTH n Specification n Torque Curve New pentagon winding, 0.72 /step Single Shaft SH5281-7241 N m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 0.041 5.81 0.75 1.05 0.44 0.01 0.055 0.11 0.24 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation * Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Pull-out torque Source current (no load) Source current (load applied) fs: Maximum self-start frequency when not loaded With rubber coupling Driver: F5PAE140P100 l SH5281-72 48 VDC Input 0.05 0.04 Torque (N*m) Model RoHS 1200 1800 10 9 8 7 6 5 4 3 2 1 0 2400 10 15 20 Full step Pull-out torque Source current (A) MOTOR FLANGE SIZE 0.03 0.02 0.01 0 Source current 0 0 600 fs Number of rotations (min-1) 5 Pulse rate (kpulse/s) 24 VDC Input 0.05 Unit: mm (inch) ) ( 280.5 (1.10.02) 4-230.25 (4-.91.1) ) .0000 .87 -.0020 0.00 22 -0.05 1200 1800 10 9 8 7 6 5 4 3 2 1 0 2400 10 15 20 Full step Pull-out torque 0.03 0.02 0.01 0 Source current 0 0 600 fs Number of rotations (min-1) 5 Pulse rate (kpulse/s) Cross section S-S R3 min. (R.12 min.) R3 min. (R.12 min.) 4.50.15 (.18.006) ( 0.000 5 -0.013 .0000 .20 -.000 ) ( S ( 0.000 5 -0.013 .0000 .20 -.000 ) S 4-M2.5x0.45 Effective tapping depth 3.2 (.126) min. 4.50.15 (.18.006) ) ( 300 (11.8) min. +.04 +1 10 +0 .39 0 (Effective length) 100.8 (.39.03) Lead wire: UL3265 AWG28 320.8 150.5 (1.26.03) (.59.02) +.04 +1 1.50.76 10 +0 .39 0 (.059.03) (Effective length) Torque (N*m) 0.04 Source current (A) n Dimension n Internal Wiring Connection method: New pentagon connection l Direction of motor rotation When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Black Green 100 Orange Excitation sequence Lead wire color 1 2 3 4 5 6 7 8 9 10 Blue + + + - - - Red - - + + + - Orange - - - + + + Green + - - - + + Black + + + - - - n Torque Curve SH5285-7241 Single Shaft Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Pull-out torque Source current (no load) Source current (load applied) fs: Maximum self-start frequency when not loaded With rubber coupling Driver: F5PAE140P100 0.078 11 0.75 1.15 0.64 0.022 0.12 0.2 0.44 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation N m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb * l SH5285-72 48 VDC Input 0.10 600 fs 1200 1800 10 9 8 7 6 5 4 3 2 1 0 2400 5 10 15 20 Full step 0.08 Torque (N*m) Model RoHS Source current (A) New pentagon winding, 0.72 /step Pull-out torque 0.06 0.04 0.02 0 Source current 0 0 Number of rotations (min-1) Pulse rate (kpulse/s) 24 VDC Input 0.10 +.04 +1 10 +0 .39 0 (Effective length) ( ) 4.50.15 (.18.006) .0000 .87 -.0020 0.00 22 -0.05 600 fs 1200 1800 5 10 15 20 0.04 0.02 0 Source current 0 0 Number of rotations (min-1) Pulse rate (kpulse/s) Cross section S-S R3 min. (R.12 min.) R3 min. (R.12 min.) 4.50.15 (.18.006) ( 0.000 5 -0.013 .0000 .20 -.000 ) ( S ( 0.000 5 -0.013 .0000 .20 -.000 ) S 4-M2.5x0.45 Effective tapping depth 3.2 (.126) min. Pull-out torque 0.06 2-Phase Stepping Systems 1.50.76 (.059.03) Source current () ) 280.5 (1.10.02) 4-230.25 (4-.91.1) ) ( Lead wire: UL3265 AWG28 51.50.8 150.5 (2.03.03) (.59.02) 100.8 (.39.03) 300 (11.8) min. +.04 +1 10 +0 .39 0 (Effective length) Unit: mm (inch) 10 9 8 7 6 5 4 3 2 1 0 2400 Full step 0.08 Torque (N*m) n Dimension n Internal Wiring Connection method: New pentagon connection l Direction of motor rotation Blue Red Black Orange Motion Controller When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Green Closed Loop Stepping Systems n Specification AC Servo Systems 51.5 mm (2.03 inch) MOTOR LENGTH 5-Phase Stepping Systems 28 mm (NEMA 11) MOTOR FLANGE SIZE Excitation sequence Lead wire color 1 2 3 4 5 6 7 8 9 10 Blue + + + - - - Red - - + + + - Orange - - - + + + Green + - - - + + Black + + + - - - 101 5-PHASE STEPPING SYSTEMS 42 mm (NEMA 17) 35 mm (1.38 inch) MOTOR LENGTH n Specification n Torque Curve RoHS Model Single Shaft SF5421-8241 N m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 0.125 17.7 1.4 0.47 0.37 0.028 0.153 0.24 0.53 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation * Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Pull-out torque Source current (no load) Source current (load applied) fs: Maximum self-start frequency when not loaded With rubber coupling Driver: F5PAE140P100 l SF5421-82 48 VDC Input 0.25 fs 600 1200 1800 10 9 8 7 6 5 4 3 2 1 0 2400 5 10 15 20 Full step 0.20 Torque (N*m) New pentagon winding, 0.72 /step 0.15 Source current (A) MOTOR FLANGE SIZE Pull-out torque 0.10 0.05 0 Source current 0 0 Number of rotations (min-1) Pulse rate (kpulse/s) 24 VDC Input 0.25 351 (1.38.04) Screw for GND terminal M3x0.5x6(.24)L 20.25 (.079.01) ( S +1 15 0 +.04 .59 0 Lead wire: UL3266 AWG26 ) Effective tapping depth 4 min. 4-M3x0.5 Cross section S-S 0.15 fs 600 1200 1800 5 10 15 20 Pull-out torque 0.10 0.05 0 Source current 0 0 Number of rotations (min-1) Pulse rate (kpulse/s) ) ( ) ( ( 4.50.15 (.18.006) +1 15 0 +.04 .59 0 0 6 -0.012 .0000 .24 -.0005 0 22 -0.05 .0000 .87 -.0020 ) S ( 0 5 -0.012 .0000 .20 -.0005 ) D section 200.5 (.79.02) Source current (A) 151 (.59.04) 50030 (19.71.18) Unit: mm (inch) 10 9 8 7 6 5 4 3 2 1 0 2400 Full step 0.20 Torque (N*m) n Dimension 5.50.15 (.22.006) 4-310.25 (4-1.22.01) 420.25 (1.65.01) D section details (Effective length) n Internal Wiring Connection method: New pentagon connection l Direction of motor rotation When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Black Green 102 Orange Excitation sequence Lead wire color 1 2 3 4 5 6 7 8 9 10 Blue + + + - - - Red - - + + + - Orange - - - + + + Green + - - - + + Black + + + - - - RoHS Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft SF5422-8241 N m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 0.185 26.2 1.4 0.55 0.66 0.045 0.246 0.31 0.68 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation * l SF5422-82 48 VDC Input 0.5 fs 600 1200 1800 10 9 8 7 6 5 4 3 2 1 0 2400 5 10 15 20 Full step 0.4 Source current (A) Model Pull-out torque Source current (no load) Source current (load applied) fs: Maximum self-start frequency when not loaded With rubber coupling Driver: F5PAE140P100 Torque (N*m) New pentagon winding, 0.72 /step 0.3 Pull-out torque 0.2 0.1 0 Source current 0 0 Number of rotations (min-1) Pulse rate (kpulse/s) 24 VDC Input 0.5 Cross section S-S 5.50.15 (.22.006) ( ) fs 600 1200 1800 5 10 15 20 Pull-out torque 0.2 0.1 0 Source current 0 0 Number of rotations (min-1) Pulse rate (kpulse/s) ) ) ( 4.50.15 (.18.006) +1 15 0 +.04 .59 0 ( ) Effective tapping depth 4 min. 4-M3x0.5 S ( 0 5 -0.012 .0000 .20 -.0005 ) 0.3 2-Phase Stepping Systems ( S +1 15 0 +.04 .59 0 0 6 -0.012 .0000 .24 -.0005 0 22 -0.05 .0000 .87 -.0020 D section 20.25 (.079.01) Lead wire: UL3266 AWG26 Torque (N*m) Screw for GND terminal M3x0.5x6(.24)L 200.5 (.79.02) 50030 (19.71.18) 411 (1.61.04) 151 (.59.04) 10 9 8 7 6 5 4 3 2 1 0 2400 Full step 0.4 Unit: mm (inch) Source current (A) n Dimension Closed Loop Stepping Systems n Torque Curve n Specification AC Servo Systems 41 mm (1.61 inch) MOTOR LENGTH 5-Phase Stepping Systems 42 mm (NEMA 17) MOTOR FLANGE SIZE 4-310.25 (4-1.22.01) 420.25 (1.65.01) D section details (Effective length) n Internal Wiring Connection method: New pentagon connection l Direction of motor rotation Blue Red Black Green Orange Motion Controller When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Excitation sequence Lead wire color 1 2 3 4 5 6 7 8 9 10 Blue + + + - - - Red - - + + + - Orange - - - + + + Green + - - - + + Black + + + - - - 103 5-PHASE STEPPING SYSTEMS 42 mm (NEMA 17) 49 mm (1.93 inch) MOTOR LENGTH n Specification n Torque Curve RoHS Model Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft SF5423-8241 N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 0.245 34.7 1.4 0.65 0.75 0.056 0.306 0.38 0.84 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation Pull-out torque Source current (no load) Source current (load applied) fs: Maximum self-start frequency when not loaded With rubber coupling Driver: F5PAE140P100 l SF5423-82 48 VDC Input 0.5 0 fs 600 1200 1800 10 9 8 7 6 5 4 3 2 1 0 2400 0 5 10 15 20 Full step 0.4 Torque (N*m) New pentagon winding, 0.72 /step 0.3 Source current (A) MOTOR FLANGE SIZE Pull-out torque 0.2 0.1 0 Source current Number of rotations (min-1) Pulse rate (kpulse/s) 24 VDC Input 0.5 n Dimension fs 600 1200 1800 10 9 8 7 6 5 4 3 2 1 0 2400 5 10 15 20 Full step Screw for GND terminal M3x0.5x6(.24)L 200.5 (.79.02) 20.25 (.079.01) ( D section +1 15 0 +.04 .59 0 Lead wire: UL3266 AWG26 ) ) ( ( 0 6 -0.012 .0000 .24 -.0005 0 22 -0.05 .0000 .87 -.0020 ( Cross section S-S ) 0.1 0 Source current 0 Number of rotations (min-1) Pulse rate (kpulse/s) ) ) 0 5 -0.012 .0000 .20 -.0005 ( 4.50.15 (.18.006) Pull-out torque 0.2 0 depth 4 min. 4-M3x0.5 +1 15 0 +.04 .59 0 0.3 Source current (A) 491 (1.93.04) 50030 (19.71.18) 151 (.59.04) Torque (N*m) 0.4 Unit: mm (inch) 5.50.15 (.22.006) 4-310.25 (4-1.22.01) 420.25 (1.65.01) D section details n Internal Wiring Connection method: New pentagon connection l Direction of motor rotation When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Black Green 104 Orange Excitation sequence Lead wire color 1 2 3 4 5 6 7 8 9 10 Blue + + + - - - Red - - + + + - Orange - - - + + + Green + - - - + + Black + + + - - - n Torque Curve RoHS Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft SM5601-8241 N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 0.57 80.7 1.4 0.9 2.7 0.2 1.093 0.62 1.37 -10 to 40C (14 to 104 F) 95% RH max.: under 40C, no condensation l SM5601-82 48 VDC Input 1.0 1200 1800 10 9 8 7 6 5 4 3 2 1 0 2400 10 15 20 Full step 0.8 Source current (A) Model Pull-out torque Source current (no load) Source current (load applied) fs: Maximum self-start frequency when not loaded With rubber coupling Driver: F5PAE140P100 Torque (N*m) New pentagon winding, 0.72 /step Pull-out torque 0.6 0.4 0.2 0 Source current 0 0 fs 600 Number of rotations (min-1) 5 Pulse rate (kpulse/s) 24 VDC Input 1.0 n Dimension ) M3x0.5x6L 70.25 (.28.01) 20.25 (.079.01) +1 +.04 20 0 .79 0 ( ) S ) 0 8 -0.015 .0000 .31 -.0006 S 1200 1800 10 15 20 Pull-out torque 0.4 0.2 Source current 0 0 0 fs 600 Number of rotations (min-1) 5 Pulse rate (kpulse/s) ) 9.50.15 (.37.006) 2-Phase Stepping Systems ( 7.50.15 (.30.006) Cross section S-S ( ( ) ( +0.5 4- 4.5 0 +.02 4- .18 0 0.6 Source current (A) ) 0 10 -0.015 .0000 .39 -.0006 0 36 -0.039 .0000 .1.42 -.0015 ( Torque (N*m) +1 +.04 20 0 .79 0 Screw for GND terminal Lead wire: UL3266 AWG22 50030 (19.71.18) Unit: mm (inch) 211 491 240.5 (.83.04) (1.93.04) (.94.02) 10 9 8 7 6 5 4 3 2 1 0 2400 Full step 0.8 Closed Loop Stepping Systems n Specification AC Servo Systems 49 mm (1.93 inch) MOTOR LENGTH 5-Phase Stepping Systems 60 mm (2.36 inch) MOTOR FLANGE SIZE 4-500.13 (4-1.97.005) 600.5 (2.36.02) n Internal Wiring Connection method: New pentagon connection l Direction of motor rotation Blue Red Black Green Orange Motion Controller When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Excitation sequence Lead wire color 1 2 3 4 5 6 7 8 9 10 Blue + + + - - - Red - - + + + - Orange - - - + + + Green + - - - + + Black + + + - - - 105 5-PHASE STEPPING SYSTEMS 60 mm (2.36 inch) 60 mm (2.36 inch) MOTOR LENGTH n Specification n Torque Curve RoHS Model Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft SM5602-8241 N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 0.9 127 1.4 1.15 4.7 0.31 0.106 0.8 1.76 -10 to 40C (14 to 104 F) 95% RH max.: under 40C, no condensation Pull-out torque Source current (no load) Source current (load applied) fs: Maximum self-start frequency when not loaded With rubber coupling Driver: F5PAE140P100 l SM5602-82 48 VDC Input 2.0 1200 1800 10 9 8 7 6 5 4 3 2 1 0 2400 10 15 20 Full step 1.6 Torque (N*m) New pentagon winding, 0.72 /step 1.2 Source current (A) MOTOR FLANGE SIZE Pull-out torque 0.8 0.4 Source current 0 0 0 fs 600 Number of rotations (min-1) 5 Pulse rate (kpulse/s) 24 VDC Input 2.0 n Dimension 20.25 (.079.01) +1 +.04 20 0 .79 0 ( ) 1800 10 15 20 ( 1.2 0.8 Pull-out torque 0.4 0 Source current 0 0 +0.5 4- 4.5 0 +.02 4- .18 0 fs 600 Number of rotations (min-1) 5 Pulse rate (kpulse/s) ) ( 7.50.15 (.30.006) Cross section S-S ( ( ) 0 10 -0.015 .0000 .39 -.0006 0 36 -0.039 .0000 .1.42 -.0015 ) 0 8 -0.015 .0000 .31 -.0006 ) M3x0.5x6L Source current (A) 70.25 (.28.01) Lead wire: UL3266 AWG22 Torque (N*m) ) 240.5 (.94.02) 50030 (19.71.18) 211 601 (.83.04) (2.36.04) ( 1200 1.6 Unit: mm (inch) +1 +.04 20 0 .79 0 Screw for GND terminal 10 9 8 7 6 5 4 3 2 1 0 2400 Full step 9.50.15 (.37.006) 4-500.13 (4-1.97.005) 600.5 (2.36.02) n Internal Wiring Connection method: New pentagon connection l Direction of motor rotation When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Black Green 106 Orange Excitation sequence Lead wire color 1 2 3 4 5 6 7 8 9 10 Blue + + + - - - Red - - + + + - Orange - - - + + + Green + - - - + + Black + + + - - - n Torque Curve RoHS Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft SM5603-8241 N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 1.7 241 1.4 1.85 8.1 0.6 3.28 1.27 2.8 -10 to 40C (14 to 104 F) 95% RH max.: under 40C, no condensation l SM5603-82 48 VDC Input 5 4 3 2 Pull-out torque 1 Source current 0 10 9 8 7 6 5 4 3 2 1 0 1200 Full step Source current (A) Model Pull-out torque Source current (no load) Source current (load applied) fs: Maximum self-start frequency when not loaded With rubber coupling Driver: F5PAE140P100 Torque (N*m) New pentagon winding, 0.72 /step 0 200 0 2 400 fs 600 800 1000 Number of rotations (min-1) 4 6 Pulse rate (kpulse/s) 8 10 24 VDC Input 5 n Dimension ) M3x0.5x6L 70.25 (.28.01) 20.25 (.079.01) +1 +.04 20 0 .79 0 ( ) S S ) 0 8 -0.015 .0000 .31 -.0006 Lead wire: UL3266 AWG22 3 2 Pull-out torque 1 0 Source current 0 0 ) 200 fs 400 600 800 1000 Number of rotations (min-1) 2 4 6 Pulse rate (kpulse/s) 8 10 9.50.15 (.37.006) 2-Phase Stepping Systems ( 7.50.15 (.30.006) Cross section S-S ( ( ) ( +0.5 4- 4.5 0 +.02 4- .18 0 Source current (A) ) 0 10 -0.015 .0000 .39 -.0006 0 36 -0.039 .0000 .1.42 -.0015 ( Unit: mm (inch) 240.5 (.94.02) Torque (N*m) +1 +.04 20 0 .79 0 Screw for GND terminal 891 (3.50.04) 50030 (19.71.18) 211 (.83.04) 10 9 8 7 6 5 4 3 2 1 0 1200 Full step 4 Closed Loop Stepping Systems n Specification AC Servo Systems 89 mm (3.50 inch) MOTOR LENGTH 5-Phase Stepping Systems 60 mm (2.36 inch) MOTOR FLANGE SIZE 4-500.13 (4-1.97.005) 600.5 (2.36.02) n Internal Wiring Connection method: New pentagon connection l Direction of motor rotation Blue Red Black Green Orange Motion Controller When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Excitation sequence Lead wire color 1 2 3 4 5 6 7 8 9 10 Blue + + + - - - Red - - + + + - Orange - - - + + + Green + - - - + + Black + + + - - - 107 5-PHASE STEPPING SYSTEMS 86 mm (3.39 inch) 66 mm (2.60 inch) MOTOR LENGTH n Specification n Torque Curve RoHS Model Single Shaft SM5861-8241 N m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 2.3 297 1.4 1.3 7 1.48 8.09 1.75 3.86 -10 to 40C (14 to 104 F) 95% RH max.: under 40C, no condensation * Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Pull-out torque Source current (no load) Source current (load applied) fs: Maximum self-start frequency when not loaded With rubber coupling Driver: F5PAE140P100 l SM5861-82 48 VDC Input 5 10 9 8 7 6 5 4 3 2 1 0 1200 Full step 4 Torque (N*m) New pentagon winding, 0.72 /step 3 Pull-out torque 2 1 Source current 0 0 0 200 fs 400 600 800 1000 Number of rotations (min-1) 2 4 6 Pulse rate (kpulse/s) 8 Source current (A) MOTOR FLANGE SIZE 10 24 VDC Input 5 n Dimension ) 20.25 (.079.01) +.04 +1 25 0 .98 0 ( 2 Pull-out torque 1 Lead wire: UL3266 AWG22 ) 0 Source current 0 200 fs 0 2 0 60 -0.046 .0000 2.36 -.0018 ) ( 80.5 (.32.02) 50030 (19.71.18) 321 661 370.5 (1.26.04) (2.60.04) (1.46.02) 3 600 800 1000 Number of rotations (min-1) 4 6 Pulse rate (kpulse/s) 8 4- 6.50.2 (4- .26.008) ( 130.15 (.51.006) Cross section S-S 0 14 -0.018 .0000 .55 -.0007 ) ( S ( 0 14 -0.018 .0000 .55 -.0007 ) S 400 130.15 (.51.006) 4-700.13 (4-2.76.005) 85.50.5 (3.37.02) n Internal Wiring Connection method: New pentagon connection l Direction of motor rotation When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Black Green 108 Orange Excitation sequence Lead wire color 1 2 3 4 5 6 7 8 9 10 Blue + + + - - - Red - - + + + - Orange - - - + + + Green + - - - + + Black + + + - - - 10 Source current (A) Unit: mm (inch) Torque (N*m) 4 Screw for GND terminal M4x0.7x6(.24)L +1 +.04 25 0 .98 0 10 9 8 7 6 5 4 3 2 1 0 1200 Full step n Torque Curve n Specification RoHS Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft SM5862-8241 N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 4.4 623 1.4 2 13 3 16.4 2.9 6.39 -10 to 40C (14 to 104 F) 95% RH max.: under 40C, no condensation l SM5862-82 48 VDC Input 10 10 9 8 7 6 5 4 3 2 1 0 600 Full step 8 6 Pull-out torque 4 2 Source current 0 0 0 100 200 fs 300 400 500 Number of rotations (min-1) 1 2 3 Pulse rate (kpulse/s) 4 Source current (A) Model Pull-out torque Source current (no load) Source current (load applied) fs: Maximum self-start frequency when not loaded With rubber coupling Driver: F5PAE140P100 Torque (N*m) New pentagon winding, 0.72 /step 5 10 n Dimension Full step 8 80.5 (.32.02) ) 20.25 (.079.01) +.04 +1 25 0 .98 0 ( 4 Pull-out torque 2 Lead wire: UL3266 AWG22 ) 0 Source current 0 100 0 1 0 60 -0.046 .0000 2.36 -.0018 ) ( 370.5 (1.46.02) 6 300 400 2 3 Pulse rate (kpulse/s) 500 4 5 4- 6.50.2 (4- .26.008) ( ) Cross section S-S 130.15 (.51.006) ( 130.15 (.51.006) 0 14 -0.018 .0000 .55 -.0007 .0000 .55 -.0007 S ( 0 14 -0.018 ) S fs 200 Number of rotations (min-1) 2-Phase Stepping Systems +1 +.04 25 0 .98 0 96.51 (3.80.04) 50030 (19.71.18) 321 (1.26.04) Torque (N*m) Unit: mm (inch) Screw for GND terminal M4x0.7x6(.24)L 10 9 8 7 6 5 4 3 2 1 0 600 Source current (A) 24 VDC Input Closed Loop Stepping Systems AC Servo Systems 96.5 mm (3.80 inch) MOTOR LENGTH 5-Phase Stepping Systems 86 mm (3.39 inch) MOTOR FLANGE SIZE 4-700.13 (4-2.76.005) 85.50.5 (3.37.02) n Internal Wiring Connection method: New pentagon connection l Direction of motor rotation Blue Red Black Green Orange Motion Controller When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Excitation sequence Lead wire color 1 2 3 4 5 6 7 8 9 10 Blue + + + - - - Red - - + + + - Orange - - - + + + Green + - - - + + Black + + + - - - 109 5-PHASE STEPPING SYSTEMS 42 mm (1.65 inch) CYLINDER FLANGE SIZE 87/117 CYLINDER LENGTH n Specification mm (3.43/4.61 inch) n Torque Curve RoHS New pentagon winding Model Double Shaft w/ Brake mm Stroke in N Thrust lb Rated Current A/phase Wiring Resistance /phase Winding Inductance mH/phase mm Resolution in kg Motor Weight lb Power Source VDC / W N Brake Static Friction Torque lbs SL5421-7241 SL5421-72XB41 50 1.97 370 83.2 0.75 1.9 2.3 0.004 0.00016 0.65 (0.8*) 1.43 (1.8*) 24 VDC / 2.4 W 370 83.2 Driver: FS1D140P10 Source current: 24 VDC Excitation current: 0.75 A/phase Excitation mode: 4-phase excitation (Full step) l SL5421-72 800 700 Thrust () 600 500 400 300 200 100 0 0 10 20 30 40 50 60 Speed (mm/s) 70 80 * Specifications for brake motor n Dimension Unit: mm (inch) Stroke: 50 (1.97) 6 (.24) Brake lead wire: UL3266 AWG26 421 (1.65.04) 310.3 (1.22.012) 0 .98-0.013 n Brake Connection +24V E WHITE/RED SW 0 20 (.79) 8 (.32) 18 (.71) 14 (.55) 8 (.32) ( 0 25-0.033 ) 8 (.32) 2 (.08) 20 (.79) 300 min. (11.8 min.) 300 min. (11.8 min.) Brake lead wire: UL3266 AWG22 M4x0.7 Effective tapping depth 10 (.39) min. w/o Brake: 872 (3.43.08) w/ Brake: 1172 (4.61.08) 6 (.24) 31 0.3 (1.22.012) 4- 4.5(.18) 421 (1.65.04) n Internal Wiring l Direction of motor rotation Connection method: New pentagon connection When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Black Green 110 Orange Excitation sequence Lead wire color 1 2 3 4 5 6 7 8 9 10 Blue + + + - - - Red - - + + + - Orange - - - + + + Green + - - - + + Black + + + - - - Varistor WHITE/BLACK 90 135.6 mm (5.34 inch) n Specification n Torque Curve RoHS New pentagon winding Model Double Shaft w/ Brake mm Stroke in N Thrust lbs Rated Current A/phase Wiring Resistance /phase Winding Inductance mH/phase mm Resolution in kg Motor Weight lb Power Source VDC / W N Brake Static Friction Torque lbs SL5601-8241 SL5601-82XB41 80 3.15 450 101 1.4 0.77 1.65 0.008 0.00032 1.4 (1.7*) 3.09 (3.75*) 24 VDC / 6 W 450 101 Driver: FS1D140P10 Source current: 24 VDC Excitation current: 1.4 A/phase Excitation mode: 4-phase excitation (Full step) l SL5601-82 800 700 Thrust () 600 500 400 300 200 100 0 0 10 20 30 40 50 60 Speed (mm/s) 70 80 90 n Dimension 5-Phase Stepping Systems * Specifications for brake motor n Brake Connection 1.5 (.059) +24V E 4- 5.5 (.22) WHITE/RED SW 0 8 (.32) Varistor WHITE/BLACK 0 1.42- .0015 M8x1.25 Effective tapping depth 15 min. ( 0 36- 0.039 135.6 2 (5.34 .08 ) 14 (.55) 14(.55) 26 (1.02) ) 500.3 (1.97.012) 601 (2.36.04) 10 (.39) Brake lead wire: UL3266 AWG22 2-Phase Stepping Systems Stroke: 80 (3.15) 24.5 (.96) 600 min. (23.6 min.) 600 min. (23.6 min.) Unit: mm (inch) Brake lead wire: UL3266 AWG22 AC Servo Systems CYLINDER LENGTH Closed Loop Stepping Systems 60 mm (2.36 inch) CYLINDER FLANGE SIZE 12 (.47) 50 0.3 (1.97.012) 60 1 (2.36.04) n Internal Wiring l Direction of motor rotation Connection method: New pentagon connection Blue Red Black Green Orange Motion Controller When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Excitation sequence Lead wire color 1 2 3 4 5 6 7 8 9 10 Blue + + + - - - Red - - + + + - Orange - - - + + + Green + - - - + + Black + + + - - - 111 5-PHASE STEPPING SYSTEMS 5-Phase DC Input Micro-step Driver n Specification Functions I/O signals F5PAE140P100 24 VDC/48 VDC 10% *1 3A Class III Installation category (over-voltage category): I (CE) Pollution level: 2 0 to +50C -20 to +70C 35 to 85% RH (no condensation) 10 to 90% RH (no condensation) 1000 m or less above sea level Tested under the following conditions; 5 m/s2, frequency range 10 to 55 Hz, direction along X, Y and Z axes, for 2 hours each 20 m/s2 Not influenced when 0.5 kVAC is applied between power input terminal and cabinet for one minute. 10 M min. when measured with 500 VDC megohmmeter between input terminal and cabinet. 0.23 kg Pulse input type (1-input type/2-input type), low-vibration mode (low-vibration drive/ microstep drive), resolution Selection function (2-phase mode/5-phase mode), output signal (phase origin monitor/alarm), operating current, step-angle Protection functions Overcurrent protection Power supply monitor, alarm display LED indication (main power supply under- and overvoltage, regenerative fault, overcurrent fault, ardware fault) Photocoupler input system; input resistance: 330 Auto-Current-Down canceling input signal Input-signal"H"level: 4.5 to 5.5 V; input-signal"L"level: 0 to 0.5 V Photocoupler input system; input resistance: 330 Step-angle selection input Input-signal"H"level: 4.5 to 5.5 V; input-signal"L"level: 0 to 0.5 V Photocoupler input system; input resistance: 330 Input-signal"H"level: 4.5 to 5.5 V; input-signal"L"level: 0 to 0.5 V Command pulse input signal Provided that voltage between Level H to L shall be 4.5 V or over. Maximum input frequency: 400 kpulse/s Photocoupler input system; input resistance: 330 Power down input signal Input-signal"H"level: 4.5 to 5.5 V; input-signal"L"level: 0 to 0.5 V Phase origin monitor output signal/ Open collector output via photocoupler Alarm output signal Output signal standard Vceo: 30 V or less *2, Ic: 5 mA or less, Vce (sat): 1.0 V or less Environment Basic specifications Model number Main circuit power Main circuit power supply current Protection class Operation environment Operating ambient temperature Storage temperature Operating ambient humidity Storage humidity Operation altitude Vibration resistance Impact resistance Withstandable voltage Insulation resistance Mass *1 Use either 24 VDC10% or 48 VDC10% for main circuit power supply. Make sure never exceed 60 VDC, even if power supply voltage increases due to counter-electromotive force after misstep occurs. If there are any possibilities of exceeding 60 VDC, connect optional regenerative resistor. Regenerative resistor use is recommended if you operate with 60 mm sq. or 86 mm sq. motor. *2 Make sure the voltage used for output signal is 5 VDC or over. n Safety Standards Directives Category Standard Low-voltage directives - EN61800-5-1 EN61000-6-4 Emission CE EN61000-6-4 (TUV) EN61000-4-2 EMC directives EN61000-4-3 Immunity EN61000-4-4 EN61000-4-5 EN61000-4-6 Acquired standards Applicable standard UL UL UL508C UL for Canada (c-UL) Name - Conducted emissions test Electromagnetic radiation disturbance ESD (Electrostatic discharge) RS (Radio-frequency amplitude modulated electromagnetic field) Fast transionts CS (Radio-frequency common mode) Surges File No. E179775 * EMC characteristics may vary depending on the configuration of the users' control panel, which contains the driver or stepping motor, or the arrangement and wiring of other electrical devices. Parts for EMC noise suppression like noise filters and toroidal type ferrite cores may be required depending on circumstances. * Validation test of driver has been performed for low-voltage EMC directives at TUV (TUV product service) for self-declaration of CE marking. 112 AC Servo Systems Driver Controls and Connectors 2 Function select DIP switch (DSW1) 1 Operating current select switch (RUN) 3 Step angle select switch (SS1, SS2) 5 LED for alarm display (ALM) 4 LED for power supply monitor (POW) 4. Output signal selection (MODE1) Select the output signal 1 1.35 2 1.3 3 1.25 4 1.2 5 1.15 6 1.1 7 1.05 Dial Stepping motor current (A) 8 1.0 9 0.95 A 0.9 B 0.85 C 0.8 D 0.75 E 0.7 F 0.65 * The factory default value is F (0.65 A). Please check the rated current of the motor to be combined before selecting the operation current. If there are sufficient margin of motor torque, decreasing operating current value becomes effective for vibration reduction. Motor output torque is approximately proportional to current. Make sure to confirm there are sufficient operation margin before determining motor current value to adjust operating current. ON F/R 1 OFF 2-input type (CW/CCW pulse input) LV 2 OFF Microstep DSEL 3 OFF 5-phase mode MODE1 4 OFF Phase origin monitor output MODE2 8 * * OFF Do not turn ON this switch. 3 Step angle select switch (SS1, SS2) The number of divisions of the stepping motor basic step angle can be set with the rotary switch. After selecting 2- or 5-phase mode by function select DIP switch 3 (DSEL), set the step angle select switches for the desired step angle. Reservation (Don't turn it ON) Perform setting for motor to be connected first. Make sure to turn off power supply of the driver when changing setting s of function select DIP switch. [Table of setting for motors to be connected] SP1 SP2 SP3 OFF OFF OFF OFF OFF ON SF5422-82 OFF ON OFF SF5423-82 OFF ON ON SM5601-82 ON OFF OFF SM5602-82 ON OFF ON SM5603-82, SM5861-82 ON ON OFF SM5862-82 Motor to be connected SH5281-72, SH5285-72, SF5421-82 1. Pulse input type selection (F/R) Pulse input type 1-input type (CK, U/D) 2-input type (CW, CCW) 2. Low-vibration mode select (LV) Provides low-vibration, smooth operation even if resolution is rough (1-division, 2-division, etc) LV ON OFF Operation Low-vibration drive Microstep 3. Resolution selection (DSEL) Select the step angle select switch (SS1, SS2) mode. DSEL ON OFF Resolution mode 2-phase mode: Operation as normal 2-phase stepping system at 1.8 to 0.00703125-step angle is available. 5-phase mode: Operation as normal 5-phase stepping system at 0.72 to 0.00288-step angle is available. 5-Phase Mode: DSW1 function select DIP switch 3 = OFF SS1, Number of Resolution Basic step angle divisions SS2 2-Phase Mode: DSW1 function select DIP switch 3 = ON SS1, Number of Resolution Basic step angle SS2 divisions 0 1 1 2 500 1000 0.72 0.36 0 1 0.4 0.8 200 400 1.8 0.9 2 3 2.5 4 1250 2000 0.288 0.18 2 3 1.6 2 800 1000 0.45 0.36 4 5 5 8 2500 4000 0.144 0.09 4 5 3.2 4 1600 2000 0.225 0.18 6 7 10 20 5000 10000 0.072 0.036 6 7 6.4 10 3200 5000 0.1125 0.072 8 9 A B C D E F 25 40 50 80 100 125 200 250 12500 20000 25000 40000 50000 62500 100000 125000 0.0288 0.018 0.0144 0.009 0.0072 0.00576 0.0036 0.00288 8 9 A B C D E F 12.8 20 25.6 40 50 51.2 100 102.4 6400 10000 12800 20000 25000 25600 50000 51200 0.05625 0.036 0.028125 0.018 0.0144 0.0140625 0.0072 0.00703125 * * Select the input pulse type. F/R ON OFF Phase origin monitor output 8. (MODE2) Settings vary depending on motors to be connected. Perform setting for motor you use first by confirming the [table of setting for motors to be connected] below. SP2 6 OFF Perform setting for motor you use first by confirming the [table of setting for motors to be connected]. SP1 5 SP3 7 Output signal Alarm output 5 to 7. Motor selection (SP1, SP2, SP3) 2 Function select DIP switch (DSW1) Select the function depending on your specification. Factory default settings MODE1 ON 2-Phase Stepping Systems 0 1.4 Factory default setting: SS1 = 1 and SS2 = 0 Set the step angle select input (DSEL) to select SS1 or SS2, then set the rotary switch. 4 LED for power supply monitor (POW) Lights up when the control power and main circuit power supply are connected. 5 LED for alarm display (ALM) Flashes repeatedly when an alarm is generated. Indication Explanation "ALM" repeats single-flashing. "ALM" repeats double-flashing. "ALM" repeats triple-flashing. Main power supply voltage drop (Detected when excitation is on.) Overvoltage of main power supply (Detected when motor stops.) "ALM" repeats quadruple-flashing. "ALM" repeats five-times-flashing. Overcurrent error Hardware error * Motion Controller Dial Stepping motor current (A) 5-Phase Stepping Systems 1 Operating current select switch (RUN) * Power supply connector port (CN1) Power Cable 1m P/N: FC3P0010A Motor connector port (CN3) Motor Cable 1m P/N: FC3M0010A Operating motor current value can be set with the rotary switch. * Closed Loop Stepping Systems Connector for regeneration resistor* (CN4) I/O signal interface connector (CN2) * I/O Cable 1m P/N: FC3S0010A * I/O Cable 2m P/N: FC5S0020A * I/O Connector P/N: FC5S0000A Regeneration error (Detected when motor is operating.) When alarm activated, stepping motor winding current is interrupted and then the state becomes"not-excited" at the same time that LED"ALM" flahes. When "DSW1: MODE1" is set to ON, signal is output outward from alarm output terminal (AL). (Photocoupler is turned on.) This state is maintained until the power supply is turned off. Please re-turn on the power supply after eliminating alarm cause. 113 5-PHASE STEPPING SYSTEMS Connections Signals n External wiring diagram CN2 Phase origin monitor output (MON) Auto-Current-Down canceling input (ACDOFF) Step angle select input (SSEL) Driver CN3 1 1 2 2 3 3 4 4 5 5 Blue Red Orange Green Motor Black 6 CW pulse input (CW) CCW pulse input (CCW) 7 CN4 8 1 9 2 10 11 Power down input (PD) 12 Regeneration resistor Model number: FFE-01 Connect the regenerative resistor when there is a risk that the supply voltage could exceed 60 VDC due to the motor's back emf. CN1 24 VDC/48 VDC 1 24 GDC/48 GDC 2 n Applicable Wire Sizes Part For power supply For input/output signal For motor Applicable wire AWG20 (0.5 mm2) to AWG18 (0.75 mm2) AWG24 (0.2 mm2) to AWG22 (0.3 mm2) AWG20 (0.5 mm2) to AWG18 (0.75 mm2) Insulation diameter o1.7 to o3.0 mm o1.15 to o1.8 mm o1.7 to o3.0 mm Wiring length Under 3 m Under 3 m 10 m max. When bundling wire together or running wires through duct, take reduction rate of each wire allowable current into consideration. When ambient temperature is relatively high, wire product lifetime is reduced due to heat deterioration. In this case, please use Heat resistant Indoor PVC (HIV). n Specification summary of I/O signals CN2 Pin number Signal name Phase origin monitor output 1 (standard) 2 1 Alarm output 2 Auto-Current-Down 3 canceling input 4 Step angle select input CW pulse input (standard) 5 6 CCW pulse input (standard) 7 8 7 8 9 10 Rotational direction input 9 10 Power down input 11 12 Pulse train input Function summary DSW1 MODE1=OFF Photocoupler is turned on when excitation phase is the origin (the state power supply is turned on). DSW1 MODE1=ON Photocoupler is turned on when the driver is in the state of alarm being activated. Inputting this signal (internal photpcoupler is turned on) disables Auto-Current-Down function. Division numbers can be switched via SSEL-signal. Internal photocoupler is OFF ... Setting via rotary switch SS1 enabled Internal photocoupler is ON ... Setting via rotary switch SS2 enabled When in "2-input type", input the drive pulse that rotates in a CW direction. When in "1-input type", input the drive pulse train for motor rotation. When in "2-input type", input the drive pulse that rotates in a CCW direction. When in "1-input type", input the motor rotational direction signal. Internal photocoupler ON ... CW direction Internal photocoupler OFF ... CCW direction Inputting this signal (internal photocoupler is turned on) shuts off the current carried to motor. * As for the motor rotational direction, CW direction is regarded as the clockwise rotation, and CCW direction is regarded as the counterclockwise rotation by viewing the motor from output shaft side. 114 1000 pF Input signal R Driver n Input Circuit Configuration of ACDOFF, SSEL, PD * When the crest value of the input signal exceeds 5 V, use the external limit resistance R to limit the input current to approximately 10 mA. (Take the photocoupler forward voltage (1.5 V) into consideration.) 330 +5 V 1.8k Input signal R Driver n Output Signal Configuration of MON, AL * When the motor excitation phase is at the phase origin (power ON status), the photocoupler is ON. * Inputting pulse turns on photocoupler every 7.2 of motor output axis from phase origin. * Set command frequency to 50 kpulse/s or less to use phase origin monitor. * Perform switching of division number via step-angle selection input signal (SSEL) with phase origin monitor output turned on and motor being stopped. * Switching division number at the point other than excitation origin may cause that phase origin monitor output is not correctly output. 5 mA max. 30 V max. Driver MON output CW CCW Closed Loop Stepping Systems * Pulse duty 50% max. * Maximum input frequency: 400 kpulse/s * When the crest value of the input signal exceeds 5 V, use the external limit resistance R to limit the input current to approximately 10 mA. (Take the photocoupler forward voltage (1.5 V) into consideration.) 3.3 k 5-Phase Stepping Systems 330 +5 V AC Servo Systems n Pulse Input 2-Phase Stepping Systems NON output Example: 5-phase mode, 1 division (Full step) n Dimensions Unit: mm (inch) 2- [4x10 (.16x.39)] slot 28 (1.10) Motion Controller 4 75 (2.95) Mounting hole 62 (2.44) 118 (4.6) 3 (.12) 2- 4 (.16) Mounting hole 14 (.55) 87 (3.43) 115 2-PHASE STEPPING SYSTEMS Speed variation (%) Low Vibration This driver features approximately 10% less vibration compared with our conventional product. Also, a lowvibration mode function provides smooth driving, even with one-division (fullstep) and two-division (half-step) coarse resolution settings. This allows vibrations to be suppressed without control system restrictions. 1600 1200 Low-vibration mode OFF 800 400 0 Low-vibration mode ON 200 400 600 800 1000 Frequency (pulse/s) Lineup 14 mm 0.55 inch 28 mm NEMA 11 42 mm NEMA 17 42 mm NEMA 17 0.9 /step 50 mm 1.97 inch 116 X-MIND K6 110 -230 VAC X-MIND B6 110 - 230 VAC X-PLUS B4 110 - 230 VAC ADW 24 to 75 VDC A-NDC 06.V 24 to 85 VDC CSD J4 24 to 45 VDC A-CSD 04.V 24 to 45 VDC A-CSD 02.V 24 to 45 VDC BS1D200P10 24/36 VDC Driver DC Input AC Input Motor N*m Amp Model Shape Page Size oz * in 0.0065 SH2141-5541 S 0.3 0.92 SH2141-5511 D 118 0.01 SH2145-5641 S 0.4 1.42 SH2145-5611 D 0.07 SH2281-5671 S n n 0.5 9.91 SH2281-5631 D 119 0.07 SH2281-5771 S n n 1 9.91 SH2281-5731 D 0.145 SH2285-5671 S n 0.5 20.53 SH2285-5631 D 120 0.145 SH2285-5771 S n n 1 20.53 SH2285-5731 D 0.083 n n 1 SS2421-5041 S 11.75 121 0.186 1 SS2422-5041 S n n 26.33 0.25 0.5 103H5205-5140 S 122 n 35.4 0.29 SF2421-10B41 S 123 1 n n 41.07 SF2421-10B11 D 0.38 0.5 103H5208-5140 S 124 n 53.81 0.43 SF2422-10B41 S 1 125 n n 60.89 SF2422-10B11 D 0.49 0.5 103H5210-5140 S 126 n 69.39 0.51 103H5210-5214 D, TAP 1 127 n n 103H5210-52XB12 D, BRK, TAP 72.22 0.8 SF2423-10B41 S 1 128 n 113.3 SF2423-10B11 D 0.37 SF2424-10B41 S 1 129 n 52.39 SF2424-10B11 D 0.23 2 SH1421-5241 S 130 n n 32.5 0.35 2 SH1422-5241 S 131 n n 48.1 0.48 2 n n SH1424-5241 S 132 37.9 0.1 1 SS2501-8040 S n n 14.16 133 0.215 1 SS2502-8040 S n n 30.44 Shape S: Single Shaft D: Double Shaft CBL: Cable Type CONN: Connector Type BRK: Electrical Magnetic Brake Equipped 117 Closed Loop Stepping Systems 5-Phase Stepping Systems 2-Phase Stepping Systems 0.55 103H7121-5740 S n nn n 2 77.9 103H7121-5710 D 134 0.55 n n n n 3 103H7121-5840 S 77.9 1 103H7123-5740 S 2 n nn n 141.6 103H7123-5710 D 135 1 3 103H7123-5840 S n n n n 141.6 1.6 103H7126-5740 S 2 n nn n 226.6 103H7126-5710 D 136 56 mm 1.6 3 103H7126-5840 S NEMA 23 n n n n 226.6 2 103H7128-5740 S 2 n nn n 283.2 103H7128-5710 D 137 2 3 103H7128-5840 S n n n n 283.2 1 SP2563-5260 S, CBL 3 n n n n138 141.6 SP2563-5200 S, CONN 1.7 SP2566-5260 S, CBL 3 n n n n139 240.7 SP2566-5200 S, CONN 0.88 103H7821-5760 S 2 n nn n 124.6 103H7821-5730 D 140 0.88 103H7821-1760 S 4 n n n 124.6 103H7821-1730 D n 1.37 103H7822-5760 S 2 n nn n 103H7822-5730 D 60 mm 194 141 1.37 103H7822-1760 S 2.36 inch 4 n n n 194 103H7822-1730 D n w/ NEMA 23 1.1 103H7822-2511 D mounting 4.4 n n142 155.8 103H7822-25XB12 D, BRK 2.7 103H7823-5760 S 2 n nn n 382.3 103H7823-5730 D 143 2.7 103H7823-1760 S 4 n n n 382.3 103H7823-1730 D n 0.69 2 SH1601-5240 S n nn n144 97.7 60 mm 1.28 2.36 inch 2 SH1602-5240 S n nn n145 181.2 0.9 /step 2.15 2 SH1603-5240 S n nn n146 304.4 3.3 2 SM2861-5052 S 467.3n 3.3 SM2861-5152 S 4 147 n n n n 467.3 SM2861-5122 Dn 3.3 6 SM2861-5252 S n nn n 467.3 6.4 2 SM2862-5052 S 906.3 6.4 SM2862-5152 S 148 4 n n n n 906.3 SM2862-5122 Dn SM2862-5252 S 86 mm 6.4 149 n nn n 6 906.3 SH2862-52XB12 D, BRK NEMA 34 9 S 2 SM2863-5052 1274.5 9 SM2863-5152 S 4 150 n n n n 1274.5 SM2863-5122 Dn 9 6 SM2863-5252 S n nn n 1274.5 6.4 6 SP2862-5260 S, CBL 151 n nn n 906.3 9 6 SP2863-5260 S, CBL 152 n nn n 1274.5 13.2 6 103H89222-5241 S 153 n n 106 mm 1869.2 19 NEMA 42 6 103H89223-5241 S 154 2690.5n 42 mm 0.37 2 103H5208-49V40 S, CBL NEMA 17 n nn n155 52.39 Vacuum 56 mm 0.45 2 103H7121-47V40 S, CBL n nn n156 NEMA 23 63.72 Vacuum Motion Controller X-MIND K6 110 -230 VAC X-MIND B6 110 - 230 VAC X-PLUS B4 110 - 230 VAC ADW 24 to 75 VDC A-NDC 06.V 24 to 85 VDC CSD J4 24 to 45 VDC A-CSD 04.V 24 to 45 VDC A-CSD 02.V 24 to 45 VDC BS1D200P10 24/36 VDC Driver DC Input AC Input Motor N*m Amp Model Shape Page Size oz * in AC Servo Systems Lineup 2-PHASE STEPPING SYSTEMS 14 mm (0.55 inch) 30/43.8 mm (1.18/1.72 inch) MOTOR LENGTH n Specification n Torque Curve RoHS Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity SH2141-5541 SH2145-5641 SH2141-5511 SH2145-5611 0.0065 0.01 0.92 1.42 0.3 0.4 21 19 4.2 4 0.00058 0.0011 0.0032 0.0060 0.028 0.042 0.062 0.093 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation n Dimension 0.6 0.4 .0 .43-.02 1.50.76 (.06.03) 30 ) When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Red Yellow RED - + + - BLU - - + + YEL + - - + ORG + + - - 10 fs 100 1000 2000 3000 Speed (min-1) 0.01 0.6 0.4 0.008 0.006 Pull-out torque at JL 0.004 0.002 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 l Direction of motor rotation Lead wire color 1 Excitation 2 sequence 3 4 0.8 0 D section details Blue 1.0 0.2 2-M2x0.4 Effective tapping depth 3.2 (.13) min. n Internal Wiring Orange 1 Pulse rate (kpulse/s) l SH2145-56 ( D 0 4 -0.013 .0000 .17-.0005 D 3000 0.1 100 140.5 ( .55.02) 2-11.50.2 (2-.45.008) Pull-out torque at JL 0.004 0 1.2 ( Lead wire: UL3265 28AWG 0.006 0.002 1.4 0 11-0.05 300 min. (11.81 min.) 0.8 0.008 0 (1) 118 1.0 0.2 150.5 (.59.02) ) .0000 .17-.0005 ( 0 4-0.013 1.2 Torque (oz*in) SH2141:300.8 (1.18.03) SH2145:43.80.8 (1.72.03) 0.01 1.4 Unit: mm (inch) ) 101 (.39.04) l SH2141-55 Torque (oz*in) Model Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.01 x 10 -4kg*m 2 (0.05 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (N*m) Bipolar winding, 1.8/step Torque (N*m) MOTOR FLANGE SIZE 1000 2000 3000 Speed (min-1) 100 Speed (min-1) RoHS Rotor Inertia Motor Weight Operating Temperature Humidity SH2281-5671 SH2281-5771 SH2281-5631 SH2281-5731 0.07 0.07 9.91 9.91 0.5 1 10.5 2.6 7.21.85 0.01 0.01 0.05 0.05 0.11 0.11 0.24 0.24 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation n Dimension l SH2281-56 12 10 8 6 4 0 0 0.1 1 1000 2000 3000 5000 Speed (min-1) 0.1 Torque (oz*in) 12 10 8 6 4 0.08 Pull-out torque at JL 0.06 0.04 0.02 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 100 1000 2000 3000 5000 Speed (min-1) ( S 100 l SH2281-57 0 0.13 22-0.05 .0000 .8661 -.0019 S 10 fs Pulse rate (kpulse/s) 100 2 ) 0.04 ( ) ( 0.013 5-0.013 .0000 .1968 -.0005 (11.81 min.) 300 min. ) R3 min. (R.12 min.) Cross section S-S 4.5 0.15 (.1771 .006) 2-Phase Stepping Systems ( 0.013 5-0.013 .0000 .1968 -.0005 4.5 0.15 (.1771 .006) 28 0.5 ( 1.10 .02) 4 23 0.25 (4-.91 .01) Pull-out torque at JL 0.06 0.02 14 ) 10 0.8 (.39 .03) 0.08 2 Unit: mm (inch) Lead wire: UL3265 28AWG 4-M2.5 x 0.45 Effective tapping 32 0.8 15 0.5 depth 3.2 (.13) min. (1.26 .03) (.59 .02) +1 10 0 1.5 0.76 +.04 (.06 .03) .39 .00 0.1 14 Torque (N*m) Holding Torque Rated Current Wiring Resistance Winding Inductance Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Torque (N*m) Model Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.01 x 10-4kg*m2(0.05 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (oz*in) Bipolar winding, 1.8/step Closed Loop Stepping Systems n Torque Curve n Specification AC Servo Systems 32 mm (1.26 inch) MOTOR LENGTH 5-Phase Stepping Systems 28 mm (NEMA 11) MOTOR FLANGE SIZE n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 119 2-PHASE STEPPING SYSTEMS 28 mm (NEMA 11) 51.5 mm (2.03 inch) MOTOR LENGTH n Specification n Torque Curve RoHS SH2285-5671 SH2285-5771 SH2285-5631 SH2285-5731 0.145 0.145 20.53 20.53 0.5 1 153.75 13.5 3.4 0.022 0.022 0.12 0.12 0.20 0.20 0.44 0.44 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity l SH2281-56 24 20 16 12 8 0 0.1 1 10 fs Pulse rate (kpulse/s) 100 100 1000 2000 3000 5000 Speed (min-1) +1 10 0 +.04 .39 .00 ( 24 28 0.5 ( 1.10 .02) 4 23 0.25 (4-.91 .01) Torque (oz*in) ) 15 0.5 (.59 .02) 0.2 28 20 16 12 8 4 ) 0 0.16 Pull-out torque at JL 0.12 0.08 0.04 0 0.1 1 0.13 22-0.05 .0000 .8661 -.0019 S 100 ( S R3 min. (R.12 min.) Cross section S-S 4.5 0.15 (.1771 .006) n Internal Wiring l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - fs 10 Pulse rate (kpulse/s) ( ) (11.81 min.) 300 min. 1.5 0.76 (.06 .03) 4-M2.5 x 0.45 Effective tapping depth 3.2 (.13) min. 0.013 5-0.013 .0000 .1968 -.0005 51.5 0.8 (2.03 .03) ) ( 0.08 l SH2281-57 10 0.8 (.39 .03) 0.013 5-0.013 .0000 .1968 -.0005 Pull-out torque at JL 0.12 0.04 4 Unit: mm (inch) Lead wire: UL3265 28AWG 120 0.16 0 n Dimension 4.5 0.15 (.1771 .006) 0.2 28 Torque (N*m) Model Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.01 x 10 -4kg*m 2 (0.05 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (oz*in) Bipolar winding, 1.8/step Torque (N*m) MOTOR FLANGE SIZE 1000 2000 3000 5000 Speed (min-1) 100 n Torque Curve n Specification RoHS Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft SS2421-5041 SS2422-5041 N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 0.083 0.186 11.75 26.33 1 1 3.5 5.4 1.2 2.9 0.015 0.028 0.082 0.153 0.07 0.14 0.15 0.31 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation l SS2421-5041 0.10 14 12 10 8 6 4 0.08 Torque (N*m) Model Holding Torque Rated Current Wiring Resistance Winding Inductance Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.33 x 10 -4kg*m 2 (1.80 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (oz*in) Bipolar winding, 1.8/step Pull-out torque at JL 0.06 0.04 0.02 2 0 0 1 0.1 100 Unit: mm (inch) ) 24 ( ) 0 22-0.05 .0000 .8661 -.0019 0 5 -0.013 .0000 .1968-.0005 300 min. (11.8 min.) 24 max. (.94 max.) 20 16 12 8 Pull-out torque at JL 0.15 0.10 0.05 ( 4 0 0 1 0.1 2-M3x0.5 100 1.70.3 (0.070.01) fs 10 Pulse rate (kpulse/s) N.P SS2422-5041 1000 2000 3000 Speed (min-1) 0.20 28 Torque (oz*in) 70.5 (.28.02) 11.60.5 (.457.02) 100 l SS2422-5041 420.5 ( 1.65.02) 2-310.3 (2-1.22.012) Lead wire: UL1007 26AWG 5 max. (.20 max.) SS2421-5041 Torque (N*m) n Dimension 10 fs Pulse rate (kpulse/s) AC Servo Systems 11.6/18.6 mm (.457/.732 inch) Closed Loop Stepping Systems MOTOR LENGTH 100 1000 2000 3000 Speed (min-1) 5-Phase Stepping Systems 42 mm (NEMA 17) MOTOR FLANGE SIZE Unit: mm (inch) 420.5 ( 1.65.02) 2-310.3 (2-1.22.012) 70.5 (.28.02) 24 max. (.94 max.) ( ( ) 0 22-0.05 .0000 .8661 -.0019 0 5 -0.013 .0000 .1968 -.0005 300 min. (11.8 min.) ) 18.60.5 (.732.02) 5 max. (.20 max.) Lead wire: UL1007 26AWG 2-Phase Stepping Systems N.P 2-M3x0.5 1.70.3 (0.070.01) n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 121 2-PHASE STEPPING SYSTEMS 42 mm (NEMA 17) 33 mm (1.25 inch) MOTOR LENGTH n Specification n Torque Curve RoHS Bipolar winding, 1.8/step Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft 103H5205-5140 N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 0.25 35.4 0.5 13.4 23.4 0.036 0.20 0.23 0.51 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation l 103H5205-51 Torque (oz*in) Model Holding Torque Rated Current Wiring Resistance Winding Inductance Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.94 x 10 -4kg*m 2 (5.14 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded 70 0.5 60 0.4 50 40 30 20 10 0 Torque (N*m) MOTOR FLANGE SIZE 0.3 Pull-out torque at JL 0.2 0.1 0 0.1 1 fs 100 n Dimension Unit: mm (inch) ) ) .0000 .197-.0005 4-M3 x 0.5 Effective tapping depth 4 (.16) min. 4-310.25 (4-1.22.01) 18 max. (.71 max.) 5 max. (.20 max.) ( 420.25 ( 1.65.01) ( R3 min. (R.12 min.) 4.50.15 (.1771.006) ( 0 5-0.013 .0000 .197-.0005 ) 0 22-0.05 .000 .866 -.002 ) 151 (.591.04) ( 300 min. (11.81 min.) 6 max. (.24 max.) 330.5 240.5 (1.25.02) (.94.02) 24 min (.94 min.) +1 15 0 +.04 1.50.76 .59 .00 (.06.03) 26AWG 0 5-0.013 Lead wire: UL1430 n Internal Wiring l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow 122 Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 10 Pulse rate (kpulse/s) 1000 2000 3000 5000 Speed (min-1) 100 33 mm (1.30 inch) n Specification n Torque Curve RoHS Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Rotor Inertia Motor Weight Operating Temperature Humidity SF2421-10B41 SF2421-10B11 0.29 41.07 1 3.6 7 0.031 0.169 0.23 0.51 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation l SF2421-10B Torque (oz*in) Model Holding Torque Rated Current Wiring Resistance Winding Inductance Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.94 x 10 -4kg*m 2 (5.14 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded 70 0.5 60 0.4 50 40 30 20 10 0 Torque (N*m) Bipolar winding, 1.8/step 0.3 0.2 Pull-out torque at JL 0.1 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 100 1000 2000 3000 5000 Speed (min-1) AC Servo Systems MOTOR LENGTH Closed Loop Stepping Systems 42 mm (NEMA 17) MOTOR FLANGE SIZE n Dimension Motor Cable Model Number: 4835775-1 ) ) 4-M3 x 0.5 Effective tapping depth 4 (.16) min. 5-Phase Stepping Systems ( 6 max. (.24 max.) 1.50.76 (.06.03) +1 15 0 +.04 .59 .00 420.25 ( 1.65.01) 4-310.25 (4-1.22.01) 27 max. (1.06 max.) 2-Phase Stepping Systems ( 0 5-0.013 .0000 .197-.0005 ) 0 22 -0.05 .000 .866 -.002 ) 151 (.591.04) .0000 .197-.0005 23 min. (.91 min.) ( 6 max. (.24 max.) 240.5 (.94.02) 0 5-0.013 330.5 (1.30.02) Unit: mm (inch) ( 4.50.15 (.1771.006) n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Connector pin number 1 Excitation 2 sequence 3 4 3 - + + - 7 - - + + 5 + - - + 9 + + - - 123 2-PHASE STEPPING SYSTEMS 42 mm (NEMA 17) 39 mm (1.54 inch) MOTOR LENGTH n Specification n Torque Curve RoHS Bipolar winding, 1.8/step Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft 103H5208-5140 N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 0.38 53.81 0.5 16.5 34 0.056 0.31 0.29 0.64 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation l 103H5208-51 Torque (oz*in) Model Holding Torque Rated Current Wiring Resistance Winding Inductance Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.94 x 10 -4kg*m 2 (5.14 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded 70 0.5 60 0.4 50 40 30 20 10 0 Torque (N*m) MOTOR FLANGE SIZE 0.3 Pull-out torque at JL 0.2 0.1 0 0.1 1 fs 100 n Dimension Unit: mm (inch) ( ) ) .0000 .197-.0005 4-M3 x 0.5 Effective tapping depth 4 (.16) min. 4-310.25 (4-1.22.01) 18 max. (.71 max.) 5 max. (.20 max.) 1.50.76 (.06.03) +1 15 0 +.04 .59 .00 420.25 ( 1.65.01) 4.50.15 (.1771.006) ( 0 5-0.013 .0000 .197-.0005 R3 min. (R.12 min.) ( ) 0 22-0.05 .000 .866-.002 ) 151 (.591.04) 240.5 (.94.02) ( 300 min. (11.81 min.) 6 max. (.24 max.) 390.5 (1.54.02) 30 min. (1.18 min.) 26AWG 0 5-0.013 Lead wire: UL1430 n Internal Wiring l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow 124 Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 10 Pulse rate (kpulse/s) 1000 2000 3000 5000 Speed (min-1) 100 n Specification n Torque Curve RoHS Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb SF2422-10B41 SF2422-10B11 0.43 60.89 1 4.4 9.6 0.046 0.252 0.3 0.66 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation l SF2422-10B Torque (oz*in) Model Holding Torque Rated Current Wiring Resistance Winding Inductance Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.94 x 10 -4kg*m 2 (5.14 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded 70 0.5 60 0.4 50 40 30 20 10 0 Torque (N*m) Bipolar winding, 1.8/step 0.3 Pull-out torque at JL 0.2 0.1 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 100 1000 2000 3000 5000 Speed (min-1) AC Servo Systems 39 mm (1.54 inch) MOTOR LENGTH Closed Loop Stepping Systems 42 mm (NEMA 17) MOTOR FLANGE SIZE n Dimension Motor Cable Model Number: 4835775-1 5-Phase Stepping Systems ) .0000 .197-.0005 4-M3 x 0.5 Effective tapping depth 4 (.16) min. 6 max. (.24 max.) ) 420.25 ( 1.65.01) 4-310.25 (4-1.22.01) 27 max. (1.06 max.) 2-Phase Stepping Systems ( 0 5-0.013 .0000 .197-.0005 ) 0 22 -0.05 .000 .866 -.002 ) ( ( 151 (.591.04) 0 5-0.013 6 max. (.24 max.) 240.5 390.5 (.94.02) (1.54.02) 29 min. (1.41 min.) +1 15 0 1.50.76 +.04 .59 .00 (.06.03) Unit: mm (inch) ( 4.50.15 (.1771.006) n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Connector pin number 1 Excitation 2 sequence 3 4 3 - + + - 7 - - + + 5 + - - + 9 + + - - 125 2-PHASE STEPPING SYSTEMS 42 mm (NEMA 17) 48 mm (1.89 inch) MOTOR LENGTH n Specification n Torque Curve RoHS Model Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft 103H5210-5140 N m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 0.49 69.39 0.5 20 35 0.074 0.40 0.37 0.82 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation * Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.94 x 10 -4kg*m 2 (5.14 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded l 103H5210-51 Torque (oz*in) Bipolar winding, 1.8/step 70 0.5 60 0.4 50 40 30 20 10 0 Torque (N*m) MOTOR FLANGE SIZE Pull-out torque at JL 0.3 0.2 0.1 0 0.1 fs 1 10 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Speed (min-1) n Dimension Unit: mm (inch) ( ) ) .0000 .197-.0005 4-M3 x 0.5 Effective tapping depth 4 (.16) min. 4-310.25 (4-1.22.01) 18 max. (.71 max.) 5 max. (.20 max.) 1.50.76 (.06.03) +1 15 0 +.04 .59 .00 420.25 ( 1.65.01) ( R3 min. (R.12 min.) 4.50.15 (.1771.006) ( 0 5-0.013 .0000 .197-.0005 ) 0 22-0.05 .000 .866 -.002 ) 151 (.591.04) 240.5 (.94.02) ( 300 min. (11.81 min.) 6 max. (.24 max.) 480.5 (1.89.02) 39 min. (1.54 min.) 26AWG 0 5-0.013 Lead wire: UL1430 n Internal Wiring l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow 126 Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 100 n Torque Curve RoHS Double Shaft w/ Brake N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia 103H5210-5214 103H5210-52XB12 0.51 72.2 1 4.8 9.5 0.074 (0.089*) 0.405 (0.487*) 0.37 (0.51*) 0.82 (1.12*) -10 to 50C (14 to 122F) 20 to 90% RH, no condensation 24 VDC / 2.4 W 0.3 Min. 42.5 Min. Motor Weight Operating Temperature Humidity Power Source VDC / W N*m Brake Static Friction Torque oz * in l 103H5210-52 Torque (oz*in) Model Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.94 x 10 -4kg*m 2 (5.14 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded 70 0.5 60 0.4 50 40 30 20 Torque (N*m) Bipolar winding, 1.8/step Pull-out torque at JL 0.3 0.2 0.1 10 0 0.1 0 1 fs 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Speed (min-1) * Specifications for brake motor n Dimension 103H5210-52XB12 103H5210-5214 Unit: mm (inch) Unit: mm (inch) 4-M3 x 0.5 Effective tapping depth 4 (.16) min. 0 22-0.05 .000 .866-.002 0 5-0.013 .0000 .197-.0005 n Internal Wiring ( ) 0 R3 min. (R.12 min.) 4.50.15 (.1771.006) ( ) ( 3-M1.6 Depth 2 (.078) min. ( 0 5-0.013 .0000 .197-.0005 4.50.15 (.1771.006) 12 0 22-0.05 .000 .866-.002 0 12 R3 min. (R.12 min.) 0 12 0 12 3-M1.6 Depth 2 (.078) min. 2-Phase Stepping Systems ) .0000 .197-.0005 +1 15 0 (.59+.04.00) 420.25 ( 1.65.01) 4-310.25 (4-1.22.01) 18 max. (.71 max.) 5 max. (.20 max.) 1.50.76 (.06.03) 240.5 (.94.02) ) 12.71 (.5.04) 81.61 (3.21.04) 39 min. (1.54 min.) ( Brake lead wire UL3266 26AWG 6 max. (.24 max.) 0 5-0.013 20.90.2 ( .823.008) 300 min. (11.81 min.) ) 4-M3 x 0.5 Effective tapping depth 4 (.16) min. 4-310.25 (4-1.22.01) 18 max. (.71 max.) 300 min. (11.81 min.) +1 15 0 (.59+.04.00) Lead wire: UL1430 26AWG 420.25 ( 1.65.01) 5 max. (.20 max.) 1.50.76 (.06.03) 240.5 (.94.02) ) 12.71 (.5.04) 480.5 (1.89.02) 39 min. (1.54 min.) .0000 .197-.0005 6 max. (.24 max.) ( 300 min. (11.81 min.) 20.90.2 ( .823.008) 0 5-0.013 Lead wire: UL1430 26AWG Closed Loop Stepping Systems n Specification AC Servo Systems 48/81.6 mm (1.89/3.21 inch) MOTOR LENGTH 5-Phase Stepping Systems 42 mm (NEMA 17) MOTOR FLANGE SIZE n Brake Connection When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - +24V E 0 Motion Controller l Direction of motor rotation Orange BROWN SW Varistor WHITE 127 2-PHASE STEPPING SYSTEMS 42 mm (NEMA 17) MOTOR LENGTH 48 mm (1.89 inch) n Specification n Torque Curve RoHS Bipolar winding, 1.8/step Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Rotor Inertia Motor Weight Operating Temperature Humidity SF2423-10B41 SF2423-10B11 0.56 79.30 1 5.2 12.5 0.063 0.344 0.38 0.84 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation l SF2423-10B 120 ) ) .0000 .197-.0005 4-M3 x 0.5 Effective tapping depth 4 (.16) min. 420.25 ( 1.65.01) 4-310.25 (4-1.22.01) 27 max. (1.06 max.) 6 max. (.24 max.) ( 0 22 -0.05 .000 .866 -.002 ) ( 0 5-0.013 .0000 .197-.0005 ( 4.50.15 (.1771.006) n Internal Wiring l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow 128 Connector pin number 1 Excitation 2 sequence 3 4 3 - + + - 7 - - + + 5 + - - + 60 40 0.8 0.6 0.4 Pull-out torque at JL 0.2 0 0.1 1 fs 9 + + - - 10 Pulse rate (kpulse/s) 100 ) 1.50.76 (.06.03) +1 15 0 +.04 .59 .00 ( 151 (.591.04) 240.5 (.94.02) 80 0 Unit: mm (inch) 0 5-0.013 6 max. (.24 max.) 480.5 (1.89.02) 38 min. (1.50 min.) 100 20 n Dimension Motor Cable Model Number: 4835775-1 1.0 140 Torque (oz*in) Model Holding Torque Rated Current Wiring Resistance Winding Inductance Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.94 x 10 -4kg*m 2 (5.14 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (N*m) MOTOR FLANGE SIZE 1000 2000 3000 5000 Speed (min-1) 100 n Specification n Torque Curve RoHS Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb SF2424-10B41 SF2424-10B11 0.8 113.3 1 6.5 16 0.094 0.514 0.51 1.12 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation l SF2424-10B 1.0 140 120 Torque (oz*in) Model Holding Torque Rated Current Wiring Resistance Winding Inductance Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[2.6 x 10 -4kg*m 2 (14.2 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded 100 80 60 40 20 0 0.8 Torque (N*m) Bipolar winding, 1.8/step 0.6 Pull-out torque at JL 0.4 0.2 0 0.1 fs 1 10 Pulse rate (kpulse/s) 100 100 1000 2000 3000 5000 Speed (min-1) AC Servo Systems 59.5 mm (2.34 inch) MOTOR LENGTH Closed Loop Stepping Systems 42 mm (NEMA 17) MOTOR FLANGE SIZE n Dimension Motor Cable Model Number: 4835775-1 ) ) .0000 .197-.0005 4-M3 x 0.5 Effective tapping depth 4 (.16) min. 5-Phase Stepping Systems ( 2-Phase Stepping Systems ( 0 5-0.013 .0000 .197-.0005 ) 0 22 -0.05 .000 .866 -.002 ) 1.50.76 (.06.03) +1 15 0 +.04 .59 .00 420.25 ( 1.65.01) 4-310.25 (4-1.22.01) 27 max. (1.06 max.) 6 max. (.24 max.) 151 (.591.04) ( 240.5 (.94.02) 59.50.5 (2.34.02) 49.5 min. (1.95 min.) 0 5-0.013 6 max. (.24 max.) Unit: mm (inch) ( 4.50.15 (.1771.006) n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Connector pin number 1 Excitation 2 sequence 3 4 3 - + + - 7 - - + + 5 + - - + 9 + + - - 129 2-PHASE STEPPING SYSTEMS 42 mm (NEMA 17) 33 mm (1.25 inch) MOTOR LENGTH n Specification n Torque Curve Bipolar winding, 0.9 /step Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity SH1421-5241 0.23 32.5 2 0.85 2.1 0.044 0.24 0.24 0.53 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation Single Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.94 x 10 -4kg*m 2 (5.14 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded l SH1421-52 0.5 70 0.4 60 Torque (oz*in) Model RoHS 50 40 30 20 10 0 Torque (N*m) MOTOR FLANGE SIZE 0.3 Pull-out torque at JL 0.2 0.1 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 1000200030005000 Number of rotations (min-1) n Dimension Unit: mm (inch) Lead wire: UL3385 AWG24 ( ) ) +1 15 0 +.04 .59 .00 4-M3x0.5 Effective tapping depth 4 (.16) min. 420.25 ( 1.65.01) 4-310.25 (4-1.22.01) S Cross section S-S R3 min. (R.12 min.) ( S 4.50.15 (.1771.006) .0000 .8661 -.0019 ( ) 1.50.76 (.06.03) 240.5 (.94.02) 0 5-0.013 .0000 .1968 -.0005 (11.81 min.) 300 min. 330.8 (1.25.03) 0 22-0.05 ( 0 5 -0.013 .0000 .1968 -.0005 ) 151 (.59.04) 4.50.15 (.1771.006) n Internal Wiring l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow 130 Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 100 n Specification n Torque Curve Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity SH1422-5241 0.34 48.1 2 1.05 3.6 0.66 0.36 0.29 0.64 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation Single Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.94 x 10 -4kg*m 2 (5.14 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded l SH1422-52 0.5 70 0.4 60 Torque (oz*in) Model RoHS 50 40 30 20 10 0 Torque (N*m) Bipolar winding, 0.9 /step Pull-out torque at JL 0.3 0.2 0.1 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 100 1000200030005000 Number of rotations (min-1) 5-Phase Stepping Systems n Dimension Unit: mm (inch) Lead wire: UL3385 AWG24 ( ) 420.25 ( 1.65.01) 4-310.25 (4-1.22.01) ) +1 15 0 +.04 .59 .00 4-M3x0.5 Effective tapping depth 4 (.16) min. R3 min. (R.12 min.) Cross section S-S 2-Phase Stepping Systems S 4.50.15 (.1771.006) ( 0 22-0.05 S .0000 .8661 -.0019 ( ) (11.81 min.) 300 min. ) ( 0 5 -0.013 .0000 .1968 -.0005 1.50.76 (.06.03) 240.5 (.94.02) 0 5-0.013 .0000 .1968 -.0005 390.8 (1.54.03) 151 (.59.04) AC Servo Systems 39 mm (1.54 inch) MOTOR LENGTH Closed Loop Stepping Systems 42 mm (NEMA 17) MOTOR FLANGE SIZE 4.50.15 (.1771.006) n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 131 2-PHASE STEPPING SYSTEMS 42 mm (NEMA 17) 48 mm (1.89 inch) MOTOR LENGTH n Specification n Torque Curve RoHS Bipolar winding, 0.9 /step Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity SH1424-5241 0.48 67.9 2 1.25 3.75 0.089 0.49 0.38 0.84 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation Single Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb l SH1424-52 0.5 70 0.4 60 Torque (oz*in) Model Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.94 x 10 -4kg*m 2 (5.14 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded 50 40 30 20 10 0 Torque (N*m) MOTOR FLANGE SIZE Pull-out torque at JL 0.3 0.2 0.1 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 1000200030005000 Number of rotations (min-1) n Dimension Unit: mm (inch) ( ) ) .0000 .197-.0005 4-M3 x 0.5 Effective tapping depth 4 (.16) min. 4-310.25 (4-1.22.01) 18 max. (.71 max.) 5 max. (.20 max.) 1.50.76 (.06.03) +1 15 0 +.04 .59 .00 420.25 ( 1.65.01) ( R3 min. (R.12 min.) 4.50.15 (.1771.006) ( 0 5-0.013 .0000 .197-.0005 ) 0 22-0.05 .000 .866 -.002 ) 151 (.591.04) 240.5 (.94.02) ( 300 min. (11.81 min.) 6 max. (.24 max.) 480.5 (1.89.02) 39 min. (1.54 min.) 26AWG 0 5-0.013 Lead wire: UL1430 n Internal Wiring l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow 132 Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 100 n Torque Curve RoHS Single Shaft SS2501-8040 SS2502-8040 N m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 0.10.215 14.16 30.44 1 1 4.5 5.9 23.2 0.026 0.049 0.142 0.268 0.09 0.15 0.20.33 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation * Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity l SS2501-8040 0.10 14 12 10 8 6 4 0.08 Torque (N*m) Model Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.01 x 10 -4kg*m 2 (1.80 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (oz*in) Bipolar winding, 1.8/step Pull-out torque at JL 0.06 0.04 0.02 2 0 0 0.1 1 fs 10 100 Pulse rate (kpulse/s) 100 Unit: mm (inch) 4-M2.5x0.45 11.40.3 (.43.012) 50.3 (0.20.012) l SS2502-8040 4-410.3 (4-1.61.012) 24 ( 6 max. (.24 max.) 0 5-0.013 .0000 .1968 -.0005 12 8 Pull-out torque at JL 0.15 0.10 0.05 0 0.1 1 fs 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 Speed (min-1) Unit: mm (inch) 500.5 ( 1.97.02) 4-410.3 (4-1.61.012) 2-Phase Stepping Systems 4-M2.5x0.45 16.40.3 (.63.012) 50.3 (0.20.012) 20 max. (.79 max.) ( 6 max. (.24 max.) 0 5-0.013 .0000 .1968 -.0005 ) (11.81 min.) 16 0 25 .0 1) 0 00 .5 8. 6 6 61 2. Lead wire: UL1007 26AWG SS2502-8040 20 4 N.P ( 0.20 28 20 max. (.79 max.) ) (11.81 min.) 300 min. SS2501-8040 500.5 ( 1.97.02) Torque (N*m) Lead wire: UL1007 26AWG Torque (oz*in) n Dimension 300 min. 1000 2000 3000 Speed (min-1) Closed Loop Stepping Systems n Specification AC Servo Systems 11.4/16.4 mm (0.43/0.63 inch) MOTOR LENGTH 5-Phase Stepping Systems 50 mm (1.97 inch) MOTOR FLANGE SIZE N.P ( 5 02 ) 0. 01 5 .0 . 8 66 61 2. n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 133 2-PHASE STEPPING SYSTEMS 56 mm (NEMA 23) 41.8 mm (1.65 inch) MOTOR LENGTH n Torque Curve n Specification RoHS Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity 103H7121-5740103H7121-5840 103H7121-5710 0.550.55 77.977.9 23 1.1 0.54 3.7 1.74 0.10.1 0.550.55 0.470.47 1.041.04 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation l 103H7121-57 120 100 80 60 40 0.6 Pull-out torque at JL 0.4 0.2 0 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 100 1000 2000 3000 5000 Speed (min-1) l 103H7121-58 Unit: mm (inch) 50.25 (.20.1) ) ( +1 15 0 +.04 .59 .00 26 max. (1.02 max.) + 0.5 4- 4.5 0 +.02 4- .18 .00 ( ) 5.80.15 (.23.006) n Internal Wiring l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - 60 40 0.8 0.6 Pull-out torque at JL 0.4 0.2 0 0.1 1 BLU - - + + YEL + - - + ORG + + - - fs 10 Pulse rate (kpulse/s) 100 38.10.025 ( 1.50.001) R4 min. (R.16 min.) 80 0 ) R4 min. (R.16 min.) 100 20 ) 0 6.35-0.013 .0000 .25 -.0005 ) ( 0 6.35-0.013 .0000 .25 -.0005 5.80.15 (.23.006) 560.5 ( 2.2.02) 4-47.140.13 (4-1.86.005) Torque (oz*in) 32.2 min. 1.50.25 (1.27 min.) (.06.01) 8 max. (.31 max.) 8 max. (.31 max.) +1 15 0 +.04 .59 .00 20.60.5 (.81.02) 560.5 ( 2.2.02) ( 120 41.80.8 (1.65.03) ( 305 min. (12.01 min.) 15.51 (.61.04) 1.0 140 Lead wire: UL1430 22AWG 134 0.8 20 n Dimension N.P 1.0 140 Torque (N*m) Model Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.94 x 10 -4kg*m 2 (5.14 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (oz*in) Bipolar winding, 1.8/step Torque (N*m) MOTOR FLANGE SIZE 1000 2000 3000 5000 Speed (min-1) 100 n Torque Curve RoHS 103H7123-5740 103H7123-5840 103H7123-5710 1 1 141.6 141.6 2 3 1.5 0.7 7.5 3.5 0.21 0.21 1.15 1.15 0.65 0.65 1.43 1.43 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity l 103H7123-57 240 200 160 120 80 0.8 Pull-out torque at JL 0.4 0 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Speed (min-1) l 103H7123-58 Unit: mm (inch) 50.25 (.20.1) ( 26 max. (1.02 max.) ( ) 200 160 120 80 40 0 1.6 Torque (N*m) + 0.5 4- 4.5 0 +.02 4- .18 .00 ) 1.2 0.8 Pull-out torque at JL 0.4 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 100 1000 2000 3000 5000 Speed (min-1) ( R4 min. (R.16 min.) 5.80.15 (.23.006) ( R4 min. (R.16 min.) 0 6.35-0.013 .0000 .25-.0005 0 6.35-0.013 .0000 .25-.0005 ) ) 38.10.025 ( 1.50.001) +1 15 0 +.04 .59 .00 560.5 ( 2.2.02) 4-47.140.13 (4-1.86.005) Torque (oz*in) 44.2min. 1.50.25 (1.74 min.) (.06.01) 240 2-Phase Stepping Systems ) 20.60.5 (.81.02) 560.5 ( 2.2.02) ( 8 max. (.31 max.) +1 15 0 +.04 .59 .00 53.80.8 (2.12.03) 2.0 280 8 max. (.31 max.) 15.51 (.61.04) 305 min. (12.01 min.) 1.2 100 Lead wire: UL1430 22AWG 5.80.15 (.23.006) 1.6 40 n Dimension N.P 2.0 280 Torque (N*m) Model Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[2.6 x 10-4kg*m2 (14.22 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (oz*in) Bipolar winding, 1.8/step Closed Loop Stepping Systems n Specification AC Servo Systems 53.8 mm (2.12 inch) MOTOR LENGTH 5-Phase Stepping Systems 56 mm (NEMA 23) MOTOR FLANGE SIZE n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 135 2-PHASE STEPPING SYSTEMS 56 mm (NEMA 23) 75.8 mm (2.98 inch) MOTOR LENGTH n Specification n Torque Curve RoHS Model Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity 103H7126-5740 103H7126-5840 103H7126-5710 1.6 1.6 226.6 226.6 2 3 20.94 9.1 4 0.36 0.36 1.97 1.97 0.98 0.98 2.16 2.16 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[2.6 x 10-4kg*m2 (14.22 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded l 103H7126-57 240 200 160 120 80 1.6 1.2 Pull-out torque at JL 0.8 0.4 40 0 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 n Dimension 100 1000 2000 3000 5000 Speed (min-1) l 103H7126-58 1.50.25 (.06.01) 50.25 (.20.1) ) ( ( ) ) 38.10.025 ( 1.50.001) 0 6.35-0.013 .0000 .25-.0005 R4 min. (R.16 min.) R4 min. (R.16 min.) 5.80.15 (.23.006) l Direction of motor rotation When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - 120 80 40 0 1.2 Pull-out torque at JL 0.8 0.4 0 0.1 1 fs BLU - - + + YEL + - - + 10 Pulse rate (kpulse/s) 1000 2000 3000 5000 Speed (min-1) n Internal Wiring Orange 160 1.6 100 ) ( 5.80.15 (.23.006) 0 6.35-0.013 .0000 .25 -.0005 ) N.P +1 15 0 +.04 .59 .00 26 max. (1.02 max.) + 0.5 4- 4.5 0 +.02 4- .18 .00 200 Torque (N*m) 66.2 min. (2.61 min.) 560.5 ( 2.2.02) 4-47.140.13 (4-1.86.005) Torque (oz*in) 8 max. (.31 max.) +1 15 0 +.04 .59 .00 20.60.5 (.81.02) 8 max. (.31 max.) 75.80.8 (2.98.03) 560.5 ( 2.2.02) ( 240 ( 305 min. (12.01 min.) 15.51 (.61.04) 2.0 280 Unit: mm (inch) Lead wire: UL1430 22AWG 136 2.0 280 Torque (oz*in) Bipolar winding, 1.8/step Torque (N*m) MOTOR FLANGE SIZE ORG + + - - 100 n Specification n Torque Curve RoHS 103H7128-5740 103H7128-5840 103H7128-5710 2 2 283.2 283.2 2 3 2.3 1.03 10.4 4.3 0.49 0.49 2.68 2.68 1.3 1.3 2.87 2.87 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity l 103H7128-57 700 5.0 600 4.0 500 400 300 200 Torque (N*m) Model Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[7.4 x 10-4kg*m2 (40.46 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (oz*in) Bipolar winding, 1.8/step 3.0 2.0 Pull-out torque at JL 1.0 100 0 0 0.1 fs 1 100 n Dimension 10 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Speed (min-1) AC Servo Systems 94.8 mm (3.73 inch) MOTOR LENGTH Closed Loop Stepping Systems 56 mm (NEMA 23) MOTOR FLANGE SIZE 1.50.25 (.06.01) 50.25 (.20.1) ( 26 max. (1.02 max.) ( ) 38.10.025 ( 1.50.001) ) 4.0 500 400 300 200 100 0 3.0 2.0 Pull-out torque at JL 1.0 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 100 1000 2000 3000 5000 Speed (min-1) 0 8-0.013 .0000 .31-.0005 ) R4 min. (R.16 min.) R4 min. (R.16 min.) 7.50.15 (.30.006) 2-Phase Stepping Systems ( 5.80.15 (.23.006) 0 6.35-0.013 .0000 .25 -.0005 ) N.P +1 15 0 +.04 .59 .00 + 0.5 4- 4.5 0 +.02 4- .18 .00 8 max. (.31 max.) 85.4 min. (3.36 min.) ) 560.5 ( 2.2.02) 4-47.140.13 (4-1.86.005) 5.0 600 Torque (N*m) 20.60.5 (.81.02) 560.5 ( 2.2.02) ( 8 max. (.31 max.) +1 15 0 +.04 .59 .00 94.80.8 (3.73.03) 700 ( 305 min. (12.01 min.) 15.51 (.61.04) Torque (oz*in) Unit: mm (inch) Lead wire: UL1430 22AWG 5-Phase Stepping Systems l 103H7128-58 n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 137 2-PHASE STEPPING SYSTEMS 56 mm (NEMA 23) 80 mm (3.15 inch) MOTOR LENGTH n Specification n Torque Curve RoHS Model Cable Type Connector Type N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity SP2563-5260 SP2563-5200 1 141.6 3 0.75 3.4 0.21 1.15 0.9 2 -10 to 40C (14 to 104F) 95% Max. at 40C Max., no condensation Constant current circuit, Source voltage: 100 VAC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[2.6 x 10-4kg*m2 (14.22 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded l SP2563-52 2 280 240 Torque (oz*in) Bipolar winding, 1.8/step 200 160 120 80 1.5 Torque (N*m) MOTOR FLANGE SIZE 1 Pull-out torque at JL 0.5 40 0 0 0.1 n Dimension 801.5 (3.15.06) 20.60.5 (.81.02) 4-47.140.13 (4-1.86.005) Screw for GND terminal M3x0.5 23 max. (.91 max) ( 38.10.025 1.50.001) ( 50.25 (.20.01) Motor connector M12 connector (Male socket) ) 1.50.25 (.06.01) Screw for GND terminal M3x0.5 0 6.35 -0.013 .0000 .25 -.0005 Cable UL2517 300V 105C Black 36 max. (1.42 max) 70030 (27.561.18) Unit: mm (inch) 561 ( 2.20.039) Lead wire UL3398 22AWG +1 15 0 (Effective length) ( +.04 .59 .00 ) 5.80.15 (.23.006) +0.5 4.5 0 +.02 4x .18 .00 4x ( ) n Internal Wiring l Direction of motor rotation (1) Orange The output shaft rotates clockwise as seen from the shaft side, when excited by DC in the following order. (2) Blue Red (3) 138 Yellow (4) Lead wire color RED Connector pin number(3) 1 - Excitation 2 + sequence 3 + 4 - BLU YEL ORG (2) (4) (1) - - + + + - - + + + - - 1 fs 10 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Speed (min-1) 100 n Specification n Torque Curve RoHS SP2566-5260 SP2566-5200 1.7 240.7 3 1 4.4 0.36 1.97 1.2 2.65 -10 to 40C (14 to 104F) 95% Max. at 40C Max., no condensation Cable Type Connector Type N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity l SP2566-52 2 280 240 200 160 120 80 Pull-out torque at JL 1.5 Torque (N*m) Model Constant current circuit, Source voltage: 100 VAC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[7.4 x 10-4kg*m2 (40.46 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (oz*in) Bipolar winding, 1.8/step 1 0.5 40 0 0 1 0.1 fs 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Speed (min-1) AC Servo Systems 102 mm (4.02 inch) MOTOR LENGTH Closed Loop Stepping Systems 56 mm (NEMA 23) MOTOR FLANGE SIZE 20.60.5 (.81.02) 1021.5 (4.02.06) 4-47.140.13 (4-1.86.005) Screw for GND terminal M3x0.5 23 max. (.91 max) +1 15 0 (Effective length) (.59 +.04 .00 ) 5.80.15 (.23.006) +0.5 4.5 0 +.02 4x .18 .00 2-Phase Stepping Systems ( 38.10.025 1.50.001) ( 50.25 (.20.01) 1.50.25 (.06.01) Motor connector M12 connector (Male socket) ) Screw for GND terminal M3x0.5 0 6.35 -0.013 .0000 .25 -.0005 Cable UL2517 300V 105C Black 36 max. (1.42 max) Unit: mm (inch) 561 ( 2.20.039) Lead wire UL3398 22AWG 70030 (27.561.18) 5-Phase Stepping Systems n Dimension 4x ( ) n Internal Wiring l Direction of motor rotation (1) Orange (2) Blue Red (3) Yellow (4) Lead wire color RED Connector pin number(3) 1 - Excitation 2 + sequence 3 + 4 - BLU YEL ORG (2) (4) (1) - - + + + - - + + + - - Motion Controller The output shaft rotates clockwise as seen from the shaft side, when excited by DC in the following order. 139 2-PHASE STEPPING SYSTEMS 60 mm (2.36 inch) 43.5 mm (1.71 inch) MOTOR LENGTH n Specification n Torque Curve RoHS Model Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 103H7821-5760103H7821-1760 103H7821-5730103H7821-1730 0.880.88 124.6124.6 24 1.270.35 3.30.8 0.2750.275 1.51.5 0.60.6 1.321.32 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[2.6 x 10-4kg*m2 (14.22 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded l 103H7821-57 240 200 160 120 80 1.6 (EFFECTIVE LENGTH) (EFFECTIVE LENGTH) 7.50.1 (.29.003) ) ) ( ( 0 .000 8 -0.015 .31 -.005 0 .000 38.1 -0.025 1.5 -.001 R4 min. (R.16 min.) R4 min. (R.16 min.) 7.50.1 (.29.003) +.5 4.5 .0 +.02 4 - .18 .00 4- ( ) n Internal Wiring l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow 140 200 Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 10 100 1000 2000 3000 5000 Speed (min-1) 160 120 80 40 0 1.6 1.2 0.8 Pull-out torque at JL 0.4 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 ) ( 7.50.1 (.29.003) 1 fs Pulse rate (kpulse/s) 2 Torque (N*m) ) Torque (oz*in) ( +.04 +1 15 0 .59 .00 0.1 l 103H7821-17 240 6 max. (.16 max.) 1.50.25 (.06.009) 305 min. (12.01 min.) 70.75 (.27.029) 600.5 ( 2.36.02) 4-47.140.13 (4-1.86.005) 25 max. (.98 max.) (.59+.04.00) 0 8 -0.015 .000 .31 -.005 7.50.1 (.29.003) +1 15 0 20.60.5 (.81.02) Pull-out torque at JL 100 280 43.51 (1.71.04) 0.8 0 0 Lead Wire: UL1430 22AWG 15.51 (.61.04) 1.2 0.4 40 Unit: mm (inch) n Dimension 2 280 Torque (oz*in) Bipolar winding, 1.8/step Torque (N*m) MOTOR FLANGE SIZE 1000 2000 3000 5000 Speed (min-1) 100 n Torque Curve RoHS Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity 103H7822-5760 103H7822-1760 103H7822-5730 103H7822-1730 1.37 1.37 194 194 2 4 1.55 0.43 5.5 1.38 0.4 0.4 2.19 2.19 0.77 0.77 1.7 1.7 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation l 103H7822-57 2 280 240 200 160 120 80 1.6 Torque (N*m) Model Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[2.6 x 10-4kg*m2 (14.22 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (oz*in) Bipolar winding, 1.8/step 1.2 Pull-out torque at JL 0.8 0.4 40 0 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 100 1000 2000 3000 5000 Speed (min-1) Unit: mm (inch) n Dimension l 103H7822-17 Lead Wire: UL1430 22AWG 2 ( +.04 +1 15 0 .59 .00 ) (EFFECTIVE LENGTH) ( ) +.04 .59 .00 160 120 80 40 0 1.2 Pull-out torque at JL 0.8 0.4 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 .000 .31 -.005 ( 0 38.1-0.025 ( 0 8 -0.015 R4 min. (R.16 min.) ) .000 1.5 -.001 ) ) R4 min. (R.16 min.) 7.50.1 (.29.003) (EFFECTIVE LENGTH) ( 7.50.1 (.29.003) 200 100 1000 2000 3000 5000 Speed (min-1) 2-Phase Stepping Systems 1.50.25 (.06.009) 1.6 240 Torque (N*m) 70.75 (.27.029) 600.5 ( 2.36.02) 4 - 47.140.13 (4 - 1.86.005) 25 max. (.98 max.) Torque (oz*in) 20.60.5 (.81.02) 280 6 max. (.16 max.) 52.51 (2.07.04) 305 min. (12.01 min.) +1 15 0 0 8 -0.015 .000 .31 -.005 7.50.1 (.29.003) 15.51 (.61.04) 7.50.1 (.29.003) +.5 4.5 .0 +.02 4 - .18 .00 4- ( Closed Loop Stepping Systems n Specification AC Servo Systems 52.5 mm (2.07 inch) MOTOR LENGTH 5-Phase Stepping Systems 60 mm (2.36 inch) MOTOR FLANGE SIZE ) n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 141 2-PHASE STEPPING SYSTEMS 60 mm (2.36 inch) 52.5/94.2 mm (2.07/3.71 inch) MOTOR LENGTH n Torque Curve n Specification RoHS Unipolar winding, 1.8/step Double Shaft w/ Brake N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia 103H7822-2511 103H7822-25XB12 1.1 155.8 4.4 0.4 0.61 0.4 (0.56*) 2.19 (3.06*) 0.77 (1.2*) 1.7 (2.6*) -10 to 50C (14 to 122F) 20 to 90% RH, no condensation 24 VDC / 6 W 0.8 Min. 113.3 Min. Motor Weight Operating Temperature Humidity Power Source VDC / W N*m Brake Static Friction Torque oz * in l 103H7822-25 2 280 1.6 240 Torque (oz*in) Model Constant current circuit, Source voltage: 24 VDC | Operating current: 6 A/Phase (RTA A-NDC06.V set value), half-step | JL=[2.6 x 10-4kg*m2 (14.22 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded 200 160 120 80 Torque (N*m) MOTOR FLANGE SIZE 40 1.2 Pull-out torque at JL 0.8 0.4 0 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 100 1000 2000 3000 5000 Speed (min-1) * Specifications for brake motor n Dimension ( ) Red Black Yellow 142 ) ) R4 min. (R.16 min.) 7.50.1 (.29.003) 4- ( 4- +.5 4.5 .0 +.02 .18 .00 n Brake Connection When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue 4-47.140.13 (4-1.86.005) ) (EFFECTIVE LENGTH) 2-M2.5 x 0.45 Depth 3.5 (.137) min. l Direction of motor rotation White ( +.04 +1 15 0 .59 .00 7.50.1 (.29.003) +.5 4.5 .0 +.02 4 - .18 .00 4- 600.5 ( 2.36.02) ( ( 460.2 (1.81.008) 7.50.1 (.29.003) n Internal Wiring Orange 70.75 (.27.029) ) 7.50.1 (.29.003) .000 ) ( .25 -.005 .000 ( 1.5 -.001 ) R4 min. (R.16 min.) 0 38.1-0.025 ( ) 0 6.35 -0.013 .000 .25 -.005 2-M2.5 x 0.45 Depth 3.5 (.137) min. 20.60.5 (.81.02) 1.50.25 (.06.009) 0 .000 38.1-0.025 1.5 -.001 ) (EFFECTIVE LENGTH) Lead wire UL3266 22AWG 94.21 (3.71.04) 0 .000 6.35-0.013 .25 -.005 Lead wire UL3266 22AWG 4-47.140.13 (4-1.86.005) Brake lead wire UL3266 22AWG 300 min. (11.81 min.) ( +.04 +1 15 0 .59 .00 12.71 (.5.04) 600.5 ( 2.36.02) 1.50.25 (.06.009) 0 6.35 -0.013 300 min. (11.81 min.) 70.75 (.27.029) 20.60.5 (.81.02) Unit: mm (inch) 0 6.35 -0.013 .000 .25 -.005 52.51 (2.07.04) 300 min. (11.81 min.) 12.71 (.5.04) 460.2 (1.81.008) 103H7822-25XB12 Unit: mm (inch) ( 103H7822-2511 Lead wire color 1 Excitation 2 sequence 3 4 WHT & BLK RED BLU YEL ORG + - - + - - + - - + -- +24V E 0 RED SW Varistor BLACK ) n Torque Curve RoHS Model 103H7823-5760 103H7823-1760 103H7823-5730 103H7823-1730 2.7 2.7 382.3 382.3 2 4 2.4 0.65 9.5 2.4 0.84 0.84 4.59 4.59 1.34 1.34 2.95 2.95 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[7.4 x 10-4kg*m2 (40.46 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded l 103H7823-57 Torque (oz*in) Bipolar winding, 1.8/step 700 5 600 4 500 400 300 200 3 2 Pull-out torque at JL 1 100 0 0 0.1 fs 1 100 Unit: mm (inch) 20.60.5 (.81.02) 1.50.25 (.06.009) ( +.04 +1 15 0 .59 .00 305 min. (12.01 min.) 7.50.1 (.29.003) 70.75 (.27.029) +1 15 0 600.5 ( 2.36.02) 4-47.140.13 (4-1.86.005) 33 max. (1.29 max.) ) (EFFECTIVE LENGTH) (.59+.04.00) Torque (oz*in) 84.51 (3.33.04) 6 max. (.16 max.) 15.51 (.61.04) 100 1000 2000 3000 5000 Speed (min-1) l 103H7823-17 Lead Wire: UL1430 22AWG 700 5 600 4 500 400 300 200 100 0 Torque (N*m) n Dimension 10 Pulse rate (kpulse/s) 3 2 Pull-out torque at JL 1 0 0.1 1 fs 10 Pulse rate (kpulse/s) (EFFECTIVE LENGTH) 100 100 1000 2000 3000 5000 7.50.1 (.29.003) +.5 4.5 .0 +.02 4 - .18 .00 4- ( 2-Phase Stepping Systems 7.50.1 (.29.003) ) ) .000 1.5 -.001 .000 .31-.005 R4 min. (R.16 min.) ( 0 38.1-0.025 ( ( R4 min. (R.16 min.) 0 8-0.015 0 8 -0.015 .000 .31-.005 ) Speed (min-1) 7.50.1 (.29.003) Closed Loop Stepping Systems n Specification AC Servo Systems 84.5 mm (3.33 inch) MOTOR LENGTH 5-Phase Stepping Systems 60 mm (2.36 inch) Torque (N*m) MOTOR FLANGE SIZE ) n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 143 2-PHASE STEPPING SYSTEMS 60 mm (2.36 inch) 42 mm (1.65 inch) MOTOR LENGTH n Specification n Torque Curve RoHS Bipolar winding, 0.9 /step Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb SH1601-5240 0.69 97.7 2 1.2 3.5 0.24 1.31 0.55 1.21 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation l SH1601-52 1.0 140 0.8 120 100 Torque (oz*in) Model Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.94 x 10 -4kg*m 2 (5.14 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded 80 60 40 Torque (N*m) MOTOR FLANGE SIZE 0.6 Pull-out torque at JL 0.4 0.2 20 0 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 1000200030005000 Number of rotations (min-1) n Dimension Unit: mm (inch) 420.8 (1.65.03) 305 min. (12.01 min.) Lead wire: UL3385 AWG22 38.10.025 ( 1.5.0009) 600.5 (2.36.02) 0 6.35-0.013 N.P 0 6.35-0.013 1.50.25 (.06.0098) 4-47.140.13 (4-1.86.005) .0000 .25-.0005 70.25 (.2755.0098) ( ) .0000 .25-.0005 ( 600.5 ( 2.36.02) 20.60.5 (.81.02) ) 15.51 (.61.04) +0.5 4- 4.5 0 +.02 4- .18 .00 ( ) n Internal Wiring l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow 144 Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 100 n Specification n Torque Curve RoHS Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb SH1602-5240 1.28 181.2 2 1.65 6.1 0.4 2.19 0.8 1.76 -10 to 50C (14 to 122 F) 20 to 90% RH, no condensation l SH1602-52 2.0 280 1.6 240 200 Torque (oz*in) Model Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[2.6x 10 -4kg*m 2 (14.22 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded 160 120 80 Torque (N*m) Bipolar winding, 0.9 /step 1.2 Pull-out torque at JL 0.8 0.4 40 0 0 0.1 1 fs 10 100 Pulse rate (kpulse/s) 100 1000200030005000 Number of rotations (min-1) 5-Phase Stepping Systems n Dimension Unit: mm (inch) 600.5 ( 2.36.02) 20.60.5 (.81.02) Lead wire: UL3385 AWG22 305 min. (12.01 min.) 38.10.025 .0000 .25-.0005 4-47.140.13 (4-1.86.005) ( 1.5.0009) 600.5 (2.36.02) 0 6.35-0.013 N.P 0 6.35-0.013 ( 1.50.25 (.06.0098) ( ) .0000 .25-.0005 70.25 (.2755.0098) +0.5 4- 4.5 0 +.02 4- .18 .00 ( 2-Phase Stepping Systems 540.8 (2.13.03) ) 15.51 (.61.04) AC Servo Systems 54 mm (2.13 inch) MOTOR LENGTH Closed Loop Stepping Systems 60 mm (2.36 inch) MOTOR FLANGE SIZE ) n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 145 2-PHASE STEPPING SYSTEMS 60 mm (2.36 inch) 76 mm (2.99 inch) MOTOR LENGTH n Specification n Torque Curve RoHS Bipolar winding, 0.9 /step Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb SH1603-5240 2.15 304.4 2 2.3 8.8 0.75 4.10 1.2 2.65 -10 to 40C (14 to 104 F) 95% RH max.: under 40C, no condensation l SH1603-52 4.0 560 480 400 Torque (oz*in) Model Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[7.4x 10 -4kg*m 2 (40.46 oz*in 2) pulley balancer method] | fs: Maximum self-start frequency when not loaded 320 240 160 3.2 Torque (N*m) MOTOR FLANGE SIZE 2.4 1.6 Pull-out torque at JL 0.8 80 0 0 0.1 fs 1 10 Pulse rate (kpulse/s) 100 1000200030005000 Number of rotations (min-1) n Dimension Unit: mm (inch) 760.8 (2.99.03) 20.60.5 (.81.02) 600.5 ( 2.36.02) Lead wire: UL3385 AWG22 305 min. (12.01 min.) ) 0 8-0.015 38.10.025 N.P 600.5 (2.36.02) 0 6.35-0.013 4-47.140.13 (4-1.86.005) ( 1.5.0009) ( 1.50.25 (.06.0098) .0000 .31-.0006 70.25 (.2755.0098) ( .0000 .25-.0005 ) 15.51 (.61.04) +0.5 4.5 0 +.02 4- .18 .00 4- ( n Internal Wiring l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow 146 Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - ) 100 n Torque Curve n Specification RoHS Model Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft SM2861-5052 SM2861-5152 SM2861-5252 Double Shaft SM2861-5122 N*m 3.3 3.3 3.3 oz * in 467.3 467.3 467.3 A/phase 2 4 6 /phase 2.2 0.56 0.29 mH/phase 15 3.7 1.7 x10-4 kg * m2 1.48 1.48 1.48 oz * in2 8.09 8.09 8.09 kg 1.75 1.75 1.75 lb 3.92 3.92 3.92 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation Constant current circuit, Source voltage: 100 VAC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[15.3 x 10-4kg*m2 (83.65 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded l SM2861-50 4 560 480 Torque (oz*in) Bipolar winding, 1.8/step 400 320 240 160 3 Pull-out torque at JL 2 1 80 0 0 0.1 1 fs 100 100 1000 2000 3000 5000 Speed (min-1) Unit: mm (inch) 4 560 240 160 Torque (N*m) 320 3 Pull-out torque at JL 2 1 80 0 0 0.1 1 fs 10 100 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Speed (min-1) SM2861-52 l SM2861-52 400 320 240 160 3 Pull-out torque at JL 2 1 80 0 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 100 1000 2000 3000 5000 Speed (min-1) 2-Phase Stepping Systems ( Cross section S-S 4 480 Torque (N*m) 4- 5.60.2 (4- .22.008) 560 Torque (oz*in) 90 400 11.40.15 (.45.006) 11.40.15 (.45.006) R4 (R.16) min. 27 max. (1.06 max.) ) 73.0250.025 ( 2.875.001) ( 0 12.7-0.018 .000 2.875 -.001 ( ) 0 9.525-0.013 .000 .375 -.0005 12 max. (.47 max.) 1.50.25 (.06.01) 300.5 (1.18.02) 80.5 (.31.02) +1 +.04 25 0 .91 .00 (Effective length) S GND Terminal M4x0.7x6L 85.50.5 ( 3.366.02) 4-69.60.25 (4-2.74.01) S 2-No. 2-56 UNC Tap Depth 5 (.2) Min. Only For Double Shaft Motor 480 Torque (oz*in) Cable: UL2517 ) 23 max. (0.91 max.) 305 min. (12.01 min.) [50 (1.97)] 661 (2.6.04) 12.71 (.5.04) Lead wire: UL3398 22AWG 5-Phase Stepping Systems l SM2861-51 n Dimension 460.2 (1.81.008) 10 Pulse rate (kpulse/s) AC Servo Systems 66 mm (2.6 inch) MOTOR LENGTH Closed Loop Stepping Systems 86 mm (NEMA 34) Torque (N*m) MOTOR FLANGE SIZE n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 147 2-PHASE STEPPING SYSTEMS 86 mm (NEMA 34) 96.5 mm (3.8 inch) MOTOR LENGTH n Torque Curve n Specification RoHS Model Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Single Shaft Double Shaft N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb SM2862-5052 SM2862-5152 SM2862-5252 SM2862-5122 6.4 6.4 6.4 906.3 906.3 906.3 2 4 6 3.2 0.83 0.36 25 6.4 2.8 3 3 3 16.4 16.4 16.4 2.9 2.9 2.9 6.5 6.5 6.5 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation Constant current circuit, Source voltage: 100 VAC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[15.3 x 10-4kg*m2 (83.65 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded l SM2862-50 10 1400 1200 Torque (oz*in) Bipolar winding, 1.8/step 1000 800 600 400 8 Torque (N*m) MOTOR FLANGE SIZE 6 4 Pull-out torque at JL 2 200 0 0 0.1 1 fs 100 90 Torque (oz*in) 1200 1000 800 600 400 8 6 Pull-out torque at JL 4 2 200 11.40.15 (.45.006) 0 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Speed (min-1) 10 1400 Cross section S-S Torque (oz*in) 1200 1000 800 600 400 200 0 8 6 Pull-out torque at JL 4 2 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Speed (min-1) n Internal Wiring l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow 148 Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 100 l SM2862-52 4- 5.60.2 (4- .22.008) ( 2-No. 2-56 UNC Tap Depth 5 (.2) Min. Only For Double Shaft Motor GND Terminal M4x0.7x6L R4 (R.16) min. 0 12.7-0.018 .000 2.875 -.001 ( ) 0 9.525 -0.013 .000 .375 -.0005 S ) 11.40.15 (.45.006) ( 27 max. (1.06 max.) 1000 2000 3000 5000 Speed (min-1) 10 1400 12 max. (.47 max.) 1.50.25 (.06.01) 300.5 (1.18.02) 80.5 (.31.02) +1 +.04 25 0 .91 .00 (Effective length) S 460.2 (1.81.008) 85.50.5 ( 3.366.02) 4-69.60.25 (4-2.74.01) Torque (N*m) Cable: UL2517 73.0250.025 ( 2.875.001) 23 max. (0.91 max.) 305 min. (12.01 min.) [50 (1.97)] 96.51 (3.8.04) ) 12.71 (.5.04) 100 l SM2862-51 Unit: mm (inch) Lead wire: UL3398 22AWG Torque (N*m) n Dimension 10 Pulse rate (kpulse/s) 100 n Specification n Torque Curve RoHS 6.4 906.3 6 0.36 2.8 3.8 20.8 3.7 8.15 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation 24 VDC / 10 W 5 Min. 708 Min. Motor Weight Operating Temperature Humidity Power Source VDC / W N*m Brake Static Friction Torque oz * in n Dimension 10 1400 1200 1000 800 600 400 8 200 0 6 Pull-out torque at JL 4 2 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 100 1000 2000 3000 5000 Speed (min-1) Unit: mm (inch) Lead wire: UL3398 22AWG 1501.5 (5.9.06) [50 (1.97)] Cable: UL2517 ) 0 9.525-0.013 .000 .375-.0005 S ( 0 12.7-0.013 .0000 2.875-.0005 R4 (R.16) min. GND Terminal M4x0.7x6L 11.40.15 (.45.006) 4- 5.60.2 (4- .22.008) Cross section S-S ( 2-No. 2-56 UNC Tap Depth 5 (.2) Min. 27 max. (1.06 max.) ) 90 S 73.0250.025 ( 2.875.001) ( 85.50.5 ( 3.366.02) 4-69.60.25 (4-2.74.01) 11.40.15 (.45.006) 305 min. (12.01 min.) 23 max. (0.91 max.) 1.50.25 (.06.01) 300.5 (1.18.02) 80.5 (.31.02) +1 +.04 25 0 .91 .00 (Effective length) ) 12.71 (.5.04) 460.2 (1.81.008) l SH2862-52 2-Phase Stepping Systems Rotor Inertia SH2862-52XB12 12 max. (.47 max.) Holding Torque Rated Current Wiring Resistance Winding Inductance Double Shaft w/ Brake N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb Torque (oz*in) Model Constant current circuit, Source voltage: 100 VAC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[15.3 x 10-4kg*m2 (83.65 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded 5-Phase Stepping Systems Bipolar winding, 1.8/step n Brake Connection l Direction of motor rotation When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. +24V E Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 0 WHITE SW Motion Controller n Internal Wiring Orange AC Servo Systems 150 mm (5.9 inch) MOTOR LENGTH Closed Loop Stepping Systems 86 mm (NEMA 34) Torque (N*m) MOTOR FLANGE SIZE Varistor BLACK 149 2-PHASE STEPPING SYSTEMS 86 mm (NEMA 34) 127 mm (5 inch) MOTOR LENGTH n Specification n Torque Curve RoHS SM2863-5052 SM2863-5152 SM2863-5252 Single Shaft Double Shaft SM2863-5122 N*m 9 9 9 oz * in 1274.5 1274.5 1274.5 A/phase 2 4 6 4 1 0.46 /phase mH/phase 32 7.9 3.8 x10-4 kg * m2 4.5 4.5 4.5 oz * in2 24.6 24.6 24.6 kg 4 4 4 lb 8.96 8.96 8.96 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation Rotor Inertia Motor Weight Operating Temperature Humidity n Dimension l SM2863-50 1200 1000 800 600 400 90 fs 1 1200 1000 800 600 400 6 Pull-out torque at JL 4 0 0.1 fs 1 100 10 1400 1200 Torque (oz*in) l Direction of motor rotation When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue 150 1000 2000 3000 5000 l SM2863-52 4- 5.60.2 (4- .22.008) n Internal Wiring Red Yellow 100 Speed (min-1) Cross section S-S BLU - - + + 10 Pulse rate (kpulse/s) 1000 800 600 400 8 6 Pull-out torque at JL 4 2 0 0.1 1 fs YEL + - - + ORG + + - - 10 Pulse rate (kpulse/s) 100 RED - + + - Speed (min-1) 2 0 0 Lead wire color 1 Excitation 2 sequence 3 4 100 1000 2000 3000 5000 8 200 200 Orange 10 Pulse rate (kpulse/s) 10 11.40.15 (.45.006) ( GND Terminal M4x0.7x6L 0 12.7-0.018 .000 2.875 -.001 ( 2-No. 2-56 UNC Tap Depth 5 (.2) Min. Only For Double Shaft Motor R4 (R.16) min. ) 11.40.15 (.45.006) ) 0 9.525-0.013 .000 .375 -.0005 S ) S 73.0250.025 ( 2.875.001) ( 27 max. (1.06 max.) 0.1 l SM2863-51 Torque (oz*in) 1.50.25 (.06.01) 300.5 (1.18.02) 80.5 (.31.02) +1 +.04 25 0 .91 .00 (Effective length) 0 1400 85.50.5 ( 3.366.02) 4-69.60.25 (4-2.74.01) Pull-out torque at JL 4 100 12 max. (.47 max.) 305 min. (12.01 min.) [50 (1.97)] 23 max. (0.91 max.) Cable: UL2517 6 2 0 Lead wire: UL3398 22AWG 1271 (5.04) 8 200 Unit: mm (inch) 12.71 (.5.04) 10 1400 Torque (N*m) Holding Torque Rated Current Wiring Resistance Winding Inductance Torque (oz*in) Model 460.2 (1.81.008) Constant current circuit, Source voltage: 100 VAC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[44 x 10-4kg*m2 (240.56 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (N*m) Bipolar winding, 1.8/step Torque (N*m) MOTOR FLANGE SIZE 1000 2000 3000 5000 Speed (min-1) 100 n Specification n Torque Curve RoHS Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Cable Type SP2862-5260 N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 6.4 906.3 6 0.41 2.8 3 16.4 3.1 6.8 -10 to 40C (14 to 104F) 95% Max. at 40C Max., no condensation SP2862-5260 l SP2862-52 10 1400 1200 1000 800 600 400 8 Torque (N*m) Model Constant current circuit, Source voltage: 100 VAC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[15.3 x 10-4kg*m2 (83.65 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (oz*in) Bipolar winding, 1.8/step 6 Pull-out torque at JL 4 2 200 0 0 0.1 1 fs 10 100 Pulse rate (kpulse/s) 100 Unit: mm (inch) 1000 2000 3000 5000 Speed (min-1) AC Servo Systems 120 mm (4.72 inch) MOTOR LENGTH Closed Loop Stepping Systems 86 mm (NEMA 34) MOTOR FLANGE SIZE n Dimension Lead wire UL3398 22AWG 4-69.60.25 (4-2.74.010) Motor connector M12 connector (Male socket) ) Screw for GND terminal M4x0.7 130.15 (.5118.006) 73.0250.025 ( 2.88.001) +1 25 0 (Effective length) ( +.04 .98 .00 ) 2-Phase Stepping Systems 23 max. (.91 max) 1.50.25 (.06.01) ( 80.5 (.31.02) 0 14 -0.018 .0000 .55-.0007 Screw for GND terminal M4x0.7 36 max. (1.42 max) 70030 (27.561.18) Unit: mm (inch) 861 ( 3.39.039) Cable UL2517 300V 105C Black 5-Phase Stepping Systems 300.5 (1.18.02) 1201.5 (4.72.06) 4x 5.60.2 (4x .22.008) 130.15 (.5118.006) n Internal Wiring l Direction of motor rotation (1) Orange (2) Blue Red (3) Yellow (4) Lead wire color RED Connector pin number(3) 1 - Excitation 2 + sequence 3 + 4 - BLU YEL ORG (2) (4) (1) - - + + + - - + + + - - Motion Controller When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. 151 2-PHASE STEPPING SYSTEMS 86 mm (NEMA 34) 150 mm (5.91 inch) MOTOR LENGTH n Torque Curve n Specification RoHS Model Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Cable Type SP2863-5260 N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 9 1274.5 6 0.53 3.8 4.5 24.6 4.2 9.3 -10 to 40C (14 to 104F) 95% Max. at 40C Max., no condensation 1501.5 (5.91.06) 1200 6 Pull-out torque at JL 4 2 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Speed (min-1) Motor connector M12 connector (Male socket) ) Screw for GND terminal M4x0.7 130.15 (.5118.006) 73.0250.025 ( 2.88.001) ( 1.50.25 (.06.01) 23 max. (.91 max) 0 14 -0.018 .0000 .55 -.0007 36 max. (1.42 max) 400 8 Unit: mm (inch) +1 25 0 (Effective length) ( +.04 .98 .00 ) 4x 5.60.2 (4x .22.008) 130.15 (.5118.006) n Internal Wiring l Direction of motor rotation When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Yellow (4) 600 0 4-69.60.25 (4-2.74.010) 80.5 (.31.02) Red (3) 800 200 861 ( 3.39.039) Screw for GND terminal M4x0.7 (2) Blue 1000 Cable UL2517 300V 105C Black (1) Orange 10 1400 300.5 (1.18.02) Lead wire UL3398 22AWG 70030 (27.561.18) l SP2863-52 Unit: mm (inch) SP2863-5260 n Dimension 152 Constant current circuit, Source voltage: 100 VAC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[44 x 10-4kg*m2 (240.56 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (oz*in) Bipolar winding, 1.8/step Torque (N*m) MOTOR FLANGE SIZE Lead wire color RED Connector pin number(3) 1 - Excitation 2 + sequence 3 + 4 - BLU YEL ORG (2) (4) (1) - - + + + - - + + + - - 100 n Specification n Torque Curve RoHS Holding Torque Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight Operating Temperature Humidity Single Type 103H89222-5241 N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 13.2 1869.2 6 0.45 5.4 14.6 79.83 7.5 16.53 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation l 103H89222-52 20 2800 2400 2000 1600 1200 800 400 0 16 Torque (N*m) Model Constant current circuit, Source voltage: 100 VAC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[44 x 10-4kg*m2 (240.56 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Torque (oz*in) Bipolar winding, 1.8/step 12 4 0 20 10 Pulse rate (kpulse/s) 100 100 1000 2000 3000 5000 Speed (min-1) 350.5 (1.38.02) 106.40.5 ( 4.2.02) 8.60.25 (.34.01) 1.520.25 (.06.01) 305 min. (12.01 min.) fs 1 Unit: mm (inch) Lead wire: UL1430 18AWG 163.31 (6.4.04) 0.1 5-Phase Stepping Systems n Dimension Pull-out torque at JL 8 +1 28 0 +.04 1.1 .00 ( AC Servo Systems 163.3 mm (6.4 inch) MOTOR LENGTH Closed Loop Stepping Systems 106 mm (NEMA 42) MOTOR FLANGE SIZE 4-88.90.25 (4-3.5.001) ) S 4- (4- 2-Phase Stepping Systems 55.5240.05 ( 2.19.002) ) ( ( +0.1 3 0 +.004 .118 -.000 0000 16-0.018 .0000 .63 -.0007 ( ) 0 5 -0.03 .000 .197 -.002 ) S +0.5 6.9 0.0 +.02 .27 .00 ) Cross section S-S n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 153 2-PHASE STEPPING SYSTEMS 106 mm (NEMA 42) MOTOR FLANGE SIZE 221.3 mm (8.7 inch) MOTOR LENGTH n Specification n Torque Curve Bipolar winding, 1.8/step Constant current circuit, Source voltage: 100 VAC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[44 x 10-4kg*m2 (240.56 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Rated Current Wiring Resistance Winding Inductance Rotor Inertia Motor Weight 103H89223-5241 N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 19 2690.5 6 0.63 8 22 120.28 10.5 23.15 -10 to 50C (14 to 122F) 20 to 90% RH, no condensation Operating Temperature Humidity n Dimension Unit: mm (inch) Lead wire: UL1430 18AWG 221.31 (8.7.04) 350.5 (1.38.02) 106.40.5 ( 4.2.02) 8.60.25 (.34.01) 305 min. (12.01 min.) 1.520.25 (.06.01) +1 28 0 +.04 1.1 .00 ( 4-88.90.25 (4-3.5.001) ) S ) 0000 16-0.018 .0000 .63 -.0007 ) ( ( ( +0.1 3 0 +.004 .118 -.000 55.5240.05 ( 2.19.002) 0 5 -0.03 .000 .197 -.002 ) S 4- (4- +0.5 6.9 0.0 +.02 .27 .00 ) Cross section S-S Varistor n Internal Wiring l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow 154 Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - l 103H89223-52 20 2800 2400 2000 1600 1200 800 400 0 16 Torque (N*m) Holding Torque Single Type Torque (oz*in) Model 12 Pull-out torque at JL 8 4 0 0.1 fs 1 10 Pulse rate (kpulse/s) 100 1000 2000 3000 5000 Speed (min-1) 100 39 mm (1.54 inch) MOTOR LENGTH n Specification n Torque Curve Bipolar winding, 1.8/step Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.94 x 10-4kg*m2 (5.14 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Rotor Inertia 103H5208-49V40 N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 0.37 52.39 2 1.27 2 0.056 0.306 0.34 0.75 Less than 200C (392F) 1 x 10-5 Pa or more Motor Weight Baking Temperature Working Pressure Range n Dimension 70 0.5 60 0.4 50 40 30 20 10 0 0.3 Pull-out torque at JL 0.2 0.1 0 0.1 1 fs 10 Pulse rate (kpulse/s) 100 100 1000 2000 3000 5000 Speed (min-1) ) .0000 .197-.0005 4-M3 x 0.5 Effective tapping depth 4 (.16) min. 2-Phase Stepping Systems ( 0 22 -0.05 .000 .866 -.002 ) 0 5-0.013 1.50.76 (.06.03) 420.25 ( 1.65.01) 4-310.25 (4-1.22.01) ( 240.5 (.94.02) 390.5 (1.54.02) 5-Phase Stepping Systems Unit: mm (inch) 300 min. (11.8 min.) Lead wire: Teflon (nickel plating) 24 AWG l 103H5208-49V40 Torque (N*m) Holding Torque Rated Current Wiring Resistance Winding Inductance Single Shaft Torque (oz*in) Model AC Servo Systems 42 mm (NEMA 17) Closed Loop Stepping Systems MOTOR FLANGE SIZE 4- 1 Gas venting hole n Internal Wiring Motion Controller l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + ORG + + - - 155 2-PHASE STEPPING SYSTEMS MOTOR FLANGE SIZE 56 mm (NEMA 17) 45.9 mm (1.81 inch) MOTOR LENGTH n Specification n Torque Curve Bipolar winding, 1.8/step Constant current circuit, Source voltage: 24 VDC | Operating current: Rated Current, 2-phase energization (full-step) | JL=[0.94 x 10-4kg*m2 (5.14 oz*in2) pulley balancer method] | fs: Maximum self-start frequency when not loaded Rotor Inertia 103H7121-47V40 N*m oz * in A/phase /phase mH/phase x10-4 kg * m2 oz * in2 kg lb 0.45 63.72 2 0.94 3.4 0.1 0.547 0.67 1.48 Less than 200C (392F) 1 x 10-5 Pa or more Motor Weight Baking Temperature Working Pressure Range n Dimension 560.5 ( 2.2.02) 4-47.140.13 (4-1.86.005) + 0.5 4- 4.5 0 +.02 4- .18 .00 ) ) ( 0 6.35-0.013 .0000 .25-.0005 n Internal Wiring l Direction of motor rotation Orange When excited by a direct current in the order shown below, the direction of rotation is clockwise as viewed from the output shaft side. Blue Red Yellow 156 Lead wire color 1 Excitation 2 sequence 3 4 RED - + + - BLU - - + + YEL + - - + 0.4 50 40 30 20 0.3 Pull-out torque at JL 0.2 0.1 0 0.1 1 fs ORG + + - - 10 Pulse rate (kpulse/s) 100 ( 50.25 (.20.1) 0.5 60 0 38.10.025 ( 1.50.001) 305 min. (12.01 min.) 20.60.5 (.81.02) 1.50.25 (.06.01) 70 10 Unit: mm (inch) 45.90.8 (1.81.03) Lead wire: Teflon (nickel plating) 24 AWG l 103H7121-47V40 Torque (N*m) Holding Torque Rated Current Wiring Resistance Winding Inductance Single Shaft Torque (oz*in) Model 1000 2000 3000 5000 Speed (min-1) 100 Impact resistance Thermal class Withstandable voltage Insulation resistance Protection grade Winding temperature rise Static angle error Thrust play *1 Radial play *2 Shaft runout Concentricity of mounting pilot relative to shaft Squareness of mounting surface relative to shaft Direction of motor mounting 2-Phase Stepping Systems Vibration resistance 103H712 h SH160 h 103H78 hh 103H8922 h SM286 h - S1 (continuous operation) -10C to +50C -10C to +40C -20C to +65C -20C to +60C 20 to 90 RH (no condensation) 95% max.: 40C max., 57% max.: 50C max., 5 to 95% RH (no condensation) 35% max.: 60C max. (no condensation) 1000 m (3281 feet) max. above sea level Vibration frequency 10 to 500 Hz, total amplitude 1.52 mm (10 to 70 Hz), vibration acceleration 150 m/s2 (70 to 500 Hz), sweep time 15 min/cycle, 12 sweeps in each X, Y and Z direction. 500 m/s2 of acceleration for 11 ms with half-sine wave applying three times for X, Y, and Z axes each, 18 times in total. Class B (+130C) Class F (+155C) At normal temperature and humidity, no failure At normal temperature and humidity, no failure with 1500 VAC @50/60 Hz applied for one with 1000 VAC @50/60 Hz applied for one minute between motor winding and frame. minute between motor winding and frame. At normal temperature and humidity, not less then 100 M between winding and frame by 500 VDC megger. IP40 IP43 80 K max. (Based on Sanyo Denki standard) 0.054 0.054 0.09 0.075 mm (0.003 in) (load: 10 N (2.25 lbs)) 0.025 mm 0.025 mm 0.025 mm 0.025 mm 0.001 in) 0.001 in) (0.001 in) (0.001 in) 0.025 mm (0.001 in) (load: 5 N (load: 5 N (load: 5 N (load: 5 N (load: 10 N (1.12 lbs)) (1.12 lbs)) (1.12 lbs)) (1.12 lbs)) (2.25 lbs)) 0.025 mm (0.001 in) Motion Controller Motor model number Type Operating ambient temperature Storage temperature Operating ambient humidity Storage humidity Operation altitude Closed Loop Stepping Systems SH2141 SH228 h SS242 h SH142 h 103H52 hh SS250 h -10C to +50C -20C to +65C 20 to 90 RH (no condensation) 5 to 95 RH (no condensation) 1000 m (3281 feet) max. above sea level Vibration frequency 10 to 500 Hz, total amplitude 1.52 mm (10 to 70 Hz), vibration acceleration 150 m/s2 (70 Vibration resistance to 500 Hz), sweep time 15 min/cycle, 12 sweeps in each X, Y and Z direction. Impact resistance 500 m/s2 of acceleration for 11 ms with half-sine wave applying three times for X, Y, and Z axes each, 18 times in total. Thermal class Class B (+130C) At normal temperature and humidity, no failure with 500 VAC @50/60 Hz applied for one minute between Withstandable voltage motor winding and frame. Insulation resistance At normal temperature and humidity, not less than 100 M between winding and frame by 500 VDC megger. Protection grade IP40 Winding temperature rise 80 K max. (Based on Sanyo Denki standard) Static angle error 0.090.054 0.09 0.075 mm 0.075 mm 0.075 mm 0.075 mm 0.075 mm 0.075 mm (0.003 in) max. (0.003 in) max. (0.003 in) max. (0.003 in) max. (0.003 in) (0.003 in) max. Thrust play *1 (load: 0.35 N (load: 1.5 N (load: 4 N (load: 5 N (load: 5 N (load: 4 N (0.08 lbs)) (0.34 lbs)) (0.9 lbs)) (1.12 lbs)) (1.12 lbs)) (0.9 lbs)) Vibration frequency 10 to 500 Hz, total amplitude 1.52 mm (10 to 70 Hz), vibration acceleration 150 m/s2 (70 *2 Radial play to 500 Hz), sweep time 15 min/cycle, 12 sweeps in each X, Y and Z direction. Shaft runout 0.025 mm (0.001 in) Concentricity of mounting pilot o0.05 mm o0.05 mm o0.075 mm o0.05 mm o0.05 mm o0.075 mm relative to shaft (o0.002 in) (o0.002 in) (o0.003 in) (o0.002 in) (o0.002 in) (o0.003 in) Squareness of mounting surface 0.1 mm 0.1 mm 0.1 mm 0.1 mm 0.1 mm 0.1 mm relative to shaft (0.004 in) (0.004 in) (0.004 in) (0.004 in) (0.004 in) (0.004 in) Direction of motor mounting Can be freely mounted vertically or horizontally 5-Phase Stepping Systems Motor model number Type Operating ambient temperature Storage temperature Operating ambient humidity Storage humidity Operation altitude AC Servo Systems Motor General Specifications o0.075 mm ( o0.003 in) 0.075 mm 0.1 mm 0.075 mm (0.003 in) (0.004 in) (0.003 in) Can be freely mounted vertically or horizontally 0.15 mm (0.006 in) 0.075 mm (0.003 in) Regarding the SH2145, SF242 , 103H5208-49V40 and 103H7121-47V40, please ask us. *1 Thrust play: Shaft displacement under axial load. *2 Radial play: Shaft displacement under radial load applied 1/3rd of the length from the end of the shaft. 157 2-PHASE STEPPING SYSTEMS 2-Phase Bipolar DC Input Micro-step Driver n Specification Driver model Input source Source current Basic specifications Environment BS1D200P10 24/36 VDC 10% 3A Class III Installation category (over-voltage category) : I, pollution degree: 2 0 to + 50C -20 to + 70C 35 to 85% RH (no condensation) 10 to 90% RH (no condensation) 1000 m (3281 feet) or less above sea level Tested under the following conditions: 5 m/s 2 frequency range 10 to 55 Hz, direction along X, Y and Z axes, for 2 hours each Not influenced at NDS-C-0110 standard section 3.2.2 division "C". Not influenced when 0.5 kVAC is applied between power input terminal and cabinet for one minute. 10 M min. when measured with 500 VDC megohmmeter between input terminal and cabinet. 0.09 kg (0.20 lbs) Step angle, pulse input mode, low vibration mode, step current, operating current, original excitation phase Open phase protection, Main circuit power source voltage decrease Power monitor, alarm display Photocoupler input system, input resistance: 220 input signal "H" level: 4.0 to 5.5 V, input signal "L" level: 0 to 0.5 V Maximum input frequency: 150 kpulse/s Photocoupler input system, input resistance: 220 input signal "H" level: 4.0 to 5.5 V, input signal "L" level: 0 to 0.5 V From the photocoupler by the open collector output Output specification: Vceo = 40 V Max., Ic = 10 mA Max. From the photocoupler by the open collector output Output specification: Vceo = 40 V Max., Ic = 10 mA Max. Protection class Operation environment Ambient operation temperature Storage temperature Operating ambient humidity Storage humidity Operation altitude Vibration resistance Impact resistance Withstandable voltage Insulation resistance Mass (Weight) Functions Selection functions Protection functions LED indication Command pulse input signal I/O signals Power down input signal Phase origin monitor output signal Rotation monitor output signal n Safety Standards Directives Low-voltage directives CE (TUV) Category - Emission EMC directives Immunity UL Acquired standards UL UL for Canada n Dimension Standard EN61010-1 EN55011-A EN55011-A EN61000-4-2 EN61000-4-3 EN61000-4-4 EN61000-4-6 Applicable standard Name - Terminal disturbance voltage Electromagnetic radiation disturbance ESD (Electrostatic discharge) RS (Radio-frequency amplitude modulated electromagnetic field) Fast transients/burst Conducted disturbances File No. UL508C E179775 29 (1.14) Unit: mm (inch) 1 POW CN2 2- RUN 3 4 56 2 25 (.98) F01 ON 1 3 4 5 6 7 5 (.2) 1 CN1 1 54 (2.13) 64 (2.52) 158 ALM 8 5 (.2) 2 56 (2.2) B C DE F1 CN3 1 2 (.08) A 789 Ex1 Ex2 Ex3 F/R ACD1 ACD2 LV EORG 3.5 (2- .14) AC Servo Systems Driver Controls and Connectors 3 6 7 4 5 ACD2 ACD1 Current value of the motor ON ON ON OFF 100% of driving current 60% of driving current OFF ON 50% of driving current OFF OFF 40% of driving current * Initial configuration of factory shipment is set to 40% of rated value. Driver and motor should be operated at around 50% of rated value to reduce heat. 1 Operating current selection switch (RUN) The value of the motor current can be set when operating. Dial Stepping motor current (A) Dial Stepping motor current (A) 0 1 2 3 4 5 6 7 2.0 1.9 1.8 1.7 1.6 1.5 1.4 1.3 8 9 A B C D E F 1.2 1.1 1.0 0.9 0.8 0.7 0.6 0.5 * The factory setting is F (0.5 A). Select the current after checking the rated current of the combination motor. 2 Function selection DIP switchpack Select the function depending on your specification. Factory settings LV ON Operation Auto-micro function OFF Micro-step 5. Excitation select (EORG) The excitation phase when the power supply is engaged is selected. EORG ON Original excitation phase Excitation phase at power shut off OFF Phase origin * By turning on the EORG, the excitation phase during power OFF will be saved. Therefore, there will be no shaft displacement when turning the power ON. ON EX1 OFF EX2 OFF EX3 OFF F/R OFF ACD1 OFF ACD2 OFF LV OFF Micro step operation EORG OFF Phase origin Partition number: 8 Input method 2 (CW/CCW pulse input) Stopping current: 40% of driving current 3 LED for power supply monitor (POW) Lit up when the main circuit power supply is connected. 4 LED for alarm display (ALM) Lights in the following conditions: * Motor cable is broken. * Switching element in driver is faulty. * The main circuit voltage is out of specifications range (19 VDC max.). When "ALM" is displayed, the winding current of the stepping motor is cut off and it is in a "non-excitation" state. At the same time, an output signal (photocoupler ON) is transmitted from the alarm output terminal (AL) to an external source. When the alarm circuit is operating, this state is EX1 ON OFF ON OFF OFF EX2 ON ON OFF OFF OFF EX3 ON OFF OFF OFF ON Partition number 1-division 2-division 4-division 8-division 16-division 2. Input method select (F/R) Select input pulse type. F/R ON OFF Input pulse type 1 input (CK, U/D) 2 input (CW, CCW) maintained until it is reset by switching on the power supply again. When an alarm condition has occurred, please take corrective actions to rectify the cause of the alarm before switching on the power supply again. Motion Controller 1. Step angle select (EX1, EX2, EX3) Select the partition number of the basic step angle. 2-Phase Stepping Systems OFF 4. Low-vibration mode select (LV) Provides low-vibration, smooth operation even if resolution is coarse (1-division, 2-division, etc). 5-Phase Stepping Systems 3. Current selection when stopping (ACD1, ACD2) Select the current value of the motor when stopping. 2 Closed Loop Stepping Systems 1 5 I/O signal terminal block (CN1) Connect the I/O signal. 6 Motor terminal block (CN2) Connect the motor's power line. 7 Power supply terminal block (CN3) Connect the main circuit power supply. 159 2-PHASE STEPPING SYSTEMS Connections and Signals n Wiring Diagram n Pulse Input Driver CN1 1 2 3 4 5 6 7 8 9 10 CW pulse input (CW) CCW pulse input (CCW) Power down input (PD) Phase origin monitor Output (MON) Alarm output (AL) CN2 Orange 1 Blue 2 Red 3 4 Yellow 220 1000 pF 2 (4) Input signal R Driver * Pulse duty 50% max. * Maximum input frequency: 150 kpulse/s * When the crest value of the input signal exceeds 5 V, use the external limit resistance R to limit the input current to approximately 15 mA. CN3 1 2 24 to 36 VDC 24 to 36 GDC 1 (3) +5 V M n Applicable Wire Sizes Part For power supply For input/output signal For motor Wire sizes 22 AWG (0.3 mm 2) 24 AWG (0.2 mm 2) to 22 AWG (0.3 mm 2) 22 AWG (0.3 mm 2) Allowable wire length 2 m Max. 2 m Max. Under 3 m n Specification Summary of Input/Output Signals Signal CN1 Pin number Function summary CW pulse input (CW) 1 When in "2 input mode", input the drive pulse that rotates in a CW direction. (Standard) 2 1 Pulse train input (CK) When in "1 input mode", input the drive pulse train for motor rotation. 2 CCW pulse input (CCW) 3 When in "2 input mode", input the drive pulse train that rotates in a CCW direction. 4 (Standard) When in "1 input mode", input the motor rotational direction signal. Rotational direction 3 Internal photocoupler ON: CW direction input (U/D) 4 Internal photocoupler OFF: CCW direction Inputting PD signal will cut off (power off) the current flow to the motor (With DIP switch selected, 5 change to the low power function is possible). Power down input (PD) 6 PD input signal on (internal photocoupler on): PD function is valid. PD input signal off (internal photocoupler off): PD function is invalid. Phase origin monitor 7 When the excitation phase is at the origin (during power on) this function turns on. output (MON) 8 When FULL step, ON once for 4 pulses; when HALF step, ON once for 8 pulses. 9 When alarm circuits are actuated inside the driver, outputs signals to outside, after which the Alarm output (AL) 10 stepping motor changes to unexcited status. As for the motor rotational direction, CW direction is regarded as the clockwise rotation, and CCW direction is regarded as the counterclockwise rotation by viewing the motor from output shaft side. n Input Signal n Output Signal 7 (9) 8 (10) 5 +5 V Max. 10 mA Max. 40 V 220 Driver 1000 pF 6 Input signal R CW pulse Driver CCW pulse MON output When the crest value of the input signal exceeds 5 V, use the external limit resistance R to limit the input current to approximately 15 mA. 160 * Photocoupler is set to ON at phase origin of motor excitation (setting when number of divisions is 2). * MON output is taken at every 7.2 degrees of motor output shaft from phase origin. AC Servo Systems R.T.A. is a leading company in the motion control industry and it is number one in Italy in the stepper system segment. Over the years, the partnership among R.T.A. and SANYO DENKI has achieved a strong market penetration, through the introduction of high technology products and innovative solutions. A-CSD Model 02.V Voltage Range 24 to 48 VDC Current Range 0.7 to 2.4 Amps Dimension 92 x 85 x 23 mm 04.V 24 to 48 VDC 2.6 to 4.4 Amps 92 x 85 x 23 mm A-NDC 06.V 24 to 85 VDC 1.9 to 6.0 Amps 94 x 101 x 25 mm X-PLUS B4 110 to 230 VAC 2.4 to 4.0 Amps 152 x 129 x 46 mm X-MIND B6 110 to 230 VAC 3.4 to 6.0 Amps 180 x 53 x 173 mm 5-Phase Stepping Systems Driver Series Closed Loop Stepping Systems n Pulse Input n Indexer, RS485 Serial Communication Model Voltage Range Current Range Dimension CSD J4 24 to 48 VDC 2.6 to 4.4 Amps 90 x 99 x 30 mm X-MIND K6 110 to 230 VAC 3.4 to 6.0 Amps 180 x 53 x 173 mm Driver Series Model Voltage Range Current Range Dimension ADW 06.V 24 to 75 VDC 1.9 to 6.0 Amps 94 x 122 x 25 mm 2-Phase Stepping Systems Driver Series Motion Controller n Analog Input 161 MOTION CONTROLLER SANMOTION C integrates motion control, robot control, and sequence control into one unit to provide major advantages in reduced device costs and shorter development times. Several different types of industrial networks can be used. For use in material handling robots and general industrial machinery. Image processing devices and a touch panel have also been developed as motion controller peripherals. Controller with three control functions The SANMOTION C has the three functions of motion control, robot control, and sequence control and makes it easy to build a variety of application systems. Robot control Cartesian coordinate, SCARA, Vertical articulated, Parallel link Robot device Sequence control Motion control Digital input/output Motion function block Analog input/output Electronic cam Timer, Counter Electronic gear Measurement equipment Manufacturing equipment Pneumatic/hydraulic pressure control equipment Conveying equipment Packaging equipment Applications Robots, Conveying equipment, Packaging machines, Semiconductor manufacturing equipment, Press machines, Wire winding machines, Inspection equipment, Liquid crystal manufacturing equipment. With high-speed fieldbus EtherCAT interface EtherCAT interface is provided as standard. With 100 Mbps high-speed and high-reliability communications, this fieldbus speeds up the system control capability and improves responsiveness. The takt time is significantly shortened. SANMOTION EtherCAT Interface Models SANMOTION R 3E Model EtherCAT Interface Type Servo Amplifier ............... EtherCAT Interface Type Servo Amplifier ............................. EtherCAT Interface High Speed Type Servo Amplifier ............ EtherCAT Interface DC Input Type Servo Amplifier ................ EtherCAT Interface DC Input Type Multi Axis Servo Amplifier ... P.40 P.45 P.50 P.59 P.63 SANMOTION Model No.PB DC Input Driver EtherCAT Model ...................................... P.90 DC Input Driver EtherCAT Multi-Axis Model ......................... P.93 162 n CPU module Expansion unit maximum Input power supply Maximum input power Rush current Maximum output power (K-BUS DC24V) Maximum output power (K-BUS DC5V) Weight Remarks AC Servo Systems Specifications of provided interfaces EtherCAT CAN RS485 Ethernet USB SMC265X 1.8 GHz 1 GB 1 MB 100 Mbps 125 kbps to 1 Mbps 1200 bps to 115200 bps 10/100 Mbps USB 2.0 high speed 12 24 VDC (19.2 VDC to 30 VDC) 99 W 10 A 40 W 10 W 1,335 g Motion bus RJ-45 connector D-Sub 9-pin female connector Mini-D-Sub 15-pin male connector RJ-45 connector For memory storage 2-pin connector x 1 (Phoenix Contact) n I/O module DM276-A Specifications Mass Cable side connector Digital input: 6 points, 24 VDC, positive common input 2-pin connector x 1 + 8-pin 135 g Digital output: 8 points, 24 VDC, 1 A, sink output connector x 2 (Phoenix Contact) 5-Phase Stepping Systems P/N n Common specifications Vibration resistance Shock resistance Operating altitude Installation location Overvoltage category Degree of pollution 0 to +55C -40 to +70C 10 to 95% (no condensation) Complies with EN 61131-2. For frequency range 5 f 9 Hz, half amplitude: 3.5 mm; for frequency range 9 f 150 Hz, acceleration: 9.8 m/s2. 147 m/s2 in compliance with EN61131-2 2000 m max. In control panel II or lower 2 or lower 2-Phase Stepping Systems Operating ambient temperature Storage ambient temperature Operating/storage humidity Closed Loop Stepping Systems Model CPU Memory Battery backed up SRAM Motion Controller System Configuration 163 MOTION CONTROLLER Dimensions n SMC265X 1002 (3.94.08) Unit: mm (inch) n DM276-A 37 (1.46) 164 22.51 (.89.04) 1202 (4.72.08) 1002 (3.94.08) 701 (2.76.04) Unit: mm (inch) 1202 (4.72.08) 1002 (3.94.06) 701 (2.76.04) 2702 (10.63.08) 2-Phase Stepping Systems 5-Phase Stepping Systems Closed Loop Stepping Systems SANYO DENKI AMERICA provides the total solution for motor drive system. Depending the requirement, we assemble actuators, gearheads, connectors, cables, harnesses and some other peripheral parts to our product in our ISO 9001 certified factory. AC Servo Systems Value Added Assembly Repair Service Motion Controller SANYO DENKI AMERICA provides prompt service of overhaul and repair for legacy SANMOTION products in our official repair department. 165 &Cautions--------------- Precautions For Adoption Failure to follow the precautions on right may cause moderate injury and property damage, or in some circumstances, could lead to a serious accident. Always follow all listed precautions. * Read the accompanying Instruction Manual carefully prior to using the product. * If applying to medical devices and other equipment affecting people's lives, please contact us beforehand and take appropriate safety measures. * If applying to equipment that can have significant effects on society and the general public, please contact us beforehand. * Do not use this product in an environment where vibration is preset, such as in a moving vehicle or shipping vessel. * Do not perform any retrofitting, re-engineering, or modification to this equipment. * The products presented in this catalog are meant to be used for general industrial applications. If using for special applications related to aviation and space, nuclear power, electric power, submarine repeaters, etc., please contact us beforehand. * For any question or inquiry regarding the above, contact our Sales Department. SANYO DENKI AMERICA, INC. Website URL http://www.sanyodenki.us U.S. Headquarters Address: 468 Amapola Ave., Torrance, CA 90501 Phone: 800 905 7989 Fax: 310 212 6686 Silicon Valley Office Address: 1700 Wyatt Dr. Suite 17, Santa Clara, CA 95054 Phone: 408 988 1700 Fax: 408 982 1700 Chicago Office Address: 1340 Remington Road Suite E, Schaumburg, IL 60173 Phone: 224 353 6420 Fax: 224 353 6302 Detroit Office (Repair Service) Address: 37511 Schoolcraft Road, Livonia, Ml 48150 Phone: 734 525 1806 Fax: 734 525 3367 Remarks: * Specifications are subject to change without notice. 21-January-2019 4th Edition Rev.2