2-PHASE STEPPING SYSTEMS

Ver. 2
 F series DRIVER
H series MOTOR
SH series MOTOR
2-phase STEPPING SYSTEMS

F series DRIVER features

Low-vibration mode
1 DC input

Low-Vibration Mode OFF Low-Vibration Mode ON

1600 1600
Driver : US1D200P10 Driver : US1D200P10
1400 Motor : 103H7123-0410 1400 Motor : 103H7123-0410
Source voltage : DC24V Source voltage : DC24V
Wire current : 2.0A/phase Wire current : 2.0A/phase
1200 Division : 2 1200 Division : 2
%

%
TG : 11TG 7V/1000rpm TG : 11TG 7V/1000rpm
1000 1000
Speed variation

Speed variation
800 800

600 600

400 400

200 200

0 0
0 100 200 300 400 500 600 700 800 900 1000 0 100 200 300 400 500 600 700 800 900 1000
pulse/s pulse/s

Compact / Light weight

2 DC input

Compact Light weight

2-phase unipolar 2-phase unipolar

Current model Current model
2-phase unipolar 2-phase unipolar
F series F series

2-phase bipolar 2-phase bipolar

Current model Current model
2-phase bipolar 2-phase bipolar
F series F series

0 50 100 150 200 250 300 350 0 50 100 150 200 250
Volume cm 3 MASS g

Compliance with international standards DC input

The standard specification SANMOTION F series stepping driver complies with UL and EN
safety standards.Stepping motors complying with UL and EN standards are available upon
request.

1
 Stepping Motors with Internal drivers
Set model
DC input

Stepping motors with integrated drivers P.4

A driver incorporating a motion control function needed for
driving a motor and a 2-phase stepping motor were integrated into a single unit.

Motor flange size

Set model
42 60
1.65inch 2.36inch

Unipolar standard standard model P.13

The standard set includes a F series driver and a H or SH series motor.

Motor flange size

28 42 56
1.10inch 1.65inch 2.20inch

Stepping motor
Bipolar standard standard model P.14
The standard set includes a F series driver and a H or SH series motor.

Motor flange size

28 42 50 56 60
1.10inch 1.65inch 1.97inch 2.20inch 2.36inch

Dimensions
IC for stepping motor

2
 F series DRIVER
H series MOTOR
2-phase STEPPING SYSTEMS SH series MOTOR

Control method

How do you want to control the equipment?

The F series offers the choice of 3 different control methods

Network
Program
control
command Control using a Control using a
using serial
control using pulse generator pulse generator
communication
PLC I/O
RS-485

Drive
Specification

DC input DC input DC input

stepping motors with integrated drivers unipolar standard bipolar standard

Startup via I/O :

Startup via serial
Initiate program communication :
containing speed,
Control by sending data Motion is generated by pulse input Motion is generated by pulse input
acceleration/
for speed, acceleration/ commands from an upper-level controller. commands from an upper-level controller.
deceleration, and travel
deceleration, and travel
distance commands
distance commands via
stored in the driver via
serial communication.
the I/O.
System configuration diagram P4 System configuration diagram P13 System configuration diagram P14
Specifications P6 Set part number nomenclature P16 Set part number nomenclature P16
Dimensions P5 to 6 Motor specifications P27 to 48 Motor specifications P27 to 48
General specifications P49 50 General specifications P49 50
Motor dimension drawing P51 to 54 Motor dimension drawing P51 to 54
Driver dimension drawing P55 Driver dimension drawing P55

3
 DC input System configuration

Stepping Motors with Internal drivers

Stepping Motors with Integrated drivers
Host Devices Setup software : SFPAIW-01

PLC
PLC and controllers are available as
the host device.

Set model
Bundled cable for
input/output signal 300 mm

Bundled cable for

DC power 350 mm

Stepping motor
Switching power Noise filter Electromagnetic Molded case
supply contactor circuit breaker

DC Single
24 V phase
(t)
AC100 V
to
(r) AC230 V

Converts AC power Filters out Switches driver Protects the power

to DC power incoming noise power on/off. line. Cuts off circuit
from power line Use together with in the event of
a surge protector. overcurrent.

Dimensions
IC for stepping motor

4
 2-phase STEPPING SYSTEMS

Stepping
DC input
motor Specifications

Stepping motors with integrated drivers

Features
1.Driver and motor are now integrated into a single unit.
A driver incorporating a motion control function needed
for driving a motor and a 2-phase stepping motor were
integrated into a single unit for enabling a more compact
installation space and less wiring.

2.Three types of operation modes can be selected to match

the specific application.
1 Control by command pulses
2 Program control by general-purpose I/O(Parallel)
3 Compliant with RS-485, half-duplex asynchronous
communication

Pulse rate-torque characteristics

42mm 1.65inch 60mm 2.36inch
0.6 1.6
6 16
DB21M142S-01 220 DB22M162S-01
80 E=DC24V E=DC24V
I=Rated current 1.4 I=Rated current
200 14
0.5 JL=0.94×10-4kg m2 JL=2.6×10-4kg m2
5
70
180
1.2
12
60 160
0.4
4
1.0
Torque (kgf-cm)

Torque (kgf-cm)

140 10
Torque(oz·in.)

Torque(oz·in.)
Torque (N-m)

Torque (N-m)

50

0.3 120
3 8 0.8
40
100

6 0.6
30 0.2 80
2

60 4 0.4
20

1 0.1 40

10 2 0.2
20

0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min-1) Number of rotations min-1)

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

Dimensions Unit : mm inch

42mm 1.65inch
+2 +.08 42 0.5 1.65 .02
CN1:POWER
70 0 2.76 .00 24 0.5 .94 .02
0.025 31 0.25 1.22 .01
Manufacturer JST +.04
+.0000
.0005

CONNECTOR S02B-PASK-2 1.5 0.76 .59 .03 15 59 .00

0.05 A
(EFFECTIVE
LENGTH)
.1968
5 -0.013
0

+.000
.002

31 0.25 1.22 .01

0.5 1.65 .02

R3MIN.
.87

2 1
22 -0.05

2 20
0

A
42

1 19
4-M3 0.5
TAP DEPTH 4 .16 MIN.
NAME
PLATE

CN2:I/O
4.5 0.15 1.18 .01
Manufacturer JST
CONNECTOR SM20B-SHLDS-GW-TF
PSW RSW DSW
EARTH TERMINAL
M2.5X0.45X4L
BCD
O
N
7 8 9A

E F
012
6

345
1
2
3
4
5
6

5
Specifications

Stepping Motors with Internal drivers

Part number Flange size DB21M142S-01 42 DB22M162S-01 60
Input source Note1 DC24 V 10

Getaway torque A 2 MAX. 3 MAX.

Protection class Class I

Operation environment Installation category over-voltage category : II, pollution degree : 2

Applied standards EN61010-1

Operating ambient temperature
0 to +40
Note2
Conservation temperature -20 to + 60
Basic
specifications
Operating ambient humidity 35 to 85%RH no condensation
Environment
Conservation humidity 10 to 90%RH no condensation

Operation altitude 1000 m 3280 feet MAX. above sea level

Tested under the following conditions ; 4.9m/s2, frequency range 10 to 55Hz, direction along X, Y
Vibration resistance

Set model
and Z axes, for 2 hours each
Impact resistance Not influenced at NDS-C-0110 standard section 3.2.2 division C .
Not influenced when 1500V AC is applied between power input terminal and cabinet for one
Withstand voltage
minute.
Insulation resistance 10M ohm MIN. when measured with 500V DC megohmmeter between input terminal and cabinet.

Mass Weight 0.5kg 1.10lbs 0.87kg 1.92lbs

Protection function Against driver overheat

Function
LED indicator Alarm monitor

Photo coupler input method, input resistance 220

Command pulse input signal Note3
Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V
Photo coupler input method, input resistance 470
Power down input signal PD
Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V

Stepping motor
Photo coupler input method, input resistance 470
Step angle setting selection input EXT
Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V
Photo coupler input method, input resistance 470
FULL/HALF setting selection input F/H
Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V
I/O signals
Photo coupler input method, input resistance 470
EMG input signal
Input signal voltage : H = 4.0 to 5.5V, L = 0 to 0.5V
Open collector output by photo coupler
BUSY output signal
Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX.
Open collector output by photo coupler
Phase origin monitor output signal MON
Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX.
Open collector output by photo coupler
Alarm output signal AL
Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX.
Note1 Note that the power voltage must not exceed 24VDC + 10% (26.4VDC).
Note2 If the driver is placed in a box, the temperature inside the box must not exceed this specified range.
Note3 The maximum input frequency is 250k pulse/s.

Dimensions
60mm 1.65inch 88
+2
0
+.08
3.46 .00
0.1 A

7 0.25 .27 .01 20.6 0.5 .81 .02

0.025 60 0.5 2.36 .02
+1 +.04
CN1:POWER
1.5 0.25 .06 .01 15 0 .59 .00
.25 -.001
+.000

Manufacturer JST 47.1 0.13 1.85 .01

CONNECTOR S02B-PASK-2 (EFFECTIVE
LENGTH) 0.075 A
6.35 -0.013
0

1.5 .01

47.1 0.13 1.85 .01

R4MIN.
0.5 2.36 .02
38.1 0.25

2 1

A
2 20
60

IC for stepping motor

1 19
PLATE
NAME

CN2:I/O
Manufacturer JST +0.5 +.02
CONNECTOR SM20B-SHLDS-GW-TF 5.8 0.15 .23 .01 4 4.5 0 4 .18 .00

PS RSW DS EARTH TERMINAL

M2.5X0.45X4L

BCD
O
N
7 8 9A

E
F0 12
6

345
1
2
3
4
5
6

6
 2-phase STEPPING SYSTEMS

Specifications

Input circuit configuration

Input interface
Input circuit configuration

220

Input signal

Input signal specifications

Negative logic
2μs MIN.

to

Approx. 15 mA

Rotation

Pulse duty 50 % MAX.

to

1μs MAX. 1μs MAX.

Positive logic
1μs MAX. 1μs MAX.

to

Rotation Approx. 15mA

Pulse duty 50% MAX.

to
2μs MIN.

Timing of the command pulse

2-input mode CW, CCW

• The internal photo coupler turns ON within the and,

at its falling edge to OFF, the internal circuit motor is
activated.
• When applying the pulse to CW, turn OFF the CCW side
50μs MIN. internal photo coupler.
• When applying the pulse to CCW, turn OFF the CW side
internal photo coupler.

Pulse and direction mode CK, U/D

• The H level is input for and, at its rising edge to H

level, the internal circuit stepping motor is activated.
50μs MIN. 10μs MIN. • Switching the input signal U/D should be performed
while the input level on the CK side is L .

7
 Stepping Motors with Internal drivers
Input circuit configuration
Input circuit configuration PD EXT F/H EMG

Approx. 10mA • Shaded area indicates internal photo coupler ON .

• EXT input signal
Input signal EXT photo coupler ON enables a function by external
F/H input signal.
EX T photo coupler OFF enables the set ting of a
number of micro steps by main unit ’s rotary switch S.S.
• F/ H input signal
Timing of command pulse, step angle selection, and F/H photo coupler ON sets HALF step (2-division)
FULL/HALF selection input signal operation.
F/H photo coupler OFF sets FULL step (1-division)
operation.
Command pulse
• Refer to switching EXT and F/H input signal in the
100μs MIN. 10μs MIN.
[FULL/HALF input signal, command pulse, and step
angle select].

Set model
• When switching the step angle by EXT and F/H input
signal, the phase origin LCD may not turn ON and the
phase origin monitor output may not output when stop.
Refer to the MON output in the [Output Interface].

Output interface
Output circuit configuration BUSY MON AL

MAX. 20mA

Stepping motor
Output signal
MAX. 30V

Driver

Mon output

• When the motor excitation phase is at the phase origin

CW pulse
(power ON status), the photo coupler is turned ON ,
CCW pulse and the upper D.P of status LED turns on synchronously.

Mon output • Output from MON is set to on at every 7.2 degrees of

motor output shaft from phase origin.

Dimensions

When changing the division setting by F/H input signal.

Phase origin position Switching to FULL step Phase origin position • When changing the motor division setting by the
by external F/H
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
Stop position at
when using the MON output signal.
HALF step FULL step FULL step

Motor shaft
IC for stepping motor

8
 2-phase STEPPING SYSTEMS

Specification

WIRING
Specification Summary of Input/Output Signals (Serial I/F mode)
Reference Pin Reference Pin
Signal Function Summary Signal Function Summary
Designation Number Designation Number
General-purpose Input signal common of the 6 to 9 pins The emergency stop signal is input.
+COM 6 Emergency stop
input common DC 5V is input. EMG 9 Internal photo coupler on No emergency stop
signal Internal photo coupler off Emergency stop
Alarm clear signal Recoverable alarms are cleared.
ALMC 6 This is a general-purpose input signal that can be
standard Internal photo coupler off on Alarm clear
General-purpose used by program driving.
This is a general-purpose input signal that can be IN4 9
input 4c Internal photo coupler on General purpose input 4 on
General-purpose used by program driving. Internal photo coupler off General purpose input 4 off
IN1 6
input 1 Internal photo coupler on General purpose input 1 on
The origin signal used for the return to origin
Internal photo coupler off General purpose input 1 off
operation is input.
The emergency stop signal is input. Origin signal ORG 9
Internal photo coupler on Origin signal on
Emergency stop
EMG 6 Internal photo coupler on No emergency stop Internal photo coupler off Origin signal off
input Internal photo coupler of Emergency stop
alarms are cleared.
The origin signal used for the return to origin Alarm clear signal ALMC 9
Internal photo coupler off on Alarm clear
operation is input.
Origin signal ORG 6 The operation status of the motor is output.
Internal photo coupler on Origin signal on During motor
BUSY 10 Internal photo coupler on During motor operation
Internal photo coupler off Origin signal off operation Internal photo coupler off During motor stop
An overtravel signal in the + direction is input.
The execution status of the program is output.
Internal photo coupler on + direction overtravel not
+ direction During program Internal photo coupler on During program execution
+OT 7 arrived PEND 10
overtravel signal Internal photo coupler off + direction overtravel execution Internal photo coupler off Program execution
complete
arrived
on when the current position is inside the
This is a general-purpose input signal that can be Zone signal ZONE 10
coordinates that were set beforehand.
General-purpose used by program driving.
IN2 7 The execution status of the program is output.
input 2 Internal photo coupler on General purpose input 2 on
Internal photo coupler off General purpose input 2 off During program Internal photo coupler on During program execution
PEND 11
execution Internal photo coupler off Program execution
The emergency stop signal is input.
Emergency stop complete
EMG 7 Internal photo coupler on No emergency stop
input Internal photo coupler off Emergency stop The operation status of the motor is output.
During motor
BUSY 11 Internal photo coupler on During motor operation
The origin signal used for the return to origin operation Internal photo coupler off During motor stop
operation is input.
Origin signal ORG 7
Internal photo coupler on Origin signal on Turns on when the current position is inside the
Zone signal ZONE 11
coordinates that were set beforehand.
Internal photo coupler off Origin signal off
Recoverable alarms are cleared. When various alarm circuits operate in the driver, an
Alarm clear signal ALMC 7
Internal photo coupler off on Alarm clear external signal is output.
Alarm output ALM 12
At this time, the stepping motor becomes non excited
An overtravel signal in the - direction is input.
status.
Internal photo coupler on - direction overtravel not
- direction Output signal
OT 8 arrived OUT_COM 13 It is for the output signal common.
overtravel signal Internal photo coupler off - direction overtravel common
arrived DATA+ DATA+ 14 It is for the serial signal.
This is a general-purpose input signal that can be
General-purpose used by program driving. DATA DATA 15 It is for the serial signal.
IN3 8
input 3 Internal photo coupler on General purpose input 3 on
Internal photo coupler off General purpose input 3 off
emergency stop signal is input.
Emergency stop
EMG 8 Internal photo coupler on No emergency stop
input Internal photo coupler off Emergency stop
The origin signal used for the return to origin
operation is input.
Origin signal ORG 8
Internal photo coupler on Origin signal on
Internal photo coupler off Origin signal off
Recoverable alarms are cleared.
Alarm clear signal ALMC 8
Internal photo coupler off on Alarm clear

Specification Summary of Input/Output Signals (Pulse train I/F mode)

Reference Pin Reference Pin
Signal Function Summary Signal Function Summary
Designation Number Designation Number
CW pulse input CW+ 1 When 2 input mode , When EXT input signal on
Standard CW 2 Input drive pulse rotating CW direction. internal photo coupler on ,
CK+ 1 When 1 input mode ,
FULL/HALF F/H input signal on internal photo coupler on
F/H 8
Pulse train input CK 2 Input drive pulse train for motor rotation. select input HALF step
F/H input signal off internal photo coupler off
CCW pulse input CCW+ 3 When 2 input mode , FULL step
Standard CCW 4 Input drive pulse rotating CCW direction.
The emergency stop signal is input.
When 1 input mode , Emergency
EMG 9 Internal photo coupler on No emergency stop
Rotational U/D+ 3 Input motor rotational direction signal. stop Internal photo coupler off Emergency stop
direction input U/D 4 Internal photo coupler ON CW direction
Internal photo coupler OFF CCW direction The operation status of the motor is output.
Internal photo coupler on
General-purpose Input signal common of the 6 to 9 pins During motor
+COM 6 BUSY 10 During motor operation
input common DC5V is input. operation Internal photo coupler off
Inputting PD signal will cut off power off the current During motor stop
flowing to the Motor With dip switch select, change to When the excitation phase is at the origin in power on it
the Power low function is possible . Phase origin turns on.
Power down MON 11
PD 6 PD input signal on internal photo coupler on monitor output When FULL step, ON once for 4 pulses, when HALF step,
input PD function is valid. ON once for 8 pulses.
PD input signal off internal photo coupler off
When alarm circuits actuated inside the Driver, outputs
PD function is invalid.
Alarm output ALM 12 signals to outside. Then the Stepping motor becomes
FULL/HALF select input will become valid by inputting unexcited status.
EXT signal.
Step angle EXT input signal on internal photo coupler on Output signal
EXT 7 OUT_COM 13 It is for the output signal common.
select input External input signal F/H is valid common
EXT input signal off internal photo coupler off *As for the Motor rotational direction, CW direction is regard as the clockwise revolution by
Main body rotary switch S.S is valid viewing the Motor from output shaft side.

9
 Stepping Motors with Internal drivers
Specification Summary of Input/Output Signals (Parallel I/F mode)

Reference Pin Reference Pin

Signal Function Summary Signal Function Summary
Designation Number Designation Number
Commands the start and stop of program driving. The emergency stop signal is input.
Program drive START+ 1 Emergency stop
Internal photo coupler on Program driving start EMG 9 Internal photo coupler on No emergency stop
Start/Stop START- 2 signal
Internal photo coupler off Program driving stop Internal photo coupler off Emergency stop
When START signal on, a pause in program driving is This is a general-purpose input signal that can be used
commanded. General-purpose by program driving.
PAUSE+ 3 IN4 9
Program pause PAUSE- 4
Internal photo coupler on Program driving pause input 4 Internal photo coupler on General purpose input 4 on
Internal photo coupler off Program driving pause Internal photo coupler off General purpose input 4 off
release The program number is selected along with other bits.
General-purpose Input signal common of the 6 to 9 pins Program number The fourth bit from the subordinate
+COM 6 B8 9
input common DC5V is input. selection bit 8 Internal photo coupler on Corresponding bit 1
Internal photo coupler off Corresponding bit 0
Alarm clear
Recoverable alarms are cleared. The origin signal used for the return to origin operation
signal ALMC 6
Internal photo coupler off on Alarm clear is input.
standard Origin signal ORG 9
Internal photo coupler on Origin signal on
This is a general-purpose input signal that can be used Internal photo coupler off Origin signal off
General-purpose by program driving.
IN1 6
Internal photo coupler on General purpose input 1 on
Alarm clear Recoverable alarms are cleared.
input 1 ALMC 9
Internal photo coupler off on Alarm clear
Internal photo coupler off General purpose input 1 off signal
The program number is selected along with other bits. The operation status of the motor is output.
During motor
Program number Subordinate bit BUSY 10 Internal photo coupler on During motor operation
B1 6 operation Internal photo coupler off During motor stop
selection bit 1 Internal photo coupler on Corresponding bit 1
Internal photo coupler off Corresponding bit 0 The execution status of the program is output. Internal
The emergency stop signal is input. During program photo coupler on During program execution
Emergency stop PEND 10

Set model
EMG 6 Internal photo coupler on No emergency stop Internal execution Internal photo coupler off Program execution
input photo coupler off Emergency stop complete
The origin signal used for the return to origin operation Turns on when the current position is inside the
Zone signal ZONE 10
coordinates that were set beforehand.
is input.
Origin signal ORG 6
Internal photo coupler on Origin signal on The execution status of the program is output.
Internal photo coupler off Origin signal off During program Internal photo coupler on During program execution
PEND 11
An overtravel signal in the + direction is input. Internal execution Internal photo coupler off Program execution
+ direction photo coupler on + direction overtravel not arrived complete
+OT 7 The operation status of the motor is output.
overtravel signal Internal photo coupler off + direction overtravel During motor
arrived BUSY 11 Internal photo coupler on During motor operation
operation Internal photo coupler off During motor stop
This is a general-purpose input signal that can be used
General-purpose by program driving. Turns on when the current position is inside the
IN2 7 Zone signal ZONE 11
coordinates that were set beforehand.
input 2 Internal photo coupler on General purpose input 2 on
Internal photo coupler off General purpose input 2 off When various alarm circuits operate in the driver, an
The program number is selected along with other bits. external signal is output.
Alarm output ALM 12
At this time, the stepping motor becomes non excited
Program number The second bit from the subordinate
B2 7 status.
selection bit 2 Internal photo coupler on Corresponding bit 1 Internal
photo coupler off Corresponding bit 0 Output signal
OUT_COM 13 It is for the output signal common.
The emergency stop signal is input. common
Emergency stop
EMG 7 Internal photo coupler on No emergency stop Internal
input DATA+ DATA+ 14 It is for the serial signal.
photo coupler off Emergency stop
DATA DATA 15 It is for the serial signal.

Stepping motor
The origin signal used for the return to origin operation
is input.
Origin signal ORG 7
Internal photo coupler on Origin signal on
Internal photo coupler off Origin signal off
Alarm clear Recoverable alarms are cleared.
ALMC 7
signal Internal photo coupler off on Alarm clear
An overtravel signal in the - direction is input.
Internal photo coupler on - direction overtravel not
- direction
-OT 8 arrived
overtravel signal Internal photo coupler off - direction overtravel
arrived
This is a general-purpose input signal that can be used
General-purpose by program driving.
IN3 8
input 3 Internal photo coupler on General purpose input 3 on
Internal photo coupler off General purpose input 3 off
The program number is selected along with other bits.
Program number The third bit from the subordinate
B4 8
selection bit 4 Internal photo coupler on Corresponding bit 1
Internal photo coupler off Corresponding bit 0

Emergency stop
EMG 8
The emergency stop signal is input.
Internal photo coupler on No emergency stop
External Wiring Diagrams
input Internal photo coupler off Emergency stop
The origin signal used for the return to origin operation
Controller Driver
is input. 2 Phase Stepping Motor
Origin signal ORG 8
Internal photo coupler on Origin signal on
CN1

Dimensions
1
Internal photo coupler off Origin signal off DC 24V 24V
2
Alarm clear Recoverable alarms are cleared. 24G 24G
ALMC 8
signal Internal photo coupler off on Alarm clear Power 5G
CN2 Supply 5V
14
DATA
15
DATA
20
GND 5G
RXD
TXD
DE
1
CW START
2
CW START
3
CCW PAUSE
4
CCW PAUSE
5
COM
6
PD IN1 B1
IC for stepping motor

7
EXT IN2 B2

8
FH IN3 B4

9
IN4 B8
30V 20mA MAX.
10
BUSY OUT1

11
MON OUT2

12
ALM

13
OUT_COM

10
 2-phase STEPPING SYSTEMS

Specification

SET UP
Function Select Dip Switch
The functions according to the specification can be selected with this Dip switch.
Confirm the ex-factory setting as follows.

