2-PHASE STEPPING SYSTEMS. Ver.3

Transcription

1 -PHASE STEPPING SYSTEMS Ver.

2 -phase STEPPING SYSTEMS F series DRIVER H series MOTOR SH series MOTOR F series DRIVER features Low-vibration mode DC input Low-Vibration Mode OFF Low-Vibration Mode ON Speed variation% Driver : USDP Motor : H- Source voltage : DCV Wire current :.A/phase Division : TG : TGV/rpm Speed variation% Driver : USDP Motor : H- Source voltage : DCV Wire current :.A/phase Division : TG : TGV/rpm pulse/s pulse/s Compact / Light weight DC input Compact Light weight -phase unipolar Current model -phase unipolar F series -phase unipolar Current model -phase unipolar F series -phase bipolar Current model -phase bipolar F series -phase bipolar Current model -phase bipolar F series Volumecm MASSg Compliance with international standards The standard specification SANMOTION F series stepping driver complies with UL and EN safety standards.stepping motors complying with UL and EN standards are available upon request. DC input

3 Set model DC input Stepping motors with integrated drivers A driver incorporating a motion control function needed for driving a motor and a -phase stepping motor were integrated into a single unit. Motor flange size Unipolar standard standard model The standard set includes a F series driver and a H or SH series motor. Bipolar standard standard model The standard set includes a F series driver and a H or SH series motor. Motor flange size.inch.inch Motor flange size.inch.inch.inch.inch.inch.inch.inch.inch P. P. P. Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor

4 -phase STEPPING SYSTEMS F series DRIVER H series MOTOR SH series MOTOR Control method How do you want to control the equipment? The F series offers the choice of different control methods Program command control using PLC I/O Network control using serial communication RS- Control using a pulse generator Control using a pulse generator Drive Specification DC input stepping motors with integrated drivers DC input unipolar standard DC input bipolar standard Startup via I/O : Initiate program Startup via serial communication : containing speed, Control by sending data acceleration/ for speed, acceleration/ deceleration, and travel deceleration, and travel distance commands distance commands via stored in the driver via serial communication. the I/O. System configuration diagram P Specifications P Dimensions P to Motion is generated by pulse input commands from an upper-level controller. System configuration diagram P Set part number nomenclature P Motor specifications P to General specifications P to Motor dimension drawing P to Driver dimension drawing P Motion is generated by pulse input commands from an upper-level controller. System configuration diagram P Set part number nomenclature P Motor specifications P to General specifications P to Motor dimension drawing P to Driver dimension drawing P

5 DC input Stepping Motors with Integrated drivers Host Devices DC V System configuration PLC PLC and controllers are available as the host device. Bundled cable for input/output signal mm Bundled cable for DC power mm Switching power supply Converts AC power to DC power Setup software : SFPAW- Noise filter Filters out incoming noise from power line Electromagnetic contactor Switches driver power on/off. Use together with a surge protector. Molded case circuit breaker Protects the power line. Cuts off circuit in the event of overcurrent. (t) (r) Single phase AC V to AC V Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor

6 F -phase STEPPING SYSTEMS Stepping DC input motor Specifications Stepping motors with integrated drivers Features.Driver and motor are now integrated into a single unit. A driver incorporating a motion control function needed for driving a motor and a -phase stepping motor were integrated into a single unit for enabling a more compact installation space and less wiring..three types of operation modes can be selected to match the specific application. Control by command pulses Program control by general-purpose I/O(Parallel) Compliant with RS-, half-duplex asynchronous communication Pulse rate-torque characteristics Torque(oz in.) Torque (kgf-cm) Torque (N-m)..... DBMS- E=DCV I=Rated current JL=. - kgm Torque(oz in.) Torque (kgf-cm) Torque (N-m) DBMS- E=DCV I=Rated current JL=. - kgm..... Number of rotationsmin - ) Number of rotationsmin - ) The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. DimensionsUnit : mminch O N mm.inch mm.inch mm.inch CN:POWER ManufacturerJST CONNECTORSB-PASK (EFFECTIVE LENGTH) A RMIN. A M. CN:I/O ManufacturerJST NAME PLATE TAP DEPTH.MIN..... CONNECTORSMB-SHLDS-GW-TF PSW RSW DSW EARTH TERMINAL M.X.XL A BCD E

7 F O N Specifications Basic specifications Function I/O signals Part numberflange size DBMS- mm DBMS- mm Input source Note DC V Getaway torquea MAX. MAX. Environment Protection class Class I Operation environment Installation categoryover-voltage category: II, pollution degree : Applied standards EN- Operating ambient temperature Note to + Conservation temperature Operating ambient humidity Conservation humidity Operation altitude Vibration resistance Impact resistance Withstand voltage Insulation resistance - to + to %RHno condensation to %RHno condensation m feetmax. above sea level Tested under the following conditions ;.m/s, frequency range to Hz, direction along X, Y and Z axes, for hours each Not influenced at NDS-C- standard section.. divisionc. Not influenced when V AC is applied between power input terminal and cabinet for one minute. M ohm MIN. when measured with V DC megohmmeter between input terminal and cabinet. MassWeight.kg.lbs.kg.lbs Protection function LED indicator Command pulse input signal Note Power down input signalpd Step angle setting selection inputext FULL/HALF setting selection inputf/h EMG input signal Against driver overheat Alarm monitor Photo coupler input method, input resistance Input signal voltage : H =. to.v, L = to.v Photo coupler input method, input resistance Input signal voltage : H =. to.v, L = to.v Photo coupler input method, input resistance Input signal voltage : H =. to.v, L = to.v Photo coupler input method, input resistance Input signal voltage : H =. to.v, L = to.v Photo coupler input method, input resistance Input signal voltage : H =. to.v, L = to.v Open collector output by photo coupler BUSY output signal Output signal standard : Vceo = V MAX., Ic = ma MAX. Open collector output by photo coupler Phase origin monitor output signalmon Output signal standard : Vceo = V MAX., Ic = ma MAX. Open collector output by photo coupler Alarm output signalal Output signal standard : Vceo = V MAX., Ic = ma MAX. NoteNote that the power voltage must not exceed VDC + % (.VDC). NoteIf the driver is placed in a box, the temperature inside the box must not exceed this specified range. NoteThe maximum input frequency is k pulse/s. mm.inch CN:POWER ManufacturerJST CONNECTORSB-PASK (EFFECTIVE LENGTH) A.. A Dimensions Stepping motor Set model Stepping Motors with Internal drivers RMIN. A A B CD E CN:I/O ManufacturerJST CONNECTORSMB-SHLDS-GW-TF PS RSW DS EARTH TERMINAL M.X.XL PLATE NAME IC for stepping motor

8 -phase STEPPING SYSTEMS Specifications Input circuit configuration Input interface Input circuit configurationcw, CCW Input signal Input signal specifications Negative logic μs MIN. to Approx. ma Rotation to Pulse duty % MAX. μs MAX. μs MAX. Positive logic μs MAX. μs MAX. to Rotation Approx. ma to μs MIN. Pulse duty % MAX. Timing of the command pulse -input modecw, CCW μs MIN. The internal photo coupler turns ON within the and, at its falling edge to OFF, the internal circuitmotoris activated. When applying the pulse to CW, turn OFF the CCW side internal photo coupler. When applying the pulse to CCW, turn OFF the CW side internal photo coupler. Pulse and direction modeck, U/D μs MIN. μs MIN. TheHlevel is input for and, at its rising edge toh level, the internal circuitstepping motoris activated. Switching the input signal U/D should be performed while the input level on the CK side isl.

9 Input circuit configuration Input circuit configuration PDEXTF/HEMG Input signal Approx. ma Timing of command pulse, step angle selection, and FULL/HALF selection input signal Command pulse μs MIN. Output interface Output circuit configurationbusymonal Output signal Mon output CW pulse CCW pulse Mon output MAX. ma MAX. V Driver μs MIN. When changing the division setting by F/H input signal. Shaded area indicates internal photo coupler ON. EXT input signal EXT photo coupler ONenables a function by external F/H input signal. EXT photo coupler OFFenables the setting of a number of micro steps by main unit s rotary switch S.S. F/H input signal F/H photo coupler ONsets HALF step (-division) operation. F/H photo coupler OFFsets FULL step (-division) operation. Refer to switching EXT and F/H input signal in the [FULL/HALF input signal, command pulse, and step angle select]. When switching the step angle by EXT and F/H input signal, the phase origin LCD may not turn ON and the phase origin monitor output may not output when stop. Refer to the MON output in the [Output Interface]. When the motor excitation phase is at the phase origin (power ON status), the photo coupler is turned ON, and the upper D.P of status LED turns on synchronously. Output from MON is set to on at every. degrees of motor output shaft from phase origin. Dimensions Stepping motor Set model Stepping Motors with Internal drivers Phase origin position HALF step Switching to FULL step by external F/H FULL step Stop position at FULL step Phase origin position When changing the motor division setting by the external input signal and the rotary switch as shown in the example below, the motor cannot stop where MON output signal can be output. Take this into consideration when using the MON output signal. Motor shaft IC for stepping motor

