Know How What is Step Motor? Special features of Step Motors Applications Kinds of Step Motors Definitions of terms for Step Motors Driving mode of a

Transcription

1 Catalogue No.T1-1648N5

2 Know How What is Step Motor? Special features of Step Motors Applications 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 5-Phase Step Motors Wiring diagram Exciting sequence Selection procedures for Step Motors Selection by torque calculation Basic equations An 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 Specifications of motors Step Motor Encoders Specifications of drivers 5-Phase Step Motors / Drivers List of major specifications Specifications of motors Step Motor Encoders Specification of drivers 1

3 WHAT 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. SPECIAL FEATURES 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 3 APPLICATION Position Elevation APPLICATION X-Y Table Transport Lifting table Position Speed Speed For tape feeder of chip mounter Wire belt work Transport Rotation Position Index table Position Motor roller conveyor Speed Speed

5 Single axis actuator for FA For driving satellite mounted equipment KNOW HOW For driving in fusion pump Surveilance camera Driver "AU99 series" applicable to phase stepper motor. Exclusive setup software can be downloaded free from here. Easy trial operation is possible. 4

6 5 KINDS OF STEP MOTORS VRPMHB VR PM Detent Torque HB VRPM Rotating Type Linear Type There are many kinds of Step Motors. Only rotating types are listed in this catalogue. VR,PM and HB types are widely used. VARIABLE RELUCTANCE 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. PERMANENT MAGNET 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 PM PM Type VR VR Type VR VR Type HB HB Type.45,.9, 1.8 phases / Step Angle phases / Step Angle phases 4 4 phases Multi-Stack Type, 4, 45, 9, 4, Multi-poles / Step Angle Distribution Type 3 4, 1.8, 7.5, 15 3 phases4 phases / Step Angle

7 DEFINITIONS OF TERMS FOR STEP MOTORS JEM-TR Extracted from JEM-TR KNOW HOW Items Terms Symbols Units Definitions 1 3 Winding resistance Winding inductance Rotor inertia R DC resistance of stator winding for one phase L mh Maximum value of inductance of stator winding for one phase JM kg m Moment of rotor inertia related to its axis GD JM 4 4 Detent torque Td N m 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.also it is called non-exciting holding torque or residual torque. 6 Step angle a (deg.) Theoretical rotational angle of shaft corresponding to one command pulse in defined exciting sequence. 7 Basic step angle f (deg.) The step angle when it is driven by 1-phase exciting. VR For VR type : 36 f m Z PMHB For PM type and HB type : 36 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 A Nominal winding current defined in considering the saturation of magnetic circuit, temperature rise, etc. 9 Rated voltage VR V Applied voltage necessary to flow its rated current. VRR IR 1 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. Also it is called maximum static torque. 11 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. Also 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. 6

8 7 Items Terms Symbols Units Definitions 1 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. 13 Maximum response frequency fm pulse/s Maximum input pulse frequency that can operate synchronously in no load condition. 14 Starting torque Ts N m Maximum load torque that can start itself at a certain input pulse frequency. 15 Starting torque characteristics Ts (fp) N m Characteristic curve of starting torque related to input pulse frequency. Also it is called as starting characteristics. 16 Maximum starting torque Tsm N m 1pulse/s Maximum starting torque under input pulse frequency below 1pulse/s. 17 Pull-out torque To N m Maximum torque that can operate synchronously at a certain input pulse frequency. 18 Pull-out torque characteristics To (fp) A Characteristic curve of pull-out torque related to input pulse frequency. Also it is called as sluing characteristics. 19 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 seltarting region. Also it is called slue region. 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. 1 Pulse rate vs. inertia characteristics f SL (JL) pulse/s fsl JL 1 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 )

9 Items Terms Symbols Units Definitions Characteristic curve of generating torque related to the input pulse frequency (pulse rate). KNOW HOW Th Tsm (N m)t Ts To Pulse rate vs. torque characteristics T ( f p) N m fp (pps) fm Holding torque : Th Maximum starting torque : Tsm 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 3 Angle accuracy The accuracy of rotating angle, depending on (1) Static angle error () Step angle error 4 Static angle error p % 36 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 36 and the average of maximum absolute positive and negative values is defined as static angle error and represented as follows. ij p 1(%) s 8

10 9Error Items Terms Symbols Units Definitions p : Static angle error (%) i : (iis) Maximum positive value (i is)(deg.) j : (jjs) Maximum negative value (j js) (deg.) s : Theoretical step angle(deg.) 4 Static angle error p % (deg.) j Rotating angle i 36 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 36 and their maximum positive and negative values are defined as angle error and represented as follows. 5 Step angle error s % i s 1(%) s and j s 1(%) s s : Step angle error (%) i : Maximum positive value ( ii1s) (= i i 1 s)(deg.) j : Maximum negative value ( jj1s) (= j j 1 s)(deg.) s : Theoretical step angle(deg.) 6 Hysteresis error h z (deg.) Maximum difference in all static angle errors between CCW and CW rotation of motor shaft.

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. 1/16,,1/56) by means of controlling the winding current. Also this driving technique is called as Micro-step or Mini-step driving. KNOW HOW 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. (1) 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 A 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. An encoder may be used for detecting the rotational angle. 1

12 11 DRIVING MODE OF A STEP MOTOR 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. An 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. Also the damping characteristic can be improved by a mechanical damper. DC power supply Block diagram Oscillator Driver Optional optical encoder (or tachometer) 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 Step Motor In this method, step motors are driven in 1/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 1. UNIPOLAR A COM A M KNOW HOW 1.1 One phase driving Insert voltage into a single phase coil regularly. 1. Two phase driving Insert voltage into -phase coil regularly. 1.3 One-two phase driving Insert voltage into one phase or two phases alternately.. BIPOLAR The voltage with different polarity to be inserted to the -phase coil shall be changed alternately in turn. 5-Phase Step Motor B COM A A B M B B Wiring diagram Exciting sequence Blue Black E Phase D Phase Green C Phase A Phase B Phase Orange Red Blue Red Orange Green Black 4-phase exciting pattern Blue Red Green Green Black 4-5 phase exciting pattern 1

14 13 SELECTION PROCEDURES FOR STEP MOTORS Selection by torque calculation NG Decision of driving mechanism Determination of performance Calculation of load torque Calculation of moment of inertia Determination of speed pattern Calculation of accelerating torque Calculation of motor torque Comparison with pulse rate vs. torque characteristics End OK 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. Calculate necessary torque to drive the load. Calculate the moment of inertia converted to the motor axis for the driving mechanism and weight of work. Determine the speed pattern by using the distance of movement and its required time. Calculate the acceleration torque by using the speed pattern and moment of inertia. 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 Driving mechanism Factor Resolution (Unit movement) & step angle Speed & pulse frequency Basic equation Belt driving mechanism Timing Belt Timing pulley J1 J3 Roller SELECTION J Ball screw driving mechanism Gear Work J J5 Table J1 J4 J3 Ball screw Rotational speed and pulse frequency at the final stage Moving distance & number of pulses Total moment of inertia applied to motor axis Resolution (Unit step) Unit movement at the final stage Step angle Reduction gear ratio Lead pitch 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 Moving distance Required time 14

16 15Equations of load torque Driving by ball screw Driving by pulley FA W Gear FA F D W FA W D Driving by wire/belt Driving by rack & pinion Method of direct measurement D Axial load Pressurized load Friction coefficient of pressurized nut (.1 ~.3) Efficiency (.85 ~.95) Reduction gear ratio Lead pitch External force W D FB FA F Starting force of main shaft Total weight of work and table Friction coefficient of slipping surface (.5) Inclination Diameter of final stage pulley Acceleration of gravity

17 Equations of moment of inertia Moment of inertia of cylinder y D1 x Moment of inertia of hollow cylinder x D1 y D SELECTION Moment of inertia related to the axis not to pass its center of gravity C A x y x B Distance between x-axis and x-axis Moment of inertia of rectangular solid x A B y C Moment of inertia of a linear moving solid Unit movement Density Iron Aluminum Brass Nylon 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 Mass Density Outer diameter Length Inner diameter 16

18 17Calculation of required torque TM [N m] Calculation of load torque TL [N m] 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 [N m] Acceleration torque means the necessary torque to operate during acceleration and deceleration. Case of self-starting operation : Acceleration torque Case of accelerating or decelerating : Acceleration torque Calculation of required torque TM [N m] 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. Required torque= (Load torque + Acceleration 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. Torque TM TL Moment of rotor inertia Total moment of inertia Step angle Operating pulse frequency Starting pulse frequency Acceleration (Deceleration) time 3.6 /s Pull-out torque Torque usable for acceleration f [pps] Pulse rate

19 AN EXAMPLE 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 5-phase step motor. Pulley 1 Work Step motor Pulley Mechanical specifications and requirements Total mass of belt and work Diameter of pulley 1 & Thickness of pulley 1 & Material of pulley 1 & Iron Friction coefficient of work guide Efficiency of belt & pulley Resolution of positioning Movement for once Positioning time Operating pattern 471mm/sec SELECTION Calculate the resolution necessary to the motor. Positioning resolution per 1 pulse (1.8 /step) is as follows : 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. (PPS) Movement at a time Number of pulsespulses Movement per 1 pulse Calculate the pulse frequency. Number of pulses, P Pulse frequency Positioning time, t For transmitting 6 pulses in 1 second, the pulse frequency of 6 pps is needed. f t1 The pattern for acceleration and deceleration operation should be determined. Assuming that the time for acceleration and deceleration is.5 second respectively, calculate the pulse frequency as follows : Number of pulses Pulse frequency, f Positioning time, t Acc/Dec time, t1 P t (S) 18

20 19Calculate the necessary operating torque. Calculate the load torque. Linear load Acceleration torque Load torque Calculate the moment of inertia. 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 and equations above. Moment of rotor inertia, J Necessary operating torque, TM TS313N3EAU911 Draw the necessary performances on the pulse rate vs. torque characteristics curve. Considering the chart below, it is capable to operating in combination with TS313N3E and AU911. Calculate the acceleration torque. Moment of inertia of the pulley 1 (JD1) Calculate the necessary operating torque. Safety factor Necessary Moment of inertia of the pulley (JD) operating torque (1).8(8).6(6) (TM=.4).4(4) Torque N m (kgf cm).() (f=1 3 ) (f=8pps) 1 4 Half Step Pulse Rate (PPS)

21 Conversion Table for Moment of Inertia A B lb ft lb ft s 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 x x x lb ft s x x x x x 1 4 SELECTION lb in x x x x x x lb in s x x x x 1 3 oz in 4.34 x x x x x x oz in s x x x x kg cm.373 x x x x x kg cm s x x x g cm.373 x x x x x x x x 1 3 g cm s.37 x x x x Conversion Table for Torque B A lb ft lb in oz in dyne cm N m mn m kg cm g cm lb ft x x x 1 4 lb in x x x x 1 3 oz in 5.8 x x x x x dyne cm x x x x x 1 3 N m x 1 4 mn m x x x kg cm 7.33 x x x g cm 7.33 x x x x x

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23 CAUTIONS FOR HANDLING 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 1. After opening the package, the products should be examined visually if there are any cracks or other defects on their external appearance at first. And confirm that right products are delivered. CAUTION Cautions for transporting and mounting 1. 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. 3. 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. 4. 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 1. 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. 3. 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 1. 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. 3. All performances of the motors should be used within their specifications. 4. Step motors may develop resonance state. In this case, keep them away from the resonance points. 5. 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. 6. 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.

