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3-PHASE STEPPING SYSTEMS
Ver.2
F series DRIVER H series MOTOR
3-phase STEPPING SYSTEMS
Ranges of stepping systems
Large
Set model
DC input
2-phase STEPPING SYSTEMS
Vibration
2-phase stepping system
3-phase STEPPING SYSTEMS
Standard model
The standard set includes a F series driver and a H series motor. Contens of standard model : driver, motor, connector
Motor flange size
P.5
3-phase stepping system
5-phase STEPPING SYSTEMS
Small
5-phase stepping system
28 42
1.65inch
50
1.97inch
56
2.20inch
60
2.36inch
Small
Basic step angle
Large
Ranges of 3-phase stepping motors Compliance with international standards
Holding torque N m
The standard specification SANMOTION F series stepping driver complies with UL and EN safety standards.
1.65inch
1.97inch
2.20inch
2.36 inch
Motor flange size
Options
A
AC power cable
Color Black White
UL1430AWG18 300V, 105C 2
B
Stepping motor extension cable for 42 mm
Color Red White Black
UL1430AWG22 300V, 105C 3 3
1.65 inch
Stepping motor side Pin number 1 2 3 Color Red White Black
Driver side Pin number 1 2
Driver side Pin number 1 2 3
1
1
1
1m (3.28 feet)
1m (3.28 feet)
Model of cable Length PM-C02P0100-01 1 m 3.28 feet
Model of cable Length PM-C03M0100-02 1 m 3.28 feet
Applicable stepping motor 10H5332-03 0 10H5333-03
0
B
Stepping motor extension cable for 50 mm
Color Red White Black
3 UL1430AWG22 300V, 105C 1
1.97 inch
Stepping motor side Pin number 1 2 3 Color Red White Black
C
I/O signal cable
Color
1 UL1430AWG22 300V, 105C
Driver side Pin number 1 2 3
Driver side Pin number 1 2 3 4 5 6 7 8 9 10 11
3
1
1m (3.28 feet)
8
1m (3.28 feet)
Model of cable Length PM-C03M0100-01 1 m 3.28 feet
Applicable stepping motor 103H6332-03 0 103H6333-03 103H7332-03 0 103H7333-03 103H7832-03 0 103H7833-03
0 0 0
Blue
Model of cable Length PM-C11S0100-01 1 m 3.28 feet
1
System configuration
Molded case circuit breaker
Single phase AC100 V to AC230 V (t) (r)
Over-current protection. user supplied Switches driver power on/off. Use together with a surge protector. Filters out incoming noise from power line Converts AC power to DC power.
Electromagnetic contactor
Noise filter
Switching power supply
DC 24 V
B Motor cable optional
2 Motor connector
CN3
A DC power cable optional
Standard model : H series motor
42 mm 56 mm 1.65 inch / 50 mm 2.20 inch / 60 mm 1.97 inch / 2.36 inch
Host Devices
3 I/O signal connector
CN1A
1 DCpower
connector CN2
C I/O signal cable optional
Input / Output signal standard
Quantity Manufacturer Applicable wire size Crimp tool number
PLC
PLC and controllers are available as the host device.
D
Connector sets
Used for Contents of set
Model
1
2
2
3
DC source Applicable housing : VHR-2N PM-AP-036 CN2 Applicable contact : SVH-21T-P1.1 Applicable contact : SVH-21T-P1.1 PM-AP-041 Applicable contact : 21T-P1.1 42 mm Stepping Applicable housing : HER-3-NATURAL 1.65 inch motor Applicable contact : SHE-001T-P0.6 CN3 Applicable housing : VHR-3N PM-AP-040 50mm 1.97 inch MIN. Applicable contact : SVH-21T-P1.1 I/O signals Applicable housing : 5051-11 PM-AP-039 CN1A Applicable contact : 2759PBG
1 2 1 3 1 3 2 6 1 11
J.S.TMfg.Co.,Ltd AWG18 to 22
YC-160R YC-160R
J.S.TMfg.Co.,Ltd AWG22 YC-260R J.S.TMfg.Co.,Ltd AWG18 to 22 Modex Japan Co.,Ltd AWG22 to 28 YC-160R JHTR2262A JHTR2262J
2
HIC for stepping motor
Dimensions
Stepping motor
DC input
3-phase STEPPING SYSTEMS
DC input
Part number convention
The following set part number specifies a system with an F series driver type code : PMDSA1S3P01 and a single 2.20 inch square flange, and 53.8 mm 2.12 inch shaft H series motor type code : 103H7332-0340 , 56 mm motor length.
D
S
1
7
H
73
2
S
Stepping motor shaft spec S : Single shaft D : Double shaft
Stepping motor total length indicated by the lowest one digit of motor type
Motor flange size Code
1.65 inch Motor length Type code : mm inch 5332 5333 39 1.54 48 1.89 42 mm 1.97 inch Motor length Type code : mm inch 6332 6333 51.3 2.02 64.8 2.55 50 mm 2.20 inch Motor length Type code : mm inch 7332 7333 56 mm 2.36 inch Motor length Type code : mm inch 7832 7833 60 mm
1 2 3 4
53.8 2. 2 1 85.8 3.38
53.8 2. 2 1 85.8 3.38
Stepping motor flange size indicated by the upper two digits 53 42 mm 1.65 inch 73 56 mm 2.20 inch 63 50 mm 1.97 inch 78 60 mm 2.36 inch Ex. Setpping motor model number 103H7332-0340 : Indicated the motor type 4 to 5 digits .