OFF ON

1 F/R OFF 2 input mode (CW/CCW pulse)

2 LV OFF Micro step operation

3 PD OFF Power OFF

4 OFF Phase origin excitation

5 I. SEL OFF
Pulse stream I/F mode
6 S. SEL OFF

For pulse stream I/F mode For parallel I/F mode or serial I/F mode

1 Input mode select F/R The communication speed of serial communication is

Input pulse mode selection set.
This switch setting is only effective in pulse stream I/F Communication speed(bps)
Switch Set value
mode. 9,600 19,200 38,400
OFF
F/R Input pulse mode F/R
ON
ON 1 input mode CK,U/D
OFF
OFF 2 input mode CW,CCW LV
ON
OFF
PD
2 Low vibration mode select LV ON
Low vibration and smooth operation is enabled even by the rough *The setting change after the power supply is turned on is invalid. It does
resolution setting not function as a F/R, LV, and PD.
e.g. 1 division, 2 division . *The communication speed of pulse stream I/F mode is fixed at 9600bps.
This switch setting is only effective in pulse stream I/F mode.
For parallel I/F mode and serial I/F mode, this is usually a low
vibration operation.
LV Operation
ON Low vibration operation
OFF Micro step operation
*When LV select is ON low vibration mode , operational process of
driving pulse will be carried out inside the Driver. Therefore, the Motor
movement delays for the time of 3.2ms pulse per input pulse. Note that
depending upon the combined Motor, load,driving profile and etc, it may
take a while until the shaft is adjusted when the Motor stops. In parallel
I/F mode and serial I/F mode there is no delay

3 Power down select PD

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 STP Power Low
OFF 0A Power OFF
*PD function the setting selected by PD of the function select dip switch
is enabled by PD input signal ON built-in photo coupler ON of Input/
Output signal connector CN2 . Power down signal input is prior to all
the other current settings except for alarms. The operational status may
not be maintained such as power swing due to output torque drop or
lower operation due to Motor current OFF unexcited Motor . Pay extra
attention to the input timing of the power down signal in addition that the
security device should be installed to the machine.

4 Excitation select EORG

*By turning on the EORG, excitation phase when power OFF is saved.

5 , 6 Operation mode selection I.SEL, S.SEL

The operation mode is selected.
I.SEL S.SEL Operation mode
OFF Pulse stream I/F mode
OFF Parallel I/F mode
ON
ON Serial I/F mode
*Change the operation mode selection switch after cutting off the driver s
power supply.

11
 Stepping Motors with Internal drivers
Rotary switch(RSW) and the mode change switch(PSW)
For pulse stream I/F mode

When it selects the step angle, the driving current is selected, and stops the
current is selected, set by combining rotary switch (RSW) and mode change
switch (PSW).

1. Step angle select(S.S)

The divisions of the basic step angle (0.9 /step) when micro step driving can
be set.
Gradation 0 1 2 3 4 5 6 7
Partition 1 2 2.5 4 5 8 10 20
Gradation 8 9 A B C D E F
Partition 25 40 50 80 100 125 200 250

Ex-factory setting is at 1 (division 2)

*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 (CN2).

Set model
2. Driving current select(RUN)
The Motor operation current value can be selected.
Gradation 0 1 2 3 4 5 6 7
Motor 100
95 90 85 80 75 70 65
current (%) (rated)
Gradation 8 9 A B C D E F
Motor
current 60 55 50 45 40 35 30 25
(%)
Ex-factory setting is at 0 (rated value).
*When there is a sufficient extra motor torque, lowering the operation current value will be effective in
the lower vibration. The Motor output torque is almost proportional to the current value. When adjusting
the operational torque, confirm the sufficient operation margin and determine the Motor current value.

3. Current Select when Stop (STP)

Stepping motor
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 0 1 2 3 4 5 6 7
Motor 100
95 90 85 80 75 70 65
current (%) (rated)
Gradation 8 9 A B C D E F
Motor
60 55 50 45 40 35 30 25
current (%)
Ex-factory setting is set at A (50%).
*The current setting when stop by STP becomes valid when the Motor stops (approximately 200ms 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. Dimensions

RSW Slave station address (HEX)
0 0
1 1

E E
F F
Ex-factory setting is set at 0
*The slave station address of the pulse stream I/F mode is fixed at 0.
IC for stepping motor

12
 2-phase STEPPING SYSTEMS

DC input System configuration

Unipolar standard

Host Devices
A Motor cable

PLC
PLC and controllers are available as
the host device.

Standard model :
H series motor,
SH series motor,
28mm 1.10inch /
42mm 1.65inch / Motor
56mm 2.20inch connector

DC power I/O signal connector

connector

DC power cable I/O signal cable

Switching power Noise filter Electromagnetic Molded case

supply contactor circuit breaker

DC Single
phase
24V/36V (t)
AC100V
to
(r) AC230V

Converts AC power Filters out Switches driver Protects the power

to DC power incoming noise power on/off. line. Cuts off circuit
from power line Use together with in the event of
a surge protector. overcurrent.

Bundled cable( 42mm motors only)

A Motor cable
42mm 1.65inch 500 1.64 feet MIN.

Pin No. Lead wire color

1 White JST
Lead wire UL1430 AWG26
2 Orange
2

Housing HER-6 BLACK J.S.T Mfg.Co.,Ltd

3 Blue
3

Pin SEH-001T-P0.6 J.S.T Mfg.Co.,Ltd

4 Yellow
4

5 Red
5

6 Black
6

13
2-phase STEPPING SYSTEMS

DC input System configuration

Stepping Motors with Internal drivers

Bipolar standard

Host Devices
A Motor cable

PLC
PLC and controllers are available as
the host device.

Standard model :
H series motor,

Set model
SH series motor,
28mm 1.10inch /
42mm 1.65inch / Motor
50mm 1.97inch / connector
56mm 2.20inch /
60mm 2.36inch

DC power I/O signal connector

connector

Stepping motor
DC power cable I/O signal cable

Switching power Noise filter Electromagnetic Molded case

supply contactor circuit breaker

DC Single
phase
24V/36V (t)
AC100V
to
(r) AC230V Dimensions

Converts AC power Filters out Switches driver Protects the power

to DC power incoming noise power on/off. line. Cuts off circuit
from power line Use together with in the event of
a surge protector. overcurrent.

Bundled cable( 42mm motors only)

A Motor cable
42mm 1.65inch 60mm 2.36inch
IC for stepping motor

500 1.64 feet MIN. 500 1.64 feet MIN.

Pin No. Lead wire color

1 Blue JST

2
2

Orange Pin No. Lead wire color

3
3

4 Yellow
4 Yellow
4

3 Red
5
5

2 Blue
6 Red
6

1 Orange

Lead wire UL1430 AWG26 Lead wire UL1430 AWG22

Housing HER-6 BLACK J.S.T Mfg.Co.,Ltd Housing VER-4N J.S.T Mfg.Co.,Ltd
Pin SEH-001T-P0.6 J.S.T Mfg.Co.,Ltd Pin SVH-21T-P1.1 J.S.T Mfg.Co.,Ltd

14
 2-phase STEPPING SYSTEMS

DC input

Part numbering convention

The following set part number specifies a system with an F series unipolar driver type code : US1D200P10
and a single shaft H series motor type code : 103H7121-0440 , 56 mm 2.20 inch square flange, and
41.8 mm 1.65 inch motor length.

D U 1 6 H 71 1 S

Stepping motor shaft spec

S : Single shaft
D : Double shaft

Stepping motor total length

Stepping motor flange size
28mm 1.10inch 42mm 1.65inch 50mm 1.97inch 56mm 2.20inch 60mm 2.36inch
Code
Type Motor length Type Motor length Type Motor length Type Motor length Type Motor length Type Motor length Type Motor length
code : mm inch code : mm inch code : mm inch code : mm inch code : mm inch code : mm inch code : mm inch
1 2281 32 1.26 5205 33 1.30 1401 33 1.30 6701 39.8 1.57 7121 41.8 1.65 7821 44.8 1.76 1601 42 1.65
2 5208 39 1.54 1402 39 1.54 7123 53.8 2.12 7822 53.8 2.12 1602 54 2.12
3 6703 51.3 2.02 7126 75.8 2.89 7823 85.8 3.38 1603 76 2.99
4 5210 48 1.89 1404 48 1.89
5 2285 51.5 2.03

Stepping motor flange size Basic step angle

28 : 28mm 1.10inch 1.8
52 : 42mm 1.65inch 1.8
71 : 56mm 2.20inch 1.8
78 : 60mm 2.36inch 1.8
14 : 42mm 1.65inch 0.9
16 : 60mm 2.36inch 0.9

Stepping motor series name

H : H series
S : SH series

Rated current specification

4 : 1A/phase 5 : 1.2A/phase 6 : 2A/phase

Model

Driver Specification
U : 2-phase unipolar B : 2-phase bipolar

Power specification
D : DC

15
 Stepping Motors with Internal drivers
Combination list of 2-phase unipolar driver
Basic Set part number Motor model number
System type Motor flange size Rated current
step angle Single shaft Double shaft Single shaft Double shaft
1.8 DU14S281S DU14S281D SH2281-5271 SH2281-5231 1A
28mm 1.10inch
1.8 DU14S285S DU14S285D SH2285-5271 SH2285-5231 1A
1.8 DU15H521S DU15H521D 103H5205-0440 103H5205-0410 1.2A
1.8 DU15H522S DU15H522D 103H5208-0440 103H5208-0410 1.2A
1.8 DU15H524S DU15H524D 103H5210-0440 103H5210-0410 1.2A
Standard 42mm 1.65inch
0.9 DU15S141S DU15S141D SH1421-0441 SH1421-0411 1.2A
model
0.9 DU15S142S DU15S142D SH1422-0441 SH1422-0411 1.2A
0.9 DU15S144S DU15S144D SH1424-0441 SH1424-0411 1.2A
1.8 DU16H711S DU16H711D 103H7121-0440 103H7121-0410 2A
56mm 2.20inch 1.8 DU16H713S DU16H713D 103H7123-0440 103H7123-0410 2A
1.8 DU16H716S DU16H716D 103H7126-0440 103H7126-0410 2A

Combination list of 2-phase bipolar driver

Set model
Basic Set part number Motor model number
System type Motor flange size Rated current
step angle Single shaft Double shaft Single shaft Double shaft
1.8 DB14S281S DB14S281D SH2281-5771 SH2281-5731 1A
28mm 1.10inch
1.8 DB14S285S DB14S285D SH2285-5771 SH2285-5731 1A
1.8 DB14H521S DB14H521D 103H5205-5240 103H5205-5210 1A
1.8 DB14H522S DB14H522D 103H5208-5240 103H5208-5210 1A
1.8 DB14H524S DB14H524D 103H5210-5240 103H5210-5210 1A
42mm 1.65inch
0.9 DB16S141S DB16S141D SH1421-5241 SH1421-5211 2A
0.9 DB16S142S DB16S142D SH1422-5241 SH1422-5211 2A
0.9 DB16S144S DB16S144D SH1424-5241 SH1424-5211 2A
1.8 DB16H671S DB16H671D 103H6701-5040 103H6701-5010 2A
Standard 50mm 1.97inch
1.8 DB16H672S DB16H672D 103H6703-5040 103H6703-5010 2A
model
1.8 DB16H711S DB16H711D 103H7121-5740 103H7121-5710 2A

Stepping motor
56mm 2.20inch 1.8 DB16H713S DB16H713D 103H7123-5740 103H7123-5710 2A
1.8 DB16H716S DB16H716D 103H7126-5740 103H7126-5710 2A
1.8 DB16H781S DB16H781D 103H7821-5740 103H7821-5710 2A
1.8 DB16H782S DB16H782D 103H7822-5740 103H7822-5710 2A
1.8 DB16H783S DB16H783D 103H7823-5740 103H7823-5710 2A
60mm 2.36inch
0.9 DB16S161S DB16S161D SH1601-5240 SH1601-5210 2A
0.9 DB16S162S DB16S162D SH1602-5240 SH1602-5210 2A
0.9 DB16S163S DB16S163D SH1603-5240 SH1603-5210 2A

Dimensions
IC for stepping motor

16
 2-phase STEPPING SYSTEMS

DC input Specifications

Motor flange size 28mm 1.10inch /1.8

Standard model Size
Motor length 32mm 1.26inch 51.5mm 2.03inch

F series driver + H or SH series motor Set part Single shaft DU14S281S DU14S285S
number Double shaft DU14S281D DU14S285D
Unipolar Holding torque N m oz in 0.055 7.79 0.115 16.28
Rotor inertia 10-4 kg m2 oz in2 0.01 0.05 0.022 0.12
Mass Weight kg lbs 0.11 0.24 0.2 0.44
Allowable thrust load N lbs 3 0.67 3 0.67
Allowable radial load Note 1 N lbs 42 9.44 49 11.02
Note1 When load is applied at 1/3 length from output shaft edge.
Motor flange size

28 42 56
1.10inch 1.65inch 2.20inch

1.0 0.1 10 2.0 0.2 10

14 28
9 9
12 8 24
0.8 0.08 1.6 0.16 8

Source current A

Source current A
7 7

Torque kgf cm
10

Torque kgf cm
20

Torque oz in

Torque N m

Torque oz in

Torque N m
0.6 0.06 6 1.2 0.12 6
8 16
5 5
6 0.4 0.04 4 12 0.8 0.08 4
3 3
DC24V 4
0.02 2
8
0.2 0.4 0.04 2
2 4
1 1
0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s
1-division 1-division
100 1000 2000 3000 5000 100 1000 2000 3000 5000
2-division 10 100 1000 2000 3000 5000
2-division 10 100 1000 2000 3000 5000

Number of rotations min -1 Number of rotations min -1

1.0 0.1 10 2.0 0.2 10

14 28
9 9
12 8 24
0.8 0.08 1.6 0.16 8

Source current A

Source current A
7 7

Torque kgf cm
10

Torque kgf cm
20

Torque oz in

Torque N m

Torque oz in

Torque N m
0.6 0.06 6 1.2 0.12 6
8 16
5 5
Operating current:
1A/phase 6 0.4 0.04 4 12 0.8 0.08 4
3 3
DC36V 4
0.02 2
8
0.2 0.4 0.04 2
Pull-out torque 2 4
1 1
Source current (load applied) 0
0 0 0 0 0 0 0
Source current (no load) 0.1 1 10 100 0.1 1 10 100
1-division fs Fs:Maximum self-start Pulse rate kpulse/s Pulse rate kpulse/s
2-division fs frequency when not loaded 1-division 1-division
100 1000 2000 3000 5000 100 1000 2000 3000 5000

1-division 2-division 10 100 1000 2000 3000 5000

2-division 10 100 1000 2000 3000 5000

2-division Number of rotations min -1 Number of rotations min -1

The date are measured under the drive condition of our company.
The drive torque may very depending on the accuracy of customer-side equipment.

Size
Motor flange size 42mm 1.65inch /0.9
Motor length 33mm 1.30inch 39mm 1.54inch 48mm 1.89inch
Set part Single shaft DU15S141S DU15S142S DU15S144S
number Double shaft DU15S141D DU15S142D DU15S144D
Holding torque N m oz in 0.2 28.32 0.29 41.07 0.39 55.23
Rotor inertia 10-4 kg m2 oz in2 0.044 0.24 0.066 0.361 0.089 0.487
Mass Weight kg lbs 0.24 0.53 0.29 0.64 0.38 0.84
Allowable thrust load N lbs 10 2.25 10 2.25 10 2.25
Allowable radial load Note 1 N lbs 30 6 30 6 30 6
Note1 When load is applied at 1/3 length from output shaft edge.

70 5 0.5 10 70 5 0.5 10 70 5 0.5 10

9 9 9
60 8 60 8 60 8
4 0.4 4 0.4 4 0.4
Source current A

Source current A

Source current A

50 7 50 7 50 7
Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

3 0.3 6 3 0.3 6 3 0.3 6

40 40 40
5 5 5
30 2 0.2 4 30 2 0.2 4 30 2 0.2 4
20 3 20 3 20 3
DC24V 1 0.1 2 1 0.1 2 1 0.1 2
10 10 10
1 1 1
0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
1-division 1-division 1-division
2-division 2-division 2-division
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

70 5 0.5 10 70 5 0.5 10 70 5 0.5 10

9 9 9
60 8 60 8 60 8
4 0.4 4 0.4 4 0.4
Source current A

Source current A

Source current A

50 7 50 7 50 7
Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

3 0.3 6 3 0.3 6 3 0.3 6

40 40 40
5 5 5
Operating current: 30 30 30
1.2A/phase 2 0.2 4 2 0.2 4 2 0.2 4
20 3 20 3 20 3
DC36V 1 0.1 2 1 0.1 2 1 0.1 2
Pull-out torque 10 10 10
1 1 1
Source current (load applied) 0 0 0 0 0 0 0 0 0 0 0 0
fs fs fs fs fs fs

Source current (no load) 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
1-division fs Fs:Maximum self-start Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
frequency when not loaded 1-division 1-division 1-division
2-division fs
2-division 2-division 2-division
1-division
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1
2-division

The date are measured under the drive condition of our company.
17 The drive torque may very depending on the accuracy of customer-side equipment.
 Stepping Motors with Internal drivers
Size
Motor flange size 42mm 1.65inch /1.8
Motor length 33mm 1.30inch 39mm 1.54inch 48mm 1.89inch
Set part Single shaft DU15H521S DU15H522S DU15H524S
number Double shaft DU15H521D DU15H522D DU15H524D
Holding torque N m oz in 0.2 28.32 0.3 42.48 0.37 52.39
Rotor inertia 10-4 kg m2 oz in2 0.036 0.20 0.056 0.31 0.072 0.34
Mass Weight kg lbs 0.23 0.51 0.29 0.64 0.37 0.82
Allowable thrust load N lbs 10 2.25 10 2.25 10 2.25
Allowable radial load Note 1 N lbs 30 6 30 6 30 6
Note1 When load is applied at 1/3 length from output shaft edge.

70 5 0.5 10 70 5 0.5 10 70 5 0.5 10

9 9 9
60 8 60 8 60 8
4 0.4 4 0.4 4 0.4

Source current A

Source current A

Source current A
50 7 50 7 50 7
Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m
3 0.3 6 3 0.3 6 3 0.3 6
40 40 40
5 5 5
30 2 0.2 4 30 2 0.2 4 30 2 0.2 4
20 3 20 3 20 3
DC24V

Set model
1 0.1 2 1 0.1 2 1 0.1 2
10 10 10
1 1 1
0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
1-division 1-division 1-division
2-division 2-division 2-division
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

5 10 70 5 0.5 10 70 5 0.5 10
70 0.5
9 9 9
60 60 8 60 8
4 0.4 8 4 0.4 4 0.4

Source current A

Source current A
7 7
Source current A

50 50
Torque kgf cm

Torque kgf cm
50 7
Torque kgf cm

Torque oz in

Torque oz in
Torque N m

Torque N m
Torque oz in

Torque N m

3 6 3 0.3 6 3 0.3 6
40 0.3 40 40
5 5 5
Operating current: 30 30
1.2A/phase 30 2 4 2 0.2 4 2 0.2 4
0.2
3 20 3 20 3
DC36V 20
2 1 0.1 2 1 0.1 2
1 0.1 10 10
Pull-out torque 10 1 1
1
Source current (load applied) 0 0 0 0 0 0 0 0 0 0
0 0 fs fs
fs fs fs fs

Source current (no load) 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
1-division fs Fs:Maximum self-start Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
1-division 1-division

Stepping motor
2-division fs frequency when not loaded 1-division
2-division 2-division 2-division
1-division
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1
2-division

Size
Motor flange size 56mm 2.20inch /1.8
Motor length 41.8mm 1.65inch 53.8mm 2.12inch 75.8mm 2.98inch
Set part Single shaft DU16H711S DU16H713S DU16H716S
number Double shaft DU16H711D DU16H713D DU16H716D
Holding torque N m oz in 0.39 55.23 0.83 117.5 1.27 179.8
Rotor inertia 10-4 kg m2 oz in2 0.1 0.55 0.21 1.15 0.36 1.97
Mass Weight kg lbs 0.47 1.04 0.63 1.39 0.98 2.16
Allowable thrust load N lbs 15 3.37 15 3.37 15 3.37
Allowable radial load Note 1 N lbs 71 15 71 15 71 15
Note1 When load is applied at 1/3 length from output shaft edge.

Dimensions

5 0.5 10 10 1.0 10 20 2.0 10

70 140 280
9 9 9
60 120 240 1.6 8
4 0.4 8 8 0.8 8 16
Source current A

7
Source current A

Source current A

Torque kgf cm

50 7 7 200
Torque kgf cm

Torque kgf cm

100
Torque oz in

Torque N m
Torque oz in

Torque oz in
Torque N m

Torque N m

3 0.3 6 6 0.6 6 12 1.2 6

40 80 160
5 5 5
30 4 60 0.4 4 120 8 0.8 4
2 0.2 4
3 3 80 3
20 40
DC24V 1 0.1 2 2 0.2 2 4 0.4 2
10 20 40
1 1 1
0 0 0 0 0 0 0 0 0 0 0 fs
0
fs fs fs fs
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100

Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s

1-division 1-division 1-division
2-division 2-division 2-division

Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

IC for stepping motor

70 5 0.5 10 10 1.0 10 20 2.0 10

140 280
9 9 9
60 8 120 8 240 8
4 0.4 8 0.8 16 1.6
Source current A

Source current A

Source current A

50 7 7 7
Torque kgf cm

Torque kgf cm

Torque kgf cm

100 200
Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

3 0.3 6 6 0.6 6 12 1.2 6

40 80 160
5 5 5
Operating current: 30 60 120
2A/phase 2 0.2 4 4 0.4 4 8 0.8 4
20 3 40 3 80 3
DC36V 1 0.1 2 2 0.2 2 4 0.4 2
Pull-out torque 10 20 40
1 1 1
Source current (load applied) 0 0 0 0 0 0 0 0 0 0 0 0
fs fs fs fs fs fs

Source current (no load) 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
1-division fs Fs:Maximum self-start Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
frequency when not loaded 1-division 1-division 1-division
2-division fs
2-division 2-division 2-division
1-division
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1
2-division

18
 2-phase STEPPING SYSTEMS

DC input Specifications

Motor flange size 28mm 1.10inch /1.8

Standard model Size
Motor length 32mm 1.26inch 51.5mm 2.03inch

F series driver + H or SH series motor Set part Single shaft DB14S281S DB14S285S
number Double shaft DB14S281D DB14S285D
Bipolar Holding torque N m oz in 0.07 9.91 0.145 20.53
Rotor inertia 10-4 kg m2 oz in2 0.01 0.05 0.022 0.12
Mass Weight kg lbs 0.11 0.24 0.2 0.44
Allowable thrust load N lbs 3 0.67 3 0.67
Allowable radial load Note 1 N lbs 42 9.44 49 9.44
Note1 When load is applied at 1/3 length from output shaft edge.
Motor flange size

28 42 50 56 60
1.10inch 1.65inch 1.97inch 2.20inch 2.36inch

1.0 0.1 10 2.0 0.2 10

14 28
9 9
12 8 24
0.8 0.08 1.6 0.16 8

Source current A

Source current A
7 7

Torque kgf cm
10

Torque kgf cm
20

Torque oz in

Torque N m

Torque oz in

Torque N m
0.6 0.06 6 1.2 0.12 6
8 16
5 5
6 0.4 0.04 4 12 0.8 0.08 4
3 3
DC24V 4
0.02 2
8
0.2 0.4 0.04 2
2 4
1 1
0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s
1-division 1-division
100 1000 2000 3000 5000 100 1000 2000 3000 5000
2-division 10 100 1000 2000 3000 5000
2-division 10 100 1000 2000 3000 5000

Number of rotations min -1 Number of rotations min -1

1.0 0.1 10 2.0 0.2 10

14 28
9 9
12 8 24
0.8 0.08 1.6 0.16 8
Operating current

Source current A

Source current A
7 7

Torque kgf cm
10

Torque kgf cm
20

Torque oz in

Torque N m

Torque oz in

Torque N m
28mm (1.10inch)/1.8 :1A /phase 0.6 0.06 6 0.12 6
1.2
42mm (1.65inch)/1.8 :1A /phase 8 16
5 5
42mm (1.65inch)/0.9 :2A /phase 6 0.4 0.04 4 12 0.8 0.08 4
3 3
DC36V 4
0.02 2
8
0.2 0.4 0.04 2
Pull-out torque 2 4
1 1
Source current (load applied) 0
0 0 0 0 0 0 0
Source current (no load) 0.1 1 10 100 0.1 1 10 100
1-division fs Fs:Maximum self-start Pulse rate kpulse/s Pulse rate kpulse/s
2-division fs frequency when not loaded 1-division 1-division
100 1000 2000 3000 5000 100 1000 2000 3000 5000

1-division 2-division 10 100 1000 2000 3000 5000

2-division 10 100 1000 2000 3000 5000

2-division Number of rotations min -1 Number of rotations min -1

The date are measured under the drive condition of our company.
The drive torque may very depending on the accuracy of customer-side equipment.

