2-PHASE STEPPING SYSTEMS. Ver.2

Transcription

1 -PHASE STEPPING SYSTEMS Ver.

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

3 Set model DC input Stepping motors with integrated drivers A driver incorporating a motion control function needed for drivingamotoranda-phasesteppingmotorwereintegratedintoasingleunit. Motor flange size Unipolar standardstandard model ThestandardsetincludesaFseriesdriverandaHorSHseriesmotor. Bipolar standardstandard model ThestandardsetincludesaFseriesdriverandaHorSHseriesmotor. Motor flange size.inch.inch Motor flange size.inch.inch.inch.inch.inch.inch.inch.inch P. P. P. Dimensions Stepping motor Set model Stepping Motors with Internal drivers ICforsteppingmotor

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

5 DC input Stepping Motors with Integrated drivers Host Devices DC V System configuration PLC PLCandcontrollersareavailableas thehostdevice. Bundled cable for input/output signal mm Bundled cable for DC power mm Switching power supply Converts AC power to DC power Setupsoftware:SFPAIW- Noise filter Filters out incoming noise from power line Electromagnetic contactor Switches driver power on/off. Use together with asurgeprotector. Molded case circuit breaker Protects the power line.cutsoffcircuit in the event of overcurrent. (t) (r) Single phase AC V to AC V Dimensions Stepping motor Set model Stepping Motors with Internal drivers ICforsteppingmotor

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

7 F O N Specifications Basic specifications Function I/O signals Part numberflange size DBMS- DBMS- Input sourcenote DC V Getaway torquea MAX. MAX. Environment Protection class Class I Operation environment Installation categoryover-voltage category: II, pollution degree : Applied standards Operating ambient temperature Note Conservation temperature Operating ambient humidity Conservation humidity Operation altitude EN- to+ - to + to %RHno condensation to %RHno condensation m feetmax. above sea level Vibration resistance Testedunderthefollowingconditions;.m/s,frequencyrangetoHz,directionalongX,Y andzaxes,forhourseach Impact resistance Not influenced at NDS-C- standard section.. division C. Withstand voltage Insulation resistance NotinfluencedwhenVACisappliedbetweenpowerinputterminalandcabinetforone minute. M ohm MIN. when measured with V DC megohmmeter between input terminal and cabinet. MassWeight.kg.lbs.kg.lbs Protection function LED indicator Command pulse input signalnote Power down input signalpd Step angle setting selection inputext FULL/HALFsettingselectioninputF/H EMG input signal BUSY output signal Phaseoriginmonitoroutput signalmon Against driver overheat Alarm monitor Photo coupler input method, input resistance Inputsignalvoltage:H =.to.v,l = to.v Photo coupler input method, input resistance Inputsignalvoltage:H =.to.v,l = to.v Photo coupler input method, input resistance Inputsignalvoltage:H =.to.v,l = to.v Photo coupler input method, input resistance Inputsignalvoltage:H =.to.v,l =to.v Photo coupler input method, input resistance Inputsignalvoltage:H =.to.v,l =to.v Opencollectoroutputbyphotocoupler Outputsignalstandard:Vceo=VMAX.,Ic=mAMAX. Opencollectoroutputbyphotocoupler Outputsignalstandard:Vceo=VMAX.,Ic=mAMAX. Opencollectoroutputbyphotocoupler Alarm output signalal Outputsignalstandard:Vceo=VMAX.,Ic=mAMAX. NoteNotethatthepowervoltagemustnotexceedVDC+%(.VDC). NoteIfthedriverisplacedinabox,thetemperatureinsidetheboxmustnotexceedthisspecifiedrange. NoteThe maximum input frequency is k pulse/s. mm.inch CN:POWER ManufacturerJST CONNECTORSB-PASK (EFFECTIVE LENGTH) A.. A Dimensions Stepping motor Set model Stepping Motors with Internal drivers RMIN. A A B CD E CN:I/O ManufacturerJST CONNECTORSMB-SHLDS-GW-TF PS RSW DS EARTH TERMINAL M.X.XL PLATE NAME IC for stepping motor

8 Specifications Input circuit configuration Input interface Input circuit configuration Input signal Input signal specifications Negative logic μs MIN. to Approx. ma Rotation to Pulse duty % MAX. μs MAX. μs MAX. Positive logic μs MAX. μs MAX. to Rotation Approx. ma to μs MIN. Pulse duty % MAX. Timing of the command pulse -input modecw, CCW μs MIN. The internal photo coupler turns ON within the and, atitsfallingedgetooff,theinternalcircuitmotoris activated. WhenapplyingthepulsetoCW,turnOFFtheCCWside internal photo coupler. WhenapplyingthepulsetoCCW,turnOFFtheCWside internal photo coupler. Pulse and direction modeck, U/D μs MIN. μs MIN. The H levelisinputfor and,atitsrisingedgeto H level,theinternalcircuitstepping motoris activated. SwitchingtheinputsignalU/Dshouldbeperformed whiletheinputlevelonthecksideis L.

9 Input circuit configuration Input circuit configuration PDEXTF/HEMG Input signal Approx. ma Timing of command pulse, step angle selection, and FULL/HALF selection input signal Command pulse μs MIN. Output interface Output circuit configurationbusymonal Output signal Mon output CW pulse CCW pulse Mon output MAX. ma MAX. V Driver μs MIN. When changing the division setting by F/H input signal. ShadedareaindicatesinternalphotocouplerON. EXT input signal EXT photo coupler ON enablesafunctionbyexternal F/H input signal. EXT photo coupler OFF enables the setting of a number of micro steps by main unit s rotaryswitchs.s. F/H input signal F/H photo coupler ON sets HALF step (-division) operation. F/H photo coupler OFF sets FULL step (-division) operation. RefertoswitchingEXTandF/Hinputsignalinthe [FULL/HALFinputsignal,commandpulse,andstep angle select]. WhenswitchingthestepanglebyEXTandF/Hinput signal, the phase origin LCD may not turn ON and the phaseoriginmonitoroutputmaynotoutputwhenstop. RefertotheMONoutputinthe[OutputInterface]. When the motor excitation phase is at the phase origin (power ON status), the photo coupler is turned ON, and the upper D.P of status LED turns on synchronously. Output from MON is set to on at every. degrees of motor output shaft from phase origin. Dimensions Stepping motor Set model Stepping Motors with Internal drivers Phase origin position HALF step Switching to FULL step by external F/H FULL step Stop position at FULL step Phase origin position When changing the motor division setting by the external input signal and the rotary switch as shown in the example below, the motor cannot stop where MON output signal can be output. Take this into consideration when using the MON output signal. Motor shaft ICforsteppingmotor

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

11 Specification Summary of Input/Output Signals (Parallel I/F mode) Signal Program drive Start/Stop Program pause General-purpose input common Alarm clear signal standard General-purpose input Program number selection bit Emergency stop input Reference Designation START+ START- PAUSE+ PAUSE- Pin Number +COM ALMC IN B EMG Origin signal ORG +direction overtravel signal General-purpose input Program number selection bit Emergency stop input +OT IN B EMG Origin signal ORG Alarm clear signal - direction overtravel signal General-purpose input Program number selection bit Emergency stop input ALMC -OT IN B EMG Origin signal ORG Alarm clear signal ALMC Function Summary Commandsthestartandstopofprogramdriving. Internal photo coupler onprogram driving start Internal photo coupler offprogram driving stop WhenSTARTsignalon,apauseinprogramdrivingis commanded. Internal photo coupler onprogram driving pause Internal photo coupler offprogram driving pause release Inputsignalcommonofthe to pins DCVisinput. Recoverablealarmsarecleared. Internal photo coupler off onalarm clear Thisisageneral-purposeinputsignalthatcanbeused by program driving. Internal photo coupler ongeneral purpose input on Internal photo coupler off Generalpurposeinputoff Theprogramnumberisselectedalongwithotherbits. Subordinate bit Internal photo coupler oncorresponding bit Internal photo coupler off Corresponding bit The emergency stop signal is input. Internal photo coupler onnoemergencystopinternal photo coupler offemergency stop Theoriginsignalusedforthereturntooriginoperation is input. Internal photo coupler onorigin signal on Internal photo coupler off Origin signal off Anovertravelsignalinthe+directionisinput.Internal photo coupler on +directionovertravelnotarrived Internal photo coupler off +directionovertravel arrived Thisisageneral-purposeinputsignalthatcanbeused by program driving. Internal photo coupler ongeneral purpose input on Internal photo coupler off Generalpurposeinputoff Theprogramnumberisselectedalongwithotherbits. Thesecondbitfromthesubordinate Internal photo coupler oncorresponding bit Internal photo coupler off Corresponding bit The emergency stop signal is input. Internal photo coupler onnoemergencystopinternal photo coupler offemergency stop Theoriginsignalusedforthereturntooriginoperation is input. Internal photo coupler onorigin signal on Internal photo coupler off Origin signal off Recoverablealarmsarecleared. Internal photo coupler off onalarm clear Anovertravelsignalinthe-directionisinput. Internal photo coupler on - direction overtravel not arrived Internal photo coupler off -directionovertravel arrived Thisisageneral-purposeinputsignalthatcanbeused by program driving. Internal photo coupler ongeneral purpose input on Internal photo coupler off General purpose input off Theprogramnumberisselectedalongwithotherbits. Thethirdbitfromthesubordinate Internal photo coupler oncorresponding bit Internal photo coupler off Corresponding bit The emergency stop signal is input. Internal photo coupler onno emergency stop Internal photo coupler offemergency stop Theoriginsignalusedforthereturntooriginoperation is input. Internal photo coupler onorigin signal on Internal photo coupler off Origin signal off Recoverablealarmsarecleared. Internal photo coupler off onalarm clear Signal Emergency stop signal General-purpose input Program number selection bit Reference Designation Pin Number EMG IN B Origin signal ORG Alarm clear signal During motor operation During program execution ALMC BUSY PEND Zone signal ZONE During program execution During motor operation PEND BUSY Zone signal ZONE Alarm output ALM Function Summary The emergency stop signal is input. Internal photo coupler onno emergency stop Internal photo coupler offemergency stop Thisisageneral-purposeinputsignalthatcanbeused by program driving. Internal photo coupler ongeneral purpose input on Internal photo coupler off General purpose input off Theprogramnumberisselectedalongwithotherbits. The fourth bit from the subordinate Internal photo coupler on Corresponding bit Internal photo coupler off Corresponding bit Theoriginsignalusedforthereturntooriginoperation is input. Internal photo coupler onorigin signal on Internal photo coupler off Origin signal off Recoverable alarms are cleared. Internal photo coupler off onalarm clear Theoperationstatusofthemotorisoutput. Internal photo coupler onduring motor operation Internal photo coupler offduring motor stop The execution status of the program is output. Internal photo coupler onduring program execution Internal photo coupler offprogram execution complete Turnsonwhenthecurrentpositionisinsidethe coordinates that were set beforehand. The execution status of the program is output. Internal photo coupler onduring program execution Internal photo coupler offprogram execution complete Theoperationstatusofthemotorisoutput. Internal photo coupler onduring motor operation Internal photo coupler offduring motor stop Turnsonwhenthecurrentpositionisinsidethe coordinates that were set beforehand. Whenvariousalarmcircuitsoperateinthedriver,an external signal is output. Atthistime,thesteppingmotorbecomesnonexcited status. Output signal common OUT_COM It is for the output signal common. DATA+ DATA+ It is for the serial signal. DATA DATA It is for the serial signal. External Wiring Diagrams DCV G DATA DATA GNDG CWSTART CWSTART CCWPAUSE CCWPAUSE COM PDINB EXTINB FHINB INB BUSYOUT MONOUT Controller CN CN Driver V ma MAX. V G Power Supply G V RXD TXD DE Phase Stepping Motor ICforsteppingmotor Dimensions Stepping motor Set model Stepping Motors with Internal drivers ALM OUT_COM