10 -phase STEPPING SYSTEMS Specification WIRING Specification Summary of Input/Output Signals (Serial I/F mode) Signal General-purpose input common Alarm clear signal standard General-purpose input Emergency stop input Reference Designation +COM ALMC IN EMG Origin signal ORG + direction overtravel signal General-purpose input Emergency stop input +OT IN EMG Origin signal ORG Alarm clear signal ALMC - direction overtravel signal General-purpose input Emergency stop input OT IN EMG Origin signal ORG Alarm clear signal ALMC Pin Function Summary Number Input signal common of the to pins DC V is input. Recoverable alarms are cleared. Internal photo coupler off onalarm clear This is a general-purpose input signal that can be used by program driving. Internal photo coupler ongeneral purpose input on Internal photo coupler off General purpose input off The emergency stop signal is input. Internal photo coupler onno emergency stop Internal photo coupler ofemergency stop The origin signal used for the return to origin operation is input. Internal photo coupler onorigin signal on Internal photo coupler offorigin signal off An overtravel signal in the + direction is input. Internal photo coupler on + direction overtravel not arrived Internal photo coupler off + direction overtravel arrived This is a general-purpose input signal that can be used by program driving. Internal photo coupler ongeneral purpose input on Internal photo coupler off General purpose input off The emergency stop signal is input. Internal photo coupler onno emergency stop Internal photo coupler offemergency stop The origin signal used for the return to origin operation is input. Internal photo coupler onorigin signal on Internal photo coupler off Origin signal off Recoverable alarms are cleared. Internal photo coupler off onalarm clear An overtravel signal in the - direction is input. Internal photo coupler on - direction overtravel not arrived Internal photo coupler off- direction overtravel arrived This is a general-purpose input signal that can be used by program driving. Internal photo coupler ongeneral purpose input on Internal photo coupler off General purpose input off emergency stop signal is input. Internal photo coupler onno emergency stop Internal photo coupler offemergency stop The origin signal used for the return to origin operation is input. Internal photo coupler onorigin signal on Internal photo coupler off Origin signal off Recoverable alarms are cleared. Internal photo coupler off onalarm clear Signal Emergency stop signal General-purpose input c Reference Designation Pin Number EMG IN Origin signal ORG Alarm clear signal ALMC During motor operation During program execution BUSY PEND Zone signal ZONE During program execution During motor operation PEND BUSY Zone signal ZONE Alarm output ALM Function Summary The emergency stop signal is input. Internal photo coupler onno emergency stop Internal photo coupler offemergency stop This is a general-purpose input signal that can be used by program driving. Internal photo coupler ongeneral purpose input on Internal photo coupler off General purpose input off The origin signal used for the return to origin operation is input. Internal photo coupler onorigin signal on Internal photo coupler off Origin signal off alarms are cleared. Internal photo coupler off onalarm clear The operation status of the motor is output. Internal photo coupler onduring motor operation Internal photo coupler offduring motor stop The execution status of the program is output. Internal photo coupler onduring program execution Internal photo coupler offprogram execution complete on when the current position is inside the coordinates that were set beforehand. The execution status of the program is output. Internal photo coupler onduring program execution Internal photo coupler offprogram execution complete The operation status of the motor is output. Internal photo coupler onduring motor operation Internal photo coupler offduring motor stop Turns on when the current position is inside the coordinates that were set beforehand. When various alarm circuits operate in the driver, an external signal is output. At this time, the stepping motor becomes non excited status. Output signal common OUT_COM It is for the output signal common. DATA+ DATA+ It is for the serial signal. DATA DATA It is for the serial signal. Specification Summary of Input/Output Signals (Pulse train I/F mode) Signal CW pulse input Standard Pulse train input CCW pulse input Standard Rotational direction input General-purpose input common Power down input Step angle select input Reference Designation CW+ CW CK+ CK CCW+ CCW U/D+ U/D Pin Number +COM PD EXT Function Summary When input mode, Input drive pulse rotating CW direction. When input mode, Input drive pulse train for motor rotation. When input mode, Input drive pulse rotating CCW direction. When input mode, Input motor rotational direction signal. Internal photo coupler ON CW direction Internal photo coupler OFF CCW direction Input signal common of the to pins DCV is input. Inputting PD signal will cut off power offthe current flowing to the Motor With dip switch select, change to the Power low function is possible. PD input signal on internal photo coupler on PD function is valid. PD input signal off internal photo coupler off PD function is invalid. FULL/HALF select input will become valid by inputting EXT signal. EXT input signal on internal photo coupler on External input signal F/H is valid EXT input signal off internal photo coupler off Main body rotary switch S.S is valid Signal FULL/HALF select input Emergency stop During motor operation Phase origin monitor output Reference Designation Pin Number F/H EMG BUSY MON Alarm output ALM Function Summary When EXT input signal on internal photo coupler on, F/H input signal on internal photo coupler on HALF step F/H input signal off internal photo coupler off FULL step The emergency stop signal is input. Internal photo coupler onno emergency stop Internal photo coupler offemergency stop The operation status of the motor is output. Internal photo coupler on During motor operation Internal photo coupler off During motor stop When the excitation phase is at the origin in power on it turns on. When FULL step, ON once for pulses, when HALF step, ON once for pulses. When alarm circuits actuated inside the Driver, outputs signals to outside. Then the Stepping motor becomes unexcited status. Output signal OUT_COM It is for the output signal common. common * As for the Motor rotational direction, CW direction is regard as the clockwise revolution by viewing the Motor from output shaft side.

11 Specification Summary of Input/Output Signals (Parallel I/F mode) Signal Program drive Start/Stop Program pause General-purpose input common Alarm clear signal standard General-purpose input Program number selection bit Emergency stop input Reference Designation START+ START- PAUSE+ PAUSE- Pin Number +COM ALMC IN B EMG Origin signal ORG + direction overtravel signal General-purpose input Program number selection bit Emergency stop input +OT IN B EMG Origin signal ORG Alarm clear signal - direction overtravel signal General-purpose input Program number selection bit Emergency stop input ALMC -OT IN B EMG Origin signal ORG Alarm clear signal ALMC Function Summary Commands the start and stop of program driving. Internal photo coupler onprogram driving start Internal photo coupler offprogram driving stop When START signal on, a pause in program driving is commanded. Internal photo coupler onprogram driving pause Internal photo coupler offprogram driving pause release Input signal common of the to pins DCV is input. Recoverable alarms are cleared. Internal photo coupler off onalarm clear This is a general-purpose input signal that can be used by program driving. Internal photo coupler ongeneral purpose input on Internal photo coupler off General purpose input off The program number is selected along with other bits. Subordinate bit Internal photo coupler oncorresponding bit Internal photo coupler off Corresponding bit The emergency stop signal is input. Internal photo coupler onno emergency stop Internal photo coupler offemergency stop The origin signal used for the return to origin operation is input. Internal photo coupler onorigin signal on Internal photo coupler off Origin signal off An overtravel signal in the + direction is input. Internal photo coupler on + direction overtravel not arrived Internal photo coupler off + direction overtravel arrived This is a general-purpose input signal that can be used by program driving. Internal photo coupler ongeneral purpose input on Internal photo coupler off General purpose input off The program number is selected along with other bits. The second bit from the subordinate Internal photo coupler oncorresponding bit Internal photo coupler off Corresponding bit The emergency stop signal is input. Internal photo coupler onno emergency stop Internal photo coupler offemergency stop The origin signal used for the return to origin operation is input. Internal photo coupler onorigin signal on Internal photo coupler off Origin signal off Recoverable alarms are cleared. Internal photo coupler off onalarm clear An overtravel signal in the - direction is input. Internal photo coupler on - direction overtravel not arrived Internal photo coupler off - direction overtravel arrived This is a general-purpose input signal that can be used by program driving. Internal photo coupler ongeneral purpose input on Internal photo coupler off General purpose input off The program number is selected along with other bits. The third bit from the subordinate Internal photo coupler oncorresponding bit Internal photo coupler off Corresponding bit The emergency stop signal is input. Internal photo coupler onno emergency stop Internal photo coupler offemergency stop The origin signal used for the return to origin operation is input. Internal photo coupler onorigin signal on Internal photo coupler off Origin signal off Recoverable alarms are cleared. Internal photo coupler off onalarm clear Signal Emergency stop signal General-purpose input Program number selection bit Reference Designation Pin Number EMG IN B Origin signal ORG Alarm clear signal During motor operation During program execution ALMC BUSY PEND Zone signal ZONE During program execution During motor operation PEND BUSY Zone signal ZONE Alarm output ALM Function Summary The emergency stop signal is input. Internal photo coupler onno emergency stop Internal photo coupler offemergency stop This is a general-purpose input signal that can be used by program driving. Internal photo coupler ongeneral purpose input on Internal photo coupler off General purpose input off The program number is selected along with other bits. The fourth bit from the subordinate Internal photo coupler on Corresponding bit Internal photo coupler off Corresponding bit The origin signal used for the return to origin operation is input. Internal photo coupler onorigin signal on Internal photo coupler off Origin signal off Recoverable alarms are cleared. Internal photo coupler off onalarm clear The operation status of the motor is output. Internal photo coupler onduring motor operation Internal photo coupler offduring motor stop The execution status of the program is output. Internal photo coupler onduring program execution Internal photo coupler offprogram execution complete Turns on when the current position is inside the coordinates that were set beforehand. The execution status of the program is output. Internal photo coupler onduring program execution Internal photo coupler offprogram execution complete The operation status of the motor is output. Internal photo coupler onduring motor operation Internal photo coupler offduring motor stop Turns on when the current position is inside the coordinates that were set beforehand. When various alarm circuits operate in the driver, an external signal is output. At this time, the stepping motor becomes non excited status. Output signal common OUT_COM It is for the output signal common. DATA+ DATA+ It is for the serial signal. DATA DATA It is for the serial signal. External Wiring Diagrams DCV G DATA DATA GNDG CWSTART CWSTART CCWPAUSE CCWPAUSE COM PDINB EXTINB FHINB INB BUSYOUT MONOUT Controller CN CN Driver V ma MAX. V G Power Supply G V RXD TXD DE Phase Stepping Motor IC for stepping motor Dimensions Stepping motor Set model Stepping Motors with Internal drivers ALM OUT_COM