Size
Motor flange size 42mm 1.65inch /0.9 50mm 1.97inch /1.8 56mm 2.20inch /1.8
Motor length 48mm 1.89inch 39.8mm 1.57inch 51.3mm 2.02inch 41.8mm 1.65inch
Set part Single shaft DB16S144S DB16H671S DB16H673S DB16H711S
number Double shaft DB16S144D DB16H671D DB16H673D DB16H711D
Holding torque N m oz in 0.48 67.97 0.28 39.6 0.49 69.4 0.39 55.2
Rotor inertia 10-4 kg m2 oz in2 0.089 0.487 0.057 0.31 0.118 0.65 0.1 0.55
Mass Weight kg lbs 0.38 0.84 0.35 0.77 0.5 1.10 0.47 1.04
Allowable thrust load N lbs 10 2.25 15 3.37 15 3.37 15 3.37
Allowable radial load Note 1 N lbs 30 6 99 22 99 22 71 15
Note1 When load is applied at 1/3 length from output shaft edge.

10 1.0 10 70 5 0.5 10 10 1.0 10 10 1.0 10

140 140 140
9 9 9 9
120 8 60 8 120 8 120 8
8 0.8 4 0.4 8 0.8 8 0.8
Source current A

Source current A

Source current A

Source current A

7 50 7 7 7
Torque kgf cm

Torque kgf cm

Torque kgf cm

Torque kgf cm

100 100 100

Torque oz in

Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

Torque N m

6 0.6 6 3 0.3 6 6 0.6 6 6 0.6 6

80 40 80 80
5 5 5 5
60 4 0.4 4 30 2 0.2 4 60 4 0.4 4 60 4 0.4 4
40 3 20 3 40 3 40 3
DC24V 2 0.2 2 1 0.1 2 2 0.2 2 2 0.2 2
20 10 20 20
1 1 1 1
0 0 0 0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
1-division 1-division 1-division 1-division
2-division 2-division 2-division 2-division
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

10 1.0 10 70 5 0.5 10 10 1.0 10 10 1.0 10

140 140 140
9 9 9 9
120 8 60 8 120 8 120 8
8 0.8 4 0.4 8 0.8 8 0.8
Source current A

Source current A

Source current A

Source current A

7 50 7 7 7
Torque kgf cm

Torque kgf cm

Torque kgf cm

Torque kgf cm

100 100 100

Torque oz in

Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

Torque N m

6 0.6 6 3 0.3 6 6 0.6 6 6 0.6 6

80 40 80 80
5 5 5 5
Operating current: 60 30 60 60
2A/phase 4 0.4 4 2 0.2 4 4 0.4 4 4 0.4 4
40 3 20 3 40 3 40 3
DC36V 2 0.2 2 1 0.1 2 2 0.2 2 2 0.2 2
Pull-out torque 20 10 20 20
1 1 1 1
Source current (load applied) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
fs fs fs fs fs fs

Source current (no load) 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
1-division fs Fs:Maximum self-start Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
frequency when not loaded 1-division 1-division 1-division 1-division
2-division fs
2-division 2-division 2-division 2-division
1-division
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1
2-division

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
19
 Stepping Motors with Internal drivers
42mm 1.65inch /1.8 42mm 1.65inch /0.9
33mm 1.30inch 39mm 1.54inch 48mm 1.89inch 33mm 1.30inch 39mm 1.54inch
DB14H521S DB14H522S DB14H524S DB16S141S DB16S142S
DB14H521D DB14H522D DB14H524D DB16S141D DB16S142D
0.265 37.53 0.39 55.23 0.51 72.22 0.23 32.57 0.34 48.15
0.036 0.20 0.056 0.31 0.072 0.34 0.044 0.24 0.066 0.361
0.23 0.51 0.29 0.64 0.37 0.82 0.24 0.53 0.29 0.64
10 2.25 10 2.25 10 2.25 10 2.25 10 2.25
30 6 30 6 30 6 30 6 30 6

70 5 0.5 10 70 5 0.5 10 10 1.0 10 70 5 0.5 10 70 5 0.5 10

140
9 9 9 9 9
60 8 60 8 120 8 60 8 60 8
4 0.4 4 0.4 8 0.8 4 0.4 4 0.4
Source current A

Source current A

Source current A

Source current A

Source current A
50 7 50 7 7 50 7 50 7
Torque kgf cm

Torque kgf cm

Torque kgf cm

Torque kgf cm

Torque kgf cm
100
Torque oz in

Torque oz in

Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

Torque N m

Torque N m
3 0.3 6 3 0.3 6 6 0.6 6 3 0.3 6 3 0.3 6
40 40 80 40 40
5 5 5 5 5
30 2 0.2 4 30 2 0.2 4 60 4 0.4 4 30 2 0.2 4 30 2 0.2 4
20 3 20 3 40 3 20 3 20 3

Set model
1 0.1 2 1 0.1 2 2 0.2 2 1 0.1 2 1 0.1 2
10 10 20 10 10
1 1 1 1 1
0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
1-division 1-division 1-division 1-division 1-division
2-division 2-division 2-division 2-division 2-division
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

70 5 0.5 10 70 5 0.5 10 10 1.0 10 70 5 0.5 10 70 5 0.5 10

140
9 9 9 9 9
60 8 60 8 120 8 60 8 60 8
4 0.4 4 0.4 8 0.8 4 0.4 4 0.4
Source current A

Source current A

Source current A

Source current A

Source current A
50 7 50 7 7 50 7 50 7
Torque kgf cm

Torque kgf cm

Torque kgf cm

Torque kgf cm

Torque kgf cm
100
Torque oz in

Torque oz in

Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

Torque N m

Torque N m
3 0.3 6 3 0.3 6 6 0.6 6 3 0.3 6 3 0.3 6
40 40 80 40 40
5 5 5 5 5
30 2 0.2 4 30 2 0.2 4 60 4 0.4 4 30 2 0.2 4 30 2 0.2 4
20 3 20 3 40 3 20 3 20 3
1 0.1 2 1 0.1 2 2 0.2 2 1 0.1 2 1 0.1 2
10 10 20 10 10
1 1 1 1 1
0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
1-division 1-division 1-division 1-division 1-division

Stepping motor
2-division 2-division 2-division 2-division 2-division
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

56mm 2.20inch /1.8 60mm 2.36inch /1.8

53.8mm 2.12inch 75.8mm 2.98inch 44.8mm 1.76inch 53.8mm 2.12inch 85.8mm 3.38inch
DB16H713S DB16H716S DB16H781S DB16H782S DB16H783S
DB16H713D DB16H716D DB16H781D DB16H782D DB16H783D
0.83 117.5 1.27 179.8 0.88 124.6 1.37 194.0 2.7 382.3
0.21 1.15 0.36 1.97 0.275 1.50 0.4 2.19 0.84 4.59
0.65 1.43 0.98 2.16 0.6 1.32 0.77 1.70 1.34 2.95
15 3.37 15 3.37 15 3.37 15 3.37 15 3.37
71 15 71 15 95 21 95 21 95 21

Dimensions

20 2.0 10 20 2.0 10 20 2.0 10 20 2.0 10 700 50 5 10

280 280 280 280
9 9 9 9 9
240 8 240 8 240 8 240 8 600 8
16 1.6 16 1.6 16 1.6 16 1.6 40 4
Source current A

Source current A

Source current A

Source current A

Source current A

7 7 7 7 500 7
Torque kgf cm

Torque kgf cm

Torque kgf cm

Torque kgf cm

Torque kgf cm

200 200 200 200

Torque oz in

Torque oz in

Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

Torque N m

Torque N m

12 1.2 6 12 1.2 6 12 1.2 6 12 1.2 6 30 3 6

160 160 160 160 400
5 5 5 5 5
120 8 0.8 4 120 8 0.8 4 120 8 0.8 4 120 8 0.8 4 300 20 2 4
80 3 80 3 80 3 80 3 200 3
4 0.4 2 4 0.4 2 4 0.4 2 4 0.4 2 10 1 2
40 40 40 40 100
1 1 1 1 1
0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
1-division 1-division 1-division 1-division 1-division
2-division 2-division 2-division 2-division 2-division
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1
IC for stepping motor

20 2.0 10 20 2.0 10 20 2.0 10 20 2.0 10 700 50 5 10

280 280 280 280
9 9 9 9 9
240 8 240 8 240 8 240 8 600 8
16 1.6 16 1.6 16 1.6 16 1.6 40 4
Source current A

Source current A

Source current A

Source current A

Source current A

7 7 7 7 500 7
Torque kgf cm

Torque kgf cm

Torque kgf cm

Torque kgf cm

Torque kgf cm

200 200 200 200

Torque oz in

Torque oz in

Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

Torque N m

Torque N m

12 1.2 6 12 1.2 6 12 1.2 6 12 1.2 6 30 3 6

160 160 160 160 400
5 5 5 5 5
120 8 0.8 4 120 8 0.8 4 120 8 0.8 4 120 8 0.8 4 300 20 2 4
80 3 80 3 80 3 80 3 200 3
4 0.4 2 4 0.4 2 4 0.4 2 4 0.4 2 10 1 2
40 40 40 40 100
1 1 1 1 1
0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
1-division 1-division 1-division 1-division 1-division
2-division 2-division 2-division 2-division 2-division
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

20
 2-phase STEPPING SYSTEMS

DC input Specifications

Size
Motor flange size 60mm 2.36inch /0.9
Motor length 42mm 16.54inch 54mm 21.26inch
Set part Single shaft DB16S161S DB16S162S
number Double shaft DB16S161D DB16S162D
Holding torque N m oz in 0.69 97.71 1.28 181.26
Rotor inertia 10-4 kg m2 oz in2 0.24 1.312 0.4 2.187
Mass Weight kg lbs 0.55 1.21 0.8 1.76
Allowable thrust load N lbs 15 3.37 15 3.37
Allowable radial load Note 1 N lbs 79 18 79 18
Note1 When load is applied at 1/3 length from output shaft edge.

10 1.0 10 20 2.0 10
140 280
9 9
120 0.8 8 240 1.6 8
8 16

Source current A

Source current A
7 7
Torque kgf cm

Torque kgf cm
100 200
Torque oz in

Torque oz in
Torque N m

Torque N m
6 0.6 6 12 1.2 6
80 160
5 5
60 4 0.4 4 120 8 0.8 4
40 3 80 3
DC24V 2 0.2 2 4 0.4 2
20 40
1 1
0 0 0 fs fs
0 0 0 0 fs fs
0
0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s
1-division 1-division
2-division 2-division
Number of rotations min -1 Number of rotations min -1

10 1.0 10 20 2.0 10
140 280
9 9
120 0.8 8 240 1.6 8
8 16
Source current A

Source current A
7 7
Torque kgf cm

Torque kgf cm

100 200
Torque oz in

Torque oz in
Torque N m

Torque N m

6 0.6 6 12 1.2 6
80 160
5 5
Operating current: 60 120
2A/phase 4 0.4 4 8 0.8 4
40 3 80 3
DC36V 2 0.2 2 4 0.4 2
Pull-out torque 20 40
1 1
Source current (load applied) 0 0 0 0 0 0 0 0
fs fs fsfs

Source current (no load) 0.1 1 10 100 0.1 1 10 100

1-division fs Fs:Maximum self-start Pulse rate kpulse/s Pulse rate kpulse/s
frequency when not loaded 1-division 1-division
2-division fs
2-division 2-division
1-division
Number of rotations min -1 Number of rotations min -1
2-division

The date are measured under the drive condition of our company.
The drive torque may very depending on the accuracy of customer-side equipment.

21
 Stepping Motors with Internal drivers
Specifications of Drivers
Unipolar
Model number US1D200P10
Basic Input source DC24 V / 36 V 10
specifications Source current 3A
Environment Protection class Class III
Operation environment Installation category over-voltage category : I, pollution degree : 2
Applied standards EN61010-1 UL508C
Ambient operation temperature 0 to +50
Conservation temperature -20 to +70
Operating ambient humidity 35 to 85% RH no condensation
Conservation humidity 10 to 90% RH no condensation
Operation altitude 2000 m 6560 feet or less above sea level
Vibration resistance Tested under the following conditions; 4.9 m/s2, frequency range 10 to 55Hz, direction along X, Y and Z
axes, for 2 hours each
Impact resistance Not influenced at NDS-C-0110 standard section 3.2.2 division C .
Withstand voltage Not influenced when 1500 V AC is applied between power input terminal and cabinet for one minute.
Insulation resistance 10 M MIN. when measured with 500V DC megohmmeter between input terminal and cabinet.
Mass Weight 0.08 kg 0.18 lbs
Functions Selection functions Step angle, Pulse input mode, Step current, Operating current.

Set model
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 : 220
input-signal H level : 4.0 to 5.5 V, input-signal L level : 0 to 0.5 V
Maximum input frequency : 150 kpulse/s
Poweer down input signal Photo-coupler input system, input resistance : 220
input-signal H level : 4.0 to 5.5V, input-signal L level : 0 to 0.5 V
Phase origin monitor output signal From the photo coupler by the open collector output
Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX.
Rotation monitor output signal From the photo coupler by the open collector output
Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX.

Bipolar
Model number BS1D200P10
Basic Input source DC24 V / 36 V 10
specifications Source current 3A
Environment Protection class Class III

Stepping motor
Operation environment Installation category over-voltage category : I, pollution degree : 2
Applied standards EN61010-1 UL508C
Ambient operation temperature 0 to +50
Conservation temperature -20 to +70
Operating ambient humidity 35 to 85% RH no condensation
Conservation humidity 10 to 90% RH no condensation
Operation altitude 2000 m 6560 feet or less above sea level
Vibration resistance Tested under the following conditions; 4.9m/s2, frequency range 10 to 55Hz, direction along X, Y and Z
axes, for 2 hours each
Impact resistance Not influenced at NDS-C-0110 standard section 3.2.2 division C .
Withstand voltage Not influenced when 1500 V AC is applied between power input terminal and cabinet for one minute.
Insulation resistance 10 M MIN. when measured with 500 V DC megohmmeter between input terminal and cabinet.
Mass Weight 0.08 kg 0.18 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 : 220
input-signal H level : 4.0 to 5.5 V, input-signal L level : 0 to 0.5 V
Maximum input frequency : 150 kpulse/s
Poweer down input signal Photo-coupler input system, input resistance : 220
input-signal H level : 4.0 to 5.5V, input-signal L level : 0 to 0.5 V Dimensions
Phase origin monitor output signal From the photo coupler by the open collector output
Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX.
Rotation monitor output signal From the photo coupler by the open collector output
Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX.
IC for stepping motor

22
 2-phase STEPPING SYSTEMS

DC input Specifications

Operation, Connection, and Function

Each section name of the drivers

Unipolar

1 Driving current selection switch RUN 4 LED for alarm display ALM
You can select the value of the motor Lit when an alarm is generated.
current when driving. Indicator Explanation
Dial 0 1 2 3 4 5 6 7 Motor cable is broken, or switching element in
ALM is
driver is faulty. The main circuit voltage is out
Stepping motor displayed.
3 current A
2.0 1.9 1.8 1.7 1.6 1.5 1.4 1.3 of specifications range (Less than DC19V).
Dial 8 9 A B C D E F When ALM is displayed, the winding current of the stepping
6 1
Stepping motor
current A
1.2 1.1 1.0 0.9 0.8 0.7 0.6 0.5
motor is cut off and it is in a non-excitation state. At the same
time, an output signal is transmitted from the alarm output
The factory setting is F (0.5A). terminal (AL) to an external source. When the alarm circuit is
Select the current after checking the rated current of the operating, this state is maintained until it is reset by switching on
combination motor. the power supply again. When an alarm condition has occurred,
please take corrective actions to rectify the cause of the alarm
before switching on the power supply again.
2 Function selection DIP switchpack
2 Select the function depending 5 I/O signal connector CN1
on your specification.
Connect the I/O signal.
7 5 4 3 LED for power supply monitor POW 6 Motor connector CN2
Lit up when the main circuit power
Connect the motor s power line.
supply is connected.
Indicator Explanation 7 Power supply connector CN3
POW is
displayed.
Main circuit power supply is switched on. Connect the main circuit
power supply.

Bipolar

1 Driving current selection switch RUN 4 LED for alarm display ALM
You can select the value of the motor Lit when an alarm is generated.
current when driving. Indicator Explanation
Dial 0 1 2 3 4 5 6 7 Motor cable is broken, or switching element in
ALM is
driver is faulty. The main circuit voltage is out
3 Stepping motor
current A
2.0 1.9 1.8 1.7 1.6 1.5 1.4 1.3
displayed.
of specifications range (Less than DC19V).
Dial 8 9 A B C D E F When ALM is displayed, the winding current of the stepping
Stepping motor motor is cut off and it is in a non-excitation state. At the same
1.2 1.1 1.0 0.9 0.8 0.7 0.6 0.5
6 current A time, an output signal is transmitted from the alarm output
The factory setting is F (0.5A). terminal (AL) to an external source. When the alarm circuit is
1 Select the current after checking the rated current of the operating, this state is maintained until it is reset by switching on
the power supply again. When an alarm condition has occurred,
combination motor.
please take corrective actions to rectify the cause of the alarm
before switching on the power supply again.
2 Function selection DIP switchpack
2 Select the function depending 5 I/O signal connector CN1
on your specification.
Connect the I/O signal.
7 5 4 3 LED for power supply monitor POW 6 Motor connector CN2
Lit up when the main circuit power
Connect the motor s power line.
supply is connected.
Indicator Explanation 7 Power supply connector CN3
POW is
displayed.
Main circuit power supply is switched on. Connect the main circuit
power supply.

Specification summary of CN1 I/O signal

CN1 Pin
Signal name Function
number
CW pulse input 1 When using 2-input mode
standard 2 Drive pulse for the CW direction rotation is input.
When using Pulse and direction mode
1
Pulse column input Drive pulse train for the stepping motor rotation is
2
input.
CCW pulse input 3 When using 2-input mode
standard 4 Drive pulse for the CCW direction rotation is input.
The rotation direction signal of stepping motor is
Rotation direction 3 input for the Pulse and direction mode .
input 4 Internal photocoupler ON CW direction
Internal photocoupler OFF CCW direction
Inputting the PD signal cuts OFF the current flowing
5 through the stepping motor.
Power down input Iinternal photocoupler ON PD function enabled
6
Iinternal photocoupler OFF PD function disabled
It is turned ON when the excitation phase is at the
origin in the state when the power is turned ON
Phase origin 7 It is turned ON once per 4 pulses when setting to
monitor output 8 HALF step.
It is turned ON once per 8 pulses when setting to
FULL step.
9 The signal is externally output when one of several
Alarm output alarm circuits operates in the PM driver. At this time,
10 the stepping motor is in the unexcited state.
The CW rotation direction of stepping motor means the clockwise direction rotation as
viewed from the output shaft side flange side . The CCW rotation direction means the
counterclockwise direction rotation as viewed from the output shaft side flange side .

23
 Stepping Motors with Internal drivers
2 Input circuit configuration CW and CCW Pulse input

Step angle select EX1 EX2 EX3

Select the partition number of the basic step angle.
EX1 EX2 EX3 Partition number
ON ON ON 1-division
OFF ON OFF 2-division
Functions can be selected according to the specification with ON OFF OFF 4-division
the dip switch. OFF OFF OFF 8-division
OFF OFF ON 16-division
Check that the ex-factory settings are as follows.

OFF ON
Input method select F/R
Selects input pulse type
EX1 OFF
F/R Input pulse type
ON 1 input Pluse&direction
EX2 OFF Partition number: 8
OFF 2 input CW, CCW

EX3 OFF
Current selection when stopping ACD1 ACD2

Set model
F/R OFF Input method 2 (CW/CCW pulse input)
Select the current value of the motor when stopping.
ACD1 OFF ACD2 ACD1 Current value of the motor
Stopping current: 40% of driving current ON ON 100% of driving current
ACD2 OFF ON OFF 60% of driving current
OFF ON 50% of driving current
LV OFF Micro step operation OFF OFF 40% of driving current
Initial configuration of factory shipment is set to 40% of rated
EORG OFF Phase origin value. Driver and motor should be operated at around 50% of
rated value to reduce heat.

Low-vibration mode select LV

Provides low-vibration, smooth operation even if
resolution is rough 1-division, 2-division, etc
LV Operation
ON Auto-micro function

Stepping motor
OFF Micro-step

Excitation select EORG

The excitation phase when the power supply is
turned on is selected.
EORG Original excitation phase
ON Excitation phase at power shut off
OFF Phase origin
By turning on the EORG, excitation phase when power OFF will be
saved. Therefore, there will be no shaft displacement when turning
the power ON.

5 6 7 External wiring diagram

Unipolar Bipolar

CN1 CN2
White
CN1 CN2
Orange
Dimensions
1 1 1 1
Pulse input (CW[CK]) Black Pulse input (CW[CK]) Blue
2 2 2 2
Orange Red M
3 3 3 3
Pulse input (CCW[U/D]) Blue M Pulse input (CCW[U/D]) Yellow
4 4 4 4
Red
5 5 5
Power down input (PD) Yellow Power down input (PD)
6 6 6
Phase origin monitor 7 Phase origin monitor 7
output (MON) 8 output (MON) 8
9 9
Alarm output (AL) Alarm output (AL)
10 10

CN3 CN3
DC24V/36V 1 DC24V/36V 1
DC24G/36G 2 DC24G/36G 2
IC for stepping motor

Applicable Wire Sizes

Part Wire size Allowable wire length
For power supply AWG22(0.3 mm2) 2 m MAX.
For input/output
AWG24(0.2 mm2) to AWG22(0.3 mm2) 2 m MAX.
signal
For motor AWG22(0.3 mm2) 3 m MAX.

24
 2-phase STEPPING SYSTEMS

Specifications

Input circuit configuration of CW CK , CCW U/D

• Pulse duty 50% MAX.
1(3) 220
+5V
• Maximum input frequency:150kpulse/s
1000pF
Input signal 2(4) • When the crest value of the input signal exceeds 5V,
R use the external limit resistance R to limit the input
Driver
current to approximately 15mA.

Input signal specifications

Photo coupler type

3 s MIN.

4.0 to 5.5V
90%

50%

Rotation

10%
0 to 0.5V

1 s MAX. 1 s MAX.

Timing of the command pulse

2-input mode CW, CCW
ON
• Shaded area indicates internal photo coupler ON . Internal circuit motor
starts operating at leading edge of the photo coupler ON .
OFF
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

50 s

1 input type CW, CCW

ON
• Shaded area indicates internal photo coupler ON . Internal circuit motor
starts operating at leading edge of CK side photo coupler ON .
OFF
• Switching of U/D input signal must be done while CK side internal photo
50 s 10 s
coupler is OFF .
ON

OFF

25
 Stepping Motors with Internal drivers
Input circuit configuration of PD
• When the crest value of the input signal exceeds 5V, use the external
220
+5V
5 limit resistance R to limit the input current to approximately 15mA.
1000pF
Input signal 6

R
Driver

Output signal configuration of MON, AL

Set model
MAX. 10 mA
7(9)

MAX. 40 V
8(10)

Driver

MON output
CW pulse • Photo coupler at phase origin of motor excitation is set to ON . setting
when number of divisions is 2
CCW pulse
• Output from MON is set to on at every 7.2 degrees of motor output shaft
from phase origin.
Mon output

Stepping motor
Dimensions
IC for stepping motor

26
 2-phase STEPPING SYSTEMS

Stepping motor Specifications

2-phase stepping motor

28mmsq. 1.10inch sq.