Stepping motor series name H : Standard stepping motor for set for general industrial machines H series Rated current specification 7 : 3 A/phase
F series driver model number 1 PMDSA1S3P01
Connection specification S : Star connection 3-phase
Power specification D DC
3
Combination list of 3-phase driver
Set part number System type Motor flange size Basic step angle Single shaft Double shaft DS17H532D DS17H533D DS17H632D DS17H633D DS17H732D DS17H733D DS17H782D DS17H783D Single shaft 103H5332-0340 103H5333-0340 103H6332-0340 103H6333-0340 103H7332-0340 103H7333-0340 103H7832-0340 103H7833-0340 Double shaft 103H5332-0310 103H5333-0310 103H6332-0310 103H6333-0310 103H7332-0310 103H7333-0310 103H7832-0310 103H7833-0310 3A 3A 3A 3A 3A 3A 3A Motor model number Rated current
42 mm 1.65 inch 50 mm 1.97 inch Standard model 56 mm 2.20 inch 60 mm 2.36 inch
1.2 1.2 1.2 1.2 1.2 1.2 1.2 1.2
DS17H532S DS17H533S DS17H632S DS17H633S DS17H732S DS17H733S DS17H782S DS17H783S
Specifications of driver
Model number Main power Control power Source current Operating ambient temperature Conservation temperature Operating ambient humidity Basic specifications Conservation humidity Environment Vibration resistance Impact resistance Withstand voltage Insulation resistance Mass Weight UL Standards Applied Standards File No. Functions Selection function E179775 Auto current down, step angle, pulse input method optional Photo coupler input method, input resistance 330 Input signal voltage : H = 4.0 to 5.5 V L = 0 to 0.5 V Maximum input frequency : 50kpulse/s Photo coupler input method, input resistance 330 Input signal voltage : H = 4.0 to 5.5 V L = 0 to 0.5 V Open collector output by photo coupler Output signal standard, Vceo = 30 V MAX., Ic = 5 mA MAX. 3 A MAX. 0 to + 50 C -20 to + 70 C 35 to 85 10 to 90 RH no condensation RH no condensation
PMDSA1S3P01
DC24 V 10
Input source
0.5G Tested under the following conditions, frequency range : 10 to 55 Hz, direction : along the X, Y, and Z axes, for 2 hours Considering the NDS-C-0110 standard section 3.2.2 division C , not influenced Not influenced when AC500 V is applied between power input terminal and cabinet for one minute
0.14 kg 0.31 lbs UL508C
Command pulse input signal I/O signals
Power down input signal
Rotation monitor output signal
4
HIC for stepping motor
Input / Output signal standard
10M
when measured with DC500 V megohmmeter between
Dimensions
Stepping motor
3A
DC input
3-phase STEPPING SYSTEMS
DC input
Specifications
Size Set part number Motor flange size Motor length Single shaft Double shaft N m oz in
x10-4 kg m2 oz in2
Standard model
F series driver H series motor
42 mm
39 mm 1.54 inch DS17H532S DS17H532D 0.196 27.75 0.053 0.29 0.3 0.66 10 2.25 26 5.85
1.65 inch
48 mm 1.89 inch DS17H533S DS17H533D 0.265 37.53 0.065 0.36 0.38 0.84 10 2.25 25 5.62
Holding torque Rotor inertia Mass Weight Allowable thrust load Allowable radial load
Motor flange size
Note1
kg lbs N lbs N lbs
Note1 When load is applied at 1/3 length from output shaft edge.
42
1.65inch
50
1.97inch
56
2.20inch
60
2.36inch
70 60 50 Torque(oz*in.) 40 30 20 10 0 1-division Pulse rate(kpulse/s)
70 60 50 Torque(oz*in.) 40 30 20 10 0 Pulse rate (kpulse/s) 1-division 2-division Number of rotations(min-1) Number of rotations(min-1)
Torque(kgf*cm)
Source current(A)
Torque(kgf*cm)
Torque(N*m)
Torque(N*m)
DC24V
Operating current: 3A/phase
Pull-out torque Source current (load applied) Source current (no load) 1-division fs Fs:Maximum self-start frequency when not loaded 2-division fs 1-division 2-division
2-division
The data are measured under the drive condition of our company. The drive torque may vary depending on the accuracy of customer-side equipment.
Size
Motor flange size Motor length
60 mm
2.36 inch
85.8 mm 3.98 inch DS17H783S DS17H783D N m oz in
x10-4 kg m2 oz in2
Set part Single shaft number Double shaft Holding torque Rotor inertia Mass Weight Allowable thrust load Allowable radial load
Note1
1.68 237.90 0.84 4.59 1.34 2.95 20 4.50 85 19
kg lbs N lbs N lbs
Note1 When load is applied at 1/3 length from output shaft edge.
250
200 Torque(kgf*cm) Torque(oz*in.) Torque(N*m) Source current(A)
150
DC24V
100
50
0 Pulse rate(kpulse/s) 1-division
Operating current: 3A/phase
Pull-out torque Source current (load applied) Source current (no load) 1-division fs Fs:Maximum self-start frequency when not loaded 2-division fs 1-division 2-division
2-division Number of rotations(min-1)
5
Source current(A)
50 mm
51.3 mm 2.02 inch DS17H632S DS17H632D 0.44 62.31 0.12 0.66 0.5 1.10 15 3.37 75 16.87
1.97 inch
64.8 mm 2.55 inch DS17H633S DS17H633D 0.58 82.13 0.17 0.93 0.65 1.43 15 3.37 71 15.97
56 mm
53.8 mm 2.12 inch DS17H732S DS17H732D 0.69 97.71 0.21 1.15 0.65 1.43 15 3.37 71 15.97
2.20 inch
75.8 mm 2.98 inch DS17H733S DS17H733D 1.1 155.77 0.36 1.97 0.98 2.16 15 3.37 62 13.95
60 mm
2.36 inch
53.8 mm 2.12 inch DS17H782S 0.95 134.53 0.4 2.19 0.78 1.72 20 4.50 104 23.4 DS17H782D
70 60 50 Torque(oz*in.) Torque(kgf*cm) Torque(N*m) 40 30 20 10 0 1-division 2-division Number of rotations(min-1) Pulse rate(kpulse/s) Source current(A)
140 120 100
140 250 120 100 200 Torque(kgf*cm) Torque(kgf*cm) Source current(A) Source current(A) Torque(N*m) Torque(N*m) Torque(oz*in.)