12 Specification SET UP Function Select Dip Switch ThefunctionsaccordingtothespecificationcanbeselectedwiththisDipswitch. Confirmtheex-factorysettingasfollows. OFF ON F/R OFF inputmode(cw/ccwpulse) LV OFF Micro step operation PD OFF Power OFF OFF Phase origin excitation I. SEL S. SEL OFF OFF Pulse stream I/F mode For pulse stream I/F mode Input mode selectf/r Input pulse mode selection This switch setting is only effective in pulse stream I/F mode. F/R Input pulse mode ON OFF input modeck,u/d input modecw,ccw Low vibration mode selectlv Low vibration and smooth operation is enabled even by the rough resolution setting e.g. division, division. This switch setting is only effective in pulse stream I/F mode. ForparallelI/FmodeandserialI/Fmode,thisisusuallyalow vibration operation. LV Operation ON Low vibration operation OFF Micro step operation *When LV select is ONlow vibration mode, operationalprocessof driving pulse will be carried out inside the Driver. Therefore, the Motor movement delays for the time of.ms pulse per input pulse. Note that depending upon the combined Motor, load,driving profile and etc, it may take a while until the shaft is adjusted when the Motor stops.in parallel I/FmodeandserialI/Fmodethereisnodelay For parallel I/F mode or serial I/F mode Thecommunicationspeedofserialcommunicationis set. Switch F/R LV PD Set value Communication speed(bps),,, OFF ON OFF ON OFF ON *The setting change after the power supply is turned on is invalid. It does not function as a F/R, LV, and PD. *The communication speed of pulse stream I/F mode is fixed at bps. Power down selectpd Select the Motor winding current value when inputting the power down signal.this switch setting is only effective in pulse stream I/F mode. PD Motor winding current ON Current value by rotary switch STPPower Low OFF APower OFF *PD functionthe setting selected by PD of the function select dip switch is enabled by PD input signal ONbuilt-in photo coupler ONof Input/ Output signal connectorcn.powerdownsignalinputispriortoall the other current settings except for alarms. The operational status may not be maintained such as power swing due to output torque drop or lower operation due to Motor current OFFunexcited Motor.Payextra attentiontotheinputtimingofthepowerdownsignalinadditionthatthe security device should be installed to the machine. Excitation selecteorg *By turning on the EORG, excitation phase when power OFF is saved., Operation mode selectioni.sel, S.SEL The operation mode is selected. I.SEL S.SEL Operation mode OFF Pulse stream I/F mode OFF Parallel I/F mode ON ON Serial I/F mode *Change the operation mode selection switch after cutting off the driver s power supply.

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

14 DC input System configuration Unipolar standard A Motor cable Host Devices PLC PLCandcontrollersareavailableas the host device. Standard model : Hseriesmotor, SH series motor, mm.inch/ mm.inch/ mm.inch Motor connector DC power connector I/Osignalconnector DC power cable I/O signal cable Switching power supply Noise filter Electromagnetic contactor Molded case circuit breaker DC V/V (t) (r) Single phase ACV to ACV Converts AC power to DC power Filters out incoming noise from power line Switches driver power on/off. Use together with asurgeprotector. Protects the power line.cutsoffcircuit in the event of overcurrent. Bundled cable( mm motors only) A Motor cable mm.inch. feetmin. Pin No. Lead wire color White Orange Blue Yellow Red Black JST Lead wire Housing Pin ULAWG HER- BLACKJ.S.T Mfg.Co.,Ltd SEH-T-P.J.S.T Mfg.Co.,Ltd

15 DC input Standard model : Hseriesmotor, SH series motor, mm.inch/ mm.inch/ mm.inch/ mm.inch/ mm.inch System configuration Bipolar standard A Motor cable Motor connector Host Devices PLC PLCandcontrollersareavailableas the host device. Set model Stepping Motors with Internal drivers DC power connector I/O signal connector DC power cable DC V/V Switching power supply Converts AC power to DC power Noise filter Filters out incoming noise from power line I/O signal cable Electromagnetic contactor Switches driver power on/off. Use together with asurgeprotector. Molded case circuit breaker Protects the power line.cutsoffcircuit in the event of overcurrent. (t) (r) Single phase ACV to ACV Dimensions Stepping motor Bundled cable( mm motors only) A Motor cable mm.inch Pin No. Lead wire color Blue Orange Yellow Red Lead wire Housing Pin JST. feetmin. ULAWG HER- BLACKJ.S.T Mfg.Co.,Ltd SEH-T-P.J.S.T Mfg.Co.,Ltd mm.inch Pin No.. feetmin. Lead wire color Yellow Red Blue Orange Lead wire ULAWG Housing VER-NJ.S.T Mfg.Co.,Ltd Pin SVH-T-P.J.S.T Mfg.Co.,Ltd ICforsteppingmotor

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

17 Combinationlistof-phaseunipolardriver System type Standard model Basic Setpartnumber Motor model number Motor flange size Rated current step angle Single shaft Double shaft Single shaft Double shaft. DUSS DUSD SH- SH- A mm.inch. DUSS DUSD SH- SH- A mm.inch mm.inch. DUHS DUHD H- H-.A. DUHS DUHD H- H-.A. DUHS DUHD H- H-.A. DUSS DUSD SH- SH-.A. DUSS DUSD SH- SH-.A. DUSS DUSD SH- SH-.A. DUHS DUHD H- H- A. DUHS DUHD H- H- A. DUHS DUHD H- H- A Combinationlistof-phasebipolardriver System type Standard model Basic Set part number Motor model number Motor flange size Rated current step angle Single shaft Double shaft Single shaft Double shaft. DBSS DBSD SH- SH- A mm.inch. DBSS DBSD SH- SH- A mm.inch mm.inch mm.inch. DBHS DBHD H- H- A. DBHS DBHD H- H- A. DBHS DBHD H- H- A. DBSS DBSD SH- SH- A. DBSS DBSD SH- SH- A. DBSS DBSD SH- SH- A. DBHS DBHD H- H- A. DBHS DBHD H- H- A. DBHS DBHD H- H- A. DBHS DBHD H- H- A. DBHS DBHD H- H- A. DBHS DBHD H- H- A. DBHS DBHD H- H- A. DBHS DBHD H- H- A mm.inch. DBSS DBSD SH- SH- A. DBSS DBSD SH- SH- A. DBSS DBSD SH- SH- A ICforsteppingmotor Dimensions Stepping motor Set model Stepping Motors with Internal drivers

