SANYO DENKI AMERICA CORE PRODUCTS
MOTION AND CONT� □m 4th Edition
Rev.2
SAN 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.
Hybrid system combining the ease-of-use of
stepping motors with the reliability of servo motors.
EtherCAT
Analog/Pulse Input
Indexer
Modbus
EtherCAT
Pulse Input
Indexer
2.4 W to 5 kW
0.05 to 6.1 N·m
14, 20, 40, 60, 80, 86, 130, 220 mm
28, 42, 60, 86 mm
MOTOR SIZE
MOTOR SIZE
INTERFACE
INTERFACE
Introduction
High torque bipolar stepping motors and High performance microstep drivers.
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.
Pulse Input
Indexer (RTA Product)
Analog (RTA Product)
Pulse Input
EtherCAT
0.0065
to
19 N·m
0.041 to 4.4 N·m
14 mm, NEMA 11, 17, 23, 50 mm,
60 mm, NEMA 34, 42
MOTOR SIZE
MOTOR SIZE
INTERFACE
INTERFACE
INTERFACE
High torque bipolar stepping motors and High performance microstep drivers.
NEMA 11, 17, 60 mm, 86 mm
Evolved, Eco-efficient, and Easy to UseAC
Servo Amplifier "SANMOTION R" 3E Model
14 mm sq.
Compact Stepping Motor
42 mm sq.
High Torque Stepping Motor
4-Axis Integrated EtherCAT Driver Vacuum Stepping Motor
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 open-
loop control.
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.
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.
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.
Longer model in the compact 2-phase
stepping motor released. Though small
in size, its holding torque is significant at
1.42 oz-in.
New Models
SANYO DENKI AMERICA CORE PRODUCTS
Index
Introduction
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
6
AC SERVO SYSTEMS
High Response
Vibration Suppression Control
Improved Control Accuracy
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 on-
board tuning procedures.
In-position range
Settling time: 1/3 of current model
Conventional model
Position command frequency
0 [Pulse]
0 [Pulse/s]
Position
deviation
Disturbance
After
adaptation
Starts when
vibrations occur
Adaptive
notch lter
High-gain control
Vibration suppression by adaptive notch lter
Speed
Conventional model
Conventional model
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.
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.
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
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
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
Indexer Model
EtherCAT Model
Analog/Pulse Input Model
7
Flange Rated
Peak Torque
Speed Servo Amplifier Interface
Rated Size Torque at Stall Model EtherCAT Indexer Modbus
Analog / Pulse
Page
Power mm N • m N • m min -1
200 VAC 100 VAC 48 VDC 24 VDC 200 VAC 200 VAC 200 VAC 48 VDC
inch lb • in lb • in
0.55 kW
130 2.6 7 Max. 5000 R2AA13050D n
n n
21
5.12 23 62 Rated 2000
1.2 kW
130 5.7 16 Max. 5000 R2AA13120D n
n n
22
5.12 50 142 Rated 2000
2 kW 130 9.5 30 Max. 5000 R2AA13200D n
n n
23
5.12 84 265 Rated 2000
5 kW 220 24 75 Max. 4000 R2AA22500L n
n n
24
8.67 212 664 Rated 2000
Motor Rated
Peak
Speed Servo Amplifier Interface
Rated Size Thrust Thrust Model EtherCAT Indexer Modbus
Analog / Pulse
Page
Thrust mm N N m/s
200 VAC 100 VAC 48 VDC 24 VDC 200 VAC 200 VAC 200 VAC 48 VDC
inch lb lb
5.1 N
12 5.1 16.5 Max. 2.0
DE0AC001A03MX00
n 25
0.47 1.2 3.71 Rated 1.0
Flange Rated
Peak Torque
Speed Servo Amplifier Interface
Rated Size Torque at Stall Model EtherCAT Indexer Modbus
Analog / Pulse
Page
Power mm N • m N • m min -1
200 VAC 100 VAC 48 VDC 24 VDC 200 VAC 200 VAC 200 VAC 48 VDC
inch lb • in lb • in
2.4 W 14 0.023 0.06 Max. 1500 R2GAD102RM n 8
0.55 0.204 0.53 Rated 1000
0.064 0.23 Max. 6000 R2GA02D20F n
20 W 20 0.57 2.04 Rated 3000
9
0.79 0.064 0.18 Max. 4500 R2FA02D20D n
0.53 1.59 Rated 3000
0.095 0.38 Max. 6000 R2GA02D30F
n
20 0.84 3.4 Rated 3000
10
0.79 0.095 0.38 Max. 3000 R2FA02D30H
n
0.84 3.4 Rated 3000
30 W 0.098 0.37 Max. 6000 R2AA04003F n
nnn
0.87 3.3 Rated 3000 R2EA04003F n
40 0.098 0.24 Max. 6000 R2GA04003F n
n 11
1.57 0.87 2.1 Rated 3000
0.098 0.33 Max. 6000 R2FA04003F n
0.87 2.9 Rated 3000
0.159 0.59 Max. 6000 R2AA04005F n
nnn
1.41 5.2 Rated 3000 R2EA04005F n
50 W 40 0.159 0.54 Max. 6000 R2GA04005F n
n
1.57 1.41 4.8 Rated 3000
12
0.159 0.40 Max. 4500 R2FA04005D n
1.41 3.5 Rated 3000
0.255 0.86 Max. 6000 R2EA04008F n
80 W 40 2.27 7.6 Rated 3000
13
1.57 0.255 0.86 Max. 5000 R2GA04008D
n
n
2.27 7.6 Rated 3000
100 W 40 0.318 1.18 Max. 6000 R2AA04010F n
n n n
(90 W)
1.57 2.81 10.4 Rated 3000
14
70 W 60 0.318 0.84 Max. 2500 R2FA06007R n 15
2.36 2.81 7.43 Rated 2100
0.318 1.13 Max. 6000 R2AA06010F n
nnn
2.81 10.0 Rated 3000
100 W 60 0.318 1 Max. 6000 R2EA06010F n
2.36 2.81 8.8 Rated 3000
16
0.318 0.84 Max. 5000 R2GA06010D
n
n
2.81 7.43 Rated 3000
0.637 2.2 Max. 6000 R2AA06020F n
nnn
200 W 60 5.64 19.5 Rated 3000 R2EA06020F n
17
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
nnn
400 W 60 11.2 42 Rated 3000
18
(360 W)
2.36 1.15 4.8 Max. 6000 R2AA06040FC n
nnn
10.2 42 Rated 3000
750 W 80 2.39 8.5 Max. 6000 R2AA08075F n
n n n
19
3.15 21.2 75 Rated 3000
1 kW 86 3.18 11.6 Max. 6000 R2AAB8100H n
n n n
20
3.39 28.1 102.7 Rated 3000
Small Capacity Motors
Lineup
Medium Capacity Motors
Linear Actuator
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
8
AC SERVO SYSTEMS
86±2 (3.39±.078)
13.6±0.1
2-M2.5
14
14
2
15±0.5
M
1140±10 0 (44.9±3.9)
( 4.5)
19
(12)
1100±100 (43.3±3.9)
[40 (1.57)]
Depth 5(.2)
Motor cable
Motor, Ground 26AWG×4Cond
28AWG×2pairs
Encoder cable (shielded)
0.02
Φ0.02
0.02
M
M
(.55)
(.55)
(.54±.004)
.43 0
-.0007)(
(.078)
(.59±.02)
[(.18)]
[(.47)]
(.75)
40
-0.008
11 0
-0.018
.16 0
-.0003)(
n Dimension
n Applicable Amplifier
n Specifications
Power Supply 48 VDC
Model R2GAD102RMXH30
Rated Power kW 0.0024
Maximum Speed min-1 1500
Rated Speed min-1 1000
Rated Torque N • m 0.023
lb • in 0.204
Peak Torque at Stall N • m 0.06
lb • in 0.53
Rotor Moment of Inertia x10-4 kg • m2 0.0023
lb • in2 0.000786
Encoder 17bit serial absolute
Motor Mass kg 0.15
lb 0.33
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity 20 ~ 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
48 VDC R2GAD102RMXH30
RF2J14A0HL5
1027-116392*3
*3 1027-: w/ CPC screw lock type connector assembly.
Unit: mm (inch)
2.4
W14
mm
(0.55
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
0
0.08
0.06
0.04
0.02
20001500
Speed (min−1)
Torque (N • m)
10005000
Instantaneous Zone
Continuous Zone
n Torque Curve
l R2GAD102RM
9
[7.1(.28)]
2±0.3
R2GA02D20FXS00: 93±1 (3.67±.04)
20±0.8
50
-0.008
0.06
0.02
250±30
Encoder cable (shielded)
26AWG, 4 pairs
Motor cable
24AWG (for power and GND)
[49.5 (1.95)]
1.5 (.06)]
20 (.79) sq
2-M3×0.5
Effective length
6 (.24) or more
22±0.2
[16 (.63)]
Oilseal
M
0.04 M
M
(.87±.008)
0
-.0003
()
.20
(.79±.03)
(.08±.012)
(9.8±1.18)
[
17 0
-0.018
0
-.0003
()
.67
eliminated
250±30(9.8±1.18)
5.1)(
R2FA02D20DXC00: 89±1 (3.50±.04)
[(.2)]
Encoder Dimensions
for R2FA02D20DXC00
AWG26, 2 pairs
250±30
[(.24)]
(17. 3)
[(.68)]
4.8 (.19)]
[
(9.8±1.18)
Encoder cable (shielded)
(6.2)
0
0.25
0.20
0.15
0.10
0.05
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
nDimension
nApplicable Amplifier
nSpecifications
Power Supply 48 VDC 24 VDC
Model R2GA02D20F R2FA02D20D
Rated Power kW 0.02 0.02
Maximum Speed min-1 6000 4500
Rated Speed min-1 3000 3000
Rated Torque N • m0.064 0.064
lb • in 0.57 0.57
Peak Torque at Stall N • m0.23 0.18
lb • in 2.04 1.59
Rotor Moment of Inertia x10-4 kg • m20.0033 0.0033
lb • in20.0011 0.0011
Encoder
2000 P/R incremental 13bit serial absolute
Motor Mass kg 0.14 0.14
lb 0.31 0.31
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity 20 ~ 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
48 VDC R2GA02D20FXS00
1027-107013*3
RS2K04AAHA5
RF2J24A8HL5
24 VDC R2FA02D20DXC00 RS2J04A2HA5
1027-116393*3 RF2K24A0HL5
*3 1027-: w/ CPC screw lock type connector assembly.
Unit: mm (inch)
20
W20
mm
(0.79
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
0
0.25
0.20
0.15
0.10
0.05
6000500040003000
Speed (min−1)
Torque (N
•
m)
200010000
Instantaneous Zone
Continuous Zone
nTorque Curve
lR2GA02D20F
lR2FA02D20D
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
10
AC SERVO SYSTEMS
[7.1(.28)]
2±0.3
20±0.8
5
0
-0.008
0.06
0.02
20 (.79) sq
2-M3×0.5
Effective length
6 (.24) or more
22±0.2
Oilseal
M
0.04 M
M
(.87±.008)
0
-.0003
()
.20
(.79±.03)
(.02±.012)
17 0
-0.018
0
-.0003
()
.67
eliminated
R2GA02D30FXS00: 112±1 (4.41±.04)
250±30
Motor cable
24AWG (for power and GND)
[68.5 (2.70)]
1.5 (.06)]
[16 (.63)]
(9.8±1.18)
[
250±30(9.8±1.18)
R2FA02D30HXC00: 108±1 (4.25±.04)
Encoder cable (shielded)
26AWG, 4 pairs
5.1)(
[(.2)]
Encoder Dimensions
for R2FA02D30FXC00
AWG26, 2 pairs
250±30
[(.24)]
(17.3)
[(.68)]
4.8 (.19)]
[
(9.8±1.18)
Encoder cable (shielded)
(6.2)
nApplicable Amplifier
nDimension
nSpecifications
30
W20
mm
(0.79
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
Unit: mm (inch)
0
0.4
0.3
0.2
0.1
6000500040003000
Speed (min−1)
Torque (N
•
m)
200010000
Instantaneous Zone
Continuous Zone
nTorque Curve
lR2GA02D30F
lR2FA02D30H
Power Supply 48 VDC 24 VDC
Model R2GA02D30F R2FA02D30H
Rated Power kW 0.03 0.03
Maximum Speed min-1 6000 3000
Rated Speed min-1 3000 3000
Rated Torque N • m0.095 0.095
lb • in 0.84 0.84
Peak Torque at Stall N • m0.38 0.38
lb • in 3.36 3.36
Rotor Moment of Inertia x10-4 kg • m20.0046 0.0046
lb • in20.0016 0.0016
Encoder
2000 P/R incremental 13bit serial absolute
Motor Mass kg 0.18 0.18
lb 0.4 0.4
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity 20 ~ 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
48 VDC R2GA02D30FXS00
1027-107014*3
RS2K04AAHA5
RF2J24A8HL5
24 VDC R2FA02D30HXC00 RS2J04A2HA5
1027-116394*3 RF2K24A0HL5
*3 1027-: w/ CPC screw lock type connector assembly.
0
0.4
0.3
0.2
0.1
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
11
0
0.4
0.3
0.2
0.1
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
0
0.4
0.3
0.2
0.1
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
0
0.4
0.3
0.2
0.1
6000500040003000
Speed (min
−1
)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
0
0.4
0.3
0.2
0.1
6000500040003000
Speed (min−1)
Torque (N
•
m)
200010000
Instantaneous Zone
Continuous Zone
Motor, Ground 0.75 mm
2
Motor cable
6 (.23)
23AWG
Brake cable
0.06
0.07
0.02
M
M
30
20 (.8)
25 (1)
2.5 (.1) 5 (.2)
5 (.19)
ٸ40 (1.6)
2- 4.5 (.18)
1100±100
1100±100
M
46 (1.84)
[ 56 (2.24)]
0
-0.021 1.18 0
-.00084
)(
60
-0.008 .24 0
-.00032
)(
(40 ± 4)
(40 ± 4)
w/o Brake : 51.5±1 (2.06±.04)
w/o Brake for R2FA04003F: 62.5±1 (2.46±.04)
w/ Brake for R2FA04003F: 98.5±1 (3.88±.04)
5
1100±100 (40 ± 4)
Encoder Dimensions for
R2AA04003FXP*
R2EA04003FXP*
R2GA04003FXP*
Encoder cable
5 (.19)
1100±100 (40 ± 4)
(.19)
26AWG, 3pair
(shielded)
Encoder cable (sheilded)
26AWG, 2pair
lR2FA04003F
nDimension
nApplicable Amplifier
nSpecifications
nTorque Curve
lR2AA04003F
lR2EA04003F
lR2GA04003F
Power Supply 200 VAC 100 VAC 48 VDC 24 VDC
Model
R2AA04003F R2EA04003F R2GA04003F R2FA04003F
Rated Power kW 0.03 0.03 0.03 0.03
Maximum Speed min-1 6000 6000 6000 6000
Rated Speed min-1 3000 3000 3000 3000
Rated Torque N • m0.098 0.098 0.098 0.098
lb • in 0.87 0.87 0.87 0.87
Peak Torque at Stall N • m0.37 0.37 0.37 0.33
lb • in 3.3 3.3 3.3 2.92
Rotor Moment of Inertia
x10
-4
kg • m
2 0.028 0.028 0.0247 0.0247
lb • in20.0095 0.0095 0.0084 0.0084
Encoder 17 bit serial absolute
Motor Mass kg 0.35 0.35 0.35 0.37
lb 0.78 0.78 0.78 0.82
Operating Temperature
0 to 40°C (32 to 104°F)
Humidity 20 to 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
200 VAC R2AA04003FXP00M(E01)*3 RS2A01A0KA4
RS1A01AC RS1A01AF RS3A01A0AA4
RS2A01A2HA5
100 VAC R2EA04003FXP00M(E01)*3 RS2E01A0KA4
48 VDC R2GA04003FXP00M RS2K04A2HA5 RF2G21A0A00
1027-116504*3 RF2K24A0HL5
R2FA04003FXR03M
24 VDC 1027-116396*3 RS2J04A2HA5
R2FA04003FCR03M w/Brake RF2K24A0HL5
1027-116395*3
*3 E01 and 1027-: w/ CPC screw lock type connector assembly.
Unit: mm (inch)
30
W40
mm
(1.57
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
12
AC SERVO SYSTEMS
0
0.8
0.6
0.4
0.2
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
0
0.8
0.6
0.4
0.2
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
0
0.8
0.6
0.4
0.2
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
0
0.8
0.6
0.4
0.2
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
Encoder Dimensions for
R2AA04005DXP*
R2EA04005DXP*
R2GA04005DXP*
Encoder cable
5 (.19)
1100±100 (40 ± 4)
26AWG, 3pair
(shielded)
Motor, Ground 0.75 mm
2
Motor cable
6 (.23)
0.06
0.07
0.02
M
M
30
20 (.8)
25 (1)
2.5 (.1) 5 (.2)
5 (.19)
ٸ40 (1.6)
2- 4.5 (.18)
1100±100
1100±100
M
46 (1.84)
[ 56 (2.24)]
0
-0.021 1.18 0
-.00084
)(
60
-0.008 .24 0
-.00032
)(
(40 ± 4)
(40 ± 4)
w/o Brake : 56.5±1 (2.24±.04)
w/o Brake for R2FA04005D: 67.5±1 (2.66±.04)
w/ Brake for R2FA04005D: 103.5±1 (67.5±.04)
5
1100±100 (40 ± 4)
(.19)
Encoder cable (sheilded)
26AWG, 2pair
23AWG
Brake cable
nSpecifications
*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.
lR2FA04005D
nDimension
nApplicable Amplifier
nSpecifications
nTorque Curve
lR2AA04005F
lR2EA04005F
lR2GA04005F
Power Supply 200 VAC 100 VAC 48 VDC 24 VDC
Model
R2AA04005F R2EA04005F R2GA04005F R2FA04005D
*2
Rated Power kW 0.05 0.05 0.05 0.05
Maximum Speed min-1 6000 6000 6000 4500
Rated Speed min-1 3000 3000 3000 3000
Rated Torque N • m0.159 0.159 0.159 0.159
lb • in 1.41 1.41 1.41 1.41
Peak Torque at Stall N • m0.59 0.59 0.59 0.40
lb • in 5.22 5.22 5.22 3.54
Rotor Moment of Inertia
x10
-4
kg • m
2 0.0409 0.0409 0.0376 0.0376
lb • in20.0139 0.0139 0.0128 0.0128
Encoder 17bit serial absolute*1
Motor Mass kg 0.39 0.39 0.39 0.41
lb 0.87 0.87 0.87 0.90
Operating Temperature
0 to 40°C (32 to 104°F)
Humidity 20 to 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
200 VAC R2AA04005FXP00M(E01)*3 RS2A01A0KA4
RS1A01AC RS1A01AF RS3A01A0AA4
RS2A01A2HA5
100 VAC R2EA04005FXP00M(E01)*3 RS2E01A0KA4
48 VDC R2GA04005FXP00M RS2K04A2HA5 RF2G21A0A00
1027-116505*3 RF2K24A0HL5
R2FA04005DXR03M
24 VDC 1027-116398*3 RS2J04A2HA5
R2FA04005DCR03M w/Brake RF2K24A0HL5
1027-116397*3
*3 E01 and 1027-: w/ CPC screw lock type connector assembly.
Unit: mm (inch)
50
W40
mm
(1.57
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
13
(for power and GND)
Motor cable (for mounting)
Brake cable (for mounting) (for encoder)
Shield cable (for mounting)
40 (1.57)
2- 4.5 (.18)
[ 56 (2.20)]
46 (1.84)
0.06
0.07
0.02
M
M
80
-0.009 .32 0
-.0003)(
30 0
-0.021 1.18 0
-.00084
)(
20 (.79)
25 (.98)
2.5 (.1) 5 (.2)
108±1 (4.25±.04)
72±1 (2.80±.04)w/o Brake:
w/ Brake:
6 (.24) 5 (.2)
5 (.2)
[50 (2)]
1100±100 (43.31 ± 4)
1100±100
(43.31 ± 4)
1100±100
(43.31 ± 4)
35.4 (1.39)
M
[50 (2)]
[50 (2)]
0
1.0
0.8
0.6
0.4
0.2
6000
500040003000
Speed (min
−1
)
Torque (N
•
m)
200010000
Instantaneous Zone
Continuous Zone
0
1.0
0.8
0.6
0.4
0.2
6000
500040003000
Speed (min
−1
)
Torque (N
•
m)
200010000
Instantaneous Zone
Continuous Zone
*2 Brake equipped motor is available. Refer to page 67 for brake specifications.
nDimension
nApplicable Amplifier
nSpecifications nTorque Curve
lR2EA04008F
lR2GA04008D
Power Supply 100 VAC 48 VDC
Model R2EA04008F*2 R2GA04008D*2
Rated Power kW 0.08 0.08
Maximum Speed min-1 6000 5000
Rated Speed min-1 3000 3000
Rated Torque N • m0.255 0.255
lb • in 2.27 2.27
Peak Torque at Stall N • m0.86 0.86
lb • in 7.6 7.6
Rotor Moment of Inertia x10-4 kg • m20.066 0.0627
lb • in20.023 0.021
Encoder 17bit serial absolute
Motor Mass kg 0.51 0.51
lb 1.13 1.13
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity 20 to 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
100 VAC R2EA04008FXP00M(E01)*3 RS2E01A0KA4
R2EA04008FCP00M(E01)*3 w/ Brake
R2GA04008DXP00M
48 VDC 1027-107016*3 RF2G21A0A00
R2GA04008DCP00M w/ Brake
RS2K04A2HA5
RF2K24A0HL5
1027-107015*3
*3 E01 and 1027-: w/ CPC screw lock type connector assembly.
80
W40
mm
(1.57
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
Unit: mm (inch)
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
14
AC SERVO SYSTEMS
0
2.0
1.5
1.0
0.5
6000500040003000
Speed (min
−1
)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
(for power and GND)
Motor cable (for mounting)
Brake cable (for mounting) (for encoder)
Shield cable (for mounting)
M
40 (1.57)
2- 4.5 (.18)
35.4 (1.39)
6 (.24) 5 (.2)
5 (.2)
[50 (2)]
20 (.8)
25 (1)
2.5 (.1)
0.06
0.07
0.02
M
M
30 0
-0.021 1.18 0
-.00084)(
5 (.2)
108±1 (4.25±.04)
72±1 (2.80±.04)w/o Brake:
w/ Brake:
1100±100 (43.31 ± 4)
1100±100(43.31 ± 4)
1100±100
(43.31 ± 4)
[ 56 (2.24)]
46 (1.84)
80
-0.009 .32 0
-.0003)(
[50 (2)]
[50 (2)]
nDimension
nApplicable Amplifier
nSpecifications nTorque Curve
lR2AA04010F
Power Supply 200 VAC
Model R2AA04010F*2
Rated Power kW 0.1 (0.09 *2)
Maximum Speed min-1 6000
Rated Speed min-1 3000
Rated Torque N • m0.318 (0.286*2)
lb • in 2.81 (2.04*2)
Peak Torque at Stall N • m1.18
lb • in 10.4
Rotor Moment of Inertia x10-4 kg • m20.066
lb • in20.023
Encoder 17bit serial absolute*1
Motor Mass kg 0.51
lb 1.13
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity 20 to 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
R2AA04010FXP00M(E01)*3 RS3A01A2HA4
200 VAC RS2A01A0KA4 RS1A01AC RS1A01AF RS3A01A0AA4
R2AA04010FCP00M6(E01)*3 w/ Brake RS2A01A2HA5
*3 E01: w/ CPC screw lock type connector assembly
*1 2000 p/r incremental encoder equipped motor is also available.
*2 ( ): Specification for brake motor. Refer to page 67 for brake specifications.
100
W40
mm
(1.57
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
Unit: mm (inch)
15
4- 5.5 (.22)
70 (2.8)
[82 (3.28)]
60 (2.36)
0.06
0.07
0.02
M
M
50 0
-0.025 20
-.001)(
M
14 0
-0.011 .55 0
-.0004)(
3 (.12)
20 (.79)
25 (.98)
6 (.24)
6
(.23)
5
(.19)
5
(.19)
1100±100
(40 ± 4)
1100±100 (40 ± 4)
1100±100 (40 ± 4)
44.4 (1.75)
92.5±1 (3.64±.04)
68.5±1 (2.70±.04)w/o Brake:
w/ Brake:
Motor, Ground 0.75 mm
2
Motor cable
23AWG
Brake cable Encoder cable (sheilded)
26AWG, 2pair
0
1.0
0.8
0.6
0.4
0.2
6000500040003000
Speed (min
−1
)
Torque (N
•
m)
200010000
Instantaneous Zone
Continuous Zone
*2 Brake equipped motor is available. Refer to page 67 for brake specifications.
nDimension
nSpecifications
Power Supply 24 VDC
Model R2FA06007R*2
Rated Power kW 0.07
Maximum Speed min-1 2500
Rated Speed min-1 2100
Rated Torque N • m0.318
lb • in 2.81
Peak Torque at Stall N • m0.84
lb • in 7.43
Rotor Moment of Inertia x10-4 kg • m20.117
lb • in20.040
Encoder 17bit serial absolute
Motor Mass kg 0.74
lb 1.63
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity 20 to 90% RH, no condensation
Unit: mm (inch)
70
W60
mm
(2.36
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
nTorque Curve
lR2FA06007R
nApplicable Amplifier
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
R2FA06007RXR03M
24 VDC 1027-116400*3 RS2J04A2HA5
R2FA06007RCR03M w/Brake RF2K24A0HL5
1027-116399*3
*3 1027-: w/ CPC screw lock type connector assembly.
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
16
AC SERVO SYSTEMS
0
0.2
0.4
0.6
0.8
1.0
1.2
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
0
0.2
0.4
0.6
0.8
1.0
1.2
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
4- 5.5 (.22) 3 (.12)
70 (2.8)
(for power and GND)
Motor cable (for mounting)
(for encoder)
Shield cable (for mounting)
60 (2.36)
[82 (3.28)]
M
0.06
0.07
0.02
M
M
50 0
-0.025 1.97 0
-.001
)(
80
-0.009 .31 0
-.0003)(
20 (.79)
25 (.98)
6 (.24)
58.5±1 (2.34±.04)
44.6 (1.76)
65
(.24)
1100±100 (43.31 ± 4)
1100±100
(43.31 ± 4)
[50 (2)]
[50 (2)]
(.2)
n Dimension
n Applicable Amplifier
n Specifications n Torque Curve
l R2AA06010F
l R2EA06010F
l R2GA06010D
Power Supply 200 VAC 100 VAC 48 VDC
Model R2AA06010F R2EA06010F R2GA06010D
Rated Power kW 0.1 0.1 0.1
Maximum Speed min-1 6000 6000 5000
Rated Speed min-1 3000 3000 3000
Rated Torque N • m 0.318 0.318 0.318
lb • in 2.81 2.81 2.81
Peak Torque at Stall N • m 1.13 1 0.84
lb • in 10.0 8.80 7.43
Rotor Moment of Inertia x10-4 kg • m2 0.1203 0.1203 0.117
lb • in2 0.0409 0.0409 0.0400
Encoder 17bit serial absolute*1
Motor Mass kg 0.71 0.71 0.71
lb 1.58 1.58 1.58
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity 20% to 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
RS3A01A2HA4
200 VAC R2AA06010FXP00M(E01)*3 RS2A01A0KA4 RS1A01AC RS1A01AF RS3A01A0AA4
RS2A01A2HA5
100 VAC R2EA06010FXP00M(E01)*3 RS2E01A0KA4
R2EA06010FCP00M(E01)*3 w/ Brake
48 VDC R2GA06010DXP00M RS2K04A2HA5 RF2G21A0A00
1027-107017*3 RF2K24A0HL5
*3 E01 and 1027-: w/ CPC screw lock type connector assembly
0
0.2
0.4
0.6
0.8
1.0
1.2
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
*1 2000 p/r incremental encoder equipped motor is also available for R2AA06010F.
100
W60
mm
(2.36
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
Unit: mm (inch)
17
0
2.5
2.0
1.5
1.0
0.5
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
0
2.5
2.0
1.5
1.0
0.5
6000500040003000
Speed (min
−1
)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
0
2.5
2.0
1.5
1.0
0.5
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Continuous Zone
Instantaneous
Zone
4- 5.5 (.22)
(for power and GND)
Motor cable (for mounting)
Brake cable (for mounting) (for encoder)
Shield cable (for mounting)
70 (2.76)
[82 (3.28)]
60 (2.36)
0.06
0.07
0.02
M
M
50 0
-0.025 20
-.001
)(
M
14 0
-0.011 .55 0
-.0004
)(
3 (.12)
25 (0.98)
30 (1.18)
6 (.24)
6
(.24)
5
(.2)
5
(.2)
1100±100
(43.31 ± 4)
[50 (2)]
1100±100 (43.31 ± 4)
1100±100 (43.31 ± 4)
44.6 (1.76)
97.5±1 (3.84±.04)
69.5±1 (2.74±.04)w/o Brake:
w/ Brake:
[50 (2)]
[50 (2)]
*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.
n Dimension
n Applicable Amplifier
n Specifications n Torque Curve
l R2AA06020F
l R2EA06020F
l R2GA06020D
Power Supply 200 VAC 100 VAC 48 VDC
Model
R2AA06020F R2EA06020F
*2
R2GA06020D
*2
Rated Power kW 0.2 0.2 0.2
Maximum Speed min-1 6000 6000 4500
Rated Speed min-1 3000 3000 3000
Rated Torque N • m 0.637 0.637 0.637
lb • in 5.64 5.64 5.64
Peak Torque at Stall N • m 2.2 2.2 1.5
lb • in 19.5 19.5 13.3
Rotor Moment of Inertia x10-4 kg • m2 0.2223 0.2223 0.219
lb • in2 0.0756 0.0756 0.0748
Encoder 17bit serial absolute*1
Motor Mass kg 0.96 0.96 0.96
lb 2.13 2.13 2.13
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity 20% to 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
R2AA06020FXP00M(E01)*3 RS3A02A2HA4
200 VAC R2AA06020FCP00M w/ Brake RS2A01A0KA4 RS1A01AC RS1A01AF RS3A02A0AA4
1027-107010*3 RS2A01A2HA5
100 VAC R2EA06020FXP00M(E01)*3 RS2E03A0KA4
R2EA06020FCP00M(E01)*3 w/ Brake
R2GA06020DXP00M
1027-107019*3 RS2K04A2HA5 RF2G21A0A00
48 VDC R2GA06020DCP00M w/ Brake RF2K24A0HL5
1027-107018*3
*3 E01 and 1027-: w/ CPC screw lock type connector assembly
200
W60
mm
(2.36
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
Unit: mm (inch)
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
18
AC SERVO SYSTEMS
0
8.0
6.0
4.0
2.0
5000 600040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
(for power and GND)
Motor cable (for mounting)
Brake cable (for mounting) (for encoder)
Shield cable (for mounting)
70 (2.76)
[82 (3.23)]
4- 5.5 (.22)
60 (2.36)
0.06
0.07
0.02
M
M
50 0
-0.025 20
-.001
)(
M
3 (.12)
25 (.98)
30 (1.18)
6 (.24)
123.5±1 (4.86±.04)
95.5±1 (3.76±.04)w/o Brake:
w/ Brake:
6
(.24)
5
(.2)
5
(.2)
1100±100(43.31 ± 4)
1100±100(43.31 ± 4)
1100±100(43.31 ± 4)
[50 (2)]
44.6 (1.76)
[50 (2)]
[50 (2)]
14 0
-0.011 .55 0
-.0004
)(
n Dimension
n Applicable Amplifier
n Specifications n Torque Curve
l R2AA06040F
Power Supply 200 VAC
Model R2AA06040F
Rated Power kW 0.4 (0.36*2)
Maximum Speed min-1 6000
Rated Speed min-1 3000
Rated Torque N • m 1.27 (1.15*2)
lb • in 11.2 (10.2*2)
Peak Torque at Stall N • m 4.8
lb • in 42
Rotor Moment of Inertia x10-4 kg • m2 0.4153
lb • in2 0.142
Encoder 17bit serial absolute*1
Motor Mass kg 1.4
lb 3.11
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity 20 to 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
200 VAC
R2AA06040FXP00M(E01)*3
RS3A02A2HA4 RS1A03AC RS1A03AF RS3A02A0AA4
RS2A03A0KA4
R2AA06040FCP00M6(E01)*3 w/ Brake RS2A03A2HA5
*3 E01: w/ CPC screw lock type connector assembly.
*1 2000 p/r incremental encoder equipped motor is also available.
*2 ( ): Specification for brake motor. Refer to page 67 for other brake specifications.
400
W60
mm
(2.36
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
Unit: mm (inch)
19
0
10
8
6
4
2
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
108 (4.25)]
(for power and GND)
Motor cable (for mounting)
Brake cable (for mounting) (for encoder)
Shield cable (for mounting)
4- 6.6 (.264)
80 (3.15)
0.06
0.07
0.02
M
M
70 0
-0.030 2.76 0
-.012)(
16 0
-0.011 .56 0
-.0004
)(
M
3 (.12)
35 (1.38)
40 (1.57)
8 (.32)
143±1 (5.63±.04)
107.3±1 (4.22±.04)w/o Brake:
w/ Brake:
6
(.24)
5
(.2)
5
(.2)
1100±100 (43.31 ± 4)
1100±100
(43.31 ± 4)
1100±100
(43.31 ± 4)
[50 (2)]
54.4 (2.14)
[
90 (3.54)
[50 (2)]
[50 (2)]
n Dimension
n Applicable Amplifier
n Specifications n Torque Curve
l R2AA08075F
Power Supply 200 VAC
Model R2AA08075F
Rated Power kW 0.75
Maximum Speed min-1 6000
Rated Speed min-1 3000
Rated Torque N • m 2.39
lb • in 21.2
Peak Torque at Stall N • m 8.5
lb • in 75
Rotor Moment of Inertia x10-4 kg • m2 1.8233
lb • in2 0.620
Encoder 17bit serial absolute*1
Motor Mass kg 2.7
lb 6
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity 20 to 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
R2AA08075FXP00M(E01)*3 RS3A03A2HA4
200 VAC RS2A03A0KA4 RS1A03AC RS1A03AF RS3A03A0AA4
R2AA08075FCP00M(E01)*3 w/ Brake RS2A03A2HA5
*3 E01: w/ CPC screw lock type connector assembly.
*1 2000 p/r incremental encoder equipped motor is also available.
750
W80
mm
(3.15
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
Unit: mm (inch)
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
20
AC SERVO SYSTEMS
(for power and GND)
Motor cable (for mounting)
Brake cable (for mounting) (for encoder)
Shield cable (for mounting)
100
[115.5 (4.55)]
4- 6.6 (.264)
86 (3.39)
6
(.24)
5
(.20)
5
(.20)
[50 (2)]
171.8±1 (6.76±.04)
145.8±1 (5.74±.04)
M
0.06
0.07
0.02
M
M
80 0
-0.030 3.15 0
-.0012)(
3 (.12)
30 (1.18)
35 (1.38)
8 (.31)
w/o Brake:
w/ Brake:
16 0
-0.011 .63 0
-.0004
)(
1100±100 (43.31 ± 4)
1100±100 (43.31 ± 4)
1100±100 (43.31 ± 4)
[50 (2)]
[50 (2)]
( 3.94)
59.4 (2.34)
n Dimension
n Applicable Amplifier
n Specifications n Torque Curve
l R2AAB8100H
Power Supply 200 VAC
Model R2AAB8100H
Rated Power kW 1.0
Maximum Speed min-1 3000
Rated Speed min-1 3000
Rated Torque N • m 3.18
lb • in 28.1
Peak Torque at Stall N • m 11.6
lb • in 102.7
Rotor Moment of Inertia x10-4 kg • m2 2.38
lb • in2 0.813
Encoder 17bit serial absolute
Motor Mass kg 3.6
lb 7.9
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity Below 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
R2AAB8100HXR00M
RS3A03A2HA4
200 VAC 1027-107012*3 RS2A03A0KA4 RS1A03AC RS1A03AF RS3A03A0AA4
R2AAB8100HCR00M
w/ Brake RS2A03A2HA5
1027-107011*3
1
kW 86
mm
(3.39
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
Unit: mm (inch)
*3 1027-: w/ CPC screw lock type connector assembly
0
5
10
15
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Instantaneous Zone
Continuous Zone
21
0
10
8
6
4
2
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Continuous Zone
Instantaneous
Zone
6 (.24)
2.5 (.1)
M6
depth 20 (.79)
JL04V-2E24-11PE-B-R
(for power, brake and GND)
(Tap for removing motor)
2-M6
Section H-H
(46) (44)
M
0.02
0.08
0.08
M
M
H
55 (2.17)
4[12 (.47)]
103 (4.06)
(for encoder)
[98 (3.86)]
[21 (.83)]
JN2AS10ML2-R
[69 (2.72)]
Oil seal
[7 (.28)]
2- 9 (.35)
145
(5.71)
22 0
-0.013 .87 0
-.00052
)(
( 165)
[(6.50)]
110 0
-0.035 4.33 0
-.0014)(
(.16)
42 (1.68)
(.12) H
50 (2)
3
60
-0.030
.24 0
-.0012)(
[(1.81)] [(1.73)]
130 (5.12)
n Dimension
n Applicable Amplifier
n Specifications n Torque Curve
l R2AA13050D
Power Supply 200 VAC
Model R2AA13050D
Rated Power kW 0.55
Maximum Speed min-1 5000
Rated Speed min-1 2000
Rated Torque N • m 2.6
lb • in 23
Peak Torque at Stall N • m 7
lb • in 62
Rotor Moment of Inertia x10-4 kg • m2 3.1
lb • in2 1.05
Encoder 17bit serial absolute
Motor Mass kg 5
lb 11
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity 20 to 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
RS3A03A2HA4
200 VAC R2AA13050DXP00M RS2A03A0KA4 RS1A03AC RS3A03A0AA4
RS2A03A2HA5
0.55
kW 130
mm
(5.12
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
Unit: mm (inch)
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
22
AC SERVO SYSTEMS
0
25
20
15
10
5
6000500040003000
Speed (min−1)
Torque (N • m)
200010000
Continuous Zone
Instantaneous
Zone
(.16)
MH
[98 (3.86)]
[21 (.83)]
[7 (.28)]
130 (5.12)
145
(5.71)
( 165)
[(6.50)]
M6
depth 20 (.79)
(Tap for removing motor)
2-M6
Oil seal
0.02
0.08
0.08
M
M
110 0
-0.035 4.33 0
-.0014)(
22 0
-0.013 .87 0
-.00052
)(
42 (1.97)
(.12) H
50 (2)
3
55 (2.17)
4 [12 (.47)]
120.5 (4.74)
6 (.24)
2.5 (.1)
Section H-H
60
-0.030
.24 0
-.0012)(
(64) (44)
[(1.81)] [(1.73)] (for encoder)
JN2AS10ML2-R
[69 (2.72)]
2- 9 (.35)
JL04V-2E24-11PE-B-R
(for power, brake and GND)
n Dimension
n Applicable Amplifier
n Specifications n Torque Curve
l R2AA13120D
Power Supply 200 VAC
Model R2AA13120D
Rated Power kW 1.2
Maximum Speed min-1 5000
Rated Speed min-1 2000
Rated Torque N • m 5.7
lb • in 50
Peak Torque at Stall N • m 16
lb • in 142
Rotor Moment of Inertia x10-4 kg • m2 6
lb • in2 2.04
Encoder 17bit serial absolute
Motor Mass kg 7
lb 16
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity 20 to 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
RS3A05A2HA4
200 VAC R2AA13120DXP00M RS2A05A0KA4 RS1A05AC RS3A05A0AA4
RS2A05A2HA5
1.2
kW 130
mm
(5.12
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
Unit: mm (inch)
23
Torque (N • m)
35
30
20
25
10
15
5
01000
02000 3000 4000 5000 6000
Instantaneous
Zone
Continuous Zone
Speed (min−1)
[12 (.47)]
(.16)
JL04V-2E24-11PE-B-R
(for power, brake and GND)
[99 (3.96)] [103 (4.06)]
M
0.02
0.08
0.08
M
M
H
H
(for encoder)
JN2AS10ML2-R
Oil seal
(7) [(.28)]
130 (5.12)
2- 9 (.35)
145
(5.71)
( 165)
[(6.50)]
M8
depth 25 (1)
(Tap for removing motor)
2-M6
28 0
-0.013 1.10 0
-.00052
)(
110 0
-0.035 4.33 0
-.0014)(
(.12)
3 42 (1.65)
50 (1.97)
4
55 (2.17) 216 (8.50)
171 (6.73)w/o Brake:
w/ Brake:
w/o Brake:
w/ Brake:
[57 (2.24)]
[38 (1.50)]
[98 (3.86)]
[21 (.83)]
7 (.28)
3 (.12)
Section H-H
80
-0.036
.31 0
-.0014)(
n Dimension
n Applicable Amplifier
n Specifications n Torque Curve
l R2AA13200D
Power Supply 200 VAC
Model R2AA13200D*2
Rated Power kW 2
Maximum Speed min-1 5000
Rated Speed min-1 2000
Rated Torque N • m 9.5
lb • in 84
Peak Torque at Stall N • m 30
lb • in 265
Rotor Moment of Inertia x10-4 kg • m2 12.2
lb • in2 4.15
Encoder 17bit serial absolute
Motor Mass kg 10
lb 22
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity 20 to 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
RS3A10A2HA4
200 VAC
R2AA13200DXP00M
RS2A10A0KA4 RS1A10AC RS3A10A0AA4
R2AA13200DCP00M w/ Brake RS2A10A2HA5
2
kW 130
mm
(5.12
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
Unit: mm (inch)
*2 Brake equipped motor is available. Refer to page 67 for brake specifications.