12 -phase STEPPING SYSTEMS Specification SET UP Function Select Dip Switch The functions according to the specification can be selected with this Dip switch. Confirm the ex-factory setting as follows. OFF ON F/R OFF input mode (CW/CCW pulse) LV OFF Micro step operation PD OFF Power OFF OFF Phase origin excitation I. SEL S. SEL OFF OFF Pulse stream I/F mode For pulse stream I/F mode Input mode selectf/r Input pulse mode selection This switch setting is only effective in pulse stream I/F mode. F/R Input pulse mode ON OFF input modeck,u/d input modecw,ccw Low vibration mode selectlv Low vibration and smooth operation is enabled even by the rough resolution setting e.g. division, division. This switch setting is only effective in pulse stream I/F mode. For parallel I/F mode and serial I/F mode, this is usually a low vibration operation. LV Operation ON Low vibration operation OFF Micro step operation * When LV select is ON low vibration mode, operational process of driving pulse will be carried out inside the Driver. Therefore, the Motor movement delays for the time of.ms pulse per input pulse. Note that depending upon the combined Motor, load,driving profile and etc, it may take a while until the shaft is adjusted when the Motor stops. In parallel I/F mode and serial I/F mode there is no delay For parallel I/F mode or serial I/F mode The communication speed of serial communication is set. Switch F/R LV PD Set value Communication speed(bps),,, OFF ON OFF ON OFF ON * The setting change after the power supply is turned on is invalid. It does not function as a F/R, LV, and PD. * The communication speed of pulse stream I/F mode is fixed at bps. Power down selectpd Select the Motor winding current value when inputting the power down signal.this switch setting is only effective in pulse stream I/F mode. PD Motor winding current ON Current value by rotary switch STPPower Low OFF APower OFF * PD function the setting selected by PD of the function select dip switch is enabled by PD input signal ON built-in photo coupler ONof Input/ Output signal connector CN. Power down signal input is prior to all the other current settings except for alarms. The operational status may not be maintained such as power swing due to output torque drop or lower operation due to Motor current OFF unexcited Motor. Pay extra attention to the input timing of the power down signal in addition that the security device should be installed to the machine. Excitation selecteorg * By turning on the EORG, excitation phase when power OFF is saved., Operation mode selection I.SEL, S.SEL The operation mode is selected. I.SEL S.SEL Operation mode OFF Pulse stream I/F mode OFF Parallel I/F mode ON ON Serial I/F mode * Change the operation mode selection switch after cutting off the drivers power supply.

13 Rotary switch(rsw) and the mode change switch(psw) For pulse stream I/F mode When it selects the step angle, the driving current is selected, and stops the current is selected, set by combining rotary switch (RSW) and mode change switch (PSW).. Step angle select(s.s) The divisions of the basic step angle (./step) when micro step driving can be set. Gradation Partition. Gradation A B C D E F Partition Ex-factory setting is at (division ) * The step angle select switch (S.S) and the number of partitions become invalid by EXT input signal ON (built-in photo coupler ON) of Input/Output signal connector (CN).. Driving current select(run) The Motor operation current value can be selected. Gradation Motor current (%) (rated) Gradation A B C D E F Motor current (%) Ex-factory setting is at (rated value). * When there is a sufficient extra motor torque, lowering the operation current value will be effective in the lower vibration. The Motor output torque is almost proportional to the current value. When adjusting the operational torque, confirm the sufficient operation margin and determine the Motor current value.. Current Select when Stop (STP) The motor current value when stop and when power down input signal ON (power low function is selected by dip switch) can be selected. Gradation Motor current (%) (rated) Gradation A B C D E F Motor current (%) Ex-factory setting is set at A (%). * The current setting when stop by STP becomes valid when the Motor stops (approximately ms after the last pulse input) and when power down input signal For parallel I/F mode and serial I/F mode The slave bureau address of serial communications can be set. RSW Slave station address (HEX) E E F F Ex-factory setting is set at * The slave station address of the pulse stream I/F mode is fixed at. Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor

14 -phase STEPPING SYSTEMS DC input System configuration Unipolar standard A Motor cable Host Devices PLC PLC and controllers are available as the host device. Standard model : H series motor, SH series motor, mm.inch/ mm.inch/ mm.inch Motor connector DC power connector I/O signal connector DC power cable I/O signal cable Switching power supply Noise filter Electromagnetic contactor Molded case circuit breaker DC V/V (t) (r) Single phase ACV to ACV Converts AC power to DC power Filters out incoming noise from power line Switches driver power on/off. Use together with a surge protector. Protects the power line. Cuts off circuit in the event of overcurrent. Bundled cable( mm motors only) (Attached to models that need connecting cables.) A Motor cable mm.inch. feetmin. Pin No. Lead wire color White Orange Blue Yellow Red Black JST Lead wire Housing Pin UL AWG HER- BLACKJ.S.T Mfg.Co.,Ltd SEH-T-P.J.S.T Mfg.Co.,Ltd

15 -phase STEPPING SYSTEMS DC input Standard model : H series motor, SH series motor, mm.inch/ mm.inch/ mm.inch/ mm.inch/ mm.inch System configuration Bipolar standard A Motor cable Motor connector Host Devices PLC PLC and controllers are available as the host device. Set model Stepping Motors with Internal drivers DC power connector I/O signal connector DC power cable DC V/V Switching power supply Converts AC power to DC power Noise filter Filters out incoming noise from power line I/O signal cable Electromagnetic contactor Switches driver power on/off. Use together with a surge protector. Molded case circuit breaker Protects the power line. Cuts off circuit in the event of overcurrent. (t) (r) Single phase ACV to ACV Dimensions Stepping motor Bundled cable( mm motors only) (Attached to models that need connecting cables.) A Motor cable mm.inch mm.inch Pin No. Lead wire color Blue Orange Yellow Red Lead wire Housing Pin JST. feetmin. UL AWG HER- BLACKJ.S.T Mfg.Co.,Ltd SEH-T-P.J.S.T Mfg.Co.,Ltd Pin No. Lead wire color Yellow Red Blue Orange Lead wire Housing Pin UL AWG VER-NJ.S.T Mfg.Co.,Ltd SVH-T-P.J.S.T Mfg.Co.,Ltd. feetmin. IC for stepping motor

16 -phase STEPPING SYSTEMS DC input Part numbering convention The following set part number specifies a system with an F series unipolar driver type code : USDP and a single shaft H series motor type code : H-, mm. inchsquare flange, and. mm. inchmotor length. D U H S Stepping motor shaft spec S : Single shaft D : Double shaft Stepping motor total length Stepping motor flange size Code mm.inch mm.inch mm.inch mm.inch mm.inch Type Motor length Type Motor length Type Motor length Type Motor length Type Motor length Type Motor length Type Motor length code : mminch code : mminch code : mminch code : mminch code : mminch code : mminch code : mminch Stepping motor flange size Basic step angle : mm.inch. : mm.inch. : mm.inch. : mm.inch. : mm.inch. : mm.inch. Stepping motor series name H : H series S : SH series Rated current specification : A/phase :.A/phase : A/phase Model Driver Specification U : -phase unipolar B : -phase bipolar Power specification D : DC

17 Set Package Model Configuration Unipolar standard modelbundled driver model numberusdp Motor flange size Single shaft Set accessories Double shafts Set accessories Set part number Motor model number Basic step angle Set part Cable with motor Cable with motor number Motor model connector model connector model number number number DUSS SH- DUSD SH-. A Rated current DUSS SH- DUSD SH-. A DUHS H- - DUHD H- -..A DUHS H- - DUHD H- -..A DUHS H- - DUHD H- -..A DUSS SH- DUSD SH-..A DUSS SH- DUSD SH-..A DUSS SH- DUSD SH-..A DUHS H- DUHD H-. A DUHS H- DUHD H-. A DUHS H- DUHD H-. A Bipolar standard modelbundled driver model numberbsdp Motor flange size Single shaft Set accessories Double shafts Set accessories Set part number Motor model number This is a set comprising a driver, motor and cable with motor connector. Basic step angle Set part Cable with motor Cable with motor number Motor model connector model connector model number number number DBSS SH- DBSD SH-. A DBSS SH- DBSD SH-. A DBHS H- DBHD H-. A DBHS H- DBHD H-. A DBHS H- DBHD H-. A DBSS SH- DBSD SH-. A DBSS SH- DBSD SH-. A DBSS SH- DBSD SH-. A DBHS H- DBHD H-. A DBHS H- DBHD H-. A DBHS H- DUHD H-. A DBHS H- DBHD H-. A DBHS H- DBHD H-. A DBHS H- - DBHD H- -. A DBHS H- - DBHD H- -. A DBHS H- - DBHD H- -. A DBSS SH- DBSD SH-. A DBSS SH- DBSD SH-. A Rated current IC for stepping motor Dimensions Stepping motor Set model Stepping Motors with Internal drivers

18 -phase STEPPING SYSTEMS DC input Specifications Standard model F series driver + H or SH series motor Unipolar Motor flange size Size Motor flange size mm.inch/. Motor length mm.inch.mm.inch Set part Single shaft DUSS DUSS number Double shaft DUSD DUSD Holding torque Nmozin.... Rotor inertia - kgm ozin.... MassWeight kglbs.... Allowable thrust load N lbs.. Allowable radial load Note N lbs.. NoteWhen load is applied at / length from output shaft edge..inch.inch.inch DCV Source currenta Source currenta -division -division -division -division Operating current: A/phase Pull-out torque Source current (load applied) Source current (no load) -division fs Fs:Maximum self-start -division fs frequency when not loaded -division -division DCV division -division Source currenta division -division Source currenta The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. Size Motor flange size mm.inch/. Motor length mm.inch mm.inch mm.inch Set part Single shaft DUSS DUSS DUSS number Double shaft DUSD DUSD DUSD Holding torque Nmozin Rotor inertia - kgm ozin MassWeight kglbs Allowable thrust load N lbs... Allowable radial load Note N lbs NoteWhen load is applied at / length from output shaft edge. DCV Source currenta Source currenta Source currenta -division -division -division -division -division -division Operating current:.a/phase Pull-out torque Source current (load applied) Source current (no load) -division fs Fs:Maximum self-start -division fs frequency when not loaded -division -division DCV -division -division..... fs. fs Source currenta -division -division Source currenta -division -division Source currenta The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