18 DC input Specifications Standard model Fseriesdriver+HorSHseriesmotor Unipolar Motor flange size Size Set part number Motor flange size mm.inch/. Motor length mm.inch.mm.inch Single shaft DUSS DUSS Double shaft DUSD DUSD Holding torque Nmozin.... Rotor inertia - kgm ozin.... MassWeight kglbs.... Allowable thrust load Nlbs.. Allowableradialload Note Nlbs.. NoteWhen load is appliedat/lengthfromoutput shaft edge..inch.inch.inch DCV Torqueozin Torquekgfcm..... TorqueNm Source currenta Torqueozin Torquekgfcm..... TorqueNm Source currenta -division -division Number of rotationsmin - -division -division Number of rotationsmin - Operating current: A/phase Pull-out torque Source current (load applied) Source current (no load) -division fs Fs:Maximum self-start -division fs frequency when not loaded -division -division DCV Torqueozin Torquekgfcm..... TorqueNm -division -division Number of rotationsmin - Source currenta Torqueozin Torquekgfcm..... TorqueNm -division -division Number of rotationsmin - Source currenta Thedatearemeasuredunderthedriveconditionofourcompany. The drive torque may very dependingontheaccuracyofcustomer-sideequipment. Size Motor flange size mm.inch/. Motor length mm.inch mm.inch mm.inch Set part Single shaft DUSS DUSS DUSS number Double shaft DUSD DUSD DUSD Holding torque Nmozin Rotor inertia - kgm ozin MassWeight kglbs Allowable thrust load Nlbs... Allowableradialload Note Nlbs NoteWhen load is appliedat/lengthfromoutput shaft edge. DCV Torqueozin Torquekgfcm TorqueNm Source currenta Torqueozin Torquekgfcm TorqueNm Source currenta Torqueozin Torquekgfcm TorqueNm Source currenta -division -division -division -division -division -division Number of rotationsmin - Number of rotationsmin - Number of rotationsmin - Operating current:.a /phase Pull-out torque Source current (load applied) Source current (no load) -division fs Fs:Maximum self-start -division fs frequency when not loaded -division -division DCV Torqueozin Torquekgfcm TorqueNm -division -division..... fs. fs Number of rotationsmin - Source currenta Torqueozin Torquekgfcm TorqueNm -division -division Number of rotationsmin - Source currenta Torqueozin Torquekgfcm TorqueNm -division -division Number of rotationsmin - Source currenta Thedatearemeasuredunderthedriveconditionofourcompany. Thedrivetorquemayverydependingontheaccuracyofcustomer-sideequipment.

19 Size Motor flange size Motor length Torqueozin Torqueozin Torqueozin Torquekgfcm mm.inch/. mm.inch mm.inch mm.inch Set part Single shaft DUHS DUHS DUHS number Double shaft DUHD DUHD DUHD Holding torque Nmozin Rotor inertia - kgm ozin MassWeight kglbs Allowable thrust load Nlbs... Allowableradialload Note Nlbs NoteWhen load is appliedat/lengthfromoutput shaft edge. Operating current:.a /phase Pull-out torque Source current (load applied) Source current (no load) -division fs Fs:Maximum self-start -division fs frequency when not loaded -division -division DCV DCV Torqueozin TorqueNm -division -division Torquekgfcm -division -division Torquekgfcm TorqueNm TorqueNm -division -division Torquekgfcm TorqueNm -division -division Number of rotationsmin - Source currenta Number of rotationsmin - Source currenta Number of rotationsmin - Source currenta Number of rotationsmin - Source currenta Torqueozin Torqueozin Torqueozin Torqueozin Torquekgfcm TorqueNm -division -division Torquekgfcm TorqueNm -division -division Torquekgfcm TorqueNm -division -division Torquekgfcm TorqueNm -division -division Number of rotationsmin - Source currenta Number of rotationsmin - Source currenta Number of rotationsmin - Source currenta Number of rotationsmin - Source currenta Torqueozin Torqueozin Torqueozin Torqueozin Torquekgfcm TorqueNm -division -division Torquekgfcm TorqueNm -division -division Torquekgfcm TorqueNm -division -division Torquekgfcm TorqueNm -division -division Number of rotationsmin - Source currenta Number of rotationsmin - Motor flange size Size Motor length.mm.inch.mm.inch.mm.inch Set part Single shaft DUHS DUHS DUHS number Double shaft DUHD DUHD DUHD Holding torque Nmozin Rotor inertia - kgm ozin MassWeight kglbs Allowable thrust load Nlbs... Allowableradialload Note Nlbs NoteWhen load is appliedat/lengthfromoutput shaft edge. Operating current: A/phase Pull-out torque Source current (load applied) Source current (no load) -division fs Fs:Maximum self-start -division fs frequency when not loaded -division -division DCV DCV mm.inch/. Source currenta..... fs. Number of rotationsmin - Source currenta Number of rotationsmin - Source currenta ICforsteppingmotor Dimensions Stepping motor Set model Stepping Motors with Internal drivers

20 DC input Specifications Standard model Fseriesdriver+HorSHseriesmotor Bipolar Motor flange size.inch.inch.inch.inch.inch Size Set part number Motor flange size mm.inch/. Motor length mm.inch.mm.inch Single shaft DBSS DBSS Double shaft DBSD DBSD Holding torque Nmozin.... Rotor inertia - kgm ozin.... MassWeight kglbs.... Allowable thrust load Nlbs.. Allowableradialload Note Nlbs.. NoteWhen load is appliedat/lengthfromoutput shaft edge. DCV Torqueozin Torquekgfcm..... TorqueNm Source currenta Torqueozin Torquekgfcm..... TorqueNm Source currenta -division -division Number of rotationsmin - -division -division Number of rotationsmin - Operating current mm (.inch)/.:a /phase mm (.inch)/.:a /phase mm (.inch)/.:a /phase Pull-out torque Source current (load applied) Source current (no load) -division fs Fs:Maximum self-start -division fs frequency when not loaded -division -division DCV Torqueozin Torquekgfcm..... TorqueNm -division -division Number of rotationsmin - Source currenta Torqueozin Torquekgfcm..... TorqueNm -division -division Number of rotationsmin - Source currenta Thedatearemeasuredunderthedriveconditionofourcompany. The drive torque may very dependingontheaccuracyofcustomer-sideequipment. Size Motor flange size mm.inch/. mm.inch/. mm.inch/. Motor length mm.inch.mm.inch.mm.inch.mm.inch Set part Single shaft DBSS DBHS DBHS DBHS number Double shaft DBSD DBHD DBHD DBHD Holding torque Nmozin Rotor inertia - kgm ozin MassWeight kglbs Allowable thrust load Nlbs.... Allowable radial load Note Nlbs NoteWhen load is appliedat/lengthfromoutput shaft edge. DCV Torqueozin Torquekgfcm TorqueNm Source currenta Torqueozin Torquekgfcm TorqueNm Source currenta Torqueozin Torquekgfcm TorqueNm Source currenta Torqueozin Torquekgfcm TorqueNm Source currenta -division -division -division -division -division -division -division -division Number of rotationsmin - Number of rotationsmin - Number of rotationsmin - Number of rotationsmin - Operating current: A/phase Pull-out torque Source current (load applied) Source current (no load) -division fs Fs:Maximum self-start -division fs frequency when not loaded -division -division DCV Torqueozin Torquekgfcm TorqueNm -division -division Number of rotationsmin - Source currenta Torqueozin Torquekgfcm TorqueNm -division -division Number of rotationsmin - Source currenta Torqueozin Torquekgfcm TorqueNm -division -division Number of rotationsmin - Source currenta Torqueozin Torquekgfcm TorqueNm -division -division Number of rotationsmin - Source currenta Thedatearemeasuredunderthedriveconditionofourcompany.Thedrivetorquemayverydependingontheaccuracyofcustomer-sideequipment.

21 Torqueozin Torqueozin Torqueozin Torqueozin Torquekgfcm mm.inch/. mm.inch mm.inch mm.inch -division -division Torquekgfcm DBHS DBHS DBHS DBHD DBHD DBHD TorqueNm TorqueNm -division -division Torquekgfcm Number of rotationsmin - Source currenta Number of rotationsmin - Source currenta Torqueozin Torqueozin Torquekgfcm TorqueNm -division -division Torquekgfcm TorqueNm -division -division mm.inch/ Number of rotationsmin - Source currenta Number of rotationsmin - Source currenta Torqueozin Torqueozin Torquekgfcm TorqueNm -division -division Torquekgfcm TorqueNm -division -division Number of rotationsmin - Source currenta Number of rotationsmin - Source currenta Torqueozin Torqueozin Torquekgfcm TorqueNm -division -division Torquekgfcm TorqueNm -division -division Number of rotationsmin - Source currenta Number of rotationsmin - mm.inch/. Source currenta Torqueozin Torqueozin Torquekgfcm TorqueNm -division -division Torquekgfcm TorqueNm -division -division Number of rotationsmin - Source currenta Number of rotationsmin -.mm.inch.mm.inch.mm.inch.mm.inch.mm.inch TorqueNm -division -division Torquekgfcm TorqueNm DBHS DBHS DBHS DBHS DBHS DBHD DBHD DBHD DBHD DBHD Number of rotationsmin - Source currenta Source currenta Torqueozin Torqueozin Torquekgfcm TorqueNm -division -division Torquekgfcm TorqueNm Number of rotationsmin - Source currenta Source currenta Torqueozin Torqueozin Torquekgfcm TorqueNm -division -division Torquekgfcm TorqueNm Number of rotationsmin - Source currenta Source currenta Torqueozin Torqueozin Torquekgfcm TorqueNm -division -division Torquekgfcm TorqueNm mm.inch/. mm.inch DBSS DBSD Number of rotationsmin - Source currenta Source currenta Torqueozin Torqueozin Torquekgfcm TorqueNm -division -division Torquekgfcm mm.inch DBSS DBSD TorqueNm Source currenta. Number of rotationsmin - Source currenta. Source currenta ICforsteppingmotor Dimensions Stepping motor Set model Stepping Motors with Internal drivers -division -division -division -division -division -division -division -division -division -division Number of rotationsmin - Number of rotationsmin - Number of rotationsmin - Number of rotationsmin - Number of rotationsmin -

22 DC input Specifications Size Set part number Motor flange size mm.inch/. Motor length mm.inch mm.inch Single shaft DBSS DBSS Double shaft DBSD DBSD Holding torque Nmozin.... Rotor inertia - kgm ozin.... MassWeight kglbs.... Allowable thrust load Nlbs.. Allowableradialload Note Nlbs NoteWhen load is appliedat/lengthfromoutput shaft edge. DCV Torqueozin Torquekgfcm TorqueNm Source currenta Torqueozin Torquekgfcm TorqueNm Source currenta -division -division -division -division Number of rotationsmin - Number of rotationsmin - Operating current: A/phase Pull-out torque Source current (load applied) Source current (no load) -division fs Fs:Maximum self-start -division fs frequency when not loaded -division -division DCV Torqueozin Torquekgfcm TorqueNm -division -division Number of rotationsmin - Source currenta Torqueozin Torquekgfcm TorqueNm -division -division Number of rotationsmin - Source currenta Thedatearemeasuredunderthedriveconditionofourcompany. The drive torque may very dependingontheaccuracyofcustomer-sideequipment.