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
24
AC SERVO SYSTEMS
Speed (min−1)
Torque (N • m)
80
70
60
50
40
30
10
20
01000
02000 3000 4000 5000 6000
Instantaneous
Zone
Continuous
Zone
2- 13.5 (.53)
[38 (1.50)]
7 (.28)
[142 (5.59)][21 (.83)]
Oil seal
4-M12
(Tap for removing motor)
(48) (35) (60)
[60 (2.36)]
H
H
M
0.08
0.08
0.02
M
M
[(142) 5.59]
Eye bolt
2-M8
(for power, brake and GND)
JL04V-2E24-11PE-B-R
JN2AS10ML2-R
(for encoder)
2-M8
For Eye bolt
220 (8.66)
235
(9.25)
( 270)
[(10.63)]
M8
depth 25 (1)
50 (1.97)
60 (2.36)
(.12)
3
35 0
-0.016 1.38 0
-.00064
)(
200 0
-0.046 7.87 0
-.00184
)(
65 (2.6)
(.16)
4 [16 (.63)]
[35 (1.4)]
216 (8.50)
163 (6.42)w/o Brake:
w/ Brake:
[96 (3.78)]
[(1.89)] [(1.38)]
[106 (4.17)]
w/o Brake:
w/ Brake:
[52 (2.05)]
[(2.36)]
8 (.32)
3 (.12)
Section H-H
10 0
-0.036
.4 0
-.00143
)(
n Dimension
n Applicable Amplifier
n Specifications n Torque Curve
l R2AA22500L
Power Supply 200 VAC
Model R2AA22500L*2
Rated Power kW 5
Maximum Speed min-1 4000
Rated Speed min-1 2000
Rated Torque N • m 24
lb • in 212
Peak Torque at Stall N • m 75
lb • in 664
Rotor Moment of Inertia x10-4 kg • m2 55
lb • in2 18.7
Encoder 17bit serial absolute
Motor Mass kg 24
lb 53
Operating Temperature 0 to 40°C (32 to 104°F)
Humidity 20 to 90% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
R2AA22500LXP00M RS3A15A2HA4
200 VAC RS2A15A0KA4 RS1A15AC RS3A15A0AA4
R2AA22500LCP00M w/ Brake RS2A15A2HA5
5
kW 220
mm
(8.66
inch)
MOTOR
POWER
MOTOR
FLANGE SIZE
Unit: mm (inch)
*2 Brake equipped motor is available. Refer to page 67 for brake specifications.
25
0
12-0.1
11.8(.46)
11.8
(.46)
5
(.2)
29
(1.14)
For cooling
6(.24)
15±1
(.59±.04)
Z-Channel Output
30(1.18) (Stroke)
148(5.83) 21(.83)
300
(11.81)
132(5.2)
170(6.69)
7
(.28) 3(.12)
180(7.09) (Min.)
210(8.27) (Max.)
300(11.81)
M3×6
24.5
(.96)
8(.31)
A
Measuring length: 20 mm
(.79)
117(4.61) (Min.)
0.1A
0
.24-.004
0
6-0.1
Hexagonal end
face position: random
10.9
(.43)
(Cable length)
9-pin D-sub connector
Power supply line
#26 AWG
25(.98) 55(2.17)
3-M3×4
20(.79)
For mounting
For mounting
(
)
(
)
0
.47-.004
5
(.2)
0
20
15
10
5
21.51
Speed (m/s)
Thrust (N )
0.5
0
Maximum thrust
Continuous thrust
n Dimension
n Applicable Amplifier
n Specifications n Thrust Curve
l DE0AC001A03MX00
Power Supply 48VDC
Model DE0AC001A03MX00
Rated Thrust N 5.1
lb 1.15
Peak Thrust N 16.5
lb 3.71
Maximum Speed m/s 2.0
Rated Speed m/s 1.0
Encoder Optical Incremental Encoder
Linear Encoder Resolution µm
1
(quadratured)
Motor Mass g 185
lb 0.408
Operating Temperature 0 to 40°C (32 to 104 °F)
Humidity 20 to 80% RH, no condensation
Power Supply Motor Amplifier
EtherCAT Indexer Modbus Analog/Pulse
48 VDC DE0AC001A03MX00 RF2J24A8HL5
1028-107023*3
5.1
N12
mm
(0.46
inch)
MOTOR
THRUST
MOTOR
WIDTH
Unit: mm (inch)
*3 1028-: w/ CPC screw lock type connector assembly.
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
26
AC SERVO SYSTEMS
Control function Position control/Speed control/Torque control (Parameter switching)
Main circuit power (Note 1) 3-Phase: 200 to 240 VAC +10, -15%, 50/60 Hz±3 Hz
Single-phase: 200 to 240 VAC +10, -15%, 50/60 Hz±3 Hz (Note 2)
Control power Single-phase: 200 to 240 VAC +10, -15%, 50/60 Hz±3 Hz
Ambient temperature 0 to +55˚C
Storage temperature -20 to +65˚C
Environment Operation/Storage humidity Below 90% RH (no condensation)
Elevation Below 1000 m
Vibration 4.9 m/s 2
Shock 19.6 m/s 2
Structure 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
n Built-in Functions
n Input/Output Signals
Speed control range 1:5000 (Internal speed command)
Frequency characteristics 2200 Hz (In high frequency sampling mode) *Differs for each model.
Allowable load inertia moment 10 times motor rotor inertia moment
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
Protection functions
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
Digital operator Status display, Monitor display, Alarm display, Parameter setting, Test run, Adjustment mode
Dynamic brake circuit Built-in
Regenerative resistor Built-in
Monitor Speed monitor (VMON) 2.0V±10% (at 1000 min-1)
Torque (thrust force) command monitor (TCMON) 2.0 V±10% (at 100%)
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
DC±2.0V at 1000min-1 command. Positive command (forward) motor rotation, maximum input voltage ±10V.
Approximately10kΩ
DC±2.0V at 1000min-1 command. Positive command (forward) motor rotation, maximum input voltage ±10V.
Approximately 10kΩ
Interactive photo coupler (sink, source connection): ×8 input
Input power voltage range: DC5V±5% / DC12V~DC24V±10%, 100mA or over(DC24V)
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.
±2.0VDC±15% (at rated torque), Input impedance: approximately 10kΩ
Open collector output: x 8 outputs
Power supply for general output circuit (CN1-49,OUT-PWR): DC5V±5% / DC12V to DC24V±10%, 20mA or over
Specification of Power supply for general output circuit
• DC5V±5% , Maximum current value 10mA (per 1 output )
• DC12V~DC15V±10% , Maximum current value 30mA (per 1 output)
• DC24V±10% , 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.
N/32768(N=1~32767), 1/N(N=1~64) or 2/N(N=2~64)
Binary code output, decimal ASCII output
Position
command
Speed command
Torque command
General input
Torque limit input
General output
Position signal
output
Maximum input
pulse frequency
Command voltage
Input impedance
Command voltage
Input impedance
Sequence input
Sequence output
Encoder output pulse signal
Encoder output serial signal
3E Model Analog/Pulse Input Type Servo Amplifier
27
Circuit Breaker (MCCB)
Setup Software
Host device
(To be provided by the customer)
Noise Filter
Electromagnetic Contactor
Brake Power
External Regenerative Resistor
T S R
Battery
Safety Unit,
Safety PLC, etc.
USB
Communication Cable
Communication Cable
between amplifiers
for tandem operation
Brake Cable Motor Power Cable
Encoder Cable
Servo Amplifier
(To be arranged by the customer)
I/O Cable
Safety Off Connector
(To be arranged by the customer)
1
2
3
7
8
9
11
10
Servo Motor
Model:
RS3A01A0AA4
RS3A02A0AA4
RS3A03A0AA4
RS3A05A0AA4
(To be arranged by the customer)
5
12
4a 4b
6a 6b
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.
Item Parts Number Description
3 1 Encoder Cable: 10 ft EEXTKABS2410FT
EEXTKABS24JN10FT For 0.55 kW and 1.2 kW motor
MEXTK1810FT
3 2 Motor Power Cable: 10 ft MEXTK18JN10FT For 0.55 kW motor
MEXTK14JN10FT For 1.2 kW motor
3 3 Brake Cable: 10 ft MEXTBRK2010FT Only for brake equipped motor
3 4a I/O Cable: 2 m QH0-CJ0201-S01 Both sides 50 pin connectors
4b Terminal Block QH0-TB001-S01 Used with I/O Cable (4a)
3 5 I/O Cable: 2 m QH0-CJ0203-S01 One side 50 pin connector, one side flying leads
3 6a Connector [CN4] AL-00718252-01 For STO, no need if (6b) is selected
3 6b Connector [CN4] AL-00718251-01 For STO cancellation, no need if 6a is selected
7 Connector [EN1, EN2] AL-00632607 No need if Encoder Cable (1) is selected
8 Connector [CNA] AL-00686902-01 Supplied with Amplifier
9 Connector [CNB] AL-Y0004079-01 No need if Motor Power Cable (2) is selected
10 Communication Cable: 1m AL-00911582-01 For tandem operation
3 11 USB Communication Cable: 1m AL-00896515-01
Communication with SANMOTION MOTOR Setup software
12 Battery [CN3] AL-00880402-01
Used when using a battery -backup method absolute encoder
System Configuration: 10A, 20A, 30A, 50A
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
28
AC SERVO SYSTEMS
Servo Motor
Communication Cable between
amplifiers for tandem operation
Circuit Breaker (MCCB) Setup Software
Noise Filter
Electromagnetic Contactor
Motor Power Cable
T S R
Battery
USB
Communication Cable
Host Device
(To be provided
by the customer)
Safety Unit,
Safety PLC, etc.
(To be arranged by the customer)
(To be arranged by the customer)
External Regenerative Resistor
I/O Cable
Model:
RS3A10A0AA4
RS3A15A0AA4
(To be arranged by the customer)
Encoder Cable
Motor Power + Brake Cable
1
3
2
11
4a 4b
5
7
6a 6b
Safety Off Connector
9
Servo Amplifier
10
8
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.
Item Parts Number Description
3 1 Encoder Cable: 10 ft EEXTKABS24JN10FT
3 2 Motor Power Cable: 10 ft MEXT10JN10FT For 2 kW motor
MEXT08JN10FT For 5 kW motor
3 3 Motor Power + Brake Cable: 10 ft MEXTB10JN10FT For brake equipped 2 kW motor
MEXTB08JN10FT For brake equipped 5 kW motor
3 4a I/O Cable: 2 m QH0-CJ0201-S01 Both sides 50 pin connectors, no need if (5) is selected
4b Terminal Block QH0-TB001-S01 Used with I/O Cable (4a)
3 5 I/O Cable: 2 m QH0-CJ0203-S01 One side 50 pin connector, one side flying leads
3 6a Connector [CN4] AL-00718252-01 For STO
3 6b Connector [CN4] AL-00718251-01 For STO cancellation
7 Connector [EN1, EN2] AL-00632607 No need if Encoder Cable (1) is selected
3 8 Connector [CNA] AL-Y0005159-01
9 Communication Cable: 1m AL-00911582-01 For tandem operation
3 10 USB Communication Cable: 1m AL-00896515-01
Communication with SANMOTION MOTOR Setup software
11 Battery [CN3] AL-00880402-01
Used when using a battery -backup method absolute encoder
System Configuration: 100A, 150A
29
*12
*12
5 VDC,
12 to 24 VDC
3-Phase 200 V
Servo motor
Servo amplifier
Amplifier capacity
10 to 50 A
10 to 50 A: CNB
100 to 150 A: Terminal block
For cannon plug
For cannon plug
Models equipped
with the Safe Torque
Off function only
MC
System error
Start ready
50/60 Hz
AC power 3
200 to 240 V
MC
CN1
OFF
Start ready
ON
MC
Emergency
stop
S
R
r
T
t
SG
17
18
SG
Clockwise
pulse
SG
SG
SG
SG
19
F-PC
F-PC
SG
R-PC
R-PC
SG
U
W
V
EN1
Red
(Green/Yellow)
White
Black
Green
RY1
(Install only devices with brakes)
Holding brake
Orange
(Yellow)
Orange
(Yellow)
Encoder
24 V
RB1
+
26
27
47
28
29
48
/T-REF
SG
20
21 -
+
V-REF
SG
SG
SG
+
-
23
22
SG
SG
T-COMP
F-TLA
SG
R-TLA
Clock-
wise side
SG
BTP-I
BTN-I
1
2
Lithium battery 3.6 VDC
CONT-COM
CONT1
5 to 24 VDC
50
37
36 CONT2
35 CONT3
34 CONT4
33 CONT5
32 CONT6
OUT-COM
OUT-COM
46
OUT8
OUT7 45
44
OUT6
43
OUT5
42
OUT4
41
OUT3
40
OUT2
39
OUT1
49
OUT-PWR
SG
31SG
30
MON1
SG
11
12
ZOP
SG
SG
10PS
9PS
8
7
ZO
ZO
6BO
5BO
4
3
AO
AO
Line driver
Equivalent to HD26C31
User unit
24
25
*3
*4
*6
*12
*12
RB2
SH SH
SH
*2
CNA
CNA
*8
Line driver
Position command
pulse input
Velocity command and
Torque command input
Torque control input
Battery input
General input
General
output
Monitor
output
Shield processing
*5
150
150
+5 V
+5 V
VT
CONT7
CONT8
13
15
14
16
SH
Shield processing
VT
1
2
4
3
6
5
8
NC
NC
HWGOFF1-
HWGOFF1+
HWGOFF2-
HWGOFF2+
7EDM-
EDM+
CN4
24 VDC
24 VDC
*10
*11
*9
*1 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
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 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.
*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.
*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.
*10 Do not connect anything to CN4 pin 1 and 2.
*11 An earth leakage circuit breaker conforming either to UL, IEC, or EN
standards is recommended.
*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.
Built-in
regenerative
resistor
Torque compensation
input
Counter-
clockwise
pulse
Counter-
clockwise
side
Encoder divided
signal output Amplifier capacity
100 to 150 A
RB1
Terminal block
+
RB2
RB4
External regenerative
resistor
Built-in
regenerative
resistor
CNA
*3
*2
Terminal block
S
R
r
T
t
Single-phase 200 VAC (amplifier capacity 10 to 50 A)
MC
System error
Start ready
MC
OFF
Start ready
ON
MC
Emergency
stop
User unit
AC power,
single-phase
200 to 240 V
50/60 Hz
*11
*13
S
R
r
T
t
CNA
For servo motor with fan
R
S
T
Fan
Wiring Diagram
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
30
AC SERVO SYSTEMS
[16.5 (.65)]
[19.5 (.77)]
130 (5.12)[70 (2.76)]
160 (6.3)
5
152 (5.98)
(5)
5 (.2)
50 40
[3 (.12)]
(1.97)
[5 (.2)]
[(.2)] (1.57) (.2)
5 (.2)
[5 (.2)]
[16.5 (.65)]
[19.5 (.77)]
130 (5.12)[70 (2.76)]
85 (3.35)
160 (6.3)
(16.5)
[19.5 (.77)]
130 (5.12)
[70 (2.76)]
40
160 (6.3)
[5 (.2)]
5 (.2)
530
152 (5.98)
(5)
[3 (.12)]
5 (.2)
(1.57)
[(.65)] [(.2)]
(1.18)
(.2)
(16.5)
[19.5 (.77)]
130 (5.12)[70 (2.76)]
40
160 (6.3)
[5 (.2)]
5 (.2)
530
152 (5.98)
(5)
[3 (.12)]
5
(1.57)
[(.65)]
[(.2)]
(1.18)
(.2)
(.2)
50 (1.97)
100 (3.94)
15 (.59)
205 (8.07)
5 (.2)
225 (8.86)
235 (9.25)
[16.5 (.65)]
[19.5 (.77)]
[70 (2.76)]
220 (8.66)
2 (.08)
6 (.24)
(16.5)
[(.65)]
[19.5 (.77)]
(70) 220 (8.66)
2 (.08)
5 (.2)225 (8.86)
235 (9.25)
120 (4.72)
100 (3.44)
75 (2.95)
6 (.24)
15 (.59)205 (8.07)
Dimensions
n RS3A01A0AA4
Mass: 0.8 kg (1.76 lb)
n RS3A02A0AA4
Mass: 0.8 kg (1.76 lb)
n RS3A05A0AA4
n RS3A15A0AA4
Mass: 1.6 kg (3.53 lb)
Mass: 4.9 kg (10.8 lb)
n RS3A03A0AA4
Mass: 0.9 kg (1.98 lb)
n RS3A10A0AA4
Mass: 4.2 kg (9.26 lb)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
31
Indexer Type Servo Amplifier
Control function Position control
Main circuit power (Note 1) 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)
Control circuit power Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz ± 3Hz
Ambient temperature 0 to +55˚C
Storage temperature -20 to +65˚C
Environment Operation/Storage humidity Below 90% RH (no condensation)
Elevation Below 1000 m
Vibration 4.9 m/s 2 Frequency range 10 to 55 Hz tested for 2 hours in each direction X.Y.Z
Shock 19.6 m/s 2
Structure 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 RS1A01AC, RS1A03AC, RS1A05AC
n Performance
n Built-in Functions
n Input/Output Signals
n Positioning Function
Speed control range 1:5000 (Internal speed command)
Frequency characteristics 600 Hz
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,
Protection functions
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
LED display Status display, Monitor display, Alarm display, Parameter setting, Adjustment mode
Dynamic brake circuit Built-in
Regeneration process Built-in
Monitor Speed monitor (VMON) 2.0V±10% (at 1000 min-1)
Torque monitor (TCMON) 2.0V±10% (at 100%)
Servo ON, Alarm rest, Start-up, Zero-return, Analog, Override/analog high-speed, Cancellation,
Sequence input signal
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
Sequence output signal
NC-ready, Holding brake timing, Error, Effective external operation, On operation, Positioning completion,
In-position output, Zero-return completion, Multiple purpose output (8 bits)
Number of control axis 1 pc
Number of registration points It is possible to set it up to 254 points (P000 to P253)
Maximum command amounts -2,147,483,648 to +2,147,483,647
Command unit mm or pulse
Fast-forwarding speed 2,147,483.647 mm/sec (0.001 mm/pulse selection)
Addition & Reduction speed Automatic addition & Reduction speed (Straight line/S curve shift)
Point data setting Setting by numeric value input with PC or teaching
Traveling point number setting Parallel 8 bit (Binary code)
Current limitation 0 to 510% (Rating = 100%), however, less than instant maximum stall current
Software limitation Yes
Traveling mode Zero-point return, Analog (JOG, 1 Step), Specified point traveling
Area signal 8 zones in maximum
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
32
AC SERVO SYSTEMS
System Configuration: 15A, 30A, 50A
Servo Amplifier
Servo motor
Used to protect the power line.
Cuts off power in the case of an
overload.
(To be arranged by the customer)
Circuit Breaker (MCCB)
Attached to prevent external noise
from the power source line. (To be
arranged by the customer)
Noise Filter
Switches power on and off. Protective circuit must
be created. (To be arranged by the customer)
Electromagnetic Contactor
External Regenerative Resistor
T S R
DC Power Source for Brake
Model:
RS1A01AC
RS1A03AC
RS1A05AC
Parameter configuration and
monitoring is possible via
communication with a PC.
Setup Software
1Encoder Cable
8
10
Motor Power Cable
2
Brake Cable
3
9
General-purpose
I/O connector,
homing, probing, and
general-purpose signals
Host Devices
I/O Cable
Terminal block
I/O Cable
4a
4b
5
6
6
PC Interface Cable
7
11
Battery
12
Item Parts Number Description
3 1 Encoder Cable: 10 ft EEXTABS2410FT
3 2 Motor Power Cable: 10 ft MEXT1810FT
3 Brake Cable: 10 ft MEXTBRK2010FT Only for Brake Equipped Motor
3 4a I/O Cable: 2 m QH0-CJ0201-S01 Both sides 50 pin connectors
4b Terminal block QH0-TB001-S01 Used with I/O Cable (4a)
3 5 I/O Cable: 2 m QH0-CJ0203-S01 One side 50 pin connector, one side flying leads
6 Connector [CN1] AL-00385594 No need if I/O cable (4a or 5) is selected
7 Connector [CN2] AL-00385596 No need if Encoder Cable (1) is selected
3 8 Connector [CNA] AL-00329461-01
9 Connector [CNB] AL-Y0000988-01 Supplied with Amplifier
10 Connector [CNC] AL-00329458-01 No need if Motor Power Cable (2) is selected
11 PC Interface Cable AL-00490833-01 Communication with SANMOTION R Setup Software
12 Battery AL-00494635-01
To build a complete system, you need to have checked items.
Note: I/O Cable can be chosen either 4a or 5.
33
Servo Motor
Cuts off power in the case of an
overload, to protect the power line.
Circuit Breaker (MCCB)
Attached to prevent external noise from
the power source line.
Noise Filter
Switches power on and off.
Create the protective circuit.
Electromagnetic Contactor
External Regeneration Resistor
DC Power Source
for Brake
Motor Power Cable2
1Encoder Cable
Parameter configuration and
monitoring is possible via
communication with a PC.
Setup Software
PC Interface Cable
Motor Power + Brake Cable
3
4a I/O Cable
4b Terminal block
5I/O Cable
T S R
Servo Amplifier Model:
RS1A10AC
RS1A15AC
General-purpose
I/O connector,
homing, probing, and
general-purpose signals
Host Devices
(To be arranged by the customer)
(To be arranged by the customer)
(To be arranged by the customer)
7
8
6
System Configuration: 100A, 150A
Battery
9
To build a complete system, you need to have checked items.
Note: I/O Cable can be chosen either 4a or 5.
Item Parts Number Description
3 1 Encoder Cable: 10 ft EEXTABS24JN10FT
MEXT18JN10FT for 0.55 kW
3 2 Motor Power Cable: 10 ft MEXT12JN10FT for 1.2 kW
MEXT10JN10FT for 2 kW, 5 kW
3 Motor Power + Brake Cable: 10 ft MEXTB10JN10FT Only for Brake Equipped Motor
3 4a I/O Cable: 2 m QH0-CJ0201-S01 Both sides 50 pin connectors
4b Terminal block QH0-TB001-S01 Used with I/O Cable (4a)
3 5 I/O Cable: 2 m QH0-CJ0203-S01 One side 50 pin connector, one side flying leads
6 Connector [CN1] AL-00385594 No need if I/O cable (4a or 5) is selected
7 Connector [CN2] AL-00385596 No need if Encoder Cable (1) is selected
8 PC Interface Cable AL-00490833-01 Communication with SANMOTION R Setup Software
9 Battery AL-00494635-01
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
34
AC SERVO SYSTEMS
Wiring Diagram
3-phase (200V AC)
−
User Unit
3-phase
AC power
Note 10
System Error
Emergency
Stop
Operation Prep.
ON Operation Prep.
OFF
External power source for output (+24V)
NC ready (NCRDY)
In-position (INPS)
Positioning complete (PFIN)
While in operation (MOVE)
External operation effective (EXT)
Homing complete (ZFIN)
Holding brake excitation timing output (HBON)
Error output (Err)
Power ON ready (A-RDY)
Slow down before Home (SDN)
External power source for input (+24V)
Common for output external power (24G)
1 step feeding (+1step)
1 step feeding (-1step)
Interruption start (I_RUN)
MFIN (MFIN)
External data setting (E_STR)
Output selection 3 (SEL3)
Over travel (-0T)
Over travel (+0T)
Manual feeding (+JOG)
Manual feeding (-JOG)
Override (OVRID)/Manual high speed (RAP)
Homing start (ZRT)
External error (EXT_E)
Alarm reset (ARST)
Servo ON (S-ON)
Cancel (CACL)
Output selection 1 (SEL1)
Output selection 2 (SEL2)
Start (RUN)
Point specification
200 to 230V
50/60Hz
MC CNA
T
Note 11
R
S
t
r
MC
MC
RB2
CNB
DL1
P
DL2
RB1
Note 2
Note 3
Note 4
SERVO AMPLIFIER
Regenerative
resistor
Shell:
10320-52A0-008
W
V
CNC
Plug:
10120-3000PE
U
CN2
SH SH
SERVO MOTOR
RY1
Orange
(for the type with
Holding brake
a brake only)
(Yellow)
Orange
(Yellow)
Note 6
White
Red
Green
(Green/Yellow)
Black
Encoder
Encoder connector
Note 5
Note 7
CN1
Note 2
Note 8
1
2
7
3
4
6
5
8
9
10
11
14
12
13
15
16
24
17
18
26
25
19
27
20
21
22
23
28
29
30
31
33
32
34
35
36
39
37
38
40
41
46
42
43
45
44
47
48
49
50
OUT(1)
OUT(4)
OUT(3)
OUT(2)
OUT(5)
OUT(6)
OUT(7)
OUT(8)
General-purpose output
Note 8
IN(16)
IN(1)
IN(2)
IN(8)
IN(4)
IN(64)
IN(32)
IN(128)
Shell:
10350-52A0-008
Plug:
10150-3000PE
MC
MC
1-phase(200V AC)
MC
Operation Prep.
System Error
Emergency
Stop
ON
Operation Prep.
OFF
User Unit
Note 10
1-phase
AC power
200 to 230V
50/60Hz
24V
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.
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 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.
35
Dimensions
5 (.2)
135.5 (5.33)
130 (5.12)
4
(.16)
(24)
[(.94)]
(70)
[(2.76)]
[27 (1.06)]
90 (3.54)
168 (6.61)
5
(.2)
160 (6.3) 5 (.2)
80 (3.15)
Screw M4
5 (.2)
RB1
RB2
V
W
U
N
C
C2
C
N
N
RB1
RB2
PB
DL2
DL1
C
C
N
1
POWER
T
t
S
R
r
C
A
N
CHARGE
C
P
WR/
MODE
AC SERVO SYSTEMS
Fan
Wind
direction
RS1A05AC
TYPE
[6 (.23)]
5.5 (.2)
2 (.08)
15 (.59)
6
(.24)
r
t
U
W
V
RB4
RB1
RB2
S
T
DL1
DL2
P
-
CHARGE
1
2
N
C
N
C
POWER
C
P
R
R
AC SERVO SYSTEMS
MODE
WR/
RS1A10A*
235 (9.25) [70 (2.76)]
50 (2)
100 (3.94)
205 (8.07)
225 (8.86)
235 (9.25)
6
(.24)
5 (.2)
[24 (.94)]
[27 (1.06)]
Wind direction
Fan [75 (2.95)]
TYPE
(.16)
130 (5.12)
135.5 (5.33)
4
[27 (1.06)]
5±0.5 (.2±.02)
[(.94)]
(70)
[(2.76)]
(24) 7 (.28)
33
5 (.2)
160 (6.3)
4
(.16)
(1.3)
45
168 (6.61)
(1.77)
Screw M4
TYPE
7 (.28)
5±0.5 (.2±.02)
50 (1.97)
168 (6.61)
(70)
(24)
4
Screw M4
[27 (1.06)]
[(.94)]
[(2.76)]
(.16)
130 (5.2)
135.5 (5.33)
5 (.2)
38
160 (6.3)
4
Fan
Wind
direction
(.16)
(1.5)
TYPE
5 (.2)
6
(.24)
15 (.59)
2 (.08)
r
t
U
W
V
RB4
RB1
RB2
S
T
DL1
DL2
P
-
CHARGE
1
2
N
C
N
C
POWER
C
P
R
Wind direction
Fan
AC SERVO SYSTEMS
MODE WR/
RS1A15A*
235 (9.25)
5.5 (.2)
[70 (2.76)]
[24 (.94)] 50 (2)
100 (3.94)
205 (8.07)
[6 (.23)]
225 (8.56)
235 (9.25)
6
[75 (2.95)]
130 (5.12)
[27 (1.06)]
(.24)
TYPE
n RS1A01AC
Mass: 0.9 kg (2.0 lb)
n RS1A03AC
Mass: 1.0 kg (2.2 lb)
n RS1A10AC
Mass: 5.2 kg (11.5 lb)
n RS1A05AC
Mass: 2.2 kg (4.9 lb)
n RS1A15AC
Mass: 6.5 kg (14.3 lb)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
36
AC SERVO SYSTEMS
Indexer Modbus Interface Type Servo Amplifier
n Specifications
Control function Position control
Main circuit power (Note 1) 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)
Control circuit power Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz ± 3Hz
Ambient temperature 0 to +55˚C
Storage temperature -20 to +65˚C
Environment Operation/Storage humidity Below 90% RH (no condensation)
Elevation Below 1000 m
Vibration 4.9 m/s 2 Frequency range 10 to 55 Hz tested for 2 hours in each direction X.Y.Z
Shock 19.6 m/s 2
Structure 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
n Built-in Functions
n Modbus Interface
n Positioning Function
Speed control range 1:5000 (Internal speed command)
Frequency characteristics 600 Hz
Over current, Current detection error, Overload, Regeneration error, Amplifier overheating, External overheating, Over voltage, Main
Protection functions
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
LED display Status display, Monitor display, Alarm display, Parameter setting, Adjustment mode
Dynamic brake circuit Built-in
Regeneration process Built-in
Monitor Speed monitor (VMON) 2.0V±10% (at 1000 min-1)
Torque monitor (TCMON) 2.0V±10% (at 100%)
Item Content Default Value Remark
Protocol Modbus-RTU - Binary mode fixed
(No compliant with ASCII mode)
Interface RS-485 (1:N) - N=8 (Note 1)
Baud rate (bps)
4800, 9600, 19200, 38400, 57600, 115200 115200 (Note 2)
Start bit 1 1 Fixed
Data length (bit) 8 8 Fixed
Parity None, even/odd number even (Note 3)
Stop bit 1, 2 1 (Note 3)
Electric specification Based on RS-485 RS-485 compliant
(half duplex communication) (half duplex communication) Fixed
Connector RJ-45 - -
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).
Number of control axis 1 pc
Number of registration points
It is possible to set it up to 254 points (P000 to P253)
Maximum command amounts
-2,147,483,648 to +2,147,483,647
Command unit mm or pulse
Fast-forwarding speed 2,147,483.647 mm/sec (0.001 mm/pulse selection)
Addition & Reduction speed
Automatic addition & Reduction speed (Straight line/S curve shift)
Point data setting Setting by numeric value input with PC or teaching
Traveling point number setting
Parallel 8 bit (Binary code)
Current limitation 0 to 510% (Rating = 100%), however, less than instant maximum stall current
Software limitation Yes
Traveling mode Zero-point return, analog (JOG, 1 Step), Specified point traveling
Area signal 8 zones in maximum
37
System Configuration
Servo Amplifier
Servo motor
Used to protect the power line.
Cuts off power in the case of an
overload.
(To be arranged by the customer)
Circuit Breaker (MCCB)
Attached to prevent external noise
from the power source line. (To be
arranged by the customer)
Noise Filter
Switches power on and off. Protective circuit must
be created. (To be arranged by the customer)
Electromagnetic Contactor
External Regenerative Resistor
DC Power Source for Brake
To next device
1Encoder Cable
Motor Power Cable
2
Brake Cable
3
Parameter configuration and
monitoring is possible via
communication with a PC.
Setup Software
PC Interface Cable
10
Master Controller
I/O Cable
4
Model:
RS1A01AF
RS1A03AF
General-purpose I/O
9
8
7
5
6
T S R
Battery
11
Item Parts Number Description
3 1 Encoder Cable: 10 ft EEXTABS2410FT
3 2 Motor Power Cable: 10 ft MEXT1810FT
3 Brake Cable: 10 ft MEXTBRK2010FT Only for Brake Equipped Motor
3 4 I/O Cable: 3 ft 1026-100410
5 Connector [CN1] AL-Y0004290 No need if I/O Cable (4) is selected
6 Connector [CN2] AL-00385596 No need if Encoder Cable (1) is selected
3 7 Connector [CNA] AL-00329461-01
8 Connector [CNB] AL-Y0000988-01 Supplied with Amplifier
9 Connector [CNC] AL-00329458-01 No need if Motor Power Cable (2) is selected
10 PC Interface Cable AL-00490833-01 Communication with SANMOTION R Setup Software
11 Battery AL-00494635-01
To build a complete system, you need to have checked items.
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
38
AC SERVO SYSTEMS
Wiring Diagram
3-phase(200V AC)
3-phase
AC power
200 to 230V
50/60Hz
Operation Prep.
ON
System Error
Emergency
Stop
Operation Prep.
OFF
SH
SH
OUT-COM
6
CONT3
CONT4
5
4
MC
Note10
MC
MC
CONT1
CONT2
2
3
1
OUT1 7
OUT2 8
OUT-PWR 9
P
RB2
DL1
DL2
RB1
CNA
CN1
T
S
t
r
R
+
Encoder connector
CN2
SH
Plug: 10120-3000PE,
Shell: 10320-52A0-008
SH
V
U
Regenerative
resistor
CNC
W
User Unit
CNB
RY1
A/A'
GND
B/B'
GND
8
SG
4
5
CN4
8
A/A'
B/B' 4
5
CN3
CONT-COM
Plug: TM21P-88P or equivalent
Combination
RS-485
TRANCEIVER
SH
SH
SW2
1/4W 120Ω
(3M)
(Hirose)
Plug: TM21P-88P or equivalent
Combination
(Hirose)
SERVO MOTOR
Plug kit: MUF-PK10K-X or equivalent
Combination
(J.S.T. Mfg. CO., LTD)
Combination
24V
24VDC
24VDC
General-purpose
Output
General-purpose
Input
Note 11
Note 2
Note 3
Note 4
SERVO AMPLIFIER
MC
MC
MC
User Unit
Note 10
1-phase(200V AC)
System Error
Emergency
Stop
Operation Prep.
ON Operation Prep.
OFF
1-phase
AC power
200 to 230V
50/60Hz
Holding brake
(for the type with
a brake only)
Orange
(Yellow)
Orange
(Yellow)
Note 6
Note 5
Note 8
Note 1
Note 1
Note 8
Note 7
White
Red
Green
(Green/Yellow)
Black
Encoder
Note 1) For the parts marked , use a shielded cable.
Note 2) Connect regenerative resistor between RB1 and RB2 terminals.
Note 3) 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.
39
7 (.28)
5±0.5 (.2±.02)
(24)
4
Screw M4
[27 (1.06)]
[(.94)]
(.16)
130 (5.12)
135.5 (5.33)
5 (.2)
38
160 (6.3)
4
Fan
Wind
direction
(.16)
(1.5)
50 (1.97)
168 (6.61)
TYPE
C
P
C
N
C
3
4
N
1
C
N
C
N
2
(.16)
130 (5.12)
135.5 (5.33)
4
[27 (1.06)]
5±0.5 (.2±.02)
[(.94)]
(24) 7 (.28)
33
5 (.2)
160 (6.3)
4
(.16)
(1.3)
Screw M4
45
168 (6.61)
(1.77)
C
P
3
C
N
N
4
C
C
N
1
2
N
C
TYPE
Dimensions
n RS1A01AF
Mass: 0.9 kg (2.0 lb)
n RS1A03AF
Mass: 1.0 kg (2.2 lb)
Unit: mm (inch)
Unit: mm (inch)
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
40
AC SERVO SYSTEMS
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.
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 µs (62.5 µs: 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)
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
Control function Speed control/Torque control/Position control (Parameter changeover)
Main Circuit Power (Note 1) 3-Phase: 200 to 240 VAC +10, -15%, 50/60 Hz±3 Hz
Single-phase: 200 to 240 VAC +10, -15%, 50/60 Hz±3 Hz (Note 2)
Control Power Single-phase: 200 to 240 VAC +10, -15%, 50/60 Hz±3 Hz
Ambient temperature 0 to +55˚C
Storage temperature -20 to +65˚C
Environment Operation/Storage humidity Below 90% RH (no condensation)
Elevation Below 1000 m
Vibration 4.9 m/s 2
Shock 19.6 m/s 2
Structure Built-in tray type power supply
n Performance
n Built-in Functions
n EtherCAT Interface Specifications
Speed control range 1:5000 (Internal speed command)
Frequency characteristics 2200 Hz (In high frequency sampling mode) *Differs for each model.
Allowable load inertia moment 10 times motor rotor inertia moment
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
Protection functions
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.
Digital operator Status display, Monitor display, Alarm display, Test operation
Dynamic brake circuit Built-in
Regenerative resistor Built-in
Monitor Speed monitor (VMON) 2.0V±10% (at 1000 min-1)
Torque (thrust force) command monitor (TCMON) 2.0 V±10% (at 100%)
3E Model EtherCAT Interface Servo Amplifier
n Safety Standard
Servo amplifier type Safety standards
UL, c-UL ratings UL 61800-5-1
Low-voltage directive IEC/EN 61800-5-1
All models EN standards • IEC/EN 61000-6-4 • IEC/EN 61800-3
EMC directive • IEC/EN 61000-6-2 • IEC/EN 61326-1
• EN61000-6-7
KC mark (Korea Certification Mark) KN 61000-6-2, KN 61000-6-4
Model with safety function
Function safety standards • IEC61508, SIL3 •
ISO13894-1, Cat3, PL=e
• IEC62061, SILCL3
41
Battery
10
3E Model Analog/Pulse Input Type Servo Amplifier3E Model Analog/Pulse Input Type Servo Amplifier
To build a complete system, you need to have checked items.
3 1
3 2
3 3
4
5
6
7
8
3 9
10
Item Parts Number Description
Encoder Cable: 10 ft EEXTKABS2410FT
EEXTKABS24JN10FT For 0.55 kW and 1.2 kW motor
MEXTK1810FT
Motor Power Cable: 10 ft MEXTK18JN10FT For 0.55 kW motor
MEXTK14JN10FT For 1.2 kW motor
Brake Cable: 10 ft MEXTBRK2010FT Only for brake equipped motor
Connector [EN1, EN2] AL-Y0004079-01 No need if Encoder Cable (1) is selected
Connector [CN4] AL-00718252-01 For STO, no need if safety device is not installed
Connector [CN2] AL-00842383 For general I/O signals
Connector [CNA] AL-00686902-01 Supplied with Amplifier
Connector [CNB] AL-Y0004079-01 No need if Motor Power Cable (2) is selected
USB Communication Cable: 1m AL-00896515-01
Communication with SANMOTION MOTOR Setup software
Battery [CN3] AL-00880402-01
Used when using a battery -backup method absolute encoder
System Configuration: 10A, 20A, 30A, 50A
Encoder Cable
Servo Amplifier
Servo motor
External Regenerative Resistor
T S R
Safety Unit, Safet
y
PLC, etc.
