STEPPING SYSTEMS. Stepping Systems. Phase. Release 1.0

Transcription

1 TEPPING YTEM Phase tepping ystems Release.

2 afety Consideration The PM drivers and stepping motors are the products designed to be used for the general industrial devices. When using those, pay enough attention to the following points. Read thoroughly the Operation Manual prior to placement, assembly and/or operation in order to use the product properly. Refrain from modifying or processing the product in any way. Consult with the distributor or professional experts for placement or maintenance services of the product. In case of the following uses of the product, contact with us for the special care required to the operation, maintenance and management such as multiplexing the system, installing an emergency electric generator set, or so forth. Use for the medical devices concerned with a fatal accident. Use for trains, elevators, and so forth that are likely to cause an accident resulting in injury, damage or death. Use in the computer system highly influential to the social life or the public systems. Use in other devices highly influential to maintaining the human safety or the public functions. In addition to the above, consult with us for use in such a vibration environment as automobile or transportation. Read the Operation Manual thoroughly prior to the use (placement, operation, maintenance and inspection) to put the product in use properly. Make yourself knowledgeable and familiarize with the devices, safety issues and cautions before handling the product. After reading the Operation Manual or the like, keep it in the place where the users can refer to whenever necessary. Indication by Warning Label on the product Either or all of the following indications are given by the Warning Labels depending on the type of the PM driver or stepping motor. This label is stuck near the high voltage part such as the electrically charged or cover-protected section, warning that the place where it is likely to cause an electric shock. This label is stuck on the place where the PM driver or stepping motor body should be easily acknowledged, warning that it is likely to cause burns from high temperature. Use proper grounding techniques. WARNING May Cause electric shock This label is stuck near the GND terminals of the PM driver or stepping motor for which grounding is required, suggesting that the terminals should be actually grounded. This label is stuck for the PM driver or stepping motor to which the power source is applied in the voltage exceeding the safety standard, drawing attention against the electric shock. afety ranks of the cautions Following four ranks are provided. DANGER Improper operations or use is most likely to result in serious injury or death. CAUTION PROHIBITED Improper operations or use is likely to result in average or minor injury, or in property damage. In spite of the cautions with the CAUTION CAUTION label, it may cause serious results. Either the contents of the labels is describing important cautions to be followed inevitably. Indicates what shall not be done. COMPULORY Indicates what shall be done.

3 DANGER General matters. Do not use the product in an explosive, flammable or corrosive atmosphere, watery place or near a combustible material. Doing so may cause injury or fire.. Have a person with expert knowledge for performing the transportation, placement, wiring, operation, maintenance or inspection of the product. Without such knowledge, it may cause an electric shock, injury or fire.. Do not work for wiring, maintenance servicing or inspection with the electric power on. Perform either of those five minutes after turning the power off, or otherwise, it may cause an electric shock.. When the protective functions of the product is activated, turn the power off immediately and eliminate the cause. If continuing the operation without eliminating the cause, the product may operate improperly and cause injury or a breakdown of the system devices.. tepping motor may run out of order at the operating and stopping occasions, depending on the magnitude of the load. Put the product into use after confirming with the adequate trial test operation in the maximum load conditions that the product performs reliable operation. Doing otherwise may cause a breakdown of the system. (hould the product run out of order in the use to drive upward/downward, it may cause a fall of the load.). Do not touch the internal parts of the PM driver. Doing so may cause an electric shock. Wiring. Do not connect the stepping motor directly with the commercial power outlet. Doing so may cause an electric shock, injury or fire. The power shall be supplied to the stepping motor through the driving circuit.. Use the electric power source within the rated input voltage. Using otherwise may cause fire or an electric shock.. Connect the PM driver and stepping motor to the ground. Using without grounding may cause an electric shock.. Do not harm, forcibly put a stress, or load a heavy article on the cable or get it caught between the articles. Doing so may cause an electric shock.. Perform wiring with the power cable as instructed by the wiring diagram or the Operation Manual. Doing otherwise may cause an electric shock or fire. Operation. Be sure not to touch the rotating part of the stepping motor during its operation. Touching it may cause injury.. Neither reach or touch the electric terminals while electric power is on. Doing so may cause an electric shock.. Never disconnect any of the connectors while electric power is on. Doing so may cause an electric shock and corruption. CAUTION General matters. Prior to placement, operation, maintenance servicing or inspection, be sure to read the Operation Manual and follow the instructions to perform those. Failure to follow the instructions may cause an electric shock, injury or fire.. Do not use the PM driver or the stepping motor outside the specified conditions. Doing so may cause an electric shock, injury or fire.. Do not insert a finger or a thing into the opening of the product. Doing so may cause an electric shock, injury or fire.. Do not use the damaged PM driver or stepping motor. Doing so may cause injury, fire or the like.. Use the PM driver and stepping motor in the designated combination. Using otherwise may cause fire or a trouble.. Be careful that the temperature rises in the operating PM driver, stepping motor or peripheral devices. Failure to be careful may cause a burn. Unpacking. Unpack while confirming the ceiling. Failure to do so may cause injury.. Confirm if the product is the one having been ordered. Installing an incorrect product may cause a breakdown. Wiring. Do not perform measurement of the insulation resistance or withstand insulation voltage of the product. Doing so may cause a breakdown. Instead, contact with us for such inspection.. Perform wiring conforming to the technical standards of electric facility or the internal rule. Doing otherwise may cause burning or fire.. Ensure that wiring has been correctly done. Operating without correct wiring may cause the stepping motor to run out of control and result in injury.. Take insulation process for the attached condenser or the external resistance connection terminals. Failure to do so may cause an electric shock. Placement. Do not climb or attach a heavy article on the product. Doing so may cause injury.. Neither block nor stuff the aspiration/exhaust vent with a foreign particle. Doing so may cause fire.. Follow the instructions for the direction to place. Failure to do so may cause a trouble.. Keep a distance as instructed by the Operation Manual for the PM driver from the inner surface of the control console or other devices. Failure to do so may cause a trouble.. Place the product with a great care so as to prevent from the danger such as a tumble or a turnover.. Mount the product on an incombustible material such as metal. Doing otherwise may cause fire.

4 . Confirm the rotating direction before connecting with the mechanical device. Failure to do so may cause injury or a breakdown.. Do not touch the motor output spindle (including the key slot and gears) with a bare hand. Doing so may cause injury. Operation. The stepping motor is not equipped with any protective device. Take protective measures using an over-current protective relay, a ground fault interrupter, a protective device from excess temperature, and an emergency stopping device. Failure to do so may cause injury or fire.. Do not touch the product for a period after the power is on or has been turned off, since the PM driver and stepping motor remain in the high temperature. Doing so may cause burns. Especially the temperature rises considerably of the stepping motor depending on the operating conditions. Use the motor on the condition so that its surface temperature becomes or under.. top the operation immediately when an emergency occurs. Failure to do so may cause an electric shock, injury or fire.. Do not change adjustment to an extreme, for such a change results in the unstable operation. Doing so may cause injury.. When conducting the trial operation, make the stepping motor fixed firmly, and confirm the operation by disconnecting with the mechanical system before connecting with it. Failure to do so may cause injury.. When the alarm has been activated, eliminate the cause and ensure the safety to resume operation. Failure to do so may cause injury.. When the electric power recovers after the momentary interruption, do not approach the devices because the system may re-start operation by itself. (et the system so as to secure the safety even when it re-start on such occasion.) Failure to do so may cause injury.. Confirm that the electric power supply is all proper conforming to the specifications. Failure to do so may cause a trouble.. The brake mechanism of the motor with the electromagnetic brake is to hold the movable section and the motor position. Do not use it as a safety measure, or doing so may cause the breakdown of the system. Transportation. Handle the product with care during transportation so as to prevent from the danger such as a tumble or a turnover.. Do not hold with the cable or the motor spindle. Doing so may cause a trouble or injury. Retirement. When scrapping the PM driver or stepping motor, treat it for the general industrial waste. PROHIBITED torage. Avoid the place exposed to rain or water drops, or in an environment with hazardous gas or liquid for storing the product. Failure to do so may cause a trouble. Maintenance services. Do not assemble or repair the product. Doing so may cause fire or an electric shock. General matters. Do not remove the rating plate. COMPULORY torage. tore the product within the specified conservation temperature and humidity in the place not exposed to the sun beam.. If the PM driver has been stored for a long period ( years or longer for a guide), consult with us. The capacitance may have decreased with the electrolytic condenser due to the long period storage, and it may cause a trouble. Operation. Install an external emergency stop circuit to turn the power off for the instant halt of operation.. Put the product into operation in the specified ambient temperature and humidity. Transportation. Excess loading of the product on the carrier may cause the load to fall in pieces. Follow the instructions given outside the package.. Fix the key firmly when operating the motor with key individually. Failure to do so may cause injury. Maintenance services. Be careful when performing maintenance services or inspection about the temperature which rises highly in the PM driver and stepping motor frame. Failure to do so may cause burns.. It is recommended to replace the electrolytic condenser of the PM driver with a new one for securing the preventive measure after using for years, the expected life in the average. The expected life of the fuse and cooling fan motor is years in the average. Thus, the periodical replacement is recommended.. Contact with us for repair. If the product is disassembled by the user, it may put it out of action.

5

6 TEPPING YTEM The -phase tepping et tepping system configuration chart Upper PLC Controller PC * Refer to the pages of driver for cable. -phase stepping set DRIVER P to P * Refer to the pages of driver for cable. MOTOR TEPYN F series TEPYN M series Accessories Instruction Manual Metal Fittings* Terminal Base Cover* Cable* For accessories marked with asterisks" *" refer to the pages of relevant set. The -phase stepping set includes PM driver, stepping motor, and accessories packed in a box. With encoder With harmonic gear With electromagnetic brake Damper

7 et list AP ACV/V DP DCV/V AP PMAPA A PMM-MD- BP P~P P~P BP BP ACV/V DP DCV/V WP PMM-BA PMM-BA PMM-BD- P~P P~P DP BP ACV/V PMAPA B DP DCV PMDPBP DP DP DP P~P P~P WP ACV~V DP DCV PMM-MA PMM-MA PMDPCP P~P P~P

8 Explanation of set model number A P F - G B. et series name et series classification tandard set model number et model number with the system (gear, electromagnetic brake, and encoder) included ystem specifications ystem contents (Flange side) (End cap side) G par gear C Low-backlash gear H Harmonic gear None on flange side B Electromagnetic brake (E) (Encoder) None on end cap side. to Gear deceleration ratio (Example). :. tepping motor flange tepping motor end cap tepping motor flange side tepping motor end cap side Low-backlash gear Harmonic gear Brake Partition tepping motor shaft specification : ingle shaft D : Double shaft Total length of stepping motor (indicated by the lowest one digit of motor type except for square and square) Motor type ø ø indicates unavailability of motor types. The larger type number indicates the longer total length of motor. tepping motor dimensions (indicated by the upper two digits) : : ø : : ø (Example) tepping motor model number : F- : Indicates the motor type ( to digits). tepping motor series name M: tepping motors conforming to UL tandards and CE Marking TEPYN M series F: tandard stepping motor for set (for general industrial machines) TEPYN F series Rated current specification (:.A/phase), :.A/phase, :.A/phase erial numbers for PM driver model number et series name AP BP BP WP DP DP DP DP PMAPAA PMM-BA-- PMM-BA-- PMAPAB PMM-MA-- PMM-MA-- PMM-MD-- PMM-BD-- PMDPBP PMDPCP Connection specification P: -phase pentagon connection Power specification A: ACV/V B: ACV/V W: ACV to V D: DC Driver model number (.A/phase) (.A/phase) (.A/phase) (.A/phase) (.A/phase) (.A/phase) (.A/phase) (.A/phase) (.A/phase) (.A/phase) et series name (composed of++) This example indicates AP series.

9 Flowchart for the set selection et Number of phase Power ource voltage afety standard Division method series name Rated current Classification Applicable stepping motor -phase Basic step angle. ( divisions) AC AC/ V UL/CE conformity Micro step x to divisions (. to. /pulse) AP series P. to High-speed type.a/phase AP F series ø, ø M series ø, ø BP AC/ V /half step divisions (. /pulse), divisions (. /pulse) BP series.a/phase BP P. to High-speed type.a/phase Higher torque than BP in high speed BP F series, F series, ø, ø BP UL/CE conformity Micro step x to divisions (. to. /pulse) High-speed type BP series.a/phase BP P to F series, ø, ø M series, ø, ø WP ACV/ V CE conformity Micro step x to divisions (. to. /pulse) WP series.a/phase WP P. to F series, M series High-speed type.a/phase Higher torque than WP in high speed WP F series, ø, ø M series, ø, ø DP DP DP AP DP DC DCV/ V Micro step x to divisions (. to. /pulse) DP series.a/phase DP P. to F series,, /half step DP series.a/phase DP F series,, divisions (. /pulse) divisions (. /pulse) P. to DCV /half step divisions (. /pulse) divisions (. /pulse) Higher torque than High-speed type DP in high speed, DP series.a/phase DP P. to F series, ø Micro step x to divisions (. to. /pulse) DP series.a/phase DP P. to F series,

10 Model number Lineup et products combination (AC input type) et series name WP series WP... WP... AP series AP... BP series BP... BP series BP... BP... Driver Model number PMM-MA-- PMM-MA-- PMAPAA PMAPAB PMM-BA-- PMM-BA-- Power source AC~V AC~V AC/V AC/V AC/V AC/V Combination Motor pecification. A/phase. A/phase. A/phase. A/phase. A/phase. A/phase Dimensions, Model number Rated current Holding torque Rotor inertia Micro-step Micro-step Micro-step Micro-step step/half step step/half step mm A/phase N m (oz in) - kg m (oz in ) ( to divisions) ( to divisions) ( to divisions) ( to divisions) ( division/ divisions) ( division/ divisions) F-()..(.).(.) TEPYN F F-()..(.).(.) (tandard motor) F-()..(.).(.) WPF(D) BPF(D) F-()..(.).(.) WPF(D) BPF(D) F-()..(.).(.) WPF(D) BPF(D) F-()..(.).(.) WPF(D) BPF(D) F-()..(.).(.) WPF(D) BPF(D) F-()..(.).(.) WPF(D) BPF(D) F-()..(.).(.) WPF(D) BPF(D) F-()..(.).(.) WPF(D) BPF(D) BPF(D) F-()..(.).(.) WPF(D) BPF(D) BPF(D) ø F-()..(.).(.) WPF(D) APF(D) BPF(D) BPF(D) F-()..(.).(.) WPF(D) APF(D) BPF(D) BPF(D) F-()..(.).(.) WPF(D) APF(D) BPF(D) BPF(D) ø F-()..(.).(.) WPF(D) APF(D) BPF(D) BPF(D) F-(). (.) (.) WPF(D) APF(D) BPF(D) BPF(D) M-()..(.).(.) WPM(D) TEPYN M M-()..(.).(.) WPM(D) (Conforms to UL, CE) M-()..(.).(.) WPM(D) M-()..(.).(.) WPM(D) M-()..(.).(.) WPM(D) BPM(D) M-()..(.).(.) WPM(D) BPM(D) ø M-()..(.).(.) WPM(D) APM(D) BPM(D) M-()..(.).(.) WPM(D) APM(D) BPM(D) M-()..(.).(.) WPM(D) APM(D) BPM(D) ø M-()..(.).(.) WPM(D) APM(D) BPM(D) M-(). (.) (.) WPM(D) APM(D) BPM(D) Electromagnetic brake (B) F-XB F-XB F-XB....(.).(.).(.) WPF-XB WPF-XB WPF-XB BPF-XB BPF-XB BPF-XB F-XB..(.) WPF-XB BPF-XB F-XB..(.) WPF-XB BPF-XB BPF-XB F-XB..(.) WPF-XB BPF-XB BPF-XB ø F-XB..(.) WPF-XB APF-XB BPF-XB BPF-XB F-XB..(.) WPF-XB APF-XB BPF-XB BPF-XB F-XB..(.) WPF-XB APF-XB BPF-XB BPF-XB For set products, refer: P~ P~ P~ P~ P~ P~ et products option combination (AC input type) et series name Combination pur gear (G) Low-backlash gear (C) Harmonic gear (H) TEPYN F Dimensions, Model number mm F-GXA(GXA) F-GXB(GXB) F-GXE(GXE) F-GXG(GXG) F-GXJ(GXJ) F-GXL(GXL) F-CXA(CXA) F-CXB(CXB) F-CXE(CXE) F-CXG(CXG) F-CXJ(CXJ) F-CXK(CXK) F-CXA(CXA) F-CXB(CXB) F-CXE(CXE) F-CXG(CXG) F-CXJ(CXJ) F-CXK(CXK) ø F-CXA(CXA) F-CXB(CXB) F-CXE(CXE) F-CXG(CXG) F-CXJ(CXJ) F-CXK(CXK) F-HXL(HXL) F-HXM(HXM) F-HXL(HXL) F-HXM(HXM) F-HXL(HXL) F-HXM(HXM) ø F-HXL(HXL) F-HXM(HXM) For set products, refer: Driver Rated current A/phase Model number Power source pecification WP series WP... PMM-MA-- AC~V. A/phase WP... PMM-MA-- AC~V. A/phase AP series AP... PMAPAA AC/V. A/phase BP series BP... PMAPAB AC/V. A/phase BP series BP... PMM-BA-- AC/V. A/phase BP... PMM-BA-- AC/V. A/phase Allowable torque Deceleration Micro-step Micro-step Micro-step Micro-step step/half step step/half step N m (oz in) ratio ( to divisions) ( to divisions) ( to divisions) ( to divisions) ( division/ divisions) ( division/ divisions).(.).(.).(.).(.).(.).(.) /. /. / / / /.(.).(.) /. WPF(D)-CX. /. WPF(D)-CX. BPF(D)-CX. BPF(D)-CX. (.).(.).(.).(.).(.).(.) (.).(.) (.) (.).(.) (.) (.) (.) (.) (.).(.) (.).(.) / / / / /. /. / / / / /. /. / / / / / / / WPF(D)-CX WPF(D)-CX WPF(D)-CX WPF(D)-CX WPF(D)-HX WPF(D)-CX. WPF(D)-CX. WPF(D)-CX WPF(D)-CX WPF(D)-CX WPF(D)-CX WPF(D)-CX. WPF(D)-CX. WPF(D)-CX WPF(D)-CX WPF(D)-CX WPF(D)-CX APF(D)-CX. APF(D)-CX. APF(D)-CX APF(D)-CX APF(D)-CX APF(D)-CX BPF(D)-CX. BPF(D)-CX. BPF(D)-CX BPF(D)-CX BPF(D)-CX BPF(D)-CX BPF(D)-CX BPF(D)-CX BPF(D)-CX BPF(D)-CX BPF(D)-HX BPF(D)-CX. BPF(D)-CX. BPF(D)-CX BPF(D)-CX BPF(D)-CX BPF(D)-CX BPF(D)-CX. BPF(D)-CX. BPF(D)-CX BPF(D)-CX BPF(D)-CX BPF(D)-CX (.) / WPF(D)-HX BPF(D)-HX.(.) (.) (.) (.) / / / / WPF(D)-HX WPF(D)-HX WPF(D)-HX WPF(D)-HX APF(D)-HX APF(D)-HX BPF(D)-HX BPF(D)-HX BPF(D)-HX BPF(D)-HX BPF(D)-HX BPF(D)-HX P~ P~ P~ P~ P~ <Note> Number enclosed by parentheses in motor model number represents a double shaft type. (D) in the above table represents a double shaft type. Optional products for the set are compatible to the TEPYN F type only.

11 et products combination (DC input type) et series name Driver Combination Motor Dimensions, Model number mm Rated current A/phase Holding torque N m (oz in) F-()..(.) TEPYN F (tandard motor) TEPYN M (Conforms to UL, CE) ø ø ø ø F-() F-() F-() F-() F-() F-() F-() F-() F-() F-() F-() F-() F-() F-() F-() M-() M-() M-() M-() M-() M-() M-() M-() M-() M-() M-() (.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) (.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) (.) F-XB..(.) Electromagnetic brake F-XB..(.) (B) F-XB..(.) F-XB..(.) F-XB..(.) F-XB..(.) ø F-XB..(.) F-XB..(.) F-XB..(.) For set products, refer: et products option combination (DC input type) DP series DP... Model number PMM-MD-- PMM-BD-- PMDPBP PMDPCP Power source DCV/V DCV/V DCV DCV pecification. A/phase. A/phase. A/phase. A/phase Rotor inertia Micro-step step/half step step/half step Micro-step - kg m (oz in ) ( to divisions) ( division/ divisions) ( division/ divisions) ( to divisions).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) (.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) (.) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF(D) DPF-XB DPF-XB DPF-XB P~ DP series DP... DPF-XB DPF-XB DPF-XB P DP series DP... DPF-XB DPF-XB DPF-XB DPF-XB DPF-XB DPF-XB P~ DP series DP... DPF-XB DPF-XB P~ DP DP DP WP BP BP AP et series name Driver Model number DP series DP... PMM-MD-- DP series DP... PMM-BD-- DP series DP... PMDPBP DP series DP... PMDPCP Power source DCV/V DCV/V DCV DCV Combination TEPYN F Dimensions, Model number Rated current Allowable torque pecification Deceleration. A/phase Micro-step. A/phase. A/phase step/half step step/half step. A/phase Micro-step DP mm A/phase N m (oz in) ratio ( to divisions) ( division/ divisions) ( division/ divisions) ( to divisions) F-GXA(GXA)..(.) /. DPF(D)-GX. DPF(D)-GX. pur gear F-GXB(GXB)..(.) /. DPF(D)-GX. DPF(D)-GX. (G) F-GXE(GXE)..(.) / DPF(D)-GX DPF(D)-GX F-GXG(GXG)..(.) / DPF(D)-GX DPF(D)-GX F-GXJ(GXJ)..(.) / DPF(D)-GX DPF(D)-GX F-GXL(GXL)..(.) / DPF(D)-GX DPF(D)-GX F-CXA(CXA)..(.) /. DPF(D)-CX. DPF(D)-CX. Low-backlash gear F-CXB(CXB)..(.) /. DPF(D)-CX. DPF(D)-CX. (C) F-CXE(CXE). (.) / DPF(D)-CX DPF(D)-CX F-CXG(CXG)..(.) / DPF(D)-CX DPF(D)-CX F-CXJ(CXJ)..(.) / DPF(D)-CX DPF(D)-CX F-CXK(CXK)..(.) / DPF(D)-CX DPF(D)-CX F-CXA(CXA)..(.) /. DPF(D)-CX. F-CXB(CXB)..(.) /. DPF(D)-CX. F-CXE(CXE). (.) / DPF(D)-CX F-CXG(CXG)..(.) / DPF(D)-CX F-CXJ(CXJ). (.) / DPF(D)-CX F-CXK(CXK). (.) / DPF(D)-CX ø F-CXA(CXA)..(.) /. DPF(D)-CX. F-CXB(CXB). (.) /. DPF(D)-CX. F-CXE(CXE). (.) / DPF(D)-CX F-CXG(CXG). (.) / DPF(D)-CX F-CXJ(CXJ). (.) / DPF(D)-CX F-CXK(CXK). (.) / DPF(D)-CX F-HXL(HXL)..(.) / DPF(D)-HX DPF(D)-HX Harmonic gear F-HXM(HXM). (.) / DPF(D)-HX DPF(D)-HX (H) F-HXL(HXL)..(.) / DPF(D)-HX DPF(D)-HX F-HXM(HXM). (.) / DPF(D)-HX DPF(D)-HX F-HXL(HXL)..(.) / DPF(D)-HX F-HXM(HXM). (.) / DPF(D)-HX ø F-HXL(HXL). (.) / DPF(D)-HX F-HXM(HXM) For set products, refer:. (.) / P~ P~ DPF(D)-HX P~ P~ <Note> Number enclosed by parentheses in motor model number represents a double shaft type. (D) in the above table represents a double shaft type. Optional products for the set are compatible to the TEPYN F type only.

12 Pulse I/F (AC power input) The -phase stepping et AP series ACV/V Micro-step ( x to divisions) Configuration of the -phase tepping Motor et, AP eries Name Quantity AP series instruction manual pc. PM driver pc. tepping motor pc. Interface connector (CN) set Power supply connector (CN) set tepping motor power line connector (CN) set PM driver front surface metal fittings ( pair) set The standard combination of the -phase stepping et AP series lineup applies two types stepping motors of TEPYN M series and TEPYN F series. tepping Motor Type Characteristics TEPYN M eries Conforms to UL tandards and CE Marking TEPYN F eries tandard stepping motor for the set Various sizes of stepping motor are available according to applications and purposes. Characteristics Conformity to UL tandards and CE Marking The product conforms to UL tandards and CE Marking. Micro-step function available mooth operation without vibration at low speeds can be realized. Rush current prevention circuit The built-in rush current prevention circuit in the power circuit section enables stabilized operation even during switching on. Connector method for PM driver I/O cable The connector method is adopted for the high voltage section terminal, where the terminal base was conventionally used. This method facilitates PM driver installation and maintenance. Alarm output signal logic selectable Logic of signal output during alarm circuit operation can be selected. Built-in function Auto micro function Even setting division of resolution to a rough one or two divisions, operation can be as smooth and with as low vibration as for micro-step drive. However, this function and the micro-step function cannot be adopted at the same time. Micro-step function By manipulating the rotary switch that sets resolution, the micro-step drive can be used. However, this function and the auto micro function cannot be adopted at the same time. Pulse input method selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. Resolution setting function Nine types of resolution, ranging from one to divisions, can be set for a basic stepping motor step angle by using rotary switches. Operation current switch function Operation current of the stepping motor can be set in the range from rated current to % of rated current by using rotary switches. Current adjustment function during operation halt When operation is halted, operation current for the stepping motor can be set at to % of specified operation current by using a selection switch.

13 Explanation of set model number ystem on the stepping motor flange side ystem on the stepping motor end cap side Code Deceleration Ratio C Low-backlash gear /., /., /, /, /, / H Harmonic gear /, / X None on flange side Code Function B Brake Electromagnetic brake E Encoder Please contact us regarding the encoder X None on end cap side AP tepping motor flange tepping motor end cap BP tepping motor flange side tepping motor end cap side Low-backlash gear Harmonic gear Brake BP Deceleration ratio of gear system Example: deceleration ratio /.. WP Explanation for model number in the combined case: The set model number of the PMAPAA and F type stepping motor is as follows when equipped with the system of harmonic gear (/) and brake: APFD H B tandard set model number Gear deceleration ratio (/) Brake Harmonic gear DP DP How to order: Please order by using the et model number in the list, tandard combined stepping motors for -phase stepping set AP series. When gear, brake, and/or encoder are necessary for the stepping motor TEPYN F, select codes of your preferences from the above,, and to describe them following to et model number. DP PM Driver pecification tandard specification Function I/O signals Model number Input source ource current Protection class Operating environment Applied standards Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Operating altitude Vibration resistance Impact resistance Withstand voltage Insulation resistance Mass(Weight) Protection function Environment election function LED indicator Command pulse input signal Power down input signal tep angle selection input signal FULL/HALF selection input signal Phase origin monitor output signal Alarm output signal Refer to pages and after for operation, connection, function, and dimensions of the PM driver. tandard specification ingle phaseac / V+, -% / Hz A Class Installation category (overvoltage category) :, pollution degree : EN, ULC to + C - to + C to %RH (no condensation) to %RH (no condensation) MAX. m above sea level.m/s Frequency range to Hz, Direction: along X, Y and Z axes, for hours each Considering the ND-C- standard section.. division C, not influenced Not influenced when ACV is applied between power input terminal and cabinet for one minute MΩ MIN. when measured with DCV megohmmeter between input terminal and cabinet..kg(. lbs) Against PM driver overheat, main circuit power supply error, and over-current Input method, auto current down, power down, auto micro, alarm output logic, step angle, operating current, non-operating current Power supply monitor, phase origin monitor, pulse monitor, alarm indicator Photo coupler input method, input resistance : Ω Input signal voltage: H =. to.v, L = to.v Maximum input frequency: kpulse/s Photo coupler input method, input resistance : Ω Input signal voltage: H =. to.v, L = to.v Photo coupler input method, input resistance = Ω Input signal voltage: H =. to.v, L = to.v Photo coupler input method, input resistance = Ω Input signal voltage: H =. to.v, L = to.v Open collector output by photo coupler Output signal standard, Vceo = V MAX, Ic = ma MAX Open collector output by photo coupler Output signal standard, Vceo = V MAX, Ic = ma MAX DP

14 Pulse I/F (AC power input) tepping motor specifications tepping motor type Model name Type Insulation class Withstand voltage Insulation resistance Protection grade Vibration resistance Impact resistance Operating ambient temperature Operating ambient humidity (Continuous rating) TEPYN M M / M Class B ( C)[ C for UL class A] ACV, /Hz, minute MIN. MΩ against DCV IP TEPYN F F / F Amplitude.mm (P-P), frequency range to Hz, minutes sweep time, along X, Y, and Z axes, for hours Conditions: m/ acceleration, minutes duration, half-wave/sine wave, three times each along X, Y, and Z axes, times in total - to + C ( to C for the one with harmonic gear) to %(no condensation) -- Class B ( C) ACV, /Hz, minute -- tandard combined stepping motors for -phase stepping set AP series PM driver model number : PMAPAA Combination model number for the TEPYN M series (conforming to UL tandards and CE Marking) ystem support tandard type Dimensions of stepping motor ø mm ø mm ingle shaft et model number tandard combined stepping motor number APM M- APM M- APM M- APM M- APM M- Double shaft et model number tandard combined stepping motor number APMD M- APMD M- APMD M- APMD M- APMD M- Combination model number for the TEPYN F series (Motor for a set) ystem support tandard type Low-backlash gear Harmonic gear Electromagnetic brake Dimensions of stepping motor ø mm ø mm ø mm ø mm ø mm ingle haft et Model Number tandard combined stepping motor number APF F- APF F- APF F- APF F- APF F- APF-CX. F-CXA APF-CX. F-CXB APF-CX F-CXE APF-CX F-CXG APF-CX F-CXJ APF-CX F-CXK APF-HX F-HXL APF-HX F-HXM APF-XB F-XB APF-XB F-XB APF-XB F-XB Double shaft et model number tandard combined stepping motor number APFD F- APFD F- APFD F- APFD F- APFD F- APFD-CX. F-CXA APFD-CX. F-CXB APFD-CX F-CXE APFD-CX F-CXG APFD-CX F-CXJ APFD-CX F-CXK APFD-HX F-HXL APFD-HX F-HXM

15 tepping motor data sheet TEPYN M series (conforming to UL tandards and CE Marking) et model number Holding torque Rotor inertia Mass(Weight) ingle shaft Double shaft N m(oz in) - kg m (oz in ) kg(lbs) APM APMD.(.).(.).(.) APM APMD.(.).(.).(.) APM APMD.(.).(.).(.) APM APMD.(.).(.).(.) APM APMD (.). (.).(.) AP TEPYN F series (tandard) et model number Holding torque Rotor inertia Mass(Weight) ingle shaft Double shaft N m(oz in) - kg m (oz in ) kg(lbs) APF APFD.(.).(.).(.) APF APFD.(.).(.).(.) APF APFD.(.).(.).(.) APF APFD.(.).(.).(.) APF APFD (.) (.).(.) BP TEPYN F series (with low-backlash gear) et model number ingle shaft APF-CX. APF-CX. APF-CX APF-CX APF-CX APF-CX Double shaft APFD-CX. APFD-CX. APFD-CX APFD-CX APFD-CX APFD-CX Allowable torquen m N m(oz in).(.) (.) (.) (.) (.) (.) Rotor inertia - kg m (oz in ).(.) Basic step angle Deceleration ratio :. :. : : : : Backlash Allowable number of rotations min - Mass(Weight) kg(lbs).(.) Allowable thrust load N Allowable radial load (Note) N * The direction of motor rotate and the gear output shaft is as follows: when deceleration ratio is :. or :., both motor and shaft rotate in the same direction, and for :, :, or : type, the motor and the shaft rotate in opposite direction. (Note) When load is applied at / length from output shaft edge. BP WP DP TEPYN F series (with harmonic gear) et model number ingle shaft Double shaft Allowable torque N m(oz in) Rotor inertia - kg m (oz in ) Basic step angle Deceleration ratio Lost motion Minute Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N APF-HX APFD-HX (.). :.~ (±. N m)(±. oz in).(.).(.) APF-HX APFD-HX (.). :.~ (±. N m)(±. oz in) DP DP * The gear output shaft rotates in the opposite direction of the motor. (Note) When load is applied at / length from output shaft edge. DP TEPYN F series (with electromagnetic brake) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Electromagnetic brake specification Mass(Weight) Brake operation system OURCE VOLTAGE EXCITING CURRENT ELECTRIC POWER CONUMPTION tatic friction torque Brake operating time Brake release time Polarity kg(lbs) V A W N m(oz in) ms ms APF-XB --.(.).(.).(.) APF-XB --.(.).(.).(.) Non-energization operation system DC ± %. (.) Red Black APF-XB --.(.).(.).(.)

16 Pulse I/F (AC power input) UL tandards and CE Marking UL tandards CE Marking Applied standards Product Applied standards File no. EMC Directive Low voltage directive Emission Immunity PM driver tepping motor ULC UL UL E E EN EN- IEC- (EN-) EN- (Class A) EN- (Class A) The UL standards and CE Marking of the stepping motor are applied to the Type M stepping motor. The EMC Directive conformity is to be confirmed under the installation environment shown in Figure. Because the EMC Directive varies depending on the structure of user's control panel, the combination of the product with other devices, and the wiring, to which the PM driver and stepping motor are incorporated, conformity can not be assured for the products in the user's operating environment. Therefore, the user should finally confirm EMC conformity of the machine and the whole system. EMC conformity confirmation (Note ) (Note ) Type POW PM MON AL AL BLACK tepping motor RED ORANGE YELLOW BLUE C N F/R ACD PD LV MODE AL.L. RUN WARNING TP (Note ) (Note ) Noise filter (Note ) May Cause electric shock Use proper grounding techniques. C N Controller AC AC C N PM driver Figh Installation environment diagram Recommended parts for EMC conformity No. Note Note Note Note Part name Noise filter Toroidal Core Toroidal Core Toroidal Core Model RF-DLC T TRCN TRCN pecifications and size Rated voltage : AC V Rated current : A Core outer diameter : mm Core inner diameter : mm Core outer diameter : mm Core inner diameter : mm Core outer diameter : mm Core inner diameter : mm Manufacturer RAMI ELECTRONIC LTD., TDK Kitagawa Industry Kitagawa Industry

17 Dimensions [ Unit: mm (inch) ] TEPYN M APM M -. (..) AP UL vinyl tube B (B.) Earth terminal Effective length. (..)... (.. ) R MIN. (R. MIN.) Lead wire UL AWG A. (A.) MIN. (. MIN.). (..). (.). (.) Effective length R MIN. (R. MIN.)..... (.. ).... (..) Cross section -. (..). (..) Model name A B APM (M-) APMD (M-) APM (M-) APMD (M-) APM (M-) APMD (M-). (.). (.). (.). (.). (.). (.) - (.) - (.) - (.) BP BP WP APM M - UL vinyl tube B A. (B.) (A.) (..) (.) (.) (.) Earth terminal MIN. (. MIN.) Lead wire UL AWG..... (.) (.) Parallel key Cross section -.. (..). (..) Model name A B APM (M-) APMD (M-) APM (M-) APMD (M-). (.). (.). (.). (.) - (.) - (.) DP DP DP. (..).... (.. )... (.. ).. (.. ) (. +.) DP TEPYN F APF F Effective length. (..)... (.. ) UL vinyl tube B (B.) R MIN. (R. MIN.) Lead wire UL AWG A. (A.) MIN. (. MIN.). (..). (.). (.) Effective length R MIN. (R. MIN.)..... (.. ).... (..). (..) Cross section -. (..). (..) Model name A B APF (F-) APMD (M-) APF (F-) APMD (F-) APF (F-) APMD (F-). (.). (.). (.). (.). (.). (.) - (.) - (.) - (.)

18 Pulse I/F (AC power input) Dimensions [ Unit: mm (inch) ] TEPYN F APF F - UL vinyl tube B A. (B.) (A.) (..) (.) (.) (.) MIN. (. MIN.) Lead wire UL AWG..... (.) (.) Parallel key Cross section -.. (..). (..) Model name A B APF (F-) APFD (F-) APF (F-) APFD (F-). (.). (.). (.). (.) - (.) - (.). (..).... (.. )... (.. ).. (.. ) (. +.) TEPYN F with low-backlash gear APF-CX F-CX Lead wire UL AWG UL vinyl tube. MIN. (..) (. MIN.) B (B.) Effective length.. (.. ) T T R MIN. (R.MIN.). (..) Cross sectiont-t. (..).. (..) (.+.) Cross section - (..) (.) (.+.) Effective length.. (.. ) Parallel key (Bundled with motor). (..). (..).. (..) -MX.... (..)... (.. ) Effective tapping depth (.) MIN. Model name APF-CX. (F-CXA) APFD-CX. (F-CXA) APF-CX. (F-CXB) APFD-CX. (F-CXB) APF-CX (F-CXE) APFD-CX (F-CXE) APF-CX (F-CXG) APFD-CX (F-CXG) APF-CX (F-CXJ) APFD-CX (F-CXJ) APF-CX (F-CXK) APFD-CX (F-CXK) B - (.) - (.) - (.) - (.) - (.) - (.)

19 Dimensions [ Unit: mm (inch) ] TEPYN F with harmonic gear APF -HX F-HX Lead wire UL AWG UL vinyl tube. MIN. (..) (. MIN.) B (B.) Effective length..... R MIN. (R. MIN.). (..) Cross section -.. (..). (..) (.) (.).... (..) (..). (.). (..) (.) (.) (.) key..... (.) Parallel key... (..) (..). (.) Model name APF-HX (F-HXL) APFD-HX (F-HXL) APF-HX (F-HXM) APFD-HX (F-HXM) B - (.) - (.) WP BP BP AP DP TEPYN F with electromagnetic brake APF -XB F -XB UL vinyl tube MIN. (. MIN.) Brake lead wire UL AWG Lead wire UL AWG A (A.) MIN. (. MIN.). (..). (.). (.) Effective length. (..). (..) Cross section -. (..). (..). (..) Model name APF-XB (F-XB) APF-XB (F-XB) APF-XB (F-XB) A. (.). (.). (.) DP DP... (.. ) DP R MIN. (R. MIN.)

20 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics APM / APF / APF-XB : V APM / APF / APF-XB : V division -division Number of rotations(min-).... -division -division Number of rotations(min-) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified APM / APF / APF-XB : V APM / APF : V division -division Number of rotations(min-) division -division Number of rotations(min-) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified M- /F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified APM / APF : V APF -CX. : V division -division Number of rotations(min-)..... With low backlash gear. -division -division Number of rotations(min-) M- /F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified F-CXA ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

21 Pulse rate-torque characteristics/pulse rate-source current characteristics APF -CX. : V APF -CX : V.. With low backlash gear.. With low backlash gear AP.... BP... -division -division Number of rotations(min-). -division -division Number of rotations(min-) BP F-CXB ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXE ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified WP APF -CX : V APF -CX : V DP. With low backlash gear. With low backlash gear DP.. DP. -division -division Number of rotations(min-) F-CXG ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified. -division -division Number of rotations(min-) F-CXJ ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified DP APF -CX : V APF -HX : V..... With low backlash gear. -division -division Number of rotations(min-) With harmonic gear. -division -division Number of rotations(min-) F-CXK ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-HXL ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Uses rubber coupling) Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

22 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics APF -HX : V With harmonic gear. -division -division Number of rotations(min-) F-HXM ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Uses rubber coupling) Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

23 DP DP DP DP WP BP BP AP

24 Pulse I/F (AC power input) The -phase tepping et BP series ACV/V -step/-step ( x divisions) ( x divisions) Configuration of the -phase stepping set BP series Name Quantity BP series instruction manual pc. PM driver pc. tepping motor pc. Terminal Base Cover pc. Two types of PM driver can be selected for the -phase stepping set BP series. Classification Type PM driver Model Rated Current of Applicable tepping motor BP Normal PMM-BA--. A/phase BP Highspeed PMM-BA--. A/phase Characteristics Flexible This stepping system can drive wide variety of stepping motors from small capacity to large capacity without adjustment, resulting in wide applications. Compact and high torque Mounting dedicated ICs, which are highly integrated and have higher reliability, realizes the compact and high-torque system. Built-in function Low vibration mode Our dedicated control system realizes a low vibration and smooth operation. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. Operation current switch function Operation current of the stepping motor ranging from rated current to % of rated current can be set by using rotary switches.

25 Explanation of set model number ystem on the stepping motor flange side ystem on the stepping motor end cap side Code Flange side Deceleration ratio C Low-backlash gear /., /., /, /, /, / H Harmonic gear /, / X None Code End cap side Function B Brake Electromagnetic brake E Encoder Please contact us regarding the encoder. X None AP tepping motor flange tepping motor end cap BP tepping motor flange side tepping motor end cap side Low-backlash gear Harmonic gear Brake BP Deceleration ratio of gear system Example: deceleration ratio /.. WP Explanation for model number in the combined case The set model number of the stepping motor is as follows when PMM-BA-- and F type are combined and equipped with the system of harmonic gear (/) and brake: BPFD H B tandard set model number Gear deceleration ratio (/) Brake Harmonic gear How to order: Please order by using the et model number in the list, tandard combined stepping motors for -phase stepping set BP series. When gear, brake, and/or encoder are necessary for the stepping motor TEPYN F, select codes of your preferences from the above,, and to continuously describe them after et model number. DP DP DP PM driver specifications I/O signals Function tandard specification Model number Input source ource current Operating ambient temperature Conservation temperature Environment Operating ambient humidity Conservation humidity Vibration resistance Impact resistance Withstand voltage Insulation resistance Mass(Weight) Protect function elect function LED display Command pulse input signal Power down input signal Alarm output signal * Refer to pages / and after for operation, connection, function, and dimensions of the PM driver. PMM-BA-- PMM-BA-- ingle phase ACV/V+, -% /Hz A A to + C - to + C to %RH (no condensation) to %RH (no condensation) Tested under the following conditions,.m/s, Frequency range to Hz, Direction: along X, Y and Z axes, for hours each Considering the ND-C- standard section.. division C, not influenced Not influenced when ACV is applied between power input terminal and cabinet for one minute MΩ MIN. when measured with DCV megohmmeter between input terminal and cabinet..kg(. lbs).kg(. lbs) Against PM driver overheat Auto current down, energization mode, input pulse mode, stepping motor current, low vibration Power supply monitor, phase origin monitor, pulse monitor, alarm display Photo coupler input method, input resistance Ω Input signal voltage, H =. to.v, L = to.v Maximum input frequency kpulse/s Photo coupler input method, input resistance Ω Input signal voltage, H =. to.v, L = to.v Relay terminal output (normally open) Terminal capacity: DCV A MAX, or ACV.A MAX DP

26 Pulse I/F (AC power input) tepping motor Common specifications Item Insulation class Withstand voltage Insulation resistance Vibration resistance Impact resistance Operating ambient temperature Operating ambient humidity Combined stepping motors of BP Combined stepping motors of BP (Applicable to PMM-BA--) (Applicable to PMM-BA--) Class B (+ C) ACV, / Hz, one minute MΩ against DCV Amplitude.mm (P-P), frequency range to Hz, minutes sweep time, along X, Y, and Z axes, for hours Conditions: m/s acceleration, minutes duration, half-wave/sine wave, three times each along X, Y, and Z axes, times in total - to + C ( to + C for the one with harmonic gear) to % (no condensation) tandard combined stepping motors for -phase stepping set BP series Combination model number for BP PM driver model number: PMM-BA-- Combination model number for TEPYN F series ystem support Dimensions of stepping motor ingle shaft et model number tandard combined stepping motor number Double shaft et model number tandard combined stepping motor number BPF F- BPFD F- ø mm BPF F- BPFD F- tandard type BPF F- BPFD F- BPF F- BPFD F- ø mm BPF F- BPFD F- BPF F- BPFD F- BPF-CX. F-CXA BPFD-CX. F-CXA BPF-CX. F-CXB BPFD-CX. F-CXB Low-backlash gear ø mm BPF-CX BPF-CX F-CXE F-CXG BPFD-CX BPFD-CX F-CXE F-CXG BPF-CX F-CXJ BPFD-CX F-CXJ BPF-CX F-CXK BPFD-CX F-CXK Harmonic gear ø mm BPF-HX BPF-HX F-HXL F-HXM BPFD-HX BPFD-HX F-HXL F-HXM Electromagnetic brake ø mm BPF-XB BPF-XB BPF-XB F-XB F-XB F-XB Combination model number for BP PM driver model number: PMM-BA-- Combination model number for TEPYN F series ystem support Dimensions of stepping motor ingle shaft et model number tandard combined stepping motor Double shaft et model number tandard combined stepping motor BPF F- BPFD F- ø mm BPF F- BPFD F- BPF F- BPFD F- tandard type ø mm BPF BPF F- F- BPFD BPFD F- F- BPF F- BPFD F- ø mm BPF BPF F- F- BPFD BPFD F- F- BPF-CX. F-CXA BPFD-CX. F-CXA BPF-CX. F-CXB BPFD-CX. F-CXB ø mm BPF-CX BPF-CX F-CXE F-CXG BPFD-CX BPFD-CX F-CXE F-CXG BPF-CX F-CXJ BPFD-CX F-CXJ Low-backlash BPF-CX F-CXK BPFD-CX F-CXK gear BPF-CX. F-CXA BPFD-CX. F-CXA BPF-CX. F-CXB BPFD-CX. F-CXB ø mm BPF-CX BPF-CX F-CXE F-CXG BPFD-CX BPFD-CX F-CXE F-CXG BPF-CX F-CXJ BPFD-CX F-CXJ BPF-CX F-CXK BPFD-CX F-CXK Harmonic gear ø mm ø mm BPF-HX BPF-HX BPF-HX BPF-HX F-HXL F-HXM F-HXL F-HXM BPFD-HX BPFD-HX BPFD-HX BPFD-HX F-HXL F-HXM F-HXL F-HXM BPF-XB F-XB ø mm BPF-XB F-XB Electromagnetic BPF-XB F-XB brake BPF-XB F-XB ø mm BPF-XB F-XB BPF-XB F-XB

27 tepping motor data sheet Combination of BP TEPYN F eries (tandard) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) BPF BPFD.(.).(.).(.) TEPYN F eries (With low-backlash gear) et model number ingle shaft Double shaft Allowable torque N m(oz in) Rotor inertia - kg m (oz in ) Basic step angle Deceleration ratio Backlash Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N BPF BPFD.(.).(.).(.) BPF BPFD.(.).(.).(.) BPF BPFD.(.).(.).(.) BPF BPFD.(.).(.).(.) BPF BPFD.(.).(.).(.) BPF-CX. BPFD-CX..(.) BPF-CX. BPFD-CX..(.) BPF-CX BPFD-CX (.) BPF-CX BPFD-CX.(.) BPF-CX BPFD-CX.(.) BPF-CX BPFD-CX.(.).(.). :... :... :.. :.. :.. :..(.) * The rotation direction of the motor and the gear output shaft is as follows: when deceleration ratio is :., :., or :, both motor and shaft rotate in the same direction, and for : or : type, the motor and the shaft rotate in opposite direction. (Note) When load is applied at / length from output shaft edge. WP BP BP AP TEPYN F eries (With harmonic gear) DP et model number ingle shaft Double shaft Allowable torque N m(oz in) Rotor inertia - kg m (oz in ) Basic step angle Deceleration ratio Lost motion Minute Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N * The gear output shaft rotates in the opposite direction of the motor. BPF-HX BPFD-HX.(.). :.~ (±.N m)(±. oz in).(.).(.) BPF-HX BPFD-HX (.). :.~ (±.N m)(±. oz in) DP DP (Note) When load is applied at / length from output shaft edge. TEPYN F eries (With electromagnetic brake) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg Brake operation system ource voltage V Exciting current A Electric power consumption W tatic friction torque N m(oz in) Brake operating time ms Brake release time ms Polarity Electromagnetic brake specification BPF-XB --.(.).(.).(.) BPF-XB --.(.).(.).(.) Non-excitation operation system DC ± %.. (.) Brown White BPF-XB --.(.).(.).(.) DP

28 Pulse I/F (AC power input) tepping motor data sheet Combination of BP TEPYN F eries (tandard) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) BPF BPFD.(.).(.).(.) BPF BPFD.(.).(.).(.) BPF BPFD.(.).(.).(.) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) BPF BPFD.(.).(.).(.) BPF BPFD.(.).(.).(.) BPF BPFD.(.).(.).(.) BPF BPFD.(.).(.).(.) BPF BPFD (.) (.).(.) TEPYN F eries (With low-backlash gear) et model number ingle shaft BPF-CX. BPF-CX. BPF-CX BPF-CX BPF-CX Double shaft BPFD-CX. BPFD-CX. BPFD-CX BPFD-CX BPFD-CX Allowable torque Rotor inertia Basic step angle Deceleration ratio Backlash Allowable number of rotations N m(oz in) - kg m (oz in ) min -.(.). :...(.). :.. (.). :..(.).(.). :. (.). :. Mass(Weight) Allowable thrust load Allowable radial load (Note) kg(lbs) N N.(.) BPF-CX BPFD-CX (.). :. * The rotation direction of the motor and the gear output shaft is as follows: when deceleration ratio is :. or :., both motor and shaft rotate in the same direction, and for :, :, or : type, the motor and the shaft rotate in opposite direction. (Note) When load is applied at / length from output shaft edge. et model numbe ingle shaft BPF-CX. BPF-CX. BPF-CX BPF-CX BPF-CX Double shaft BPFD-CX. BPFD-CX. BPFD-CX BPFD-CX BPFD-CX Allowable torque Rotor inertia Basic step angle Deceleration ratio Backlash Allowable number of rotations N m(oz in) - kg m (oz in ) min -.(.). :.. (.). :.. (.). :. (.).(.). :. (.). :. Mass(Weight) Allowable thrust load Allowable radial load (Note) kg(lbs) N N.(.) BPF-CX BPFD-CX (.). :. * The rotation direction of the motor and the gear output shaft is as follows: when deceleration ratio is :. or :., both motor and shaft rotate in the same direction, and for :, :, or : type, the motor and the shaft rotate in opposite direction. (Note) When load is applied at / length from output shaft edge.