SH228
1.8 /step

Unipolar winding Lead wire type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
SH2281-5171 -5131 0.055 7.79 0.5 10.5 3.7 0.01 0.05 0.11 0.24
SH2281-5271 -5231 0.055 7.79 1 2.85 1 0.01 0.05 0.11 0.24
SH2285-5171 -5131 0.115 16.28 0.5 16.5 7.1 0.022 0.12 0.2 0.44
SH2285-5271 -5231 0.115 16.28 1 4.1 1.9 0.022 0.12 0.2 0.44

Pulse rate-torque characteristics

SH2281-51 SH2285-51 SH2281-52 SH2285-52
1 0.1 2 0.2 1 0.1 2 0.2
14 28 14 28

12 0.08 24 0.16 12 0.08 24 0.16

0.8 1.6 0.8 1.6
10 20 10 20
Torque kgf cm

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

Torque N m
0.6 0.06 Pull-out torque at JL 1.2 0.12 Pull-out torque at JL 0.6 0.06 Pull-out torque at JL 1.2 0.12 Pull-out torque at JL
8 16 8 16

6 0.4 0.04 12 0.8 0.08 6 0.4 0.04 12 0.8 0.08

4 8 4 8
0.2 0.02 0.4 0.04 0.2 0.02 0.4 0.04
2 4 2 4

0 0 0 0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
-1 -1 -1
Number of rotations min Number of rotations min Number of rotations min Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit Constant current circuit
Source voltage : DC24V Operating current : 0.5A/phase, Source voltage : DC24V Operating current : 0.5A/phase, Source voltage : DC24V Operating current : 1A/phase, Source voltage : DC24V Operating current : 1A/phase,
2-phase energization (full-step) 2-phase energization (full-step) 2-phase energization (full-step) 2-phase energization (full-step)
JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method] JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method] JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method] JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method]

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

Bipolar winding Lead wire type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
SH2281-5671 -5631 0.07 9.91 0.5 10.5 7.2 0.01 0.05 0.11 0.24
SH2281-5771 -5731 0.07 9.91 1 2.6 1.85 0.01 0.05 0.11 0.24
SH2285-5671 -5631 0.145 20.53 0.5 15 13.5 0.022 0.12 0.2 0.44
SH2285-5771 -5731 0.145 20.53 1 3.75 3.4 0.022 0.12 0.2 0.44

Pulse rate-torque characteristics

SH2281-56 SH2285-56 SH2281-57 SH2285-57
1 0.1 2 0.2 1 0.1 2 0.2
14 28 14 28

12 0.08 24 0.16 12 0.08 24 0.16

0.8 1.6 0.8 1.6
Pull-out torque at JL Pull-out torque at JL
10 20 10 20
Torque kgf cm

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

Torque N m

0.6 0.06 Pull-out torque at JL 1.2 0.12 Pull-out torque at JL 0.6 0.06 1.2 0.12
8 16 8 16

6 0.4 0.04 12 0.8 0.08 6 0.4 0.04 12 0.8 0.08

4 8 4 8
0.2 0.02 0.4 0.04 0.2 0.02 0.4 0.04
2 4 2 4

0 0 0 0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit Constant current circuit
Source voltage : DC24V Operating current : 0.5A/phase, Source voltage : DC24V Operating current : 0.5A/phase, Source voltage : DC24V Operating current : 1A/phase, Source voltage : DC24V Operating current : 1A/phase,
2-phase energization (full-step) 2-phase energization (full-step) 2-phase energization (full-step) 2-phase energization (full-step)
JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method] JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method] JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method] JL=[0.01 10-4kg m2 (1.80 oz in2) pulley balancer method]

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

27
 Stepping Motors with Internal drivers
2-phase stepping motor

35mm sq. 1.38inch sq.

SH35
1.8 /step

Unipolar winding Lead wire type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
SH3533-12U40 -12U10 0.12 16.99 1.2 2.4 1.3 0.02 1.09 0.17 0.37
SH3537-12U40 -12U10 0.15 21.24 1.2 2.7 2 0.025 1.37 0.2 0.44
SH3552-12U40 -12U10 0.23 32.57 1.2 3.4 2.8 0.043 2.35 0.3 0.66

Pulse rate-torque characteristics

Set model
SH3533-12U SH3537-12U SH3552-12U
2.0 0.2 2.0 0.2 70 0.5
5
25 25
60
1.6 0.16 1.6 0.16 4 0.4
20 20 50
Pull-out torque at JL1
Torque (kgf-cm)
Torque (kgf-cm)

Torque (kgf-cm)
Torque(oz·in.)
Torque(oz·in.)

Torque(oz·in.)
0.12 0.12 0.3
Torque (N-m)
Torque (N-m)

Torque (N-m)
1.2 1.2 3
15
Pull-out torque at JL1 15 40

Pull-out torque at JL1

0.08 0.08 30 0.2
0.8 0.8 2
10 10
20
0.4 0.04 0.04 0.1
5 5 0.4 1
10

0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate (kpulse/s) Pulse rate (kpulse/s) Pulse rate (kpulse/s)
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations (min-1) Number of rotations (min-1) Number of rotations (min-1)

Constant current circuit Constant current circuit Constant current circuit

Stepping motor
Source voltage : DC24V Operating current : 1.2A/phase, Source voltage : DC24V Operating current : 1.2A/phase, Source voltage : DC24V Operating current : 1.2A/phase,
2-phase energization (full-step) 2-phase energization (full-step) 2-phase energization (full-step)
JL1=[0.33 10-4kg m2 (1.80 oz in2) Use the rubber coupling] JL1=[0.33 10-4kg m2 (1.80 oz in2) Use the rubber coupling] JL1=[0.94 10-4kg m2 (5.14 oz in2) Use the rubber coupling]

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

Dimensions
IC for stepping motor

28
 2-phase STEPPING SYSTEMS

Stepping motor Specifications

2-phase stepping motor

42mm sq. 1.65inch sq.

SS242
1.8 / step Bipolar winding

Bipolar winding Lead wire type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
SS2421-5041 -5011 0.083 11.75 1 3.5 1.2 0.015 0.082 0.07 0.15
SS2422-5041 -5011 0.186 26.33 1 5.4 2.9 0.028 0.153 0.14 0.31
SS2423-5041 -5011 0.240 33.98 1 7.3 5 0.038 0.208 0.20 0.44

Pulse rate-torque characteristics

SS2421-50 SS2422-50 SS2423-50
1 0.10 2 0.20 5 0.50

12 24 Pull-out torque at JL1 60

0.8 0.08 4 0.40
Torque (kgf cm)

Pull-out torque at JL1 0.15

Torque kgf cm

Torque kgf cm
Torque (oz in.)

1.5
Torque oz in.

Torque oz in.
Torque (N m

Torque N m
0.6 0.06 16 3 0.30
8 40
1 0.10 Pull-out torque at JL2
Torque

0.4 0.04 2 0.20

4 8 20
0.5 0.05
0.2 0.02 1 0.10

fs fs fs
0 0 0.00 0 0 0.00 0 0 0.00
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 100 1000 2000 3000 100 1000 2000 3000
Number of rotations min-1 Number of rotations min-1 Number of rotations min-1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 1A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.33x10-4kg m2 1.80 oz in2 inertia of rubber coupling is JL1 = 0.33x10-4kg m2 1.80 oz in2 inertia of rubber coupling is JL1 = 0.33x10-4kg m2 1.80 oz in2 inertia of rubber coupling is
in cluded in cluded in cluded
JL2 = 0.94x10-4kg m2 5.14 oz in2 inertia of rubber coupling is JL2 = 0.94x10-4kg m2 5.14 oz in2 inertia of rubber coupling is JL2 = 0.94x10-4kg m2 5.14 oz in2 inertia of rubber coupling is
in cluded in cluded in cluded
fs: No load maximum starting pulse rate fs: No load maximum starting pulse rate fs: No load maximum starting pulse rate

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

29
2-phase STEPPING SYSTEMS

Stepping motor Specifications

Stepping Motors with Internal drivers

2-phase stepping motor

42mm sq. 1.65inch sq.

SH142
0.9 /step

Unipolar winding Lead wire type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
SH1421-0441 -0411 0.20 28.32 1.2 2.7 3.2 0.044 0.241 0.24 0.53
SH1422-0441 -0411 0.29 41.07 1.2 3.1 5.3 0.066 0.361 0.29 0.64
SH1424-0441 -0411 0.39 55.23 1.2 3.5 5.3 0.089 0.487 0.38 0.84

Pulse rate-torque characteristics

Set model
SH1421-04 SH1422-04 SH1424-04
0.5 5 0.5 0.5
70 5 70 70 5

60 60 0.4 60
4 0.4 4 4 0.4
50 50 50
Torque kgf cm

Pull-out torque at JL1

Torque kgf cm

Torque kgf cm
Torque oz in

Torque N m
Torque oz in

Torque oz in
Torque N m

Torque N m
3 0.3 3 0.3 3 0.3
40 40 40 Pull-out torque at JL1
Pull-out torque at JL1
30 0.2 30 2 0.2 30 0.2
2 2

20 20 20
1 0.1 1 0.1 1 0.1
10 10 10

0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 50 100 500 1000 2000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Stepping motor
Source voltage : DC24V operating current : 1.2A/phase, Source voltage : DC24V operating current : 1.2A/phase, Source voltage : DC24V operating current : 1.2A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

Dimensions
IC for stepping motor

30
 Bipolar winding Lead wire type
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
SH1421-5041 -5011 0.23 32.5 1 3.3 8.0 0.044 0.24 0.24 0.53
SH1421-5241 -5211 0.23 32.5 2 0.85 2.1 0.044 0.24 0.24 0.53
SH1422-5041 -5011 0.34 48.1 1 4.0 14.0 0.066 0.36 0.29 0.64
SH1422-5241 -5211 0.34 48.1 2 1.05 3.6 0.066 0.36 0.29 0.64
SH1424-5041 -5011 0.48 67.9 1 4.7 15.0 0.089 0.49 0.38 0.84
SH1424-5241 -5211 0.48 67.9 2 1.25 3.75 0.089 0.49 0.38 0.84

Pulse rate-torque characteristics

SH1421-50 SH1422-50 SH1424-50
5 0.5 5 0.5 5 0.5

60 60 60
4 0.4 4 0.4 4 0.4

cm
cm

cm
oz in
Pull-out torque at JL1

m
oz in

oz in
m

m
3 0.3 3 0.3 3 0.3

Torque kgf
40

Torque N
Torque kgf

Torque kgf
40
Torque N

40

Torque N
Pull-out torque at JL1
Torque
Torque

Torque
Pull-out torque at JL1
2 0.2 2 0.2 2 0.2
20 20 20
1 0.1 1 0.1 1 0.1

fs 0 fs fs
0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min-1 Number of rotations min-1 Number of rotations min-1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 2A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling

SH1421-52 SH1422-52 SH1424-52

0.5 5 0.5 0.5
70 5 70 70 5

60 60 0.4 60
4 0.4 4 4 0.4
50 50 Pull-out torque at JL1 50 Pull-out torque at JL1
Torque kgf cm

Torque kgf cm
Torque kgf cm

Torque oz in

Torque N m

Torque oz in
Torque oz in

Torque N m
Torque N m

3 0.3 3 0.3 3 0.3

40 40 40
Pull-out torque at JL1
30 0.2 30 2 0.2 30 0.2
2 2

20 20 20
1 0.1 1 0.1 1 0.1
10 10 10
fs 0 0 0
fs fs
0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min-1 Number of rotations min-1 Number of rotations min-1
Constant current circuit Constant current circuit Constant current circuit
Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 2A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 Use the rubber coupling

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

31
2-phase STEPPING SYSTEMS

Stepping motor Specifications

Stepping Motors with Internal drivers

2-phase stepping motor

42mm sq. 1.65inch sq.

103H52
1.8 /step

Unipolar winding Connector type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization

Set model
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
103H5205-0440 -0410 0.2 28.32 1.2 2.4 2.3 0.036 0.20 0.23 0.51
103H5208-0440 -0410 0.3 42.48 1.2 2.9 3.4 0.056 0.31 0.29 0.64
103H5209-0440 -0410 0.32 45.31 1.2 3 3.9 0.062 0.34 0.31 0.68
103H5210-0440 -0410 0.37 52.39 1.2 3.3 3.4 0.074 0.40 0.37 0.82

Bipolar winding Lead wire type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
103H5205-5040 -5010 0.23 32.57 0.25 54 78 0.036 0.20 0.23 0.51
103H5205-5140 -5110 0.25 35.40 0.5 13.4 23.4 0.036 0.20 0.23 0.51
103H5205-5240 -5210 0.265 37.53 1 3.4 6.5 0.036 0.20 0.23 0.51
103H5208-5040 -5010 0.35 49.56 0.25 66 116 0.056 0.31 0.29 0.64
103H5208-5140 -5110 0.38 53.81 0.5 16.5 34 0.056 0.31 0.29 0.64

Stepping motor
103H5208-5240 -5210 0.39 55.23 1 4.1 9.5 0.056 0.31 0.29 0.64
103H5209-5040 -5010 0.38 53.81 0.25 71.4 133 0.062 0.34 0.31 0.68
103H5209-5140 -5110 0.41 58.06 0.5 18.2 39 0.062 0.34 0.31 0.68
103H5209-5240 -5210 0.425 60.18 1 4.4 11 0.062 0.34 0.31 0.68
103H5210-5040 -5010 0.465 65.85 0.25 80 123.3 0.074 0.40 0.37 0.82
103H5210-5140 -5110 0.49 69.39 0.5 20 35 0.074 0.40 0.37 0.82
103H5210-5240 -5210 0.51 72.22 1 4.8 9.5 0.074 0.40 0.37 0.82

Dimensions

Pulse rate-torque characteristics

103H5205-04 103H5208-04 103H5209-04 103H5210-04
5 0.5 5 0.5 5 0.5 5 0.5
70 70 70 70

60 60 60 60
4 0.4 4 0.4 4 0.4 4 0.4

50 50 50 50
Torque kgf cm

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

Torque N m

3 0.3 3 0.3 3 0.3 3 0.3

40 40 Pull-out torque at JL1 40 40
Pull-out torque at JL1 Pull-out torque at JL1
Pull-out torque at JL1
IC for stepping motor

30 2 0.2 30 2 0.2 30 2 0.2 30 2 0.2

Starting torque Starting torque
20 20 at JL2 20 20 at JL2
1 0.1 1 0.1 1 0.1 1 0.1
10 Starting torque 10 10 Starting torque 10
at JL2 at JL2
0 0 0 0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
-1 -1 -1
Number of rotations min Number of rotations min Number of rotations min Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit Constant current circuit
Source voltage : DC24V operating current : 1.2A/phase, Source voltage : DC24V operating current : 1.2A/phase, Source voltage : DC24V operating current : 1.2A/phase, Source voltage : DC24V operating current : 1.2A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 32
 103H5205-50 103H5205-51 103H5205-52
5 0.5 5 0.5 5 0.5
70 70 70

60 60 60
4 0.4 4 0.4 4 0.4

50 50 50
Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m
3 0.3 3 0.3 3 0.3
40 40 40
Pull-out torque at JL1 Pull-out torque at JL1
30 2 0.2 30 2 0.2 30 2 0.2
Pull-out torque at JL1
20 20 20
1 0.1 1 0.1 1 0.1
10 Starting 10 Starting 10 Starting
torque at torque at torque at
0 0 0 JL2 0 0 0 JL2 0 0 0 JL2
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 0.25A/phase, Source voltage : DC24V operating current : 0.5A/phase, Source voltage : DC24V operating current : 1A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4

103H5208-50 103H5208-51 103H5208-52

5 0.5 5 0.5 5 0.5
70 70 70

60 60 60
4 0.4 4 0.4 4 0.4

50 50 50
Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m
3 0.3 3 0.3 3 0.3
40 40 40
Pull-out torque at JL1 Pull-out torque at JL1 Pull-out torque at JL1
30 2 0.2 30 2 0.2 30 2 0.2

20 20 20
1 0.1 1 0.1 1 0.1
10 Starting 10 Starting 10 Starting
torque at torque at torque at
0 0 0 JL2 0 0 0 JL2 0 0 0 JL2
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
-1 -1 -1
Number of rotations min Number of rotations min Number of rotations min

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 0.25A/phase, Source voltage : DC24V operating current : 0.5A/phase, Source voltage : DC24V operating current : 1A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4

103H5209-50 103H5209-51 103H5209-52

0.5 0.5 5 0.5
70 5 70 5 70

60 60 60
0.4 0.4 4 0.4
4 4
50 Pull-out torque at JL1
50 50
Torque kgf cm
Torque kgf cm

Torque kgf cm

Torque oz in

Torque N m

0.3
Torque oz in

Torque oz in
Torque N m

Torque N m

3 0.3 3 0.3 3
40 40 40
Pull-out torque at JL1 Pull-out torque at JL1
30 30 30 2 0.2
2 0.2 2 0.2
Starting
20 torque at
20 20
JL2
1 0.1 1 0.1 1 0.1
10 Starting 10 Starting 10
torque at torque at
0 0 0 JL2 0 0 0 JL2 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 0.25A/phase, Source voltage : DC24V operating current : 0.5A/phase, Source voltage : DC24V operating current : 1A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4

103H5210-50 103H5210-51 103H5210-52

5 0.5 5 0.5 5 0.5
70 70 70

60 60 60
4 0.4 4 0.4 4 0.4

50 50 50
Pull-out torque at JL1
Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

3 0.3 3 0.3 3 0.3

40 40 40 Starting
Pull-out torque at JL1 torque at
30 30 30 JL2
2 0.2 2 0.2 2 0.2
Pull-out torque at JL1
20 20 20
1 0.1 1 0.1 1 0.1
10 Starting 10 Starting 10
torque at torque at
0 0 0 JL2 0 0 0 JL2 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 0.25A/phase, Source voltage : DC24V operating current : 0.5A/phase, Source voltage : DC24V operating current : 1A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4

33 The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
2-phase STEPPING SYSTEMS

Stepping motor Specifications

Stepping Motors with Internal drivers

2-phase stepping motor

50mm sq. 1.97inch sq.

SS250
1.8 / step Bipolar winding

Bipolar winding Lead wire type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
SS2501-5041 -5011 0.1 14.16 1 4.5 1.8 0.026 0.142 0.09 0.20
SS2502-5041 -5011 0.215 30.44 1 5.9 3.2 0.049 0.268 0.15 0.33

Pulse rate-torque characteristics

Set model
SS2501-50 SS2502-50
1 0.10 2 0.20

12 24
Pull-out torque at JL
0.8 0.08 Pull-out torque at JL 1.5 0.15
Torque (kgf cm)
Torque (kgf cm)

Torque (oz in.)

Torque (oz in.)

Torque (N m
Torque (N m

0.6 0.06
8 16
1 0.10
0.4 0.04
4 8
0.5 0.05
0.2 0.02

fs fs
0 0 0.00 0 0 0.00
0.1 1 10 0.1 1 10
Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 20003000 100 1000 20003000

Number of rotations min-1 Number of rotations min-1

Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 1A/phase,

Stepping motor
1-2-phase energization half-step 1-2-phase energization half-step
JL = 0.01x10-4kg m2 0.055 oz in2 Pulley barancer JL = 0.01x10-4kg m2 0.055 oz in2 Pulley barancer
system system
fs: No load maximum starting pulse rate fs: No load maximum starting pulse rate

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

Dimensions
IC for stepping motor

34
 2-phase STEPPING SYSTEMS

Stepping motor Specifications

2-phase stepping motor

50mm sq. 1.97inch sq.

103H670
1.8 /step

Unipolar winding Lead wire type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
103H6701-0140 -0110 0.28 39.6 1 4.3 6.8 0.057 0.31 0.35 0.77
103H6701-0440 -0410 0.28 39.6 2 1.1 1.6 0.057 0.31 0.35 0.77
103H6701-0740 -0710 0.28 39.6 3 0.6 0.7 0.057 0.31 0.35 0.77
103H6703-0140 -0110 0.49 69.4 1 6 13 0.118 0.65 0.5 1.10
103H6703-0440 -0410 0.49 69.4 2 1.6 3.2 0.118 0.65 0.5 1.10
103H6703-0740 -0710 0.49 69.4 3 0.83 1.4 0.118 0.65 0.5 1.10
103H6704-0140 -0110 0.53 75.1 1 6.5 16.5 0.14 0.77 0.55 1.21
103H6704-0440 -0410 0.52 73.6 2 1.7 3.8 0.14 0.77 0.55 1.21
103H6704-0740 -0710 0.53 75.1 3 0.9 1.7 0.14 0.77 0.55 1.21

Bipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
103H6701-5040 -5010 0.28 39.6 2 0.6 1.6 0.57 0.31 0.35 0.77
103H6703-5040 -5010 0.09 12.7 2 0.8 3.2 0.118 0.65 0.5 1.10
103H6704-5040 -5010 0.52 73.6 2 0.9 3.8 0.14 0.77 0.55 1.21

35
 Pulse rate-torque characteristics

Stepping Motors with Internal drivers

103H6701-01 103H6701-04 103H6701-07
0.5 5 0.5 5 0.5
70 5 70 70

60 60 60
0.4 4 0.4 4 0.4
4

50 50 50

Torque kgf cm

Torque kgf cm
Torque kgf cm

Torque oz in

Torque oz in
Torque N m

Torque N m
0.3 0.3
Torque oz in

Torque N m

3 0.3 3 3
40 40 40
Pull-out torque at JL1 Pull-out torque at JL1 Pull-out torque at JL1

30 30 2 0.2 30 2 0.2
2 0.2
Starting torque Starting torque
20 20 at JL2 20 at JL2
1 0.1 1 0.1 1 0.1
10 10 10
Starting torque
at JL2
0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
-1 -1
Number of rotations min -1 Number of rotations min Number of rotations min

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 3A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling
JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling

Set model
103H6703-01 103H6703-04 103H6703-07
5 0.5 5 0.5 5 0.5
70 70 70

60 60 60
4 0.4 4 0.4 4 0.4

50 Pull-out torque at JL1 50 Pull-out torque at JL1 50 Pull-out torque at JL1

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m
3 0.3 3 0.3 3 0.3
40 40 40
Starting torque
at JL2
30 2 0.2 30 2 0.2 30 2 0.2
Starting
torque at Starting torque
20 20 at JL2 20
JL2
1 0.1 1 0.1 1 0.1
10 10 10

0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
-1 -1 -1
Number of rotations min Number of rotations min Number of rotations min

Stepping motor
Constant current circuit Constant current circuit Constant current circuit
Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 3A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4

103H6704-01 103H6704-04 103H6704-07

1.0 10 1.0 1.0
10 140 10
140 140

120 120 0.8 120

8 0.8 8 8 0.8

100 100 100

Torque kgf cm
Torque kgf cm

Torque kgf cm
Torque N m

0.6
Torque N m

Torque N m

0.6 0.6
Torque oz in

6
Torque oz in

Torque oz in

6 6
80 80 80
Pull-out torque at JL1 Pull-out torque at JL1
Pull-out torque at JL1
60 0.4 60 4 0.4 60 0.4
4 4
Starting
torque at
40 40 40
JL2
2 0.2 2 0.2 2 0.2
20
Starting 20 20 Starting torque
torque at
at JL2
0 0 0 JL2 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100

100
Pulse rate kpulse/s
1000 2000 3000 5000 100
Pulse rate kpulse/s
1000 2000 3000 5000 100
Pulse rate kpulse/s
1000 2000 3000 5000
Dimensions
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 3A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling
JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling

103H6701-50 103H6703-50 103H6704-50

5 0.5 10 1.0 10 1.0
70 140 140

60 0.4 120 0.8 120 0.8

4 8 8

50 Pull-out torque at JL1 100 Pull-out torque at JL1 100

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque N m

Torque N m

Torque N m

0.3 0.6 0.6

Torque oz in

Torque oz in

Torque oz in

3 6 6
IC for stepping motor

40 70 80
Pull-out torque at JL1
30 2 0.2 60 4 0.4 60 4 0.4

20 40 40
1 0.1 2 0.2 2 0.2
Starting
10 20 20
torque at
0 0 0 0 0 0 0 0 0 JL2
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 2A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling
JL2 = 0.14x10-4kg m2 0.77 oz in2 pulley balancer method

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
36
 2-phase STEPPING SYSTEMS

Stepping motor Specifications

2-phase stepping motor

56mm sq. 2.20inch sq.