DC Power Source for Brake
Brake Cable
Motor Power Cable
2
3
1
9
To next amplifier
8
7
5
4
Model:
RS3A01A2HA4
RS3A02A2HA4
RS3A03A2HA4
RS3A05A2HA4
Master
Controller
General-purpose I/O
Setup Software
6
Circuit Breaker (MCCB)
Noise Filter
Electromagnetic Contactor
(To be arranged by the customer)
(To be arranged by the customer)
USB Communication Cable
(To be arranged by the customer)
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
42
AC SERVO SYSTEMS
Circuit breaker (MCCB)
(To be arranged by the customer)
(To be arranged by the customer)
Servo Motor
To next amplifier
Setup Software
Master Controller
External Regeneration Resistor
Safety Unit,
Safety PLC, etc.
8
1Encoder Cable
Motor Power Cable
2
Motor Power + Brake Cable
3
T S R
DC Power Source
for Brake
6
4
5
7
USB communication
cable
Servo Amplifier Model:
RS3A10A2HA4
RS3A15A2HA4
(To be arranged by the customer)
General-purpose I/O
Noise filter
Electromagnetic contactor
Battery
9
3E Model Analog/Pulse Input Type Servo Amplifier3E Model Analog/Pulse Input Type Servo Amplifier
System Configuration: 100A, 150A
Item Parts Number Description
3 1 Encoder Cable: 10 ft EEXTKABS24JN10FT
3 2 Motor Power Cable: 10 ft MEXT10JN10FT For 2 kW motor
MEXT08JN10FT For 5 kW motor
3 3 Motor Power + Brake Cable: 10 ft MEXTB10JN10FT For brake equipped 2 kW motor
MEXTB08JN10FT For brake equipped 5 kW motor
4 Connector [EN1, EN2] AL-Y0004079-01 No need if Encoder Cable (1) is selected
5 Connector [CN4] AL-00718252-01 For STO, no need if safety device is not installed
6 Connector [CN2] AL-00842383 For general I/O signals
3 7 Connector [CNA] AL-Y0005159-01
3 8 USB Communication Cable: 1m AL-00896515-01
Communication with SANMOTION MOTOR Setup software
9 Battery [CN3] AL-00880402-01
Used when using a battery -backup method absolute encoder
To build a complete system, you need to have checked items.
43
MC
IN/OUT
S
R
r
T
t
U
W
V
EN1
RY1
24 V
RB1
+
1
2
CONT1+
CONT1-
User Unit
*3
*4
RB2
SH SH
*2
CNA
100~150 A: TB
*5
4
5
8
7
6
3
CONT2-
CONT2+
SH
6
5
8
3
4
HWGOFF1+
EDM+
HWGOFF1-
HWGOFF2-
HWGOFF2+
SH
Shieled
Reserved
(Do not connect)
DC24 V
*10
DC24 V
Battery input
Lithium battery DC3.6 V
EtherCAT
Input/Output
CN4
EDM-
Shield
processing
SH
3
4
5
6
Shield
processing
*7
3-Phase 200 V
*9
Amplifier capacity
10 to 50 A
10~50 A: CNB
*11
*10
Single-phase 200 VAC (amplifier capacity 10 to 50 A)
MC
MC
200
~
230 V
AC Power
single-phase
50/60 Hz
*9
User unit
Amplifier capacity
75 A: CNA
100 A, 150 A: TB
Amplifier capacity
300 A
+
RB4
RB2
RB1
*2
*3
Terminal block
P
+
RB1
RB2
*3
*2
7
16 OUT1+
OUT1-
17
CN2
OUT2-
OUT2+
19
18
CONT4-
10
CONT3-
CONT4+
9
8
CONT3+
7
CONT6-
15
CONT6+
CONT5-
14
12
CONT5+
11
20
21
22
23
24
Reserved
(Do not connect) *8
2
1
SG
13
26
EN2
25
*12
CONT7+
CONT7-
DC5
~
24 V
*10
1
2
CN3
1
2
for encoder
MC
MC
U
10
~
50 A: CNA
100
~
150 A: TB
10
~
50 A,
100
~
150 A: CNA
S
R
r
T
t
50/60 Hz
AC power
3-phase
200 to 240 V
MC
Start ready
OFF
Start ready
ON
System error
Emergency
stop
Built-in
regenerative
resistor
Servo amplifier
For cannon plug
Servo motor
Red
(Green/Yellow)
White
Black
Green
Orange
(Yellow)
Orange
(Yellow)
(Install only devices with brakes)
Holding brake
For cannon plug
Encoder
Models equipped
with the Safe
Torque Off
function only
External regenerative
resistor External regenerative
resistor
Built-in
regenerative
resistor
Start ready
OFF
Start ready
ON
System error
Emergency
stop
General-purpose
input
General-purpose
output
*1 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 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.
*8 Do not connect anything to CN4 pin 1 and 2.
*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.
*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.
3E Model Analog/Pulse Input Type Servo Amplifier3E Model Analog/Pulse Input Type Servo Amplifier
Wiring Diagram
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
44
AC SERVO SYSTEMS
5 (.2)
5
152 (5.98)
(5)
5
40
[.12 (3)]
(16.5)
[19.5 (.77)]
130 (5.12)
160 (6.3)
[70 (2.76)]
50
(5)
(1.97)
[(.65)]
[(.2)] (1.57) (.2)
(.2)
[(.2)]
(16.5)
[19.5 (.77)]
130 (5.12)
[70 (2.76)]
5
75 (2.95)
[5 (.2)]
5 (.2)152 (5.98)[3 (.12)]
85 (3.35)
160 (6.3)
2-5 (.2)
(5)
[(.65)]
[(.2)]
(.2)
5 (.2)
30
152 (5.98)
(5)
[3 (.12)]
5
(16.5)
[19.5 (.77)]
130 (5.12)[70 (2.76)][70 (2.76)]
40
160 (6.3)
(5)
5
(1.57) [(.2)] (1.18)
(.2)
[(.2)]
(.2)
[(.65)]
5 (.2)
530
152 (5.98)
(5)
[3 (.12)]
5
(16.5)
[19.5 (.77)]
130 (5.12)[70 (2.76)]
40
160 (6.3)
(5)
[(.65)]
[(.2)] (1.18) (.2)
(.2)
[(.2)]
(1.57)
4-6 (.24)
50 (1.97)
100 (3.94)
15 (.59)205 (8.07)
5 (.2)225 (8.86)
235 (9.25)
(16.5)
[19.5 (.77)]
[70 (2.76)] 220 (8.66)
2 (.08)
[(.65)]
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
(16.5)
[19.5 (.77)]
[70 (2.76)] 220 (8.66)
2 (.08)4-6 (.24)
75 (2.95)
100 (3.94)
5 (.2)225 (8.86)
235 (9.25)
15 (.59)205 (8.07)
120 (4.72)
[(.65)]
Dimensions
n RS3A01A2HA4
Mass: 0.8 kg (1.76 lb)
n RS3A02A2HA4
Mass: 0.8 kg (1.76 lb)
n RS3A05A2HA4
Mass: 1.6 kg (3.53 lb)
n RS3A03A2HA4
Mass: 0.9 kg (1.98 lb)
n RS3A10A2HA4 n RS3A15A2HA4
Mass: 4.2 kg (9.26 lb)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch) Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
Mass: 4.9 kg (10.8 lb) Unit: mm (inch)
45
EtherCAT Interface Type Servo Amplifier
n Specifications
Control function Position control/Speed control/Torque control (Parameter changeover)
Three-phase: 200 to 230 VAC +10, -15%, 50/60 Hz ± 3Hz
Main circuit power (Note 1) 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)
Control circuit power 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)
Ambient temperature 0 to +55˚C
Storage temperature -20 to +65˚C
Environment Operation/Storage humidity Below 90% RH (no condensation)
Elevation Below 1000 m
Vibration 4.9 m/s 2 Frequency range 10 to 55 Hz tested for 2 hours in each direction X.Y.Z
Shock 19.6 m/s 2
Structure 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
n Built-in Functions
n EtherCAT Interface Specifications
n Safety Standard
Speed control range 1:5000 (Internal speed command)
Frequency characteristics 800 Hz
Over current, Current detection error, Overload, Regeneration error, Amplifier overheating, External overheating, Over voltage, Main
Protection functions
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
LED display Status display, Monitor display, Alarm display, Parameter setting, Adjustment mode
Dynamic brake circuit Built-in
Regeneration process Built-in
Monitor Speed monitor (VMON) 2.0V±10% (at 1000 min-1)
Torque monitor (TCMON) 2.0V±10% (at 100%)
Physical layer IEC61158-2
IEEE802.3u 100BASE-TX
Data link layer IEC61158-3,-4 Type12
Application layer IEC61158-5,-6 Type12
Device profile IEC61800-7 Profile type1(CiA402)
•
CoE (CANopen over EtherCAT)
•
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)
Communication object SDO (Service Data Object)
PDO (Process Data Object)
PDO length Output: Max.64Byte Input: Max.64Byte Total: Max. 128 Bytes
Synchronization function
SYNC0, SYNC1 Event Synchronization Mode (DC Mode), Synchronous with SM2 Event Mode, Asynchronous Mode
Operation mode Profile Position Mode, Profile Velocity Mode, Profile Torque Mode, Homing Mode, Cycle 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 2 inputs, 2 outputs (4 total)
Servo amplifier type Safety standards
UL ratings UL508C
Low-voltage directive • EN61800−5−1
All models EN standards • EN55011, G1, ClassA
EMC directive • EN61000−6−2
• EN61800−3
Model with safety function
Function safety • IEC61508, SIL2 • IEC62061, SILCL2
standards
• ISO13849−1, Cat.3, PL = d • EN954−1, Cat. 3
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
46
AC SERVO SYSTEMS
System Configuration: 15A, 30A, 50A
Encoder Cable
Servo Amplifier
Servo motor
Used to protect the power line.
Cuts off power in the case of an
overload.
(To be arranged by the customer)
Circuit Breaker (MCCB)
Attached to prevent external noise
from the power source line. (To be
arranged by the customer)
Noise Filter
Switches power on and off. Protective circuit must
be created. (To be arranged by the customer)
Electromagnetic Contactor
External Regenerative Resistor
T S R
Safety Unit, Safety
PLC, etc.
PC Interface Cable
DC Power Source for Brake
Brake Cable
Motor Power Cable2
3
1
11
To next amplifier
10
9
4
7
8
Model:
RS201A0KA4
RS203A0KA4
RS2A05A0KA4
I/O Cable
Parameter configuration and
monitoring is possible via
communication with a PC.
Master Controller
General-purpose I/O
5
Safety Off/
Battery Cable
6
Safety Off Cable
Setup Software
Battery
12
Item Parts Number Description
3 1 Encoder Cable: 10 ft EEXTKABS2410FT
3 2 Motor Power Cable: 10 ft MEXTK1810FT
3 Brake Cable: 10 ft MEXTBRK2010FT Only for Brake Equipped Motor
4 I/O Cable: 3 ft 1026-100407
3 5 Safety Off Cable: 3 ft 1026-100410 One side flying leads
6 Safety Off / Battery Cable: 3 ft 1026-100416 One side flying leads + Battery + Holder
7 Connector [CN2] AL-Y0004290-02 No need if Safety Off Cable (5) is selected
8 Connector [EN1] AL-00632607 No need if Encoder Cable (1) is selected
9 Connector [CNA] AL-00686902-01 Supplied with Amplifier
10 Connector [CNB] AL-Y0004079-01 No need if Motor Power Cable (2) is selected
11 PC Interface Cable AL-00689703-01 Communication with SANMOTION MOTOR Setup Software
12 Battery 1025-106187 Battery + Holder (ask us)
To build a complete system, you need to have checked items.
47
System Configuration: 100A, 150A
Servo Motor
To next amplifier
Cuts off power in the case of an
overload, to protect the power line.
Circuit Breaker (MCCB)
Parameter configuration and
monitoring is possible via
communication with a PC.
Setup Software
Master Controller
Attached to prevent external noise
from the power source line.
Noise Filter
Switches power on and off.
Create the protective circuit.
Electromagnetic Contactor
External Regeneration Resistor
Safety Unit,
Safety PLC, etc.
11
1Encoder Cable
Motor Power Cable
2
Motor Power + Brake Cable
3
T S R
DC Power Source
for Brake
4I/O Cable
5Safety Off Cable
6Safety Off/
Battery Cable
7
8
9
PC Interface Cable
Servo Amplifier Model:
RS2A10A0KA4
RS2A15A0KA4
(To be arranged by the customer)
(To be arranged by the customer)
(To be arranged by the customer)
Battery
11
Item Parts Number Description
3 1 Encoder Cable: 10 ft EEXTKABS24JN10FT
MEXTK18JN10FT For 0.5 kW motor
3 2 Motor Power Cable: 10 ft MEXTK14JN10FT For 1.2 kW motor
MEXT10JN10FT For 2 kW motor
MEXT08JN10FT For 5 kW motor
3 Motor Power + Brake Cable: 10 ft MEXTB10JN10FT For brake equipped 2 kW motor
MEXTB08JN10FT For brake equipped 5 kW motor
4 I/O Cable: 3 ft 1026-100407
3 5 Safety Off Cable: 3 ft 1026-100410 One side flying leads
6 Safety Off / Battery Cable: 3 ft 1026-100416 One side flying leads + Battery + Holder
7 Connector [EN1] AL-00632607 No need if Encoder Cable (1) is selected
8 Connector [CN2] AL-Y0004290-02 No need if Safety Off Cable (5) is selected
3 9 Connector [CNA] AL-Y0005159-01
10 PC Interface Cable AL-00689703-01
Communication with SANMOTION MOTOR Setup Software
11 Battery 1025-106187 Battery + Holder (ask us)
To build a complete system, you need to have checked items.
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
48
AC SERVO SYSTEMS
Wiring Diagram
CN0/1
S
R
r
T
t
U
W
V
EN1
RY1
24V
1
2
OUT1+
OUT1-
CONT1+
CONT1-
Note 4
SH SH
CNA
Note 5
4
5
8
7
6
3
CN3
CONT2-
CONT2+
SH
1
2
3
4
BAT+
BAT-
SH
Note 11
5 to 24VDC
Note 10
CN2
OUT2-
OUT2+
SH
1
2
3
4
5
6
7
8
Note 7
Note 8
3-phase 200V (Amp capacity 50 to 150A)
MC
MC
MC
User Unit
Note 9
Single-phase 200V
(Amp capacity 15 to 50A)
MC
MC
MC
User Unit
Note 9
RB2
P
RB1
+
–
Amp capacity
100A,150A
Amp capacity
300A
RB1
–
+
RB2
RB4
Note 2
Note 3
Note 2
Note 3
Amp capacity
15A to 50A
RB1
+
Note 3
RB2
Note 2
CNA
Single-phase 100V
(Amp capacity 15A, 30A)
MC
User Unit
MC
MC
100 to 115V
50/60 Hz
ON
Start ready
OFF
Start ready
System error
Emergency
stop
Power Supply
Single-phase
SERVO MOTOR
Encoder
Battery input
Lithium battery 3.6VDC
Ethernet I/O
General-purpose
output
General-purpose
input
Reserved
(Do not connect)
Power Supply
3-phase
200 to 230V
50/60 Hz
200 to 230V
50/60 Hz
External
regeneration resistor
External
regeneration resistor
Terminal block Terminal block
Built in
regeneration
resistor
With Cannon plug
With Cannon plug
Shield processing
Red
(Green/Yellow)
White
Black
Green Holding brake
(models equipped with brakes only)
Orange
(Yellow)
Orange
(Yellow)
50A: CNB
100 to 150A:
Terminal block
50A: CNA
100 to 150A:
Terminal block
SERVO AMPLIFIER
Power Supply
Single-phase
Built in
regeneration
resistor
System error
Start ready
OFF
Start ready
ON
Emergency
stop
System error
Start ready
OFF
Start ready
ON
Emergency
stop
Shield processing
Shield processing
Note 9
Safe Torque
Off function
model only
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).
Note 10
24VDC
Note10
24VDC
7
8
9
10
6
5
HWGOFF1+
EDM+
HWGOFF1-
HWGOFF2-
HWGOFF2+
EDM-
49
Dimensions
40
(1.57)
160
(6.3)
5 (.2)
30
(1.18)
4
(.16)
(17)
[(.67)]
(20)
[(.79)]
130 (5.12)[70 (2.76)]
4
(.16)
(5)
[(.2)]
5
(.2)
5
(.2)
152
(5.98)
[3 (.12)]
5
(.2)
130
(5.12)
(70)
[(2.76)]
(17)
[(.67)]
(20)
[(.79)]
4
(.16)
4
(.16)
160
(6.3)
85
(3.35)
5
(.2)
75
(2.95)
(5)
[(.2)]
5
(.2)
152
(5.98)
(3)
[(.12)]
5
(.2)
Wind
direction
Fan
5 (.2)
(6)
[(.24)]
(75)
[(2.95)]
235 (9.25)
225 (8.86)
205
(8.07)
5
(.2)
15
(.59)
6
(.24)
50 (1.97)
100 (3.94)
203
(7.99)
220
(8.66)
2
(.08)
2
(.08)
17
(.67)
(70)
[(2.76)]
(17)
[(.67)]
(20)
[(.79)]
N. P.
Wind direction
Fan
203
(7.99)
220
(8.66)
2
(.08)
2
(.08)
17
(.67)
(70)
[(2.76)]
(17)
[(.67)]
(20)
[(.79)]
N. P.
Fan
Wind direction
5 (.2)
15
(.59)
75 (2.95)
120 (4.72)
100 (3.94)
6
(.24)
225 (8.86)
235 (9.25)
(50)
[(1.97)]
(6)
[(.24)]
205
(8.07)
(17)
[(.67)]
(20)
[(.79)]
130
(5.12)
(70)
[(2.76)]
4
(.16)
4
(.16)
160
(6.3)
40
(1.57)
50
(1.97)
5
(.2)
5
(.2)
40
(1.57)
(5)
[(.2)]
5
(.2)
152
(5.98)
(3)
[(.12)]
5 (.2)
Wind
direction
Fan
n RS2A01A0KA4
n RS2E01A0KA4
Mass: 0.75 kg (1.65 lb)
n RS2A03A0KA4
n RS2E03A0KA4
Mass: 0.95 kg (2.1 lb)
n RS2A10A0KA4
Mass: 5.0 kg (11 lb)
n RS2A05A0KA4
Mass: 1.65 kg (3.6 lb)
n RS2A15A0KA4
Mass: 5.3 kg (11.7 lb)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
Dimensions
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
50
AC SERVO SYSTEMS
EtherCAT Interface High Speed Type Servo Amplifier
n Specifications
Control function Position control/Speed control/Torque control (Parameter changeover)
Main circuit power (Note 1) Three-phase: 200 to 230 VAC +10, -15%, 50/60Hz±3Hz
Single-phase: 200 to 230 VAC +10, -15%, 50/60Hz±3Hz (Note 2)
Control circuit power Single-phase: 200 to 230 VAC +10, -15%, 50/60Hz±3Hz
Ambient temperature 0 to +55˚C
Storage temperature -20 to +65˚C
Environment Operation/Storage humidity Below 90% RH (no condensation)
Elevation Below 1000 m
Vibration 5 m/s
2 Frequency range 10 to 55Hz tested for 2h in each direction X.Y.Z
Shock 20m/s
2
Structure 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
n Built-in Functions
n EtherCAT Interface Specifications
n Safety Standard
Speed control range 1:5000 (Internal speed command)
Frequency characteristics 800 Hz
Over current, Current detection error, Overload, Regeneration error, Magnetic pole position estimation error,
Protection functions 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
LED display Status display, Monitor display, Alarm display, Test operation, Adjustment mode
Dynamic brake circuit Built-in
Regeneration process Built-in
Monitor Speed monitor (VMON) 2.0V±10% (at 1000 min-1)
Torque monitor (TCMON) 2.0V±10% (at 100%)
Physical layer IEC61158-2
IEEE802.3u 100BASE-TX
Data link layer IEC61158-3,-4 Type12
Application layer IEC61158-5,-6 Type12
Device profile IEC61800-7 Profile type1(CiA402)
•
CoE (CANopen over EtherCAT)
•
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)
Communication object SDO (Service Data Object)
PDO (Process Data Object)
PDO length Output: Max. 20 objects, Input: Max. 20 objects Total: Max. 40 objects
Synchronization function
SYNC0, SYNC1 Event Synchronization Mode (DC Mode),Synchronous with SM2 Event Mode, Asynchronous Mode
Operation mode Profile Position Mode, Profile Velocity Mode, Profile Torque Mode, Homing Mode, Cycle 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 6 inputs, 2 outputs (8 total)
Servo amplifier type Safety standards
UL ratings UL508C
Low-voltage directive • EN61800−5−1
All models EN standards • EN61000-6-2
EMC directive • EN61800-3
• EN61326-3-1
Model with safety function
Function safety • IEC61508, SIL2 • ISO13894-1, Cat3, PL=d
standards
• IEC62061, SILCL2
51
Encoder Cable
Servo Amplifier
Servo motor
Used to protect the power line.
Cuts off power in the case of an
overload.
(To be arranged by the customer)
Circuit Breaker (MCCB)
Attached to prevent external noise
from the power source line. (To be
arranged by the customer)
Noise Filter
Switches power on and off. Protective circuit must
be created. (To be arranged by the customer)
Electromagnetic Contactor
External Regenerative Resistor
T S R
Safety Unit, Safety
PLC, etc.
PC Interface Cable
DC Power Source for Brake
Brake Cable
Motor Power Cable2
3
1
10
To next amplifier
9
8
7
5
4
Model:
RS2A01A2HA5
RS2A03A2HA5
RS2A05A2HA5
Parameter configuration and
monitoring is possible via
communication with a PC.
Master Controller
General-purpose I/O
Setup Software
Battery
11
6
System Configuration: 15A, 30A, 50A
Item Parts Number Description
3 1 Encoder Cable: 10 ft EEXTKABS2410FT
3 2 Motor Power Cable: 10 ft MEXTK1810FT
3 Brake Cable: 10 ft MEXTBRK2010FT Only for Brake Equipped Motor
4 Connector [EN1, EN2] AL-00632607 No need if Encoder Cable (1) is selected
5 Connector [CN1] AL-00718252-01 For STO, no need if safety device is not installed
6 Connector [CN1] AL-00849548-02 For STO cancellation, supplied with Amplifier.
7 Connector [CN2] AL-00842383 For general I/O signal
8 Connector [CNA] AL-00686902-01 Supplied with Amplifier
9 Connector [CNB] AL-Y0004079-01 No need if Motor Power Cable (2) is selected
10 PC Interface Cable AL-00689703-01
Communication with SANMOTION MOTOR Setup software
11 Battery 1025-106187 Battery + Holder (ask us)
To build a complete system, you need to have checked items.
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
52
AC SERVO SYSTEMS
Servo Motor
To next amplifier
Cuts off power in the case of an
overload, to protect the power line.
Circuit Breaker (MCCB)
Parameter configuration and
monitoring is possible via
communication with a PC.
Setup Software
Master Controller
Attached to prevent external noise
from the power source line.
Noise Filter
Switches power on and off.
Create the protective circuit.
Electromagnetic Contactor
External Regeneration Resistor
Safety Unit,
Safety PLC, etc.
9
1Encoder Cable
Motor Power Cable
2
Motor Power + Brake Cable
3
T S R
DC Power Source
for Brake
7
4
5
8
PC Interface Cable
Servo Amplifier Model:
RS2A10A2HA5
RS2A15A2HA5
(To be arranged by the customer)
(To be arranged by the customer)
(To be arranged by the customer)
Battery
10
General-purpose I/O
6
System Configuration: 100A, 150A
Item Parts Number Description
3 1 Encoder Cable: 10 ft EEXTKABS24JN10FT
MEXTK18JN10FT For 0.55 kW motor
3 2 Motor Power Cable: 10 ft MEXTK14JN10FT For 1.2 kW motor
MEXT10JN10FT For 2 kW motor
MEXT08JN10FT For 5 kW motor
3 Motor Power + Brake Cable: 10 ft MEXTB10JN10FT For brake equipped 2 kW motor
MEXTB08JN10FT For brake equipped 5 kW motor
4 Connector [EN1, EN2] AL-00632607 No need if Encoder Cable (1) is selected
5 Connector [CN1] AL-00718252-01 For STO, no need if safety device is not installed
6 Connector [CN1] AL-00849548-02 For STO cancellation, supplied with Amplifier.
7 Connector [CN2] AL-00842383 For general I/O signal
3 8 Connector [CNA] AL-Y0005159-01
9 PC Interface Cable AL-00689703-01
Communication with SANMOTION MOTOR Setup software
10 Battery 1025-106187 Battery + Holder (ask us)
To build a complete system, you need to have checked items.
53
*1
Use a twisted pair shielded cable.
*2
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.
Amplifier 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.
*3
,
P(only for 300A) are for maintenance (high
voltage circuit). Do not wire these 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.
*8
Nothing should connect with CN2-3 and 4pin.
*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.
*10
External power is to be supplied by user.
*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).
*12 Do not connect anything to CN2-20
~
25.
*13 When usgin pulse encoder in semi closed system,
connect it to EN2.
MC
MC
IN/OUT
MC
S
R
r
T
t
U
W
V
EN1
RY1
RB1
+
1
2
CONT1+
CONT1-
*3
*4
RB2
SH SH
*2
CNA
*5
4
5
8
7
6
3
CONT2-
CONT2+
SH
6
5
8
3
4
BAT+
BAT-
HWGOFF1+
EDM+
HWGOFF1-
HWGOFF2-
HWGOFF2+
SH
Reserved
(Do not connect)
*10
*10
CN1
EDM-
SH
3
4
5
6
*7
CNA
*11
*10
7
General-purpose
output
16 OUT1+
OUT1-
17
CN2
1
2
OUT2-
OUT2+
19
18
CONT4-
10
CONT3-
CONT4+
9
8
CONT3+
7
CONT6-
15
CONT6+
CONT5-
14
12
CONT5+
11
20
21
22
23
24
*8
2
1
SG
13
26
EN2
*13
25
*12
For fan equipped motor
R
S
T
Fan
MC
MC
S
R
r
T
t
CNA
Single-phase 100V (Amp capacity 15A, 30A)
User Unit
100 to 115V
50/60 Hz
Power Supply
Single-phase
*9
Start ready Start ready
ON OFF
MC
System error
Emergency
stop
3-phase 200V (Amp capacity 50 to 150A)
User Unit
50A: CNA
100 to 150A:
Terminal block
Power Supply
3-phase
200 to 230V
50/60 Hz *9
Start ready
Start ready
ON OFF
System error
Emergency
stop
Ethernet I/O
Shield
processing
General-purpose
input
5 to 24VDC
Shield
processing
Safe Torque
Off function
model only
Reserved
(Do not connect)
Shield
processing
24VDC
24VDC
Amp capacity
15A to 50A
Built in
regeneration
resistor
50A: CNB
100 to 150A:
Terminal block
With Cannon plug
Encoder
SERVO MOTOR
With Cannon plug
Red
White
Black
Green
(Green/Yellow)
Orange
(Yellow)
Orange
(Yellow)
24V
Holding brake
(models equipped with brakes only)
Lithium battery 3.6VDC
Battery input
MC
MC
MC
S
R
r
T
t
CNA
Start readyStart ready
Emergency
stop
System error
*9
ON OFF
200 to 230V
50 / 60Hz
Power Supply
Single-phase
Single-phase 200V (Amp. capacity 15 to 50A)
User Unit
P
+
RB1
RB2
*3
*2
Amp.capacity
300A
External
regeneration resistor
Terminalblock
+
RB4
RB2
RB1
*2
*3
Amp.capacity
100A,150A
External
regeneration resistor
Terminalblock
Built in
regeneration
resistor
Wiring Diagram
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
54
AC SERVO SYSTEMS
5
4 (.16)
160 (6.3)
[70 (2.76)]40 (1.57)
[17 (.67)]
[20 (.79)]
152
(5) 30
[3 (.12)]
5 (.2)
5 (.2)
5
4 (.16)
130 (5.12)
[(.2)]
(1.18)
(.2)
(.2)(5.98)
4 (.16)
5 (.2)
75
5152
160
85 (3.35)
Wind
Direction
(5)
[(.2)]
5
(.2)(2.95)
5(.2)
(.2)
(5.98)
[3 (.12)]
Fan
4 (.16)
130 (5.12) [70 (2.76)]
[17 (.67)]
[20 (.79)]
(6.3)
[6 (.24)]
6 (.24)
2 (.08)
Fan Wind
Direction
[75 (2.95)]
220 (8.7)
225 (8.5)
235 (9.3)
5 (.2)
50 (1.97)
100 (3.9)
205 (8.1) 15 (.59)
6 (.24)
5 (.2)
2 (.08)
[(1.97)]
(50)
100 (3.9)
75 (2.95)
120 (4.7)
Wind
Direction
Fan
220 (8.7)
235 (9.3)
225 (8.5)
205 (8.1) 15 (.59)
[6 (.24)]
4 (.16) 5 (.2)
130 (5.12)
160 (6.3)
[70 (2.76)]
40 (1.57)
50 (1.97)
152
(5) 40
5(.2)
5
5
Fan
Wind
Direction
[(.2)] (.2)(1.58)
(.2)
(5.98)
[3 (.12)]
[17 (.67)]
[20 (.79)]
4 (.16)
Dimensions
n RS2A01A2HA5
Mass: 0.75 kg (1.65 lb)
n RS2A03A2HA5
Mass: 0.95 kg (2.1 lb)
n RS2A10A2HA5
Mass: 5.0 kg (11 lb)
n RS2A05A2HA5
Mass: 1.65 kg (3.6 lb)
n RS2A15A2HA5
Mass: 5.3 kg (11.7 lb)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
Unit: mm (inch)
55
Analog DC Input Type Servo Amplifier
n Specifications
Control function Position control
Main circuit power 48 VDC ±10% (Note 1)
Control circuit power 5 VDC ±5% (Note 2)
Ambient temperature 0 to +40˚C (Note 3)
Storage temperature -20 to +65˚C
Environment Operation/Storage humidity Below 90% RH (no condensation)
Elevation Below 1000 m
Vibration 4.9 m/s2 Frequency range 10 to 55 Hz tested for 2 hours in each direction X.Y.Z
Shock 19.6 m/s 2
Structure 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
n Built-in Functions
n Input Command
Speed control range 1:5000 (Internal speed command)
Frequency characteristics 1200 Hz
Over current, Current detection error, Overload, Amplifier overheating, External overheating, Over voltage, Main circuit power
Protection functions
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
LED display Status display, Alarm display, Power-supplied-state display
Dynamic brake circuit Built-in
Maximum input pulse frequency
5M PPS (reverse rotation + normal rotation pulse and code + pulse)
1.25M PPS (90° phase difference, two-phase pulse)
Position command Input pulse configuration Normal rotation + reverse rotation command pulse, code + pulse train
command, or 90° phase difference, two-phase pulse train command
Electronic gear
N/D (N=1 through 2097152, D=1 through 2097152), 1/2097152≤N/D≤2097152
Servo-on, alarm reset, torque limit, encoder-clear, forward rotation prohibit,
Sequence input signal 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
Sequence output signal
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.
Position output signal
N/32768 (N=1 through 32767), 1/N (N=1 through 64) or 2/N (N=2 through 64)
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
56
AC SERVO SYSTEMS
Servo Amplifier
Servo Motor
Amplifier Power CablePower input
Power input
Regenerative unit
5 VDC
Host devices
48 VDC
Encoder Cable
PC Interface Cable
I/O Cable Set
Brake Cable3
Motor Power Cable
2
Parameter configuration and
monitoring is possible via
communication with a PC.
Model:
RF2G21A0A00
8
1
4
5
6
7
General-purpose
I/O connector,
homing, probing, and
general-purpose signals
DC Power Source for Brake
Setup Software
System Configuration
Battery
9
Item Parts Number Description
3 1 Encoder Cable: 10 ft EEXTGABS2410FT
3 2 Motor Power Cable: 10 ft MEXTG1810FT
3 Brake Cable: 10 ft MEXTGBRK2010FT Only for Brake Equipped Motor
3 4 Amplifier Power Cable: 2 m AL-00745943-01
3 5
I/O Cable Set, for CN1A and CN1B
AL-00745949-01
6 Regenerative Unit RF1BB00 No need if I/O Cable (5) is selected
7 Connector [CNA] AL-00329461-01
3 8 PC Interface Cable AL-00490833-01
Communication with SANMOTION MOTOR Setup Software
9 Battery AL-00494635-01
To build a complete system, you need to have checked items.
57
Servo Amplifier
CN1A
48G
48V
5G
5V
FG
Normal
Rotation
Pulse
SG
Reverse
Rotation
Pulse
SG
F-PC
F-PC
SG
R-PC
R-PC
FG
+5V
+5V+5V
+5V
SG
SG
Servo Motor
U
W
V
CN2
Red
(Green / yellow)
White
Black
Green
RY1
Holding Brake
(Install with Brake only)
Orange
(yellow)
Orange
(yellow)
Encoder
24V
11
12
10
13
14
2
BTP-I
BTN-I
1
2
Lithium Battery
3.6VDC
CONT-COM
CONT1
DC5V to 24V
CONT2
CONT3
CONT4
CONT5
CONT6
2FG
9PS
8PS
7
6
ZO
ZO
5BO
4BO
3
1
AO
AO
Corresponding
Line Driver
HD26C31
User Devices
Note 4
Note 5
SH SH
CNB
CNA
5VDC,
12 to 24VDC
Corresponding
Line Receiver
HD26C32
Position Command
Pulse Input
Battery Input
Shield processing
External power sources
must be supplied by user.
General-purpose Outputs
Analogue Monitor Box
Divided Encoder Output Signal
OUT8
OUT7
OUT6
OUT5
OUT4
OUT3
OUT2
OUT1 12
OUT-PWR 11
CN1A
CN1B
CN1B
CONT8
CONT7
OUT-COM
1
3
4
5
6
7
8
9
10
13
14
15
16
17
18
20
19
1
2
3
4
1
2
4
Main circuit power
Control power
48VDC
5VDC
Note 1) 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.
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.
Note 1
Corresponding
Line Driver
HD26C31
Note 6
Note 2
Note 3
General-purpose Inputs
5
3
Wiring Diagram
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
58
AC SERVO SYSTEMS
Dimensions
108 (4.3)
116 (4.6)
100 (3.9)
30 (1.2) 3 (.12)
70 (2.8)
4 (.16)
15
(.59)
Battery connector
n RF2G21A0A00
Mass: 0.23 kg (0.51 lb)
Unit: mm (inch)
59
EtherCAT Interface DC Input Type Servo Amplifier
n Specifications
Control function
Position control/Speed control/Torque control (Parameter changeover)
Main circuit power 48 VDC ±10% 24 VDC ±10%
Control circuit power 24 VDC ±10%
Ambient temperature 0 to + 40˚C
Storage temperature -20 to + 65˚C
Environment Operation/Storage humidity Below 90% RH (no condensation)
Elevation Below 1000 m
Vibration 5 m/s2 Frequency range 10 to 55 Hz tested for 2 hours in each direction X.Y.Z
Shock 20 m/s2
Structure Built-in tray type power supply
n Performance
n Built-in Functions
n EtherCAT Interface Specifications
Speed control range 1:5000 (Internal speed command)
Frequency characteristics 800 Hz
Over current, Current detection error, Over load, Regeneration error, Magnetic pole position estimation error, Amplifier
Protection functions
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.
LED display Status display, Monitor display, Alarm display, Test operation, Adjustment mode
Dynamic brake circuit Built-in
Regeneration process circuit
Built-in
Monitor Speed monitor (VMON) 2.0V±10% (at 1000 min-1)
Torque monitor (TCMON) 2.0V±10% (at 100%)
Physical layer IEC61158-2
IEEE802.3u 100BASE-TX
Data link layer IEC61158-3,-4 Type12
Application layer IEC61158-5,-6 Type12
IEC61800-7 Profile type1(CiA402)
Device profile • CoE (CANopen over EtherCAT)
• 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)
Communication object SDO (Service Data Object)
PDO (Process Data Object)
PDO length Output: Max. 20 objects, Input: Max. 20 objects
Total: Max. 40 Bytes
Synchronization function SYNC0, SYNC1 Event Synchronization Mode (DC Mode), Synchronous with SM2
Event Mode, Asynchronous Mode
Operation mode Profile Position Mode, Profile Velocity Mode, Profile Torque Mode, Homing Mode,
Cycle 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 6 inputs, 2 outputs (8 total)
Amplifier Model RS2K04A2HA5 RS2J04A2HA5
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
60
AC SERVO SYSTEMS
System Configuration
Servo Amplifier
Servo Motor
Main Power Input
Control Power Input
48 or 24 VDC
24 VDC
PC Interface Cable
10
General-purpose I/O
To next amplifier
Safety Unit, Safety
PLC, etc.
Encoder Cable
Motor Power Cable
External Regenerative Resistor
DC Power Source for Brake
1
2
Brake Cable3
4
Parameter configuration and
monitoring is possible via
communication with a PC.
Setup Software
6
8
9
5
7
Model:
RS2K04A2HA5
RS2J04A2HA5
Master Controller
Item Parts Number Description
3 1 Encoder Cable: 10 ft EEXTKABS2410FT
3 2 Motor Power Cable: 10 ft MEXTK1810FT
3 Brake Cable: 10 ft MEXTBRK2010FT Only for Brake Equipped Motor
4 I/O Connector [CN2] AL-00842383
5 Connector [EN1] AL-00632607 No need if Encoder Cable (1) is selected
3 6 Connector [CN1] AL-00718252-01 For STO function, no need if connector (7) is selected
3 7 Connector [CN1] AL-00849548-02
For STO function cancellation, no need if connector (6) is selected
8 Connector [CNA] AL-Y0010913-01 Supplied with Amplifier
9 Connector [CNB] AL-Y0004079-01 No need if Motor Power Cable (2) is selected
10 PC Interface Cable AL-00689703-01 Communication with SANMOTION MOTOR Setup Software
To build a complete system, you need to have checked items.
61
Wiring Diagram
Safe Torque
Off function
model only
MC
MC
IN/OUT
MC P
N
W
U
V
EN1
RY1
24V
RB1
+
1
2
CONT1+
CONT1-
Note 4
RB2
SH SH
Note 2
CNA
CNA
Note 5
4
5
8
7
6
3
CONT2-
CONT2+
SH
6
5
8
3
4
BAT+
BAT-
HWGOFF1+
EDM+
HWGOFF1-
HWGOFF2-
HWGOFF2+
SH
Note10
24VDC
Battery Power
Lithium battery 3.6VDC
5 to 24VDC
Note 10
CN1
EDM-
SH
3
4
5
6
Note 7
25A, 40A CNB
Note 11
7
16 OUT1+
OUT1-
17
CN2
1
2
OUT2-
OUT2+
19
18
CONT4-
10
CONT3-
CONT4+
9
8
CONT3+
7
CONT6-
15
CONT6+
CONT5-
14
12
CONT5+
11
20
21
22
23
24
Note 8
2
1
SG
13
26
/
EN2
25 Note 12
Note 9
48 or 24 VDC
+
Note 3 CP
CN
+
Note 6
24VDC
Built in
regeneration
resistor
User Unit
SERVO AMPLIFIER
Shield
processing
Reserved
(Do not connect)
Red
(Green/Yellow)
White
Black
Green
Encoder
Holding brake
(models equipped with brakes only)
Orange
(Yellow)
Orange
(Yellow)
SERVO MOTOR
Note10
24VDC
AC Power Supply
DC Power Supply
DC Power Supply
System error
Emergency
stop
Start ready
OFF
Start ready
ON
Ethernet I/O
Shield processing
General-purpose
input
General-purpose
output
Reserved
(Do not connect)
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 2000µF)
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.