29 tepping motor data sheet TEPYN F eries (With harmonic gear) et model number ingle shaft Double shaft Allowable torque N m(oz in) Rotor inertia - kg m (oz in ) Basic step angle Deceleration ratio Lost motion Minute Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N BPF-HX BPFD-HX.(.). :.~ (±.N m)(±. oz in).(.).(.) BPF-HX BPFD-HX (.). :.~. (±.N m)(±. oz in) AP BP * The gear output shaft rotates in the opposite direction of the motor. (Note) When load is applied at / length from output shaft edge. BP et model number ingle shaft Double shaft Allowable torque N m(oz in) Rotor inertia - kg m (oz in ) Basic step angle Deceleration ratio Lost motion Minute Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N BPF-HX BPFD-HX (.). :.~ (±.N m)(±. oz in).(.).(.) BPF-HX BPFD-HX (.). :.~ (±.N m)(±. oz in) WP DP * The gear output shaft rotates in the opposite direction of the motor. (Note) When load is applied at / length from output shaft edge. TEPYN F eries (With electromagnetic brake) DP et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) Brake operation system ource voltage V Exciting current A Electric power consumption W tatic friction torque N m(oz in) Brake operating time ms Brake release time ms Polarity Electromagnetic brake specification BPF-XB --.(.).(.).(.) BPF-XB --.(.).(.).(.) Non-excitation operation system DC ± %..(.) Red Black BPF-XB --.(.) (.).(.) DP DP et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) Brake operation system ource voltage V Exciting current A Electric power consumption W tatic friction torque N m(oz in) Brake operating time ms Brake release time ms Polarity Electromagnetic brake specification BPF-XB --.(.).(.).(.) BPF-XB --.(.).(.).(.) Non-excitation operation system DC ± %. (.) Red Black BPF-XB --.(.).(.).(.)

30 Pulse I/F (AC power input) Dimensions [ Unit: mm (inch) ] Dimensions (Unit: mm) TEPYN F BPF F -.. (..) B A. (B.) (A.) (..) Effective length Lead wire UL AWG MIN. (. MIN.). (.) Effective length Cross section -. (..). (..) Model name A B BPF (F-) BPFD (F-) BPF (F-) BPFD (F-) BPF (F-) BPFD (F-) (.) (.) (.) (.) (.) (.) - (.) - (.) - (.)... (.. ) R MIN. (R. MIN.) R MIN. (R. MIN.)... (.. ).... -M. Effective tapping depth (.)MIN. BPF / BPF F - / F (. +.) Effective length.. (.. ) BPF F - B (B.) Lead wire UL AWG A (A.) MIN. (. MIN.) R MIN. (R. MIN.) R MIN. (R. MIN.). (..) (.).(.) (. +.) Effective length.... (.. )..... (..).. (..) Cross section -. (..). (..) Model name A B BPF (F-) BPFD (F-) BPF (F-) BPFD (F-) BPF (F-) BPFD (F-) BPF (F-) BPFD (F-) BPF (F-) BPFD (F-) BPF (F-) BPFD (F-). (.). (.). (.). (.). (.). (.). (.). (.). (.). (.). (.). (.) - (.) - (.) - (.) - (.) - (.) - (.) Effective length. (..).. UL vinyl tube B (B.) R MIN. (R. MIN.). (.. ) Lead wire UL AWG A. (A.) MIN. (. MIN.). (..). (.). (.) Effective length R MIN. (R. MIN.) (.. ). (..). (..) Cross section -. (..). (..) Model name A B BPF (F-) BPFD (F-) BPF (F-) BPFD (F-) BPF (F-) BPFD (F-). (.). (.). (.). (.). (.). (.) - (.) - (.) - (.)

31 Dimensions [ Unit: mm (inch) ] BPF F - AP UL vinyl tube B A. (B.) (A.) (..) MIN. (. MIN.) Lead wire UL AWG (.) (.) (.)..... (.) (.) Parallel key Cross section -.. (..). (..) Model name A B BPF (F-) BPFD (F-) BPF (F-) BPFD (F-). (.). (.). (.). (.) - (.) - (.) BP BP. (..) WP.... (.. ) DP DP DP DP

32 Pulse I/F (AC power input) Dimensions [ Unit: mm (inch) ] TEPYN F with low-backlash gear BPF-CX F-CX B.. (B.) (..) (..) (.) Effective length..... R MIN. (R.MIN.) MIN. (. MIN.) Lead wire UL AWG Effective length RMIN. (R.MIN.) (..) Cross section (..) (-..).. (..) -M. Effective tapping depth (.) MIN. Model name BPF-CX. (F-CXA) BPFD-CX. (F-CXA) BPF-CX. (F-CXB) BPFD-CX. (F-CXB) BPF-CX (F-CXE) BPFD-CX (F-CXE) BPF-CX (F-CXG) BPFD-CX (F-CXG) BPF-CX (F-CXJ) BPFD-CX (F-CXJ) BPF-CX (F-CXK) BPFD-CX (F-CXK) B - (.) - (.) - (.) - (.) - (.) - (.) BPF -CX F-CX Effective length..... B (B.) R MIN. (R. MIN.) MIN. (.MIN.) Lead wire UL AWG UL vinyl tube. MIN. (..) (. MIN.) B (B.) Effective length.. (.. ) Lead wire UL AWG. (..) T T R MIN. (R.MIN.) Cross sectiont-t (.) R MIN. (R. MIN.). (..).. (..). (..) Effective length... (.. ) (..) (..) Cross section -. (..) +. (.+.) Cross section - (..) (.) (.+.) Effective length.. (.. ) (..).. (..) (..) -M. Effective tapping depth (.) MIN. BPF -CX F-CX Model name B. BPF-CX. (..) (F-CXA) - Parallel key (Bundled with motor). (..). (..).. (..) -MX.... (..)... (.. ) Effective tapping depth (.) MIN. Model name BPF-CX. (F-CXA) BPFD-CX. (F-CXA) BPF-CX. (F-CXB) BPFD-CX. (F-CXB) BPF-CX (F-CXE) BPFD-CX (F-CXE) BPF-CX (F-CXG) BPFD-CX (F-CXG) BPF-CX (F-CXJ) BPFD-CX (F-CXJ) BPF-CX (F-CXK) BPFD-CX (F-CXK) BPFD-CX. (F-CXA) BPF-CX. (F-CXB) BPFD-CX. (F-CXB) BPF-CX (F-CXE) BPFD-CX (F-CXE) BPF-CX (F-CXG) BPFD-CX (F-CXG) BPF-CX (F-CXJ) BPFD-CX (F-CXJ) BPF-CX (F-CXK) BPFD-CX (F-CXK) B - (.) - (.) - (.) - (.) - (.) - (.) (.) - (.) - (.) - (.) - (.) - (.)

33 Dimensions [ Unit: mm (inch) ] TEPYN F with harmonic gear BPF -HX F-HX.. (..) B (B.) (.+.) Effective length MIN. (. MIN.) Key pecification of key Lead wire UL AWG. (..) (..) (.) (.).. (..) (.) (..) (..) Model name BPF-HX (F-HXL) BPFD-HX (F-HXL) BPF-HX (F-HXM) BPFD-HX (F-HXM) B - (.) - (.) AP BP BP Cross section R MIN. (R. MIN.) (.)..... WP BPF -HX F-HX (.+.) Effective length..... B (B.) MIN. (.MIN.) R MIN. (R. MIN.).. (..) Lead wire UL AWG.. (..).. (..) Cross section -. (..). (.) (.). Key... (.. ) (..) (.).. pecification of key.... (..). (.. ). (.)..... Model name BPF-HX (F-HXL) BPFD-HX (F-HXL) BPF-HX (F-HXM) BPFD-HX (F-HXM) B - (.) - (.) DP DP DP DP BPF -HX F-HX Lead wire UL AWG UL vinyl tube. MIN. (..) (. MIN.) B (B.) Effective length..... R MIN. (R. MIN.). (..) Cross section -.. (..). (..) (.) (.).... (..) (..). (.). (..) (.) (.) (.) key..... (.) Parallel key... (..) (..). (.) Model name BPF-HX (F-HXL) BPFD-HX (F-HXL) BPF-HX (F-HXM) BPFD-HX (F-HXM) B - (.) - (.)

34 Pulse I/F (AC power input) Dimensions [ Unit: mm (inch) ] TEPYN F with Electromagnetic Brake BPF -XB F -XB Brake lead wire UL AWG MIN. (. MIN.) A (A.) MIN. (. MIN.) Lead wire UL AWG. (..). (.) (.+.) Effective length. (..). (..) Model name BPF-XB (F-XB) BPF-XB (F-XB) BPF-XB (F-XB) A. (.). (.). (.) R MIN. (R. MIN.)... (.. ).. (.. ) -M. Effective tapping depth (.) MIN... (..) Cross section - BPF -XB F -XB Brake lead wire UL AWG MIN. (. MIN.) A (A.) MIN. (. MIN.) Lead wire UL AWG. (..) (.). (.) (. +.) Effective length. (..). (..) Model name BPF-XB (F-XB) BPF-XB (F-XB) BPF-XB (F-XB) A. (.). (.). (.) R MIN. (R. MIN.) (.+.).. (..).. (..) Cross section - BPF -XB F -XB. (..) UL vinyl tube Brake lead wire UL AWG Lead wire UL AWG A. (A.) (..). (..) Cross section -. (..). Model name BPF-XB (F-XB) BPF-XB (F-XB) BPF-XB (F-XB) A. (.). (.). (.) MIN. (. MIN.) MIN. (. MIN.). (.). (.) (.+.) Effective length (..). (..)..... R MIN. (R. MIN.)

35 Pulse rate-torque characteristics/pulse rate-source current characteristics BPF / BPF-XB : V BPF / BPF-XB : V.... AP.. Torquee(kgf cm).. BP.. Number of rotations(min-).. Number of rotations(min-) BP F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step WP BPF / BPF-XB : V BPF : V DP Number of rotations(min-) F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step.... Number of rotations(min-) F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step DP DP DP BPF : V BPF : V Number of rotations(min-) Number of rotations(min-) F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step

36 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics BPF / BPF-XB : V BPF / BPF-XB : V..... Number of rotations(min-) Number of rotations(min-) F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step BPF / BPF-XB : V BPF / BPF-XB : V Number of rotations(min-).... Number of rotations(min-) F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step BPF / BPF-XB : V BPF / BPF-XB : V Number of rotations(min-).... Number of rotations(min-) F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step

37 Pulse rate-torque characteristics/pulse rate-source current characteristics BPF : V BPF : V. AP... BP.. Number of rotations(min-). Number of rotations(min-) BP F- ource voltage : ACV Operating current :.A/phase Pull-outtorque(JL= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step WP BPF -CX. : V BPF -CX. : V DP.. With low backlash gear.. With low backlash gear.... DP.. DP. Number of rotations(min-) F-CXA ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step. Number of rotations(min-) F-CXB ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step DP BPF -CX : V BPF -CX : V. With low backlash gear. With low backlash gear Number of rotations(min-). Number of rotations(min-) F-CXE ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXG ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step

38 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics BPF -CX : V BPF -CX : V. With low backlash gear. With low backlash gear Number of rotations(min-). Number of rotations(min-) F-CXJ ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXK ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step BPF -CX. : V BPF -CX. : V.. With low backlash gear.. With low backlash gear Number of rotations(min-). Number of rotations(min-) F-CXA ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ]Use therubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXB ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step BPF -CX : V BPF -CX : V.. With low backlash gear.. With low backlash gear.... Number of rotations(min-).... Number of rotations(min-) F-CXE ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXG ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step

39 Pulse rate-torque characteristics/pulse rate-source current characteristics BPF -CX : V BPF -CX : V..... With low backlash gear. Number of rotations(min-) F-CXJ ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step..... With low backlash gear. Number of rotations(min-) F-CXK ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step WP BP BP AP BPF -CX. : V BPF -CX. : V DP.. With low backlash gear.. With low backlash gear.... DP.. DP. Number of rotations(min-) F-CXA ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step. Number of rotations(min-) F-CXB ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step DP BPF -CX : V BPF -CX : V.. With low backlash gear.. With low backlash gear Number of rotations(min-). Number of rotations(min-) F-CXE ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXG ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step

40 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics BPF -CX : V BPF -CX : V. With low backlash gear. With low backlash gear Number of rotations(min-) Number of rotations(min-) F-CXJ ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXK ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step BPF -HX : V BPF -HX : V.. With harmonic gear.. With harmonic gear Number of rotations(min-). Number of rotations(min-) F-HXL -step -step ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) F-HXM -step -step ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque(jl= - kg m [. oz in ] Use the the rubber coupling) ource current(tl=max) ource current(tl=) BPF -HX : V BPF -HX : V.. With harmonic gear.. With harmonic gear Number of rotations(min-). Number of rotations(min-) F-HXL -step -step ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ]Use the rubber coupling) Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) F-HXM -step -step ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=)

41 Pulse rate-torque characteristics/pulse rate-source current characteristics BPF -HX : V BPF -HX : V With harmonic gear. Number of rotations(min-) F-HXL -step -step ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) With harmonic gear. Number of rotations(min-) F-HXM -step -step ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) WP BP BP AP DP DP DP DP

42 Pulse I/F (AC power input) The -phase tepping et BP series ACV/V Micro-step ( x to divisions) Configuration of the -phase tepping Motor et, BP eries Name Quantity BP eries Instruction Manual pc. PM Driver pc. tepping Motor pc. Interface Connector (CN) set Power Connector (CN) set tepping Motor Power Line Connector (CN) set PM Driver Front urface Metal Fittings set The standard combination of the -phase tepping et, BP eries lineup applies either TEPYN M eries stepping motor or TEPYN F eries stepping motor. tepping motor type Characteristics TEPYN M eries Conforms to UL tandards and CE Marking TEPYN F eries tandard stepping motor for unit Various sizes of stepping motor are available according to applications and purposes. Characteristics Conformity to UL tandards and CE Marking The product conforms to UL tandards and CE Marking. Micro-step function available mooth operation without vibration at low speeds can be realized. Rush current prevention circuit Thanks to the built-in rush current prevention circuit in the power circuit section, stabilized operation is ensured even during switching on. Connector method for PM driver I/O cable The connector method is adopted for the high voltage section terminal, where the terminal base was conventionally used. This method facilitates PM driver installation and maintenance. Alarm output signal logic selectable Logic of signal output during alarm circuit operation can be selected. Built-in function Auto micro function Even setting division of resolution to a rough one or two divisions, operation can be as smooth and with as low vibration as for micro-step drive. However, the low vibration mode and the micro-step function cannot be adopted at the same time. Micro-step function By manipulating the rotary switch that sets resolution, the micro-step drive may be used. However, the low vibration mode and the micro-step function cannot be adopted at the same time. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. Resolution setting function Nine types of resolution, ranging from one to divisions, can be set for a standard stepping motor step angle by using rotary switches. Operation current switchover function Regarding operation current of the stepping motor, currents ranging from rated current to % of rated current can be set using rotary switches. Current adjustment function during operation halt When operation is halted, operation current for the stepping motor can be set at to % of specified operation current by using selection switch.

43 Explanation of set model number ystem on the stepping motor flange side ystem on the stepping motor end cap side Code Flange side Deceleration ratio C Low-backlash gear /., /., /, /, /, / H Harmonic gear /, / X None on flange side Code End cap side Function B Brake Electromagnetic brake E Encoder Please contact us regarding the encoder. X None on end cap side AP tepping motor flange tepping motor end cap BP WP DP DP DP BP tepping motor flange side tepping motor end cap side Low-backlash gear Harmonic gear Brake Deceleration ratio of gear system Example: deceleration ratio /.. Explanation for model number in the combined case: The set model number of the PMAPAB and F type stepping motor is as follows when equipped with the system of harmonic gear (/) and brake: BPFD H B tandard set model number Gear deceleration ratio (/) Brake Harmonic gear How to order Please use the et Model Number in the List of Combined tepping Motor Model Number for the -phase tepping et, BP eries. To order gear, brake, and encoder, put the product code number after the set number according to the Explanation of combination numbering,, and. PM driver specifications tandard specification Environment Function I/O signals Model number Input source ource current Protection class Operating environment Applied standards Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Operating altitude Vibration resistance Impact resistance Withstand voltage Insulation resistance Mass(Weight) Protection function election function LED indicator Command pulse input signal Power down input signal tep angle selection input signal FULL/HALF selection input signal Phase origin monitor output signal Alarm output signal * Refer to pages and after for operation, connection, function, and dimensions of the PM driver. DP PMAPAB ingle-phaseac/v+, % /Hz A Class Installation category (overvoltage category):, pollution degree: EN, ULC ~ + C ~ + C ~ %RH (no condensation) ~ %RH (no condensation) MAX. m above sea level.g Tested under the following conditions, frequency range: to Hz, direction: along the X, Y, and Z axes, for hours Considering the ND-C- standard section.. division C, not influenced. Not influenced when applying ACV between the power input terminal and cabinet for one minute. MΩ MIN. when applying DCV between the power input terminal and cabinet..kg(. lbs) Against PM driver overheat, main circuit power supply error, overcurrent Input system, auto current down, power down, low vibration mode, alarm output logic, step angle, operating current, non-operating current Power supply monitor, phase origin monitor, pulse monitor, alarm display Photo coupler input method, input resistance Ω Input signal voltage H level:. to.v, L level: to.v Maximum input frequency kpulse/s Photo coupler input method, input resistance Ω Input signal voltage H level:. to.v, L level: to.v Photo coupler input method, input resistance Ω Input signal voltage H level:. to.v, L level: to.v Photo coupler input method, input resistance Ω Input signal voltage H level:. to.v, L level: to.v Open collector output by photo coupler Output signal standard, Vceo: V MAX, Ic: ma MAX Open collector output by photo coupler Output signal standard, Vceo: V MAX, Ic: ma MAX

44 Pulse I/F (AC power input) tepping motor specifications tepping motor type Model name Type Insulation class Withstand voltage Insulation resistance Protection grade Vibration resistance Impact resistance Operating ambient temperature Operating ambient humidity TEPYN M TEPYN F M M / M F F / F (Continuous rating) -- Class B (+ C) [ C for UL class A] Class B (+ C) Conditions: ACV, / Hz, and for one minute MΩ MIN. against DCV IP -- Conditions: amplitude. mm (P-P), frequency range to Hz, minutes sweep time, along X, Y, and Z axes, for hours Conditions: m/ acceleration, minutes duration, half-wave / sine wave,three times each along X, Y, and Z axes, times in total -~+ C ( to + C for the one with harmonic gear) ~%(no condensation) tandard combined stepping motors for -phase stepping set BP series PM driver model number : PMAPAB Combination Model Number for the TEPYN M eries (conforming to UL tandards and CE Marking) ystem support Dimensions of stepping motor mm et model number BPM BPM ingle shaft tandard combined stepping motor number M- M- et model number BPMD BPMD Double shaft tandard combined stepping motor number M- M- BPM M- BPMD M- tandard type ø mm BPM M- BPMD M- BPM M- BPMD M- ø mm BPM BPM M- M- BPMD BPMD M- M- Combination Model Number for the TEPYN F eries (Motor for a set) Dimensions of ingle shaft Double shaft ystem support stepping motor et model number tandard combined stepping motor number et model number tandard combined stepping motor number mm BPF BPF F- F- BPFD BPFD F- F- BPF F- BPFD F- tandard type ø mm BPF F- BPFD F- BPF F- BPFD F- ø mm BPF BPF F- F- BPFD BPFD F- F- BPF-CX. F-CXA BPFD-CX. F-CXA BPF-CX. F-CXB BPFD-CX. F-CXB Low-backlash gear ø mm BPF-CX BPF-CX F-CXE F-CXG BPFD-CX BPFD-CX F-CXE F-CXG BPF-CX F-CXJ BPFD-CX F-CXJ BPF-CX F-CXK BPFD-CX F-CXK Harmonic gear ø mm BPF-HX BPF-HX F-HXL F-HXM BPFD-HX BPFD-HX F-HXL F-HXM Electromagnetic brake mm ø mm BPF-XB BPF-XB BPF-XB BPF-XB F-XB F-XB F-XB F-XB BPF-XB F-XB

45 tepping motor data sheet TEPYN M eries (Conforming to the UL tandards and CE Marking) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) BPM BPMD.(.).(.).(.) BPM BPMD.(.).(.).(.) BPM BPMD.(.).(.).(.) BPM BPMD.(.).(.).(.) BPM BPMD.(.).(.).(.) BPM BPMD.(.).(.).(.) BPM BPMD (.) (.).(.) AP TEPYN F eries (tandard) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) BPF BPFD.(.).(.).(.) BPF BPFD.(.).(.).(.) BPF BPFD.(.).(.).(.) BPF BPFD.(.).(.).(.) BPF BPFD.(.).(.).(.) BPF BPFD.(.).(.).(.) BPF BPFD (.) (.).(.) BP TEPYN F eries (With low-backlash gear) et model number ingle shaft BPF-CX. BPF-CX. Double shaft BPFD-CX. BPFD-CX. Allowable torque N m(oz in).(.) (.) Rotor inertia - kg m (oz in ) Basic step angle.. Deceleration ratio :. :. Backlash.. Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N BPF-CX BPFD-CX (.) BPF-CX BPFD-CX (.) BPF-CX BPFD-CX (.).(.). :.. :.. :..(.) BPF-CX BPFD-CX (.). :. * The rotation direction of the motor and the gear output shaft is as follows: when deceleration ratio is :. or :., both motor and shaft rotate in the same direction, and for :, :, or : type, the motor and the shaft rotate in opposite direction. (Note) When load is applied at / length from output shaft edge. BP WP DP TEPYN F eries (With harmonic gear) et model number ingle shaft Double shaft Allowable torque N m(oz in) Rotor inertia - kg m (oz in ) Basic step angle Deceleration ratio Lost motion Minute Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N BPF-HX BPFD-HX (.). :.~ (±. N m)(±. oz in).(.).(.) BPF-HX BPFD-HX (.). :.~ (±. N m)(±. oz in) DP DP * The gear output shaft rotates in the opposite direction of the motor. (Note) When load is applied at / length from output shaft edge. DP TEPYN F eries (With electromagnetic brake) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) Electromagnetic brake specification Brake operation system ource voltage V Exciting current A Electric power consumption W tatic friction torque N m(oz in) Brake operating time ms Brake release time ms Polarity BPF-XB BPF-XB (.).(.).(.) (.).(.).(.) Non-excitation operation system DC ± %..(.) Red Black BPF-XB --.(.).(.).(.) BPF-XB --.(.).(.).(.) BPF-XB --.(.).(.).(.) Non-excitation operation system DC ± %. (.) Red Black

46 Pulse I/F (AC power input) UL tandards and CE Marking How to install the products to conform to the EMC Directive (Note ) (Note ) Type POW PM AL MON AL BLACK tepping motor RED ORANGE YELLOW BLUE C N F/R ACD PD LV MODE AL.L. RUN WARNING TP (Note ) May Cause electric shock Noise filter (Note ) (Note ) Use proper grounding techniques. C N Controller L N PE L N E L N E AC AC C N PM driver Recommended Component for EMC Conformity No. Note Note Note Note Part Name Noise Filter Toroidal core Toroidal core Toroidal core Model RF-DLC T TRCN TRCN pecifications and size Rated voltage : AC V Rated current : A Core outer diameter : mm Core inner diameter : mm Core outer diameter : mm Core inner diameter : mm Core outer diameter : mm Core inner diameter : mm Manufacturer RAMI ELECTRONIC LTD., TDK Kitagawa Industry Kitagawa Industry

47 Dimensions [ Unit: mm (inch) ] TEPYN M BPM M (. +.) Effective length Earth terminal.. (.. ) B (B.) Lead wire UL AWG A (A.) MIN. (. MIN.) R MIN. (R. MIN.) R MIN. (R. MIN.). (..) (.).(.) (. +.) Effective length.... (.. )..... (..).. (..) Cross section -. (..). (..) Model name A B BPM (M-) BPMD (M-) BPM (M-) BPMD (M-) (.) (.). (.). (.) - (.) - (.) WP BP BP AP BPM M -. (..) DP Earth terminal Effective length. (..).. UL vinyl tube B (B.) R MIN. (R. MIN.). (.. ) Lead wire UL AWG A. (A.) MIN. (. MIN.). (..). (.). (.) Effective length R MIN. (R. MIN.) (.. ). (..) Cross section -. (..). (..) Model name A B BPM (M-) BPMD (M-) BPM (M-) BPMD (M-) BPM (M-) BPMD (M-). (.). (.). (.). (.). (.). (.) - (.) - (.) - (.) DP DP DP BPM M - UL vinyl tube B A. (B.) (A.) (..) Earth terminal MIN. (. MIN.) Lead wire UL AWG (.) (.) (.)..... (.) (.) Parallel key Cross section -.. (..). (..) Model name A B BPM (M-) BPMD (M-) BPM (M-) BPMD (M-). (.). (.). (.). (.) - (.) - (.). (..).... (.. )

48 Pulse I/F (AC power input) Dimensions [ Unit: mm (inch) ] TEPYN F BPF F (. +.) Effective length B (B.) Lead wire UL AWG A (A.) MIN. (. MIN.). (..) (.).(.) (. +.) Effective length.. (..).. (..) Cross section -. (..). (..) Model name A B BPF (F-) BPFD (F-) BPF (F-) BPFD (F-) (.) (.). (.). (.) - (.) - (.).. (.. ) R MIN. (R. MIN.) R MIN. (R. MIN.).... (.. ) BPF F Effective length. (..).. UL vinyl tube B (B.) R MIN. (R. MIN.). (.. ) Lead wire UL AWG A. (A.) MIN. (. MIN.). (..). (.). (.) Effective length R MIN. (R. MIN.) (.. ). (..). (..) Cross section -. (..). (..) Model name A B BPF (F-) BPFD (F-) BPF (F-) BPFD (F-) BPF (F-) BPFD (F-). (.). (.). (.). (.). (.). (.) - (.) - (.) - (.) BPF F - UL vinyl tube B A. (B.) (A.) (..) MIN. (. MIN.) Lead wire UL AWG (.) (.) (.)..... (.) (.) Parallel key Cross section -.. (..). (..) Model name A B BPF (F-) BPFD (F-) BPF (F-) BPFD (F-). (.). (.). (.). (.) - (.) - (.). (..).... (.. )

49 Dimensions [ Unit: mm (inch) ] TEPYN F with low-backlash gear BPF CX F-CX Lead wire UL AWG UL vinyl tube. MIN. (..) (. MIN.) B (B.) Effective length.. (.. ) T T R MIN. (R.MIN.) Lead wire UL AWG UL vinyl tube. MIN. (..) (. MIN.) B (B.) Effective length..... R MIN. (R. MIN.). (..) Cross sectiont-t TEPYN F with harmonic gear BPF -HX F-HX. (..).. (..). (..) Cross section -.. (..) (.+.) Cross section - (..) (.). (..) (.) (.) (.+.) Effective length.. (.. ) (..) (.) (.) (.)..... (.) Parallel key (Bundled with motor)... (..) Parallel key. (..).... (..).. (..) -MX.... (..)... (.. ) Effective tapping depth (.) MIN..... (..) (..). (.) key..... (..). (.) Model name BPF-CX. (F-CXA) BPFD-CX. (F-CXA) BPF-CX. (F-CXB) BPFD-CX. (F-CXB) BPF-CX (F-CXE) BPFD-CX (F-CXE) BPF-CX (F-CXG) BPFD-CX (F-CXG) BPF-CX (F-CXJ) BPFD-CX (F-CXJ) BPF-CX (F-CXK) BPFD-CX (F-CXK) Model name BPF-HX (F-HXL) BPFD-HX (F-HXL) BPF-HX (F-HXM) BPFD-HX (F-HXM) B - (.) - (.) - (.) - (.) - (.) - (.) B - (.) - (.) DP DP DP DP WP BP BP AP TEPYN F with electromagnetic brake BPF -XB F -XB Brake lead wire UL AWG MIN. (. MIN.) A (A.) MIN. (. MIN.) Lead wire UL AWG. (..) (.). (.) (. +.) Effective length. (..). (..) Model name BPF-XB (F-XB) BPF-XB (F-XB) A. (.). (.) R MIN. (R. MIN.) (.+.).. (..).. (..) Cross section -

50 Pulse I/F (AC power input) Dimensions [ Unit: mm (inch) ] TEPYN F with electromagnetic brake BPF -XB F -XB UL vinyl tube Brake lead wire UL AWG Lead wire UL AWG. (..). (..) Cross section - Model name BPF-XB (F-XB) BPF-XB (F-XB) BPF-XB (F-XB) A. (.). (.). (.) A (A.). (..). (..). MIN. (. MIN.) MIN. (. MIN.). (.). (.) (.+.) Effective length (..). (..)..... R MIN. (R. MIN.)

51 Pulse rate-torque characteristics/pulse rate-source current characteristics BPM / BPF / BPF-XB : V BPM / BPF / BPF-XB : V division -division Number of rotations(min-) M- / F- / F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified division -division Number of rotations(min-) M- / F- / F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified WP BP BP AP BPM / BPF / BPF-XB : V BPM / BPF / BPF-XB : V DP division -division Number of rotations(min-) M- / F- / F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified.... -division -division Number of rotations(min-) M- / F- / F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified DP DP DP BPM / BPF / BPF-XB : V BPM / BPF : V division -division Number of rotations(min-) M- / F- / F- XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl= - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified division -division Number of rotations(min-) M- / F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified

52 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics BPM / BPF : V BPF -CX. : V division -division Number of rotations(min-)..... With low backlash gear. -division -division Number of rotations(min-) M- / F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified F-CXA ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified BPM -CX. : V BPF -CX : V.. With low backlash gear.. With low backlash gear division -division Number of rotations(min-). -division -division Number of rotations(min-) F-CXB ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXE ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified BPF -CX : V BPF -CX : V. With low backlash gear. With low backlash gear division -division Number of rotations(min-). -division -division Number of rotations(min-) F-CXG ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXJ ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

53 Pulse rate-torque characteristics/pulse rate-source current characteristics BPF -CX : V BPF -HX : V..... With low backlash gear. -division -division Number of rotations(min-) F-CXK ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified With harmonic gear. -division -division Number of rotations(min-) F-HXL -division is specified -division is specified ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) WP BP BP AP BPF -HX : V DP With harmonic gear DP DP. -division -division Number of rotations(min-) F-HXM -division is specified -division is specified ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) DP

54 Pulse I/F (AC power input) The -phase tepping et WP series ACV/V Micro-step ( x to divisions) Configuration of the -phase tepping Motor et, WP eries Name WP eries Instruction Manual PM Driver tepping Motor Interface Connector (CN) Metal Fittings (two) Quantity pc. pc. pc. set set The standard combination of the -phase tepping et, WP eries lineup applies either TEPYN M eries stepping motor or TEPYN F eries stepping motor. tepping motor type Characteristics TEPYN M eries Conforms to UL tandards and CE Marking TEPYN F eries tandard stepping motor for unit Various sizes of stepping motor are available according to applications and purposes. Two types of PM driver can be selected for the -phase tepping et, WP eries. Classification Type WP Normal WP Fast-operation PM driver model number PMM-MA-- PMM-MA-- Rated current of stepping motor. A / phase type. A / phase type Characteristics Conforms to UL tandards and CE Marking Conforms to CE Marking Characteristics Conformity to UL standards and CE Making The product conforms to UL standards and CE making. Wide ranges of input power Users can use wide ranges of input power from AC to V. Micro-step function available mooth operation without vibration at low speeds can be realized. Built-in function Micro-step function By manipulating the rotary switch that sets resolution, the micro-step drive may be used. However, the low vibration mode and the micro-step function cannot be adopted at the same time. Resolution setting function types of resolution, ranging from one to divisions, can be set for a standard stepping motor step angle by using rotary switches. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. Two types of stepping motor The standard combination of the PM driver PMM-MA-- lineup applies the CE Marking compliant TEPYN H eries and the standard TEPYN H eries. Combined with a CE Marking compliant TEPYN H eries stepping motor, this system conforms to the EMC Directive.

55 Explanation of et model number ystem on the stepping motor flange side ystem on the stepping motor end cap side Code Flange side Deceleration ratio C Low-backlash gear /., /., /, /, /, / H Harmonic gear /, / X None Code End cap side Function B Brake Electromagnetic brake E Encoder Please contact us regarding the encoder. X None AP tepping motor flange tepping motor end cap BP tepping motor flange side tepping motor end cap side Low-backlash gear Harmonic gear Brake BP Deceleration ratio of gear system Example: deceleration ratio /.. WP Explanation for model number in the combined case: The set model number of the PMM-MA-- and F type stepping motor is as follows when equipped with the system of harmonic gear (/) and brake: WPFDH B tandard set model number Deceleration ratio of gear (/) Brake Harmonic gear DP DP How to order Please use the et Model Number in the List of Combined tepping Motor Model Number for the -phase tepping et, WP eries. To order gear, brake, and encoder, put the product code number after the set number according to the Explanation of combination numbering,, and. DP PM driver specifications tandard specification Environment I/O signals Function Model number PMM-MA-- PMM-MA-- Input source ource current Protection class ingle phaseac - V+, -% / Hz Class A (at ACV) A (at ACV) A (at ACV) A (at ACV) Operating environment Applied standards Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Operating altitude Vibration resistance Impact resistance Withstand voltage Insulation resistance Installation category (overvoltage category):, pollution degree: EN- ~ + C - ~ + C ~ %RH (No condensation) ~ %RH (No condensation) MAX. m above sea level.g Tested under the following conditions, frequency range: to Hz, direction: along the X, Y, and Z axes, for hours Considering the ND-C- standard section.. division C, not influenced. Not influenced when applying ACV between the power input terminal and cabinet for one minute. MΩ MIN. when applying DCV between the power input terminal and cabinet. Mass(Weight) Protection function election function.kg(. lbs) Against PM driver overheat Auto current down, excitation mode, input pulse mode, step angle, stepping motor current.kg(. lbs) LED indicator Power supply monitor, phase origin monitor, pulse monitor, alarm monitor Photo coupler input method, input resistance Ω Command pulse input signal Input signal voltage H level:. to.v, L level: to.v Maximum input frequency; Micro step mode: kpulse/s, Power down input signal Phase origin monitor output signal Alarm output signal Ready output signal Photo coupler input method, input resistance Ω Input signal voltage H level:. to.v, L level: to.v Open collector output by photo coupler Output signal standard, Vceo: V MAX, Ic: ma MAX Open collector output by photo coupler Output signal standard, Vceo: V MAX, Ic: ma MAX Open collector output by photo coupler Output signal standard, Vceo: V MAX, Ic: ma MAX * Refer to pages and and after for operation, connection, function, and dimensions of the PM driver. DP

56 Pulse I/F (AC power input) tepping motor specifications tepping motor type TEPYN M TEPYN F Model M / M / M / M F / F / F / F pecification type (continuous rating) -- Insulation class Withstand voltage Insulation resistance Protection grade Vibration resistance Impact resistance Operating ambient temperature Operating ambient humidity Class B (+ C) [ C for UL class A] Conditions : ACV, / Hz, and for one minute MΩ MIN. against DCV IP Class B (+ C) Conditions: amplitude. mm (P-P), frequency range to Hz, minutes sweep time, along X, Y, and Z axes, for hours Conditions: m/s acceleration, minutes duration, half-wave/sine wave, three times each along X, Y, and Z axes, times in total - ~ + C ( to + C for the one with harmonic gear) ~ %(no condensation) -- tandard combined stepping motors for -phase stepping set WP series Combination Model Number for WP PM driver model number : PMM-MA-- Combination Model Number for TEPYN M eries (Conforming to the UL tandards and CE Marking) ystem support tandard type Dimensions of stepping motor mm ingle shaft et model number tandard combined stepping motor number WPM M- WPM M- WPM M- Double shaft et model number tandard combined stepping motor number WPMD M- WPMD M- WPMD M- Combination Model Number for TEPYN F eries (Motor for a set) ystem support tandard type Low-backlash gear Harmonic gear Electromagnetic brake Dimensions of stepping motor mm mm mm mm mm et model number WPF WPF WPF WPF WPF WPF WPF-CX. WPF-CX. WPF-CX WPF-CX WPF-CX WPF-CX WPF-HX WPF-HX WPF-XB WPF-XB WPF-XB ingle shaft tandard combined stepping motor number F- F- F- F- F- F- F-CXA F-CXB F-CXE F-CXG F-CXJ F-CXK F-HXL F-HXM F-XB F-XB F-XB et model number WPFD WPFD WPFD WPFD WPFD WPFD WPFD-CX. WPFD-CX. WPFD-CX WPFD-CX WPFD-CX WPFD-CX WPFD-HX WPFD-HX Double shaft tandard combined stepping motor number F- F- F- F- F- F- F-CXA F-CXB F-CXE F-CXG F-CXJ F-CXK F-HXL F-HXM

57 tandard combined stepping motors for -phase stepping set WP series Combination Model Number for WP PM driver model number: PMM-MA-- Combination Model Number for TEPYN M eries (Conforming to the UL tandards and CE Marking) AP ystem support Dimensions of ingle shaft stepping motor et model number tandard combined stepping motor number mm WPM WPM WPM M- M- M- tandard type WPM M- ø mm WPM WPM M- M- ø mm WPM M- WPM M- Combination Model Number for TEPYN F eries (Motor for a set) Double shaft et model number tandard combined stepping motor number WPMD M- WPMD M- WPMD M- WPMD M- WPMD M- WPMD M- WPMD M- WPMD M- BP BP ystem support tandard type Low-backlash gear Harmonic gear Electromagnetic brake Dimensions of stepping motor mm ø mm ø mm mm ø mm mm ø mm mm ø mm et model number WPF WPF WPF WPF WPF WPF WPF WPF WPF-CX. WPF-CX. WPF-CX WPF-CX WPF-CX WPF-CX WPF-CX. WPF-CX. WPF-CX WPF-CX WPF-CX WPF-CX WPF-HX WPF-HX WPF-HX WPF-HX WPF-XB WPF-XB WPF-XB WPF-XB WPF-XB WPF-XB ingle shaft tandard combined stepping motor number F- F- F- F- F- F- F- F- F-CXA F-CXB F-CXE F-CXG F-CXJ F-CXK F-CXA F-CXB F-CXE F-CXG F-CXJ F-CXK F-HXL F-HXM F-HXL F-HXM F-XB F-XB F-XB F-XB F-XB F-XB et model number WPFD WPFD WPFD WPFD WPFD WPFD WPFD WPFD WPFD-CX. WPFD-CX. WPFD-CX WPFD-CX WPFD-CX WPFD-CX WPFD-CX. WPFD-CX. WPFD-CX WPFD-CX WPFD-CX WPFD-CX WPFD-HX WPFD-HX WPFD-HX WPFD-HX Double shaft tandard combined stepping motor number F- F- F- F- F- F- F- F- F-CXA F-CXB F-CXE F-CXG F-CXJ F-CXK F-CXA F-CXB F-CXE F-CXG F-CXJ F-CXK F-HXL F-HXM F-HXL F-HXM DP DP DP DP WP

58 Pulse I/F (AC power input) tepping motor data sheet Combination of WP TEPYN M eries (Conforming to the UL tandards and CE Marking) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) WPM WPMD.(.).(.).(.) WPM WPMD.(.).(.).(.) WPM WPMD.(.).(.).(.) TEPYN F eries (tandard) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) WPF WPFD.(.).(.).(.) WPF WPFD.(.).(.).(.) WPF WPFD.(.).(.).(.) WPF WPFD.(.).(.).(.) WPF WPFD.(.).(.).(.) WPF WPFD.(.).(.).(.) TEPYN F eries (With low-backlash gear) et model number ingle shaft WPF-CX. WPF-CX. WPF-CX WPF-CX WPF-CX WPF-CX Double shaft WPFD-CX. WPFD-CX. WPFD-CX WPFD-CX WPFD-CX WPFD-CX Allowable torque N m(oz in).(.).(.) (.).(.).(.).(.) Rotor inertia - kg m (oz in ).(.) Basic step angle Deceleration ratio :. :. : : : : Backlash Allowable number of rotations min - Mass(Weight) kg(lbs).(.) Allowable thrust load N Allowable radial load (Note) N * The rotation direction of the motor and the gear output shaft is as follows: when deceleration ratio is :., :., or :, both motor and shaft rotate in the same direction, and for : or : type, the motor and the shaft rotate in opposite direction. (Note) When load is applied at / length from output shaft edge. TEPYN F eries (With harmonic gear) et model number ingle shaft WPF-HX Double shaft WPFD-HX Allowable torque N m(oz in).(.) Rotor inertia - kg m (oz in ) Basic step angle. Deceleration ratio : Lost motion Minute.~ (±.N m)(±. oz in) Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N * The gear output shaft rotates in the opposite direction of the motor. (Note) When load is applied at / length from output shaft edge..(.).(.) WPF-HX WPFD-HX (.). :.~ (±.N m)(±. oz in) TEPYN F eries (With electromagnetic brake) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) Electromagnetic brake specifications Brake operation system ource voltage V Exciting current A Electric power consumption W tatic friction torque N m(oz in) Brake operating time ms Brake release time ms Polarity WPF-XB --.(.).(.).(.) WPF-XB --.(.).(.).(.) Non-excitation operation system DC ± %..(.) Brown White WPF-XB --.(.).(.).(.)

59 tepping motor data sheet Combination of WP TEPYN M eries (Conforming to the UL tandards and CE Marking) et model number ingle shaft WPM Double shaft WPMD Holding torque N m(oz in).(.) Rotor inertia - kg m (oz in ).(.) Mass(Weight) kg(lbs).(.) WPM WPMD.(.).(.).(.) WPM WPMD.(.).(.).(.) AP et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) WPM WPMD.(.).(.).(.) WPM WPMD.(.).(.).(.) WPM WPMD.(.).(.).(.) WPM WPMD.(.).(.).(.) WPM WPMD (.). (.).(.) BP TEPYN F eries (tandard) BP et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) WPF WPFD.(.).(.).(.) WPF WPFD.(.).(.).(.) WPF WPFD.(.).(.).(.) WP et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) WPF WPFD.(.).(.).(.) WPF WPFD.(.).(.).(.) WPF WPFD.(.).(.).(.) WPF WPFD.(.).(.).(.) WPF WPFD (.). (.).(.) DP TEPYN F eries (With low-backlash gear) et model number ingle shaft WPF-CX. WPF-CX. WPF-CX WPF-CX WPF-CX WPF-CX Double shaft WPFD-CX. WPFD-CX. WPFD-CX WPFD-CX WPFD-CX WPFD-CX Allowable torque N m(oz in).(.).(.) (.).(.) (.) (.) Rotor inertia - kg m (oz in ).(.) Basic step angle Deceleration ratio :. :. : : : : Backlash Allowable number of rotations min - Mass(Weight) kg(lbs).(.) Allowable thrust load N Allowable radial load (Note) N * The rotation direction of the motor and the gear output shaft is as follows: when deceleration ratio is :. or :., both motor and shaft rotate in the same direction, and for :, :, or : type, the motor and the shaft rotate in opposite direction. (Note) When load is applied at / length from output shaft edge. DP DP DP et model number ingle shaft WPF-CX. WPF-CX. WPF-CX WPF-CX WPF-CX WPF-CX Double shaft WPFD-CX. WPFD-CX. WPFD-CX WPFD-CX WPFD-CX WPFD-CX Allowable torque N m(oz in).(.) (.) (.) (.) (.) (.) Rotor inertia - kg m (oz in ).(.) Basic step angle Deceleration ratio :. :. : : : : Backlash Allowable number of rotations min - Mass(Weight) kg(lbs).(.) Allowable thrust load N Allowable radial load (Note) N * The rotation direction of the motor and the gear output shaft is as follows: when deceleration ratio is :. or :., both motor and shaft rotate in the same direction, and for :, :, or : type, the motor and the shaft rotate in opposite direction. (Note) When load is applied at / length from output shaft edge.

60 Pulse I/F (AC power input) tepping motor data sheet TEPYN F eries (With harmonic gear) et model number ingle shaft Double shaft Allowable torque N m(oz in) Rotor inertia - kg m (oz in ) Basic step angle Deceleration ratio Lost motion Minute Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N * The gear output shaft rotates in the opposite direction of the motor. (Note) When load is applied at / length from output shaft edge. WPF-HX WPFD-HX.(.). :.~ (±.N m)(±. oz in).(.).(.) WPF-HX WPFD-HX (.). :.~. (±.N m)(±. oz in) et model number ingle shaft Double shaft Allowable torque N m(oz in) Rotor inertia - kg m (oz in ) Basic step angle Deceleration ratio Lost motion Minute Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N * The gear output shaft rotates in the opposite direction of the motor. (Note) When load is applied at / length from output shaft edge. TEPYN F eries (With electromagnetic brake) WPF-HX WPFD-HX (.). :.~ (±.N m)(±. oz in).(.).(.). WPF-HX WPFD-HX (.). :.~ (±.N m)(±. oz in) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) Electromagnetic brake specifications Brake operation system ource voltage V Exciting current A Electric power consumption W tatic friction torque N m(oz in) Brake operating time ms Brake release time ms Polarity WPF-XB --.(.).(.).(.) WPF-XB --.(.).(.).(.) Non-excitation operation system DC ± %...(.). Red Black WPF-XB --.(.) (.).(.) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) Electromagnetic brake specifications Brake operation system ource voltage V Exciting current A Electric power consumption W tatic friction torque N m(oz in) Brake operating time ms Brake release time ms Polarity WPF-XB --.(.).(.).(.) WPF-XB --.(.).(.).(.) Non-excitation operation system DC ± %. (.) Red Black WPF-XB --.(.).(.).(.)

61 UL tandards and CE Marking Product PM driver tepping motor UL tandards Applied standards File no. ULC E UL E UL Low voltage directive EN EN- IEC- (EN-) CE Marking Applied standards EMC Directive Emission Immunity EN- EN- (Class A) (Class A) AP The stepping motor TEPYN M eries conforms to the UL tandards and CE Marking. The PM driver "PMM-MA--"conforms to only the Low Voltage Directive (CE Marking). If there is a need to conform to the EMC Directive, use a CE Marking compliant TEPYN H eries. For compatibility of the CE Marking compliant TEPYN H eries, refer to the PM driver PMM-MA-- (Page ) and PMM-MA-- (Page ). ome sizes of stepping motors do not meet the standards. BP DP DP DP DP WP BP

62 Pulse I/F (AC power input) Dimensions [ Unit: mm (inch) ] TEPYN M WPM M - B A. (B.) (A.) (..) Effective length Earth terminal..... R MIN. (R. MIN.) Lead wire UL AWG MIN. (. MIN.). (.) Effective length R MIN. (R. MIN.)... (.. ) (..) Cross section -. (..). (..) -M. Effective tapping depth (.)MIN. Model name A B WPM (M-) WPMD (M-) WPM (M-) WPMD (M-) WPM (M-) WPMD (M-) (.) (.) (.) (.) (.) (.) - (.) - (.) - (.) WPM M (. +.) Effective length Earth terminal.... B (B.) Lead wire UL AWG A (A.) MIN. (. MIN.) R MIN. (R. MIN.) R MIN. (R. MIN.). (..) (.).(.) (. +.) Effective length (..).. (..) Cross section -. (..). (..) Model name A B WPM (M-) WPMD (M-) WPM (M-) WPMD (M-) WPM (M-) WPMD (M-). (.). (.) (.) (.). (.). (.) - (.) - (.) - (.) WPM F - Earth terminal Effective length. (..) UL vinyl tube B (B.) R MIN. (R. MIN.)... (.. ) Lead wire UL AWG A. (A.) MIN. (. MIN.). (..). (.). (.) Effective length R MIN. (R. MIN.)..... (.. ).... (..). (..) Cross section -. (..). (..) Model name A B WPM (M-) WPMD (M-) WPM (M-) WPMD (M-) WPM (M-) WPMD (M-). (.). (.). (.). (.). (.). (.) - (.) - (.) - (.) WPM M - B A. (B.) (A.) (..) (.) (.) Earth terminal (.). (..) UL vinyl tube.... (.. ) MIN. (. MIN.) Lead wire UL AWG... (.. ) (.. ) (.) (.) Parallel key Cross section -.. (..). (..) (. +.) Model name A B WPM (M-) WPMD (M-) WPM (M-) WPMD (M-). (.). (.). (.). (.) - (.) - (.)

63 Dimensions [ Unit: mm (inch) ] TEPYN F WPF F - B A. (B.) (A.) (..) Effective length..... R MIN. (R. MIN.) Lead wire UL AWG MIN. (. MIN.). (.) Effective length R MIN. (R. MIN.)... (.. ) (..) Cross section -. (..). (..) -M. Effective tapping depth (.)MIN. Model name A B WPF (F-) WPFD (F-) WPF (F-) WPFD (F-) WPF (F-) WPFD (F-) (.) (.) (.) (.) (.) (.) - (.) - (.) - (.) AP BP BP WPF / WPF F - F (. +.) Effective length.... B (B.) Lead wire UL AWG A (A.) MIN. (. MIN.) R MIN. (R. MIN.) R MIN. (R. MIN.). (..) (.).(.) (. +.) Effective length (..).. (..) Cross section -. (..). (..) Model name A B WPF (F-) WPFD (F-) WPF (F-) WPFD (F-) WPF (F-) WPFD (F-) WPF (F-) WPFD (F-) WPF (F-) WPFD (F-) WPF (F-) WPFD (F-). (.). (.) (.) (.). (.). (.). (.). (.) (.) (.). (.). (.) - (.) - (.) - (.) - (.) - (.) - (.) DP DP DP WP WPF F Effective length. (..) UL vinyl tube B (B.) R MIN. (R. MIN.)... (.. ) Lead wire UL AWG A. (A.) MIN. (. MIN.). (..). (.). (.) Effective length R MIN. (R. MIN.) (..). (.. ) (..). (..) Cross section -. (..). (..) Model name A B WPF (F-) WPFD (F-) WPF (F-) WPFD (F-) WPF (F-) WPFD (F-). (.). (.). (.). (.). (.). (.) - (.) - (.) - (.) DP WPF F - B A. (B.) (A.) (..) (.) (.) (.). (..) UL vinyl tube.... (.. ) MIN. (. MIN.) Lead wire UL AWG... (.. ) (.. ) (.) (.) Parallel key Cross section -.. (..). (..) (. +.) Model name A B WPF (F-) WPFD (F-) WPF (F-) WPFD (F-). (.). (.). (.). (.) - (.) - (.)

64 Pulse I/F (AC power input) Dimensions [ Unit: mm (inch) ] TEPYN F with low-backlash gear WPF -CX F-CX B.. (B.) (..) (..) (.) Effective length..... R MIN. (R.MIN.) MIN. (. MIN.) Lead wire UL AWG Effective length RMIN. (R.MIN.) (..) Cross section (..) (-..).. (..) -M. Effective tapping depth (.) MIN. Model name WPF-CX. (F-CXA) WPFD-CX. (F-CXA) WPF-CX. (F-CXB) WPFD-CX. (F-CXB) WPF-CX (F-CXE) WPFD-CX (F-CXE) WPF-CX (F-CXG) WPFD-CX (F-CXG) WPF-CX (F-CXJ) WPFD-CX (F-CXJ) WPF-CX (F-CXK) WPFD-CX (F-CXK) B - (.) - (.) - (.) - (.) - (.) - (.) WPF -CX F-CX Effective length..... B (B.) R MIN. (R. MIN.) MIN. (.MIN.) WPF -CX F-CX Lead wire UL AWG UL vinyl tube. MIN. (..) (. MIN.) B (B.) Effective length.. (.. ) Lead wire UL AWG. (..) T T R MIN. (R.MIN.). (..) Cross sectiont-t (.). R MIN. (R. MIN.) (..).. (..). (..) Effective length... (.. ) (..) (..) Cross section -. (..) +. (.+.) Cross section - (..) (.) (.+.) Effective length.. (.. ) (..). (..).. (..). (..) -M. Effective tapping depth (.) MIN. Parallel key (Bundled with motor). (..).. (..) -MX.... (..)... (.. ) Effective tapping depth (.) MIN. Model name WPF-CX. (F-CXA) WPFD-CX. (F-CXA) WPF-CX. (F-CXB) WPFD-CX. (F-CXB) WPF-CX (F-CXE) WPFD-CX (F-CXE) WPF-CX (F-CXG) WPFD-CX (F-CXG) WPF-CX (F-CXJ) WPFD-CX (F-CXJ) WPF-CX (F-CXK) WPFD-CX (F-CXK) Model name WPF-CX. (F-CXA) WPFD-CX. (F-CXA) WPF-CX. (F-CXB) WPFD-CX. (F-CXB) WPF-CX (F-CXE) WPFD-CX (F-CXE) WPF-CX (F-CXG) WPFD-CX (F-CXG) WPF-CX (F-CXJ) WPFD-CX (F-CXJ) WPF-CX (F-CXK) WPFD-CX (F-CXK) B - (.) - (.) - (.) - (.) - (.) - (.) B - (.) - (.) - (.) - (.) - (.) - (.)

