STEPPING SYSTEMS. Stepping Systems ENGLISH

Transcription

1 STEPPING SYSTEMS Stepping Systems E ENGLISH

2 STEPPING DRIVER The -phase Stepping System Stepping System Configuration Upper PLC Controller PC * Refer to the pages of driver for cable. DRIVER P~ P * Refer to the pages of driver for cable. HIC MOTOR P~ P P~ P Options With encoder With harmonic gear With brake Damper

3 -Phase Driver Area Chart Source voltage ACV/V PMM-BA-- Bipolar type/micro step specification PMM-BA-- Bipolar high-speed type/micro step specification ACV PMM-UA-- Unipolar type/full-step.half-step PMM-UA-- Unipolar high-speed type/full-step.half-step PMM-MD-- Unipolar type/micro step specification DCV/V PMM-MD--,PMM-MD-- Unipolar type/micro step specification PMM-MD--,PMM-MD-- Unipolar type/micro step specification PMM-MD--,PMM-MD-- Unipolar type/micro step specification mm. inch. inch. inch. inch. inch. inch. inch ø. inch ø. inch Applicable motor installation angle dimension PMM-BA-- Applicable motors PMM-BA-- Applicable motors Source input AC/V Bipolar type Micro step specification P~ P Source input AC/V Bipolar high-speed type Micro step specification P~ P PMM-UA-- PMM-UA-- PMM-MD-- Applicable motors Applicable motors Applicable motors Source input ACV Unipolar type Full-step/Half-step P~ P Source input ACV Unipolar high-speed type Full-step/Half-step P~ P Source input DCV/V Unipolar type Micro step specification P~ P PMM-MD-- PMM-MD-- Applicable motors PMM-MD-- PMM-MD-- Applicable motors PMM-MD-- PMM-MD-- Applicable motors Source input DCV/V Unipolar type Micro step specification P~ P Source input DCV/V Unipolar type Micro step specification P~ P Source input DCV/V Unipolar type Micro step specification P~ P

4 Pulse I/F (AC power input) -phase Stepping Driver PMM-BA-- ACV/V Bipolar type (Applicable motor rated current A/phase, A/phase) Micro-step ( X ~ divisions) (Smooth operation and low vibration even at low speeds.) Applicable motor PMM-BA-- ACV/V Bipolar high-speed type (Applicable motor rated current A/phase, A/phase) Micro-step ( X ~ divisions) (Smooth operation and low vibration even at low speeds.) Applicable motor ø ø Standard combined stepping motors PMM-BA-- Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia Mass(Weight) stepping motor Single shaft Double shaft [A/phase] [N m(oz in)] [x - kg m (oz in )] [kg(lbs)] H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) (.inch) H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) mm(.inch) H- H-.(.).(.).(.) Page Page mm (.inch) H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) Page For information about the general specifications and dimensions of each stepping motor, refer to its page. PMM-BA-- Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia Mass(Weight) stepping motor Single shaft Double shaft [A/phase] [N m(oz in)] [x - kg m (oz in )] [kg(lbs)] mm (.inch) ømm (.inch) H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) (.inch) H- H- (.) (.).(.) Page Page Page Page For information about the general specifications and dimensions of each stepping motor, refer to its page.

5 ø ø Specifications of PM Driver Item Input source Source current PMM-BA-- PMM-BA-- Single phase AC V/V+, -% /Hz A A PMM-BA- PMM-BA- Rated current A/phase (Changeable to A/phase, refer to Page ) A/phase (Changeable to A/phase, refer to Page) Basic specifications Environment Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Vibration resistance Impact resistance Withstand voltage Insulation resistance Mass(Weight) ~+ C -~+ C ~%RH (no condensation) ~%RH (no condensation).m/s Frequency range ~Hz, Direction: along X, Y and Z axes, for hours each. Considering the NDS-C- standard section.. division C, not influenced. Not influenced when ACV is applied between power input terminal and cabinet for one minute. MΩ MIN. when measured with DCV megohmmeter between input terminal and cabinet. kg(.lbs) kg(.lbs) PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- Function Protection function Selection, setting function Against PM driver overheat Pulse input mode selection-- DIP switches enables selection of Pulse and direction and -input mode Resolution setting-- Combination of two rotary switches enables divisions ranging from ~ resolution Micro step selection-- External signal input (S, SEL) enables selection of the DIP switch driven micro step or the rotary switch driven micro step. Power down, power low selection-- Current value of the stepping motor can be selected when power signal is input. PMM-MD- Automatic current down selection--- Automatic current down function can be selected. Driving current switch setting--- The rotary switch enables to set driving current of the stepping motor from rated current to % LED indicator Power supply monitor, phase origin monitor, pulse monitor, alarm monitor. Signal Name (Brevity code) Silk-screen printing CW pulse CW+ In the -input mode, inputs driving pulses to rotate in CW direction. Input signal (CW) CW- In the Pulse and direction mode, inputs driving pulse train to rotate the step motor rotation. (CK) Photo coupler input method, input resistance Ω Input signal voltage: H =. to.v, L = to.v MAX. input frequency:kpulse/s CCW pulse CCW+ In the -input mode, inputs driving pulses to rotate in CCW direction. Input signal (CCW) CCW- Pulse and direction In the pulse and direction mode, inputs rotation direction signals to the stepping motor. Internal photo coupleron: CW direction. (U/D) Internal photo coupleroff: CCW direction. I/O signals Power down PD + input signal PD - Photo coupler input method, input resistance Ω Input signal voltage: H =. to.v, L = to.v MAX. input frequency:kpulse/s Inputs PD signal to turn off the current that flows through the stepping motor. (Capable to change by the DIP switch to power low function.) (PD) PD input signal ON (Internal photo coupler ON): Power down function is enabled. PD input signal OFF (Internal photo coupler OFF): Power down function is disabled. Photo coupler input method, input resistance Ω, Input signal voltage: H =. to.v, L = to.v Step angle setting S.SEL+ Input S.SEL signal to select step angle setting method. selection input S.SEL- The open position determines to be the mode. (S.SEL) Internal photo coupler ON: Mode method step angle setting. (Internal rotary switch setting.) Internal photo coupler OFF: Mode method step angle setting. (Internal DIP switch setting.) Photo coupler input method, input resistance Ω Input signal voltage: H =. to.v, L = to.v Alarm AL Outputs signal when either alarm circuit is activated in the PM driver. output (AL) AL When this signal is generated, the stepping motor is made in the de-excited state. Relay contact output (at normal open), contact capacity: DCV,.A MAX. or ACV,.A MAX. The CW direction indicated above is the rotation direction of the stepping motor in clockwise as facing to the output shaft side (flange side). The CCW direction is the same in counter-clockwise.

6 Pulse I/F (AC power input) Operation, Connection, and Function Input circuit configuration (CW, CCW) --- PMM-BA-- and PMM-BA-- in common + +V Approx.mA Input signal R - Ω Photo coupler PM driver Pulse duty % MAX. When the crest value of the input signal is V, the external limit resistance R must be Ω 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 µs MIN.~.V % Rotation % ~.V % µs MAX. µs MAX. Timing of command pulse -input mode (CW, CCW) CW CCW µs MIN The internal photo coupler turns ON within the and, at its falling edge to OFF, the internal circuit (stepping motor) is activated. When applying the pulse to CW, turn OFF the CCW side internal photo coupler. When applying the pulse to CCW, turn OFF the CW side internal photo coupler. Pulse and direction mode (CK, U/D) CK The internal photo coupler turns ON within the and, at CK side falling edge to µs MIN OFF, the internal circuit (stepping motor) is activated. Switching of U/D input signal shall be made when CK side internal photo coupler is OFF. U/D Input circuit configuration (PD, S. SEL) --- PMM-BA-- and PMM-BA-- in common + +V Approx.mA Input signal Ω Photo coupler When the crest value of the input signal is V, the external limit resistance R must be Ω When the crest value of the input signal exceeds V, use the external limit resistance R to limit the input current to approximately ma. R - PM driver Output circuit configuration (AL) --- PMM-BA-- and PMM-BA-- in common Relay Alarm output signal Contact mode: Relay contact output (Normally open) Contact capacity: DCV,.A MAX. or ACV,.A MAX. Alarm output signal PM driver

7 ø ø Operation, Connection, and Function PM deriver component names and function selection/setting PMM-BA-- PMM-BA-- CW CCW PD S.SEL AL AC FG MOTOR ~ ~ PMM-BA- SWH SWL POWER MON PM AL A B C D ~ ~ EX EX F/R PD PL SL RUN STP AC/V O F F POWER MON PM AL AC/ V ~ ~ SWH FG SWL EX O FF EX F/R PD PL SL RUN STP PMM-BA- CW CCW PD S.SEL AL D MOTOR C B A PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- Monitor indication (POWER, MON, PM, AL) --- PMM-BA-- and PMM-BA-- in common Indication Color State POWER Green This LED illuminates when internal power supply is ON. MON Green This LED illuminates when exciting magnetic phase is at the origin (when power is ON). At the division (or. step) setting, illuminates once for every pulses. At the divisions (or. /step) setting, illuminates once for every pulses. Timing of MON indicator illumination (At the division) CW pulse CCW pulse MON PM Green This LED illuminates when input pulse is applied AL Red When the element temperature becomes C MIN, in the PM driver, heat protective alarm circuit for the internal elements is activated and this LED illuminates. As the alarm circuit is activated, the wire-wound current is shut and the stepping motor becomes in a de-excited state. Simultaneously, the alarm output relay is closed to generate the output signal. When the element temperature falls back to C MAX, the alarm is automatically released and the current flows into the stepping motor. When the alarm is ON, turn the main power OFF before the automatic recovery system works, and take measures to reduce heat generation such as forced cooling to the PM driver enclosure At mark, inside photo coupler ON MON illuminates. Function selection DIP switch pack (EX, EX, F/R, PD, PL, SL) --- PMM-BA-- and PMM-BA-- in common EX EX F/R PD PL SL ON ON ON ON ON OFF ON EX, EX (Step angle setting selection) Set the step angle (mode ) EX EX Step Angle OFF ON Basic step angle x / (. /pulse) ON ON Basic step angle x / (. /pulse) ON OFF Basic step angle x / (. /pulse) OFF OFF Basic step angle x / (. /pulse) F/R (Pulse-input mode selection) Select the pulse-input mode. F/R ON OFF Pulse-input mode -input mode (CW, CCW) Pulse and direction mode (CK, U/D) The factory setting is shown in the figure above. Turn off the power supply to the PM driver before changing DIP switch setting. PD, PL (Power-down and power-low selection) Select stepping motor current value when power down signal is input. SL (Auto current down selection) Select Auto current down function selection. SL Auto current down PD PL Stepping motor winding wire current ON Approx % of current rating when stopped OFF ON Sets current value by the stepping motor current controller (STP), when not operating. (Power down) ON OFF O/A (Power Off) The factory setting of the current value by the current adjustment controller (STP) is at about % of stepping motor current value on operation. Adjustment by customer is not supported. OFF % of current rating when stopped The temperature increase in the motor driver can be controlled by setting SL to On(approx.% of the rated current). The output torque when SL is On(approx. % of the rated current) is approx.% of the that when SL is Off (% of the rated current).