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
62
AC SERVO SYSTEMS
Dimensions
40
(1.57)
5 (.2)
(18)
[(.71)]
[20 (.79)]
85 (3.35)
[70 (2.76)]
4
(.16)
5
(.2)
152
(5.98)
[3 (0.12)]
5
(.2)
5
(.2)
160 (6.3)
n RS2K04A2HA5
n RS2J04A2HA5
Unit: mm (inch)
Mass: 0.55 kg (1.2 lb)
63
Amplifier Model RF2J14A0HL5 RF2K24A0HL5 RF2J24A8HL5
Combined Motor 2.4 W 20 to 200 W Linear actuator
Total 4 axes output limitation 9.6 W 300 W 120 W
Control function Position control/Speed control/Torque control (Parameter switching)
Main circuit power (Note 1) 48/24 VDC±10% (Note 1)
Control circuit power 24 VDC±10% (Note 1)
Ambient temperature 0 to +55˚C
Storage temperature -20 to +65˚C
Environment Operation/Storage humidity Below 90% RH (no condensation)
Elevation 1000 m or lower
Vibration 4.9 m/s
2 freq. range 10 to 55 Hz in X, Y, and Z direction each, within 2 hours
Shock 19.6 m/s
2
Structure External tray type DC power supply
Note 1) Always use input voltage within the specification range for the main circuit power supply.
n Performance
n Specificaitons
n Built-in Functions
n EtherCAT interface specifications
Speed control range 1:5000
Frequency characteristics 800 Hz
Physical layer IEC61158-2
IEEE802.3u 100BASE-TX
Data link layer IEC61158-3,-4 Type12
Application layer IEC61158-5,-6 Type12
IEC61800-7 Profile type1(CiA402)
Device profile • CoE (CANopen over EtherCAT)
• 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)
Communication object SDO (Service Data Object)
PDO (Process Data Object)
Synchronization types SYNC0, SYNC1 Event Synchronization Mode, Asynchronous Mode
Operation mode Profile Position Mode, Profile Velocity Mode, Profile Torque Mode, Homing Mode, Cycle
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)
Over current, Current detection error, Overload, Regeneration error, Overheating, External disorder, Over voltage, Main circuit
Protection functions
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
LED display
Alarm display (red), status display (green), control power establishment (green), main circuit charge (red),
communication link (green) × 2, communication RUN (green), communication Error (red)
Regeneration process
External type (Connect to the CNC connector, if a regenerative resistor is required.)
EtherCAT Interface DC Input Type Multi Axis Servo Amplifier
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
64
AC SERVO SYSTEMS
System Configuration
Setup software
Parameter setting and monitoring are
possible via communication with a PC.
Servo Amplifier
To 4-axis servo motor
To 3-axis servo motor
To 2-axis servo motor
1-axis servo motor 2-axis servo motor 3-axis servo motor 4-axis servo motor
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.
To 4-axis servo motor
To 3-axis servo motor
To 2-axis servo motor
To the next amplifier
Host devices
External regenerative resistor
Main circuit power supply
48/24 VDC
Control power
24 VDC
PC Interface Cable
Servo Motor
Model:
RF2J14A0HL5
RF2K24A0HL5
RF2J24A8HL5
Encoder Cable
1
Motor Power Cable
2
7
8
5
10
6
3
4
3
9
Battery
11
Item Parts Number Description
EEXTKABS2410FT
3 1 Encoder Cable: 10 ft 1026-107008 For 1027-107013 and 1027-107014 motor
1026-107024 For 1028-107023 motor
3 2 Motor Power Cable: 10 ft 1026-107009
1026-107025 For 1028-107023 motor
3 Connector [EN1 to 4] AL-00632607 No need if Encoder Cable (1) is selected
4 Connector [MOT1 to 4] AL-00922660 No need if Motor Cable (2) is selected
5 Connector [CN1] AL-00718252-01 For STO, no need if safety device is not installed
6 Connector [CN1] AL-00849548-02 For STO cancellation, supplied with Amplifier.
3 7 Connector [CNA] AL-00922656 For amplifierr power supply
8 Connector [CNC] AL-00922658 For refenerative resistor connection
9 Connector [I/O] AL-00922662 For general I/O singal
10 PC Interface Cable AL-00490833-01 Communication with SANMOTION MOTOR Setup software
11 Battery [CN3] AL-00880402-01 Used when using a battery-backup method absolute encoder
To build a complete system, you need to have checked items.
65
Servo motor
MC
System error
Start ready
AC
powe
r
MC
IN/OUT
OFF
Start ready
ON
MC
Emergency
stop
P
N
U
W
V
Red
(Green/Yellow)
White
Black
Green
RY1
(Install only devices with brakes)
Holding brake
Orange
(Yellow)
Orange
(Yellow)
90 V
(24 V)
1
2
CONT1+
CONT1-
User unit
*4)
External regenerative resistor
SH SH
CNC
CNA
*5)
4
5
8
7
6
3
CONT2-
CONT2+
SH
6
5
8
3
4
HWGOFF1+
EDM+
HWGOFF1-
HWGOFF2-
HWGOFF2+
SH
24 VDC
*9)
24 VDC
Ethernet I/O
5 VDC to 24 V
*9)
CN1
EDM-
SH
1
2
3
4
*7)
MOT1 to 4
*10)
*10)
7
I/O
CONT4-
8
CONT3-
CONT4+
7
6
CONT3+
5
CONT6-
22
CONT6+
CONT5-
21
20
CONT5+
19
Reserved
(Do not
connect.)
*8)
2
1
*8)
Main circuit power supply
48/24 VDC
+
*3)
*12)
+
*6)
Control power
24 VDC
EN1 to 4
CONT8-
26
CONT8+
CONT7-
25
24
CONT7+
23
OUT1-
OUT1+
OUT2-
OUT2+
OUT3-
OUT3+
OUT4-
OUT4+
OUT5-
OUT5+
OUT6-
OUT6+
OUT7-
OUT7+
OUT8-
OUT8+
General output
28
Reserved
(Do not
connect.)
*11)
27
10
9
P
N
CP
CN
FG
FG
General input
4
3
8
7
6
2
1
5
11
12
13
14
15
16
17
18
29
30
31
32
33
34
35
36
4
3
2
1
1
2
*2)
Shield
processing
Shield processing
Encoder
Shield processing
*1 Use a twisted pair shielded cable.
*2 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.
*3
•
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 µF or more).
*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.
*5 Refer to the encoder connection figure for the wiring of the connector for the encoder
connection.
*6 Tu rn the power off as a way to shut off the main circuit power for the protection of the
servo amplifier during emergency stops.
*7 Use a shielded twisted pair cable (STP) with Category 5e (TIA standards) or higher.
*8 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.
Wiring Diagram
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
66
AC SERVO SYSTEMS
Dimensions
4.5 (.18)
5 (.2)
10 (.39)
9 (.35)
182 (7.2)
200 (7.9)
50 (1.97)
[70 (2.76)] 130 (5.3)
190 (7.5)
30
2- 5 (.2)
2- 5 (.2)
4.5 (.18)
10.8 (.43)
(1.18)
n RF2J14A0HL5 Mass: 0.75 kg (1.65 lb)
n RF2K24A0HL5 Mass: 0.8 kg (1.76 lb)
n RF2J24A8HL5 Mass: 0.75 kg (1.65 lb)
Unit: mm (inch)
67
Motor Model R2FA04003F R2FA04005D R2EA04008F R2GA04008D R2AA04010F
BrakeBrake
Motor Model R2FA04003F R2FA04005D R2EA04008F R2GA04008D R2AA04010F
Rated Power 30 W 50 W 80 W 80 W 90 W
Power Supply 24 VDC 24 VDC 100 VAC 48 VDC 200 VAC
Input Voltage VDC 24 ±10% 24 ±10% 24 ±10% 24 ±10% 24 ±10%
Input Current Amp 0.27 0.27 0.27 0.27 0.27
Minimum Static Friction
N • m 0.32 0.32 0.32 0.32 0.32
Torque lb • in 2.8 2.8 2.8 2.8 2.8
Inertia x10-4 kg • m2 0.0078 0.0078 0.0078 0.0078 0.0078
lb • in2 0.0027 0.0027 0.0027 0.0027 0.0027
Mass kg 0.27 0.27 0.27 0.27 0.27
lb 0.60 0.60 0.60 0.60 0.60
BrakeBrake
Brake Equipped Motors
Motor Model R2FA06007R R2EA06020F R2GA06020D R2AA06040F R2AA08075F
Motor Model R2AAB8100H R2AA13200D R2AA22500L
Rated Power 70 W 200 W 200 W 400 W 750 W
Power Supply 24 VDC 100 VAC 48 VDC 200 VAC 200 VAC
Input Voltage VDC 24 ±10% 24 ±10% 24 ±10% 24 ±10% 24 ±10%
Input Current Amp 0.27 0.32 0.32 0.32 0.37
Minimum Static Friction
N • m 0.36 1.37 1.37 1.37 2.55
Torque lb • in 3.2 12.1 12.1 12.1 22.6
Inertia x10-4 kg • m2 0.06 0.06 0.06 0.06 0.25
lb • in2 0.021 0.021 0.021 0.021 0.085
Mass kg 0.36 0.39 0.35 0.39 0.89
lb 0.80 0.86 0.78 0.86 2.0
Rated Power 1 kW 2 kW 5 kW
Power Supply 200 VAC 200 VAC 200 VAC
Input Voltage VDC 24 ±10% 24 ±10% 24 ±10%
Input Current Amp 0.3 0.66 1.2
Minimum Static Friction
N • m 3.92 12 42
Torque lb • in 34.7 106 372
Inertia x10-4 kg • m2 0.343 0.5 5.1
lb • in2 0.117 0.17 1.7
Mass kg 0.84 1.5 5.5
lb 1.9 3.3 12
BrakeBrake
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
68
AC SERVO SYSTEMS
26AWG, 7pair, Shielded
23AWG
( 6)
LC
LZ
LA
LH
QE Tapping
Depth LT
Oilseal
eliminated
LB
S
LR ±0.8
LE LG
Q ±0.3
Motor Cable
Motor, Ground 0.75 mm2
Figure B
Note: *1
Front
Rear
[( .23)]
1100±100 (43.31 ± 4)
1100±100 (43.31 ± 4)
( 5)
[( .19)]
Brake Cable
( 8)
[( .31)]
1100±100 (43.31 ± 4)
KL
Encoder Cable
LL ±1
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.
P/N
R2AA04005FXK30M
*1
R2AA04005FCK30M
*1
R2AA04010FXK00M
R2AA04010FCK00M
R2AA06010FXK30M
*1
R2AA06010FCK30M
*1
R2AA06020FXK00M
R2AA06020FCK00M
R2AA06040FXK00M
R2AA06040FCK00M
R2AA08075FXK00M
R2AA08075FCK00M
LL
68.5 (2.70)
104.5 (4.11)
84 (3.31)
120 (4.72)
78.2 (3.08)
106.2 (4.18)
89.2 (3.51)
117.2 (4.61)
115.2 (4.54)
143.2 (5.64)
128.3 (5.05)
163.7 (6.44)
LG
5
(.2)
6
(.24)
8
(.31)
KL
34.4 (1.35)
35.3 (1.39)
34.4 (1.35)
35.3 (1.39)
44.6
(1.76)
54.4
(2.14)
LA
46
(1.81)
70
(2.76)
90
(3.54)
LE
2.5
(.1)
3
(.12)
LH
56
(2.20)
82
(3.23)
108
(4.25)
LC
40
(1.57)
60
(2.36)
80
(3.15)
LZ
2-ø4.5
(2-ø.18)
4-ø5.5
(4-ø.22)
4-ø6.6
(4-ø.26)
LR
25
(.98)
30
(1.18)
40
(1.57)
S
0
8 -0.009
0
(.31 -.004)
0
14 -0.011
0
(.55 -.004)
0
16 -0.011
0
(.63 -.004)
QE
N/A
M5
LT
N/A
12
(.47)
Unit: mm (inch)
Q
20
(.79)
25
(.98)
35
(1.38)
LB
0
30
-0.021
0
(1.18 -.00084)
0
50 -0.025
0
(1.97 -.001)
0
70 -0.030
0
(2.76 -.0012)
P/N
R2AA04005FXK30M
*1
R2AA04005FCK30M
*1
R2AA04010FXK00M
R2AA04010FCK00M
R2AA06010FXK30M
*1
R2AA06010FCK30M
*1
R2AA06020FXK00M
R2AA06020FCK00M
R2AA06040FXK00M
R2AA06040FCK00M
R2AA08075FXK00M
R2AA08075FCK00M
Dimensions
Item
Pulse per Revolution
Channel
CS Pulse per Revolution
CS Channel
Frequency Response
Input Voltage
Input Current
Output Signal
Insulation Resistance
Operating Temp. Range
Rotor Inertia
2000 P/R
Specification
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 MΩ Min. 250 VDC
between frame and lead wire
(without shield wire)
0 to 85
°C (Motor: 0 to 40
°C)
0.007 x 10 -4
(kg·m2)
Incremental (EN) Commutation Sensor (CS)
n Dimensions n Encoder Specifications
Incremental Encoder with Hall Sensor Equipped Motor
Unit: mm (inch)
69
X ··· w/o brake C ··· w/ 24 VDC brake
02 ··· 20 mm 08 ··· 80 mm 13 ··· 130 mm
04 ··· 40 mm B8 ··· 86 mm 22 ··· 220 mm
06 ··· 60 mm
AA ··· 200 VAC EA ··· 100 VAC
GA ··· 48 VDC FA ··· 24 VDC
R Series
Supply Voltage
Flange Size
Motor Type
2 ··· Middle intertia
R 2 AA 06 020 F C P 00 M
E01
Encoder Type
Holding Brake
Specification
Standard Indentification
M ··· CE and UL
Connector
00 ··· Standard
Max. Rotation Speed
Rated Output
02R ··· 2.4 W 008 ··· 80 W 075 ··· 750 W
D20 ··· 20 W 010 ··· 100 W 120 ··· 1.2 kW
003 ··· 30 W 020 ··· 200 W 200 ··· 2 kW
005 ··· 50 W 040 ··· 400 W 500 ··· 5 kW
007 ··· 70 W 050 ··· 550 W
Blank ··· Flying wire
E01 ··· CPC Connector
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]
F ··· 6000 min-1 D ··· 4500 / 5000 min-1
H ··· 3500 min-1 L ··· 3000 / 4000 min-1
01 ··· 10/15 A 05 ··· 50 A 15 ··· 150 A
02 ··· 20 A 10 ··· 100 A 21 ··· Large-sized
03 ··· 30 A 14 ··· 25 A 24 ··· 40 A
04 ··· 40 A
A 01 ARS2 A0 0A
* RS3, RS2 and RF2 series only
** RF2 series analog input type only
Series
15, 30A: w/o regen. resistor
50, 100, 150A: w/ regen. resistor
Safe Torque Off Fucntion *
/ Specification Identification **
Option 1 *
RS3, RS2 Series
A ··· 200 VAC E ··· 100 VAC
K ··· 48 VDC J ··· 24 VDC
Motor Type
A ··· Rotary motor
··· Compact cylinder linear motor
Encoder Type *
0 ··· EN1, EN1 to 4, CN2: Serial Encoder
2 ··· EN1: Serial Encoder, EN2: N/A
8 ··· EN1 to 4: Pulse Encoder
Input Voltage, Structure
Interface Type
Servo Amplifier Capacity
4 ··· Available (with delay circuit)
5 ··· Available (with delay circuit)
00··· Standard
RF2 Series
G ··· 48 VDC
K ··· With fan J ··· Without fan
RS1 Series
A ··· 200 VAC, w/ DB resigtor
RF2 Series
L ··· Without built-in regen. resistor, with DB
NA ...for RF2G21A0A00
RS2 Series
A ··· With built-in regen. resistor, with DB resistor
L ··· Without built-in regen. resistor, with DB resistor
A ··· Analog pulse control, NPN (Sink) output
C ··· Indexer
F ··· Indexer with Modbus
K ··· EtherCAT
H ··· EtherCAT (High-speed communication)
Model Numbering System
n Motor
n Amplifier
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
70
CLOSED LOOP STEPPING SYSTEMS
High Speed Positioning
Zero Motor Hunting
Improved Efficiency
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.
+1 pulse
-1 pulse
Target
position
Model No. PB system
Time
Motor
Speed 0
0
CW
CCW
Servo system
0
500 1000 1500 2000
Speed (min-1)
Temp increase
(K)
20
60
80
Open control
stepping system
Motor temperature rise
Model No.PB
40
High torque performance in the low speed range delivers
a shorter positioning time for a short stroke/high hit rate
application.
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
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
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
Two Axis Control
Homing Mode
Position Mode (PP, CSV)
Velocity Mode (PV, CSV)
Jogging Function
Holding Brake Control
Pulse Input Model
Indexer Model
EtherCAT Model
71
Flange
Size
28 mm
1.1 inch
42 mm
1.7 inch
60 mm
2.4 inch
86 mm
3.4 inch
59.2 0.055
2.337.79 PBM281DXE50
n 72
58.5 0.05 PBM282FXE20 n
n 73
2.30 7.08
117.1 0.155
PBM284FXE20
n
n
4.61 22.0
117.1 0.115 PBM284FXE50
n
74
4.61 16.3
78.5 0.115 PBM285DXE50
n 75
3.09 16.3
55.9 0.35 PBM423FXK30-M nn nn
2.20 49.6
57.6 0.39 PBM423FXE20 n
n
2.27 55.2 76
55.9 0.39 PBM423FXE50
n
2.20 55.2
55.9 0.39 PBM423DXK50
n
2.20 55.2
68.8 1.3 PBM603FXK30-M n n nn
2.71 184.1
70.3 1.3 PBM603FXE20 n
n
2.77 184.1
77
68.8 1.3 PBM603FXE50
n
2.71 184.1
68.8 1.05 PBM603DXK50
n
2.71 148.7
100.8 1.9 PBM604FXK30-M n n nn
3.97 269.1
102.3 1.9 PBM604FXE20 n
n
4.03 269.1 78
100.8 1.9 PBM604FXE50
n
3.97 269.1
100.8 1.85 PBM604DXK50
n
3.97 262
79.5 3.1 PBM861FXK30-M nn nn 79
3.13 439
110 6.1 PBM862FXK30-M nn nn 80
4.33 863.9
Motor Length
Max. Stall Driver
Torque Model Indexer Pulse Input
EtherCAT
Page
mm N • m Type R Type M Type P Type M Type E
inch oz • in
100 VAC 200 VAC
24/48 VDC
100 VAC 200 VAC
24/48 VDC
24/48 VDC 24/48 VDC
Lineup
Driver Type
AC Input DC Input
Indexer Model
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
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
Motion command is sent through EtherCAT which is a field-bus system that allows 100Mbps high-speed and highly Type E
reliable communication.
Driver Command Type
Type E
Multi-axis
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
72
28
mm (1.10 inch)
59.2
mm (2.33 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
CLOSED LOOP STEPPING SYSTEMS
Torque (N·m)
Power supply current (A)
Speed (min–1)
0
1
2
3
4
5
6
7
8
9
10
0
0.02
0.04
0.06
0.08
0.10
0500 1000 1500 2000 2500 3000 3500 4000 4500
24 VDC
48 VDCTorque
Power supply current 24 VDC
48 VDC
500±20
59.2±1
10+1
0
15±0.5
ø22 0
-0.05
1.5±0.25
ø5 0
-0.013
500±20
4.5±0.2
ENCODER CBALE
ENCODER CONNECTOR MOTOR CONNECTOR
MOTOR LEAD WIRE
UL VINYL TUBE
UL 3265 AWG28
2-M2.5×0.45
Tapping depth: 3.2 min.
(.049±.01)
(19.7±.79)
.39+1
0
( )
(.59±.02)(2.33±.04)
(19.7±.79)
.2
(-.0005
0)
.87
(-.002
0)
23±0.5 (.9±.02)
28±0.5 (1.1±.02)
(.18±.0079)
23±0.5 (.9±.02)
28±0.5 (1.1±.02)
n Dimension
n Applicable Driver
n Specifications n Torque Curve
l PBM281DXE50
Power Supply 24/48 VDC
Model PBM281DXE50
Driver Type Type E Multi
Maximum N • m 0.055
Stall Torque oz • in 7.79
Rotor Moment x10-4 kg • m2 0.01
of Inertia oz • in2 0.055
Incremental Encoder 2000 P/R (500 P/R x4)
Motor Weight kg 0.16
lb 0.35
Operating Temperature -10 to 40°C (16 to 104°F)
Humidity 20 to 90% RH, no condensation
Power Supply Motor Driver
Indexer Pulse Input EtherCAT
24/48 VDC PBM281DXE50 PB4D003E440
Unit: mm (inch)
73
28
mm (1.10 inch)
58.5
mm (2.30 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
0.02
0.04
0.06
0.08
0.1
0
2
4
6
8
10
00
1000 2000 3000 4000
Torque (N · m)
Power Consumption (A)
Speed (min
−1
)
24 VDCTorque
Power Consumption 24 VDC
16 (.63) MAX.
ENCODER CABLE
ENCODER CONNECTOR
2.3 (.1) MAX.
500±20 (19.7±.79)
58.5±1 (2.31±.04) 20±0.5 (.79±.02)
2±0.25
UL VINYL TUBE
MOTOR LEAD WIRE
UL1430 AWG26
MOTOR CONNECTOR
28±0.5 (1.1±.02)
23±0.5 (.91±.02)
4.5±0.2
2−M2.5×0.45
23±0.5 (.91±.02)
Unit: mm (inch)
500±20 (19.7±.79)
22 0
-0.05 .87 0
-.002)(
50
-0.013 .2 0
-.0005)(
+1
0
15
.59 )( +.04
0
(.079±.01) (.18±.008)
28±0.5 (1.1±.02)
PBM282
n Dimension
n Applicable Driver
n Specifications n Torque Curve
l PBM282FXE20
Power Supply 24/48 VDC
Model PBM282FXE20
Driver Type Type M
Maximum N • m 0.05
Stall Torque oz • in 7.08
Rotor Moment x10-4 kg • m2 0.008
of Inertia oz • in2 0.044
Incremental Encoder 2000 P/R (500 P/R x4)
Motor Weight kg 0.16
lb 0.35
Operating Temperature -10 to 40°C (16 to 104°F)
Humidity 20 to 90% RH, no condensation
Power Supply Motor Driver
Indexer Pulse Input EtherCAT
24/48 VDC PBM282FXE20 PB3D003M200
Unit: mm (inch)
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
74
CLOSED LOOP STEPPING SYSTEMS
0.04
0.08
0.12
0.16
0.2
0
0
1000 2000 3000 4000
2
4
6
8
10
0
Torque (N · m)
Power Consumption (A)
Speed (min
−1
)
24 VDCTorque
Power Consumption 24 VDC
0.02
0.04
0.06
0.12
0.08
0.1
0.14
0
0
1000 2000 3000 4000
0.5
1
2
1.5
2.5
3
0
Torque (N •
m)
Power Consumption (A)
Speed (min−1)
24 VDC48 VDCTorque
Power Consumption 24 VDC
48 VDC
16 (.63) MAX.
ENCODER CABLE
ENCODER CONNECTOR
2.3 (.1) MAX.
500±20 (19.7±.79)
117.1±1 (4.61±.04) 20±0.5 (.79±.02)
2±0.25
UL VINYL TUBE
MOTOR LEAD WIRE
UL1430 AWG26
MOTOR CONNECTOR
500±20 (19.7±.79)
22 0
-0.05 .87 0
-.002)(
50
-0.013 .2 0
-.0005)(
+1
0
15
.59 )( +.04
0
(.079±.01)
28±0.5 (1.1±.02)
23±0.5 (.91±.02)
4.5±0.2
2−M2.5×0.45
23±0.5 (.91±.02)
(.18±.0079)
28±0.5 (1.1±.02)
Unit: mm (inch)
PBM284FXE50
16 (.63) MAX.
ENCODER CABLE
ENCODER CONNECTOR
2.3 (.1) MAX.
500±20 (19.7±.79)
117.1±1 (4.61±.04) 20±0.5 (.79±.02)
2±0.25
UL VINYL TUBE
MOTOR LEAD WIRE
UL1430 AWG26
MOTOR CONNECTOR
500±20 (19.7±.79)
22 0
-0.05 .87 0
-.002)(
50
-0.013 .2 0
-.0005)(
+1
0
15
.59 )( +.04
0
(.079±.01)
28±0.5 (1.1±.02)
23±0.5 (.91±.02)
4.5±0.2
2−M2.5×0.45
23±0.5 (.91±.02)
Unit: mm (inch)
(.18±.0079)
28±0.5 (1.1±.02)
PBM284FXE20
Power Supply Motor Driver
Indexer Pulse Input EtherCAT
24/48 VDC PBM284FXE20 PB3D003M200
48 VDC PBM284FXE50 PB4D003E2D0
n Dimension
PBM284FXE50
PBM284FXE20
n Torque Curve
l PBM284FXE20
l PBM284FXE50
n Applicable Driver
n Specifications
Power Supply 24/48 VDC 48 VDC
Model PBM284FXE20 PBM284FXE50
Driver Type Type M EtherCAT
Maximum N • m 0.155 0.115
Stall Torque oz • in 22.0 16.3
Rotor Moment x10-4 kg • m2 0.016 0.016
of Inertia oz • in2 0.088 0.088
Incremental Encoder 2000 P/R (500 P/R x4) 500 P/R
Motor Weight kg 0.23 0.23
lb 0.51 0.51
Operating Temperature -10 to 40°C (16 to 104°F)
Humidity 20 to 90% RH, no condensation
28
mm (1.10 inch)
117.1
mm (4.61 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
75
Torque (N·m)
Power supply current (A)
Speed (min−1)
0
1
2
3
4
5
6
7
8
9
10
0
0.04
0.08
0.12
0.16
0.20
0500 1000 1500 2000 2500 3000 3500 4000 4500
24 VDC
48 VDCTo rque
Power supply current 24 VDC
48 VDC
500±20
78.5±1
10+1
0
15±0.5
ø22 0
-0.05
1.5±0.25
ø5 0
-0.013
500±20
4.5±0.2
ENCODER CBALE
ENCODER CONNECTOR MOTOR CONNECTOR
MOTOR LEAD WIRE
UL VINYL TUBE
UL 3265 AWG28
2-M2.5×0.45
Tapping depth: 3.2 min.
(.049±.01)
(19.7±.79)
.39+1
0
( )
(.59±.02)(3.09±.04)
(19.7±.79)
.2
(-.0005
0)
.87
(-.002
0)
23±0.5 (.9±.02)
28±0.5 (1.1±.02)
(.18±.0079)
23±0.5 (.9±.02)
28±0.5 (1.1±.02)
n Dimension
n Torque Curve
l PBM285DXE50
n Specifications
28
mm (1.10 inch)
78.5
mm (3.09 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
Power Supply 24/48 VDC
Model PBM285DXE50
Driver Type Type E Multi
Maximum N • m 0.115
Stall Torque oz • in 16.3
Rotor Moment x10-4 kg • m2 0.022
of Inertia oz • in2 0.12
Incremental Encoder 2000 P/R (500 P/R x4)
Motor Weight kg 0.26
lb 0.57
Operating Temperature -10 to 40°C (16 to 104°F)
Humidity 20 to 90% RH, no condensation
Unit: mm (inch)
n Applicable Driver
Power Supply Motor Driver
Indexer Pulse Input EtherCAT
24/48 VDC PBM285DXE50 PB4D003E440
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
76
CLOSED LOOP STEPPING SYSTEMS
0.1
0.2
0.3
0.4
0.5
0
0
1000 2000 3000 4000
1
2
4
5
6
0
3
Torque (N· m)
Power Consumption (A)
Speed (min
−1
)
Power Consumption
1 -100 VAC 1 -200 VAC
3 -200 VAC
0.1
0.2
0.3
0.4
0.5
0
0
1000 2000 3000 4000
2
4
6
8
10
0
Torque (N· m)
Speed (min
−1
)
Power Consumption (A)
24 VDC48 VDCTorque
Power Consumption 24 VDC
48 VDC
0.1
0.05
0.2
0.15
0.25
0.3
0.4
0.35
0.45
0
0
1000 2000 3000 4000
0.5
1.5
1
2.5
2
3.5
3
4
0
Torque (N· m)
Power Consumption (A)
Speed (min
−1
)
24 VDC48 VDCTorque
Power Consumption 24 VDC
48 VDC
Torque (N·m)
Power supply current (A)
Speed (min−1)
0
1
2
3
4
5
6
7
8
9
10
0
0.1
0.2
0.3
0.4
0.5
0500 1000 1500 2000 2500 3000 3500 4000 4500
24 VDC
48 VDCTo rque
Power supply current 24 VDC
48 VDC
MOTOR CONNECTOR
MOTOR LEAD WIRE
UL3266 AWG24
+1
0
15
.59 )
(+.04
0
(.067±.01)
22 0
-0.05
.87 0
-.002)(
60
-0.013
.24 0
-.0005)(
UL VINYL TUBE
4-R5.5 (.22)
ENCODER CABLE
ENCODER CONNECTOR
1.5 (.06) MAX.
20.6±0.5
55.9±1
1.7±0.25
31±0.25 (1.22±.01)
42±0.25 (1.65±.01)
5.5±0.2
EARTH TERMINAL M2.5
500±20 (19.7±.79)
(.81±.02)
(2.2±.04) (.22±.008)
31±0.25 (1.22±.01)
42±0.25 (1.65±.01)
500±20 (19.7±.79)
4−M3×0.5
FOR PBM423FXK30-M
PBM423FXE50
+1
0
15
.59 )
(
+.04
0
(.067±.01)
22 0
-0.05
.87 0
-.002)(
60
-0.013
.24 0
-.0005)(
UL VINYL TUBE
4-R5.5 (.22)
ENCODER CABLE
ENCODER CONNECTOR
20.6±0.5
57.6±1
1.7±0.25
MOTOR LEAD WIRE
UL3266 AWG24
31±0.25 (1.22±.01)
42±0.25 (1.65±.01)
5.5±0.2
EARTH TERMINAL M2.5
MOTOR CONNECTOR
Unit: mm (inch)
500±20
(.81±.02)
(2.27±.04) (.22±.008)
31±0.25 (1.22±.01)
42±0.25 (1.65±.01)
500±20 (19.7±.79)
(19.7±.79)
32 (1.3)
MAX.
16 (.63)
MAX.
4−M3×0.5
PBM423FXE20
PBM423FXK30-M
PBM423FXE50
PBM423DXK50
42
mm (1.65 inch)
55.9/57.6
mm
(
2.2/2.27 inch
)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Specifications
l PBM423DXK50
n Dimension
n Applicable Driver
n Specifications
n Torque Curve
l PBM423FXK30-M
l PBM423FXE20
l PBM423FXE50
Power Supply 100/200 VAC 24/48 VDC 24/48 VDC 24/48 VDC
Model
PBM423FXK30-M PBM423FXE20 PBM423FXE50 PBM423DXK50
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
oz • in 49.6 55.2 55.2 55.2
Rotor Moment of Inertia
x10
-4
kg • m
2 0.056 0.056 0.056 0.056
oz • in2 0.31 0.31 0.31 0.31
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
)
Motor Weight kg 0.35 0.35 0.35 0.35
lb 0.77 0.77 0.77 0.77
Operating Temperature
-10 to 40°C (16 to 104°F)
Humidity 20 to 90% RH, no condensation
Unit: mm (inch)
PBM423FXE20
Power Supply Motor Driver
Indexer Pulse Input EtherCAT
200 VAC PBM423FXK30-M PB4A002R301 PB4A002P301
100 VAC PB4A002R300 PB4A002P300
PBM423FXE20 PB3D003M200
24/48 VDC PBM423FXE50 PB4D003E2D0
PBM423DXK50 PB4D003E440
77
0.4
0.8
1.2
1.6
2
0
2
4
6
8
10
00
1000 2000 3000 4000
Torque (N· m)
Power Consumption (A)
Speed (min−1)
Power Consumption
1 -100 VAC 1 -200 VAC
3 -200 VAC
0.4
0.8
1.2
1.6
2
0
0
1000 2000 3000 4000
2
4
6
8
10
0
Torque (N· m)
Power Consumption (A)
Speed (min−1)
24 VDC48 VDCTorque
Power Consumption 24 VDC
48 VDC
EARTH TERMINAL M2.5
ENCODER CONNECTOR
ENCODER CABLE
UL VINYL TUBE
MOTOR LEAD WIRE
MOTOR CONNECTOR
+1
0
15 .59 )
(+.04
0
(.28±.01)
10 0
-0.015
.39 0
-.0006)(
MAX.
7±0.25
500±20 (19.7±.79)
41.7±0.5
(1.64±.02)
41.7±0.5
(1.64±.02)
1.5±0.25
(.059±.01)
36 0
-0.039
1.4 0
-.0015)(
(.81±.02)
68.8±1
(2.71±.04)
20.6±0.5
500±20
(19.7±.79)
50±0.13 (1.97±.005)
60±0.5 (2.36±.02)
50±0.13 (1.97±.005)
60±0.5 (2.36±.02)
9±0.2
(.35±.008)
1.5 (.06)
UL3266 AWG22
+0.5
4- 4.5
(.18 )
+.02
0
0
FOR PBM603FXK30-M
PBM603FXE50
51 (2) Max.
ENCODER CONNECTOR
Unit: mm (inch)
PBM603FXE20
+1
0
15 .59 )
(+.04
0
(.28±.01)
10 0
-0.015
.39 0
-.0006)(
7±0.25
(19.7±.79)
1.5±0.25
(.059±.01)
36 0
-0.039
1.42 0
-.0015)(
(.81±.02)
70.3±1
(2.77±.04)
20.6±0.5
500±20
(19.7±.79)
50±0.13 (1.97±.005)
60±0.5 (2.36±.02)
50±0.13 (1.97±.005)
60±0.5 (2.36±.02)
9±0.2
(.35±.008)
ENCODER CABLE MOTOR LEAD WIRE
UL VINYL TUBE
MOTOR CONNECTOR
UL3266 AWG22
+0.5
4- 4.5
(.18 )
+.02
25 (.98) MAX.
500±20
4-32.4±0.5
(1.28±.02)
0.2
0.6
1
0.8
0.4
1.2
1.4
5000
0
1000 1500 2000 2500 3000
0.5
1.5
1
2.5
2
3.5
3
4
0
Torque (N· m)
Power Consumption (A)
Speed (min−1)
24 VDC
48 VDCTorque
Power Consumption 24 VDC
48 VDC
Torque (N·m)
Power supply current (A)
Speed (min−1)
0
1
2
3
4
5
6
7
8
9
10
0
0.4
0.8
1.2
1.6
2.0
0500 1000 1500 2000 2500 3000
24 VDC
48 VDCTo rque
Power supply current 24 VDC
48 VDC
n Dimension
n Applicable Driver
n Specifications
n Torque Curve
l PBM603FXK30-M
l PBM603FXE20
PBM603FXK30-M
PBM603FXE50
PBM603DXK50
PBM603FXE20
l PBM603FXE50
l PBM603DXK50
60
mm (2.36
inch
)
68.8/70.3
mm
(
2.71/2.77
inch
)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
Unit: mm (inch)
Power Supply Motor Driver
Indexer Pulse Input EtherCAT
200 VAC PBM603FXK30-M PB4A002R301 PB4A002P301
100 VAC PB4A002R300 PB4A002P300
PBM603FXE20 PB3D003M200
24/48 VDC PBM603FXE50 PB4D003E2D0
PBM603DXK50 PB4D003E440
Power Supply 100/200 VAC 24/48 VDC 24/48 VDC 24/48 VDC
Model
PBM603FXK30-M PBM603FXE20 PBM603FXE50 PBM603DXK50
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
oz • in 184.1 184.1 184.1 148.7
Rotor Moment of Inertia
x10
-4
kg • m
2 0.4 0.4 0.4 0.4
oz • in2 2.2 2.2 2.2 2.19
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
)
Motor Weight kg 0.85 0.85 0.85 0.85
lb 1.87 1.87 1.87 1.87
Operating Temperature
-10 to 40°C (16 to 104°F)
Humidity 20 to 90% RH, no condensation
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
78
CLOSED LOOP STEPPING SYSTEMS
0.5
1.0
2.0
2.5
3
0
2
4
8
10
12
00
1000 2000 3000 4000
1.5 6
Torque (N •
m)
Power Consumption (A)
Speed (min−1)
Power Consumption
1 -100 VAC 1 -200 VAC
3 -200 VAC
EARTH TERMINAL M2.5
FOR PBM604FXK30-M
PBM604FXE50
ENCODER CONNECTOR
ENCODER CABLE
UL VINYL TUBE
MOTOR LEAD WIRE
MOTOR CONNECTOR
UL3266 AWG22
4-
1.5 (.06)
MAX.
500±20 (19.7±.79)
41.7±0.5
(1.64±.02)
41.7±0.5
(1.64±.02)
+1
0
15 .59 )
(+.04
0
(.28±.01)
10 0
-0.015
.39 0
-.0006)(
7±0.25 1.5±0.25
(.059±.01)
36 0
-0.039
1.4 0
-.0015)(
(.81±.02)
100.8±1
(3.97±.04)
20.6±0.5
500±20
(19.7±.79)
50±0.13 (1.97±.005)
60±0.5 (2.36±.02)
50±0.13 (1.97±.005)
60±0.5 (2.36±.02)
9±0.2
(.35±.008) 4.5 +0.5
0
(.18 )
+.02
0
25 (.98) MAX.
Unit: mm (inch)
PBM604FXE20
ENCODER CONNECTOR
+1
0
15 .59 )
(+.04
0
(.28±.01)
10 0
-0.015
.39 0
-.0006)(
7±0.25
(19.7±.79)
4-32.4±0.5
(1.28±.02)
1.5±0.25
(.059±.01)
36 0
-0.039
1.42 0
-.0015)(
(.81±.02)
102.3±1
(4.03±.04)
20.6±0.5
500±20
(19.7±.79)
50±0.13 (1.97±.005)
60±0.5 (2.36±.02)
50±0.13 (1.97±.005)
60±0.5 (2.36±.02)
9±0.2
(.35±.008)
51 (2) Max.
ENCODER CABLE MOTOR LEAD WIRE
UL VINYL TUBE
MOTOR CONNECTOR
UL3266 AWG22
+0.5
4- 4.5
(.18 )
+.02
500±20
0.4
0.8
1.2
1.6
2
0
0
1000 2000 3000 4000
2
4
6
8
10
0
Torque (N· m)
Power Consumption (A)
Speed (min
−1
)
24 VDC
48 VDCTorque
Power Consumption 24 VDC
48 VDC
0.5
0.25
1
0.75
1.5
1.25
2
2.25
1.75
2.5
5000
0
1000 1500 2000 30002500
0.5
1.5
1
2.5
2
3.5
3
4
0
Torque (N· m)
Power Consumption (A)
Speed (min
−1
)
24 VDC48 VDCTorque
Power Consumption 24 VDC48 VDC
Torque (N·m)
Power supply current (A)
Speed (min−1)
0
1
2
3
4
5
6
7
8
9
10
0
0.4
0.8
1.2
1.6
2.0
0500 1000 1500 20002500 3000
24 VDC48 VDCTo rque
Power supply current 24 VDC
48 VDC
n Dimension
n Specifications
n Torque Curve
l PBM604FXK30-M
PBM604FXK30-M
PBM604FXE50
PBM604DXK50
PBM604FXE20
l PBM604FXE20
l PBM604FXE50
l PBM604DXK50
60
mm
(2.36
inch)
100.8/102.3
mm (
3.97/4.03
inch
)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
Unit: mm (inch)
Power Supply 100/200 VAC 24/48 VDC 24/48 VDC 24/48 VDC
Model
PBM604FXK30-M PBM604FXE20 PBM604FXE50 PBM603DXK50
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
oz • in 269.1 269.1 269.1 262
Rotor Moment of Inertia
x10
-4
kg • m
2 0.84 0.84 0.84 0.84
oz • in2 4.6 4.6 4.6 4.6
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)
Motor Weight kg 1.42 1.42 1.42 1.42
lb 3.13 3.13 3.13 3.13
Operating Temperature
-10 to 40°C (16 to 104°F)
Humidity 20 to 90% RH, no condensation
n Applicable Driver
Power Supply Motor Driver
Indexer Pulse Input EtherCAT
200 VAC PBM604FXK30-M PB4A002R301 PB4A002P301
100 VAC PB4A002R300 PB4A002P300
PBM604FXE20 PB3D003M200
24/48 VDC PBM604FXE50 PB4D003E2D0
PBM604DXK50 PB4D003E440
79
0.5
1.0
2.0
2.5
3
0
2
4
8
10
12
00
1000 2000 3000 4000
1.5 6
Torque (N · m)
Power Consumption (A)
Speed (min
−1
)
Power Consumption
1 -100 VAC 1 -200 VAC
3 -200 VAC
500±20
EARTH TERMINAL M4
41.7±0.5
(1.64±.02)
MAX.