19 Motor flange size Size Motor length Set part Single shaft number Double shaft Holding torque Nmozin Rotor inertia - kgm ozin MassWeight kglbs Allowable thrust load N lbs Note Allowable radial load N lbs Pull-out torque Source current (load applied) Source current (no load) -division fs Fs:Maximum self-start -division fs frequency when not loaded -division -division Size Operating current:.a/phase Motor flange size Operating current: A/phase Pull-out torque Source current (load applied) Source current (no load) -division fs Fs:Maximum self-start -division fs frequency when not loaded -division -division DCV DCV DCV DCV mm.inch/. mm.inch mm.inch mm.inch -division -division DUHS DUHS DUHS DUHD DUHD DUHD division -division division -division -division -division Source currenta Source currenta Source currenta Source currenta -division -division -division -division -division -division -division -division Source currenta mm.inch/. Source currenta Source currenta Source currenta -division -division -division -division -division -division -division -division Source currenta Motor length.mm.inch.mm.inch.mm.inch Set part Single shaft DUHS DUHS DUHS number Double shaft DUHD DUHD DUHD Holding torque Nmozin Rotor inertia - kgm ozin MassWeight kglbs Allowable thrust load N lbs... Allowable radial load Note N lbs Source currenta..... fs. Source currenta Source currenta IC for stepping motor Dimensions Stepping motor Set model Stepping Motors with Internal drivers

20 -phase STEPPING SYSTEMS DC input Specifications Standard model F series driver + H or SH series motor Bipolar Motor flange size.inch.inch.inch.inch.inch Size Motor flange size mm.inch/. Motor length mm.inch.mm.inch Set part Single shaft DBSS DBSS number Double shaft DBSD DBSD Holding torque Nmozin.... Rotor inertia - kgm ozin.... MassWeight kglbs.... Allowable thrust load N lbs.. Allowable radial load Note N lbs.. NoteWhen load is applied at / length from output shaft edge. DCV Source currenta Source currenta -division -division -division -division Operating current mm (.inch)/.:a /phase mm (.inch)/.:a /phase mm (.inch)/.:a /phase Pull-out torque Source current (load applied) Source current (no load) -division fs Fs:Maximum self-start -division fs frequency when not loaded -division -division DCV division -division Source currenta division -division Source currenta The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. Size Motor flange size mm.inch/. mm.inch/. mm.inch/. Motor length mm.inch.mm.inch.mm.inch.mm.inch Set part Single shaft DBSS DBHS DBHS DBHS number Double shaft DBSD DBHD DBHD DBHD Holding torque Nmozin Rotor inertia - kgm ozin MassWeight kglbs Allowable thrust load N lbs.... Allowable radial load Note N lbs NoteWhen load is applied at / length from output shaft edge. DCV Source currenta Source currenta Source currenta Source currenta -division -division -division -division -division -division -division -division Operating current: A/phase Pull-out torque Source current (load applied) Source current (no load) -division fs Fs:Maximum self-start -division fs frequency when not loaded -division -division DCV -division -division Source currenta -division -division Source currenta -division -division Source currenta -division -division Source currenta The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

21 mm.inch/. mm.inch mm.inch mm.inch DBHS DBHS DBHS DBHD DBHD DBHD division -division -division -division Source currenta Source currenta -division -division -division -division mm.inch/ Source currenta Source currenta -division -division -division -division Source currenta Source currenta -division -division -division -division Source currenta mm.inch/. Source currenta -division -division -division -division Source currenta mm.inch.mm.inch.mm.inch.mm.inch.mm.inch -division -division DBHS DBHS DBHS DBHS DBHS DBHD DBHD DBHD DBHD DBHD Source currenta Source currenta -division -division Source currenta Source currenta -division -division Source currenta Source currenta -division -division mm.inch/. mm.inch Source currenta Source currenta -division -division mm.inch DBSS DBSS DBSD DBSD Source currenta. Source currenta. Source currenta IC for stepping motor Dimensions Stepping motor Set model Stepping Motors with Internal drivers -division -division -division -division -division -division -division -division -division -division

22 -phase STEPPING SYSTEMS DC input Specifications Size Motor flange size mm.inch /. Motor length mm.inch mm.inch Set part Single shaft DBSS DBSS number Double shaft DBSD DBSD Holding torque Nmozin.... Rotor inertia - kgm ozin.... MassWeight kglbs.... Allowable thrust load N lbs.. Allowable radial load Note N lbs NoteWhen load is applied at / length from output shaft edge. DCV Source currenta Source currenta -division -division -division -division Operating current: A/phase Pull-out torque Source current (load applied) Source current (no load) -division fs Fs:Maximum self-start -division fs frequency when not loaded -division -division DCV -division -division Source currenta -division -division Source currenta The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

23 Specifications of Drivers Unipolar Model number USDP Basic Input source DC V / V specifications Source current A Environment Protection class Class III Operation environment Installation category over-voltage category : I, pollution degree : Applied standards EN- ULC Ambient operation temperature to + Conservation temperature - to + Operating ambient humidity to % RH no condensation Conservation humidity to % RH no condensation Operation altitude m feet or less above sea level Vibration resistance Tested under the following conditions;. m/s, frequency range to Hz, direction along X, Y and Z axes, for hours each Impact resistance Not influenced at NDS-C- standard section.. divisionc. Withstand voltage Not influenced when V AC is applied between power input terminal and cabinet for one minute. Insulation resistance M MIN. when measured with V DC megohmmeter between input terminal and cabinet. Mass Weight. kg. lbs Functions Selection functions Step angle, Pulse input mode, Step current, Operating current. Protection functions Open phase protection, Main circuit power souce voltage decrease LED indication Power monitor, alarm I/O signals Command pulse input signal Photo-coupler input system, input resistance : input-signalhlevel :. to. V, input-signalllevel : to. V Maximum input frequency : kpulse/s Poweer down input signal Photo-coupler input system, input resistance : input-signalhlevel :. to.v, input-signall level : to. V Phase origin monitor output signal From the photo coupler by the open collector output Output specification : Vceo = V MAX., Ic = ma MAX. Rotation monitor output signal From the photo coupler by the open collector output Output specification : Vceo = V MAX., Ic = ma MAX. Bipolar Model number BSDP Basic Input source DC V / V specifications Source current A Environment Protection class Class III Operation environment Installation category over-voltage category : I, pollution degree : Applied standards EN- ULC Ambient operation temperature to + Conservation temperature - to + Operating ambient humidity to % RH no condensation Conservation humidity to % RH no condensation Operation altitude m feet or less above sea level Vibration resistance Tested under the following conditions;.m/s, frequency range to Hz, direction along X, Y and Z axes, for hours each Impact resistance Not influenced at NDS-C- standard section.. divisionc. Withstand voltage Not influenced when V AC is applied between power input terminal and cabinet for one minute. Insulation resistance M MIN. when measured with V DC megohmmeter between input terminal and cabinet. Mass Weight. kg. lbs Functions Selection functions Step angle, Pulse input mode, Step current, Operating current. Protection functions Open phase protection, Main circuit power souce voltage decrease LED indication Open phase protection, Power monitor, alarm I/O signals Command pulse input signal Photo-coupler input system, input resistance : input-signalhlevel :. to. V, input-signalllevel : to. V Maximum input frequency : kpulse/s Poweer down input signal Photo-coupler input system, input resistance : input-signalhlevel :. to.v, input-signalllevel : to. V Phase origin monitor output signal From the photo coupler by the open collector output Output specification : Vceo = V MAX., Ic = ma MAX. Rotation monitor output signal From the photo coupler by the open collector output Output specification : Vceo = V MAX., Ic = ma MAX. IC for stepping motor Dimensions Stepping motor Set model Stepping Motors with Internal drivers

24 -phase STEPPING SYSTEMS DC input Specifications Operation, Connection, and Function Each section name of the drivers Unipolar Driving current selection switch RUN You can select the value of the motor current when driving. Dial Stepping motor currenta Dial A B C D E F Stepping motor currenta The factory setting is F (.A). Select the current after checking the rated current of the combination motor. Function selection DIP switchpack Select the function depending on your specification. LED for power supply monitorpow Lit up when the main circuit power supply is connected. Indicator POW is displayed. Explanation Main circuit power supply is switched on. LED for alarm display ALM Lit when an alarm is generated. Indicator ALM is displayed. Explanation Motor cable is broken, or switching element in driver is faulty. The main circuit voltage is out of specifications range (Less than DCV). When ALM is displayed, the winding current of the stepping motor is cut off and it is in a non-excitation state. At the same time, an output signal is transmitted from the alarm output terminal (AL) to an external source. When the alarm circuit is operating, this state is maintained until it is reset by switching on the power supply again. When an alarm condition has occurred, please take corrective actions to rectify the cause of the alarm before switching on the power supply again. I/O signal connectorcn Connect the I/O signal. Motor connector CN Connect the motors power line. Power supply connector CN Connect the main circuit power supply. Bipolar Driving current selection switch RUN You can select the value of the motor current when driving. Dial Stepping motor currenta Dial A B C D E F Stepping motor currenta The factory setting is F (.A). Select the current after checking the rated current of the combination motor. Function selection DIP switchpack Select the function depending on your specification. LED for power supply monitorpow Lit up when the main circuit power supply is connected. Indicator POW is displayed. Explanation Main circuit power supply is switched on. LED for alarm display ALM Lit when an alarm is generated. Indicator ALM is displayed. Explanation Motor cable is broken, or switching element in driver is faulty. The main circuit voltage is out of specifications range (Less than DCV). When ALM is displayed, the winding current of the stepping motor is cut off and it is in a non-excitation state. At the same time, an output signal is transmitted from the alarm output terminal (AL) to an external source. When the alarm circuit is operating, this state is maintained until it is reset by switching on the power supply again. When an alarm condition has occurred, please take corrective actions to rectify the cause of the alarm before switching on the power supply again. I/O signal connectorcn Connect the I/O signal. Motor connector CN Connect the motors power line. Power supply connector CN Connect the main circuit power supply. Specification summary of CN I/O signal Signal name CW pulse input standard Pulse column input CCW pulse input standard Rotation direction input Power down input Phase origin monitor output Alarm output CN Pin number Function When using-input mode Drive pulse for the CW direction rotation is input. When usingpulse 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 thepulse and direction mode. Internal photocoupler ONCW direction Internal photocoupler OFFCCW direction Inputting the PD signal cuts OFF the current flowing through the stepping motor. Iinternal photocoupler ONPD function enabled Iinternal photocoupler OFFPD function disabled It is turned ON when the excitation phase is at the originin the state when the power is turned ON It is turned ON once per pulses when setting to HALF step. It is turned ON once per pulses when setting to FULL step. The signal is externally output when one of several alarm circuits operates in the PM driver. 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 sideflange side. The CCW rotation direction means the counterclockwise direction rotation as viewed from the output shaft sideflange side.