23 Specifications of Drivers Unipolar Model number USDP Basic Input source DC V / V specifications Source current A Environment Protection class Class III Operation environment Installation categoryover-voltage category: I, pollution degree : Applied standards EN-ULC Ambient operation temperature to+ Conservation temperature - to + Operating ambient humidity to % RHno condensation Conservation humidity to % RHno condensation Operation altitude m feetor less above sea level Vibration resistance Tested under the following conditions;. m/s, frequency range to Hz, direction along X, Y and Z axes, for hours each Impact resistance Not influenced at NDS-C- standard section.. division C. Withstand voltage Not influenced when V AC is applied between power input terminal and cabinet for one minute. Insulation resistance M MIN. when measured with V DC megohmmeter between input terminal and cabinet. MassWeight. kg. lbs Functions Selection functions Step angle, Pulse input mode, Step current, Operating current. Protection functions Open phase protection, Main circuit power souce voltage decrease LED indication Power monitor, alarm I/O signals Command pulse input signal Photo-coupler input system, input resistance : input-signal H level :. to. V, input-signal L level:to.v Maximum input frequency : kpulse/s Poweer down input signal Photo-coupler input system, input resistance : input-signal H level :. to.v, input-signal L level : to. V Phase origin monitor output signal From the photo coupler by the open collector output Output specification : Vceo = V MAX., Ic = ma MAX. Rotation monitor output signal From the photo coupler by the open collector output Output specification : Vceo = V MAX., Ic = ma MAX. Bipolar Model number BSDP Basic Input source DC V / V specifications Source current A Environment Protection class Class III Operation environment Installation categoryover-voltage category: I, pollution degree : Applied standards EN-ULC Ambient operation temperature to+ Conservation temperature - to + Operating ambient humidity to % RHno condensation Conservation humidity to % RHno condensation Operation altitude m feetor less above sea level Vibration resistance Tested under the following conditions;.m/s, frequency range to Hz, direction along X, Y and Z axes, for hours each Impact resistance Not influenced at NDS-C- standard section.. division C. Withstand voltage Not influenced when V AC is applied between power input terminal and cabinet for one minute. Insulation resistance M MIN. when measured with V DC megohmmeter between input terminal and cabinet. MassWeight. kg. lbs Functions Selection functions Step angle, Pulse input mode, Step current, Operating current. Protection functions Open phase protection, Main circuit power souce voltage decrease LED indication Open phase protection, Power monitor, alarm I/O signals Command pulse input signal Photo-coupler input system, input resistance : input-signal H level :. to. V, input-signal L level:to.v Maximum input frequency : kpulse/s Poweer down input signal Photo-coupler input system, input resistance : input-signal H level :. to.v, input-signal L level : to. V Phase origin monitor output signal From the photo coupler by the open collector output Output specification : Vceo = V MAX., Ic = ma MAX. Rotation monitor output signal From the photo coupler by the open collector output Output specification : Vceo = V MAX., Ic = ma MAX. IC for stepping motor Dimensions Stepping motor Set model Stepping Motors with Internal drivers

24 DC input Specifications Operation, Connection, and Function Eachsectionnameofthedrivers Unipolar Driving current selection switchrun Youcanselectthevalueofthemotor currentwhendriving. Dial Stepping motor currenta Dial A B C D E F Stepping motor currenta ThefactorysettingisF(.A). Select the current after checking the rated current of the combination motor. Function selection DIP switchpack Selectthefunctiondepending on your specification. LEDforpowersupplymonitorPOW Litupwhenthemaincircuitpower supply is connected. Indicator POW is displayed. Explanation Main circuit power supply is switched on. LED for alarm displayalm Litwhenanalarmisgenerated. Indicator ALM is displayed. Explanation Motorcableisbroken,orswitchingelementin driver is faulty. The main circuit voltage is out of specifications range (Less than DCV). When ALM is displayed, the winding current of the stepping motoriscutoffanditisinanon-excitation state. At the same time,anoutputsignalistransmittedfromthealarmoutput terminal (AL) to an external source. When the alarm circuit is operating, this state is maintained until it is reset by switching on the power supply again. When an alarm condition has occurred, please take corrective actions to rectify the cause of the alarm beforeswitchingonthepowersupplyagain. I/OsignalconnectorCN Connect the I/O signal. Motor connectorcn Connect the motor spowerline. PowersupplyconnectorCN Connect the main circuit power supply. Bipolar Driving current selection switchrun Youcanselectthevalueofthemotor currentwhendriving. Dial Stepping motor currenta Dial A B C D E F Stepping motor currenta ThefactorysettingisF(.A). Select the current after checking the rated current of the combination motor. Function selection DIP switchpack Selectthefunctiondepending on your specification. LEDforpowersupplymonitorPOW Litupwhenthemaincircuitpower supply is connected. Indicator POW is displayed. Explanation Main circuit power supply is switched on. LED for alarm displayalm Litwhenanalarmisgenerated. Indicator ALM is displayed. Explanation Motorcableisbroken,orswitchingelementin driver is faulty. Themaincircuitvoltageisout ofspecificationsrange(lessthandcv). When ALM is displayed, the winding current of the stepping motoriscutoffanditisinanon-excitation state. At the same time,anoutputsignalistransmittedfromthealarmoutput terminal(al)toanexternalsource.whenthealarmcircuitis operating,thisstateismaintaineduntilitisresetbyswitchingon the power supply again. When an alarm condition has occurred, please take corrective actions to rectify the cause of the alarm beforeswitchingonthepowersupplyagain. I/OsignalconnectorCN ConnecttheI/Osignal. Motor connectorcn Connect the motor spowerline. Power supply connectorcn Connect the main circuit power supply. SpecificationsummaryofCNI/Osignal Signal name CW pulse input standard Pulsecolumninput CCW pulse input standard Rotation direction input Powerdowninput Phase origin monitor output Alarm output CN Pin number Function When using -input mode DrivepulsefortheCWdirectionrotationisinput. When using Pulseanddirectionmode Drivepulsetrainforthesteppingmotorrotationis input. When using -input mode DrivepulsefortheCCWdirectionrotationisinput. Therotationdirectionsignalofsteppingmotoris input for the Pulse and direction mode. Internal photocoupler ONCW direction Internal photocoupler OFFCCW direction InputtingthePDsignalcutsOFFthecurrentflowing through the stepping motor. IinternalphotocouplerONPD function enabled Iinternal photocoupler OFFPD function disabled It is turned ON when the excitation phase is at the originin the state when the power is turned ON It is turned ON once per pulses when setting to HALF step. It is turned ON once per pulses when setting to FULL step. Thesignalisexternallyoutputwhenoneofseveral alarmcircuitsoperatesinthepmdriver.atthistime, thesteppingmotorisintheunexcitedstate. TheCWrotationdirectionofsteppingmotormeanstheclockwisedirectionrotationas viewed from the output shaft sideflange side. TheCCWrotationdirectionmeansthe counterclockwisedirectionrotationasviewedfromtheoutput shaft sideflange side.

25 Input circuit configurationcw and CCW Pulse input Functions can be selected according to the specification with the dip switch. Check that the ex-factory settings are as follows. EX EX EX F/R ACD ACD LV EORG OFF ON OFF OFF Partition number: OFF OFF OFF OFF OFF OFF Input method (CW/CCW pulse input) Stopping current: % of driving current Micro step operation Phase origin Step angle selectexexex Select the partition number of the basic step angle. EX EX EX Partition number ON ON ON -division OFF ON OFF -division ON OFF OFF -division OFF OFF OFF -division OFF OFF ON -division InputmethodselectF/R Selects input pulse type F/R Input pulse type ON inputpluse&direction OFF inputcw, CCW Current selection when stoppingacdacd Select the current value of the motor when stopping. ACD ACD Current value of the motor ON ON % of driving current ON OFF % of driving current OFF ON % of driving current OFF OFF % of driving current Initial configuration of factory shipment is set to % of rated value. Driver and motor should be operated at around % of rated value to reduce heat. Set model Stepping Motors with Internal drivers Low-vibrationmodeselectLV Provides low-vibration, smooth operation even if resolution is rough-division, -division, etc External wiring diagram Unipolar Pulse input (CW[CK]) Pulse input (CCW[U/D]) Power down input (PD) Phase origin monitor output (MON) Alarm output (AL) CN CN White Black Orange Blue Red Yellow M LV ON OFF Bipolar Operation Auto-micro function Micro-step Excitation selecteorg The excitation phase when the power supply is turned on is selected. EORG Original excitation phase ON Excitation phase at power shut off OFF Phase origin ByturningontheEORG,excitationphase when power OFF will be saved.therefore,therewillbenoshaftdisplacement when turning the power ON. Pulse input (CW[CK]) Pulse input (CCW[U/D]) Power down input (PD) Phase origin monitor output (MON) Alarm output (AL) CN CN Orange Blue Red Yellow M Dimensions Stepping motor CN CN DCV/V DCG/G DCV/V DCG/G Applicable Wire Sizes Part Wire size Allowable wire length For power supply AWG(. mm ) mmax. For input/output signal AWG(. mm )toawg(.mm ) mmax. For motor AWG(. mm ) mmax. ICforsteppingmotor