103H712
1.8 /step

Unipolar winding Lead wire type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
103H7121-0140 -0110 0.39 55.2 1 4.8 8 0.1 0.55 0.47 1.04
103H7121-0440 -0410 0.39 55.2 2 1.25 1.9 0.1 0.55 0.47 1.04
103H7121-0740 -0710 0.39 55.2 3 0.6 0.8 0.1 0.55 0.47 1.04
103H7123-0140 -0110 0.83 117. 1 6.7 15 0.21 1.15 0.65 1.43
103H7123-0440 -0410 0.83 117.5 2 1.6 3.8 0.21 1.15 0.65 1.43
103H7123-0740 -0710 0.78 110.5 3 0.77 1.58 0.21 1.15 0.65 1.43
103H7124-0140 -0110 0.98 138.8 1 7 14.5 0.245 1.34 0.8 1.76
103H7124-0440 -0410 0.98 138.8 2 1.7 3.1 0.245 1.34 0.8 1.76
103H7124-0740 -0710 0.98 138.8 3 0.74 1.4 0.245 1.34 0.8 1.76
103H7126-0140 -0110 1.27 179.8 1 8.6 19 0.36 1.97 0.98 2.16
103H7126-0440 -0410 1.27 179.8 2 2 4.5 0.36 1.97 0.98 2.16
103H7126-0740 -0710 1.27 179.8 3 0.9 2.2 0.36 1.97 0.98 2.16

Bipolar winding Lead wire type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
103H7121-5640 -5610 0.55 77.9 1 4.3 14.5 0.1 0.55 0.47 1.04
103H7121-5740 -5710 0.55 77.9 2 1.1 3.7 0.1 0.55 0.47 1.04
103H7121-5840 -5810 0.55 77.9 3 0.54 1.74 0.1 0.55 0.47 1.04
103H7123-5640 -5610 1.0 141.6 1 5.7 29.4 0.21 1.15 0.65 1.43
103H7123-5740 -5710 1.0 141.6 2 1.5 7.5 0.21 1.15 0.65 1.43
103H7123-5840 -5810 1.0 141.6 3 0.7 3.5 0.21 1.15 0.65 1.43
103H7126-5640 -5610 1.6 226.6 1 7.7 34.6 0.36 1.97 0.98 2.16
103H7126-5740 -5710 1.6 226.6 2 2 9.1 0.36 1.97 0.98 2.16
103H7126-5840 -5810 1.6 226.6 3 0.94 4 0.36 1.97 0.98 2.16
103H7128-5640 -5610 2.0 283.2 1 8.9 40.1 0.49 2.68 1.3 2.87
103H7128-5740 -5710 2.0 283.2 2 2.3 10.4 0.49 2.68 1.3 2.87
103H7128-5840 -5810 2.0 283.2 3 1.03 4.3 0.49 2.68 1.3 2.87

37
 Stepping Motors with Internal drivers
Pulse rate-torque characteristics

103H7121-01 103H7121-04 103H7121-07

5 0.5 5 0.5 5 0.5
70 70 70

60 60 60
4 0.4 4 0.4 4 0.4

50 50 Pull-out torque at JL1 50 Pull-out torque at JL1

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m
3 0.3 3 0.3 3 0.3
40 40 40
Pull-out torque at JL1
30 2 0.2 30 2 0.2 30 2 0.2
Starting torque Starting torque
20 20 at JL2 20 at JL2
1 0.1 1 0.1 1 0.1
10 Starting torque 10 10
at JL2
0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 3A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling
JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling

Set model
103H7123-01 103H7123-04 103H7123-07
10 1.0 10 1.0 10 1.0
140 140 140

120 0.8 120 0.8 120 0.8

8 8 8

100 100 Pull-out torque at JL1 100

Pull-out torque at JL1
Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque N m

Torque N m

Torque N m
0.6 0.6 0.6
Torque oz in

Torque oz in

Torque oz in
6 6 6
80 80 80 Pull-out torque at JL1

60 4 0.4 60 4 0.4 60 4 0.4

40 40 40
2 0.2 2 0.2 2 0.2
Starting Starting
20 20 20 Starting torque
torque at torque at
at JL2
0 0 0 JL2 0 0 0 JL2 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s

Stepping motor
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
-1 -1 -1
Number of rotations min Number of rotations min Number of rotations min

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 3A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4

103H7124-01 103H7124-04 103H7124-07

10 1.0 20 2.0 10 1.0
140 280 140

120 0.8 240 1.6 120 0.8

8 16 8

100 200 100

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque N m

Torque N m

Torque N m

0.6 1.2 0.6

Torque oz in

Torque oz in

Torque oz in

6 12 6
80 160 Pull-out torque at JL1 80
Pull-out torque at JL1 Pull-out torque at JL1
60 4 0.4 120 8 0.8 60 4 0.4

40 80 40
2 0.2 4 0.4 2 0.2
Starting
20 40 Starting torque 20 Starting torque
Dimensions
torque at
at JL2 at JL2
0 0 0
JL2 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 3A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling
JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling
-4
JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling
-4
JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling
-4

103H7126-01 103H7126-04 103H7126-07

20 2.0 20 2.0 20 2.0
280 280 280

240 1.6 240 1.6 240 1.6

16 16 16

200 200 200

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque N m

Torque N m

Torque N m

1.2 1.2 1.2

Torque oz in

Torque oz in

Torque oz in

12 12 12
IC for stepping motor

160 160 160 Pull-out torque at JL1

Pull-out torque at JL1 Pull-out torque at JL1

120 8 0.8 120 8 0.8 120 8 0.8

80 80 80
4 0.4 4 0.4 4 0.4
Starting Starting Starting torque
40 40 40
torque at torque at at JL2
0 0 0 JL2 0 0 0 JL2 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 3A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling
JL2 = 2.6x10-4kg m2 14.22 oz in2 use the direct coupling JL2 = 2.6x10-4kg m2 14.22 oz in2 use the direct coupling JL2 = 2.6x10-4kg m2 14.22 oz in2 use the direct coupling

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 38
 2-phase STEPPING SYSTEMS

103H7121-56 103H7121-57 103H7121-58

10 1.0 10 1.0 10 1.0
140 140 140

120 0.8 120 0.8 120 0.8

8 8 8

100 100 100

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque N m

Torque N m

Torque N m
0.6 0.6 0.6
Torque oz in

Torque oz in

Torque oz in
6 6 6
80 80 80 Pull-out torque at JL1
Pull-out torque at JL1 Pull-out torque at JL1
60 4 0.4 60 4 0.4 60 4 0.4

40 40 40
2 0.2 2 0.2 2 0.2
Starting Starting
20 20 20 Starting torque
torque at torque at
at JL2
0 0 0 JL2 0 0 0 JL2 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 3A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4

103H7123-56 103H7123-57 103H7123-58

20 2.0 20 2.0 20 2.0
280 280 280

240 1.6 240 1.6 240 1.6

16 16 16

200 200 200

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque N m

Torque N m

Torque N m
1.2 1.2 1.2
Torque oz in

Torque oz in

Torque oz in
12 12 12
160 160 160 Pull-out torque at JL1
Pull-out torque at JL1
Pull-out torque at JL1
120 8 0.8 120 8 0.8 120 8 0.8

80 80 80
4 0.4 4 0.4 4 0.4
Starting Starting Starting
40 40 40
torque at torque at torque at
0 0 0 JL2 0 0 0 JL2 0 0 0 JL2
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
-1 -1 -1
Number of rotations min Number of rotations min Number of rotations min

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 3A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling
JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling
-4
JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling
-4
JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling
-4

103H7126-56 103H7126-57 103H7126-58

20 2.0 20 2.0 20 2.0
280 280 280

240 1.6 240 1.6 240 1.6

16 16 16

200 200 200 Pull-out torque at JL1

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque N m

Torque N m

Torque N m

1.2 1.2 1.2

Torque oz in

Torque oz in

Torque oz in

12 12 12
160 160 160
Pull-out torque at JL1
Pull-out torque at JL1
120 8 0.8 120 8 0.8 120 8 0.8

80 80 80
4 0.4 4 0.4 4 0.4
40
Starting 40
Starting 40
Starting
torque at torque at torque at
0 0 0 JL2 0 0 0 JL2 0 0 0 JL2
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 3A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling
JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling
-4
JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling
-4
JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling
-4

103H7128-56 103H7128-57 103H7128-58

50 5.0 50 5.0 50 5.0
700 700 700

600 600 600

40 4.0 40 4.0 40 4.0

500 500 500

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

30 3.0 30 3.0 30 3.0

400 400 400

300 20 2.0 300 20 2.0 300 20 2.0

Pull-out torque at JL1 Pull-out torque at JL1 Pull-out torque at JL1
200 200 200
10 1.0 10 1.0 10 1.0
100 Starting 100 Starting 100 Starting
torque at torque at torque at
0 0 0 JL2 0 0 0 JL2 0 0 0 JL2
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 3A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling
JL2 = 7.4x10-4kg m2 40.46 oz in2 use the direct coupling JL2 = 7.4x10-4kg m2 40.46 oz in2 use the direct coupling JL2 = 7.4x10-4kg m2 40.46 oz in2 use the direct coupling

39 The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
 Stepping Motors with Internal drivers
2-phase stepping motor

60mm sq. 2.36inch sq.

SH160
0.9 /step

Unipolar winding Lead wire type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
SH1601-0440 -0410 0.57 80.71 2 1.35 2 0.24 1.312 0.55 1.21
SH1602-0440 -0410 1.1 155.77 2 1.8 3.5 0.4 2.187 0.8 1.76
SH1603-0440 -0410 1.7 240.74 2 2.3 4.5 0.75 4.101 1.2 2.64

Pulse rate-torque characteristics

Set model
SH1601-04 SH1602-04 SH1603-04
10 1.0 20 2.0 2.0
140 280 280 20

120 240 1.6 240

8 0.8 16 16 1.6
100 200 200 Pull-out torque at JL1
Pull-out torque at JL1
Torque kgf cm
Torque kgf cm

Torque kgf cm
Torque oz in
Torque oz in

Torque N m
Torque N m

Torque oz in

Torque N m
6 0.6 12 1.2 12 1.2
80 160 160
Pull-out torque at JL1
60 4 0.4 120 8 0.8 120 0.8
8
40 80 80
2 0.2 4 0.4 4 0.4
20 40 40

0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
-1
Number of rotations min -1 Number of rotations min Number of rotations min -1

Stepping motor
Constant current circuit Constant current circuit Constant current circuit
Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 2A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

Bipolar winding Lead wire type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
SH1601-5240 -5210 0.69 97.7 2 1.2 3.5 0.24 1.31 0.55 1.21
SH1602-5240 -5210 1.28 181.2 2 1.65 6.1 0.4 2.19 0.8 1.76
SH1603-5240 -5210 2.15 304.4 2 2.3 8.8 0.75 4.10 1.2 2.65

Pulse rate-torque characteristics

Dimensions

SH1601-52 SH1602-52 SH1603-52

1.0 20 2.0 4.0
140 10 280 560 40

120 240 1.6 480

8 0.8 16 32 3.2
100 200 400
Torque kgf cm

Pull-out torque at JL1

Torque kgf cm

Torque kgf cm
Torque oz in

Torque N m
Torque oz in

Torque oz in
Torque N m

Torque N m

6 0.6 12 1.2 24 2.4

80 160 320
Pull-out torque at JL1 Pull-out torque at JL1
60 0.4 120 8 0.8 240 1.6
4 16

40 80 160
2 0.2 4 0.4 8 0.8
20 40 80

0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
-1
Number of rotations min -1 Number of rotations min Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

IC for stepping motor

Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 2A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL2 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL3 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.

40
 2-phase STEPPING SYSTEMS

Stepping motor Specifications

2-phase stepping motor

60mm sq. 2.36inch sq.

103H782
1.8 /step

Unipolar winding Connector type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
103H7821-0140 -0110 0.78 110.5 1 5.7 8.3 0.275 1.50 0.6 1.32
103H7821-0440 -0410 0.78 110.5 2 1.5 2 0.275 1.50 0.6 1.32
103H7821-0740 -0710 0.78 110.5 3 0.68 0.8 0.275 1.50 0.6 1.32
103H7822-0140 -0110 1.17 165.7 1 6.9 14 0.4 2.19 0.77 1.70
103H7822-0440 -0410 1.17 165.7 2 1.8 3.6 0.4 2.19 0.77 1.70
103H7822-0740 -0710 1.17 165.7 3 0.8 1.38 0.4 2.19 0.77 1.70
103H7823-0140 -0110 2.1 297.4 1 10 21.7 0.84 4.59 1.34 2.95
103H7823-0440 -0410 2.1 297.4 2 2.7 5.6 0.84 4.59 1.34 2.95
103H7823-0740 -0710 2.1 297.4 3 1.25 2.4 0.84 4.59 1.34 2.95

Bipolar winding Connector type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
103H7821-1740 -1710 0.88 124.6 4 0.35 0.8 0.275 1.50 0.6 1.32
103H7821-5740 -5710 0.88 124.6 2 1.27 3.3 0.275 1.50 0.6 1.32
103H7822-1740 -1710 1.37 194.0 4 0.43 1.38 0.4 2.19 0.77 1.70
103H7822-5740 -5710 1.37 194.0 2 1.55 5.5 0.4 2.19 0.77 1.70
103H7823-1740 -1710 2.7 382.3 4 0.65 2.4 0.84 4.59 1.34 2.95
103H7823-5740 -5710 2.7 382.3 2 2.4 9.5 0.84 4.59 1.34 2.95

Pulse rate-torque characteristics

103H7821-01 103H7821-04 103H7821-07
10 1.0 10 1.0 10 1.0
140 140 140

120 0.8 120 0.8 120 0.8

8 8 8

100 100 100

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque N m

Torque N m

Torque N m

0.6 0.6 0.6

Torque oz in

Torque oz in

Torque oz in

6 6 6
80 80
Pull-out torque at JL1 80 Pull-out torque at JL1
Pull-out torque at JL1
60 4 0.4 60 4 0.4 60 4 0.4

40 40 40
2 0.2 2 0.2 2 0.2
Starting
20 20 Starting torque 20 Starting torque
torque at
at JL2 at JL2
0 0 0 JL2 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 3A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling
JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling JL2 = 0.8x10-4kg m2 4.37 oz in2 use the direct coupling

41
 Stepping Motors with Internal drivers
103H7822-01 103H7822-04 103H7822-07
20 2.0 20 2.0 20 2.0
280 280 280

240 1.6 240 1.6 240 1.6

16 16 16

200 200 200

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque N m

Torque N m

Torque N m
1.2 1.2 1.2
Torque oz in

Torque oz in

Torque oz in
12 12 12
160 160 Pull-out torque at JL1 160 Pull-out torque at JL1
Pull-out torque at JL1
120 8 0.8 120 8 0.8 120 8 0.8
Starting
torque at
80 80 80
JL2
4 0.4 4 0.4 4 0.4
40
Starting 40 40 Starting torque
torque at at JL2
0 0 0 JL2 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 3A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling
JL2 = 7.4x10 kg m2 40.46 oz in2 use the direct coupling
-4
JL2 = 7.4x10 kg m2 40.46 oz in2 use the direct coupling
-4
JL2 = 7.4x10 kg m2 40.46 oz in2 use the direct coupling
-4

Set model
103H7823-01 103H7823-04 103H7823-07
20 2.0 20 2.0 20 2.0
280 280 280

240 1.6 240 1.6 240 1.6

16 16 16

200 200 200

Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque N m

Torque N m

Torque N m
1.2 1.2 1.2
Torque oz in

Torque oz in

Torque oz in
12 12 12
160 160
Pull-out torque at JL1
160 Pull-out torque at JL1
Pull-out torque at JL1

120 8 0.8 120 8 0.8 120 8 0.8

80 80 80
4 0.4 4 0.4 4 0.4
Starting Starting
40 40 40 Starting torque
torque at torque at
at JL2
0 0 0 JL2 0 0 0 JL2 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 2A/phase, Source voltage : DC24V operating current : 3A/phase,

Stepping motor
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling
JL2 = 7.4x10 kg m2 40.46 oz in2 use the direct coupling
-4
JL2 = 7.4x10 kg m2 40.46 oz in2 use the direct coupling
-4
JL2 = 7.4x10 kg m2 40.46 oz in2 use the direct coupling
-4

103H7821-17 103H7821-57 103H7822-17

10 1.0 10 1.0 20 2.0
140 140 280
Pull-out torque at JL1
120 0.8 120 0.8 240 1.6
8 8 16

100 100 Pull-out torque at JL1 200

Pull-out torque at JL1
Torque kgf cm
Torque kgf cm
Torque kgf cm

Torque N m
Torque N m
Torque N m

0.6 0.6 1.2

Torque oz in
Torque oz in
Torque oz in

6 6 12
80 80 160

60 4 0.4 60 4 0.4 120 8 0.8

40 40 80
2 0.2 2 0.2 4 0.4
20 20 40

0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100

Dimensions
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : AC100V operating current : 4A/phase, Source voltage : AC24V operating current : 4A/phase, Source voltage : AC100V operating current : 4A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling

103H7822-57 103H7823-17 103H7823-57

20 2.0 50 5.0 50 5
280 700 700

240 600 600

16 1.8 40 4.0 40 4

200 Pull-out torque at JL1 500 500 Pull-out torque at JL1

Torque kgf cm

Torque kgf cm
Torque kgf cm
Torque oz in
Torque N m

Torque N m

Torque N m

1.2 30 3.0 3
Torque oz in

Torque oz in

12 30
IC for stepping motor

160 400 400

Pull-out torque at JL1
120 0.8 300 20 2.0 300 2
8 20

80 200 200
4 0.4 10 1.0 10 1
40 100 100

0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : AC24V operating current : 4A/phase, Source voltage : AC100V operating current : 4A/phase, Source voltage : AC24V operating current : 4A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 42
 2-phase STEPPING SYSTEMS

Stepping motor Specifications

2-phase stepping motor

86mm sq. 3.39inch sq.

SH286 /SM286
1.8 /step

Unipolar winding Lead wire type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
SH2861-0441 -0411 2.5 354 2 2.3 8.0 1.48 8.09 1.75 3.92
SH2861-0941 -0911 2.5 354 4 0.6 2.0 1.48 8.09 1.75 3.92
SH2862-0441 -0411 4.7 665.6 2 3.2 13.0 3 16.4 2.9 6.5
SH2862-0941 -0911 4.7 665.6 4 0.85 3.4 3 16.4 2.9 6.5
SH2863-0441 -0411 6.7 948.8 2 4.0 17.0 4.5 24.6 4.0 8.96
SH2863-0941 -0911 6.7 948.8 4 0.9 4.2 4.5 24.6 4.0 8.96

Unipolar winding Lead wire type CE UL model

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
SM2861-0451 -0421 2.5 354 2 2.3 8.0 1.48 8.09 1.75 3.92
SM2861-0951 -0921 2.5 354 4 0.6 2.0 1.48 8.09 1.75 3.92
SM2862-0451 -0421 4.8 679.7 2 3.2 13.0 3 16.4 2.9 6.5
SM2862-0951 -0921 4.8 679.7 4 0.85 3.4 3 16.4 2.9 6.5
SM2863-0451 -0421 6.6 934.6 2 4.0 17 4.5 24.6 4.0 8.96
SM2863-0951 -0921 6.6 934.6 4 0.9 4.2 4.5 24.6 4.0 8.96

Bipolar winding Lead wire type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
SH2861-5041 -5011 3.3 467.3 2 2.2 15 1.48 8.09 1.75 3.92
SH2861-5141 -5111 3.3 467.3 4 0.56 3.7 1.48 8.09 1.75 3.92
SH2861-5241 -5211 3.3 467.3 6 0.29 1.7 1.48 8.09 1.75 3.92
SH2862-5041 -5011 6.4 906.3 2 3.2 25 3.0 16.4 2.9 6.5
SH2862-5141 -5111 6.4 906.3 4 0.83 6.4 3.0 16.4 2.9 6.5
SH2862-5241 -5211 6.4 906.3 6 0.36 2.8 3.0 16.4 2.9 6.5
SH2863-5041 -5011 9 1274.4 2 4.0 32 4.5 24.6 4.0 8.96
SH2863-5141 -5111 9 1274.4 4 1.0 7.9 4.5 24.6 4.0 8.96
SH2863-5241 -5211 9 1274.4 6 0.46 3.8 4.5 24.6 4.0 8.96

Bipolar winding Lead wire type CE UL model

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
SM2861-5051 -5021 3.3 467.3 2 2.2 15 1.48 8.09 1.75 3.92
SM2861-5151 -5121 3.3 467.3 4 0.56 3.7 1.48 8.09 1.75 3.92
SM2861-5251 -5221 3.3 467.3 6 0.29 1.7 1.48 8.09 1.75 3.92
SM2862-5051 -5021 6.4 906.3 2 3.2 25 3.0 16.4 2.9 6.5
SM2862-5151 -5121 6.4 906.3 4 0.83 6.4 3.0 16.4 2.9 6.5
SM2862-5251 -5221 6.4 906.3 6 0.36 2.8 3.0 16.4 2.9 6.5
SM2863-5051 -5021 9 1274.4 2 4.0 32 4.5 24.6 4.0 8.96
SM2863-5151 -5121 9 1274.4 4 1.0 7.9 4.5 24.6 4.0 8.96
SM2863-5251 -5221 9 1274.4 6 0.46 3.8 4.5 24.6 4.0 8.96

Bipolar winding Terminal block type

Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
SM2861-5066 3.3 467.3 2 2.03 15 1.48 8.09 1.9 4.19
SM2861-5166 3.3 467.3 4 0.52 3.7 1.48 8.09 1.9 4.19
SM2861-5266 3.3 467.3 6 0.27 1.7 1.48 8.09 1.9 4.19
SM2862-5066 6.4 906.3 2 3.08 25 3.0 16.4 3.05 6.72
SM2862-5166 6.4 906.3 4 0.79 6.4 3.0 16.4 3.05 6.72
SM2862-5266 6.4 906.3 6 0.33 2.8 3.0 16.4 3.05 6.72
SM2863-5066 9 1274.4 2 3.83 32 4.5 24.6 4.15 9.15
SM2863-5166 9 1274.4 4 0.96 7.9 4.5 24.6 4.15 9.15
SM2863-5266 9 1274.4 6 0.48 3.8 4.5 24.6 4.15 9.15

43
 Stepping Motors with Internal drivers
Pulse rate-torque characteristics

SH2861-04 SH2862-04 SH2863-04

20 2.0 50 5.0 50 5.0
280 700 700

240 600 600

16 1.6 40 4.0 40 4.0
Pull-out torque at JL1
200 500 500 Pull-out torque at JL1
Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m
1.2 30 3.0 30 3.0
Torque oz in

12
160 400 400
Pull-out torque at JL1
120 0.8 300 20 2.0 300 20 2.0
8

80 200 200
4 0.4 10 1.0 10 1.0
40 100 100

0 0 0
fs 0 0 0
fs 0 0 0
fs
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC100V operating current : 4A/phase, Source voltage : DC100V operating current : 2A/phase, Source voltage : DC100V operating current : 4A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL1 = 15.3x10-4kg m2 83.65 oz in2 use the rubber coupling JL1 = 15.3x10-4kg m2 83.65 oz in2 use the rubber coupling

Set model
SM2861-50 SM2861-51 SM2861-52
40 4.0 40 4.0 40 4.0
560 560 560

480 3.2 480 3.2 480 3.2

32 32 32
Pull-out torque at JL1
Pull-out torque at JL1
400 400 400
Torque kgf cm
Torque kgf cm

Torque kgf cm
Torque N m
Torque N m

Torque N m
2.4 2.4 2.4
Torque oz in
Torque oz in

Torque oz in
24 24 24
320 Pull-out torque at JL1 320 320

240 16 1.6 240 16 1.6 240 16 1.6

Starting torque
160 at JL2 160 160
8 0.8 8 0.8 8 0.8
80 80 80

0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s

Stepping motor
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
-1 -1 -1
Number of rotations min Number of rotations min Number of rotations min

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC100V operating current : 2A/phase, Source voltage : DC100V operating current : 4A/phase, Source voltage : DC100V operating current : 6A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL1 = 15.3x10-4kg m2 83.65 oz in2 use the rubber coupling

SM2862-50 SM2862-51 SM2862-52

100 10 100 10 100 10
1400 1400 1400

1200 8 1200 8 1200 8

80 80 80

1000 1000 1000

Torque kgf cm

Torque kgf cm
Torque kgf cm

Torque N m

Torque N m
Torque N m

6 6 6
Torque oz in

Torque oz in
Torque oz in

60 60 60
800 800 800 Pull-out torque at JL1
Pull-out torque at JL1 Pull-out torque at JL1
600 40 4 600 40 4 600 40 4

400 400 400

20 2 20 2 20 2
200 200 200

0 0 0 0 0 0 0 0 0 Dimensions
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC100V operating current : 2A/phase, Source voltage : DC100V operating current : 4A/phase, Source voltage : DC100V operating current : 6A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 15.3x10-4kg m2 83.65 oz in2 use the rubber coupling JL1 = 15.3x10-4kg m2 83.65 oz in2 use the rubber coupling JL1 = 15.3x10-4kg m2 83.65 oz in2 use the rubber coupling

SM2863-50 SM2863-51 SM2863-52

100 10 100 10 100 10
1400 1400 1400

1200 8 1200 8 1200 8

80 80 80
Pull-out torque at JL1
1000 1000 1000
IC for stepping motor
Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque N m

Torque N m

Torque N m

6 6 6
Torque oz in

Torque oz in

Torque oz in

60 60 60
800 Pull-out torque at JL1 800 800 Pull-out torque at JL1

600 40 4 600 40 4 600 40 4

400 400 400

20 2 20 2 20 2
200 200 200

0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC100V operating current : 2A/phase, Source voltage : DC100V operating current : 4A/phase, Source voltage : DC100V operating current : 6A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 44
 2-phase STEPPING SYSTEMS

Stepping motor Specifications

2-phase stepping motor

106mm cir. 4.17inch cir.