65 Dimensions [ Unit: mm (inch) ] TEPYN F with harmonic gear WPF -HX F-HX.. (..) B (B.) (.+.) Effective length MIN. (. MIN.) Key pecification of key Lead wire UL AWG. (..) (..) (.) (.).. (..) (.) (..) (..) Model name WPF-HX (F-HXL) WPFD-HX (F-HXL) WPF-HX (F-HXM) WPFD-HX (F-HXM) B - (.) - (.) AP BP BP Cross section R MIN. (R. MIN.) (.)..... WP WPF -HX F-HX (.+.) Effective length..... B (B.) MIN. (.MIN.) R MIN. (R. MIN.).. (..) Lead wire UL AWG.. (..).. (..) Cross section -. (..). (.) (.). Key..... (..) (.).. pecification of key.... (..). (.. ). (.)..... Model name WPF-HX (F-HXL) WPFD-HX (F-HXL) WPF-HX (F-HXM) WPFD-HX (F-HXM) B - (.) - (.) DP DP DP DP WPF -HX F-HX Lead wire UL AWG UL vinyl tube. MIN. (..) (. MIN.) B (B.) Effective length..... R MIN. (R. MIN.). (..) Cross section -.. (..). (..) (.) (.).... (..) (..). (.). (..) (.) (.) (.) key..... (.) Parallel key... (..) (..). (.) Model name WPF-HX (F-HXL) WPFD-HX (F-HXL) WPF-HX (F-HXM) WPFD-HX (F-HXM) B - (.) - (.)

66 Pulse I/F (AC power input) Dimensions [ Unit: mm (inch) ] TEPYN F with electromagnetic brake WPF -XB F -XB Brake lead wire UL AWG MIN. (. MIN.) A (A.) MIN. (. MIN.) Lead wire UL AWG. (..). (.) (.+.) Effective length. (..). (..) Model name WPF-XB (F-XB) WPF-XB (F-XB) WPF-XB (F-XB) A. (.). (.). (.) R MIN. (R. MIN.)... (.. ).. (.. ) -M. Effective tapping depth (.) MIN... (..) Cross section - WPF -XB F -XB Brake lead wire UL AWG MIN. (. MIN.) A (A.) MIN. (. MIN.) Lead wire UL AWG. (..) (.). (.) (. +.) Effective length. (..). (..) Model name WPF-XB (F-XB) WPF-XB (F-XB) WPF-XB (F-XB) A. (.). (.). (.) R MIN. (R. MIN.) (.+.).. (..).. (..) Cross section - WPF -XB F -XB. (..) UL vinyl tube MIN. (. MIN.) Brake lead wire UL AWG Lead wire UL AWG A. (A.) (..) MIN. (. MIN.). (.). (.) (.+.) Effective length. (..) Cross section -. (..). (..). (..) Model name WPF-XB (F-XB) WPF-XB (F-XB) WPF-XB (F-XB) A. (.). (.). (.)..... R MIN. (R. MIN.)

67 Pulse rate-torque characteristics/pulse rate-source current characteristics WPM / WPF / WPF-XB : V WPM / WPF / WPF-XB : V.... AP.... -division -division Number of rotations(min-) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified ource Current(A).... -division -division Number of rotations(min-) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified ource Current(A) BP BP WP WPM / WPF / WPF-XB : V WPM / WPF / WPF-XB : V DP division -division Number of rotations(min-) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified ource Current(A).... -division -division Number of rotations(min-) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified ource Current(A) DP DP DP WPM / WPF / WPF-XB : V WPM / WPF / WPF-XB : V division -division Number of rotations(min-) ource Current(A).... -division -division Number of rotations(min-) ource Current(A) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified

68 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics WPF : V WPF : V division -division Number of rotations(min-) ource Current(A).... -division -division Number of rotations(min-) ource Current(A) F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified WPF : V WPF : V ource Current(A).. ource Current(A)... -division -division Number of rotations(min-). -division -division Number of rotations(min-) F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified WPF : V WPF : V division -division Number of rotations(min-) ource Current(A).... -division -division Number of rotations(min-) ource Current(A) F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified

69 Pulse rate-torque characteristics/pulse rate-source current characteristics WPM / WPF / WPF-XB : V WPM / WPF / WPF-XB : V.... AP.... -division -division Number of rotations(min-) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified ource Current(A).... -division -division Number of rotations(min-) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified ource Current(A) BP BP WP WPM / WPF / WPF-XB : V WPM / WPF / WPF-XB : V DP ource Current(A).. ource Current(A) DP.. -division -division Number of rotations(min-) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified.. -division -division Number of rotations(min-) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified DP DP WPM / WPF / WPF-XB : V WPM / WPF / WPF-XB : V division -division Number of rotations(min-) ource Current(A).... -division -division Number of rotations(min-) ource Current(A) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified

70 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics WPM / WPF / WPF-XB : V WPM / WPF / WPF-XB : V division -division Number of rotations(min-) ource Current(A).... -division -division Number of rotations(min-) ource Current(A) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified WPM / WPF / WPF-XB : V WPM / WPF / WPF-XB : V division -division Number of rotations(min-) ource Current(A).... -division -division Number of rotations(min-) ource Current(A) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified WPM / WPF / WPF-XB : V WPM / WPF / WPF-XB : V division -division Number of rotations(min-) ource Current(A).... -division -division Number of rotations(min-) ource Current(A) M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified M- /F- /F-XB ource voltage : ACV Operating current :.A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified

71 Pulse rate-torque characteristics/pulse rate-source current characteristics WPM / WPF : V WPM / WPF : V.. AP.... ource Current(A).. ource Current(A) BP... -division -division Number of rotations(min-). -division -division Number of rotations(min-) BP M- /F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified M- /F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified WP WPM / WPF : V WPM / WPF : V DP ource Current(A).. ource Current(A) DP.. -division -division Number of rotations(min-) M- /F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified.. -division -division Number of rotations(min-) M- /F- ource voltage : ACV Operating current :.A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified DP DP WPF -CX. : V WPF -CX. : V..... With low backlash gear. -division -division Number of rotations(min-)..... With low backlash gear. -division -division Number of rotations(min-) F-CXA ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXA ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

72 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics WPF -CX. : V WPF -CX. : V.... With low backlash gear. -division -division Number of rotations(min-).... With low backlash gear. -division -division Number of rotations(min-) F-CXB ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXA ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified WPF -CX : V WPF -CX : V With low backlash gear With low backlash gear division -division Number of rotations(min-). -division -division Number of rotations(min-) F-CXE ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXE ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified WPF -CX : V WPF -CX : V With low backlash gear With low backlash gear division -division Number of rotations(min-). -division -division Number of rotations(min-) F-CXG ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXG ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

73 Pulse rate-torque characteristics/pulse rate-source current characteristics WPF -CX : V WPF -CX : V With low backlash gear With low backlash gear AP BP... -division -division Number of rotations(min-). -division -division Number of rotations(min-) BP F-CXJ ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXJ ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified WP WPF -CX : V WPF -CX : V DP With low backlash gear With low backlash gear DP.. -division -division Number of rotations(min-) F-CXK ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified.. -division -division Number of rotations(min-) F-CXK ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified DP DP WPF -CX. : V WPF -CX. : V With low backlash gear With low backlash gear division -division Number of rotations(min-). -division -division Number of rotations(min-) F-CXA ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXA ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

74 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics WPF -CX. : V WPF -CX. : V With low backlash gear. -division -division Number of rotations(min-) With low backlash gear. -division -division Number of rotations(min-) F-CXB ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXB ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified WPF -CX : V WPF -CX : V With low backlash gear. -division -division Number of rotations(min-) With low backlash gear. -division -division Number of rotations(min-) F-CXE ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXE ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified WPF -CX : V WPF -CX : V With low backlash gear. -division -division Number of rotations(min-) With low backlash gear. -division -division Number of rotations(min-) F-CXG ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXG ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

75 Pulse rate-torque characteristics/pulse rate-source current characteristics WPF -CX : V WPF -CX : V With low backlash gear. -division -division Number of rotations(min-) F-CXJ ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified With low backlash gear. -division -division Number of rotations(min-) F-CXJ ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified WP BP BP AP WPF -CX : V With low backlash gear. -division -division Number of rotations(min-) F-CXK ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified WPF -CX : V With low backlash gear. -division -division Number of rotations(min-) F-CXK ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified DP DP DP DP WPF -CX. : V WPF -CX. : V With low backlash gear. -division -division Number of rotations(min-) With low backlash gear. -division -division Number of rotations(min-) F-CXA ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXA ource voltage : ACV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

76 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics WPF -CX. : V WPF -CX. : V With low backlash gear. -division -division Number of rotations(min-) With low backlash gear. -division -division Number of rotations(min-) F-CXB ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXB ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified WPF -CX : V WPF -CX : V With low backlash gear. -division -division Number of rotations(min-) With low backlash gear. -division -division Number of rotations(min-) F-CXE ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXE ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified WPF -CX : V WPF -CX : V With low backlash gear With low backlash gear. -division -division Number of rotations(min-). -division -division Number of rotations(min-) F-CXG ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXG ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

77 Pulse rate-torque characteristics/pulse rate-source current characteristics WPF -CX : V WPF -CX : V With low backlash gear With low backlash gear AP BP. -division -division Number of rotations(min-). -division -division Number of rotations(min-) BP F-CXJ ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXJ ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified WP WPF -CX : V WPF -CX : V DP With low backlash gear With low backlash gear DP. -division -division Number of rotations(min-) F-CXK ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified. -division -division Number of rotations(min-) F-CXK ource voltage : ACV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified DP DP WPF -HX : V WPF -HX : V With harmonic gear. -division -division Number of rotations(min-) With harmonic gear. -division -division Number of rotations(min-) F-HXL -division is specified -division is specified ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) F-HXL -division is specified -division is specified ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=)

78 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics WPF -HX : V WPF -HX : V With harmonic gear. -division -division Number of rotations(min-) With harmonic gear. -division -division Number of rotations(min-) F-HXM -division is specified -division is specified ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) F-HXM -division is specified -division is specified ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) WPF -HX : V WPF -HX : V With harmonic gear With harmonic gear. -division -division Number of rotations(min-). -division -division Number of rotations(min-) F-HXL -division is specified -division is specified ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) F-HXL -division is specified -division is specified ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) WPF -HX : V WPF -HX : V With harmonic gear. -division -division Number of rotations(min-) With harmonic gear. -division -division Number of rotations(min-) F-HXM -division is specified -division is specified ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) F-HXM -division is specified -division is specified ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=)

79 Pulse rate-torque characteristics/pulse rate-source current characteristics WPF -HX : V WPF -HX : V With harmonic gear. -division -division Number of rotations(min-) F-HXL -division is specified -division is specified ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL= - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) With harmonic gear. -division -division Number of rotations(min-) F-HXL -division is specified -division is specified ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) WP BP BP AP WPF -HX : V WPF -HX : V DP With harmonic gear With harmonic gear DP. -division -division Number of rotations(min-) F-HXM -division is specified -division is specified ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=). -division -division Number of rotations(min-) F-HXM -division is specified -division is specified ource voltage : ACV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) DP DP

80 Pulse I/F (DC power input) The -phase tepping et DP series DCV/V Micro-step ( x to divisions) Configuration of the -phase tepping Motor et, DP eries Name Quantity DP eries Instruction Manual pc. PM Driver pc. tepping Motor pc. ignal Cable (CNA) pc. Power Connector (CN) pc. tepping Motor Power Line Connector (CN) pc. Characteristics Micro-step function available mooth operation without vibration at low speeds can be realized. Flexible This stepping system is able to drive wide variety of stepping motors from small capacity to large capacity without adjustment, resulting in wide applications. Compact Mounting dedicated HIC realizes highly integrated and higher reliable system. Built-in function Resolution setting function types of resolution, ranging from one to divisions, can be set for a standard stepping motor step angle by using rotary switches. tep angle selectable Two types of micro step resolution can be selected through an external input signal. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. Power down function tepping motor current can be turned off through an external input signal.

81 Explanation of set model number ystem on the stepping motor flange side ystem on the stepping motor end cap side Code Flange side Deceleration ratio G pur gear /., /., /, /, /, / C Low-backlash gear /., /., /, /, /, / H Harmonic gear /, / X None Code End cap side Function B Brake Electromagnetic brake E Encoder Please contact us regarding the encoder X None AP tepping motor flange tepping motor end cap BP DP BP tepping motor flange side tepping motor end cap side Low-backlash gear Harmonic gear Brake Deceleration ratio of gear system Example: deceleration ratio /.. WP Explanation for model number in the combined case The set model number of the stepping motor is as follows when PMM-MD-- and F type are combined and equipped with the system of harmonic gear (/) and brake: DPFDH B DP DP tandard set model number Gear deceleration ratio (/) Brake Harmonic gear How to order Please use the et Model Number in the List of Combined tepping Motor Model Number for the -phase tepping et, DP eries. To order gear, brake, and encoder, put the product code number after the set number according to the Explanation of combination numbering,, and. PM driver specifications tandard specification I/O signals Model number PMM-MD-- Input source DCV / V±% ource current A Operating ambient temperature ~ + C Conservation temperature - ~ + C Environment Function Operating ambient humidity ~ %RH (no condensation) Conservation humidity ~ %RH (no condensation) Vibration resistance.g Tested under the following conditions, frequency range: to Hz, direction: along the X, Y, and Z axes, for hours Impact resistance Considering the ND-C- standard section.. division C, not influenced. Withstand voltage Not influenced when applying ACV between the power input terminal and cabinet for one minute. Insulation resistance MΩ MIN. when applying DCV between the power input terminal and cabinet. Mass(Weight).kg(. lbs) elect function Auto current down, pulse input system, step angle, power specification Photo coupler input method, input resistance Ω Command pulse input signal Input signal voltage H level:. to.v, L level: to.v Maximum input frequency kpulse/s Photo coupler input method, input resistance Ω Power down input signal Input signal voltage H level:. to.v, L level: to.v Photo coupler input method, input resistance Ω tep angle selection Input signal voltage H level:. to.v, L level: to.v Open collector output by photo coupler (ON when phase origin) Phase origin monitor output signal Output signal standard, Vceo: V MAX, Ic: ma MAX DP * Refer to pages and after for operation, connection, function, and dimensions of the PM driver.

82 Pulse I/F (DC power input) tepping motor specifications Item Insulation class Withstand voltage nsulation resistance Vibration resistance Impact resistance Operating ambient temperature Operating ambient humidity Combined stepping motors of DP series Class B (+ C) Conditions: ACV, / Hz, and for one minute MΩ MIN. against DCV Conditions: amplitude. mm (P-P), frequency range to Hz, minutes sweep time, along X, Y, and Z axes, for hours Conditions: m/s acceleration, minutes duration, half-wave/sine wave, three times each along X, Y, and Z axes, times in total - to + C ( to + C with harmonic gears) ~%(no condensation) tandard combined stepping motors for -phase stepping set DP series PM driver model numbere : PMM-MD-- Combination Model Number for TEPYN F eries ystem support tandard type Low-backlash gear Harmonic gear pur gear Electromagnetic brake Dimensions of stepping motor mm mm mm mm mm mm mm mm ingle shaft et model number tandard combined stepping motor number DPF F- DPF F- DPF F- DPF F- DPF F- DPF F- DPF F- DPF F- DPF-CX. F-CXA DPF-CX. F-CXB DPF-CX F-CXE DPF-CX F-CXG DPF-CX F-CXJ DPF-CX F-CXK DPF-HX F-HXL DPF-HX F-HXM DPF-HX F-HXL DPF-HX F-HXM DPF-GX. F-GXA DPF-GX. F-GXB DPF-GX F-GXE DPF-GX F-GXG DPF-GX F-GXJ DPF-GX F-GXL DPF-XB F-XB DPF-XB F-XB DPF-XB F-XB Double shaft et model number tandard combined stepping motor number DPFD F- DPFD F- DPFD F- DPFD F- DPFD F- DPFD F- DPFD F- DPFD F- DPFD-CX. F-CXA DPFD-CX. F-CXB DPFD-CX F-CXE DPFD-CX F-CXG DPFD-CX F-CXJ DPFD-CX F-CXK DPFD-HX F-HXL DPFD-HX F-HXM DPFD-HX F-HXL DPFD-HX F-HXM DPFD-GX. F-GXA DPFD-GX. F-GXB DPFD-GX F-GXE DPFD-GX F-GXG DPFD-GX F-GXJ DPFD-GX F-GXL tepping motor data sheet TEPYN F eries (tandard) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.)

83 tepping motor data sheet TEPYN F eries (With low-backlash gear) et model number ingle shaft Double shaft Allowable torque N m(oz in) Rotor inertia - kg m (oz in ) Basic step angle Deceleration ratio Backlash Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load N * The rotation direction of the motor and the gear output shaft is as follows: when deceleration ratio is :., :., or :, both motor and shaft rotate in the same direction, and for : or : type, the motor and the shaft rotate in opposite direction. TEPYN F eries (With harmonic gear) et model number ingle shaft DPF-HX Double shaft DPFD-HX Allowable torque N m(oz in).(.) Rotor inertia - kg m (oz in ) Basic step angle. Deceleration ratio : Lost motion Minute.~ (±. N m)(±.oz in) Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N * The gear output shaft rotates in the opposite direction of the motor. (Note) When load is applied at / length from output shaft edge. DPF-CX. DPF-CX. DPF-CX DPF-CX DPF-CX DPF-CX DPFD-CX. DPFD-CX. DPFD-CX DPFD-CX DPFD-CX DPFD-CX.(.).(.) (.).(.).(.).(.).(.). :.... :.... :.. :.. :.. :..(.).(.).(.) DPF-HX DPFD-HX (.). :.~ (±.N m)(±. oz in) DP WP BP BP AP et model number ingle shaft Double shaft Allowable torque N m(oz in) Rotor inertia - kg m (oz in ) Basic step angle Deceleration ratio Lost motion Minute Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N DPF-HX DPFD-HX.(.). :.~ (±. N m)(±. oz in).(.).(.). DPF-HX DPFD-HX (.). :.~ (±.N m)(±. oz in) DP DP * The gear output shaft rotates in the opposite direction of the motor. (Note) When load is applied at / length from output shaft edge. TEPYN F eries (With spur gear) DP et model number ingle shaft DPF-CX. DPF-CX. DPF-CX DPF-CX DPF-CX DPF-CX Double shaft DPFD-CX. DPFD-CX. DPFD-CX DPFD-CX DPFD-CX DPFD-CX Allowable torque N m(oz in).(.).(.).(.).(.).(.).(.) Rotor inertia Basic step angle - kg m (oz in )....(.)... Deceleration ratio :. :. : : : : Backlash Minute... Allowable number of rotations min - Mass(Weight) kg(lbs).(.) Allowable thrust load Allowable radial load (Note) N N * The rotation direction of the motor and the gear output shaft is as follows: when deceleration ratio is :., :., :, :, or :, both motor and shaft rotate in the same direction, and for : type, the motor and the shaft rotate in opposite direction. (Note) When load is applied at / length from output shaft edge. TEPYN F eries (With electromagnetic brake) et model numbe ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) Electromagnetic brake specification Brake operation system ource voltage V Exciting current A Electric power consumption W tatic friction torque N m(oz in) Brake operating time ms Brake release time ms Polarity DPF-XB --.(.).(.).(.) DPF-XB --.(.).(.).(.) Non-excitation operation system DC ± %..(.). Brown White DPF-XB --.(.).(.).(.)

84 Pulse I/F (DC power input) Dimensions [ Unit: mm (inch) ] TEPYN F DPF F - B. A.. (B.) (A.) (..) + +. (..) Effective length MIN. (. MIN.) Lead wire UL AWG (.) + +. (.. ) Effective length.. (..) Cross section -. (..) -. (-..) Model name A B DPF (F-) DPFD (F-) DPF (F-) DPFD (F-). (.). (.). (.). (.) - (.) - (.)..... R MIN. (R.MIN.) R MIN. (R.MIN.)... (.. ).. (.. ) -M.. Effective tapping depth.(.)min. DPF F - B A. (B.) (A.) (..) Effective length M-series motor only Lead wire UL AWG MIN. (. MIN.). (.) Effective length.. (..) Cross section -. (..). (..) Model name A B DPF (F-) DPFD (F-) DPF (F-) DPFD (F-) DPF (F-) DPFD (F-) (.) (.) (.) (.) (.) (.) - (.) - (.) - (.)... (.. ) R MIN. (R. MIN.) R MIN. (R. MIN.)... (.. ).... -M. Effective tapping depth (.)MIN. DPF F (. +.) Effective length M-series motor only.. (.. ) B (B.) Lead wire UL AWG A (A.) MIN. (. MIN.) R MIN. (R. MIN.) R MIN. (R. MIN.). (..) (.).(.) (. +.) Effective length.... (.. )..... (..).. (..) Cross section -. (..). (..) Model name A B DPF (F-) DPFD (F-) DPF (F-) DPFD (F-) DPF (F-) DPFD (F-). (.). (.) (.) (.). (.). (.) - (.) - (.) - (.)

85 Dimensions [ Unit: mm (inch) ] TEPYN F with low-backlash gear DPF -CX F-CX B.. (B.) (..) (..) (.) Effective length..... R MIN. (R.MIN.) MIN. (. MIN.) Lead wire UL AWG Effective length TEPYN F with harmonic gear DPF -HX F-HX.. (..) B. (B.) (.+.) Effective length MIN. (. MIN.) RMIN. (R.MIN.). (..)..... Lead wire UL AWG (.).. (..) Cross section (..). (.). (..) (. +. ) T. (..).. (..) (-..). (..).. (..) -M. Effective tapping depth (.) MIN... (..) Cross section T-T. (..) Model name DPF-CX. (F-CXA) DPFD-CX. (F-CXA) DPF-CX. (F-CXB) DPFD-CX. (F-CXB) DPF-CX (F-CXE) DPFD-CX (F-CXE) DPF-CX (F-CXG) DPFD-CX (F-CXG) DPF-CX (F-CXJ) DPFD-CX (F-CXJ) DPF-CX (F-CXK) DPFD-CX (F-CXK) Model name DPF-HX (F-HXL) DPFD-HX (F-HXL) DPF-HX (F-HXM) DPFD-HX (F-HXM) B - (.) - (.) - (.) - (.) - (.) - (.) B - (.) - (.) DP DP DP DP WP BP BP AP Cross section R MIN. (R. MIN.) T..... (.) (.) DPF -HX F -HX.. (..) B (B.) Effective length MIN. (. MIN.) pecification of key Lead wire UL AWG. (..) (..) (.) (.).. (..) Key (.) (..) (..) Model name DPF-HX (F-HXL) DPFD-HX (F-HXL) DPF-HX (F-HXM) DPFD-HX (F-HXM) B - (.) - (.) Cross section R MIN. (R. MIN.) (.).....

86 Pulse I/F (DC power input) Dimensions [ Unit: mm (inch) ] TEPYN F with spur gear DPF -GX F-GX..... (.. ) B.. (B.) (..) (..) (.) (..) Effective length R MIN. (R. MIN.) MIN. (. MIN.) Lead wire UL AWG (..) Effective length.. R MIN. (R. MIN.). (.. ) Cross section -... (.. ) (..). (..). (..). (..) -M.. Effective tapping depth.(.) MIN. Model name DPF-GX. (F-GXA) DPFD-GX. (F-GXA) DPF-GX. (F-GXB) DPFD-GX. (F-GXB) DPF-GX (F-GXE) DPFD-GX (F-GXE) DPF-GX (F-GXG) DPFD-GX (F-GXG) DPF-GX (F-GXJ) DPFD-GX (F-GXJ) DPF-GX (F-GXL) DPFD-GX (F-GXL) B - (.) - (.) - (.) - (.) - (.) - (.) TEPYN F with electromagnetic brake DPF -XB F -XB Brake lead wire UL AWG MIN. (. MIN.) A (A.) MIN. (. MIN.) Lead wire UL AWG. (..). (.) (.+.) Effective length. (..). (..) Model name DPF-XB (F-XB) DPF-XB (F-XB) DPF-XB (F-XB) B. (.). (.). (.) R MIN. (R. MIN.)... (.. ).. (.. ) -M. Effective tapping depth (.) MIN... (..) Cross section -

87 Pulse rate-torque characteristics/pulse rate-source current characteristics DPF : V DPF : V AP division -division Number of rotations(min-) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified ource Current(A) division -division Number of rotations(min-) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified ource Current(A) BP BP WP DPF : V DPF : V DP division -division Number of rotations(min-) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified ource Current(A) division -division Number of rotations(min-) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified ource Current(A) DP DP DP DPF / DPF-XB : V DPF / DPF-XB : V ource Current(A).... ource Current(A) division -division Number of rotations(min-). -division -division Number of rotations(min-) F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified

88 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics DPF / DPF-XB : V DPF / DPF-XB : V division -division Number of rotations(min-) ource Current(A).... -division -division Number of rotations(min-) ource Current(A) F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified DPF / DPF-XB : V DPF / DPF-XB : V division -division Number of rotations(min-) ource Current(A).... -division -division Number of rotations(min-) ource Current(A) F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified DPF : V DPF : V division -division Number of rotations(min-) ource Current(A).... -division -division Number of rotations(min-) ource Current(A) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified

89 Pulse rate-torque characteristics/pulse rate-source current characteristics DPF : V DPF : V.. AP.... ource Current(A).. ource Current(A) BP.. -division -division Number of rotations(min-).. -division -division Number of rotations(min-) BP F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified WP DPF : V DPF : V DP division -division Number of rotations(min-) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified ource Current(A).... -division -division Number of rotations(min-) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified -division is specified ource Current(A) DP DP DP DPF -CX. : V DPF -CX. : V..... With low backlash gear. -division -division Number of rotations(min-)..... With low backlash gear. -division -division Number of rotations(min-) F-CXA ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXA ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

90 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics DPF -CX. : V DPF -CX. : V.... With low backlash gear. -division -division Number of rotations(min-).... With low backlash gear. -division -division Number of rotations(min-) F-CXB ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXB ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified DPF -CX : V DPF -CX : V With low backlash gear With low backlash gear division -division Number of rotations(min-). -division -division Number of rotations(min-) F-CXE ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXE ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified DPF -CX : V DPF -CX : V With low backlash gear With low backlash gear division -division Number of rotations(min-). -division -division Number of rotations(min-) F-CXG ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXG ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

91 Pulse rate-torque characteristics/pulse rate-source current characteristics DPF -CX : V DPF -CX : V With low backlash gear With low backlash gear AP BP... -division -division Number of rotations(min-). -division -division Number of rotations(min-) BP F-CXJ ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-CXJ ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified WP DPF -CX : V DPF -CX : V DP With low backlash gear With low backlash gear DP.. -division -division Number of rotations(min-) F-CXK ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified.. -division -division Number of rotations(min-) F-CXK ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified DP DP DPF -HX : V DPF -HX : V With harmonic gear. -division -division Number of rotations(min-) With harmonic gear. -division -division Number of rotations(min-) F-HXL -division is specified -division is specified ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) F-HXL -division is specified -division is specified ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ] Use therubber coupling) Allowable torque (JL=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=)

92 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics DPF -HX : V DPF -HX : V With harmonic gear. -division -division Number of rotations(min-) With harmonic gear. -division -division Number of rotations(min-) F-HXM -division is specified -division is specified ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) F-CXM -division is specified -division is specified ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) DPF -HX : V With harmonic gear. -division -division Number of rotations(min-) F-HXL -division is specified -division is specified ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) DPF -HX : V With harmonic gear. -division -division Number of rotations(min-) F-CXL -division is specified -division is specified ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) DPF -HX : V With harmonic gear. -division -division Number of rotations(min-) F-HXM -division is specified -division is specified ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) DPF -HX : V With harmonic gear. -division -division Number of rotations(min-) F-HXM -division is specified -division is specified ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque (JL= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=)

93 Pulse rate-torque characteristics/pulse rate-source current characteristics DPF -GX. : V DPF -GX. : V.. With spur gear.. With spur gear AP BP division -division Number of rotations(min-). -division -division Number of rotations(min-) BP F-GXA ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-GXA ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified WP DPF -GX. : V DPF -GX. : V DP.. With spur gear.. With spur gear DP... -division -division Number of rotations(min-) F-GXB ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified... -division -division Number of rotations(min-) F-GXB ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified DP DP DPF -GX : V DPF -GX : V..... With spur gear. -division -division Number of rotations(min-)..... With spur gear. -division -division Number of rotations(min-) F-GXE ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-GXE ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

94 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics DPF -GX : V DPF -GX : V..... With spur gear. -division -division Number of rotations(min-)..... With spur gear. -division -division Number of rotations(min-) F-GXG ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-GXG ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified DPF -GX : V DPF -GX : V.... With spur gear. -division -division Number of rotations(min-).... With spur gear. -division -division Number of rotations(min-) F-GXJ ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-GXJ ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified DPF -GX : V DPF -GX : V.... With spur gear. -division -division Number of rotations(min-).... With spur gear. -division -division Number of rotations(min-) F-GXL ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F-GXL ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

95 DP DP DP DP WP BP BP AP

96 Pulse I/F (DC power input) The -phase tepping et DP series DCV/V -step/-step ( x divisions) ( x divisions) Configuration of the -phase tepping Motor et, DP eries Name Quantity DP eries Instruction Manual pc. PM Driver pc. tepping Motor pc. Power Cable, ignal Cable (CN) pc. tepping Motor Cable (CN) pc. Characteristics Flexible This stepping system is able to drive wide variety of stepping motors from small capacity to large capacity without adjustment, resulting in wide applications. Compact Mounting dedicated HIC realizes highly integrated and higher reliable system. Built-in function Excitation system selectable -step or half-step can be selected through an external input signal. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. Power down function tepping motor current can be turned off through an external input signal.

97 Explanation of set model number ystem on the stepping motor flange side ystem on the stepping motor end cap side Code Flange side Deceleration ratio G pur gear /., /., /, /, /, / C Low-backlash gear /., /., /, /, /, / H Harmonic gear /, / X None on flange side Code End cap side Function B Brake Electromagnetic brake E Encoder Please contact us regarding the encoder X None on end cap side AP tepping motor flange tepping motor end cap BP DP BP tepping motor flange side tepping motor end cap side Low-backlash gear Harmonic gear Brake Deceleration ratio of gear system Example: deceleration ratio /.. WP Explanation for model number in the combined case The set model number of the stepping motor is as follows when PMM-BD-- and F type are combined and equipped with the system of harmonic gear (/) and brake: DPFH B tandard set model number Gear deceleration ratio (/) Brake Harmonic gear DP DP How to order Please use the et Model Number in the List of Combined tepping Motor Model Number for the -phase tepping et, DP eries. To order gear, brake, and encoder, put the product code number after the set number according to the Explanation of combination numbering,, and. PM driver specifications DP Input source Model number For main power For control power For main power ource current For control power Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Vibration resistance Impact resistance Withstand voltage Insulation resistance Mass(Weight) Function elect function tandard specification Environment I/O signals Command pulse input signal Power down input signal tep angle selection Phase origin monitor output signal PMM-BD-- DCV / V±% DCV±%.A.A ~ + C - ~ + C ~ %RH (no condensation) ~ %RH (no condensation).g Tested under the following conditions, frequency range: to Hz, direction: along the X, Y, and Z axes, for hours Considering the ND-C- standard section.. division C, not influenced. Not influenced when applying ACV between the power input terminal and cabinet for one minute. MΩ MIN. when applying DCV between the power input terminal and cabinet..kg (. lbs) Pulse input system, power specification Photo coupler input method, input resistance Ω Input signal voltage H level:. to.v, L level: to.v Maximum input frequency kpulse/s Photo coupler input method, input resistance Ω Input signal voltage H level:. to.v, L level: to.v Photo coupler input method, input resistance Ω Input signal voltage H level:. to.v, L level: to.v Open collector output by photo coupler (ON when phase origin) Output signal standard, Vceo: V MAX, Ic: ma MAX * For information about the operation, connection, function, and dimensions of the PM driver, refer to pages and after.

98 Pulse I/F (DC power input) tepping motor Common specifications Item Insulation class Withstand voltage Insulation resistance Vibration resistance Impact resistance Operating ambient temperature Operating ambient humidity Combined stepping motors of DP series Class B (+ C) Conditions: ACV, / Hz, and for one minute MΩ MIN. against DCV Conditions: amplitude. mm (P-P), frequency range to Hz, minutes sweep time, along X, Y, and Z axes, for hours Conditions: m/s acceleration, minutes duration, half-wave/sine wave, three times each along X, Y, and Z axes, times in total - to + C ( to + C with harmonic gears) ~%(no condensation) tandard combined stepping motors for -phase stepping set DP series PM driver model numbere : PMM-BD-- Combination Model Number for TEPYN F eries (Motor for a set) ystem support tandard type Low-backlash gear Harmonic gear pur gear Electromagnetic brake Dimensions of stepping motor mm mm mm mm mm mm mm mm ingle shaft et model number tandard combined stepping motor number DPF F- DPF F- DPF F- DPF F- DPF F- DPF F- DPF F- DPF F- DPF-CX. F-CXA DPF-CX. F-CXB DPF-CX F-CXE DPF-CX F-CXG DPF-CX F-CXJ DPF-CX F-CXK DPF-HX F-HXL DPF-HX F-HXM DPF-HX F-HXL DPF-HX F-HXM DPF-GX. F-GXA DPF-GX. F-GXB DPF-GX F-GXE DPF-GX F-GXG DPF-GX F-GXJ DPF-GX F-GXL DPF-XB F-XB DPF-XB F-XB DPF-XB F-XB Double shaft et model number tandard combined stepping motor number DPFD F- DPFD F- DPFD F- DPFD F- DPFD F- DPFD F- DPFD F- DPFD F- DPFD-CX. F-CXA DPFD-CX. F-CXB DPFD-CX F-CXE DPFD-CX F-CXG DPFD-CX F-CXJ DPFD-CX F-CXK DPFD-HX F-HXL DPFD-HX F-HXM DPFD-HX F-HXL DPFD-HX F-HXM DPFD-GX. F-GXA DPFD-GX. F-GXB DPFD-GX F-GXE DPFD-GX F-GXG DPFD-GX F-GXJ DPFD-GX F-GXL

99 tepping motor data sheet TEPYN F eries (tandard) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) AP et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) BP TEPYN F eries (With low-backlash gear) et model number ingle shaft DPF-CX. DPF-CX. Double shaft DPFD-CX. DPFD-CX. Allowable torque N m(oz in).(.).(.) Rotor inertia - kg m (oz in ) Basic step angle.. Deceleration ratio :. :. Backlash.. Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N DPF-CX DPFD-CX (.) DPF-CX DPFD-CX.(.) DPF-CX DPFD-CX.(.) DPF-CX DPFD-CX.(.). :..(.). :.. :.. :..(.). * The rotation direction of the motor and the gear output shaft is as follows: when deceleration ratio is :., :., or :, both motor and shaft rotate in the same direction, and for : or : type, the motor and the shaft rotate in opposite direction. (Note) When load is applied at / length from output shaft edge. BP WP DP TEPYN F eries (With harmonic gear) et model number ingle shaft Double shaft Allowable torque N m(oz in) Rotor inertia - kg m (oz in ) Basic step angle Deceleration ratio Lost motion Minute Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N DPF-HX DPFD-HX.(.). :.~ (±. N m)(±. oz in).(.).(.) DPF-HX DPFD-HX (.). :.~ (±.N m)(±. oz in) DP DP * The gear output shaft rotates in the opposite direction of the motor. (Note) When load is applied at / length from output shaft edge. et model number ingle shaft Double shaft Allowable torque N m(oz in) Rotor inertia - kg m (oz in ) Basic step angle Deceleration ratio Lost motion Minute Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N DPF-HX DPFD-HX.(.). :.~ (±. N m)(±. oz in).(.).(.) DPF-HX DPFD-HX (.). :.~ (±.N m)(±. oz in) DP * The gear output shaft rotates in the opposite direction of the motor. (Note) When load is applied at / length from output shaft edge. TEPYN F eries (With spur gear) et model number ingle shaft DPF-GX. DPF-GX. DPF-GX DPF-GX DPF-GX DPF-GX Double shaft DPFD-GX. DPFD-GX. DPFD-GX DPFD-GX DPFD-GX DPFD-GX Allowable torque N m(oz in).(.).(.).(.).(.).(.).(.) Rotor inertia Basic step angle - kg m (oz in )....(.)... Deceleration ratio :. :. : : : : Backlash... Allowable number of rotations min - Mass(Weight) kg(lbs).(.) Allowable thrust load Allowable radial load (Note) N N * The rotation direction of the motor and the gear output shaft is as follows: when deceleration ratio is :., :., :, :, or :, both motor and shaft rotate in the same direction, and for : type, the motor and the shaft rotate in opposite direction. (Note) When load is applied at / length from output shaft edge.

100 Pulse I/F (DC power input) tepping motor data sheet TEPYN F eries (With electromagnetic brake) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) Electromagnetic brake specification Brake operation system ource voltage V Exciting current A Electric power consumption W tatic friction torque N m(oz in) Brake operating time ms Brake release time ms Polarity DPF-XB --.(.).(.).(.) DPF-XB --.(.).(.).(.) Non-excitation operation system DC ± %..(.) Brown White DPF-XB --.(.).(.).(.)

101 Dimensions [ Unit: mm (inch) ] TEPYN F DPF F - AP Lead wire UL AWG B. A.. (B.) (A.) (..) (.).. (..) Cross section -. (..) -. (-..) Model name A B DPF (F-) DPFD (F-) DPF (F-) DPFD (F-) (.) (.). (.). (.) - (.) - (.) BP + +. (..) Effective length MIN. (. MIN.) + +. (.. ) Effective length BP..... R MIN. (R.MIN.) R MIN. (R.MIN.)... (.. ).. (.. ) -M.. Effective tapping depth.(.)min. WP DPF F - DP B A. (B.) (A.) (..) Effective length Lead wire UL AWG MIN. (. MIN.). (.) Effective length.. (..) Cross section -. (..). (..) Model name A B DPF (F-) DPFD (F-) DPF (F-) DPFD (F-) DPF (F-) DPFD (F-) (.) (.) (.) (.) (.) (.) - (.) - (.) - (.) DP DP... (.. ) R MIN. (R. MIN.) R MIN. (R. MIN.)... (.. ).... -M. Effective tapping depth (.)MIN. DP DPF F (. +.) Effective length.. (.. ) B (B.) Lead wire UL AWG A (A.) MIN. (. MIN.) R MIN. (R. MIN.) R MIN. (R. MIN.). (..) (.).(.) (. +.) Effective length.... (.. )..... (..).. (..) Cross section -. (..). (..) Model name A B DPF (F-) DPFD (F-) DPF (F-) DPFD (F-) DPF (F-) DPFD (F-). (.). (.) (.) (.). (.). (.) - (.) - (.) - (.)

102 Pulse I/F (DC power input) Dimensions [ Unit: mm (inch) ] TEPYN F with low-backlash gear DPF -CX F-CX B.. (B.) (..) (..) (.) (. +.) (..) Effective length Effective length..... R MIN. (R.MIN.) MIN. (. MIN.) Lead wire UL AWG RMIN. (R.MIN.)..... Cross section (..). (..) (-..).. (..) -M. Effective tapping depth (.) MIN. Model name DPF-CX. (F-CXA) DPFD-CX. (F-CXA) DPF-CX. (F-CXB) DPFD-CX. (F-CXB) DPF-CX (F-CXE) DPFD-CX (F-CXE) DPF-CX (F-CXG) DPFD-CX (F-CXG) DPF-CX (F-CXJ) DPFD-CX (F-CXJ) DPF-CX (F-CXK) DPFD-CX (F-CXK) B - (.) - (.) - (.) - (.) - (.) - (.) TEPYN F with harmonic gear DPF -HX F-HX.. (..) B. (B.) (.+.) Effective length.. (..) MIN. (. MIN.) Lead wire UL AWG. (..) (.) (..). (.). (..) (. +. ) T.. (..). (..) Cross section T-T. (..) Model name DPF-HX (F-HXL) DPFD-HX (F-HXL) DPF-HX (F-HXM) DPFD-HX (F-HXM) B - (.) - (.) Cross section R MIN. (R. MIN.) T..... (.) (.) DPF -HX F-HX.. (..) B (B.) Effective length MIN. (. MIN.) pecification of key Lead wire UL AWG. (..) (..) (.) (.).. (..) Key (.) (..) (..) Model name DPF-HX (F-HXL) DPFD-HX (F-HXL) DPF-HX (F-HXM) DPFD-HX (F-HXM) B - (.) - (.) Cross section R MIN. (R. MIN.) (.).....

103 Dimensions [ Unit: mm (inch) ] TEPYN F with spur gear DPF -GX F-GX AP... (.. ) B.. (B.) (..) (..) (.) (..) Effective length R MIN. (R. MIN.) MIN. (. MIN.) Lead wire UL AWG (..) Effective length.. R MIN. (R. MIN.). (.. ) Cross section -... (.. ).. (..). (..). (..). (..) -M.. Effective tapping depth.(.) MIN. Model name DPF-GX. (F-GXA) DPFD-GX. (F-GXA) DPF-GX. (F-GXB) DPFD-GX. (F-GXB) DPF-GX (F-GXE) DPFD-GX (F-GXE) DPF-GX (F-GXG) DPFD-GX (F-GXG) DPF-GX (F-GXJ) DPFD-GX (F-GXJ) DPF-GX (F-GXL) DPFD-GX (F-GXL) B - (.) - (.) - (.) - (.) - (.) - (.) DP WP BP BP TEPYN F with electromagnetic brake DPF -XB F -XB DP Brake lead wire UL AWG MIN. (. MIN.) A (A.) MIN. (. MIN.) Lead wire UL AWG. (..). (.) (.+.) Effective length. (..). (..) Model name DPF-XB (F-XB) DPF-XB (F-XB) DPF-XB (F-XB) A. (.). (.). (.) DP DP R MIN. (R. MIN.)... (.. ).. (.. ) -M. Effective tapping depth (.) MIN... (..) Cross section -

104 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics DPF : V DPF : V Number of rotations(min-) ource Current(A) Number of rotations(min-) ource Current(A) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step DPF : V DPF : V Number of rotations(min-) ource Current(A) Number of rotations(min-) ource Current(A) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step DPF / DPF-XB : V DPF / DPF-XB : V ource Current(A).... ource Current(A)..... Number of rotations(min-). Number of rotations(min-) F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step

105 Pulse rate-torque characteristics/pulse rate-source current characteristics DPF / DPF-XB : V DPF / DPF-XB : V.... AP.. ource Current(A).. ource Current(A) BP.. Number of rotations(min-).. Number of rotations(min-) BP F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step WP DPF / DPF-XB : V DPF / DPF-XB : V DP Number of rotations(min-) F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step ource Current(A).... Number of rotations(min-) F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step ource Current(A) DP DP DP DPF : V DPF : V ource Current(A).. ource Current(A).. Number of rotations(min-).. Number of rotations(min-) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step

106 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics DPF : V DPF : V ource Current(A).. ource Current(A)... Number of rotations(min-). Number of rotations(min-) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step DPF : V DPF : V ource Current(A).. ource Current(A)... Number of rotations(min-). Number of rotations(min-) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step DPF -CX. : V DPF -CX. : V... With low backlash gear. With low backlash gear.. ource Current(A).. ource Current(A)... Number of rotations(min - ). Number of rotations(min - ) F-CXA ource voltage : DCV Operating current :.A/phase Allowable torquee(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXA ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step

107 Pulse rate-torque characteristics/pulse rate-source current characteristics DPF -CX. : V DPF -CX. : V.. With low backlash gear.. With low backlash gear AP.. ource Current(A).. ource Current(A) BP... Number of rotations(min-). Number of rotations(min-) BP F-CXB ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXB ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step WP DPF -CX : V DPF -CX : V DP... With low backlash gear. With low backlash gear.. ource Current(A).. ource Current(A) DP.. DP. Number of rotations(min-) F-CXE ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step. Number of rotations(min-) F-CXE ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step DP DPF -CX : V DPF -CX : V... With low backlash gear. With low backlash gear.. ource Current(A).. ource Current(A)... Number of rotations(min-). Number of rotations(min-) F-CXG ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXG ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step

108 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics DPF -CX : V DPF -CX : V. With low backlash gear. With low backlash gear Number of rotations(min-). Number of rotations(min-) F-CXJ ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXJ ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step DPF -CX : V DPF -CX : V. With low backlash gear. With low backlash gear Number of rotations(min-). Number of rotations(min-) F-CXK ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXK ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step DPF -HX : V DPF -HX : V.. With harmonic gear.. With harmonic gear.. ource Current(A).. ource Current(A)... Number of rotations(min-). Number of rotations(min-) F-HXL -step -step ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) F-HXL -step -step ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=)

109 Pulse rate-torque characteristics/pulse rate-source current characteristics DPF -HX : V DPF -HX : V.. With harmonic gear.. With harmonic gear AP.. ource Current(A).. ource Current(A) BP... Number of rotations(min-). Number of rotations(min-) BP F-HXM -step -step ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) F-HXM -step -step ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) WP DPF -HX : V..... With harmonic gear. Number of rotations(min-) F-HXL -step -step ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) DPF -HX : V..... With harmonic gear. Number of rotations(min-) F-HXL -step -step ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) DP DP DP DP DPF -HX : V DPF -HX : V. With harmonic gear..... Number of rotations(min-). With harmonic gear..... Number of rotations(min-) F-HXM -step -step ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ]Use the rubber coupling) Allowable torque(jl= - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) F-HXM -step -step ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ]Use the rubber coupling) Allowable torque(jl= - kg m [. oz in ]Use therubber coupling) ource current(tl=max) ource current(tl=)

110 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics DPF -GX. : V DPF -GX. : V.. With spur gear.. With spur gear ource Current(A).... ource Current(A)..... Number of rotations(min-). Number of rotations(min-) F-GXA ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-GXA ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step DPF -GX. : V DPF -GX. : V.. With spur gear.. With spur gear ource Current(A).... ource Current(A)..... Number of rotations(min-). Number of rotations(min-) F-GXB ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-GXB ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step DPF -GX : V DPF -GX : V.. With spur gear.. With spur gear.. ource Current(A).. ource Current(A)... Number of rotations(min-). Number of rotations(min-) F-GXE ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-GXE ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step

111 Pulse rate-torque characteristics/pulse rate-source current characteristics DPF -GX : V DPF -GX : V.. With spur gear.. With spur gear AP.. ource Current(A).. ource Current(A) BP... Number of rotations(min-). Number of rotations(min-) BP F-GXG ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-GXG ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step WP DPF -GX : V DPF -GX : V DP.. With spur gear.. With spur gear.. ource Current(A).. ource Current(A) DP.. DP. Number of rotations(min-) F-GXJ ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step. Number of rotations(min-) F-GXJ ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step DP DPF -GX : V DPF -GX : V.. With spur gear.. With spur gear.. ource Current(A).. ource Current(A)... Number of rotations(min-). Number of rotations(min-) F-GXL ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-GXL ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step

112 Pulse I/F (DC power input) The -phase tepping et DP series DCV -step/-step ( x divisions) ( x divisions) Configuration of the -phase tepping Motor et, DP eries Name Quantity DP eries Instruction Manual pc. PM Driver pc. tepping Motor pc. Power Cable (CN) pc. Input Cable (CN) pc. tepping Motor Cable (CN) pc. Characteristics Fast operation This product is a fast operation version of the DP series. Flexible This stepping system is able to drive wide variety of stepping motors from small capacity to large capacity without adjustment, resulting in wide applications. Compact Mounting dedicated gate arrays realizes highly integrated and higher reliable system. Built-in function Excitation system selectable -step or half-step can be selected through an external input signal. Power down function tepping motor current can be turned off through an external input signal.

113 Explanation of set model number ystem on the stepping motor flange side ystem on the stepping motor end cap side Code Flange side Deceleration ratio C Low-backlash gear /., /., /, /, /, / H Harmonic gear /, / X None Code End cap side Function B Brake Electromagnetic brake E Encoder Please contact us regarding the encoder X None AP tepping motor flange tepping motor end cap BP WP DP BP tepping motor flange side tepping motor end cap side Low-backlash gear Harmonic gear Brake Deceleration ratio of gear system Example: deceleration ratio /.. Explanation for model number in the combined case The set model number of the stepping motor is as follows when PMDPP and F type are combined and equipped with the system of harmonic gear (/) and brake: DP DP DPFDH B tandard set model number Gear deceleration ratio (/) Brake Harmonic gear How to order Please use the et Model Number in the List of Combined tepping Motor Model Number for the -phase tepping et, DP eries. To order gear, brake, and encoder, put the product code number after the set number according to the Explanation of combination numbering,, and. PM driver specifications tandard specification I/O signals Model number PMDPBP Input source For main power DCV±% ource current For main power.a Operating ambient temperature Conservation temperature ~ + C - ~ + C Environment Function Operating ambient humidity Conservation humidity Vibration resistance Impact resistance Withstand voltage Insulation resistance Mass(Weight) elect function ~ %RH (no condensation) ~ %RH (no condensation).g Tested under the following conditions, frequency range: to Hz, direction: along the X, Y, and Z axes, for hours Considering the ND-C- standard section.. division C, not influenced. Not influenced when applying ACV between the power input terminal and cabinet for one minute. MΩ MIN. when applying DCV between the power input terminal and cabinet..kg(. lbs) Pulse input system (option) Photo coupler input method, input resistance Ω Input signal voltage H level:. to.v, Command pulse input signal L level: to.v Maximum input frequency kpulse/s Photo coupler input method, input resistance Ω Power down input signal Input signal voltage H level:. to.v, L level: to.v Photo coupler input method, input resistance Ω Energization system selection input signal Input signal voltage H level:. to.v, L level: to.v DP * For information about the operation, connection, function, and dimensions of the PM driver, refer to pages and after.