140 120 100 Torque(kgf*cm) 80 60 40 50 20 0 1-division 2-division Pulse rate(kpulse/s) 1-division 2-division Number of rotations(min-1) Number of rotations(min-1) Pulse rate(kpulse/s) 0 1-division 2-division Number of rotations(min-1) Pulse rate(kpulse/s) Source current(A) Torque(oz*in.) Torque(N*m)
Torque(kgf*cm)
Torque(N*m)
Source current(A)
Torque(oz*in.)
80 60 40 20 0
Torque(oz*in.)
80 60 40 20 0
150
100
Pulse rate(kpulse/s) 1-division 2-division Number of rotations(min-1)
6
HIC for stepping motor
Input / Output signal standard
Dimensions
Stepping motor
DC input
3-phase STEPPING SYSTEMS
DC input
System configuration
Operation, connection, and function
Each section name of the driver
1 DC source connector CN2 Connect the DC source. 2 Stepping motor output connector CN3 Connect the stepping motor drive line. 3 I/O signal connector CN1A Connect the I/O signal. 4 Function selection DIP switchpack SL, F/R, A, B, C Select the function depending on your specification.
3
I/O signal function
Pin number CN1A PMDSA1S3P01 1 2 3 4 5 6 MON collector 7 MON collector 8 Function Inputs the drive pulse for the rotation in the CW direction. Inputs the drive pulse for the rotation in the CCW direction. Inputting the PD signal turns off the current that flows through the stepping motor. PD function enabled Photo coupler input method : Internal photo coupler ON Indicates ON when the exciting phase is at the origin position. In the full-step, outputs once for every 6 pulses.
Signal name abbreviation Pulse input CW Pulse input CCW Power down input PD Rotation monitor output MON
The CW direction of the rotation of the stepping motor is the clockwise direction when viewing the stepping motor from the output axis side flange side . The CCW direction is the counterclockwise direction when viewing the stepping motor from the output axis side flange side .
4
Function selection DIP switchpack
1 2 3 4 5 1 SL auto current down selection Select the auto current down function.
SL ON OFF Automatic current reduction 100 % of current rating when stopped Approx. 50 % of current rating when stopped
2 F/R selection Note This switch is not used. Do not set it to OFF.
Note 1 The temperature increase in the motor driver can be controlled by setting SL to OFF approx. 50 % of the rated current . The factory settings are shown in the figure above. Before changing the settings of the function selection DIP switches, turn off the source of the PM driver. Note 2 The output torque when SL is OFF approx. 50 % of the rated current is approx. 50 % of that when SL is ON 100 % of the rated current .
3 4 5 A, B, C step angle setting Set the step angle
A ON ON OFF OFF OFF DIP switch B C ON OFF OFF ON OFF OFF ON Step angle Basic step angle 1/1 1.2 pulse Basic step angle 1/2 0.6 pulse Basic step angle 1/4 0.3 pulse Basic step angle 1/8 0.15 pulse Basic step angle 1/16 0.075 pulse Number of drive pulses per one period of phase current 6 12 24 48 48
When the DIP switch C = ON 1/16 division , the internal circuit stepping motor operates at the rising edge and falling edge of the drive pulse. If the duty ratio of the drive pulse moves out of the adjustment significantly by 50 %, operation becomes unstable.
7
Input circuit configuration CW and CCW Pulse input
* Pulse duty : 50 % MAX. * When the crest value of the input signal is 5 V, the external limit resistance R must be 0 . When the crest value of the input signal exceeds 5 V, use the external limit resistance R to limit the input current to approximately 15 mA.
Input signal specifications
10 s MIN. 4.0~5.5V 90%
Timing of the command pulse
* The internal photo coupler turns ON within the and, when the DIP switch C = OFF , the internal circuit stepping motor operates at the rising edge of ON of the photo coupler. * When applying the pulse to CW, turn OFF the CCW side internal photo coupler. * When applying the pulse to CCW, turn OFF the CW side internal photo coupler. * When the DIP switch C = ON , the internal circuit stepping motor operates at the rising edge and falling edge of ON of the photo coupler. Stepping motor
50% Rotational operation 10% 0~0.5V 1 s MAX.
1 s MAX.
+5 V
5
330
photo coupler
MAX. 5 mA 7
photo coupler
Output signal Input signal Approx. 15 mA 6 PM driver 8
MAX. 30 V
R
PM driver
External wiring diagram
Note 3) DC24 V DC24 G CN2 2 1
Dimensions [Unit : mm
inch ] PMDSA1S3P01 photo coupler input method
Note 1) Note 2) CW pulse input
CN1A 1 2 3
Note 2) CCW pulse input
4 5
CN3 1 2 3 1 2 3 M
Power down input
6 7
Rotation monitor output 8 NC 9 10 11
Note 1 Use twisted pair shielded cables. Note 2 Switching between the 2-input mode CW and CCW input method and the Pulse and direction mode CK, U/D is an optional function. For more information, contact us. Note 3 Pay particular attention to the CN2 pin assignment.
8
HIC for stepping motor
Input / Output signal standard
* When the crest value of the input signal is 5 V, the external limit resistance R must be 0 . When the crest value of the input signal exceeds 5 V, use the external limit resistance R to limit the input current to approximately 15 mA.
* Rotation monitor signal output signal Contact type : Open collector output by photo coupler Contact capacity : DC30 V, 5 mA MAX.