41.7±0.5
(1.64±.02)
1.5 (.06)
(19.7±.79)
500±20
(19.7±.79)
1.5±0.25
(.059±.0098)
8±0.5 (.31±.02)
+1
0
25
.1
)
(
+.04
0
14 0
-0.018
.55 0
-.0007)(
73.0250
-0.025
2.875 0
-.001
)(
(1.18±.04)
79.5±1
(3.13±.04)
30±1
69.6±0.25 (2.74±.01)
85.5±0.5 (3.37±.02)
+0.2
4- 5.6
(.22 )
+.008
69.6±0.25 (2.74±.01)
85.5±0.5 (3.37±.02)
ENCODER CONNECTOR
ENCODER CABLE
MOTOR CABLE
MOTOR CONNECTOR
13±0.15
(.51±.006)
13±0.15
(.51±.006)
Unit: mm (inch)
PBM861FXK30-M
n Dimension
n Specifications n Torque Curve
Power Supply 100/200 VAC
Model PBM861FXK30-M
Driver Type Type R, Type P
Maximum N • m 3.1
Stall Torque oz • in 439.0
Rotor Moment x10-4 kg • m2 1.48
of Inertia oz • in2 8.1
Incremental Encoder 16000 P/R (4000 P/R x4)
Motor Weight kg 1.9
lb 4.2
Operating Temperature -10 to 40°C (16 to 104°F)
Humidity 20 to 90% RH, no condensation
n Applicable Driver
Power Supply Motor Driver
Indexer Pulse Input EtherCAT
200 VAC PBM861FXK30-M PB4A002R301 PB4A002P301
100 VAC
PB4A002R300 PB4A002P300
86
mm
(3.37
inch)
79.5
mm (3.13 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
Unit: mm (inch)
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
80
CLOSED LOOP STEPPING SYSTEMS
1
2
5
6
7
0
2
4
10
12
14
0
0
1000 2000 3000 4000
3
4
6
8
Torque (N · m)
Power Consumption (A)
Speed (min
−1
)
Power Consumption
1 -100 VAC 1 -200 VAC
3 -200 VAC
500±20
EARTH TERMINAL M4
41.7±0.5
(1.64±.02)
MAX.
41.7±0.5
(1.64±.02)
1.5 (.06)
(19.7±.79)
ENCODER CONNECTOR
ENCODER CABLE 1.5±0.25
(.059±.0098)
8±0.5 (.31±.02)
+1
0
25
.1
)
(
+.04
0
14 0
-0.018
.55 0
-.0007)(
73.0250
-0.025
2.875 0
-.001
)(
(1.18±.04)
30±1
69.6±0.25 (2.74±.01)
85.5±0.5 (3.37±.02)
+0.2
4- 5.6
(.22 )
+.008
69.6±0.25 (2.74±.01)
85.5±0.5 (3.37±.02)
500±20
(19.7±.79)
110±1
(4.33±.04)
MOTOR CABLE
MOTOR CONNECTOR
13±0.15
(.51±.006)
13±0.15
(.51±.006)
Unit: mm (inch)
PBM862FXK30-M
n Dimension
n Specifications n Torque Curve
Power Supply 100/200 VAC
Model PBM862FXK30-M
Driver Type Type R, Type P
Maximum N • m 6.1
Stall Torque oz • in 863.8
Rotor Moment x10-4 kg • m2 3
of Inertia oz • in2 16
Incremental Encoder 16000 P/R (4000 P/R x4)
Motor Weight kg 3.1
lb 6.8
Operating Temperature -10 to 40°C (16 to 104°F)
Humidity 20 to 90% RH, no condensation
n Applicable Driver
Power Supply Motor Driver
Indexer Pulse Input EtherCAT
200 VAC PBM862FXK30-M PB4A002R301 PB4A002P301
100 VAC
PB4A002R300 PB4A002P300
86
mm
(3.37
inch)
110
mm (4.33
inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
Unit: mm (inch)
81
[10 (.39)]
MADE IN JAPAN
00******
Model No.PB
CLOSED LOOP STEPPING SYSTEMS
4
3
2
1
0
F
E
D
C
B
A
9
8
7
6
5
CN4
CN3
CN2
CN1
CN5
CN6
DATA
MODESW
33 (1.3) 4.5 (.18)
42 (1.65)
ø5
(.2)
5 (.2)
10
(.39)
160 (6.3)
150 (5.91)
170 (6.69)
5 (.2)
[5 (.2)]
4.5 (.18)
120 (4.72)
Fear of a burn! Do not touch a heat sink.
Equipment may be damaged if mistaken connection is made.
on or within 10MIN after power off.
maintenance and check.
Be sure that the charge lamp is off at the time of
Electric shock cautions.
Do not touch drive unit or terminal cover during power
Connect earth terminal against electric shock.
Direction of
Installation
Up
AC Input Driver Indexer Model Type R
n Dimension
Driver Model PB4A002R300 PB4A002R301
Power Supply
Single phase AC100V to 115V −15% +10% 50/60Hz Single phase / 3-phase AC200V to 230V −15% +10% 50/60Hz
Ambient Operating 0 to 55°C
Environment Temp. Storage −20 to 65°C
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)
Structure Tray Structure, Rear Mounting Type
Mass Approx. 0.65kg
Dimensions W42×H150×D120 mm
Rotation Speed 0 to 4500 min-1 (86 mm: 0 to 4000 min-1)
Resolution (P/R) Electronic Gear 100 to 16000
Regeneration Process Internal (software processing)
Holding Brake Control
Function Internal
Power Voltage Error, Regeneration Voltage Error, Over-speed, Encoder Disconnection,
Functions Protective Functions CPU Error, Overload Stop, Servo Error, Zero-return Error, Nonvolatile Memory Error,
Initialization Error, Over-current, Amplifier Overheat, Motor Overheat, Counter Overflow
Display 7SEG LED Display (2 pieces)
Digital Operator Resolution, Related Motor, Positive Direction Definition, Gain, Node Address, Trans.
Speed, Holding Brake Control, Jog Driving
Operation Functions Auto Zero-return / Push Operation (Current limit)
Communication
RS-485 Start-Stop Synchronization, Half Duplex Communication, Trans. Speed: 9600,
Specifications (PCIF)
38400, 115200, 307200bps
Input Functions ALMCLR
Signals
General-purpose Input ×8 (Point, STOP, EXE, SELECT, HOME sensor, Limit, Deviation CLR, Pause, Jog, Interlock)
Input/Output Electric General-purpose Input: Interactive Input Photo Coupler DC5V to 24V
Signals Output Functions ALMCLR
Signals
General-purpose
Output
×7
(Point
No.,
Ack, Busy, HOME END, Push
END, ZONE,
Input Monitor,
In-position,
Bit Out)
Electric General-purpose Output: Open Collector, DC30V/15 mA Max.
Unit: mm (inch)
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
82
CLOSED LOOP STEPPING SYSTEMS
PB Driver
PB motor
Setup Software
Host Devices
Model:
PB4A002R300
PB4A002R301
Parameter configuration and
monitoring is possible via
communication with a PC.
General-purpose
I/O connector,
homing, probing, and
general-purpose signals
To Other Slaves
CN5
CN6
CN1
Circuit Breaker (MCCB)
Noise Filter
Electromagnetic Contactor
Used to protect the power
line. Cuts off power in the case
of an overload. (To be
arranged by the customer)
Switches power on and off.
Protective circuit must be
created. Protective circuit
must be created. (To be
arranged by the customer)
Attached to prevent external
noise from the power source
line. (To be arranged by the
customer)
CN3
CN2
CN4
100 - 115 VAC
/200 - 230 VAC
1Power Cable
Motor Power Cable
2
3Encoder Cable
Communication Cable
5
6
Communication Converter Unit
I/O Cable
4
System Configuration
Item Parts Number Description
3 1 Power Cable: 1 m PBC8P0010A
2 Motor Power Cable: 3 m PBC7M0030A Extension Cable
3 Encoder Cable: 3 m PBC7E0030A Extension Cable
4 I/O Cable (unshielded): 1 m PBC5S0010A 26 pin, Unshielded Cable
5 Communication Cable: 0.3 m PBC6C0003A
3 6 Communication Converter Unit PBFM-U6 USB/RS-485 conversion
Communication with SPBALL-01 Setup Software
To build a complete system, you need to have checked items.
83
Driver
PB4A002R301
P.E(M4)
(PEND1) OUT4 20
(PEND4) OUT7
(PEND3) OUT6
(PEND2) OUT5
23
26
25
24
22
21
(Busy) OUT3
(In-Posi) OUT2
(ACK) OUT1
17
19
18
16
15
14
9
(STOP) IN8
ALM
(–H.Limit) IN7
13
12
11
10
(+H.Limit) IN6
(Point4) IN5
8
7
4
COM 1
4
(Point2) IN3
(Point3) IN4
(Point1) IN2
6
5
(EXE) IN1
ALMCLR
3
2
9
24VDC
GND
CN1
10 GND
24V
N.C
GND
+5V
7
8
6
5
GND
CN4
3
N.C
1
2
3
CN5,6
Single/Three-phase 200 to 230VAC
Input Power 4
1
6
2
User Unit
*)
Twisted Pair
Cable with External Shield
5
B
Holding Brake
BRK- 6
BRK+
Motor
A
B3
4
2
A
CN3
1
CN2
C6
N.C
FG 11
12
N.C
10
O.H
5G 8
9
7
5V
TH
B3
5
C
4
B
A2
A
1OPTICAL
ENCODER
N.C
N.C
N.C N.C
N.C
Host Controller
PCIF
R
T
S
5
N.C
PB4A002R300
P.E(M4)
OUT4 20
OUT7
OUT6
OUT5
23
26
25
24
22
21
OUT3
OUT2
OUT1
17
19
18
16
15
14
9
IN8
ALM
IN7
13
12
11
10
IN6
IN5
8
7
4
COM 1
4
IN3
IN4
IN2
6
5
IN1
ALMCLR
3
2
9
24VDC
GND
CN1
10 GND
24V
N.C
GND
+5V
7
8
6
5
GND
CN4
3
N.C
1
2
3
CN5,6
Single-phase 100 to 115VAC
Input Power
4
1
6
2
User Unit
*)
5
B
Holding
Brake/
(24V)
BRK- 6
BRK+
Motor
A
B3
4
2
A
CN3
1
CN2
C6
N.C
FG 11
12
N.C
10
O.H
5G 8
9
7
5V
TH
B3
5
C
4
B
A2
A
1
N.C
N.C
N.C N.C
N.C
Host Controller
PCIF
(CMD9 enabled)
COM1
COM2
N.C
Driver
Twisted Pair
Cable with External Shield
OPTICAL
ENCODER
Wiring Diagram
100 to 115 VAC Input
Driver Model: PB4A002R300
200 to 230 VAC Input
Driver Model: PB4A002R301
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
84
CLOSED LOOP STEPPING SYSTEMS
AC Input Driver Pulse Input Model Type P
5 (.2)
[5 (.2)]
5 (.2)
33 (1.3) 4.5 (.18)
42 (1.7)
160 (6.3)
[10 (.39)]
150 (5.9)
10
170 (6.7)
4.5 (.18)
120 (4.7)
MADE IN JAPAN
00******
Model No.PB
CLOSED LOOP STEPPING SYSTEMS
MODESW
DATA
CN4
CN3
CN2
CN1
CN5
CN6
ø5
(.2)
(3.9)
Fear of a burn! Do not touch a heat sink.
Equipment may be damaged if mistaken connection is made.
on or within 10MIN after power off.
maintenance and check.
Be sure that the charge lamp is off at the time of
Electric shock cautions.
Do not touch drive unit or terminal cover during power
Connect earth terminal against electric shock.
Direction of
Up
Installation
Driver Model PB4A002P300 PB4A002P301
Power Supply
Single phase AC100V to 115V −15% +10% 50/60Hz
Single phase / 3-phase AC200V to 230V −15% +10% 50/60Hz
Ambient Operating 0 to 55°C
Environment temp. Storage −20 to 65°C
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)
Structure Tray Structure, Rear Mounting Type
Mass Approx. 0.65kg
Dimensions W42×H150×D120 mm
Rotation Speed 0 to 4500 min-1 (86 mm: 0 to 4000 min-1)
Resolution (P/R) Electronic gear 100 to 16000
Regeneration Process Internal (software processing)
Holding Brake Control
Function Internal
Power Voltage Error, Regeneration Voltage Error, Over-speed, Encoder Disconnection,
Functions Protective Functions CPU Error, Overload Stop, Servo Error, Zero-return Error, Nonvolatile Memory Error,
Initialization Error, Over-current, Amplifier Overheat, Motor Overheat, Counter Overflow
Display 7SEG LED Display (2 pieces)
Digital Operator Resolution, Related Motor, Positive Direction Definition, Gain, Node Address, Trans.
Speed, Holding Brake Control, Jog Driving
Operation Functions Auto Zero-return / Push Operation (Current limit)
Communication
RS-485 Start-Stop Synchronization, Half Duplex Communication, Trans.
Specifications (PCIF) Speed: 115200bps
Functions Pulse Input, STOP, ALMCLR
Input General-purpose Input ×2 (Deviation CLR, HOME, Push, Brake Control, Counter Reset)
Signals
Electric Pulse Input: Line receiver (1 or 2 input mode)
General-purpose Input: Interactive Input Photo Coupler DC5V to 24V
Input/Output Encoder Signal (A / B / C)
Signals Functions ALM, In-position
Output General-purpose Output ×2 (HOME END, Push END, ZONE, Input Monitor)
Signals Encoder Signal Output: Line Amplifier 4000P/R
Electric *C-phase / phase origin signal outputs will not be emitted at velocities over 200 min-1.
General-purpose Output: Open collector DC30V / 15mA Max.
n Dimension Unit: mm (inch)
* A function that finely adjusts the unit step angle per pulse parameters. Setup software is required.
85
System Configuration
PB Driver
PB motor
Setup Software
Host Devices
PLC Pulse Board
Model:
PB4A002P300
PB4A002P301
Parameter configuration and
monitoring is possible via
communication with a PC.
To External Limit
CN5
CN6
CN1
Circuit Breaker (MCCB)
Noise Filter
Electromagnetic Contactor
Used to protect the power
line. Cuts off power in the case
of an overload. (To be
arranged by the customer)
Switches power on and off.
Protective circuit must be
created. Protective circuit
must be created. (To be
arranged by the customer)
Attached to prevent external
noise from the power source
line. (To be arranged by the
customer)
CN3
CN2
CN4
100 - 115 VAC
/200 - 230 VAC
Motor Power Cable
2
3Encoder Cable
1Power Cable
Limit Input Cable
5
6
Communication Converter Unit
I/O Cable
4
Item Parts Number Description
3 1 Power Cable: 1 m PBC8P0010A
2 Motor Power Cable: 3 m PBC7M0030A Extension Cable
3 Encoder Cable: 3 m PBC7E0030A Extension Cable
4 I/O Cable: 1 m PBC5S0010C 26 pin, Shielded Cable
5 Limit Input Cable 1 m PBC7S0010A
3 6 Communication Converter Unit PBFM-U6 USB/RS-485 conversion
Communication with SPBALL-01 Setup Software
To build a complete system, you need to have checked items.
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
86
CLOSED LOOP STEPPING SYSTEMS
Wiring Diagram
2
OUT2 (Push END)
ENA
ENB
SON
OUT1 (HOME END)
IN1
ALM
ENC
In-position
IN2
GND
STOP
ALMCLR
COM
17
P.E(M4)
22
25
26
23
24
19
21
20
18
7
12
16
15
11
10
9
13
8
5
6
14
3
4
Back Up
Power (
Option)
NLIMIT
PLIMIT
GND
GND
N.C
PCIF N.C
N.C
N.C
N.C
N.C
N.C
R
S
User Unit
10
1
TH
24V
1BRK+ 6
CN1
1
6
4
5
2
3GND
*)
BRK-
GND
CN6
6+5V
N.C
4
5
N.C
2
3
3
B
B4
5
A
A2
1
N.C 12
CN3
FG
O.H
11
PB4A002P300
1
5
CN5
3
2
6
4
CN4
5
5V 7
5G
N.C 9
8
C
C
6
A2
B
B4
3
A
CN2
1
Driver
Holding Brake Motor
Twisted Pair
Cable with External Shield
OPTICAL
ENCODER
Input Power
Single-phase 100 to 115 VAC
Positive DIR Pulse (Pulse)
Negative DIR Pulse (Direction)
Holding Brake Motor
Twisted Pair
Cable with External Shield
OPTICAL
ENCODER
Positive DIR Pulse (Pulse)
Negative DIR Pulse (Direction)
Driver
PB4A002P301
P.E(M4)
OUT1 (HOME END) 20
ENB
ENA
OUT2 (Push END)
23
26
25
24
22
21
RDY
In-position
ENC
17
19
18
16
15
12
ALM
11
10
9
4
COM 14
7
IN2
GND
IN1
13
8
ALMCLR
STOP
6
5
CN1
N.C
GND
+5V
6
5
GND
CN4
3
N.C
1
2
3
CN5
Single/Three phase 200 to 230 VAC
Input Power 4
1
6
2
User Unit
*)
5
B
BRK- 6
BRK+
A
B3
4
2
A
CN3
1
CN2
C6
N.C
FG 11
12
N.C
10
O.H
5G 8
9
7
5V
TH
B3
5
C
4
B
A2
A
1
N.C
N.C
N.C N.C
N.C
CN6
N.C
N.C 2
1
N.C
N.C
3
4
PLIMIT
NLIMIT 6
5
1
2
3
4
PCIF
R
S
T
5
N.C
*1
100 to 115 VAC Input
Driver Model: PB4A002P300
200 to 230 VAC Input
Driver Model: PB4A002P301
*1 When using with single-phase power supply, wire to pins 2 and 4.
87
DC Input Driver Indexer / Pulse Input Model Type M
[5 (.2)]
5 (.2)
6
32 (1.26)
20 (.79)
ø5
150 (5.91)
140 (5.51)
160 (6.30)
10 (.39)
5 (.2)
RSW
CN6
CN5
CN1
CN2
CN3
CN4
30 (1.18) MAX. 95 (3.74)
4 (.16)
CLOSED LOOP STEPPING SYSTEMS
Model No. PB
(.2)
(.24)
Direction of
Up
Installation
n Dimension
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 55°C
Environment
temp. Storage −20 to 70°C
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/W32×H160×D95 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,
Functions Module Operation, Push Operation, Teaching Functions Normal Drive, Zero-return
Point Functions: 128Point
Program Functions: 1PRG×1024Line, 32PRG×32Line, 128PRG×8Line
Rotary Switch Node Address Setting (0 to F)
Normalize velocity loop gain setting
DIP-Switches SSW1: Interface Selection (On: RS-485, OFF: Pulse)
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=270Ω)
Input signal: DC5V to 24V
Input/Output
(Normal Mode) Ack, PEND, END, Busy, Zone, Mode MON,
Signals
STOP MON, In-position, Homing complete, Generic Output,
Output Signals
Encoder Output, SON MON, ALM, HEND, Input Monitor (Teaching
ALM, STOP MON, In-position,
Mode) PEND, HEND, In-position, Mode MON, SON MON
Homing complete, Encoder
Output signal: Open collector DC30V / 30mA Max.
Output, SON MON, STOP MON
*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
Unit: mm (inch)
* A function that finely adjusts the unit step angle per pulse parameters. Setup software is required.
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
88
CLOSED LOOP STEPPING SYSTEMS
System Configuration
PB Driver
PB motor
Circuit Breaker (MCCB) Setup Software
Noise Filter
Electromagnetic Contactor
Motor Power Cable
2
3Encoder Cable
Host Devices
Model:
PB3D003M200
1
Parameter configuration and
monitoring is possible via
communication with a PC.
General-purpose
I/O connector,
homing, probing, and
general-purpose signals
To Other Slaves
I/O Cable
Communication Cable
DC power source
Power Cable
24/48 VDC
(When using as Type R)
Used to protect the power line.
Cuts off power in the case of
an overload. (To be arranged
by the customer)
Switches power on and off.
Protective circuit must be
created. Protective circuit
must be created. (To be
arranged by the customer)
Attached to prevent external
noise from the power source
line. (To be arranged by the
customer)
CN4
CN3
CN2
CN1
CN5
CN6
4a 4b
5
6
Communication Converter Unit
Item Parts Number Description
3 1 Power Cable: 1 m PBC6P0010A
2 Motor Power Cable: 3 m PBC6M0030A Extension Cable
3 Encoder Cable: 3 m PBC6E0030A Extension Cable
4a I/O Cable: 1 m PBC5S0010A 26 pin, Unshielded Cable
4b I/O Cable: 1 m PBC5S0010C 26 pin, Shielded Cable
5 Communication Cable: 0.3 m PBC6C0003A
3 6 Communication Converter Unit PBFM-U6 USB/RS-485 conversion
Communication with SPBA1W-01 Setup Software
To build a complete system, you need to have checked items.
89
Wiring Diagram
Note: The CN1 general-purpose input/output signal function is selected
through communication. Please see the basic specifications for details.
CN2
A
A
B
B
C
C
5V
5G
NC
NC
1
2
3
4
5
6
7
8
9
10
11
OPTICAL
ENCODER
1
2
3
4
CN4
Driver
PB3D003M200
CN5,6
1
2
User Device
Input Power
24/48VDC
N.C
CTXD
Pow
GND
CTXD
Generic Input DIP Switch SW1:OFF
A
A
1
2
3
4
14
25
5
6
7
8
9
10
11
12
13
15
16
17
18
19
20
21
22
23
24
26
Holding Brake
(24VDC)
Motor
Twisted Pair Cable
with External Shield
CN1
CN3
B
B
BRK+
BRK-
1
2
3
4
5
6
FG
NC 12
6
5
7
10
DIP SW-2
Vcc
RTXD
NC
GND
STOP
GND
Terminating Resistance
CRXD
Positive direction Pulse+/Pulse+
Positive direction Pulse-/Pulse-
-COM
+COM(+5V to 24VDC)
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
Negative direction Pulse+/Rotation direction+
Negative direction Pulse-/Rotation direction-
Positive direction Limit
Negative direction Limit
Note: The CN1 general-purpose input/output signal function is selected
through communication. Please see the basic specifications for details.
A
A
-COM
+COM(+5 to 24V)
IN1(EXE)/PWR
IN2(Point0)/Point0
IN3(Point1)/Point1
IN4(Point2)/Point2
IN5(Point3)/Point3
IN6(Point4)/Point4
IN7(HOME)/Jog+
IN8(STOP)/STOP
ALMCLR/Jog-
ALM/ALM
OUT1(PEND0)/PEND0
OUT2(PEND1)/PEND1
OUT3(PEND2)/PEND2
OUT4(PEND3)/PEND3
OUT5(PEND4)/PEND4
OUT6(HEND)/HEND
OUT7(In-position)/In-position
OUT8(MODE MON)/MODE MON
OUT9(SON MON)/SON MON
-COM
1
2
3
4
14
25
5
6
7
8
9
10
11
12
13
15
16
17
18
19
20
21
22
23
24
26
Holding Brake
(24VDC)
Motor
Twisted Pair Cable
with External Shield
CN1
CN3
B
B
BRK+
BRK-
1
2
3
4
5
6
CN2
A
A
B
B
C
C
5V
5G
NC
NC
FG
NC
1
2
3
4
5
6
7
8
9
10
11
12
OPTICAL
ENCODER
1
2
3
4
CN4
Driver
PB3D003M200
CN5,6
1
2
6
5
7
10 DIP SW-2
Vcc
User Device
Input Power
24/48VDC
N.C
CTXD
RTXD
NC
GND
STOP
Pow
GND
GND
Terminating Resistance
CTXD
CRXD
Normal (initial value)/ Teaching
Preliminary
Preliminary
Generic Input DIP Switch SW1:ON
Indexer DIP Switch SW1: ON
Pulse Input DIP Switch SW1: OFF
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
90
CLOSED LOOP STEPPING SYSTEMS
DC Input Driver EtherCAT Model
Direction of
installation
Up
95 (3.74)
4.5 (.18)
12.5 (.49)
45 (1.77)
5 (.2)
150 (5.91)
140 (5.51)
160 (6.30)
20 (.79)
10
5 (.2)
[10 (.39)]
[5 (.2)]
(3.9)
Unit: mm (inch)
Driver Model PB4D003E2D0
Power Supply Main power supply DC24 / 48V ±10% 5A
Control power supply DC24V ±10% 0.5A
Ambient Operating 0 to 55°C
temp. Storage −20 to 65°C
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)
Impact resistance 5G
Elevation Maximum 2000 m above sea level
Structure Tray structure rear mounting type
Mass Approx. 0.5 kg
Dimensions W45×H160×D95 mm
Rotation Speed 0 to 4500 min-1
Resolution (P/R) 10000
Regeneration Process Regenerative resistor (Option)
Holding Brake Control
Functions Function Internal
Power voltage error, Regeneration voltage error, Over-speed, Sensor error, Wrap around, CPU error,
Protective Functions
Overload stop, Zero-return error, Nonvolatile memory error, Deviation counter overflow, Initialization error,
Over-current, Amplifier overheat, Servo error, Push abnormality, Communications abnormality, etc.
Display 7SEG LED display (2 pieces)
Digital Operator
Related motor (Absolute encoder is automatically recognized), Jog driving, Node address, Holding brake control
Physical layer / Protocol 100BASE-TX / IEEE802.3 compliant Ethernet
Transmission speed 100 Megabits Full duplex
Interface
Communication port / Topology
2 ports (RJ45) / Daisy-chain (Max. 65535 nodes)
Device profile CoE (IEC61800-7-201), FoE (ASCII code access)
Synchronization SM2 event synchronization, DC synchronization (SYNC0 / SYNC1), asynchronous
*0x1C32,0x05: Shortest cycle time = 1 ms
Input Functions Interactive input photo coupler 5 to 24 VDC
Input/Output
Signals Electric Positive & negative direction limit, HOME input: each axis
Signals Output Functions Open collector, 30 VDC / 15mA Max.
Signals Electric 2 general purpose outputs (each axis), hardware gate OFF input
n Dimension Unit: mm (inch)
91
PB Driver
PB motor
Motor Power Cable
2
3Encoder Cable
Model:
PB4D003E2D0
Parameter configuration and
monitoring is possible via
communication with a PC.
CN5
CN8
CN4
CN3
CN2
CN1
CN0
CN7
CN6
48 VDC
Master Controller
To Other Slave
24 VDC
General I/O
Sensor
I/O Cable
4
1Power Cable
5Communication Converter Unit
Setup Software
System Configuration
Item Parts Number Description
3 1 Power Cable: 1 m PBC9P0020A
2 Motor Power Cable: 3 m PBC8M0030A Extension Cable
3 Encoder Cable: 3 m PBC7E0030A Extension Cable
4 I/O Cable: 1 m PBC1S0010A 20 pin, Unshielded Cable
3 6 Communication Converter Unit PBFM-U6 USB/RS-485 conversion
Communication with SANMOTION MOTOR Setup Software
To build a complete system, you need to have checked items.
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
92
Wiring Diagram
CLOSED LOOP STEPPING SYSTEMS
Axis 2 Touch probe input
Gate OFF monitor
General-purpose output 2
General-purpose output 1
Preliminary
Axis 1 Touch probe input
COM
FG
4
17
18
16
15
13
5
2
3
1
GND
N.C
PCIF N.C
N.C
Main power supply 24/48VDC
FG
User Unit
1
10
Twisted pair cable
with external shield
Motor
6
BRK+
*)
Holding brake
GND
6 to 9
4N.C
5,10
N.C
2
3
B3
B4
5
A2
1
12
N.C
CN4,5
FG 11
PB4D003E2D0
4
CN8
5
1
3
2
CN6
B
5
7
5V
5G
N.C 9
8
C
C
6
2
A
B4
3
A
CN2,3
1
Driver
Optical
incremental
encoder
Control power supply 24VDC
CN7
8
9
7
6
Axis 1 Home input
Axis 1 Negative direction limit input
Axis 1 Positive direction limit input
Axis 2 Home input
Axis 2 Negative direction limit input
Axis 2 Positive direction limit input
10
14
2
3
7
CN0,1
75
1
4
5
8
6
TX
+
TX
–
RX
+
RX
–
1M
N.C 20
19
BRK-
A
12
11
Gate OFF input
93
6.5 (.26)
ø5
60 (2.4)
5(.2)150 (5.9)
[5 (.2)]
5 (.2)
95 (3.7)
4
160 (6.3)
[70 (2.8)]
(.16)
(.2)
DC Input Driver EtherCAT Multi-Axis Model
Driver Model PB4D003E440
Power Supply Main power supply 24/48VDC ±10% 14A
Control power supply 24VDC ±10% 1.5A
Ambient Operating 0 to 55°C
temp. Storage −20 to 65°C
Operating
/
Storage Humidity
90% RH (non-condensing)
Vibration Resistance
5m/s2 (Tested X, Y and Z directions for 2 hours in the frequency range between 10 to 55Hz.)
Shock resistance 20m/s2
Elevation Below 1,000m above sea level
Mass 0.7kg
Dimensions W60×H160×D95mm
Rotation Speed 0 to 4500 min-1 (0 to 3000 min-1 for 60 mmsq. motor)
Resolution (P/R) 10000
Regeneration Process Regenerative resistor (Option)
Holding Brake Control Function
Built in
Functions
Main circuit overcurrent, Overload, Initializing operation error, Driver overheat, Main circuit overvoltage,
Protective Functions
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
.
Display Status display, Alarm display
PC interface USB2.0
Physical layer / Protocol 100BASE-TX / IEEE802.3 compliant ethernet
Transmission speed 100Mbit/s, Full duplex
Interface
Communication port / Topology
2 ports (RJ45) / Daisy-chain (Max. 65535 nodes)
Device profile CoE (IEC61800-7-201), FoE (ASCII code access)
Synchronization SM2 event synchronization, DC synchronization (SYNC0 / SYNC1), Asynchronous
Minimum Cycle Time 0.25ms
Photocoupler input type, Number of inputs: 16
Input Signal Input resistance: 2.2kΩ
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.)
n Dimension
Unit: mm (inch)
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
94
CLOSED LOOP STEPPING SYSTEMS
CN10
IN
PC
CN11
OUT
CN6
CN5
CN4
CN3
CN9
CN8
CN7
CN2
CN1
Regenerative Unit
Setup Software
USB Communication
Cable
To the next
EtherCAT slave
I/O Cable
Encoder Cable
Master Controller
Motor (axis 4)Motor (axis 3)Motor (axis 2)Motor (axis 1)
Power Cable
Power Cable
To another
driver
Motor Power Cable
1
3
PB Driver Model:
PB4D003E440
DC Power
Supply
2
5
4
6
PB Motor
System Configuration
Item Parts Number Description
31 Power Cable: 1 m PBC10P0010A
2 Motor Power Cable: 3 m PBC8M0030A Extension Cable
3 Encoder Cable: 3 m PBC7E0030A Extension Cable
4 I/O Cable: 1 m PBC9S0010C
35 USB Communication Cable: 1 m AL-00896515-01
Communication with SANMOTION MOTOR Setup Software
6 Regen Unit PBFE-02 Need when using 60 mmsq motor. (Ask us)
To build a complete system, you need to have checked items.
95
* 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.
Shielded twisted-pair cable
1
10
3
B
B
4
A
A
2
1
N.C
CN7~10
FG
N.C
11
12
PB4D003E440
IN,OUT
2
4,8
6
3,7
CN1
5V
7
5G
N.C
9
8
Z
Z
6
5
A/ES-
2
B
B
4
3
A/ES+
CN3~6
1
Driver
BRK+
BRK-
6
5
To the next driver power supply
1,5
2
4,8
6
3,7
CN2
1,5
FG
COMI
6
3
5
4
9
8
7
12
11
10
15
14
13
CN11
OUT1
N.C
26
28
30
32
34
36
38
40
42
44
46
48
50
CN11
Encoder
MotorHolding brake
* Main circuit power supply 24/48 VDC
Control circuit power supply 24 VDC
TX+
4
TX-
5
2
3
7
8
6
RX+
RX-
PC
3
4
2
1
5
18
17
16
N.C.
1,2
19
25
~
OUT1G
OUT2
OUT2G
OUT3
OUT3G
OUT4
OUT4G
OUT5
OUT5G
OUT6
OUT6G
OUT7
OUT7G
OUT8
OUT8G
OUT9
OUT9G
OUT10
OUT10G
OUT11
OUT11G
OUT12
OUT12G
27
29
31
33
35
37
39
41
43
45
47
49
EtherCAT
PCIF
(USB)
IN3(HOME1)
IN4(TPRB1)
IN1(NLMT1)
IN2(PLMT1)
IN6(PLMT2)
IN7(HOME2)
IN5(NLMT2)
IN9(NLMT3)
IN10(PLMT3)
IN8(TPRB2)
IN12(TPRB3)
IN13(NLMT4)
IN11(HOME3)
IN15(HOME4)
IN16(TPRB4)
IN14(PLMT4)
Wiring Diagram
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
96
CLOSED LOOP STEPPING SYSTEMS
Model Numbering System
n Motor
n Driver
PBM 60 3 F X K M30
Series
Power Input
Motor Flange Size (mm)
Model No. PB motor
Motor Length
F: AC, DC (Type M) D: DC (multi-axis)
Options
X: Without option
Encoder Type
Standard
Indentification
Specification Identification
M ··· CE and UL
K ··· 16000 (4000x4) P/R with Z-phase output
E ··· 2000 (500x4) P/R with Z-phase output
20, 30, 50 ··· Standard
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
Series
Motor Excitation Current
A ··· AC power source
D ··· DC power source
Specification Identification
Power Input 00 ··· Standard
Encoder Type
R ··· Indexer M ··· Indexer + Pulse Input
P ··· Pulse Input E ··· EtherCAT
Interface Type
2M 00DPB3 003
001 ··· 1 A 003 ··· 3 A002 ··· 2 A
MEMO
98
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
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.
Microstep drive
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
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.
ATMs Blood analyzers Wafer cleaners
Food packaging machines
Embroidering machines
99
0.041 32
5.81 0.75 SH5281-7241 S 1.26 F5PAE140P100 100
0.078 51.5
11 0.75 SH5285-7241 S 2.03 F5PAE140P100 101
0.125 35
17.7 1.4 SF5421-8241 S 1.38 F5PAE140P100 102
0.185 41
26.2 1.4 SF5422-8241 S 1.61 F5PAE140P100 103
0.245 49
34.7 1.4 SF5423-8241 S 1.93 F5PAE140P100 104
0.57 49
80.7 1.4 SM5601-8241 S 1.93 F5PAE140P100 105
0.9 60
127 1.4 SM5602-8241 S 2.36 F5PAE140P100 106
1.55 89
219 1.4 SM5603-8241 S 3.50 F5PAE140P100 107
2.1 66
297 1.4 SM5861-8241 S 2.60 F5PAE140P100 108
4.4 96.5
623 1.4 SM5862-8241 S 3.80 F5PAE140P100 109
SL5421-7241 S 87
370 0.75
3.43 F5PAE140P100 110
83.2 SL5421-72XB41 S, BRK 117
4.61
450 1.4 SL5601-8241 S 135.6 F5PAE140P100 111
101 SL5601-82XB41 S, BRK 5.34
Motor Size
28
mm
NEMA 11
42
mm
NEMA 17
60
mm
2.36 inch
86
mm
3.39 inch
Motor Size
42
mm
1.65 inch
60
mm
2.36 inch
Lineup
Holding Torque Current Motor Length Driver
N • m Model Shape mm Page
oz • in Amp inch
24/48 VDC input
Holding Torque Current Motor Length Driver
N (lb) Amp Model Shape mm (inch) 24/48 VDC input Page
5-Phase Stepping Motor
Linear Actuator
Shape S: Single Shaft
Shape S: Single Shaft BRK: Electrical Magnetic Brake Equipped
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
100
5-PHASE STEPPING SYSTEMS
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
0.01
0.02
0.03
0.04
0.05
0600 1200 1800 2400
0510 15 20
Fullstep
Sourcecurrent
Pull-outtorque
RoHS
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
0.01
0.02
0.03
0.04
0.05
0600 1200 1800 2400
0510 15 20
Sourcecurrent
Fullstep
Pull-outtorque
fs: Maximum self-start frequency when not loaded
Pull-out torque
Source current (load applied)
Source current (no load)
With rubber coupling
Driver: F5PAE140P100
.39
+.04
0
()
.39
+.04
0
()
4-M2.5×0.45
Eective tapping
depth 3.2 (.126) min.
S
10±0.8 32±0.8
1.5±0.76
300 (11.8) min.
Lead wire: UL3265 AWG28
15±0.5
+1
10 +0 +1
10 +0
0.00
22 −0.05
0.000
5 −0.01
3
28±0.5
4-23±0.25
Cross section S-S
4.5±0.15
4.5±0.15
S
R3 min.R3 min.
(Eective length)
(.39±.03)
(1.26±.03)
(.59±.02)
.0000
-.000
()
.20
.0000
-.0020
()
.87
0.000
5 −0.013
.0000
-.000
()
.20
(Eective length)
(.059±.03)
(1.10±.02)
(4-.91±.1)
(.18±.006)
(.18±.006)
(R.12 min.) (R.12 min.)
Re
d
OrangeGreen
Black
Blue
n Dimension
n Specification
New pentagon winding, 0.72 °/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SH5281-7241
0.041
5.81
0.75
1.05
0.44
0.01
0.055
0.11
0.24
-10 to 50°C (14 to 122 °F)
20 to 90% RH, no condensation
n Torque Curve
l SH5281-72
48 VDC Input
24 VDC Input
28
mm (NEMA 11)
32
mm (1.26 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
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.
Unit: mm (inch)
Excitation sequence
Lead wire color
1 2 3 4 5 6 7 8 9 10
Blue + + + − − −
Red − − + + + −
Orange − − − + + +
Green + − − − + +
Black + + + − − −
Connection method:
New pentagon connection
101
.39
+.04
0
()
.39
+.04
0
()
4-M2.5×0.45
Eective tapping
depth 3.2 (.126) min.
S
10±0.8 51.5±0.8
1.5±0.76
300 (11.8) min.
Lead wire: UL3265 AWG28
15±0.5
+1
10 +0 +1
10 +0
0.00
22 −0.05
0.000
5 −0.013
28±0.5
4-23±0.25
Cross section S-S
4.5±0.15
4.5±0.15
S
R3 min.R3 min.
(Eective length)
(.39±.03)
(2.03±.03)
(.59±.02)
.0000
-.000
()
.20
.0000
-.0020
()
.87
0.000
5 −0.013
.0000
-.000
()
.20
(Eective length)
(.059±.03)
(1.10±.02)
(4-.91±.1)
(.18±.006)
(.18±.006)
(R.12 min.) (R.12 min.)
RoHS
fs: Maximum self-start frequency when not loaded
Pull-out torque
Source current (load applied)
Source current (no load)
With rubber coupling
Driver: F5PAE140P100
Re
d
OrangeGreen
Black
Blue
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.
Excitation sequence
Lead wire color
1 2 3 4 5 6 7 8 9 10
Blue + + + − − −
Red − − + + + −
Orange − − − + + +
Green + − − − + +
Black + + + − − −
Connection method:
New pentagon connection
n Dimension
n Specification n Torque Curve
l SH5285-72
48 VDC Input
24 VDC Input
28
mm
(NEMA 11)
51.5
mm (2.03 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
New pentagon winding, 0.72 °/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SH5285-7241
0.078
11
0.75
1.15
0.64
0.022
0.12
0.2
0.44
-10 to 50°C (14 to 122 °F)
20 to 90% RH, no condensation
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
0.02
0.04
0.06
0.08
0.10
0120018002400600
0510 15 20
Fullstep
Sourcecurrent
Pull-outtorque
Torque(N·m)
Sourcecurrent(Ａ)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
0.02
0.04
0.06
0.08
0.10
0600 1200 1800 2400
0510 15 20
Fullstep
Sourcecurrent
Pull-outtorque
Unit: mm (inch)
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
102
5-PHASE STEPPING SYSTEMS
(1.38±.04)
15±1
2±0.25
15
+1
0
20±0.5
4-M3×0.5
Eective tapping
depth 4 min.