24 LIST OF MAJOR SPECIFICATIONS HB HYBRID TYPE Size mm Step Angle Deg. Model Number Rated Voltage V / Phase Rated Current A / Phase Holding Torque N m (kgf cm) Body Size mm Details in Page TSP15N (55) W15HL /1.8 TSP15N (1) W15HL4 TSP15N (16) W15HL51 7, 8 TS369N1,N (.13) TS369N41,N (.17) 3 TS369N,N (.4) , 3 TS369N4,N (.3) 46.5 TS3641N1E1,N11E (.5) TS3641N1E,N11E (.6) TS3641NE3,N1E (.9) , TS314N (1.8) 354. TS314N (.58) TS314N (1.) 354. TS314N (.58) TS3636N (.4) TS3636N (.68) TS (.35) 397. TS316N (.33) , 34 35, 36 TS (.5) TS3166N (.5) TS3166N (.5) , 38 TS3166N (.8) TS3139N (.85) 393. TS3139N (.) TS3617N1E1,N11E (1.6) 433 TS3617N1E,N11E (1.6) 433 TS3617N1E3,N11E (1.6) 433 TS3617NE4,N1E (.6) TS3617NE5,N1E (.6) 439 TS3617NE6,N1E (.6) , 4 TS3617NE7,N1E (.6) 439 TS3617N3E8,N13E (3.) 447 TS3617N3E9,N13E (3.) 447 TS3617N3E1,N13E (3.) Hi Torque 4 Gearhead 46 5 Hi Torque 1.8 TS3617N5,N (3.5) 441 TS3617N53,N (4.9) 449 TS3617N54,N (7.5) TS3631N1E (7.5) TS3631N18E (9.) 458. TS (.45) TS318N (.45) TS3118N (.35) TS361N1,N (3.) 54 TS361N,N (6.5) , 4 43, 44 45, 46 47, 48 3

25 Size mm Step Angle Deg. Model Number Rated Voltage V / Phase Rated Current A / Phase Holding Torque N m (kgf cm) Body Size mm Details in Page TS369N1E1,N11E (4.5) TS369N1E,N11E (4.5) TS369N1E3,N11E (4.5) TS369NE4,N1E (9.5) TS369NE5,N1E (9.5) , 5 TS369NE6,N1E (9.5) TS369N3E7,N13E (14.5) TS369N3E8,N13E (14.5) Hi Torque 1.8 TS369N3E9,N13E (14.5) TS3653N1E1,N11E (3.9) TS3653N1E,N11E (3.9) TS3653N1E3,N11E (3.9) TS3653NE4,N1E (9.) TS3653NE5,N1E (9.) TS3653NE6,N1E (9.) TS3653N3E7,N13E (13.5) TS3653N3E8,N13E (13.5) , 5 PHASE STEP MOTOR SPECIFICATIONS TS3653N3E9,N13E (13.5) TS3653N4E1,N14E1. 5. (.) TS366N1E1,N11E (7.5) TS366N1E,N11E (7.5) TS366N1E3,N11E (7.5) TS366NE4,N1E (13.5) Hi Torque 1.8 TS366NE5,N1E (13.5) 654 TS366NE6,N1E (13.5) 654 TS366N3E7,N13E (17.) 665 TS366N3E8,N13E (17.) , 54 TS366N3E9,N13E (17.) 665 TS366N4E1,N14E (.) 685 TS366N4E11,N14E (.) 685 TS366N4E1,N14E (.) (5.) TS3684N1E3,N11E (35.) (35.) 86 Hi Torque 1.8 TS3684NE6,N1E (55.) (78.) (78.) , (75.) TS3684N3E8,N13E (16.) (16.) 4

26 APPLICABLE DRIVER Unipolor type 5

27 Bipolor type PHASE STEP MOTOR SPECIFICATIONS 6

28 HB TYPE Small diameter-type M 4.5 Depth 4.5 Min. mm Dimension mm 4.5 ±. ±. 18 ± Model Number Step Angle Deg. Half Step Rated Voltage V/Phase 1.5 ±. 15 ±. 1.5 ±1 L ±1 Rated Current A/Phase Winding Resistance lnductance Holding Torque mh/phase mn m(gf cm) L Motor Length mm Rotor Inertia x1 7 kg m (6) + Mass kg TSP15N (55) TSP15N (1) TSP15N (16) Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.1mm Max at the load Thrust play 9.87N(1.kgf).5mm Max at the load Radial play.451n(.5kgf) 8 MaxResistance method Permissible temperature rise 7

29 WIRING DIAGRAM BIPOLAR (A) Blue (A) Red PM CW CW rotation from output shaft end. Step Red Yellow Blue White 1 (B) Yellow (B) White 3 4 PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TSP15N1 Torque mnmgfcm 5(5) 4(4) Constant Current Driver DC4V.65A/ DC4V.65A/Phase Half Step PHASE STEP MOTOR SPECIFICATIONS 3(3) () 1(1) TSP15N Torque mnmgfcm 1(1) Constant Current Driver SPEEDPPS DC4V.65A/ DC4V.65A/Phase Half Step 5(5) TSP15N3 Torque mnmgfcm () 15(15) Constant Current Driver SPEEDPPS DC4V.65A/ DC4V.65A/Phase Half Step 1(1) 5(5) SPEEDPPS 8

30 SIZE 8HB TYPE RoHS compliant products Model Number Single Shaft Dual Shaft Step Angle Deg. Rated Voltage V/Phase Rated Current A/Phase 4-M Min Depth 7 Winding Resistance lnductance Holding Torque mh/phase N m(kgf cm) L 1 L Motor Length mm Rotor Inertia x1 7 kg m Min Mass kg Winding Type TS369N1 TS369N (.13) TYPE TS369N41 TS369N (.17) TYPE 1 TS369N TS369N (.4) TYPE TS369N4 TS369N (.3) TYPE 1 5 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.75mm Max at the load Thrust play 9.87N(1.kgf).3mm Max at the load Radial play 4.94N(.5kgf) 8 MaxResistance method Permissible temperature rise NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 9

31 WIRING DIAGRAM TYPE 1 BIPOLAR Blue Red PM CW CW rotation from output shaft end. Step Blue White Red Yellow White Yellow 1 3 TYPE Blue UNIPOLAR Black Red Orange PM Green PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque CW CW rotation from output shaft end. Step Blue Orange Red Green Black ON ON COM 1 ON ON COM ON ON COM 3 ON ON COM ON ON COM PHASE STEP MOTOR SPECIFICATIONS TS369N1(N11) Torque mn m (gf cm) 1(1) 1(1) Constant Current Driver DC4V.35A/ DC4V.35A/Phase Half Step TS369N(N1) Torque mn m (gf cm) 5(5) () Constant Current Driver DC4V.35A/ DC4V.35A/Phase Half Step 8(8) 6(6) 4(4) 15(15) 1(1) () 5(5) Speed (PPS) Speed (PPS) Torque mn m (gf cm) 16(16) 14(14) TS369N41(N51) Constant Current Driver DC4V.35A/ DC4V.35A/Phase Half Step Torque mn m (gf cm) 4(4) 35(35) TS369N4(N5) Constant Current Driver DC4V.35A/ DC4V.35A/Phase Half Step 1(1) 3(3) 1(1) 5(5) 8(8) () 6(6) 15(15) 4(4) 1(1) () 5(5) Speed (PPS) Speed (PPS) 3

32 SIZE 11HB TYPE RoHS compliant products 4-M.6 3Min Depth LMin Model Number Single Shaft Dual Shaft Step Angle Deg. Rated Voltage V/Phase 8..5 L 1 Rated Current A/Phase Winding Resistance lnductance mh/phase Holding Torque N m(kgf cm) L Motor Length mm 1 1 Rotor Inertia x1 7 kg m Mass kg TS3641N1E1 TS3641N11E (.5) TS3641N1E TS3641N11E (.6) TS3641NE3 TS3641N1E (.9) Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.75mm Max at the load Thrust play 9.8N(1.kgf).5mm Max at the load Radial play 4.9N(.5kgf) 8 MaxResistance method Permissible temperature rise NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 31

33 WIRING DIAGRAM UNIPOLAR Black Yellow Green PM CW CW rotation from output shaft end. Step Black Red Green Blue Yellow White ON ON COM COM 1 ON ON COM COM ON ON COM COM Red White Blue 3 ON ON COM COM ON ON COM COM PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS3641N1E1 Torque N m (kgf cm).5(.5).4(.4) Constant Current Driver DC4V 1.5A/ DC4V 1.5A/Phase Half Step PHASE STEP MOTOR SPECIFICATIONS.3(.3).(.).1(.1) Pulse Rate (PPS) TS3641N1E Torque N m (kgf cm).6(.6).5(.5).4(.4) Constant Current Driver DC4V.95A/ DC4V.95A/Phase Half Step.3(.3).(.).1(.1) Torque N m (kgf cm).8(.8).6(.6) Pulse Rate (PPS) TS3641NE3 Constant Current Driver DC4V 1.4A/ DC4V 1.4A/Phase Half Step.4(.4).(.) Pulse Rate (PPS) 3

34 SIZE 14HB TYPE RoHS compliant products -M3 LMin Model Number Step Angle Deg. Rated Voltage V/Phase Rated Current A/Phase Winding Resistance lnductance mh/phase Holding Torque N m(kgf cm) 18.5 (L=5.4max) 4.5 (L=4max) L Motor Length mm Rotor Inertia x1 7 kg m L Mass kg Winding Type TS314N (1.8) TYPE 1 TS314N (.58) TYPE TS314N (1.) TYPE TS314N (.58) TYPE 1 4 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.mm Max at the load Thrust play 8.8N(.9kgf).mm Max at the load Radial play 4.9N(.5kgf) 8 MaxResistance method Permissible temperature rise NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 33

35 WIRING DIAGRAM TYPE 1 BIPOLAR Blue Red PM CW CW rotation from output shaft end. Step Blue White Red Yellow White Yellow 1 3 TYPE UNIPOLAR Blue Black Red PM Yellow White Green PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque CW CW rotation from output shaft end. Step Blue Yellow Red Green Black White ON ON COM COM 1 ON ON COM COM ON ON COM COM 3 ON ON COM COM ON ON COM COM PHASE STEP MOTOR SPECIFICATIONS TS314N1 DC4V 1.A/ Torque N m (kgf cm) Constant Current Driver DC4V 1.A/Phase.15(1.5).1(1) Half Step TS314N13 DC4V.19A/ Torque N m (kgf cm) Constant Current Driver DC4V.19A/Phase.5(.5).4(.4).3(.3).5(.5).(.).1(.1) Pulse Rate (PPS) Pulse Rate (PPS) TS314N15 DC4V.19A/ Torque N m (kgf cm) Constant Voltage Driver DC4V.19A/Phase.1(1).8(.8).6(.6).4(.4).(.) Half Step TS314N16 DC4V.35A/ Torque N m (kgf cm) Constant Current Driver DC4V.35A/Phase.5(.5).4(.4).3(.3).(.).1(.1) Half Step Pulse Rate (PPS) Pulse Rate (PPS) 34

36 SIZE 15HB TYPE 33 4 AWG 6 UL161 Low Vibration RoHS compliant products R3.5 R3.3 NAME PLATE Model Number Step Angle Deg. Rated Voltage V/Phase Rated Current A/Phase 4 Winding Resistance lnductance mh/phase Holding Torque N m(kgf cm) L.4 L Motor Length mm Rotor Inertia x1 7 kg m Mass kg TS3636N (.4) TS3636N (.68) Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.5mm Max at the load Thrust play 4.9N(.5kgf).mm Max at the load Radial play.5n(.5kgf) 8 MaxResistance method Permissible temperature rise NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 35

37 WIRING DIAGRAM BIPOLAR Blue Red PM CW CW rotation from output shaft end. Step Blue Red White Yellow White Yellow 1 3 PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque PHASE STEP MOTOR SPECIFICATIONS TS3636N DC4V.375A/ Torque N m (kgf cm).7 Constant Current Driver DC4V.375A/Phase.6 Half Step TS3636N3 DC4V.375A/ Torque N m (kgf cm).7 Constant Current Driver DC4V.375A/Phase.6 Half Step Pulse Rate (PPS) Pulse Rate (PPS) 36

38 SIZE 16HB TYPE RoHS compliant products -M3 Min Model Number Step Angle Deg. Rated Voltage V/Phase Rated Current A/Phase 39.3 Winding Resistance lnductance mh/phase 18.5 (L=, 5.5, 7mm) 4.5 (L=3.5, 37mm) Holding Torque N m(kgf cm) L Motor Length mm 6 L Rotor Inertia x1 7 kg m Mass kg Winding Type TS (.35) TYPE 1 TS316N (.33). 1.1 TYPE TS (.5). 1.1 TYPE 1 TS3166N (.5) TYPE 1 TS3166N (.5) TYPE 1 TS3166N (.8) TYPE TS3139N (.85) TYPE TS3139N () TYPE 1 Shaft length is 16.5mm 5 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.mm Max at the load Thrust play 8.8N(.9kgf).mm Max at the load Radial play 4.9N(.5kgf) 8 MaxResistance method Permissible temperature rise NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 37

39 WIRING DIAGRAM TYPE 1 BIPOLAR Blue PM CW CW rotation from output shaft end. Step Blue White Red Yellow Red 1 TYPE UNIPOLAR Blue Black Red White PM Yellow Yellow White Green PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque 3 CW CW rotation from output shaft end. Step Blue Yellow Red Green Black White ON ON COM COM 1 ON ON COM COM ON ON COM COM 3 ON ON COM COM ON ON COM COM PHASE STEP MOTOR SPECIFICATIONS TS316N1 DC1V Torque N m (kgf cm) Constant Voltage Driver DC1V.5(.5).(.).15(.15).1(.1).5(.5) TS3166N18 DC35V.8A/ Torque N m (kgf cm) Constant Current Driver DC35V.8A/Phase.4(.4) Half Step.3(.3).(.).1(.1) Pulse Rate (PPS) Pulse Rate (PPS) TS3166N DC8.8V Torque N m (kgf cm) Constant Voltage Driver DC8.8V.6(.6).5(.5) Half Step TS3139N13 DC3V.4A/ Torque N m (kgf cm) Constant Current Driver DC3V.4A/Phase.(.).4(.4).3(.3).1(1.).(.).1(.1) Pulse Rate (PPS) Pulse Rate (PPS) 38

40 SIZE 17HB TYPE RoHS compliant products Min Model Number Single Shaft Dual Shaft Step Angle Deg. Rated Voltage V/Phase Rated Current A/Phase 4-M3 4.5Min Depth Winding Resistance lnductance mh/phase 15.5 (Effective length).5 Holding Torque N m(kgf cm) 15.5 L 1 L Motor Length mm 15 1 (Effective length) Rotor Inertia x1 7 kg m TS3617N1E1 TS3617N11E (1.6) TS3617N1E TS3617N11E (1.6) TS3617N1E3 TS3617N11E (1.6) TS3617NE4 TS3617N1E (.6) TS3617NE5 TS3617N1E (.6) TS3617NE6 TS3617N1E (.6) TS3617NE7 TS3617N1E (.6) TS3617N3E8 TS3617N13E (3.) TS3617N3E9 TS3617N13E (3.) TS3617N3E1 TS3617N13E (3.) Mass kg 5 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.75mm Max at the load Thrust play 9.8N(1kgf).mm Max at the load Radial play 4.9N(.5kgf) 8 MaxResistance method Permissible temperature rise NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. WIRING DIAGRAM UNIPOLAR Black Yellow PM CW CW rotation from output shaft end. Step Black Red Green Blue Yellow White Green ON ON COM COM 1 ON ON COM COM ON ON COM COM 39 Red White Blue 3 ON ON COM COM ON ON COM COM

41 PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS3617N1E1,N11E1 Torque N m (kgf cm) Constant Current Driver DC4V.95A/ DC4V.95A/Phase TS3617N1E,N11E Torque N m (kgf cm) Constant Current Driver DC4V.4A/ DC4V.4A/Phase.() Half Step.() Half Step.1(1).1(1) TS3617N1E3,N11E3 Torque N m (kgf cm) 1 4 Pulse Rate (PPS) DC1V/ Constant Voltage Driver DC1V/Phase Pulse Rate (PPS) TS3617NE4,N1E4 DC4V 1.A/ Torque N m (kgf cm) Constant Current Driver DC4V 1.A/Phase.().1(1) Half Step Pulse Rate (PPS) TS3617NE5,N1E5 DC4V.8A/ Torque N m (kgf cm) Constant Current Driver DC4V.8A/Phase.().1(1) Half Step Pulse Rate (PPS) TS3617NE6,N1E6 DC1V/ Torque N m (kgf cm) Constant Voltage Driver DC1V/Phase PHASE STEP MOTOR SPECIFICATIONS.() Half Step.() Half Step.1(1).1(1) Pulse Rate (PPS) TS3617NE7,N1E7 DC4V/ Torque N m (kgf cm) Constant Voltage Driver DC4V/Phase Pulse Rate (PPS) TS3617N3E8,N13E8 DC4V 1.A/ Torque N m (kgf cm) Constant Current Driver DC4V 1.A/Phase.() Half Step.4(4) Half Step.1(1).3(3).() Pulse Rate (PPS) TS3617N3E9,N13E9 DC4V.8A/ Torque N m (kgf cm) Constant Current Driver DC4V.8A/Phase.1(1) Pulse Rate (PPS) TS3617N3E1,N13E1 DC1V/ Torque N m (kgf cm) Constant Voltage Driver DC1V/Phase.4(4) Half Step.() Half Step.3(3).().1(1).1(1) Pulse Rate (PPS) Pulse Rate (PPS) 4

42 SIZE 17HB TYPE High torque RoHS compliant products Min M3 4.5Min Depth 15.5 (Effective length) 15.5 (Effective length) L Model Number Single Shaft Dual Shaft Step Angle Deg. Rated Voltage V/Phase Rated Current A/Phase Winding Resistance lnductance mh/phase Holding Torque N m(kgf cm) L Motor Length mm Rotor Inertia x1 7 kg m Mass kg TS3617N5 TS3617N (3.5) TS3617N53 TS3617N (4.9) TS3617N54 TS3617N (7.5) Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.75mm Max at the load Thrust play 4.9N(.5kgf).mm Max at the load Radial play 4.9N(.5kgf) 8 MaxResistance method Permissible temperature rise NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 41

43 WIRING DIAGRAM UNIPOLAR Black Yellow Green PM CW CW rotation from output shaft end. Step Black Red Green Blue Yellow White ON ON COM COM 1 ON ON COM COM ON ON COM COM Red White Blue 3 ON ON COM COM ON ON COM COM PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS3617N5,N6 Torque Nm(kgfcm).4(4.).35(3.5).3(3.).5(.5).(.).15(1.5).1(1.).5(.5) DC4V 1.A/ Constant Current Driver DC4V 1.A/Phase Full step Half step Pulse Rate(pps) TS3617N53,N63 Torque Nm(kgfcm).5(5.).45(4.5).4(4.).35(3.5).3(3.).5(.5).(.).15(1.5).1(1.).5(.5) DC4V 1.A/ Constant Current Driver DC4V 1.A/Phase Full step Half step Pulse Rate(pps) PHASE STEP MOTOR SPECIFICATIONS TS3617N54,N64 Torque Nm(kgfcm).8(8.).7(7.).6(6.).5(5.).4(4.).3(3.).(.).1(1.) Constant Current Driver DC4V 1.A/ DC4V 1.A/Phase Full step Half step Pulse Rate(pps) 4

44 SIZE 17HB TYPE Gearhead RoHS compliant products Model Number Gear Ratio Step Angle Deg. Rated Voltage V/Phase Rated Current A/Phase Winding Resistance 4-M3 Depth lnductance mh/phase HoldingTorque N m(kgf cm) L Motor Length mm Rotor Inertia x1 7 kg m Mass kg TS3631N1E (7.5) TS3631N18E (9.) Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.5mm Max Thrust.1mm Max Radial 8 Max Permissible temperature rise 45 Max Backlash NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 43

45 WIRING DIAGRAM UNIPOLAR Black Yellow Green PM Red White Blue CW CW rotation from output shaft end. Step Black Red Green Blue Yellow White ON ON COM COM 1 ON ON COM COM ON ON COM COM 3 ON ON COM COM ON ON COM COM PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque PHASE STEP MOTOR SPECIFICATIONS TS3631N1E1 TS3631N18E1 Torque N m (kgf cm) Constant Current Driver DC4V.95A/Phase Torque N m (kgf cm) Constant Current Driver DC4V.95A/Phase Rotation speed Rotation speed Pulse speed Full step Pulse speed Full step 44

46 SIZE 18HB TYPE RoHS compliant products M (Effective Depth).5 46 Min 1.8 Model Number Step Angle Deg. Rated Voltage V/Phase Rated Current A/Phase L max Winding Resistance lnductance mh/phase Holding Torque N m(kgf cm) L Motor Length mm Rotor Inertia x1 7 kg m Mass kg Winding Type TS (.45) TYPE 1 TS318N (.45) TYPE 1 TS3118N (.35) TYPE 4 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.5mm Max at the load Thrust play 4.9N(.5kgf).mm Max at the load Radial play.5n(.5kgf) 8 MaxResistance method Permissible temperature rise NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 45

47 WIRING DIAGRAM TYPE 1 BIPOLAR Blue PM CW CW rotation from output shaft end. Step Blue White Red Yellow Red 1 TYPE UNIPOLAR Blue Black Red White PM Yellow Yellow White Green PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque 3 CW CW rotation from output shaft end. Step Blue Yellow Red Green Black White ON ON COM COM 1 ON ON COM COM ON ON COM COM 3 ON ON COM COM ON ON COM COM PHASE STEP MOTOR SPECIFICATIONS TS318 DC4V.5A/ Torque N m (kgf cm) Constant Current Driver DC4V.5A/Phase.5(.5) TS318N5 DC1V Constant Voltage Driver DC1V Torque N m (kgf cm).(.) Half Step.4(.4).3(.3).(.).1(.1).1(.1) Pulse Rate (PPS) Pulse Rate (PPS) TS3118N35 DC1V Torque N m (kgf cm) Constant Voltage Driver DC1V.4(.4).3(.3).(.).1(.1) Pulse Rate (PPS) 46

48 SIZE HB TYPE High torque RoHS compliant products Effective length) 15.5 Min Effective length) Model Number Single Shaft Dual Shaft Step Angle Deg. Rated Voltage V/Phase 5.5 Rated Current A/Phase Winding Resistance lnductance mh/phase.5 Holding Torque N m(kgf cm) L 1 L Motor Length mm 16 1 Rotor Inertia x1 7 kg m Mass kg TS361N1 TS361N (3.) TS361N TS361N (6.5) Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.75mm Max at the load Thrust play 4.9N(.5kgf).5mm Max at the load Radial play 4.9N(.5kgf) 8 MaxResistance method Permissible temperature rise NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 47

49 WIRING DIAGRAM UNIPOLAR Black Yellow Green PM CW CW rotation from output shaft end. Step Black Red Green Blue Yellow White ON ON COM COM 1 ON ON COM COM ON ON COM COM Red White Blue 3 ON ON COM COM ON ON COM COM PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS361N1,N11 Torque Nm(kgfcm).5( 5).4(4) DC4V.A/ Constant Current Driver DC4V.A/Phase Half Step PHASE STEP MOTOR SPECIFICATIONS.3(3).().1(1) Pulse Rate(pps) TS361N,N1 Torque Nm(kgfcm).8(8).7(7).6(6).5(5).4(4).3(3).().1(1) Constant Current Driver DC4V.A/ DC4V.A/Phase Half Step Pulse Rate(pps) 48

50 SIZE 3HB TYPE High torque RoHS compliant products Min Effective length) Effective length) L Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.75mm Max at the load Thrust play 9.8N(1kgf).5mm Max at the load Radial play 4.9N(.5kgf) WIRING DIAGRAM Model Number Single Shaft Black Black/White Orange/White Orange Dual Shaft Step Angle Deg. TYPE 1 UNIPOLAR (NOTE1) PM Rated Voltage V/Phase Rated Current A/Phase 8 MaxResistance method Permissible temperature rise NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. CW CW rotation from output shaft end. Step Winding Resistance Black lnductance mh/phase Red Holding Torque N m(kgf cm) Orange Yellow L Motor Length mm Rotor Inertia x1 7 kg m TS369N1E1 TS369N11E (4.5) TS369N1E TS369N11E (4.5) TS369N1E3 TS369N11E (4.5) TS369NE4 TS369N1E (9.5) TS369NE5 TS369N1E (9.5) TS369NE6 TS369N1E (9.5) TS369N3E7 TS369N13E (14.5) TS369N3E8 TS369N13E (14.5) TS369N3E9 TS369N13E (14.5) Mass Red/White connects Black/White connects with Yellow/White with Orange/White ON ON 1 ON ON ON ON 3 ON ON kg 49 Red Red/White Yellow Yellow/White 4 ON ON Note1) Black/White connects with Orange/White Red/White connects with Yellow/White

51 PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS369N1E1,N11E1 Torque Nm(kgfcm).7(7).6(6).5(5) Constant Current Driver DC4V 1.A/ DC4V 1.A/Phase Full step Half step TS369N1E,N11E Torque Nm(kgfcm).7(7).6(6).5(5) Constant Current Driver DC4V.A/ DC4V.A/Phase Full step Half step.4(4).4(4).3(3).3(3).().().1(1).7(7).6(6).5(5).4(4).3(3).().1(1) 1.(1) TS369N1E3,N11E3 Torque Nm(kgfcm) Pulese Rate(pps) TS369NE5,N1E5 Torque Nm(kgfcm) 1.(1).8(8) DC4V 3.A/ Constant Current Driver DC4V 3.A/Phase Full step Half step Pulse Rate(pps) DC4V.A/ Constant Current Driver DC4V.A/Phase Full step Half step.1(1) TS369NE4,N1E4 Torque Nm(kgfcm) 1.(1) 1.(1).8(8).6(6).4(4).() 1.(1) 1.(1).8(8) Pulse Rate(pps) TS369NE6,N1E6 Torque Nm(kgfcm) DC4V 1.A/ Constant Current Driver DC4V 1.A/Phase Full step Half step Pulse Rate (pps) DC4V 3.A/ Constant Current Driver DC4V 3.A/Phase Full step Half step PHASE STEP MOTOR SPECIFICATIONS.6(6).4(4).() 1.6(16) 1.4(14) 1.(1) 1.(1).8(8).6(6).4(4).() 1.6(16) 1.4(14) 1.(1) 1.(1).8(8).6(6) TS369N3E7,N13E7 Torque Nm(kgfcm) Pulse Rate(pps) TS369N3E9,N13E9 Torque Nm(kgfcm) DC4V 1.A/ Constant Current Driver DC4V 1.A/Phase Full step Half step Pulse Rate(pps) DC4V 3.A/ Constant Current Driver DC4V 3.A/Phase Full step Half step.6(6).4(4).() TS369N3E8,N13E8 Pulse Rate(pps) Torque Nm(kgfcm) DC4V.A/ Constant Current Driver DC4V.A/Phase 1.5(15) Full step Half step 1.(1).5(5) Pulse Rate (pps).4(4).() Pulse Rate(pps) 5

52 SIZE 3HB TYPE High torquelow vibration RoHS compliant products Min Effective length) Effective length) L Model Number Single Shaft Dual Shaft Step Angle Deg. Rated Voltage V/Phase Rated Current A/Phase Winding Resistance lnductance Holding Torque mh/phase N m(kgf cm) L Motor Length mm Rotor Inertia x1 7 kg m Mass kg Winding Type TS3653N1E1 TS3653N11E (3.9) TYPE TS3653N1E TS3653N11E (3.9) TYPE TS3653N1E3 TS3653N11E (3.9) TYPE TS3653NE4 TS3653N1E (9) TYPE TS3653NE5 TS3653N1E (9) TYPE TS3653NE6 TS3653N1E (9) TYPE TS3653N3E7 TS3653N13E (13.5) TYPE TS3653N3E8 TS3653N13E (13.5) TYPE TS3653N3E9 TS3653N13E (13.5) TYPE TS3653N4E1 TS3653N14E () TYPE 1 5 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.75mm Max at the load Thrust play 9.8N(1kgf).5mm Max at the load Radial play 4.9N(.5kgf) WIRING DIAGRAM TYPE 1 BIPOLAR Blue Red White PM Yellow 8 MaxResistance method Permissible temperature rise 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 1 3 TYPE Black Yellow UNIPOLAR Green PM CW CW rotation from output shaft end. Step Black Red Green Blue Yellow White ON ON COM COM 1 ON ON COM COM ON ON COM COM 51 Red White Blue 3 ON ON COM COM ON ON COM COM

53 PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS3653N1E1,N11E1 DC4V 1A/ Torque N m (kgf cm) Constant Current Driver DC4V 1A/Phase TS3653N1E,N11E DC4V A/ Torque N m (kgf cm) Constant Current Driver DC4V A/Phase Half Step Half Step.5(5).5(5).4(4).4(4).3(3).3(3).().().1(1) Pulse Rate (PPS) TS3653N1E3,N11E3 DC4V 3A/ Torque N m (kgf cm) Constant Current Driver DC4V 3A/Phase.1(1) Pulse Rate (PPS) TS3653NE4,N1E4 DC4V 1A/ Torque N m (kgf cm) Constant Current Driver DC4V 1A/Phase.5(5).4(4).3(3).().1(1) Half Step Pulse Rate (PPS) TS3653NE5,N1E5 DC4V A/ Torque N m (kgf cm) Constant Current Driver DC4V A/Phase 1(1).5(5) Half Step Pulse Rate (PPS) TS3653NE6,N1E6 DC4V 3A/ Torque N m (kgf cm) Constant Current Driver DC4V 3A/Phase PHASE STEP MOTOR SPECIFICATIONS Half Step Half Step 1(1) 1(1).5(5).5(5) Pulse Rate (PPS) TS3653N3E7,N13E7 DC4V 1A/ Torque N m (kgf cm) Constant Current Driver DC4V 1A/Phase Pulse Rate (PPS) TS3653N3E8,N13E8 DC4V A/ Torque N m (kgf cm) Constant Current Driver DC4V A/Phase Half Step Half Step 1(1) 1(1).5(5).5(5) Pulse Rate (PPS) TS3653N3E9,N13E9 DC4V 3A/ Torque N m (kgf cm) Constant Current Driver DC4V 3A/Phase Pulse Rate (PPS) TS3653N4E1,N14E1 DC4V 5A/ Torque N m (kgf cm) Constant Current Driver DC4V 5A/Phase 1(1) Half Step () Half Step.5(5) 1(1) Pulse Rate (PPS) Pulse Rate (PPS) 5

54 SIZE 4HB TYPE Min Effective length) High torque RoHS compliant products 16 Effective length) L Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.75mm Max at the load Thrust play 9.8N(1.kkgf).5mm Max at the load Radial play 4.9N(.5kgf) WIRING DIAGRAM Model Number Single Shaft Black Black/White Orange/White Orange Dual Shaft Step Angle Deg. PM Rated Voltage V/Phase Rated Current A/Phase UNIPOLAR (NOTE1) Winding Resistance 8 MaxResistance method Permissible temperature rise NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. CW CW rotation from output shaft end. Step lnductance mh/phase Black Holding Torque N m(kgf cm) Red Orange L Motor Length mm Yellow Rotor Inertia x1 7 kg m TS366N1E1 TS366N11E (7.5) TS366N1E TS366N11E (7.5) TS366N1E3 TS366N11E (7.5) TS366NE4 TS366N1E (13.5) TS366NE5 TS366N1E (13.5) TS366NE6 TS366N1E (13.5) TS366N3E7 TS366N13E (17) TS366N3E8 TS366N13E (17) TS366N3E9 TS366N13E (17) TS366N4E1 TS366N14E () TS366N4E11 TS366N14E () TS366N4E1 TS366N14E () Red/White connects with Yellow/White Mass Black/White connects with Orange/White ON ON 1 ON ON kg 53 Red Red/White Yellow Yellow/White ON ON 3 ON ON ON ON Note1) Black/White connects with Orange/White Red/White connects with Yellow/White

55 PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS366N1E1,N11E1 DC4V 1.A/ Torque Nm(kgfcm) Constant Current Driver DC4V 1.A/Phase.9(9).8(8) Full step.7(7) Half step.6(6).5(5).4(4).3(3).().1(1) TS366N1E3,N11E3 Torque Nm(kgfcm).9(9).8(8).7(7).6(6).5(5).4(4).3(3).().1(1) 1.(1).8(8) Pulse Rate(pps) DC4V 3.A/ DC4V 3.A/Phase TS366NE5,N1E5 Torque Nm(kgfcm) 1.(1) Constant Current Driver Full step Half step Pulse Rate(pps) DC4V.A/ Constant Current Driver DC4V.A/Phase Full step Half step TS366N1E,N11E Torque Nm(kgfcm).9(9).8(8).7(7).6(6).5(5).4(4).3(3).().1(1) TS366NE4,N1E4 Pulse Rate(pps) DC4V 1.A/ Torque Nm(kgfcm) Constant Current Driver DC4V 1.A/Phase 1.(1) 1.(1) Full step Half step.8(8).6(6).4(4).() Pulse Rate(pps) TS366NE6,N1E6 DC4V 3.A/ Torque Nm(kgfcm) Constant Current Driver DC4V 3.A/Phase 1.(1) Full step 1.(1) Half step.8(8) DC4V.A/ Constant Current Driver DC4V.A/Phase Full step Half step PHASE STEP MOTOR SPECIFICATIONS.6(6).4(4).() TS366N3E7,N13E7 Pulse Rate(pps) DC4V 1.A/ Torque Nm(kgfcm) Constant Current Driver DC4V 1.A/Phase 1.6(16) 1.4(14) Full step Half step 1.(1) 1.(1).8(8).6(6).4(4).() TS366N3E9,N13E9 Pulse Rate(pps) Torque Nm(kgfcm) DC4V 3.A/ Constant Current Driver DC4V 3.A/Phase 1.6(16) 1.4(14) Full step 1.(1) Half step 1.(1).8(8).6(6).4(4).() TS366N4E11,N14E11 Torque Nm(kgfcm).5(5).() 1.5(15) 1.(1).5(5) Pulse Rate(pps) DC4V.A/ Constant Current Driver DC4V.A/Phase Full step Half step.6(6).4(4).() TS366N3E8,N13E8 Pulse Rate(pps) Torque Nm(kgfcm) DC4V.A/ Constant Current Driver DC4V.A/Phase 1.6(16) 1.4(14) Full step 1.(1) Half step 1.(1).8(8).6(6).4(4).() Pulse Rate(pps) TS366N4E1,N14E1 DC4V 1.A/ Torque Nm(kgfcm) Constant Current Driver DC4V 1.A/Phase.5(5).() 1.5(15) 1.(1).5(5) Pulse Rate(pps) TS366N4E1,N14E1 DC4V 3.A/ Torque Nm(kgfcm) Constant Current Driver DC4V 3.A/Phase.5(5) Full step.() Half step 1.5(15) 1.(1).5(5) Full step Half step Pulse Rate(pps) Pulse Rate(pps) 54

56 SIZE 34HB TYPE High torque RoHS compliant products Min Model Number Single Shaft Dual Shaft Step Angle Deg. Rated Voltage V/Phase Rated Current A/Phase Winding Resistance lnductance Holding Torque mh/phase N m(kgf cm) L L Motor Length mm Rotor Inertia x1 4 kg m Mass kg Winding Type (5) TYPE 1 TS3684N1E3 TS3684N11E (35) TYPE (35) TYPE (55) TYPE 1 TS3684NE6 TS3684N1E (78) TYPE (78) TYPE (75) TYPE 1 TS3684N3E8 TS3684N13E (16) TYPE (16) TYPE 3 5 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.75mm Max at the load Thrust play 67N(6.8kgf).5mm Max at the load Radial play 4.4N(.45kgf) 8 MaxResistance method Permissible temperature rise NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 55

57 WIRING DIAGRAM 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 1 UNIPOLAR TYPE BIPOLAR (Parallel connection) TYPE 3 BIPOLAR SERIES (Series connection) CW CW rotation from output shaft end. Step Black Red Orange Yellow Black/White connects with OrangeWhite Red/White connects with Yellow//White ON ON COM COM 1 ON ON COM COM ON ON COM COM 3 ON ON COM COM ON ON COM COM Phase A COM are Black/White and Orange/White Phase A COM are Red/White and Yellow/White Step Black&Orange/White Red&Yellow/White Orange&Black/White 1 3 Black/White connects with Opange/White Red/White connects with Yellow/White Yellow&Red/White Step Black Red Orange Yellow 1 3 PHASE STEP MOTOR SPECIFICATIONS PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS3684N1E3 (TYPE) Torque N m (kgf cm) Constant Current Driver 4(4) DC8V 6.4A/ DC8V 6.4A/Phase Half Step TS3684NE6 (TYPE) Torque N m (kgf cm) Constant Current Driver 8(8) DC8V 6.4A/ DC8V 6.4A/Phase Half Step 3(3) 6(6) () 4(4) 1(1) () 8(8) Pulse Rate (PPS) TS3684N3E8 (TYPE) Torque N m (kgf cm) Constant Current Driver DC8V 5.7A/ DC8V 5.7A/Phase Half Step Pulse Rate (PPS) 6(6) 4(4) () Pulse Rate (PPS) 56

58 SIZE 11,14,17,3,34 -PHASE STEP MOTOR ENCODERS High accuracy and high torque. Being equipped with an angle sensor, both step-out detection and closed loop control are possible. RoHS compliant products 57 Size Phase C/T Resolution Basic model of step motor encoder Lineup of step motor encoders Outline (Basic model of applied step motor) 11 TS TS TS TS TS36 1 TS TS3643 TS TS TS3684 Outlines and specifications of relevant encoders are given in the next page. 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 1A, B Open Collector Output Signal A, B A, B C/T 55C/T Line Driver Output Note : 1. All 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. Signal A, B Option 3A, B, Z Open Collector Output Signal A, B, Z 4A, B, Z Line Driver Output Signal A, B, Z

59 Outline (Section of encoder) Common 4 Shielded Cable Step motor Common 3 3 Common.5 Unless otherwise specified, tolerance is ±.5mm NOTE : 1. 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 85 DC5V 5 4mA Max (Open Collector Output) 1mA Max (Line Driver Output) A, B Incremental Phase A, B 8kHz Max 1/4P 1/8P 51 7 kgm Max ENCODER ONLY Specifications of applied encoder Resolution Phase Resolution Option 14, 1,C/T Encoders with 4C/T or 1,C/T are available Z Possible to add phase Z (Index). 3 Phase focusing with excitation phase of a motor is possible. PHASE STEP MOTOR ENCODER SPECIFICATIONS Form of output Open collector Output Circuit Max Allow. Output Volt. Max Allow. Output Curr. Rise Time, Fall Time Line driver Output Circuit Output Signal Sinking Current Rise Time, Fall Time SC163 Equivalent to SC163 3V 5mA 1.5 sec Max AM6C31IDBT.I DC.4V Min DC.4V Max ma Max Typical 1 sec Max A B A A B a b c d P H L H L CW CW, viewed from shaft end P a b c d B CW CW, viewed from shaft end Diode FMN1 (Rohm) 47 5V OUTPUT Output wave form measuring Circuit Vcc A.B A.B FMP1 (Rohm) Function DC5V GND A Phase Connection Color Red Black Green B Phase Yellow Phase (White) Function DC5V GND A Phase A Phase B Phase Connection Color Red Blue Brown Orange Yellow B Phase Gray Phase (Green) Phase (Clear) 58

60 - Phase Step Driver for DC Power Super-compact & High-performance Step Motor Driver Features 1. Motor vibration is reduced by micro-step drive technology. You can drive step motor smoothly even at low speed.. Possible to set the resolution of command pulse freely not affecting the micro step driving (x64) 3. You can drive your step motor not only by pulse commands but also by parallel I/O or serial communication commands. 4. Driving is possible not only by a position command mode but also a speed command mode. A pulse generator is not required for just rotating/stopping your motor. 5. If you use RS485 Serial Communication Function, you can easily realize multi axis control (up to 15 axes) with one controller. 6. You can perform a parameter setting by connecting to your PC with USB. You can also perform a test run easily with special setup software Set up software can be downloaded free. (HP 7. Limited step-out detection is available. 8. Automatic origin search function is available. 9. You can select either TSC standard protocol or Modbus protocol for serial communication. 59 Model Designation Basic Specifications Model number Power supply Motor type Driving mode of a step motor Rated output current Usage environment AU99N1 AU99N AU99N4 DC158V DC1536V DC35V -phase unipolar -phase bipolar / unipolar Micro step constant current drive Step angle: 1/64 of a basic step angle 1.8 Arms.4 Arms. Arms Ambient temp. Humidity or lower (No condensation)

61 Function/Performance Connection Outline 6 PHASE STEP DRIVER SPECIFICATIONS

62 61 - Phase Step Driver for DC Power Super-compact & Low cost Unipolar Step Motor Driver Features Model Designation Basic Specifications Model number Power supply Motor type Driving mode of a step motor Rated output current Usage environment 1. Motor vibration is reduced by micro-step drive technology. You can drive step motor smoothly even at low speed.. Possible to set the resolution of command pulse freely not affecting the micro step driving (x64) 3. You can drive your step motor not only by pulse commands but also by parallel I/O or serial communication commands. 4. Driving is possible not only by a position command mode but also a speed command mode. A pulse generator is not required for just rotating/stopping your motor. 5. If you use RS485 Serial Communication Function, you can easily realize multi axis control (up to 15 axes) with one controller. 6. You can perform a parameter setting by connecting to your PC with USB. You can also perform a test run easily with special setup software Set up software can be downloaded free. (HP 7. Limited step-out detection is available. 8. Automatic origin search function is available. 9. You can select either TSC standard protocol or Modbus protocol for serial communication. AU99N1 Outline DC158V -phase unipolar Micro step constant current drive Step angle: 1/64 of a basic step angle 1.8 Arms Ambient temp. Humidity or lower (No condensation)

63 Function/Performance Connection 6 PHASE STEP DRIVER SPECIFICATIONS

64 - Phase Step Driver for DC Power High-voltage & High-output Step Motor Driver 63 Features Model Designation Basic Specifications Model number Power supply Motor type Driving mode of a step motor Rated output current Usage environment 1. Motor vibration is reduced by micro-step drive technology. You can drive step motor smoothly even at low speed.. Possible to set the resolution of command pulse freely not affecting the micro step driving (x64) 3. You can drive your step motor not only by pulse commands but also by parallel I/O or serial communication commands. 4. Driving is possible not only by a position command mode but also a speed command mode. A pulse generator is not required for just rotating/stopping your motor. 5. If you use RS485 Serial Communication Function, you can easily realize multi axis control (up to 15 axes) with one controller. 6. You can perform a parameter setting by connecting to your PC with USB. You can also perform a test run easily with special setup software Set up software can be downloaded free. (HP 7. Limited step-out detection is available. 8. Automatic origin search function is available. 9. You can select either TSC standard protocol or Modbus protocol for serial communication. Outline AU93 DC1555V -phase bipolar / unipolar Micro step constant current drive Step angle: 1/64 of a basic step angle 7.5 Arms Ambient temp. Humidity or lower (No condensation)

65 Function/Performance Connection PHASE STEP DRIVER SPECIFICATIONS Connect command pulse signals to pin 1 to 4 of CN3. Connect drive enable signal to pin 5 and 6 of CN3. In case of unipolar motor, phase A and B terminals are not connected. Insulate them with insulation tape etc. to prevent ground fault and short circuit with other terminals. 64

66 -Phase MICRO STEP DRIVER for DC Power Switch between Full-Step, Half-Step 65 Features Specifications Model number AU936N1 Power source Output current.~5.a Max/phase Excitation method (- phase excitation at shipping) Input signal circuit Input signal 1-pulse input -pulse input ENABLE (-pulse input at shipping) Outputsignal Overheat prevention function 1- phase excitation Dip switch 1. Capable of a changeover between full -step (1.8 ) and half -step (.9 ) operation.. Capable of setting phase current of a stepping motor from. to 5.A. 3. Available for a -pulse mode (CW pulse/ccw pulse) and a 1 -pulse mode as driver operation signals. 4. Input circuits for driver operation signals are photocoupler -insulated. 5. Operation of automatic current-down function can mitigate temperature increases in the motor and driver when the motor is idle. 6. Provided with overheat prevention function. A red LED lights up and the motor stops automatically when a heatsink excessively heats up. -phase excitation Dip switch Photo-coupler input current ranging between 1mA and ma Dip switch Dip switch DIR signal's photo-coupler current and rotation direction rotation rotation 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. Motor is not energized when photo-coupler current is ON. Motor excited when photo-coupler current is OFF. Current-setting terminal (IS) IM (Driving current) (A) = Terminal source (V) -1 Dip switch Provided with overheat prevention function. A red LED lights up and the motor stops automatically when a heatsink excessively heats up. The prevention function is cancelled with the dip switch ON. In operation Automatic current-down Output current decreases to about 5% normal (operation setting at shipping) rate about 1 sec. Dip switch after first transition of input pulse. Ambient temp./humidity In operation In storage or lower (non condensing) (non condensing) RoHS compliant products Not in operation Dip switch

67 Connection diagram Step Driver Inside of driver Photo-coupler Outline PHASE STEP DRIVER SPECIFICATIONS 66

68 LIST OF MAJOR SPECIFICATIONS Size mm Step Angle Deg. Basic Model Model Number Output Shaft Single Dual HB Rated Voltage V / Phase Rated Current A / Phase HYBRID TYPE Holding Torque N m (kgf cm) Body Size mm Details in Page TS368 N1 N (.13) 3.7 TS368 N41 N (.13) 3.7 TS368 N N (.4) TS368 N4 N (.4) TS3664 N1E1 N11E (.18) TS3664 N1E N11E (.18) TS3664 NE3 N1E (.8) TS3664 NE4 N1E (.8) TS3667 N1E1 N11E (1.3) TS3667 N1E N11E (1.3) TS3667 N1E3 N11E (1.3) TS3667 NE4 N1E (1.8) TS3667 NE5 N1E (1.8) TS3667 NE6 N1E (1.8) TS3667 N3E7 N13E (.4) TS3667 N3E8 N13E (.4) Gearhead TS3689 N (9.) TS3689 N (7.5) TS364 N1E1 N1E (4.) TS364 N1E N1E (4.) TS364 NE3 NE (6.) TS364 NE4 NE (6.) TS364 N3E5 N3E (13) TS364 N3E6 N3E (13) TS363 N1E1 N1E (1) TS363 N1E N1E (1) TS363 NE3 NE (41) TS363 NE4 NE (41) TS363 N3E5 N3E (63) H.T 1 N m 1Kgf cm Holding torque is the value at 4-phase exciting by the rated current. The torque conversion rate is 1 N m 1Kgf cm

69 DRIVER SPECIFICATIONS Drive system Model number (Page) Input power supply Applicable motors DC Direct current (DC) AC Alternate current (AC) Current consumption FULL-STEP/ HALF-STEP AU911N1 (P.79, 8) AU9118N1 (P.81, 8) AU9119N1 (P.83, 84) Bipolar Pentagon Constant Current Driving MICRO-STEP AU996N1 (P.85, 86) AU998 (P.87, 88) AU98 (P.89, 9) 174V 4V±5% 9 11V, 5/6Hz, single phase 13V±V, 5/6Hz, single phase 3A Max 3.5A Max 3.5A Max 3A Max.8A Max 3.5A Max 8 TS TS TS3667 E, E3, E5E8 type N1, N typen41, N4 type E1, E3 typee, E4 type E1, E4 typee, E3, E5E8 type 174 TS TS TS363 Driving current Setting of driving current Setting of automatic current-down Setting of functions (by dipswitches) Input signals Input signals Step angle Current-down Driving voltage Built-in test Driving pulse OFF Hold-OFF Switching of micro-step angle Current-down Output signals & Origin reference point Operating temperature & humidity Storage temperature & humidity E1, E3 type1.4a Max. 1.4A Max/ Phase Set by variable resistor 6 Reduce to 6% at stationary Set by digital switches.51.4a Max/.5.8A Max/ Phase Phase Set by digital switches Set by digital switches E1, E3 type1.4a Max. 1.4A Max/ Phase Set by digital switches.35a Phase Set by digital switches E1, E3type.51.4A Max/ Phase Set by digital switches 79% Set by digital switches CW.CCWPULSEDIR Switching of CW CCW pulse input ( clock mode) / PULSE DIR input (1 clock mode) FULL/HALF Switching of FULL/HALF step Fixed Fixed HIGH/LOW switching Switching of low speed rotation / none 5 5 interpolation Max to the basic step angle ON/OFF ON/OFF switching Fixed HIGH/LOW switching Switching of low speed rotation / none OFFONDIRONCW Triggered at the edge of OFF to ON of photo-coupler, CW rotation for ON of DIR input ONOFF Excitation of motor is OFF for photo-coupler ON. ON/OFF switching Capable of setting kinds of interpolation ON/OFF switching.77.on Photo-coupler ON for each 7. in case of the basic step angle of.7 4 C 9%RH Max 17 C 9%RH Max 4 C 85RH Max 17 C 85RH Max 17 C 9%RH Max PHASE STEP MOTOR SPECIFICATIONS 68

70 SIZE 8HB TYPE No. of Stacks 1 RoHS compliant products Single Shaft Model Number Dual Shaft Step Angle Deg. Rated Voltage V/Phase Rated Current A/Phase Winding Resistance TS368N1 TS368N TS368N41 TS368N TS368N TS368N TS368N4 TS368N Holding Torque N m(kgf cm) Motor Length L mm Rotor Inertia 1 7 kg m Mass kg M Min Depth L Min Radial play Thrust play.3mm Max at the load 4.9N(.5kgf).75mm Max at the load 9.8N(1.kgf) Insulation resistance Dielectric strength Operating temperature range Permissible temperature rise 1MMinat DC5V AC 5V1min 5 8 MaxResistance method NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation.

71 SIZE 9HB TYPE RoHS compliant products L=Min 4 M.6.5Min Depth ±. 19 ±. 4 ±.3 1 ±.5 (Effective length) ±.5 1 ±.5 L ±1 1 ±1 (Effective length) Single Shaft Model Number Dual Shaft Step Angle Deg. Rated Voltage V/Phase Rated Current A/Phase Winding Resistance TS3664N1E1 TS3664N11E TS3664N1E TS3664N11E TS3664NE3 TS3664N1E TS3664NE4 TS3664N1E Holding Torque N m(kgf cm) Motor Length L mm Rotor Inertia 1 7 kg m Mass kg Radial play Thrust play.5mm Max at the load 4.9N(.5kgf).75mm Max at the load 9.8N(1.kgf) Insulation resistance Dielectric strength Operating temperature range Permissible temperature rise 1MMinat DC5V AC 5V1min 5 8 MaxResistance method NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. PHASE STEP MOTOR SPECIFICATIONS 7

72 SIZE 17HB TYPE RoHS compliant products L= Min 4 M3 4.5Min Depth 15.5() ±. 31 ±. 4 ±.3 15 ±.5 (Effective length) ±.5 L ±1 15 ±1 15 ±.5 (Effective length) 71 Single Shaft Model Number Radial play Thrust play Dual Shaft Step Angle Deg. Rated Voltage V/Phase.5mm Max at the load 4.9N(.5kgf).75mm Max at the load 9.8N(1.kgf) Rated Current A/Phase Winding Resistance TS3667N1E1 TS3667N11E TS3667N1E TS3667N11E TS3667N1E3 TS3667N11E TS3667NE4 TS3667N1E TS3667NE5 TS3667N1E TS3667NE6 TS3667N1E TS3667N3E7 TS3667N13E TS3667N3E8 TS3667N13E Holding Torque N m(kgf cm) Insulation resistance Dielectric strength Operating temperature range Permissible temperature rise Motor Length L mm 1MMinat DC5V AC 5V1min 5 Rotor Inertia 1 7 kg m 8 MaxResistance method NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. Mass kg

73 SIZE 17HB TYPE Gearhead RoHS compliant products Depth Model Number Radial Thrust Insulation resistance Dielectric strength Gear Ratio Step Angle Deg. Full step.1mm Max.5mm Max Rated Voltage V/Phase 1MMinat DC5V AC 5V1min Rated Current A/Phase Winding Resistance Before connected HoldingTorque N m(kgf cm) Operating temperature range Permissible temperature rise Back lash L Motor Length mm 5 8 Max 45min Max Rotor Inertia x1 7 kg m TS3689N (7.5) TS3689N (9.) WIRING DIAGRAM Mass NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. kg Blue E A Phase E Phase A Black Red D D Phase D Green Green C Phase C TS3689N1 TORQUE N m (kgf cm) B Phase B Orange Swithing sequence for CW rotation viewed from mounting end. Step Blue Red Orange Green Black PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque Constant Current Driver DC4V 1.4A/Phase TS3689N18 TORQUE N m (kgf cm) Step Blue Red Orange Green Black Constant Current Driver DC4V 1.4A/Phase PHASE STEP MOTOR SPECIFICATIONS Rotation speed Pulse speed Full step Rotation speed Pulse speed Full step 7

74 SIZE 3HB TYPE RoHS compliant products (Effective length) 15 ± ±.1 L=35Min (Effective length) 15 ± ± ±.3 6 ±. 1.6 ±.3.6 ±.5 5 L ±1 Detail of rear shaft (Dual shaft) 73 Single Shaft Model Number Radial play Thrust play Dual Shaft Step Angle Deg. Rated Voltage V/Phase.5mm Max at the load 4.9N(.5kgf).75mm Max at the load 9.8N(1.kgf) Rated Current A/Phase Winding Resistance TS364N1E1 TS364N1E TS364N1E TS364N1E TS364NE3 TS364NE TS364NE4 TS364NE TS364N3E5 TS364N3E TS364N3E6 TS364N3E Holding Torque N m(kgf cm) Insulation resistance Dielectric strength Motor Length L mm Operating temperature range Permissible temperature rise Rotor Inertia 1 7 kg m Mass 1MMinat DC5V AC 5V1min 5 8 MaxResistance method NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. kg Combined driver / Charact. AU9118N1 AU9119N Fig Fig Fig Fig Fig Fig.

75 PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TORQUE N m (kgf cm) PHASE CURRENT.75 A 1(1) :MAXIMUM STARTING PULSE RATE INPUT VOLTAGE AC1V GEN. TEST COND. FULL STEP.7 /STEP TORQUE N m HALF STEP.36 /STEP (kgf cm) PHASE CURRENT 1.4 A PULLEY INERTIA : 1 g cm 1(1) Driver AU9118N1.5(5).5(5) PULSE RATE (PPS) 1 1 Fig PULSE RATE (PPS) 1 Fig. TORQUE N m (kgf cm) PHASE CURRENT.75 A 1(1) TORQUE N m (kgf cm) PHASE CURRENT 1.4 A 1(1) N.5(5).5(5) PULSE RATE (PPS) 1 3 Fig PULSE RATE (PPS) 1 4 Fig. TORQUE N m (kgf cm) PHASE CURRENT 1.4 A 1.8(18) 1.5(15) 1(1) :MAXIMUM STARTING PULSE RATE INPUT VOLTAGE AC1V GEN. TEST COND. FULL STEP.7 /STEP TORQUE N m HALF STEP.36 /STEP (kgf cm) PULLEY INERTIA : 1 g cm PHASE CURRENT.8 A 1.8(18) 1.5(15) Driver AU9119N1.5(5) PULSE RATE (PPS) 1 5 Fig. 1(1).5(5) PHASE STEP MOTOR SPECIFICATIONS PULSE RATE (PPS) Fig. 74

76 SIZE 34HB TYPE RoHS compliant products (Effective length) 5 ±.5 L=3Min (Effective length) 5 ±.5 11 ±. 11 ± ±. 86 ±..5 3 ± L ±1 Detail of rear shaft (Dual shaft) 11 ±. 11 ±. Detail of shaft end (Front and back) Single Shaft Model Number Dual Shaft Step Angle Deg. Rated Voltage V/Phase Rated Current A/Phase Winding Resistance TS363N1E1 TS363N1E TS363N1E TS363N1E TS363NE3 TS363NE TS363NE4 TS363NE TS363N3E5 TS363N3E Holding Torque N m(kgf cm).1 (1).1 (1) 4.1 (41) 4.1 (41) 6.3 (63) Motor Length L mm Rotor Inertia 1 7 kg m Mass kg Combined driver / Charact. AU9118N1 1-1 Fig Fig AU9119N1-1 Fig. - Fig. -3 Fig. 75 Radial play Thrust play.5mm Max at the load 4.9N(.5kgf).75mm Max at the load 9.8N(1.kgf) Insulation resistance Dielectric strength Operating temperature range Permissible temperature rise 1MMinat DC5V AC 5V1min 5 8 MaxResistance method NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation.

77 PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TORQUE N m (kgf cm) PHASE CURRENT 1.4 A 3(3) () :MAXIMUM STARTING PULSE RATE INPUT VOLTAGE AC1V GEN. TEST COND. FULL STEP.7 /STEP TORQUE N m HALF STEP.36 /STEP (kgf cm) PHASE CURRENT 1.4 A PULLEY INERTIA :.8 kg cm 6(6) Driver AU9118N1 5(5) 1(1) PULSE RATE (PPS) 1 1 Fig. 4(4) 3(3) () 1(1) PULSE RATE (PPS) 1 Fig. TORQUE N m (kgf cm) PHASE CURRENT.8 A 4(4) 3(3) () Driver AU9119N1 TORQUE N m (kgf cm) PHASE CURRENT.8 A 7(7) 6(6) 5(5) 1(1) PULSE RATE (PPS) 1 Fig. :MAXIMUM STARTING PULSE RATE INPUT VOLTAGE AC1V GEN. TEST COND. FULL STEP.7 /STEP TORQUE N m HALF STEP.36 /STEP (kgf cm) PULLEY INERTIA :.8 kg cm PHASE CURRENT.8 A 5(5) 4(4) 3(3) () 4(4) 3(3) () 1(1) PULSE RATE (PPS) 3 Fig. 1(1) PULSE RATE (PPS) Fig. PHASE STEP MOTOR SPECIFICATIONS 76

78 17,3,34 SIZE 5-PHASE STEP MOTOR ENCODERS High accuracy and high torque. Being equipped with an angle sensor, both step-out detection and closed loop control are possible. Size Phase C/T Resolution Basic model of step motor encoder Lineup of step motor encoders Outline (Basic model of applied step motor) TS367 1 TS TS363 TS TS TS363 Outlines and specifications of relevant encoders are given in the next page. Note : 1. All 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. 77 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 1A, B Open Collector Output Signal A, B A, B Line Driver Output Signal A, B 55C/T Option 3A, B, Z Open Collector Output Signal A, B, Z 4A, B, Z Line Driver Output Signal A, B, Z

79 Common 4 Shielded Cable Step motor Common 3 3 Common 3 Outline (Section of encoder).5 Unless otherwise specified, tolerance is ±.5mm NOTE : 1. For dimensions of the step motor, see p.67ff. Performance Operating Temp. Supply Current Code Response Frequency a.b.c.d Phase Shift Moment of Inertia 85 DC5V 5 4mA Max (Open Collector Output) 1mA Max (Line Driver Output) A, B Incremental Phase A, B 8kHz Max 1/4P 1/8P 51 7 kgm Max ENCODER ONLY Specifications of applied encoder Resolution Phase Resolution Option 11,C/T Encoders with 1,C/T are available. Z Possible to add phase Z (Index). 3 Phase focusing with excitation phase of a motor is possible. Form of output Open collector 5V Output Circuit Max Allow. Output Volt. Max Allow. Output Curr. Rise Time, Fall Time Line driver Output Circuit Output Signal Sinking Current Rise Time, Fall Time SC163 Equivalent to SC163 3V 5mA 1.5 sec Max AM6C31IDBT.I DC.4V Min DC.4V Max ma Max Typical 1 sec Max A B A A B a b c d P H L H L CW CW, viewed from shaft end P a b c d B CW CW, viewed from shaft end Diode FMN1 (Rohm) 47 OUTPUT Output wave form measuring Circuit Vcc A.B A.B FMP1 (Rohm) Function DC5V GND A Phase Connection Color Red Black Green B Phase Yellow Phase (White) Function DC5V GND A Phase A Phase B Phase Connection Color Red Blue Brown Orange Yellow B Phase Gray Phase (Green) Phase (Clear) PHASE STEP MOTOR ENCODER SPECIFICATIONS 78

80 5-Phase STEP DRIVER RoHS compliant products for DC Power Special Features DC 4V (DC 4V Max.), 1.4 A/phase Max Exciting mode of FULL/HALF step Capable of switching the input signals of 1 pulse mode & pulse mode Automatic current-down function Low price Small size and light weight Specifications Items Specifications Power supply DC174V3A Max(Total consumption of current) 1.4A/ Output current (1.4A/phase at shipping) 1.4A Max/ phase CP1-CP [V]1 [A/] RV1 1.4 A/ The voltage corresponding to the output current is transmitted between CP1-CP. ([V]=1[A/phase]) Capable of setting the current to desired value in ~ 1.4A/phase by the variable resistor RV Excitaiton mode (4-5 phase excitation pattern at shipping).7 /STEP (Full step :.7 /STEP) 4 4-phase excitation Dip-switch 1 ON OFF.36 /STEP (Half step :.36 /STEP) phase excitation Dip-switch 1 ON OFF Input signal circuit Input signal 1 1-pulse input PULSE DIR -pulse input CW CCW Dip-switch Dip-switch ON OFF ON OFF DIR Photo-coupler current of DIR signal & rotation direction ON OFF CW rotation CCW rotation OFF CW. CCW Note : Photo-coupler current that is not applied by any input pulse should be OFF. The input pulse of CW and CCW should not be applied simultaneously. 79 Enable (-pulse input at shipping) Automatic current-down Operating temperature & humidity Mass ON Non-exciting for the photo-coupler current ON. OFF Exciting for the photo-coupler current OFF. 5 sec 1 sec Pulse width : 5μs Min, Rising-up time : 1μs, Max 5 sec 5 Kpps Pulse interval : 5μs Min, Pulse frequency : 5 Kpps Max 148 V,8.5 V Pulse voltage : "1" =4~8V, ""= -8~.5V OFFON Triggered at the edge of OFF to ON of photo-coupler current 6% The output current at stationary is reduced down to approx. 6% of operation. 4 C 9% RH ~4 C 9% RH Max (non condensing) 95g Approximately 95g

81 Connection diagram No. Pin No. 1 1 pulse input Name pulse input 1 PULSE CW PULSE CW 3 DIR CCW 4 DIR CCW 5 Enable + 6 Enable Pin No. Name 1 DC 5V 3mA Max Output Power supply DC 17 4V 3 Power supply DC 17 4V 4 Power supply GND 5 Power supply GND 6 Motor lead : Blue 7 Motor lead : Red 8 Motor lead : Orange 9 Motor lead : Green 1 Motor lead : Black Inside of controller DC+5V (PULSE) (DIR) () (Enable) Inside of driver 39Ω 39Ω 39Ω DC+5V (3mA Max.) Output DC+174V Power supply GND Blue A EPhase Phase Black Red D Phase Green C Phase BPhase 5 5-phase step motor Orange CN1(B6B-XH-A) CN(B1B-XH-A) Outline drawing B1B-XH-A (JST) XHP-1 (JST) Mating connector XHP-1 (JST) attached RV CP CP1 ON DIP SW CN1 OFF 1 6 (77) 86 ±. 93 CN 1 ±. (4) 45 B6B-XH-A (JST) XHP-6 (JST) Mating connector XHP-6 (JST) attached Name plate on rear surface 86 ± ±. (31) 3 3 Unit of all dimensions is mm. PHASE STEP DRIVER SPECIFICATIONS 8

82 5-Phase MICRO STEP DRIVER RoHS compliant products for AC Power Special Features AC 1V, 1.4 A/phase Max Maximum 5 interpolation 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 Power supply AC1V1% 5/6Hz 3.5A Max Output current 1.4A/ (1.4A/phase at shipping) 1.4 A/ Rated current : 1.4 A Max/phase SWRUN.51.4 A/ Capable of setting the current to.5 ~ 1.4A/phase by the digital switch "RUN" Driving type Bipolar pentagon constant current drive Input signal Signal name Functional description Input resistance F Pulse signal input for 1 clock mode F CW CW rotation input for clock mode 3 ohms R Rotational direction input for 1 clock R CCW CCW rotation input for clock 3 ohms H.O OFF Motor exciting OFF control signal H.O OFF "1" for motor exciting OFF 39 ohms.5 sec1 sec Pulse width :.5μs, Min., Rising-up time : 1μs, Max..5 sec 5 Kpps Pulse interval :.5μs, Min., Pulse frequency : 5Kpps Max. 148 V8.5 V Pulse voltage : "1" for 4 ~ 8V & "" for 8 ~.5 V OFFON1 Triggerd at the edge of OFF (Logic "") to ON (Logic "1") of photo-coupler current 1RCCW CCW rotation with CCW input of "" in 1-clock system 81 Output signal M15 Setting of micro-step interpolation (M1:5 at shipping) C Setting of driving current (Setting C at shipping) 5 Automatic current-down (Setting 5 at shipping) Signal name Functional description Output resistance Z.P Output signal of exciting at origin Z.P ONDC3V5mA (Photo-coupler ON, DC3V, 5mA Min) 1 ohms []ON.77.5 This signal is ON at the exciting sequence of [] and is transmitted at each 7. degrees for the step motor with.7 steps. (5/rotation) When the micro-step angle is changed after the power supply is turned on, it may not be transmitted. SW M1 Set the interpolation by digital SW M1 Set No M1 Interpolation (Note 1) 8 A B C D E F When the setting of micro-step interpolating No. is "", "1", 1/16-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 (A) Current(A) A B C D E F SW STOP RUN15ms 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. 15ms after the last pulse. Set No % A B C D E F F A B C D E RUN F A B C D E STOP F A B C D E

83 D C B D C B D C B MADE IN JAPAN Items Specifications No.5ON OFF Setting of dip-switches (No.5 is ON, the others are OFF at shipping) Operating temperature & humidity Mass No. Symbol Function ON OFF 1 TEST 6pps Built-in test function Rotating at 6pps Normal operation /1 CK 1 Switching of clock 1 clock mode clock mode 3 C.D Automatic current-down Invalid Valid 4 L/HV Swiching drive-voltage High speed & torque Normal operation When the setting of micro-step interpolating No. is ".1", 1/16-interpolate low-frequency driving takes place inside. 4 C 85% RH ~4 C 85% RH Max. (non condensing) 75g Approximately 75g Enable to use OFF for use (Note ) (Note 3) ON Front surface Connection diagram No. Pin No L N F.G Description of wiring 5 1 Function Motor with 5 leads Motor with 1leads 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 Power supply AC 1 V Power supply AC 1 V Frame ground Inside of controller DC+5V Example of connection DC+5V Terminal board F+ F R+ R Ditto H.O+ H.O Z.P+ Z.P Inside of driver 3Ω 39Ω 1Ω Terminal board L N F.G Black E Phase D Phase Green AC1V AC1V Frame ground Blue A Phase Red B Phase C Phase Orange Outline drawing D.S "No.5" at shipping Unit of all dimensions is mm. E A F STOP 6 E A F RUN 16 ± ±1 6 E A F M L/HV C.D /1CK TEST ON1 3 ±. 5 ±.5 13 ±1 17 ±1 39 ± F POWER + R + H.O Z.P + F.G AC1 L 115V 3.5A N DRIVER TYPE AU9118N1 LOT No. TAMAGAWA SEIKI CO.,LTD Basic step angle Note 1Micro-step angle for 1 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 1 pulse = =.9 deg. 8 6PPS No.ONCCWOFFCW Note : Approx. 6pps 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 3 : In case of using high speed & torque of L/HV, take good care of the heating-up of the motor. PHASE STEP DRIVER SPECIFICATIONS 8

84 5-Phase MICRO STEP DRIVER Special Features Specifications Items Specifications Power supply AC1V5%115V5% 5/6Hz 3.5A Max AC 1V,.8 A/phase Max Maximum 5 interpolation 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 RoHS compliant products for AC Power 83.8A/ Output current (.8A/phase at shipping).8 A/ Rated current :.8 A Max/phase SWRUN.5.8 A/ Capable of setting the current to.5 ~.8A/phase by the digital switch "RUN" Driving type Bipolar pentagon constant current drive Input signal Output signal M15M Setting of micro-step interpolation (M1:5, M: at shipping) C Setting of driving current (Setting C at shipping) 5 Automatic current-down (Setting 5 at shipping) Signal name Functional description Input resistance F Pulse signal input for 1 clock mode F CW CW rotation input for clock mode 3 ohms R Rotational direction input for 1 clock R CCW CCW rotation input for clock 3 ohms H.O OFF Motor exciting OFF control signal H.O OFF "1" for motor exciting OFF 39 ohms C.D Automatic current-down function is invalid for "1" C.D No.3ONOR ON, or function for D.S "No.3" 39 ohms D.S Interpolation selection "" for M1 D.S M11M & "1" for M 39 ohms.5 sec1 sec Pulse width :.5μs Min, Rising-up time : 1μs Max.5 sec 5 Kpps Pulse interval :.5μs Min, Pulse frequency : 5Kpps Max 148 V8.5 V Pulse voltage : "1" for 4 ~ 8V & "" for 8 ~.5 V OFFON1 Triggerd at the edge of OFF (Logic "") to ON (Logic "1") of photo-coupler current 1RCCW CCW rotation with CCW input of "" in 1-clock system Signal name Functional description Outputresistance Z.P Output signal of exciting at orign 1 ohms Z.P ONDC3V5mA (Photo-coupler ON, DC3V, 5mAMin.) []ON.77.5 This signal is ON at the exciting sequence of [] and is transmitted at each 7. degrees for the step motor with.7 steps. (5/rotation) When the micro-step angle is changed after the power supply is turned on, it may not be transmitted. SW M1MSet the interpolation by digital SW M1, M Set No Interpolation A B C D E F (Note 1) M1 8 When the setting of micro-step interpolating No. is "", "1", 1/16-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 (A) Current(A) A B C D E F SW STOP RUN15ms 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. 15ms after the last pulse. Set No STOP % A B C D E F F A B C D E M F 9 F 9 F A B C D E A B C D E A B C D E

85 D C B D C B D C B D C B MADE IN JAPAN Items Specifications No.5ON OFF Setting of dip-switches (No.5 is ON, the others are OFF at shipping) Operating temperature & humidity Mass No. Symbol Function ON OFF 1 TEST 6pps Built-in test function Rotating at 6pps Normal operation /1 CK 1 Switching of clock 1 clock mode clock mode 3 C.D Automatic current-down Invalid Valid 4 L/HV Swiching drive-voltage High speed & torque Normal operation 5 OP.116 When the setting of micro-step interpolating No. is ".1", 1/16-interpolate low-frequency driving takes place inside. 4 C 9% RH ~4 C 9% RH Max. (non condensing) 1.1kg Approximately 1.1kg Enable to use OFF for use (Note ) (Note 3) ON Front surface Connection diagram No. Pin No Inside of controller DC+5V Example of connection DC+5V 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 3Ω 39Ω Ditto Ditto 1Ω Connector L N F.G Black E Phase D Phase Green AC1115V AC1115V Blue A Phase Red B Phase C Phase Orange Frame ground Attached parts BL3.5/1BL5.8/5B BL7.6/3B Connector housing : Made by Weidüller BL3.5/1, BL5.8/5B, BL7.6/3B : 1piece for each Outline drawing Unit of all dimensions is mm. 5 L N F.G Description of wiring 5 1 Function Motor with 5 leads Motor with 1leads 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 Power supply AC 1115V Power supply AC 1115V Frame ground 6 E A F STOP 6 E A F RUN 6 E A F M 6 E A F M1 6 5 ON1 3 4 OP L/HV C.D /1CK TEST MOTOR F R C.D H.O D.S Z.P POWER L AC1-115V 6.5A N F.G DRIVER TYPE AU9119N1 LOT No. TAMAGAWA SEIKI CO.,LTD Basic step angle Note 1Micro-step angle for 1 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 1 pulse = =.9 deg. 8 6PPS No.ONCCW OFFCW Note : Approx. 6pps 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 3 : In case of using high speed & torque of L/HV, take good care of the heating-up of the motor. PHASE STEP DRIVER SPECIFICATIONS 84

86 85 Special Features Specifications Items Specifications Power supply DC4V 5% 3.A Max Output current 1.4 A/ Rated current : 1.4 A Max/phase 1.4A/ (1.4A/phase at shipping) SWRUN A/ Capable of setting the current to.35 ~ 1.4A/phase by the digital switch "RUN" Driving type Bipolar pentagon constant current drive Input signal Output signal M15M Setting of micro-step interpolation (M1:5, M: at shipping) Signal name Functional description Input resistance CW Pulse signal input for 1 clock mode CW CW rotation input for clock mode ohms CCW Rotational direction input for 1 clock CCW CCW rotation input for clock ohms H.O OFF Motor exciting OFF control signal H.O OFF "1" for motor exciting OFF ohms D.S Micro-step interpolation selection D.S "" for M1 & "1" for M ohms.5 sec1 sec Pulse width :.5μs Min, Rising-up time : 1μs Max.5 sec 5 Kpps Pulse interval :.5μs Min, Pulse frequency : 5Kpps Max 135V3.5 V Pulse voltage : "1" for 3 ~ 5V & "" for 3 ~.5 V OFFON1 Triggerd at the edge of OFF (Logic "") to ON (Logic "1") of photo-coupler current 1CCWCCW CCW rotation with CCW input of "" in 1-clock system Signal name Functional description Z.P Origin exciting output signal Z.P ON Switched ON while origin is being excited []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. series interpolation 3series interpolation C Setting of driving current (Setting C at shipping) 5 Automatic current-down (Setting 5 at shipping) 5-Phase MICRO STEP DRIVER DC 4V, 1.4 A/phase Max Setting the value of auto-current-down by digital switch Maximum 5interpolation of basic step angle RoHS compliant products for DC Power 1SW M1 SW M1M For micro-step driving of one type only, set the number interpolution using the digital SW M1. 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 M1 and M. Set No (Note 1) Interpolation M1, M A B C D E F Set No (Note 1) Interpolation A B C D E F 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 (A) Current(A) A B C D E F SW STOP RUN15ms 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. 15ms after the last pulse. Set No STOP % A B C D E F F 9 F 9 F A B C D E A B C D E A B C D E

87 Items Specifications OFF Setting of dip-switches (All OFF at shipping) Operating temperature & humidity Storage temperature & humidity No. Symbol Function ON OFF 1 CK 1 Switching of clock 1 clock mode clock mode 3 Switching of or 3 series 3 series series 3 OP Disable OFF for use 4 C.D Automatic current-down Invalid Valid 4 C 85% RH ~4 C 85% RH Max. (non condensing) 1 ~ 7 C 9% RH Max. (non condensing) ON Connection diagram Inside of controller DC+5V Example of connection CW+.CW CCW+.CCW H.O+.H.O D.S+.D.S Z.P+.Z.P DC+5V Terminal board 1 Ditto Ditto Inside of driver 1Ω Ω Ω Attached parts 1 19 Connector housing : Made by one piece each Contact pin : Made by 19 pieces 1 Terminal board DC4V V Black E Phase Blue A Phase D Phase C Green Phase Red B Phase Orange pin connector (BB-XASK-1) Pin Assignment No. Pin No. Explanation of function 1 DC 4 V Power supply V 1 pin Connector (B1B-XASK) Pin Assignment No. Pin No. Signal name 1 CW CW 3 CCW 4 CCW 5 H.O 6 H.O 7 D.S 8 D.S 9 Z.P 1 Z.P 5 pin Connector (B5B-XASK-1) Pin Assignment Description of wiring No. Pin No. 5 1 Motor with 5 leads Motor with 1leads 1 Blue Blue + Black Red Red + Brown 3 Orange Purple + Orange 4 Green Yellow + Green 5 Black White + Gray Outline drawing Unit of all dimensions is mm Basic step angle Note 1Micro-step angle for 1 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 1 pulse = =.9 deg. 8 Note : Keep the height of the electronic packing 8mm or less. PHASE STEP DRIVER SPECIFICATIONS 86

88 87 5-Phase MICRO STEP DRIVER RoHS compliant products for DC Power Special Features Specifications DC 4V,.35 A/phase Max Setting the value of auto-current-down by digital switch Maximum 5 inte polarion of basic step angle Items Specifications Driving type Micro-step drive Input Power Output Current 3.5 A/ 3.5 A Max/Phase Input Signal Output Signal Function Operating temperature range Operating humidity range Setting of interpolation* Rotary Switch DC4V 5%.8A Max Note: Power supply current depends on setting current, motor rotation amount and motor load etc. Signal Name Functional Description Input Resistance CW Pulse signal input for 1 clock mode CW Forward rotation signal input for clock mode ohms CCW Rotational direction input for 1 clock mode CCW Reverse direction input for clock mode ohms H.O OFF Motor exciting OFF control signal H.O OFF 1 means motor exciting OFF ohms.5 sec1 sec.5 sec5kpps [1]35V[]3.5V Photo-coupler input [1]: 3 to 5V, []: -3 to.5v OFFON1 Triggered by the switching from OFF (Logic ) to ON (Logic 1 ) of photo-coupler current 1CCWCCW CCW rotation with CCW input in case of 1 clock mode OFF Photo-coupler current without any pulse input should be OFF. CWCCW 1 sec Signal Name Functional Description Z.P Output signal of excitation at origin Z.P ON ON while excitation at origin series 3 series []ON.77. This signal is ON at the exciting sequence of [] and is transmitted at each 7. for the step motor with.7 steps. It may not be transmitted in case the micro-step angle is changed after the power supply is turned on. Switching of pulse input method, automatic current-down and switching of micro-step angle 4 C ~ 85% non condensing Switch function setting No. Symbol Function ON OFF 1 CK 1 Pulse input mode 1 clock mode clock mode Switching of 3 series 3 series series Dip switch 3 OP Unable to be used OFF during operation 4 CD Automated current-down Invalid Valid Set the interpolation by changing position of rotary switch according to table below: Switch position Interpolation A B C D E F Ex.) The standard motor having step angle of.7 being driven at switch position 5 (1/1 interpolation) rotates.7 with 1 pulses Switch position Interpolation A B C D E F Ex.) The standard motor having step angle of.7 being driven at switch position B (1/7 interpolation) rotates.1 with a pulse Micro-step angle of 1 pulse = Basic step angle Interpolation

89 Switch function setting Current-down setting The output current to the motor at stationary is set by the dip switch as below: 1 : 5% (outer part of switch circuit as shown in the left illustration) : 75% (Center of switch) 3 : 45% (Inner part of switch) (Ratio to the driving current) The current decreases to set value at approx. 15ms after the last pulse input. Connection diagram Controller Vo Vo Vo Vo CW Pulse CCW Ditection Motor Free Timing Signal 5-Phase Step Motor +DC4V V R1 R1 R R Driver CW+ CW CCW+ CCW HO+. HO ZP+ ZP Pin assignment of 5-pin connector Accessories Dip switch Unit of all dimensions is mm. 5 1 Pin No. Motor with 5 leads Motor with 1leads 1 Blue Blue + Black Red Red + Brown 3 Orange Orange + Purple 4 Green Green + Yellow 5 Black White + Gray Function Part Name Part Number Quantity Power connector (-pin) 1 Motor connector (5-pin) 1 Signal connector (8-pin) 1 Connector pin 17 Phenol resin spacer 4 Outline drawing PHASE STEP DRIVER SPECIFICATIONS 88

90 5-Phase MICRO STEP DRIVER Special Features AC V, 1.4 A/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 5 interpolation of basic step angle RoHS compliant products for AC Power Specifications Items Specifications 89 Power supply AC13V ±V 5/6Hz 3.5A Max Output current 1.4 A/ Rated current : 1.4 A Max/phase 1.4A/ (1.4A/phase at shipping) SWRUN.51.4 A/ Capable of setting the current to.5 ~ 1.4A/phase by the digital switch "RUN" Driving type Bipolar pentagon constant current drive Input signal Output signal M15M Setting of micro-step interpolation (M1:5, M: at shipping) C Setting of driving current (Setting C at shipping) 5 Automatic current-down (Setting 5 at shipping) Signal name Functional description Input resistance CW Pulse signal input for 1 clock mode CW CW CW rotation input for clock mode 3 ohms CCW Rotational direction input for 1 clock CCW CCW CCW rotation input for clock 3 ohms H.O OFF Motor exciting OFF control signal H.O OFF "1" for motor exciting OFF 39 ohms C.D Automatic current-down function is invalid for "1" C.D No.3ONOR ON, or function for D.S "No.3" 39 ohms D.S Interpolation selection "" for M1 D.S M11M & "1" for M 39 ohms.5 sec1 sec Pulse width :.5μs Min, Rising-up time : 1μs Max.5 sec 5 Kpps Pulse interval :.5μs Min, Pulse frequency : 5Kpps Max 148 V8.5 V Pulse voltage : "1" for 4 ~ 8V & "" for 8 ~.5 V OFFON1 Triggerd at the edge of OFF (Logic "") to ON (Logic "1") of photo-coupler current 1RCCW CCW rotation with CCW input of "" in 1-clock system Signal name Functional description Output resistance Z.P Output signal of exciting at orign 1 ohms Z.P ONDC3V5mA (Photo-coupler ON, DC3V, 5mA Min) []ON.77.5 This signal is ON at the exciting sequence of [] and is transmitted at each 7. degrees for the step motor with.7 steps. (5/rotation) When the micro-step angle is changed after the power supply is turned on, it may not be transmitted. SW M1MSet the interpolation by digital SW M1, M Set No Interpolation (Note 1) M1 M A B C D E F When the setting of micro-step interpolating No. is ".1", 1/16-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 (A) Current(A) A B C D E F SW STOP RUN15ms 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. 15ms after the last pulse. Set No STOP % A B C D E F F A B C D E F 9 F 9 F A B C D E A B C D E A B C D E