Dimensions
Input circuit configuration power down input
Output circuit configuration rotation moni for output
DC input
3-phase STEPPING SYSTEMS
Stepping motor Specifications
3-phase stepping motor
42 mm sq. 1.65 inch sq.
103H533 1.2 /step HB type
Holding torque at 2-phase energization [N m oz in MIN.] 0.196 27.75 0.265 37.53
Model Single shaft Double shafts
Rated current A/phase 3 3
Wiring resistance /phase 0.84 0.94
Winding inductance mH/phase 0.5 0.5
Rotor inertia
Mass Weight
[ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.053 0.29 0.065 0.36 0.3 0.66 0.38 0.84
103H5332-0340 -0310 103H5333-0340 -0310
Dimensions [unit : mm
151
(.59.04)
inch ]
c420.25
L0.5
(1.54.02)
240.5
(.94.02)
(c1.65.01)
4-310.25
1.5
(.06)
(4-1.22.01)
18(.71) MAX. Pin number 12 3 7(.28) MAX.
Set part number DS17H532 DS17H533
Motor model number 103H5332-03 0 103H5333-03 0
Motor length L 39 mm 1.54 inch 48 mm 1.89 inch
indicates motor shaft specification
Motor shaft spec
Motor shaft spec Single shaft Double shafts Set part number S D Motor model number 4 1
.0000 (o.1969-.0005)
o5-0.013
.0000 (o.1969-0.0005)
.0000 (o.8661-0.0020)
o5-0.013
0
o22-0.05
0
0
4-M3 0.5(4 - M3 02) Effective tapping depth: 4 MIN.
Pulse rate-torque characteristics
103H5332-0340
70 60 4 50 Torque(kgf*cm) Torque(oz*in.) Torque(oz*in.) Torque(N*m) 40 30 20 10 0 1 0.1 3 0.3 0.4 50 Torque(kgf*cm) Torque(N*m) 40 30 20 10 0 0 1 0.1 3 0.3 5 0.5
103H5333-0340
70 60 4 0.4 5 0.5
Pull-out torque at JL1
0.2
2
0.2
Pull-out torque at JL1 Starting torque at JL2
2
Starting torque at JL2
0
0
0
0.1
100
1
1000
10
Pulse rate(kpulse/s)
2000 3000 5000
100
0.1
100
1
1000
10
Pulse rate(kpulse/s)
2000 3000 5000
100
Number of rotations(min-1)
Number of rotations(min-1)
Constant current circuit Source voltage : DC24 V operating current : 3 A/phase, 2-phase energization full step JL1=[0.94x10 -4kg m2 5.14oz in2 use the rubber coupling.] JL2=[0.8x10 -4kg m2 4.37oz in2 use the direct coupling.]
Constant current circuit Source voltage : DC24 V operating current : 3 A/phase, 2-phase energization full step JL1=[0.94x10-4kg m2 5.14oz in2 use the rubber coupling.] JL2=[0.8x10-4kg m2 4.37oz 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.
9
3-phase stepping motor
103H633 1.2 /step HB type
Model Single shaft Double shafts
A/phase 3 3
/phase 1.3 1.6
mH/phase 1.6 1.6
[ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.12 0.66 0.17 0.93 0.5 1.10 0.65 1.43
103H6332-0340 -0310 103H6333-0340 -0310
0.44 62.31 0.58 82.13
Dimensions [unit : mm
15.51
(.61.04)
inch ]
(c1.97.02)
L0.8
(2.02.03)
20.60.5
(.81.02)
c500.5
5
(.20)
4-410.13
(4-1.61.01)
1.5
(.06)
23(.91) MAX. Pin number 123 11(.43) MAX.
Set part number DS17H632 DS17H633
Motor model number 103H6332-03 0 103H6333-03 0
Motor length L 51.3 mm 2.02 inch 64.8 mm 2.55 inch
indicates motor shaft specification
Motor shaft spec Dimensions
Motor shaft spec Single shaft Double shafts Set part number S D Motor model number 4 1
o6.35-0.013
.0000 (o.25-.0005)
.0000 (o.25-.0005)
.0000 (o1.4173-.0015)
0
o6.35-0.013
o36-0.039
0
4-o4.5 0.0
(4-o.18
+0.5
+.02 .00
0
)0
Pulse rate-torque characteristics
103H6332-0340
70
103H6333-0340
Pull-out torque at JL1
60 50 Torque(oz*in.) Torque(kgf*cm) Torque(N*m) 40 30 20 10 0 Pulse rate(kpulse/s) Number of rotations(min-1)
120 100 Torque(kgf*cm) Torque(oz*in.) 80 60 40 20 0 Pulse rate(kpulse/s) Number of rotations(min-1) Torque(N*m)
Starting torque at JL2
Pull-out torque at JL1
Starting torque at JL2
Constant current circuit Source voltage : DC24 V operating current : 3 A/phase, 2-phase energization full step JL1=[0.94x10 -4kg m2 5.14oz in2 use the rubber coupling.] JL2=[0.8x10 -4kg m2 4.37oz in2 use the direct coupling.]
Constant current circuit Source voltage : DC24 V operating current : 3 A/phase, 2-phase energization full step JL1=[0.94x10 -4kg m2 5.14oz in2 use the rubber coupling.] JL2=[0.8x10 -4kg m2 4.37oz 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.
10
HIC for stepping motor
Input / Output signal standard
140
Stepping motor
Holding torque at 2-phase energization [N m oz in MIN.]
Rated current
Wiring resistance
Winding inductance
Rotor inertia
Mass Weight
DC input
50 mm sq.
1.97 inch sq.
3-phase STEPPING SYSTEMS
Stepping motor Specifications
3-phase stepping motor
56 mm sq.
103H733 1.2 /step HB type
Holding torque at 2-phase energization [N m oz in MIN.] 0.69 97.71 1.1 155.77
2.20 inch sq.