103H8922
1.8 /step

Unipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
103H89222-0941 -0911 10.8 1529.4 4 0.98 6.3 14.6 79.83 7.5 16.53
103H89223-0941 -0911 15.5 2194.9 4 1.4 9.7 22 120.28 10.5 23.15

Bipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
103H89222-5241 -5211 13.2 1869.2 6 0.45 5.4 14.6 79.83 7.5 16.53
103H89223-5241 -5211 19 2690.5 6 0.63 8 22 120.28 10.5 23.15

Pulse rate-torque characteristics

103H89222-09 103H89223-09 103H89222-52
100 10 200 20 200 20
1400 2800 2800

1200 8 2400 16 2400 16

80 160 160

1000 Pull-out torque at JL1 2000 2000

Torque kgf cm
Torque kgf cm

Torque kgf cm
Torque N m

12
Torque N m
Torque N m

6 12
Torque oz in

120
Torque oz in
Torque oz in

60 120
800 1600 1600 Pull-out torque at JL1
Pull-out torque at JL1
600 40 4 1200 80 8 1200 80 8
Starting
800 800
torque at
400
JL2
20 2 40 4 40 4
200 400 400

0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
-1
Number of rotations min -1 Number of rotations min Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : AC100V operating current : 4A/phase, Source voltage : AC100V operating current : 4A/phase, Source voltage : AC100V operating current : 6A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling
JL2 = 43x10 kg m2 235.10 oz in2 use the rubber coupling
-4

103H89223-52
200 20
2800

2400 16
160

2000
Torque kgf cm

Torque N m

12
Torque oz in

120
1600 Pull-out torque at JL1

1200 80 8
Starting
800
torque at
JL2
40 4
400

0 0 0
0.1 1 10 100
Pulse rate kpulse/s
100 1000 2000 3000 5000
-1
Number of rotations min

Constant current circuit

Source voltage : AC100V operating current : 6A/phase,
2-phase energization full-step
JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling
JL2 = 43x10 kg m2 235.10 oz in2 use the rubber coupling
-4

45 The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
 Stepping Motors with Internal drivers
2-phase stepping motor

56mm sq. 2.20inch sq.

103H712
CE marking
1.8 /step

Unipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization

Set model
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
103H7121-6140 -6110 0.39 55.2 1 4.8 8 0.1 0.55 0.47 1.04
103H7121-6740 -6710 0.39 55.2 3 0.6 0.8 0.1 0.55 0.47 1.04
103H7123-6140 -6110 0.83 117.5 1 6.7 15 0.21 1.15 0.65 1.43
103H7123-6740 -6710 0.78 110.5 3 0.77 1.58 0.21 1.15 0.65 1.43
103H7126-6140 -6110 1.27 179.8 1 8.6 19 0.36 1.97 0.98 2.16
103H7126-6740 -6710 1.27 179.8 3 0.9 2.2 0.36 1.97 0.98 2.16

Stepping motor
Pulse rate-torque characteristics
103H7121-61 103H7121-67 103H7123-61
5 0.5 5 0.5 10 1.0
70 70 140

60 60 120
4 0.4 4 0.4 8 0.8

50 50 Pull-out torque at JL1 100

Torque kgf cm
Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

3 0.3 3 0.3 0.6

Torque oz in

6
40 40 80
Pull-out torque at JL1 Pull-out torque at JL1
30 2 0.2 30 2 0.2 60 0.4
4
Starting torque
20 20 at JL2 40
1 0.1 1 0.1 2 0.2
10 10 20
Starting
Starting torque
torque at
at JL2
0 0 0 0 0 0 0 0 0 JL2
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100

Dimensions
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
-1 -1
Number of rotations min Number of rotations min Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 3A/phase, Source voltage : DC24V operating current : 1A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4

103H7123-67 103H7126-61 103H7126-67

10 1.0 20 2.0 20 2.0
140 280 280

120 0.8 240 1.6 240 1.6

8 16 16
Pull-out torque at JL1
100 200 200
Torque kgf cm

Torque kgf cm

Torque kgf cm
Torque N m

Torque N m

Torque N m

0.6 1.2 1.2

Torque oz in

Torque oz in

Torque oz in

6 12 12
IC for stepping motor

80 160 160 Pull-out torque at JL1

Pull-out torque at JL1
60 4 0.4 120 8 0.8 120 8 0.8

40 80 80
2 0.2 4 0.4 4 0.4
20 Starting torque 40 Starting 40 Starting torque
at JL2 torque at at JL2
0 0 0 0 0 0 JL2 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
-1 -1 -1
Number of rotations min Number of rotations min Number of rotations min

Constant current circuit Constant current circuit Constant current circuit

Source voltage : DC24V operating current : 3A/phase, Source voltage : DC24V operating current : 1A/phase, Source voltage : DC24V operating current : 3A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 0.94x10-4kg m2 5.14 oz in2 use the rubber coupling JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling JL1 = 2.6x10-4kg m2 14.22 oz in2 use the rubber coupling
JL2 = 0.8x10 kg m2 4.37 oz in2 use the direct coupling
-4
JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling
-4
JL2 = 2.6x10 kg m2 14.22 oz in2 use the direct coupling
-4

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 46
 2-phase STEPPING SYSTEMS

Stepping motor Specifications

2-phase stepping motor

86mm cir. 3.39inch cir.

103H822
CE marking
1.8 /step

Bipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
103H8221-6240 -6210 2.74 388.0 6 0.3 1.65 1.45 7.93 1.5 3.31
103H8222-6340 -6310 5.09 720.8 6 0.35 2.7 2.9 15.86 2.5 5.51
103H8223-6340 -6310 7.44 1053.6 6 0.45 3.4 4.4 24.06 3.5 7.72

Pulse rate-torque characteristics

103H8221-62 103H8222-63 103H8223-63
50 5.0 50 5.0 100 10
700 700 1400
Pull-out torque at JL1
600 600 1200
40 4.0 40 4.0 80 8

500 500 1000 Pull-out torque at JL1

Torque kgf cm
Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in
Torque N m

Torque N m

Torque N m

30 3.0 30 3.0 6
Torque oz in

60
400 Pull-out torque at JL1 400 800

300 20 2.0 300 20 2.0 600 4

40
Starting torque
200 200 at JL2 400
10 1.0 10 1.0 20 2
100 Starting torque 100 200 Starting torque
at JL2 at JL2
0 0 0 0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100 0.1 1 10 100
Pulse rate kpulse/s Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000 100 1000 2000 3000 5000
-1 -1
Number of rotations min Number of rotations min Number of rotations min -1

Constant current circuit Constant current circuit Constant current circuit

Source voltage : AC100V operating current : 6A/phase, Source voltage : AC100V operating current : 6A/phase, Source voltage : AC100V operating current : 6A/phase,
2-phase energization full-step 2-phase energization full-step 2-phase energization full-step
JL1 = 7.4x10-4kg m2 40.46 oz in2 use the rubber coupling JL1 = 15.3x10-4kg m2 83.65 oz in2 use the rubber coupling JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling
JL2 = 7.4x10 kg m2 40.46 oz in2 use the direct coupling
-4
JL2 = 15.3x10 kg m2 83.65 oz in2 use the direct coupling
-4
JL2 = 43x10 kg m2 235.10 oz in2 use the direct coupling
-4

47 The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment.
 Stepping Motors with Internal drivers
2-phase stepping motor

106mm cir. 4.17inch cir.

103H8922
CE marking
1.8 /step

Bipolar winding
Holding torque at 2-phase
Model Rated current Wiring resistance Winding inductance Rotor inertia Mass Weight
energization

Set model
Single shaft Double shafts [N m oz in MIN.] A/phase /phase mH/phase [ 10 - 4 kg m 2 oz in2 ] [kg Ibs ]
103H89222-6341 -6311 13.2 1869.2 6 0.45 5.4 14.6 79.83 7.5 16.53
103H89223-6341 -6311 19 2690.5 6 0.63 8 22 120.28 10.5 23.15

Stepping motor
Pulse rate-torque characteristics

103H89222-63 103H89223-63
200 20 200 20
2800 2800

2400 16 2400 16
160 160

2000 2000
Pull-out torque at JL1
Torque kgf cm

Torque kgf cm
Torque oz in

Torque oz in
Torque N m

Torque N m

120 12 120 12
1600 Pull-out torque at JL1 1600

1200 80 8 1200 80 8
Starting
800 800
torque at
JL2
40 4 40 4
400 Starting torque 400
at JL2
0 0 0 0 0 0
0.1 1 10 100 0.1 1 10 100

Dimensions
Pulse rate kpulse/s Pulse rate kpulse/s
100 1000 2000 3000 5000 100 1000 2000 3000 5000
Number of rotations min -1 Number of rotations min -1

Constant current circuit Constant current circuit

Source voltage : AC100V operating current : 6A/phase, Source voltage : AC100V operating current : 6A/phase,
2-phase energization full-step 2-phase energization full-step
JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling JL1 = 43x10-4kg m2 235.10 oz in2 use the rubber coupling
JL2 = 43x10 kg m2 235.10 oz in2 use the direct coupling
-4
JL2 = 43x10 kg m2 235.10 oz in2 use the direct coupling
-4
IC for stepping motor

The date are measured under the drive condition of our company. The drive torque may very depending on the accuracy of customer-side equipment. 48
 2-phase STEPPING SYSTEMS

Stepping motor Specifications

Standard models
Motor type H series motor
Model number 103H52 /103H67 /103H71 /103H78
Insulation class Class B 130
Withstand voltage 42 1.65inch AC500V 50/60Hz for 1 minute, 50 1.97inch 56 2.20inch 60 2.36inch AC1000V 50/60Hz for 1 minute
Insulation resistance 100M ohm MIN. against DC500V
Vibration resistance Amplitude of 1.52mm 0.06inch P-P at frequency range 10 to 500Hz for 15 minutes sweep time along X, Y, and Z axes for 12 times.
Impact resistance 490m/s 2 of acceleration for 11 ms with half-sine wave applying three times for X, Y, and Z axes each, 18 times in total.
Operating ambient temperature -10 to 50
Operating ambient humidity 90%MAX. : 40 MAX., 57%MAX. : 50 MAX., 35%MAX. : 60 MAX. no condensation

Motor type SH series motor

Motor model number SH228 , SH353 , SH142 , SH160 , SH286 ,
Insulation class Class B 130
28 1.10inch 35 1.38inch 42 1.65inch AC500V 50/60Hz for 1 minute, 60 2.36inch / 86 3.38inch AC1000V
Withstand voltage
50/60Hz for 1 minute
Insulation resistance 100M ohm MIN. against DC500V
Vibration resistance Amplitude of 1.52mm 0.06inch P-P at frequency range 10 to 500Hz for 15 minutes sweep time along X, Y, and Z axes for 12 times.
Impact resistance 490m/s 2 of acceleration for 11 ms with half-sine wave applying three times for X, Y, and Z axes each, 18 times in total.
Operating ambient temperature -10 to 50
Operating ambient humidity 90%MAX. : 40 MAX., 57%MAX. : 50 MAX., 35%MAX. : 60 MAX. no condensation

Motor type SM series motor

Model number SM286
Type S1 continuous operation
Insulation class Class F +155 C
Operation altitude 1000m 3280 feet MAX above sea level
Withstand voltage 86mm 3.39inch : AC1500V 50/60Hz for 1 minute
Insulation resistance 100M ohm MIN. against DC500V
Protection grade IP43
Vibration resistance Amplitude of 1.52mm 0.06inch P-P at frequency range 10 to 500Hz for 15 minutes sweep time along X, Y, and Z axes for 12 times.
Impact resistance 490m/s 2 of acceleration for 11 ms with half-sine wave applying three times for X, Y, and Z axes each, 18 times in total.
Ambient operation temperature -10 to +50 C
Ambient operation humidity 90% MAX. at less than 40 C, 57% MAX. at less than 50 C , 35% MAX. at 60 C no condensation

Allowable radial / thrust load

Distance from end of shaft : mm inch
Thrust load
Frange size Model number 0 5 0.20 10 0.39 15 0.59
N Ibs
Radial load : N lbs
28mm 1.10inch SH228 42 9 48 10 56 12 66 14 3 0.67
Radial load 35mm 1.38inch SH353 40 8 50 11 67 15 98 22 10 2.25
103H52
42mm 1.65inch 103-59 22 4 26 5 33 7 46 10 10 2.25
SH142
50mm 1.97inch 103H670 71 15 87 19 115 25 167 37 15 3.37
Thrust load
103H712 52 11 65 14 85 19 123 27 15 3.37
56mm 2.20inch
103H7128 85 19 105 23 138 31 200 44 15 3.37
103H782
60mm 2.36inch 70 15 87 19 114 25 165 37 20 4.50
SH160
SM286
86mm 3.39inch 167 37 193 43 229 51 280 62 60 13.488
SH286
86mm 3.39inch 103H822 191 42 234 52 301 67 421 93 60 13.488
106mm 4.17inch 103H8922 321 72 356 79 401 90 457 101 100 22.48

CE marked models
Model Number 103H712 103H822 103H8922
Rated voltage 12-200VDC 12-300VDC
Applied standards Low voltage
EN60034-1,IEC34-5(EN60034-5),EN60204-1,EN60950,EN61010-1
diretive
Operation type S1 continuous rating
Protection grade IP43
Device category Class I
Operation environment Pollution degree 2
Insulation classI Class B 130
Insulation resistance 100M ohm MIN. against DC500V
56mm 2.2inch : AC1500V 50/60Hz for 1 minute
Withstand voltage
86mm 3.39inch 106mm 4.17inch : AC1600V 50/60Hz for 1 minute
Ambient operation temperature -10 to +50 C
Ambient operation humidity 90% MAX. at less than 40 C, 57% MAX. at less than 50 C , 35% MAX. at 60 C no condensation
Winding temperature rise 80K MAX. Based on Sanyo Denki standard

49
 Stepping Motors with Internal drivers
Internal Wiring and Rotation Direction
Unipolar winding
103H52 Connector type

In t e r nal w ir e c o nn e c t io n Direction of motor rotate

( ) connector pin number The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
(2)
Connector type pin number
(1) 1.6 5 3 4 2
(3) 1

Exciting
order
2

4
(5) (6) (4)

103H782 Connector type

Set model
In t e r nal w ir e c o nn e c t io n Direction of motor rotate
( ) connector pin number The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
(2)
Connector type pin number
(1) 1.6 4 3 5 2

(3) 1
Exciting
order

2
3
4
(4) (6) (5)

Lead wire type

In t e r nal w ir e c o nn e c t io n Direction of motor rotate

Stepping motor
The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
Orange
Lead wire color
White White Red Blue Yellow Orange
& black
Blue 1
Exciting
order

2
3
4
Red Black Yellow

Bipolar winding
In t e r nal w ir e c o nn e c t io n Direction of motor rotate
( ) connector pin number The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order. Dimensions
(1)Orange Lead wire color, connector type pin teminal blocknumber
Lead wire Red Blue Yellow Orange
Connector Exciting order

1 – – + +
(2)Blue 2 + – – +
3 + + – –
4 – + + –

103H782 3 2 4 1

Red Yellow
Teminal
block

(3) (4) SM286 3 2 4 1

IC for stepping motor

50
 2-phase STEPPING SYSTEMS

Dimensions

Motors Unit: mm inch

28mm 1.10inch 35mm 1.65inch

Lead wire:UL3265 AWG28 4-M2.5×0.45 28±0.5

( 1.10±0.2) Lead wire:UL1007 CSA,AWG26
10±1 L±0.8 15±0.5
4 23±0.25

.0000
22-0.05 ( .1968-.0005
15 1 L 1 20 0.5

0.013
5-0.013
.39±0.4 L±0.3 .59±0.2 +1 35 0.5( 1.38 .02)
(4 .91±0.01)
300MAX.
11.81MIN.

1.5±0.76 (.59 .04) 2.05 .04 (.79 .02)

10 0 29 0.25(1.14 .01)

5(.20)MAX.
.0000
.1968-.0005
0.013
5-0.013

)
.06±0.3 +.04 9(.35) 40 1.57 MIN.

5-0.013
.0000
.1968-.0005
300(11.81)MIN.
.39 .00 MAX. 2 0.25 26 0.25(1.02 .01)

0
(Effective lenght) (.08 .01)

5-0.013
.0000
.1968-.0005
22(.87)MAX.

0
.0000
( .8661-.0019
0.13
S 4-M3 0.5
Effective tapping depth 4(.16) MIN.

(
S R3MAX.

.01)
0.25
.01)
0.25
4.5±0.15 (R.12 MIN.)

(
part
35.6( 1.40) only stator

(1.14
.1771±0.059

(1.02
29
26
Cross section S-S 4.5±0.15
(.17771±0.059)

Connector type Lead wire type

Motor length : Lead wire type

Set part number Motor model number Cable type
mm inch
Motor length :
DU14S281 SH2281-51 1 32 1.26 Lead wire Set part number Motor model number Cable type
mm inch
DU14S281 SH2281-52 1 32 1.26 Lead wire
Unipolar SH3533-12U 0 33 1.25 Lead wire
DU14S285 SH2285-51 1 51.5 2.03 Lead wire
Unipolar SH3537-12U 0 37 1.54 Lead wire
DU14S285 SH2285-52 1 51.5 2.03 Lead wire
SH3552-12U 0 52 1.89 Lead wire
DB14S281 SH2281-56 1 32 1.26 Lead wire
DB14S281 SH2281-57 1 32 1.26 Lead wire
Bipolar
DB14S285 SH2285-56 1 51.5 2.03 Lead wire
DB14S285 SH2285-57 1 51.5 2.03 Lead wire

42mm 1.65inch 42mm 1.65inch

42 0.5
( 1.65 .020) 42 0.25
Lead wire UL1007 AWG26 5 1 L 0.5 2-31 0.3 15 1 L 0.5 24 0.5 ( 1.65 .01)
15 1A
(2-1.22 .012) (.59 .04) (L .02) (.94 .02)
( .20MAX.)

(.20 .04) (L .02) 4-31 0.25

5MAX.

7 0.5 24MAX.
(11.8MIN.)
300MIN.

(.28 .02) ( .94MAX.) 1.5 0.76 (4-1.22 .01)

28(1.1)MIN. (.59 .03) 27(1.06) MAX.

300MAX
11(.44)
(Ø .8661-.0019)

(Ø .1968-.0005)
.0000

.0000
(Ø .1968-.0005)

Ø5-0.013
Ø22-0.05

MAX.
.0000

Pin No.
0
Ø5-0.013

1···6
B
0

A
B

.0003
)

7(.28) MAX.
ø.87-.002
0.05
ø.1968-.0005) ø22-0.05
N.P
18MAX
.00003
(ø.1968-.0005)

2-M3×0.5
0.013
ø5-0.013

18

(
.00003
0.013
ø5-0.013

5MAX
4-M3 x0.5
Effective tapping depth depth 4(.16) MIN.
Lead wire type
Motor length :
Set part number Motor model number Cable type
mm inch Lead wire type
Connector type
SS2421-50 1 11.6 .457 Lead wire
Bipolar SS2422-50 1 18.6 .732 Lead wire Motor length :
Set part number Motor model number Cable type
SS2423-50 1 25.6 1.008 Lead wire mm inch
DU15H521 103H5205-04 0 33 1.25 Connector
DU15H522 103H5208-04 0 39 1.54 Connector
Unipolar
DU15H524 103H5210-04 0 48 1.89 Connector
103H5209-04 0 41 1.61 Connector

42mm 1.65inch 42mm 1.65inch

1.65±.01
L±.02 .94±.02 1.22±.01
.2MAX.

.24MAX. .94MIN. .71MAX.

24MIN. +.04
.59 0
ø.197-.0005

.591±.04 .06±.03
4-M3 x 0.5
0

.16 MIN.DP.
ø.866-.002

1.22±.01
0
ø.197-.0005

A
0

R.12MIN.

.177±.006

Connector type Lead wire type Lead wire type

Motor length : Motor length :
Set part number Motor model number Cable type Set part number Motor model number Cable type
mm inch mm inch
DB14H521 103H5205-52 0 33 1.25 Lead wire DU15S141 SH1421-04 1 33 1.25 Lead wire
DB14H522 103H5208-52 0 39 1.54 Lead wire Unipolar DU15S142 SH1422-04 1 39 1.54 Lead wire
DB14H524 103H5210-52 0 48 1.89 Lead wire DU15S144 SH1424-04 1 48 1.89 Lead wire
103H5205-50 0 33 1.25 Lead wire DB16H141 SH1421-52 1 33 1.25 Lead wire
103H5205-51 0 33 1.25 Lead wire Bipolar DB16H142 SH1422-52 1 39 1.54 Lead wire
103H5208-50 0 39 1.54 Lead wire DB16H144 SH1424-52 1 48 1.89 Lead wire
Bipolar
103H5208-51 0 39 1.54 Lead wire
103H5209-50 0 41 1.61 Lead wire
103H5209-51 0 41 1.61 Lead wire
103H5209-52 0 41 1.61 Lead wire
103H5210-50 0 48 1.89 Lead wire
103H5210-51 0 48 1.89 Lead wire

Motor shaft specification code Motor shaft specification code

Motor shaft spec Set type code Motor type code Motor shaft spec Set type code Motor type code
Single shaft S 7 Single shaft S 4
Double shafts D 3 Double shafts D 1

51
 Stepping Motors with Internal drivers
50mm 1.97inch 50mm 1.97inch
Lead wire UL1007 AWG26
50 0.5 Lead wire UL3266 AWG22
5 1 L 0.3 ( 1.97 0.020) 15.5 1 L 0.8 20.6 0.5
4-M2.5×0.45 4-41 0.3
300MIN.

(L 0.012)
(11.81MIN.)