8 Pulse I/F (AC power input) Operation, Connection, and Function Step angle setting rotary switch (SWH, SWL) --- PMM-BA-- and PMM-BA-- in common Capable to set step angle by the rotary switches SWH and SWL (mode ). Fundamental Formula Step angle = n/n x Basic step angle of the stepping motor. n: Required division number setting (capable to set by the rotary switches). N: Basic division number (set at at the factory). Factory setting is. /pulse (set SWH at, SWL at C ). Step angle setting by the mode is effective by turning on the S.SEL input signal (internal photo coupler on). Setting method of the rotary switch. The rotary switches are of the hexadecimal code setting type. (Example) To drive the stepping motor with the basic step angle of. at the rate of stepping angle of... = n/ x. (n = (by decimal system) n : (by decimal system) equals to by hexadecimal system. Therefore,. /pulse is obtainable by setting the rotary switch SWH at, and SWL Operating-current selection switch (RUN) Select operating current value to stepping motor. PMM-BA-- Scale Stepping motor current (A/Phase) Scale A B C D E F Stepping motor current (A/Phase) PMM-BA-- Scale Stepping motor current (A/Phase) Scale A B C D E F Stepping motor current (A/Phase) The factory setting is. Select setting depending on applied motors. The factory setting is. Select setting depending on applied motors. Current adjustment controller during halt (STP) --- PMM-BA-- and PMM-BA-- in common Adjust current of stepping motor during halt in the range from rated current to % when automatic current reduction function is operating. Factory setting is set at % of rated current and customers controller (STP) adjustment is not supported. Terminal block (TB) --- PMM-BA-- and PMM-BA-- in common Connects I/O signals, single phase AC power supply, and the stepping motor power cord. External wiring diagram --- PMM-BA-- and PMM-BA-- in commonin common Note ) CW pulse input Note ) TB + CW Note ) CCW pulse input + CCW Power down input Step angle setting selection input Alarm output + PD + S.SEL AL A B C D Orange Blue Red Yellow M +% ACV/V % Frame grounding output ~ ~ FG Note ) Note ) Use twisted pair shielded cables. Note ) Capable to select by the function selection switch F/R for -input mode (CW and CCW input mode) or Pulse and direction mode (CK, U/D). Note ) Ground the flange of the stepping motor by fastening the grounding wire together with the mounting screw. The grounding shall be made at a single point.

9 O F F ø ø Dimensions [Unit:mm(inch)] PMM-BA-- (.) (.) MAX. (.) MAX. (.) PMM-BA- PMM-BA- PMM-BA- CW CCW PD S.SEL POWER MON PM AL EX EX E/R PD PL SL RUN SWH SWL MODEL PMM-BA-- SER NO. SANYO DENKI MADE IN JAPAN D+-B PMM-UA- PMM-UA- AL STP (.) AC FG MOTOR ~ ~ A B C D ~ AC/V ~ PMM-MD--/- PMM-MD--/- PMM-MD--/- (.) ±. (.±.) -Mx.(.)(Screw holes) (.) ±. PMM-MD- MAX. mm(.inch) (.±.) PMM-BA-- (.) (.) MAX. (.)MAX. (.) (.) MAX. POWER MON PM AL SWH SWL EX EX F/R PD PL SL O FF RUN STP PMM-BA- AC/ V Mounting direction and mounting position MAX. mm(.inch) ~ ~ FG CW CCW PD S.SEL AL MOTOR D C B A (.) (.) ±. (.±.) -Mx.(.) (Screw holes) ±. (.±.) (.) PMM-BA-- PMM-BA-- Mount the PM driver as it stands upright. Use the mounting holes in the bottom of the PM driver with M screws as shown in the figure. (No mounting hardware is required.) The length of the screws projecting inward the driver enclosure shall be shorter than mm(.inch).

10 Pulse I/F (AC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate -division is specified -division is specified PMM-BA-- H- V H- V division -division Number of rotations (min - ).. -division -division Number of rotations (min - ) Source voltage: ACV, Operating current:a/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV, Operating current:a/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V division -division Number of rotations (min - ) division -division Number of rotations (min - ) Source voltage: ACV, Operating current:a/phase Pull-Out torque [JL=.x - kg m (. oz in )Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV, Operating current:a/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V division -division Number of rotations (min - ) division -division Number of rotations (min - ) Source voltage: ACV, Operating current: A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV, Operating current: A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

11 ø ø Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics PMM-BA-- H- V division -division Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) fs: No load maximum starting pulse rate -division is specified -division is specified H- V division -division Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- PMM-BA-- H- V H- V division -division Number of rotations (min - ) division -division Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V.... -division -division Number of rotations (min - ). -division -division Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Uses rubber coupling] Source current (TL=MAX), Source current (TL=)

12 Pulse I/F (AC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate -division is specified -division is specified PMM-BA-- H- V H- V. -division -division Number of rotations (min - ). -division -division Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V. -division -division Number of rotations (min - ). -division -division Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Options Terminal board cover PMM-BA-- PMM-BA-- Model No. PM-AP- Model No. PM-AP- PM-AP-

13 ø ø PMM-MD- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-UA- PMM-UA- PMM-BA- PMM-BA-

14 Pulse I/F (AC power input) -phase Stepping Driver PMM-UA-- ACV Unipolar type (Applicable motor rated current.a/phase, A/phase) Full-step / Half-step ( x division) ( x division) Applicable motor ø PMM-UA-- ACV Unipolar high-speed type (Applicable motor rated current A/phase) Full-step / Half-step ( x division) ( x division) Applicable motor ø ø Standard combined stepping motors PMM-UA-- Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia Mass(Weight) stepping motor Single shaft Double shaft [A/phase] [N-m(oz in)] [x - kg m (oz in )] [kg(lbs)] H- H-..(.).(.).(.) mm H- H-..(.).(.).(.) (.inch) H- H-..(.).(.).(.) Page H- H-..(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) (.inch) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) (.inch) H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) (.inch) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) (.inch) Page H- H-.(.).(.).(.) For information about the general specifications and dimensions of each stepping motor, refer to its page. Page PMM-UA-- Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia Mass(Weight) stepping motor Single shaft Double shaft [A/phase] [N-m(oz in)] [x - kg m (oz in )] [kg(lbs)] ømm (.inch) H- H-.(.).(.).(.) H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) (.inch) H- H-.(.) (.).(.) Page For information about the general specifications and dimensions of each stepping motor, refer to its page. Page Page

15 ø ø Specifications of PM Driver Item Input source Source current PMM-UA-- PMM-UA-- Single phase AC V+,--% /Hz±Hz A A PMM-BA- PMM-BA- Rated current A/phase (Changeable to.a/phase, refer to Page ) A/phase I/O signals Function Basic specifications Environment Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Vibration resistance Impact resistance Withstand voltage Insulation resistance Mass(Weight) Protection function Selection, setting function LED indicator Signal Name (Brevity code) CW pulse Input signal (CW) CCW pulse Input signal (CCW) Silk-screen printing CW+ CCW+ CW- CCW- ~+ C -~+ C ~%RH (no condensation) ~%RH (no condensation).m/s Frequency range ~Hz, Direction: along X, Y and Z axes, for hours each. Considering the NDS-C- standard section.. division C, not influenced. Not influenced when AC V is applied between power input terminal and cabinet for one minute. MΩ MIN. when measured with DCV megohmmeter between input terminal and cabinet..kg(.lbs) kg(.lbs) Against PM driver overheat Exciting mode selection-- DIP switches enables selection of Full-step and Half-step mode. Automatic current down selection-- Automatic current down function can be selected. Driving current switch setting- DIP switch enables setting driving current of the Stepping Motor. PMM-UA A/phase,.A/phase,.A/phase,.A/phase, A/phase selections. PMM-UA A/phase, A/phase,.A/phase, A/phase, selections. Alarm monitor. Inputs driving pulses to rotate in CW direction. Photo coupler input method, input resistance Ω Input signal voltage: H =. to.v, L = to.v Maximum input frequency:kpulse/s Input driving pulses to rotate in CCW direction. Photo coupler input method, input resistance Ω Input signal voltage: H =. to.v, L = to.v Maximum input frequency:kpulse/s PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- Alarm AL Outputs signal when either alarm circuit is activated in the PM driver. output (AL) AL When this signal is generated, the stepping motor is made in the de-excited state. Photocoupler open collector output (at normal open), Output specification : Veco = VDC MAX. Ic = ma MAX. The CW direction indicated above is the rotation direction of the stepping motor in clockwise as facing to the output shaft side (flange side). The CCW direction is the same in counter-clockwise.

16 Pulse I/F (AC power input) Operation, Connection, and Function Input circuit configuration (CW, CCW) --- MM-UA-- and PMM-UA-- in common + +V Approx.mA Input signal R - Ω Photo coupler PM driver Pulse duty % MAX. When the crest value of the input signal is V, the external limit resistance R must be Ω. 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 µs MIN.~.V % Rotation % ~.V % µs MAX. µs MAX. Timing of the command pulse -input mode (CW, CCW) CW CCW µs MIN The internal photo coupler turns ON within the and, at its falling edge to OFF, the internal circuit (stepping motor) is activated. When applying the pulse to CW, turn OFF the CCW side internal photo coupler. When applying the pulse to CCW, turn OFF the CW side internal photo coupler. Output circuit configuration (AL) --- PMM-UA-- and PMM-UA-- in common MAX. ma Photocoupler Alarm output signal Contact mode: Photocoupler open collector output Contact capacity: V DC ma MAX. Alarm output signal MAX. V PM driver

17 ø ø Operation, Connection, and Function PM deriver component names PMM-UA-- PMM-UA-- PMM-BA- PMM-BA- PMM-UA - + CW - + CCW - AL COM A B C D PMM-UA- + CW - + CCW - AL COM COM A MOTOR B C D FG use proper grounding technigues. PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- ~ AC ~ PM driver mounting screw (For frame grounding output) ~ AC ~! WARNING May Cause electric shock. Monitor indication (AL) --- PMM-UA-- and PMM-BA-- in common Indication Color State AL Red When the element temperature becomes C MIN, in the PM driver, heat protective alarm circuit for the internal elements is activated and this LED illuminates.as the alarm circuit is activated, the operating current is shut and the stepping motor becomes in a de-excited state. Simultaneously, the alarm output relay is closed to generate the output signal. When the element temperature falls back to C MAX, the alarm is automatically released and the current flows into the stepping motor. When the alarm is ON, turn the main power OFF before the automatic recovery system works, and take measures to reduce heat generation such as forced cooling to the PM driver enclosure Function selection DIP switch pack (OH, IS, IS, IS, SL,EX) PMM-UA-- OH IS IS IS SL EX ON ON OFF OFF OFF ON ON The factory setting is shown in the figure above. Turn off the power supply to the PM driver before changing DIP switch setting. OH (OH selection) This switch is not used. Do not set it to OFF. SL (Auto current down selection) Select for the automatic current reduction. SL Auto current down ON Approx % of current rating when stopped OFF % of current rating when stopped The temperature increase in the motor driver can be controlled by setting SL to On(approx.% of the rated current). The output torque when SL is On(approx. % of the rated current) is approx.% of the that when SL is Off (% of the rated current). IS, IS, IS (Operating current selection) *When excited for single phase: IS IS IS Wire-wound current (*) OFF OFF OFF A/phase ON OFF OFF.A/phase OFF ON OFF.A/phase OFF OFF ON.A/phase ON OFF ON.A/phase The operating current reduces to % for the -phase exciting. EX (Exciting mode selection) Select exciting mode. EX ON OFF Exciting mode Half step (. /pulse) Full step (. /pulse)

18 Pulse I/F (AC power input) Operation, Connection, and Function PMM-UA-- OH IS IS IS SL EX ON ON OFF ON OFF ON ON The factory setting is shown in the figure above. Turn off the power supply to the PM driver before changing DIP switch setting. OH (OH selection) This switch is not used. Do not set it to OFF. SL (Auto current down selection) Select for the automatic current reduction. SL ON OFF Auto current down Approx % of current rating when stopped % of current rating when stopped The temperature increase in the motor driver can be controlled by setting SL to On(approx.% of the rated current). The output torque when SL is On(approx. % of the rated current) is approx.% of the that when SL is Off (% of the rated current). IS, IS, IS (Operating current selection) *When excited for single phase: IS IS IS Wire-wound current (*) OFF OFF OFF A/phase ON OFF OFF.A/phase OFF ON OFF A/phase OFF OFF ON.A/phase The operating current reduces to % for the -phase exciting. EX (Exciting mode selection) Select exciting mode. EX ON OFF Exciting mode Half step (. /pulse) Full step (. /pulse) Terminal block (TB) --- PMM-UA-- and PMM-BA-- in common Connects I/O signals, single phase AC power supply, and the stepping motor power cord. External wiring diagram PMM-UA-- TB CW pulse input CCW pulse input Alarm output ACV +% -% Frame ground output Note ) Note ) + CW + CCW AL ~ ~ COM A B C D PM driver mounting screw White Black Orange Blue Red Yellow M Note ) Note ) Use twist pair shielded cables. Note ) Ground the flange of the stepping motor by fastening the grounding wire together with its mounting screw. The grounding shall be made at a single point. Note ) Make grounding by the stepping motor mounting screw share for mounting the PM driver. The grounding shall be made at a single point. PMM-UA-- TB CW pulse input CCW pulse input Alarm output ACV +% -% Frame ground output Note ) + CW + CCW AL ~ ~ FG COM COM A B C D White Black Orange Blue Red Yellow M Note ) Note ) Use twist pair shielded cables. Note ) Ground the flange of the stepping motor by fastening the grounding wire together with its mounting screw. The grounding shall be made at a single point.