Model Single shaft Double shafts
Rated current A/phase 3 3
Wiring resistance /phase 1.4 1.7
Winding inductance mH/phase 1.8 2.4
Rotor inertia
Mass Weight
[ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.21 1.15 0.36 1.97 0.65 1.43 0.98 2.16
103H7332-0340 -0310 103H7333-0340 -0310
Dimensions [unit : mm
L
inch ]
Set part number DS17H732 DS17H733 Motor model number 103H7332-03 0 103H7333-03 0 Motor length L 53.8 mm 2.12 inch 75.8 2.98 inch
indicates motor shaft specification
Motor shaft spec
Motor shaft spec Single shaft Double shafts Set part number S D Motor model number 4 1
Pulse rate-torque characteristics
103H7332-0340
140 120 8 100 Torque(kgf*cm) Torque(oz*in.) Torque(N*m) 80 60 40 20 0 2 0.2 6 0.6 0.8 200 Torque(kgf*cm) Torque(oz*in.) Torque(N*m) 12 1.2 10 1 250 16 1.6
103H7333-0340
20 2
Pull-out torque at JL1
0.4
150
Pull-out torque at JL1
0.8
4
100
8
Starting torque at JL2
50 4
0.4
Starting torque at JL2
0
0
0
0
0
0.1
1
10
Pulse rate(kpulse/s)
100
0.1
100
1
1000
10
Pulse rate(kpulse/s)
2000 3000 5000
100
Number of rotations(min-1)
Constant current circuit Source voltage : DC24 V operating current : 3 A/phase, 2-phase energization full step JL1=[0.94x10 -4kg m2 5.14oz in2 use the rubber coupling.] JL2=[0.8x10 -4kg m2 4.37oz in2 use the direct coupling.]
Constant current circuit Source voltage : DC24 V operating current : 3 A/phase, 2-phase energization full step JL1=[2.6x10-4kg m2 14.22oz in2 use the rubber coupling.] JL2=[2.6x10-4kg m2 14.22oz 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.
11
3-phase stepping motor
103H783 1.2 /step HB type
Model Single shaft Double shafts
A/phase 3 3 2
/phase 1.5
mH/phase 1.8 3.2
[ 10 - 4 kg m 2 oz in2 ] [kg Ibs ] 0.4 2.19 0.84 4.59 0.78 1.72 1.34 2.95
103H7832-0340 -0310 103H7833-0340 -0310
0.95 134.53 1.68 237.90
Dimensions [Unit : mm
inch ]
Set part number DS17H782 DS17H783 Motor model number 103H7832-03 0 103H7833-03 0 Motor length L 53.8 mm 2.12 inch 85.8 3.98 inch
indicates motor shaft specification
L
Motor shaft spec Dimensions
Motor shaft spec Single shaft Double shafts Set part number S D Motor model number 4 1
Pulse rate-torque characteristics
103H7832-0340
250
103H7833-0340
250 16 1.6
200 Torque(kgf*cm) Torque(oz*in.) Torque(N*m)
200 Torque(kgf*cm) Torque(oz*in.) Torque(N*m) 12 1.2
150
150
Pull-out torque at JL1 Starting torque at JL2
Pull-out torque at JL1
0.8
100
100
8
50
50
4
0.4
Starting torque at JL2
0
0 Pulse rate(kpulse/s)
0
0
0.1
100
1
1000
10
Pulse rate(kpulse/s)
2000 3000 5000
100
Number of rotations(min-1)
Number of rotations(min-1)
Constant current circuit Source voltage : DC24 V operating current : 3 A/phase, 2-phase energization full step JL1=[2.6x10-4kg m2 14.22oz in2 use the rubber coupling.] JL2=[2.6x10-4kg m2 14.22oz in2 use the rubber coupling.]
Constant current circuit Source voltage : DC24 V operating current : 3 A/phase, 2-phase energization full step JL1=[7.4x10-4kg m2 40.46oz in2 use the rubber coupling.] JL2=[7.4x10-4kg m2 40.46oz 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.
12
HIC for stepping motor
Input / Output signal standard
20
2
Stepping motor
Holding torque at 2-phase energization [N m oz in MIN.]
Rated current
Wiring resistance
Winding inductance
Rotor inertia
Mass Weight
DC input
60 mm sq.
2.36 inch sq.
3-phase STEPPING SYSTEMS
Stepping motor Specifications
General specifications
103H533
Insulation class Insulation resistance Withstand voltage Operating environment Winding temperature rise Standing angle error Axial play Radial play Note 1 Shaft runout Concentricity of mounting spigot relative 0.05 mm 0.002 inch to shaft Perpendicularity of mounting surface 0.1 mm 0.004 inch relative to shaft Note1 When load is applied at 1/3 length from output shaft edge. B species 130 Not less then 100M between winding and frame by DC500 V megger at normal temperature and hamidity. Without abnormality when applying 50/60 Hz, 1000 V AC 500 V AC for103H533 for 1 minute leakage current 1 mA between winding and frame at normal temperature and humidity. Ambient temperature : -10 to +50 C Ambient humidity : 20 to 90% no condensation 80 K MAX. Based on Sanyo Denki standard. 0.06 0.075 mm 0.003 inch MAX. Load : 9N 2lbs 0.025 mm 0.001 inch MAX. Load : 4.4N 1lbs 0.06 0.075 mm 0.003 inch MAX. Load : 9N 2lbs 0.025 mm 0.001 inch MAX. Load : 4.4N 1lbs 0.06 0.075 mm 0.003 inch MAX. Load : 9N 2lbs 0.025 mm 0.001 inch MAX. Load : 4.4N 1lbs 0.06 0.075 mm 0.003 inch MAX. Load : 9N 2lbs 0.025 mm 0.001 inch MAX. Load : 4.4N 1lbs
103H633
103H733
103H783
0.025 mm 0.001 inch 0.075 mm 0.003 inch 0.1 mm 0.004 inch 0.075 mm 0.003 inch 0.075 mm 0.003 inch 0.075 mm 0.003 inch 0.075 mm 0.003 inch
Internal connection and rotational direction
Internal connection Direction of motor rotate
Connector pin number
When DC-energized in the order below, the rotational direction must be counterclockwise viewed from the output axis side.