114 Pulse I/F (DC power input) tepping motor common specifications Item Insulation class Withstand voltage Insulation resistance Vibration resistance Impact resistance Operating ambient temperature Operating ambient humidity Combined stepping motors of DP series Class B (+ C) Conditions: ACV, / Hz, and for one minute MΩ MIN. against DCV Conditions: amplitude. mm (P-P), frequency range to Hz, minutes sweep time, along X, Y, and Z axes, for hours Conditions: m/s acceleration, minutes duration, half-wave/sine wave, three times each along X, Y, and Z axes, times in total - to + C ( to + C with harmonic gears) ~%(no condensation) tandard combined stepping motors for -phase stepping set DP series PM driver model number : PMDPBP Combination Model Number for TEPYN F eries ystem support tandard type Low-backlash gear Harmonic gear Dimensions of stepping motor mm ø mm mm ø mm mm ø mm ingle shaft et model number tandard combined stepping motor number DPF F- DPF F- DPF F- DPF F- DPF F- DPF F- DPF-CX. F-CXA DPF-CX. F-CXB DPF-CX F-CXE DPF-CX F-CXG DPF-CX F-CXJ DPF-CX F-CXK DPF-CX. F-CXA DPF-CX. F-CXB DPF-CX F-CXE DPF-CX F-CXG DPF-CX F-CXJ DPF-CX F-CXK DPF-HX F-HXL DPF-HX F-HXM DPF-HX F-HXL DPF-HX F-HXM Double shaft et model number tandard combined stepping motor number DPFD F- DPFD F- DPFD F- DPFD F- DPFD F- DPFD F- DPFD-CX. F-CXA DPFD-CX. F-CXB DPFD-CX F-CXE DPFD-CX F-CXG DPFD-CX F-CXJ DPFD-CX F-CXK DPFD-CX. F-CXA DPFD-CX. F-CXB DPFD-CX F-CXE DPFD-CX F-CXG DPFD-CX F-CXJ DPFD-CX F-CXK DPFD-HX F-HXL DPFD-HX F-HXM DPFD-HX F-HXL DPFD-HX F-HXM DPF-XB F-XB mm DPF-XB F-XB Electromagnetic DPF-XB F-XB brake DPF-XB F-XB ø mm DPF-XB F-XB DPF-XB F-XB

115 tepping motor data sheet TEPYN F eries (tandard) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) AP et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) BP TEPYN F eries (With low-backlash gear) et model number ingle shaft DPF-CX. DPF-CX. Double shaft DPFD-CX. DPFD-CX. Allowable torque N m(oz in).(.).(.) Rotor inertia - kg m (oz in ) Basic step angle.. Deceleration ratio :. :. Backlash.. Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N DPF-CX DPFD-CX (.) DPF-CX DPFD-CX.(.) DPF-CX DPFD-CX (.) DPF-CX DPFD-CX (.). :..(.). :.. :.. :..(.) * The rotation direction of the motor and the gear output shaft is as follows: when deceleration ratio is :. or :., both motor and shaft rotate in the same direction, and for :, :, or : type, the motor and the shaft rotate in opposite direction. (Note) When load is applied at / length from output shaft edge. et model number ingle shaft DPF-CX. DPF-CX. Double shaft DPFD-CX. DPFD-CX. Allowable torque N m(oz in).(.) (.) Rotor inertia - kg m (oz in ) Basic step angle.. Deceleration ratio :. :. Backlash.. Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N DPF-CX DPFD-CX (.) DPF-CX DPFD-CX (.) DPF-CX DPFD-CX (.) DPF-CX DPFD-CX (.). :..(.). :.. :.. :..(.) * The rotation direction of the motor and the gear output shaft is as follows: when deceleration ratio is :. or :., both motor and shaft rotate in the same direction, and for :, :, or : type, the motor and the shaft rotate in opposite direction. (Note) When load is applied at / length from output shaft edge. DP DP DP WP BP DP

116 Pulse I/F (DC power input) tepping motor data sheet TEPYN F eries (With harmonic gear) et model number ingle shaft Double shaft Allowable torque N m(oz in) Rotor inertia - kg m (oz in ) Basic step angle Deceleration ratio Lost motion Minute Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N * The gear output shaft rotates in the opposite direction of the motor. (Note) When load is applied at / length from output shaft edge. DPF-HX DPFD-HX.(.). :.~ (±. N m)(±. oz in).(.).(.) DPF-HX DPFD-HX (.). :.~. (±.N m)(±. oz in) et model number ingle shaft Double shaft Allowable torque N m(oz in) Rotor inertia - kg m (oz in ) Basic step angle Deceleration ratio Lost motion Minute Allowable number of rotations min - Mass(Weight) kg(lbs) Allowable thrust load N Allowable radial load (Note) N * The gear output shaft rotates in the opposite direction of the motor. (Note) When load is applied at / length from output shaft edge. TEPYN F eries (With electromagnetic brake) DPF-HX DPFD-HX (.). :.~ (±. N m)(±. oz in).(.).(.) DPF-HX DPFD-HX (.). :.~ (±. N m)(±. oz in) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) Electromagnetic brake specification Brake operation system ource voltage V Exciting current A Electric power consumption W tatic friction torque N m(oz in) Brake operating time ms Brake release time ms Polarity DPF-XB --.(.).(.).(.) DPF-XB --.(.).(.).(.) Non-excitation operation system DC ± %..(.) Red Black DPF-XB --.(.) (.).(.) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) Electromagnetic brake specification Brake operation system ource voltage V Exciting current A Electric power consumption W tatic friction torque N m(oz in) Brake operating time ms Brake release time ms Polarity DPF-XB --.(.).(.).(.) DPF-XB --.(.).(.).(.) Non-excitation operation system DC ± %. (.) Red Black DPF-XB --.(.).(.).(.)

117 Dimensions [ Unit: mm (inch) ] TEPYN F DPF F - AP (. +.) Effective length B (B.) Lead wire UL AWG A (A.) MIN. (. MIN.). (..) (.).(.) (. +.) Effective length.. (..).. (..) Cross section -. (..). (..) Model name A B DPF (F-) DPFD (F-) DPF (F-) DPFD (F-) DPF (F-) DPFD (F-). (.). (.) (.) (.). (.). (.) - (.) - (.) - (.) BP BP.. (.. ) R MIN. (R. MIN.) R MIN. (R. MIN.).... (.. ) WP DP DPF F Effective length UL vinyl tube B (B.) Lead wire UL AWG A. (A.) MIN. (. MIN.). (..). (..). (.). (.) Effective length. (..) Cross section -. (..). (..) Model name A B DPF (F-) DPFD (F-) DPF (F-) DPFD (F-) DPF (F-) DPFD (F-). (.). (.). (.). (.). (.). (.) - (.) - (.) - (.) DP DP DP. (..).. R MIN. (R. MIN.). (.. ) R MIN. (R. MIN.) (.. )

118 Pulse I/F (DC power input) Dimensions [ Unit: mm (inch) ] TEPYN F with low-backlash gear DPF -CX F-CX Effective length..... B (B.) R MIN. (R. MIN.) DPF -CX F-CX Lead wire UL AWG UL vinyl tube. MIN. (..) (. MIN.) B (B.) MIN. (.MIN.) Effective length.. (.. ) (.+.) Effective length Lead wire UL AWG T T R MIN. (R.MIN.) B (B.) MIN. R MIN. (R. MIN.). (..). (..) Cross sectiont-t TEPYN F with harmonic gear DPF -HX F-HX (..).. (..) Lead wire UL AWG (. MIN.).. (..).. (..) (.) R MIN. (R. MIN.). (..) Effective length Cross section -. (.. ) (..) (..) +. (.+.) Cross section - (..) (.).. (..) (.+.) Effective length Key.. (.. ) (..). (.) (.) Cross section -. (..) (..) (..). (..).. (..). (..) -M. Effective tapping depth (.) MIN. Parallel key (Bundled with motor) pecification of key. (..).. (..) -MX.... (..)... (.. ) Effective tapping depth (.) MIN (.)..... (..). (.. ). (.)..... Model name DPF-CX. (F-CXA) DPFD-CX. (F-CXA) DPF-CX. (F-CXB) DPFD-CX. (F-CXB) DPF-CX (F-CXE) DPFD-CX (F-CXE) DPF-CX (F-CXG) DPFD-CX (F-CXG) DPF-CX (F-CXJ) DPFD-CX (F-CXJ) DPF-CX (F-CXK) DPFD-CX (F-CXK) Model name DPF-CX. (F-CXA) DPFD-CX. (F-CXA) DPF-CX. (F-CXB) DPFD-CX. (F-CXB) DPF-CX (F-CXE) DPFD-CX (F-CXE) DPF-CX (F-CXG) DPFD-CX (F-CXG) DPF-CX (F-CXJ) DPFD-CX (F-CXJ) DPF-CX (F-CXK) DPFD-CX (F-CXK) Model name DPF-HX (F-HXL) DPFD-HX (F-HXL) DPF-HX (F-HXM) DPFD-HX (F-HXM) B - (.) - (.) - (.) - (.) - (.) - (.) B - (.) - (.) - (.) - (.) - (.) - (.) B - (.) - (.)

119 Dimensions [ Unit: mm (inch) ] TEPYN F with harmonic gear DPF -HX F-HX AP Lead wire UL AWG UL vinyl tube. MIN. (..) (. MIN.) B (B.) Effective length..... R MIN. (R. MIN.). (..) Cross section -.. (..). (..) (.) (.).... (..) (..). (.). (..) (.) (.) (.) key..... (.) Parallel key... (..) (..). (.) Model name DPF-HX (F-HXL) DPFD-HX (F-HXL) DPF-HX (F-HXM) DPFD-HX (F-HXM) B - (.) - (.) WP BP BP TEPYN F with electromagnetic brake DPF -XB F -XB DP Brake lead wire UL AWG MIN. (. MIN.) A (A.) MIN. (. MIN.) Lead wire UL AWG. (..) (.). (.) (. +.) Effective length. (..). (..) Model name DPF-XB (F-XB) DPF-XB (F-XB) DPF-XB (F-XB) A. (.). (.). (.) DP DP R MIN. (R. MIN.) (.+.).. (..).. (..) Cross section - DP DPF -XB F -XB UL vinyl tube Brake lead wire UL AWG Lead wire UL AWG A. (A.) (..). (..). (..) Cross section -. (..) Model name DPF-XB (F-XB) DPF-XB (F-XB) DPF-XB (F-XB) A. (.). (.). (.). MIN. (. MIN.) MIN. (. MIN.). (.). (.) (.+.) Effective length (..). (..)..... R MIN. (R. MIN.)

120 Pulse I/F (DC power input) Pulse Rate-Torque Characteristics/Pulse Rate-ource Current Characteristics DPF / DPF-XB : V DPF / DPF-XB : V ource Current(A).. ource Current(A).. Number of rotations(min-).. Number of rotations(min-) F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step DPF / DPF-XB : V DPF / DPF-XB : V Number of rotations(min-) ource Current(A) Number of rotations(min-) ource Current(A) F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step DPF / DPF-XB : V DPF / DPF-XB : V Number of rotations(min-) ource Current(A).... Number of rotations(min-) ource Current(A) F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step F- /F-XB ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -step -step

121 Pulse Rate-Torque Characteristics/Pulse Rate-ource Current Characteristics DPF -CX. : V DPF -CX. : V..... With low backlash gear. Number of rotations(min-) F-CXA ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step..... With low backlash gear. Number of rotations(min-) F-CXB ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step WP BP BP AP DPF -CX : V..... With low backlash gear. Number of rotations(min-) F-CXE ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step DPF -CX : V..... With low backlash gear. Number of rotations(min-) F-CXG ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step DP DP DP DP DPF -CX : V DPF -CX : V..... With low backlash gear. Number of rotations(min-)..... With low backlash gear. Number of rotations(min-) F-CXJ ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use therubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXBK ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step

122 Pulse I/F (DC power input) Pulse Rate-Torque Characteristics/Pulse Rate-ource Current Characteristics DPF -CX. : V DPF -CX. : V. With low backlash gear..... Number of rotations(min-). With low backlash gear..... Number of rotations(min-) F-CXA ource voltage : DCV Operating current :.A/phase Allowable torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXB ource voltage : DCV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step DPF -CX : V DPF -CX : V. With low backlash gear..... Number of rotations(min-)..... With low backlash gear. Number of rotations(min-) F-CXE ource voltage : DCV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXG ource voltage : DCV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step DPF -CX : V DPF -CX : V... With low backlash gear. With low backlash gear Torque(kgf cm) Number of rotations(min-). Number of rotations(min-) F-CXJ ource voltage : DCV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step F-CXK ource voltage : DCV Operating current :.A/phase Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step -step

123 Pulse Rate-Torque Characteristics/Pulse Rate-ource Current Characteristics DPF -HX : V DPF -HX : V..... With harmonic gear. Number of rotations(min-) F-HXL -step -step ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=)..... With harmonic gear. Number of rotations(min-) F-HXM -step -step ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque(jl= - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) WP BP BP AP DPF -HX : V..... With harmonic gear. Number of rotations(min-) F-HXL -step -step ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) DPF -HX : V..... With harmonic gear. Number of rotations(min-) F-HXM -step -step ource voltage : DCV Operating current :.A/phase Instantaneous allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) Allowable torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) DP DP DP DP

124 Pulse I/F (DC power input) The -phase tepping et DP series DCV Micro-step ( x to divisions) Configuration of the -phase tepping Motor et, DP eries Name Quantity DP eries Instruction Manual pc. PM Driver pc. tepping Motor pc. ignal Cable (CN) pc. Power Cable (CN) pc. tepping Motor Cable (CN) pc. Characteristics Compact PM driver This product is a compact and lightweight driver with % reduction in volume compared to the conventional products. Micro-step function available mooth operation without vibration at low speeds can be realized. Flexible This stepping system is able to drive wide variety of stepping motors from small capacity to large capacity without adjustment, resulting in wide applications. Compact Mounting dedicated HIC realizes highly integrated and higher reliable system. Built-in function Resolution setting function types of resolution, ranging from one to divisions, can be set for a standard stepping motor step angle by using rotary switches. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. Power down function tepping motor current can be turned off through an external input signal. Operation current switchover function Regarding operation current of the stepping motor, currents ranging from rated current to % of rated current can be set using rotary switches.

125 Explanation of set model number ystem on the stepping motor end cap side Code End cap side Function B Brake Electromagnetic brake E Encoder Please contact us regarding the encoder. X None AP tepping motor flange tepping motor end cap DP WP BP tepping motor flange side tepping motor end cap side Brake BP Explanation for model number in the combined case The set model number of the stepping motor is as follows when PMDPCP and F type are combined and equipped with the system of harmonic gear (/) and brake: DPFDX B DP DP tandard set model number Brake None How to order Please use the et Model Number in the List of Combined tepping Motor Model Number for the -phase tepping et, DP eries. To order brake, put the product code number after the set number according to the Explanation of combination numbering. PM driver specifications I/O signals Function tandard specification Model number PMDPCP Input source DCV±% ource current A Operating ambient temperature ~ + C Conservation temperature - ~ + C Environment Operating ambient humidity ~ %RH (no condensation) Conservation humidity ~ %RH (no condensation) Vibration resistance.g Tested under the following conditions, frequency range: to Hz, direction: along the X, Y, and Z axes, for hours Impact resistance Considering the ND-C- standard section.. division C, not influenced. Withstand voltage Not influenced when applying ACV between the power input terminal and cabinet for one minute. Insulation resistance MΩ MIN. when applying DCV between the power input terminal and cabinet. DP Mass(Weight).kg(. lbs) Auto current down, pulse input system, elect function step angle, power specification Photo coupler input method, input resistance Ω Command pulse input signal Input signal voltage H level:. to.v, L level: to.v Maximum input frequency kpulse/s Photo coupler input method, input resistance Ω Power down input signal Input signal voltage H level:. to.v, L level: to.v * For information about the operation, connection, function, and dimensions of the PM driver, refer to pages and after.

126 Pulse I/F (DC power input) tepping motor common specifications Item Insulation class Withstand voltage Insulation resistance Vibration resistance Impact resistance Operating ambient temperature Operating ambient humidity Combined stepping motors of DP series Class B (+ C) Conditions: ACV, / Hz, and for one minute MΩ MIN. against DCV Conditions: amplitude. mm (P-P), frequency range to Hz, minutes sweep time, along X, Y, and Z axes, for hours Conditions: m/s acceleration, minutes duration, half-wave/sine wave, three times each along X, Y, and Z axes, times in total -~+ C ~%(no condensation) tandard combined stepping motors for -phase stepping set DP series PM driver model number : PMDPCP Combination Model Number for TEPYN F eries ystem support tandard type Electromagnetic brake Dimensions of stepping motor mm mm mm et model number DPF DPF DPF DPF DPF DPF-XB DPF-XB ingle shaft tandard combined stepping motor number F- F- F- F- F- F-XB F-XB et model number DPFD DPFD DPFD DPFD DPFD Double shaft tandard combined stepping motor number F- F- F- F- F- tepping motor data sheet TEPYN F eries (tandard) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) DPF DPFD.(.).(.).(.) TEPYN F eries (With electromagnetic brake) et model number ingle shaft Double shaft Holding torque N m(oz in) Rotor inertia - kg m (oz in ) Mass(Weight) kg(lbs) Electromagnetic brake specification Brake operation system ource voltage V Exciting current A Electric power consumption W tatic friction torque N m(oz in) Brake operating time ms Brake release time ms Polarity DPF-XB --.(.).(.).(.) Non-excitation operation system DC ± %..(.) Brown White DPF-XB --.(.).(.).(.)

127 Dimensions [ Unit: mm (inch) ] TEPYN F DPF F - AP Lead wire UL AWG B A. (B.) (A.) (..) Effective length MIN. (. MIN.). (.) Effective length.. (..) Cross section -. (..). (..) Model name A B DPF (F-) DPFD (F-) DPF (F-) DPFD (F-) (.) (.) (.) (.) - (.) - (.) BP BP... (.. ) R MIN. (R. MIN.) R MIN. (R. MIN.)... (.. ).... -M. Effective tapping depth (.)MIN. WP DP DPF F (. +.) Effective length.. (.. ) B (B.) Lead wire UL AWG A (A.) MIN. (. MIN.) R MIN. (R. MIN.) R MIN. (R. MIN.). (..) (.).(.) (. +.) Effective length.... (.. )..... (..).. (..) Cross section -. (..). (..) Model name A B DPF (F-) DPFD (F-) DPF (F-) DPFD (F-) DPF (F-) DPFD (F-). (.). (.) (.) (.). (.). (.) - (.) - (.) - (.) DP DP DP TEPYN F with electromagnetic brake DPF -XB F - Brake lead wire UL AWG A (A.) Lead wire UL AWG. (..). Model name DPF-XB (F-XB) DPF-XB (F-XB) A. (.). (.) MIN. (. MIN.) MIN. (. MIN.). (.) (.+.) Effective length (..). (..) R MIN. (R. MIN.)... (.. ).. (.. ) -M. Effective tapping depth (.) MIN... (..) Cross section -

128 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics DPF / DPF-XB : V DPF / DPF-XB : V division -division Number of rotations(min-) ource Current(A).... -division -division Number of rotations(min-) ource Current(A) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified. -division is specified. F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified. -division is specified. DPF : V DPF : V division -division Number of rotations(min-) ource Current(A) division -division Number of rotations(min-) ource Current(A) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified. -division is specified. F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified. -division is specified. DPF : V.... ource Current(A). fsfs. -division -division Number of rotations(min-) F- ource voltage : DCV Operating current :.A/phase Pull-out torque(jl=. - kg m [. oz in ]Use the rubber coupling) ource current(tl=max) ource current(tl=) fs : No load maximum starting pluse rate -division is specified. -division is specified.

129 DP DP DP DP WP BP BP AP

130 TEPPING DRIVER The -Phase tepping Driver tepping ystem Configuration Upper PLC Controller PC DRIVER P~ Pulse I/F(ACpower input) Pulse I/F(DCpower input) erial I/F(DCpower input) * Refer to the pages of driver for cable. HIC MOTOR P~P P~P ource voltage * Refer to the pages of driver for cable. -Phase Driver Area Chart PMM-MA--,.A/phase, micro-step ACV to V PMM-MA--,.A/phase, micro-step ACV to V PMAPAA,.A/phase, micro-step PMAPAB,.A/phase, micro-step ACV to V PMM-BA--, PMM-BA--,.A/phase, full/half-step PMM-BA--, PMM-BA--,.A/phase, full/half-step DCV to V PMM-MD--, PMM-MD--,.A/phase, micro-step PMM-BD--, PMM-BD--,.A/phase, full/half-step DCV PMDPCP,.A/phase, micro-step PMDPBP,.A/phase, full/half-step DCV PMDPDP,.A/phase, micro-step Most compact and lightest one-board type driver DCV mm PMDPACP,.A/phase, half-step mm mm mm erial I/F product supporting Device Net ømm ømm Dimensions of applicable motors

131 AC driver PMAPAA PMAPAB PMM-MA-- Applicable motors Applicable motors Applicable motors Power input ACV/V Micro-step specifications P~P Power input ACV/V Micro-step specifications P~P Power input ACV/V Micro-step specifications P~P PMM-MA- Applicable motors PMM-BA- PMM-BA- Applicable motors PMM-BA- PMM-BA- Applicable motors Power input ACV/V Micro-step specifications P~P Power input ACV/V Micro-step specifications P~P Power input ACV/V Micro-step specifications P~P DC driver PMDPBP Applicable motors PMDPCP Applicable motors PMM-MD-- PMM-MD-- Applicable motors Power input DCV /half-step specifications P~P Power input DCV Micro-step specifications P~P Power input DCV/V Micro-step specifications P~P PMM-BD-- PMM-BD-- Applicable motors PMDPDP Applicable motors Power input DCV/V /half-step specifications P~P Power input DCV Micro-step specifications P~P PMDPACP Applicable motors Power input DCV/ -step specifications compliant P~P

132 Model number Lineup List of single product sales combination (AC input type) Driver Model number PMM-MA-- PMM-MA- PMAPAA PMAPAB PMM-BA- PMM-BA- Combination Motor Power source pecification AC to V. A/phase AC to V. A/phase AC to V. A/phase AC to V. A/phase AC to V. A/phase AC to V. A/phase For motors, refer: TEPYN H (Conventional motor) Dimensions, Model number mm square H-() H-() square H-() H-() H-() square H-() H-() H-() H-() Rated current A/phase ø H-() H-() H-() H-() H-() H-() square H-() H-() H-() H-() H-() H-() ø ø ø H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() TEPYN H (Conforms to IP and CE) H-() H-() H-() H-() H-()..... ø ø H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() For drivers, refer: Holding torque N m(oz in).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) (.).(.) (.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) (.).(.) (.) Rotor inertia - kg m (oz in ).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) (.).(.) (.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) (.).(.) (.) Micro-step Micro-step Micro-step ( to divisions) ( to divisions) ( to divisions) P and after P and after Micro-step ( to divisions) step/half step step/half step ( division/ divisions) ( division/ divisions) P and after P and after P and after P and after P and after P and after P and after P and after P and after P and after P and after P and after P and after P and after <Notes> Number enclosed by parentheses in motor model number represents a double shaft type. in the above table represents a standard combination.

133 List of single product sales combination (DC input type) Combination Motor Dimensions, Model number mm square H-() H-() H-() H-() Rated current A/phase.... TEPYN H (Conventional motor) TEPYN H (Conforms to IP and CE) square square ø square ø ø ø ø ø H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() H-() <Notes> Reference pages Driver Holding torque N m(oz in).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) (.).(.) (.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) (.).(.) (.) Number enclosed by parentheses in motor model number represents a double shaft type. in the above table represents a standard combination. Model number Power source pecification Rotor inertia - kg m (oz in ).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) (.).(.) (.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) (.).(.) (.) PMM-MD-- PMM-BD-- PMDPBP PMDPCP PMDPDP PMDPACP DCV/V. A/phase Micro-step DCV/V. A/phase step/half step DCV. A/phase step/half step DCV. A/phase Micro-step DCV. A/phase Micro-step DCV. A/phase Device Net For motors, refer: ( to divisions) ( division/ divisions) ( division/ divisions) ( to divisions) ( to divisions) specifications P and after P and after P and after P and after P and after P and after P and after P and after P and after P and after P and after P and after P and after P and after P and after P and after PMAPAA PMAPAB PMM-MA- PMM-MA- PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD- - PMM-BD- - PMDPACP PMDPDP

134 Pulse I/F (AC power input) The -Phase tepping Driver PMAPAA ACV/V Micro-tep ( x to divisions) Applicable motor ø ø Characteristics Conformity to UL tandards and CE Marking The system conforms to UL tandards and CE Marking. Micro-step function available mooth operation without vibration at low speeds can be realized. Rush current prevention circuit Thanks to the built-in rush current prevention circuit in the power circuit section,stabilized operation is ensured even during switching on. Connector method for PM driver I/O cable The connector method is adopted for the high voltage section terminal, where the terminal base was conventionally used. This method facilitates PM driver installation and maintenance. Alarm output signal logic selectable Logic of signal output during alarm circuit operation can be selected Built-in function Low vibration mode Even setting division of resolution to a rough one or two divisions, operation can be as smooth and with as low vibration as for micro-step drive. However, the low vibration mode and the micro-step function cannot be adopted at the same time. Micro-step function By manipulating the rotary switch that sets resolution, the micro-step drive may be used. However, the low vibration mode and the micro-step function cannot be adopted at the same time. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. Resolution setting function Nine types of resolution, ranging from one to divisions,can be set for a basic stepping motor step angle by using rotary switches. Operating current switch function Regarding operation current of the stepping motor, currents ranging from rated current to % of rated current can be set using rotary switches. Current adjustment function during operation halt When operation is halted, operation current for the stepping motor can be set at to % of specified operation current by using selection switch.

135 ø ø PM driver specifications Item Input source ource current PMAPAA ingle phase ACV/V+,-% /Hz A PMAPAA Protection class Class tandard specifications Environment Operating environment Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Operating altitude Vibration resistance Impact resistance Withstand voltage Installation category (overvoltage category):, pollution degree: ~+ C -~+ C ~%RH(no condensation) ~%RH(no condensation) MAX. m above sea level.g Tested under the following conditions, frequency range: to Hz, direction: along the X, Y, and Z axes, for hours Considering the ND-C- standard section.. division "C", not influenced Not influenced when ACV is applied between power input terminal and cabinet for one minute PMAPAB PMM-MA- Function Insulation resistance Mass(Weight) Protection function election function LED indicator Command pulse input signal MΩ MIN when DCV is applied between power input terminal and cabinet.kg(. lbs) Against PM driver overheat, main circuit power supply error,and overvoltage Pulse input method, automatic current reduction, power down, low vibration mode, alarm output logic, step angle, operating current, and non-operating current Power supply monitor, phase origin monitor, pulse monitor, alarm monitor Photo coupler input method, input resistance: Ω Input signal voltage, H =. to.v, L = to.v MAX. input frequency: kpulse/s PMM-MA- PMM-BA- - I/O signals Power down input signal tep angle selection input signal FULL/HALF selection input signal Photo coupler input method, input resistance = Ω Input signal voltage, H =. to.v, L = to.v Photo coupler input method, input resistance = Ω Input signal voltage, H =. to.v, L = to.v Photo coupler input method, input resistance = Ω Input signal voltage, H =. to.v, L = to.v PMM-BA- - Phase origin monitor output signal Alarm output signal Open collector output by photo coupler Output signal standard, Vceo = V MAX, Ic = ma MAX Open collector output by photo coupler Output signal standard, Vceo = V MAX, Ic = ma MAX PMDPBP UL tandard and CE Marking PMDPCP Product UL standards Applied File NO. standards CE Marking Low Voltage EMC Directive Directive Emission Immunity PMM-MD- - PM driver ULC E EN EN- (Class A) EN- (Class A) The TEPYN H series does not conform to the UL standards and CE Marking. Use the TEPYN M series if conformity is required. For the conformity of the TEPYN M series, refer to -phase stepping motor unit, AP series (page ). ee p. for recommended EMC-prevention component. PMM-BD- - tandard Combination of the stepping motor tepping motor tepping motor model number Holding torque Rotor inertia Mass(Weight) Page dimensions ingle shaft Double shaft N m(oz in) x - kg m (oz in ) kg(lbs) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) P H- H-.(.).(.).(.) PMDPACP PMDPDP ømm H- H-.(.).(.) (.) H- H- (.) (.).(.) P Refer to the relevant pages for the general specifications and external dimensions of each stepping motor.

136 Pulse I/F (AC power input) Operation, connection, and function Name of the PM Driver components Type A BLACK RED ORANGE YELLOW BLUE AC AC WARNING May Cause electric shock Use proper grounding techniques. PM AL C N C N POW MON AL F/R ACD PD LV MODE AL.L. RUN TP C N Internal power establishment(pow) Phase origin monitor(mon) Input pulse monitor(pm) Alarm monitor(al,al) Function select dipswitch (F/R,ACD,PD,LV,MODE,AL.L) tep angle selection switch(.) Operating current selection switch(run) Non-operating current selection switch(tp) I/O signal connector(cn) Power input connector(cn) A Motor output connector(cn) Indicates the internal power is established. Indicates that the excitation phase is at the origin (that is when the power is turned on). Indicates the input pulse is applied. Turns on when the internal alarm circuit is operating. Functions can be selected according to specifications. Basic step angle of the stepping motor can be set up to divisions. tepping motor current value during operation can be selected. Current of the non-operating stepping motor can be selected in the range from to % when the automatic current reduction function is operating. Connection for I/O signal. Connection for single phase AC power Connection for the stepping motor power line External wiring Note )CW pulse input Note )CCW pulse input Power down input Input common tep angle select input Note ) CN FULL/HALF input Phase origin monitor output Alarm output ACV / V +% -% CN AC AC BLACK RED ORANGE YELLOW BLUE CN BLACK RED ORANGE YELLOW BLUE M Note ) Note )Use a shielded twisted-pair cable. Note )Either "-input mode (CW pulse and CCW pulse)" or "Pulse and direction mode (CK+U/D)" can be selected by using the function selection switch F/R. Note )From the stepping motor flange, ground with the stepping motor installation screw. Ground by single-point grounding.

137 ø ø Operation, connection, and function Function elect Dipswitch F/R ON OFF AL. L (Alarm output logic selection) The alarm output logic of the I/O signal connector (CN) can be selected. AL. L Output logic PD (Power down selection) elects the stepping motor current at the time of power down signal input. PD tepping motor winding current PMAPAA ACD ON ON OFF On when alarm is on Off when alarm is off ON OFF Current specified by the selection switch TP (Power low) A (Power off) PMAPAB PD LV MODE AL. L OFF OFF OFF OFF MODE (Mode selection) This switch is not used. Do not set to ON. LV (Low vibration mode selection) Although the resolution is set to a rough one or two divisions, operation can be smooth and with low vibration. LV Operation ACD (Automatic current reduction selection) This switch is not used. Do not set to OFF. F/R(Pulse input method selection) elects the pulse input method. F/R ON OFF Pulse input method Pulse and direction mode(ck,u/d) -input mode(cw,ccw) PMM-MA- PMM-MA- The setting shown above is the ex-factory setting. Turn off the power of the PM driver when changing the setting of the function selection dipswitch. ON OFF Low vibration operation Micro-step operation PMM-BA- - tep Angle election witch(.) pecifies the number of divisions for the basic step angle during micro-step operation. cale Number of divisions. Operating Current election witch(run) elects the operating current value of the stepping motor. cale tepping motor current(%) (Rated) This switch is set to "" at factory. This switch is set to "" at factory. PMM-BA- - PMDPBP PMDPCP Non-Operating Current election witch(tp) elects the stepping motor current value for non-operating mode (automatic count reduction mode) and power down input signal ON mode (power low function selected by dipswitch). cale tepping motor current(%) The ratio is based on the operating current selected by RUN. This switch is set to "" at factory. PMM-MD- - PMM-BD- - PMDPACP PMDPDP

138 Pulse I/F (AC power input) Operation, connection, and function I/O ignal Function (CN) ignal Name Abbreviation Pin Number Function CW pulse input CW+ When using "-input mode" (tandard) CW- Inputs drive pulse for clockwise rotation Pulse column input CK+ When using the "Pulse and direction mode" CK- Inputs drive pulse column for the stepping motor rotation. CCW pulse input CCW+ When using the "-input mode" (tandard) CCW- Inputs drive pulse for counterclockwise rotation. Inputs signal for the stepping motor rotation direction when using the "Pulse and direction mode". U/D+ Rotation direction input The internal photo coupler is ON clockwise direction U/D- The internal photo coupler is OFF counterclockwise direction PD signal input cuts off the stepping motor current (turns off the power). Power down input PD+ (Power down mode can be changed to the power low mode using the dipswitch.) PD- PD input signal is ON (the internal photo coupler is ON) PD function is valid. PD input signal is OFF (the internal photo coupler is OFF) PD function is not valid. EXT signal input makes the FULL/HALF selection input valid. tep angle selection input EXT EXT input signal is ON (the internal photo coupler is ON) External input signal F/H is valid. EXT input signal is OFF (the internal photo coupler is OFF) The main unit rotary switch. is valid. When the EXT input signal is on (the internal photo coupler is ON) FULL/HALF F/H F/H input signal is ON (the internal photo coupler is ON) -division setting. selection input F/H input signal is OFF (the internal photo coupler is OFF) -division setting When excitation phase is at the origin (that is when the power is turned on), this signal is output. MON (Collector) Phase origin monitor output When -division is specified, the signal is output every pulses. MON (Emitter) When -division is specified, the signal is output every pulses. Alarm output AL (Collector) Outputs signal externally when an alarm circuit is activated in the PM driver. AL (Emitter) The stepping motor becomes unexcited state. The clockwise (CW) rotation mentioned above is clockwise rotation when viewed from the output shaft (flange side). The counterclockwise (CCW) rotation is counterclockwise rotation when viewed from the output shaft (flange side). Arrangement of the connector terminals (CN) PD- CCW- CW- Reserved PD+ CCW+ CW+ AL (Collector) MON (Collector) EXT AL (Emitter) MON (Emitter) F/H Input common(dcv) Arrangement of the CN Connector Terminals *The chart shown above is viewed from the connection section of the connector plug. Connectors Used for PM driver side Model number Applicable Connector model number Manufacturer I/O signal (CN) -AJL Applicable plug:-ve Applicable shell:-a- umitomo M AC power (CN) -- Applicable housing:-- Applicable contact:-- Japan AMP tepping motor (CN) -- Applicable housing:-- Applicable contact:-- Japan AMP Regarding H type stepping motor, the applicable terminal model number for CN is --. Either the applicable connectors should be prepared by the user or the optional connector set should be ordered in accordance with the stepping motor (refer to options in page ).

139 ø ø Operation, connection, and function Input Circuit (CW, CCW) +V Approx.mA Input signal R PM driver Pulse duty is % MAX When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approximately ma using the external limit resistance R. PMAPAA PMAPAB Input signal specifications.~.v. s MIN % PMM-MA- Rotation operation ~.V % % PMM-MA- s MAX Timing of the command pulse -input mode (CW, CCW) s MAX PMM-BA- - The internal photo coupler turns ON at, and the internal circuit (stepping motor) CW CCW s MIN operates at the leading edge of the photo coupler "ON". When applying the pulse to CW, set the internal photo coupler on the CCW side to "OFF". When applying the pulse to CCW, set the internal photo coupler on the CW side to "OFF". PMM-BA- - Pulse and direction mode (CK, U/D) CK s MIN s MIN U/D The internal photo coupler turns ON at, and the internal circuit (stepping motor) operates at the leading edge of the CK photo coupler "ON". Before switching to the U/D input signal, turn OFF the internal photo coupler on the CK side. PMDPBP PMDPCP Input Circuit (PD, EXT, F/H) +V Approx.mA Input signal R PM Driver When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approximately ma using the external limit resistance R. PMM-MD- - PMM-BD- - Timing of the command pulse, step angle selection, and FULL/HALF selection input signal Command pulse s MIN s MIN EXT, F/H PMDPACP PMDPDP

140 Pulse I/F (AC power input) Operation, connection, and function Output Circuit (MON, AL) Output signal MAX Ic MAX V PM Driver MON, AL output signal Contact type:open collector output by the photo coupler Contact capacity:dcv MAX lc current MON output:ma MAX AL output:ma MAX MON, AL output signal CW pulse The internal photo coupler turns "ON" at. CCW pulse MON output tate Indication (LED) Indication Color Explanation POW turns on. Green Internal power has been established. MON turns on. Green Excitation phase is at the origin (the power is turned on). When -division is specified, turns on once in pulses. When -division is specified, turns on once in pulses. PM turns on. Green Command pulse is being input. Turns on for approximately ms for every one pulse input. Timing of MON lighting (-division setting) CW pulse The internal photo coupler turns "ON" at, and MON turns on. CCW pulse MON Alarm Indication (LED) Indication Color Explanation AL turns on. Red The main source voltage monitoring alarm circuit is operating. ource voltage specifications ACV/V Undervoltage (U.V) ACV MAX Overvoltage (O.V) ACV MIN The circuit operates under either of the conditions mentioned above.. Each alarm circuit operation turns on alarm LED and cuts off the current of the stepping motor to cause unexcited state. imultaneously signal is output externally from the alarm output terminal (AL) of the I/O signal connector (CN). Once an alarm circuit operates, the state is maintained, and the alarm state is reset by restarting. Correct the error before restart. AL turns on. Red The overheat protection alarm circuit of the internal device is operating.the circuit operates when both the internal temperature of the PM driver and the ambient temperature exceed C. AL and AL turn on. Red The internal element error alarm is operating.the alarm operates if overcurrent or abnormal overheating of the power device in the PM driver occurs.

141 MADE IN JAPAN ø ø Dimensions [Unit:mm(inch)] PMAPAB PMAPAA. (.) (.) (.) (.) MAX. (.) (.) PMM-MA- Type PMM-MA- POW BLACK RED ORANGE YELLOW BLUE PM AL C N MON AL F/R ACD PD LV MODE AL.L MODEL PMAPAA INPUT AC/V ER.No. PMM-BA- - (.) (.) () WARNING. RUN TP PMM-BA- - May Cause electric shock AC AC Use proper grounding techniques. C N C N PMDPBP PMDPCP Installation Direction and the Position to be Installed PMM-MD- - PMM-BD- - PMDPACP PMDPDP Install the PM driver vertically. As shown in the figure, fix the PM driver, using the M M screws through the holes in the fitting metals on the front side of the driver. The fitting metals on the front can be removed (fixed onto the PM driver by screws) so that they are used on the back of the driver. M

142 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.... Torque(oz in.) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) ource voltage:acv Operating current:. A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:. A/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- :V H- :V.. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) Torque(kgf cm).. Torque(N m).... -division -division Rotating speed(min - ) ource voltage:acv Operating current:. A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:. A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- :V.. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) ource voltage:acv Operating current:. A/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

143 ø ø Option Connector et Model Number PM-AP- For signal (CN) Components of the Connector et Applicable plug:-ve Applicable shell:-a- tepping motors to be Combined For AC power Applicable housing:-- Type (CN) Applicable contact:-- H For stepping motor(cn) Applicable housing:-- Applicable contact:-- The connector set consists of the contacts and housings for the I/O signal, AC power, and stepping motor required for one shaft. The model number of the connector set differs depending on the combined stepping motor. Before ordering the connector set, check the combined stepping motor model number. PMAPAA PMAPAB PM-AP- For signal (CN) Applicable plug:-ve Applicable shell:-a- For AC power Applicable housing:-- Type (CN) Applicable contact:-- H For stepping motor(cn) Applicable housing:-- Applicable contact:-- :erial number PMM-MA- PMM-MA- Connector cable Model Number PM-C- PM-CP- Application Connector cable for I/O signals (CN) Connector cable for AC power source (CN) PM-CM- Connector cable for stepping motors (CN) are spaces to be filled by the serial number or (refer to upplement table ). The connector cable is a -meter cable assembled with the connector. PMM-BA- - PMM-BA- - PMDPBP tepping motor cable model number (upplement table ) PMDPCP Model Number H- H- H- H- H- PMM-MD- - PMM-BD- - PMDPACP PMDPDP

144 Pulse I/F (AC power input) Option Cable (power cable) Driver side Pin number Color White Black Green ULAWG V, C m Cable model number PM-CP- Length m Cable (I/O signal cable) Driver side Pin number Color Red Red* Black Black* Green Green* Yellow/Orange Yellow Orange Blue Blue* Brown Brown* The pin marked with *: White spiral has no connection. V-BP-A m Cable model number PM-C- Length m Cable (stepping motor extension cable ) Driver side Pin number Color Black Red Orange Yellow Blue Green to pins:ulawg pin :ULAWG V, C m Cable model number Length PM-CM- m Applicable stepping motors H-?? H-?? H-?? Cable (stepping motor extension cable ) Driver side Pin numbe Color Black Red Orange Yellow Blue Green ULAWG V, C m Cable model number Length PM-CM- m Applicable stepping motors H-?? H-??

145 ø ø PMDPACP PMDPDP PMM-BD- - PMM-MD- - PMDPCP PMDPBP PMM-BA- - PMM-BA- - PMM-MA- PMM-MA- PMAPAB PMAPAA

146 Pulse I/F (AC power input) The -Phase tepping Driver PMAPAB ACV/V Micro-step ( x to divisions) Applicable motors ø ø ø Characteristics Conformity to UL tandards and CE Marking This driver conforms to UL tandards and CE Marking. Micro-step function available mooth operation without vibration at low speeds can be realized. Rush current prevention circuit Rush current prevention circuit built in the power circuit section improves the operation reliability when turning ON the power. Connectors used for the PM driver I/O cable Connectors are employed for the high voltage section terminal in place of ourconventional model terminal block. Resulting operability is improved for the PM driver installation, maintenance, etc. Alarm output signal logic selectable ignal logic output during the alarm circuit operation can be selected. Built-in function Low vibration mode Resolutions set to a rough - or -division enable smooth and low-vibration operations as same as one using the micro-step function. However, the low vibration mode and the micro-step function cannot be used simultaneously. Micro-step function Resolutions set by using the rotary switch enable the micro-step drive. However, the low vibration mode and the micro-step function cannot be used simultaneously. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. Resolution setting function Nine resolutions ranging from - to -division can be set for the basic step angle of stepping motor by using the rotary switch. Operation current switchover function tepping motor operation current ranging from the rated one to % can be easily set by using the rotary switch. topping current adjustment function Operation current when stopping the stepping motor can be set at % to % of specified operation current by using the selection switch.

147 ø ø ø PM driver specifications Item Input source ource current PMAPAB ingle phaseacv/v+,-% /Hz A PMAPAA Protection class Class tandard specifications Environment Operating environment Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Operating altitude Vibration resistance Impact resistance Withstand voltage Installation category (overvoltage category):, Pollution degree: ~+ c -~+ c ~%RH (no condensation) ~%RH (no condensation) Maximum m above sea level Tested under the following conditions: Frequency range: to Hz,. G along the X, Y, and Z axes for hours No abnormality for the ND-C- tandard, ection.., Division "C". No abnormality against an AC V application between the power input terminal and the cabinet for one minute. PMAPAB PMM-MA- Function Insulation resistance Mass(Weight) Protection function election function LED indicator Minimum MΩ when applying the DC V Megger between the power input terminal and the cabinet..kg(. lbs) Against PM driver overheat, main circuit power abnormality, and over current. Pulse input system, automatic current reduction, power down, low-vibration mode, step angle, operation current, and stopping current. Power supply monitor, phase origin monitor, pulse monitor, and alarm indication PMM-MA- Command pulse input signal Power down input signal Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V, "L" level: to. V Maximum input frequency Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V, "L" level: to. V PMM-BA- - I/O signal tep angle selection input signal FULL/HALF selection input signal Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V, "L" level: to. V Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V, "L" level: to. V PMM-BA- - Phase origin monitor output signal Alarm output signal Open collector output by photocoupler Output signal standard Vceo: Maximum V, Ic: Maximum ma Open collector output by photocoupler Output signal standard Vceo: Maximum V, Ic: Maximum ma PMDPBP UL tandard and CE Marking PMDPCP Product PM driver Applied standard ULC UL standard File No. E Low Voltage Directive EN CE Marking EMC Directive Emission Immunity EN- (Class A) EN- (Class A) The "TEPYN H" series do not conform to UL tandard and CE Marking.Use the "TEPYN M" series when the conformity is required. For the "TEPYN M" series conformity, refer to the -Phase tepping Motor Unit "BP" eries (page and after) ee p. for recommended EMC-prevention component. PMM-MD- - PMM-BD- - tandard Combination of the stepping motor tepping motor tepping motor model number Holding torque Rotor inertia Mass(Weight) page dimensions ingle shaft Double shaft N m(oz in) - kg m (oz in ) kg(lbs) mm H- H-.(.).(.).(.) page H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) page H- H-.(.).(.).(.) PMDPACP PMDPDP H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) page ømm H- H-.(.).(.) (.) page H- H- (.) (.).(.) For the general specifications and dimensions of each stepping motor, refer to the reference pages

148 Pulse I/F (AC power input) Operation, connection, and function Each section name of the PM driver A Type BLACK RED ORANGE YELLOW BLUE WARNING May Cause electric shock Use proper grounding techniques. PM AL C N POW MON AL F/R ACD PD LV MODE AL.L. RUN TP C N Internal power establishment (POW) Indicates that the internal power is established. Phase origin monitor (MON) Input pulse monitor (PM) Alarm monitor(al and AL) Indicates that the excitation phase is at the origin (in the state when the power is turned ON) Indicates that the input pulse is applied Turns ON when the internal alarm circuit operates. Function selection dipswitch Functions can be selected according to the specification. (F/R,ACD,PD,LV,MODE,AL.L) tep angle selection switch (.) Basic step angle of stepping motor can be divided into maximum divisions. Operation current selection switch (RUN) tepping motor current value during operation can be selected. topping current selection switch (TP) The current to stop the stepping motor can be selected in the range from % to % when the automatic currentreduction function is operated. Connector for I/O signal (CN) The I/O signal is connected. Power input connector (CN) ingle-phase AC power is connected. A Motor output connector (CN) The stepping motor power line is connected. AC AC C N External wiring diagram Note ) CN Note ) CW pulse input Note ) CCW pulse input Power down input Input common tep angle selection input FULL/HALF input Phase origin monitor output Alarm output ACV / V +% -% CN AC AC BLACK RED ORANGE YELLOW BLUE CN Black Red Orange Yellow Blue Note ) M Note ) Note ) Use shielded twisted-pair cables Note ) Either "-input mode (CW pulse and CCW pulse)" or "Pulse and direction mode (CK + U/D)" can be selected by using the function selection switch F/R Note ) Refer to the following table when connecting the H "" type stepping motor: Product Connector pin number PM driver (CN) tepping motor connector Note ) Ground the stepping motor flange section and thestepping motor fastening screw by fixing them together. In addition, use a single point grounding

149 ø ø ø Operation, connection, and function Function selection dipswitch F/R ACD PD LV MODE AL. L ON OFF ON OFF OFF OFF OFF ettings at the shipment are shown above. Turn OFF the PM driver power before changing switch settings to change the function selection dipswitch settings. AL. L (alarm output logic selection) The alarm output logic of I/O signal connector (CN) can be selected. AL. L ON OFF MODE (mode selection) This switch is not used. Do not turn ON this switch. LV(lowvibrationmodeselection) mooth operation with low vibration is enabled even when a rough resolution (-, -division, etc) is set. LV ON OFF Alarm is ON. Output logic Alarm is OFF. Operation Low-vibration operation Micro-step operation PD (power down selection) The stepping motor current value at the power down signal input is selected. PD ON OFF ACD(automaticcurrentreductionselection) This switch is not used. Do not turn OFF this switch. F/R (pulse input system selection) A pulse input system is selected. F/R ON OFF tepping motor windings current Current value of the selection switch TP (power low) OA (power OFF) Pulse input method Pulse and direction mode (CK and U/D) -input mode (CW and CCW) PMAPAA PMAPAB PMM-MA- PMM-MA- PMM-BA- - tep angle selection switch (. ) Number of basic step angle divisions during the micro-step drive is set. cale Number of divisions. "" is set at the shipment. PMM-BA- - Operation current selection switch (RUN) - The operation current value of stepping motor can be selected. cale tepping motor current (%) (rated) "" is set at the shipment. PMDPBP PMDPCP topping current selection switch (TP) The stepping motor current value when the motor stops (at the automatic current reduction) and when the power down input signal is set to ON (the power low function is selected by dipswitches) can be selected. cale tepping motor current (%) Percentages are for the operation current value selected by RUN. "" is set at the shipment. PMM-MD- - PMM-BD- - PMDPACP PMDPDP

150 Pulse I/F (AC power input) Operation, connection, and function I/O signal function (CN) ignal name Abbreviation Pin number Function CW pulse input CW+ When using "-input mode" (standard) CW- Drive pulse for the CW direction rotation is input. Pulse column input CK+ When using "Pulse and direction mode" CK- Drive pulse train for the stepping motor rotation is input. CCW pulse input CCW+ When using "-input mode" (standard) CCW- Drive pulse for the CCW direction rotation is input. U/D+ The rotation direction signal of stepping motor is input for the "Pulse and direction mode". Rotation direction input Internal photocoupler ON CW direction U/D- Internal photocoupler OFF CCW direction Inputting the PD signal cuts OFF the current flowing through the stepping motor(turns OFF the power). Power down input PD+ (The power down input can be changed to the power low function by selecting dipswitches.) PD- PD input signal ON (internal photocoupler ON) PD function enabled PD input signal OFF (internal photocoupler OFF) PD function disabled Inputting the EXT signal enables the FULL/HALF selection input. tep angle selection input EXT EXT input signal ON (internal photocoupler ON) External input signal F/H enabled EXT input signal OFF (internal photocoupler OFF) Main unit rotary switch. enabled When the EXT input signal is ON (internal photocoupler ON). FULL/HALF selection input F/H F/H input signal ON (internal photocoupler ON) -division setting F/H input signal OFF (internal photocoupler OFF) -division setting It is turned ON when the excitation phase is at the origin (in the state when the power is turned ON) MON (collector) Phase origin monitor output It is turned ON once per pulses when setting to -division. MON (emitter) It is turned ON once per pulses when setting to -division. Alarm output AL (collector) The signal is externally output when one of several alarm circuits operates in the PM driver. AL (emitter) At this time, the stepping motor is in the unexcited state. The CW rotation direction of stepping motor means the clockwise direction rotation as viewed from the output shaft side (flange side). The CCW rotation direction means the counterclockwise direction rotation as viewed from the output shaft side (flange side). Arrangement of the connector terminals (CN) PD- CCW- CW- Reserved PD+ CCW+ CW+ AL (collector) MON (collector) EXT AL (emitter) MON (emitter) F/H Input common(dcv) Connectors to be used Arrangement of the CN connector terminals * The chart shown above is viewed from the connection section of the connector plug. Used for PM driver side Model number Applicable connector model number Manufacturer I/O signals (CN) -AJL Applicable plug:-ve Applicable shell:-a- umitomo M AC power (CN) -- Applicable housing:-- Applicable contactl:-- Japan AMP tepping motor (CN) -- Applicable housing:-- Applicable contact:-- Japan AMP Regarding H type stepping motor, the applicable contact model number for CN is --. The applicable connectors should be either prepared by a user or ordered from the optional connector set for the specific stepping motor. (Refer to Option page.)