19 technigues. May Cause electric shock. ø ø Dimensions [Unit:mm(inch)] PMM-UA-- (.) (.) MAX. (.) MAX. (.) PMM-BA- PMM-BA- PMM-UA - + CW - + CCW - AL COM (.) PMM-UA- PMM-UA- A B C D ~ AC ~ PMM-MD--/- PMM-MD--/- PMM-MD--/- (.) ±. (.±.) -Mx.(.) (Screw holes) (.) ±. (.±.) PMM-MD- PMM-UA-- (.) (.) MAX. (.) MAX. (.) PMM-UA- + CW - + CCW - AL COM COM (.) A B MOTOR C D FG use proper grounding ~ AC ~! WARNING (.) ±. (.±.) (.) ±. (.±.) (.) -Mx.(.) (Screw holes) Mounting direction and mounting position [Unit:mm(inch)] PMM-UA-- PMM-UA-- MAX. mm(.inch) MAX. mm(.inch) Mount the PM driver as it stands upright. Use the mounting holes in the bottom of the PM driver with M screws as shown in the figure. (No mounting hardware is required.) The length of the screws projecting inward the driver enclosure shall be shorter than mm(.inch).

20 Pulse I/F (AC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. Full-step Half-step PMM-UA-- H- V H- V..... Full-step Half-step Number of rotations (min - ) Full-step Half-step Number of rotations (min - ) Source voltage: ACV,Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in )Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V Full-step Half-step Number of rotations (min - ).... Full-step Half-step Number of rotations (min - ) Source voltage: ACV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V Full-step Half-step Number of rotations (min - ).... Full-step Half-step Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

21 ø ø Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics PMM-UA-- H- V Full-step Half-step Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in )Use the rubber coupling] Source current (TL=MAX), Source current (TL=) fs: No load maximum starting pulse rate. Full-step Half-step H- V Full-step Half-step Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in )Use the rubber coupling] Source current (TL=MAX), Source current (TL=) PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- H- V H- V..... Full-step Half-step Number of rotations (min - )..... Full-step Half-step Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V..... Full-step Half-step Number of rotations (min - )..... Full-step Half-step Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in )Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

22 Pulse I/F (AC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. Full-step Half-step PMM-UA-- H- V H- V..... Full-step Half-step Number of rotations (min - )..... Full-step Half-step Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V..... Full-step Half-step Number of rotations (min - ). Full-step Half-step Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) PMM-UA-- H- V. Full-step Half-step Number of rotations (min - )..... Full-step Half-step Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

23 ø ø Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. Full-step Half-step PMM-UA-- H- V H- V. Full-step Half-step Number of rotations (min - ). Full-step Half-step Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in )Use the rubber coupling] Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source current (TL=MAX), Source current (TL=) PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- H- V H- V. Full-step Half-step Number of rotations (min - ). Full-step Half-step Number of rotations (min - ) Source voltage: ACV, Operating current : A/phase Pull-Out torque [JL=x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: ACV,Operating current A/phase Pull-Out torque [JL=x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Options Terminal board cover PMM-UA-- PMM-UA-- Model No. PM-AP- Model No. PM-AP-

24 Pulse I/F (DC power input) -phase Stepping Driver DCV/V Unipolar type (Applicable motor rated current.a/phase, A/phase) Micro-step ( X ~ divisions) (Smooth operation and low vibration even at low speeds.) PMM-MD-- (Photo coupler input method) PMM-MD-- (CMOS input method) Applicable motor PMM-MD-- (Photo coupler input method) PMM-MD-- (CMOS input method) Applicable motor PMM-MD-- (Photo coupler input method) PMM-MD-- (CMOS input method) Applicable motor ø Standard combined stepping motors PMM-MD--,PMM-MD-- Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia Mass(Weight) stepping motor Single shaft Double shaft [A/phase] [N m(oz in)] [x - kg m (oz in )] [kg(lbs)] Page mm(.inch) H- H-.(.).(.).(.) Page PMM-MD--,PMM-MD-- Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia Mass(Weight) stepping motor Single shaft Double shaft [A/phase] [N m(oz in)] [x - kg m (oz in )] [kg(lbs)] Page SH-U SH-U..(.).(.).(.) mm SH-U SH-U..(.).(.).(.) Page SH-U SH-U..(.).(.).(.) H- H-..(.).(.).(.) mm H- H-..(.).(.).(.) (.inch) H- H-..(.).(.).(.) Page H- H-..(.).(.).(.) PMM-MD--,PMM-MD-- Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia Mass(Weight) stepping motor Single shaft Double shaft [A/phase] [N m(oz in)] [x - kg m (oz in )] [kg(lbs)] H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) (.inch) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) (.inch) H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) (.inch) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) ømm H- H-.(.).(.).(.) (.inch) Page H- H-.(.).(.).(.) For information about the general specifications and dimensions of each stepping motor, refer to its page. Page

25 ø Specifications of PM Driver Basic specifications Environment Function Item Main power Input source Control power Getaway Main power torque Control power Rated current Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Vibration resistance Impact resistance Withstand voltage Insulation resistance Mass(Weight) Selection, setting function Signal Name (Brevity code) CW pulse Input signal (CW) Pin No. (CN) Photo coupler input method CMOS input method PMM-MD- - Photo coupler input method PMM-MD- - PMM-MD- - PMM-MD- - DCV/V±% DCV±% A A A A A A A A/phase.A/phase A/phase A/phase.A/phase A/phase ~+ C - ~+ C ~% RH (no condensation) ~% RH (no condensation).m/s Frequency range ~Hz, Direction: along X,Y and Z axes, for hours each. Considering the NDS-C- standard section.. division C, not influenced. Not influenced when ACV is applied between power input terminal and cabinet for one minute. MΩ MIN. when measured with DCV megohmmeter between input terminal and cabinet..kg(.lbs) Pulse input mode selection-- DIP switches enables selection of Pulse and direction and -input mode. Resolution setting-- DIP switches enables divisions ranging from ~ resolution. Power down --- External signal input enables to turn off the current that flows through the stepping motor. Automatic current down selection-- Automatic current down function can be selected. Resolution selection--- External signal input enables to select division (Full-step) and divisions (Half-step) (Resolution selection function is only for photo coupler input method type) In the -input mode, inputs driving pulses to rotate in CW direction. CMOS input method PMM-MD- - PMM-MD- - PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- (CK) In the Pulse and direction mode, inputs driving pulse train to rotate the step motor rotation. Photo coupler input method, input resistance Ω CMOS input method Input signal voltage: H =. to.v, L = to.v Input signal voltage: H =. to.v, L = to.v Maximum input frequency:kpulse/s Maximum input frequency:kpulse/s. CCW pulse Input signal (CCW) In the -input mode, inputs driving pulses to rotate in CCW direction. I/O signals (U/D) Power down input signal (PD) Step angle selection input (S. SEL) Phase origin monitor output signal (MON) In the Pulse and direction mode, inputs rotation direction signals to the stepping motor. Internal photo coupler ON (CMOS type: H level:) --- CW direction Internal photo coupler OFF (CMOS type: "L" level)--- CCW direction. Photo coupler input method, input resistance Ω CMOS input method Input signal voltage: H =. to.v, L = to.v Input signal voltage: H =. to.v, L = to.v Maximum input frequency:kpulse/s Maximum input frequency:kpulse/s. Inputs PD signal to turn off the current that flows through the stepping motor. Internal photo coupler ON (CMOS type: L level input) --- Power down function is enabled. Photo coupler input method, input resistance Ω CMOS input method Input signal voltage: H =. to.v, L = to.v Input signal voltage: H =. to.v, L = to.v By the input S or SEL signal, the step angle of full-step or half-step is selected. H level: --- Half-step L level --- Full-step CMOS input method Input signal voltage: H =. to.v, L = to.v Indicates ON when the exciting phase is at the origin position. In the full-step, outputs once for every pulses. In the half-step, outputs once for every pulse From the photo coupler by the open collector output (ON at the phase origin). From the transistor by the open collector output (ON at the phase origin). Output specification: Vceo=V MAX. Ic=mA MAX. Output specification: Vceo=V MAX. Ic=mA MAX. Stepping motor rotation in the CW direction means clockwise rotation when facing the output shaft (the flange side) of the stepping motor. CCW direction means counterclockwise rotation when facing the same side. Set the DIP switch as follows when using the step angle selection function by signal input. EX EX EX OFF ON ON When the half-step is selected by the step angle selection signal, its torque ought to be % of that for the full-step.

26 Pulse I/F (DC power input) Operation, Connection, and Function PMM-MD--(Photo coupler input method) PMM-MD--(Photo coupler input method) PMM-MD--(Photo coupler input method) Input circuit configuration (CW, CCW) PMM-MD--(CMOS input method) PMM-MD--(CMOS input method) PMM-MD--(CMOS input method) Input circuit configuration (CW, CCW) +V () Ω Photo coupler Input signal () kω CMOS Input signal Approx.mA R () PM driver Controller G G kω G PM driver Pulse duty % MAX. When the crest value of the input signal is V, the external limit resistance R must be Ω. 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 Pulse duty % MAX. Input signal specifications µs MIN..~.V µs MIN. %.~.V % Rotation % % Rotation ~.V % ~.V % µs MAX. µs MAX. µs MAX. µs MAX. Timing of command pulse -input mode (CW, CCW) Timing of command pulse -input mode (CW, CCW) CW CW CCW CCW µs MIN. µs MIN. The internal photo coupler turns ON within the and, at its rising edge to ON, the internal circuit (stepping motor) is activated. When applying the pulse to CW, turn OFF the CCW side internal photo coupler. When applying the pulse to CCW, turn OFF the CW side internal photo coupler. The H level is input at and, at its rising edge to H level, the internal circuit (stepping motor) is activated. When applying the pulse to CW, turn OFF the CCW side internal photo coupler. When applying the pulse to CCW, turn OFF the CW side internal photo coupler. Pulse and direction mode (CK,U/D) Pulse and direction mode (CK,U/D) CK CK µs MIN. µs MIN. U/D The internal photo coupler turns ON within the and, at the rising edge to ON of the CK photo coupler, the internal circuit (stepping motor) is activated. Switching the input signal U/D shall be performed while the internal photo coupler on the CK side is OFF. U/D The "H" level is input for and, at its rising edge to H level, the internal circuit (stepping motor) is activated. Switching the input signal U/D should be performed while the input level on the CK side is L.

27 ø Operation, Connection, and Function PMM-MD--(Photo coupler input method) PMM-MD--(Photo coupler input method) PMM-MD--(Photo coupler input method) Input circuit configuration (PD) +V Input signal Approx.mA R Ω Photo coupler PM driver When the crest value of the input signal is V, the external limit resistance R must be Ω. When the crest value of the input signal exceeds V, use the external limit resistance R to limit the input current to approximately ma. Output circuit configuration (MON) PMM-MD--(CMOS input method) PMM-MD--(CMOS input method) PMM-MD--(CMOS input method) Input circuit configuration (PD, S, SEL) kω V () Input signal CMOS kω Controller G G G PM driver Output circuit configuration (MON) PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- MAX. ma Photo coupler MAX. ma Transistor Phase origin monitor output signal MAX. V Phase origin monitor output signal MAX. V PM driver G G PM driver Phase origin monitor output signal Contact mode: Open collector output of the photo coupler Contact capacity: DCV ma MAX. Phase origin monitor output signal Contact mode: Open collector output by the transistor Contact capacity: DCV ma MAX. Timing of MON output (in -division setting) Timing of MON output (in -division setting) CW pulse CCW pulse MON output CW pulse CCW pulse MON output The internal photo coupler or transistor turns ON at. The internal photo coupler or transistor turns ON at.