Type 1 2 Energization 3 order 4 5 6 Connector type pin number 1 2 3
Allowable radial load / thrust load
Radial load
Thrust load
Frange size 42 mm 50 mm 56 mm 60 mm 1.65 inch 1.97 inch 2.2 inch 2.36 inch
Distance from end of shaft : mm inch Model number 0 0 5 0.2 10 2.25 Radial load : N lbs 103H53 24 5 30 6 38 8 103H63 71 15 87 19 115 25 103H73 52 11 65 14 85 19 103H783 70 15 87 19 114 25
15 3.38 53 11 167 37 123 27 165 37
Thrust load : N lbs 10 15 15 20 2.25 3.37 3.37 4.50
13
3-phase STEPPING SYSTEMS
HIC for stepping motor Specifications
3-phase stepping motor drive IC for universal controller
Micro step sine wave drive driver Built-in current detection resistor Adopting MOSFET as the power drive device to reduce heat generation All-in-one package reducing the number of parts of the peripheral circuit 5 energization modes available with an external bit signal
Maximum ratings
Item Source voltage-1 Source voltage-2 Input voltage Phase current Board temperature during operation Joint temperature Conservation temperature Symbol VCC1 MAX. VCC2 MAX. Vin MAX. IO MAX. TC MAX. Tj MAX. Tstg
Recommended operating conditions
Tc=25
Rating 30 7 7 6 0 to +105 +150 -40 to +125 Unit V V V A C C C
Ta=25
No condensation at low temperature
Clock frequency Phase driver withstand voltage
Clock VDSS
0 to 120 60
kHz V
ID
10 mA TC
25 C
External Figures
Pin number 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23. 24. 25. 26. 27. 28. Name VCC1B VCC1C UO WO VO Vz VCC1A GND2 Vref Clock Mode A Mode B Hold CW/CCW Enable Reset Mode C GND1 MOI VCC2 UI VI WI P.GNDA P.GNDB
[unit : mm inch ]
78(3) 70(2.76)
( 2-O.14 +.008 ) - .004
1 28
2(.08) [8] (.31) 27x2=54 (27x.079=2.133)
+0.2 0.5-0.05
4(.16)
28.5(1.12)
+0.2 2-o3.6-0.1
21.5(.85)
PMM3501
2.9(.11)
(
+.008 .02 - .002
)
+0.2 0.4-0.05
( .016 +.008 ) - .002
HIC for stepping motor
14
Input / Output signal standard
9(.35)
44(1.73)
Dimensions
Condition VCC2 0 V Without signal Logic input terminal VCC2 5 V, Clock 100Hz
Item Source voltage-1 Source voltage-2 Input voltage Phase current-1 Phase current-2
Symbol VCC1 VCC2 VIH IO1 IO2
Condition With signal With signal Without heat sink TC 105 C Clock 100Hz Pin 11 input frequency pulse duty : 50 %
Rating 24 10 % 5.0 5 % 0 to VCC2 1.7 4.4
Unit V V V A A
Stepping motor
Features
DC input
PMM3501
3-phase STEPPING SYSTEMS
HIC for stepping motor Specifications
Electrical characteristics
Item VCC2 source current Effective output current FET diode forward voltage Output saturation voltage Output leak current H level input voltage L level input voltage Input current Vref input voltage Vref input current H level MOI output voltage L level MOI output voltage PWM frequency Symbol ICCO Ioe Vdf Vsat IOL VIH VIL IIL VrH Ir VOH VOL FC
Tc=25 , VCC1=24 V, VCC2=5 V
Condition Enable = L Each phase R/L = 2 /6mH 2W2-3phase energization If = 1A RL=23 RL = 23 RL = 23 Pins 11 to 18 Pins 11 to 18 Pins 11 to 18 = GND level Pull-up resistance : 20k Pin 10 Pin 10 = 2.5 V Internal resistance : 4k Pins 20-19 = 820k Pins 21-20 = 1.6k Rating MIN. 0.92 Standard 6.1 1.03 1.0 0.30 MAX. 12 1.14 1.6 0.40 0.1 1.0 550 VCC2 / 2 810 0.4 39 Unit mA Arms V V mA V V A V A V V kHz
4.0 115 0 440 2.5 23 250 625
31
Function of each terminal
Function of each terminal Vref Clock Hold CW/CCW Enable Reset MOI Function Motor current setting input Pulse input for motor drive Pause input Motor rotational direction setting input Power off input System reset Rotation monitor output Input condition for operation Mode C = H : Rising edge operation Mode C = L : Rising edge and falling edge operation Hold = L level H level = CW rotation L level = CCW rotation Enable = L level Reset = L level H level output once for each phase current period
Energization mode table
Input Mode A L L H H H Mode B L H L H H Mode C H H H H L Condition energization mode 1 step angle degree 2EX 2-3EX W2-3EX 2W2-3EX 4W2-3EX 1.2 0.6 0.3 0.15 0.075 Basic step division 1 2 4 8 16
* When Mode C = L , 1 step operation is performed for each rising edge and falling edge of the Clock pulse. If the duty ratio of the drive pulse moves out of the adjustment significantly by 50 %, operation becomes unstable.
Example of Application Circuit
Recommended circuit part constants
C1 470 F C2 6.8 F C3 0.1 F C4 10 F
For the R1 and R2 constants, determine the Vref voltage according to the following equation. Vref V = motor current adjustment value A/phase x 0.41 Notice that 100 is recommended for R2 due to the configuration of the internal circuit of the PMM3501. Place the GND side of the source by-pass capacitor of VCC1 C1 as close to pins 27 and 28 as possible to reduce noise. Set RESET to High 10 secs after +5 V rises above +4.5 V , as shown in Fig 1. When turning on the power with ENABLE set to Low, set RESET to High after +24 V rises completely.
15
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 techniques.
required, suggesting that the terminals should be actually grounded. This label is stuck for the driver or stepping motor to which the power source is applied in the voltage exceeding the safety standard, drawing attention against the electric shock.
WARNING
May Cause electric shock
Safety ranks of the cautions
Following four ranks are provided.
DANGER CAUTION
Improper operations or use is most likely to result in serious injury or death.
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.
16
DANGER
1. 2. General matters Do not use the product in an explosive, flammable or corrosive atmosphere, watery place or near a combustible material. Doing so may cause injury or fire. Have a person with expert knowledge for performing the transportation, placement, wiring, operation, maintenance or inspection of the product. Without such knowledge, it may cause an electric shock, injury or fire. Do not work for wiring, maintenance servicing or inspection with the electric power on. Perform either of those five minutes after turning the power off, or otherwise, it may cause an electric shock. When the protective functions of the product is activated, turn the power off immediately and eliminate the cause. If continuing the operation without eliminating the cause, the product may operate improperly and cause injury or a breakdown of the system devices. Stepping motor may run out of order at the operating and stopping occasions, depending on the magnitude of the load. Put the product into use after confirming with the adequate trial test operation in the maximum load conditions that the product performs reliable operation. Doing otherwise may cause a breakdown of the system. (Should the product run out of order in the use to drive upward/downward, it may cause a fall of the load.) Do not touch the internal parts of the driver. Doing so may cause an electric shock. Wiring Do not connect the stepping motor directly with the commercial power outlet. Doing so may cause an electric shock, injury or fire. The power shall be supplied to the stepping motor through the driving circuit. Use the electric power source within the rated input voltage. Using otherwise may cause fire or an electric shock. Connect the driver and stepping motor to the ground. Using without grounding may cause an electric shock.
CAUTION
18. Mount the product on an incombustible material such as metal. Doing otherwise may cause fire. 19. Confirm the rotating direction before connecting with the mechanical device. Failure to do so may cause injury or a breakdown. 20. Do not touch the motor output spindle (including the key slot and gears) with a bare hand. Doing so may cause injury. Operation 21. The stepping motor is not equipped with any protective device. Take protective measures using an over-current protective relay, a ground fault interrupter, a protective device from excess temperature, and an emergency stopping device. Failure to do so may cause injury or fire. 22. Do not touch the product for a period after the power is on or has been turned off, since the driver and stepping motor remain in the high temperature. Doing so may cause burns. Especially the temperature rises considerably of the stepping motor depending on the operating conditions. Use the motor on the condition so that its surface temperature becomes 100C or under. 23. Stop the operation immediately when an emergency occurs. Failure to do so may cause an electric shock, injury or fire. 24. Do not change adjustment to an extreme, for such a change results in the unstable operation. Doing so may cause injury. 25. When conducting the trial operation, make the stepping motor fixed firmly, and confirm the operation by disconnecting with the mechanical system before connecting with it. Failure to do so may cause injury. 26. When the alarm has been activated, eliminate the cause and ensure the safety to resume operation. Failure to do so may cause injury. 27. When the electric power recovers after the momentary interruption, do not approach the devices because the system may re-start operation by itself. (Set the system so as to secure the safety even when it re-start on such occasion.) Failure to do so may cause injury. 28. Confirm that the electric power supply is all proper conforming to the specifications. Failure to do so may cause a trouble. 29. The brake mechanism of the motor with the electro-magnetic brake is to hold the movable section and the motor position. Do not use it as a safety measure, or doing so may cause the breakdown of the system. 30. Fix the key firmly when operating the motor with key individually. Failure to do so may cause injury. Maintenance services 31. Be careful when performing maintenance services or inspection about the temperature which rises highly in the driver and stepping motor frame. Failure to do so may cause burns. 32. It is recommended to replace the electrolytic condenser of the driver with a new one for securing the preventive measure after using for 5 years, the expected life in the average 40C. The expected life of the fuse and cooling fan motor is 10 years in the average 40C. Thus, the periodical replacement is recommended. 33. Contact with us for repair. If the product is disassembled by the user, it may put it out of action. Transportation 34. Handle the product with care during transportation so as to prevent from the danger such as a tumble or a turnover. 35. Do not hold with the cable or the motor spindle. Doing so may cause a trouble or injury. Retirement 36. When scrapping the driver or stepping motor, treat it for the general industrial waste.
3.
4.
5.
6.
7.
8. 9.
10. Do not harm, forcibly put a stress, or load a heavy article on the cable or get it caught between the articles. Doing so may cause an electric shock. 11. Perform wiring with the power cable as instructed by the wiring diagram or the Operation Manual. Doing otherwise may cause an electric shock or fire. Operation 12. Be sure not to touch the rotating part of the stepping motor during its operation. Touching it may cause injury. 13. Neither reach or touch the electric terminals while electric power is on. Doing so may cause an electric shock. 14. Never disconnect any of the connectors while electric power is on. Doing so may cause an electric shock and corruption. General matters 1. Prior to placement, operation, maintenance servicing or inspection, be sure to read the Operation Manual and follow the instructions to perform those. Failure to follow the instructions may cause an electric shock, injury or fire. 2. 3. 4. 5. 6. Do not use the driver or the stepping motor outside the specified conditions. Doing so may cause an electric shock, injury or fire. Do not insert a finger or a thing into the opening of the product. Doing so may cause an electric shock, injury or fire. Do not use the damaged driver or stepping motor. Doing so may cause injury, fire or the like. Use the driver and stepping motor in the designated combination. Using otherwise may cause fire or a trouble. Be careful that the temperature rises in the operating driver, stepping motor or peripheral devices. Failure to be careful may cause a burn. Unpacking Unpack while confirming the ceiling. Failure to do so may cause injury. Confirm if the product is the one having been ordered. Installing an incorrect product may cause a breakdown. Wiring Do not perform measurement of the insulation resistance or withstand insulation voltage of the product. Doing so may cause a breakdown. Instead, contact with us for such inspection.