4-31±0.25
42±0.25
5.5±0.15
Cross section S-S
←S
←S
Screw for
GND terminal
D section
(.59±.04)
(.079±.01)
M3×0.5×6(.24)L
.59
+.04
0
()
(.79±.02)
35±1
6 0
-0.012
.0000
-.0005
()
.24
.0000
-.0020
()
.87
22 0
-0.05
5 0
-0.012
.0000
-.0005
()
.20
4.5±0.15
(.18±.006)
(1.65±.01)
(4-1.22±.01)
(.22±.006)
(19.7±1.18)
15 0
+1
.59
+.04
0
()
D section details
(Eective length)
Leadwire:
UL3266 AWG26
500±30
RoHS
Re
d
OrangeGreen
Black
Blue
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.
Excitation sequence
Lead wire color
1 2 3 4 5 6 7 8 9 10
Blue + + + − − −
Red − − + + + −
Orange − − − + + +
Green + − − − + +
Black + + + − − −
Connection method:
New pentagon connection
42
mm
(
NEMA 17
)
35
mm (1.38 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification
New pentagon winding, 0.72 °/step
Unit: mm (inch)
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SF5421-8241
0.125
17.7
1.4
0.47
0.37
0.028
0.153
0.24
0.53
-10 to 50°C (14 to 122 °F)
20 to 90% RH, no condensation
n Torque Curve
l SF5421-82
48 VDC Input
24 VDC Input
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
0.05
0.10
0.15
0.20
0.25
0600 1200 1800 2400
0510 15 20
Fullstep
Sourcecurrent
Pull-outtorque
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
0.05
0.10
0.15
0.20
0.25
0600 1200 1800 2400
0510 15 20
Fullstep
Sourcecurrent
Pull-outtorque
fs: Maximum self-start frequency when not loaded
Pull-out torque
Source current (load applied)
Source current (no load)
With rubber coupling
Driver: F5PAE140P100
103
(1.61±.04)
15±1
2±0.25
15
+1
0
20±0.5
4-M3×0.5
Eective tapping
depth 4 min.
4-31±0.25
42±0.25
5.5±0.15
Cross section S-S
←S
←S
Screw for
GND terminal
D section
(.59±.04)
(.079±.01)
M3×0.5×6(.24)L
.59
+.04
0
()
(.79±.02)
41±1
6 0
-0.012
.0000
-.0005
()
.24
.0000
-.0020
()
.87
22 0
-0.05
5 0
-0.012
.0000
-.0005
()
.20
4.5±0.15
(.18±.006)
(1.65±.01)
(4-1.22±.01)
(.22±.006)
(19.7±1.18)
15 0
+1
.59
+.04
0
()
D section details
(Eective length)
Leadwire:
UL3266 AWG26
500±30
RoHS
Re
d
OrangeGreen
Black
Blue
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.
Excitation sequence
Lead wire color
1 2 3 4 5 6 7 8 9 10
Blue + + + − − −
Red − − + + + −
Orange − − − + + +
Green + − − − + +
Black + + + − − −
Connection method:
New pentagon connection
42
mm (
NEMA 17
)
41
mm (1.61 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification
Unit: mm (inch)
New pentagon winding, 0.72 °/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SF5422-8241
0.185
26.2
1.4
0.55
0.66
0.045
0.246
0.31
0.68
-10 to 50°C (14 to 122 °F)
20 to 90% RH, no condensation
n Torque Curve
l SF5422-82
48 VDC Input
24 VDC Input
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
0.1
0.2
0.3
0.4
0.5
0600 1200 1800 2400
0510 15 20
Fullstep
Sourcecurrent
Pull-outtorque
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
0.1
0.2
0.3
0.4
0.5
0600 1200 1800 2400
0510 15 20
Fullstep
Sourcecurrent
Pull-outtorque
fs: Maximum self-start frequency when not loaded
Pull-out torque
Source current (load applied)
Source current (no load)
With rubber coupling
Driver: F5PAE140P100
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
104
5-PHASE STEPPING SYSTEMS
(1.93±.04)
2±0.25
15
+1
0
20±0.5
4-M3×0.5
depth 4 min.
4-31±0.25
42±0.25
5.5±0.15
Cross section S-S
(.079±.01)
.59
+.04
0
()
(.79±.02)
49±1
6 0
-0.012
.0000
-.0005
()
.24
.0000
-.0020
()
.87
22 0
-0.05
4.5±0.15
(.18±.006)
(1.65±.01)
(4-1.22±.01)
(.22±.006)
(19.7±1.18)
15 0
+1
.59
+.04
0
()
D section details
15±1
Screw for
GND terminal
D section
(.59±.04)
M3×0.5×6(.24)L
5 0
-0.012
.0000
-.0005
()
.20
Lead wire:
UL3266 AWG26
500±30
RoHS
n Torque Curve
Re
d
OrangeGreen
Black
Blue
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.
Excitation sequence
Lead wire color
1 2 3 4 5 6 7 8 9 10
Blue + + + − − −
Red − − + + + −
Orange − − − + + +
Green + − − − + +
Black + + + − − −
Connection method:
New pentagon connection
42
mm (
NEMA 17
)
49
mm (1.93 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification
New pentagon winding, 0.72 °/step
Unit: mm (inch)
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SF5423-8241
0.245
34.7
1.4
0.65
0.75
0.056
0.306
0.38
0.84
-10 to 50°C (14 to 122 °F)
20 to 90% RH, no condensation
l SF5423-82
48 VDC Input
24 VDC Input
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
0.1
0.2
0.3
0.4
0600 1200 1800 2400
0.5
0510 15 20
Fullstep
Sourcecurrent
Pull-outtorque
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
0.1
0.2
0.3
0.4
0.5
0600 1200 1800 2400
0510 15 20
Sourcecurrent
Fullstep
Pull-outtorque
fs: Maximum self-start frequency when not loaded
Pull-out torque
Source current (load applied)
Source current (no load)
With rubber coupling
Driver: F5PAE140P100
105
49±1
36
0
-0.039
10
0
-0.015
2±0.25
20
+1
0
24±0.5
7±0.25
Lead wire:
UL3266 AWG22
4-50±0.13
9.5±0.15
500±30
(.94±.02)
(1.93±.04)
(.28±.01)
(.079±.01)
(.37±.006)
(2.36±.02)
(4-1.97±.005)
(19.7±1.18)
.79
+.04
0
()
21±1
20+1
0
S
S
M3×0.5×6L
Screw for
GND terminal
(.83±.04)
Cross section S-S
7.5±0.15
(.30±.006)
.0000
-.0006
( )
.31
.79
+.04
0
()
8 0
-0.015
.0000
-.0006
( )
.39
.0000
-.0015
( )
.1.42
4.5
+0.5
4- 0
.18
+.02
4- 0
()
60±0.5
RoHS
n Torque Curve
Re
d
OrangeGreen
Black
Blue
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.
Excitation sequence
Lead wire color
1 2 3 4 5 6 7 8 9 10
Blue + + + − − −
Red − − + + + −
Orange − − − + + +
Green + − − − + +
Black + + + − − −
Connection method:
New pentagon connection
60
mm (
2.36 inch
)
49
mm (1.93 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification
Unit: mm (inch)
New pentagon winding, 0.72 °/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SM5601-8241
0.57
80.7
1.4
0.9
2.7
0.2
1.093
0.62
1.37
-10 to 40°C (14 to 104 °F)
95% RH max.: under 40°C, no condensation
l SM5601-82
48 VDC Input
24 VDC Input
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
0.2
0.4
0.6
0.8
1.0
0600 1200 1800 2400
0510 15 20
Sourcecurrent
Pull-outtorque
Fullstep
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
0.2
0.4
0.6
0.8
1.0
0600 1200 1800 2400
0510 15 20
Sourcecurrent
Fullstep
Pull-outtorque
fs: Maximum self-start frequency when not loaded
Pull-out torque
Source current (load applied)
Source current (no load)
With rubber coupling
Driver: F5PAE140P100
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
106
5-PHASE STEPPING SYSTEMS
21±1 60±1
36
0
-0.039
10
0
-0.015
2±0.25
20
+1
0
24±0.5
7±0.25
20+1
0
Cross section S-S
M3×0.5×6L
Screw for
GND terminal
Lead wire:
UL3266 AWG22
4-50±0.13
9.5±0.15
500±30
(.83±.04)
(.94±.02)
(2.36±.04)
(.28±.01)
(.079±.01)
(.37±.006)
(2.36±.02)
(4-1.97±.005)
(19.7±1.18)
7.5±0.15
(.30±.006)
.79
+.04
0
()
.0000
-.0006
( )
.31
.79
+.04
0
()
8 0
-0.015
.0000
-.0006
( )
.39
.0000
-.0015
( )
.1.42
4.5
+0.5
4- 0
.18
+.02
4- 0
()
60±0.5
RoHS
Re
d
OrangeGreen
Black
Blue
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.
Excitation sequence
Lead wire color
1 2 3 4 5 6 7 8 9 10
Blue + + + − − −
Red − − + + + −
Orange − − − + + +
Green + − − − + +
Black + + + − − −
Connection method:
New pentagon connection
60
mm (
2.36 inch
)
60
mm (2.36 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification
New pentagon winding, 0.72 °/step
Unit: mm (inch)
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SM5602-8241
0.9
127
1.4
1.15
4.7
0.31
0.106
0.8
1.76
-10 to 40°C (14 to 104 °F)
95% RH max.: under 40°C, no condensation
n Torque Curve
l SM5602-82
48 VDC Input
24 VDC Input
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
0.4
0.8
1.2
1.6
2.0
0600 1200 1800 2400
0510 15 20
Sourcecurrent
Fullstep
Pull-outtorque
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
0.4
0.8
1.2
1.6
2.0
0600 1200 1800 2400
0510 15 20
Fullstep
Sourcecurrent
Pull-outtorque
fs: Maximum self-start frequency when not loaded
Pull-out torque
Source current (load applied)
Source current (no load)
With rubber coupling
Driver: F5PAE140P100
n Torque Curve
107
89±1
36
0
-0.039
10
0
-0.015
2±0.25
20
+1
0
24±0.5
7±0.25
Lead wire:
UL3266 AWG22
4-50±0.13
9.5±0.15
500±30
(.94±.02)
(3.50±.04)
(.28±.01)
(.079±.01)
(.37±.006)
(2.36±.02)
(4-1.97±.005)
(19.7±1.18)
.79
+.04
0
()
21±1
20+1
0
Cross section S-S
S
S
M3×0.5×6L
Screw for
GND terminal
(.83±.04)
7.5±0.15
(.30±.006)
.0000
-.0006
( )
.31
.79
+.04
0
()
8 0
-0.015
.0000
-.0006
( )
.39
.0000
-.0015
.1.42
4.5
+0.5
4- 0
.18
+.02
4- 0
()
60±0.5
( )
RoHS
Re
d
OrangeGreen
Black
Blue
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.
Excitation sequence
Lead wire color
1 2 3 4 5 6 7 8 9 10
Blue + + + − − −
Red − − + + + −
Orange − − − + + +
Green + − − − + +
Black + + + − − −
Connection method:
New pentagon connection
60
mm (
2.36 inch
)
89
mm (3.50 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification
Unit: mm (inch)
New pentagon winding, 0.72 °/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SM5603-8241
1.7
241
1.4
1.85
8.1
0.6
3.28
1.27
2.8
-10 to 40°C (14 to 104 °F)
95% RH max.: under 40°C, no condensation
n Torque Curve
l SM5603-82
48 VDC Input
24 VDC Input
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
1
2
3
4
5
0200 400600 80010001200
02
48
106
Fullstep
Sourcecurrent
Pull-outtorque
Torque(N·m)
Sourcecurrent(A)
Pulserate(kpulse/s)
Numberofrotations(min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
1
2
3
4
5
0200 400600 80010001200
024
81
06
Fullstep
Sourcecurrent
Pull-outtorque
fs: Maximum self-start frequency when not loaded
Pull-out torque
Source current (load applied)
Source current (no load)
With rubber coupling
Driver: F5PAE140P100
n Torque Curve
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
108
5-PHASE STEPPING SYSTEMS
2±0.25
(.32±.02)
66±1
60 0
-0.046
14 0
-0.018
(.079±.01)
25
+1
0
37±0.5
8±0.5
6.5±0.2
4-70±0.13
85.5±0.5
13±0.15
Lead wire:
UL3266 AWG22
500±30
(2.60±.04)
(1.46±.02)
(19.7±1.18)
.98
+.04
0
()
.0000
-.0007
( )
.55
32±1
14
0
-0.018
25
+1
0
S
S
M4×0.7×6(.24)L
Screw for GND terminal
(1.26±.04)
.98
+.04
0
()
.0000
-.0007
()
.55
13±0.15 Cross section S-S
(.51±.006)
( )
.0000
-.00182.36
(.51±.006)
(4-2.76±.005)
(3.37±.02)
4-
.26±.008)(4-
RoHS
n Torque Curve
Re
d
OrangeGreen
Black
Blue
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.
Excitation sequence
Lead wire color
1 2 3 4 5 6 7 8 9 10
Blue + + + − − −
Red − − + + + −
Orange − − − + + +
Green + − − − + +
Black + + + − − −
Connection method:
New pentagon connection
l SM5861-82
48 VDC Input
86
mm (3.39 inch)
66
mm (2.60 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification
New pentagon winding, 0.72 °/step
Unit: mm (inch)
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SM5861-8241
2.3
297
1.4
1.3
7
1.48
8.09
1.75
3.86
-10 to 40°C (14 to 104 °F)
95% RH max.: under 40°C, no condensation
24 VDC Input
Torque (N·m)
Source current (A)
Pulse rate (kpulse/s)
Number of rotations (min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
1
2
3
4
0200
5
400600 80010001200
02 68104
Full step
Source current
Pull-out torque
Torque (N·m)
Source current (A)
Pulse rate (kpulse/s)
Number of rotations (min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
1
2
3
4
5
0200 400600 80010001200
02 68104
Full step
Source current
Pull-out torque
fs: Maximum self-start frequency when not loaded
Pull-out torque
Source current (load applied)
Source current (no load)
With rubber coupling
Driver: F5PAE140P100
109
2±0.25
(.32±.02)
32±1
14
0
-0.018
96.5±1
60 0
-0.046
14 0
-0.018
(.079±.01)
25
+1
0
37±0.5
8±0.5
25
+1
0
13±0.15 Cross section S-S
S
S
M4×0.7×6(.24)L
Screw for GND terminal
6.5±0.2
4-70±0.13
85.5±0.5
13±0.15
Lead wire:
UL3266 AWG22
500±30
(1.26±.04)
(3.80±.04)
(1.46±.02)
(19.7±1.18)
.98
+.04
0
()
.0000
-.0007
( )
.55
.98
+.04
0
()
.0000
-.0007
( )
.55
(.51±.006)
( )
.0000
-.00182.36
(.51±.006)
(4-2.76±.005)
(3.37±.02)
4-
.26±.008)(4-
RoHS
n Torque Curve
Re
d
OrangeGreen
Black
Blue
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.
Excitation sequence
Lead wire color
1 2 3 4 5 6 7 8 9 10
Blue + + + − − −
Red − − + + + −
Orange − − − + + +
Green + − − − + +
Black + + + − − −
Connection method:
New pentagon connection
86
mm (3.39 inch)
96.5
mm (3.80 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification
Unit: mm (inch)
New pentagon winding, 0.72 °/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SM5862-8241
4.4
623
1.4
2
13
3
16.4
2.9
6.39
-10 to 40°C (14 to 104 °F)
95% RH max.: under 40°C, no condensation
l SM5862-82
48 VDC Input
24 VDC Input
Torque (N·m)
Source current (A)
Pulse rate (kpulse/s)
Number of rotations (min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
2
4
6
8
10
0100 200300 400500 600
01 3452
Pull-out torque
Source current
Full step
Torque (N·m)
Source current (A)
Pulse rate (kpulse/s)
Number of rotations (min−1)
fs 0
1
2
3
4
5
6
7
8
9
10
0
2
4
6
8
10
0100 200300 400500 600
01 3452
Full step
Source current
Pull-out torque
fs: Maximum self-start frequency when not loaded
Pull-out torque
Source current (load applied)
Source current (no load)
With rubber coupling
Driver: F5PAE140P100
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
110
5-PHASE STEPPING SYSTEMS
w/o Brake: 87±2 (3.43±.08)
14 20
300 min.
2 (.08)
Brake lead wire:
UL3266 AWG22
25-0.033
Effective tapping
depth 10 (.39) min.
M4×0.7
8
8 (.32)
0
42±1
±0.3
31 4-
6 (.24)
42±1
31±0.3
Stroke: 50 (1.97)
8 (.32) 20 (.79)
6 (.24)
300 min.
UL3266 AWG26
Brake lead wire:
(11.8 min.)
(11.8 min.)
w/ Brake: 117±2 (4.61±.08)
(.55) (.79)
(.32)
18 (.71)
()
.98-0.013
0
(1.65±.04)
(1.22±.012)
4.5(.18)
(1.22±.012)
(1.65±.04)
0
100
200
300
400
500
600
700
800
Speed(mm/s)
Thrust(Ｎ)
0102030405060708090
Varistor
+24V
E
0
SW
WHITE/RED
WHITE/BLACK
RoHS
n Torque Curve
l SL5421-72
Driver: FS1D140P10
Source current: 24 VDC
Excitation current: 0.75 A/phase
Excitation mode: 4-phase excitation (Full
step)
n Dimension n Brake Connection
n Specification
New pentagon winding
Unit: mm (inch)
n Internal Wiring
Connection method:
New pentagon connection
42
mm (
1.65 inch
)87/117
mm (3.43/4.61 inch)
CYLINDER
LENGTH
CYLINDER
FLANGE SIZE
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
* Specifications for brake motor
Model Double Shaft
w/ Brake
Stroke
mm
in
Thrust N
lb
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Resolution mm
in
Motor Weight kg
lb
Power Source VDC / W
Brake
Static Friction Torque
N
lbs
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.
Excitation sequence
Lead wire color
1 2 3 4 5 6 7 8 9 10
Blue + + + − − −
Red − − + + + −
Orange − − − + + +
Green + − − − + +
Black + + + − − −
Re
d
OrangeGreen
Black
Blue
111
0
100
200
300
400
500
600
700
800
Speed(mm/s)
Thrust(Ｎ)
0102030405060708090
14 (.55)
135.6±2
14(.55)
UL3266 AWG22
600 min.
10 (.39) 8 (.32)
1.5 (.059)
24.5 (.96)
36- 0.039
0
Effective tapping
depth 15 min.
M8×1.25
50±0.3
12 (.47)
50±0.3
600 min.
Stroke: 80 (3.15)
4-
UL3266 AWG22
Brake lead wire:
60±1
60±1
(5.34±.08)
Brake lead wire:
(23.6 min.)
26 (1.02)
( )
1.42-.0015
0
(23.6 min.)
(1.97±.012)
(2.36±.04)
(1.97±.012)
(2.36±.04)
5.5 (.22) Varistor
+24V
E
0
SW
WHITE/RED
WHITE/BLACK
RoHS
Re
d
OrangeGreen
Black
Blue
n Dimension
n Internal Wiring
n Specification n Torque Curve
l SL5601-82
Unit: mm (inch)
n Brake Connection
New pentagon winding Driver: FS1D140P10
Source current: 24 VDC
Excitation current: 1.4 A/phase
Excitation mode: 4-phase excitation (Full
step)
Connection method:
New pentagon connection
60
mm (
2.36 inch
)
135.6
mm (5.34 inch)
CYLINDER
LENGTH
CYLINDER
FLANGE SIZE
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
* Specifications for brake motor
Model Double Shaft
w/ Brake
Stroke
mm
in
Thrust N
lbs
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Resolution mm
in
Motor Weight kg
lb
Power Source VDC / W
Brake
Static Friction Torque
N
lbs
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.
Excitation sequence
Lead wire color
1 2 3 4 5 6 7 8 9 10
Blue + + + − − −
Red − − + + + −
Orange − − − + + +
Green + − − − + +
Black + + + − − −
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
112
5-PHASE STEPPING SYSTEMS
5-Phase DC Input Micro-step Driver
n Specification
n Safety Standards
Model number F5PAE140P100
Main circuit power 24 VDC/48 VDC ±10% *1
Main circuit power supply current 3 A
Protection class Class III
Operation environment Installation category (over-voltage category): I (CE) Pollution level: 2
Operating ambient temperature
0 to +50°C
Storage temperature −20 to +70°C
Operating ambient humidity 35 to 85% RH (no condensation)
Storage humidity 10 to 90% RH (no condensation)
Operation altitude 1000 m or less above sea level
Vibration resistance
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
Impact resistance 20 m/s2
Withstandable voltage
Not influenced when 0.5 kVAC is applied between power input terminal and cabinet for one minute.
Insulation resistance 10 MΩ min. when measured with 500 VDC megohmmeter between input terminal and cabinet.
Mass 0.23 kg
Selection function
Pulse input type (1-input type/2-input type), low-vibration mode (low-vibration drive/ microstep drive), resolution
(2-phase mode/5-phase mode), output signal (phase origin monitor/alarm), operating current, step-angle
Protection functions Overcurrent protection
LED indication Power supply monitor, alarm display
(main power supply under- and overvoltage, regenerative fault, overcurrent fault, ardware fault)
Auto-Current-Down canceling input signal
Photocoupler input system; input resistance: 330 Ω
Input-signal“H”level: 4.5 to 5.5 V; input-signal“L”level: 0 to 0.5 V
Step-angle selection input Photocoupler input system; input resistance: 330 Ω
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 Ω
Command pulse input signal Input-signal“H”level: 4.5 to 5.5 V; input-signal“L”level: 0 to 0.5 V
Provided that voltage between Level H to L shall be 4.5 V or over.
Maximum input frequency: 400 kpulse/s
Power down input signal Photocoupler input system; input resistance: 330 Ω
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
Directives Category Standard Name
Low-voltage directives − EN61800-5-1 −
Emission EN61000-6-4 Conducted emissions test
CE EN61000-6-4 Electromagnetic radiation disturbance
(TÜV) EN61000-4-2 ESD (Electrostatic discharge)
EMC directives EN61000-4-3 RS (Radio-frequency amplitude modulated electromagnetic field)
Immunity EN61000-4-4 Fast transionts
EN61000-4-5 CS (Radio-frequency common mode)
EN61000-4-6 Surges
Acquired standards Applicable standard File No.
UL UL UL508C E179775
UL for Canada (c-UL)
Environment
Basic specifications Functions I/O signals
*1 Use either 24 VDC±10% or 48 VDC±10% 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.
• 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 TÜV (TÜV product service) for self-declaration of CE marking.
113
Operating current select switch
(RUN)
1
LED for alarm display (ALM)
5
LED for power supply monitor (POW)
4
Power supply connector port (CN1)
Power Cable 1m P/N: FC3P0010A
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 Motor connector port (CN3)
Motor Cable 1m P/N: FC3M0010A
1 Operating current select switch (RUN)
Operating motor current value can be set with the rotary switch.
Dial 01234567
Stepping motor current (A) 1.4 1.35 1.3 1.25 1.2 1.15 1.1 1.05
Dial 8 9 A B C D E F
Stepping motor current (A) 1.0 0.95 0.9 0.85 0.8 0.75 0.7 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.
2 Function select DIP switch (DSW1)
Select the function depending on your specification.
Factory default settings
F/R
LV
DSEL
MODE1
SP1
SP2
SP3
MODE2
1
2
3
4
5
6
7
8
OFF 2-input type (CW/CCW pulse input)
OFF Microstep
OFF 5-phase mode
OFF Phase origin monitor output
OFF Reservation (Don’t turn it ON)
ON
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.
・ • 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 Motor to be connected
OFF OFF OFF SH5281-72££, SH5285-72££,
SF5421-82££
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££
1. Pulse input type selection (F/R)
Select the input pulse type.
F/R Pulse input type
ON 1-input type (CK, U/D)
OFF 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 Operation
ON Low-vibration drive
OFF Microstep
3. Resolution selection (DSEL)
Select the step angle select switch (SS1, SS2) mode.
DSEL Resolution mode
ON 2-phase mode: Operation as normal 2-phase stepping system at 1.8°
to 0.00703125°-step angle is available.
OFF 5-phase mode: Operation as normal 5-phase stepping system at 0.72°
to 0.00288°-step angle is available.
Step angle select switch
(SS1, SS2)
3
4. Output signal selection (MODE1)
Select the output signal
MODE1 Output signal
ON Alarm output
OFF Phase origin monitor output
5 to 7. Motor selection (SP1, SP2, SP3)
Perform setting for motor you use first by confirming the [table of
setting for motors to be connected].
8. (MODE2)
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.
5-Phase Mode:
DSW1 function select DIP switch 3 = OFF
2-Phase Mode:
DSW1 function select DIP switch 3 = ON
SS1,
SS2
Number of
divisions Resolution Basic step angle
SS1,
SS2
Number of
divisions Resolution Basic step angle
0 1 500 0.72° 0 0.4 200 1.8°
1 2 1000 0.36° 1 0.8 400 0.9°
2 2.5 1250 0.288° 2 1.6 800 0.45°
3 4 2000 0.18° 3 2 1000 0.36°
4 5 2500 0.144° 4 3.2 1600 0.225°
5 8 4000 0.09° 5 4 2000 0.18°
6 10 5000 0.072° 6 6.4 3200 0.1125°
7 20 10000 0.036° 7 10 5000 0.072°
8 25 12500 0.0288° 8 12.8 6400 0.05625°
9 40 20000 0.018° 9 20 10000 0.036°
A 50 25000 0.0144° A 25.6 12800 0.028125°
B 80 40000 0.009° B 40 20000 0.018°
C 100 50000 0.0072° C 50 25000 0.0144°
D 125 62500 0.00576° D 51.2 25600 0.0140625°
E 200 100000 0.0036° E 100 50000 0.0072°
F 250 125000 0.00288° F 102.4 51200 0.00703125°
・ • 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. Main power supply voltage drop (Detected when excitation is on.)
“ALM” repeats double-flashing. Overvoltage of main power supply (Detected when motor stops.)
“ALM” repeats triple-flashing.
Regeneration error (Detected when motor is operating.)
“ALM” repeats quadruple-flashing.
Overcurrent error
“ALM” repeats five-times-flashing.
Hardware error
・ • 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.
Function select DIP switch
(DSW1)
2
Driver Controls and Connectors
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
114
5-PHASE STEPPING SYSTEMS
24GDC/48GDC
24VDC/48VDC
CN1
1
2
Phaseoriginmonitoroutput(MON)
Stepangleselectinput(SSEL)
Auto-Current-Downcancelinginput(ACDOFF)
CWpulseinput(CW)
CCWpulseinput(CCW)
Powerdowninput(PD)
3
8
10
11
12
9
7
6
4
5
CN2
2
1
3Motor
Driver
Connecttheregenerativeresistor
whenthereisariskthatthesupply
voltagecouldexceed60VDCdue
tothemotor'sbackemf.
1
2
CN4
4
5Black
Green
2
1
CN3
Blue
Red
Orange
Regeneration
resistor
Modelnumber:FFE-01
Connections Signals
n External wiring diagram
· 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.
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 Applicable Wire Sizes
n Specification summary of I/O signals
For power supply
For input/output signal
For motor
Phase origin monitor output
(standard)
Alarm output
Auto-Current-Down
canceling input
Step angle select input
CW pulse input
(standard)
Pulse train input
CCW pulse input
(standard)
Rotational direction
input
Power down input
AWG20 (0.5 mm2) to AWG18 (0.75 mm2) ø1.7 to ø3.0 mm Under 3 m
AWG24 (0.2 mm2) to AWG22 (0.3 mm2) ø1.15 to ø1.8 mm Under 3 m
AWG20 (0.5 mm2) to AWG18 (0.75 mm2) ø1.7 to ø3.0 mm 10 m max.
1
2
1
2
3
4
5
6
7
8
7
8
9
10
9
10
11
12
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.
Part Applicable wire Insulation diameter Wiring length
Signal name
CN2 Pin number
Function summary
115
+5 V
R
330 Ω 3.3 kΩ
1000 pF
Input signal
Driver
+5 V
R
330 Ω
1.8k Ω
Input signal
Driver
30 V max.
5 mA max.
Driver
CW
CCW
NON output
3 (.12)
28 (1.10) 118 (4.6)
75 (2.95)
87 (3.43)
14 (.55)
62 (2.44)4
2-
Mounting hole
Mounting hole
2- [4×10 (.16×.39)] slot
4 (.16)
n Pulse Input
n Input Circuit Configuration of ACDOFF, SSEL, PD
n Output Signal Configuration of MON, AL
n Dimensions
• 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.)
• 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.)
• 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.
Unit: mm (inch)
MON output
Example: 5-phase mode, 1 division (Full step)
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
116
2-PHASE STEPPING SYSTEMS
Low Vibration
Low-vibration mode ON
Low-vibration mode OFF
400
800
1200
1600
0200 400 600 800 1000
Frequency (pulse/s)
Speed variation (%)
This driver features approximately
10% less vibration compared with
our conventional product. Also, a 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.
0.0065 0.3 SH2141-5541 S
0.92 SH2141-5511 D
118
0.01 0.4 SH2145-5641 S
1.42 SH2145-5611 D
0.07 0.5 SH2281-5671 S n n
9.91 SH2281-5631 D
119
0.07 1 SH2281-5771 S n n
9.91 SH2281-5731 D
0.145 0.5 SH2285-5671 S n
20.53 SH2285-5631 D
120
0.145 1 SH2285-5771 S n n
20.53 SH2285-5731 D
0.083 1 SS2421-5041 S n n
11.75
121
0.186
26.33 1 SS2422-5041 S n n
0.25
35.4 0.5 103H5205-5140 S n
122
0.29 1 SF2421-10B41 S n n
123
41.07 SF2421-10B11 D
0.38 0.5 103H5208-5140 S n
124
53.81
0.43 1 SF2422-10B41 S n n
125
60.89 SF2422-10B11 D
0.49
69.39 0.5 103H5210-5140 S n
126
0.51 1 103H5210-5214 D, TAP
127
72.22
103H5210-52XB12
D, BRK, TAP
n n
0.8 1 SF2423-10B41 S n
128
113.3 SF2423-10B11 D
0.37 1 SF2424-10B41 S n
129
52.39 SF2424-10B11 D
0.23 2 SH1421-5241 S
130
32.5 n n
0.35 2 SH1422-5241 S
131
48.1 n n
0.48 2 SH1424-5241 S n n
132
37.9
0.1 1 SS2501-8040 S
14.16 n n
133
0.215 1 SS2502-8040 S
30.44 n n
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
Lineup
Driver
DC Input AC Input
Motor N • m Amp Model Shape Page
Size oz • in
BS1D200P10
24/36 VDC
A-CSD 02.V
24 to 45 VDC
A-CSD 04.V
24 to 45 VDC
CSD J4
24 to 45 VDC
A-NDC 06.V
24 to 85 VDC
ADW
24 to 75 VDC
X-PLUS B4
110 - 230 VAC
X-MIND B6
110 - 230 VAC
X-MIND K6
110 -230 VAC
117
Lineup
0.55 2 103H7121-5740 S
77.9 103H7121-5710 D n n n n
134
0.55 3 103H7121-5840 S
n n n n
77.9
1 2 103H7123-5740 S
141.6 103H7123-5710 D n n n n
135
1 3 103H7123-5840 S
141.6 n n n n
1.6 2 103H7126-5740 S
226.6 103H7126-5710 D n n n n
136
1.6 3 103H7126-5840 S
226.6 n n n n
2 2 103H7128-5740 S
283.2 103H7128-5710 D n n n n
137
2 3 103H7128-5840 S
283.2 n n n n
1 3 SP2563-5260 S, CBL
138
141.6 SP2563-5200 S, CONN n n n n
1.7 3 SP2566-5260 S, CBL
139
240.7 SP2566-5200 S, CONN n n n n
0.88 2 103H7821-5760 S
124.6 103H7821-5730 D n n n n
140
0.88 4 103H7821-1760 S
124.6 103H7821-1730 D n n n n
1.37 2 103H7822-5760 S
194 103H7822-5730 D n n n n
141
1.37 4 103H7822-1760 S
194 103H7822-1730 D n n n n
1.1 4.4 103H7822-2511 D
142
155.8
103H7822-25XB12
D, BRK n n
2.7 2 103H7823-5760 S
382.3 103H7823-5730 D n n n n
143
2.7 4 103H7823-1760 S
382.3 103H7823-1730 D n n n n
0.69 2 SH1601-5240 S
97.7 n n n n
144
1.28 2 SH1602-5240 S
145
181.2 n n n n
2.15 2 SH1603-5240 S
146
304.4 n n n n
3.3 2 SM2861-5052 S
467.3
n
3.3 4 SM2861-5152 S
147
467.3 SM2861-5122 D
n n n n n
3.3 6 SM2861-5252 S
467.3 n n n n
6.4 2 SM2862-5052 S
906.3
6.4 4 SM2862-5152 S 148
906.3 SM2862-5122 D
n n n n n
6.4 6 SM2862-5252 S
n n n n
906.3 SH2862-52XB12 D, BRK 149
9 2 SM2863-5052 S
1274.5
9 4 SM2863-5152 S
150
1274.5 SM2863-5122 D
n n n n n
9 6 SM2863-5252 S
1274.5 n n n n
6.4 6 SP2862-5260 S, CBL
151
906.3 n n n n
9 6 SP2863-5260 S, CBL
152
1274.5 n n n n
13.2 6 103H89222-5241 S
153
1869.2
n n
19 6 103H89223-5241 S 154
2690.5
n
0.37
52.39 2 103H5208-49V40 S, CBL n n n n 155
0.45 2 103H7121-47V40 S, CBL n n n n 156
63.72
56
mm
NEMA 23
60
mm
2.36 inch
w/ NEMA 23
mounting
60
mm
2.36 inch
0.9˚
/step
86
mm
NEMA 34
106
mm
NEMA 42
42
mm
NEMA 17
Vacuum
56
mm
NEMA 23
Vacuum
Driver
DC Input AC Input
Motor N • m Amp Model Shape Page
Size oz • in
BS1D200P10
24/36 VDC
A-CSD 02.V
24 to 45 VDC
A-CSD 04.V
24 to 45 VDC
CSD J4
24 to 45 VDC
A-NDC 06.V
24 to 85 VDC
ADW
24 to 75 VDC
X-PLUS B4
110 - 230 VAC
X-MIND B6
110 - 230 VAC
X-MIND K6
110 -230 VAC
Shape S: Single Shaft D: Double Shaft CBL: Cable Type CONN: Connector Type BRK: Electrical Magnetic Brake Equipped
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
118
2-PHASE STEPPING SYSTEMS
Torque (N·m)
0
0.1
100100020003000
11
01
00
0.002
0.004
0.006
0.008
0.01
Speed (min−1)
Pulse rate (kpulse/s)
fs
Pull-out torque at JL
Torque (oz·in)
0
1.4
1.2
1.0
0.8
0.6
0.4
0.2
3000
Speed (min−1)
0.1
100 1000 2000 3000
110
100
0.01
0.008
0.006
0.004
0.002
0
Torque (N·m)
fs
Pulse rate (kpulse/s)
Speed (min−1)
Pull-outtorqueatJL
Torque (oz·in)
0
1.4
1.2
1.0
0.8
0.6
0.4
0.2
(1)
30°
D section details
.17
Lead wire:
UL3265
28AWG
300 min.
(11.81 min.)
4 0
-0.013 .0000
-.0005
10±1
(.39±.04)
SH2141:30±0.8 (1.18±.03)
SH2145:43.8±0.8 (1.72±.03)
1.5±0.76
(.06±.03)
15±0.5
(.59±.02)
4
0
-0.013
11 0
-0.05
2-M2×0.4
Effective tapping
depth 3.2 (.13) min.
2-11.5±0.2
(2-.45±.008)
14±0.5
( .55±.02)
( )
.0
-.02
( )
.43
.0000
-.0005
( )
.17
D D
Orange
Blue
Red Yellow
RoHS
l SH2145-56
n Dimension
n Internal Wiring
n Specification n Torque Curve
l SH2141-55
Bipolar winding, 1.8°/step
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
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 50°C (14 to 122 °F)
20 to 90% RH, no condensation
Unit: mm (inch)
14
mm (0.55 inch)
30/43.8
mm
(
1.18/1.72 inch
)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.01
× 10-4kg·m2 (0.05 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
119
Pulse rate (kpulse/s)
fs
Torque (N·m)
0.11 10 10
0
1000 2000 3000 5000
100
0.02
0.04
0.06
0.08
0.1
0
Pull-out torque at JL
Speed (min−1)
0
Torque (oz·in)
14
12
10
8
6
4
2
Pulse rate (kpulse/s)
fs
Torque (N·m)
0.11 10 10
0
1000
2000
3000 5000
100
0.02
0.04
0.06
0.08
0.1
0
Pull-out torque at JL
Speed (min−1)
0
Torque (oz·in)
14
12
10
8
6
4
2
4.5±0.15
(.1771 ±.006)
(.1771 ±.006)
28±0.5
(1.10±.02)
0.013
5-0.013
10±0.8
(.39 ±.03)
300 min.
(11.81 min.)
S
S
32 ±0.8
(1.26±.03)
15±0.5
(.59
±
.02)
+1
10 0
0.013
5-0.013
0.13
22-0.05
4.5±0.15
423±0.25
(4-.91 ±.01)
1.5±0.76
(.06 ±.03)
R3 min.
(R.12 min.)
4-M2.5×0.45
Effective tapping
depth 3.2 (.13) min.
Lead wire: UL3265 28AWG
Cross section S-S
.0000
-.0005
( )
.1968
.0000
-.0019
( )
.8661
+.04
.00
( )
.39
.0000
-.0005
( )
.1968
Orange
Blue
Red Yellow
RoHS
SH2281-5671 SH2281-5771
SH2281-5631 SH2281-5731
0.07 0.07
9.91 9.91
0.5 1
10.5 2.6
7.2 1.85
0.01 0.01
0.05 0.05
0.11 0.11
0.24 0.24
-10 to 50°C (14 to 122°F)
20 to 90% RH, no condensation
n Dimension
n Specification n Torque Curve
l SH2281-56
l SH2281-57
Unit: mm (inch)
28
mm
(NEMA 11)
32
mm (1.26 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Internal Wiring
Bipolar winding, 1.8°/step
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated
Current, 2-phase energization (full-step)
| JL=[0.01 × 10-4kg·m2(0.05 oz·in2) pulley
balancer method] | fs: Maximum self-start
frequency when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
120
2-PHASE STEPPING SYSTEMS
Pulse rate (kpulse/s)
fs
Torque (N·m)
0.11 10 10
0
1000 2000 3000 5000
100
0.04
0.08
0.12
0.16
0.2
0
Pull-out torque at JL
Speed (min−1)
0
Torque (oz·in)
24
28
20
16
12
4
8
(.1771 ±.006)
28±0.5
(1.10±.02)
51.5±0.8
(2.03±.03)
15±0.5
(.59 ±.02)
+1
10 0
0.013
5-0.013
0.13
22-0.05
4.5±0.15
423±0.25
(4-.91 ±.01)
1.5±0.76
(.06 ±.03)
R3 min.
(R.12 min.)
4-M2.5×0.45
Effective tapping
depth 3.2 (.13) min.
Lead wire: UL3265 28AWG
4.5±0.15
(.1771 ±.006)
Cross section S-S
.0000
-.0005
( )
.1968
.0000
-.0019
( )
.8661
+.04
.00
( )
.39
0.013
5-0.013
10±0.8
(.39 ±.03)
300 min.
(11.81 min.)
