Structure of Hybrid Stepping Motor

Transcription

1

2 Structure of Hybrid Stepping Motor

3 Contents CONTENTS Index 2 Model Numbering System, General Specifications, Wiring Connection Diagram and Switching Sequence Hybrid Stepping Motor Standard Type 22 Hybrid Stepping Motor with Gearbox (GT Series) 24 Hybrid Stepping Motor with Gearbox (GS Series) 28 Hybrid Stepping Motor with Hollow Shaft 3 Hybrid Stepping Motor Long-Life Type 32 Hybrid Stepping Motor with Hall Sensor Guide for Stepping Motor Selection 37 Glossary for Technical Terms 38 Moment of inertia calculations, Load Torque Calculations, Torque Calculation 39 Conversion factors 4 Sample Request Sheet 41 Warning and Precautions 42 1

4 Index Motor Type Model Step ngle Motor Length Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass Page Size (deg) (mm) () (Ohms) (mnm) (mh) (g-cm 2 ) (mnm) (g) 2

5 Motor Type Model Step ngle Motor Length Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass Page Size (deg) (mm) () (Ohms) (mnm) (mh) (g-cm 2 ) (mnm) (g) 3

6 Part Numbering System Motor Size Step ngle Type of Motor Motor Length at Right Electrical Variation Type of Laminated Stator Motor Size Motor O.D. in tenth of an inchex Size17=1.7"Dia Standard- Drive Sequence Type of Motor Laminated Stack Stepping Motor 42 and below Laminated Stack Stepping Motor 56 and 85 Laminated Stack Stepping Motor 71 Motor Length at Right Step ngle Standard - Drive Sequence Type of Laminated Stator 2 Phase Hybrid (Standard) 2 Phase Hybrid (High Torque) 2 Phase Hybrid (High Torque) 2 Phase Hybrid (Low Noise, Low Vibration) 2 Phase Hybrid (High Resolution) General Specifications Wiring Connection Diagram and Switching Sequence UNI POLR Wiring Connection Diagram UNI POLR Switching Sequence BI POLR Wiring Connection Diagram BI POLR Switching Sequence CW Rotation 4

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8 8PM-K Outline LED WIRE SIDE -HSG: PIN : UL161 WG#26 Ø.5 MOLEX PIN NO Ø15 Ø MIN Hybrid M2 x.4 DEPTH 3MIN ``L NME PLTE mm UNIT: (inch) 8PM-K** 8PM-K1** PIN NO. vs. PHSE L 3(1.18) 4(1.57) PHSE PIN NO. 4 B 3 6 B 1 Specifications Model Step ngle Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass deg Ohms mnm mh g cm 2 mnm g 8PM-K49BSTDCN BI-POLR PM-K139BSTDCN BI-POLR Torque/Speed Characteristics Model No.: 8PM-K49BSTDCN Supply Voltage: 24 V (DC) Model No.: 8PM-K139BSTDCN Supply Voltage: 24 V (DC) 5 8PM-K49BSTDCN PM-K139BSTDCN , 1, 1 1 1, 1, PULL OUT PULL IN 6

9 Outline 1PM-K Motor frame size of 28mm is also available. mm UNIT: (inch) Hybrid mm UNIT: (inch) 1PM-K2** 1PM-K** 1PM-K7** 1PM-K1** 1PM-K4** L 23.5(.92) 27.5() 33(1.3) 4.5(1.59) 51.5(2.3) PIN NO. vs. PHSE PHSE PIN NO. 4 B 1 6 B 3 Specifications Model Step ngle Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass deg Ohms mnm mh g cm 2 mnm g 1PM-K13B BI-POLR PM-K15B BI-POLR PM-K16B BI-POLR PM-K22B BI-POLR PM-K45B BI-POLR PM-K46B BI-POLR PM-K71B BI-POLR Torque/Speed Characteristics Model No: 1PM-K13B/K22B/K71B Supply Voltage: 24. (Volt) Model No: 1PM-K15B/K16B Supply Voltage: 24. (Volt) Model No: 1PM-K45B/K46B Supply Voltage: 24. (Volt) PULL OUT PULL IN 7