(0.20 0.04) (L .03)

(4-1.61 0.012) (.61 .04) (.81 .02)
5 0.3
(0.20 0.012) 50 0.5

305(12) MIN.
( 1.97 .02)

(Ø0.1968-0.0005)

(Ø0.1968-0.0005)
0.0000

0.0000
1.5

Ø5 -0.013
4-41 0.13
Ø5-0.013
(.06) (4-1.61 .005)

0
5 25(.98)MAX.
0

(.2)

6(.24)MAX.
.0000
(ø1.42-.002)
0.000
ø36-0.039
5
02 )

.00000
(ø.25-.0005)
0.000
ø6.35-0.013
0. .001
.5 0

.00000
(ø.25-.0005)
6

0.000
ø6.35-0.013
6 61 8
.
Lead wire type (Ø2 +0.5
4-ø4.5 0.5
+.02
Motor length : (4-ø.18 .00 )
Set part number Motor model number Cable type
mm inch
SS2501-50 1 11 .433 Lead wire Lead wire type
Bipolar
SS2502-50 1 16 .63 Lead wire
Motor length :

Set model
Set part number Motor model number Cable type
mm inch
103H6701-01 0 39.8 1.57 Lead wire
103H6701-04 0 39.8 1.57 Lead wire
103H6701-07 0 39.8 1.57 Lead wire
103H6703-01 0 51.3 2.02 Lead wire
Unipolar 103H6703-04 0 51.3 2.02 Lead wire
103H6703-07 0 51.3 2.02 Lead wire
103H6704-01 0 55.8 2.20 Lead wire
103H6704-04 0 55.8 2.20 Lead wire
103H6704-07 0 55.8 2.20 Lead wire
DB16H671 103H6701-50 0 39.8 1.57 Lead wire
Bipolar DB16H672 103H6703-50 0 51.3 2.02 Lead wire
103H6704-50 0 55.8 2.20 Lead wire

56mm 2.20inch 56mm 2.20inch +0.5

Stepping motor
4-ø4.5 0 5
+0.2
56 0.5
Lead wire UL1430 CSA, AWG22 (4-ø1.8 .00 )
Lead wire UL1430 AWG22 56 0.5
( 2.20 .02) 5 0.25 (2.20 .02)
15.5 1 L 0.8 (.2 .0098)
4-47.14 0.13

11(.44)
MAX.
(.61 .04) (L .03) 4-47.14 0.13 1.5 0.25
20.6 0.5 (1.86 .0005)
.00000
)

(4-1.86 .0005)
ø.25-.0005
0.000
ø6.35-0.013

(.06 .0098)
305(12)MIN.

5 (.81 .02)
26(1.02) MAX. R.P
(.20)
.00000
(ø.25-.0005)
0.000
ø6.35-0.013

1.5
(

(.06)
(ø1.50 .001)
ø38.1 0.025
.001)
0.025

8(.31)MAX.

A
(ø1.50
ø.25-.0005 ø38.1
.00000
(ø.25-.0005)
0.000
ø6.35-0.013

.00000
)

15.5 1 L 0.8 20.6 0.5

0.000
ø6.35-0.013

(.61 .04) (L .03) (.81 .02)

B

+0.5
(

4-ø4.5 0.0 Lead wire type

+.02
(4-ø.18 .00 ) Motor length :
Set part number Motor model number Cable type
Lead wire type mm inch
103H7121-61 0 41.8 1.65 Lead wire CE
Motor length : 103H7121-67 0 41.8 1.65 Lead wire CE
Set part number Motor model number Cable type
mm inch 103H7123-61 0 53.8 2.12 Lead wire CE
Unipolar
Dimensions
DU16H711 103H7121-04 0 41.8 1.65 Lead wire 103H7123-67 0 53.8 2.12 Lead wire CE
DU16H713 103H7123-04 0 53.8 2.12 Lead wire 103H7126-61 0 75.8 2.98 Lead wire CE
DU16H716 103H7126-04 0 75.8 2.98 Lead wire 103H7126-67 0 75.8 2.98 Lead wire CE
103H7121-01 0 41.8 1.65 Lead wire
103H7121-07 0 41.8 1.65 Lead wire
103H7123-01 0 53.8 2.12 Lead wire
Unipolar
103H7123-07 0 53.8 2.12 Lead wire
103H7124-01 0 63.8 2.51 Lead wire
103H7124-04 0 63.8 2.51 Lead wire
103H7124-07 0 63.8 2.51 Lead wire
103H7126-01 0 75.8 2.98 Lead wire
103H7126-07 0 75.8 2.98 Lead wire

Model number Shaft diameter(D) Dcut thickness(L)

103H7121-
IC for stepping motor

103H7123- 6.35 5.8

103H7126-
103H7128- 8 7.5

Motor shaft specification code

Motor shaft spec Set type code Motor type code
Single shaft S 4
Double shafts D 1

Motor shaft specification code

Motor shaft spec Set type code Motor type code
Single shaft S 7
Double shafts D 3

52
 2-phase STEPPING SYSTEMS

Dimensions

Motors Unit: mm inch

56mm 2.20inch 60mm 2.36inch

B
B
Lead wire UL1430 CSA, AWG22 56±0.5 +0.5
4-ø 4.5
B (2.2±.02) 15.5 1
B 47.14±0.13
+.02 L 0.8 20.6 0.5 60 0.5
15.5±1 L±0.8 20.6±0.5 (4-ø .18 ) L .03 .81 0.2
.61 .04 2.36 .02
(.61±0.4) (L±.03) (.81±.02) (1.86±.01) 7 0.25

D-0.013
(.31MAX.)
4-47.14 0.13

8MAX.

.0000
D-.0005
B 8MAX. 32.2MIN. 1.5±0.25 26MAX. .2755 .0098 1.86 .0051

0
+1 (1.02MAX.) 1.5 0.25
(.31MAX.) (1.27MIN.) (.06±.01)

(øD- .0005)
15 0 .06 .0098

øD-0.013
5±0.25

N.P
(EFFECTIVE LENGTH) +.04
(.2±0.1)

.0000
.25-.0005
+.04 .59 0
(øD-0.005)

0
øD-0.013

0-0.
6.35013
(.59 0 ) (EFFECTIVE
0
0

LENGTH)

38.1 0.025
1.5 .0009
+1
(15 0)

ø38.1±0.025
(ø1.5±.001)
( ø2.2±.02)

2.36 0.2
ø56±0.5

60 0.5
A

B
B R4MIN.
R4MIN. A
(R.16MIN.) (R.16MIN.) +0.5
B 4- 4.5 0
+.02
4- .18 .00
L±0.15 Lead wire type
(L±.006)
Motor length :
Set part number Motor model number Cable type
Lead wire type mm inch
Motor length : SH1601-04 0 42 1.65 Lead wire
Set part number Motor model number Cable type Unipolar SH1602-04 0 54 2.13 Lead wire
mm inch
DB16H711 103H7121-57 0 41.8 1.65 Lead wire SH1603-04 0 76 2.99 Lead wire
DB16H713 103H7123-57 0 53.8 2.12 Lead wire DB16S161 SH1601-52 0 42 1.65 Lead wire
DB16H716 103H7126-57 0 75.8 2.98 Lead wire Bipolar DB16S162 SH1602-52 0 54 2.13 Lead wire
103H7121-56 0 41.8 1.65 Lead wire DB16S163 SH1603-52 0 76 2.99 Lead wire
103H7121-58 0 41.8 1.65 Lead wire
103H7123-56 0 53.8 2.12 Lead wire
Bipolar
103H7123-58 0 53.8 2.12 Lead wire
103H7126-56 0 75.8 2.98 Lead wire
103H7126-58 0 75.8 2.98 Lead wire
103H7128-56 0 94.8 3.73 Lead wire
103H7128-57 0 94.8 3.73 Lead wire
103H7128-58 0 94.8 3.73 Lead wire

60mm 2.36inch 86mm 3.39inch

60 0.5
( 2.36 .02)
15.5 1 L 0.8 20.6 0.5 4-50 0.13
(.61 .04) (L .03) (.81 .02) Lead wire:
7 (4-1.97 .005)
UL3398 CSA AWG22
(.28)
1.5
33(1.30) MAX. 30±1(1.18±.04) L±1(L±0.4)
A(CE)
+1

12(.47)MAX.
15+0
+.04 +1
(.06) Pin No. A 1.5±0.25 .06±0.1 85.5±0.5(3.366±0.2)
69.6±0.25(2.74±0.1)
1···6 30±0.5(1.18±0.1)
( .59+.00 ) 15+0
8±0.5(.31±0.1) 27(1.06)MAX.
(effective length) +.04 +1 +0.4
( .59+.00 ) (
25 0 .91 0 ) +1
(
25 0 .91 0
+0.4
)
(Effective length) (Effective length)
(effective length)
B
( .55 -0.001 )

( .55 -0.001)
14 -0.018
14 -0.018
.0000
(ø1.42-.002)

12(.47) MAX.

13±0.15
0.000
ø36-0.039

( 2.875±0.001)
0

69.6±0.25(2.74±0.1)
85.5±0.5(3.366±0.2)
0

S S
73.025±0.025
0

(.5118±0.059)
°
(.5118±0.059) 90

S S
S S B(CE)
13±0.15

S S Cross section
R4 MIN. R4 MIN. R4(R.16)MIN.
.00000
(ø.315-.0006)

R4(R.16)MIN.
S-S
0.000
ø8-0.015

(R.157MIN.) (R.157MIN.)
.00000
(ø.315-.0006)

+0.5
Grounding terminal
0.000
ø8-0.015

4-ø4.5+0.0 4- 5.6±0.2
+.02 M4×0.7×6L (4- .2205±.0079)
(4-ø.18+.00).0

Connector type Lead wire type CE type

Motor length : Motor length :
Set part number Motor model number Cable type Set part number Motor model number Cable type
mm inch mm inch
103H7821-01 0 44.8 1.76 Connector SH2861-04 1 66 2.6 Lead wire
103H7821-04 0 44.8 1.76 Connector Unipolar SH2862-04 1 96.5 3.8 Lead wire
103H7821-07 0 44.8 1.76 Connector SH2863-04 1 127 5 Lead wire
103H7822-01 0 53.8 2.12 Connector SM2861-50 1 66 2.6 Lead wire CE
Unipolar 103H7822-04 0 53.8 2.12 Connector SM2861-51 1 66 2.6 Lead wire CE
103H7822-07 0 53.8 2.12 Connector SM2861-52 1 66 2.6 Lead wire CE
103H7823-01 0 85.8 3.38 Connector SM2862-50 1 96.5 3.8 Lead wire CE
103H7823-04 0 85.8 3.38 Connector Bipolar SM2862-51 1 96.5 3.8 Lead wire CE
103H7823-07 0 85.8 3.38 Connector SM2862-52 1 96.5 3.8 Lead wire CE
DB16H781 103H7821-57 0 44.8 1.76 Connector SM2863-50 1 127 5 Lead wire CE
DB16H782 103H7822-57 0 53.8 2.12 Connector SM2863-51 1 127 5 Lead wire CE
DB16H783 103H7823-57 0 85.8 3.38 Connector SM2863-52 1 127 5 Lead wire CE
Bipolar
103H7821-17 0 44.8 1.76 Connector
103H7822-17 0 53.8 2.12 Connector
103H7823-17 0 85.8 3.38 Connector
Model number Shaft diameter(D) Dcut thickness(L)
103H7121-
103H7123- 6.35 5.8
103H7126-
103H7128- 8 7.5
Model number Shaft diameter(D) Dcut thickness(L)
SH1601-
6.35 5.8
SH1602-
SH1603- 8 7.5

Motor shaft specification code

Motor shaft spec Set type code Motor type code
Single shaft S 4
Double shafts D 1

Motor shaft specification code

Motor shaft spec Set type code Motor type code
Single shaft S 5
Double shafts D 2

53
 Stepping Motors with Internal drivers
86mm 3.39inch 86mm 3.39inch
L±1.5 85.5±0.5
UL vinyl tube Lead wire UL1430 AWG18 Cable Grand (L±.06) (3.37±.02)
Skintop St11 1.5±0.25 (.06±.01)
28 1 L 0.8 30 0.5 69.6±0.25
82.55 0.5 25(.98)Max.
(1.10 .04) (L .03) (1.2 .02) 30±0.5 (2.74±.01)

32(1.26)Max.
Earth Terminal (1.18±.02)
305(12) MIN.

1.52 ( 3.25 .02)

M4×0.7×8L 8±0.5
(9.8 .8)
250 20

(.06) 4-69.6 0.2

N.P
4.83 4 (.31±.02)
(4-2.74 .008)

14-0.018
(.19)
27.5 0.5 3
(1.08 .02) 1 .04

0
25 0 (.98 .00)

73.025±0.025
2

( 2.88±.0010)
Use proper
grounding
techniques.

S (Effective Length)
ø73.025 0.025
25 1

(ø2.9 .001)
(ø3.4 .02)

(.98)
ø86 0.5

Terminal No. S
Terminal Screw R4MIN.
M4×8L
.00000
(ø.4724-.0007)

Terminal Block Sheet Packing 4- 5.6±0.2

.00000
)

Grounding terminal
0.000
ø12-0.018
ø.374-.0005
0.000
ø9.5-0.013

+0.5 (4- .22±.008)

M4x0.7x6L 4-ø5.35+0.0
+.02
( 4-ø.2+.00 )
Terminal block type
(

Lead wire type Motor length :

Set part number Motor model number Cable type
mm inch
Motor length : SM2861-5066 97.9 3.9 Terminal block
Set part number Motor model number Cable type

Set model
mm inch SM2861-5166 97.9 3.9 Terminal block
103H8221-62 0 62 3.31 Lead wire CE SM2861-5266 97.9 3.9 Terminal block
Bipolar 103H8222-63 0 92.2 5.51 Lead wire CE SM2862-5066 128.4 5.1 Terminal block
103H8223-63 0 125.9 7.72 Lead wire CE Terminal
SM2862-5166 128.4 5.1 Terminal block
block
SM2862-5266 128.4 5.1 Terminal block
SM2863-5066 158.8 6.3 Terminal block
SM2863-5166 158.8 6.3 Terminal block
SM2863-5266 158.8 6.3 Terminal block

106mm 4.17inch
Lead wire UL1430 AWG18
28 1 L 1 35 0.5
(1.10 .04) (L .04) 106.4 0.5
8.6 (1.38 .02)
305(12) MIN.

(.34)
( 4.2 .002) A(CE)
4-88.9 0.25
1.52
+1 (4-3.5 .001)
A (.06) 30.5 0

Stepping motor
(1.2
+.04
.00 ) B
(ø4.2 .04)
ø106.4 1

ø.63-.0007 ø55.524 0.05

(ø2.19 .002)

B(CE)
.00000
)
0.000
ø16-0.018
.00000
(ø.5-.0007)
0.000
ø12.7-0.018

+0.5
4-ø6.9 0.0
+.02
(

(4-ø.27 .00 )

Lead wire type CE type

Motor length :
Set part number Motor model number Cable type
mm inch
103H89222-09 1 163.3 6.4 Lead wire
Unipolar
103H89223-09 1 221.3 8.7 Lead wire
103H89222-52 1 163.3 6.4 Lead wire
103H89223-52 1 221.3 8.7 Lead wire CE
Bipolar
103H89222-63 1 163.3 6.4 Lead wire CE
103H89223-63 1 221.3 8.7 Lead wire

Dimensions
IC for stepping motor

Motor shaft specification code

Motor shaft spec Set type code Motor type code
Single shaft S 4
Double shafts D 1

Motor shaft specification code

Motor shaft spec Set type code Motor type code
Single shaft S 7
Double shafts D 3

54
 2-phase STEPPING SYSTEMS

Dimensions

Drivers Unit: mm inch

Safety standards
driver
Acquired standards File No. Standard part
UL UL
E179775 UL508C
UL for Canada
Directives Category Name Standard part
Low-voltage
EN61010-1
directives
Terminal disturbance voltage EN55011-A
Emission
CE Electromagnetic radiation disturbance EN55011-A
TÜV ESD Electrostatic discharge EN61000-4-2
EMC
RS Radio-frequency amplitude
directives EN61000-4-3
Immunity modulated electromagnetic field
Fast transionts EN61000-4-4
Surges EN61000-4-6

SM series motor(UL/CE),H series motor(CE)

Acquired standards File No.
UL UL
E208878
UL for Canada
Standard category Standard part
EN-60034-1
CE
Low-voltage directives IEC34-5
(EN-60034-5)

EMC characteristics may vary depending on the configuration of the users control panel, which contains
the driver or stepping motor, or the arrangement and wiring of other electrical devices.
Parts for EMC noise suppression like noise filters and troidal type ferrite cores may be required depending
on circumstances.
Validation test of F series driver has been performed for low-voltage EMC directives at TÜV TÜV product
service for self-declaration of CE marking.

55
2-phase STEPPING SYSTEMS

IC for stepping motor Specifications

Stepping Motors with Internal drivers

Universal controller IC for the 2-phase stepping motor drive

PMM8713PT

Characteristics

Set model
Universal controller : The following 3 types of energization mode can be selected by switching at the energization mode switching
terminal
1EX/1-2EX/2EX
Source voltage : Vcc = 4.5 to 5.5V
High output current : 24mA MIN. sink, source
High noise margin : Schmitt trigger circuit is incorporated for the all input terminals.
2 types of pulse input : 2 input mode CW, CCW input mode
Pulse and direction mode CK, U/D input mode
Excited status
verification monitor : Outputs the monitor signal of the controller status.

Maximum Rating Ta=25 Recommended Operating Conditions Ta=-20 to 85

Stepping motor
Item Symbol Rating Unit Rating
Item Symbol Unit
Source voltage VCC - 0.3 to 7 V MIN. Standard MAX.
Output H level IOH - 35 Source voltage VCC 4.5 5.5 V
mA
current n L level IOL 35 Output H level IOH -24 mA
Output H level IOH current n L level IOL 24
A
current CO,EM L level IOL Output H level IOH -2 mA
Input voltage V IN - 0.3 to VCC + 0.3 V current CO,EM L level IOL 2
Input current IIN 10 mA Input voltage V IN 0 VCC V
operating current Topr -20 to 85
Conservation temperature Tstg - 40 to 125

Dimensions Unit : mm inch

Pin No. Name Function

1. CU Input pulse UP clock input
6.2(.24)
6.6(.26)

Dimensions
2. CD Input pulse DOWN clock input
3. CK Input pulse clock input
4. U/D Rotation direction conversion
4.45(.17)MAX.

energization mode switching

5. EA 19.75(.78)MAX.
input
energization mode switching 19.25 0.2
6. EB 7.62(.3)TYP
input (.76 .008)
energization mode switching
7. C
input
8. VSS GND
9. R Reset input
0.51(.02)MIN.

1.53(.06)TYP 0.4(.016) 0~15˚

2.9(.11)MIN.

10. 4 4 output 0.6(.024)

11. 3 3 output 0.20(.
00
12. 2 2 output 2.54(.1)TYP 0.35(. 8)
014)
13. 1 1 output
14. EM energization monitor output
15. CO Input pulse monitor output
IC for stepping motor

16. VCC 4.5 to 5.5V

56
 Electrical Characteristics
Direct current characteristics Ta = -20 to 85 Switching characteristics Ta = -20 to 85
Condition Standard value Condition Standard value
Item Symbol Unit Item Symbol Unit
VCC[V] MIN. Standard MAX. VCC[V]a MIN. Standard MAX.
Input H level V IH 5 3.5 V MAX. clock tr tf 20ns,
f MAX 5 1 MHZ
voltage L level V IL 5 1.5 frequency CL 50pF
V H=5V VL=0V MIN. width of clock t WL, tr tf 20ns,
H level VOH 5 4.9 V 5 500 ns
Output IOH=0 pulse t WH CL 50pF
voltage V H=5V VL=0V MIN. width of reset tr tf 20ns,
L level VOL 5 0.1 t WR 5 1000 ns
IOH=0 pulse CL 50pF
V H=5V VL=0V Time delay
Output H level IOH 5 -24 mA tr tf 20ns,
VOUT=2.4V from clock input tpd 5 2000 ns
current CL 50pF
V H=5V VL=0V to output
1 to 4 L level IOL 5 24
VOUT=0.4V tr tf 20ns,
V H=5V VL=0V Set time t SET 5 0 ns
Output H level IOH 5 -2 mA CL 50pF
VOUT=2.4V tr tf 20ns,
current Holding time tHOLD 5 250 ns
V H=5V VL=0V CL 50pF
CO, EM L level IOL 5 2
VOUT=0.4V
Input current I 5 10 A
Static current
I CC 5 V H=5V VL=0V 1 mA
consumption

Measured waveforms on switching time scale

1 f

CU 90% 90%

CD 50% 50% 50%

CK 10% 10%
tr tf
tWH tWL

1 to 4 50%

tpd

90% 90%
CK 50% 50%
10% 10%
tr tf

tr or tf

90%

U D 50%
10%

tHOLD tSET

Function Table
Input modes and rotation direction Energization modes
Input Rotation Excitation Input
Input mode
CU CD CK U D direction mode R EA EB C
L L L CW 1 EX H H L H
2 input mode CW, 1-2EX H H H H
CCW
L L L CCW 2 EX H L L H

L L H CW
Pulse and direction
mode CK, U/D
L L L CCW

57
2-phase STEPPING SYSTEMS

IC for stepping motor Specifications

Stepping Motors with Internal drivers

Universal controller IC for the 2-phase stepping motor drive

PMM8713PT
Energization Sequence
1EX 2EX 1-2EX
Pulse Pulse Pulse
0 Reset 1 2 3 4 0 Reset 1 2 3 4 0 Reset 1 2 3 4 5 6 7 8
Face Face Face
1 1 0 0 0 1 1 1 1 0 0 1 1 1 1 1 0 0 0 0 0 1
2 0 1 0 0 0 2 0 1 1 0 0 2 0 0 1 1 1 0 0 0 0
3 0 0 1 0 0 3 0 0 1 1 0 3 0 0 0 0 1 1 1 0 0
4 0 0 0 1 0 4 1 0 0 1 1 4 1 0 0 0 0 0 1 1 1
EM 0 0 0 0 0 EM 1 1 1 1 1 EM 1 0 1 0 1 0 1 0 1
UP UP UP
DOWN DOWN DOWN
Reset after changing the energization mode.

Set model
Input Pulse Monitor

CU

Input
CD

CK

Output CO

Stepping motor
Example of Application Circuit Bipolar wiring motor

Combined with the power hybrid IC 24V

+

P.GND

5V
+ GND

13 20
GND
1 16 8 9 11 15 19 8
2 14 10
Driving input External output
3 15 12
4
14
Energization mode setting 5 18
6 13 4
5V 7 12 25 5 Stepping motor
11 3

Reset input 9
10
5V
24
Dimensions
6 23
22 26 21 7
2 1
PMM8713PT

PMM2101 GND

GND GND 5V

Energization mode setting

Pin No. Terminal symbol Input level Motor operation
H 1-2EX
5,6 EA, EB
L 2EX

The normal initial reset may not be performed during unstable VCC after turning the power ON. For
reliable resetting, hold the R terminal 9-pin at the L level till the VCC becomes stable.
IC for stepping motor

Vcc (16-pin)
4.5V

R (9-pin)
1.5V MAX.
CV

Power hybrid IC : Refer to page 47 for the PMM2101 specifications.

Refer to the PMM8713PT Operation Manual for other application circuit examples.

58
 2-phase STEPPING SYSTEMS

IC for stepping motor

HIC for the 2-phase stepping motor

PMM2101
Full Step / Half Step
Bipolar

Characteristics
Enables high speed and high torque operation by using bipolar constant current switching method.
Enables compact driving circuit configuration with few of externally attached parts.
The overheat protection circuit is incorporated to assist the safety design.