151 ø ø ø Operation, connection, and function Input circuit configuration (CW and CCW) +V Pulse duty is % MAX. When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. PMAPAA Input signal Approx. ma R PM driver PMAPAB Inputsignal specifications.~.v. s MIN % PMM-MA- Rotation operation ~.V % % PMM-MA- s MAX s MAX Timing of the command pulse -input mode (CW and CCW) CW CCW s MIN The internal photocoupler turns ON at, and the internal circuit (steppingmotor)operates at the leading edge of the CK photocoupler "ON". When applying the pulse to CW, set the internal photocoupler on the CCW side to "OFF". When applying the pulse to CCW, set the internal photocoupler on the CW side to "OFF". PMM-BA- - PMM-BA- - Pulse and direction mode (CK and U/D) CK s MIN s MIN U/D The internal photocoupler turns ON at, and the internal circuit (steppingmotor)operates at the leading edge of the CK photocoupler "ON". Before switching the U/D input signals, turn OFF the internal photocoupler on the CK side. PMDPBP PMDPCP Input circuit configuration (PD, EXT, F/H) +V When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. PMM-MD- - Input signal Approx. ma R PM Driver PMM-BD- - Timing of the command pulse, the step angle selection, and the FULL/HALF selection input signal Command pulse s MIN s MIN EXT, F/H PMDPACP PMDPDP

152 Pulse I/F (AC power input) Operation, connection, and function Output Circuit Configuration (MON, AL) Output signal MAX Ic MAX V PM Driver MON, AL output signal Contact type:open collector output by the photocoupler Contact capacity:dcv MAX lc current MON output:ma MAX AL output:ma MAX Timing of the MON output (when -division is specified) CW pulse The internal photocoupler turns "ON" at. CCW pulse MON output tate Indication (LED) Indication Color Explanation POW turns ON. Green Internal power has been established. MON turns ON. Green Excitation phase is at the origin (the power is turned on). When -division is specified, turns on once in pulses. When -division is specified, turns on once in pulses. Command pulse is input. PM turns ON. Green Turns on for Approx. ms for every one pulse input. Timing of MON illumination (-division setting) CW pulse The internal photocoupler turns "ON" at, and MON illuminates. CCW pulse MON Alarm Indication (LED) Indication Color Explanation AL turns on. Red The main source voltage monitoring alarm circuit operates. ource voltage specifications ACV/V Undervoltage (U.V) Less than AC V Overvoltage (O.V) AC V or higher The circuit operates under either of the conditions mentioned above. Each alarm circuit operation turns on the alarm LED and cuts off the stepping motor current to result in the unexcited state. At the same time, the signal is output externally from the alarm output terminal (AL) of I/O signal connector (CN). Once the alarm circuit operates, the state is maintained until the alarm state is reset by restarting. Correct the error before restarting when an alarm occurs. AL turns on. Red The overheat protection alarm circuit of the internal device operates.the circuit operates when both the internal temperature of the PM driver and the ambient temperature become MIN. AL and AL turn on Red The internal device abnormality alarm operates.the alarm operates if an overcurrent or an abnormal overheating of the power device in the PM driver occurs.

153 ø ø ø Dimensions [Unit:mm(inch)] Note ) (.) (.) (.). (.) (.) ø(.) PMAPAA PMAPAB Type BLACK PM AL POW MON AL PMM-MA- (.) (.) (.) RED ORANGE YELLOW BLUE WARNING May Cause electric shock Use proper grounding techniques. C N F/R ACD PD LV MODE AL.L. RUN TP C N MODEL PMAPAB INPUT AC/V ER.No. MADE IN JAPAN (.) PMM-MA- PMM-BA- - AC AC C N (.) PMM-BA- - (.) (.) (.) (.) PMDPBP Note ) Fitting metals are optional. PMDPCP Installation Direction and the Position to be Installed M M Install the PM driver vertically. As shown in the figure, fix the PM driver by using the M screws through fitting holes on the back side of the driver (no fitting metals are necessary). The PM driver also can be installed on the front side by using the optional fitting metals for the front surface. PMM-MD- - PMM-BD- - PMDPACP PMDPDP

154 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(kgf cm).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:acv Operating current:. A/phase Pull-out torque(jl=. - kg m [.oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:. A/phase Pull-out torque(jl=. - kg m [.oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:acv Operating current:. A/phase Pull-out torque(jl=. - kg m [.oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:. A/phase Pull-out torque(jl=. - kg m [.oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:acv Operating current:. A/phase Pull-out torque(jl=. - kg m [.oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:. A/phase Pull-out torque(jl=. - kg m [.oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

155 ø ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V. Torque(kgf cm) Torque(N m) division -division Rotating speed(min - ) ource voltage:acv Operating current:. A/phase Pull-out torque(jl= - kg m [.oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified PMM-MA- PMM-MA- PMAPAB PMAPAA PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD- - PMDPACP PMDPDP PMM-BD- - H- :V Torque(kgf cm).. Torque(N m).... -division -division Rotating speed(min - ) ource voltage:acv Operating current:. A/phase Pull-out torque(jl= - kg m [.oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- :V.. Torque(kgf cm) Torque(N m).... -division division Rotating speed(min - ) ource voltage:acv Operating current:. A/phase Pull-out torque(jl= - kg m [.oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

156 Pulse I/F (AC power input) Option Connector set Model number Connector set configuration For signal Applicable plug:-ve (CN) Applicable shell:-a- PM-AP- For AC power Applicable housing:-- (CN) Applicable contact:-- tepping motor combination Type H For stepping motor Applicable housing:-- (CN) Applicable contact:-- For signal Applicable plug:-ve (CN) Applicable shell:-a- Type PM-AP- For AC power Applicable housing:-- H (CN) For stepping motor (CN) Applicable contact:-- Applicable housing:-- Applicable contact:-- H H The connector set consists of the contacts and housings for the I/O signal, AC power, and stepping motor required for one shaft. The model number of the connector set differs depending on the combined stepping motor. Before ordering the connector set, check the combined stepping motor model number. : erial number Fitting metals Model number PM-AP- Quantity One set Connector cable Model number Application The connector cable is a -meter cable assembled with the connector. PM-C- Connector cable for I/O signals (CN) PM-CP- Connector cable for AC power source (CN) PM-CM- Connector cable for stepping motors (CN) are spaces to be filled by the serial number or (refer to upplement table ). tepping motor cable model number (upplement table ) tepping motor model number H- H- H- H- H- H- H- H- H-

157 ø ø ø Option Cable (power cable) Driver side Pin number Color White Black Green ULAWG V, C m Cable model number PM-CP- Length m PMAPAA PMAPAB Cable (I/O signal cable) PMM-MA- Driver side Pin number Color Red Red* Black Black* Green Green* Yellow/Orange Yellow Orange Blue Blue* Brown Brown* The pin marked with has no connection. *: White spiral V-BP-A m Cable model number PM-C- Length m PMM-MA- PMM-BA- - PMM-BA- - PMDPBP Cable (stepping motor extension cable ) Driver side Pin number Color Black Red Orange Yellow Blue Green to pins:ulawg pin :ULAWG V, C m Cable model number Length PM-CM- m Applicable stepping motors H-?? H-?? H-?? H-?? H-?? H-?? H-?? PMDPCP PMM-MD- - PMM-BD- - Cable (stepping motor extension cable ) Driver side Pin number Color Black Red Orange Yellow Blue Green ULAWG V, C m Cable model number Length PM-CM- m Applicable stepping motors H- H- PMDPACP PMDPDP

158 Pulse I/F (AC power input) The -Phase tepping Driver PMM-MA-- ACV to V Micro-step ( x to divisions) Applicable motors ø ø ø Characteristics Conformity to UL tandards and CE Marking. This driver conforms to UL tandards and CE Marking. Wide-range input power specifications Input source power can be used in wide range from AC to V. Micro-step function available mooth operation without vibration at low speeds can be realized. Built-in function Micro-step function Resolutions set by using the rotary switch enable the micro-step drive. However, this function and the automatic micro function cannot be used simultaneously. Resolution setting function resolutions ranging from - to -division can be set for the basic step angle of stepping motor by using the rotary switch. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. types of stepping motor The PM driver "PMM-MA--" lineup as the standard combination consists of two types the "TEPYN H" series that conform to CE Marking and the standard "TEPYN H" series. Combining with the "TEPYN H" series that conform to CE Marking provides the conformity to the EMC Directive.

159 ø ø ø PM driver specifications Item Input source ource current PMM-MA-- ingle phase ACV~V+,-% /Hz A (at AC V) A (at AC V) PMAPAA tandard specifications Environment Protection class Operating environment Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Operating altitude Vibration resistance Impact resistance Class Installation category (overvoltage category):, Pollution degree: ~+ c -~+ c ~%RH (no condensation) ~%RH (no condensation) Maximum m above sea level Tested under the following conditions: Frequency range: to Hz,. G along the X, Y, and Z axes for hours No abnormality for the ND-C- tandard, ection.., Division "C". PMAPAB PMM-MA- Function Withstand voltage Insulation resistance Mass(Weight) Protection function election function LED indicator Command pulse input signal No abnormality against an AC V application between the power input terminal and the cabinet for one minute. Minimum MΩ when applying the DC V Megger between the power input terminal and the cabinet..kg(. lbs) Against PM driver overheat Automatic current reduction, excitation mode, pulse input system, step angle, and operation current Power supply monitor, phase origin monitor, pulse monitor, and alarm monitor. Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V, "L" level: to. V Maximum input frequency micro mode: kpulses/s, PMM-MA- PMM-BA- - I/O signals Power down input signal Phase origin monitor output signal Alarm output signal Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V, "L" level: to. V Open collector output by photocoupler Output signal standard Vceo: Maximum V, Ic: Maximum ma Open collector output by photocoupler Output signal standard Vceo: Maximum V, Ic: Maximum ma PMM-BA- - Ready output signal Open collector output by photocoupler Output signal standard Vceo: Maximum V, Ic: Maximum ma PMDPBP UL tandard and CE Marking UL standard CE Marking PMDPCP Product PM driver PMM-MD- - PMM-BD- - PMDPACP PMDPDP Applied standard ULC File No. E Low Voltage Directive EN EMC Directive Emission Immunity EN- (Class A) EN- (Class A) The stepping motor CE Marking is applied for the "TEPYN H" series that conforms to CE Marking. The conformity to the EMC Directive is checked under the installation environment shown in Figure.However, the conformity to the EMC Directive cannot be checked in the installation environment used for the user's equipment that varies depending on the user's control panel configuration in which PM drivers and stepping motor are built and the relation to other devices, locations, and wiring. Therefore, the user is required to finallycheck the entire machine and equipment conformity to the EMC Directive

160 C AB Pulse I/F (AC power input) tandard combined stepping motor "TEPYN H" series that conform to CE Marking tepping motor tepping motor model number Holding torque Rotor inertia Mass(Weight) Page dimensions ingle shaft Double shaft N m(oz in) - kg m (oz in ) kg(lbs) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.) (.) H- H- (.) (.).(.) page page page For the general specifications and dimensions of each stepping motor, refer to the reference pages. tandard "TEPYN H" series tepping motor tepping motor model number Holding torque Rotor inertia Mass(Weight ) Page dimensions ingle shaft Double shaft N m(oz in) - kg m (oz in ) kg(lbs) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.) (.) H- H- (.) (.).(.) page page page page page page For the general specifications and dimensions of each stepping motor, refer to the reference pages. Parts Recommended for the EMC Directive Conformity No. Part name Model pecifications and dimensions Manufacturer Note Noise filter RF-DLC Rated voltage: AC V, Rated current: A RAMIELECTRONIC LTD., Note Toroidal core T Outer core diameter: mm, Inner core diameter: mm TDK Note Toroidal core TRCN Outer core diameter: mm, Inner core diameter: mm Kitagawa Industries Co., Ltd. Note Toroidal core TRCN Outer core diameter: mm, Inner core diameter: mm Kitagawa Industries Co., Ltd. PMM-MA- (Note ) POW MON PM AL Controller C N WARNING May Cause electric shock Use proper grounding techniques. (Note ) (Note ) ACD PD PL AT F/H BLACK F/R RED L N PE Noise filter (Note ) (Note ) L N E L N E W W W R U N T P DE F DE F DE F DE F BC BC BC A A A ORANGE YELLOW BLUE AC AC tepping motor PM driver Fig Installation environment diagram

161 C AB ø ø ø Operation, connection, and function Each section name of the PM driver A C N ACD PD PL AT F/H F/R W W W R U N T P DE F DE F DE F DE F BC BC BC POW MON PM AL A A A PMM-MA- WARNING May Cause electric shock Use proper grounding techniques. BLACK RED ORANGE YELLOW BLUE AC AC B Internal power establishment (POW) Indicates that the internal power is established. Phase origin monitor (MON) Indicates that the excitation phase is at the origin (in the state when the power is turned ON). Input pulse monitor (PM) Indicates that the input pulse is applied. Alarm monitor(al) Function selection dipswitch (ACD,PD,PL,AT,F/H,F/R) W (reserved) W (reserved) -step angle correction/ tep angle selection switch (W) Turns ON when the internal alarm circuit operates. Functions can be selected according to the specification. Not used. Not used. he stopping angle of the half-step system is corrected or the number of divisions of the micro-step drive is set. Operation current selection switch (RUN) tepping motor current value during operation can be selected. topping current adjustment control (TP) The stepping motor current when stopping is adjusted when the automatic current reduction function is operated. A Connector for I/O signal (CN) The I/O signal is connected. B Terminal block (TB) I/O signals, the single-phase AC power source, and the stepping motor power cable are connected. PMAPAA PMAPAB PMM-MA- PMM-MA- PMM-BA- - PMM-BA- - External wiring diagram Note ) CW pulse input Note ) CCW pulse input Power down input Phase origin monitor output Alarm output Ready output Note ) ACV~V +% -% CN AC AC TB Black Black Red Red Orange Orange Yellow Yellow Blue Blue Note ) M Note ) PMM-BD- - PMDPBP PMDPCP PMM-MD- - Note ) Use shielded twisted-pair cables. Note ) Either "-input mode (CW and CCW)" or "Pulse and direction mode (CK and U/D)" can be selected by using the function selection switch F/R Note) Refer to the following table when connecting the H type stepping motor: Product Terminal block silk/stepping motor connector pin number PM driver (TB) BLACK RED ORANGE YELLOW BLUE tepping motor connector Note ) Ground the stepping motor flange section and the stepping motor fastening screw by fixing them together when using the standard "TEPYN H" series.use the grounding terminal when using the "TEPYN H" series that conform to CE Marking.Use a single point grounding. PMDPACP PMDPDP

162 Pulse I/F (AC power input) Operation, connection, and function Function selection dipswitch ACD ON ON Automatic current reduction operation ACD(automaticcurrentreduction selection) Automatic current reduction function is selected. ACD Auto current down ON Approx. % of current rating when stopped OFF % of current rating when stopped F/H (excitation system selection) (Note) This switch is not used. Do not turn ON this switch. PD PL ON OFF Power off PD and PL (power down and power low selection) The stepping motor windings current value at the power down signal input is selected. F/R (pulse input system selection) A pulse input system is selected. F/R Pulse input system PD PL tepping motor current ON Pulse and direction mode (CK and U/D) AT F/H F/R OFF Automatic micro mode OFF step OFF Double input system (CW and CCW pulse input) ON OFF OA (power OFF) OFF ON Adjustment value of the stopping adjustment control TP (power low) AT (automatic micro selection) (Note) This switch is not used. Do not turn ON this switch. OFF -input mode (CW and CCW) *) The temperature increase in the motor driver can be controlled by setting ACD to On (approx. % of the rated current). *) The output torque when ACD is On (approx. % of the rated current) is approx. % of that when ACD is Off (% of the rated current). ettings at the shipment are shown above. Turn OFF the PM driver power before changing switch settings to change the function selection dipswitch settings.

163 ø ø ø Operation, connection, and function tep angle selection switch (W) Number of basic step angle divisions of stepping motor (. ) cale Number of divisions. cale A B C D E F Number of divisions Operation current selection switch (RUN) Operation current of stepping motor can be selected. cale tepping motor current (A total) cale A B C D E F tepping motor current (A total) W. W (reserved), This rotary switch is not used. topping current adjustment control (TP) The stepping motor current value is adjusted for the stopping operation in the automatic current reduction function and when the power down input signal is set to "ON" (power low function is selected by dipswitches). "" is set at the shipment (distribution ratio ":" or number of divisions ""). "" is set at the shipment.. A/phase is set at scale. Approx. % operation current value selected by RUN is set at the shipment. For the TP adjustment, refer to the separate PMM-MA-- operations manual. PMAPAA PMAPAB PMM-MA- PMM-MA- PMM-BA- - I/O signal function (CN) A ignal name Abbreviation Pin Number Function CW pulse input CW+ When using "-input mode" (standard) CW- Drive pulse for the CW direction rotation is input. CK+ When using "Pulse and direction mode" Pulse column input CK- Drive pulse train for the stepping motor rotation is input. CCW pulse input CCW+ When using "-input mode" (standard) CCW- Drive pulse for the CCW direction rotation is input. U/D + The rotation direction signal of stepping motor is input for the "Pulse and direction mode". Rotation direction input Internal photocoupler ON CW direction U/D - Internal photocoupler OFF CCW direction Inputting the PD signal cuts OFF the current flowing through the stepping motor (turns OFF the power). Power down input PD+ (The power down input can be changed to the power low function by selecting dipswitches.) PD- PD input signal ON (internal photocoupler ON) PD function enabled PD input signal OFF (internal photocoupler OFF) PD function disabled MON (collector) It is turned ON when the excitation phase is at the origin (in the state when the power is turned ON) Phase origin monitor output MON (emitter) It is turned ON once per pulses when setting to -division (full step). It is turned ON once per pulses when setting to -division (half step). AL (collector) The signal is externally output when one of several alarm circuits operates in the PM driver. Alarm output AL (emitter) At this time, the stepping motor is in the unexcited state. RDY (collector) It is turned ON and OFF when the stepping motor is in the excitation state and the unexcited state, respectively. Ready output RDY (emitter) PMM-BA- - PMDPBP PMDPCP PMM-MD- - PMM-BD- - The CW direction of stepping motor means the clockwise direction rotation as viewed from the output shaft side (flange side). The CCW direction means the counterclockwise direction rotation as viewed from the output shaft side (flange side). PMDPACP PMDPDP

164 Pulse I/F (AC power input) Operation, connection, and function Arrangement of the connector terminals (CN) PD- CCW- CW- Reserved PD+ CCW+ CW+ RDY(collector) AL(collector) MON(collector) RDY(emitter) AL(emitter) MON(emitter) Reserved Arrangement of the CN connector terminals * The chart shown above is viewed from the connection section of the connector plug. Connectors to be used PM driver side Applicable connector model number Manufacturer Used for Model number I/O signal -AJL Applicable plug:-ve- umitomo M (CN) Applicable shell:-a- The applicable connectors are attached.

165 ø ø ø Operation, connection, and function Input circuit configuration (CW and CCW) Input signal +V Approx. ma R PM driver Pulse duty is % MAX. When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. PMAPAA PMAPAB Input signal specifications s MIN.~.V % PMM-MA- Rotation operation % PMM-MA- % ~.V s MAX Timing of the command pulse s MAX PMM-BA- - -input mode (CW and CCW) CW CCW The internal photocoupler turns ON at, and the internal circuit (stepping motor) operates at the leading edge of the photocoupler "ON". When applying the pulse to CW, set the internal photocoupler on the CCW side to "OFF". When applying the pulse to CCW, set the internal photocoupler on the CW side to "OFF". PMM-BA- - s MIN Pulse and direction mode (CK and U/D) PMDPBP CK U/D s MIN The internal photocoupler turns ON at, and the internal circuit (stepping motor) operates at the leading edge of the CK photocoupler "ON". Before switching the U/D input signals, turn OFF the internal photocoupler on the CK side. PMDPCP Input circuit configuration (PD) PMM-MD- - +V hen the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. PMM-BD- - Approx. ma Input signal R PM driver PMDPACP PMDPDP

166 Pulse I/F (AC power input) Operation, connection, and function Output circuit configuration (MON, AL,RDY) Output signal G MAX ma MAX V MON, AL,RDY output signal Contact type:open collector output by the photocoupler Contact capacity: DC V, ma MAX PM driver Timing of the MON output (when -division is specified) CW pulse The internal photocoupler turns "ON" at. CCW pulse MON output tate Indication (LED) Indication Color Explanation POW turns ON. Green Internal power has been established. MON turns ON. Green Excitation phase is at the origin (the power is turned on). When -division is specified (full step), turns on once in pulses. When -division is specified (half step), turns on once in pulses. Command pulse is input. PM turns ON. Green Turns on for Approx. ms for every one pulse input. Timing of MON illumination (-division setting) Timing of MON illumination (-division setting) CW pulse The internal photocoupler turns "ON" at. CCW pulse MON Alarm Indication (LED) Indication Color Explanation AL turns on. Red The overheat protection alarm circuit of the internal device operates. The circuit operates when both the internal temperature of the PM driver and the ambient temperature become c MIN. Each alarm circuit operation turns on the alarm LED and cuts off the stepping motor current to result in the unexcited state. At the same time, the alarm output circuit photocoupler of I/O signal connector (CN) turns ON and the signal is output externally. The alarm automatically stops to turn ON the stepping motor current when the internal semiconductor temperature becomes c MAX. Turn OFF the main power and try to radiate the generated heat by the forced-air-cooling of PM driver cabinet and so on before the automatic recovery from the alarm state when an alarm occurs.

167 C AB AL MADE IN JAPAN ø ø ø Dimensions [Unit:mm(inch)] Note ) (.) MAX. (.) (.) PMAPAA C N POW MON PM PMM-MA- WARNING May Cause electric shock MODEL PMM-MA-- INPUT ER.No. PMAPAB (.) (.) ACD PD PL AT F/H F/R Use proper grounding techniques. BLACK RED (.) PMM-MA- W DE F ORANGE W W R U N DE F DE F DE F BC BC BC A A A YELLOW BLUE AC AC Note ) PMM-MA- T P (.) (.) (.) (.) ±. (.±.) (.) Fitting hole -MX. PMM-BA- - PMM-BA- - (.) ±. (.±.) Note) The fitting metal and the terminal block cover are optional. PMDPBP PMDPCP Installation direction and position MAX mm Install the PM driver vertically. As shown in the figure, fix the PM driver by using the M screws through fitting holes on the bottom surface of PM driver (no fitting metals are necessary). Use such screws that enter inside the drive equipment for maximum mm. The PM driver also can be installed on the front or back surface by using optional fitting metals. PMM-MD- - PMM-BD- - PMDPACP PMDPDP

168 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

169 ø ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V.. H- :V.. PMAPAA Torque(kgf cm) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- :V.. Torque(N m).... -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- :V Torque(kgf cm) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- :V.. Torque(N m).... -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- :V PMAPAB PMM-MA- PMM-MA- PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD PMM-BD- - Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) PMDPACP PMDPDP ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

170 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m) division -division Rotating speed(min - ). -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- /H- :V H- /H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

171 ø ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- /H- :V.. H- /H- :V.. PMAPAA Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).. PMAPAB.. -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified.. -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified PMM-MA- PMM-MA- H- /H- :V. Torque(kgf cm) Torque(N m) division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- /H- :V H- /H- :V. Torque(kgf cm) Torque(N m) division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- /H- :V PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD PMM-BD- - Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) PMDPACP PMDPDP ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

172 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- /H- :V H- /H- :V... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- /H- :V H- /H- :V.. Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- /H- :V H- /H- :V Torque(kgf cm) Torque(N m). Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ). -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

173 ø ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- /H- :V H- /H- :V PMAPAA Torque(kgf cm) Torque(N m). Torque(kgf cm) Torque(N m). PMAPAB... -division -division Rotating speed(min - ). -division -division Rotating speed(min - ) PMM-MA- ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified Option ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified PMM-MA- PMM-BA- - Fitting metals Model number Quantity PM-AP- One set The fitting metal can be commonly used for either front or back surface. Terminal block cover PMM-BA- - PMDPBP Model number PM-AP- Quantity One PMDPCP Connector cable Model number Application PM-C- Connector cable for I/O signals (CN) Cable (I/O signal cable) The connector cable is a -meter cable assembled with the connector. PMM-MD- - PMM-BD- - Driver side Pin number Color Red Red* Black Black* Green Green* Orange Orange* Blue Blue* Brown Brown* Yellow Yellow* *: White spiral V-BP-A m Cable model number PM-C- Length m PMDPACP PMDPDP

174 Pulse I/F (AC power input) The -Phase tepping Driver PMM-MA-- AC V to V Micro-step ( x to divisions) Applicable motors ø ø ø Characteristics Conformity to CE Marking This driver conforms to CE Marking. Wide-range input power specifications Input source power can be used in wide range from AC to V. Micro-step function available mooth operation without vibration at low speeds can be realized. Built-in function Micro-step function Resolutions set by using the rotary switch enable the micro-step drive. However, this function and the automatic micro function cannot be used simultaneously. Resolution setting function resolutions ranging from - to -division can be set for the basic step angle of stepping motor by using the rotary switch. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. types of stepping motor The PM driver "PMM-MA--" lineup as the standard combination consists of two types the "TEPYN H" series that conform to CE Marking and the standard "TEPYN H" series. Combining with the "TEPYN H" series that conform to CE Marking provides the conformity to the EMC Directive.

175 ø ø ø PM driver specifications Item Input source ource current PMM-MA-- ingle phaseac~v+,-% /Hz A (at AC V) A (at AC V) PMAPAA tandard specifications Environment Protection class Operating environment Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Operating altitude Vibration resistance Impact resistance PMAPAB PMM-MA- PMM-MA- PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD- - PMM-BD- - PMDPACP PMDPDP Class Installation category (overvoltage category):, Pollution degree: to + C - to + C to % RH (no condensation) to % RH (no condensation) Maximum m above sea level Tested under the following conditions: Frequency range: to Hz,. G along the X, Y, and Z axes for hours No abnormality for the ND-C- tandard, ection.., Division "C". Function Withstand voltage Insulation resistance Mass(Weight) Protection function election function LED indicator Command pulse input signal No abnormality against an AC V application between the power input terminal and the cabinet for one minute. Minimum MΩ when applying the DC V Megger between the power input terminal and the cabinet..kg(. lbs) Against PM driver overheat Automatic current reduction, excitation mode, pulse input system, step angle, and operation current Power supply monitor, phase origin monitor, pulse monitor, and alarm monitor. Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V, "L" level: to. V Maximum input frequency micro-step mode: kpulses/s I/O signals Power down input signal Phase origin monitor output signal Alarm output signal Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V, "L" level: to. V Open collector output by photocoupler Output signal standard Vceo: Maximum V, Ic: Maximum ma Open collector output by photocoupler Output signal standard Vceo: Maximum V, Ic: Maximum ma Ready output signal Open collector output by photocoupler Output signal standard Vceo: Maximum V, Ic: Maximum ma CE Marking Product PM driver Low Voltage Directive EN Applied standard EMC Directive Emission Immunity EN- EN- (Class A) (Class A) The stepping motor CE Marking is applied for the "TEPYN H" series that conforms to CE Marking. The conformity to the EMC Directive is checked under the installation environment shown in Figure. However, the conformity to the EMC Directive cannot be checked in the installation environment used for the user's equipment that varies depending on the user's control panel configuration in which PM drivers and stepping motor are built and the relation to other devices, locations, and wiring. Therefore, the user is required to finally check the entire machine and equipment conformity to the EMC Directive

176 C AB Pulse I/F (AC power input) tandard combined stepping motor "TEPYN H" series that conform to CE Marking tepping motor tepping motor model number Holding torque Rotor inertia Mass(Weight) Page dimensions ingle shaft Double shaft N m(oz in) - kg m (oz in) kg(lbs) ømm H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.) (.) Page ømm H- H- (.) (.).(.) For the general specifications and dimensions of each stepping motor, refer to the reference pages. "tandard "TEPYN H" series tepping motor tepping motor model number Holding torque Rotor inertia Mass(Weight) Page dimensions ingle shaft Double shaft N m(oz in) - kg m (oz in) kg(lbs) mm H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.) (.) Page H- H- (.) (.).(.) For the general specifications and dimensions of each stepping motor, refer to the reference pages.reference pages. Page Page Page Recommended Parts for EMC Conformity No. Part name Model pecifications and size Manufacturer Note Noise filter RF-DLC Rated voltage: AC V, Rated current: A RAMIELECTRONIC LTD., Note Toroidal core T Outer core diameter: mm, Inner core diameter: mm TDK Note Toroidal core TRCN Outer core diameter: mm, Inner core diameter: mm Kitagawa Industries Co., Ltd. Note Toroidal core TRCN Outer core diameter: mm, Inner core diameter: mm Kitagawa Industries Co., Ltd. PMM-MA- (Note ) POW MON PM AL Controller C N WARNING May Cause electric shock Use proper grounding techniques. (Note ) (Note ) ACD PD PL AT F/H F/R BLACK RED L N P E (Note ) L N E Noise filter (Note ) L N E W W W R U N T P DE F DE F DE F DEF BC BC C A A A ORANGE YELLOW BLUE AC AC tepping motor PM driver Fig Installation environment diagram

177 C AB ø ø ø Operation, connection, and function Each section name of the PM driver A C N ACD PD PL AT F/H F/R W W W R U N T P DE F DE F DE F DEF BC BC C A A A POW MON PM AL WARNING May Cause electric shock Use proper grounding techniques. BLACK RED ORANGE YELLOW BLUE AC AC PMM-MA- B Internal power establishment (POW) Indicates that the internal power is established. Phase origin monitor (MON) Indicates that the excitation phase is at the origin (in the state when the power is turned ON). Input pulse monitor (PM) Indicates that the input pulse is applied. Alarm monitor (AL) Turns ON when the internal alarm circuit operates. Function selection dipswitch Functions can be selected according to the specification. W (reserved) Not used. W (reserved) Not used. -step angle correction/ The stopping angle of the half-step system is corrected or tep angle selection switch (W) the number of divisions of the micro-step drive is set. Operation current selection switch (RUN) tepping motor current value during operation can be selected. topping current adjustment control (TP) The stepping motor current when stopping is adjusted when the automatic current reduction function is operated. A Connector for I/O signal (CN) The I/O signal is connected. BTerminal block (TB) I/O signals, the single-phase AC power source, and the stepping motor power cable are connected. PMAPAA PMAPAB PMM-MA- PMM-MA- PMM-BA- - External wiring diagram PMM-BA- - Note ) CN Note ) CW pulse input Note ) CCW pulse input Power down input Phase origin monitor output Alarm output Ready output AC~V +% -% AC AC TB BLACK RED ORANGE YELLOW BLUE Black Red Orange Yellow Blue Note ) M Note ) PMDPBP PMDPCP PMM-MD- - Note )Use shielded twisted-pair cables. Note )Either "-input mode (CW and CCW)" or "Pulse and direction mode (CK and U/D)" can be selected by using the function selection switch F/R Note )Refer to the following table when connecting the H type stepping motor: Product Terminal block silk/stepping motor connector pin number PM driver (TB) BLACK RED ORANGE YELLOW BLUE tepping motor connector Note )Ground the stepping motor flange section and the stepping motor fastening screw by fixing them together when using the standard "TEPYN H" series.use the grounding terminal when using the "TEPYN H" series that conform to CE Marking. Use a single point grounding. PMM-BD- - PMDPACP PMDPDP

178 Pulse I/F (AC power input) Operation, connection, and function Function selection dipswitch ACD ON ON Automatic current reduction operation ACD (automatic current reduction selection) Automatic current reduction function is selected. ACD ON OFF Auto current down Approx. % of current rating when stopped % of current rating when stopped F/H (excitation system selection) (Note) This switch is not used. Do not turn ON this switch. PD PL ON OFF Power off PD and PL (power down and power low selection) The stepping motor windings current value at the power down signal input is selected. F/R (pulse input system selection) A pulse input system is selected. F/R Pulse input system PD PL tepping motor current ON Pulse and direction mode (CK and U/D) AT F/H F/R OFF Automatic micro OFF step OFF Double input system (CW and CCW pulse inputs) ON OFF OA (power OFF) OFF ON Adjustment value of the stopping voltage adjustment control TP (power low) AT (automatic micro selection (Note) This switch is not used. Do not turn ON this switch. OFF -input mode (CW and CCW) *) The temperature increase in the motor driver can be controlled by setting ACD to On (approx. % of the rated current). *) The output torque when ACD is On (approx. % of the rated current) is approx. % of that when ACD is Off (% of the rated current). ettings at the shipment are shown above. Turn OFF the PM driver power before changing switch settings to change the function selection dipswitch settings.

179 ø ø ø Operation, connection, and function tep angle selection switch (W) Number of basic step angle divisions of stepping motor (. ) cale Number of divisions. cale A B C D E F Number of divisions Operation current selection switch (RUN) Operation current of stepping motor can be selected. cale tepping motor current (A total) cale A B C D E F tepping motor current (A total) W, W (reserved) This rotary switch is not used. topping current adjustment control (TP) The stepping motor current value is adjusted for the stopping operation in the automatic current reduction function and when the power down input signal is set to "ON" (power low function is selected by dipswitches). I/O signal function (CN) A "" is set at the shipment (distribution ratio ":" or number of divisions ""). "" is set at the shipment.. A/phase is set at scale. Approx. % operation current value selected by RUN is set at the shipment. For the TP adjustment, refer to the separate PMM-MA-- operations manual. PMAPAA PMAPAB PMM-MA- PMM-MA- PMM-BA- - ignal name Abbreviation Pin Number Function CW pulse input CW+ When using "-input mode" (tandard) CW- Drive pulse for the CW direction rotation is input. CK+ When using "Pulse and direction mode" Pulse column input CK- Drive pulse train for the stepping motor rotation is input. CCW pulse input CCW+ When using "-input mode" (tandard) CCW- Drive pulse for the CCW direction rotation is input. PMM-BA- - PMDPBP U/D+ The rotation direction signal of stepping motor is input for the "Pulse and direction mode". Rotation direction input Internal photocoupler ON CW direction U/D- Internal photocoupler OFF CCW direction Inputting the PD signal cuts OFF the current flowing through the stepping motor (turns OFF the power). Power down input PD+ (The power down input can be changed to the power low function by selecting dipswitches.) PD- PD input signal ON (internal photocoupler ON) PD function enabled PD input signal OFF (internal photocoupler OFF) PD function disabled MON (collector) It is turned ON when the excitation phase is at the origin (in the state when the power is turned ON) Phase origin monitor output MON (emitter) It is turned ON once per pulses when setting to -division (full step). PMDPCP PMM-MD- - Alarm output Ready output It is turned ON once per pulses when setting to -division (half step). AL (collector) The signal is externally output when one of several alarm circuits operates in the PM driver. AL (emitter) At this time, the stepping motor is in the unexcited state. RDY (collector) It is turned ON and OFF when the stepping motor is in the excitation state and the unexcited state, respectively. RDY (emitter) PMM-BD- - The CW direction of stepping motor means the clockwise direction rotation as viewed from the output shaft side (flange side). The CCW direction means the counterclockwise direction rotation as viewed from the output shaft side (flange side). PMDPACP PMDPDP

180 Pulse I/F (AC power input) Operation, connection, and function Arrangement of the connector terminals (CN) PD- CCW- CW- Reserved PD+ CCW+ CW+ RDY (collector) AL (collector) MON (collector) RDY (emitter) AL (emitter) MON (emitter) Reserved Arrangement of the CN connector terminals * The chart shown above is viewed from the connection section of the connector plug. Connectors to be used Used for PM driver side Model number Applicable Connector model number Manufacturer I/O signals (CN) -AJL Applicable plug:-ve Applicable shell:-a- umitomo M The applicable connectors are attached.

181 ø ø ø Operation, connection, and function Input circuit configuration (CW and CCW) Pulse duty is % MAX +V When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external Approx. ma Input signal R limit resistance R. PM driver PMAPAA PMAPAB Input signal specifications s MIN.~.V Rotation operation ~.V % % % PMM-MA- PMM-MA- s MAX Timing of the command pulse -input mode (CW and CCW) s MAX PMM-BA- - CW CCW The internal photocoupler turns ON at, and the internal circuit (stepping motor) operates at the leading edge of the photocoupler "ON". When applying the pulse to CW, set the internal photocoupler on the CCW side to "OFF". When applying the pulse to CCW, set the internal photocoupler on the CW side to "OFF". PMM-BA- - s MIN Pulse and direction mode (CK and U/D) PMDPBP CK U/D s MIN The internal photocoupler turns ON at, and the internal circuit (stepping motor) operates at the leading edge of the CK photocoupler "ON". Before switching the U/D input signals, turn OFF the internal photocoupler on the CK side. PMDPCP Input circuit configuration (PD) PMM-MD- - +V Approx. ma Input signal When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. PMM-BD- - R PM driver PMDPACP PMDPDP

182 Pulse I/F (AC power input) Operation, connection, and function Output circuit configuration (MON, AL, and RDY) Output signal G MAX ma MAX V MON, AL, and RDY output signals Contact type:open collector output by the photocoupler Contact capacity: DC V, ma MAX PM Driver Timing of the MON output (when -division is specified) CW pulse The internal photocoupler turns "ON" at. CCW pulse MON output tate Indication (LED) Indication Color Explanation POW turns ON. Green Internal power has been established. MON turns ON. Green Excitation phase is at the origin (the power is turned on). When -division is specified (full step), turns on once in pulses. When -division is specified (half step), turns on once in pulses. PM turns ON. Green Command pulse is input. Turns on for Approx. ms for every one pulse input. Timing of MON illumination (-division setting) CW pulse The internal photocoupler turns "ON" at. CCW pulse MON Alarm Indication (LED) Indication Color Explanation AL turns on. Red The overheat protection alarm circuit of the internal device operates.the circuit operates when both the internal temperature of the PM driver and the ambient temperature become C MIN. Each alarm circuit operation turns on the alarm LED and cuts off the stepping motor current to result in the unexcited state.at the same time, the alarm output circuit photocoupler of I/O signal connector (CN) turns ON and the signal is output externally.the alarm automatically stops to turn ON the stepping motor current when the internal semiconductor temperature becomes C MAX.Turn OFF the main power and try to radiate the generated heat by the forced-air-cooling of PM driver cabinet and so on before the automatic recovery from the alarm state when an alarm occurs.

183 C AB ø ø ø Dimensions [Unit:mm(inch)] Note ) (.) MAX. (.) (.) PMAPAA PMM-MA- C N POW MON PM AL WARNING May Cause electric shock MODEL PMM-MA-- ER.No. MADE IN JAPAN PMAPAB (.) (.) ACD PD PL AT F/H F/R W DEF Use proper grounding techniques. BLACK RED ORANGE (.) AIR FLOW PMM-MA- W W R U N T P DE F DE F DE F BC BC C A A A YELLOW BLUE AC AC Note ) PMM-MA- (.) (.) MAX. (.) (.) (.) ±. (.±.) (.) PMM-BA- - PMM-BA- - (.) PMDPBP Fitting hole -M. ±. (.±.) PMDPCP Installation direction and position MAX mm Note ) The fitting metal and the terminal block cover are optional. Install the PM driver vertically. As shown in the figure, fix the PM driver by using the M screws through fitting holes on the bottom surface of PM driver (no fitting metals are necessary). Use such screws that enter inside the drive equipment for maximum mm. The PM driver also can be installed on the front or back surface by using optional fitting metals. PMM-MD- - PMM-BD- - PMDPACP PMDPDP

184 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min-).. -division -division Rotating speed(min-) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m) division -division Rotating speed(min - ). -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

185 ø ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V.. H- :V.. PMAPAA Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).. PMAPAB... -division -division Rotating speed(min-). -division -division Rotating speed(min-) PMM-MA- ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified PMM-MA- H- :V. Torque(kgf cm) Torque(N m) division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- /H- :V H- :V. Torque(kgf cm) Torque(N m) division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- /H- :V PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD PMM-BD- - Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) PMDPACP PMDPDP ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

186 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- /H- :V H- /H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m) division -division Rotating speed(min-). -division -division Rotating speed(min-) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- /H- :V H- /H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- /H- :V H- /H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

187 ø ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- /H- :V.. H- /H- :V.. PMAPAA Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).. PMAPAB.. -division -division Rotating speed(min-).. -division -division Rotating speed(min-) PMM-MA- ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified PMM-MA- H- /H- :V. Torque(kgf cm) Torque(N m) division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- /H- :V H- /H- :V. Torque(kgf cm) Torque(N m) division -division Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified H- /H- :V PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD PMM-BD- - Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min-) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min-) PMDPACP PMDPDP ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

188 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- /H- :V H- /H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m) division -division Rotating speed(min-). -division -division Rotating speed(min-) ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified Option Fitting metal Model number Quantity PM-AP- One set The fitting metal can be commonly used for either front or back surface. Terminal block cover Model number PM-AP- Quantity One Connector cable Model number Application The connector cable is a -meter cable assembled with the connector. PM-C- Connector cable for I/O signals (CN)

189 ø ø ø Option Cable (I/O signal cable) PMAPAA Driver side Pin number Color Red Red* Black Black* Green Green* Orange Orange* Blue Blue* Brown Brown* Yellow Yellow* *: White spiral V-BP-A m Cable model number PM-C- Length m PMM-MA- PMM-MA- PMAPAB PMDPACP PMDPDP PMM-BD- - PMM-MD- - PMDPCP PMDPBP PMM-BA- - PMM-BA- -

190 Pulse I/F (AC power input) The -Phase tepping Driver PMM-BA-- PMM-BA-- ACV/V -step/-step ( x division) ( x divisions) Applicable motor ø ø ø Characteristics Flexible These drivers can drive various stepping motors of small to large capacities without adjustment for wide range uses. mall size and high torque Dedicated ICs are mounted to realize the small size and high torque as a result of parts consolidation and high reliability. Two types interface Two lineup types are: Terminal block type :PMM-BA-- Connector type :PMM-BA-- Built-in function Low-vibration control Our original control system employment enables a smooth and low-vibration operation. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. Operation current switchover function tepping motor operation current ranging from the rated one to % can be set by using the rotary switch.

191 ø ø ø PM driver specifications Item Input source ource current Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Vibration resistance Impact resistance Withstand voltage Insulation resistance Mass(Weight) Protection function election function LED indicator Command pulse input signal Power down input signal Phase origin monitor output signal Alarm output signal PMM-BA-- PMM-BA-- ingle phase AC/V+, -% /Hz A to + C - to + C to % RH (no condensation) to % RH (no condensation).g Tested under the following conditions: Frequency range: to Hz,. G along the X, Y, and Z axes for hours No abnormality for the ND-C- tandard, ection.., Division "C". No abnormality against an AC V application between the power input terminal and the cabinet for one minute. Minimum MΩ when applying the DC V Megger between the power input terminal and the cabinet..kg(. lbs) Against PM driver overheat Automatic current reduction, excitation mode, pulse input system, operation current, and low vibration Power supply monitor, phase origin monitor, pulse monitor, and alarm monitor. Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V, "L" level: to. V Maximum input frequency: kpulses/s Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V, "L" level: to. V Open collector output by photocoupler Output signal standard Vceo: Maximum V, Ic: Maximum ma Relay contact output (normal open) Contact capacity: Maximum A at DC V or maximum. A at AC V PMAPAA PMAPAB PMM-MA- PMM-MA- PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD- - PMM-BD- - PMDPACP PMDPDP tandard specifications Environment Function I/O signals tandard combined stepping motor tepping motor tepping motor model number Holding torque Rotor inertia Mass(Weight) Page dimensions ingle shaft Double shaft N m(oz in) - kg m (oz in ) kg(lbs) H- H-.(.).(.).(.) mm Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) Page mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.) (.) Page H- H- (.) (.).(.) For the general specifications and dimensions of each stepping motor, refer to the reference pages.

192 F F EX Pulse I/F (AC power input) Operation, connection, and function Each section name of the PM driver PMM-BA-- FG AC MOTOR AL PD CW CW ~ ~ - + E ~ ~ PMM-BA- O F F D C RED B A ORANGE YELLOW BLUE AC/V POW MON PM AL EX FR L PD PL LFL VE TU RUN TP VA BLACK Internal power establishment (POW) Indicates that the internal power is established. Phase origin monitor (MON) Indicates that the excitation phase is at the origin (in the state when the power is turned ON). Input pulse monitor (PM) Indicates that the input pulse is applied. Alarm monitor(al) Turns ON when the internal alarm circuit operates. Function selection dipswitch Functions can be selected according to (EX,F/R,L,PD,PL,LFL,VE,TU) the specification. Operation current selection switch (RUN) tepping motor current value during operation can be selected. lection switch for low vibration (VA) Low-vibration operation and the stepping motor heat generation reduction can be performed. Terminal block (TB) I/O signals, the single-phase AC power source, and the stepping motor power cable are connected. PMM-BA-- BA CN BA CN PMM-BA- POWER MON PM AL E O F F D C B A FR L PD PL LFL VE TU RUN TP VA Internal power establishment (POWER) Indicates that the internal power is established. Phase origin monitor (MON) Indicates that the excitation phase is at the origin (in the state when the power is turned ON). Input pulse monitor (PM) Indicates that the input pulse is applied. Alarm monitor (AL) Turns ON when the internal alarm circuit operates. Function selection dipswitch Functions can be selected according (EX,F/R,L,PD,PL,LFL,VE,TU) to the specification. Operation current selection switch (RUN) tepping motor current value during operation can be selected. election switch for low vibration (VA) Low-vibration operation and the stepping motor heat generation reduction can be performed. Connectors for I/O signal I/O signals are connected. tepping output connector (CN) The stepping motor power cable is connected. Power source input connector (CN) ingle-phase AC power source is connected. CN

193 ø ø ø Operation, connection, and function External wiring diagram PMM-BA-- PMAPAA Note ) CW pulse input Note ) CCW pulse input Note ) TB CW CCW PMAPAB Power down input Alarm output ACV / V +% -% PD AL ~ ~ FG BLACK RED ORANGE YELLOW BLUE Black Red Orange Yellow Blue Note ) M Note ) PMM-MA- PMM-MA- Note )Use shielded twisted-pair cables. Note )Either "-input mode (CW and CCW)" or "Pulse and direction mode (CK and U/D)" can be selected by using the function selection switch F/R Note )Refer to the following table when connecting the H type stepping motor: Product Terminal block silk/stepping motor connector pin number PM driver (TB) BLACK RED ORANGE YELLOW BLUE tepping motor connector Note )Ground the stepping motor flange section and the stepping motor fastening screw by fixing them together. Use a single point grounding. PMM-BA- - PMM-BA- - PMDPBP PMM-BA-- Note ) CW pulse input Note ) CCW pulse input Power down input Phase origin monitor output Alarm output Note ) ACV / V +% -% CN A B A B A B A B A B CN Note )Use shielded twisted-pair cables. Note )Either "-input mode (CW and CCW)" or "Pulse and direction mode (CK and U/D)" can be selected by using the function selection switch F/R Note )Refer to the following table when connecting the H type stepping motor: Product Connector pin number PM driver (connector) tepping motor connector CN Black Red Orange Yellow Blue Note ) M Note ) Note )Ground the stepping motor flange section and the stepping motor fastening screw by fixing them together. Use a single point grounding. PMDPCP PMM-MD- - PMM-BD- - PMDPACP PMDPDP

194 Pulse I/F (AC power input) Operation, connection, and function Function selection dipswitch EX (excitation system selection) EX F/R L PD PL LFL ON ON OFF ON ON OFF step Double input system (CW and CCW pulses input) Automatic current reduction operation Power off OFF (Do not turn it ON.) Excitation mode is selected. EX ON OFF F/R ON OFF Energization system step (. /pulse) step (. /pulse) F/R (pulse input system selection) A pulse input system is selected. Pulse input system Pulse and direction mode (CK and U/D) -input mode (CW and CCW) L (automatic current reduction selection) Automatic current reduction function is selected. L ON Automatic current reduction Approx. % of current rating when stopped PD and PL (power down and power low selection) The stepping motor windings current value at the power down signal input is selected. PD PL tepping motor current ON OFF OA(power OFF) The current value (power low) OFF ON using the stopping current adjustment control (TP) LFL selection (Note) This switch is not used. Do not turn it ON. VE and TU selection (Note) This switch is not used. Do not turn it OFF. VE ON (Do not turn it OFF.) TU ON ettings at the shipment are shown above. Turn OFF the PM driver power before changing switch settings to change the function selection dipswitch settings. OFF % of current rating when stopped *) The temperature increase in the motor driver can be controlled by setting L to On (approx. % of the rated current). *) The output torque when L is On (approx. % of the rated current) is approx. % of that when L is Off (% of the rated current). Operation current selection switch (RUN) The operation current value of stepping motor can be selected. cale tepping motor current (A total) "" is set at the shipment.. A/phase is set at scale. cale A B C D E F tepping motor current (A total) Low-vibration selection switch (VA) The vibration and the stepping motor heat generation can be reduced. cale Function "" is set at the shipment. ettings from to are valid. tandard ometimes the high-speed torque may decrease. Vibration reduction Motor heat generation reduction

195 ø ø ø Operation, connection, and function I/O signal function ignal name ilk print/pin Number (Abbreviation) Terminal block type Connector type CW pulse input CW+ A When using "-input mode" Function PMAPAA (CW) CW- B Drive pulse for the CW direction rotation is input. Pulse column input CK+ A When using "Pulse and direction mode" (CK) CK- B Drive pulse train for the stepping motor rotation is input. CCW pulse input CCW+ A When using "-input mode" (CCW) CCW- B Drive pulse for the CCW direction rotation is input. The rotation direction signal of stepping motor is input for the "Pulse and direction mode". Rotation direction input U/D+ A Internal photocoupler ON CW direction (U/D) U/D- B Internal photocoupler OFF CCW direction PMAPAB PMM-MA- Inputting the PD signal cuts OFF the current flowing through the stepping motor (turns OFF the power). Power down input PD+ A (The power down input can be changed to the power low function by selecting dipswitches.) (PD) PD- B PD input signal ON (internal photocoupler ON) PD function enabled PD input signal OFF (internal photocoupler OFF) PD function disabled Phase origin monitor output A It is turned ON when the excitation phase is at the origin (in the state when the power is turned ON) (MON) - B It is turned ON once per pulses when setting to -division (full step). It is turned ON once per pulses when setting to -division (half step). Alarm output AL+ A The signal is externally output when one of several alarm circuits operates in the PM driver. (AL) AL- B At this time, the stepping motor is in the unexcited state. PMM-MA- PMM-BA- - The terminal block type indicates "PMM-BA--" and the connector type indicates "PMM-BA--" in the table. The CW direction of stepping motor means the clockwise direction rotation as viewed from the output shaft side (flange side). The CCW direction means the counterclockwise direction rotation as viewed from the output shaft side (flange side). PMM-BA- - Connectors to be used PMM-BA-- PM driver side Used for Model number Applicable connector model number Manufacturer PMDPBP I/O signals (CN) HIFBD-PA-.D Applicable socket :HIFBD-DA-.R Hirose Electric Co., Ltd. tepping motor Applicable housing:- -A (CN) Applicable contact:pbtl Molex Japan AC power source Applicable housing:- -A (CN) Applicable contact:pbtl Molex Japan The applicable connectors should be either prepared by the user or ordered from the optional connector set or connector cables (refer to Option in page ). PMM-BA-- using the terminal block interface does not require connectors. PMDPCP PMDPACP PMDPDP PMM-MD- - PMM-BD- -

196 Pulse I/F (AC power input) Operation, connection, and function Input circuit configuration (CW and CCW) +V Approx. ma Input signal R PM driver Pulse duty is % MAX. When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. Input signal specifications.~.v s MIN % % Rotation operation ~.V % s MAX s MAX Timing of the command pulse -input mode (CW and CCW) CW CCW s MIN The internal photocoupler turns ON at, and the internal circuit (stepping motor)operates at the leading edge of the photocoupler "ON". When applying the pulse to CW, set the internal photocoupler on the CCW side to "OFF". When applying the pulse to CCW, set the internal photocoupler on the CW side to "OFF". Pulse and direction mode (CK and U/D) CK s MIN The internal photocoupler turns ON at, and the internal circuit (stepping motor) operates at the leading edge of the CK photocoupler "ON". Before switching the U/D input signals, turn OFF the internal photocoupler on the CK side. U/D Input circuit configuration (PD) +V Approx. ma Input signal When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. R PM Driver

197 ø ø ø Operation, connection, and function Output circuit configuration (MON and AL) PMAPAA Alarm output signal Phase origin monitor output signal MAX ma MAX V Relay PM Driver Alarm output signal Contact type: Relay contact output (normal open) Contact capacity: Maximum A at DC V or maximum. A at AC V Phase origin monitor output signal Contact type: For open collector output by photocoupler Contact capacity: Maximum ma at DC V Phase origin monitor output signal is compatible with PMM-BA--. (There is no phase origin monitor output signal for PMM-BA--.) I/O connectors B and B of PMM-BA-- are common inside. PMAPAB PMM-MA- Timing of the MON output (at full step) CW pulse The internal photocoupler turns "ON" at. PMM-MA- CCW pulse MON output PMM-BA- - tate Indication (LED) Indication Color Explanation POW turns on. Green Internal power has been established. MON turns on. Green Excitation phase is at the origin (the power is turned on). When -division is specified (full step), turns on once in pulses. When -division is specified (half step), turns on once in pulses. PM turns on. Green Command pulse is input. Turns on for Approx. ms for every one pulse input. PMM-BA- - PMDPBP Timing of MON illumination (at full step) PMDPCP CW pulse CCW pulse The internal photocoupler turns "ON" at and MON illuminates. PMM-MD- - MON Alarm Indication (LED) PMM-BD- - Indication Color Explanation AL turns on. Red The overheat protection alarm circuit of the internal device operates.the circuit operates when both the internal temperature of the PM driver and the ambient temperature become C MIN. Each alarm circuit operation turns on the alarm LED and cuts off the stepping motor current to result in the unexcited state.at the same time, the alarm output circuit photocoupler of I/O signal connector (CN) turns ON and the signal is output externally.the alarm automatically stops to turn ON the stepping motor current when the internal semiconductor temperature becomes C MAX.Turn OFF the main power and try to radiate the generated heat by the forced-air-cooling of PM driver cabinet and so on before the automatic recovery from the alarm state when an alarm occurs. PMDPACP PMDPDP

198 BA CN BA CN CN POWER MON PM AL ABCDE F O F F F E O F F D C B A EX FR L PD PL LFL VE TU RUN TP VA (.) MAX. (.) MAX. (.) (.) (.) ±. (.±.) -M.(Fitting hole) (.) MAX. (.) MAX. (.) (.) PMM-BA- (.) ±. (.±.) (.) (.) ±. (.±.) Pulse I/F (AC power input) Dimensions [Unit:mm(inch)] PMM-BA-- PMM-BA- POW AC FG MOTOR AL PD CW CW ~ ~ RED MON PM AL EX FR L PD PL LFL VE TU RUN TP VA ORANGE YELLOW BLUE AC/V BLACK (.) PMM-BA-- (.) ±. (.±.) -M.(Fitting hole) Installation direction and position MAX mm Install the PM driver vertically. As shown in the figure, fix the PM driver by using the M screws through fitting holes on the bottom surface of PM driver (no fitting metals are necessary). Use such screws that enter inside the drive equipment for maximum mm.