PROHIBITED
1. Storage Avoid the place exposed to rain or water drops, or in an environment with hazardous gas or liquid for storing the product. Failure to do so may cause a trouble. Maintenance services Do not assemble or repair the product. Doing so may cause fire or an electric shock. General matters Do not remove the rating plate.
7. 8. 9.
2.
10. Perform wiring conforming to the technical standards of electric facility or the internal rule. Doing otherwise may cause burning or fire. 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. 12. Take insulation process for the attached condenser or the external resistance connection terminals. Failure to do so may cause an electric shock. Placement 13. Do not climb or attach a heavy article on the product. Doing so may cause injury. 14. Neither block nor stuff the aspiration/exhaust vent with a foreign particle. Doing so may cause fire. 15. Follow the instructions for the direction to place. Failure to do so may cause a trouble. 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 may cause a trouble. 17. Place the product with a great care so as to prevent from the danger such as a tumble or a turnover.
3.
COMPULSORY
1. 2. Storage Store the product within the specified conservation temperature and humidity in the place not exposed to the sun beam. If the driver has been stored for a long period (3 years or longer for a guide), consult with us. The capacitance may have decreased with the electrolytic condenser due to the long period storage, and it may cause a trouble. Operation Install an external emergency stop circuit to turn the power off for the instant halt of operation. Put the product into operation in the specified ambient temperature and humidity. Transportation Excess loading of the product on the carrier may cause the load to fall in pieces. Follow the instructions given outside the package.
3. 4.
5.
17
Inquiry Check Sheet
Please provide the following information when placing an order or making an inquiry. Also feel free to include any questions that require our attention. Company Name: Department: Telephone : Fax: 1) Application: 2) Name of Machinery: 3) Number of Units: Date: To contact us: Phone: +81 3 3917 5157 Fax: +81 3 3917 0643
Name of target equipment Name of servo axis Current condition of above axis Positioning accuracy
Equipment name, category (transport, processing, test, other) Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no)
Acceleration
G
Moving Distance [m/s2] [m/s]
Reference formula: [1G=9.8,m/s2),1(m/s2) 0.1G] [ (m/s2)=V(m/sec) t1(sec)] [D(m)=V(m/sec) (t1+t2)(sec)]
Feeding Speed V
Operation pattern
Feeding Speed [m/sec] t1
Moving Distance (Stroke) t2 t3 Time[sec]
Mechanism
Ball-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal), rack and pinion (horizontal), belt/chain (horizontal), rotary table, roll feed, instability
WT (table mass) WR (rack mass) Fa (external force in axial direction) Dr1 (drive-side roll diameter) Lr1 (drive-side roll length) JG (speed-reducer inertia) JN (nut inertia) Db (ball-screw diameter) kg kg N mm mm kg.m2 kg.m2 mm mm mm mm WL (work mass) WB (belt/chain mass) Fb (ball-screw preload) Dr2 (follower-side roll diameter) Lr2 (follower-side roll length) JC (coupling inertia) JO (other motor-axis conversion inertia) Lb (ball-screw axial length) Lp (pinion axial length) Dh (table-support diameter) Ls (table shaft length) kg kg N mm mm kg.m2 kg.m2 mm mm mm mm kg/cm3 1 (specific gravity of roll-1 material) kg/cm3 N.m (internal friction coefficient of preload nut) JL (load inertia of motor-axis conversion) TU (imbalance torque of motor axis conversion) kg.m2 N.m kg/cm3 Pb (ball-screw lead) Tp (pulley thickness) LW (load shift from axis) mm mm mm G (reduction ratio) WA (mass of other drive parts) WC (counterbalance mass) T (roll pushing force) kg kg N
Mechanical structure
Dp (pinion/pulley diameter) Dt (table diameter) Ds (table shaft diameter)
(specific gravity of ball-screw/pinion/pulley/table-shaft material) (friction coefficient between sheet and sliding-surface/support-section/roll) 2 (specific gravity of roll-2 material) (mechanical efficiency) TF (friction torque of motor axis conversion)
Speed reducer Sensor type Input format Upper-level equipment (controller) Estimated production Development schedule Various measures Miscellaneous (questions, pending problems, unresolved issues, etc.)
Customer-provided (
/
); Sanyo standard (planet/spur/no-backlash-planet::
/ ); other (
/)
Sensor type specified ( yes / no ) Yes: ( incremental , optical absolute , optical absolute [resolver absolute with incremental function] ) Resolution ( ) Position , speed, torque, communications ( SERCOS / CAN / DeviceNet ) other ( Sequencer , laptop , customer-developed product , Sanyo-provided , other ( ) Single product: ( Prototype period: ( ) units/month )Year ( ( )Month ) units/year Production period: ( )Year ( )Month ) )
Usage environment and other requirements Cutting , clean-room use , anti-dust measures , other (
Related documentation ( already submitted ; send later by mail ) Visit/PR desired ( yes / no ) Meeting desired ( yes / no )
18
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 468 Amapola Avenue Torrance, CA 90501 U.S.A. P.A. Paris Nord ll 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France Phone: +81 3 3917 5157
Phone: +1 310 783 5400 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. 833-3 '07.11.C

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