10 14PY-Z.9 Outline LED WIRE SIDE -HSG: PIN : MOLEX (.36) PIN NO. 6 1 Ø22.5 (Ø ) Ø5.13 (Ø ) 8. (.31) 3.3 (.13) 35 (1.38) 26 ±.2 (1.2 ±.8 ) Hybrid 4-M3 x.5 DEPTH 3MIN (DHPTH.118MIN) 26 ±.2 (1.2 ±.8) 35 (1.38) 2 ±.5 (.79 ±.2) 2 (.8) ``L MX NME PLTE mm UNIT: (inch) 14PY-Z2** 14PY-Z** PIN NO. vs. PHSE L 22(.87) 26(1.2) PHSE PIN NO. 4 COM 5 6 B 3 B COM 2 B 1 Specifications Model Step ngle Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass deg Ohms mnm mh g cm 2 mnm g 14PY-Z47U.9 UNI-POLR PY-Z64U.9 UNI-POLR PY-Z247U.9 UNI-POLR PY-Z264U.9 UNI-POLR PY-Z47B.9 BI-POLR PY-Z247B.9 BI-POLR Torque/Speed Characteristics Motor TYPE: 14PY-ZXX Supply Voltage: 24 V (DC) Motor Type: 14PY-Z2XX Supply Voltage: 24 V (DC) 6 Z Z Z Z Z47B-.57 Z247B PULL OUT PULL IN

11 Outline 14PM-M LED WIRE SIDE -HSG: PIN : MOLEX (.36) PIN NO. 6 1 Ø22.5 (Ø ) Ø5.13 (Ø ) 8. (.31) 3.3 (.13) 35 (1.38) 26 ±.2 (1.2 ±.8 ) Hybrid 4-M3 x.5 DEPTH 3MIN (DHPTH.118MIN) 26 ±.2 (1.2 ±.8) 2 (.8) NME PLTE 35 (1.38) Specifications 2 ±.5 (.79 ±.2) PIN NO. vs. PHSE PHSE PIN NO. 4 ``L MX COM 5 6 B 3 mm UNIT: (inch) B COM B PM-M2** 14PM-M** 14PM-M1** 14PM-M4** L 22(.87) 26(1.2) 38(1.5) 53(2.9) Model 14PM-M47U 14PM-M64U 14PM-M247U 14PM-M264U 14PM-M444U 14PM-M47B 14PM-M247B 14PM-M444B Step ngle deg Drive Sequence UNI-POLR UNI-POLR UNI-POLR UNI-POLR UNI-POLR BI-POLR BI-POLR BI-POLR Rated Current Resistance Ohms Holding Torque mnm Inductance mh Rotor Inertia g cm Detent Torque 14PM-M144U UNI-POLR PM-M144B BI-POLR mnm Mass g Torque/Speed Characteristics Model No: 14PM-M47U,M64U,M47B Supply Voltage: 24. (Volt) Model No: 14PM-M144U,M144B Supply Voltage: 24. (Volt) Model No: 14PM-M247U,M264U,M247B Supply Voltage: 24. (Volt) Model No: 14PM-M444U,M444B Supply Voltage: 24. (Volt) 6 M47U-.8 2 M144U-1. 5 M247U-.8 3 M444U-1. M64U M144B M264U-.4 M444B-.9 5 M47B M247B , 1, 1 1, 1, 1 1, 1, 1 1, 1, PULL OUT PULL IN 9

12 17PY-Z.9 Outline LED WIRE SIDE -HSG: PHR-6 -PIN : SPH-2T-P.5S JST S6B-PH-K-S (.67) 15 (.59) PIN NO. 6 1 Ø22.5 (Ø ) Ø5.13 (Ø ) 9.8 (.39) 5.6 (.22) 1.5 (.6) 6 (.24) 42 (1.65) 31 ±.2 (1.22 ±.8 ) Hybrid 4-M3 x.5 DEPTH 4MIN (DEPTH.157MIN) 31 ±.2 (1.22 ±.8) 42 (1.65) 24 ±.5 (.95 ±.2 ) PHSE PIN NO. 2 (.8) ``L MX NME PLTE PIN NO. vs. PHSE 4 COM 5 6 B 3 mm UNIT: (inch) B COM B PY-Z7** 17PY-Z2** 17PY-Z** 17PY-Z3** 17PY-Z1** 17PY-Z4** L 26 (1.2) 3 (1.18) 34 (1.34) 38 (1.5) 42 (1.65) 48 (9) Specifications Model Step ngle Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass deg Ohms mnm mh g cm 2 mnm g 17PY-Z49U.9 UNI-POLR PY-Z64U.9 UNI-POLR PY-Z142U.9 UNI-POLR PY-Z149U.9 UNI-POLR PY-Z249U.9 UNI-POLR PY-Z264U.9 UNI-POLR PY-Z342U.9 UNI-POLR PY-Z349U.9 UNI-POLR PY-Z442U.9 UNI-POLR PY-Z449U.9 UNI-POLR PY-Z749U.9 UNI-POLR PY-Z764U.9 UNI-POLR PY-Z49B.9 BI-POLR PY-Z142B.9 BI-POLR PY-Z249B.9 BI-POLR PY-Z342B.9 BI-POLR PY-Z442B.9 BI-POLR PY-Z749B.9 BI-POLR