Maximum Rating Tc=25 Recommended Operating Conditions Tc=25

Item Symbol Rated value Unit Item Symbol Rated value Unit
Source voltage-1 VCC1 8 to 60 V Source voltage-1 VCC1 10 to 50 V
Source voltage-2 VCC2 0 to 7 V Source voltage-2 VCC2 4.75 to 5.25 V
Output current IO 1.4 A Output current IO 1.0 A
Allowable loss PT 35 Tc 25 W Oscillator
FC 20 to 27 kHz
Thermal jc 3.57 W frequency
resistance ja 25 W Operation
TC -25 to 85
Junction temperature
T jmax 150
temperature
Conservation
Tstg - 40 150
temperature

Dimensions Unit : mm inch

Pin No. Name Function

1. VCC2 Power terminal for controller section
2. ENA A Enable input terminal 40 0.3
3. 1 Arm drive input (1.57 .01)
4 0.3
25 0.2
4. 2 Arm drive input (.16 .012)
(.98 .008) 3.8 0.2
4.5 0.5

1.5 0.2
5. CR A One shot time constant setting terminal
(.178 .02)

1 ø3.3 0.2 1 (.15 .008) (.06 .06)

6. Vref A Motor current setting terminal (.04) (ø.13 .008) (.04)
7. LG A GND PMM2101
(.31)
8

8. VCC1 A Motor driver power terminal Control No.

9. V SA Motor current detection terminal and Lot No.
1 27
13 0.3(.51 .011)
3.3 0.2(.13 .008)
9 0.2(.35 .008)
3.5
(.14)

10. M1 Motor output 0.25

(.12 .008)
3 0.2

11. RS A Detection resistor connecting terminal (.01)

1.27
12. M2 Motor output +0.2
(.05) 0.6 – 0.05
13. PG P.GND +.008 2.54 3.4
14. M3 Motor output 26x1.27=33.02 (.02 – .002 ) (.1) (.13)
(26x.05=1.3)
15. RS B Detection resistor connecting terminal
16. NC
17. NC
18. M4 Motor output
19. VS B Motor current detection terminal
20. VCC1 B Motor driver power terminal
21. LG B GND Operational truth value table
22. Vref B Motor current setting terminal ENA A(ENA B) 1( 3) 2( 4) M1(M3) M2(M4)
23. CR B One shot time constant setting terminal L L L OFF OFF
24. 3 Arm drive input L L H L H
25. 4 Arm drive input L H L H L
26. ENA B Enable terminal L H H OFF OFF
27. AL Overheat alarm output terminal H OFF OFF

59
2-phase STEPPING SYSTEMS

IC for stepping motor Specifications

Stepping Motors with Internal drivers

HIC for the 2-phase stepping motor

PMM2101 Full Step / Half Step

Electrical Characteristics Ta=25

Rating
Item Symbol Condition Unit
MIN. Standard MAX.
"H"level input voltage VIH VCC2 5V 2.7 VCC2 V
"L"level input voltage VIL VCC2 5V 0 1.0 V
"H"level input current IIH VCC2 5V V I 5V 10 A
"L"level input current IIL VCC2 5V V I 0V -50 A
Reference voltage (Vref) input current Iref VCC2 5V Vref 0V -10 A
Current detection (Vs) input current IS VCC2 5V VS 0V -10 A
Forward direction voltage of FET diod VF IF 1A 1.3 1.5 V
High output saturating voltage Vce (sat)H I C 1A 1.0 1.4 V
Low output saturating voltage Vce (sat)L I C 1A 1.0 1.3 V
VCC1 60V VOUT 0V 10 A
Low output saturating voltage IR

Set model
VOUT 60V V RS 0V 10 A
Power current to controller section ICC2 VCC2 = 5V during circuit operation 75 mA
Alarm terminal current Ialm VCC2 5V Valm 0.5V 2 mA
Overheat alarm operating temperature 125
Overheat protection stop temperature 150

Overheat Alarm Output

The overheat protection circuit outputs an alarm signal at +125 at the internal junction in the IC, and activates motor excitation OFF
at +150 .
VCC2(+5V)
Transistor ON during alarming
External pull-up resistor Vce ON : 0.5V MAX.
(approximate 10kW)
27-pin lalm : 2mA MAX.
The alarming signal output and overheat protection circuit
Open collector output

Stepping motor
recover automatically when the temperature lowers.

PMM2101

Example of Application Circuit

24V
+
C5

P.GND

R1 R2 C2
5V
C1
+ GND
R3 R4
D1~D4
13 20
GND
1 16 8 9 11 15 19 8 Orange
Driving input 2 14 10
External output Blue
Dimensions
3 15 12
4 Red
14
Energization mode setting 5 Yellow
13 4 18
6 R7
5V 7 12 25 Stepping motor
5
11 3
C3
10 24
Reset input
9 5V R8
6 23
22 26 21 7 C4
PMM8713PT R5 2 1

R6 PMM2101 GND

GND GND 5V

Refer to page 53 for the PMM8713PT specifications.

Recommended circuit constants for PMM2101
IC for stepping motor

Vref–Output current characteristics

1.2
Applicable Constant Applicable Constant
Output current (A)

1.0
R1,R2 5W 0.68 C1, C2 1000pF
0.8
R3,R4 1 4W 3.9k C3, C4 3300pF
0.6
R7,R8 1 4W 15k C5 330 F
0.4
0.2
Determine on the R5 and R6 constants referring to the Vref- 0.0
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
output current characteristics.
Vref Voltage (V)
Determine on D1 to D4.
Peak reverse voltage 100V
Output current 1A
Reverse recovery time 100ns

60
 2-phase STEPPING SYSTEMS

IC for stepping motor Specifications

HIC for the 2-phase stepping motor

PMM2301
Micro Step
Unipolar

Characteristics
Sine wave driven micro-step driver.
The current detection resistor is incorporated.
MOSFET is used for the power driving circuit to reduce heating.
Totally packaged to reduce parts for the peripheral circuit.
Enables selection from the 5 various excitation modes by the external bit signal.

Maximum Rating Tc=25 Recommended Operating Conditions Ta=25

Item Symbol Condition Rated value Unit Item Symbol Condition Rated value Unit
Source voltage-1 VCC1 MAX. VCC2 0V 52 V Source voltage-1 VCC1 With signal 10 to 45 V
Source voltage-2 VCC2 MAX. With no signal 7 V Source voltage-2 VCC2 With signal 5.0 5 V
Input voltage V in MAX. Logic input terminal 7 V Input voltage V IH 0 to VCC2 V
Phase current IOH MAX. 0.5sec, 1pulse, VCC1 applied 4 A Phase current I OH Duty 50 3 A
Operating Clock frequency Clock DC to 50 kHz
temperature on TC MAX. 105 Withstand voltage of
V DSS 100 V
PCB phase driver
Junction
T j MAX. 150
temperature
Conservation
Tstg - 40 to 125
temperature

Dimensions unit: mm inch

67
Pin No. Terminal name Pin No. Terminal name
(2.64)
1. B 12. VCC2 60 9
2. B 13. VCC2 (2.36) (.35)
3. P.GND A 14. Clock
(1.00)
25.5

4. P.GND B 15. CW CCW PMM2301

(.04)
16(.63)

5. A 16. Reset
1
5.6
(.22)

11(.43)

6. A 17. Return
7. VCC2 18. Enable 1 22 +0.2
+0.2 0.4–0.05
(.16)

8. Vref 19. M 0I 2–3.6 0.5–0.05

(.016–+.008
.002 )
4

9.
10.
Mode 1
Mode 2
20.
21.
M 01
M 02
(2–.14)
[9] 21x2=42
(.02–+.008
.002 ) 2.9
11. Mode 3 22. GND (.11)
(.35) (21x.08=1.68)

Each Terminal Function

Terminal name Function Functioning condition
Vref Motor current setting input
Mode 3 = H level : Operates at rising edge
Clock Motor driving pulse input
Mode 3 = L level : Operates at rising and falling edges
H level = CW rotation
CW / CCW Motor rotation direction setting input
L level = CCW rotation
Reset System reset Reset "L"
Return Forced return to phase origin Forced shift to the origin of the present energization phase with Return = H
Enable Power OFF input Enable "L"
M 0I Phase origin monitor output L level output at the phase origin.
M 01 M 02 Monitor output on phase energization status Outputs level signal on the present phase energization status.
Phase
A phase B phase A phase B phase
coordinate
M01 H L L H
M02 L H L H

61
2-phase STEPPING SYSTEMS

IC for stepping motor Specifications

Stepping Motors with Internal drivers

HIC for the 2-phase stepping motor

PMM2301 Micro Step

Energization Mode Table
Input condition Energization 1 step angle Number of basic
Mode1 Mode2 Mode3 mode degree angle division
L L H 2EX 1.8 1/1
H L H 1-2EX 0.9 1/2
L H H W1-2EX 0.45 1/4
H H H 2W1-2EX 0.225 1/8
H H L 4W1-2EX 0.1125 1/16

Conditioned on the Mode 3 = L, one pulse operation is performed at every rising and falling edge of the clock pulse. Accordingly, the
operation becomes unstable if the driving pulse duty ratio deviates from 50%.

Set model
Electrical Characteristics Tc=25 Vcc1=24V Vcc2=5V

Rating
Item Symbol Condition Unit
MIN. Standard MAX.
VCC2 Power current ICCO Enable = L 4.5 15 mA
Effective output current Ioave Each phase R/L = 3 .5 /3.8mH, Vref = 0.6V 0.45 0.50 0.55 A
Forward direction voltage
Vdf If 1A 1.2 1.8 V
of FET diode
Output saturating voltage Vsat RL = 7.5 I 3.0A 1.4 2.6 V
H level input voltage V IH 9 to 11, 14 to 18 pins 4.0 V
L level input voltage V IL 9 to 11, 14 to 18 pins 1.0 V
Input current IIL 9 to 11, 14 to 18 pins = GND level, Pull-up resistor 20k 125 250 510 A
Vref input voltage Vr 8-pin 0 VCC2 2 V
Vref input curren Ir 8-pin 1 A
H level output voltage
VOH 19 to 21 pins I = 3mA, I = -3mA 2.4 V

Stepping motor
M 0I M 01 M 02
L level output voltage
VOL 19 to 21 pins I = 3mA, I = -3mA 0.4 V
M 0I M 01 M 02
PWM frequency FC 37 47 57 kHz

Example of Application Circuit

VCC2(5V)
PMM2301
VCC1

10 to 45 V
7 19

12 20 External output

13 21
White
Orange
9 6
Blue +
Energization mode setting 10 5 C1
Red
11 2
Yellow
Dimensions
Clook 14 1 Black

CW/CCW 15 Stepping motor

Reset 16
3
Return 17
Endde 18 4
8 22
P.GND
R1
+ Vref
C2

R2

GND
IC for stepping motor

Recommended circuit constants

C1 C2
100 F or over 10 F

Determine on the R1 and R2 constants based on the Vref voltage calculated from the following formula.
Vref V = Motor current adjusted value A/phase x 0.6

62
 Safety Consideration
The drivers and stepping motors are the products designed to be used for the general industrial devices.
When using those, pay enough attention to the following points.
Read thoroughly the Operation Manual prior to placement, assembly and/or operation in order to use the product properly.

Refrain from modifying or processing the product in any way.

Consult with the distributor or professional experts for placement or maintenance services of the product.
In case of the following uses of the product, contact with us for the special care required to the operation, maintenance and
management such as multiplexing the system, installing an emergency electric generator set, or so forth.

1Use for the medical devices concerned with a fatal accident.

2Use for trains, elevators, and so forth that are likely to cause an accident resulting in injury, damage or death.
3Use in the computer system highly influential to the social life or the public systems.
4Use in other devices highly influential to maintaining the human safety or the public functions.

In addition to the above, consult with us for use in such a vibration environment as automobile or transportation.
Read the Operation Manual thoroughly prior to the use (placement, operation, maintenance and inspection) to put the product
in use properly.
Make yourself knowledgeable and familiarize with the devices, safety issues and cautions before handling the product.
After reading the Operation Manual or the like, keep it in the place where the users can refer to whenever necessary.

Indication by Warning Label on the product

Either or all of the following indications are given by the Warning Labels depending on the type of the driver or stepping motor.

This label is stuck near the high voltage part such as the electrically charged or cover-protected
section, warning that the place where it is likely to cause an electric shock.

This label is stuck on the place where the driver or stepping motor body should be easily
acknowledged, warning that it is likely to cause burns from high temperature.

This label is stuck near the GND terminals of the driver or stepping motor for which grounding is
Use proper
grounding required, suggesting that the terminals should be actually grounded.
techniques.

This label is stuck for the driver or stepping motor to which the power source is applied in the voltage
WARNING
May Cause
electric shock
exceeding the safety standard, drawing attention against the electric shock.

Safety ranks of the cautions

Following four ranks are provided.

DANGER Improper operations or use is most likely to result in serious injury or death.

CAUTION Improper operations or use is likely to result in average or minor injury, or in property damage.

In spite of the cautions with the CAUTION CAUTION label, it may cause serious results. Either
the contents of the labels is describing important cautions to be followed inevitably.

PROHIBITED Indicates what shall not be done.

COMPULSORY Indicates what shall be done.

63
 DANGER CAUTION
General matters 18. Mount the product on an incombustible material such as metal. Doing
1. Do not use the product in an explosive, flammable or corrosive atmosphere, watery otherwise may cause fire.
place or near a combustible material. Doing so may cause injury or fire.
19. Confirm the rotating direction before connecting with the mechanical
2. Have a person with expert knowledge for performing the transportation, device. Failure to do so may cause injury or a breakdown.
placement, wiring, operation, maintenance or inspection of the product.
Without such knowledge, it may cause an electric shock, injury or fire. 20. Do not touch the motor output spindle (including the key slot and gears) with a bare
hand. Doing so may cause injury.
3. Do not work for wiring, maintenance servicing or inspection with the electric Operation
power on. Perform either of those five minutes after turning the power off, 21. The stepping motor is not equipped with any protective device. Take
or otherwise, it may cause an electric shock. protective measures using an over-current protective relay, a ground fault
interrupter, a protective device from excess temperature, and an emergency
4. When the protective functions of the product is activated, turn the power off stopping device. Failure to do so may cause injury or fire.
immediately and eliminate the cause. If continuing the operation without
eliminating the cause, the product may operate improperly and cause injury 22. Do not touch the product for a period after the power is on or has been turned
or a breakdown of the system devices. off, since the driver and stepping motor remain in the high temperature. Doing
so may cause burns. Especially the temperature rises considerably of the
5. Stepping motor may run out of order at the operating and stopping stepping motor depending on the operating conditions. Use the motor on the
occasions, depending on the magnitude of the load. Put the product into use condition so that its surface temperature becomes 100°C or under.
after confirming with the adequate trial test operation in the maximum load
conditions that the product performs reliable operation. Doing otherwise 23. Stop the operation immediately when an emergency occurs. Failure to do so may
may cause a breakdown of the system. (Should the product run out of order cause an electric shock, injury or fire.
in the use to drive upward/downward, it may cause a fall of the load.)
24. Do not change adjustment to an extreme, for such a change results in the unstable
6. Do not touch the internal parts of the driver. Doing so may cause an electric operation. Doing so may cause injury.
shock.
25. When conducting the trial operation, make the stepping motor fixed firmly, and
Wiring confirm the operation by disconnecting with the mechanical system before
7. Do not connect the stepping motor directly with the commercial power connecting with it. Failure to do so may cause injury.
outlet. Doing so may cause an electric shock, injury or fire. The power shall
be supplied to the stepping motor through the driving circuit. 26. When the alarm has been activated, eliminate the cause and ensure the
safety to resume operation. Failure to do so may cause injury.
8. Use the electric power source within the rated input voltage. Using
otherwise may cause fire or an electric shock. 27. When the electric power recovers after the momentary interruption, do not
approach the devices because the system may re-start operation by itself.
9. Connect the driver and stepping motor to the ground. Using without (Set the system so as to secure the safety even when it re-start on such
grounding may cause an electric shock. occasion.) Failure to do so may cause injury.

10. Do not harm, forcibly put a stress, or load a heavy article on the cable or get 28. Confirm that the electric power supply is all proper conforming to the
it caught between the articles. Doing so may cause an electric shock. specifications. Failure to do so may cause a trouble.

11. Perform wiring with the power cable as instructed by the wiring diagram or 29. The brake mechanism of the motor with the electro-magnetic brake is to
the Operation Manual. Doing otherwise may cause an electric shock or fire. hold the movable section and the motor position. Do not use it as a safety
measure, or doing so may cause the breakdown of the system.
Operation
12. Be sure not to touch the rotating part of the stepping motor during its 30. Fix the key firmly when operating the motor with key individually. Failure to
operation. Touching it may cause injury. do so may cause injury.

13. Neither reach or touch the electric terminals while electric power is on. Maintenance services
Doing so may cause an electric shock. 31. Be careful when performing maintenance services or inspection about the
temperature which rises highly in the driver and stepping motor frame.
14. Never disconnect any of the connectors while electric power is on. Doing so may Failure to do so may cause burns.
cause an electric shock and corruption.
General matters 32. It is recommended to replace the electrolytic condenser of the driver with a
1. Prior to placement, operation, maintenance servicing or inspection, be sure new one for securing the preventive measure after using for 5 years, the
to read the Operation Manual and follow the instructions to perform those. expected life in the average 40°C. The expected life of the fuse is 10 years
Failure to follow the instructions may cause an electric shock, injury or fire. in the average 40°C. Thus, the periodical replacement is recommended.

2. Do not use the driver or the stepping motor outside the specified conditions. 33. Contact with us for repair. If the product is disassembled by the user, it may
Doing so may cause an electric shock, injury or fire. put it out of action.
Transportation
3. Do not insert a finger or a thing into the opening of the product. Doing so may cause 34. Handle the product with care during transportation so as to prevent from the
an electric shock, injury or fire. danger such as a tumble or a turnover.

4. Do not use the damaged driver or stepping motor. Doing so may cause 35. Do not hold with the cable or the motor spindle. Doing so may cause a
injury, fire or the like. trouble or injury.

5. Use the driver and stepping motor in the designated combination. Using Retirement
otherwise may cause fire or a trouble. 36. When scrapping the driver or stepping motor, treat it for the general
industrial waste.
6. Be careful that the temperature rises in the operating driver, stepping motor
or peripheral devices. Failure to be careful may cause a burn.

7.
Unpacking
Unpack while confirming the ceiling. Failure to do so may cause injury.
PROHIBITED
Storage
8. Confirm if the product is the one having been ordered. Installing an incorrect 1. Avoid the place exposed to rain or water drops, or in an environment with
product may cause a breakdown. hazardous gas or liquid for storing the product. Failure to do so may cause a
Wiring trouble.
9. Do not perform measurement of the insulation resistance or withstand Maintenance services
insulation voltage of the product. Doing so may cause a breakdown. Instead, 2. Do not assemble or repair the product. Doing so may cause fire or an
contact with us for such inspection. electric shock.

10. Perform wiring conforming to the technical standards of electric facility or General matters
the internal rule. Doing otherwise may cause burning or fire. 3. Do not remove the rating plate.

11. Ensure that wiring has been correctly done. Operating without correct
wiring may cause the stepping motor to run out of control and result in
injury.
COMPULSORY
Storage
12. Take insulation process for the attached condenser or the external resistance 1. Store the product within the specified conservation temperature and
connection terminals. Failure to do so may cause an electric shock. humidity in the place not exposed to the sun beam.

Placement 2. If the driver has been stored for a long period (3 years or longer for a guide),
13. Do not climb or attach a heavy article on the product. Doing so may cause consult with us. The capacitance may have decreased with the electrolytic
injury. condenser due to the long period storage, and it may cause a trouble.

14. Neither block nor stuff the aspiration/exhaust vent with a foreign particle. Operation
Doing so may cause fire. 3. Install an external emergency stop circuit to turn the power off for the
instant halt of operation.
15. Follow the instructions for the direction to place. Failure to do so may cause
a trouble. 4. Put the product into operation in the specified ambient temperature and
humidity.
16. Keep a distance as instructed by the Operation Manual for the driver from
the inner surface of the control console or other devices. Failure to do so Transportation
may cause a trouble. 5. Excess loading of the product on the carrier may cause the load to fall in
pieces. Follow the instructions given outside the package.
17. Place the product with a great care so as to prevent from the danger such as
a tumble or a turnover.

64
 For more information regarding any products or services described here in,
Inquiry Check Sheet
please contact your nearest office listed on the back of this catalog.

To SANYO DENKI Co.,LTD. Date

Company:
Department:
Name:
Tel: FAX:
E-mail:

Item Contents

1 Name of target equipment Equipment name, category (transport, processing, test, other)
2 Name of servo axis Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no)
3 Current condition of above axis Manufacturer Name ( ) Series Name ( ) Motor Capacity ( ) Hydraulic, Mechanical, or New System ( )
4 Positioning accuracy ± mm ± m

Reference formula
Acceleration G [m/s2]
1G=9.8[m/s2] 1[m/s2] 0.1G
Feeding Speed [m/s]
[m/s2] V[m/sec]÷t1[sec]
5 Operation pattern Feeding D[m] V[m/sec]×(t1+t2)[sec]
Moving Distance [m]
Speed
(Stroke)
[m/sec]
Time

Ball-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal),

6 Mechanism
rack and pinion (horizontal), belt/chain (horizontal), rotary table, roll feed, instability

WT table mass kg WL work mass kg WA mass of other drive parts kg

WR rack mass kg WB belt/chain mass kg WC counterbalance mass kg
Fa external force axial direction N Fb ball-screw preload N T roll pushing force N
Dr1 drive-side roll diameter mm Dr2 follower-side roll diameter mm

Lr1 drive-side roll length mm Lr2 follower-side roll length mm G reduction ratio
7 Mechanical structure JG speed-reducer inertia kg m2 JC coupling inertia kg m2
JN nut inertia kg m2 JO other motor-axis conversion inertia kg m2
Db ball-screw diameter mm Lb ball-screw axial length mm Pb ball -screw lead mm

Dp pinion/pulley diameter mm Lp pinion axial length mm tp pully thickness mm

Dt table diameter mm Dh table-support dianeter mm LW load shift from axis mm
Ds table shaft diameter mm Ls table shaft length mm
specific gravity of ball-screw/pinion/pulley/table-shaft material kg cm3

friction coefficient between sheet and shiliding-surface/support-section/roll 1 specific gravity of roll-1 material kg cm3
2 specific gravity of roll-2 material kg cm3 internal friction coefficient of preload nut
mechanical efficiency JL load inertia of motor-axis conversion kg m2
TF friction torque of motor axis conversion Nm Tu imbalance torque of motor axis conversion Nm

8 Speed reducer Customer-provided ( ) Sanyo denki standard(planet/spur/no-backlash-planet ) other( )

Encoder type specified ( yes / no )

9 Encoder type Yes:(incremental , optical absolute , optical absolute with incremental function, resolver absolute)
Resolution

0 Input format Position , velocity , torque , other ( )

A Host equipment (controller) Sequencer , laptop , customer-developed product , Sanyo dennki-provided , other ( )
B Usage environment and other requirements Cutting , clean-room use , anti-dust measures , other ( )
C Estimated production Single product: ( ) units/mouth ( ) units/year
D Development schedule Prototype period: ( )Year ( ) Month Production period: ( )Year ( ) Month
E Various measures Related documentation ( already submitted; send later by mail) Visit/PR desired ( yes / no ) Meeting desired ( yes / no )

Miscellaneous
F (questions, pending problems,
unresolved issues, etc.)
 Cautions
Precautions For Adoption

Cautions
Failure to follow the precautions on the right may cause
moderate injury and property damage, or in some
circumstances, could lead to a serious accident.
Always follow all listed precautions. For any question or inquiry regarding the above, contact our Sales Department.

http://www.sanyodenki.co.jp

1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan Phone: +81 3 3917 5157

468 Amapola Avenue Torrance, CA 90501 U.S.A. Phone: +1 310 783 5400

P.A. Paris Nord ll 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France Phone: +33 1 48 63 26 61

Frankfurter Strasse 63-69 65760 Eschborn Germany Phone: +49 6196 76113 0

9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea Phone: +82 2 773 5623

Room 2116, Bldg B, FAR EAST INTERNATIONAL PLAZA, No.317 XianXia Rd., Shanghai 200051 China Phone: +86 21 6235 1107

Room 1208, 12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C. Phone: +886 2 2511 3938

Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong Phone: +852 2312 6250

10 Hoe Chiang Road #14-03A/04 Keppel Towers Singapore 089315 Phone: +65 6223 1071
The names of companies and/or their products specified in this catalogue are the trade names, and/or trademarks and/or registered trademarks of such respective companies.
*Remarks : Specifications Are SubjectTo Change Without Notice. CATALOG No. 832-6 ’09.3.N