28 Pulse I/F (DC power input) Operation, Connection, and Function PM deriver component names PMM-MD--(Photo coupler input method) PMM-MD--(Photo coupler input method) PMM-MD--(Photo coupler input method) PMM-MD--(CMOS input method) PMM-MD--(CMOS input method) PMM-MD--(CMOS input method) DWS CH SL IS OV V SL F/R EX EX EX DWS CH SL IS OV V SL F/R EX EX EX CN CN VRI CNA CN VRI CNB Function selection DIP switch pack --- All models in common ON SL ON F/R EX EX EX ON OFF ON OFF The factory setting is shown in the figure above. Turn off the power supply to the PM driver before changing DIP switch setting. SL (Auto current down selection) Select Auto current down function selection. SL ON OFF Auto current down Approx % of current rating when stopped % of current rating when stopped The temperature increase in the motor driver can be controlled by setting SL to On(approx.% of the rated current). The output torque when SL is On(approx. % of the rated current) is approx.% of the that when SL is Off (% of the rated current). F/R (Pulse-input method selection) Select the pulse-input method. F/R Pulse-input mode ON -input mode (CW, CCW) OFF Pulse and direction mode (CK, U/D) EX, EX, EX (Step angle setting selection) Enables selection of division numbers of basic step angles when micro step is driven. EX EX EX Number of divisions ON ON ON (Full step) OFF ON OFF (Half step) ON OFF OFF OFF OFF OFF Operating-current adjustment controller (VR) --- All models in common The controller is to adjust operating-current of the stepping motor. The factory setting is at the rated current of standard combined stepping motor. Connector (CN) --- All models in common Connects motor power line Connector (CNA) --- Photo coupler input method Connects I/O line Connector (CN) --- Photo coupler input method Connects DC power line Connector (CNB) --- CMOS input method Connect I/O line and DC power line

29 ø Operation, Connection, and Function External wiring diagram PMM-MD--(Photo coupler input method) PMM-MD--(Photo coupler input method) PMM-MD--(Photo coupler input method) DCV/V DCG/G Note ) CW pulse input Note ) CCW pulse input Power down input Phase origin monitor output Note ) CN CNA CN Note ) When motor output is lead wire type White Black Orange Blue M Red Yellow Note ) When motor output is connector type CN CN Connector M Connector M PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- Connectors used PM Diver side Use Model number For I/O signal -AG (CNA) For stepping motor -A (CN) Corresponding connector model number Corresponding housing: - Corresponding contact: PBG Corresponding housing: - Corresponding contact: PBT Maker Molex Molex CN Connector M For DC power source (CN) -A Corresponding housing: - Corresponding contact: PBT Molex For the applicable connector, the client is requested to procure or place orders with us from the optional connector sets or the connector cables we offer. (Refer to the page.) PMM-MD--(CMOS input method) PMM-MD--(CMOS input method) PMM-MD--(CMOS input method) DC/V DC/G DCV DCG Note ) CW pulse input Note ) CCW pulse input Power down input Step angle selection input Phase origin monitor output Note ) NC CNB CN Note ) When motor output is lead wire type White Black Orange Blue M Red Yellow Note ) When motor output is connector type CN CN Connector M Connector M Connectors used PM Diver side Use Model number For DC power source and I/O signals (CNB) For stepping motor (CN) -AG -A Corresponding connector model number Corresponding housing: - Corresponding contact: PBG Corresponding housing: - Corresponding contact: PBT For the applicable connector, the client is requested to procure or place orders with us from the optional connector sets or the connector cables we offer. (Refer to the page.) Note ) Use twist pair shielded cables. Note ) Selection is possible between -input mode (CW, CCW) and Pulse and direction mode (CK, U/D) by the function selection switch F/R. Note ) Motor output of stepping motor models H, H, H are connector type. Motor side pin number and driver side connector(cn) pin number is not match. So please be careful when connecting. Maker Molex Molex CN Connector M

30 Pulse I/F (DC power input) Dimensions [Unit:mm(inch)] PMM-MD--(Photo coupler input method) PMM-MD--(Photo coupler input method) PMM-MD--(Photo coupler input method) (.) (.) (.) (.) (.) (.) DSW SL F/R EX EX EX CH SL (.). (.) IS OV V CN CN VRI CNA. (.) -ø(-ø.) Screw holes PMM-MD--(CMOS input method) PMM-MD--(CMOS input method) PMM-MD--(CMOS input method) (.) (.) (.) (.) (.) (.) (.) DWS CH SL IS OV V. (.) SL F/R EX EX EX CN. (.) VRI CNB -ø(-ø.) Screw holes Mounting direction and mounting position M Install the PM driver vertically. As shown in the figure, fix the PM driver by using the M screws through two fitting holes (- ) on the bottom surface of PM driver(no fitting metals are necessary).

31 ø Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics PMM-MD-- PMM-MD-- H- V division -division Number of rotations (min - ) Source voltage: DCV, Operating current :A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) fs: No load maximum starting pulse rate. -division is specified -division is specified H- V division -division Number of rotations (min - ) Source voltage: DCV, Operating current :A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- PMM-MD-- PMM-MD-- SH-U V SH-U V division -division Number of rotations (min - )... -division -division Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current :.A/phase -phase energization (full-step) Pull-Out torque [JL=.x - kg m (. oz in )Use the rubber coupling] Source current (TL=MAX), Source current (TL=) SH-U V SH-U V division -division Number of rotations (min - )... -division -division Number of rotations (min - ) Source voltage: DCV, Operating current :.A/phase -phase energization (full-step) Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current :.A/phase -phase energization (full-step) Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

32 Pulse I/F (DC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. -division is specified -division is specified PMM-MD-- PMM-MD-- SH-U V SH-U V division -division Number of rotations (min - ).. -division -division Number of rotations (min - ) Source voltage: DCV, Operating current :.A/phase -phase energization (full-step) Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current :.A/phase -phase energization (full-step) Pull-Out torque [JL=.x - kg m (. oz in )Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V division -division Number of rotations (min - ).... -division -division Number of rotations (min - ) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V division -division Number of rotations (min - ).... -division -division Number of rotations (min - ) Source voltage: DCV, Operating current:.a/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

33 ø Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics PMM-MD-- PMM-MD-- H- V division -division Number of rotations (min - ) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) fs: No load maximum starting pulse rate. -division is specified -division is specified H- V division -division Number of rotations (min - ) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- H- V H- V division -division Number of rotations (min - ).... -division -division Number of rotations (min - ) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) PMM-MD-- PMM-MD-- H- V Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V division -division Number of rotations (min - ).... -division -division Number of rotations (min - ) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

34 Pulse I/F (DC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. -division is specified -division is specified PMM-MD-- PMM-MD-- H- V H- V division -division Number of rotations (min - ) division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in )Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V..... fs fs. -division -division Number of rotations (min - ) division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V division -division Number of rotations (min - ).... -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

35 ø Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics PMM-MD-- PMM-MD-- H- V division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) fs: No load maximum starting pulse rate. -division is specified -division is specified H- V division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- H- V H- V division -division Number of rotations (min - ).. -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V division -division Number of rotations (min - ).. -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

36 Pulse I/F (DC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. -division is specified -division is specified PMM-MD-- PMM-MD-- H- V H- V division -division Number of rotations (min - ) division -division Number of rotations (min - ) Source voltage: DCV, Operating current A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V division -division Number of rotations (min - ).. -division -division Number of rotations (min - ) Source voltage: DCV,Operating current A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V. -division -division Number of rotations (min - ). -division -division Number of rotations (min - ) Source voltage: DCV, Operating current A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

37 ø Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics PMM-MD-- PMM-MD-- H- V. -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) fs: No load maximum starting pulse rate. -division is specified -division is specified H- V. -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- H- V H- V. -division -division Number of rotations (min - ). -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V. -division -division Number of rotations (min - ). -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

38 Pulse I/F (DC power input) Pulse OptionRate-Torque Characteristics/Pulse Rate-Power Current Characteristics Connector set PMM-MD-- (Photo coupler input method) Model PM-AP- PM-AP- PM-AP- Used for Contents of set Quantity Manufacturer Applicable housing:- Applicable housing:- Applicable contact:pbgl Applicable contact:pbtl Molex Molex Applicable housing:phr- Applicable contact:sph-t-p.s J.S.T. MFG. CO., LTD. Applicable housing:- Applicable contact:pbtl Molex I/O signal (CNA) Stepping motor (CN) DC power supply (CN) Applicable wire size AWG~ AWG~ AWG~ Crimp tool number JHTRA JHTRJ JHTRA JHTRJ YRS- JHTR PMM-MD-- (CMOS input method) Model Used for Contents of set Quantity Manufacturer Applicable wire size Crimp tool number PM-AP- Power supply Applicable housing:- JHTRA Molex AWG~ I/O signal (CNB) Applicable contact:pbgl JHTRJ PM-AP- Applicable housing:- JHTRA Molex Stepping motor Applicable contact:pbtl JHTRJ AWG~ (CN) Applicable housing:phr- J.S.T. MFG. YRS- Applicable contact:sph-t-p.s CO.,LTD PMM-MD-- (Photo coupler input method) Model Used for Contents of set Quantity Manufacturer Applicable wire size Crimp tool number PM-AP- I/O signal Applicable housing:- JHTRA Molex AWG~ (CNA) Applicable contact:pbgl JHTRJ PM-AP- Applicable housing:- JHTRA Molex Stepping motor Applicable contact:pbtl JHTRJ AWG~ (CN) Applicable housing:ehr- J.S.T. MFG. YRS- Applicable contact:seh-t-p. CO., LTD. PM-AP- DC Power supply Applicable housing:- (CN) Applicable contact:pbtl Molex AWG~ JHTR PMM-MD-- (CMOS input method) Model Used for Contents of set Quantity Manufacturer Applicable wire size Crimp tool number PM-AP- Power supply Applicable housing:- JHTRA Molex AWG~ I/O signal (CNB) Applicable contact:pbgl JHTRJ PM-AP- Applicable housing:- JHTRA Molex Stepping motor Applicable contact:pbtl JHTRJ AWG~ (CN) Applicable housing:ehr- J.S.T. MFG. YRS- Applicable contact:seh-t-p. CO., LTD. PMM-MD-- (Photo coupler input method) Model Used for Contents of set Quantity Manufacturer Applicable wire size Crimp tool number PM-AP- I/O signal Applicable housing:- JHTRA Molex AWG~ (CNA) Applicable contact:pbgl JHTRJ Applicable housing:- Molex JHTRA PM-AP- Applicable contact:pbtl AWG H type Stepping motor Applicable housing:vhr-n J.S.T. MFG. (CN) Applicable contact:svh-t-p. CO., LTD. YC-R PM-AP- Applicable housing:- Molex AWG JHTRA Other types Applicable contact:pbtl DC Power supply Applicable housing:- PM-AP- AWG~ JHTR (CN) Molex Applicable contact:pbtl PMM-MD-- (CMOS input method) Model Used for Contents of set Quantity Manufacturer Applicable wire size Crimp tool number Applicable housing:- PM-AP- Power supply I/O JHTRA Molex AWG~ signal (CNB) Applicable contact:pbgl JHTRJ Applicable housing:- Molex AWG JHTRA PM-AP- Applicable contact:pbtl H type Stepping motor Applicable housing:vhr-n J.S.T. MFG. AWG YC-R (CN) Applicable contact:svh-t-p. CO., LTD. PM-AP- Applicable housing:- Molex AWG JHTRA Other types Applicable contact:pbtl