13 Torque/Speed Characteristics Model No: 17PY-Z49U,Z64U,Z49B Supply Voltage: 24. (Volt) Model No: 17PY-Z142U,Z149U,Z142B Supply Voltage: 24. (Volt)! Z49U-1. " Z142U-1.4 # Z64U-.6 Z49B-.7!# Z149U-1. Z142B-1.! # # # # # Model No: 17PY-Z249U,Z264U,Z249B Supply Voltage: 24. (Volt) Model No: 17PY-Z342U,Z349U,Z342B Supply Voltage: 24. (Volt) Z249U-.8!# Z342U-1.4 & Z264U-.55 Z349U-1. $ Z249B-.6! Z342B-.9 " # & # $ " # Model No: 17PY-Z442U,Z449U,Z442B Supply Voltage: 24. (Volt) Model No: 17PY-Z749U,Z764U,Z749B Supply Voltage: 24. (Volt) Z442U-1.4 Z749U-.9 # Z449U-1. ' Z764U-.55 Z442B-.9 & Z749B-.6 " %! $ # "! PULL OUT PULL IN 11

14 17PM-K Outline LED WIRE SIDE -HSG: PHR-6 -PIN : SPH-2T-P.5S JST S6B-PH-K-S (.67) 15 (.59) PIN NO. 6 1 Ø22.5 (Ø ) Ø5.13 (Ø ) 9.8 (.39) 5.6 (.22) 1.5 (.6) 6 (.24) 42 (1.65) 31 ±.2 (1.22 ±.8 ) Hybrid 4-M3 x.5 DEPTH 4MIN (DEPTH.157MIN) 31 ±.2 (1.22 ±.8) 42 (1.65) 24 ±.5 (.95 ±.2 ) PHSE PIN NO. 2 (.8) ``L MX NME PLTE PIN NO. vs. PHSE 4 COM 5 6 B 3 mm UNIT: (inch) B COM B PM-K7** 17PM-K2** 17PM-K** 17PM-K3** 17PM-K1** 17PM-K4** 17PM-K** L 26 (1.2) 3 (1.18) 34 (1.34) 38 (1.5) 42 (1.65) 48 (9) 6 (2.36) Specifications Model Step ngle Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass deg Ohms mnm mh g cm 2 mnm g 17PM-K49U UNI-POLR PM-K64U UNI-POLR PM-K142U UNI-POLR PM-K149U UNI-POLR PM-K249U UNI-POLR PM-K264U UNI-POLR PM-K342U UNI-POLR PM-K349U UNI-POLR PM-K442U UNI-POLR PM-K449U UNI-POLR PM-K749U UNI-POLR PM-K764U UNI-POLR PM-K39U UNI-POLR PM-K46U UNI-POLR PM-K49B BI-POLR PM-K142B BI-POLR PM-K249B BI-POLR PM-K342B BI-POLR PM-K442B BI-POLR PM-K749B BI-POLR PM-K39B BI-POLR

15 Torque/Speed Characteristics Model No: 17PM-K49U,K64U,K49B Supply Voltage: 24. (Volt) Model No: 17PM-K142U,K149U,K142B Supply Voltage: 24. (Volt) 3 K49U-1. 4 K142U-1.4 K64U-.6 K149U K49B K142B , 1, 1 1, 1, Model No: 17PM-K249U,K264U,K249B Supply Voltage: 24. (Volt) Model No: 17PM-K342U,K349U,K342B Supply Voltage: 24. (Volt) 14 K249U K342U-1.4 K264U-.55 K349U K249B-.6 3 K342B , 1, 1 1, 1, Model No: 17PM-K442U,K449U,K442B Supply Voltage: 24. (Volt) Model No: 17PM-K749U,K764U,K749B Supply Voltage: 24. (Volt) 6 K442U K749U-.9 K449U-1. 9 K764U K442B-.9 K749B PULL OUT PULL IN 1 1, 1, 1 1, 1, Model No: 17PM-K39U,K46U,K39B Supply Voltage: 24. (Volt) 7 K39U-1.4 K46U-1. 6 K39B , 1 1, 1, 13

16 17PM-F Outline LED WIRE SIDE -HSG: PHR-6 -PIN : SPH-2T-P.5S JST S6B-PH-K-S (.67) 15 (.59) PIN NO. 6 1 Ø22.5 (Ø ) Ø5.13 (Ø ) 9.8 (.39) 5.6 (.22) 1.5 (.6) 6 (.24) 42 (1.65) 31 ±.2 (1.22 ±.8 ) Hybrid 4-M3 x.5 DEPTH 4MIN (DEPTH.157MIN) 31 ±.2 (1.22 ±.8) 42 (1.65) 24 ±.5 (.95 ±.2 ) 2 (.8) ``L MX NME PLTE mm UNIT: (inch) PIN NO. vs. PHSE PHSE PIN NO. 4 6 B 3 B 1 17PM-F1** 17PM-F4** 17PM-F** L 42 (1.65) 48 (9) 6 (2.36) Specifications Model Step ngle Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass deg Ohms mnm mh g cm 2 mnm g 17PM-F14B BI-POLR PM-F148B BI-POLR PM-F156B BI-POLR PM-F438B BI-POLR PM-F442B BI-POLR PM-F452B BI-POLR PM-F38B BI-POLR PM-F49B BI-POLR

17 Torque/Speed Characteristics Model No: 17PM-F14B,F148B,F156B Supply Voltage: 24. (Volt) Model No: 17PM-F438B,F442B,F452B Supply Voltage: 24. (Volt) 4 F14B F438B F148B-1.1 F156B F442B-1.6 F452B , 1, 1 1, 1, Model No: 17PM-F38B,F49B Supply Voltage: 24. (Volt) 8 F38B-2. 7 F49B , 1, PULL OUT PULL IN 15

18 23KY-K.9 Outline LED WIRE SIDE -HSG: XHP-6 -PIN : SXH-1T-P.6 JST S6B - XH (.8) PIN NO. 6 1 Ø (Ø.25.5 ) 11.4 (.45) 5. (.2) 56.4 (2.22) ±.2 (6 ±.8 ) + ±.5 Ø38.1 (Ø1.5 ±.2 ) Hybrid 4-Ø 5.8 THROUGH (4-Ø.2 THROUGH) ±.2 (6 ±.8) 56.4 (2.22) ± (.81 ±.2 ) 1.59 (.6) 4.76 (.19) ``L MX NME PLTE Ø8 mm Shaft diameter of Ø mm is also available. PHSE PIN NO. PIN NO. vs. PHSE 1 COM 2 3 B 4 mm UNIT: (inch) B COM B KY-K2** 23KY-K** 23KY-K7** L 42 (1.65) 54 (2.13) 76 (2.99) Specifications Model Step ngle Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass deg Ohms mnm mh g cm 2 mnm g 23KY-K66U.9 UNI-POLR KY-K5U.9 UNI-POLR KY-K44U.9 UNI-POLR KY-K267U.9 UNI-POLR KY-K251U.9 UNI-POLR KY-K244U.9 UNI-POLR KY-K762U.9 UNI-POLR KY-K748U.9 UNI-POLR KY-K743U.9 UNI-POLR KY-K5B.9 BI-POLR KY-K4B.9 BI-POLR KY-K251B.9 BI-POLR KY-K241B.9 BI-POLR KY-K748B.9 BI-POLR KY-K74B.9 BI-POLR

19 Torque/Speed Characteristics Model No: 23KY-KxxU Supply Voltage: 24. (Volt) Model No: 23KY-KxxB Supply Voltage: 24. (Volt) Model No: 23KY-K2xxU Supply Voltage: 24. (Volt) Model No: 23KY-K2xxB Supply Voltage: 24. (Volt) Model No: 23KY-K7xxU Supply Voltage: 24. (Volt) Model No: 23KY-K7xxB Supply Voltage: 24. (Volt) PULL OUT PULL IN 17