25 Input circuit configurationcw and CCW Pulse input Functions can be selected according to the specification with the dip switch. Check that the ex-factory settings are as follows. EX EX EX F/R ACD ACD LV EORG OFF ON OFF OFF Partition number: OFF OFF OFF OFF OFF OFF Input method (CW/CCW pulse input) Stopping current: % of driving current Micro step operation Phase origin Step angle select EXEXEX Select the partition number of the basic step angle. EX EX EX Partition number ON ON ON -division OFF ON OFF -division ON OFF OFF -division OFF OFF OFF -division OFF OFF ON -division Input method selectf/r Selects input pulse type F / R Input pulse type ON inputpluse&direction OFF inputcw, CCW Current selection when stopping ACDACD Select the current value of the motor when stopping. ACD ACD Current value of the motor ON ON % of driving current ON OFF % of driving current OFF ON % of driving current OFF OFF % of driving current Initial configuration of factory shipment is set to % of rated value. Driver and motor should be operated at around % of rated value to reduce heat. Set model Stepping Motors with Internal drivers Low-vibration mode selectlv Provides low-vibration, smooth operation even if resolution is rough -division, -division, etc External wiring diagram Unipolar Pulse input (CW[CK]) Pulse input (CCW[U/D]) Power down input (PD) Phase origin monitor output (MON) Alarm output (AL) CN CN White Black Orange Blue Red Yellow M LV ON OFF Bipolar Operation Auto-micro function Micro-step Excitation selecteorg The excitation phase when the power supply is turned on is selected. EORG Original excitation phase ON Excitation phase at power shut off OFF Phase origin By turning on the EORG, excitation phase when power OFF will be saved. Therefore, there will be no shaft displacement when turning the power ON. Pulse input (CW[CK]) Pulse input (CCW[U/D]) Power down input (PD) Phase origin monitor output (MON) Alarm output (AL) CN CN Orange Blue Red Yellow M Dimensions Stepping motor CN CN DCV/V DCG/G DCV/V DCG/G Applicable Wire Sizes Part Wire size Allowable wire length For power supply AWG(. mm ) m MAX. For input/output signal AWG(. mm ) to AWG(. mm ) m MAX. For motor AWG(. mm ) m MAX. IC for stepping motor

26 -phase STEPPING SYSTEMS Specifications Input circuit configuration of CWCK, CCWU/D +V () Pulse duty % MAX. Maximum input frequency:kpulse/s Input signal R () pf Driver When the crest value of the input signal exceeds V, use the external limit resistance R to limit the input current to approximately ma. Input signal specifications Photo coupler type s MIN.. to.v % % Rotation to.v % s MAX. s MAX. Timing of the command pulse -input modecw, CCW ON OFF ON Shaded area indicates internal photo coupleron. Internal circuit motor starts operating at leading edge of the photo coupleron. To apply pulse to CW, set CCW side internal photo coupler tooff. To apply pulse to CCW, set CW side internal photo coupler tooff. OFF s input typecw, CCW ON Shaded area indicates internal photo coupleron. Internal circuit motor starts operating at leading edge of CK side photo coupleron. OFF ON s s Switching of U/D input signal must be done while CK side internal photo coupler isoff. OFF

27 Input circuit configuration of PD +V Input signal R pf Driver Output signal configuration of MON, AL () () MON output CW pulse CCW pulse Mon output MAX. ma MAX. V Driver When the crest value of the input signal exceeds V, use the external limit resistance R to limit the input current to approximately ma. Photo coupler at phase origin of motor excitation is set to ON.setting when number of divisions is Output from MON is set to on at every. degrees of motor output shaft from phase origin. Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor

28 -phase STEPPING SYSTEMS Stepping motor Specifications -phase stepping motor mmsq..inch sq. SH./step Unipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH SH Pulse rate-torque characteristics SH- SH- SH- SH Source voltage : DCVOperating current :.A/phase, -phase energization (full-step) J L =[. - kgm (. ozin ) pulley balancer method] Source voltage : DCVOperating current :.A/phase, -phase energization (full-step) J L =[. - kgm (. ozin ) pulley balancer method] Source voltage : DCVOperating current : A/phase, -phase energization (full-step) J L =[. - kgm (. ozin ) pulley balancer method] Source voltage : DCVOperating current : A/phase, -phase energization (full-step) J L =[. - kgm (. ozin ) pulley balancer method] The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. Bipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH SH Pulse rate-torque characteristics SH- SH- SH- SH Source voltage : DCVOperating current :.A/phase, -phase energization (full-step) J L =[. - kgm (. ozin ) pulley balancer method] Source voltage : DCVOperating current :.A/phase, -phase energization (full-step) J L =[. - kgm (. ozin ) pulley balancer method] Source voltage : DCVOperating current : A/phase, -phase energization (full-step) J L =[. - kgm (. ozin ) pulley balancer method] Source voltage : DCVOperating current : A/phase, -phase energization (full-step) J L =[. - kgm (. ozin ) pulley balancer method] The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

29 Unipolar windinglead wire type -phase stepping motor mm sq..inch sq. SH./step Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH-U -U SH-U -U SH-U -U Pulse rate-torque characteristics SH-U Torque(oz in.) Torque (kgf-cm)..... Torque (N-m) Pulse rate (kpulse/s) Number of rotations (min - ) Source voltage : DCVOperating current :.A/phase, -phase energization (full-step) JL=[. - kgm (. ozin ) Use the rubber coupling] SH-U Torque(oz in.) Torque (kgf-cm)..... Torque (N-m) Pulse rate (kpulse/s) Number of rotations (min -) Pulse rate (kpulse/s) Number of rotations (min -) Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor Source voltage : DCVOperating current :.A/phase, -phase energization (full-step) JL=[. - kgm (. ozin ) Use the rubber coupling] SH-U Torque(oz in.) Torque (kgf-cm) Torque (N-m) Source voltage : DCVOperating current :.A/phase, -phase energization (full-step) J L =[. - kgm (. ozin ) Use the rubber coupling] The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

30 -phase STEPPING SYSTEMS Stepping motor Specifications -phase stepping motor mm sq..inch sq. SS./ step Bipolar winding Bipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SS SS SS Pulse rate-torque characteristics SS- SS- SS-... Torque(ozin.) Torque(kgfcm).... Torque(Nm.... Torqueozin.. Torque.... Torqueozin fs. Number of rotations min- Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin inertia of rubber coupling is in cluded fs: No load maximum starting pulse rate fs.. Number of rotations min- Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin inertia of rubber coupling is in cluded fs: No load maximum starting pulse rate. fs. Number of rotations min- Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin inertia of rubber coupling is in cluded fs: No load maximum starting pulse rate The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

31 -phase STEPPING SYSTEMS SH- Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling -phase stepping motor mm sq..inch sq. SH./step Pulse rate-torque characteristics Stepping motor Specifications Unipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH SH Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor.. Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling SH Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

32 Bipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH SH SH SH Pulse rate-torque characteristics SH fs. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling fs: No load maximum starting pulse rate SH fs. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling fs: No load maximum starting pulse rate SH fs. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling fs: No load maximum starting pulse rate SH fs. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling fs: No load maximum starting pulse rate SH fs. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling fs: No load maximum starting pulse rate SH fs. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling fs: No load maximum starting pulse rate The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

33 -phase STEPPING SYSTEMS Stepping motor Specifications Unipolar windingconnector type -phase stepping motor mm sq..inch sq. H./step Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H Motor cableno.- Bipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H H H H H H H H H Dimensions Stepping motor Set model Stepping Motors with Internal drivers Pulse rate-torque characteristics H- H- H- H torque at JL. Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling.... torque at JL Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling... torque at JL. Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling... torque at JL. Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling IC for stepping motor The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

34 H-. H-. H JL. Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling... JL. Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling... JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H-. H-. H JL. Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling... JL. Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling... JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H JL. Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H JL. Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H-. H-. H JL..... JL..... JL. Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

35 -phase STEPPING SYSTEMS SS- Torque(ozin.) Stepping motor Specifications Bipolar windinglead wire type fs. Number of rotations min- -phase stepping motor mm sq..inch sq. SS./ step Bipolar winding Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SS SS Pulse rate-torque characteristics Torque(kgfcm) Torque(Nm Source voltage : DCVoperating current : A/phase, --phase energizationhalf-step JL =.x - kgm. ozin Pulley barancer system fs: No load maximum starting pulse rate SS- Torque(ozin.) IC for stepping motor Torque(kgfcm) Dimensions Stepping motor Set model Stepping Motors with Internal drivers.. Torque(Nm.... fs.. Number of rotations min- Source voltage : DCVoperating current : A/phase, --phase energizationhalf-step JL =.x - kgm. ozin Pulley barancer system fs: No load maximum starting pulse rate The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

36 -phase STEPPING SYSTEMS Stepping motor Specifications -phase stepping motor mm sq..inch sq. H./step Unipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H H H H H H Bipolar winding Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H

37 Pulse rate-torque characteristics H- H torque at JL JL H- Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling..... JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H torque at JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H torque at JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H JL Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H torque at JL H- Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling torque at JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H torque at JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Dimensions Stepping motor Set model Stepping Motors with Internal drivers H-. H-. H Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling.... Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling... JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin pulley balancer method The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. IC for stepping motor

38 -phase STEPPING SYSTEMS Stepping motor Specifications -phase stepping motor mm sq..inch sq. H./step Unipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H H H H H H H H H Bipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H H H H H H H H H

39 Pulse rate-torque characteristics H torque at JL. H-.... H- Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling. JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling..... JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H H-.... H- torque at JL Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling. JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling..... torque at JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H H torque at JL Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling torque at JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H torque at JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Dimensions Stepping motor Set model Stepping Motors with Internal drivers H-. H-. H JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling... JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling. torque at JL. The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment... Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling IC for stepping motor

40 H-. H-. H JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling... JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling... torque at JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H-. H-. H JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling... JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling... JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H-. H-. H JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling... JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling... JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- H- H JL.... JL.... JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

41 Unipolar windinglead wire type -phase stepping motor mm sq..inch sq. SH./step Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH Pulse rate-torque characteristics SH- SH- SH Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Bipolar windinglead wire type Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH Pulse rate-torque characteristics SH- SH- SH Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor

42 -phase STEPPING SYSTEMS Stepping motor Specifications -phase stepping motor mm sq..inch sq. H./step Unipolar windingconnector type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H H H H H H Motor cableno.- Bipolar windingconnector type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H H H Motor cableno.- Unipolar windinglead wire typedimensions for attaching NEMA are interchangeable (.mm-pitch) Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H H H H H H Bipolar windinglead wire typedimensions for attaching NEMA are interchangeable (.mm-pitch) Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H H H

43 Pulse rate-torque characteristics H- H- H- H- H- H JL. H JL JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling..... JL. H-. torque at JL JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling..... torque at JL. H- torque at JL torque at JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Dimensions Stepping motor Set model Stepping Motors with Internal drivers H-. H-. H IC for stepping motor Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

44 H-. H- H Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

45 Unipolar windinglead wire type -phase stepping motor mm sq..inch sq. SH /SM./step Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH SH SH SH Unipolar windinglead wire typeceul model Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SM SM SM SM SM SM Bipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH SH SH SH SH SH SH Bipolar windinglead wire typeceul model Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SM SM SM SM SM SM SM SM SM Dimensions Stepping motor Set model Stepping Motors with Internal drivers Bipolar windingterminal block type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SM SM SM SM SM SM SM SM SM IC for stepping motor

46 Pulse rate-torque characteristics SH- SM fs. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling fs: No load maximum starting pulse rate SH- SM fs. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling fs: No load maximum starting pulse rate SH-SM fs. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling fs: No load maximum starting pulse rate SH- SM fs Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling fs: No load maximum starting pulse rate SH- SM- fs Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling fs: No load maximum starting pulse rate SH- SH- fs Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling fs: No load maximum starting pulse rate SH- SM-. SH- SM- SH- SM Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL = x - kgm. ozin use the rubber coupling SH- SM-. SH- SM- SH- SM Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL = x - kgm. ozin use the rubber coupling The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

47 SH- SM Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling SH- SM-. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor SH- SM-. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL = x - kgm. ozin use the rubber coupling

48 -phase STEPPING SYSTEMS Stepping motor Specifications -phase stepping motor mm cir..inch cir. H./step Unipolar winding Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H Bipolar winding Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H Pulse rate-torque characteristics H- H- H- JL. Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL = x - kgm. ozin use the rubber coupling. Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL = x - kgm. ozin use the rubber coupling. Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL = x - kgm. ozin use the rubber coupling JL = x - kgm. ozin use the rubber coupling H- JL. Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL = x - kgm. ozin use the rubber coupling JL = x - kgm. ozin use the rubber coupling The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

49 Unipolar winding -phase stepping motor mm sq..inch sq. H CE marking./step Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H H H Pulse rate-torque characteristics H- H- H torque at JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling..... torque at JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling..... JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Dimensions Stepping motor Set model Stepping Motors with Internal drivers H- H- H torque at JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling.... JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling.... torque at JL. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. IC for stepping motor

50 -phase STEPPING SYSTEMS Stepping motor Specifications -phase stepping motor mm cir..inch cir. H CE marking./step Bipolar winding Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H Pulse rate-torque characteristics H- H- H torque at JL. Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling.... torque at JL Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling torque at JL. Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL = x - kgm. ozin use the rubber coupling JL = x - kgm. ozin use the direct coupling The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

51 Bipolar winding H- torque at JL. -phase stepping motor mm cir..inch cir. H CE marking./step Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [Nm ozinmin.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H Pulse rate-torque characteristics Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL = x - kgm. ozin use the rubber coupling JL = x - kgm. ozin use the direct coupling H- Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor. JL Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL = x - kgm. ozin use the rubber coupling JL = x - kgm. ozin use the direct coupling The data are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

52 -phase STEPPING SYSTEMS Stepping motor Specifications Standard models Motor type Model number Insulation class Withstand voltage Insulation resistance Vibration resistance Impact resistance Operating ambient temperature Operating ambient humidity H series motor H /H /H /H Class B.inchACV /Hz for minute,.inch.inch.inchacv /Hz for minute M ohm MIN. against DCV Amplitude of.mm.inchp-pat frequency range to Hz for minutes sweep time along X, Y, and Z axes for times. m/s of acceleration for ms with half-sine wave applying three times for X, Y, and Z axes each, times in total. - to %MAX. : MAX., %MAX. : MAX., %MAX. : MAX.no condensation Motor type SH series motor Motor model number SH, SH, SH, SH, SH, Insulation class Class B.inch.inch.inchACV /Hz for minute,.inch/.inchacv Withstand voltage /Hz for minute Insulation resistance M ohm MIN. against DCV Vibration resistance Amplitude of.mm.inchp-pat frequency range to Hz for minutes sweep time along X, Y, and Z axes for times. Impact resistance m/s of acceleration for ms with half-sine wave applying three times for X, Y, and Z axes each, times in total. Operating ambient temperature - to Operating ambient humidity %MAX. : MAX., %MAX. : MAX., %MAX. : MAX.no condensation Motor type Model number Type Insulation class Operation altitude Withstand voltage Insulation resistance Protection grade Vibration resistance Impact resistance Ambient operation temperature Ambient operation humidity SM series motor SM Scontinuous operation Class F+C m feetmax above sea level mm.inch: ACV /Hz for minute M ohm MIN. against DCV IP Amplitude of.mm.inchp-pat frequency range to Hz for minutes sweep time along X, Y, and Z axes for times. m/s of acceleration for ms with half-sine wave applying three times for X, Y, and Z axes each, times in total. - to +C % MAX. at less than C, % MAX. at less than C, % MAX. at Cno condensation Allowable radial / thrust load Radial load Thrust load Frange size Model number Distance from end of shaft : mm inch Thrust load... N Ibs Radial load : N lbs mm.inch SH. mm.inch SH. mm.inch H -. SH mm.inch H. H. mm.inch H. mm.inch H SH. mm.inch SM SH. mm.inch H. mm.inch H. CE marked models Model Number H H H Rated voltage -VDC -VDC Applied standardslow voltage diretive EN-,IEC-(EN-),EN-,EN,EN- Operation type Scontinuous rating Protection grade IP Device category Class I Operation environment Pollution degree Insulation classi Class B Insulation resistance M ohm MIN. against DCV Withstand voltage mm.inch: ACV /Hz for minute mm.inch mm.inch : ACV /Hz for minute Ambient operation temperature - to +C Ambient operation humidity % MAX. at less than C, % MAX. at less than C, % MAX. at Cno condensation Winding temperature rise K MAX.Based on Sanyo Denki standard

53 Internal Wiring and Rotation Direction Unipolar winding H Connector type Internal wire connection ( ) connector pin number () () () H Connector type () () () () () () Internal wire connection ( ) connector pin number Lead wire type Orange White Blue Red () () () Internal wire connection Bipolar winding ()Orange ()Blue Black Yellow Internal wire connection ( ) connector pin number Red Yellow () () Direction of motor rotate The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. Exciting order Connector type pin number. Direction of motor rotate The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. Exciting order Direction of motor rotate The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. Exciting order Connector type pin number. Lead wire color White & black Red Blue Yellow Orange Direction of motor rotate The output shaft shall rotate clockwise as seen from the shaft side, when excited by DC in the following order. Lead wire color, connector type pin teminal blocknumber Lead wire Connector Exciting order Teminal block H Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor SM Red + + Blue + + Yellow + + Orange + +

54 ( -phase STEPPING SYSTEMS Dimensions MotorsUnit: mminch mm.inch mm.inch.±..±. Cross section S-S ±.± MAX..MIN. S S Lead wire:ul AWG L±. L±. ±..±. +.±..± (Effective lenght) RMAX. (R. MIN.). -.. (.-. -M (.-. ±. (.±.) ±. (.±.).±. (.±.) -.. (.-. ) (..) (.) MAX. Lead wire:ul CSA,AWG (.)MIN. L...MIN.. (..). (..) -.. (.-. ).(..).(..).(..) (.)MAX. -M. Effective tapping depth (.) MIN..(.) only stator part. (..) (.)MAX.. (..) Unipolar Bipolar Connector type Lead wire type Set part number Motor model number Motor length : mminch Cable type DUS SH-. Lead wire DUS SH-. Lead wire DUS SH-.. Lead wire DUS SH-.. Lead wire DBS SH-. Lead wire DBS SH-. Lead wire DBS SH-.. Lead wire DBS SH-.. Lead wire mm.inch MIN. (.MIN.) N.P Lead wire UL AWG (..) Ø -.. (Ø.-.) L. (L.). (..) Ø -.. (Ø.-.) Ø -.. (Ø.-.). (..) -. (-..) MAX. (.MAX.) MAX. (.MAX.) Unipolar mm.inch. ø-.. (ø.-.) Set part number Motor model number Motor length : mminch Cable type SH-U. Lead wire SH-U. Lead wire SH-U. Lead wire L.. (..) (L.) (..) (.) MAX. Lead wire type.. (..) (.)MIN.. ø-.. ø-.. (ø.-.). (ø.-.). (..) -. (-..) (.) MAX. Pin No. (.) MAX. -M x. Effective tapping depth depth (.) MIN. Bipolar -M. Lead wire type Set part number Motor model number Motor length : mminch Cable type SS-.. Lead wire SS-.. Lead wire SS-.. Lead wire Connector type Set part number Motor model number Motor length : mminch Cable type DUH H-. Connector Unipolar DUH H-. Connector DUH H-. Connector H-. Connector Motor cable- mm.inch Bipolar (.MAX.) (.±.) (ø.-.) L. (L.) MIN. (.MIN.) (.±.). (..) +. (. ( (ø.-.) A (R.MIN.) (ø.-. -M x.. MIN.DP. Lead wire type. (..) (.±.) (.±.) (.MAX.) (.±.) Set part number Motor model number Motor length : mminch Cable type DBH H-. Lead wire DBH H-. Lead wire DBH H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire mm.inch Unipolar Bipolar Pin No. Lead wire color White Orange Blue Yellow Red Black JST Lead wire type Set part number Motor model number Motor length : mminch Cable type DUS SH-. Lead wire DUS SH-. Lead wire DUS SH-. Lead wire DBS SH-. Lead wire DBS SH-. Lead wire DBS SH-. Lead wire Motor shaft specification code Motor shaft spec Set type code Motor type code Single shaft S Double shafts D Motor shaft specification code Motor shaft spec Set type code Motor type code Single shaft S Double shafts D

55 mm.inch MIN. (.MIN.) Bipolar mm.inch. (..). ø.-. Unipolar. (ø.-.) ()MIN. Lead wire UL AWG (..) Ø -.. (Ø.-.) Set part number Motor model number Motor length : mminch Cable type SS-. Lead wire SS-. Lead wire Lead wire UL AWG L. (L.).. (..) (.). (.). ø.-. ø... (ø.-.) (ø..) L. (L.). (..) Ø -.. (Ø.-.) Lead wire type Lead wire type -M.... (Ø..). (..) -.. (-..) (.) MAX. (.)MAX. +. -ø.. +. (-ø.. ). (..) -. (-..) Set part number Motor model number Motor length : mminch Cable type DUH H-.. Lead wire DUH H-.. Lead wire DUH H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire mm.inch Unipolar Bipolar. ø.-.. (ø.-.) Lead wire UL AWG. L... (..) (L.) (..). ø.-.. (ø.-.) () MIN.. (.) (.). ø.-.. ø-.. (ø.-.). (ø.-.) Lead wire type. (..) -. (-..) (.)MAX. +. -ø.. +. (-ø..) Set part number Motor model number Motor length : mminch Cable type H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire DBH H-.. Lead wire DBH H-.. Lead wire H-.. Lead wire mm.inch Unipolar. (..) Lead wire UL CSA, AWG R.P L. (L.). (..).. (..).. (..) B. ø.-.. (ø.-.) A ø.. (ø..) Lead wire type. (..) -.. (..) (.)MAX. +. -ø. +. (-ø..) Set part number Motor model number Motor length : mminch Cable type H-.. Lead wirece H-.. Lead wirece H-.. Lead wirece H-.. Lead wirece H-.. Lead wirece H-.. Lead wirece (.) MAX. Dimensions Stepping motor Set model Stepping Motors with Internal drivers Motor shaft specification code Motor shaft spec Set type code Motor type code Single shaft S Double shafts D IC for stepping motor Motor shaft specification code Motor shaft spec Set type code Motor type code Single shaft S Double shafts D

56 -phase STEPPING SYSTEMS Dimensions mm.inch Lead wire UL CSA, AWG ± (.±.) B + (EFFECTIVE LENGTH) +. (. ) ±. ( ø.±.) B.± (.±.) MAX. (.MAX.) Lead wire UL CSA, AWG L±..±. (L±.) (.±.).MIN..±. (.MIN.) (.±.) ±. (.±.) + RMIN. (R.MIN.) ød-. (ød-.) ø.±. (ø.±.) B ±. (.±.) B.±. (.±.) MAX. (.MAX.) T±. (T±.) B +. -ø. +. (-ø. ) MAX. (.MAX.) MotorsUnit: mminch mm.inch B RMIN. (R.MIN.) B (EFFECTIVE LENGTH) +. (. ) A L. L N.P B.... D-.. D-. A.... Lead wire type Lead wire type Bipolar Set part number Motor model number Motor length : mminch Shaft diameter (D) Dcut thickness Cable type (T) DBH H-.... Lead wire DBH H-.... Lead wire DBH H-.... Lead wire H-.... Lead wire H-.... Lead wire H-.... Lead wire H-.... Lead wire H-.... Lead wire H-.... Lead wire H-... Lead wire H-... Lead wire H-... Lead wire Unipolar Bipolar Set part Motor model Motor length : Shaft number number mminch diameter(d) Cable type SH-.. Lead wire SH-.. Lead wire SH-. Lead wire DBS SH-.. Lead wire DBS SH-.. Lead wire DBS SH-. Lead wire mm.inch mm.inch Unipolar Bipolar Connector type Set part number Motor model number Motor length : mminch Cable type H-.. Connector H-.. Connector H-.. Connector H-.. Connector H-.. Connector H-.. Connector H-.. Connector H-.. Connector H-.. Connector DBH H-.. Connector DBH H-.. Connector DBH H-.. Connector H-.. Connector H-.. Connector H-.. Connector Dimensions for attaching NEMA are interchangeable Unipolar Bipolar Lead wire type Set part number Motor model number Motor length : Cable type mminch H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire H-. Lead wire Motor cable Unipolar - Pin No Lead wire color Black Yellow Red Blue Orange White Motor cable Bipolar - Pin No Lead wire color Yellow Red Blue Orange Motor shaft specification code Motor shaft spec Set type code Motor type code Single shaft S Double shafts D Motor shaft specification code Motor shaft spec Set type code Motor type code Single shaft S Double shafts D

57 mm.inch ±(.±.) + +. (. ) (Effective length) -. A (. -. ) S S R(R.)MIN. Unipolar Bipolar Lead wire: UL CSA AWG L±(L±.).±..±. ±.(.±.) ±.(.±.) + +. (. ) (Effective length) -. (. -. ) S S R(R.)MIN. Grounding terminal M. L.±. (.±.) ±. (.±.) Lead wire type ±. (.±.) Cross section S-S.±.(.±.).±.(.±.) (.)MAX. A(CE) B(CE) CE type Set part number Motor model number Motor length : mminch Cable type SH-. Lead wire SH-.. Lead wire SH- Lead wire SM-. Lead wirece SM-. Lead wirece SM-. Lead wirece SM-.. Lead wirece SM-.. Lead wirece SM-.. Lead wirece SM- Lead wirece SM- Lead wirece SM- Lead wirece mm.inch UL vinyl tube () MIN. ø. (ø..) Bipolar (..). ø.-.. (ø.-.) Grounding terminal Mx.xL Lead wire UL AWG L.. (..) (L.) (..). (.). (.).. (..) (.). ø-.. (ø.-.) ø.. (ø..) Lead wire type. -. B Cross section S-S (.)MAX..±.(.±.).±.(.±.) -.±. (-.±.) Parallel key xx (.x.x.) (.). (.-.). (.).. (..) -.. (-..) +. -ø (-ø.+. ) Set part number Motor model number Motor length : mminch Cable type H-. Lead wirece H-.. Lead wirece H-.. Lead wirece mm.inch mm.inch () MIN. ø. (ø..) Terminal No. Terminal Screw M L Terminal block Lead wire UL AWG L. (..) (L.). (..) (.) A. + (.). +. (.. ). ø.-.. (ø.-.) Unipolar Bipolar Terminal Block Cable Grand Skintop St Earth Terminal M. L Sheet Packing Lead wire type L±. (L±.) (.)Max. (.)Max. N.P. ø-.. (ø.-.) ø.. (ø..).±. (.±.) ±. (.±.) ±. (.±.) S S RMIN.. (..) (Effective Length) Terminal block type B.. (..) -.. (-..) +. -ø.. +. (-ø.. ) A(CE) B(CE) CE type Set part number Motor model number Motor length : mminch Cable type H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wirece H-.. Lead wirece H-.. Lead wire -..±. (.±.) ±. ±. Cross section S-S.±. (.±.).±. (.±.) -.±. (-.±.) Set part number Motor model number Motor length : mminch Cable type SM-.. Terminal block SM-.. Terminal block SM-.. Terminal block SM-.. Terminal block SM-.. Terminal block SM-.. Terminal block SM-.. Terminal block SM-.. Terminal block SM-.. Terminal block Dimensions Stepping motor Set model Stepping Motors with Internal drivers Motor shaft specification code Motor shaft spec Set type code Motor type code Single shaft S Double shafts D IC for stepping motor Motor shaft specification code Motor shaft spec Set type code Motor type code Single shaft S Double shafts D

58 -phase STEPPING SYSTEMS Dimensions DriversUnit: mminch Safety standards driver UL CE TÜV Acquired standards File No. UL UL for Canada ULC E Directives Category Name Standard part Low-voltage directives EN- Emission Terminal disturbance voltage EN-A Electromagnetic radiation disturbance EN-A ESDElectrostatic discharge EN-- EMC RSRadio-frequency amplitude directives EN-- Immunity modulated electromagnetic field Fast transionts EN-- Surges EN-- SM series motormodel NumberSMULCE marked models UL CE Acquired standards File No. UL UL for Canada UL- E Standard category Standard part EN- Low-voltage directives IEC- (EN-) H series motormodel NumberHCE marked models CE Standard category Standard part Low-voltage directives EN-, IEC- (EN-), EN-, EN, EN- EMC characteristics may vary depending on the configuration of the userscontrol panel, which contains the driver or stepping motor, or the arrangement and wiring of other electrical devices. Parts for EMC noise suppression like noise filters and troidal type ferrite cores may be required depending on circumstances. Validation test of F series driver has been performed for low-voltage EMC directives at TÜVTÜV product servicefor self-declaration of CE marking.