S
S
.0000
-.0005
( )
.1968
Pulse rate (kpulse/s)
fs
Torque (N·m)
0.11 10 100
1000 2000 3000 5000
100
0.04
0.08
0.12
0.16
0.2
0
Pull-out torque at JL
0
Torque (oz·in)
24
28
20
16
12
4
8
Speed (min−1)
Orange
Blue
Red Yellow
RoHS
28
mm
(
NEMA 11
)
51.5
mm (2.03 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Internal Wiring
n Specification n Torque Curve
Bipolar winding, 1.8°/step
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SH2285-5671 SH2285-5771
SH2285-5631 SH2285-5731
0.145 0.145
20.53 20.53
0.5 1
15 3.75
13.5 3.4
0.022 0.022
0.12 0.12
0.20 0.20
0.44 0.44
-10 to 50°C (14 to 122°F)
20 to 90% RH, no condensation
Unit: mm (inch)
l SH2281-56
l SH2281-57
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.01
× 10-4kg·m2 (0.05 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
121
Pulse rate (kpulse/s)
fs
Torque (N·m)
0
0.02
0.04
0.06
0.08
0.10
0.1 110
100
2000 30001001000
Pull-out torque at JL
Speed (min−1)
0
Torque (oz·in)
14
12
10
8
6
4
2
Torque (N·m)
0
0.05
0.10
0.15
0.20
0.1 11
01
00
2000 30001001000
Pulse rate (kpulse/s)
fs
Pull-out torque at JL
Speed (min−1)
0
Torque (oz·in)
24
28
20
16
12
4
8
11.6±0.5
(.457±.02)
N.P
7±0.5
(.28±.02)
22
0
-0.05
5 0
-0.013
2-31±0.3
(2-1.22±.012)
24 max.
(.94 max.)
42±0.5
(1.65±.02)
5 max.
(.20 max.)
2-M3×0.5
300 min.
(11.8 min.)
Lead wire: UL1007 26AWG
1.7±0.3
(0.07±0.01)
.0000
-.0005
( )
.1968
.0000
-.0019
( )
.8661
18.6±0.5
(.732±.02)
N.P
7±0.5
(.28±.02)
22
0
-0.05
5 0
-0.013
2-31±0.3
(2-1.22±.012)
24 max.
(.94 max.)
42±0.5
(
1.65±.02)
5 max.
(.20 max.)
2-M3×0.5
300 min.
(11.8 min.)
Lead wire: UL1007 26AWG
1.7±0.3
(0.07±0.01)
.0000
-.0005
( )
.1968
.0000
-
.0019
( )
.8661
Orange
Blue
Red Yellow
RoHS
42
mm (
NEMA 17
)
11.6/18.6
mm (
.457/.732 inch
)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
SS2421-5041 SS2422-5041
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 50°C (14 to 122°F)
20 to 90% RH, no condensation
n Dimension
n Specification n Torque Curve
l SS2421-5041
l SS2422-5041
Unit: mm (inch)
Unit: mm (inch)
n Internal Wiring
Bipolar winding, 1.8°/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.33
× 10-4kg·m2 (1.80 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
SS2421-5041
SS2422-5041
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
122
2-PHASE STEPPING SYSTEMS
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0
Speed (min−1)
Pulse rate (kpulse/s)
fs
Torque (oz·in)
0
70
60
50
40
30
20
10
Pull-out torque at JL
22
5-0.013
0
-0.05
0
4-M3 × 0.5
Effective tapping
depth 4 (.16) min.
+1
R3 min.
(R.12 min.)
5-0.013
0
15 0
24±0.5
(.94±.02)
15±1
(.591±.04)
1.5±0.76
(.06±.03)
33±0.5
(1.25±.02)
6 max.
(.24 max.) 24 min
(.94 min.)
4-31±0.25
(4-1.22±.01)
18 max.
(.71 max.)
5 max.
(.20 max.)
4.5±0.15
(.1771±.006)
Lead wire: UL1430 26AWG
42±0.25
(1.65±.01)
.0000
-.0005
( )
.197
.0000
-.0005
( )
.197
.000
-.002
( )
.866
+.04
.00
( )
.59
300 min.
(11.81 min.)
Orange
Blue
Red Yellow
RoHS
42
mm (
NEMA 17
)
33
mm (1.25 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Internal Wiring
n Specification n Torque Curve
Bipolar winding, 1.8°/step
Unit: mm (inch)
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.94
× 10-4kg·m2 (5.14 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
l 103H5205-51
103H5205-5140
0.25
35.4
0.5
13.4
23.4
0.036
0.20
0.23
0.51
-10 to 50°C (14 to 122°F)
20 to 90% RH, no condensation
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
123
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0
Speed (min−1)
Pulse rate (kpulse/s)
fs
Torque (oz·in)
0
70
60
50
40
30
20
10
Pull-out torque at JL
22
5-0.013
0
-0.05
0
4-M3 × 0.5
Effective tapping
depth 4 (.16) min.
+1
15 0
24±0.5
(.94±.02)
15±1
(.591±.04)
1.5±0.76
(.06±.03)
33±0.5
(1.30±.02)
6 max.
(.24 max.)
23 min.
(.91 min.)
4-31±0.25
(4-1.22±.01)
4.5±0.15
(.1771±.006)
42±0.25
( 1.65±.01)
.0000
-.0005
( )
.197
.000
-.002
( )
.866
+.04
.00
( )
.59
5-0.013
0
.0000
-.0005
( )
.197
27 max.
(1.06 max.)
6 max.
(.24 max.)
Orange
Blue
Red Yellow
RoHS
42
mm (
NEMA 17
)
33
mm (1.30 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Internal Wiring
n Specification n Torque Curve
Bipolar winding, 1.8°/step
Motor Cable Model Number: 4835775-1 Unit: mm (inch)
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.94
× 10-4kg·m2 (5.14 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Connector pin number
3 7 5 9
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
l SF2421-10B
SF2421-10B41
SF2421-10B11
0.29
41.07
1
3.6
7
0.031
0.169
0.23
0.51
-10 to 50°C (14 to 122 °F)
20 to 90% RH, no condensation
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
124
2-PHASE STEPPING SYSTEMS
Torque (N·m)
0.11 10 10
0
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0
Pulse rate (kpulse/s)
fs
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
0
70
60
50
40
30
20
10
22
5-0.013
0
-0.05
0
4-M3 × 0.5
Effective tapping
depth 4 (.16) min.
+1
R3 min.
(R.12 min.)
5-0.013
0
15 0
24±0.5
(.94±.02)
15±1
(.591±.04)
1.5±0.76
(.06±.03)
39±0.5
(1.54±.02)
6 max.
(.24 max.)
30 min.
(1.18 min.)
4-31±0.25
(4-1.22±.01)
18 max.
(.71 max.)
5 max.
(.20 max.)
4.5±0.15
(.1771±.006)
Lead wire: UL1430 26AWG
42±0.25
(1.65±.01)
.0000
-.0005
( )
.197
.0000
-.0005
( )
.197
.000
-.002
( )
.866
+.04
.00
( )
.59
300 min.
(11.81 min.)
Orange
Blue
Red Yellow
RoHS
42
mm (
NEMA 17
)
39
mm (1.54 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification n Torque Curve
l 103H5208-51
Unit: mm (inch)
n Internal Wiring
Bipolar winding, 1.8°/step Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.94
× 10-4kg·m2 (5.14 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
103H5208-5140
0.38
53.81
0.5
16.5
34
0.056
0.31
0.29
0.64
-10 to 50°C (14 to 122°F)
20 to 90% RH, no condensation
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
125
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0
Speed (min−1)
Pulse rate (kpulse/s)
fs
Torque (oz·in)
0
70
60
50
40
30
20
10
Pull-out torque at JL
22
5-0.013
0
-0.05
0
4-M3 × 0.5
Effective tapping
depth 4 (.16) min.
+1
15 0
24±0.5
(.94±.02)
15±1
(.591±.04)
1.5±0.76
(.06±.03)
39±0.5
(1.54±.02)
6 max.
(.24 max.)
29 min.
(1.41 min.)
4-31±0.25
(4-1.22±.01)
4.5±0.15
(.1771±.006)
42±0.25
( 1.65±.01)
.0000
-.0005
( )
.197
.000
-.002
( )
.866
+.04
.00
( )
.59
5-0.013
0
.0000
-.0005
( )
.197
27 max.
(1.06 max.)
6 max.
(.24 max.)
Orange
Blue
Red Yellow
RoHS
42
mm (
NEMA 17
)
39
mm (1.54 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification n Torque Curve
l SF2422-10B
Unit: mm (inch)
n Internal Wiring
Bipolar winding, 1.8°/step Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.94
× 10-4kg·m2 (5.14 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
SF2422-10B41
SF2422-10B11
0.43
60.89
1
4.4
9.6
0.046
0.252
0.3
0.66
-10 to 50°C (14 to 122 °F)
20 to 90% RH, no condensation
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Motor Cable Model Number: 4835775-1
Connector pin number
3 7 5 9
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
126
2-PHASE STEPPING SYSTEMS
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0
Pulse rate (kpulse/s)
fs
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
0
70
60
50
40
30
20
10
22
5-0.013
0
-0.05
0
4-M3 × 0.5
Effective tapping
depth 4 (.16) min.
+1
R3 min.
(R.12 min.)
5-0.013
0
15 0
24±0.5
(.94±.02)
15±1
(.591±.04)
1.5±0.76
(.06±.03)
48±0.5
(1.89±.02)
6 max.
(.24 max.)
39 min.
(1.54 min.)
4-31±0.25
(4-1.22±.01)
18 max.
(.71 max.)
5 max.
(.20 max.)
4.5±0.15
(.1771±.006)
Lead wire: UL1430 26AWG
42±0.25
(1.65±.01)
.0000
-.0005
( )
.197
.0000
-.0005
( )
.197
.000
-.002
( )
.866
+.04
.00
( )
.59
300 min.
(11.81 min.)
Orange
Blue
Red Yellow
RoHS
42
mm (
NEMA 17
)
48
mm (1.89 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Internal Wiring
n Specification n Torque Curve
Bipolar winding, 1.8°/step
103H5210-5140
0.49
69.39
0.5
20
35
0.074
0.40
0.37
0.82
-10 to 50°C (14 to 122°F)
20 to 90% RH, no condensation
Unit: mm (inch)
l 103H5210-51
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.94
× 10-4kg·m2 (5.14 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
127
Torque (N·m)
0.1110 100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0
Pulse rate (kpulse/s)
fs
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
0
70
60
50
40
30
20
10
22
5-0.013
0
-0.05
0
4-M3 × 0.5
Effective tapping
depth 4 (.16) min.
+1
R3 min.
(R.12 min.)
5-0.013
0
15 0
24±0.5
(.94±.02)
12.7±1
(.5±.04)
1.5±0.76
(.06±.03)
48±0.5
(1.89±.02)
6 max.
(.24 max.)
39 min.
(1.54 min.)
4-31±0.25
(4-1.22±.01)
18 max.
(.71 max.)
5 max.
(.20 max.)
4.5±0.15
(.1771±.006)
Lead wire: UL1430 26AWG
42±0.25
(
1.65±.01)
.0000
-.0005
()
.197
.0000
-.0005
( )
.197
.000
-.002
( )
.866
+.04
.00
( )
.59
300 min.
(11.81 min.)
120°
120°
3-M1.6
Depth 2 (.078) min.
20.9±0.2
( .823±.008)
22
5-0.013
0
-0.05
0
4-M3 × 0.5
Effective tapping
depth 4 (.16) min.
+1
R3 min.
(R.12 min.)
15 0
24±0.5
(.94±.02)
1.5±0.76
(.06±.03)
81.6±1
(3.21±.04)
6 max.
(.24 max.)
39 min.
(1.54 min.)
4-31±0.25
(4-1.22±.01)
18 max.
(.71 max.)
5 max.
(.20 max.)
4.5±0.15
(.1771±.006)
Lead wire: UL1430 26AWG 42±0.25
( 1.65±.01)
.0000
-.0005
( )
.197
.000
-.002
( )
.866
+.04
.00
( )
.59
300 min.
(11.81 min.)
5-0.013
0
12.7±1
(.5±.04)
.0000
-.0005
()
.197
120°
120°
3-M1.6
Depth 2 (.078) min.
20.9±0.2
( .823±.008)
300 min.
(11.81 min.)
Brake lead wire
UL3266 26AWG
Orange
Blue
Red Yellow
RoHS
Varistor
+24V
E
0
SW
BROWN
WHITE
42
mm (
NEMA 17
)
48/81.6
mm (
1.89/3.21 inch
)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
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 50°C (14 to 122°F)
20 to 90% RH, no condensation
24 VDC / 2.4 W
0.3 Min.
42.5 Min.
n Dimension
n Specification n Torque Curve
l 103H5210-52
Unit: mm (inch) Unit: mm (inch)
* Specifications for brake motor
n Internal Wiring n Brake Connection
Bipolar winding, 1.8°/step
Model Double Shaft
w/ Brake
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Power Source VDC / W
Brake
Static Friction Torque
N • m
oz • in
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.94
× 10-4kg·m2 (5.14 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
103H5210-5214 103H5210-52XB12
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
128
2-PHASE STEPPING SYSTEMS
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1.0
0
Pulse rate (kpulse/s)
fs
Torque (oz·in)
0
140
120
100
80
60
40
20
Pull-out torque at JL
Speed (min−1)
22
5-0.013
0
-0.05
0
4-M3 × 0.5
Effective tapping
depth 4 (.16) min.
+1
15 0
24±0.5
(.94±.02)
15±1
(.591±.04)
1.5±0.76
(.06±.03)
48±0.5
(1.89±.02)
6 max.
(.24 max.)
38 min.
(1.50 min.)
4-31±0.25
(4-1.22±.01)
4.5±0.15
(.1771±.006)
42±0.25
( 1.65±.01)
.0000
-.0005
( )
.197
.000
-.002
( )
.866
+.04
.00
( )
.59
5-0.013
0
.0000
-.0005
( )
.197
27 max.
(1.06 max.)
6 max.
(.24 max.)
Orange
Blue
Red Yellow
RoHS
42
mm (
NEMA 17
)
48
mm (1.89 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Internal Wiring
n Specification n Torque Curve
Bipolar winding, 1.8°/step
Motor Cable Model Number: 4835775-1 Unit: mm (inch)
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.94
× 10-4kg·m2 (5.14 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Connector pin number
3 7 5 9
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
l SF2423-10B
SF2423-10B41
SF2423-10B11
0.56
79.30
1
5.2
12.5
0.063
0.344
0.38
0.84
-10 to 50°C (14 to 122 °F)
20 to 90% RH, no condensation
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
129
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1.0
0
Pulse rate (kpulse/s)
fs
Torque (oz·in)
0
140
120
100
80
60
40
20
Pull-out torque at JL
Speed (min−1)
22
5-0.013
0
-0.05
0
4-M3 × 0.5
Effective tapping
depth 4 (.16) min.
+1
15 0
24±0.5
(.94±.02)
15±1
(.591±.04)
1.5±0.76
(.06±.03)
59.5±0.5
(2.34±.02)
6 max.
(.24 max.)
49.5 min.
(1.95 min.)
4-31±0.25
(4-1.22±.01)
4.5±0.15
(.1771±.006)
42±0.25
( 1.65±.01)
.0000
-.0005
( )
.197
.000
-.002
( )
.866
+.04
.00
( )
.59
5-0.013
0
.0000
-.0005
( )
.197
27 max.
(1.06 max.)
6 max.
(.24 max.)
Orange
Blue
Red Yellow
RoHS
42
mm (
NEMA 17
)
59.5
mm (2.34 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Internal Wiring
n Specification n Torque Curve
Bipolar winding, 1.8°/step
Motor Cable Model Number: 4835775-1 Unit: mm (inch)
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[2.6
× 10-4kg·m2 (14.2 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Connector pin number
3 7 5 9
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
l SF2424-10B
SF2424-10B41
SF2424-10B11
0.8
113.3
1
6.5
16
0.094
0.514
0.51
1.12
-10 to 50°C (14 to 122 °F)
20 to 90% RH, no condensation
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
130
2-PHASE STEPPING SYSTEMS
4-M3×0.5
Eective tapping
depth 4 (.16) min.
5-0.013
0
Cross section S-S
4.5±0.15
(.1771±.006)
4-31±0.25
(4-1.22±.01)
Lead wire:
UL3385 AWG24
300 min.
(11.81 min.)
R3 min.
(R.12 min.)
S
S
24±0.5
(.94±.02)
33±0.8
(1.25±.03)
15±1
(.59±.04)
4.5±0.15
(.1771±.006)
1.5±0.76
(.06±.03)
22-0.05
0
15 0
+1
5-0.013
0
42±0.25
( 1.65±.01)
.0000
-.0005
()
.1968
.0000
-.0005
()
.1968
.0000
-.0019
()
.8661
+.04
.00
()
.59
Orange
Blue
Red Yellow
RoHS
42
mm (
NEMA 17
)
33
mm (1.25 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification
Bipolar winding, 0.9 °/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SH1421-5241
0.23
32.5
2
0.85
2.1
0.044
0.24
0.24
0.53
-10 to 50°C (14 to 122 °F)
20 to 90% RH, no condensation
Unit: mm (inch)
Torque (N·m)
0.11 10 100
0.1
0.2
0.3
0.4
0.5
0
Pulse rate (kpulse/s)
Number of rotations (min−1)
fs
0
Torque (oz·in)
70
60
50
40
30
20
10
1000200030005000100
Pull-outtorqueatJL
n Torque Curve
l SH1421-52
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.94
× 10-4kg·m2 (5.14 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
131
4-M3×0.5
Eective tapping
depth 4 (.16) min.
5-0.013
0
4-31±0.25
(4-1.22±.01)
Lead wire:
UL3385 AWG24
R3 min.
(R.12 min.)
24±0.5
(.94±.02)
39±0.8
(1.54±.03)
4.5±0.15
(.1771±.006)
1.5±0.76
(.06±.03)
22-0.05
0
15 0
+1
.0000
-.0005
()
.1968
.0000
-.0019
()
.8661
+.04
.00
()
.59
Cross section S-S
4.5±0.15
(.1771±.006)
300 min.
(11.81 min.)
S
S
15±1
(.59±.04)
5-0.013
0
.0000
-.0005
()
.1968
42±0.25
( 1.65±.01)
Torque (N·m)
0.11 10 100
0.1
0.2
0.3
0.4
0.5
0
Pulse rate (kpulse/s)
Number of rotations (min−1)
fs
0
Torque (oz·in)
70
60
50
40
30
20
10
1000200030005000100
Pull-out torque at JL
n Torque Curve
l SH1422-52
Orange
Blue
Red Yellow
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
RoHS
42
mm (
NEMA 17
)
39
mm (1.54 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification
Bipolar winding, 0.9 °/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SH1422-5241
0.34
48.1
2
1.05
3.6
0.66
0.36
0.29
0.64
-10 to 50°C (14 to 122 °F)
20 to 90% RH, no condensation
Unit: mm (inch)
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.94
× 10-4kg·m2 (5.14 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
132
2-PHASE STEPPING SYSTEMS
RoHS
22
5-0.013
0
-0.05
0
4-M3 × 0.5
Effective tapping
depth 4 (.16) min.
+1
R3 min.
(R.12 min.)
5-0.013
0
15 0
24±0.5
(.94±.02)
15±1
(.591±.04)
1.5±0.76
(.06±.03)
48±0.5
(1.89±.02)
6 max.
(.24 max.)
39 min.
(1.54 min.)
4-31±0.25
(4-1.22±.01)
18 max.
(.71 max.)
5 max.
(.20 max.)
4.5±0.15
(.1771±.006)
Lead wire: UL1430 26AWG
42±0.25
(1.65±.01)
.0000
-.0005
( )
.197
.0000
-.0005
( )
.197
.000
-.002
( )
.866
+.04
.00
( )
.59
300 min.
(11.81 min.)
Torque (N·m)
0.11 10 100
0.1
0.2
0.3
0.4
0.5
0
Pulse rate (kpulse/s)
Number of rotations (min−1)
fs
0
Torque (oz·in)
70
60
50
40
30
20
10
1000200030005000100
Pull-out torque at JL
n Torque Curve
l SH1424-52
Orange
Blue
Red Yellow
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
22
5-0.013
0
-0.05
0
4-M3 × 0.5
Effective tapping
depth 4 (.16) min.
+1
R3 min.
(R.12 min.)
5-0.013
0
15 0
24±0.5
(.94±.02)
15±1
(.591±.04)
1.5±0.76
(.06±.03)
48±0.5
(1.89±.02)
6 max.
(.24 max.)
39 min.
(1.54 min.)
4-31±0.25
(4-1.22±.01)
18 max.
(.71 max.)
5 max.
(.20 max.)
4.5±0.15
(.1771±.006)
Lead wire: UL1430 26AWG
42±0.25
(1.65±.01)
.0000
-.0005
( )
.197
.0000
-.0005
( )
.197
.000
-.002
( )
.866
+.04
.00
( )
.59
300 min.
(11.81 min.)
42
mm (
NEMA 17
)
48
mm (1.89 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification
Bipolar winding, 0.9 °/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SH1424-5241
0.48
67.9
2
1.25
3.75
0.089
0.49
0.38
0.84
-10 to 50°C (14 to 122 °F)
20 to 90% RH, no condensation
Unit: mm (inch)
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.94
× 10-4kg·m2 (5.14 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
133
0
0.02
0.04
0.06
0.08
0.10
0.11 10 10
0
2000 3000100 1000
Torque (N·m)
fs
Pulse rate (kpulse/s)
Pull-out torque at JL
Speed (min−1)
0
Torque (oz·in)
14
12
10
8
6
4
2
0
0.05
0.10
0.15
0.20
0.11 10 100
20001001000 3000
Pulse rate (kpulse/s)
fs
Torque (N·m)
Pull-out torque at JL
Speed (min−1)
0
Torque (oz·in)
24
28
20
16
12
4
8
N.P
300 min.
(11.81 min.)
20 max.
(.79 max.)
6 max.
(.24 max.)
Lead wire: UL1007 26AWG
11.4±0.3
(.43±.012)
5±0.3
(0.20±.012)
5-0.013
0
4-M2.5×0.45
4-41±0.3
(4-1.61±.012)
50±0.5
(1.97±.02)
66.5±0.025
( 2.618±.001)
.0000
-.0005
( )
.1968
Orange
Blue
Red Yellow
RoHS
N.P
300 min.
(11.81 min.)
20 max.
(.79 max.)
6 max.
(.24 max.)
Lead wire: UL1007 26AWG
16.4±0.3
(.63±.012)
5±0.3
(0.20±.012)
5-0.013
0
4-M2.5×0.45
4-41±0.3
(4-1.61±.012)
50±0.5
(1.97±.02)
66.5±0.025
( 2.618±.001)
.0000
-.0005
( )
.1968
50
mm (
1.97 inch
)11.4/16.4
mm (
0.43/0.63 inch
)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Internal Wiring
n Specification n Torque Curve
Bipolar winding, 1.8°/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SS2501-8040 SS2502-8040
0.1 0.215
14.16 30.44
1 1
4.5 5.9
2 3.2
0.026 0.049
0.142 0.268
0.09 0.15
0.2 0.33
-10 to 50°C (14 to 122°F)
20 to 90% RH, no condensation
l SS2501-8040
l SS2502-8040
Unit: mm (inch)
Unit: mm (inch)
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.01
× 10-4kg·m2 (1.80 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
SS2501-8040
SS2502-8040
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
134
2-PHASE STEPPING SYSTEMS
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1.0
0
Pulse rate (kpulse/s)
fs
Torque (oz·in)
0
140
120
100
80
60
40
20
Pull-out torque at JL
Speed (min−1)
0
140
120
100
80
60
40
20
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
0.2
0.4
0.6
0.8
1.0
0
Pulse rate (kpulse/s)
fs
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
5.8±0.15
(.23±.006)
15.5±1
(.61±.04)
8 max.
(.31 max.)
41.8±0.8
(1.65±.03)
32.2 min.
(1.27 min.)
5±0.25
(.2±0.1)
20.6±0.5
(.81±.02)
1.5±0.25
(.06±.01)
56±0.5
(
2.2±.02)
4-47.14±0.13
(4-1.86±.005)
26 max.
(1.02 max.)
8 max.
(.31 max.)
305 min.
(12.01 min.)
5.8±0.15
(.23±.006)
R4 min.
(R.16 min.)
R4 min.
(R.16 min.)
15 0
+1
15 0
+1
Lead wire: UL1430 22AWG
4- 4.5
+0.5
0
38.1±0.025
( 1.50±.001)
6.35-0.013
0
6.35-0.013
0
56±0.5
(
2.2±.02)
N.P
.0000
-.0005
( )
.25
.0000
-.0005
( )
.25
+.02
.00
( )
4- .18
+.04
.00
( )
.59 +.04
.00
( )
.59
Orange
Blue
Red Yellow
RoHS
56
mm (
NEMA 23
)
41.8
mm (1.65 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
103H7121-5740 103H7121-5840
103H7121-5710
0.55 0.55
77.9 77.9
2 3
1.1 0.54
3.7 1.74
0.1 0.1
0.55 0.55
0.47 0.47
1.04 1.04
-10 to 50°C (14 to 122°F)
20 to 90% RH, no condensation
n Dimension
n Specification n Torque Curve
l 103H7121-57
l 103H7121-58
Unit: mm (inch)
n Internal Wiring
Bipolar winding, 1.8°/step
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.94
× 10-4kg·m2 (5.14 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
135
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2.0
0
Pulse rate (kpulse/s)
fs
Torque (oz·in)
0
280
200
240
160
120
80
40
Pull-out torque at JL
Speed (min−1)
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2.0
0
Pulse rate (kpulse/s)
fs
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
0
280
200
240
160
120
80
40
5.8±0.15
(.23±.006)
15.5±1
(.61±.04)
8 max.
(.31 max.)
53.8±0.8
(2.12±.03)
44.2min.
(1.74 min.)
5±0.25
(.2±0.1)
20.6±0.5
(.81±.02)
1.5±0.25
(.06±.01)
56±0.5
(
2.2±.02)
4-47.14±0.13
(4-1.86±.005)
26 max.
(1.02 max.)
8 max.
(.31 max.)
305 min.
(12.01 min.)
5.8±0.15
(.23±.006)
R4 min.
(R.16 min.)
R4 min.
(R.16 min.)
15 0
+1
15 0
+1
Lead wire: UL1430 22AWG
4- 4.5
+0.5
0
38.1±0.025
( 1.50±.001)
6.35-0.013
0
6.35-0.013
0
56±0.5
(
2.2±.02)
N.P
.0000
-.0005
( )
.25
.0000
-.0005
( )
.25
+.02
.00
( )
4- .18
+.04
.00
( )
.59 +.04
.00
( )
.59
Orange
Blue
Red Yellow
RoHS
n Dimension
n Internal Wiring
n Specification n Torque Curve
Bipolar winding, 1.8°/step
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
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 50°C (14 to 122°F)
20 to 90% RH, no condensation
Unit: mm (inch)
l 103H7123-57
l 103H7123-58
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[2.6
× 10-4kg·m2 (14.22 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
56
mm (
NEMA 23
)53.8
mm (2.12 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
136
2-PHASE STEPPING SYSTEMS
0
280
200
240
160
120
80
40
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2.0
0
Pulse rate (kpulse/s)
fs
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
0
280
200
240
160
120
80
40
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
0.4
0.8
1.2
1.6
2.0
0
Pulse rate (kpulse/s)
fs
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
5.8±0.15
(.23±.006)
75.8±0.8
(2.98±.03)
66.2 min.
(2.61 min.)
5±0.25
(.2±0.1)
20.6±0.5
(.81±.02)
1.5±0.25
(.06±.01)
56±0.5
(2.2±.02)
4-47.14±0.13
(4-1.86±.005)
26 max.
(1.02 max.)
8 max.
(.31 max.)
305 min.
(12.01 min.)
5.8±0.15
(.23±.006)
R4 min.
(R.16 min.)
15 0
+1
Lead wire: UL1430 22AWG
4- 4.5
+0.5
0
38.1±0.025
( 1.50±.001)
6.35-0.013
0
N.P
.0000
-.0005
( )
.25
+.02
.00
( )
4- .18
+.04
.00
( )
.59
15.5±1
(.61±.04)
8 max.
(.31 max.)
R4 min.
(R.16 min.)
15 0
+1
6.35-0.013
0
56±0.5
(2.2±.02)
.0000
-.0005
( )
.25
+.04
.00
( )
.59
Orange
Blue
Red Yellow
RoHS
103H7126-5740 103H7126-5840
103H7126-5710
1.6 1.6
226.6 226.6
2 3
2 0.94
9.1 4
0.36 0.36
1.97 1.97
0.98 0.98
2.16 2.16
-10 to 50°C (14 to 122°F)
20 to 90% RH, no condensation
n Dimension
n Specification n Torque Curve
l 103H7126-57
l 103H7126-58
Unit: mm (inch)
n Internal Wiring
Bipolar winding, 1.8°/step
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[2.6
× 10-4kg·m2 (14.22 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
56
mm (
NEMA 23
)
75.8
mm (2.98 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
137
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
1.0
2.0
3.0
4.0
5.0
0
Pulse rate (kpulse/s)
fs
Torque (oz·in)
0
700
600
500
400
300
200
100
Pull-out torque at JL
Speed (min−1)
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
1.0
2.0
3.0
4.0
5.0
0
Pulse rate (kpulse/s)
fs
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
0
700
600
500
400
300
200
100
7.5±0.15
(.30±.006)
94.8±0.8
(3.73±.03)
85.4 min.
(3.36 min.)
5±0.25
(.2±0.1)
20.6±0.5
(.81±.02)
1.5±0.25
(.06±.01)
56±0.5
(2.2±.02)
4-47.14±0.13
(4-1.86±.005)
26 max.
(1.02 max.)
8 max.
(.31 max.)
305 min.
(12.01 min.)
5.8±0.15
(.23±.006)
R4 min.
(R.16 min.)
15 0
+1
Lead wire: UL1430 22AWG
4- 4.5
+0.5
0
38.1±0.025
( 1.50±.001)
8-0.013
0
N.P
.0000
-.0005
( )
.31
+.02
.00
( )
4- .18
+.04
.00
( )
.59
15.5±1
(.61±.04)
8 max.
(.31 max.)
R4 min.
(R.16 min.)
15 0
+1
6.35-0.013
0
56±0.5
(2.2±.02)
.0000
-.0005
( )
.25
+.04
.00
( )
.59
Orange
Blue
Red Yellow
RoHS
n Dimension
n Internal Wiring
n Specification n Torque Curve
Bipolar winding, 1.8°/step
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
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 50°C (14 to 122°F)
20 to 90% RH, no condensation
Unit: mm (inch)
l 103H7128-57
l 103H7128-58
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[7.4
× 10-4kg·m2 (40.46 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
56
mm (
NEMA 23
)
94.8
mm (3.73 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
138
2-PHASE STEPPING SYSTEMS
Torque (N·m)
Pulse rate (kpulse/s)
fs
0
0.1
1001000200030005000
11
01
00
0.5
1
1.5
2
Pull-out torque at JL
Speed (min−1)
Torque (oz·in)
280
0
240
200
160
120
80
40
80±1.5 (3.15±.06)
6.35 0
-0.013
5±0.25
(.20±.01)
20.6±0.5
(.81±.02)
15+1
0
1.5
±0.25
(.06±.01)
(Effective length)
( 1.50±.001)
4-47.14±0.13
(4-1.86±.005)
56±1
(
2.20±.039)
5.8±0.15
(.23±.006)
4× 4.5 0
+0.5
Motor connector
Screw for GND terminal
M3×0.5
23 max.
(.91 max)
+.04
.00
( )
.59
M12 connector (Male socket)
.0000
-.0005
( )
.25
+.02
.00
( )
4× .18
M3×0.5
UL3398 22AWG
Lead wire
Cable UL2517
300V 105˚C Black
700±30 (27.56±1.18)
36 max.
(1.42 max)
Screw for GND terminal
38.1±0.025
Red
(3)
Yellow
(4)
(1) Orange
(2) Blue
RoHS
SP2563-5260
SP2563-5200
1
141.6
3
0.75
3.4
0.21
1.15
0.9
2
-10 to 40°C (14 to 104°F)
95% Max. at 40°C Max., no condensation
n Dimension
n Specification n Torque Curve
l SP2563-52
Unit: mm (inch)
n Internal Wiring
Bipolar winding, 1.8°/step
Model Cable Type
Connector Type
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Constant current circuit, Source voltage:
100 VAC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[2.6
× 10-4kg·m2 (14.22 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
l Direction of motor rotation
The output shaft rotates clockwise as seen from the shaft side, when
excited by DC in the following order.
Lead wire color RED BLU YEL ORG
Connector pin
number (3) (2) (4) (1)
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
56
mm (
NEMA 23
)
80
mm (3.15 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
139
Pulse rate (kpulse/s)
fs
0
0.1
1001000200030005000
11
01
00
0.5
1
1.5
2
Torque (oz·in)
280
0
240
200
160
120
80
40
Pull-out torque at JL
Torque (N·m)
Speed (min−1)
102±1.5 (4.02±.06)
6.35 0
-0.013
5±0.25
(.20±.01)
20.6±0.5
(.81±.02)
15+1
0
1.5
±0.25
(.06±.01)
(Effective length)
38.1±0.025
( 1.50±.001)
M3×0.5
4-47.14±0.13
(4-1.86±.005)
56±1
(
2.20±.039)
5.8±0.15
(.23±.006)
Motor connector
Screw for GND terminal
M3×0.5
23 max.
(.91 max)
UL3398 22AWG
Lead wire
Cable UL2517
300V 105˚C Black
700±30 (27.56±1.18)
36 max.
(1.42 max)
+.04
.00
( )
.59
M12 connector (Male socket)
Screw for GND terminal
4× 4.5 0
+0.5
+.02
.00
( )
4× .18
.0000
-.0005
( )
.25
Red
(3)
Yellow
(4)
(1) Orange
(2) Blue
RoHS
n Dimension
n Internal Wiring
n Specification n Torque Curve
Bipolar winding, 1.8°/step
Model Cable Type
Connector Type
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SP2566-5260
SP2566-5200
1.7
240.7
3
1
4.4
0.36
1.97
1.2
2.65
-10 to 40°C (14 to 104°F)
95% Max. at 40°C Max., no condensation
Unit: mm (inch)
l SP2566-52
Constant current circuit, Source voltage:
100 VAC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[7.4
× 10-4kg·m2 (40.46 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
l Direction of motor rotation
The output shaft rotates clockwise as seen from the shaft side, when
excited by DC in the following order.
56
mm (
NEMA 23
)
102
mm (4.02 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
Lead wire color RED BLU YEL ORG
Connector pin
number
(3) (2) (4) (1)
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
140
2-PHASE STEPPING SYSTEMS
Torque (N·m)
Pulse rate (kpulse/s)
0.11 10 10
0
1000 2000 3000 5000100
fs
0.4
0.8
1.2
1.6
2
0
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
0
280
200
240
160
120
80
40
Pulse rate (kpulse/s)
1000 2000 3000 5000100
0.11 10 100
fs
0.4
0.8
1.2
1.6
2
0
Pull-out torque at JL
Torque (N·m)
Torque (oz·in)
Speed (min−1)
0
280
200
240
160
120
80
40
60±0.5
( 2.36±.02)
4-47.14±0.13
(4-1.86±.005)
25 max.
(.98 max.)
43.5±1
(1.71±.04)
20.6±0.5
(.81±.02)
7±0.75
(.27±.029)
1.5±0.25
(.06±.009)
15.5±1
(.61±.04)
6 max.
(.16 max.)
7.5±0.1 (.29±.003)
7.5±0.1
(.29±.003)
R4 min.
(R.16 min.)
R4 min.
(R.16 min.)
7.5±0.1 (.29±.003)
7.5±0.1
(.29±.003)
Lead Wire: UL1430 22AWG
15 0
+1
(EFFECTIVE LENGTH)
15 0
+1
(EFFECTIVE LENGTH)
305 min.
(12.01 min.)
(
.59
8 0
–
0.015
.000
–
.005
( )
.31
+.02
.00
( )
4
–
.18
4
–
4.5
+.5
.0
+.04
.00
)
+.04
.00
( )
.59
8 0
–
0.015
.000
–
.005
()
.31
38.1 0
–
0.025
.000
–
.001
()
1.5
Orange
Blue
Red Yellow
RoHS
103H7821-5760 103H7821-1760
103H7821-5730 103H7821-1730
0.88 0.88
124.6 124.6
2 4
1.27 0.35
3.3 0.8
0.275 0.275
1.5 1.5
0.6 0.6
1.32 1.32
-10 to 50°C (14 to 122°F)
20 to 90% RH, no condensation
n Dimension
n Specification n Torque Curve
l 103H7821-57
l 103H7821-17
Unit: mm (inch)
n Internal Wiring
Bipolar winding, 1.8°/step
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated
Current, 2-phase energization (full-step) |
JL=[2.6 × 10-4kg·m2 (14.22 oz·in2) pulley
balancer method] | fs: Maximum self-start
frequency when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
60
mm (
2.36 inch
)43.5
mm (1.71 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
141
Torque (N·m)
Pulse rate (kpulse/s)
0.11 10 100
1000 2000 3000 5000100
fs
0.4
0.8
1.2
1.6
2
0
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
0
280
200
240
160
120
80
40
Torque (N·m)
Pulse rate (kpulse/s)
1000 2000 3000 5000100
0
Torque (oz·in)
280
200
240
160
120
80
40
0.11 10 100
fs
0.4
0.8
1.2
1.6
2
0
Pull-out torque at JL
Speed (min−1)
25 max.
(.98 max.)
52.5±1
(2.07±.04)
20.6±0.5
(.81±.02) 60±0.5
( 2.36±.02)
4
–
47.14±0.13
(4
–
1.86±.005)
7±0.75
(.27±.029)
1.5±0.25
(.06±.009)
15.5±1
(.61±.04)
6 max.
(.16 max.)
7.5±0.1 (.29±.003)
7.5±0.1
(.29±.003)
R4 min.
(R.16 min.)
R4 min.
(R.16 min.)
7.5±0.1 (.29±.003)
7.5±0.1
(.29±.003)
Lead Wire: UL1430 22AWG
15 0
+1
(EFFECTIVE LENGTH)
15 0
+1
(EFFECTIVE LENGTH)
305 min.
(12.01 min.)
(
.59
8 0
–
0.015
.000
–
.005
( )
.31
+.02
.00
( )
4
–
.18
4
–
4.5
+.5
.0
+.04
.00
)
+.04
.00
( )
.59
8 0
-0.015
.000
–
.005
()
.31
38.1 0
-0.025
.000
–
.001
()
1.5
Orange
Blue
Red Yellow
RoHS
n Dimension
n Internal Wiring
n Specification n Torque Curve
Bipolar winding, 1.8°/step
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
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 50°C (14 to 122°F)
20 to 90% RH, no condensation
Unit: mm (inch)
l 103H7822-57
l 103H7822-17
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[2.6
× 10-4kg·m2 (14.22 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
60
mm (
2.36 inch
)52.5
mm (2.07 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
142
2-PHASE STEPPING SYSTEMS
Torque (N·m)
Pulse rate (kpulse/s)
1000 2000 3000 5000100
0
Torque (oz·in)
280
200
240
160
120
80
40
0.11 10 100
fs
0.4
0.8
1.2
1.6
2
0
Pull-out torque
at J
L
Speed (min−1)
Orange
White
Blue
Red Black Yellow
RoHS
4
–
47.14±0.13
(4
–
1.86±.005)
52.5±1
(2.07±.04)
20.6±0.5
(.81±.02)
60±0.5
( 2.36±.02)
7±0.75
(.27±.029)
1.5±0.25
(.06±.009)
12.7±1
(.5±.04)
7.5±0.1 (.29±.003)
7.5±0.1
(.29±.003)
R4 min.
(R.16 min.)
15 0
+1
(EFFECTIVE LENGTH)
6.35 0
–
0.013
.000
–
.005
( )
.25
+.02
.00
( )
4
–
.18
4
–
4.5
+.5
.0
+.04
.00
( )
.59
6.35 0
–
0.013
.000
–
.005
()
.25
38.1 0
–
0.025
.000
–
.001
()
1.5
300 min.
(11.81 min.)
46±0.2
(1.81±.008)
2
–
M2.5 x 0.45
Depth 3.5 (.137) min.
Lead wire
UL3266 22AWG
4-47.14±0.13
(4-1.86±.005)
94.2±1
(3.71±.04)
20.6±0.5
(.81±.02)
60±0.5
( 2.36±.02)
7±0.75
(.27±.029)
1.5±0.25
(.06±.009)
12.7±1
(.5±.04)
7.5±0.1 (.29±.003)
7.5±0.1
(.29±.003)
R4 min.
(R.16 min.)
15 0
+1
(EFFECTIVE LENGTH)
+.02
.00
( )
4
–
.18
4
–
4.5
+.5
.0
+.04
.00
( )
.59
6.35 0
–
0.013
.000
–
.005
()
.25
6.35 0
–
0.013
.000
–
.005
( )
.25
38.1 0
–
0.025
.000
–
.001
()
1.5
300 min.