199 ø ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V PMAPAA Torque(kgf cm) Torque(kgf cm) Torque(kgf cm) Torque(N m) Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V. Torque(N m)..... Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V. Torque(N m)..... Rotating speed(min - ) Torque(kgf cm) Torque(kgf cm) Torque(kgf cm) Torque(N m) Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V. Torque(N m)..... Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V. Torque(N m)..... Rotating speed(min - ) PMAPAB PMM-MA- PMM-MA- PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD- - PMM-BD- - PMDPACP PMDPDP ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

200 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V Torque(kgf cm). Torque(N m)..... Rotating speed(min - ). Torque(kgf cm) Torque(N m)..... Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V. Torque(kgf cm) Torque(N m)..... Rotating speed(min - ) Torque(kgf cm). Torque(N m)..... Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).... Rotating speed(min - ) Torque(kgf cm) Torque(N m).... Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

201 ø ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V.. H- :V.. PMAPAA Torque(kgf cm) Torque(N m).... Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step Torque(kgf cm) Torque(N m).... Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step PMAPAB PMM-MA- PMM-MA- H- :V. H- :V. PMM-BA- - Torque(kgf cm) Torque(N m)..... Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step Torque(kgf cm) Torque(N m)..... Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step PMM-BA- - PMDPBP PMDPCP PMM-MD- - PMDPACP PMDPDP PMM-BD- -

202 Pulse I/F (AC power input) Option PMM-BA-- Connector set Model number Used for et content Combination stepping motor model number I/O signal (CN) Applicable socket:hifba-da-.r PM-AP- Power source Applicable housing:- (CN) Applicable contact:pbtl tepping motor (CN) Applicable housing:- Applicable contact:pbtl Applicable housing:vhr-n Applicable contact:vh-t-p. I/O signal (CN) Applicable socket:hifba-da-.r PM-AP- Power source Applicable housing:- (CN) Applicable contact:pbtl tepping Applicable housing:- motor Applicable contact:pbtl (CN) Type H Type H H H H H Connector cable Model number Application The connector cable is a -meter cable assembled with the connector. PM-C- Connector cable for I/O signals (CN) PM-CM- Connector cable for stepping motors (CN) PM-CP- Connector cable for AC power source (CN) are spaces to be filled by the serial number or (refer to upplement table ). Applicable connector cable CN CN CN Cable Cable or Cable PMM-BA-- Terminal block cover Model number PM-AP- Quantity One tepping motor cable model number (upplement table ) erial No. tepping motor model number H- H- H- H- H- H- H- H- H- H- H- H- H- H- H- H-

203 ø ø ø Option Cable (power source cable CN) Driver side Pin number Color White Black Green ULAWG V, C m Cable model number PM-CP- Length m PMAPAA PMAPAB PMM-MA- Cable (I/O signal cable CN) Driver side Pin number Color Brown Red Orange Yellow Green Blue Purple Gray White Black AWM E- VW- V, C m Cable model number PM-C- Length m PMM-MA- PMM-BA- - PMM-BA- - Cable (stepping motor extension cable CN) Driver side Pin number Color Black Red Orange Yellow Blue m ULAWG V, C H- H- H- Cable model number PM-CM- Applicable stepping motor H- H- H- H- H- Length m H- H- H- H- H- PMDPBP PMDPCP Cable (stepping motor extension cable CN) PMM-MD- - Driver side Pin number Color Black Red Orange Yellow Blue m ULAWG V, C tepping motor side Pin number Color Black Red Orange Yellow Blue Cable model number PM-CM- Applicable stepping motor H- H- H- Length m PMM-BD- - PMDPACP PMDPDP

204 Pulse I/F (AC power input) The -Phase tepping Driver PMM-BA-- PMM-BA-- AC V/ V -step/-step ( x divisions) ( x divisions) Applicable motors ø ø ø Characteristics High-speed type These drivers are high-speed types of PMM-BA- -. tepping motors can be used even in the high-speed range. Flexible The drivers can drive various stepping motors of small to large capacities without adjustment for wide range uses. mall size and high torque Dedicated ICs are mounted to realize the small size and high torque as a result of parts consolidation and high reliability. Two types interface Terminal block type :PMM-BA-- Connector type :PMM-BA-- Built-in function Low-vibration control Our original control system employment enables a smooth and low-vibration operation. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. Operation current switchover function tepping motor operation current ranging from the rated one to % can be set by using the rotary switch.

205 ø ø ø PM driver specifications Item Input source ource current Operating ambient temperature PMM-BA-- ingle phaseac/v+,-% /Hz A to + C PMM-BA-- PMAPAA Basic specifications Environment Conservation temperature Operating ambient humidity Conservation humidity Vibration resistance Impact resistance - to + C to % RH (no condensation) to % RH (no condensation) Tested under the following conditions: Frequency range: to Hz,. G along the X, Y, and Z axes for hours No abnormality for the ND-C- tandard, ection.., Division "C". PMAPAB Function Withstand voltage Insulation resistance Mass(Weight) Protection function election function LED indicator Command pulse input signal No abnormality against an AC V application between the power input terminal and the cabinet for one minute. Minimum MΩ when applying the DC V Megger between the power input terminal and the cabinet..kg(. lbs) Against PM driver overheat Automatic current reduction, excitation mode, pulse input system, operation current, and low vibration Power supply monitor, phase origin monitor, pulse monitor, and alarm monitor. Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V, "L" level: to. V Maximum input frequency: kpulses/s PMM-MA- PMM-MA- I/O signals Power down input signal Phase origin monitor output signal Alarm output signal Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V, "L" level: to. V Open collector output by photocoupler Output signal standard Vceo: Maximum V, Ic: Maximum ma Relay contact output (normal open) Contact capacity: Maximum A at DC V or maximum. A at AC V PMM-BA- - tandard combined stepping motor tepping motor tepping motor model number Holding torque Rotor inertia Mass(Weight) Page dimensions ingle shaft Double shaft N m(oz in) - kg m (oz in ) kg(lbs) H- mm H-.(.).(.).(.) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.) (.) Page H- H- (.) (.).(.) For the general specifications and dimensions of each stepping motor, refer to the reference pages. PMDPACP PMDPDP PMM-BA- - PMDPBP PMDPCP PMM-MD- - PMM-BD- -

206 CN F A Pulse I/F (AC power input) Operation, connection, and function Each section name of the PM driverconform to CE Marking PMM-BA-- CW AC FG MOTOR ~ ~ - + CCW - + PD - + AL - + O F F BLUE ORANGE YELLOW AC/V BCDEF PMM-BA- POW MON PM AL EX FR L PD PL LFL VE TU RUN TP BLACK VA RED Internal power establishment (POW) Indicates that the internal power is established. Phase origin monitor (MON) Indicates that the excitation phase is at the origin (in the state when the power is turned ON). Input pulse monitor (PM) Indicates that the input pulse is applied. Alarm monitor(al) Turns ON when the internal alarm circuit operates. Function selection dipswitch Functions can be selected according (EX,F/R,L,PD,PL,LFL,VE,TU) to the specification. Operation current selection switch (RUN) tepping motor current value during operation can be selected. election switch for low vibration (VA) Low-vibration operation and the stepping motor heat generation reduction can be performed. Terminal block (TB) I/O signals, the single-phase AC power source, and the stepping motor power cable are connected. = PMM-BA-- B B CN CN A A E PMM-BA- O F F D C B A POWER MON PM AL EX F/R L PD PL LFL VE TU RUN TP VA Internal power establishment (POWER) Indicates that the internal power is established. Phase origin monitor (MON) Indicates that the excitation phase is at the origin (in the state when the power is turned ON). Input pulse monitor (PM) Indicates that the input pulse is applied. Alarm monitor(al) Turns ON when the internal alarm circuit operates. Function selection dipswitch Functions can be selected according (EX,F/R,L,PD,PL,LFL,VE,TU) to the specification. Operation current selection switch (RUN) tepping motor current value during operation can be selected. election switch for low vibration (VA) Low-vibration operation and the stepping motor heat generation reduction can be performed. Connectors for I/O signal I/O signals are connected. tepping output connector (CN) The stepping motor power cable is connected. Power source input connector (CN) ingle-phase AC power source is connected.

207 ø ø ø Operation, connection, and function External wiring diagram PMM-BA-- Note ) TB PMAPAA Note ) CW pulse input Note ) CCW pulse input Power down input CW CCW PD PMAPAB Alarm output ACV / V +% -% AL ~ ~ FG BLACK RED ORANGE YELLOW BLUE Black Red Orange Yellow Blue Note ) M Note ) PMM-MA- Note ) Use shielded twisted-pair cables. Note ) Either "-input mode (CW and CCW)" or "Pulse and direction mode (CK and U/D)" can be selected by using the function selection switch F/R Note ) Refer to the following table when connecting the H type stepping motor: Product Terminal block silk screen print/stepping motor connector pin number PM driver (TB) BLACK RED ORANGE YELLOW BLUE tepping motor connector Note )Ground the stepping motor flange section and the stepping motor fastening screw by fixing them together. Use a single point grounding. PMM-MA- PMM-BA- - PMM-BA- - PMM-BA-- PMDPBP Note ) CW pulse input Note ) CCW pulse input Power down input Phase origin monitor output Alarm output Note ) ACV / V +% -% CN A B A B A B A B A B CN CN Black Red Orange Yellow Blue Note ) M Note ) PMDPCP PMM-MD- - PMM-BD- - Note ) Use shielded twisted-pair cables. Note ) Either "-input mode (CW and CCW)" or "Pulse and direction mode (CK and U/D)" can be selected by using the function selection switch F/R Note ) Refer to the following table when connecting the H type stepping motor: Product Connector pin number PM driver (CN) tepping motor connector Note ) Ground the stepping motor flange section and the stepping motor fastening screw by fixing them together. Use a single point grounding. PMDPACP PMDPDP

208 Pulse I/F (AC power input) Operation, connection, and function Function selection dipswitch EX F/R L PD PL LFL ON ON OFF ON ON OFF step Double input system CW and CCW pulses input) Automatic current reduction operation Power off OFF (Do not turn it ON.) EX (excitation system selection) Excitation mode is selected. EX ON OFF F/R ON OFF Energization system step (. /pulse) step (. /pulse) F/R (pulse input system selection) A pulse input system is selected. Pulse input system Pulse and direction mode (CK and U/D) -input mode (CW and CCW) L (automatic current reduction selection) Automatic current reduction function is selected. L ON Auto current down Approx. % of current rating when stopped PD and PL (power down and power low selection) The stepping motor windings current value at the power down signal input is selected. PD PL tepping motor current ON OFF OA (power OFF) The current value (power low) OFF ON using the stopping current adjustment control (TP) LFL selection (Note) This switch is not used. Do not turn it ON. VE and TU selection (Note) This switch is not used. Do not turn it OFF. VE ON (Do not turn it OFF.) TU ON ettings at the shipment are shown above. Turn OFF the PM driver power before changing switch settings to change the function selection dipswitch settings. OFF % of current rating when stopped *) The temperature increase in the motor driver can be controlled by setting L to On (approx. % of the rated current). *) The output torque when L is On (approx. % of the rated current) is approx. % of that when L is Off (% of the rated current). Operation current selection switch (RUN) The operation current value of stepping motor can be selected. cale tepping motor current (A total) "" is set at the shipment.. A/phase is set at scale. cale A B C D E F tepping motor current (A total) Low-vibration selection switch (VA) The vibration and the stepping motor heat generation can be reduced. cale Function "" is set at the shipment. ettings from to are valid. tandard ometimes the high-speed torque may decrease. Vibration reduction Motor heat generation reduction

209 ø ø ø Operation, connection, and function I/O signal function ignal name ilk print/pin Number (Abbreviation) Terminal block type Connector type Function CW pulse input CW+ A When using "-input mode" (CW) CW- B Drive pulse for the CW direction rotation is input. Pulse column input CK+ A When using "Pulse and direction mode" (CK) CK- B Drive pulse train for the stepping motor rotation is input. CCW pulse input CCW+ A When using "-input mode" (CCW) CCW- B Drive pulse for the CCW direction rotation is input. Rotation direction input U/D+ A (U/D) U/D- B The rotation direction signal of stepping motor is input for the "Pulse and direction mode". Internal photocoupler ON Internal photocoupler OFF CW direction CCW direction Inputting the PD signal cuts OFF the current flowing through the stepping motor (turns OFF the power). Power down input PD+ A (The power down input can be changed to the power low function by selecting dipswitches.) (PD) PD- B PD input signal ON (internal photocoupler ON) PD function enabled PD input signal OFF (internal photocoupler OFF) PD function disabled Phase origin monitor output A It is turned ON when the excitation phase is at the origin (in the state when the power is turned ON) (MON) It is turned ON once per pulses when setting to -division (full step). B It is turned ON once per pulses when setting to -division (half step). Alarm output AL+ A The signal is externally output when one of several alarm circuits operates in the PM driver. (AL) AL- B At this time, the stepping motor is in the unexcited state. The terminal block type indicates "PMM-BA--" and the connector type indicates "PMM-BA--" in the table. The CW direction of stepping motor means the clockwise direction rotation as viewed from the output shaft side (flange side). The CCW direction means the counterclockwise direction rotation as viewed from the output shaft side (flange side). Connectors to be used PMM-BA-- PM driver side Applicable connector model number Manufacturer Used for Model number I/O signals (CN) HIFBD-PA-.D Applicable socket :HIFBD-DA-.R Hirose Electric Co., Ltd. tepping motor Applicable housing:- -A (CN) Applicable contact:pbtl Molex Japan AC power source Applicable housing:- -A (CN) Applicable contact:pbtl Molex Japan The applicable connectors should be either prepared by the user or ordered from the optional connector set or connector cables (refer to Option in page ). PMM-BA-- using the terminal block interface does not require connectors. PMAPAA PMAPAB PMDPACP PMDPDP PMM-MA- PMM-MA- PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD- - PMM-BD- -

210 Pulse I/F (AC power input) Operation, connection, and function Input circuit configuration (CW and CCW) +V Approx. ma Input signal R PM driver Pulse duty is % MAX. When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. Input signal specifications.~.v s MIN % ~.V % Rotation operation % s MAX s MAX Timing of the command pulse -input mode (CW and CCW) CW CCW s MIN The internal photocoupler turns ON at, and the internal circuit (stepping motor) operates at the leading edge of the photocoupler "ON". When applying the pulse to CW, set the internal photocoupler on the CCW side to "OFF". When applying the pulse to CCW, set the internal photocoupler on the CW side to "OFF". Pulse and direction mode (CK and U/D) CK s MIN The internal photocoupler turns ON at, and the internal circuit (stepping motor) operates at the leading edge of the CK photocoupler "ON". Before switching the U/D input signals, turn OFF the internal photocoupler on the CK side. U/D Input circuit configuration (PD) +V Approx. ma Input signal R PM driver When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R.

211 ø ø ø Operation, connection, and function Output circuit configuration (MON and AL) Alarm output signal Phase origin monitor output signal MAX ma MAX V Relay PM Driver Alarm output signal Contact type: Relay contact output (normal open) Contact capacity: Maximum A at DC V or maximum. A at AC V Phase origin monitor output signal Contact type: For open collector output by photocoupler Contact capacity: Maximum ma at DC V Phase origin monitor output signal is compatible with PMM-BA--. (There is no phase origin monitor output signal for PMM-BA--.) I/O connectors B and B of PMM-BA-- are common inside. PMAPAA PMAPAB PMM-MA- Timing of the MON output (at full step) CW pulse The internal photocoupler turns "ON" at. PMM-MA- CCW pulse MON output PMM-BA- - tate Indication (LED) Indication Color Explanation POW turns on. Green Internal power has been established. Excitation phase is at the origin (the power is turned on). MON turns on. Green When -division is specified (full step), turns on once in pulses. When -division is specified (half step), turns on once in pulses. PM turns on. Green Command pulse is input. Turns on for Approx. ms for every one pulse input. PMM-BA- - PMDPBP Timing of MON illumination (at full step) PMDPCP CW pulse CCW pulse The internal photocoupler turns "ON" at and MON illuminates. PMM-MD- - MON Alarm Indication (LED) PMM-BD- - Indication Color Explanation AL turns on. Red The overheat protection alarm circuit of the internal device operates. The circuit operates when both the internal temperature of the PM driver and the ambient temperature become C MIN. Each alarm circuit operation turns on the alarm LED and cuts off the stepping motor current to result in the unexcited state.at the same time, the alarm output circuit photocoup ler of I/O signal connector (CN) turns ON and the signal is output externally.the alarm automatically stops to turn ON the stepping motor current when the internal semiconductor temperature becomes C MAX.Turn OFF the main power and try to radiate the generated heat by the forced-aircooling of PM driver cabinet and so on before the automa tic recovery from the alarm state when an alarm occurs. PMDPACP PMDPDP

212 O F F F E O F F C ABCDE F Pulse I/F (AC power input) Dimensions [Unit:mm(inch)] PMM-BA-- (.) MAX. (.) MAX. (.) (.) PMM-BA- AC FG MOTOR AL PD CCW CW ~ ~ ORANGE POW MON PM AL EX FR L PD PL LFL VE TU RUN TP BLACK VA RED YELLOW BLUE AC/V (.) MODEL PMM-BA-- ER NO. MADE IN JAPAN D-I--B (.) (.) MAX mm (.) ±. (.±.) -M. (Fitting hole) (.) MAX. MAX. (.) (.) (.) PMM-BA- POWER MON PM AL BA CN EX F/R L PD PL LFL VE TU MODEL PMM-BA-- BA D AB RUN TP VA (.) ER NO. MADE IN JAPAN D-I--B CN CN (.) (.) (.) ±. (.±.) PMM-BA-- -M. (Fitting hole) Installation direction and position Install the PM driver vertically. As shown in the figure, fix the PM driver by using the M screws through fitting holes on the bottom surface of PM driver (no fitting metals are necessary). Use such screws that enter inside the drive equipment for maximum mm.

213 ø ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.... PMAPAA Torque(oz in) Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).. PMAPAB.. Rotating speed(min-).. Rotating speed(min-) PMM-MA- ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step PMM-MA- H- :V.. Torque(kgf cm) Torque(kgf cm) Torque(N m).... Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V. Torque(N m)..... Rotating speed(min - ) H- :V Torque(kgf cm) Torque(kgf cm). Torque(N m) Torque(N m)..... Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V Rotating speed(min - ) PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD- - PMM-BD- - PMDPACP PMDPDP ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

214 Pulse I/F (AC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... Rotating speed(min-).. Rotating speed(min-) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m)... Rotating speed(min - ). Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:acv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... Rotating speed(min - ).. Rotating speed(min - ) ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

215 ø ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V.. PMAPAA Torque(kgf cm) Torque(N m).. PMAPAB.. Rotating speed(min-) PMM-MA- ource voltage:acv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step PMM-MA- PMDPACP PMDPDP PMM-BD- - PMM-MD- - PMDPCP PMDPBP PMM-BA- - PMM-BA- -

216 Pulse I/F (AC power input) Option PMM-BA-- Connector set Model number Used for et content Combination stepping motor model number I/O signal (CN) Applicable socket:hifba-da-.r PM-AP- Power source (CN) tepping motor (CN) Applicable housing:- Applicable contact:pbtl Applicable housing:- Applicable contact:pbtl Applicable housing:vhr-n Applicable contact:vh-t-pl. Type H PM-AP- I/O signal (CN) Power source (CN) tepping motor (CN) Applicable socket:hifba-da-.r Applicable housing:- Applicable contact:pbtl Applicable housing:- Applicable contact:pbtl Type H H H H Connector cable Model number Application The connector cable is a -meter cable assembled with the connector. PM-C- Connector cable for I/O signals (CN) PM-CM- Connector cable for stepping motors (CN) PM-CP- Connector cable for AC power source (CN) are spaces to be filled by the serial number or (refer to upplement table ). Applicable connector cable CN CN CN Cable Cable or Cable PMM-BA-- Terminal block cover Model number PM-AP- Quantity One tepping motor cable model number (upplement table ) erial No. tepping motor model number H- H- H- H- H- H- H- H- H- H- H- H- H-

217 ø ø ø Option Cable (power source cable CN) Driver side Pin number Color White Black Green m ULAWG V, C Cable model number PM-CP- Length m PMAPAA PMM-MA- PMAPAB Cable (I/O signal cable CN) Driver side Pin number Color Brown Red Orange Yellow Green Blue Purple Gray White Black AWM E- VW- V, C m Cable model number PM-C- Length m PMM-MA- PMM-BA- - Cable (stepping motor extension cable CN) PMM-BA- - Driver side Pin number Color Black Red Orange Yellow Blue m ULAWG Cable model number Length V, C PM-CM- m Applicable stepping motor H- H- H- H- H- H- H- H- H- H- PMDPBP PMDPCP Cable (stepping motor extension cable CN) PMM-MD- - Driver side Pin number Color Black Red Orange Yellow Blue m ULAWG V, C tepping motor side Pin number Color Black Red Orange Yellow Blue Cable model number PM-CM- Applicable stepping motor H- H- H- Length m PMM-BD- - PMDPACP PMDPDP

218 Pulse I/F (DC power input) The -Phase tepping Driver PMDPBP DCV -step/-step ( x divisions) ( x divisions) Applicable motors ø ø Characteristics High-speed type This driver is a high-speed type of PMM-BD- -. tepping motors can be used even in the high-speed range. Flexible The drivers can drive various stepping motors of small to large capacities without adjustment for wide range uses. mall size Exclusive ICs are mounted to improve parts consolidation and reliability. Built-in function Excitation system selection function -step and half-step excitation systems can be selected by the external input signal. Power down function The stepping motor power can be turned OFF by the external input signal.

219 ø ø PM driver specifications Input source ource current Item For main power For main power DCV/±%.A PMDPBP PMAPAA Operating ambient temperature to + C tandard specification Environment Conservation temperature Operating ambient humidity Conservation humidity Vibration resistance Impact resistance - to + C to % RH (no condensation) to % RH (no condensation) Tested under the following conditions: Frequency range: to Hz,. G along the X, Y, and Z axes for hours No abnormality for the ND-C- tandard, ection.., Division "C". PMAPAB PMM-MA- PMM-MA- PMM-BA- - PMM-BA- - tandard combined stepping motor PMDPBP PMDPCP PMM-MD- - PMM-BD- - PMDPACP PMDPDP Withstand voltage Insulation resistance Mass(Weight) No abnormality against an AC V application between the power input terminal and the cabinet for one minute. Minimum MΩ when applying the DC V Megger between the power input terminal and the cabinet..kg(. lbs) Function elect function Command pulse input signal Pulse input system (option) Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V "L" level: to. V Maximum input frequency: kpulses/s I/O signals Power down input signal Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V "L" level: to. V Photocoupler input system, input resistance Ω Energization system selection input signal Input signal voltage: "H" level:. to. V "L" level: to. V tepping motor tepping motor model number Holding torque Rotor inertia Mass(Weight) Page dimensions ingle shaft Double shaft N m(oz in) - kg m (oz in ) kg(lbs) mm mm H- H- H- H- H- H- H- H- H- H-.(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) Page Page ømm ømm H- H- H- H- H- H- H- H- H- H- H- H-.(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) Page Page For the general specifications and dimensions of each stepping motor, refer to the reference pages.

220 Pulse I/F (DC power input) Operation, connection, and function Each section name of the PM driver CN CN Connector (CN) Connects the DC power. Connector (CN) Connects I/O signals. Connector (CN) Connects the stepping motor power cable. CN External wiring diagram DCV CN DCG Note ) CW pulse input Note ) CCW pulse input Power down input Automatic current reduction release input Excitation system selection input Note ) CN CN Black Red Orange Yellow Blue Note ) M Note )Use shielded twisted-pair cables. Note )The switchover from "-input mode (CW and CCW)" to "Pulse and direction mode (CK and U/D)" is optional Contact us. Note )Refer to the following table when connecting the H type stepping motor: Product Connector pin number PM driver (CN) tepping motor connector

221 ø ø Operation, connection, and function I/O signal function ignal name Abbreviation Pin number Function CW+ CW pulse input CW- Drive pulse for the CW direction rotation is input. CCW+ CCW pulse input CCW- Drive pulse for the CCW direction rotation is input. Inputting the PD signal cuts OFF the current flowing through the stepping motor (turns OFF the power). PD+ Power down input PD input signal ON (internal photocoupler ON) PD function enabled PD- PD input signal OFF (internal photocoupler OFF) PD function disabled The function is held to automatically reduce the stepping motor current Approx. to the half inside the Auto current down ACD+ equipment during stopping the motor (about ms after the last pulse application). release input ACD- ADD input signal ON (internal photocoupler ON) ACD function disabled ACD input signal OFF (internal photocoupler OFF) ACD function enabled EX+ The full-step or the half-step can be selected by inputting the EX signal. Energization system selection input EX input signal ON (internal photocoupler ON) -step EX- EX input signal OFF (internal photocoupler OFF) -step The CW direction of stepping motor means the clockwise direction rotation as viewed from the output shaft side (flange side). The CCW direction means the counterclockwise direction rotation as viewed from the output shaft side (flange side). PMAPAA PMAPAB PMM-MA- PMM-MA- PMM-BA- - Connectors to be used PM driver side Used for DC power source (CN) Model number - Applicable connector model number Housing:- Contact:- Manufacturer Molex Japan PMM-BA- - I/O signals (CN) tepping motor (CN) - - Housing:- Contact:- Housing:- Contact:- Molex Japan Molex Japan PMDPBP The applicable connectors should be either prepared by the user or ordered from the optional connector set or connector cables (refer to Option in page ). PMDPCP PMDPACP PMDPDP PMM-BD- - PMM-MD- -

222 Pulse I/F (DC power input) Operation, connection, and function Input circuit configuration (CW and CCW) +V Approx. ma Input signal Ω Pulse duty is % MAX. When the peak value of the input signal is V, the external limit resistance R is Ω If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. R PM driver Input signal specifications.~.v s MIN. % Rotation operation % ~.V % s MAX. s MAX. Timing of the command pulse CW CCW s MIN. The internal photocoupler turns ON at, and the internal circuit (stepping motor) operates at the rear edge of the photocoupler "ON". When applying the pulse to CW, set the internal photocoupler on the CCW side to "OFF". When applying the pulse to CCW, set the internal photocoupler on the CW side to "OFF". Input circuit configuration (PD, ACD, and EX) +V Approx. ma Input signal Ω When the peak value of the input signal is V, the external limit resistance R is Ω If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. R PM driver

223 ø ø Dimensions [Unit:mm(inch)] ±.(.±.) (.) -ø. (-ø.) Fitting holes (.) (.) PMM-MA- PMAPAA PMAPAB PMM-MA- CN CN PMM-BA- - ±.(.±.) (.) CN PMM-BA- - (.) -ø. (-ø.) Fitting holes PMDPBP (.) ±.(.±.) PMDPCP Installation direction and position M M Install the PM driver vertically. As shown in the figure, fix the PM driver by using the M screws through two fitting holes (-ø.) on the bottom surface of PM driver (no fitting metals are necessary). PMM-MD- - PMM-BD- - PMDPACP PMDPDP

224 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... Rotating speed(min - ).. Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... Rotating speed(min - ).. Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... Rotating speed(min - ).. Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

225 ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V.. H- :V.. PMAPAA Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).. PMAPAB.. Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step.. Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step PMM-MA- PMM-MA- H- :V. Torque(kgf cm) Torque(N m)..... Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V. Torque(kgf cm) Torque(N m)..... Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD- -.. PMM-BD- - Torque(kgf cm) Torque(N m).... Rotating speed(min - ) PMDPACP PMDPDP ource voltage:dcv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

226 Pulse I/F (DC power input) Option Connector set Model number Used fordc power et content Quantity Manufacturer name Applicable cable size Crimping tool model number PM-AP- DC power source (CN) Applicable housing:- Applicable contact:- Molex Japan AWG~ - - PM-AP- I/O signal (CN) Applicable housing:- Applicable contact:- Molex Japan AWG~ - PM-AP- (Type H ) tepping motor (CN) Applicable housing:- Applicable contact:- Applicable housing:vhr-n Applicable contact:vh-t-p. Molex Japan J..T. Mfg Co., Ltd. AWG~ - - YC-R PM-AP- (Types other than above) Applicable housing:- Applicable contact:- Molex Japan AWG~ - - Place the order of a set or sets of three model numbers CN, CN, and CN when ordering. Connector cable Model number PM-CP- PM-C- PM-CM- Application Connector cable for DC power source (CN) Connector cable for I/O signal (CN) Connector cable for stepping motors (CN) The connector cable is a -meter cable assembled with the connector. are spaces to be filled by the serial number or (refer to upplement table ). tepping motor cable model number (upplement table ) erial No. tepping motor model number H- H- H- H- H- H- H- H- H- H- H-

227 ø ø Option Cable (I/O signal cable ) Driver side Pin number Color Blue Cable (power source cable ) ULAWG V, C m Cable model number PM-C- Length m PMAPAA PMAPAB PMM-MA- Driver side Pin number Color White Black PMM-MA- PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD- - PMM-BD- - PMDPACP PMDPDP ULAWG V, C m Cable model number PM-CP- Length m Cable (stepping motor extension cable ) Driver side Pin number Color Black Red Orange Yellow Blue ULAWG V, C m Cable model number PM-CM- Length m Applicable stepping motor H- H- H- H- H- H- H- H- Cable (stepping motor extension cable ) Driver side Pin number Color Black Red Orange Yellow Blue ULAWG V, C tepping motor side Cable model number Length Pin number Color PM-CM- m Black Yellow Applicable stepping motor Orange H- Red H- m Blue H-

228 Pulse I/F (DC power input) The -Phase tepping Driver PMDPCP DCV Micro-step ( x to divisions) Applicable motors ø ø Characteristics mall size PM driver This small-size and light-weight driver realizes % volumetric rate reduction from our conventional product. Micro-step function available mooth operation without vibration at low speeds can be realized. Flexible It can drive various stepping motors of small to large capacities without adjustment for wide range uses. Downsizing Dedicated HIC is mounted to improve parts consolidation and reliability. Built-in function tep angle setting function Ten resolutions ranging from - to -division can be set for the basic step angle of stepping motor by using the rotary switch. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. Power down function The stepping motor power can be turned OFF by the external input signal. Operation current switchover function tepping motor operation current ranging from the rated one to % can be set by using the rotary switch.

229 ø ø PM driver specifications Input source ource current Item DCV±% A PMDPCP PMAPAA Operating ambient temperature to + C Basic specification Environment Conservation temperature Operating ambient humidity Conservation humidity Vibration resistance Impact resistance - to + C to % RH (no condensation) to % RH (no condensation) Tested under the following conditions: Frequency range: to Hz,. G along the X, Y, and Z axes for hours No abnormality for the ND-C- tandard, ection.., Division "C". PMAPAB Withstand voltage Insulation resistance Mass(Weight) No abnormality against an AC V application between the power input terminal and the cabinet for one minute. Minimum MΩ when applying the DC V Megger between the power input terminal and the cabinet..kg(. lbs) PMM-MA- elect function Command pulse input signal Power down input signal Automatic current reduction, pulse input system, and step angle operation current Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V "L" level: to. V Maximum input frequency: kpulses/s Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V "L" level: to. V PMM-MA- PMM-BA- - tepping motor tepping motor model number Holding torque Rotor inertia Mass(Weight) Page dimensions ingle shaft Double shaft N m(oz in) - kg m (oz in ) kg(lbs) mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) PMM-BA- - PMDPBP PMDPCP PMM-MD- - PMM-BD- - PMDPACP PMDPDP Function I/O signals tandard combined stepping motor For the general specifications and dimensions of each stepping motor, refer to the reference pages. page page page page page

230 Pulse I/F (DC power input) Operation, connection, and function Each section name of the PM driver CN VR_I VR_L RW RW DW O N CN CN Connector (CN) Connects I/O signals. tep angle selection switch (RW) The basic step angle of stepping motor can be divided to maximum divisions. Function selection dipswitches Functions can be selected according to (ACD, EDGE, F/R, and P) specifications. Connector (CN and CN) Connects the DC power source and the stepping motor power cable. Operation current selection switch tepping motor current value during operation (RW) can be selected. External wiring diagram Note ) CW pulse input Note ) CCW pulse input Power down input DCV Note ) CN CN CN Black Red Orange Yellow Blue Note ) M DCG Note ) Use shielded twisted-pair cables. Note ) Either "-input mode (CW and CCW)" or "Pulse and direction mode (CK and U/D)" can be selected by using the function selection switch F/R Note ) Refer to the following table when connecting the H type stepping motor: Product Connector pin number PM driver connector (CN) Motor connector Function selection dipswitch ON ACD EDGE F/R P ACD (automatic current reduction selection) Automatic current reduction function is selected. ACD Automatic current reduction F/R (pulse input system selection) A pulse input system is selected. F/R Pulse input system ON % of current rating when stopped ON Pulse and direction mode (CK + U/D) OFF Approx. % of current rating when stopped OFF -input mode (CW and CCW) OFF ON OFF OFF EDGE(Note) This switch is not used. Do not turn it OFF. P(Note) This switch is not used. Do not turn it OFF. ettings at the shipment are shown above. Turn OFF the PM driver power before changing switch settings to change the function selection dipswitch settings. *) The temperature increase in the motor driver can be controlled by setting ACD to Off (approx. % of the rated current). *) The output torque when ACD is Off (approx. % of the rated current) is approx. % of that when ACD is On (% of the rated current).

231 ø ø Operation, connection, and function tep angle selection switch (RW) Number of basic step angle divisions of stepping motor can be selected. cale Number of divisions. "" is set at the shipment. PMAPAA Current value selection rotary switch (RW) Operation current value of stepping motor can be selected. cale tepping motor current (%) (rated) "" is set at the shipment. PMAPAB PMM-MA- I/O signal function ignal name Abbreviation Pin number Function CW+ When using "-input mode" CW pulse input CW- Drive pulse for the CW direction rotation is input. PMM-MA- Pulse column input CCW pulse input CK+ When using "Pulse and direction mode" CK- Drive pulse train for the stepping motor rotation is input. CCW+ When using "-input mode" CW- Drive pulse for the CCW direction rotation is input. PMM-BA- - Rotation direction input Power down input U/D+ U/D- PD+ PD- The rotation direction signal of stepping motor is input for the "Pulse and direction mode". Internal photocoupler ON Internal photocoupler OFF CW direction CCW direction Inputting the PD signal cuts OFF the current flowing through the stepping motor (turns OFF the power). PD input signal ON (internal photocoupler ON) PD function enabled PD input signal OFF (internal photocoupler OFF) PD function disabled The CW direction of stepping motor means the clockwise direction rotation as viewed from the output shaft side (flange side). The CCW direction means the counterclockwise direction rotation as viewed from the output shaft side (flange side). The power down input resets the excitation position of stepping motor. Therefore, the stepping motor shaft displaces before and after the reset (maximum displacement is a half basic step angle of stepping motor). PMM-BA- - PMDPBP PMDPCP Connectors to be used Used for I/O signals (CN) PM driver side Model number -AG Applicable connector model number Applicable housing:- Applicable contact:pbgl Manufacturer Molex Japan PMM-MD- - DC power source (CN) tepping motor (CN) - - Applicable housing:- Applicable contact:- Applicable housing:- Applicable contact:- Molex Japan Molex Japan PMM-BD- - The applicable connectors should be either prepared by the user or ordered from the optional connector set or connector cables (refer to Option in page ). PMDPACP PMDPDP

232 Pulse I/F (DC power input) Operation, connection, and function Input circuit configuration (CW and CCW) +V Approx. ma Input signal When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. R PM Driver Input signal specifications.~.v s MIN. % Pulse duty is % MAX. Rotation operation % % ~.V s MAX. s MAX. Timing of the command pulse -input mode (CW and CCW) CW CCW s MIN The internal photocoupler turns ON at, and the internal circuit (stepping motor) operates at the leading edge of the photocoupler "ON". When applying no pulse, fix the internal photocoupler to "ON" or "OFF". Pulse and direction mode (CK and U/D) CK U/D s MIN The internal photocoupler turns ON at, and the internal circuit (stepping motor) operates at the leading edge of the photocoupler "ON". Perform the U/D input signal switchover when the CK-side internal photocoupler is set to "OFF". The internal photocoupler turns ON at, and the internal circuit (stepping motor) operates at the leading edge of the photocoupler "ON". Perform the U/D input signal switchover when the CK-side internal photocoupler is set to "OFF". Input circuit configuration (PD) +V Approx. ma Input signal When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. R PM Driver

233 MAX.(.) (.) O N ø ø Dimensions [Unit:mm(inch)] PMAPAA (.) PMAPAB VR_I VR_L PMM-MA- (.) RW PMM-MA- CN RW DW CN CN (.) PMM-BA- - (.) (.) -ø (Fitting holes) PMM-BA- - PMDPCP D MADE IN JAPAN PMDPBP PMM-MD- - PMDPCP Installation direction and position PMM-BD- - M M Install the PM driver vertically. As shown in the figure, fix the PM driver by using the M screws through two fitting holes (-ø) on the bottom surface of PM driver (no fitting metals are necessary). PMDPACP PMDPDP

234 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

235 ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V.. H- :V.. PMAPAA Torque(kgf cm) Torque(kgf cm) Torque(N m) Torque(N m).... -division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V Torque(kgf cm) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V. Torque(N m) division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V PMAPAB PMM-MA- PMM-MA- PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD PMM-BD- - Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) PMDPACP PMDPDP ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

236 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V.. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step Option Connector set Model number Used for et content Quantity Manufacturer name Applicable cable size Crimping tool model number PM-AP- I/O signal (CN) Applicable housing:- Applicable contact:pbgl Molex Japan AWG~ JHTRA JHTRJ PM-AP- DC power source (CN) Applicable housing:- Applicable contact:- Molex Japan AWG~ - - PM-AP- (Type H ) tepping motor (CN) Applicable housing:- Applicable contact:- Applicable housing:vhr-n Applicable contact:vh-t-p. Molex Japan J..T. Mfg Co., Ltd. AWG~ - - YC-R PM-AP- (Types other than above) Applicable housing:- Applicable contact:- Molex Japan AWG~ - - Connector cable Model number PM-C- PM-CP- Application Connector cable for I/O signal (CN) Connector cable for DC power source (CN) The connector cable is a -meter cable assembled with the connector. PM-CM- Connector cable for stepping motors (CN) are spaces to be filled by the serial number or (refer to upplement table ). tepping motor cable model number (upplement table ) erial No. tepping motor model number H- H- H- H- H- H- H- H- H- H- H- H- H-

237 ø ø Option Cable (I/O signal cable) Driver side Pin number Color Blue ULAWG V, C m Cable model number PM-C- Length m PMAPAA PMAPAB Cable (power source cable) PMM-MA- Driver side Pin number Color White PMM-MA- PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD- - PMM-BD- - PMDPACP PMDPDP ULAWG V, C m Cable model number PM-CP- Length m Cable (stepping motor extension cable ) Driver side Pin number Color Black Red Orange Yellow Blue ULAWG V, C m Cable model number PM-CM- Length m Applicable stepping motor H- H- H- H- H- H- H- H- H- H- Cable (stepping motor extension cable ) Driver side Pin number Color Black Red Orange Yellow Blue ULAWG V, C tepping motor side Cable model number Length Pin number Color PM-CM- m Black Yellow Applicable stepping motor Orange H- Red H- m Blue H-

238 Pulse I/F (DC power input) The -Phase tepping Driver PMM-MD-- PMM-MD-- DC V/ V Micro-step ( x to divisions) Applicable motors ø ø Characteristics Micro-step function available mooth operation without vibration at low speeds can be realized. Flexible Various stepping motors of small to large capacities can be driven without adjustment for wide range uses. Downsizing Dedicated HIC is mounted to improve parts consolidation and reliability. The -type interface circuit specifications Photocoupler input type : PMM-MD-- C-MO input type : PMM-MD-- Built-in function tep angle setting function ixteen resolutions ranging from - to -division can be set for the basic step angle of stepping motor by using the rotary switch. tep angle selection function The -type micro-step resolutions can be selected using the external input signal. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch. Resolution setting function. Power down function The stepping motor power can be turned OFF by the external input signal.

239 ø ø PM driver specifications Basic specifications Environment Item For main power source Input source For control power source For main power source ource current For control power source Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Vibration resistance Impact resistance Withstand voltage Insulation resistance PMM-MD-- PMM-MD-- DCV/V±% - DCV±% A -.A to + C - to + C to % RH (no condensation) to % RH (no condensation) Tested under the following conditions: Frequency range: to Hz,. G along the X, Y, and Z axes for hours No abnormality for the ND-C- tandard, ection.., Division "C". No abnormality against an AC V application between the power input terminal and the cabinet for one minute. Minimum MΩ when applying the DC V Megger between the power input terminal and the cabinet. PMAPAA PMAPAB PMM-MA- Function I/O signals Mass(Weight) election function Command pulse input signal Power down input signal tep angle selection input signal Phase origin monitor output signal.kg (. lbs) Automatic current reduction, pulse input system, step angle, and power source specifications Photocoupler input system, input resistance Ω C-MO input Input signal voltage: "H" level:. to. V Input signal voltage: "H" level:. to. V "L" level: to. V "L" level: to. V Maximum input frequency: kpulses/s Maximum input frequency: kpulses/s Photocoupler input system, input resistance Ω C-MO input Input signal voltage: "H" level:. to. V Input signal voltage: "H" level:. to. V "L" level: to. V "L" level: to. V Photocoupler input system, input resistance Ω C-MO input Input signal voltage: "H" level:. to. V Input signal voltage: "H" level:. to. V "L" level: to. V "L" level: to. V Open collector output by photocoupler (turns ON at the phase origin) Open collector output by transistor (turns ON at the phase origin) Output standard Vceo: Maximum V, Ic: Maximum ma Output standard Vceo: Maximum V, Ic: Maximum ma PMM-MA- PMM-BA- - PMM-BA- - tandard combined stepping motor PMDPBP tepping motor tepping motor model number Holding torque Rotor inertia Mass(Weight) Page dimensions ingle shaft Double shaft N m(oz in) - kg m (oz in ) kg(lbs) H- H-.(.).(.).(.) Page mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) Page mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) Page mm H- H-.(.).(.).(.) PMDPCP PMM-MD- - H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) For the general specifications and dimensions of each stepping motor, refer to the reference pages. Page Page Page PMM-BD- - PMDPACP PMDPDP

240 C C Pulse I/F (DC power input) Operation, connection, and function Each section name of the PM driver V CH VCC GND L PMM-MD-- (photo coupler input system) CN CN HIC CNA CNB VRI DW.L/H.F/R.L.EL F F O VRL E D AB F ABC DE F.EL Function selection dipswitches (L, F/R, and L/H) Functions can be selected according to specifications. tep angle selection rotary switch (. EL and. EL) The basic step angle of stepping motor can be divided to maximum divisions. Connector (CNA, CN and CN) Connects the I/O signal, the DC power source, and the stepping motor power cable. V CH VCC GND L PMM-MD-- (CMO input system) CN HIC CNA CNB VRI DW.L/H.F/R.L.EL F F O VRL D DE AB E F ABC F.EL Function selection dipswitches (L, F/R, and L/H) Functions can be selected according to specifications. tep angle selection rotary switch (. EL and. EL) The basic step angle of stepping motor can be divided to maximum divisions. Connector (CNB and CN) Connects the I/O signal, the DC power source, and the stepping motor power cable. External wiring diagram PMM-MD-- (photo coupler input system) Note ) CNA Note ) CW pulse input Note ) CCW pulse input Power down input Phase origin monitor output tep angle selection input CN CN Black Red Orange Yellow Blue Note ) M DC V DC G Note ) Use shielded twisted-pair cables. Note ) Either "-input mode (CW and CCW)" or "Pulse and direction mode (CK and U/D)" can be selected by using the function selection switch F/R Note ) Refer to the following table when connecting the H or H type stepping motor: Product Connector pin number PM driver connector tepping motor connector

241 ø ø Operation, connection, and function PMM-MD-- (CMO input system) CNB PMAPAA DC V DC G PMAPAB DCV DCG Note ) CW pulse input Note ) CCW pulse input Power down input tep angle selection input Phase origin monitor output NC CN Black Red Orange Yellow Blue Note ) M PMM-MA- PMM-MA- Note ) Note ) Use a shielded cable. Note ) Either "-input mode (CW and CCW)" or "Pulse and direction mode (CK and U/D)" can be selected by using the function selection switch F/R Note ) Refer to the following table when connecting the H or H type stepping motor: PMM-BA- - Product Connector pin number PM driver connector tepping motor connector PMM-BA- - Function selection dipswitch ON L/H ON OFF L (automatic current reduction selection) Automatic current reduction function is selected. L ON OFF Automatic current reduction % of current rating when stopped Approx. % of current rating when stopped Do not change the third, fourth, and fifth dipswitch settings (Note). PMDPBP PMDPCP F/R L OFF ON OFF OFF The function selection dipswitches specifications are common for PMM-MD-- and PMM-MD--. ettings at the shipment are shown above. Turn OFF the PM driver power before changing switch settings to change the function selection dipswitch settings. F/R (pulse input system selection) A pulse input system is selected. F/R ON OFF Pulse input system Pulse and direction mode (CK and U/D) -input mode (CW and CCW) L/H (power specification selection) The specification is changed from DC V to DC V. L/H ON OFF Power specification DC V specified DC V specified Note ) The temperature increase in the motor driver can be controlled by setting L to OFF (approx. % of the rated current). Note ) The output torque when L is OFF (approx. % of the rated current) is approx. % of that when L is ON (% of the rated current). PMM-MD- - PMM-BD- - PMDPACP PMDPDP

242 Pulse I/F (DC power input) Operation, connection, and function tep angle selection switch (. EL and. EL) Operation current value of stepping motor can be selected. cale Number of divisions. cale A B C D E F Number of divisions "" and "" are set for. EL and. EL at the shipment, respectively. I/O signal function ignal name Pin number(cn) (Abbreviation) Photo coupler input system CMO input system Function When using "-input mode" Pulse input (CW) Drive pulse for the CW direction rotation is input. When using "Pulse and direction mode" Pulse column input (CK) Drive pulse train for the stepping motor rotation is input. When using "-input mode" Pulse input (CCW) Drive pulse for the CCW direction rotation is input. The rotation direction signal of stepping motor is input for the "Pulse and direction mode". Rotation direction input Internal photocoupler ON ("H" level for the C-MO type) CW direction (U/D) Internal photocoupler OFF ("L" level for the C-MO type) CCW direction Inputting the PD signal cuts OFF the current flowing through the stepping motor (turns OFF the power). Power down input PC type: Internal photocoupler (ON) PD function enabled (PD) C-MO type: "L" level input PD function enabled Resolution setting function (. EL and. EL) can be selected by the. EL input signal. tep angle selection input Internal photocoupler ON ("H" level for the C-MO type). EL setting enabled (.EL) Internal photocoupler OFF ("L" level for the C-MO type). EL setting enabled It is turned ON when the excitation phase is at the origin (in the state when the power is turned ON) Phase origin monitor output It is turned ON once per pulses during the full-step. (MON) It is turned ON once per pulses during the half-step. The PC type and the C-MO type in the table indicate "PMM-MD--" and "PMM-MD--", respectively. The CW direction of stepping motor means the clockwise direction rotation as viewed from the output shaft side (flange side). The CCW direction means the counterclockwise direction rotation as viewed from the output shaft side (flange side). Connectors to be used PMM-MD-- (Photo coupler input system) Used for PM driver side Model number Applicable connector model number Manufacturer I/O signals (CN) -AG Applicable housing:- Applicable contact:pbgl Molex Japan DC power source (CN) -A Applicable housing:- Applicable contact:pbtl Molex Japan tepping motor (CN) -A Applicable housing:- Applicable contact:pbtl Molex Japan The applicable connectors should be either prepared by the user or ordered from the optional connector set or connector cables (refer to Option in page ). PMM-MD-- (CMO input system) Used for PM driver side Model number Applicable connector model number Manufacturer I/O signal and DC power source (CNB) -AG Applicable housing:- Applicable contact:pbgl Molex Japan tepping motor (CN) -A Applicable housing:- Applicable contact:pbtl Molex Japan The applicable connectors should be either prepared by the user or ordered from the optional connector set or connector cables (refer to Option in page ).