39 ø Option Connector cable PMM-MD-- (Photo coupler input method) PMM-MD-- (Photo coupler input method) PMM-MD-- (Photo coupler input method) PMM-BA- PMM-BA- Model PM-CS- PM-CP- PM CM Used for I/O signal (CNA) connector cable DC power supply (CN) connector cable Stepping motor (CN) connector cable PMM-UA- PMM-UA- PMM-MD-- (CMOS input method) PMM-MD-- (CMOS input method) PMM-MD-- (CMOS input method) Model PM-CT- PM-CM- is,, or. (Refer to separate table.) Used for DC power supply, I /O signal(cnb) connector cable Stepping motor (CN) connector cable The connector cables consist of each interface connector with a m cable assembled. PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- Model No. of stepping motor cable (Separate Table ) Serial No. Stepping motor model No. Serial No. Stepping motor model No. H- H- H- H- H- H- H- H- H- H- H- H- H- H- H- H- H- H- Cable (Power source cable) Driver side Pin No. Color Black White ULAWG V, C Model of cable PM-CP- Length m(.inch) m (.inch) Cable (Power source, signal cable) Driver side Pin No. Color White Black White Black Blue m (.inch) ULAWG V, C Model of cable PM-CT- Length m(.inch)

40 Pulse I/F (DC power input) Option Cable (Signal cable) Driver side Pin No. Color Blue m (.inch) ULAWG V, C Model of cable Length PM-CS- m(.inch) Cable (Stepping motor extension cable) Driver side Pin No. Color White Black Orange Blue Red Yellow ULAWG V, C m (.inch) Model of cable Length PM-CM- m(.inch) Applicable stepping motor Cable (Stepping motor extension cable) Driver side Pin No. Color White Black Orange Blue Red Yellow ULAWG V, C m (.inch) Stepping motor side Pin No. Color White Orange Blue Red Yellow Black Model of cable PM-CM- Length m(.inch) Applicable stepping motor Cable (Stepping motor extension cable) Driver side Pin No. Color White Black Orange Blue Red Yellow ULAWG V, C m (.inch) Stepping motor side Pin No. Color Black Blue Yellow Orange Red White Model of cable Length PM-CM- m(.inch) Applicable stepping motor Cable (Stepping motor extension cable) Driver side Pin No. Color White Black Orange Blue Red Yellow ULAWG V, C m (.inch) Stepping motor side Pin No. Color White Orange Blue Yellow Red Black Model of cable Length PM-CM- m(.inch) Applicable stepping motor

41 ø PMM-MD- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-UA- PMM-UA- PMM-BA- PMM-BA-

42 Pulse I/F (DC power input) -phase Stepping Driver PMM-MD-- DCV/V Unipolar type (Applicable motor rated current.a/phase, A/phase) Micro-step ( X ~ divisions) (Smooth operation and low vibration even at low speeds.) Applicable motor ø Standard combined stepping motors Dimensions of Stepping motor model number Rated current Holding torque Rotor inertia Mass(Weight) stepping motor Single shaft Double shaft [A/phase] [N m(oz in)] [x - kg m (oz in )] [kg(lbs)] H- H-..(.).(.).(.) mm H- H-..(.).(.).(.) H- H-..(.).(.).(.) Page H- H-..(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) H- H-.(.).(.).(.) mm H- H-.(.).(.).(.) H- H-.(.).(.).(.) Page ømm H- H-.(.).(.).(.) H- H-.(.).(.).(.) Page H- H-.(.).(.).(.) For information about the general specifications and dimensions of each stepping motor, refer to its page. Page

43 ø Specifications of PM Driver Basic specifications Environment Function I/O signals Item Input source Source current Rated current Operating ambient temperature Conservation temperature Operating ambient humidity Conservation humidity Vibration resistance Impact resistance Withstand voltage Insulation resistance Mass(Weight) Selection, setting function Signal Name (Brevity code) CW pulse Input signal (CW) (CK) CCW pulse Input signal (CCW) (U/D) Step angle setting selection input (S. SEL) Power down input signal (PD) Pin No. (CN) PMM-MD-- DCV/V±% A A/phase (Changeable to.a/phase, refer to Page ) ~+ C -~+ C ~% RH (no condensation) ~% RH (no condensation).m/s Frequency range ~Hz, Direction: along X,Y and Z axes, for hours each. Considering the NDS-C- standard section.. division C, not influenced. Not influenced when ACV is applied between power input terminal and cabinet for one minute. MΩ MIN. measured with DCV megohmmeter between input terminal and cabinet..kg(.lbs) Pulse input mode selection-- DIP switches enables selection of Pulse and direction and -input mode. Resolution setting-- Rotary switches enables divisions ranging from ~ resolutions. Power down --- External signal input enables to turn off the current that flows through the stepping motor. Automatic current down selection-- Automatic current down function can be selected. Resolution selection--- External signal input enables to select resolutions. Driving current switch setting--- The rotary switch enables to set driving current of the stepping motor from rated current to %. In the -input mode, inputs driving pulses to rotate in CW direction. In the Pulse and direction mode, inputs driving pulse train to rotate the step motor rotation. Photo coupler input method, input resistance Ω Input signal voltage: H =. to.v, L = to.v Maximum input frequency:kpulse/s In the -input mode, inputs driving pulses to rotate in CCW direction. In the Pulse and direction mode, inputs rotation direction signals to the stepping motor. Internal photo coupler ON (CMOS type: H level:) --- CW direction Internal photo coupler OFF (CMOS type: L level)--- CCW direction. Photo coupler input method, input resistance Ω Input signal voltage: H =. to.v, L = to.v Maximum input frequency:kpulse/s Input S.SEL signal to select step angle selection rotary switch (S.SEL). S.SEL input signal ON (Internal photo coupler ON) --- SEL setting is enabled. S.SEL input signal OFF (Internal photo coupler OFF) --- SEL setting is enabled. Photo coupler input method, input resistance Ω Input signal voltage: H =. to.v, L = to.v Inputs PD signal to turn off the current that flows through the stepping motor. PD input signal ON (Internal photo coupler ON) --- Power down functrion is enabled. PD input signal OFF (Internal photo coupler OFF) --- Power down function is disabled. Photo coupler input method, input resistance Ω PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- Stepping motor rotation in the CW direction means clockwise rotation when facing the output shaft (the flange side) of the stepping motor. CCW direction means counterclockwise rotation when facing the same side.

44 Pulse I/F (DC power input) Operation, Connection, and Function Input circuit configuration (CW, CCW) +V Approx.mA Input signal R () () Ω Photo coupler PM driver Pulse duty % MAX. When the crest value of the input signal is V, the external limit resistance R must be Ω 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 µs MIN..~.V % % Rotation ~.V % µs MAX. µs MAX. Timing of command pulse -input mode (CW, CCW) CW CCW µs MIN. The internal photo coupler turns ON within the and, at its rising edge to ON, the internal circuit (stepping motor) is activated. When applying the pulse to CW, turn OFF the CCW side internal photo coupler. When applying the pulse to CCW, turn OFF the CW side internal photo coupler. Pulse and direction mode (CK,U/D) CK The internal photo coupler turns ON within the and, at the rising edge to ON µs MIN. of the CK photo coupler, the internal circuit (stepping motor) is activated. Switching the input signal U/D shall be performed while the internal photo coupler on the CK side is OFF. U/D Input circuit configuration (PD, S, SEL) () +V Approx.mA Input signal Ω Photo coupler When the crest value of the input signal is V, the external limit resistance R must be Ω When the crest value of the input signal exceeds V, use the external limit resistance R to limit the input current to approximately ma. R () PM driver

45 ø Operation, Connection, and Function PM deriver component names PMM-BA- PMM-BA- CH PWM IL VCC OV S.SEL RUN FABCDE FABCDE PMM-UA- PMM-UA- FG CN CN CN- CN- FABCDE M.SEL PMM-MD--/- PMM-MD--/- PMM-MD--/- Operation-current selection rotary switch (RUN) Enable to select operating current value to stepping motor. PMM-MD- Dial Stepping motor current (A/phase) Dial A B C D E F Stepping motor current (A/phase) Factory setting is. Stepping angle selection rotary switch (S.SEL) Enable to select standard step angle of stepping motor for divisions ranging from ~ resolutions. Dial SEL Division SEL Dial A B C D E F SEL Division SEL Factory setting is E. Mode selection rotary switch (M.SEL) Enable to select every mode Pulse input Dial A B C D E F input Pulse and direction Automatic OFF current down ON Factory setting is. Enable at When low vibration is selected at ~F, S.SEL setting is ignored and operate at low vibration mode of division. Low vibration OFF method ON Connector (CN) Connect motor power wire. Connector (CN) Connect DC power wire. Connector (CN) Connect I/O wire.

46 Pulse I/F (DC power input) Operation, Connection, and Function External wiring diagram CN DCV/V DCG/G Note ) CW pulse input Note ) CCW pulse input Step angle selection input Power down input CN CN Note ) When motor output is lead wire type White Black Orange Blue M Red Yellow Note ) When motor output is connector type For H- - CN Connector M Note ) Note ) Use twist pair shielded cables. Note ) Selection is possible between -input mode (CW pulse, CCW pulse) and Pulse and direction mode (CW, C/D) by the mode selection rotary switch Note ) Motor output of stepping motor models H is connector type. Motor side pin number and driver side connector (CN) pin number is not match. So please be careful when connecting. Connectors used Driver side Use for Model No. Corresponding connector model number Maker Stepping motor Applicable housing: VHR-N J.S.T. MFG. BP-VH (CN) Applicable contact: BVH-T-P. CO., LTD DC Power source Applicable housing: VHR-N J.S.T. MFG. BP-VH (CN) Applicable contact: BVH-T-P. CO., LTD I/O signal IL-P-S Applicable housing: IL-S-SL-(N) Japan Aviation (CN) EN- Applicable contact: IL-C-- Electronics Industry,Ltd For the applicable connector, the client is requested to procure or place orders with us from the optional connector sets or the connector cables we offer (Refer to the page ).

47 ø Dimensions [Unit:mm(inch)] PMM-BA- PMM-BA- CH PWM IL VCC OV FG CN CN CN- CN- S.SEL RUN FABCDE FABCDE FABCDE M.SEL.(.).(.) (.) (.) Screw holes PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- (.) (.) (.) (.) (.) (.) (.) (.) Screw holes PMM-MD- (.) (.) (.) Mounting direction and mounting position M Install the PM driver vertically. As shown in the figure, fix the PM driver by using the M screws through two fitting holes (- ) on the bottom surface of PM driver(no fitting metals are necessary).