(11.81 min.)
46±0.2
(1.81±.008)
300 min.
(11.81 min.)
Brake lead wire
UL3266 22AWG
2
–
M2.5 x 0.45
Depth 3.5 (.137) min.
Lead wire
UL3266 22AWG
Varistor
+24V
E
0
SW
RED
BLACK
n Dimension
n Specification n Torque Curve
l 103H7822-25
n Internal Wiring
Unipolar winding, 1.8°/step Constant current circuit, Source voltage: 24
VDC | Operating current: 6 A/Phase (RTA
A-NDC06.V set value), half-step | JL=[2.6
× 10-4kg·m2 (14.22 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color
WHT & BLK
RED BLU YEL ORG
1 + – –
Excitation 2 + – –
sequence 3 + – –
4 + – –
60
mm (
2.36 inch
)
52.5/94.2
mm
(2.07/3.71
inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
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 50°C (14 to 122°F)
20 to 90% RH, no condensation
24 VDC / 6 W
0.8 Min.
113.3 Min.
* Specifications for brake motor
Model Double Shaft
w/ Brake
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Power Source VDC / W
Brake
Static Friction Torque
N • m
oz • in
Unit: mm (inch) Unit: mm (inch)
103H7822-2511 103H7822-25XB12
n Brake Connection
143
0
700
600
500
400
300
200
100
Torque (N·m)
Pulse rate (kpulse/s)
0.11 10 100
1000 2000 3000 5000100
fs
1
2
3
4
5
0
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
0
700
600
500
400
300
200
100
Torque (N·m)
Pulse rate (kpulse/s)
1000 2000 3000 5000100
Torque (oz·in)
0.11 10 100
fs
1
2
3
4
5
0
Pull-out torque at JL
Speed (min−1)
38.1 0
–
0.025
.000
–
.001
()
1.5
33 max.
(1.29 max.)
84.5±1
(3.33±.04)
20.6±0.5
(.81±.02) 60±0.5
( 2.36±.02)
4-47.14±0.13
(4-1.86±.005)
7±0.75
(.27±.029)
1.5±0.25
(.06±.009)
15.5±1
(.61±.04)
6 max.
(.16 max.)
7.5±0.1 (.29±.003)
7.5±0.1
(.29±.003)
R4 min.
(R.16 min.)
R4 min.
(R.16 min.)
Lead Wire: UL1430 22AWG
7.5±0.1 (.29±.003)
7.5±0.1
(.29±.003)
15 0
+1
(EFFECTIVE LENGTH)
15 0
+1
(EFFECTIVE LENGTH)
305 min.
(12.01 min.)
(
.59
8 0
–
0.015
.000
–
.005
( )
.31
+.02
.00
( )
4
–
.18
4
–
4.5+.5
.0
+.04
.00
)
+.04
.00
( )
.59
8 0
–
0.015
.000
–
.005
()
.31
Orange
Blue
Red Yellow
RoHS
n Dimension
n Internal Wiring
n Specification n Torque Curve
Bipolar winding, 1.8°/step
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
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 50°C (14 to 122°F)
20 to 90% RH, no condensation
Unit: mm (inch)
l 103H7823-57
l 103H7823-17
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[7.4
× 10-4kg·m2 (40.46 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
60
mm (
2.36 inch
)84.5
mm (3.33 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
144
2-PHASE STEPPING SYSTEMS
RoHS
+0.5
4- 4.5 0
N.P
15.5±1
(.61±.04)
42±0.8
(1.65±.03)
20.6±0.5
(.81±.02)
7±0.25
(.2755±.0098)
1.5±0.25
(.06±.0098)
60±0.5
(2.36±.02)
38.1±0.025
( 1.5±.0009)
4-47.14±0.13
(4-1.86±.005)
+.02
.00
()
4- .18
305 min.
(12.01 min.)
6.35-0.013
0
6.35-0.013
0
()
.25-.0005
.0000
()
.25-.0005
.0000
Lead wire:
UL3385
AWG22
60±0.5
( 2.36±.02)
Torque (N·m)
0.11 10 100
0.2
0.4
0.6
0.8
1.0
0
1000200030005000100
Pulse rate (kpulse/s)
Number of rotations (min−1)
fs
0
Torque (oz·in)
140
120
100
80
60
40
20
Pull-out torque at JL
n Torque Curve
l SH1601-52
Orange
Blue
Red Yellow
60
mm (2.36 inch)
42
mm (1.65 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification
Bipolar winding, 0.9 °/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SH1601-5240
0.69
97.7
2
1.2
3.5
0.24
1.31
0.55
1.21
-10 to 50°C (14 to 122 °F)
20 to 90% RH, no condensation
Unit: mm (inch)
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[0.94
× 10-4kg·m2 (5.14 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
145
RoHS
+0.5
4- 4.5 0
N.P
54±0.8
(2.13±.03)
20.6±0.5
(.81±.02)
7±0.25
(.2755±.0098)
1.5±0.25
(.06±.0098)
38.1±0.025
( 1.5±.0009)
4-47.14±0.13
(4-1.86±.005)
+.02
.00
()
4- .18
305 min.
(12.01 min.)
6.35-0.013
0
()
.25-.0005
.0000
15.5±1
(.61±.04)
60±0.5
(2.36±.02)
6.35-0.013
0
()
.25-.0005
.0000
60±0.5
( 2.36±.02)
Lead wire:
UL3385
AWG22
Torque (N·m)
0.11 10 100
0.4
0.8
1.2
1.6
2.0
0
1000200030005000100
Pulse rate (kpulse/s)
Number of rotations (min−1)
fs
0
Torque (oz·in)
280
200
240
160
120
80
40
Pull-out torque at JL
n Torque Curve
l SH1602-52
Orange
Blue
Red Yellow
60
mm (2.36 inch)
54
mm (2.13 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification
Bipolar winding, 0.9 °/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SH1602-5240
1.28
181.2
2
1.65
6.1
0.4
2.19
0.8
1.76
-10 to 50°C (14 to 122 °F)
20 to 90% RH, no condensation
Unit: mm (inch)
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[2.6×
10-4kg·m2 (14.22 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
146
2-PHASE STEPPING SYSTEMS
Orange
Blue
Red Yellow
RoHS
+0.5
4- 4.5 0
N.P
76±0.8
(2.99±.03)
20.6±0.5
(.81±.02)
7±0.25
(.2755±.0098)
1.5±0.25
(.06±.0098)
38.1±0.025
( 1.5±.0009)
4-47.14±0.13
(4-1.86±.005)
+.02
.00
()
4- .18
305 min.
(12.01 min.)
8-0.015
0
()
.31-.0006
.0000
15.5±1
(.61±.04)
60±0.5
(2.36±.02)
6.35-0.013
0
()
.25-.0005
.0000
60±0.5
(2.36±.02)
Lead wire:
UL3385
AWG22
Torque (N·m)
0.11 10 100
0.8
1.6
2.4
3.2
4.0
0
1000200030005000100
Pulse rate (kpulse/s)
Number of rotations (min−1)
fs
Torque (oz·in)
560
0
480
400
320
240
160
80
Pull-out torque at JL
n Torque Curve
l SH1603-52
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
60
mm (2.36 inch)
76
mm (2.99 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Specification
Bipolar winding, 0.9 °/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SH1603-5240
2.15
304.4
2
2.3
8.8
0.75
4.10
1.2
2.65
-10 to 40°C (14 to 104 °F)
95% RH max.: under 40°C, no condensation
Unit: mm (inch)
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated Current,
2-phase energization (full-step) | JL=[7.4×
10-4kg·m2 (40.46 oz·in2) pulley balancer
method] | fs: Maximum self-start frequency
when not loaded
147
Torque (N·m)
0
1
2
3
4
Pulse rate (kpulse/s)
0.11 10 100
1000 2000 3000 5000100
fs
Torque (oz·in)
560
0
480
400
320
240
160
80
Pull-out torque at JL
Speed (min−1)
Torque (N·m)
0
1
2
3
4
Pulse rate (kpulse/s)
0.11 10 100
1000 2000 3000 5000100
fs
Torque (oz·in)
560
0
480
400
320
240
160
80
Pull-out torque at JL
Speed (min−1)
SM2861-52
Speed (min−1)
Torque (N·m)
0
1
2
3
4
Pulse rate (kpulse/s)
0.11 10 100
1000 2000 3000 5000100
fs
Torque (oz·in)
560
0
480
400
320
240
160
80
Pull-out torque at JL
.000
-.0005
( )
.375
.000
-.001
( )
2.875
+.04
.00
( )
.91
27 max.
(1.06 max.)
12 max. (.47 max.)
4-69.6±0.25
(4-2.74±.01)
85.5±0.5
(
3.366±.02)
4- 5.6±0.2
(4- .22±.008)
66±1
(2.6±.04)
9.525
0
-0.013
12.7
0
-0.018
12.7±1
(.5±.04)
1.5±0.25 (.06±.01)
8±0.5 (.31±.02)
30±0.5 (1.18±.02)
305 min.
(12.01
min.)
73.025±0.025
( 2.875±.001)
11.4±0.15
(.45±.006)
90°
11.4±0.15
(.45±.006)
R4 (R.16)
min.
Lead wire: UL3398 22AWG
Cable: UL2517
Cross section S-S
+1
0
25
(Effective length)
S
S
GND Terminal
M4×0.7×6L
23 max.
(0.91 max.)
[50 (1.97)]
46±0.2
(1.81±.008)
Only For Double Shaft Motor
2-No. 2-56 UNC Tap Depth 5 (.2) Min.
Orange
Blue
Red Yellow
RoHS
SM2861-5052 SM2861-5152 SM2861-5252
SM2861-5122
3.3 3.3 3.3
467.3 467.3 467.3
2 4 6
2.2 0.56 0.29
15 3.7 1.7
1.48 1.48 1.48
8.09 8.09 8.09
1.75 1.75 1.75
3.92 3.92 3.92
-10 to 50°C (14 to 122°F)
20 to 90% RH, no condensation
n Dimension
n Specification n Torque Curve
l SM2861-50
l SM2861-51
l SM2861-52
Unit: mm (inch)
n Internal Wiring
Bipolar winding, 1.8°/step
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Constant current circuit, Source voltage:
100 VAC | Operating current: Rated
Current, 2-phase energization (full-step) |
JL=[15.3 × 10-4kg·m2 (83.65 oz·in2) pulley
balancer method] | fs: Maximum self-start
frequency when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
86
mm (
NEMA 34
)
66
mm (2.6 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
148
2-PHASE STEPPING SYSTEMS
Torque (N·m)
Pulse rate (kpulse/s)
0.11 10 100
1000 2000 3000 5000100
fs
2
4
6
8
10
0
Torque (oz·in)
0
1400
1200
1000
800
600
400
200
Pull-out torque at JL
Speed (min−1)
Torque (N·m)
Pulse rate (kpulse/s)
0.11 10 100
1000 2000 3000 5000100
fs
2
4
6
8
10
0
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
0
1400
1200
1000
800
600
400
200
Torque (N·m)
Pulse rate (kpulse/s)
0.11 10 100
1000 2000 3000 5000100
fs
2
4
6
8
10
0
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
0
1400
1200
1000
800
600
400
200
Cable: UL2517
.000
-.0005
( )
.375
.000
-
.001
( )
2.875
+.04
.00
( )
.91
27 max.
(1.06 max.)
12 max. (.47 max.)
4-69.6±0.25
(4-2.74±.01)
85.5±0.5
(
3.366±.02)
4- 5.6±0.2
(4- .22±.008)
96.5±1
(3.8±.04)
9.525
0
-0.013
12.7
0
-
0.018
12.7±1
(.5±.04)
1.5±0.25 (.06±.01)
8±0.5 (.31±.02)
30±0.5 (1.18±.02)
305 min.
(12.01
min.)
73.025±0.025
( 2.875±.001)
11.4±0.15
(.45±.006)
90°
11.4±0.15
(.45±.006)
R4 (R.16)
min.
Lead wire: UL3398 22AWG
Cross section S-S
+1
0
25
(Effective length)
S
S
GND Terminal
M4×0.7×6L
23 max.
(0.91 max.)
[50 (1.97)]
46±0.2
(1.81±.008)
Only For Double Shaft Motor
2-No. 2-56 UNC Tap Depth 5 (.2) Min.
Orange
Blue
Red Yellow
RoHS
n Dimension
n Internal Wiring
n Specification n Torque Curve
Bipolar winding, 1.8°/step
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
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 50°C (14 to 122°F)
20 to 90% RH, no condensation
Unit: mm (inch)
l SM2862-50
l SM2862-51
l SM2862-52
Constant current circuit, Source voltage:
100 VAC | Operating current: Rated
Current, 2-phase energization (full-step) |
JL=[15.3 × 10-4kg·m2 (83.65 oz·in2) pulley
balancer method] | fs: Maximum self-start
frequency when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
86
mm (
NEMA 34
)
96.5
mm (3.8 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
149
Torque (N·m)
Pulse rate (kpulse/s)
0.11 10 100
1000 2000 3000 5000100
fs
2
4
6
8
10
0
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
0
1400
1200
1000
800
600
400
200
Orange
Blue
Red Yellow
RoHS
Cable: UL2517
.0000
-.0005
( )
2.875
+.04
.00
( )
.91
27 max.
(1.06 max.)
12 max. (.47 max.)
4-69.6±0.25
(4-2.74±.01)
85.5±0.5
(
3.366±.02)
4- 5.6±0.2
(4- .22±.008)
150±1.5
(5.9±.06)
12.7
0
-0.013
12.7±1
(.5±.04)
1.5±0.25 (.06±.01)
8±0.5 (.31±.02)
30±0.5 (1.18±.02)
73.025±0.025
( 2.875±.001)
11.4±0.15
(.45±.006)
90°
11.4±0.15
(.45±.006)
R4 (R.16)
min.
Lead wire: UL3398 22AWG
Cross section S-S
+1
0
25
(Effective length)
S
S
GND Terminal
M4×0.7×6L
305 min.
(12.01
min.)
23 max.
(0.91 max.)
[50 (1.97)]
.000
-.0005
( )
.375
9.525
0
-0.013
46±0.2
(1.81±.008)
2-No. 2-56 UNC Tap Depth 5 (.2) Min.
Varistor
+24V
E
0
SW
WHITE
BLACK
n Specification n Torque Curve
l SH2862-52
n Internal Wiring
Bipolar winding, 1.8°/step Constant current circuit, Source voltage:
100 VAC | Operating current: Rated
Current, 2-phase energization (full-step) |
JL=[15.3 × 10-4kg·m2 (83.65 oz·in2) pulley
balancer method] | fs: Maximum self-start
frequency when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
86
mm (
NEMA 34
)
150
mm (5.9 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
SH2862-52XB12
6.4
906.3
6
0.36
2.8
3.8
20.8
3.7
8.15
-10 to 50°C (14 to 122°F)
20 to 90% RH, no condensation
24 VDC / 10 W
5 Min.
708 Min.
Model Double Shaft
w/ Brake
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Power Source VDC / W
Brake
Static Friction Torque
N • m
oz • in
Unit: mm (inch)
n Brake Connection
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
150
2-PHASE STEPPING SYSTEMS
Torque (N·m)
Pulse rate (kpulse/s)
0.11 10 100
1000 2000 3000 5000100
fs
2
4
6
8
10
0
Torque (oz·in)
Pull-out torque at JL
Speed (min−1)
0
1400
1200
1000
800
600
400
200
Torque (N·m)
Pulse rate (kpulse/s)
0.11 10 100
1000 2000 3000 5000100
fs
2
4
6
8
10
0
Torque (oz·in)
Pull-out torque at JL
0
1400
1200
1000
800
600
400
200
Speed (min−1)
Torque (N·m)
Pulse rate (kpulse/s)
0.11 10 100
1000 2000 3000 5000100
fs
2
4
6
8
10
0
Torque (oz·in)
Pull-out torque at JL
0
1400
1200
1000
800
600
400
200
Speed (min−1)
Lead wire: UL3398 22AWG
Cable: UL2517
.000
-.0005
( )
.375
.000
-.001
( )
2.875
+.04
.00
( )
.91
27 max.
(1.06 max.)
12 max. (.47 max.)
4-69.6±0.25
(4-2.74±.01)
85.5±0.5
(
3.366±.02)
4- 5.6±0.2
(4- .22±.008)
127±1
(5±.04)
9.525
0
-0.013
12.7
0
-0.018
12.7±1
(.5±.04)
1.5±0.25 (.06±.01)
8±0.5 (.31±.02)
30±0.5 (1.18±.02)
305 min.
(12.01
min.)
73.025±0.025
( 2.875±.001)
11.4±0.15
(.45±.006)
90°
11.4±0.15
(.45±.006)
R4 (R.16)
min.
Cross section S-S
+1
0
25
(Effective length)
S
S
GND Terminal
M4×0.7×6L
23 max.
(0.91 max.)
[50 (1.97)]
46±0.2
(1.81±.008)
Only For Double Shaft Motor
2-No. 2-56 UNC Tap Depth 5 (.2) Min.
Orange
Blue
Red Yellow
RoHS
86
mm (
NEMA 34
)
127
mm (5 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
n Dimension
n Internal Wiring
n Specification n Torque Curve
Bipolar winding, 1.8°/step
Model Single Shaft
Double Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
SM2863-5052 SM2863-5152 SM2863-5252
SM2863-5122
9 9 9
1274.5 1274.5 1274.5
2 4 6
4 1 0.46
32 7.9 3.8
4.5 4.5 4.5
24.6 24.6 24.6
4 4 4
8.96 8.96 8.96
-10 to 50°C (14 to 122°F)
20 to 90% RH, no condensation
Unit: mm (inch)
l SM2863-50
l SM2863-51
l SM2863-52
Constant current circuit, Source voltage:
100 VAC | Operating current: Rated
Current, 2-phase energization (full-step) |
JL=[44 × 10-4kg·m2 (240.56 oz·in2) pulley
balancer method] | fs: Maximum self-start
frequency when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
151
1400
0
1200
1000
800
600
400
200
Torque (oz·in)
2
4
6
8
10
0
Torque (N·m)
Pulse rate (kpulse/s)
fs
Pull-out torque at JL
0.1
1001000200030005000
11
01
00
Speed (min−1)
.0000
-.0007
( )
.55
Motor connector
M4×0.7
UL3398 22AWG
Lead wire
Cable UL2517
300V 105˚C Black
700±30 (27.56±1.18)
86±1
(
3.39±.039)
36 max.
(1.42 max)
1.5±0.25
(.06±.01)
(Effective length)
+.04
.00
( )
.98
M12 connector (Male socket)
Screw for GND terminal
120±1.5 (4.72±.06)
8±0.5
(.31±.02)
30±0.5
(1.18±.02)
4-69.6±0.25
(4-2.74±.010)
73.025±0.025
( 2.88±.001)
25
+1
0
14
0
-0.018
4× 5.6±0.2
(4× .22±.008)
13±0.15
(.5118±.006)
13±0.15
(.5118±.006)
M4×0.7
23 max.
(.91 max)
Screw for GND terminal
SP2862-5260 Unit: mm (inch)
Red
(3)
Yellow
(4)
(1) Orange
(2) Blue
RoHS
86
mm (
NEMA 34
)
120
mm (4.72 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
SP2862-5260
6.4
906.3
6
0.41
2.8
3
16.4
3.1
6.8
-10 to 40°C (14 to 104°F)
95% Max. at 40°C Max., no condensation
n Dimension
n Specification n Torque Curve
l SP2862-52
Unit: mm (inch)
n Internal Wiring
Bipolar winding, 1.8°/step
Model Cable Type
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Constant current circuit, Source voltage:
100 VAC | Operating current: Rated
Current, 2-phase energization (full-step) |
JL=[15.3 × 10-4kg·m2 (83.65 oz·in2) pulley
balancer method] | fs: Maximum self-start
frequency when not loaded
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.
Lead wire color RED BLU YEL ORG
Connector pin
number
(3) (2) (4) (1)
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
152
2-PHASE STEPPING SYSTEMS
2
4
6
8
10
0
Torque (N·m)
Pulse rate (kpulse/s)
fs
Pull-out torque at JL
1400
0
1200
1000
800
600
400
200
Torque (oz·in)
0.1
1001000200030005000
11
01
00
Speed (min−1)
.0000
-.0007
( )
.55
Motor connector
M4×0.7
UL3398 22AWG
Lead wire
Cable UL2517
300V 105˚C Black
700±30 (27.56±1.18)
86±1
(
3.39±.039)
36 max.
(1.42 max)
1.5
±0.25
(.06±.01)
(Effective length)
+.04
.00
( )
.98
M12 connector (Male socket)
Screw for GND terminal
150±1.5 (5.91±.06)
8±0.5
(.31±.02)
30±0.5
(1.18±.02)
4-69.6±0.25
(4-2.74±.010)
73.025±0.025
( 2.88±.001)
25
+1
0
14
0
-0.018
4× 5.6±0.2
(4× .22±.008)
13±0.15
(.5118±.006)
13±0.15
(.5118±.006)
M4×0.7
23 max.
(.91 max)
Screw for GND terminal
SP2863-5260 Unit: mm (inch)
Red
(3)
Yellow
(4)
(1) Orange
(2) Blue
RoHS
86
mm (
NEMA 34
)
150
mm (5.91 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
SP2863-5260
9
1274.5
6
0.53
3.8
4.5
24.6
4.2
9.3
-10 to 40°C (14 to 104°F)
95% Max. at 40°C Max., no condensation
n Dimension
n Specification n Torque Curve
l SP2863-52
Unit: mm (inch)
n Internal Wiring
Bipolar winding, 1.8°/step
Model Cable Type
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Constant current circuit, Source voltage:
100 VAC | Operating current: Rated
Current, 2-phase energization (full-step) |
JL=[44 × 10-4kg·m2 (240.56 oz·in2) pulley
balancer method] | fs: Maximum self-start
frequency when not loaded
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.
Lead wire color RED BLU YEL ORG
Connector pin
number
(3) (2) (4) (1)
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
153
Torque (N·m)
Pulse rate (kpulse/s)
0.11 10 100
1000 2000 3000 5000100
fs
4
8
12
16
20
0
20
Torque (oz·in)
0
2800
2000
2400
1600
1200
800
400
Pull-out torque at JL
Speed (min−1)
+0.5
4- 6.9 0.0
Lead wire: UL1430 18AWG
305 min.
(12.01 min.)
163.3±1
(6.4±.04)
35±0.5
(1.38±.02)
8.6±0.25
(.34±.01)
1.52±0.25
(.06±.01) +1
28 0
55.524±0.05
( 2.19±.002)
4-88.9±0.25
(4-3.5±.001)
106.4±0.5
(4.2±.02)
0000
16-0.018
S
S
Cross section S-S
3+0.1
0
+.04
.00
( )
1.1
+.02
.00
( )
4- .27
.0000
-.0007
( )
.63
+.004
-.000
( )
.118
5 -0.03
0
.000
-.002
( )
.197
Orange
Blue
Red Yellow
RoHS
106
mm (
NEMA 42
)163.3
mm (6.4 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
103H89222-5241
13.2
1869.2
6
0.45
5.4
14.6
79.83
7.5
16.53
-10 to 50°C (14 to 122°F)
20 to 90% RH, no condensation
n Dimension
n Specification n Torque Curve
l 103H89222-52
Unit: mm (inch)
n Internal Wiring
Bipolar winding, 1.8°/step
Model Single Type
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Constant current circuit, Source voltage:
100 VAC | Operating current: Rated
Current, 2-phase energization (full-step) |
JL=[44 × 10-4kg·m2 (240.56 oz·in2) pulley
balancer method] | fs: Maximum self-start
frequency when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
154
2-PHASE STEPPING SYSTEMS
Torque (N·m)
Pulse rate (kpulse/s)
0.11 10 100
1000 2000 3000 5000100
fs
4
8
12
16
20
0
Torque (oz·in)
Pull-out torque at JL
0
2800
2000
2400
1600
1200
800
400
Speed (min−1)
305 min.
(12.01 min.)
+0.5
4- 6.9 0.0
Lead wire: UL1430 18AWG
221.3±1
(8.7±.04)
35±0.5
(1.38±.02)
8.6±0.25
(.34±.01)
1.52±0.25
(.06±.01) +1
28 0
55.524±0.05
( 2.19±.002)
4-88.9±0.25
(4-3.5±.001)
106.4±0.5
( 4.2±.02)
0000
16-0.018
S
S
+.04
.00
( )
1.1
+.02
.00
( )
4- .27
.0000
-.0007
( )
.63
Cross section S-S
3+0.1
0
+.004
-.000
( )
.118
5 -0.03
0
.000
-.002
( )
.197
Varistor
Orange
Blue
Red Yellow
106
mm (
NEMA 42
)221.3
mm (8.7 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
103H89223-5241
19
2690.5
6
0.63
8
22
120.28
10.5
23.15
-10 to 50°C (14 to 122°F)
20 to 90% RH, no condensation
nDimension
nSpecification nTorque Curve
l103H89223-52
Unit: mm (inch)
nInternal Wiring
Bipolar winding, 1.8°/step
Model Single Type
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Operating Temperature
Humidity
Constant current circuit, Source voltage:
100 VAC | Operating current: Rated
Current, 2-phase energization (full-step) |
JL=[44 × 10-4kg·m2 (240.56 oz·in2) pulley
balancer method] | fs: Maximum self-start
frequency when not loaded
lDirection 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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
155
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0
Speed (min−1)
Pulse rate (kpulse/s)
fs
Torque (oz·in)
0
70
60
50
40
30
20
10
Pull-out torque at JL
22
5-0.013
0
-0.05
0
4-M3 × 0.5
Effective tapping
depth 4 (.16) min.
24±0.5
(.94±.02)
1.5±0.76
(.06±.03)
39±0.5
(1.54±.02)
4-31±0.25
(4-1.22±.01)
42±0.25
( 1.65±.01)
.0000
-.0005
( )
.197
.000
-.002
( )
.866
Gas venting hole
4- 1
300 min.
(11.8 min.)
Lead wire: Teflon
(nickel plating)
24 AWG
Orange
Blue
Red Yellow
42
mm (
NEMA 17
)
39
mm (1.54 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
103H5208-49V40
0.37
52.39
2
1.27
2
0.056
0.306
0.34
0.75
Less than 200°C (392°F)
1 x 10-5 Pa or more
n Dimension
n Specification n Torque Curve
l 103H5208-49V40
Unit: mm (inch)
n Internal Wiring
Bipolar winding, 1.8°/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Baking Temperature
Working Pressure Range
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated
Current, 2-phase energization (full-step) |
JL=[0.94 × 10-4kg·m2 (5.14 oz·in2) pulley
balancer method] | fs: Maximum self-start
frequency when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
156
2-PHASE STEPPING SYSTEMS
Torque (N·m)
0.11 10 100
1000 2000 3000 5000100
0.1
0.2
0.3
0.4
0.5
0
Speed (min−1)
Pulse rate (kpulse/s)
fs
Torque (oz·in)
0
70
60
50
40
30
20
10
Pull-out torque at JL
45.9±0.8
(1.81±.03)
5±0.25
(.2±0.1)
20.6±0.5
(.81±.02)
1.5±0.25
(.06±.01)
56±0.5
( 2.2±.02)
4-47.14±0.13
(4-1.86±.005)
305 min.
(12.01 min.)
4- 4.5
+0.5
0
38.1±0.025
( 1.50±.001)
6.35-0.013
0
.0000
-.0005
( )
.25
+.02
.00
( )
4- .18
Lead wire: Teflon
(nickel plating)
24 AWG
Orange
Blue
Red Yellow
Unit: mm (inch)
56
mm (
NEMA 17
)
45.9
mm (1.81 inch)
MOTOR
LENGTH
MOTOR
FLANGE SIZE
103H7121-47V40
0.45
63.72
2
0.94
3.4
0.1
0.547
0.67
1.48
Less than 200°C (392°F)
1 x 10-5 Pa or more
n Dimension
n Specification n Torque Curve
l 103H7121-47V40
n Internal Wiring
Bipolar winding, 1.8°/step
Model Single Shaft
Holding Torque N • m
oz • in
Rated Current A/phase
Wiring Resistance Ω/phase
Winding Inductance mH/phase
Rotor Inertia x10-4 kg • m2
oz • in2
Motor Weight kg
lb
Baking Temperature
Working Pressure Range
Constant current circuit, Source voltage:
24 VDC | Operating current: Rated
Current, 2-phase energization (full-step) |
JL=[0.94 × 10-4kg·m2 (5.14 oz·in2) pulley
balancer method] | fs: Maximum self-start
frequency when not loaded
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.
Lead wire color RED BLU YEL ORG
1 – – + +
Excitation 2 + – – +
sequence 3 + + – –
4 – + + –
157
Motor General Specifications
Motor model number
Type
Operating ambient temperature
Storage temperature
Operating ambient humidity
Storage humidity
Operation altitude
Vibration resistance
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
SH2141 SH228
h SS242
h SH142
h 103H52
hh SS250
h
-
-10˚C to +50˚C
-20˚C to +65˚C
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
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 (+130˚C)
At normal temperature and humidity, no failure with 500 VAC @50/60 Hz applied for one minute between
motor winding and frame.
At normal temperature and humidity, not less than 100 MΩ between winding and frame by 500 VDC megger.
IP40
80 K max. (Based on Sanyo Denki standard)
±0.09° ±0.054° ±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.
(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
to 500 Hz), sweep time 15 min/cycle, 12 sweeps in each X, Y and Z direction.
0.025 mm (0.001 in)
ø0.05 mm ø0.05 mm ø0.075 mm ø0.05 mm ø0.05 mm ø0.075 mm
(ø0.002 in) (ø0.002 in) (ø0.003 in) (ø0.002 in) (ø0.002 in) (ø0.003 in)
0.1 mm 0.1 mm 0.1 mm 0.1 mm 0.1 mm 0.1 mm
(0.004 in) (0.004 in) (0.004 in) (0.004 in) (0.004 in) (0.004 in)
Can be freely mounted vertically or horizontally
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.
103H712
h SH160
h 103H78
hh 103H8922
h SM286
h
- S1 (continuous operation)
-10˚C to +50˚C -10˚C to +40˚C
-20˚C to +65˚C -20˚C to +60˚C
20 to 90 RH (no condensation)
95% max.: 40˚C max., 57% max.: 50˚C max.,
5 to 95% RH (no condensation)
35% max.: 60˚C 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/s
2
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 (+130˚C) Class F (+155˚C)
At normal temperature and humidity, no failure
with 1000 VAC @50/60 Hz applied for one
minute between motor winding and frame.
At normal temperature and humidity, not less then 100 MΩ 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)
ø0.075 mm ( ø0.003 in)
0.075 mm 0.1 mm 0.075 mm 0.15 mm 0.075 mm
(0.003 in) (0.004 in) (0.003 in) (0.006 in) (0.003 in)
Can be freely mounted vertically or horizontally
Motor model number
Type
Operating ambient temperature
Storage temperature
Operating ambient humidity
Storage humidity
Operation altitude
Vibration resistance
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
At normal temperature and humidity, no failure
with 1500 VAC @50/60 Hz applied for one
minute between motor winding and frame.
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
158
2-PHASE STEPPING SYSTEMS
1 2 873 4 5 6
0
8
D
E
F
9
A
B
C
1
2
7
5
4
3
6
RUN
CN1
F1
ALM
E×1
E×2
E×3
F
/
R
ACD1
ACD2
LV
EORG
CN3
111
POW
CN2
1
2- 3.5 (2- .14)
ON
29 (1.14)
56 (2.2)
25 (.98)5 (.2)
5 (.2) 54 (2.13)
64 (2.52)
2 (.08)
Input source
Source current
Protection class
Operation environment
Ambient operation temperature
Storage temperature
Operating ambient humidity
Basic Storage humidity
specifications
Environment
Operation altitude
Vibration resistance
Impact resistance
Withstandable voltage
Insulation resistance
Mass (Weight)
Selection functions
Functions Protection functions
LED indication
Command pulse input
signal
Power down input
I/O signals signal
Phase origin monitor
output signal
Rotation monitor
output signal
24/36 VDC ± 10%
3 A
Class III
Installation category (over-voltage category) : I, pollution degree: 2
0 to + 50˚C
–20 to + 70˚C
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 MΩ 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 Ω
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 Ω
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.
nSafety Standards
Directives Category Standard Name
Low-voltage directives – EN61010-1 –
Emission EN55011-A Terminal disturbance voltage
CE EN55011-A Electromagnetic radiation disturbance
(TÜV) EMC directives EN61000-4-2 ESD (Electrostatic discharge)
Immunity EN61000-4-3
RS (Radio-frequency amplitude modulated electromagnetic field)
EN61000-4-4 Fast transients/burst
EN61000-4-6 Conducted disturbances
Acquired standards Applicable standard File No.
UL UL UL508C E179775
UL for Canada
2-Phase Bipolar DC Input Micro-step Driver
nDimension
nSpecification
Driver model BS1D200P10
Unit: mm (inch)
159
Driver Controls and Connectors
5
3
6
2
4
1
7
1 Operating current selection switch (RUN)
The value of the motor current can be set when operating.
Dial 01234567
Stepping motor
current (A) 2.0 1.9 1.8 1.7 1.6 1.5 1.4 1.3
Dial 8 9 A B C D E F
Stepping motor
current (A) 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
EX1
EX2
EX3
F/R
ACD1
ACD2
LV
EORG
OFF
OFF Partition number: 8
OFF
OFF Input method 2 (CW/CCW pulse input)
OFF
Stopping current: 40% of driving current
OFF
OFF Micro step operation
OFF Phase origin
OFF ON
1. Step angle select (EX1, EX2, EX3)
Select the partition number of the basic step angle.
EX1 EX2 EX3 Partition number
ON ON ON 1-division
OFF ON OFF 2-division
ON OFF OFF 4-division
OFF OFF OFF 8-division
OFF OFF ON 16-division
2. Input method select (F/R)
Select input pulse type.
F/R Input pulse type
ON 1 input (CK, U/D)
OFF 2 input (CW, CCW)
3. Current selection when stopping (ACD1, ACD2)
Select the current value of the motor when stopping.
ACD2 ACD1 Current value of the motor
ON ON 100% of driving current
ON OFF 60% of driving current
OFF ON 50% of driving current
OFF OFF 40% of driving current
• 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.
4. Low-vibration mode select (LV)
Provides low-vibration, smooth operation even if resolution
is coarse (1-division, 2-division, etc).
LV Operation
ON Auto-micro function
OFF Micro-step
5. Excitation select (EORG)
The excitation phase when the power supply is engaged is selected.
EORG Original excitation phase
ON 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.
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
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.
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.
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
160
2-PHASE STEPPING SYSTEMS
Orange
Blue
Red
Yellow
11
CW pulse input (CW)
CCW pulse input (CCW)
Power down input (PD)
Phase origin monitor
Output (MON)
Alarm output (AL)
24 to 36 VDC
24 to 36 GDC
3
4
2
4
CN3
10
9
8
7
6
5
2
1
3
2
CN2CN1
M
Driver
+5 V 1 (3)
2 (4)
R
220 Ω
1000 pF
Input signal
Driver
+5 V 5
6
R
220 Ω
1000 pF
Input signal
Driver
7 (9)
8 (10)
Max. 10 mA
Max. 40 V
Driver
CW pulse
CCW pulse
MON output
CW pulse input (CW)
(Standard)
Pulse train input (CK)
CCW pulse input (CCW)
(Standard)
Rotational direction
input (U/D)
Power down input (PD)
Phase origin monitor
output (MON)
Alarm output (AL)
1
2 When in "2 input mode", input the drive pulse that rotates in a CW direction.
1
2 When in "1 input mode", input the drive pulse train for motor rotation.
3
4 When in "2 input mode", input the drive pulse train that rotates in a CCW direction.
3 When in "1 input mode", input the motor rotational direction signal.
4 Internal photocoupler ON: CW direction
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).
6 PD input signal on (internal photocoupler on): PD function is valid.
PD input signal off (internal photocoupler off): PD function is invalid.
7 When the excitation phase is at the origin (during power on) this function turns on.
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
10 stepping motor changes to unexcited status.
Signal CN1 Pin number Function summary
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.
Connections and Signals
• 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.
• 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.
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.
n Wiring Diagram n Pulse Input
n Applicable Wire Sizes
n Input Signal n Output Signal
n Specification Summary of Input/Output Signals
For power supply
For input/output signal
For motor
22 AWG (0.3 mm 2) 2 m Max.
24 AWG (0.2 mm 2) to 22 AWG (0.3 mm 2) 2 m Max.
22 AWG (0.3 mm 2) Under 3 m
Part Wire sizes Allowable wire length
161
A-CSD 02.V 24 to 48 VDC 0.7 to 2.4 Amps 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
Driver Series 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
Driver Series Model Voltage Range Current Range Dimension
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.
n Pulse Input
n Indexer, RS485 Serial Communication
n Analog Input
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
162
MOTION CONTROLLER
Applications
Robot device
Measurement equipment
Pneumatic/hydraulic
pressure control equipment
Manufacturing equipment
Conveying equipment
Packaging equipment
Robots, Conveying equipment, Packaging machines, Semiconductor manufacturing equipment,
Press machines, Wire winding machines, Inspection equipment, Liquid crystal manufacturing equipment.
Cartesian coordinate,
SCARA,
Vertical articulated,
Parallel link
Motion function block
Electronic cam
Electronic gear
Digital input/output
Analog input/output
Timer, Counter
Sequence
control
Robot
control
Motion
control
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
With high-speed fieldbus EtherCAT interface
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.
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 ............... P.40
EtherCAT Interface Type Servo Amplifier ............................. P.45
EtherCAT Interface High Speed Type Servo Amplifier ............ P.50
EtherCAT Interface DC Input Type Servo Amplifier ................ P.59
EtherCAT Interface DC Input Type Multi Axis Servo Amplifier ... P.63
SANMOTION Model No.PB
DC Input Driver EtherCAT Model ...................................... P.90
DC Input Driver EtherCAT Multi-Axis Model ......................... P.93
163
CPU
Memory
Battery backed up SRAM
EtherCAT
Specifications of CAN
provided interfaces RS485
Ethernet
USB
Expansion unit maximum
Input power supply
Maximum input power
Rush current
Maximum output power (K-BUS DC24V)
Maximum output power (K-BUS DC5V)
Weight
DM276-A
Operating ambient temperature
Storage ambient temperature
Operating/storage humidity
Vibration resistance
Shock resistance
Operating altitude
Installation location
Overvoltage category
Degree of pollution
1.8 GHz
1 GB
1 MB
100 Mbps Motion bus RJ-45 connector
125 kbps to 1 Mbps D-Sub 9-pin female connector
1200 bps to 115200 bps Mini-D-Sub 15-pin male connector
10/100 Mbps RJ-45 connector
USB 2.0 high speed For memory storage
12
24 VDC (19.2 VDC to 30 VDC) 2-pin connector x 1 (Phoenix Contact)
99 W
10 A
40 W
10 W
1,335 g
Digital input: 6 points, 24 VDC, positive common input 2-pin connector x 1 + 8-pin
Digital output: 8 points, 24 VDC, 1 A, sink output 135 g connector x 2 (Phoenix Contact)
0 to +55˚C
–40 to +70˚C
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
Model SMC265X Remarks
P/N Specifications Mass Cable side connector
nCPU module
nI/O module
nCommon specifications
System Configuration
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
164
MOTION CONTROLLER
100±2 (3.94±.08)
70±1 (2.76±.04)
120±2 (4.72±.08)
270±2 (10.63±.08) 100±2 (3.94±.06)
37
22.5±1
100±2 (3.94±.08)
70±1 (2.76±.04)
120±2 (4.72±.08)
(.89±.04)
(1.46)
Unit: mm (inch)
Unit: mm (inch)
Dimensions
n SMC265X
n DM276-A
165
Value Added Assembly
Repair Service
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.
SANYO DENKI AMERICA provides prompt service of overhaul and repair for legacy SANMOTION products in our official repair department.
5-Phase Stepping Systems2-Phase Stepping SystemsMotion Controller Closed Loop Stepping Systems AC Servo Systems
SANYO DENKI Website URL http://www.sanyodenki.us
(Repair Service)
Remarks:
