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1 Catalogue No.T-8N STEP MOTORS / DRIVERS -PHSE STEP MOTORS -PHSE STEP MOTORS

2 Know How What is Step Motor? Special features of Step Motors pplications Kinds of Step Motors Definitions of terms for Step Motors Driving mode of a Step Motor Block diagram Full-step driving mode Half-step driving mode Micro-step driving mode -Phase Step Motors Unipolar Bipolar -Phase Step Motors Wiring diagram Exciting sequence Selection procedures for Step Motors Selection by torque calculation Basic equations n example of Step Motor selection Conversion table for moment of inertia / Conversion table for torque Cautions for handling -Phase Step Motors / Drivers List of major specifications 7 Specifications of motors 78 Step Motor Encoders 9 Specifications of drivers -Phase Step Motors / Drivers List of major specifications 78 Specifications of motors 88 Step Motor Encoders 898 Specification of drivers

3 WHT IS STEP MOTOR? KNOW HOW Rotational speed of step motor is defined by pulse rate and its rotational angle is defined by the amount of pulses. These digital signals enable open loop control, which does not require feedback structure. On the other hand the unit step angle is defined by the mechanical structure of a rotor and a stator. The step motor is also called Stepping Motor, Stepper or Pulse Motor because no unified name is established. Tamagawa Seiki Co., Ltd. unifies to call it Step Motor. SPECIL FETURES OF STEP MOTORS Step motors are able to start and stop, rotate and reverse. Rotational angle is proportional to the number of input pulses. Rotational speed is proportional to the input pulse rate. (pulse ratio) Even in the state of non-exciting, some self-holding torque(detent torque) is generated because the permanent magnet is used. High torque, high response and light weight. Micro step drive, high accuracy and less expensive. Maintenace-free because there is no mechanical defacement like a brush for a DC motor. There may be cases of production stop on the models listed here without notice.

4 PPLICTION X-Y Table Position Transport Speed Wire belt work Transport Position Speed Lifting table Elevation Position Speed Index table Rotation Position Speed PPLICTION pplication to a printer Data input Data control circuit Control circuit Driving circuit Freeding paper control circuit Moving head control circuit Driving circuit Timing pulse generating circuit Clock pulse generating circuit

5 pplication to a press machine KNOW HOW Timing signal Counting number Presetter Feeding volume Driving device pplication to a facsimile Transmitting side Receiving side Original paper Roller for feeding paper Recording device(main scanning) Step motor(vice scanning) Data Processing Recording device(main scanning) Step motor(vice scanning) Data Processing Telephone network Other applications Paper tape readers Tape trace checkers pplication to solar energy : heliostat driving Position setting of a platform for scientific investigation with a spaceship exploring planet Card feeding for a card machine Defined volume pumps Display devices

6 VRPMHB VR PM Detent Torque HB VRPM KINDS OF STEP MOTORS There are many kinds of Step Motors. Only rotating types are listed in this catalogue. VR,PM and HB types are widely used. VRIBLE RELUCTNCE TYPE This type with a rotor in the shape of a gear which is made of an electromagnetic material, absorbs and repels with electromagnetic force produced in a stator coil. The rotor shall rotate in accordance with magnetic pole rotation in the stator. PERMNENT MGNET TYPE This type shall absorb and repel a rotor formed out of permanent magnet with electro-magnetic force generated in a stator coil. The rotor shall rotate in accordance with magnetic pole rotation in the stator. So the detent torque shall generate in the case of no excitation. HYBRID TYPE This type combining VR type with PM type consists of a gearteeth-shape rotor made of an electromagnetic material and a magnet having a magnetic pole in the thrusting direction. Then this type shall absorb and repel with electromagnetic force generated in the stator coil. The rotor shall rotate in accordance with magnetic pole rotation in the stator. So the detent torque shall generate in the case of no excitation. HB HB Type.,.9,.8 phases / Step ngle.7 phases / Step ngle STEP MOTOR Rotating Type PM PM Type VR VR Type phases phases Multi-Stack Type,,, 9,, Multi-poles / Step ngle Distribution Type,.8, 7., phases phases / Step ngle Linear Type VR VR Type HB HB Type

7 DEFINITIONS OF TERMS FOR STEP MOTORS JEM-TR-7-99 Extracted from JEM-TR7-99 KNOW HOW Items Terms Symbols Units Definitions Winding resistance R Ω DC resistance of stator winding for one phase Winding inductance L mh Maximum value of inductance of stator winding for one phase Rotor inertia Detent torque Step angle JM kg m Moment of rotor inertia related to its axis GD JM Td θ a N m (deg.) Maximum torque that is generated when any angle deviation is made by applying external torque in non-exciting state for the motor using a permanent magnet on its rotor.lso it is called non-exciting holding torque or residual torque. Theoretical rotational angle of shaft corresponding to one command pulse in defined exciting sequence. The step angle when it is driven by -phase exciting. 7 Basic step angle θ f (deg.) VR For VR type : θ f m Z PMHB For PM type and HB type : θ f m Z m : Number of phases of step motor z: Number of rotor teeth or number of pairs of magnetic poles 8 Rated current IR Nominal winding current defined in considering the saturation of magnetic circuit, temperature rise, etc. 9 Rated voltage VR V pplied voltage necessary to flow its rated current. VRR IR Holding torque Th N m Maximum torque that is generated when any angle deviation is made by applying external torque in the defined exciting condition. lso it is called maximum static torque. Pulse rate fp pulse/s pulse per secondpulse/s pps Input signal for driving a step motor, which is represented by number of pulses per unit time. lso it is called as pulse frequency. Pulse per second (pulse/s) is used as the unit, or pps may be used if it causes no doubt.

8 Items Terms Symbols Units Definitions Maximum self-starting frequency pulse/s Maximum input pulse frequency that can start itself to synchronize with the input pulse frequency applied from outside as a step function in no load condition. Maximum response frequency fm pulse/s Maximum input pulse frequency that can operate synchronously in no load condition. Starting torque Ts N m Maximum load torque that can start itself at a certain input pulse frequency. Starting torque characteristics Ts (fp) N m Characteristic curve of starting torque related to input pulse frequency. lso it is called as starting characteristics. Maximum starting torque Tsm N m pulse/s Maximum starting torque under input pulse frequency below pulse/s. 7 Pull-out torque To N m Maximum torque that can operate synchronously at a certain input pulse frequency. 8 Pull-out torque characteristics To (fp) N m Characteristic curve of pull-out torque related to input pulse frequency. lso it is called as sluing characteristics. 9 Self-starting region The region where the motor can start and stop, synchronizing with its input pulse frequency with a step function. Synchronizing operation region The region where the rotor can continue to rotate synchronously when its pulse frequency or its load torque is increased over the self-starting region. lso it is called slue region. f SL (JL) pulse / s Pulse rate vs. inertia characteristics Relation between moment of load inertia and a self-starting frequency. Generally when its moment of load inertia increases, its self-starting frequency decreases and it is shown by the following equation if the friction torque of load is negligible. fsl JL JM fsl : (pulse/s) Self-starting frequency with load (pulse/s) : (pulse/s) Self-starting frequency without load (pulse/s) JL : (kg m ) Moment of load inertia (kg m ) JM : (kg m ) Moment of rotor inertia (kg m ) 7

9 Items Terms Symbols Units Definitions Characteristic curve of generating torque related to the input pulse frequency (pulse rate). KNOW HOW T (N m) Th Tsm Ts To T ( f p) N m Pulse rate vs. torque characteristics fp (pps) Holding torque : Th Maximum starting torque : Tsm fm Starting torque : Ts (Starting characteristics) Torque T (N m) Self-starting region (Start-stop region) Pulse rate Pull-out torque : To (Sluing characteristics) fp (pps) Synchronized operating region (Slue region) Maximum self-starting frequency : Maximum response frequency : fm ngle accuracy The accuracy of rotating angle, depending on () Static angle error () Step angle error ε p % Static angle error The rotor is rotated step by step from any angle by means of flowing the rated current to its winding in defined exciting pattern with no load. Then the difference between the theoretical angle and practical angle is measured over and the average of maximum absolute positive and negative values is defined as static angle error and represented as follows. Δθ iδθ j ε p (%) θ s 8

10 Items Terms Symbols Units Definitions Static angle error ε p % Δθ (deg.) Δθ Error ε p : Static angle error (%) Δθ i : (θ iiθ s) Maximum positive value (θ i iθ s) (deg.) Δθ j : (θ jjθ s) Maximum negative value (θ j jθ s) (deg.) θ s : Theoretical step angle (deg.) Rotating angle Δθ i Δθ j The rotor is rotated step by step from any angle by means of flowing the rated current to its winding in defined exciting pattern with no load. Then the difference between the theoretical angle and practical angle for each step is measured over and their maximum positive and negative values are defined as angle error and represented as follows. Δθ i ε s (%) θ s ε s % Step angle error and Δθ j ε s (%) θ s ε s : Step angle error (%) Δθ i : Maximum positive value ( θ iθ iθ s) (= θ i θ i θ s) (deg.) Δθ j : Maximum negative value ( θ jθ jθ s) (= θ j θ j θ s) (deg.) θ s : Theoretical step angle (deg.) Hysteresis error Δθ h (deg.) Maximum difference in all static angle errors between CCW and CW rotation of motor shaft. 9

11 Microstep drive Vernier drive Generally a step motor is rotated by each basic step angle or the half of it, but can be driven by interpolated step angle (e.g. /,,/) by means of controlling the winding current. lso this driving technique is called as Micro-step or Mini-step driving. KNOW HOW Slow-up, Slow-down Slow-up Slow-down Slow-up, Slow-down For driving a step motor in high speed using its synchronizing operation range, the control technique of slow-up and slow-down should be used. This technique uses a linear pattern, an exponential pattern and a S- character pattern. () Slow-up To accelerate the motor with proper gradient in driving frequency as to rotate it to synchronize with the input pulses. () Slow-down To decelerate the motor with proper gradient in driving frequency as to rotate it to synchronize with the input pulses. Resonance Resonance Resonance means an unstable operating state of a rotor where its vibration is suddenly amplified or the output torque is suddenly decreased at particular input frequencies. Closed loop control Closed loop control driving technique of a motor that detects the rotational angle of a step motor and switches the exciting phases corresponding to the motion of a rotor. n encoder may be used for detecting the rotational angle.

12 DRIVING MODE OF STEP MOTOR DC power supply Oscillator Driver For driving a step motor, it is necessary to excite its windings by DC voltage and current in sequence. Therefore a proper drive for a step motor is needed. n oscillator, driver and DC power supply as shown in the right figure are necessary as minimum components. For improving the angle accuracy and damping characteristics of a step motor, an optical encoder or other sensors may be added, and then an adequate amplifier for feedback may be needed. lso the damping characteristic can be improved by a mechanical damper. Block diagram Optional optical encoder (or tachometer) Step Motor Full-step driving mode In this method, step motors are driven in the basic step angle. Half-step driving mode In this method, step motors are driven in half of the basic step angle. Micro-step driving mode In this method, step motors are driven in /N of the basic step angle and the rotation of a motor can be smoothed by means of the electrical interpolation by controlling the current for each winding.

13 -Phase Step Motor Wiring diagram. UNIPOLR COM M KNOW HOW. One phase driving Insert voltage into a single phase coil regularly.. Two phase driving Insert voltage into -phase coil regularly.. One-two phase driving Insert voltage into one phase or two phases alternately.. BIPOLR The voltage with different polarity to be inserted to the -phase coil shall be changed alternately in turn. B COM Step B B COM ON V ON V ON V ON V ON V Step B B COM ON ON V ON ON V ON ON V ON ON V ON ON V Step B B COM ON ON V ON V ON ON V ON V ON ON V ON V ON ON V 7 ON V ON ON V B M Step B B B B -Phase Step Motor Wiring diagram Exciting sequence Blue Black E Phase D Phase Green C Phase Phase B Phase Orange Red Blue Red Orange Green Black -phase exciting pattern Blue Red Green Green Black - phase exciting pattern

14 SELECTION PROCEDURES FOR STEP MOTORS Selection by torque calculation Decision of driving mechanism Determination of performance Decide the driving mechanism such as ball screws, belts, etc. Detail specifications such as dimensions of each part and friction coefficient are required. Determine the performance that is required for the system such as mechanical resolution, positioning time, etc. Calculation of load torque Calculate necessary torque to drive the load. Calculation of moment of inertia Calculate the moment of inertia converted to the motor axis for the driving mechanism and weight of work. Determination of speed pattern Determine the speed pattern by using the distance of movement and its required time. Calculation of accelerating torque Calculate the acceleration torque by using the speed pattern and moment of inertia. NG Calculation of motor torque Comparison with pulse rate vs. torque characteristics End OK Calculate the required motor torque by means of adding load torque and acceleration torque and multiplying some safety factors for margins. Select the motor that is capable of driving the load by comparing the required motor torque with pulse rate vs. torque characteristics.

15 Basic equations Factor Resolution (Unit movement) & step angle Driving mechanism Speed & pulse frequency Basic equation Belt driving mechanism J Timing Belt Roller θ πθ πθ ν ν π θ ν ν πθ SELECTION Timing pulley J J Ball screw driving mechanism Gear Work J J Table J θ θ θ ν θ J J Ball screw Rotational speed and pulse Moving distance & Total moment of inertia frequency at the final stage number of pulses applied to motor axis θ θ Resolution (Unit step) Unit movement at the final stage θ Step angle Reduction gear ratio τ τν τ Lead pitch ν Moving speed Pulse frequency Diameter of the final stage pulley Moment of inertia converted to motor axis Moment of inertia for each section Number of pulses τ Moving distance Required time

16 Equations of load torque Driving by ball screw Driving by pulley Gear W φ D F Torque conversion μ πη π αμα μ π π F W μ Driving by wire/belt Driving by rack & pinion F W F φ D F W φ D F π πη η αμα Method of direct measurement φ D FB xial load Pressurized load μ Friction coefficient of pressurized nut (. ~.) η Efficiency (.8 ~.9) Reduction gear ratio Lead pitch External force Starting force of main shaft Total weight of work and table μ Friction coefficient of slipping surface (.) α Inclination Diameter of final stage pulley

17 Equations of moment of inertia Moment of inertia of cylinder y y D x Moment of inertia of hollow cylinder x D D Ò Ò π ρ π ρ SELECTION Moment of inertia related to the axis not to pass its center of gravity C x Ò y x B Distance between x-axis and x-axis [cm] Moment of inertia of rectangular solid y x B C ρ ρ Moment of inertia of a linear moving solid ν ω π Unit movement Density Iron ρ luminum ρ Brass ρ Nylon ρ Moment of inertia related to x-axis Moment of inertia related to y-axis Moment of inertia related to xo-axis that is passed its center of gravity ρ Mass [kg] Density [kg/cm ] Outer diameter [cm] Length [cm] Inner diameter [cm]

18 Calculation of required torque TM [kgf cm] Calculation of load torque TL [kgf cm] Load torque means the friction resistance occurred at the contact point of driving mechanism and is varied depending on the kind of driving mechanism and the weight of work. Calculation of acceleration torque Ta [kgf cm] cceleration torque means the necessary torque to operate during acceleration and deceleration. Case of self-starting operation : cceleration torque π θ Moment of rotor inertia Total moment of inertia cceleration of gravity θ Step angle Operating pulse frequency Starting pulse frequency cceleration (Deceleration) time θ. /θ s Case of accelerating or decelerating : π θ cceleration torque Calculation of required torque TM [kgf cm] The required torque is that of adding load torque and acceleration torque necessary to a step motor. The required torque to a step motor is calculated by the following equation. Torque Pull-out torque Torque usable for acceleration Required torque= (Load torque + cceleration torque) x Safety factor The motor to be used should be selected in the range where the required torque is within the pull-out torque in the pulse rate vs. torque characteristics. TM TL f [pps] Pulse rate 7

19 N EXMPLE OF STEP MOTOR SELECTION Example of belt driving by -phase step motor It is possible to select it by a method similar as for the -phase step motor. Pulley Work Step motor Pulley Mechanical specifications and requirements Total mass of belt and work Diameter of pulley & Thickness of pulley & ρ Material of pulley & Iron μ Friction coefficient of work guide η Efficiency of belt & pulley Δ Resolution of positioning Movement for once Positioning time Operating pattern 7mm/sec SELECTION Calculate the resolution necessary to the motor. Positioning resolution per pulse (.8 /step) is as follows : Δ Positioning resolution Determine the operating pattern. The number of pulses and pulse frequency to be applied should be calculated as follows. Convert the movement at a time to the number of pulses. Movement at a time Number of pulses pulses Movement per pulse Calculate the pulse frequency. Number of pulses, P Pulse frequency Positioning time, t For transmitting pulses in second, the pulse frequency of pps is needed. f t The pattern for acceleration and deceleration operation should be determined. ssuming that the time for acceleration and deceleration is. second respectively, calculate the pulse frequency as follows : Number of pulses Pulse frequency, f Positioning time, t cc/dec time, t P t (S) 8

20 Calculate the necessary operating torque. Torque conversion Calculate the acceleration torque. Calculate the load torque. π θ μ Linear load cceleration torque Load torque η Calculate the moment of inertia. Moment of inertia of the pulley (JD) π π ρ Moment of inertia of the pulley (JD) Calculate the necessary operating torque. Safety factor Necessary operating torque Moment of inertia of the belt and work (JW) Total moment of inertia (JL) Finally determine the motor. Calculate the necessary operating torque for each moment of rotor inertia according to the chart of Page and equations above. Moment of rotor inertia, J Necessary operating torque, TM TSNEU9 Draw the necessary performances on the pulse rate vs. torque characteristics curve. Considering the chart below, it is capable to operating in combination with TSNE and U9. Torque N m () Half Step.8(8).() (TM=.).().() (f= ) (f=8pps) Pulse Rate 9

21 Conversion Table for Moment of Inertia B lb ft s lb ft or slug-ft lb in lb in s oz in oz in s kg cm kg cm s g cm g cm s lb ft.8 x.7. x x 9.7 lb ft s.7. x 7. x 9. x.8. x 7.8 x SELECTION lb in.9 x.8 x.9 x. x.9.98 x.9 x.98 lb in s.8 8. x x.. x. x oz in. x.9 x. x.9 x.9 x.8.8 x oz in s.8.8 x.. x x 7. x 7.8 kg cm.7 x 7.7 x x.7. x.97 x.97 kg cm s.7 7. x x x g cm.7 x 7.7 x 8.7 x 8.8 x 7.7 x. x.97 x.97 x g cm s.7 x 7. x. 8.8 x..89 x Conversion Table for Torque B lb ft lb in oz in dyne cm N m mn m kg cm g cm lb ft 9. x 7.. x.8.8 x lb in 8. x. x.. x.. x oz in.8 x. x 7. x 7. x x 7. dyne cm 7.7 x x 7. x 7.97 x.97 x N m x mn m 7.7 x 8.8 x..97 x.97 kg cm 7. x x 9.8 x 98. g cm 7. x 8.8 x.89 x x 9.8 x

22 9 OFF

23 CUTIONS FOR HNDLING for using properly in safety Cautions for using step motors Step motor is one of precise instruments and assumed that users should read and understand properly the contents described here for handling, as well as the individual specifications. Before using the products, understand all information including safety guide to them. The minimum contents for safety are described here. Cautions for opening package. fter opening the package, the products should be examined visually if there are any cracks or other defects on their external appearance at first. nd confirm that right products are delivered. Cautions for transporting and mounting. Never catch at any lead wire or shaft to bring the motor, because it may cause some defects or injuries.. Never apply any shock, or any axial or radial load to the shaft, because it may cause some defects.. The motors have not water-proof nor oil-proof structure, so they cannot be used in the place splashed with any water or oil, or in any oil bath.. Never use the motors in the area with inflammable or explosive liquid or gas, or with excessive humidity or vapor. Never apply any excessive vibration, shock or humidity. Cautions for wiring. Examine the connection, exciting mode and phase sequence, because any wrong wiring may cause reverse rotation or abnormal operation.. Connect the case to ground without fail.. When dielectric strength or insulation test for the motors is conducted, remove the connection from their controllers. Never conduct these tests unnecessarily, because it may cause to hasten their deterioration. Cautions for operation. Contact us previously when the driving current over its rating may be flowed.. The motors may abnormally be heated up depending on their load condition or the drivers combined. Use the motors in the surface temperature of 9 C Max.. ll performances of the motors should be used within their specifications.. Step motors may develop resonance state. In this case, keep them away from the resonance points.. The pulse rate vs. torque characteristics of the motors varies depending on their load condition or the drivers combined. Make a proper adjustment for them.. When any abnormal smelling, noise, smoking, heating-up, vibration, etc. has occurred, stop the operation immediately and turn off the power supply. 7. Do not splash any oil or water on the motors. CUTION

24 HB LIST OF MJOR SPECIFICTIONS HYBRID TYPE Size Step ngle Model Number Rated Rated Holding Body Voltage Current Torque Size Details mm Deg. V / Phase / Phase N m mm in Page 8 9 Hi Torque Hi Torque..8 TS9N,N... (.).8 TS9N,N...7 (.7).8 TS9N,N 7... (.)..8 TS9N,N... (.)..8 TSNE,NE... (.) 8. 7, 8.8 TSNE,NE..9. (.) 8. 9,.8 TSNE,NE...9 (.9) TSN...8 (.8)..8 TSN..9.8 (.8)..8 TSN..9. (.)..8 TSN...8 (.8)..9 TSN... (.)..9 TSN...8 (.8) 9.. TS 9... (.) 97.. TSN... (.) 9..9 TS... (.) 9..9 TSN7... (.) 9..9 TSN8..8. (.) 9..9 TSN (.8) 9..8 TS9N...8 (.8) 9..8 TS9N... (.) TS7NE,NE..9. (.).8 TS7NE,NE 9... (.).8 TS7NE,NE... (.).8 TS7NE,NE... (.) 9.8 TS7NE,NE..8. (.) 9.8 TS7NE,NE... (.) 9.8 TS7NE7,NE7... (.) 9.8 TS7NE8,NE8... (.) 7.8 TS7NE9,NE (.) 7.8 TS7NE,NE... (.) 7.8 TS7N,N.8.. (.),,, 7, 8.8 TS7N,N.8..9 (.9) 9 9,.8 TS7N,N (7.).9 TS8... (.)..9 TS8N..7. (.).,.8 TS8N... (.)..8 TSN,N... (.).8 TSN,N... (.).9 TS9N...8 (.8).8..9 TS9N...8 (.8).8..8 TSNE9...9 (.9).8..8 TSNE... (.)..8,.8 TSN... (.)..8,.8 TSN... (.).7..8 TSNE (7.).7..8 TSNE (7.).7..8 TSN9...7 (7.).7.

25 Size Step ngle Model Number Rated Rated Holding Body Voltage Current Torque Size Details Deg. V / Phase / Phase N m mm in Page.. Hi Torque Hi Torque 8. 8 Hi Torque.8 TSNE...8 (.8)...8 TSNE..9.8 (.8)...9 TS9NE,NE... (.).9.9 TS9NE,NE.8.. (.).9.9 TS9NE,NE... (.).9.9 TS9NE,NE (9.).,.9 TS9NE,NE...9 (9.). 7, 8.9 TS9NE,NE...9 (9.)..9 TS9NE7,NE (.).7.9 TS9NE8,NE8... (.).7.9 TS9NE9,NE9... (.).7.8 TSNE,NE...9 (.9).9.8 TSNE,NE.8..9 (.9).9.8 TSNE,NE.9..9 (.9).9.8 TSNE,NE (9.)..8 TSNE,NE...9 (9.)..8 TSNE,NE...9 (9.)..8 TSNE7,NE (.).7.8 TSNE8,NE8... (.).7.8 TSNE9,NE9... (.).7.8 TSNE,NE.. (.).8.8 TSNE,NE.8..7 (7.)..8 TSNE,NE.9..7 (7.)..8 TSNE,NE.9..7 (7.)..8 TSNE,NE (.).8 TSNE,NE... (.).8 TSNE,NE... (.).8 TSNE7,NE (7.).8 TSNE8,NE8...7 (7.).8 TSNE9,NE (7.).8 TSNE,NE... (.) 8.8 TSNE,NE... (.) 8.8 TSNE,NE.9.. (.) 8.8 TSN.9.. (.) TSN.8.. (.) TSN7... (.) TSNE... (.) TSN9.. (.) TSNE8. 7. (.) ,,,.8.. (.).8 TS8NE,NE.8.. (.) (.).8.. (.).8 TS8NE,NE (78.) 87., (78.).. 7. (7.).8 TS8NE8,NE (.) (.) PHSESTEPMOTOR SPECIFICTIONS

26 DRIVER SPECIFICTIONS Bipolar driver Model Number (Page) O (P.9, ) DC V Input current Direct current (DC) 8 mm TS9 mm TS mm TS 9mm TS, TS, TS9 pplicable motors 8 mm TS8 TS8N TS9N E.mm TS9NE E78 Others mm E E TSN E78 E Others 8mm TS8 Setting of functions Driving current Step angle Setting of automatic current-down Pulse oscillator./ /Phase (Select from levels by a DIP switch) FULL/HLF STEP Included

27 Unipolor driver Model Number (Page) U9 (P., ) U9 (P., ) Input current DC Direct current (DC) V V Current consumption Max Max 8 mm TS9 8mm TS mm TS 9mm TS, TS, TS9 7 mm TS7 pplicable motors 8 mm TS8 mm TS TS9N TS. E TS9NE.mm E78 E TSNE E78 PHSE STEP DRIVER SPECIFICTIONS Others mm E TSNE E78 E Others 8.mm TSN Others 8mm TS8 Driving current.. Setting of driving current Set by variable resistance Set by variable resistance Setting of automatic current-down CW.CCWPULSEDIR Input signals Switching of CW CCW pulse input ( clock mode) / PULSE DIR input ( clock mode) Setting of FULL/HLF 8 functions Step angle Switching Micro step /8 or/ ON/OFF Current-down Switching Set by variable resistance Driving pulse OFFONDIRONCW Triggered at the edge of OFF to ON of photo-coupler, CW rotation for ON of DIR input Input signal OFF ONOFF Hold-OFF Excitation of motor is OFF for photo-coupler ON. Operating temperature & humidity C 9%RH Max C 9%RH Max Strage temperature & humidity 7 C 9%RH Max 7 C 9%RH Max

28 SIZE 8HB TYPE.8 RoHS compliant products.. -M Min Depth 7. L Model Number Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Winding Voltage Current Resistance Torque Length Inertia Type Single Shaft Dual Shaft Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x 7 kg m kg TS9N TS9N (.).9. TYPE L 8.. Min. 7. TS9N TS9N (.7).9. TYPE TS9N TS9N (.)..8 TYPE TS9N TS9N (.)..8 TYPE Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.7mm Max at the load Thrust play 9.87N(.kgf).mm Max at the load Radial play.9n(.kgf) 8 MaxResistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 7

29 WIRING DIGRM TYPE BIPOLR Blue PM CW CW rotation from output shaft end. Step Blue White Red Yellow Red White Yellow TYPE UNIPOLR Blue Black Red Orange PM Green CW PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque CW rotation from output shaft end. Step Blue Orange Red Green Black ON ON +V ON ON +V ON ON +V ON ON +V ON ON +V PHSESTEPMOTOR SPECIFICTIONS TS9N(N) Torque mn m () () Constant Current Driver DCV./ DCV./Phase Half Step TS9N(N) Torque mn m () () Constant Current Driver DCV./ DCV./Phase Half Step 8(8) () () () () () () Speed Speed TS9N(N) Torque mn m () () Constant Current Driver DCV./ DCV./Phase Half Step TS9N(N) Torque mn m () () Constant Current Driver DCV./ DCV./Phase Half Step () () () () 8(8) () () () () () () () Speed Speed 8

30 SIZE HB TYPE.8 RoHS compliant products -M. Min Depth LMin L L Model Number Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Voltage Current Resistance Torque Length Inertia Single Shaft Dual Shaft Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x 7 kg m kg TSNE TSNE (.). 8. TSNE TSNE (.). 8. TSNE TSNE (.9) Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.7mm Max at the load Thrust play 9.8N(.kgf).mm Max at the load Radial play.9n(.kgf) 8 MaxResistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 9

31 WIRING DIGRM UNIPOLR Black Yellow PM CW Step CW rotation from output shaft end. Black Red Green Blue Yellow White Green Red White Blue ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque TSNE DCV./ Torque N m Constant Current Driver DCV./Phase.(.) Half Step.(.) PHSESTEPMOTOR SPECIFICTIONS.(.).(.).(.) Pulse Rate TSNE DCV.9/ Torque N m Constant Current Driver DCV.9/Phase.(.) Half Step.(.).(.).(.).(.).(.) Pulse Rate TSNE DCV./ Torque N m Constant Current Driver DCV./Phase.8(.8) Half Step.(.).(.).(.) Pulse Rate

32 SIZE HB TYPE.8 RoHS compliant products LMin -M (L=.max). (L=max) L Model Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Winding Number Voltage Current Resistance Torque Length Inertia Type..7 L Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x 7 kg m kg TSN (.8)... TYPE TSN (.8) TYPE TSN (.)... TYPE TSN (.8) TYPE Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.mm Max at the load Thrust play 8.8N(.9kgf).mm Max at the load Radial play.9n(.kgf) 8 MaxResistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation.

33 WIRING DIGRM TYPE BIPOLR Blue PM CW Step CW rotation from output shaft end. Blue White Red Yellow Red White Yellow TYPE Blue UNIPOLR Black Red PM Yellow White Green CW Step PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque CW rotation from output shaft end. Blue Yellow Red Green Black White ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM PHSESTEPMOTOR SPECIFICTIONS TSN Torque N m Constant Current Driver DCV./ DCV./Phase TSN Torque N m Constant Current Driver DCV.9/ DCV.9/Phase.(.) Half Step.(.).(.).().(.).(.).(.).(.) Pulse Rate Pulse Rate TSN Torque N m Constant Voltage Driver DCV.9/ DCV.9/Phase TSN Torque N m Constant Current Driver DCV./ DCV./Phase.() Half Step.(.) Half Step.8(.8).(.).(.).(.).(.).(.).(.).(.) Pulse Rate Pulse Rate

34 NEW SIZE HB TYPE.8 Low Vibration RoHS compliant products WG UL.. R. R. L Model Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Number Voltage Current Resistance Torque Length Inertia L. NME PLTE.8..8 Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x 7 kg m kg TSN (.) 9..8 TSN.9...8(.8) Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.mm Max at the load Thrust play.9n(.kgf).mm Max at the load Radial play.n(.kgf) 8 MaxResistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation.

35 WIRING DIGRM BIPOLR Blue PM CW Step CW rotation from output shaft end. Blue Red White Yellow Red White Yellow PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque PHSESTEPMOTOR SPECIFICTIONS TSN Torque N m.7. Constant Current Driver DCV.7/ DCV.7/Phase Half Step TSN Torque N m.7. Constant Current Driver DCV.7/ DCV.7/Phase Half Step Pulse Rate Pulse Rate

36 SIZE HB TYPE..9.8 RoHS compliant products -M Min (L=,., 7mm). (L=, 7mm) L Model Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Winding Number Voltage Current Resistance Torque Length Inertia Type L Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x 7 kg m kg TS (.) 7.. TYPE TSN (.).. TYPE TS (.).. TYPE TSN (.).. TYPE TSN (.).. TYPE TSN (.8)..8 TYPE TS9N (.8)..8 TYPE TS9N () 7.. TYPE Shaft length is.mm Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.mm Max at the load Thrust play 8.8N(.9kgf).mm Max at the load Radial play.9n(.kgf) 8 MaxResistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation.

37 WIRING DIGRM TYPE BIPOLR Blue PM CW Step CW rotation from output shaft end. Blue White Red Yellow Red White Yellow TYPE Blue UNIPOLR Black Red PM Yellow White Green CW Step PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque CW rotation from output shaft end. Blue Yellow Red Green Black White ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM PHSESTEPMOTOR SPECIFICTIONS TSN Torque N m.(.).(.) DCV Constant Voltage Driver DCV TSN8 Torque N m.(.).(.) Constant Current Driver DCV.8/ DCV.8/Phase Half Step.(.).(.).(.).(.).(.) Pulse Rate Pulse Rate TSN Torque N m Constant Voltage Driver DC8.8V DC8.8V TS9N Torque N m Constant Current Driver DCV./ DCV./Phase.(.).(.) Half Step.(.).(.).(.).(.).(.).(.) Pulse Rate Pulse Rate

38 SIZE 7HB TYPE.8 Self-certification products, RoHS compliant products Min M.Min Depth. (Effective length).. (Effective length) L Model Number Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Voltage Current Resistance Torque Length Inertia Single Shaft Dual Shaft Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x 7 kg m kg TS7NE TS7NE (.). TS7NE TS7NE (.). L TS7NE TS7NE.8... (.). TS7NE TS7NE (.) 9. TS7NE TS7NE (.) 9. TS7NE TS7NE.8.. (.) 9. TS7NE7 TS7NE7.8.. (.) 9. TS7NE8 TS7NE (.) 7 8. TS7NE9 TS7NE (.) 7 8. TS7NE TS7NE (.) 7 8. Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.7mm Max at the load Thrust play 9.8N(kgf).mm Max at the load Radial play.9n(.kgf) 8 MaxResistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. WIRING DIGRM UNIPOLR Black Yellow PM CW Step CW rotation from output shaft end. Black Red Green Blue Yellow White Green ON ON COM COM ON ON COM COM ON ON COM COM 7 Red White Blue ON ON COM COM ON ON COM COM

39 PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque TS7NE,NE Torque N m Constant Current Driver DCV.9/ DCV.9/Phase TS7NE,NE Torque N m Constant Current Driver DCV./ DCV./Phase.() Half Step.() Half Step.().() TS7NE,NE Torque N m Pulse Rate DCV/ Constant Voltage Driver DCV/Phase Pulse Rate TS7NE,NE DCV./ Torque N m Constant Current Driver DCV./Phase.().() Half Step.... Pulse Rate TS7NE,NE DCV.8/ Torque N m Constant Current Driver DCV.8/Phase.().() Half Step Pulse Rate TS7NE,NE DCV/ Torque N m Constant Voltage Driver DCV/Phase PHSESTEPMOTOR SPECIFICTIONS.() Half Step.() Half Step.().() Pulse Rate TS7NE7,NE7 DCV/ Torque N m Constant Voltage Driver DCV/Phase.... Pulse Rate TS7NE8,NE8 DCV./ Torque N m Constant Current Driver DCV./Phase.() Half Step.() Half Step.().().().. Pulse Rate TS7NE9,NE9 DCV.8/ Torque N m Constant Current Driver DCV.8/Phase.() Pulse Rate TS7NE,NE Torque N m DCV/ Constant Voltage Driver DCV/Phase.() Half Step.() Half Step.().().().() Pulse Rate.... Pulse Rate 8

40 SIZE 7HB TYPE.8 High torque Self-certification products, RoHS compliant products Min M.Min Depth. (Effective length). (Effective length). L Model Number Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Voltage Current Resistance Torque Length Inertia Single Shaft Dual Shaft Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x 7 kg m kg. L TS7N TS7N (.) 7. TS7N TS7N (.9) 9 7. TS7N TS7N (7.).9 Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.7mm Max at the load Thrust play.9n(.kgf).mm Max at the load Radial play.9n(.kgf) 8 MaxResistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 9

41 WIRING DIGRM UNIPOLR Black Yellow PM CW Step CW rotation from output shaft end. Black Red Green Blue Yellow White Green Red White Blue ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque TS7N,N Torque Nm(kgfcm).(.).(.).(.).(.).(.).(.).(.).(.) DCV./ Constant Current Driver DCV./Phase Full step Half step Pulse Rate(pps) TS7N,N Torque Nm(kgfcm).(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) DCV./ Constant Current Driver DCV./Phase Full step Half step Pulse Rate(pps) PHSESTEPMOTOR SPECIFICTIONS TS7N,N Torque Nm(kgfcm).8(8.).7(7.).(.).(.).(.).(.).(.).(.) Constant Current Driver DCV./ DCV./Phase Full step Half step Pulse Rate(pps)

42 SIZE 8HB TYPE.9.8 RoHS compliant products M.. (Effective Depth). L max..8.. L Model Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Winding Number Voltage Current Resistance Torque Length Inertia Type Min Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x 7 kg m kg TS (.) 9. TYPE TS8N (.) 9. TYPE TS8N (.) 9. TYPE Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.mm Max at the load Thrust play.9n(.kgf).mm Max at the load Radial play.n(.kgf) 8 MaxResistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation.

43 WIRING DIGRM TYPE BIPOLR Blue Red PM CW CW rotation from output shaft end. Step Blue White Red Yellow White Yellow TYPE Blue UNIPOLR Black Red PM Yellow White Green PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque CW CW rotation from output shaft end. Step Blue Yellow Red Green Black White ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM PHSESTEPMOTOR SPECIFICTIONS TS8 Torque N m Constant Current Driver DCV./ DCV./Phase TS8N Torque N m Constant Voltage Driver DCV DCV.(.).(.) Half Step.(.).(.).(.).(.).(.) Pulse Rate Pulse Rate TS8N Torque N m.(.) DCV Constant Voltage Driver DCV.(.).(.).(.) Pulse Rate

44 SIZE HB TYPE.8 High torque RoHS compliant products -. Effective length). Min Effective length) L Model Number Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Voltage Current Resistance Torque Length Inertia Single Shaft Dual Shaft Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x 7 kg m kg.. 7 L TSN TSN (.).8 TSN TSN (.).8 Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.7mm Max at the load Thrust play.9n(.kgf).mm Max at the load Radial play.9n(.kgf) 8 MaxResistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation.

45 WIRING DIGRM UNIPOLR Black Yellow Green PM Red White Blue CW Step CW rotation from output shaft end. Black Red Green Blue Yellow White ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque TSN,N Torque Nm(kgfcm).( ).() DCV./ Constant Current Driver DCV./Phase Half Step PHSESTEPMOTOR SPECIFICTIONS.().().() Pulse Rate(pps) TSN,N Torque Nm(kgfcm).8(8).7(7).().().().().().() Constant Current Driver DCV./ DCV./Phase Half Step Pulse Rate(pps)

46 HB SIZE TYPE.9.8 RoHS compliant products -.8 Min (X)..8 L Model Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Winding Number Voltage Current Resistance Torque Length Inertia Type.. L. Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x 7 kg m kg TS9N (.8) TYPE TS9N (.8) TYPE TSNE (.9) TYPE TSNE (.).8. TYPE TSN (.).8. TYPE TSN (.) 7.. TYPE TSNE (7.) 7.. TYPE TSNE (7.) 7.. TYPE TSN (7.) 7.. TYPE TSNE (.8).. TYPE TSNE (.8).. TYPE Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.7mm Max at the load Thrust play 9.8N(.kgf).mm Max at the load Radial play.9n(gf) 8 MaxResistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation.

47 WIRING DIGRM TYPE BIPOLR TYPE Torque N m Blue Red Red UNIPOLR Black Red/White White PM PM Half Step Yellow Green White Green/Whtie PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque TS9N Constant Current Driver CV./ CV./Phase CW CW rotation from output shaft end. Step Blue White Red Yellow CW CW rotation from output shaft end. Step Red Green Red/White Green/White Black White ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM TSNE9 Torque N m.(.) Constant Current Driver DCV./ DCV./Phase Half Step PHSESTEPMOTOR SPECIFICTIONS.(.).(.).(.).(.).(.) TSNE Torque N m.().() Pulse Rate Constant Current Driver DCV./ DCV./Phase Half Step Pulse Rate TSN Torque N m () DCV./ Constant Current Driver DCV./Phase.().().().().() TSNE Torque N m.() Pulse Rate Constant Current Driver DCV.8/ DCV.8/Phase Half Step TSNE Torque N m.() Pulse Rate Constant Current Driver DCV.9/ DCV.9/Phase Half Step.8(8) ().().().().() Pulse Rate Pulse Rate

48 HB SIZE TYPE.9 High torque RoHS compliant products Min Effective length).... Effective length).. L L Model Number Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Voltage Current Resistance Torque Length Inertia Single Shaft Dual Shaft Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x 7 kg m kg TS9NE TS9NE (.) 9. TS9NE TS9NE (.) 9. TS9NE TS9NE (.) 9. TS9NE TS9NE (9.).7 TS9NE TS9NE (9.).7 TS9NE TS9NE (9.).7 TS9NE7 TS9NE (.) 7 TS9NE8 TS9NE (.) 7 TS9NE9 TS9NE (.) 7 Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.7mm Max at the load Thrust play 9.8N(kgf).mm Max at the load Radial play.9n(.kgf) 8 MaxResistance method Permissible temperature rise 9 Do not allow the surface temperature of the motor case to rise above 9 during operation. WIRING DIGRM Black Black/White Orange/White Orange TYPE UNIPOLR (NOTE) PM CW CW rotation from output shaft end. Step Black Red Orange Yellow Red/White connects Black/White connects with Yellow/White with Orange/White ON ON ON ON ON ON ON ON 7 Red Red/White Yellow Yellow/White ON ON Note) Black/White connects with Orange/White Red/White connects with Yellow/White

49 PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque TS9NE,NE Torque Nm(kgfcm).7(7).().() Constant Current Driver DCV./ DCV./Phase Full step Half step TS9NE,NE Torque Nm(kgfcm).7(7).().() Constant Current Driver DCV./ DCV./Phase Full step Half step.().().().().().().().7(7).().().().().().().() TS9NE,NE Torque Nm(kgfcm) Pulese Rate(pps) TS9NE,NE Torque Nm(kgfcm).().8(8) DCV./ Constant Current Driver DCV./Phase Full step Half step Pulse Rate(pps) DCV./ Constant Current Driver DCV./Phase Full step Half step.() TS9NE,NE Torque Nm(kgfcm).().().8(8).().().().().().8(8) Pulse Rate(pps) TS9NE,NE Torque Nm(kgfcm) DCV./ Constant Current Driver DCV./Phase Full step Half step Pulse Rate (pps) DCV./ Constant Current Driver DCV./Phase Full step Half step PHSESTEPMOTOR SPECIFICTIONS.().().().().().().().8(8).().().().().().().().8(8).() TS9NE7,NE7 Torque Nm(kgfcm) Pulse Rate(pps) TS9NE9,NE9 Torque Nm(kgfcm) DCV./ Constant Current Driver DCV./Phase Full step Half step Pulse Rate(pps) DCV./ Constant Current Driver DCV./Phase Full step Half step.().().() TS9NE8,NE8 Pulse Rate(pps) Torque Nm(kgfcm) DCV./ Constant Current Driver DCV./Phase.() Full step Half step.().() Pulse Rate (pps).().() Pulse Rate(pps) 8

50 SIZE HB TYPE.8 High torquelow vibration Self-certification products, RoHS compliant products Min Effective length).... Effective length).. L L Model Number Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Winding Voltage Current Resistance Torque Length Inertia Type Single Shaft Dual Shaft Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x 7 kg m kg TSNE TSNE (.9) 9. TYPE TSNE TSNE (.9) 9. TYPE TSNE TSNE (.9) 9. TYPE TSNE TSNE (9).7 TYPE TSNE TSNE (9).7 TYPE TSNE TSNE (9).7 TYPE TSNE7 TSNE (.) 7 TYPE TSNE8 TSNE (.) 7 TYPE TSNE9 TSNE (.) 7 TYPE TSNE TSNE () 8. TYPE Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.7mm Max at the load Thrust play 9.8N(kgf).mm Max at the load Radial play.9n(.kgf) WIRING DIGRM TYPE BIPOLR Blue Red White PM Yellow 8 MaxResistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. CW CW rotation from output shaft end. Step Blue White Red Yellow TYPE UNIPOLR Black Yellow Green PM CW CW rotation from output shaft end. Step Black Red Green Blue Yellow White ON ON COM COM ON ON COM COM ON ON COM COM 9 Red White Blue ON ON COM COM ON ON COM COM

51 PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque TSNE,NE DCV / Torque N m Constant Current Driver DCV /Phase TSNE,NE DCV / Torque N m Constant Current Driver DCV /Phase Half Step Half Step.().().().().().().().().().() Pulse Rate TSNE,NE DCV / Pulse Rate Torque N m Constant Current Driver DCV /Phase TSNE,NE DCV / Torque N m Constant Current Driver DCV /Phase.().().().() Half Step.() Pulse Rate TSNE,NE DCV / Torque N m Constant Current Driver DCV /Phase ().() Half Step Pulse Rate TSNE,NE DCV / Torque N m Constant Current Driver DCV /Phase PHSESTEPMOTOR SPECIFICTIONS Half Step Half Step () ().().() Pulse Rate TSNE7,NE7 DCV / Torque N m Constant Current Driver DCV /Phase Pulse Rate TSNE8,NE8 DCV / Torque N m Constant Current Driver DCV /Phase Half Step Half Step () ().().() Pulse Rate TSNE9,NE9 DCV / Torque N m Constant Current Driver DCV /Phase Pulse Rate TSNE,NE DCV / Torque N m Constant Current Driver DCV /Phase () Half Step () Half Step.() () Pulse Rate Pulse Rate

52 SIZE HB TYPE Min Effective length) High torque RoHS compliant products Effective length) L L Model Number Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Voltage Current Resistance Torque Length Inertia Single Shaft Dual Shaft Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x 7 kg m kg TSNE TSNE (7.). 8. TSNE TSNE (7.). 8. TSNE TSNE (7.). 8. TSNE TSNE (.).8 TSNE TSNE (.).8 TSNE TSNE (.).8 TSNE7 TSNE (7) 7. TSNE8 TSNE (7) 7. TSNE9 TSNE (7) 7. TSNE TSNE () 8 9. TSNE TSNE () 8 9. TSNE TSNE () 8 9. Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.7mm Max at the load Thrust play 9.8N(.kkgf).mm Max at the load Radial play.9n(.kgf) 8 MaxResistance method Permissible temperature rise 9 Do not allow the surface temperature of the motor case to rise above 9 during operation. WIRING DIGRM Black Black/White Orange/White Orange PM UNIPOLR (NOTE) CW CW rotation from output shaft end. Step Black/White connects Red/White connects Black Red Orange Yellow with Orange/White with Yellow/White ON ON ON ON Red Red/White Yellow Yellow/White ON ON ON ON ON ON Note) Black/White connects with Orange/White Red/White connects with Yellow/White

53 PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque TSNE,NE Torque Nm(kgfcm).9(9).8(8).7(7).().().().().().() TSNE,NE Torque Nm(kgfcm).9(9).8(8).7(7).().().().().().().().8(8).().().() Pulse Rate(pps) DCV./ DCV./Phase TSNE,NE Torque Nm(kgfcm).() TSNE7,NE7 Torque Nm(kgfcm).().().().().8(8).().().().().().() Pulse Rate(pps) Pulse Rate(pps) TSNE9,NE9 Torque Nm(kgfcm).().8(8).().().() Pulse Rate(pps) TSNE,NE Torque Nm(kgfcm).().().().().() DCV./ Constant Current Driver DCV./Phase Constant Current Driver Full step Half step Full step Half step DCV./ Constant Current Driver DCV./Phase Full step Half step DCV./ Constant Current Driver DCV./Phase Full step Half step DCV./ Constant Current Driver DCV./Phase Full step Half step Pulse Rate(pps) DCV./ Constant Current Driver DCV./Phase Full step Half step TSNE,NE Torque Nm(kgfcm).9(9).8(8).7(7).().().().().().() TSNE,NE Torque Nm(kgfcm).().().8(8).().().() TSNE,NE Torque Nm(kgfcm).().().8(8).().().() Pulse Rate(pps) Pulse Rate(pps) TSNE8,NE8 Torque Nm(kgfcm).().().().().8(8).().().() Pulse Rate(pps) DCV./ DCV./Phase TSNE,NE Torque Nm(kgfcm).().().().().() TSNE,NE Torque Nm(kgfcm).().().().().() DCV./ Constant Current Driver DCV./Phase DCV./ Constant Current Driver DCV./Phase DCV./ Constant Current Driver DCV./Phase Constant Current Driver Constant Current Driver Full step Half step Full step Half step Full step Half step Full step Half step Pulse Rate(pps) DCV./ DCV./Phase Full step Half step Pulse Rate(pps) DCV./ Constant Current Driver DCV./Phase Full step Half step PHSESTEPMOTOR SPECIFICTIONS Pulse Rate(pps) Pulse Rate(pps)

54 HB SIZE TYPE.8 RoHS compliant products Min L Model Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Number Voltage Current Resistance Torque Length Inertia L Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x kg m kg TSN (.).7.8 TSN (.).7.8 TSN (.) 9.. TSNE (.) 9.. TSN () TSNE () Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.mm Max at the load Thrust play 7N(.8kgf).mm Max at the load Radial play.n(.kgf) 8 MaxResistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation.

55 WIRING DIGRM UNIPOLR Red Black Red/White PM Green White Green/Wihte CW CW rotation from output shaft end. Step Red Green Red/White Green/White White Black ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque TSN Torque N m () () Constant Current Driver DCV.9/ DCV.9/Phase TSN7 Torque N m () () Constant Current Driver DCV./ DCV./Phase PHSESTEPMOTOR SPECIFICTIONS () () Pulse Rate Pulse Rate Torque N m () TSN9 Constant Current Driver DCV./ DCV./Phase () () Pulse Rate

56 SIZE HB TYPE.8 High torque RoHS compliant products Min L Model Step ngle Rated Rated Winding lnductance Holding Motor Rotor Mass Winding Number Voltage Current Resistance Torque Length Inertia Type 8. 7 L Single Shaft Dual Shaft Deg. V/Phase /Phase Ω/Phase mh/phase N m mm x kg m kg () TYPE TS8NE TS8NE () 79.. TYPE () TYPE () TYPE TS8NE TS8NE (78) 7... TYPE (78) TYPE (7) TYPE TS8NE8 TS8NE ().8. TYPE Operating temperature range MMinat DCV Insulation resistance C Vmin Dielectric strength.7mm Max at the load Thrust play 7N(.8kgf).mm Max at the load Radial play.n(.kgf) 8 MaxResistance method Permissible temperature rise.8x () TYPE 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation.

57 WIRING DIGRM Black Black/White Orange/White Orange Black Black/White Orange/White Orange Red/ White Red Black Black/White Orange/White Orange PM Yellow/ White Red Yellow Red/ White Red/ White Red PM PM Yellow/ White Yellow Yellow/ White Yellow TYPE UNIPOLR TYPE BIPOLR (Parallel connection) TYPE BIPOLR SERIES (Series connection) CW CW rotation from output shaft end. Step Black Red Orange Yellow Black/White connects Red/White connects with OrangeWhite with Yellow//White ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM ON ON COM COM Phase COM are Black/White and Orange/White Phase COM are Red/White and Yellow/White Step Black&Orange/White Red&Yellow/White Orange&Black/White Yellow&Red/White Black/White connects with Opange/White Red/White connects with Yellow/White Step Black Red Orange Yellow PHSESTEPMOTOR SPECIFICTIONS PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque TS8NE (TYPE) Constant Current Driver Torque N m () DC8V./ DC8V./Phase Half Step TS8NE (TYPE) Constant Current Driver Torque N m 8(8) DC8V./ DC8V./Phase Half Step () () () () () () 8(8) Pulse Rate TS8NE8 (TYPE) Torque N m Constant Current Driver DC8V.7/ DC8V.7/Phase Half Step Pulse Rate () () () Pulse Rate

58 SIZE,,7,, -PHSE STEP MOTOR ENCODERS RoHS compliant products High accuracy and high torque. Being equipped with an angle sensor, both step-out detection and closed loop control are possible. Lineup of step motor encoders C/T Size Phase Resolution Basic model of step motor encoder Outline (Basic model of applied step motor) TS8 TS TS TS 7 TS TS7 TS TS TS7 TS TS98 TS8 Outlines and specifications of relevant encoders are given in the next page. Note :. ll of the above types are conformable to Open Collector Output and Line Driver Output.. Do not allow the surface temperature of the motor to rise above 8 C to protect the encoder. Model designation of step motor encoders Basic model of step motor encoder N.E Number(s) after N and E of the model number of the above applied step motors Option, B, B, Z Open Collector Output Signal, B Open Collector Output Signal, B, Z, B, B, Z Line Driver Output Signal, B Line Driver Output Signal, B, Z C/T C/T 7

59 Outline (Section of encoder) Common Shielded Cable Step motor Common Common. Unless otherwise specified, tolerance is ±.mm NOTE :. For dimensions of the step motor, see p.7ff. Performance Operating Temp. Supply Current Code Response Frequency a.b.c.d Phase Shift Moment of Inertia 8 DCV m Max (Open Collector Output) m Max (Line Driver Output), B Incremental Phase, B 8kHz Max /P /8P 7 kgm Max ENCODER ONLY Specifications of applied encoder Resolution Phase Resolution Option,,C/T Encoders with C/T or,c/t are available Z Possible to add phase Z (Index). Phase focusing with excitation phase of a motor is possible. PHSESTEPMOTOR ENCODER SPECIFICTIONS Form of output Open collector Output Circuit Max llow. Output Volt. Max llow. Output Curr. Rise Time, Fall Time V m Line driver SC Equivalent to SC.sec Max Output Circuit MCIDBT.I DC.V Min Output Signal DC.V Max m Max Sinking Current Typical Rise Time, Fall Time sec Max B B a b c d CW CW, viewed from shaft end P P a b c d H L H L B CW CW, viewed from shaft end Diode FMN (Rohm) 7 V OUTPUT Output wave form measuring Circuit Vcc.B.B FMP (Rohm) Connection Function Color DCV Red GND Black Phase Green B Phase Yellow Phase (White) Connection Function Color DCV Red GND Blue Phase Brown Phase Orange B Phase Yellow B Phase Gray Phase (Green) Phase (Clear) 8

60 -Phase STEP BIPOLR DRIVER HB TYPE.8 Switch between Full-Step, Half-Step DC for DC Power Features. Geared for a wide range of inputs from DC to V. Can drive step motors ranging in size from Type to Type. Depending on the value of the current, low-speed driving of Type motor is also possible.. The built-in amplifier is based on the pulse duration modulation switching system (PMM system).. The setting switch allows phase current to be chosen in any of steps ranging from. to... This driver is protected from noise because the step driving power source and input signals are optically separated.. special switch is provided for changeover between full-step and half-step operation. 7. The automatic current-down mechanism enables current to be automatically reduced by %. (The current-down function can be suspended, the dip switch having been set on BYPSS.) 8. Includes an acceleration/deceleration and speed control pulse oscillator. 9. Speed ranges of ~,pps and ~, have been incorporated.. Includes plug-type screw terminal connectors.. Includes an aluminum heat radiator plate and protective structure with a steel cover. Specifications Model number Driving capacity (current/phase) utomatic current-down function For motor driving O.. (-step setting with switch) DCV Power input DCV For logic circuit m (photo-coupler input) Half-step/full-step selection Pulse oscillator Noise prevention Protection against overheating Heat sink Changeover by switch Included Photo-coupler Output power supply automatically switched OFF Option 9

61 Connection diagram Lo H BYPSS EXT INT Oscillator cceleration Deceleration Speed control Potentiometer Step Current setting Step Directional signal ENBLE ENBLE signal DCV Photoisolator Direction Step sequencer mplifier + B+ B To motor Pulse output DCV Full-step/ half-step setting Voltage range changeover Outline PHSE STEP DRIVER SPECIFICTIONS

62 -Phase STEP DRIVER HB TYPE.8 Switch between Full-Step, Half-Step DC for DC Power Features Specifications utomatic current-down (operation setting at shipping) Model number U9 Output power source.~ Max/use Set by variable resistance (VR)(/phase at shipping) -phase excitation - phase excitation -phase excitation Excitation method ON ON ON (-phase excitation at shipping) Dip switch OFF Dip switch OFF Dip switch OFF Input signal circuit Photo-coupler TLP (Toshiba) Input resistance Ω Connection diagram (as the right side) Photo-coupler input current ranging between m and m -pulse input DIR signal's photo-coupler current and rotation direction Jumper switch rotation rotation -pulse input Input signal Jumper switch Note : Make sure that CCW input photo-coupler current is switched OFF during CW input, and CW input photo-coupler current is switched OFF during CCW input. Never simultaneously input pulse to both CW and CCW. ENBLE Motor is not energized when photo-coupler current is ON. Motor excited when photo-coupler current is OFF. (-pulse input at shipping) Pulse duration of µsec. or more ; rise/fall time of µsec. or less Operation starts when photo-coupler current is switched from ON to OFF. Land for input pulse checking TTL output Output signal Current-setting terminal (IS) Terminal for output current checking. (V) = (/phase) In operation Not in operation mbient temp./humidity In operation In storage ccessories Dip switch ON OFF. This step driver is geared toward motors with significantly greater torque (. times greater than that of our existing models), and contributes to cost efficiency by making possible smaller, lighterweight equipment.. Thanks to photo-coupler-based input, driver signals are electrically insulated, rendering them immune to power source noise.. Driving step angle is.8 per pulse. The dip switch enables changeover between full-step (.8 ) and half-step (.9 ) operation.. The automatic current-down circuit decreases the flow of redundant current to about half the normal rate when the motor is idle, mitigating temperature increases in the motor and driver. The automatic current-down circuit is turned ON/OFF via the dip switch.. The ENBLE function switch the motor drive OFF.. s for driver input signals, jumper switch changeover allows a choice between the CCW & CW pulse input mode (-pluse input) and the pulse rotational direction input mode (-pulse input). 7. The variable resistance feature enables the current to be set arbitrarily up to /phase. 8. This step driver can be installed either vertically or horizontally. Self-certification products, RoHS compliant products Power source (total current consumed) Output current decreases to about % normal rate about sec. after first transition of input pulse. Dip switch ON OFF or lower (non condensing) or lower (non condensing) Connector housing XHP- (JST) piece, XHP-8 (JST) piece ; contact BXH-T-P. (JST) pieces

63 Connection diagram Inside of driver Ω TLP CN(BB-XH- : JST) B B COM COM CN(B8B-XH- : JST) 8 GND 7 DC+V ENBLE + ENBLE PULSE CCW (for -pulse input) (for -pulse input) PULSE+ CCW+ (for -pulse input) (for -pulse input) DIR CW (for -pulse input) (for -pulse input) DIR+ CW+ (for -pulse input) (for -pulse input) Outline IS (RED checking terminal) GND (BLCK checking terminal) CKO(Land) Jumper switch Jumper switch Small Large ON ON side OFF OFFside Dip switch Variable resistance (.) ±. PHSE STEP DRIVER SPECIFICTIONS (.) 8 ±. φ. BB-XH-(JST) XHP-(JST) Mating connector XHP- (JST) attached Name plate included on the reverse side ±. B8B-XH-(JST) XHP-8(JST) Mating connector XHP-8 (JST) attached 7. ±. () 7 ±. Unspecified dimensional tolerance ±.

64 -Phase MICRO STEP DRIVER Quiet and Smooth /8 and / Micro Step vailable DC for DC Power Features Specifications Model number. With the dip switch, the driving step angle can be switched between /8 and / micro steps.. The combination of variable resistance and a dip switch enables motor output current to be set in a range between. and. per phase.. The dip switch enables changeover of output signal between - pulse input (pulse string and direction signal) and -pulse input (CW pulse string and CCW pulse string).. Variable resistance provides for an automatic current-down function that reduces the motor output power ~% when the input pulse is not detected for at least second. This helps to keep the motor and driver from heating up. U9 Power source (total current consumed). Max/VR.~ Max/phase (Set by variable resistance (VR) and dip switch) H./ L.. H.. Output current Power source L setting ON Power source H setting ON (/phase at high setting at shipping) Dip switch OFF Dip switch OFF 8 8 /8 steps ON / steps ON Micro step changeover (/8 steps at shipping) Dip switch OFF Dip switch OFF TLPCW,CCWΩ Input signal circuit Photo-coupler TLP (Toshiba) CW and CCW input Input resistance Ω TLP8 Ω Photo-coupler TLP8 (Toshiba) ENBLE and Driver/Control input Input resistance Ω -pulse input ON DIR signal's photo-coupler current and rotation direction Dip switch OFF rotation rotation.cwccwoff. CCWCWOFF -pulse input ON CW.CCW Dip switch Note : Make sure that CCW input photo-coupler current is switched OFF Input signal OFF during CW input, and CW input photo-coupler current is switched OFF during CCW input. Never simultaneously input pulse to both CW and CCW. ENBLE Motor is not excited when photo-coupler current is ON. Motor is excited when photo-coupler current is OFF. 8KHz8,min (rpm),min (rpm) OFFON (-pulse input at shipping) Max response frequency of 8KHz (,min - (rpm)at 8 micro steps ;,min - (rpm) at micro steps) Operation starts when photo-coupler current is switched from OFF to ON. CKOUT TLP7C-E Terminal for input pulse checking Photo-coupler TLP7 (Toshiba) C-E output LV/.HV./ Outnput signal Current-setting terminal L setting for terminal for output current checking : (V) /phase ; H setting : (V.) /phase.v.%l.h Current-down setting terminal Terminal for current-down checking : (.V +.)% (for both L and H settings) utomatic current-down (setting at shipping : %) VR%OFFON sec Can be set with variable resistance (VR) (setting at ~% possible) ; Output current begins to decrease about sec. after photo-coupler current of input pulse is turned from OFF to ON. C 9%RH mbient Temp./humidity in operation or lower (non condensing) 7 C 9%RH mbient Temp./humidity in storage or lower (non condensing) Press the reset switch after the dip switch has been changed over.

65 Connection diagram Pin ssignment Name CN(B7B XH ) Inside of driver TLP CN(BB XH ) Inside of controller Ω DC+V common CKOUT collector CKOUT emitter Unconnected 7 TLP TLP8 TLP8 TLP7 COM CN(BB XH ) GND DC+V B COM PM B No. Pin No. For -pulse input For -pulse input DIR CW PULSE CCW No. Pin No. ENBLE / Driver/Control DC+V common CKOUT collector CKOUT emitter Pin ssignment Name COM Motor COM COM Motor COM Motor-exciting phase. Motor-exciting phase. B Motor-exciting phase. B B Motor-exciting phase. B Pin ssignment No. Pin No. Name GND DC + V Outline Dip switch Current-down setting terminal Current-setting terminal GND TP 7 ON side OFF side VR for current-down setting VR for current-setting Reset switch Unused VR (Position as desired) (.) ±. PHSE STEP DRIVER SPECIFICTIONS Name plate included on the reverse side (.) ±. ±.. BB XH (JST) XHP (JST) Mating connector XHP- (JST) attached B7B XH (JST) XHP 7(JST) Mating connector XHP-7 (JST) attached BB XH (JST) XHP (JST) Mating connector XHP- (JST) attached 7. ±. 7 CN CN CN () ±. Unspecified dimensional tolerance ±.

66 HB LIST OF MJOR SPECIFICTIONS HYBRID TYPE Model Number Rated Voltage Rated Current Holding Torque Body Size Size Step ngle V/Phase /Phase N m mm Output Shaft Details mm Deg. Basic Model (Kgf cm) in Page Single Dual.7 TS8 N N... (.).7 TS8 N N..7. (.).7 TS8 N N... (.) TS8 N N..7. (.)..7 TS NE NE.8..8 (.8)..7 TS NE NE (.8)..7 TS NE NE...8 (.8) TS NE NE (.8)..7 TS7 NE NE... (.).7 TS7 NE NE.8.7. (.).7 TS7 NE NE.7.. (.).7 TS7 NE NE...8 (.8) 9.7 TS7 NE NE..7.8 (.8) TS7 NE NE.9..8 (.8) 9.7 TS7 NE7 NE7..7. (.) 7.7 TS7 NE8 NE8.9.. (.) 7.7 TS NE NE.9.7. (.) 8..7 TS NE NE... (.) 8..7 TS NE NE..7. (.)..7 TS NE NE... (.) TS NE NE... () 8..7 TS NE NE.8.8. () 8..7 TS NE NE... () 8..7 TS NE NE..8. () 8..7 TS NE NE.8.. () TS NE NE () TS NE NE.8.8. () 8. 8 H.T N m Kgf cm Holding torque is the value at -phase exciting by the rated current. The torque conversion rate is N m Kgf cm

67 DRIVER SPECIFICTIONS FULL-STEP/HLF-STEP Bipolar Pentagon Constant Current Driving MICRO-STEP Model number U9 U9N U98N U99N U9N U97 U9N U9 (Page) (P.8, 8) (P.8, 8) (P.87, 88) (P.89, 9) (P.9, 9) (P.9, 9) (P.9, 9) (P.97, 98) Input power supply DC V V V V Direct current (DC) C 9 V, /Hz, 9V, 8V, lternate current (C) single phase /Hz, /Hz, Max.8 Max. Max Max.8 Max. Max Max Current consumption 8 TS8 9 TS E, E pplicable 7 TS7 E, E motors TS 8 TS P8, 7, P8, 7, P8, 7,7 P77, 78, 8 P78, 8 P8, 7, 7 P78, 8 Pulse rate vs. Torque characteristics 7, 7 7, 7, 77. Max/. Max/. Max/.8 Max/. Max/.±%/. Max/ Driving current Phase Phase Phase Phase Phase Phase Phase Setting of driving current Set by variable resistor Set by digital switches Set by variable resistance Set by digital switches 79% Setting of automatic current-down Reduce to % at stationary Reduce to % at stationary Set by digital switches Set by digital switches Set by digital switches Set by variable resistance Set by digital switches (7~9%) CW.CCWPULSEDIR Input signals Switching of CW CCW pulse input ( clock mode) / PULSE DIR input ( clock mode) FULL/HLF Step angle Switching of FULL/HLF step interpolation Max to the basic step angle Setting of ON/OFF Current-down Fixed ON/OFF switching functions (by dip- HIGH/LOW HIGH/LOW Driving voltage Fixed switching Fixed switching switches) Built-in test Switching of low speed rotation / none Driving pulse OFFONDIRONCW Triggered at the edge of OFF to ON of photo-coupler, CW rotation for ON of DIR input OFF ONOFF Hold-OFF Excitation of motor is OFF for photo-coupler ON. Input signals Switching of micro-step angle Capable of setting kinds of interpolation Capable of setting kinds of interpolation ON/OFF ON/OFF Current-down switching switching.77.on Output signals & Origin reference point Photo-coupler ON for each 7. in case of the basic step angle of.7 C C 9%RH 8RH C 9%RH Operating temperature & humidity Max Max Max 7 C 7 C 9%RH 8RH 7 C 9%RH Storage temperature & humidity Max Max Max PHSE STEP MOTOR SPECIFICTIONS

68 SIZE 8HB TYPE.7 RoHS compliant products. -M Min Depth L 8.. Min. 7.. Model Number Combined driver / Charact. Step Rated Rated Winding Holding Motor Rotor No. of Mass Stacks ngle Voltage Current Resistance Torque Length Inertia Single Shaft Dual Shaft L U9 U9N U9N U97 Deg. V/Phase /Phase Ω/Phase N m mm 7 kg m kg TS8N TS8N TS8N TS8N TS8N TS8N TS8N TS8N Radial play Thrust play.mm Max at the load.9n(.kgf).7mm Max at the load 9.8N(.kgf) Insulation resistance Dielectric strength Operating temperature range Permissible temperature rise MMinat DCV C Vmin 8 MaxResistance method NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 7

69 PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque Driver U9 / U9N Driver U9 Driver U9 / U9N Driver U9 Pull out Torque Curve TS8NN Constant Current Chopper Drive U9N DCV.7PHSE Driver U9N Pull out Torque Curve TS8NN Constant Current Chopper Drive U9N DCV.7PHSE 8(8) Model TS8 N(N) Driver U97 Input Voltage [V] : Phase Current.[] Driver U97 () Model TS8 N(N) Driver U97 Input Voltage [V] : Phase Current.[] PHSE STEP MOTOR SPECIFICTIONS () () () Torque mn m (g cm) () () 8(8) () Torque mn m (g cm) () () () () () () Speed [pps] Speed [pps] 8

70 SIZE 9HB TYPE.7 RoHS compliant products L=Min M..Min Depth 8... ±. 9 ±. ±. ±. (Effective length). ±. ±. L ± ± (Effective length) Model Number Combined driver / Charact. Step Rated Rated Winding Holding Motor Rotor Mass ngle Voltage Current Resistance Torque Length Inertia Single Shaft Dual Shaft L U9 U9N U9N U97 Deg. V/Phase /Phase Ω/Phase N m mm 7 kg m kg TSNE TSNE TSNE TSNE TSNE TSNE TSNE TSNE Radial play Thrust play.mm Max at the load.9n(.kgf).7mm Max at the load 9.8N(.kgf) Insulation resistance Dielectric strength Operating temperature range Permissible temperature rise MMinat DCV C Vmin 8 MaxResistance method NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 9

71 PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque Driver U9 / U9N PHSE CURRENT. :MXIMUM STRTING PULSE RTE Driver U9 INPUT VOLTGE DCV GEN. TEST COND. FULL STEP.7 /STEP HLF STEP. /STEP PHSE CURRENT.7 PULLEY INERTI : g cm.(.).(.).(.).(.) PULSE RTE Driver U9 / U9N PHSE CURRENT. PULSE RTE PHSE CURRENT.7 Driver U9.(.).(.).(.).(.) PULSE RTE PULSE RTE PHSE CURRENT.7 :MXIMUM STRTING PULSE RTE INPUT VOLTGE DCV GEN. TEST COND. :,.7 /STEP :,. /STEP PHSE CURRENT.7 PULLEY INERTI : g cm Driver U9N.(.).(.).(.).(.).(.) PULSE RTE Model TS N(N)E Driver U97 Input Voltage [V] : Phase Current.[] Driver U97.(.) PULSE RTE Model TS N(N)E Driver U97 Input Voltage [V] : Phase Current.[] PHSE STEP MOTOR SPECIFICTIONS.(.).(.).(.).(.).(.).(.).(.).(.).(.) PULSE RTE PULSE RTE 7

72 SIZE 7HB TYPE.7 RoHS compliant products L= Min M.Min Depth.()... ±. ±. ±. ±. (Effective length) ±. L ± ± ±. (Effective length) Model Number Combined driver / Charact. Step Rated Rated Winding Holding Motor Rotor Mass ngle Voltage Current Resistance Torque Length Inertia Single Shaft Dual Shaft L U9 U9N U9N U97 Deg. V/Phase /Phase Ω/Phase N m mm 7 kg m kg TS7NE TS7NE TS7NE TS7NE TS7NE TS7NE TS7NE TS7NE TS7NE TS7NE TS7NE TS7NE TS7NE7 TS7NE TS7NE8 TS7NE Radial play Thrust play.mm Max at the load.9n(.kgf).7mm Max at the load 9.8N(.kgf) Insulation resistance Dielectric strength Operating temperature range Permissible temperature rise MMinat DCV C Vmin 8 MaxResistance method NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 7

73 PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque PHSE CURRENT..(.) (.).(.) (.).(.) Driver U9 / U9N :MXIMUM STRTING PULSE RTE Driver U9 INPUT VOLTGE DCV GEN. TEST COND. FULL STEP.7 /STEP HLF STEP. /STEP PHSE CURRENT.7 PULLEY INERTI : g cm.(.) (.).(.) (.).(.) (.) PULSE RTE (.) PULSE RTE PHSE CURRENT..(.) (.).(.) (.).(.) Driver U9 PHSE CURRENT..(.) (.).(.) (.).(.) Driver U9 / U9N (.) PULSE RTE (.) PULSE RTE PHSE CURRENT.7.(.) (.).(.) (.).(.) (.) PULSE RTE PHSE CURRENT.7.(.) (.).(.) (.).(.) Driver U9 Driver U9 PHSE CURRENT..(.) (.).(.) (.).(.) (.) PULSE RTE PHSE CURRENT..(.) (.).(.) (.).(.) Driver U9 Driver U9 PHSE STEP MOTOR SPECIFICTIONS (.) PULSE RTE 7 (.) PULSE RTE 8 7

74 PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque PHSE CURRENT.7.(.) (.).(.) (.).(.) Driver U9N PHSE CURRENT..(.) (.).(.) (.).(.) GEN. TEST COND. :MXIMUM STRTING PULSE RTE INPUT VOLTGE DCV :,.7 /STEP :,. /STEP PULLEY INERTI : g cm (.) PULSE RTE (.) PULSE RTE PHSE CURRENT.7.(.) (.).(.) (.).(.) PHSE CURRENT..(.) (.).(.) (.).(.) (.) (.) PULSE RTE PULSE RTE PHSE CURRENT.7.(.) (.).(.) (.) PHSE CURRENT..(.) (.).(.) (.).(.) (.) PULSE RTE.(.) (.) PULSE RTE 7

75 PHSE STEP MOTOR SPECIFICTIONS PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque.(.) Model TS7 NNE Driver U97 Input Voltage [V] : Phase Current.[] Driver U97.(.) Model TS7 NNE Driver U97 Input Voltage [V] : Phase Current.[].(.).(.).(.).(.).(.).(.).(.).(.).(.).(.) PULSE RTE PULSE RTE 7

76 SIZE HB TYPE.7 Self-certification products, RoHS compliant products (Effective length). ±. 7. ±. L=Min (Effective length) ±. 7. ± ±. ±.. ±.. ±. L ± Detail of rear shaft (Dual shaft) Model Number Combined driver / Charact. Step Rated Rated Winding Holding Motor Rotor Mass ngle Voltage Current Resistance Torque Length Inertia Single Shaft Dual Shaft L U9 U9N U98N U99N U9N Deg. V/Phase /Phase Ω/Phase N m mm 7 kg m kg TSNE TSNE TSNE TSNE TSNE TSNE TSNE TSNE TSNE TSNE TSNE TSNE Radial play Thrust play.mm Max at the load.9n(.kgf).7mm Max at the load 9.8N(.kgf) Insulation resistance Dielectric strength Operating temperature range Permissible temperature rise MMinat DCV C Vmin 8 MaxResistance method NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 7

77 PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque PHSE CURRENT.7 () Driver U9 :MXIMUM STRTING PULSE RTE INPUT VOLTGE DCV GEN. TEST COND. FULL STEP.7 /STEP HLF STEP. /STEP PHSE CURRENT. PULLEY INERTI : g cm ().().() PULSE RTE PHSE CURRENT.7 () PULSE RTE PHSE CURRENT. ().().() PULSE RTE PHSE CURRENT..8(8) PULSE RTE.() ().() PULSE RTE PHSE CURRENT.7.() Driver U9N GEN. TEST COND. PHSE CURRENT..() :MXIMUM STRTING PULSE RTE INPUT VOLTGE DCV :,.7 /STEP :,. /STEP PULLEY INERTI : g cm PHSE STEP MOTOR SPECIFICTIONS () ().().() () ().().() () () PULSE RTE PULSE RTE 7

78 PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque PHSE CURRENT.7 Driver U9N GEN. TEST COND. PHSE CURRENT. :MXIMUM STRTING PULSE RTE INPUT VOLTGE DCV :,.7 /STEP :,. /STEP PULLEY INERTI : g cm () ().().() PULSE RTE PHSE CURRENT. PULSE RTE () () PULSE RTE PHSE CURRENT.7 () :MXIMUM STRTING PULSE RTE INPUT VOLTGE CV GEN. TEST COND. FULL STEP.7 /STEP HLF STEP. /STEP PHSE CURRENT. PULLEY INERTI : g cm () Driver U98N.() PULSE RTE PHSE CURRENT.7 ().() PULSE RTE PHSE CURRENT. ().().() N PULSE RTE PULSE RTE 77

79 Driver U98N :MXIMUM STRTING PULSE RTE INPUT VOLTGE CV GEN. TEST COND. FULL STEP.7 /STEP HLF STEP. /STEP PULLEY INERTI : g cm PHSE CURRENT..8(8) Driver U99N :MXIMUM STRTING PULSE RTE INPUT VOLTGE CV GEN. TEST COND. FULL STEP.7 /STEP HLF STEP. /STEP PULLEY INERTI : g cm PHSE CURRENT.8.8(8).().() () ().().() PULSE RTE PULSE RTE PHSE CURRENT.7 Driver U9N GEN. TEST COND. PHSE CURRENT. :MXIMUM STRTING PULSE RTE INPUT VOLTGE CV :,.7 /STEP :,. /STEP PULLEY INERTI : g cm () ().().() PULSE RTE PHSE CURRENT.7 PULSE RTE PHSE CURRENT. () ().() PULSE RTE PHSE CURRENT. ().() PULSE RTE PHSE STEP MOTOR SPECIFICTIONS () PULSE RTE 78

80 SIZE HB TYPE.7 Self-certification products, RoHS compliant products. (Effective length) ±. L=Min (Effective length) ±. ±. ± ±. 8 ±.. ±. 7. L ± Detail of rear shaft (Dual shaft) ±. ±. Detail of shaft end (Front and back) Model Number Combined driver / Charact. Step Rated Rated Winding Holding Motor Rotor Mass ngle Voltage Current Resistance Torque Length Inertia Single Shaft Dual Shaft L U98N U99N U9N Deg. V/Phase /Phase Ω/Phase N m mm 7 kg m kg TSNE TSNE () TSNE TSNE () TSNE TSNE () TSNE TSNE () TSNE TSNE ().. - Radial play Thrust play.mm Max at the load.9n(.kgf).7mm Max at the load 9.8N(.kgf) Insulation resistance Dielectric strength Operating temperature range Permissible temperature rise MMinat DCV C Vmin 8 MaxResistance method NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 79

81 PULSE RTE VS TORQUE CHRCTERISTICSPull-out Torque PHSE CURRENT. () () :MXIMUM STRTING PULSE RTE INPUT VOLTGE CV GEN. TEST COND. FULL STEP.7 /STEP HLF STEP. /STEP PHSE CURRENT. PULLEY INERTI :.8 kg cm () Driver U98N () () PULSE RTE () () () () PULSE RTE PHSE CURRENT.8 () () () Driver U99N PHSE CURRENT.8 7(7) () () () PULSE RTE :MXIMUM STRTING PULSE RTE INPUT VOLTGE CV GEN. TEST COND. FULL STEP.7 /STEP HLF STEP. /STEP PULLEY INERTI :.8 kg cm PHSE CURRENT.8 () () () () () () () () PULSE RTE () PULSE RTE PHSE CURRENT. () :MXIMUM STRTING PULSE RTE INPUT VOLTGE CV GEN. TEST COND. :,.7 /STEP :,. /STEP PHSE CURRENT. PULLEY INERTI : g cm () Driver U9N PHSE STEP MOTOR SPECIFICTIONS () () () () () () () () () PULSE RTE () PULSE RTE 8

82 7,, SIZE -PHSE STEP MOTOR ENCODERS High accuracy and high torque. Being equipped with an angle sensor, both step-out detection and closed loop control are possible. Lineup of step motor encoders C/T Size Phase Resolution Basic model of step motor encoder Outline (Basic model of applied step motor) 7 TS7 TS7 TS TS TS TS Outlines and specifications of relevant encoders are given in the next page. Note :. ll of the above types are conformable to Open Collector Output and Line Driver Output.. Do not allow the surface temperature of the motor to rise above 8 C to protect the encoder. Model designation of step motor encoders Basic model of step motor encoder N.E Number(s) after N and E of the model number of the above applied step motors Option, B Open Collector Output Signal, B, B C/T Line Driver Output Signal, B, B, Z Open Collector Output Signal, B, Z, B, Z Line Driver Output Signal, B, Z 8

83 Outline (Section of encoder) Common Shielded Cable Step motor Common Common. Unless otherwise specified, tolerance is ±.mm NOTE :. For dimensions of the step motor, see p.7ff. Performance Operating Temp. Supply Current Code Response Frequency a.b.c.d Phase Shift Moment of Inertia 8 DCV m Max (Open Collector Output) m Max (Line Driver Output), B Incremental Phase, B 8kHz Max /P /8P 7 kgm Max ENCODER ONLY Specifications of applied encoder Resolution Phase Resolution Option,C/T Encoders with,c/t are available. Z Possible to add phase Z (Index). Phase focusing with excitation phase of a motor is possible. Form of output Open collector V Output Circuit Max llow. Output Volt. Max llow. Output Curr. Rise Time, Fall Time V m Line driver SC Equivalent to SC. sec Max Output Circuit MCIDBT.I DC.V Min Output Signal DC.V Max m Max Sinking Current Typical Rise Time, Fall Time sec Max B B a b c d CW CW, viewed from shaft end P P a b c d H L H L B CW CW, viewed from shaft end Diode FMN (Rohm) 7 OUTPUT Output wave form measuring Circuit Vcc.B.B FMP (Rohm) Connection Function Color DCV Red GND Black Phase Green B Phase Yellow Phase (White) Connection Function Color DCV Red GND Blue Phase Brown Phase Orange B Phase Yellow B Phase Gray Phase (Green) Phase (Clear) PHSE STEP MOTOR ENCODER SPECIFICTIONS 8

84 -Phase STEP DRIVER Self-certification products, RoHS compliant products DC for DC Power Special Features DC V (DC V Max.),. /phase Max Exciting mode of FULL/HLF step Capable of switching the input signals of pulse mode & pulse mode utomatic current-down function Low price Small size and light weight Specifications Power supply DCV Max(Total consumption of current) Output current./ (./phase at shipping). Max/ phase CP-CP [V] [/] RV. / The voltage corresponding to the output current is transmitted between CP-CP. ([V]=[/phase]) Capable of setting the current to desired value in ~./phase by the variable resistor RV..7 /STEP. /STEP Excitaiton mode (Full step :.7 /STEP) (Half step :. /STEP) - -phase excitation ON - - phase excitation (- phase excitation pattern at shipping) Dip-switch OFF Dip-switch Input signal circuit 9 Ω Photo-coupler, input resistance : 9Ω (Refer to the connection diagram) DIR -pulse input ON Photo-coupler current of DIR signal & rotation direction PULSE Dip-switch ON CW rotation DIR OFF OFF CCW rotation OFF Input signal -pulse input ON CW. CCW CW Dip-switch Note : Photo-coupler current that is not applied by any input pulse should be OFF. CCW OFF The input pulse of CW and CCW should not be applied simultaneously. ON Non-exciting for the photo-coupler current ON. Enable OFF Exciting for the photo-coupler current OFF. μ sec μ sec Pulse width : µs Min, Rising-up time : µs, Max μ sec 7 Kpps Pulse interval : µs Min, Pulse frequency : 7 Kpps Max (-pulse input at shipping) 8 V,8. V Pulse voltage : "" =~8V, ""= -8~.V OFFON Triggered at the edge of OFF to ON of photo-coupler current % utomatic current-down The output current at stationary is reduced down to approx. % of operation. C 8% RH Operating temperature & humidity ~ C 8% RH Max (non condensing) 9g Mass pproximately 9g 8 Items Specifications ON OFF

85 Connection diagram No. Name Pin No. pulse input pulse input PULSE CW PULSE CW DIR CCW DIR CCW Enable + Enable Pin No. Name DCV m Max Output Power supply DC7V Power supply DC7V Power supply GND Power supply GND Motor lead : Blue 7 Motor lead : Red 8 Motor lead : Orange 9 Motor lead : Green Motor lead : Black Inside of controller DC+V (PULSE) (DIR) () (Enable) Inside of driver 9Ω 9Ω 9Ω DC+V (m Max.) Output DC+7V Power supply GND Blue EPhase E Phase Black Red D Phase D BPhase B Green -phase step motor Orange C Phase C CN(BB-XH-) CN(BB-XH-) Outline drawing BB-XH- (JST) XHP- (JST) Mating connector XHP- (JST) attached RV φ. CP CP ON DIP SW CN OFF (77) 8 ±. 9 CN ±. () BB-XH- (JST) XHP- (JST) Mating connector XHP- (JST) attached Name plate on rear surface 8 ±. 7. ±. () Unit of all dimensions is mm. PHSE STEP DRIVER SPECIFICTIONS 8

86 RoHS compliant products -Phase STEP DRIVER DC for DC Power Special Features Input DC V (DC V Max.),. /phase Max Excitation-based FULL/HLF step driving Capable of switching the input signals of pulse mode & pulse mode utomatic current-down function Low price Small size and light weight Specifications 8 Items Specifications Power supply DCV.8 Max(Total consumption of current) Output current./ (./phase at shipping).. Max/ phase CP+CP. [V]. [/] RUN.. / Voltage corresponding to output power is applied between CP+ and CP. (.[V]=.[/phase]) The variable resistance RUN allows current to be set arbitrarily within a tange of. ~./phase..7 /STEP. /STEP Excitation mode (Full step :.7 /STEP) (Half step :. /STEP) - -phase excitation ON - - phase excitation (- phase excitation pattern at shipping) Dip-switch OFF Dip-switch Input signal circuit 7 Ω Photo-coupler, input resistance : 7Ω (Refer to the connection diagram) DIR -pulse input ON Photo-coupler current of DIR signal & rotation direction PULSE Dip-switch ON CW rotation DIR OFF OFF CCW rotation OFF Input signal -pulse input ON CW. CCW CW Dip-switch Note : Photo-coupler current that is not applied by any input pulse should be OFF. CCW OFF The input pulse of CW and CCW should not be applied simultaneously. ON Non-excitation for the photo-coupler current ON. Enable OFF Excitation for the photo-coupler current OFF. μ sec μ sec Pulse width : µs Min, Rising-up time : µs Max μ sec 7 Kpps Pulse interval : µs Min, Pulse frequency : 7 Kpps Max (-pulse input at shipping) V,. V Pulse voltage : "" =~V, ""= -~.V OFFON Triggered at the edge of OFF to ON of photo-coupler current % utomatic current-down The output current at stationary is reduced down to approx. % of operation. C 8% RH Operating temperature & humidity ~ C 8% RH Max (non condensing) ON OFF

87 Connection diagram No. Name Pin No. pulse input pulse input PULSE CW PULSE CW DIR CCW DIR CCW Enable + Enable Inside of driver Pin No. Name Motor lead : Blue Motor lead : Red Motor lead : Orange Motor lead : Green Motor lead : Black Pin No. Name DCV V 7Ω Inside of controller DC+V CN Inside of driver CN CN DC+V GND Blue EPhase E Phase Black Red D B Phase D Phase B Green Orange C Phase C Outline drawing XP-V- (JST) Mating connector XP-V- (JST) attached Name plate. Lot No. CK FH ON DIP SW 7 ±. ±. 7 XP-- (JST) Mating connector XP-- (JST) attached XP-- (JST) Mating connector XP-- (JST) attached Unspecified demensional tolerance : ±. MX PHSE STEP DRIVER SPECIFICTIONS 8

88 RoHS compliant products -Phase MICRO STEP DRIVER C for C Power Special Features C V,. /phase Max Maximum interpolution of basic step angle Setting the value of auto-current-down by digital switch Capable of setting the switching of driving voltage Effective built-in test function Specifications Items Specifications 87 Power supply CVV /Hz. Max Output current./ (./phase at shipping) Driving type Input signal Output signal M Setting of micro-step interpolation (M: at shipping) C Setting of driving current (Setting C at shipping) utomatic current-down (Setting at shipping). / Rated current :. Max/phase SWRUN.. / Capable of setting the current to. ~./phase by the digital switch "RUN" Bipolar pentagon constant current drive Signal name Functional description Input resistance F Pulse signal input for clock mode F CW CW rotation input for clock mode ohms R Rotational direction input for clock R CCW CCW rotation input for clock ohms H.O OFF Motor exciting OFF control signal H.O OFF "" for motor exciting OFF 9 ohms. μ sec μ sec Pulse width :.µs, Min., Rising-up time : µs, Max.. μ sec Kpps Pulse interval :.µs, Min., Pulse frequency : Kpps Max. 8 V 8. V Pulse voltage : "" for ~ 8V & "" for 8 ~. V OFFON Triggerd at the edge of OFF (Logic "") to ON (Logic "") of photo-coupler current RCCW CCW rotation with CCW input of "" in -clock system Signal name Functional description Output resistance Z.P Output signal of exciting at origin Z.P ON DCVm (Photo-coupler ON, DCV, m Min) ohms []ON.77. This signal is ON at the exciting sequence of [] and is transmitted at each 7. degrees for the step motor with.7 steps. (/rotation) When the micro-step angle is changed after the power supply is turned on, it may not be transmitted. SW M Set the interpolation by digital SW M M Set No Interpolation 8 8 (Note ). B C D E F. When the setting of micro-step interpolating No. is ".", /-interpolate low-frequency driving takes place inside. SW RUN The output current to the motor in rotation is set by the digital switch "RUN" to select from the table below. Set No RUN 8 () Current() B C D E F SW STOP RUNms The output current to the motor at stationary is set by the digital switch "STOP" to select from the table below. The value is set by the percent to RUN current. The current decreases at approx. ms after the last pulse. Set No STOP 8 % 7 8. B C D E F F 9 F 9 F B C D E B C D E B C D E

89 D C B D C B D C B MDE IN JPN Items Specifications No. Symbol Function ON OFF pps TEST Built-in test function Rotating at pps Normal operation No.ON OFF Setting of dip-switches (No. is ON, the others are OFF at shipping) Operating temperature & humidity Mass / CK Switching of clock clock mode clock mode C.D utomatic current-down Invalid Valid L/HV Swiching drive-voltage High speed & torque Normal operation. When the setting of micro-step interpolating Enable to use OFF for use No. is ".", /-interpolate low-frequency driving takes place inside. C 8% RH ~ C 8% RH Max. (non condensing) 7g pproximately 7g (Note ) (Note ) ON Front surface Connection diagram Description of wiring No. Pin No. Function Motor with leads Motor with leads Motor lead Blue Blue + Black Motor lead Red Red + Brown Motor lead Orange Purple + Orange Motor lead Green Yellow + Green Motor lead Black White + Gray L C V Power supply N C V Power supply F.G Frame ground Inside of controller DC+V Example of connection DC+V Terminal board F+ F R+ R Ditto H.O+ H.O Z.P+ Z.P Inside of driver Ω 9Ω Ω Terminal board L N F.G Black Blue E Phase Phase D Phase Green CV CV Frame ground C Phase Red B Phase Orange Outline drawing D.S "No." at shipping Unit of all dimensions is mm. E F STOP E F RUN ± 7 ± E F M L/HV C.D /CK TEST ON ±. ±. ± 7 ± 9 ± 9. + F POWER + R + H.O + Z.P F.G C L V. N DRIVER TYPE U98N LOT No. TMGW SEIKI CO.,LTD Basic step angle Note Micro-step angle for pulse = Number of interpolation For example, in case of the basic step angle of.7 and the number of interpolation of 8,.7 Micro-step angle for pulse = =.9 deg. 8 PPS No.ONCCWOFFCW Note : pprox. pps is generated inside, regardless of splits setting; CCW rotation when the dip switch No. is ON, and CW rotation when the dip switch No. is OFF. L/HV Note : In case of using high speed & torque of L/HV, take good care of the heating-up of the motor. PHSE STEP DRIVER SPECIFICTIONS 88

90 RoHS compliant products -Phase MICRO STEP DRIVER C for C Power Special Features C V,.8 /phase Max Maximum interpolution of basic step angle Large capacity for output power Setting the value of auto-current-down by digital switch Capable of setting the switching of driving voltage Effective built-in test function Specifications 89 Items Specifications Power supply CVV /Hz. Max Output current.8/ (.8/phase at shipping) Driving type Input signal Output signal MM Setting of micro-step interpolation (M:, M: at shipping) C Setting of driving current (Setting C at shipping) utomatic current-down (Setting at shipping).8 / Rated current :.8 Max/phase SWRUN..8 / Capable of setting the current to. ~.8/phase by the digital switch "RUN" Bipolar pentagon constant current drive Signal name Functional description Input resistance F Pulse signal input for clock mode F CW CW rotation input for clock mode ohms R Rotational direction input for clock R CCW CCW rotation input for clock ohms H.O OFF Motor exciting OFF control signal H.O OFF "" for motor exciting OFF 9 ohms C.D utomatic current-down function is invalid for "" C.D No.ONOR ON, or function for D.S "No." 9 ohms D.S Interpolation selection "" for M D.S MM & "" for M 9 ohms. μ sec μ sec Pulse width :.µs Min, Rising-up time : µs Max. μ sec Kpps Pulse interval :.µs Min, Pulse frequency : Kpps Max 8 V 8. V Pulse voltage : "" for ~ 8V & "" for 8 ~. V OFFON Triggerd at the edge of OFF (Logic "") to ON (Logic "") of photo-coupler current RCCW CCW rotation with CCW input of "" in -clock system Signal name Functional description Output resistance Z.P Output signal of exciting at orign Z.P ON DCVm (Photo-coupler ON, DCV, mmin.) ohms []ON.77. This signal is ON at the exciting sequence of [] and is transmitted at each 7. degrees for the step motor with.7 steps. (/rotation) When the micro-step angle is changed after the power supply is turned on, it may not be transmitted. SW MM Set the interpolation by digital SW M, M Set No Interpolation 8 8 (Note ) M M. B C D E F 8 8. When the setting of micro-step interpolating No. is ".", /-interpolate low-frequency driving takes place inside. SW RUN The output current to the motor in rotation is set by the digital switch "RUN" to select from the table below. Set No RUN 8 () Current() B C D E F SW STOP RUNms The output current to the motor at stationary is set by the digital switch "STOP" to select from the table below. The value is set by the percent to RUN current. The current decreases at approx. ms after the last pulse. Set No STOP 8 % 7. B C D E F F B C D E F 9 F 9 F B C D E B C D E B C D E

91 D C B D C B D C B D C B MDE IN JPN Items Specifications No. Symbol Function ON OFF pps TEST Built-in test function Rotating at pps Normal operation No.ON OFF Setting of dip-switches (No. is ON, the others are OFF at shipping) Operating temperature & humidity Mass / CK Switching of clock clock mode clock mode C.D utomatic current-down Invalid Valid L/HV Swiching drive-voltage High speed & torque Normal operation. OP When the setting of micro-step interpolating Enable to use OFF for use No. is ".", /-interpolate low-frequency driving takes place inside. C 8% RH ~ C 8% RH Max. (non condensing).kg pproximately.kg (Note ) (Note ) ON Front surface Connection diagram Description of wiring No. Pin No. Function Motor with leads Motor with leads Motor lead Blue Blue + Black Motor lead Red Red + Brown Motor lead Orange Purple + Orange Motor lead Green Yellow + Green Motor lead Black White + Gray L C V Power supply N C V Power supply F.G Frame ground Inside of controller DC+V Example of connection DC+V Terminal board F+ Ditto F R+ R H.O+ H.O C.D+ C.D D.S+ D.S Z.P+ Z.P Inside of driver Ω 9Ω Ditto Ditto Ω Terminal board L N F.G Blue E Phase Phase Black Red D B Phase Phase C Green Phase Orange CV CV Frame ground ttached parts BL./BL.8/B BL7./B Connector housing : Made by Weidüller BL./, BL.8/B, BL7./B : piece for each Outline drawing Unit of all dimensions is mm. E F STOP E F RUN E F M E F M ON OP L/HV C.D /CK TEST 7..8 MOTOR F R C.D H.O D.S Z.P POWER L C-V. N F.G DRIVER TYPE U99N LOT No. TMGW SEIKI CO.,LTD Basic step angle Note Micro-step angle for pulse = Number of interpolation For example, in case of the basic step angle of.7 and the number of interpolation of 8,.7 Micro-step angle for pulse = =.9 deg. 8 PPS No.ONCCW OFFCW Note : pprox. pps is generated inside, regardless of splits setting; CCW rotation when the dip switch No. is ON, and CW rotation when the dip switch No. is OFF. L/HV Note : In case of using high speed & torque of L/HV, take good care of the heating-up of the motor. PHSE STEP DRIVER SPECIFICTIONS 9

92 Special Features Specifications 9 RoHS compliant products DC V. /phase Max Setting the value of auto-current-down by digital switch Effective built-in test function Maximum interpolution of basic step angle Items Specifications Power supply DCV Max Output current./ (./phase at shipping) Driving type Bipolar pentagon constant current drive Signal name Functional description Input resistance CW Pulse signal input for clock mode CW CW rotation input for clock mode ohms CCW Rotational direction input for clock CCW CCW rotation input for clock ohms Input signal H.O D.S OFF Motor exciting OFF control signal Micro-step interpolation selection H.O D.S OFF "" for motor exciting OFF "" for M & "" for M 9 ohms 9 ohms. μ sec μ sec Pulse width :.µs Min, Rising-up time : µs Max. μ sec Kpps Pulse interval :.µs Min, Pulse frequency : Kpps Max 8 V 8. V Pulse voltage : "" for ~ 8V & "" for 8 ~. V OFFON Triggerd at the edge of OFF (Logic "") to ON (Logic "") of photo-coupler current CCWCCW CCW rotation with CCW input of "" in -clock system Signal name Functional description Output resistance Z.P Origin exciting output signal ohms Z.P ON Switched ON while origin is being excited []ON.77. Output signal This signal is ON at the exciting sequence of [] and is transmitted at each 7. degrees for the step motor with.7 steps. When the micro-step angle is changed after the power supply is turned on, it may not be transmitted. SW M SW MM For micro-step driving of one type only, set the number interpolution using the digital SW M. MM For micro-step driving of two types (i.e. when changing speed for going and returning in reciprocating motion), set respective numbers of interpolation using the digital SW M and M. Setting of micro-step interpolation (M:, M: at shipping) C Setting of driving current (Setting C at shipping) utomatic current-down (Setting at shipping) -Phase MICRO STEP DRIVER. / Rated current :. Max/phase SWRUN.. / Capable of setting the current to. ~./phase by the digital switch "RUN" Set No Interpolation 8 8. B C D E F DC for DC Power (Note ). When the setting of micro-step interpolating No. is ".", /-interpolate low-frequency driving takes place inside. SW RUN The output current to the motor in rotation is set by the digital switch "RUN" to select from the table below. Set No RUN 8 () Current() B C D E F SW STOP RUNms The output current to the motor at stationary is set by the digital switch "STOP" to select from the table below. The value is set by the percent to RUN current. The current decreases at approx. ms after the last pulse. Set No STOP 8 % 7 8. B C D E F M F 9 F 9 F B C D E B C D E B C D E

93 C C C C Items Specifications OFF Setting of dip-switches (LL OFF) Operating temperature & humidity Mass No. Symbol Function ON OFF TS pps Built-in test function Rotating at pps Normal operation CK Switching of clock clock mode clock mode C.D utomatic current-down Invalid Valid OP OFF Disable OFF for use C 8% RH ~ C 8% RH Max. (non condensing) g pproximately g (Note ) ON Connection diagram Inside of controller DC+V Example of connection CW+.CW CCW+.CCW H.O+.H.O D.S+.D.S Z.P+.Z.P Terminal board Ditto Ditto Inside of driver Ω 9Ω ttached parts Connector housing : Made by MOREX Inc. 9-, 9-, 9- one piece each Contact pin : Made by MOREX Inc pieces Outline drawing Terminal board +DCV V Blue E Phase Phase Black Red D B Phase Phase C Green Phase Orange pin connector (-) Pin ssignment No. Pin No. Explanation of function DC V Power supply V pin Connector (-)Pin ssignment No. Pin No. Signal name CW CW CCW CCW H.O H.O 7 D.S 8 D.S 9 Z.P Z.P pin Connector (-) Pin ssignment Description of wiring No. Pin No. Motor with leads Motor with leads Blue Blue + Black Red Red + Brown Orange Purple + Orange Green Yellow + Green Black White + Gray Name plate Unit of all dimensions is mm. MOTOR SIGNL DS STOP F B D E RUN M M F B D E 7 9 F B D E 7 9 F B D E POWER. ± 7 ± 98 ± ±. ± 8mm Keep the height of electronic parts packaging 8mm or less 8 ± ±. PPS No.ONCCWOFFCW Note : Basic step angle Micro-step angle for pulse = Number of interpolation Note : pprox. pps is generated inside, regardless of splits setting ; CCW rotation when the dip switch No. is ON, and CW rotation when the dip switch No. is OFF. 9 PHSE STEP DRIVER SPECIFICTIONS

94 RoHS compliant products -Phase MICRO STEP DRIVER DC for DC Power Special Features DC V,. /phase Max Setting the value of auto-current-down by digital switch Effective built-in test function Maximum interpolution of basic step angle Specifications 9 Items Specifications Power supply DCV.8 Max Output current./ (./phase at shipping) Driving type Setting of micro-step interpolation (Setting at shipping)./ Setting of driving current (Setting./Phase at shipping) % utomatic current-down (Setting % at shipping) LL OFF Setting of dip-switches (ll switches are OFF at shipping) Operating temperature & humidity. ±%/ Rated current :. ±%/phase RUN. ±%/ The variable resistance RUN allows current to be set arbitrarily with in a tange of. ±%/phase. Bipolar pentagon constant current drive Signal name Functional description Input resistance CW Pulse signal input for clock mode CW CW rotation input for clock mode ohms CCW Rotational direction input for clock CCW CCW rotation input for clock ohms H.O OFF Motor exciting OFF control signal H.O OFF "" for motor exciting OFF 9 ohms Input signal. μ sec μ sec Pulse width :.µs Min, Rising-up time : µs, Max. μ sec Kpps Pulse interval :.µs Min, Pulse frequency : Kpps Max 8 V 8. V Pulse voltage : "" : ~ 8V "" : 8 ~. V OFFON Triggerd at the edge of OFF (Logic "") to ON (Logic "") of photo-coupler current CCWCCW CCW rotation with CCW input of "" in -clock system OFF Photo-coupler current that is not applied by any input pulse should be OFF. CWCCW The input pulse of CW and CCW should not be applied simultaneously. µsec llow µ sec or more to reverse the direction. Signal name Functional description Output resistance Z.P Origin exciting output signal Z.P ON Switched ON while origin is being excited ohms Output signal []ON.77. This signal is ON at the exciting sequence of [] and is transmitted at each 7. degrees for the step motor with.7 steps. When the micro-step angle is changed after the power supply is turned on, it may not be transmitted. SW Set the number interpolution using the digital SW M. Set No Interpolation 8 8. B C D E F (Note ). When the setting of micro-step interpolating No. is ".", /-interpolate low-frequency driving takes place inside. RUN RUN CD ON / The output current to the motor in rotation is set by the variable resistance "RUN". STOP % RUNms The current when the motor stop is set to ~% of driving current by changeable resistance. The value is set by the percent to RUN current. The current decreases at spprox. ms after the last pulse. No. Symbol Function ON OFF TS pps Built-in test function Rotating at pps Normal operation (Note ) CK ON Switching of clock clock mode clock mode C.D utomatic current-down Invalid Valid OP OFF Enable to use OFF for use C 8% RH ~ C 8% RH Max. (non condensing) DSW F E STOP B C D

95 Connection diagram Inside of controller DC+V Example of connection CW+. CW CCW+. CCW DC+V HO+. HO Terminal board Ditto Inside of driver Ω 9Ω Terminal board +DCVV V ttached parts XP-V-. XP-V-. XP-8V- (JST) Connector housing : XP-V-. XP-V-. XP-8V-(JST) piece each BX-T-P. (JST) Contact pin : BX-T-P. (JST) piece Blue E Phase Phase Black Red D B Phase Phase C Green Phase Orange ZP+. ZP 7 8 pin connector Pin ssignment No. Pin No. Explanation of function DC V Power supply V pin Connector Pin ssignment Description of wiring No. Pin No. Motor with leads Motor with leads Blue Blue + Black Red Red + Brown Orange Purple + Orange Green Yellow + Green Black White + Gray 8 pin Connector (-)Pin ssignment No. Pin No. Signal name CW CW CCW CCW H.O H.O 7 Z.P 8 Z.P Outline drawing Unit of all dimensions is mm. Name plate. G CP RUN STOP ±. PHSE DRIVER U97 TMGW SEIKI CO.,LTD. ROHS MDE IN JPN ON DSW CN CN 7 ±. 7 CN 8 8 MX Basic step angle Note Micro-step angle for pulse = Number of interpolation For example, in case of the basic step angle of.7 and the number of interpolation of 8,.7 Micro-step angle for pulse = =.9 deg. 8 PPS No.ONCCWOFFCW Note : pprox. pps is generated inside, regardless of splits setting; CCW rotation when the dip switch No. is ON, and CW rotation when the dip switch No. is OFF. 9 PHSE STEP DRIVER SPECIFICTIONS

96 RoHS compliant products Special Features Specifications 9 Output signal When the micro-step angle is changed after the power supply is turned on, it may not be transmitted. SW M SW MM For micro-step driving of one type only, set the number interpolution using the digital SW M. MM For micro-step driving of two types.(i.e. when changing speed for going and returning in reciprocating motion) set respective numbers of interpolation using the digital SW M and M. Setting of micro-step interpolation (M:, M: at shipping) C Setting of driving current (Setting C at shipping) utomatic current-down (Setting at shipping) C V,. /phase Max Driving voltage switching function Setting the value of auto-current-down by digital switch Effective built-in test function Maximum interpolution of basic step angle Items Specifications Power supply C9V /Hz. Max Output current.8/ (.8/phase at shipping) Driving type Input signal -Phase MICRO STEP DRIVER. / Rated current :. Max/phase SWRUN.. / Capable of setting the current to. ~./phase by the digital switch "RUN" Bipolar pentagon constant current drive Signal name Functional description Input resistance CW Pulse signal input for clock mode CW CW CW rotation input for clock mode ohms CCW Rotational direction input for clock CCW CCW CCW rotation input for clock ohms H.O OFF Motor exciting OFF control signal H.O OFF "" for motor exciting OFF 9 ohms D.S Interpolation selection "" for M D.S MM & "" for M 9 ohms C.D utomatic current-down function is invalid for "" C.D ON, or function for D.S "No." 9 ohms. μ sec μ sec Pulse width :.µs Min, Rising-up time : µs Max. μ sec Kpps Pulse interval :.µs Min, Pulse frequency : Kpps Max 8 V 8. V Pulse voltage : "" for ~ 8V & "" for 8 ~. V OFFON Triggerd at the edge of OFF (Logic "") to ON (Logic "") of photo-coupler current CCWCCW CCW rotation with CCW input of "" in -clock system CDCDSWON Current-down is not performed when either C.D signal or C.D dip-switch is ON. Signal name Functional description Output resistance Z.P Output signal of exciting at origin Z.P ON (Photo-coupler ON, DCV, m Min) ohms []ON.77. This signal is ON at the exciting sequence of [] and is transmitted at each 7. degrees for the step motor with.7 steps. Set No Interpolation 8 8. B C D E F C for C Power (Note ) M 8. When the setting of micro-step interpolating No. is ".", /-interpolate low-frequency driving takes place inside. SW RUN The output current to the motor in rotation is set by the digital switch "RUN" to select from the table below. Set No RUN 8 () Current() B C D E F SW STOP RUNms The output current to the motor at stationary is set by the digital switch "STOP" to select from the table below. The value is set by the percent to RUN current. The current decreases at approx. ms after the last pulse. Set No STOP 8 % 7. B C D E F F B C D E M F 9 F 9 F B C D E B C D E B C D E

97 D C B D C B D C B D C B MDE IN JPN Items Specifications No. Symbol Function ON OFF pps TEST Built-in test function Rotating at pps Normal operation / CK No.ON Switching of clock clock mode clock mode OFF C.D utomatic current-down Invalid Valid Setting of dip-switches L/HV Swiching drive-voltage High speed & torque Normal operation (No. is ON, the others are OFF at shipping). Operating temperature & humidity Mass OP When the setting of micro-step interpolating No. is ".", /-interpolate low-frequency driving takes place inside. C 8% RH ~ C 8% RH Max. (non condensing) 7g pproximately 7g Enable to use OFF for use Front surface (Note ) ON (Note ) Connection diagram Inside of controller DC+V Example of connection CW+.CW CCW+.CCW DC+V H.O+.H.O D.S+.D.S C.D+.C.D Z.P+.Z.P Ditto Ditto Ditto B B B B B 8 B8 Inside of driver Ω 9Ω ttached parts FCN-JO-U Connector, manufactured by Fujitsu, FCN-J-U : piece Terminal board C C F.G Blue E Phase Phase Black Red D B Phase Phase C Green Phase Orange (Top view) B CV CV Frame ground Pin assignment of signal connector No. No. Pin No. Signal name Pin No. Signal name CW B CW CCW B CCW C.D B C.D H.O B H.O D.S B D.S NC B NC 7 NC B7 NC 8 Z.P B8 Z.P 7 8 Description of wiring No. Pin No. Function Motor with leads Motor with leads Motor lead Blue Blue + Black Motor lead Red Red + Brown Motor lead Orange Purple + Orange Motor lead Green Yellow + Green Motor lead Black White + Gray L C V Power supply N C V Power supply F.G Frame ground Outline drawing E F STOP ± E ± 7 ± F RUN E F M E F M OP L/HV C.D /CK TEST ±. ± ± 9 ± ±. ± Unit of all dimensions is mm. POWER SIG C C F.G Name plate DRIVER TYPE U9N LOT No. TMGW SEIKI CO.,LTD Basic step angle Note Micro-step angle for pulse = Number of interpolation For example, in case of the basic step angle of.7 and the number of interpolation of 8,.7 Micro-step angle for pulse = =.9 deg. 8 PPS No.ONCCWOFFCW Note : pprox. pps is generated inside, regardless of splits setting; CCW rotation when the dip switch No. is ON, and CW rotation when the dip switch No. is OFF. L/HV Note : In case of using high speed & torque of L/HV, take good care of the heating-up of the motor. PHSE STEP DRIVER SPECIFICTIONS 9

98 Specifications 97 RoHS compliant products Special Features Items Specifications Power supply C8V /Hz Max Output current./ (./phase at shipping) Driving type Input signal Output signal MM Setting of micro-step interpolation (M:, M: at shipping) C Setting of driving current (Setting C at shipping) utomatic current-down (Setting at shipping) -Phase MICRO STEP DRIVER C V,. /phase Max Driving voltage switching function Large capacity for output power Setting the value of auto-current-down by digital switch Effective built-in test function Maximum interpolution of basic step angle. / Rated current :. Max/phase SWRUN.. / Capable of setting the current to. ~./phase by the digital switch "RUN" Bipolar pentagon constant current drive C for C Power Out of production Successor : U98 Signal name Functional description Input resistance F Pulse signal input for clock mode F CW CW rotation input for clock mode ohms R Rotational direction input for clock R CCW CCW rotation input for clock ohms H.O OFF Motor exciting OFF control signal H.O OFF "" for motor exciting OFF 9 ohms C.D utomatic current-down function is invalid for "" C.D No.ONOR ON, or function for D.S "No." 9 ohms D.S Interpolation selection "" for M D.S MM & "" for M 9 ohms. μ sec μ sec Pulse width :.µs Min, Rising-up time : µs Max. μ sec Kpps Pulse interval :.µs Min, Pulse frequency : Kpps Max 8 V 8. V Pulse voltage : "" for ~ 8V & "" for 8 ~. V OFFON Triggerd at the edge of OFF (Logic "") to ON (Logic "") of photo-coupler current RCCW CCW rotation with CCW input of "" in -clock system Signal name Functional description Output resistance Z.P Output signal of exciting at orign Z.P ON DCVm (Photo-coupler ON, DCV, m Min) ohms []ON.77. This signal is ON at the exciting sequence of [] and is transmitted at each 7. degrees for the step motor with.7 steps. (/rotation) When the micro-step angle is changed after the power supply is turned on, it may not be transmitted. SW MM Set the interpolation by digital SW M, M Set No Interpolation 8 8 (Note ) M M. B C D E F 8 8. When the setting of micro-step interpolating No. is ".", /-interpolate low-frequency driving takes place inside. SW RUN The output current to the motor in rotation is set by the digital switch "RUN" to select from the table below. Set No RUN 8 () Current() B C D E F SW STOP RUNms The output current to the motor at stationary is set by the digital switch "STOP" to select from the table below. The value is set by the percent to RUN current. The current decreases at approx. ms after the last pulse. Set No STOP 8 % 7 8. B C D E F F B C D E F 9 F 9 F B C D E B C D E B C D E