243 ø ø Operation, connection, and function PMM-MD-- (Photo coupler input system) Input circuit configuration (CW and CCW) PMM-MD-- (CMO input system) Input circuit configuration (CW and CCW) PMAPAA +V Approx. ma Input signal R PM Driver Pulse duty is % MAX. When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. Input signal specifications Controller G Input signal G Pulse duty is % MAX. Input signal specifications k k G C-MO PM driver PMAPAB PMM-MA- PMM-MA-.~.V otation operation. s MIN. % %.~.V Rotation operation. s MIN. % % PMM-BA- - ~.V s MAX. s MAX. % ~.V s MAX. s MAX. % PMM-BA- - Timing of the command pulse -input mode (CW and CCW) Timing of the command pulse -input mode (CW and CCW) PMDPBP CW CCW s MIN CW CCW s MIN PMDPCP The internal photocoupler turns ON at, and the internal circuit (stepping motor) operates at the leading edge of the photocoupler "ON". When applying the pulse to CW, set the internal photocoupler on the CCW side to "OFF". When applying the pulse to CCW, set the internal photocoupler on the CW side to "OFF". The "H" level input is set at, and the internal circuit (stepping motor) operates at the leading edge of the "H" level. When applying the pulse to CW, set the CCW side input level to the "L" level. When applying the pulse to CCW, set the CW side input level to the "L" level. PMM-MD- - PMM-BD- - Pulse and direction mode (CK and U/D) CK s MIN U/D The internal photocoupler turns ON at, and the internal circuit (stepping motor) operates at the leading edge of the photocoupler "ON". Perform the U/D input signal switchover when the CK-side internal photocoupler is set to "OFF". Pulse and direction mode (CK and U/D) CK s MIN U/D The "H" level input is set at, and the internal circuit (stepping motor) operates at the leading edge of the "H" level of the CKside input pulse. Perform the U/D input signal switchover when the CK-side input level is at the "L" level. PMDPACP PMDPDP

244 Pulse I/F (DC power input) Operation, connection, and function PMM-MD-- (Photo coupler input system) Input circuit configuration (PD and. EL) PMM-MD-- (CMO input system) Input circuit configuration (PD and. EL) +V k V Input signal Approx. ma R PM Driver Controller G Input signal G k G C-MO PM Driver When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. Output circuit configuration (MON) Output circuit configuration (MON) MAX ma MAX ma Transistor Phase origin monitor output signal MAX. V Phase origin monitor output signal MAX. V PM Driver G G PM Driver Phase origin monitor output signal Contact type : Open collector output by the photocoupler Contact capacity : DC V, ma MAX. Phase origin monitor output signal Contact type : Open collector output by the transistor Contact capacity : DC V, ma MAX. Timing of the MON output (when -division is specified) Timing of the MON output (when -division is specified) CW pulse CW pulse CCW pulse CCW pulse MON output MON output The internal photocoupler or the transistor turns "ON" at. The internal photocoupler or the transistor turns "ON" at.

245 D C D MADE IN JAPAN D C D MADE IN JAPAN ø ø Dimensions [Unit:mm(inch)] PMM-MD-- (Photo coupler input system) PMAPAA V VCC CH GND L DW.L/H.F/R.L F F O.EL E D E F A B C F (.) (.) PMAPAB PMM-MA- PMM-MA- PMM-MD-- (CMO input system) PMM-MD- - () (.) -ø Fitting holes (-ø.) (.) CN HIC CNA CN CNB (.) (.) VRI VRL A B.EL (.) (.) PMM-MD-- (.) PMM-BA- - -ø Fitting holes (-ø.) V VCC CH GND L (.) CN HIC CNA CNB (.) (.) VRI DW.L/H.F/R.L F F O.EL PMM-BA- - PMDPBP PMDPCP VRL E D E A B F A B C F (.) () (.) (.) (.) (.) PMM-MD-- (.).EL Installation direction and position PMM-BD- - M Install the PM driver vertically. As shown in the figure, fix the PM driver by using the M screws through two fitting holes (ø) on the bottom surface of PM driver (no fitting metals are necessary). PMDPACP PMDPDP

246 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V Torque(kgf cm).. Torque(N m).. Torque(kgf cm).. Torque(N m) division -division Rotating speed(min-)... -division -division Rotating speed(min-) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V.. Torque(kgf cm).... Torque(N m) division -division Rotating speed(min - ) H- :V.. Torque(kgf cm).... Torque(N m) division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V Torque(kgf cm).. Torque(N m).. Torque(kgf cm).. Torque(N m) division -division Rotating speed(min - ). -division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

247 ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V.. H- :V.. PMAPAA Torque(kgf cm) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min-) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V. Torque(N m) division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V Torque(kgf cm) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min-) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V. Torque(N m) division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V PMAPAB PMM-MA- PMM-MA- PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD PMM-BD- - Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) PMDPACP PMDPDP ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

248 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min-).. -division -division Rotating speed(min-) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m) division -division Rotating speed(min - ). -division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

249 ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V.. H- :V.. PMAPAA Torque(kgf cm) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min-) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V. Torque(N m) division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V Torque(kgf cm) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min-) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V. Torque(N m) division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V PMAPAB PMM-MA- PMM-MA- PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD PMM-BD- - Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ) PMDPACP PMDPDP ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

250 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m) division -division Rotating speed(min-). -division -division Rotating speed(min-) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min - ).. -division -division Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

251 ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.... PMAPAA Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min-) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step Torque(kgf cm) Torque(N m).... -division -division Rotating speed(min-) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step PMAPAB PMM-MA- PMM-MA- PMDPACP PMDPDP PMM-BD- - PMM-MD- - PMDPCP PMDPBP PMM-BA- - PMM-BA- -

252 Pulse I/F (DC power input) Option PMM-MD-- (Photo coupler input system) Connector set Model number Used for et content Quantity Manufacturer name Applicable cable size Crimping tool model number PM-AP- I/O signals (CNA) Applicable housing:- Applicable contact:pbgl Molex Japan AWG~ JHTRA JHTRJ PM-AP- DC power source (CN) Applicable housing:- Applicable contact:pbtl Molex Japan AWG~ JHTRA JHTRJ PM-AP- (Type H ) Applicable housing:- Applicable contact:pbtl Applicable housing:vhr-n Applicable contact:vh-t-p. Molex Japan J..T. Mfg Co., Ltd. AWG JHTRA YC-R PM-AP- (Type H ) tepping motor (CN) Applicable housing:- Applicable contact:pbtl Applicable housing:phr- Applicable contact:ph-t-p. Molex Japan J..T. Mfg Co., Ltd. AWG~ JHTRA JHTRJ YRM- PM-AP- (Types other than above) Applicable housing:- Applicable contact:pbtl Molex Japan AWG~ JHTRA JHTRJ Connector cable Model number PM-C- PM-CP- Application Connector cable for I/O signal (CNA) Connector cable for DC power source (CN) The connector cable is a -meter cable assembled with the connector. PM-CM- Connector cable for stepping motors (CN) is a space to be filled by the serial number,, or (refer to upplement table ). tepping motor cable model number (upplement table ) erial No. tepping motor model number erial No. tepping motor model number H- H- H- H- H- H- H- H- H- H- H- H- H- H- H- H-

253 ø ø Option PMM-MD-- (CMO input system) Connector set PMAPAA Model number Used for et content Quantity Manufacturer name Applicable cable size Crimping tool model number PM-AP- PM-AP- (Type H ) PM-AP- (Type H ) PM-AP- (Types other than above) I/O signal and DCpower source(cnb) tepping motor (CN) Applicable housing : - Applicable contact : PBGL Applicable housing : - Applicable contact : PBTL Applicable housing : VHR-N Applicable contact : VH-T-P. Applicable housing : - Applicable contact : PBTL Applicable housing : PHR- Applicable contact : PH-T-P. Applicable housing : - Applicable contact : PBTL Molex Japan Molex Japan J..T. Mfg Co., Ltd. Molex Japan J..T. Mfg Co., Ltd. Molex Japan AWG~ AWG AWG~ AWG~ JHTRA JHTRJ JHTRA YC-R JHTRA JHTRJ YRM- JHTRA JHTRJ PMAPAB PMM-MA- PMM-MA- Connector cable Model number Application The connector cable is a -meter cable assembled with the connector. PMM-BA- - PM-CT- Connector cable for I/O signal and DC power source (CNB) PM-CM- Connector cable for stepping motors (CN) is a space to be filled by the serial number,, or (refer to upplement table ). PMM-BA- - tepping motor cable model number (upplement table ) erial No. tepping motor model number erial No. tepping motor model number PMDPBP H- H- H- H- H- H- H- H- PMDPCP H- H- H- H- H- H- H- H- PMM-MD- - PMM-BD- - PMDPACP PMDPDP

254 Pulse I/F (DC power input) Option Cable (power source cable) Driver side Pin number Color White Black ULAWG V, C m Cable model number PM-CP- Length m Cable (power source and I/O signal cable) Driver side Pin number Color White Black White Black Blue ULAWG V, C m Cable model number PM-CT- Length m Cable (I/O signal cable) Driver side Pin number Color Blue ULAWG V, C m Cable model number PM-C- Length m Cable (stepping motor extension cable ) Driver side Pin number Color Black Red Orange Yellow Blue ULAWG V, C m Cable model number PM-CM- Length m Applicable stepping motor H- H- H- H- H- H- H- H- H- H- H-

255 ø ø Option Cable (stepping motor extension cable ) ULAWG Driver side tepping motor side V, C Pin number Color Pin number Color Black Black Red Yellow Orange Orange Yellow Red Blue m Blue PMAPAA PMAPAB Cable (stepping motor extension cable ) PMM-MA- ULAWG Driver side tepping motor side V, C Pin number Color Pin number Color Black Blue Red Orange Orange Red Yellow Black Blue m Yellow PMDPACP PMDPDP PMM-BD- - PMM-MA- PMM-BA- - PMM-MD- - PMDPCP PMDPBP PMM-BA- - Cable model number PM-CM- Length m Applicable stepping motor H- H- H- Cable model number Length PM-CM- m Applicable stepping motor H- H-

256 Pulse I/F (DC power input) The -Phase tepping Driver PMM-BD-- PMM-BD-- DCV/V -step/-step ( x divisions) ( x divisions) Applicable motors ø ø Characteristics Flexible Various stepping motors of small to large capacities can be driven without adjustment for wide range uses. Downsizing Dedicated HIC is mounted to improve parts consolidation and reliability. The -type interface circuit specifications Photocoupler input type C-MO input type :PMM-BD-- :PMM-BD-- Built-in function Excitation system selection function -step and half-step excitation systems can be selected by the external input signal. Pulse input system selection function Either "Pulse and direction mode" or "-input mode" can be selected, using a dipswitch.resolution setting function. Power down function The stepping motor power can be turned OFF by the external input signal.

257 ø ø PM driver specifications Input source Item For main power source For control power source PMM-BD-- DCV/V±% DCV±% PMM-BD-- PMAPAA ource For main power source.a Basic specifications Environment current For control power source Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Vibration resistance Impact resistance Withstand voltage Insulation resistance.a to + C - to + C to % RH (no condensation) to % RH (no condensation) Tested under the following conditions: Frequency range: to Hz,. G along the X, Y, and Z axes for hours No abnormality for the ND-C- tandard, ection.., Division "C". No abnormality against an AC V application between the power input terminal and the cabinet for one minute. Minimum MΩ when applying the DC V Megger between the power input terminal and the cabinet. PMAPAB PMM-MA- Function I/O signals Mass(Weight) election function Command pulse input signal Power down input signal tep angle selection input signal Phase origin monitor output signal.kg(. lbs) Pulse input system and power source specifications Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V "L" level: to. V Maximum input frequency: kpulses/s Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V "L" level: to. V Photocoupler input system, input resistance Ω Input signal voltage: "H" level:. to. V "L" level: to. V Open collector output by photocoupler (turns ON at the phase origin) Output standard Vceo: Maximum V, Ic: Maximum ma C-MO input Input voltage: "H" level:. to. V "L" level: to. V Maximum input frequency: kpulses/s C-MO input Input voltage: "H" level:. to. V "L" level: to. V C-MO input Input voltage: "H" level:. to. V "L" level: to. V Open collector output by transistor (turns ON at the phase origin) Output standard Vceo: Maximum V, Ic: Maximum ma PMM-MA- PMM-BA- - PMM-BA- - tandard combined stepping motor PMDPBP tepping motor dimensions mm tepping motor model number Holding torque Rotor inertia Mass(Weight) ingle shaft Double shaft N m(oz in) - kg m (oz in ) kg(lbs) H- H-.(.).(.).(.) H- H-.(.).(.).(.) Page Page PMDPCP mm mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) Page Page PMM-MD- - mm ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) Page Page PMM-BD- - H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) For the general specifications and dimensions of each stepping motor, refer to the reference pages. Page PMDPACP PMDPDP

258 CH F F F F Pulse I/F (DC power input) Operation, connection, and function Each section name of the PM driver PMM-BD-- (Photo coupler input system) Function selection dipswitches Functions can be selected according (F/R and L/H) to specifications. Connector (CNB and CN) Connects the I/O signal, the DC power source, and the stepping motor power cable. V VCC GND L O DW CH CN VRI CNB PMM-BD-- (CMO input system) Function selection dipswitches Functions can be selected according (F/R and L/H) to specifications. Connector (CNA and CN) Connects the I/O signal, the DC power source, and the stepping motor power cable. V VCC GND L O DW CN VRI CNA

259 ø ø Operation, connection, and function External wiring diagram PMM-BD-- (Photo coupler input system) PMAPAA CNB DC/V DC/G PMAPAB DCV DCG Note ) CW pulse input Note ) CCW pulse input Power down input Excitation system selection input Phase origin monitor output CN Black Red Orange Yellow Blue Note ) M PMM-MA- PMM-MA- Note ) Note ) Use shielded twisted-pair cables. Note ) Either "-input mode (CW and CCW)" or "Pulse and direction mode (CK and U/D)" can be selected by using the function selection switch F/R Note ) Refer to the following table when connecting the H or H type stepping motor: PMM-BA- - Product Connector pin number PM driver(cn) tepping motor connector PMM-BA- - PMM-BD-- (CMO input system) PMDPBP DC/V CNA PMDPCP DC/G DCV CN Note ) Black DCG Note ) Red Note ) CW pulse input Orange M Yellow Note ) CCW pulse input Blue Power down input Excitation system selection input Phase origin monitor output NC Note ) Use shielded twisted-pair cables. Note ) Either "-input mode (CW and CCW)" or "Pulse and direction mode (CK and U/D)" can be selected by using the function selection switch F/R Note ) Refer to the following table when connecting the H or H type stepping motor: Product Connector pin number PM driver(cn) tepping motor connector PMM-MD- - PMM-BD- - PMDPACP PMDPDP

260 Pulse I/F (DC power input) Operation, connection, and function Function selection dipswitch - L/H F/R ON L/H (power specification selection) The specification is changed from DC V to DC V. L/H ON OFF Power specification DC V specified DC V specified F/R (pulse input system selection) A pulse input system is selected. F/R ON OFF Pulse input system Pulse and direction mode (CK and U/D) -inpus mode (CW and CCW) ON OFF ettings at the shipment are shown above. Turn OFF the PM driver power before changing switchsettings to change the function selection dipswitch settings. I/O signal function ignal name (Abbreviation) CW pulse input (CW) Pulse column input (CK) CCW pulse input (CCW) Rotation direction input (U/D) Power down input (PD) Energization system selection input (EX) Phase origin monitor output (MON) Pin number(cn) Photo coupler input system C-MO input system Function When using "-input mode" Drive pulse for the CW direction rotation is input. When using "Pulse and direction mode" Drive pulse train for the stepping motor rotation is input. When using "-input mode" Drive pulse for the CCW direction rotation is input. The rotation direction signal of stepping motor is input for the "Pulse and direction mode". Internal photocoupler ON ("H" level for the C-MO type) CW direction Internal photocoupler OFF ("L" level for the C-MO type) CCW direction Inputting the PD signal cuts OFF the current flowing through the stepping motor (turns OFF the power). PC type: Internal photocoupler (ON) PD function enabled C-MO type: "L" level input PD function enabled The full-step or the half-step can be selected by inputting EX. Internal photocoupler ON ("H" level for the C-MO type) -step Internal photocoupler OFF ("L" level for the C-MO type) -step It is turned ON when the excitation phase is at the origin (in the state when the power is turned ON) It is turned ON once per pulses during the full-step. It is turned ON once per pulses during the half-step. The PC type and the C-MO type in the table indicate "PMM-BD--" and "PMM-BD--", respectively. The CW direction of stepping motor means the clockwise direction rotation as viewed from the output shaft side (flange side). The CCW direction means the counterclockwise direction rotation as viewed from the output shaft side (flange side). Connectors to be used PMM-BD-- (Photo coupler input system) PM driver side Used for Model number I/O signal and DC power source (CNB) -AG tepping motor (CN) -A Applicable connector model number Applicable housing:- Applicable contact:pbgl Applicable housing:- Applicable contact:pbtl Molex Japan Molex Japan Manufacturer The applicable connectors should be either prepared by the user or ordered from the optional connector set or connector cables (refer to Option in page ). PMM-BD-- (CMO input system) PM driver side Used for Model number I/O signal and DC power source (CNA) -AG tepping motor (CN) -A Applicable connector model number Applicable housing:- Applicable contact:pbgl Applicable housing:- Applicable contact:pbtl Molex Japan Molex Japan Manufacturer The applicable connectors should be either prepared by the user or ordered from the optional connector set or connector cables (refer to Option in page ).

261 ø ø Operation, connection, and function PMM-BD-- (Photo coupler input system) Input circuit configuration (CW and CCW) PMM-BD-- (CMO input system) Input circuit configuration (CW and CCW) PMAPAA +V Approx. ma Input signal R PM driver Controller G Input signal G k k G C-MO PM driver PMAPAB Pulse duty is % MAX. When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. Input signal specifications Pulse duty is % MAX. Input signal specifications PMM-MA- PMM-MA-. s MIN.. s MIN..~.V Rotation operation.~.v Rotation operation % % PMM-BA- - ~.V s MAX. s MAX. ~.V s MAX. s MAX. % PMM-BA- - Timing of the command pulse -input mode (CW and CCW) Timing of the command pulse -input mode (CW and CCW) PMDPBP CW CW CCW s MIN. CCW s MIN. PMDPCP The internal photocoupler turns ON at, and the internal circuit (steppingmotor) operates at the leading edge of the photocoupler "ON". When applying the pulse to CW, set the internal photocoupler on the CCW side to "OFF". When applying the pulse to CCW, set the internal photocoupler on the CW side to "OFF". Pulse and direction mode (CK and U/D) The "H" level input is set at, and the internal circuit (stepping motor) operates at the leading edge of the "H" level. When applying the pulse to CW, set the CCW side input level to the "L" level. When applying the pulse to CCW, set the CW side input level to the "L" level. Pulse and direction mode (CK and U/D) PMM-MD- - PMM-BD- - CK s MIN. U/D The internal photocoupler turns ON at, and the internal circuit (steppingmotor) operates at the leading edge of the photocoupler "ON". Perform the U/D input signal switchover when the CK-side internal photocoupler is set to "OFF". CK s MIN U/D The "H" level input is set at, and the internal circuit (stepping motor)operates at the leading edge of the "H" level of the CK-side input pulse. Perform the U/D input signal switchover when the CK-side input level is at the "L" level. PMDPACP PMDPDP

262 Pulse I/F (DC power input) Operation, connection, and function PMM-BD-- (Photo coupler input system) Input circuit configuration (PD and EX) PMM-BD-- (CMO input system) Input circuit configuration (PD and EX) +V Input signal k V Input signal Approx. ma k C-MO R PM driver Controller G G G PM driver When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. Output circuit configuration (MON) Output circuit configuration (MON) MAX ma MAX ma Transistor Phase origin monitor output signal G MAX V Phase origin monitor output signal MAX V G PM Driver G G PM Driver Phase origin monitor output signal Contact type: Open collector output by the photocoupler Contact capacity: DC V, ma MAX. Phase origin monitor output signal Contact type: Open collector output by the transistor Contact capacity: DC V, ma MAX. MON output timing (when the full-step is specified) MON output timing (when the full-step is specified) CW pulse CCW pulse MON output CW pulse CCW pulse MON output The internal photocoupler or the transistor turns "ON" at. The internal photocoupler or the transistor turns "ON" at.

263 O F F O F F ø ø Dimensions [Unit:mm(inch)] PMM-BD-- (Photo coupler input system) ()(.) PMAPAA V VCC GND L CH CN VRI DW (.) (.) PMAPAB Fitting holes -ø (-ø.) (.) (.) (.) CNB CNB (.) (.) PMM-MA- PMM-BD-- D MADE IN JAPAN (.) PMM-MA- PMM-BD-- (CMO input system) PMM-BA- - V VCC GND L DW ()(.) (.) PMM-BA- - CH CN Fitting holes -ø (-ø.) (.) CNA VRI (.) (.) (.) (.) (.) PMDPBP PMDPCP PMM-BD-- D MADE IN JAPAN (.) PMM-MD- - Installation direction and position PMM-BD- - M Install the PM driver vertically. As shown in the figure, fix the PM driver by using the M screws through two fitting holes (-ø) on the bottom surface of PM driver (no fitting metals are necessary). PMDPACP PMDPDP

264 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.. Torque(kgf cm).... Torque(N m)..... Rotating speed(min - ).. Torque(kgf cm).... Torque(N sm)..... Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V Torque(kgf cm)... Torque(N m).... Rotating speed(min - ) Torque(kgf cm)... Torque(N m).... Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm).... Torque(N m)..... Rotating speed(min-) Torque(kgf cm).... Torque(N m)..... Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

265 ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V.. H- :V.. PMAPAA Torque(kgf cm) Torque(kgf cm) Torque(N m). Rotating speed(min - ) Torque(N m)... ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V Torque(kgf cm) Torque(kgf cm) Torque(N m). Rotating speed(min - ) Torque(N m)... ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V PMAPAB PMM-MA- PMM-MA- PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD PMM-BD- - Torque(kgf cm) Torque(N m).... Rotating speed(min - ) Torque(kgf cm) Torque(N m).... Rotating speed(min - ) PMDPACP PMDPDP ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

266 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... Rotating speed(min - ).. Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).... Rotating speed(min - ).. Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m)..... Rotating speed(min - ). Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

267 ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V.. H- :V.. PMAPAA Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).. PMAPAB.. Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step.. Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step PMM-MA- PMM-MA- H- :V. Torque(kgf cm) Torque(kgf cm) Torque(N m)..... Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V. Torque(N m)..... Rotating speed(min - ) H- :V. Torque(kgf cm) Torque(kgf cm) Torque(N m)..... Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V. Torque(N m)..... Rotating speed(min - ) PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD- - PMM-BD- - PMDPACP PMDPDP ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

268 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m)..... Rotating speed(min - ). Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).... Rotating speed(min - ) Torque(kgf cm) Torque(N m).... Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step H- :V H- :V.... Torque(kgf cm) Torque(N m).... Rotating speed(min - ) Torque(kgf cm) Torque(N m).... Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step

269 ø ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V. Torque(kgf cm) Torque(N m)..... Rotating speed(min - ). Torque(kgf cm) Torque(N m)..... Rotating speed(min - ) PMAPAA PMAPAB PMM-MA- ource voltage:dcv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl= - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) step step PMM-MA- PMDPACP PMDPDP PMM-BD- - PMM-MD- - PMDPCP PMDPBP PMM-BA- - PMM-BA- -

270 Pulse I/F (DC power input) Option PMM-BD-- (Photo coupler input system) Connector set Model number Used for et content Quantity Manufacturer name Applicable cable size Crimping tool model number PM-AP- I/O signal and DC power source (CNB) Applicable housing:- Applicable contact:pbgl Molex Japan AWG~ JHTRA JHTRJ PM-AP- (Type H ) Applicable housing:- Applicable contact:pbtl Applicable housing:vhr-n Applicable contact:vh-t-p. Molex Japan J..T. Mfg Co., Ltd. AWG JHTRA YC-R PM-AP- (Type H ) tepping motor (CN) Applicable housing:- Applicable contact:pbtl Applicable housing:phr- Applicable contact:ph-t-p. Molex Japan J..T. Mfg Co., Ltd. AWG~ JHTRA JHTRJ YRM- PM-AP- (Types other than above) Applicable housing:- Applicable contact:pbtl Molex Japan AWG~ JHTRA JHTRJ Place the order of a set or sets of two model numbers CNB and CN when ordering. Connector cable Model number PM-CT- PM-CM- Application Connector cable for I/O signal and DC power source (CNB) Connector cable for stepping motors (CN) The connector cable is a -meter cable assembled with the connector. are spaces to be filled by the serial number,, or (refer to upplement table ). tepping motor cable model number (upplement table ) erial No. tepping motor model number H- H- H- H- H- H- H- H- H- H- H- H- H- H- H- H-

271 ø ø Option PMM-BD-- (CMO input system) Connector set Model number Used for et content Quantity Manufacturer name Applicable cable size Crimping tool model number PMAPAA PM-AP- PM-AP- (Type H ) PM-AP- (Type H ) PM-AP- (Types other than above) I/O signal and DC power source (CNA) tepping motor (CN) Applicable housing:- Applicable contact:pbgl Applicable housing:- Applicable contact:pbtl Applicable housing:vhr-n Applicable contact:vh-t-p. Applicable housing:- Applicable contact:pbtl Applicable housing:phr- Applicable contact:ph-t-p. Applicable housing:- Applicable contact:pbtl Place the order of a set or sets of two model numbers CNB and CN when ordering. Molex Japan Molex Japan J..T. Mfg Co., Ltd. Molex Japan J..T. Mfg Co., Ltd. Molex Japan AWG~ AWG AWG~ AWG~ JHTRA JHTRJ JHTRA YC-R JHTRA JHTRJ YRM- JHTRA JHTRJ PMAPAB PMM-MA- PMM-MA- Connector cable PMM-BA- - Model number Application PM-CT- Connector cable for I/O signal and DC power source (CNA) PM-CM- Connector cable for stepping motors (CN) are spaces to be filled by the serial number,, or (refer to upplement table ). The connector cable is a -meter cable assembled with the connector. PMM-BA- - tepping motor cable model number (upplement table ) PMDPBP erial No. tepping motor model number H- H- H- H- H- H- H- H- H- H- H- H- H- H- H- H- PMDPCP PMM-MD- - PMM-BD- - PMDPACP PMDPDP

272 Pulse I/F (DC power input) Option Cable (power source and I/O signal cable ) Driver side Pin number Color White Black White Black Blue ULAWG V, C m Cable model number PM-CT- Length m Cable (power source and I/O signal cable ) Driver side Pin number Color White Black White Black Blue ULAWG V, C m Cable model number PM-CT- Length m Cable (stepping motor extension cable ) Driver side Pin number Color Black Red Orange Yellow Blue ULAWG V, C m Cable model number PM-CM- Length m Applicable stepping motor H- H- H- H- H- H- H- H- H- H- H- Cable (stepping motor extension cable ) Driver side Pin number Color Black Red Orange Yellow Blue m ULAWG V, C tepping motor side Pin number Color Black Yellow Orange Red Blue Cable model number PM-CM- Length m Applicable stepping motor H- H- H- Cable (stepping motor extension cable ) Driver side Pin number Color Black Red Orange Yellow Blue m ULAWG V, C tepping motor side Pin number Color Blue Orange Red Black Yellow Cable model number PM-CM- Length m Applicable stepping motor H- H-

273 ø ø PMDPACP PMDPDP PMM-BD- - PMM-MD- - PMDPCP PMDPBP PMM-BA- - PMM-BA- - PMM-MA- PMM-MA- PMAPAB PMAPAA

274 Pulse I/F (DC power input) The -Phase tepping Driver PMDPDP DCV Micro-step ( x to divisions) Applicable motors Characteristics mall size PM driver Exclusive gate array is mounted on this small-size and light-weight driver. Micro-step function available mooth operation without vibration at low speeds can be realized. Flexible It can drive various stepping motors of small to large capacities without adjustment for wide range uses. Built-in function tep angle setting function Ten resolutions ranging from - to -division can be set for the basic step angle of stepping motor by using the rotary switch. Pulse input system selection function Either "Pulse and direction" or "-input mode" can be selected, using a dipswitch. Resolution setting function. Power down function The stepping motor power can be turned OFF by the external input signal.

275 PM driver specifications tandard specification Environment Item Input source ource current Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Vibration resistance PMDPDP DCV±% A to + C - to + C to %RH (no condensation) to %RH (no condensation).m/s, Frequency range to Hz, Direction: along X, Y and Z axes, for hours each PMAPAA PMAPAB Impact resistance Considering the ND-C- standard section.. division C, not influenced Function I/O signals Mass(Weight) elect function Command pulse input signal Power down input signal.kg(.lbs) Auto current down, pulse input system, step angle PMM-MA- PMM-MA- PMM-BA- - PMDPBP PMDPCP PMDPACP PMDPDP PMM-BD- - PMM-MD- - PMM-BA- - Photo coupler input method, input resistance Ω Input signal voltage, H =. to.v L = to.v Maximum input frequency kpulse/s Photo coupler input method, input resistance Ω Input signal voltage, H =. to.v L = to.v tandard combined stepping motor tepping motor tepping motor model number Holding torque Rotor inertia Mass(Weight) Page dimensions ingle shaft Double shaft N m(oz in) - kg m (oz in ) kg(lbs) mm F- F-.(.).(.).(.) F- F-.(.).(.).(.) mm F- F-.(.).(.).(.) page page For the general specifications and dimensions of each stepping motor, refer to the reference pages.

276 Pulse I/F (DC power input) Operation, connection, and function Each section name of the PM driver CN CN CN RW DW Connector (CN) Connects I/O signals. tep angle selection switch (RW) The basic step angle of stepping motor can be divided to maximum divisions. Function selection dipswitches (ACD and F/R) Functions can be selected according to specifications. Connector (CN and CN) Connects the DC power source and the stepping motor power cable. External wiring diagram Note ) CN Note ) CW pulse input Note ) CCW pulse input Power down input NC NC DCV CN CN Black Red Orange Yellow Blue M DCG Note ) Use shielded twisted-pair cables. Note ) Either -input mode (CW and CCW) or Pulse and directiom mode (CK and U/D) can be selected by using the function selection switch F/R Function selection dipswitch ON ACD (auto current down selection) This switch is not used. F/R (pulse input system selection) A pulse input system is selected. ACD F/R OFF OFF Do not turn it ON. F/R Pulse input system ON Pulse and direction mode (CK and U/D) OFF -input mode (CW and CCW) ettings at the shipment are shown above. Turn OFF the PM driver power before changing switch settings to change the function selection dipswitch settings.

277 Operation, connection, and function tep angle selection switch (RW) Number of basic step angle divisions of stepping motor can be selected. cale Number of divisions. is set at the shipment. PMAPAA I/O signal function PMAPAB ignal name Abbreviation Pin number Function CW pulse input CW+ When using "-input mode" CW Inputs drive pulse for counterclockwise rotation. Pulse column input CK+ When using "Pulse and direction mode" CK Inputs drive pulse column for the stepping motor rotation. CCW pulse input CCW+ When using "-input mode" CW Inputs drive pulse for counterclockwise rotation. The rotation direction signal of stepping motor is input for the "Pulse and direction mode". U/D+ Rotation direction input The internal photo coupler is ON clockwise direction U/D The internal photo coupler is OFF counterclockwise direction PD signal input cuts off the stepping motor current (turns off the power). PD+ Power down input PD input signal is ON (the internal photo coupler is ON) PD function is valid. PD PD input signal is OFF (the internal photo coupler is OFF) PD function is not valid. PMM-MA- PMM-MA- PMM-BA- - The clockwise (CW) rotation direction of stepping motor is viewed from the output shaft (flange side) of stepping motor. The counterclockwise (CCW) rotation direction is also viewed from the output shaft (flange side) of stepping motor. The power down input resets the energization position of stepping motor. Therefore, the stepping motor shaft displaces before and after the reset (maximum displacement is a half basic step angle of stepping motor). PMM-BA- - Connectors to be used PM driver side Applicable connector model number Manufacturer Used for Model number I/O signals Applicable connector:df--c (CN) DF-P-V () Applicable terminal:df-cc Hirose Electric Co., Ltd. DC power source Applicable connector:df--c (CN) DF-P-V () Applicable terminal:df-c Hirose Electric Co., Ltd. tepping motor Applicable connector:df--c (CN) DF-P-V () Applicable terminal:df-c Hirose Electric Co., Ltd. The applicable connectors should be either prepared by the user or ordered from the optional connector set or connector cables (refer to Option in page ). PMDPBP PMDPCP PMM-MD- - PMDPACP PMDPDP PMM-BD- -

278 Pulse I/F (DC power input) Operation, connection, and function Input circuit (CW, CCW) +V When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. Approx. ma Input signal R PM driver Input signal specifications.~.v s MIN. % Pulse duty is % MAX. Rotation operation % ~.V % s MAX. s MAX. Timing of the command pulse -input mode (CW, CCW) CW CCW s MIN. The internal photo coupler turns ON within the and the internal circuit (stepping motor) is activated at the leading edge of the photo coupler ON. When applying no pulse, fix the internal photo coupler to ON or OFF. Pulse and direction mode (CK, U/D) CK U/D s MIN. The internal photo coupler turns ON within the, and the internal circuit (stepping motor) is activated at the leading edge of the photo coupler ON. Perform the U/D input signal switchover when the CK-side internal photo coupler is set to OFF. Input circuit configuration (PD) +V Approx. ma Input signal When the peak value of the input signal is V, the external limit resistance R is Ω. If the peak value exceeds V, set the input current to approx. ma using the external limit resistance R. R PM driver

279 Dimensions [Unit:mm(inch)] (.) (.) (.) -ø. (Fitting holes) (-ø.) PMAPAA RW PMAPAB (.) (.) DW PMM-MA- PMM-MA- CN CN CN (.) MAX. (.) PMDPACP PMDPDP PMM-BA- - PMM-BD- - PMDPBP PMDPCP PMM-MD- - PMM-BA- - Installation direction and position mm MIN Fix the PM driver by using the spacer of ø MAX. of which length is mm MIN.

280 Pulse I/F (DC power input) Pulse rate-torque characteristics/pulse rate-source current characteristics F- :V F- :V Torque(kgf cm).... Torque(N m) division -division Number of rotations(min-) Torque(kgf cm).... Torque(N m) division -division. Number of rotations(min-) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified F- :V Torque(kgf cm)... Torque(N m) division -division. Number of rotations(min-) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -division is specified -division is specified

281 Option Connector cable Model number Application The connector cable is a -meter cable assembled with the connector. PMAPAA PM-C- Connector cable for I/O signals (CN) PM-CP- PM-CM- Connector cable for AC power source (CN) Connector cable for stepping motors (CN) PMDPACP PMM-MA- PMAPAB Cable (I/O signal cable) Driver side Pin number Color Blue Cable (power source cable) ULAWG V, C m Cable model number PM-C- Length m PMM-MA- PMM-BA- - PMM-BA- - Driver side Pin number Color White Black PMDPBP PMDPCP PMM-MD- - PMM-BD- - PMDPDP ULAWG V, C m Cable model number PM-CP- Length m Cable (stepping motor cable) ULAWG V, C Driver side Pin number Color Black Red Orange Yellow Blue m Cable model number PM-CM- Length m

282 erial I/F The -Phase tepping Driver PMDPACP DC V I/F Applicable motors ø Characteristics Conformity to DeviceNet This driver conforms to DeviceNet specified as the device network for FA. Nonvolatile memory A series of block data and any parameters can be stored in the nonvolatile memory. imple setting No complicated setting is necessary as that of servo motors. It can be used as same as the conventional stepping system. Changing target position and speed during the rotation The target position and the speed can be changed even during the rotation. Encoder Connecting the incremental encoder enables the real position control and the step-out detection. Built-in function Pulse generation function * No pulse input is necessary for the operation using position commands and speed commands via network. Block function Calling the block command that is registered beforehand enables the operation without worrying communication loads. I/O function The origin sensor input, the limit sensor input, and the brake signal output are equipped to facilitate controls such as the origin recovery, the operation stop at the mechanical equipment limit, etc. Alarm function Power source abnormality, nonvolatile memory abnormality and so on cause the output as alarms. * It is controlled by the half-step drive. When the basic step angle is., the basic step of the position and speed commands is..

283 ø PM driver specifications Item PMDPACP Input source ource current Operating ambient temperature DCV±%.A to + C PMAPAA Basic specifications Environment Conservation temperature Operating ambient humidity Conservation humidity Vibration resistance Impact resistance - to + C to % RH (no condensation) to % RH (no condensation) Tested under the following conditions: Frequency range: to Hz,. G along the X, Y, and Z axes for hours No abnormality for the ND-C- tandard, ection.., Division "C". PMAPAB Function Withstand voltage Insulation resistance Mass(Weight) Protection function election function LED indicator Limit sensor input signal Origin sensor input signal External stop input signal No abnormality against an AC V application between the power input terminal and the cabinet for one minute. Minimum MΩ when applying the DC V Megger between the power input terminal and the cabinet..kg(. lbs) Against source voltage abnormality, nonvolatile memory abnormality, position data overflow, encoder disconnection, and step-out detection MAC ID selection and transmission speed selecion Module status and network status Photocoupler input system, input resistance. kω Photocoupler input system, input resistance. kω Photocoupler input system, input resistance. kω PMM-MA- PMM-MA- I/O signals Alarm output signal Brake output signal Module status LED signal Open collector output by photocoupler Output signal standard Vceo: Maximum DC V, Ic: Maximum ma Open collector output by photocoupler Output signal standard Vceo: Maximum DC V, Ic: Maximum ma ignal for LED (tanley-make VRPGX or equivalent), Do not use it for other than monitors. PMM-BA- - Network status LED signal ignal for LED (tanley-make VRPGX or equivalent), Do not use it for other than monitors. Applicable DeviceNet specification: Transmission media Connector type Release. -wire cable (-wire signal system, -wire power source, and -wire shielded line) hielded-type micro connector PMM-BA- - Physical layer insulation availability Availabl Communication specification Maximum network current consumption Transmission speed Transmission distance MAC ID setting Device profile Message group Communication method Data length Explicit message division transmission support UCMM support ma atv DC kbit/s,kbit/s,kbit/s Maximum m ( kbit/s) Maximum m ( kbit/s) Maximum m ( kbit/s) Maximum stations ( to ) Generic(Generic device) Group Only erver (Predefined Master/lave Connection et) I/O Message Explicit Message I/O Input(Request) Byte Message Output(Response) Byte Explicit Request: Variable length Message Response: Variable length upported without transmission time out Not supported PMDPBP PMDPCP PMM-MD- - PMM-BD- - tandard combined stepping motor tepping motor tepping motor model number Holding torque Rotor inertia Mass(Weight) dimensions ingle shaft Double shaft N m(oz in) x - kg m (oz in ) kg(lbs) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) Page Page Page Page Page PMDPACP PMDPDP mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) Page For the general specifications and dimensions of each stepping motor, refer to the reference pages.

284 erial I/F Operation, connection, and function DeviceNet system block diagram Master Devices PLC PC Device Net PM Driver PM Driver PM Driver # # # Remote I/O # Push button # Photocell W # This PM driver in maximum units can be connected on a same network as the DeviceNet slave device. In addition, it can be connected by mixing with other devices that conform to DeviceNet. Each section name of the PM driver type C NET MOD DATA RATE CN CN CN MD LD Kb Kb Kb N P Network status LED (NET) Indicates the network status using -color LEDs. Module status LED (MOD) Indicates the PM driver status using -color LEDs. MAC ID setting switch (MD,LD) It is the switch to set the slave station number (MAC ID). Transmission baud rate setting switch (DATA RATE) DeviceNet baud rate is set. Power input connector (CN) Connects DC V. tepping motor connector (CN) Connects the stepping motor power cable. Encoder connector (CN) Optional encoder can be connected. Connector for I/O signal (CN) Connects I/O signals. Communication connector It is the connector for the DeviceNet communication. CN

285 ø Operation, connection, and function External wiring diagram Note ) CN Driver CN ME Blue Phase tepping Motor PMAPAA MD Yellow G PG V +V MC MB MA Orange Red Black Note ) PMAPAB CAN_L CAN_H V- V+ CN, CN G V C C Black Red Yellow White PMM-MA- Drain B Purple CN Reg ExG B A A Green Brown Blue Note ) OPTICAL ENCORDER (/R) PMM-MA- DCV~V COM CCW Limit CW Limit DN PMM-BA- - TOP Reserve IN Reserve IN HBON PMM-BA- - ALM M-GRN(LED) Note ) M-RED(LED) M-GND(LED) M G Vcc PMDPBP ExV M-GRN(LED) Note ) M-RED(LED) M-GND(LED) N NC ExG PMDPCP Note ) Use shielded twisted-pair cables. Note ) Ground the stepping motor flange section and the stepping motor fastening screw by fixing them together. In addition, use a single point grounding. Note ) LED output signals of M and N can be checked outside of the PM driver. However, do not use it for other use than the LED drive. Note ) Refer to the following table when connecting the H or H type stepping motor: Product Connector pin number PM driver (CN) tepping motor connector PMM-MD- - PMM-BD- - PMDPACP PMDPDP

286 erial I/F Operation, connection, and function I/O signal function ignal name (Abbreviation) CW limit input (CCWL) CCW limit input (CWL) Origin sensor input (DN) External stop input (TOP) Brake timing output (HBON) Alarm output (ALM) Module status output (M) Pin number(cn) Function The limit signal is input to disable the CW direction operation. Parameters such as enable/disable, input logic and so on can be set via communications. The limit signal is input to disable the CCW direction operation. Parameters such as enable/disable, input logic and so on can be set via communications. The origin sensor signal is input. The input logic can be set via communications. External stop signal is input. Parameters such as enable/disable, input logic and so on can be set via communications. The timing signal of holding brake is output. The signal is externally output when one of several alarm occurs in the PM driver. At this time, the stepping motor is in the unexcited state. The output logic can be set via communications. It is the output to drive the LED for external indication to show the PM driver status. The output signal is as same as the MOD LED installed on the front panel. Network status output (N) It is the output to drive the LED for external indication to show the network status. The output signal is as same as the NET LED installed on the front panel. The CW rotation direction of stepping motor means the clockwise direction rotation as viewed from the output shaft side (flange side). The CCW rotation direction means the counterclockwise direction rotation as viewed from the output shaft side (flange side). Connectors to be used Used for Driver side Model number Applicable connector model number Manufacturer DC power source (CN) - Applicable housing:- Applicable contact:- Molex Japan tepping motor (CN) - Applicable housing:- Applicable contact:- Molex Japan Encoder (CN) - Applicable housing:- Applicable contact:- J..T. Mfg Co., Ltd. I/O signals (CN) -AJL Plug:-VE hell kit:-a- umitomo M DeviceNet communication WF,-PCB Connection cable:wk.t-(m) TURK Inc. The connector cable for CN and the plug and shell kit for CN are attached to the main unit (refer to page for Attachments). The user is requested to prepare the other applicable connectors. The connection cable for DeviceNet communication is the manufacturer standard cable product. The last digit of model number specifies the length of -m, -m, and -m products available For the details, refer to the manufacturer's catalog.

287 ø Operation, connection, and function Module status indication Indication Explanation Dark Main power is not supplied to the PM driver. Green lighting The PM driver normally operates. Red blinking It is in the recoverable alarm status. Red lighting It is in the unrecoverable alarm status. PMAPAA PMAPAB Network status indication Indication Explanation Dark The network power is not supplied. It is in the offline status. Green blinking Green lighting Red blinking It is in the online status despite no connection established. There is a connection in the established condition. A recoverable failure occurs. Red lighting The switch setting of MAC ID and communication baud rate is abnormal. It is in the unrecoverable status. PMM-MA- PMM-MA- PMM-BA- - MAC ID setting rotary switch MD LD MAC ID PMM-BA- - MD LD : : : ~ etting impossible Left drawing indicates the setting at the shipment. The switch setting is enabled when the PM driver power is turned ON. PMDPBP Transmission speed setting rotary switch PMDPCP Kb Kb DATA RATE Transmission speed kbit/s kbit/s kbit/s ~ etting impossible PMM-MD- - DATA RATE Kb Left drawing indicates the setting at the shipment. The switch setting is enabled when the PM driver power is turned ON. PMM-BD- - PMDPACP PMDPDP

288 erial I/F Operation, connection, and function Input circuit configuration (CWL, CCWL, DN, TOP).k Input voltage: DC V to V ± % Input logic (initial state): CWL, CCWL, and TOP: DN: Normal close Normal open.k Output circuit configuration (ALM, HBON) Input voltage: Maximum V Input current:maximum ma Input logic (initial state): ALM: HBON: Normal close Normal open Output circuit configuration (M) Drive voltage:vcc=v Vcc k G Output circuit configuration (N) Drive voltage:exv=v EXV k EXG

289 ø Dimensions [Unit:mm(inch)] MAX. (.) (.). (.).(.) PMAPAA type C NET MD R. (R.) MOD DATA RATE CN LD Kb Kb Kb N PMAPAB P (.) CN CN (.) PMM-MA- CN PMM-MA- (.) PMM-BA- - (.) PMM-BA- - PMDPBP Installation direction and position PMDPCP M Install the PM driver vertically. As shown in the figure, fix the PM driver by using the M screws through fitting notches on the back surface of PM driver (no fitting metals are necessary). Keep minimum -mm spaces above the top surface and under the bottom surface of PM driver or keep minimum -mm spaces between PM drivers when closely placing them to use. PMM-MD- - PMM-BD- - M PMDPACP PMDPDP

290 erial I/F Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V H- :V Torque(kgf cm).. Torque(N m).. Torque(kgf cm).. Torque(N m).... fs... fs. Rotating speed(min-) Rotating speed(min-) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step H- :V H- :V Torque(kgf cm).. Torque(N m).. Torque(kgf cm) Torque(N m).... fs.. fs. Rotating speed(min - ) Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step H- :V H- :V.... Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m)... fs.. fs. Rotating speed(min - ) Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step

291 ø Pulse rate-torque characteristics/pulse rate-source current characteristics H- :V.. H- :V.. PMAPAA Torque(kgf cm) Torque(N m).. Torque(kgf cm) Torque(N m).. PMAPAB. fs. Rotating speed(min-). fs. Rotating speed(min-) PMM-MA- ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step PMM-MA- H- :V Torque(kgf cm). Torque(N m).... fs. Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step H- :V H- :V. Torque(kgf cm) Torque(N m).... fs. Rotating speed(min - ) ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step H- :V PMM-BA- - PMM-BA- - PMDPBP PMDPCP PMM-MD PMM-BD- - Torque(kgf cm) Torque(N m)... fs. Rotating speed(min - ) Torque(kgf cm) Torque(N m)... fs. Rotating speed(min - ) PMDPACP PMDPDP ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step ource voltage:dcv Operating current:.a/phase Pull-out torque(jl=. - kg m [. oz in ] Use the rubber coupling) ource current(tl=max) ource current(tl=) -step

292 erial I/F Option Connector set (attachments) Plug : -VE hell kit : -A- Configuration Application I/O signal and DC power source(cn) Connector cable (attachments) Model number PM-CP- Application Connector cable for power source(m) Connector cable (option) Model number PM-CP- PM-CP- PM-CM- PM-CM- PM-CM- PM-CT- PM-CT- PM-CT- PM-CT- PM-CT- PM-CT- Application Connector cable for power source (m) Connector cable for power source (m) tepping motor extension cable (m) tepping motor extension cable (m) tepping motor extension cable (m) Encoder extension cable (m) Encoder extension cable (m) Encoder extension cable (m) I/O signal cable (m) I/O signal cable (m) I/O signal cable (m) Connector cables are assembled with connectors for each interface. For connectors used for stepping motor extension cables and encoder extension cables, refer to upplement table. Connectors used for extension cables (upplement table ) Connector cable model number Receiver side connector model number Applicable connector model number Manufacturer PM-CM - (tepping motor extension cable) Housing : - Contact : - Applicable housing : - Applicable contact : - Molex Japan PM-CT - (Encoder extension cable) Housing : - Contact : - Applicable housing : - Applicable contact : - Molex Japan

293 ø Option Applicable connector cable Applicable driver model number CN CN CN CN PMDPACP Cable Cable Cable Cable PMAPAA Cable (power source cable) PMAPAB ULAWG V, C Driver side Pin number Color Red Black Green L Cable model number PM-CP- PM-CP- Length(L) m m PMM-MA- PMM-MA- Cable (stepping motor extension cable) Driver side Pin number Color Black Red Orange Yellow Blue UL AWG tepping motor side V, C Cable model number Pin number Color PM-CM- Black PM-CM- Red PM-CM- Orange Yellow L Blue Length(L) m m m PMM-BA- - PMM-BA- - Cable (encoder extension cable) PMDPBP Driver side Pin number Color Blue Brown Green Purple White Yellow Red Black Black Lead wire AWG Twisted-pair shielded wire UL, V, C L tepping motor side Pin number Color Blue Brown Green Purple White Yellow Red Black Black Cable model number PM-CT- PM-CT- PM-CT- Length(L) m m m PMDPCP PMM-MD- - Cable (I/O signal cable) L hielded wire Lead wire AWG Cable model number PM-CT- PM-CT- PM-CT- PMM-BD- - PMDPACP PMDPDP Length(L) m m m

294 TEPPING MOTOR tepping ystem Configuration Chart DRIVER P~P Host Regarding cables, refer to the pages for each driver. HIC P~P Regarding cables, refer to the pages for each driver. MOTOR P~ -phase stepping motor Vacuum stepping motor OPTION -Phase Motor Domain Chart Rotor inertia(oz in ) Rotor inertia( - kg m ).... Torque(N m) Torque(oz in)

295 Explanation of motor model number H - erial number Indicates specifications of winding Indicates partition mark Indicates total length of motor Indicates radial size Indicates overall structure and shape of the system Indicates tepping Motor series name Vacuum stepping motor tep angle. ~. Holding torque.~. N. m (.~.oz in) P~P ø mm (.inch) ( ø.inch) (.inch) Applicable drivers PMM-MD- PMM-MD- PMM-BD- PMM-BD- PMDPAAP PMDPACP tep angle. Holding torque tep angle. Holding torque tep angle.~. N. m (.~.oz in) P~P. N. m (. oz in) P~P.~. N. m (.~.oz in) P~P. Holding torque Applicable drivers Applicable drivers Applicable drivers (.nch) (.inch) (.inch) PMM-MA PMM-BA PMM-MA PMM-MA PMM-BA PMAPA B PMM-MA PMM-MA PMDPCP PMM-BD- PMM-BD- PMM-MD- PMM-MD- PMM-BA PMM-BA PMM-BA PMDPACP PMDPAAP PMDPBP PMDPCP PMM-MD- PMM-MD- PMDPBP PMDPCP PMM-MD- PMM-MD- PMM-BD- PMM-BD- PMDPAAP PMDPACP PMM-BD- PMM-BD- PMDPAAP PMDPACP tep angle. Holding torque tep angle. Holding torque tep angle.~. N. m (.~.oz in) P~P.~. N. m (.~.oz in) P~P.~. N. m (.~.oz in) P~P. Holding torque ø mm Applicable drivers ø mm Applicable drivers ø mm ( ø.inch) PMAPA PMM-MA PMM-MA ( ø.inch) PMAPA PMAPA PMM-MA ( ø.inch) B A B Applicable drivers PMAPA PMAPA PMM-MA A B PMM-BA PMM-BA PMM-MA PMM-BA PMM-BA PMM-MA PMM-BA PMM-BA PMDPBP PMDPCP PMM-MD- PMM-MD- PMDPBP PMDPCP PMM-MD- PMM-MD- PMM-BD- PMM-BD- PMDPAAP PMDPACP PMM-BD- PMM-BD- tep angle. Holding torque.~. N. m (.~.oz in) tep angle. Holding torque tep angle. Holding torque P~P.~. N. m (.~. oz in) P~P.~ N. m (.~.oz in) P~P ø mm Applicable drivers ø mm Applicable drivers ø mm ( ø.inch) PMM-MA PMM-MA ( ø.inch) PMM-MA PMM-MA ( ø.inch) Applicable drivers PMM-MA PMM-MA tep angle. Holding torque.~. N. m (.~.oz in) tep angle. Holding torque tep angle. Holding torque P~P.~. N. m (.~. oz in) P~P.~ N. m (.~.oz in) P~P

296 -phase stepping motor (.) -phase stepping motor mm sq /step pecifications Model number Holding torque at -phase energization Rated resistance current inductance Rotor inertia Mass (Weight) ingle shaft Double shaft N.m(oz.in) MIN. A/phase Ω/phase mh/phase x - kg-m (oz.in ) kg(lbs) -- -.(.)...(.).(.) -- -.(.)....(.).(.) -- -.(.)...(.).(.) Dimensions [unit:mm(inch)] -- (ingle shaft) -- (Double shaft) -- (ingle shaft) -- (Double shaft) ±. ±. (.±.) (.±.) MIN. (. MIN.) Lead wire UL AWG ±. (.±.) (.)?. MAX. (?. MAX.) -±. (-.±.) ±. (.±.) MIN. (. MIN.) Lead wire UL AWG.±. (.±.) ±. (.±.) (.)?. MAX. (?. MAX.) -±. (-.±.). ø -.. (ø.-.) ±. (.±.). ø -.. (ø.-.). ø -.. (ø.-.) -M.. ø -.. (ø.-.) ±. (.±.). ø -.. (ø.-.). ø -.. (ø.-.) -M X. -- (ingle shaft) -- (Double shaft) ± (.±.) MIN. (. MIN.).±. (.±.) Lead wire UL AWG ±. (.±.) (.)?. MAX. (?. MAX.) -±. (-.±.). ø -.. (ø.-.) ±. (.±.). ø -.. (ø.-.). ø -.. (ø.-.) -M X.