26 Specifications Input circuit configuration of CWCK, CCWU/D +V () Pulse duty % MAX. Maximum input frequency:kpulse/s Input signal R () pf Driver WhenthecrestvalueoftheinputsignalexceedsV, use the external limit resistance R to limit the input currenttoapproximatelyma. Inputsignalspecifications Photo coupler type s MIN.. to.v % % Rotation to.v % s MAX. s MAX. Timing of the command pulse -input modecw, CCW ON OFF ON Shaded area indicates internal photo coupler ON. Internal circuitmotor starts operating at leading edge of the photo coupler ON. To apply pulse to CW, set CCW side internal photo coupler to OFF. To apply pulse to CCW, set CW side internal photo coupler to OFF. OFF s input typecw, CCW ON Shaded area indicates internal photo coupler ON. Internal circuitmotor starts operating at leading edge of CK side photo coupler ON. OFF ON s s Switching of U/D input signal must be done while CK side internal photo coupler is OFF. OFF

27 Input circuit configuration of PD +V Input signal R pf Driver Output signal configuration of MON, AL () () MON output CW pulse CCW pulse Mon output MAX. ma MAX. V Driver WhenthecrestvalueoftheinputsignalexceedsV,usetheexternal limitresistancertolimittheinputcurrenttoapproximatelyma. Photo coupler at phase origin of motor excitation is set to ON.setting when number of divisions is Output from MON is set to on at every. degrees of motor output shaft from phase origin. Dimensions Stepping motor Set model Stepping Motors with Internal drivers ICforsteppingmotor

28 Stepping motor Specifications -phasesteppingmotor mmsq..inch sq. SH./step Unipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH SH Pulse rate-torque characteristics SH- SH- SH- SH Torqueozin Torquekgfcm TorqueNm Pull-out JL Torqueozin Torquekgfcm TorqueNm Pull-out JL Torqueozin Torquekgfcm TorqueNm Pull-out JL Torqueozin Torquekgfcm TorqueNm Pull-out JL.... Number of rotationsmin - Number of rotationsmin - Number of rotationsmin - Number of rotationsmin - Sourcevoltage:DCVOperatingcurrent:.A/phase, -phase energization (full-step) J L =[. - kgm (. ozin )pulleybalancermethod] Source voltage : DCVOperatingcurrent:.A/phase, -phase energization (full-step) J L =[. - kgm (. ozin )pulleybalancermethod] Source voltage : DCVOperatingcurrent:A/phase, -phase energization (full-step) J L =[. - kgm (. ozin )pulleybalancermethod] Source voltage : DCVOperatingcurrent:A/phase, -phase energization (full-step) J L =[. - kgm (. ozin )pulleybalancermethod] Thedatearemeasuredunderthedriveconditionofourcompany.Thedrivetorquemayverydepending on the accuracy of customer-side equipment. Bipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH SH Pulse rate-torque characteristics SH- SH- SH- SH-.... Torqueozin Torquekgfcm.... TorqueNm.... Pull-out JL Torqueozin Torquekgfcm.... TorqueNm.... Pull-out JL Torqueozin Torquekgfcm.... TorqueNm.... Pull-out JL Torqueozin Torquekgfcm.... TorqueNm.... Pull-out JL.... Number of rotationsmin - Number of rotationsmin - Number of rotationsmin - Number of rotationsmin - Sourcevoltage:DCVOperatingcurrent:.A/phase, -phase energization (full-step) J L =[. - kgm (. ozin )pulleybalancermethod] Source voltage : DCVOperatingcurrent:.A/phase, -phase energization (full-step) J L =[. - kgm (. ozin )pulleybalancermethod] Source voltage : DCVOperatingcurrent:A/phase, -phase energization (full-step) J L =[. - kgm (. ozin )pulleybalancermethod] Source voltage : DCVOperating current : A/phase, -phase energization (full-step) J L =[. - kgm (. ozin )pulleybalancermethod] Thedatearemeasuredunderthedriveconditionofourcompany.Thedrivetorquemayverydependingontheaccuracyofcustomer-sideequipment.

29 Unipolar windinglead wire type -phasesteppingmotor mm sq..inch sq. SH./step Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH-U -U SH-U -U SH-U -U Pulse rate-torque characteristics SH-U Torque(oz in.) Torque (kgf-cm)..... Torque (N-m)..... Pull-out JL. Pulse rate (kpulse/s) Number of rotations (min - ) Source voltage : DCVOperating current :.A/phase, -phase energization (full-step) J L =[. - kgm (. ozin )Usetherubbercoupling] SH-U Torque(oz in.) Torque (kgf-cm)..... Torque (N-m)..... Pull-out JL. Pulse rate (kpulse/s) Number of rotations (min -) Pulse rate (kpulse/s) Number of rotations (min -) Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor Sourcevoltage:DCVOperating current :.A/phase, -phase energization (full-step) J L =[. - kgm (. ozin )Usetherubbercoupling] SH-U Torque(oz in.) Torque (kgf-cm) Torque (N-m) Pull-out JL Source voltage : DCVOperatingcurrent:.A/phase, -phase energization (full-step) J L =[. - kgm (. ozin )Usetherubbercoupling] Thedatearemeasuredunderthedriveconditionofourcompany.Thedrivetorquemayverydependingontheaccuracyofcustomer-sideequipment.

30 Stepping motor Specifications -phasesteppingmotor mm sq..inch sq. SS./ stepbipolarwinding Unipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SS SS SS Pulse rate-torque characteristics SS- SS- SS-... Torque(ozin.) Torque(kgfcm).... Torque(Nm.... Pull-out JL Torqueozin. Torquekgfcm. Torque.... Pull-out JL Torqueozin. Torquekgfcm TorqueNm.... Pull-out JL. fs. Number of rotations min- Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin inertia of rubber coupling is in cluded JL =.x - kgm. ozin inertiaofrubbercouplingis in cluded fs:noloadmaximumstartingpulserate fs.. Number of rotations min- Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin inertia of rubber coupling is in cluded JL =.x - kgm. ozin inertia of rubber coupling is in cluded fs:noloadmaximumstartingpulserate. fs. Number of rotations min- Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin inertia of rubber coupling is in cluded JL =.x - kgm. ozin inertiaofrubbercouplingis in cluded fs:noloadmaximumstartingpulserate Thedatearemeasuredunderthedriveconditionofourcompany.Thedrivetorquemayverydepending on the accuracy of customer-side equipment.

31 SH- Source voltage : DCVoperatingcurrent:.A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling -phasesteppingmotor mm sq..inch sq. SH./step Pulse rate-torque characteristics Torqueozin Stepping motor Specifications Unipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH Torquekgfcm TorqueNm..... Pull-out JL. Number of rotationsmin - SH- Torqueozin Torquekgfcm TorqueNm..... Number of rotationsmin - Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor. Pull-out JL. Number of rotationsmin - Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling SH- Torqueozin Torquekgfcm TorqueNm..... Pull-out JL Sourcevoltage:DCVoperatingcurrent:.A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling Thedatearemeasuredunderthedriveconditionofourcompany. The drive torque may very dependingontheaccuracyofcustomer-sideequipment.

32 Bipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH SH SH SH Pulse rate-torque characteristics SH- Torqueozin Torquekgfcm TorqueNm..... Pull-out JL fs. Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling SH- Torqueozin Torquekgfcm TorqueNm..... Pull-out JL fs. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling SH- Torqueozin Torquekgfcm TorqueNm..... Pull-out JL fs. Number of rotationsmin - Sourcevoltage:DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling SH- Torqueozin Torquekgfcm TorqueNm..... Pull-out JL fs. Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling SH- Torqueozin Torquekgfcm TorqueNm..... Pull-out JL fs. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling SH- Torqueozin Torquekgfcm TorqueNm..... Pull-out JL fs. Number of rotationsmin - Sourcevoltage:DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin Use the rubber coupling Thedatearemeasuredunderthedriveconditionofourcompany.Thedrivetorquemayverydependingontheaccuracyofcustomer-sideequipment.

33 Stepping motor Specifications Unipolar windingconnector type -phasesteppingmotor mm sq..inch sq. H./step Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H Bipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H H H H H H H H H Dimensions Stepping motor Set model Stepping Motors with Internal drivers Pulse rate-torque characteristics H- H- H- H Torqueozin Torquekgfcm TorqueNm.. Pull-out JL. torque at JL. Number of rotationsmin - Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm.... torque at JL Pull-out JL Number of rotationsmin - Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm.. Pull-out JL. torque at JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm... torque at JL Pull-out JL. Number of rotationsmin - Source voltage : DCVoperating current :.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling IC for stepping motor Thedatearemeasuredunderthedriveconditionofourcompany. The drive torque may very dependingontheaccuracyofcustomer-sideequipment.

34 H-. H-. H-.... Torqueozin Torquekgfcm TorqueNm.. Pull-out JL. JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm.. Pull-out JL. JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm.. Pull-out JL. JL. Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H-. H-. H-.... Torqueozin Torquekgfcm TorqueNm.. Pull-out JL. JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm.. Pull-out JL. JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm.. Pull-out JL. JL. Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm TorqueNm.... Pull-out JL. JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm TorqueNm.... Pull-out JL. JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm TorqueNm..... JL Pull-out JL. Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H-. H-. H-. Torqueozin Torquekgfcm TorqueNm... Pull-out JL. JL. Number of rotationsmin - Torqueozin Torquekgfcm TorqueNm... Pull-out JL. JL. Number of rotationsmin - Torqueozin Torquekgfcm TorqueNm.... JL Pull-out JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Source voltage : DCVoperatingcurrent:.A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Thedatearemeasuredunderthedriveconditionofourcompany.Thedrivetorquemayverydepending on the accuracy of customer-side equipment.