48 Pulse I/F (DC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. -division is specified -division is specified H- V H- V division -division Number of rotations (min - ).. -division -division Number of rotations (min - ) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V division -division Number of rotations (min - ).. -division -division Number of rotations (min - ) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V division -division Number of rotations (min - ). fs. -division -division Number of rotations (min - ) fs Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

49 ø Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. -division is specified -division is specified H- V division -division Number of rotations (min - ) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V division -division Number of rotations (min - ) Source voltage: DCV, Operating current :.A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- H- V H- V division -division Number of rotations (min - ).. -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V division -division Number of rotations (min - ) division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

50 Pulse I/F (DC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. -division is specified -division is specified H- V H- V division -division Number of rotations (min - ) division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V division -division Number of rotations (min - ).. -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V division -division Number of rotations (min - ) division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

51 ø Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs:no load maximum starting pulse rate. -division is specified -division is specified H- V division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- H- V H- V division -division Number of rotations (min - ).. -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V division -division Number of rotations (min - ) division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current t: A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

52 Pulse I/F (DC power input) Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. -division is specified -division is specified H- V H- V division -division Number of rotations (min - ).. -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V. -division -division Number of rotations (min - ). -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V H- V. -division -division Number of rotations (min - ). -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

53 ø Pulse Rate-Torque Characteristics/Pulse Rate-Power Current Characteristics fs: No load maximum starting pulse rate. -division is specified -division is specified H- V. -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) H- V. -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) PMM-BA- PMM-BA- PMM-UA- PMM-UA- PMM-MD--/- PMM-MD--/- PMM-MD--/- PMM-MD- H- V H- V. -division -division Number of rotations (min - ). -division -division Number of rotations (min - ) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=) Source voltage: DCV, Operating current : A/phase Pull-Out torque [JL=.x - kg m (. oz in ) Use the rubber coupling] Source current (TL=MAX), Source current (TL=)

54 Pulse I/F (DC power input) Option Connector set Model PM-AP- (Type other than above) PM-AP- PM-AP- Stepping motor (CN) DC power supply (CN) I/O signal (CN) Used for Contents of set Quantity Manufacturer Applicable housing: VHR-N Applicable contact: SVH-T-P. Applicable housing: EHR- Applicable contact: SEH-T-P. Applicable housing: VHR-N Applicable contact: SVH-T-P. Applicable housing: VHR-N Applicable contact: SVH-T-P. Applicable housing: VHR-N Applicable contact: SVH-T-P. Applicable housing: IL-S-SL-(N) Applicable contact: IL-C-- J.S.T. MFG. CO.,LTD. J.S.T. MFG. CO.,LTD. J.S.T. MFG. CO.,LTD. J.S.T. MFG. CO.,LTD. Japan Aviation Electronics Industry,Ltd Applicable wire size AWG AWG AWG AWG AWG~ Crimp tool number YC-R YC-R YC-R YC-R YC-R CT--IL CT-B-IL CT-C-IL Connector cable Model No. Use for PM-CM- Stepping motor (CN) connector cable PM-CP- DC power supply (CN) connector cable PM-CS- I/O signal (CN) connector cable is,, or. (Refer to separate table.) The connector cable is -meter cable assembled with each interface connector. Model No. of stepping motor cable (Supplement table ) Model of stepping motor H- H- H- H- H- H- H- H- H- H- H- H- H- H- H- H- H-

55 ø Option Cable (Power cable) Driver side Pin No. Color White Black ULAWG V, C m (.inch) Cable model No. Length PM-CP- m(.inch) PMM-BA- PMM-BA- PMM-UA- PMM-UA- Cable (Signal cable) PMM-MD--/- PMM-MD--/- PMM-MD--/- Driver side Pin No. Color Blue Black Blue Black Blue Black Blue Black ULAWG V, C m (.inch) Cable model No. Length PM-CS- m(.inch) PMM-MD- Cable (Stepping motor extension cable ) Driver side Pin No. Color White Black Orange Blue Red Yellow ULAWG V, C m (.inch) Cable model No. Length PM-CM- m(.inch) Applicable stepping motor Cable (Stepping motor extension cable ) Driver side Pin No. Color White Black Orange Blue Red Yellow m (.inch) ULAWG V, C Stepping motor side Pin No. Color White Orange Blue Red Yellow Black Cable model No. Length PM-CM- m(.inch) Applicable stepping motor Cable (Stepping motor extension cable ) Driver side Pin No. Color White Black Orange Blue Red Yellow ULAWG V, C m (.inch) Stepping motor side Pin No. Color White Orange Blue Yellow Red Black Cable model No. Length PM-CM- m(.inch) Applicable stepping motor

56 STEPPING MOTOR The -phase Stepping System DRIVER P~ P Upper * Refer to the pages of driver for cable. HIC P~ P * Refer to the pages of driver for cable. MOTOR P~ P The -phase Stepping Motor Synchronous Motor Ultra-vacuum Stepping Motor (.inch) (.inch) Rotor inertia(oz in )... (.inch) mm (.inch) (.inch) (.inch) (.inch) (.inch).. Torque(N m) Torque(oz in)

57 mm mm mm (.inch) (.inch) (.inch).....n m (.~. oz in) P~P.N m (. oz in) P.N m (. oz in) P (.inch) Recommendable Refer to the page. (.inch) Recommendable Refer to the page,, and. (.inch) Recommendable Refer to the page,, and. (.~. oz in) P~P (.~. oz in) P~P (.~. oz in) P~P (.inch) Recommendable Refer to the page,, and. (.inch) Recommendable Refer to the page,, and. (ø.inch) Recommendable Refer to the page,, and. (.~. oz in) P~P (.~. oz in) P~P (.~. oz in) P~P (ø.inch) Recommendable Refer to the page and. (.inch) (ø.inch) (.~. oz in) P~P (.~. oz in) P~P (.~. oz in) P~P (ø.inch) (.~ oz in) P~P (.~. oz in) P~P (. oz in) P~P

58 -phase stepping motor -phase Stepping Motor mm (.inch sq.) SH. /step Specifications Unipolar winding Model Holding torque at -phase energization Rated current Resistance Inductance Rotor inertia Mass(Weight) Shingle shaft Double shafts N m(oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) SH-U U.(.)....(.).(.) SH-U U.(.)...(.).(.) SH-U U.(.)....(.).(.) Dimensions [Unit:mm(inch)] SH-U(Single shaft) SH-U(Double shaft) SH-U(Shingle shaft) SH-U(Double shaft) Lead wire:ul CSA,AWG Lead wire:ul CSA,AWG ( ) (..) (.) MAX. (..) (.)MIN. (.)MIN.. (..). (..) -.. (.-. ) ( ) M. Effective tapping depth (.) MIN..(.) only stator part.(..).(..).(..) (.)MAX. (.)MAX.. (..). (..) ( ) (..) (.) MAX. (.)MIN. (..) (.)MIN.. (..). (..) -.. (.-. ) -.. (.-. ) -M. Effective tapping depth (.) MIN..(.) only stator part.(..).(..).(..) (.)MAX.. (..) (.)MAX.. (..) SH-U(Single shaft) SH-U(Double shaft) Lead wire:ul CSA,AWG -.. (.-. ) (..) (.) MAX. (.)MIN.... MIN.. (..). (..) -.. (.-. ) -.. (.-. ) -M. Effective tapping depth (.) MIN..(.) only stator part.(..).(..).(..) (.)MAX.. (..) (.)MAX.. (..)

59 Pulse Rate - Torque Characteristics SH-U/SH-U Pull-out torque at JL. Number of rotations (min - ) Source voltage: DCV Operating current :.A/phase,-phase energization (full-step) JL=[. - kg m (. oz in ) Use the rubber coupling] SH-U/SH-U Pull-out torque at JL. Number of rotations (min - ) Source voltage: DCV Operating current :.A/phase,-phase energization (full-step) JL=[. - kg m (. oz in ) Use the rubber coupling] mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. SH-U/SH-U mm(.)/... mm(.)/.... Pull-out torque at JL. Number of rotations (min - ) Source voltage: DCV Operating current :.A/phase,-phase energization (full-step) JL=[. - kg m (. oz in ) Use the rubber coupling] ømm(.)/. ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce

60 -phase stepping motor -phase Stepping Motor mm sq. (.inch sq.) -. /step Specifications Unipolar winding Model Holding torque at -phase energization Rated current Resistance Inductance Rotor inertia Mass(Weight) Single shaft Double shaft N m(oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) -- -.(.)....(.).(.) Dimensions [Unit:mm(inch)] Pulse Rate - Torque Characteristics -- (Single shaft) -- (Double shaft) ± (.±.) (.)MIN.. ø-.. (ø.-.) Lead wire UL AWG.±. (.±.) ±. (.±.) (.) A-section. ø-.. ø-.. (ø.-.). (ø.-.) A-section detail () ±. (.±.) ø.±. (ø.±.).(.) MAX. -±. (-.±.) -M x. Effective tapping depth (.)Min -- Torque (kgf.cm)..... Torque (N.m)..... Starting torque at JL Pull-out torque at JL. Number of rotations (min - ) Source voltage: DCV Operating current :.A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) pulley balancer method] JL=[.x - kg m (. oz in ) pulley balancer method]

61 -phase Stepping Motor mm sq. (.inch sq.) -. /step mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. Specifications Unipolar winding Model Single shaft -- Double shaft - Holding torque at -phase energization N m(oz in) MIN..(.) Rated current Resistance A/phase Ω/phase.. Inductance mh/phase. Rotor inertia x - kg m (oz in ).(.) Mass(Weight) kg(lbs).(.) mm(.)/. Dimensions [Unit:mm(inch)] -- (Single shaft) -- (Double shaft). ø-. ø.-.) (ø.-.) ± (.±.) (.) MIN..±. (.±.) Lead wire UL AWG ±. (.±.).±. (.±.). ø-.. ø-. ø.-.) (ø.-.) ø.-.) (ø.-.) ±. (.±.) -±. (-.±.) -M x. Effective tapping depth (.)MIN. Pulse Rate - Torque Characteristics Starting torque at JL Pull-out torque at JL ømm(.)/. ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce. Number of rotations (min - ) Source voltage: DCV Operating current:.a/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Uses rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling]

62 -phase stepping motor -phase Stepping Motor mm sq. (.inch sq.) Recommendable Driver Refer to the page. H. /step Specifications Unipolar winding connector type Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shafts N m(oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)...(.).(.) H- -.(.)....(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) Unipolar winding lead wire type Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shafts N m(oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)...(.).(.) H- -.(.)....(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) Bipolar winding lead wire type Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shafts N m(oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)....(.).(.) H- -.(.)....(.).(.) H- -.(.)...(.).(.) H- -.(.)....(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.)

63 Dimensions [ Unit: mm (inch) ] Dimensions [Unit:mm(inch)] H-/ (Single shaft) H-/ (Double shaft) ±.(.) MAX. ±. ±. (.±.) (.±.) (.±.).(.)MIN. (.) Applicable connector :JST Mfg.Co.,Ltd Connector : PHR- Terminal : SPH-T-P.S ±. (.±.) -±. (-.±.) (.) MAX. Pin No... H-/ (Single shaft) H-/ (Double shaft) ±.±. ±. (.±.) (.±.) (.±.).(.) MAX..(.)MIN. (.) Applicable connector :JST Mfg.Co.,Ltd Connector : PHR- Terminal : SPH-T-P.S ±. (.±.) -±. (-.±.) (.) MAX. Pin No. mm(.)/. mm(.)/. mm(.)/.. ø-.. (ø.-.) H-/ (Single shaft) H-/ (Double shaft) ± (.±.) (.) MIN.. ø-.. (ø.-.).(.) MAX. ±. ±. (.±.) (.±.) (.)MIN.. ø-.. (ø.-.). ø-.. (ø.-.) Lead wire ULAWG (.). ø-.. ø-.. (ø.-.). (ø.-.).(.) MAX. -M. x. Effective tapping depth.(.) Min ±. (.±.) -±. (-.±.) (.) MAX..(.) MAX. -M. x. Effective tapping depth.(.) MIN.. ø-.. (ø.-.) H-/ (Single shaft) H-/ (Double shaft). (ø.-.). ø-. Lead wire UL AWG ±.±. ±. (.±.) (.±.) (.±.) (.) MIN.. ø-..(.) MAX. (.)MIN. (.). ø-.. (ø.-.). ø-.. (ø.-.). ø-.. (ø.-.). (ø.-.).(.) MAX. -M. x. Effective tapping depth.(.) MIN. ±. (.±.) -±. (-.±.) (.) MAX..(.) MAX. -M. x. Effective tapping depth.(.) M mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. Bipolar winding H-// (Single shaft) H-// (Double shaft).±. (.±.) Cross SectionS-S ± (.±.). ø-.. (ø.-.) (.) MIN. S S Lead wire UL AWG L±. (L±.) ±. (.±.) ±. (.±.) + +. (..) (Effective length). ø-. RMIN. (R.MIN.). (ø.-.). ø-. -M. x.. (ø..-.) ±. (.±.) -±. (-.±.) (.) MAX.±..(.) MAX. Model H- H- H- H- H- H- L (.). (.) ømm(.)/. ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce

64 -phase stepping motor Pulse Rate - Torque Characteristics H-/H- H-/H Pull-out torque at JL.... Pull-out torque at JL.. Starting torque at JL... Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current:.a/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) pulley balancer method] JL=[.x - kg m (. oz in ) pulley balancer method] Source voltage: DCV Operating current:.a/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) pulley balancer method] JL=[.x - kg m (. oz in ) pulley balancer method] H-/H- H-/H Pull-out torque at JL.... Pull-out torque at JL.. Starting torque at JL... Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current:.a/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) pulley balancer method] JL=[.x - kg m (. oz in ) pulley balancer method] Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) pulley balancer method] JL=[.x - kg m (. oz in ) pulley balancer method] H- H Pull-out torque at JL.... Pull-out torque at JL.... Starting torque at JL. Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current:.a/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) pulley balancer method] JL=[.x - kg m (. oz in ) pulley balancer method] Source voltage: DCV Operating current:.a/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) pulley balancer method] JL=[.x - kg m (. oz in ) pulley balancer method]

65 Pulse Rate - Torque Characteristics H Pull-out torque at JL H Pull-out torque at JL mm(.)/. mm(.)/. mm(.)/... Starting torque at JL... Starting torque at JL. mm(.)/. Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) pulley balancer method] JL=[.x - kg m (. oz in ) pulley balancer method] H Starting torque at JL. Pull-out torque at JL Number of rotations (min - ) Source voltage: DCV Operating current:.a/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) pulley balancer method] JL=[.x - kg m (. oz in ) pulley balancer method] Number of rotations (min - ) Source voltage: DCV Operating current:.a/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) pulley balancer method] JL=[.x - kg m (. oz in ) pulley balancer method] H Starting torque at JL. Pull-out torque at JL Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) pulley balancer method] JL=[.x - kg m (. oz in ) pulley balancer method] mm(.)/. mm(.)/. mm(.)/. mm(.)/. ømm(.)/. ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce

66 -phase stepping motor -phase Stepping Motor mm sq. (.inch sq.) H. /step Recommendable Driver Refer to the page,, and. Specifications Unipolar winding Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shaft N m (oz in)min. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)....(.).(.) H- -.(.)....(.).(.) H- -.(.)...(.).(.) H- -.(.)....(.).(.) Bipolar winding Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shaft N m (oz in)min. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)....(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)...(.).(.)

67 Dimensions [Unit:mm(inch)] H- (Single shaft) H- (Double shaft) ± ±. ±. (.±.) (.±.) (.±.) (.) MAX. (.)MIN..±. (.±.) Applicable connector (J.S.T. MFG., CO.) Connector: EHR- Terminal: SEH-T-P. ±. (.±.) -±. (-.±.) (.) MAX. Pin No. H- (Single shaft) H- (Double shaft) ± ±. ±. (.±.) (.±.) (.±.) (.) MAX. (.)MIN..±. (.±.) Applicable connector (J.S.T. MFG., CO.) Connector: EHR- Terminal: SEH-T-P. ±. (.±.) -±. (-.±.) (.) MAX. Pin No. mm(.)/. mm(.)/. mm(.)/.. ø-.. (ø.-.). ø-.. ø-.. (ø.-.). (ø.-.) (.) MAX. -M x. Effective tapping depth (.) Min. ø-.. (ø.-.). ø-.. ø-.. (ø.-.). (ø.-.) (.) MAX. -M x. Effective tapping depth depth (.) Min mm(.)/. H- (Single shaft) H- (Double shaft). ø-.. (ø.-.) ± ±. ±. (.±.) (.±.) (.±.) (.) MAX. (.)MIN..±. (.±.). ø-.. ø-.. (ø.-.). (ø.-.) Applicable connector (J.S.T. MFG., CO.) Connector: EHR- Terminal: SEH-T-P. ±. (.±.) -±. (-.±.) (.) MAX. Pin No. (.) MAX. -M x. Effective tapping depth depth (.) Min H- (Single shaft) H- (Double shaft). ø-.. (ø.-.) ± ±. ±. (.±.) (.±.) (.±.) (.) MAX. (.)MIN..±. (.±.). ø-.. ø-.. (ø.-.). (ø.-.) Applicable connector (J.S.T. MFG., CO.) Connector: EHR- Terminal: SEH-T-P. ±. (.±.) -±. (-.±.) (.) MAX. Pin No. (.) MAX. -M x. Effective tapping depth depth (.) Min mm(.)/. mm(.)/. mm(.)/. mm(.)/. Bipolar winding H - (Single shaft) H - (Double shaft). ø-. ± (.±.). (ø.-.) (.) MIN. S.±. (.±.) Cross SectionS-S S Lead wire UL AWG L. (L±.).. (.±.). (.±.) + +. (..) (Effective length). ø-.. (ø.-.) R(R.)MIN. -M x.. ø-.. (ø.-.) ±. (.±.) -±. (-.±.) (.) MAX..±. (.±.) (.) MAX. Model H- H- H- H- L (.) (.) (.) (.) ømm(.)/. ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce

68 -phase stepping motor Pulse Rate - Torque Characteristics H- H Pull-out torque at JL.. Pull-out torque at JL. Starting torque at JL.. Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current :.A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current :.A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- H Pull-out torque at JL.. Pull-out torque at JL. Starting torque at JL.. Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current :.A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current :.A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in )Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- H Pull-out torque at JL... Starting torque at JL.. Pull-out torque at JL Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling]

69 Pulse Rate - Torque Characteristics H-.... Pull-out torque at JL H-.... Pull-out torque at JL mm(.)/. mm(.)/. mm(.)/.. Starting torque at JL.. Starting torque at JL. mm(.)/. H Starting torque at JL. Number of rotations (min - ) Pull-out torque at JL Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current :.A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H Pull-out torque at JL Starting torque at JL. H Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Starting torque at JL. Pull-out torque at JL Number of rotations (min - ) Source voltage: DCV Operating current :.A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H Pull-out torque at JL Starting torque at JL. mm(.)/. mm(.)/. mm(.)/. mm(.)/. ømm(.)/. ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current :.A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling]

70 -phase stepping motor Pulse Rate - Torque Characteristics H- H Pull-out torque at JL... Starting torque at JL.. Pull-out torque at JL Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current :.A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in )Use the direct coupling] H- H Pull-out torque at JL.. Pull-out torque at JL. Starting torque at JL.. Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current :.A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- H Pull-out torque at JL... Starting torque at JL.. Pull-out torque at JL Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current :.A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in )Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling]

71 Pulse Rate - Torque Characteristics H-.... Pull-out torque at JL H- mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce ømm(.)/. mm(.)/. mm(.)/..... Pull-out torque at JL. Starting torque at JL.. Starting torque at JL. Number of rotations (min - ) Source voltage: DCV Operating current :.A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling]

72 -phase stepping motor -phase Stepping Motor mm sq. (.inch sq.) H. /step Recommendable Driver Refer to the page,, and. Specifications Unipolar winding Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shaft N m(oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.).(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) Bipolar winding Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shaft N m(oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)...(.).(.)

73 Dimensions [Unit:mm(inch)] H-// (Single shaft) H-// (Double shaft) Lead wire UL AWG.±.±..±. (.±.) (.±.) (.±.) () MIN.. (.) (.) ±. (.±.) -±. (-.±.) (.)MAX. H-// (Single shaft) H-// (Double shaft) ()MIN. Lead wire UL AWG.±.±..±. (.±.) (.±.) (.±.). (.) (.) ±. (.±.) -±. (-.±.) (.) MAX. mm(.)/. mm(.)/. mm(.)/.. ø.-.. (ø.-.) H-/// (Single shaft) H-/// (Double shaft) () MIN.. ø.-.. ø-.. (ø.-.). (ø.-.) Lead wire UL AWG.±.±..±. (.±.) (.±.) (.±.). (.) (.) (.)MAX. +. -ø.. +. (-ø..) ±. (.±.) -±. (-.±.) (.) MAX.. ø.-.. (ø.-.). ø.-.. ø-.. (ø.-.). (ø.-.) (.)MAX. +. -ø.. +. (-ø.. ) mm(.)/. mm(.)/. mm(.)/. mm(.)/.. ø.-.. (ø.-.). ø.-.. ø-.. (ø.-.). (ø.-.) (.) MAX. +. -ø.. +. (-ø.. ) mm(.)/. ømm(.)/. Bipolar winding H-(Single shaft) H-(Double shaft) Lead wire UL AWG.±.±..±. (.±.) (.±.) (.±.). ø.-.. (ø.-.) () MIN.. (.) (.). ø.-.. ø-.. (ø.-.). (ø.-.) ±. (.±.) -±. (-.±.) (.) MAX. (.)MAX. +. -ø.. +. (-ø.. ) ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce

74 -phase stepping motor Pulse Rate - Torque Characteristics H- H Pull-out torque at JL.. Pull-out torque at JL. Starting torque at JL.. Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- H Pull-out torque at JL.. Pull-out torque at JL. Starting torque at JL.. Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current : A /phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- H Pull-out torque at JL.. Pull-out torque at JL. Starting torque at JL. Starting torque at JL.. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling]

75 Pulse Rate - Torque Characteristics H Starting torque at JL. Pull-out torque at JL Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the directcoupling] H Pull-out torque at JL Starting torque at JL. H Starting torque at JL. Pull-out torque at JL Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] mm(.)/. ømm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. H Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Pull-out torque at JL Starting torque at JL. ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling]

76 -phase stepping motor -phase Stepping Motor mm sq. (.inch sq.) H. /step Recommendable Driver Refer to the page,, and. Specifications Unipolar winding Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shaft N m (oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)..(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)..(.).(.) H- -.(.)...(.).(.) Bipolar winding Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shaft N m (oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H-- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)..(.).(.) H- - (.)...(.).(.) H- - (.)...(.).(.) H- - (.)...(.).(.)

77 Dimensions [Unit:mm(inch)] H-/// (Single shaft) H-/// (Double shaft) Lead wire UL AWG.±.±. (.±.) (.±.).±. (.±.) (.). (.) ()MIN. ±. (.±.) -.±. (-.±.) (.) MAX. H-/// (Single shaft) H-/// (Double shaft).±.±. (.±.) (.±.) () MIN. Lead wire UL AWG.±. (.±.) (.). (.) ±. (.±.) -.±. (-.±.) (.) MAX. mm(.)/. mm(.)/. mm(.)/.. ø.-.. (ø.-.). ø.-. ø.±.. (ø.-.) (ø.±.) (.)MAX. +. -ø.. +. (-ø.. ) H-// (Single shaft) H-// (Double shaft). ø.-.. (ø.-.). ø.-.. (ø.-.) ø.±. (ø.±.) (.)MAX. +. -ø.. +. (-ø.. ) H-/// (Single shaft) H-/// (Double shaft) mm(.)/. mm(.)/. mm(.)/..±.±. (.±.) (.±.). ø.-.. (ø.-.) () MIN. Lead wire UL AWG. ø.-..±. (.±.) (.). (.). (ø.-.) ø.±. (ø.±.) ±. (.±.) -.±. (-.±.) (.)MAX. (.) MAX. +. -ø.. +. (-ø..).±.±. (.±.) (.±.). ø.-.. (ø.-.) () MIN. Lead wire UL AWG. ø.-..±. (.±.) (.). (.). ø.±. (ø.-.) (ø.±.) ±. (.±.) -.±. (-.±.) (.)MAX. (.) MAX. +. -ø.. +. (-ø..) mm(.)/. mm(.)/. ømm(.)/. Bipolar winding H - (Single shaft) H - (Double shaft).±. (.±.).± (.±.). ø.-.. (ø.-.) + +. (..) (Effective length) S S R MIN. (R.MIN.) Cross SectionS-S Lead wire UL AWG L... (L±.) (.±.) (ø..) +. (..) (Effective length) +. -ø. ød-. R MIN. (R.MIN.). (ød-.) ø.±. (ø.±.) ±. (.±.) -.±. (-.±.) (.) MAX. D±. (D±.) (.) MAX Model L D D H-. (.) H-... (.) (.) (.). H- H- (.).. (.) (.) (.) ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce

78 -phase stepping motor Pulse Rate - Torque Characteristics H- H Pull-out torque at JL.. Pull-out torque at JL. Starting torque at JL.. Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- H Pull-out torque at JL.. Pull-out torque at JL. Starting torque at JL.. Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- H Pull-out torque at JL.. Pull-out torque at JL. Starting torque at JL.. Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling]

79 Pulse Rate - Torque Characteristics H Pull-out torque at JL Starting torque at JL. H Pull-out torque at JL Starting torque at JL. mm(.)/. mm(.)/. mm(.)/. mm(.)/. Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- mm(.)/. mm(.)/ Pull-out torque at JL Starting torque at JL Pull-out torque at JL Starting torque at JL. mm(.)/. mm(.)/. ømm(.)/. Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H Starting torque at JL Pull-out torque at JL. Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H-.... Pull-out torque at JL. Starting torque at JL. ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current : A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling]

80 -phase stepping motor Pulse Rate - Torque Characteristics H- H-... Pull-out torque at JL..... Pull-out torque at JL.. Starting torque at JL. Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operatingcurrent: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H-.... Pull-out torque at JL. Starting torque at JL. Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H-.... Pull-out torque at JL. Starting torque at JL. Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling]

81 Pulse Rate - Torque Characteristics H Starting torque at JL. Pull-out torque at JL Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H Starting torque at JL..... Pull-out torque at JL Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- Pull-out torque at JL H Starting torque at JL. Pull-out torque at JL Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. ømm(.)/. ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce. Starting torque at JL. Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling]

82 -phase stepping motor Pulse Rate - Torque Characteristics H- H Pull-out torque at JL.. Pull-out torque at JL. Starting torque at JL.. Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (.oz in ) Use the direct coupling] Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H-.... Pull-out torque at JL. Starting torque at JL. Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H-.... Pull-out torque at JL. Starting torque at JL. Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling]

83 Pulse Rate - Torque Characteristics H-.... mm(.)/. mm(.)/. mm(.)/.. Pull-out torque at JL Starting torque at JL. mm(.)/ Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- Starting torque at JL. Pull-out torque at JL Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H Pull-out torque at JL Starting torque at JL. mm(.)/. mm(.)/. mm(.)/. mm(.)/. ømm(.)/. ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling]

84 -phase stepping motor -phase Stepping Motor mm sq. (.inch sq.) H. /step Recommendable Driver Refer to the page,, and. Specifications Unipolar winding Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shaft N m (oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) Bipolar winding Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shaft N m (oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.)

85 Dimensions [Unit:mm(inch)] H-// (Single shaft) H-// (Double shaft) (.+. ) (effective length). ø-.. (ø.-.) S S R MIN. (R.MIN.) Cross section S-S.±.±..±. (.±.) (.±.) (.±.) (.).±. (.±.) +. (.+. ) (effective length) S S + + R MIN. (R.MIN.).±. (.±.) Applicable connector :JST Mfg.Co.,Ltd Connector : VHR-N Terminal : SVH-T-P.. ø-.. (ø.-.). (.). ø-.. (ø.-.) ±. (.±.) -±. (-.±.) (.) MAX. Pin No. (.) MAX. +. -ø (-ø.+.). H-// (Single shaft) H-// (Double shaft).±. (.±.).±. (.±.).±.±..±. (.±.) (.±.) (.±.) (.) (.) +. (.+. ) + (effective length) +. (.+. ) (effective length). ø-. S S R MIN. (R.MIN.). (ø.-.) Cross section S-S S S R MIN. (R.MIN.). ø-.. ø-.. (ø.-.). (ø.-.) Applicable connector :JST Mfg.Co.,Ltd Connector : VHR-N Terminal : SVH-T-P. ±. (.±.) -±. (-.±.) (.) MAX. Pin No. (.) MAX. +. -ø (-ø.+.). mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. H-// (Single shaft) H-// (Double shaft) S S.±. (.±.) Cross section S-S.±.±..±. (.±.) (.±.) (.±.) (.) (.) (.+. ) + + (effective length) +. (.+. ) (effective length).±. (.±.) S S. ø-. Applicable connector :JST Mfg.Co.,Ltd Connector : VHR-N Terminal : SVH-T-P.. (ø.-.) ±. (.±.) -±. (-.±.) (.) MAX. Pin No. (.) MAX. ømm(.)/. mm(.)/. mm(.)/. mm(.)/.. ø-. R MIN. (R.MIN.). (ø.-.) S S R MIN. (R.MIN.).±. (.±.) S S. ø-.. (ø.-.) Cross section S-S.± L.±. (.±.) (.±.) (.) (.) (.+. ) + + (effective length) +. (.+. ) (effective length).±. (.±.). ø ø (-ø.+.). Bipolar winding H-/H-/H-(Single shaft) H-/H-/H-(Double shaft) Applicable connector :JST Mfg.Co.,Ltd Connector : VHR-N Terminal : SVH-T-P.. (ø.-.) ±. (.±.) -±. (-.±.) (.) MAX. Pin No. (.) MAX. Model H H H L.. (..).. (..).. (..) ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce. ø-. R MIN. (R.MIN.). (ø.-.) R MIN. (R.MIN.). ø-.. (ø.-.) +. -ø (-ø.+.).

86 -phase stepping motor Pulse Rate - Torque Characteristics H- H Pull-out torque at JL Starting torque at JL..... Pull-out torque at JL Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- H Starting torque at JL Pull-out torque at JL..... Pull-out torque at JL Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- H Starting torque at JL Pull-out torque at JL Starting torque at JL Pull-out torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling]

87 Pulse Rate - Torque Characteristics H Pull-out torque at JL Starting torque at JL. H Pull-out torque at JL. mm(.)/. mm(.)/. mm(.)/. mm(.)/. Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- Number of rotations (min - ) Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] H- mm(.)/. mm(.)/..... mm(.)/... Pull-out torque at JL.. Pull-out torque at JL mm(.)/.. Starting torque at JL... ømm(.)/. Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H-.... Pull-out torque at JL. Starting torque at JL. Number of rotations (min - ) Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] H- Pull-out torque at JL. ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce Number of rotations (min - ) Number of rotations (min - ) Source voltage: DCV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: ACV Operating current: A/phase, -phase excitation (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling]

88 -phase stepping motor -phase Stepping Motor mm cir. (.inch cir.) H. /step Recommendable Driver Refer to the page,, and. Specifications Unipolar winding Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shaft N m (oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)...(.).(.) Bipolar winding Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shaft N m (oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)..(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)..(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.) H- -.(.)...(.).(.)

89 Dimensions [Unit:mm(inch)] H-/ (Single shaft) H-/ (Double shaft) Lead wire UL AWG ± ±. ±. (.±.) (.±.). (.±.) (.). (.).±. (.±.) ø±. (ø.±.). ø. -.. (ø.-.) ()MIN. () MIN (.-.) Cross section S-S S S. ø (.. ). (ø.-.) Lead wire UL AWG S ø.±. (ø.±.) +. (.. ) Cross section S-S S. -.. (.-.) H-/ (Single shaft) H-/ (Double shaft) ± (.±.).±. (.±.) ±. (.±.). (.). (.).±. (.±.) ø±. (ø.±.). -.. (.-.) ø.±. (ø.±.). -.. (.-.). -.. (.-.) Parallel key (attached to the motor).±. (.±.) -.±. (-.±.). -.. (.-.) -ø.+. -ø. -ø.+. (-ø.. ). -. Parallel key (attached to the motor).±. (.±.) -.±. (-.±.). (.-.). -.. (.-.) H-/ (Single shaft) H-/ (Double shaft) Cross section S-S Lead wire UL AWG ±.±. ±. (.±.) (.±.). (.±.) (.). (.).±. (.±.) ø±. (ø.±.) () MIN.. ø.-.. (ø.-.). -.. (.-.) S S. ø (.. ) ø.±. (ø.±.). (ø.-.). -.. (.-.). -. Parallel key (attached to the motor).±. (.±.) -.±. (-.±.) +. -ø.+. -ø.+. (-ø.. ). -.. (.-.). (.-.) mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/.. ø.-.. (ø.-.). ø-.. (ø.-.) +. -ø.+. -ø.+. (-ø.. ) ømm(.)/. Bipolar winding H/H/H- (Single shaft) H/H/H- (Double shaft) ø.-.. (ø.-.) (.±.) MIN. (.MIN.) Lead wire UL L.. (.±.).... (.±.) (.±.).. (.±.) S S ø-.. (ø.-.) ø.±. (ø.±.) ø.±. (ø.±.) -.. (-.±.) -.. (-.±.) +. -ø. +. (-ø..) Model AWG L H- H- (.) H- H-. H- (.) H- H-. H- (.) H- ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce

90 -phase stepping motor Pulse Rate - Torque Characteristics H- H-.... Pull-out torque at JL Pull-out torque at JL Number of rotations (min - ) Number of rotations (min - ) Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] H- H- Pull-out torque at JL Pull-out torque at JL.. Number of rotations (min - ) Number of rotations (min - ) Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] H- H- Pull-out torque at JL Pull-out torque at JL.. Number of rotations (min - ) Number of rotations (min - ) Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling]

91 Pulse Rate - Torque Characteristics H- Pull-out torque at JL H- Pull-out torque at JL mm(.)/. mm(.)/. mm(.)/. Starting torque at JL. Starting torque at JL. mm(.)/. Number of rotations (min - ) Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- Number of rotations (min - ) Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- mm(.)/. mm(.)/. Pull-out torque at JL. Starting torque at JL Pull-out torque at JL. mm(.)/. mm(.)/. ømm(.)/. H- Number of rotations (min - ) Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] Starting torque at JL Pull-out torque at JL. Number of rotations (min - ) Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- Pull-out torque at JL. ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce Number of rotations (min - ) Number of rotations (min - ) Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling]

92 -phase stepping motor Pulse Rate - Torque Characteristics H- H- Pull-out torque at JL Pull-out torque at JL Starting torque at JL. Starting torque at JL. Number of rotations (min - ) Number of rotations (min - ) Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling] JL=[.x - kg m (. oz in ) Use the direct coupling] H- Pull-out torque at JL. Number of rotations (min - ) Source voltage: ACV Operating current: A/phase, -phase energization (full-step) JL=[.x - kg m (. oz in ) Use the rubber coupling]

93 ømm(.)/ce ømm(.)/. ømm(.)/ce mm(.)/ce ømm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/. mm(.)/.

94 -phase stepping motor -phase Stepping Motor mm cir. (.inch cir.) Recommendable Driver Refer to the page and. H. /step Specifications Unipolar winding Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shaft N m (oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)...(.).(.) H- -.(.).. (.).(.) Bipolar winding Model Holding torque at Rated Resistance -phase energization current Inductance Rotor inertia Mass(Weight) Single shaft Double shaft N m (oz in) MIN. A/phase Ω/phase mh/phase x - kg m (oz in ) kg(lbs) H- -.(.)...(.).(.) H- - (.). (.).(.) Dimensions [Unit:mm(inch)] H-/ (Single shaft) H-/ (Double shaft) () MIN. ø.± (ø.±.) Lead wire UL AWG ±.± ±. (.±.) (.±.). (.). (.±.) (.) (.. ). ø.-.. (ø.-.) (.. ) Cross section S-S. (. -.) S S. ø-.. (ø.-.) ø.±. (ø.±.). -.. (. -.). -.. (. -.). -. Parallel key (attached to the motor).±. (.±.) -.±. (-.±.). (. -.) +. -ø.. +. (-ø.. ) H-/ (Single shaft) H-/ (Double shaft) ø.± () MIN. (ø.±.). ø.-.. (ø.-.). -.. (. -.) Lead wire UL AWG (.. ) Cross section S-S ±.± ±. (.±.) (.±.). (.±.) (.). + (.).+ +. (.. ) S S. ø (. -.) ø.±.. (ø.-.) Parallel key (attached to the motor) (ø.±.). (. -.). (. -.).±. (.±.) -.±. (-.±.) +. -ø (-ø.. )