59 -phase STEPPING SYSTEMS IC for stepping motor Specifications Characteristics Maximum RatingTa= Item Symbol Rating Unit Source voltage VCC -. to V Output Hlevel IOH - current n Llevel IOL ma Output Hlevel IOH current CO,EM Llevel IOL A Input voltage VIN -. to VCC +. V Input current IIN ma operating current Topr - to Conservation temperature Tstg - to DimensionsUnit : mminch Pin No. Name Function. CU Input pulse UP clock input. CD Input pulse DOWN clock input. CK Input pulse clock input. U/D Rotation direction conversion. EA energization mode switching input. EB energization mode switching input. C energization mode switching input. VSS GND. R Reset input. output. output. output. output. EM energization monitor output. CO Input pulse monitor output. VCC. to.v Universal controller IC for the -phase stepping motor drive PMMPT Universal controller : The following types of energization mode can be selected by switching at the energization mode switching terminal EX/-EX/EX Source voltage : Vcc =. to.v High output current : ma MIN.sink, source High noise margin : Schmitt trigger circuit is incorporated for the all input terminals. types of pulse input : input modecw, CCW input mode Pulse and direction modeck, U/D input mode Excited status verification monitor : Outputs the monitor signal of the controller status..(.)typ.(.)max... (..).(.)TYP.(.).(.) Recommended Operating ConditionsTa=- to Item Symbol Rating MIN. Standard MAX. Unit Source voltage VCC.. V Output Hlevel IOH - ma current n Llevel IOL Output Hlevel IOH - ma current CO,EM Llevel IOL Input voltage VIN VCC V.(.).(.).(.)MAX..(.)MIN..(.)MIN..(.).(.).(.)TYP ~ Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor

60 Electrical Characteristics Direct current characteristicsta = - to Item Symbol Condition Standard value VCC[V] MIN. Standard MAX. Unit Input Hlevel VIH. V voltage Llevel VIL. VH=VVL=V Hlevel VOH Output IOH=. V voltage VH=VVL=V Llevel VOL IOH=. VH=VVL=V Output Hlevel IOH - ma VOUT=.V current VH=VVL=V to Llevel IOL VOUT=.V VH=VVL=V Output Hlevel IOH - ma VOUT=.V current VH=VVL=V CO, EM Llevel IOL VOUT=.V Input current I A Static current consumption ICC VH=VVL=V ma Switching characteristicsta = - to Item MAX. clock frequency MIN. width of clock pulse MIN. width of reset pulse Time delay from clock input to output Symbol fmax twl, twh twr tpd Set time tset Holding time thold Condition Standard value VCC[V]a MIN. Standard MAX. Unit tr tf ns, CL pf MHZ tr tf ns, CL pf ns tr tf ns, CL pf ns tr tf ns, CL pf tr tf ns, CL pf tr tf ns, CL pf ns ns ns Measured waveforms on switching time scale f C U C D C K % % % % % % % tr tf t WH t WL to % tpd C K % tr % % % % tf % tr or tf UD % % % t HOLD t SET Function Table Input modes and rotation direction Input mode input modecw, CCW Input Rotation CU CD CK U D direction L L L CW L L L CCW Energization modes Excitation mode Input R EA EB C EX H H L H -EX H H H H EX H L L H Pulse and direction modeck, U/D L L H CW L L L CCW

61 -phase STEPPING SYSTEMS IC for stepping motor Specifications Universal controller IC for the -phase stepping motor drive PMMPT Energization Sequence EX Pulse Reset Face EM UP DOWN Input Pulse Monitor V Driving input Energization mode setting V Reset input Input Output GND + CU CD CK CO EX GND PMMPT Pulse Reset Face EM UP DOWN V P.GND + External output V PMM -EX Example of Application CircuitBipolar wiring motor Combined with the power hybrid IC Pulse Reset Face EM UP DOWN Reset after changing the energization mode. GND Stepping motor Dimensions Stepping motor Set model Stepping Motors with Internal drivers Energization mode setting Pin No. Terminal symbol Input level Motor operation H -EX, EA, EB L EX GND GND V The normal initial reset may not be performed during unstable VCC after turning the power ON. For reliable resetting, hold the R terminal-pinat thellevel till the VCC becomes stable..v MAX. CV.V Vcc (-pin) R (-pin) IC for stepping motor Power hybrid IC : Refer to page for the PMM specifications. Refer to the PMMPT Operation Manual for other application circuit examples.

62 -phase STEPPING SYSTEMS IC for stepping motor HIC for the -phase stepping motor PMM Full Step / Half Step Bipolar Characteristics Enables high speed and high torque operation by using bipolar constant current switching method. Enables compact driving circuit configuration with few of externally attached parts. The overheat protection circuit is incorporated to assist the safety design. Maximum RatingTc= Recommended Operating ConditionsTc= Item Symbol Rated value Unit Source voltage- VCC to V Source voltage- VCC to V Output current IO. A Allowable loss PT Tc W Thermal resistance Junction temperature Conservation temperature jc. W ja W Tjmax Tstg - Item Symbol Rated value Unit Source voltage- VCC to V Source voltage- VCC. to. V Output current IO. A Oscillator frequency FC to khz Operation temperature TC - to DimensionsUnit : mminch Pin No. Name Function. VCC Power terminal for controller section. ENA A Enable input terminal. Arm drive input. Arm drive input. CR A One shot time constant setting terminal. Vref A Motor current setting terminal. LG A GND. VCC A Motor driver power terminal. VSA Motor current detection terminal. M Motor output. RS A Detection resistor connecting terminal. M Motor output. PG P.GND. M Motor output. RS B Detection resistor connecting terminal. NC. NC. M Motor output. VS B Motor current detection terminal. VCC B Motor driver power terminal. LG B GND. Vref B Motor current setting terminal. CR B One shot time constant setting terminal. Arm drive input. Arm drive input. ENA B Enable terminal. AL Overheat alarm output terminal (.) Control No. and Lot No.. (.). (.) (.). (..). (..) ø.. (ø..) PMM x.=. (x.=.) Operational truth value table.. (..) (.)..(..).(..).(..) (.. ). (.).. (..). (..)... (..) (..).. (.) (.) ENA A(ENA B) ( ) ( ) M(M) M(M) L L L OFF OFF L L H L H L H L H L L H H OFF OFF H OFF OFF

63 -phase STEPPING SYSTEMS IC for stepping motor Specifications HIC for the -phase stepping motor PMM Full Step / Half Step Electrical CharacteristicsTa= Item Symbol Condition Rating MIN. Standard MAX. Unit "H"level input voltage VIH VCC V. VCC V "L"level input voltage VIL VCC V. V "H"level input current IIH VCC VVI V A "L"level input current IIL VCC VVI V - A Reference voltage (Vref) input current Iref VCC VVref V - A Current detection (Vs) input current IS VCC VVS V - A Forward direction voltage of FET diod VF IF A.. V High output saturating voltage Vce (sat)h IC A.. V Low output saturating voltage Vce (sat)l IC A.. V Low output saturating voltage IR VCC VVOUT V A VOUT VVRS V A Power current to controller section ICC VCC = Vduring circuit operation ma Alarm terminal current Ialm VCC VValm.V ma Overheat alarm operating temperature Overheat protection stop temperature Overheat Alarm Output The overheat protection circuit outputs an alarm signal at + at the internal junction in the IC, and activatesmotor excitation OFF at +. VCC(+V) Transistor ON during alarming External pull-up resistor VceON:.V MAX. -pin (approximate kw) lalm : ma MAX. The alarming signal output and overheat protection circuit Open collector output recover automatically when the temperature lowers. V Driving input Energization mode setting V Reset input + GND GND PMM Example of Application Circuit V P.GND + C PMMPT R R PMM GND Refer to page for the PMMPT specifications. Recommended circuit constants for PMM Applicable Constant Applicable Constant R,R W. C, C pf R,R W.k C, C pf R,R Wk C F Determine on the R and R constants referring to the Vrefoutput current characteristics. Determine on D to D. Peak reverse voltage V Output current A Reverse recovery time ns C R R R R GND C External output V Output current (A) V R C R C GND D~D V ref Output current characteristics V ref Voltage (V) Orange Blue Red Yellow Stepping motor IC for stepping motor Dimensions Stepping motor Set model Stepping Motors with Internal drivers

64 -phase STEPPING SYSTEMS IC for stepping motor Specifications HIC for the -phase stepping motor PMM Micro Step Unipolar Characteristics Sine wave driven micro-step driver. The current detection resistor is incorporated. MOSFET is used for the power driving circuit to reduce heating. Totally packaged to reduce parts for the peripheral circuit. Enables selection from the various excitation modes by the external bit signal. Maximum RatingTc= Recommended Operating ConditionsTa= Item Symbol Condition Rated value Unit Source voltage- VCC MAX. VCC V V Source voltage- VCC MAX. With no signal V Input voltage Vin MAX. Logic input terminal V Phase current IOH MAX..sec, pulse, VCC applied A Operating temperature on TC MAX. PCB Junction temperature Tj MAX. Conservation temperature Tstg - to Item Symbol Condition Rated value Unit Source voltage- VCC With signal to V Source voltage- VCC With signal. V Input voltage VIH to VCC V Phase current IOH Duty A Clock frequency Clock DC to khz Withstand voltage of phase driver VDSS V Dimensionsunit: mminch Pin No. Terminal name. B. B. P.GND A. P.GND B. A. A. VCC. Vref. Mode. Mode. Mode Pin No. Terminal name. VCC. VCC. Clock. CW CCW. Reset. Return. Enable. MI. M. M. GND. (.). (.) [] (.) (.) (.) PMM x= (x.=.) (.) (.) (.) (.) (.) (.) (.. ). (.) (.. ) Each Terminal Function Terminal name Function Functioning condition Vref Motor current setting input Clock Motor driving pulse input Mode =Hlevel : Operates at rising edge Mode =Llevel : Operates at rising and falling edges CW / CCW Motor rotation direction setting input Hlevel = CW rotation Llevel = CCW rotation Reset System reset Reset "L" Return Forced return to phase origin Forced shift to the origin of the present energization phase with Return =H Enable Power OFF input Enable "L" MI Phase origin monitor output Llevel output at the phase origin. MM Monitor output on phase energization status Outputs level signal on the present phase energization status. Phase coordinate A phase B phase A phase B phase M H L L H M L H L H