35 SS- Torque(ozin.) Stepping motor Specifications Bipolar windinglead wire type fs. Number of rotations min- -phasesteppingmotor mm sq..inch sq. SS./ stepbipolarwinding Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SS SS Pulse rate-torque characteristics Torque(kgfcm) Torque(Nm Pull-out JL Source voltage : DCVoperatingcurrent:A/phase, --phase energizationhalf-step JL =.x - kgm. ozin Pulley barancer system fs:noloadmaximumstartingpulserate SS- Torque(ozin.) IC for stepping motor Torque(kgfcm) Dimensions Stepping motor Set model Stepping Motors with Internal drivers.. Torque(Nm. Pull-out JL... fs.. Number of rotations min- Source voltage : DCVoperating current : A/phase, --phase energizationhalf-step JL =.x - kgm. ozin Pulley barancer system fs:noloadmaximumstartingpulserate

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

37 Pulse rate-torque characteristics H- Torqueozin H- Torqueozin Torquekgfcm Torquekgfcm TorqueNm TorqueNm..... torque at JL JL H- Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm.... Pull-out JL. JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm TorqueNm..... torque at JL Pull-out JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm TorqueNm..... torque at JL Pull-out JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm TorqueNm..... JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm TorqueNm..... torque at JL Pull-out JL. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm TorqueNm..... torque at JL Pull-out JL. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm TorqueNm..... Pull-out JL torque at JL. Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Dimensions Stepping motor Set model Stepping Motors with Internal drivers H-. H-. H-.... Torqueozin Torquekgfcm TorqueNm.... Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Torqueozin Torquekgfcm TorqueNm.... Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Pull-out JL. JL. Number of rotationsmin - Thedatearemeasuredunderthedriveconditionofourcompany. The drive torque may very dependingontheaccuracyofcustomer-sideequipment. Torqueozin Torquekgfcm TorqueNm.. Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin pulley balancer method IC for stepping motor

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

39 Pulse rate-torque characteristics H- Torqueozin Torquekgfcm TorqueNm..... torque at JL. H- Torqueozin Torquekgfcm TorqueNm.... H- Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Pull-out JL. JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm..... JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm TorqueNm H- Torqueozin Torquekgfcm TorqueNm.... H- torque at JL Pull-out JL Numberofrotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Pull-out JL. JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm..... torque at JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm TorqueNm H- Torqueozin Torquekgfcm TorqueNm..... torque at JL Pull-out JL Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Pull-out JL torque at JL. Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm TorqueNm..... torque at JL. Pull-out JL Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Dimensions Stepping motor Set model Stepping Motors with Internal drivers H-. H-. H-.... Torqueozin Torquekgfcm TorqueNm... JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm... JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling. torque at JL. Number of rotationsmin - Thedatearemeasuredunderthedriveconditionofourcompany. The drive torque may very dependingontheaccuracyofcustomer-sideequipment. Torqueozin Torquekgfcm TorqueNm.. Pull-out JL Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling IC for stepping motor

40 H-. H-. H-.... Torqueozin Torquekgfcm TorqueNm... JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm... JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm... torque at JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H-. H-. H-.... Torqueozin Torquekgfcm TorqueNm.. Pull-out JL. JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm... JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm.. Pull-out JL. JL. Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H-. H-. H-.... Torqueozin Torquekgfcm TorqueNm... JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm... JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm... JL. Pull-out JL Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- H- H Torqueozin Torquekgfcm TorqueNm.. Pull-out JL. JL. Number of rotationsmin - Torqueozin Torquekgfcm TorqueNm... JL. Pull-out JL Number of rotationsmin - Torqueozin Torquekgfcm TorqueNm... JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Thedatearemeasuredunderthedriveconditionofourcompany.Thedrivetorquemayverydepending on the accuracy of customer-side equipment.

41 Unipolar windinglead wire type Torqueozin -phasesteppingmotor mm sq..inch sq. SH./step Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH Pulse rate-torque characteristics SH- SH- SH- Torqueozin Torquekgfcm TorqueNm..... Pull-out JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Bipolar windinglead wire type Torquekgfcm TorqueNm..... Pull-out JL. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Torqueozin Torquekgfcm TorqueNm..... Pull-out JL. Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Thedatearemeasuredunderthedriveconditionofourcompany. The drive torque may very dependingontheaccuracyofcustomer-sideequipment. Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH Pulse rate-torque characteristics SH- SH- SH- Torqueozin Torquekgfcm TorqueNm..... Pull-out JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Torqueozin Torquekgfcm TorqueNm..... Pull-out JL. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Torqueozin Torquekgfcm TorqueNm..... Pull-out JL. Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Thedatearemeasuredunderthedriveconditionofourcompany. The drive torque may very dependingontheaccuracyofcustomer-sideequipment. Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor

42 Stepping motor Specifications -phasesteppingmotor mm sq..inch sq. H./step Unipolar windingconnector type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H H H H H H Bipolar windingconnector type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H H H Pulse rate-torque characteristics H- H- H Torqueozin Torquekgfcm TorqueNm... JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm... torque at JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm... torque at JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling

43 H- H- H- Torqueozin Torquekgfcm TorqueNm..... JL. H- H- Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm..... JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm Pull-out JL Number of rotationsmin - Source voltage : ACVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Torqueozin Torquekgfcm TorqueNm..... JL. H- Torqueozin Torquekgfcm TorqueNm..... Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm TorqueNm Pull-out JL Numberofrotationsmin - Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Torqueozin Torquekgfcm TorqueNm..... torque at JL. H- Torqueozin Torquekgfcm TorqueNm..... Pull-out JL Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Pull-out JL torque at JL. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm TorqueNm..... Pull-out JL. Number of rotationsmin - Source voltage : ACVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Dimensions Stepping motor Set model Stepping Motors with Internal drivers H-. H-. H-.. Torqueozin Torquekgfcm TorqueNm... Pull-out JL. Number of rotationsmin - Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Torqueozin Torquekgfcm TorqueNm... Pull-out JL. Numberofrotationsmin - Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Torqueozin Torquekgfcm TorqueNm Pull-out JL. Number of rotationsmin - Sourcevoltage:ACVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling IC for stepping motor Thedatearemeasuredunderthedriveconditionofourcompany. The drive torque may very dependingontheaccuracyofcustomer-sideequipment.

44 Stepping motor Specifications -phasesteppingmotor mm sq..inch sq. SH /SM./step Unipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH SH SH SH Unipolar windinglead wire typeceul model Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SM SM SM SM SM SM Bipolar windinglead wire type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SH SH SH SH SH SH SH SH SH Bipolar windinglead wire typeceul model Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SM SM SM SM SM SM SM SM SM Bipolar windingterminal block type Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] SM SM SM SM SM SM SM SM SM

45 Pulse rate-torque characteristics SH- SH- SH- Torqueozin Torquekgfcm TorqueNm..... fs. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Torqueozin Torquekgfcm TorqueNm..... fs. Number of rotationsmin - SM- SM- SM- Torqueozin Torquekgfcm TorqueNm..... torque at JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling SM- Torqueozin Torquekgfcm TorqueNm Pull-out JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Torqueozin Torquekgfcm TorqueNm..... Pull-out JL Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling. SM- Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Torqueozin Torquekgfcm TorqueNm. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Torqueozin Torqueozin Torquekgfcm Torquekgfcm TorqueNm TorqueNm..... fs Pull-out JL Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling. SM- Torqueozin Torquekgfcm TorqueNm Pull-out JL Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling. Pull-out JL Number of rotationsmin - Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling Dimensions Stepping motor Set model Stepping Motors with Internal drivers SM- SM- SM- Torqueozin Torquekgfcm TorqueNm Pull-out JL. Number of rotationsmin - Pull-out JL Torqueozin Torquekgfcm TorqueNm. Number of rotationsmin - Torqueozin Torquekgfcm TorqueNm Pull-out JL. Number of rotationsmin - IC for stepping motor Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =x - kgm. ozin use the rubber coupling Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =x - kgm. ozin use the rubber coupling Sourcevoltage:DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =x - kgm. ozin use the rubber coupling Thedatearemeasuredunderthedriveconditionofourcompany. The drive torque may very dependingontheaccuracyofcustomer-sideequipment.

46 Stepping motor Specifications -phasesteppingmotor mm cir..inch cir. H./step Unipolar winding Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H Bipolar winding Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H Pulse rate-torque characteristics H- H- H- Torqueozin Torquekgfcm TorqueNm Pull-out JL Torqueozin Torquekgfcm TorqueNm Pull-out JL Torqueozin Torquekgfcm TorqueNm JL Pull-out JL. Number of rotationsmin - Source voltage : ACVoperatingcurrent:A/phase, -phase energizationfull-step JL =x - kgm. ozin use the rubber coupling. Number of rotationsmin - Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL =x - kgm. ozin use the rubber coupling. Number of rotationsmin - Source voltage : ACVoperatingcurrent:A/phase, -phase energizationfull-step JL =x - kgm. ozin use the rubber coupling JL =x - kgm. ozin use the rubber coupling H- Torqueozin Torquekgfcm TorqueNm JL Pull-out JL. Number of rotationsmin - Source voltage : ACVoperatingcurrent:A/phase, -phase energizationfull-step JL =x - kgm. ozin use the rubber coupling JL =x - kgm. ozin use the rubber coupling Thedatearemeasuredunderthedriveconditionofourcompany.Thedrivetorquemayverydepending on the accuracy of customer-side equipment.

47 Unipolar winding -phasesteppingmotor mm sq..inch sq. H CE marking./step Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H H H H Pulse rate-torque characteristics H- H- H- Torqueozin Torquekgfcm TorqueNm.... Pull-out JL. torque at JL. Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm..... torque at JL Pull-out JL. Numberofrotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm..... Pull-out JL JL. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Dimensions Stepping motor Set model Stepping Motors with Internal drivers H- H- H-... Torqueozin Torquekgfcm TorqueNm.... torque at JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm.... JL. Pull-out JL Number of rotationsmin - Source voltage : DCVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm... Pull-out JL. torque at JL. Number of rotationsmin - Source voltage : DCVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Thedatearemeasuredunderthedriveconditionofourcompany. The drive torque may very dependingontheaccuracyofcustomer-sideequipment. IC for stepping motor

48 Stepping motor Specifications -phasesteppingmotor mm cir..inch cir. H CE marking./step Bipolar winding Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H H Pulse rate-torque characteristics H- H- H-.... Pull-out JL Torqueozin Torquekgfcm TorqueNm.. Pull-out JL. torque at JL. Number of rotationsmin - Source voltage : ACVoperatingcurrent:A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm.... torque at JL Numberofrotationsmin - Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL =.x - kgm. ozin use the rubber coupling JL =.x - kgm. ozin use the direct coupling Torqueozin Torquekgfcm TorqueNm torque at JL. Pull-out JL Number of rotationsmin - Source voltage : ACVoperatingcurrent:A/phase, -phase energizationfull-step JL =x - kgm. ozin use the rubber coupling JL =x - kgm. ozin use the direct coupling Thedatearemeasuredunderthedriveconditionofourcompany.Thedrivetorquemayverydepending on the accuracy of customer-side equipment.

49 Bipolar winding H- Pull-out JL torque at JL. Number of rotationsmin - -phasesteppingmotor mm cir..inch cir. H CE marking./step Model Holding -phase energization Rated current Wiring resistance Winding inductance Rotor inertia MassWeight Single shaft Double shafts [NmozinMIN.] A/phase /phase mh/phase [ - kgm ozin ] [kgibs] H H Pulse rate-torque characteristics Torqueozin Torquekgfcm TorqueNm Sourcevoltage:ACVoperating current : A/phase, -phase energizationfull-step JL =x - kgm. ozin use the rubber coupling JL =x - kgm. ozin use the direct coupling H- Torqueozin Torquekgfcm Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor TorqueNm. JL Pull-out JL Number of rotationsmin - Source voltage : ACVoperating current : A/phase, -phase energizationfull-step JL =x - kgm. ozin use the rubber coupling JL =x - kgm. ozin use the direct coupling Thedatearemeasuredunderthedriveconditionofourcompany. The drive torque may very dependingontheaccuracyofcustomer-sideequipment.

50 Stepping motor Specifications Standard models Motor type Model number Insulation class Withstand voltage Insulation resistance Vibration resistance Impact resistance Operating ambient temperature Operating ambient humidity H series motor H /H /H /H Class B.inchACV /Hz for minute,.inch.inch.inchacv /Hz for minute M ohm MIN. against DCV Amplitudeof.mm.inchP-PatfrequencyrangetoHzforminutessweeptimealongX,Y,andZaxesfortimes. m/s ofaccelerationformswithhalf-sinewaveapplyingthreetimesforx,y,andzaxeseach,timesintotal. - to %MAX. : MAX.,%MAX.:MAX., %MAX. : MAX.no condensation Motor type SH seriesmotor Motor model number SH,SH,SH,SH,SH, Insulation class Class B.inch.inch.inchACV /Hz for minute,.inch/.inchacv Withstand voltage /Hzforminute Insulation resistance M ohm MIN. against DCV Vibration resistance Amplitudeof.mm.inchP-PatfrequencyrangetoHzforminutessweeptimealongX,Y,andZaxesfortimes. Impact resistance m/s ofaccelerationformswithhalf-sinewaveapplyingthreetimesforx,y,andzaxeseach,timesintotal. Operating ambient temperature - to Operating ambient humidity %MAX. : MAX.,%MAX.:MAX., %MAX. : MAX.no condensation Motor type Model number Type Insulation class Operation altitude Withstand voltage Insulation resistance Protection grade Vibration resistance Impact resistance Ambient operation temperature Ambientoperationhumidity SM seriesmotor SM Scontinuous operation Class F+C m feetmax above sea level mm.inch: ACV /Hz for minute M ohm MIN. against DCV IP Amplitudeof.mm.inchP-PatfrequencyrangetoHzforminutessweeptimealongX,Y,andZaxesfortimes. m/s ofaccelerationformswithhalf-sinewaveapplyingthreetimesforx,y,andzaxeseach,timesintotal. -to+c %MAX.atlessthanC,%MAX.atlessthanC,%MAX.atCno condensation Allowableradial/thrustload Radial load Thrust load Frange size Model number Distance from end of shaft : mminch... Radial load : Nlbs Thrust load NIbs mm.inch SH. mm.inch SH. mm.inch H - SH. mm.inch H. H. mm.inch H. mm.inch H SH. mm.inch SM SH. mm.inch H. mm.inch H. CE marked models Model Number H H H Rated voltage -VDC -VDC Applied standardslow voltage diretive EN-,IEC-(EN-),EN-,EN,EN- Operation type Scontinuous rating Protection grade IP Device category Class I Operationenvironment Pollutiondegree Insulation classi Class B Insulation resistance M ohm MIN. against DCV Withstand voltage mm.inch: ACV /Hz for minute mm.inch mm.inch: ACV /Hz for minute Ambient operation temperature -to+c Ambientoperationhumidity %MAX.atlessthanC,%MAX.atlessthanC,%MAX.atCno condensation Windingtemperaturerise KMAX.BasedonSanyoDenkistandard

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

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

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

54 Dimensions MotorsUnit: mminch mm.inch B + (EFFECTIVE LENGTH) +. (. ) ø±. ( ø.±.) Bipolar B.± (.±.) MAX. (.MAX.) ød-. (ød-.) B RMIN. (R.MIN.) Lead wire UL CSA, AWG L±..±. (L±.) (.±.).MIN..±. (.MIN.) (.±.) ±. (.±.) +.. (EFFECTIVE LENGTH) B + ( ) RMIN. (R.MIN.) Lead wire type ød-. (ød-.) A ø.±. (ø.±.) B ±. (.±.).±. (.±.) MAX. (.MAX.) L±. (L±.) B +. -ø. +. (-ø. ) MAX. (.MAX.) Set part number Motor model number Motor length : mminch Cable type DBH H-.. Lead wire DBH H-.. Lead wire DBH H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire H-.. Lead wire B mm.inch... Unipolar Bipolar. L..... L N.P B D-.. D-. A.... Lead wire type Set part number Motor model number Motor length : mminch Cable type SH-. Lead wire SH-. Lead wire SH-. Lead wire DBS SH-. Lead wire DBS SH-. Lead wire DBS SH-. Lead wire mm.inch. L... (..) (L.) (..) (.) (.+. ) (effective length). ø-.. (ø.-.) Unipolar Bipolar S S R MIN. (R.MIN.) (.+. ) (effective length) S S R MIN. (R.MIN.). ø-.. ø-.. (ø.-.). (ø.-.). (.) Connector type. (..) -. (-..) (.) MAX. Pin No. Set part number Motor model number Motor length : mminch Cable type H-.. Connector H-.. Connector H-.. Connector H-.. Connector H-.. Connector H-.. Connector H-.. Connector H-.. Connector H-.. Connector DBH H-.. Connector DBH H-.. Connector DBH H-.. Connector H-.. Connector H-.. Connector H-.. Connector (.) MAX. +. -ø (-ø.+.). mm.inch ±(.±.) + +. (. ) (Effective length) -. A (. -. ) S S R(R.)MIN. Unipolar Bipolar Lead wire: UL CSA AWG L±(L±.).±..±. ±.(.±.) ±.(.±.) + +. (. ) (Effective length) -. (. -. ) S S R(R.)MIN. Grounding terminal M. L.±. (.±.) ±. (.±.) Lead wire type ±. (.±.) Cross section S-S.±.(.±.).±.(.±.) (.)MAX. A(CE) B(CE) CE type Set part number Motor model number Motor length : mminch Cable type SH-. Lead wire SH-.. Lead wire SH- Lead wire SM-. Lead wirece SM-. Lead wirece SM-. Lead wirece SM-.. Lead wirece SM-.. Lead wirece SM-.. Lead wirece SM- Lead wirece SM- Lead wirece SM- Lead wirece B (.)MAX..±.(.±.).±.(.±.) -.±. (-.±.) Model number Shaft diameter(d) Dcut thickness(l) H- H- H- H-... Model number Shaft diameter(d) Dcut thickness(l) SH- SH-.. SH-. Motor shaft specification code Motor shaft spec Set type code Motor type code Single shaft S Double shafts D Motor shaft specification code Motor shaft spec Set type code Motor type code Single shaft S Double shafts D

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

56 Dimensions DriversUnit: mminch Safety standards driver UL CE TÜV Acquired standards File No. Standard part UL UL for Canada E ULC Directives Category Name Standard part Low-voltage directives EN- Emission Terminal disturbance voltage EN-A Electromagnetic radiation disturbance EN-A ESDElectrostatic discharge EN-- EMC RSRadio-frequency amplitude directives EN-- Immunity modulated electromagnetic field Fast transionts EN-- Surges EN-- SM series motor(ul/ce),h series motor(ce) Acquired standards File No. UL UL E UL for Canada Standard category CE Low-voltage directives Standard part EN-- IEC- (EN--) EMCcharacteristicsmayvarydependingontheconfigurationoftheusers control panel, which contains thedriverorsteppingmotor,orthearrangementandwiringofotherelectricaldevices. PartsforEMCnoisesuppressionlikenoisefiltersandtroidaltypeferritecoresmayberequireddepending on circumstances. ValidationtestofFseriesdriverhasbeenperformedforlow-voltageEMCdirectivesatTÜVTÜV product serviceforself-declarationofcemarking.