297 Pulse rate-torque characteristics Pull-out torque at JL.. Torque(kgf. cm)... Torque(N. m)... tarting torque at JL. Number of rotations(min - ) Torque(kgf.cm)... Torque(N.m)... tarting torque at JL Pull-out torque at JL. Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) --.. Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL. tarting torque at JL. Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling)

298 -phase stepping motor (.) -phase stepping motor mm cir. --. /step pecifications Model number Holding torque at -phase energization Rated resistance current inductance Rotor inertia Mass (Weight) ingle shaft Double shaft N.m(oz.in) MIN. A/phase Ω/phase mh/phase x - kg-m (oz.in ) kg(lbs) -- -.(.)...(.).(.) Dimensions [unit:mm(inch)] -- (ingle shaft) -- (Double shaft).±. (.±.) Cross section - Lead wire UL AWG.±..±. (.±.) (.±.) + (Effective length) +. (..) MIN. (. MIN.) (.). (.) ±. (.±.) + +. (..) (Effective length)? ±. (?.±.) -±. (-.±.) ø±. (ø.±.). ø -.. (ø.-.). ø -.. (ø.-.) R MIN. (R. MIN.) R MIN. (R. MIN.). ø -.. (ø.-.) +. -ø. +. ( -ø..)

299 Pulse rate-torque characteristics --.. Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL. tarting torque at JL. Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling)

300 -phase stepping motor (.) -phase stepping motor mm sq. H -. /step Applicable drivers PMM-MD- PMM-MD- PMM-BD- PMM-BD- PMDPAAP PMDPACP pecifications Motor with leads Motor with connector Model number Holding torque at -phase energization Rated resistance inductance current Rotor inertia Mass (Weight) Model number Holding torque at -phase energization Rated resistance inductance current Rotor inertia Mass (Weight) ingle shaft Double shaft N.m(oz.in) MIN. A/phase Ω/phase mh/phase x - kg-m (oz.in ) kg(lbs) ingle shaft Double shaft N.m(oz.in) MIN. A/phase Ω/phase mh/phase x - kg-m (oz.in ) kg(lbs) H- -.(.)....(.).(.) H- -.(.)....(.).(.) H- -.(.)....(.).(.) H- -.(.)....(.).(.) Dimensions [unit:mm(inch)] Motor with leads H- (ingle shaft) H- (Double shaft) H- (ingle shaft) H- (Double shaft) Lead wire UL AWG Lead wire UL AWG ±. (.±.) MIN. (. MIN.).±. (.±.) ±. (.±.) (.)? ±. (?.±.) -±. (-.±.) MAX. (. MAX.) MIN. (. MIN.) ±. (.±.).±. (.±.) ±. (.±.) (.)? ±. (?.±.) -±. (-.±.) MAX. (. MAX.). ø-.. (ø.-.). ø-. ø -.. (ø.-.). (ø.-.) MAX.. MAX. -M. X. Effective tapping depth.(.)min.. ø -.. (ø.-.). ø -.. (ø.-.). ø -.. (ø.-.) -M. X. MAX.. MAX. Effective tapping depth.(.)min. Motor with connector H- (ingle shaft) H- (Double shaft) Applicable connector (Japan olderless Terminals) Housing : PHR- Contact : PH-T-P. H- (ingle shaft) H- (Double shaft) Applicable connector (Japan olderless Terminals) Housing : PHR- Contact : PH-T-P. ±. (.±.) ±. (.±.) ±. (.±.) (.)? ±. (?.±.) -±. (-.±.) MAX. (. MAX.) Pin No... ±. (.±.).±. ±. (.±.) (.±.) (.)? ±. (?.±.) -±. (-.±.) MAX. (. MAX.) Pin No.... ø -.. (ø.-.). ø -.. ø -.. (ø.-.). (ø.-.) MAX.. MAX. -M. X. Effective tapping depth.(.)min.. ø -.. (ø.-.). ø -.. (ø.-.). ø -.. (ø.-.) MAX.. MAX. -M. X. Effective tapping depth.(.)min.

301 PMM-MD- PMM-MD- PMM-BD- PMM-BD- PMDPAAP PMDPACP Pulse rate-torque characteristics H-/H- H-/H torque (kgf. cm).. torque (N. m).. tarting torque at JL Pull-out torque at JL Torque(kgf.cm).. Torque(N.m).. Pull-out torque at JL.... tarting torque at JL. Pulse rate (kpulse/s). Number of rotations (min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Pulley balancer system) JL=. - kg.m [. oz.in ] (Pulley balancer system) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Pulley balancer system) JL=. - kg.m [. oz.in ] (Pulley balancer system)

302 -phase stepping motor (.) -phase stepping motor mm sq. H -. /step Applicable drivers PMM-MA PMM-BA PMDPCP PMM-MD- PMM-MD- PMM-BD- PMM-BD- PMDPAAP PMDPACP pecifications Model number Holding torque at -phase energization Rated resistance current inductance Rotor inertia Mass (Weight) ingle shaft Double shaft N.m(oz.in) MIN. A/phase Ω/phase mh/phase x - kg-m (oz.in ) kg(lbs) H- -.(.)....(.).(.) H- -.(.)....(.).(.) H- -.(.)....(.).(.) Dimensions [unit:mm(inch)] H- (ingle shaft) H- (Double shaft) H- (ingle shaft) H- (Double shaft).±. (.±.) ± (.±.) MIN. (. MIN.) Lead wire UL AWG ±. (.±.) ±. (.±.). (.) + +. (..) (Effective length) Cross section -? ±. (?.±.) -±. (-.±.) MAX. (. MAX.) ± ±. (.±.) (.±.) MIN. (. MIN.) Lead wire UL AWG ±. (.±.). (.) + +. (..) (Effective length) Cross section -? ±. (?.±.) -±. (-.±.) MAX. (. MAX.).±. (.±.). ø -.. (ø.-.) R Min. (R. MIN) H- (ingle shaft) H- (Double shaft). ø -.. ø -.. (ø.-.). (ø.-.) MAX. (. MAX.) -M X. Effective tapping depth (.)MIN.. ø -.. (ø.-.). ø -.. (ø.-.). ø -. R MIN. (R. MIN.). (ø.-.) -M X. Effective tapping depth (.)MIN. MAX. (. MAX.).±. (.±.) Lead wire UL AWG Cross section - ± ±. (.±.) (.±.) ±. (.±.). (.) + (Effective +. length) (.. ) MIN. (. MIN.)?±. (?.±.) -±. (-.±.) MAX. (. MAX.). ø -.. (ø. -.) R Min. (R. Min.). ø -.. (. -. ). ø -.. (. -. ) MAX. (. MAX.) -M P. Tap depth (.) Min.

303 PMDPACP PMDPAAP PMM-BD- PMM-BD- PMM-MD- PMM-MD- PMDPCP PMM-BA PMM-MA Pulse rate-torque characteristics H- H-.... Torque(kgf. cm)... Torque(N. m)... Pull-out torque at JL Torque(kgf.cm)... Torque(N.m)... tarting torque at JL Pull-out torque at JL.. tarting torque at JL.... Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) H-.. Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL. tarting torque at JL. Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling)

304 -phase stepping motor (.) -phase stepping motor mm sq. H -. /step Applicable drivers PMM-MA PMM-MA PMM-BA PMM-BA PMDPBP PMDPCP PMM-MD- PMM-MD- PMM-BD- PMM-BD- PMDPAAP PMDPACP pecifications Model number Holding torque at -phase energization Rated resistance current inductance Rotor inertia Mass (Weight) ingle shaft Double shaft N.m(oz.in) MIN. A/phase Ω/phase mh/phase x - kg-m (oz.in ) kg(lbs) H- -.(.)..(.).(.) H- -.(.)....(.).(.) H- -.(.)....(.).(.) H- -.(.)....(.).(.) Dimensions [unit:mm(inch)] H-/ (ingle shaft) H-/ (Double shaft) Lead wire UL AWG.±.±..±. (.±.) (.±.) (.±.). (.) (.) + + (Effective length) +. (..). ø -.. (ø. -.) R MIN. (R.MIN.) MIN.. MIN (..) (Effective length) R MIN. (R.MIN.). (ø. -.). ø -.. ø -.. (ø. -.).±. (.±.) Cross section -? ±. (?.±.) MAX. (. MAX.) +. -ø (-ø. +. ) -±. (-.±.) MAX. (. MAX.) H-/ (ingle shaft) H-/ (Double shaft).±.±..±. (.±) (.±) (.±) +. + (..) (Effective length). ø -.. (ø. -.) RMIN. (R.MIN.) MIN. (. MIN.) Lead wire UL AWG. (.) (.) + +. (..) (Effective length) RMIN. (R.MIN.). ø -.. ø -.. (ø. -.). (ø. -.).±. (.±.) Cross section - ±. (.±.) -±. (-.±.) Max. (. Max.) +. -ø. +. ( -ø. +. ) MAX. (. MAX.)

305 PMDPACP PMDPAAP PMM-BD- PMM-BD- PMM-MD- PMM-MD- PMDPCP PMDPBP PMM-BA PMM-BA PMM-MA PMM-MA Pulse rate-torque characteristics H- H-.... Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. Pull-out torque at JL tarting torque at JL. tarting torque at JL... Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) H- H-.... Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. Pull-out torque at JL. tarting torque at JL.. tarting torque at JL. Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling)

306 -phase stepping motor (.) -phase stepping motor mm sq. H -. /step Applicable drivers PMAPA B PMM-MA PMM-MA PMM-BA PMM-BA PMDPBP PMDPCP PMM-MD- PMM-MD- PMM-BD- PMM-BD- PMDPAAP PMDPACP pecifications Model number Holding torque at -phase energization Rated resistance current inductance Rotor inertia Mass (Weight) ingle shaft Double shaft N.m(oz.in) MIN. A/phase Ω/phase mh/phase x - kg-m (oz.in ) kg(lbs) H- -.(.)....(.).(.) H- -.(.)....(.).(.) H- -.(.)....(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)....(.).(.) Dimensions [unit:mm(inch)] H-/ (ingle shaft) H-/ (Double shaft).± (.±.) (.±.) (.±.) (.). + (.) (Effective length) + (..) +. (Effective length) (..). (ø. -.). ø -. R MIN. (R.MIN.).±. (.±.).±..±. Applicable connector (Japan olderless Terminals) Cross section - Housing : VHR-N Contact : VH-T-P. R MIN. (R.MIN.).±. (.±.).±. (.±.). ø -.. (ø. -.). ø -. H-/ (ingle shaft) H-/ (Double shaft). (ø. -.).±. (.±.) Cross section -? ±. (?.±.) -±. (-.±.) MAX. (. MAX.) Pin.. No. +. -ø ( -ø. +. ) MAX. (. MAX.) Applicable connector (Japan olderless Terminals) Housing : VHR-N Contact : VH-T-P. H-/ (ingle shaft) H-/(Double shaft). (ø. -.). ø -. R MIN. (R. MIN.) Cross section -.±.±..±. (.±.) (.±.) (.±.) (.) +. + (.) (Effective length) (..) +. (..) (Effective length).±. (.±.) R MIN. (R. MIN.).±. (.±.). (ø. -.). ø -.. ø -.. (ø.. -.) Applicable connector (Japan olderless Terminals) Housing : VHR-N Contact : VH-T-P.? ±. (?.±.) -±. (-.±.) MAX. (. MAX.) Pin No ø (-ø. +. ) MAX. (. MAX.).±.±..±. (.±.) (.±.) (.±.) (.) (..) + (.) + (Effective length) + +. (..) (Effective length) ±. (.±.) -±. (-.±.) MAX. (. MAX.) Pin No.. MAX. ( MAX.). (ø. -.). ø -. R MIN. (R.MIN.) R MIN. (R.MIN.). ø -.. (ø.. -.). ø -.. (ø.. -.) +. -ø (-ø. +. )

307 PMDPACP PMDPAAP PMM-BD- PMM-BD- PMM-MD- PMM-MD- PMDPCP PMDPBP PMM-BA PMM-BA PMM-MA PMM-MA PMAPA B Pulse rate-torque characteristics H- H-... Pull-out torque at JL. Pull-out torque at JL Torque(kgf. cm) Torque(N. m).. tarting torque at JL Torque(kgf.cm) Torque(N.m).. tarting torque at JL.... Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) H- H-.... Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. Pull-out torque at JL. tarting torque at JL. tarting torque at JL.. Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) H- H-.... Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. Pull-out torque at JL. tarting torque at JL.. tarting torque at JL. Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling)

308 -phase stepping motor (.) -phase stepping motor mm cir. H -. /step Applicable drivers PMAPA B PMM-MA PMM-MA PMM-BA PMM-BA PMDPBP PMDPCP PMM-MD- PMM-MD- PMM-BD- PMM-BD- PMDPAAP PMDPACP pecifications Model number Holding torque at -phase energization Rated resistance current inductance Rotor inertia Mass (Weight) ingle shaft Double shaft N.m(oz.in) MIN. A/phase Ω/phase mh/phase x - kg-m (oz.in ) kg(lbs) H- -.(.)....(.).(.) H- -.(.)....(.).(.) H- -.(.)....(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)....(.).(.) Dimensions [unit:mm(inch)] H-/ (ingle shaft) H-/ (Double shaft).±. (.±.) H-/ (ingle shaft) H-/ (Double shaft).±. (.±.) Lead wireul AWG.±..±..±. (.±.) (.±.) (.±.). (.) (.) +. + (..) + (Effective length) (. MIN.) MIN (..) (Effective length).±. (.±.)? ±. Cross section - (?.±.) -±. (-.±.) MAX. (. MAX.) MAX. (. MAX.) (. MIN.) MIN. Lead wire UL AWG.±.±..±. (.±.) (.±.) (.±.). (.) (.) +. + (..) (..) (Effective length) (Effective length).±. (.±.) Cross section -? ±. (?.±.) -±. (-.±.) MAX. (. MAX) MAX. (. MAX.). (ø. -.). ø -. R MIN. (R.MIN.) R MIN. (R.MIN.). ø -.. (ø. -.). ø -.. (ø. -.) +. -ø ( -ø. +. ). (ø. -.). ø -. R MIN. (R.MIN.) R MIN. (R.MIN.). ø -.. (ø. -.). ø -.. (ø. -.) +. -ø ( -ø. +. ) H-/ (ingle shaft) H-/ (Double shaft).±. Lead wire UL AWG.±. Cross section -.± (..) + (Effective length).±. (.±.) (.±.) (.±.). (.) (.) (. MIN.) Min..± (..) (Effective length)? ±. (?.±.) -±. (-.±.) MAX. (. MAX.) MAX. (. MAX.). (ø. -.). ø -. R MIN. (R.MIN.) R MIN. (R.MIN.). ø -.. (ø. -.). ø -.. (ø. -.) +. -ø ( -ø. +. )

309 PMDPACP PMDPAAP PMM-BD- PMM-BD- PMM-MD- PMM-MD- PMDPCP PMDPBP PMM-BA PMM-BA PMM-MA PMM-MA PMAPA B Pulse rate-torque characteristics H- H-.... Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. Pull-out torque at JL tarting torque at JL. tarting torque at JL... Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) H- H-.... Pull-out torque at JL Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. tarting torque at JL tarting torque at JL.... Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) H- H-.... Pull-out torque at JL Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. tarting torque at JL. tarting torque at JL... Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling)

310 -phase stepping motor (.) -phase stepping motor mm cir. H -. /step Applicable drivers PMAPA A PMAPA B PMM-MA PMM-MA PMM-BA PMM-BA PMDPCP PMM-MD- PMDPBP PMM-MD- PMM-BD- PMM-BD- pecifications Model number Holding torque at -phase energization Rated resistance current inductance Rotor inertia Mass (Weight) ingle shaft Double shaft N.m(oz.in) MIN. A/phase Ω/phase mh/phase x - kg-m (oz.in ) kg(lbs) H- -.(.)...(.).(.) H- -.(.)....(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) Dimensions [unit:mm(inch)] H-/ (ingle shaft) H-/ (Double shaft) H-/ (ingle shaft) H-/ (Double shaft) Cross section - Parallel key (. ±.) Lead wire UL AWG (with Motor) ±. ±. ±. (. ±.) (. ±.). (.)? ±. (?.±.). (.) - ±. (-. ±.) +. MIN. (. MIN.). (. -.) (. -.) (..) (.+.). (. -.) (. -.). (. -.) (..) Cross section - Parallel key (. ±.) Lead wire UL AWG (with Motor) ±.±. ±. (. ±.) (. ±.)? ±.. (.) (?.±.). (.) -± (-. ±.) + (.+.) MIN. (. MIN.). (. -.). -.. (. -.) (. -.) ø ±. (ø. ±.). ø. -.. (ø. -.). ø -.. (ø. -.). ø -.. (ø. -.) +. -ø (-ø. +. ) ø±. (ø. ±.). ø. -.. (ø. -.). ø -.. ø -.. (ø. -.). (ø. -.) +. -ø (-ø. +. ) H-/ (ingle shaft) H-/(Double shaft) Cross section - (. ±.) Lead wire UL AWG (. ±.) ±.±. ±. (. ±.). (.). (.) (.+.) MIN. (. MIN.). (. -.) (. -.) (..) Parallel key (with Motor). (. -.) ? ±. (?.±.) -±. (-. ±.). (. -.) ø ±.. (ø. ±.) ø. -.. (ø. -.). ø -.. ø -.. (ø. -.). (ø. -.) +. -ø (-ø. +. )

311 PMM-BD- PMM-BD- PMM-MD- PMM-MD- PMDPCP PMDPBP PMM-BA PMM-BA PMM-MA PMM-MA PMAPA B PMAPA A Pulse rate-torque characteristics H- H-.... Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. Pull-out torque at JL. tarting torque at JL. tarting torque at JL.. Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) H- H-.... Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. Pull-out torque at JL. tarting torque at JL.. tarting torque at JL. Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) H- H-... Pull-out torque at JL. Pull-out torque at JL Torque(kgf. cm) Torque(N. m).. Torque(kgf.cm) Torque(N.m).. tarting torque at JL. tarting torque at JL... Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL= - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL= - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system)

312 -phase stepping motor (.) -phase stepping motor mm cir. H -. /step Applicable drivers PMAPA A PMAPA B PMM-MA PMM-MA PMM-BA PMM-BA pecifications Model number Holding torque at -phase energization Rated resistance current inductance Rotor inertia Mass (Weight) ingle shaft Double shaft N.m(oz.in) MIN. A/phase Ω/phase mh/phase x - kg-m (oz.in ) kg(lbs) H- -.(.)..(.).(.) H- -.(.)..(.).(.) H- - (.).. (.).(.) H- - (.)... (.).(.) Dimensions [unit:mm(inch)] H-/ (ingle shaft) H-/(Double shaft) H-/ (ingle shaft) H-/ (Double shaft) (. -.). -.. (. -.). -.. (. -.). -.. (. -.). -. MIN. (. MIN.). (. -.) (..) Cross section - Lead wire UL AWG (. ±.) ±..± ±. (. ±.) (. ±.) (.) (.) (.+.) Parallel key (with Motor). -.. (. -.)?.±. (?.±.) -±. (-. ±.) MIN. (. MIN.) (. ±.) ±.. (. -.). -. Lead wire UL AWG.± (. ±.) (..) Cross section - ±. (.) (.) (. ±.) (.+.) Parallel key (with Motor). -.?.±. (?.±.) -±. (-. ±.). (. -.) + ø (ø. -.). ø. -.. (ø. -.). (ø. -.). ø -.. ø -.. (ø. -.) +. -ø.. +. (-ø. +. ) +. ø (ø. -.). ø. -.. (ø. -.). (ø. -.). ø -.. ø -.. (ø. -.) +. -ø.. +. (-ø. +. )

313 PMM-BA PMM-BA PMM-MA PMM-MA PMAPA B PMAPA A Pulse rate-torque characteristics H- H-.... Pull-out torque at JL Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m)... tarting torque at JL.. tarting torque at JL. Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL= - kg.m [. oz.in ] (Use the rubber coupling) JL= - kg.m [. oz.in ] (Use the direct coupling) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL= - kg.m [. oz.in ] (Use the rubber coupling) JL= - kg.m [. oz.in ] (Use the direct coupling) H- H-.. Pull-out torque at JL.. Pull-out torque at JL tarting torque at JL Torque(kgf. cm) Torque(N. m).. Torque(kgf.cm) Torque(N.m)... tarting torque at JL... Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL= - kg.m [. oz.in ] (Use the rubber coupling) JL= - kg.m [. oz.in ] (Use the direct coupling) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL= - kg.m [. oz.in ] (Use the rubber coupling) JL= - kg.m [. oz.in ] (Use the direct coupling)

314 -phase stepping motor (CE) -phase stepping motor mm cir. H - CE marked. /step Applicable drivers PMM-MA PMM-MA pecifications Model number Holding torque at -phase energization Rated resistance current inductance Rotor inertia Mass (Weight) ingle shaft Double shaft N.m(oz.in) MIN. A/phase Ω/phase mh/phase x - kg-m (oz.in ) kg(lbs) H- -.(.)....(.).(.) H- -.(.)....(.).(.) H- -.(.)....(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)....(.).(.) Dimensions [unit:mm(inch)] H-/ (ingle shaft) H-/ (Double shaft).±. (.±.) H-/ (ingle shaft) H-/ (Double shaft).±. (.±.) R MIN. (R.MIN.) Earth terminal M. (.) Lead wireul AWG.± (. ±.).±. (. ±.).±. (. ±.). (.) (.) +. + (.+.) + (Effective length). (ø. -.). ø -. (. MIN.) MIN. + + (Effective length) R MIN. (R.MIN.) +. (.+.). ø -.. (ø. -.). ø -. H-/ (ingle shaft) H-/ (Double shaft). (ø. -.).±. (.±.) Cross section -? ±. (?.±.) -±. (-.±.) ±(.±.) +. -ø ( -ø. +. ). MAX. (. MAX.).±. (.±.). (ø. -.) (. MIN.) MIN. Lead wire UL AWG.±.±..±. (.±.) (.±.) (.±.). (.) (.) +. + (..) (..) (Effective length) (Effective length). ø -. R MIN. (R.MIN.) R MIN. (R.MIN.). ø -.. (ø. -.). ø -.. (ø. -.).±. (.±.) Cross section -? ±. (?.±.) -±. (-.±.) MAX. (. MAX) +. -ø ( -ø. +. ).MAX. (. MAX.) Lead wire UL AWG.±.±..±. (.±.) (.±.) (.±.). (.) (.) +. + (..) + (Effective length) (. MIN.) MIN (..) (Effective length).±. (.±.) Cross section -? ±. (?.±.) -±. (-.±.) ±(.±.). MAX. (. MAX.). (ø. -.) ø -. R MIN. (R.MIN.) Earth terminal M. (.) R MIN. (R.MIN.) ø -.. (ø. -.) ø -.. (ø. -.) +. -ø. +. (-ø. +. )

315 PMM-MA PMM-MA Pulse rate-torque characteristics H- H-.... Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. Pull-out torque at JL tarting torque at JL.. tarting torque at JL.. Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) H- H-.. Torque(kgf. cm) Torque(N. m)... Pull-out torque at JL Torque(kgf.cm) Torque(N.m)... Pull-out torque at JL tarting torque at JL. tarting torque at JL... Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) H- H-.... Pull-out torque at JL Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. tarting torque at JL. tarting torque at JL... Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling)

316 -phase stepping motor (CE) -phase stepping motor mm cir. H - CE marked. /step Applicable drivers PMM-MA PMM-MA pecifications Model number Holding torque at -phase energization Rated resistance current inductance Rotor inertia Mass (Weight) ingle shaft Double shaft N.m(oz.in) MIN. A/phase Ω/phase mh/phase x - kg-m (oz.in ) kg(lbs) H- -.(.)...(.).(.) H- -.(.)....(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) Dimensions [unit:mm(inch)] H-/ (ingle shaft) H-/ (Double shaft) UL Vinyl Tube Lead wire UL AWG (. ±.±. ±. (. ±.) ±.) (. ±.). (.) MIN. (. MIN.) ø±. ± (.±.) (ø.±.). ø. -.. (ø. -.) Earth terminal M. (.) () (.). (.) (.+.). ø -.. (ø. -.). ø -.. (ø. -.). (. -.). -. Parallel key (...) (.). (.) Cross section -? ±. (?.±.) -±. (-.±.) +. -ø (-ø. +. ) H-/ (ingle shaft) H-/ (Double shaft) UL Vinyl Tube Lead wire UL AWG (. ±.±. ±.(. ±.) ±.) (. ±.). (.). (.) (.+.) (. MIN.) ø±. MIN. (ø.±.) ± (.±.). ø. -.. (ø.±.) Earth terminal (.) M. () (.). ø -.. ø -.. (ø. -.). (. -.). -.. (ø. -.) Parallel key (...) (.). (.) Cross section -? ±. (?.±.) -±. (-.±.) +. -ø (-ø. +. ) H-/ (ingle shaft) H-/ (Double shaft) UL Vinyl Tube Lead wire UL AWG. (.) (. ± ±.).±. ±.(. ±.) Cross section - (. ±.). (.)? ±.(.±.). (.) -±.(-.±.) (.+.) (. MIN.) ø±. MIN. (ø.±.) ± (.±.). ø. -.. (ø. -.) Earth terminal M. (.) () (.). ø -.. (. -.). ø -.. (ø. -.). -.. (ø. -.) Parallel key (...) (.) +. -ø (-ø. +. )

317 PMM-MA PMM-MA Pulse rate-torque characteristics H- H-.... Torque(kgf. cm) Torque(N. m)... Pull-out torque at JL tarting torque at JL Torque(kgf.cm) Torque(N.m)... Pull-out torque at JL tarting torque at JL.. Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) H- H-.... Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. Pull-out torque at JL. tarting torque at JL. Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system). tarting torque at JL. Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) H- H-... Pull-out torque at JL. Pull-out torque at JL Torque(kgf. cm) Torque(N. m).. Torque(kgf.cm) Torque(N.m).. tarting torque at JL. tarting torque at JL... Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL= - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL= - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Pulley balancer system)

318 -phase stepping motor (CE) -phase stepping motor mm cir. H - CE marked. /step Applicable drivers PMM-MA PMM-MA pecifications Model number Holding torque at -phase energization Rated resistance current inductance Rotor inertia Mass (Weight) ingle shaft Double shaft N.m(oz.in) MIN. A/phase Ω/phase mh/phase x - kg-m (oz.in ) kg(lbs) H- -.(.)..(.).(.) H- -.(.)..(.).(.) H- - (.).. (.).(.) H- - (.)... (.).(.) Dimensions [unit:mm(inch)] H-/ (ingle shaft) H-/ (Double shaft) H-/ (ingle shaft) H-/ (Double shaft) MIN. (. MIN.) ± Lead wire UL AWG ±.± ±. (. ±.) (. ±.) (. ±.) (.±.) UL Vinyl Tube. (. -.) (.) (.) (.). -. Parallel key (...) (.) (.) Cross section -?.±. (?.±.) -±. (-.±.) MIN. (. MIN.) ± (.±.) ± (.±.) UL Vinyl Tube Lead wire UL AWG.± (.±.) UL Vinyl Tube. (. -.) ±. (. ±.) (.) (.) (.). -. Parallel key (...) (.) (.) Cross section -. ±. (.±.) -±. (-.±.) ø.± (ø.±.). ø. -.. (ø. -.) Earth terminal M. (.). (ø. -.). ø -.. ø -.. (ø. -.) +. -ø.. +. (-ø. +. ) ø.± (ø.±.). ø. -.. (ø. -.) Earth terminal M. (.). (ø. -.). ø -.. ø -.. (ø. -.) +. -ø.. +. (-ø. +. )

319 PMM-MA PMM-MA Pulse rate-torque characteristics H- H-... Pull-out torque at JL. Torque(kgf. cm) Torque(N. m).. Torque(kgf.cm) Torque(N.m).. Pull-out torque at JL. tarting torque at JL.. tarting torque at JL. Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL= - kg.m [. oz.in ] (Use the rubber coupling) JL= - kg.m [. oz.in ] (Use the direct coupling) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL= - kg.m [. oz.in ] (Use the rubber coupling) JL= - kg.m [. oz.in ] (Use the direct coupling) H- H-.... Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. Pull-out torque at JL. tarting torque at JL. tarting torque at JL.. Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL= - kg.m [. oz.in ] (Use the rubber coupling) JL= - kg.m [. oz.in ] (Use the direct coupling) anyo constant current circuit ource voltage : V AC. Operating current :.A/phase -phase excitation ( step) JL= - kg.m [. oz.in ] (Use the rubber coupling) JL= - kg.m [. oz.in ] (Use the direct coupling)

320 -phase stepping motor -phase stepping motor specifications General specifications H H H H H Insulation class Class B/ C Insulation resistance Withstand voltage Not less than MΩ between winding and frame by DCV megger at normal temperature and humidity. Without abnormality when applying /Hz,V AC (V AC for H andh ) for minute (leakage current ma) between winding and frame at normal temperature and humidity. Operating environment Ambient temperature - C to + C Ambient humidity % to % Wiringtemperature increase K MAX. (Based on anyo Denki standard) tanding angle error ±. ±. ±. ±. ±. Axial play.mm(.inch) MAX. (Load.N) (lbs).mm(.inch) MAX. (Load.N) (lbs).mm(.inch) MAX. (Load N) (lbs).mm(.inch) MAX. (Load N) (lbs).mm(.inch) MAX. (Load N) (lbs) Radial play (Note ) haft runout Inserted part concentricity against shaft Fitted surface angularity against shaft.mm(.inch) MAX. (Load.N)(lbs).mm(.inch) ø.mm(.inch) ø.mm(.inch) ø.mm(.inch) ø.mm(.inch) ø.mm(.inch).mm(.inch).mm(.inch).mm(.inch).mm(.inch).mm(.inch) H H - - Insulation class Class B/ C Insulation resistance Withstand voltage Not less than MΩ between winding and frame by DCV megger at normal temperature and humidity. Without abnormality when applying /Hz,V AC (V AC for - ) for minute (leakage current ma) between winding and frame at normal temperature and humidity. Operating environment Ambient temperature - C to + C Ambient humidity % to % Wiringtemperature increase K MAX. (Based on anyo Denki standard) tanding angle error ±. ±. ±. ±. Axial play.mm(.inch) MAX. (Load N) (lbs).mm(.inch) MAX. (Load N) (lbs).mm(.inch) MAX. (Load.N) (lbs).mm(.inch) MAX. (Load N) (lbs) Radial play (Note ) haft runout Inserted part concentricity against shaft ø.mm(.inch) Fitted surface angularity against shaft.mm(.inch) (Note) When load is applied at / length from output shaft edge..mm(.inch) MAX. (Load.N)(lbs).mm(.inch) ø.mm(.inch) ø.mm(.inch).mm(.inch).mm(.inch) ø.mm(.inch).mm(.inch) General specifications (Models Conforming to CE Marking) Rated voltage: Applied standards (Low voltage directive) pecification type Protection grade Protection class Operating environment Insulation class Insulation resistance Withstand voltage H H H DC-V DC-V EN-,IEC-(EN-),EN-,EN,EN- (Continuous running duty Type) IP Class Ι Pollution degree Class B ( C). Not less than MΩ between winding and frame by DCV megger at normal temperature and humidity. Without abnormality when applying /Hz, V AC (kv AC for H ) for minute(leakage current ma) between winding and frame at normal temperature and humidity. Operating environment Wiringtemperature increase tanding angle error Axial play Radial play (Note ) haft runout Inserted part concentricity against shaft Fitted surface angularity against shaft (Note) When load is applied at / length from output shaft edge. ±. ø.mm(.inch).mm(.inch) Ambient temperature - C to + C Ambient humidity % to % (no condensation) K MAX. (Based on anyo Denki standard) ±. ±..mm(.inch) MAX. (Load N) (lbs).mm(.inch) MAX.(Load.N) (lbs).mm(.inch) ø.mm(.inch) ø.mm(.inch).mm(.inch).mm(.inch)

321 Allowable radial load / thrust load Radial load Thrust load Frange size Model. No. Distance from end of shaft : mm inch (.) (.) Radial load : N lbs (.) Thrust load N(lbs) mm (.inch) H F () () () () () () () (.) (.) mm (.inch) - () () () () (.) mm (.inch) H F () () () () (.) mm (.inch) H () () () () (.) mm (.inch) H - () () () () () () () () (.) (.) H () () () () (.) mm (.inch) F M () () () () (.) H () () () () (.) mm (.inch) F M () () () () (.) mm (.inch) H F M () () () () (.) Internal wire connection and direction of motor rotate Internal wire connection Connector pin number in the parentheses Blue () Yellow() Black() Orange() Red () Color of leads Direction of motor rotate The direction of motor rotate is counterclockwise when viewed from the output shaft side at the direct current energization in the following order: T y p e Black Red Orange Yellow Blue Connector pin No. () () () () () Exciting order

322 In-vacuum stepping motor pecifications of In-vacuum stepping motor High vacuum stepping motor Ultra-high vacuum stepping motor Explanation of motor model number - - V Diametrical sizes Types and shapes of structure eries name of the stepping motors Overall length of motors Hyphen between codes Vacuum specifications Wire-winding specifications uffix, : standard types Vacuum stepping motor. Outline of the In-vacuum stepping motor In order to support customers' demand for actuators that can be driven in vacuum environment without requiring use of vacuum introducers, ANYO DENKI developed new in-vacuum stepping motors. Highly accurate control of speed setting and positioning is actualized succeeding the features of ANYO stepping motors and is easily operated by open-loop control.. Features. Ultra-high vacuum type stepping motors work under - Pa vacuum condition.. Exposure to baking conditions up to C is allowed.. Many kinds of in-vacuum stepping motors are provided for adaptation to customers' applications.. Applications In-vacuum stepping motors are being used widely for the following applications.. Robotic devices for artificial satellites (space industry).. emi-conductor manufacturing facilities.. Electron microscopes. Large scale experimental facilities (accelerator, radiated light analyzer) Etc. General pecifications (for ultra-high vacuum) --V --V --V H-V Insulation class Insulation resistance Withstand voltage Environment vacuum Class C/ C MAX MΩ between winding and frame by DCV megger at normal temperature and humidity. Without abnormality when applying /Hz,V AC (V AC for --V and H-V) for minute (leakage current ma) between winding and frame at normal temperature and humidity. x - Pa (Reference value) tanding angle error ±. ±. ±. ±. Axial play.mm(.inch) MAX. (Load.N) (lbs).mm(.inch) MAX. (Load N) (lbs).mm(.inch) MAX. (Load N) (lbs).mm(.inch) MAX. (Load N) (lbs) Radial play (Note ) haft run-out.mm(.inch) MAX. (Load.N) (lbs).mm(.inch) Inserted part concentricity against shaft ø.mm(.inch) ø.mm(.inch) ø.mm(.inch) ø.mm(.inch) Fitted surface angularity against shaft.mm(.inch).mm(.inch).mm(.inch).mm(.inch) Allowable thrust load N (.lbs) N (.lbs) N (.lbs) N (.lbs) Allowable radial load (Note ) N (.lbs) N (.lbs) N (.lbs) N (.lbs) (Note) When load is applied at / length from output shaft edge.

323 General pecifications (for high vacuum) Insulation class H-V Class C/ C H-V Insulation resistance Withstand voltage MAX MΩ between winding and frame by DCV megger at normal temperature and humidity. Without abnormality when applying /Hz,V AC (V AC for H-V) for minute (leakage current ma) between winding and frame at normal temperature and humidity. Environment vacuum tanding angle error ±. - Pa (Reference value) ±. Axial play.mm(.inch) MAX. (Load.N) (lbs).mm(.inch) MAX. (Load N) (lbs) Radial play (Note ) haft run-out Inserted part concentricity against shaft Fitted surface angularity against shaft Allowable thrust load Allowable radial load (Note ).mm(.inch) MAX. (Load.N) (lbs).mm(.inch) ø.mm(.inch) ø.mm(.inch).mm(.inch).mm(.inch) N (.lbs) N (.lbs) N (.lbs) N (.lbs) (Note) When load is applied at / length from output shaft edge. Internal wire connection and rotation direction Model No. : H-V. H-V Internal wire connection Black Blue Red Yellow Orange Rotation direction e viewedfrom The rotation output direction shaft is must counterclockwise be counterclockwise when viewed when DCexcited shaft side in the at following the direct order. current energization from the output in the following order: Color of leads Exciting order Black Red Orange Yellow Blue Model No. : --V. --V. --V. H-V Internal wire connection Black White/Black White/Blue Red Blue White/Red White/ Yellow Orange Yellow White/Orange Rotation direction e viewedfrom The rotation output direction shaft is must counterclockwise be counterclockwise when viewed when DCexcited shaft side in the at following the direct order. current energization from the output in the following order: Exciting order Black White/Black Red White/Red Orange White/Orange Yellow White/Yellow Blue White/Blue

324 In-vacuum stepping motor High vacuum stepping motor For environment in - Pa (For reference). H -V pecifications Model Number Number of phases Basic step angle Holding Rated Wiring torque current resistance N.m(oz.in) MIN. A/phase Ω/phase Wiring inductance mh/phase Rotor inertia x - kg-m (oz.in ) Mass (Weight) kg(lbs) H-V..(.)....(.).(.) H-V..(.)..(.).(.) Dimensions [unit:mm(inch)] H-V H-V.±. (.±.).±. (.±.) MIN. (. MIN.) Lead wire Teflon AWG ±.(.±.) ±.(.±.).(.) + +. (.+.) (Effective length) Cross section-? ±. (?.±.) -±. (-.±.) MIN. (. MIN.).±. (.±.) Lead wire Teflon AWG.±. (.±.) (.). (.) (.+.) (Effective length).±. (.±.) Cross section -? ±. (?.±.) -±. (-.±.). (ø. -.). (ø. -.). (ø. -.). (ø. -.) R MIN. (R.MIN.). ø.. ø. M X. Effective Tapping depth (.) MIN.). ø-.. ø ø (-ø. +. )

325 Pulse rate-torque characteristics H-V H-V.... Torque(kgf. cm) Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. Pull-out torque at JL.. tarting torque at JL. tarting torque at JL. Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling)

326 In-vacuum stepping motor Ultra-high vacuum stepping motors For environment in - Pa (For reference). H- - V - - V pecifications Model Number Number of phases Basic step angle Holding Rated Wiring torque current resistance N.m(oz.in) MIN. A/phase Ω/phase Wiring inductance mh/phase Rotor inertia x - kg-m (oz.in ) Mass (Weight) kg(lbs) --V..(.)....(.).(.) --V..(.)...(.).(.) --V..(.)....(.).(.) H-V..(.)....(.).(.) Dimensions [unit:mm(inch)] --V --V Lead wire Teflon AWG.±. (.±.).±. (.±.) Cross section - Cross section - MIN. (. MIN.).±. ±. (.±.) (.±.) (.) + +. (.+.) (Effective length)?. MAX. (?. MAX.) -±. (-.±.) MIN. (. MIN.) Lead wire Teflon AWG.±. ±.? ±. (?.±.) (.±.) (.±.) (.) -±.(-.±.). (.) + +. (.+.) (Effective length). ø-.. (ø. -.). ø-.. (ø. -.) R MIN. R MIN. (R.MIN.) (R.MIN) -M X. +. -ø. Effective Tapping depth (.) MIN.) +. (-ø. +. ) ø ±. (ø.±.). ø-.. (ø. -.). ø-.. (ø. -.) --V H-V Lead wire Teflon AWG.±. ±. (±.) (.±.) (.). (.) + +. (.+.) (Effective length) ø±. MIN. (ø.±.) (. MIN.) R MIN. (R.MIN.). ø-.. ø-.. (ø. -.). (ø. -.).±. (.±.) Cross section -? ±. (?.±.) -±. (-.±.) +. -ø. +. (-ø. +. ) MIN. (. MIN.) ø±. (ø.±.) Lead wire Teflon AWG.±..±. (.±.) (.±.) (.). (.) + +. (.+.) (Effective length) R MIN. (R.MIN.) ø-.. (ø. -.).±. (.±.) Cross section -? ±. (?.±.) -±. (-.±.) +. -ø. +. (-ø. +. )

327 Pulse rate-torque characteristics --V --V Torque(kgf. cm).. Torque(N. m).. Pull-out torque at JL Torque(kgf.cm) Torque(N.m).. Pull-out torque at JL tarting torque at JL.. tarting torque at JL... Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current : A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) anyo constant current circuit ource voltage : V DC. Operating current :.A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) --V H-V... Pull-out torque at JL. Torque(kgf. cm) Torque(N. m).. tarting torque at JL Torque(kgf.cm) Torque(N.m).. tarting torque at JL Pull-out torque at JL.... Number of rotations(min - ) Number of rotations(min - ) anyo constant current circuit ource voltage : V DC. Operating current : A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling) anyo constant current circuit ource voltage : V DC. Operating current : A/phase -phase excitation ( step) JL=. - kg.m [. oz.in ] (Use the rubber coupling) JL=. - kg.m [. oz.in ] (Use the direct coupling)

328 HIC (AC power input) -Phase tepping Motor Drive IC for Universal Controller PMMPT Outline "PMMPT" is a Bi-CMO monolithic IC to be used for controlling -phase stepping motor. This IC has been developed for the purpose to further simplify the usage of -phase stepping motor. When combined only with the switching elements or a power hybrid IC, this IC can configure a driver device for a -phase stepping motor. Characteristics Universal controller : election is possible from the following three different excitation modes. EX/-EX/EX Power voltage: : Vcc=V~V High output current: : ma min(source) High noise margin : chmitt trigger circuit is integrated for the all input terminals Two kinds of pulse input : "-input mode" (CW, CCW input mode), "Pulse and direction mode" (CK,U/D input mode) Power-down functions : Makes all the output to "L" level. Reset functions : hifts excitation status to the phase origin. Excitation mode preservation functions : Phase output does not change even when excitation mode is switched as follows: EX_-EX_EX. Phase origin monitor : Outputs at the "H" level at the time of phase origin (the output in reset mode). Determination monitor for excitation status : Outputs monitor signal for the status of controller. Input pulse monitor : Outputs monitor signal for Vcc input pulse. Maximum Rating (Ta = $ $C) Item ymbol Rating Unit Power voltage VCC -.~ V Output current "H" level IOH ø - ma øn "L" level IOL ø Output current "H" level IOH - µ A CO,EM,ZO "L" level IOL ma Input voltage VIN -.~VCC V Input current IIN ± ma Tolerated loss PD mw Operating temperature Topr -~ C torage temperature Tstg -~ C Recommended Operating Conditions (Ta = - to ~C) Rating Item ymbol MIN. tandard MAX. Unit Power voltage VCC V Output current "H" level IOH ø - ma ø n "L" level IOL ø. Output current "H" level IOH - µ A CO,EM,ZO "L" level IOL. ma Input voltage VIN VCC V Clock frequency khz

329 Dimensions [Unit:mm(inch)] Pin No. Name Function. CU Input pulse UP clock input. CD Input pulse DOWN clock input. CK Input pulse clock input. U/D Alters rotation direction. EA Input to switch excitation mode. EB Input to switch excitation mode. EC Input to switch excitation mode. PD Power down input. ZO Phase origin monitor output. CO Input pulse monitor output. EM Excitation monitor output.±. (.±.).±. (.±.) (.±.).±. (.±.).±.. (.) PMMPT PMM. GND V. R Reset input. ø E ø E output. ø D ø D output. ø C ø C output. ø B ø B output. ø A ø A output. ø E ø E output. ø D ø D output. ø C ø C output. ø B ø B output. ø A ø A output. VCC ~V.TYP (.). (.).±. (.±.).MIN (.).±. (.±.) ( ) ~ Electrical characteristics Direct Current Characteristics (Ta= C) tandard Value Item ymbol VCC [V] Conditions MIN. tandard MAX. Output current "H" level IOH VO = VCC-. - ø A~ø E - "L" level IOL VO =.V.. Output voltage "H" level VOH IO = -µa. CO,EM,ZO. "L" level VOL IO =.ma.. Input voltage "H" level VIH.... "L" level VIL.... Input voltage "H" level IIH VIN = VCC-.. CU,CD,CK. EA,EB,EC "L" level IIL VIN= V ± ± Input voltage "H" level IIH VIN = VCC-. - U/D,PD,R - "L" level IIL VIN= V tatic current ICC All terminals open consumption Unit ma V V ma µa µa ma ma

330 HIC (AC power input) Electrical characteristics witching Characteristics (Ta= C) tandard Value Item ymbol Conditions VCC [V] MIN. tandard MAX. MAX. clock frequency fmax MIN. clock pulse width tw MIN. reset pulse width twr Delay time tphl (ø output from clock input) tplh Delay time tphl (Each monitoring from clock input) tplh Preset time tet Holding time thold Unit khz ns ns ns ns ns ns witching Characteristics /f CU % % % % CD % % % % CK % % CK % % % % ns tw ns tw ns ns % øa~øe % % U/D % % tplh tphl thold tet Function table Input mode and rotating direction Input Rotation Input system CU CD CK U/D direction Double input system L L L CW (CW,CCW) L L L CCW ingle input system L L H CW (CK,U/D) L L L CCW Excitation mode Input Energization system R PD EA EB EC EX H H L H L -EX H H L L L EX H H H L L

331 Energization sequence EX Pulse Phase (Reset) ø A ø B ø C ø D ø E ø A ø B ø C ø D ø E ZO EM UP DOWN EX Pulse Phase (Reset) ø A ø B ø C ø D ø E ø A ø B ø C ø D ø E ZO EM UP DOWN PMMPT PMM -EX Pulse Phase (Reset) ø A ø B ø C ø D ø E ø A ø B ø C ø D ø E ZO EM UP DOWN Input pulse monitor CU Input CD CK Output CO

332 HIC (AC power input) Example application circuit ( step/ step) V V V Driving input Excitation mode set GND PD input Reset input GND GND PMMPT External output V GND OCRF P.GND GND PMM R tepping motor GND P.GND Excitation mode set Pin No. Terminal symbol Input level Motor operation EB H L step step When VCC is not stable, such as immediately after the power is on, normal initial reset can not always be performed. In order to perform firm reset, hold R terminal (pin) at the "L" level until Vcc becomes stable. V Vcc (pin) OV.V or lower R (pin) Refer to Page for the specifications of power hybrid IC:PMM. Refer to Operation Manual of PMMPT for other applications.

333 PMM PMMPT

334 HIC (DC power input) HIC for -Phase tepping Motor PMM PMM Outline PMM is a single packaged power hybrid IC of the switching elements to be used for driving -phase stepping motor. This HIC has been developed for the purpose to further simplify the usage of -phase stepping motor. When combined only with the controller IC to generate the excitation mode, this HIC can configure a driver device for a -phase stepping motor. Characteristics High speed and high torque rotation by -phase pentagon system. Constant voltage and constant current PWM driving system (excited by others). Power voltage (driving power) : VCC=~V High output current : A max. (A/phase) Reduced heat generation by using MOFET for the power drive element. The all-in-one packaging reduces number of parts around peripheral circuits. Two package types are available, enabling flexible PCB designing. Maximum rating (Tc = C) Item ymbol Condition Rated value Unit Power voltage- VCC max Without signal (pin terminal) V Power voltage- VCC max Without signal (pin terminal) V Power voltage- VCC max FET drive power (pin terminal) V Phase current IO max pulse ms,tc= C A Loss- PD max ingle FET for phase switching,tc= C. W Loss- PD max ingle FET for constant current control,tc= C W Operating temperature on PCB TC No-condensing at a low temperature ~ C Temperature at joint Tj max C torage temperature Tstg -~ C Recommended operation condition (Ta = C) Item ymbol Condition Rated value Unit Power voltage- VCC With signal (pin terminal) ~ V Power voltage- VCC With signal (pin terminal).±% V Power voltage- VCC With signal (pin terminal).±% V Power voltage- VCCO With signal (pin terminal) ~ V Output current IO max Total current A Phase driver withstanding voltage VD ID=mA(TC= C) min V