57 IC for stepping motor Specifications Characteristics Maximum RatingTa= Item Symbol Rating Unit Source voltage VCC -.to V Output H level IOH - current n L level IOL ma Output H level IOH current CO,EM L level IOL A Input voltage VIN -.tovcc +. V Input current IIN ma operating current Topr - to Conservation temperature Tstg - to DimensionsUnit : mminch Pin No. Name Function. CU Input pulse UP clock input. CD Input pulse DOWN clock input. CK Input pulse clock input. U/D Rotation direction conversion. EA energization mode switching input. EB energization mode switching input. C energization mode switching input. VSS GND. R Reset input. output. output. output. output. EM energization monitor output. CO Inputpulsemonitoroutput. VCC.to.V UniversalcontrollerICforthe-phasesteppingmotordrive PMMPT Universalcontroller: Thefollowingtypesofenergizationmodecanbeselectedbyswitchingattheenergizationmodeswitching terminal EX/-EX/EX Source voltage : Vcc =. to.v High output current : ma MIN.sink, source Highnoisemargin: Schmitttriggercircuitisincorporatedfortheallinputterminals. types of pulse input : input modecw,ccwinputmode PulseanddirectionmodeCK,U/Dinputmode Excited status verificationmonitor: Outputsthemonitorsignalofthecontrollerstatus..(.)TYP.(.)MAX... (..).(.)TYP.(.).(.) Recommended Operating ConditionsTa=- to Item Symbol Rating MIN. Standard MAX. Unit Source voltage VCC.. V H level IOH - ma L level IOL Output current n Output current CO,EM H level IOH - ma L level IOL Input voltage VIN VCC V.(.).(.).(.)MAX..(.)MIN..(.)MIN..(.).(.).(.)TYP ~ Dimensions Stepping motor Set model Stepping Motors with Internal drivers IC for stepping motor

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

59 IC for stepping motor Specifications UniversalcontrollerICforthe-phasesteppingmotordrive PMMPT Energization Sequence EX Pulse Reset Face EM UP DOWN Input Pulse Monitor V Driving input Energization mode setting V Reset input Input Output GND + CU CD CK CO EX GND PMMPT Pulse Reset Face EM UP DOWN V P.GND + External output V PMM -EX Example of Application CircuitBipolar wiring motor Combined with the power hybrid IC Pulse Reset Face EM UP DOWN Reset after changing the energization mode. GND Stepping motor Dimensions Stepping motor Set model Stepping Motors with Internal drivers Energization mode setting Pin No. Terminal symbol Input level Motor operation H -EX, EA, EB L EX GND GND V ThenormalinitialresetmaynotbeperformedduringunstableVCCafterturningthepowerON.For reliable resetting, hold the R terminal-pinat the L leveltillthevccbecomesstable..v MAX. CV.V Vcc (-pin) R (-pin) IC for stepping motor PowerhybridIC:RefertopageforthePMMspecifications. RefertothePMMPTOperationManualforotherapplicationcircuitexamples.

60 IC for stepping motor HIC for the -phase stepping motor PMM FullStep/HalfStep Bipolar Characteristics Enableshighspeedandhightorqueoperationbyusingbipolarconstantcurrentswitchingmethod. Enablescompactdrivingcircuitconfigurationwithfewofexternallyattachedparts. Theoverheatprotectioncircuitisincorporatedtoassistthesafetydesign. Maximum RatingTc= Recommended Operating ConditionsTc= Item Symbol Rated value Unit Source voltage- VCC to V Source voltage- VCC to V Output current IO. A Allowable loss PT Tc W Thermal resistance Junction temperature Conservation temperature jc. W ja W Tjmax Tstg - Item Symbol Rated value Unit Source voltage- VCC to V Source voltage- VCC. to. V Output current IO. A Oscillator frequency FC to khz Operation temperature TC - to DimensionsUnit : mminch Pin No. Name Function. VCC Power terminal for controller section. ENA A Enable input terminal. Arm drive input. Arm drive input. CR A One shot time constant setting terminal. Vref A Motor current setting terminal. LG A GND. VCC A Motor driver power terminal. VSA Motor current detection terminal. M Motor output. RS A Detection resistor connecting terminal. M Motor output. PG P.GND. M Motor output. RS B Detection resistor connecting terminal. NC. NC. M Motor output. VS B Motor current detection terminal. VCC B Motor driver power terminal. LG B GND. Vref B Motor current setting terminal. CRB Oneshottimeconstantsettingterminal. Arm drive input. Arm drive input. ENA B Enable terminal. AL Overheat alarm output terminal (.) Control No. and Lot No.. (.). (.) (.). (..). (..) ø.. (ø..) PMM x.=. (x.=.) Operational truth value table.. (..) (.)..(..).(..).(..) (.. ). (.).. (..). (..)... (..) (..).. (.) (.) ENA A(ENA B) ( ) ( ) M(M) M(M) L L L OFF OFF L L H L H L H L H L L H H OFF OFF H OFF OFF

61 IC for stepping motor Specifications HICforthe-phasesteppingmotor PMM Full Step/Half Step Electrical CharacteristicsTa= Item Symbol Condition Rating MIN. Standard MAX. Unit "H"level input voltage VIH VCC V. VCC V "L"level input voltage VIL VCC V. V "H"level input current IIH VCC VVI V A "L"level input current IIL VCC VVI V - A Reference voltage (Vref) input current Iref VCC VVref V - A Current detection (Vs) input current IS VCC VVS V - A ForwarddirectionvoltageofFETdiod VF IF A.. V High output saturating voltage Vce (sat)h IC A.. V Lowoutputsaturatingvoltage Vce (sat)l IC A.. V Lowoutputsaturatingvoltage IR VCC VVOUT V A VOUT VVRS V A Power current to controller section ICC VCC =Vduring circuit operation ma Alarmterminalcurrent Ialm VCC VValm.V ma Overheat alarm operating temperature Overheat protection stop temperature Overheat Alarm Output Theoverheatprotectioncircuitoutputsanalarmsignalat+ attheinternaljunctionintheic,andactivatesmotor excitation OFF at +. VCC(+V) Transistor ON during alarming External pull-up resistor VceON:.VMAX. -pin (approximate kw) lalm : ma MAX. Thealarmingsignaloutputandoverheatprotectioncircuit Open collector output recover automatically when the temperature lowers. V Driving input Energization mode setting V Reset input + GND GND PMM Example of Application Circuit V P.GND + C PMMPT R R PMM GND RefertopageforthePMMPTspecifications. Recommended circuit constants for PMM Applicable Constant Applicable Constant R,R W. C, C pf R,R W.k C, C pf R,R Wk C F DetermineontheRandRconstantsreferringtotheVrefoutput current characteristics. DetermineonDtoD. Peak reverse voltage V Output current A Reverserecoverytime ns C R R R R GND C External output V Output current (A) V R C R C GND D~D V ref Output current characteristics V ref Voltage (V) Orange Blue Red Yellow Stepping motor IC for stepping motor Dimensions Stepping motor Set model Stepping Motors with Internal drivers

62 IC for stepping motor Specifications HIC for the -phase stepping motor PMM Micro Step Unipolar Characteristics Sine wave driven micro-step driver. Thecurrentdetectionresistorisincorporated. MOSFET is used for the power driving circuit to reduce heating. Totallypackagedtoreducepartsfortheperipheralcircuit. Enablesselectionfromthevariousexcitationmodesbytheexternalbitsignal. Maximum RatingTc= Recommended Operating ConditionsTa= Item Symbol Condition Rated value Unit Source voltage- VCC MAX. VCC V V Source voltage- VCC MAX. With no signal V Input voltage Vin MAX. Logic input terminal V Phase current IOH MAX..sec, pulse, VCC applied A Operating temperature on TC MAX. PCB Junction temperature Tj MAX. Conservation temperature Tstg - to Item Symbol Condition Rated value Unit Source voltage- VCC With signal to V Source voltage- VCC With signal. V Input voltage VIH tovcc V Phase current IOH Duty A Clock frequency Clock DC to khz Withstand voltage of phase driver VDSS V Dimensionsunit: mminch Pin No. Terminal name. B. B. P.GND A. P.GND B. A. A. VCC. Vref. Mode. Mode. Mode Pin No. Terminal name. VCC. VCC. Clock. CW CCW. Reset. Return. Enable. MI. M. M. GND. (.). (.) [] (.) (.) (.) PMM x= (x.=.) (.) (.) (.) (.) (.) (.) (.. ). (.) (.. ) Each Terminal Function Terminal name Function Functioning condition Vref Motor current setting input Clock Motor driving pulse input Mode= H level : Operates at rising edge Mode= L level:operatesatrisingandfallingedges CW / CCW Motor rotation direction setting input H level = CW rotation L level=ccwrotation Reset System reset Reset "L" Return Forcedreturntophaseorigin ForcedshifttotheoriginofthepresentenergizationphasewithReturn= H Enable Power OFF input Enable "L" MI Phaseoriginmonitoroutput L leveloutputatthephaseorigin. MM Monitoroutputonphaseenergizationstatus Outputslevelsignalonthepresentphaseenergizationstatus. Phase coordinate A phase B phase A phase B phase M H L L H M L H L H