20 23KM-K Outline LED WIRE SIDE -HSG: XHP-6 -PIN : SXH-1T-P.6 JST S6B - XH (.8) PIN NO. 6 1 Ø (Ø.25.5 ) 11.4 (.45) 5. (.2) 56.4 (2.22) ±.2 (6 ±.8 ) + ±.5 Ø38.1 (Ø1.5 ±.2 ) Hybrid 4-Ø 5.8 THROUGH (4-Ø.2 THROUGH) ±.2 (6 ±.8) 56.4 (2.22) ± (.81 ±.2 ) 1.59 (.6) 4.76 (.19) ``L MX NME PLTE Ø8 mm Shaft diameter of Ø mm is also available. PHSE PIN NO. PIN NO. vs. PHSE 1 COM 2 3 B 4 mm UNIT: (inch) B COM B KM-K2** 23KM-K3** 23KM-K** 23KM-K1** 23KM-K7** L 42 (1.65) 5 (1.97) 54 (2.13) 67 (2.64) 76 (2.99) Specifications Model Step ngle Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass deg Ohms mnm mh g cm 2 mnm g 23KM-K44U UNI-POLR KM-K55U UNI-POLR KM-K144U UNI-POLR KM-K155U UNI-POLR KM-K249U UNI-POLR KM-K255U UNI-POLR KM-K349U UNI-POLR KM-K355U UNI-POLR KM-K744U UNI-POLR KM-K755U UNI-POLR KM-K44B BI-POLR KM-K144B BI-POLR KM-K249B BI-POLR KM-K349B BI-POLR KM-K744B BI-POLR

21 Torque/Speed Characteristics Model No: 23KM-K44U,K55U,K44B Supply Voltage: 24. (Volt) Model No: 23KM-K144U,K155U,K144B Supply Voltage: 24. (Volt) K44U-3. K55U-1.5 " K144U-3. K155U-1.5 K44B-2.2 K144B-2.1 & $ & $ " " Model No: 23KM-K249U,K255U,K249B Supply Voltage: 24. (Volt) Model No: 23KM-K349U,K355U,K349B Supply Voltage: 24. (Volt) & K249U-2. K349U-2. % K255U-1.5 K249B-1.4 ' & K355U-1.5 K349B-1.4 $ % # "! $ # "! Model No: 23KM-K744U,K755U,K744B Supply Voltage: 24. (Volt) $ " K744U-3. K755U-1.5 K744B-2. & $ " PULL OUT PULL IN 19

22 LED WIRE SIDE -HSG : PHDR-8VS -PIN : SPHD-1T-P.5 JST S8B-PHDSS 71 ±.1 ( 2.8 ) B BÕ VIEW B-BÕ PIN NO. 8 Ð.13 (.315 Ð.5 ) BLCK PINTING ±.4 ± ( 1.5 ±.2 ) THROUGH (4-.2 THROUGH) 1.59 (.6) 4.76 (.19) NME PLTE ±.2 (4-6 ±.8) ±.5 25 (.98 ±.2) ``L««MX Model 29SM-K35U 29SM-K138U 14PM-M47B 29SM-K379B Step ngle deg Drive Sequence UNI-POLR UNI-POLR Rated Current Resistance Ohms Holding Torque mnm Inductance mh Rotor Inertia g cm 2 Detent Torque 29SM-K25U UNI-POLR SM-K379U 29SM-K55U 29SM-K711U 29SM-K711B UNI-POLR UNI-POLR UNI-POLR BI-POLR BI-POLR mnm Mass g Motor Type: 29SM-K35U, K138U, K25U, K55U Supply Voltage: 24 V (DC) Motor Type: 29SM-K379U, K711U, K379B, K711B Supply Voltage: 24 V (DC) $ K55U-1.5 # K379U-1.9 " K25U-1.6 K35U-2.2 K138U-2.6 K379B-1.3 K711U-3. K711B-2.2 & $ # " # 2

23 34KM-K Outline Hybrid mm UNIT: (inch) L/W COLOR vs. PHSE PHSE COM B B COM B L / W COLOR RED BLK YEL BLU WHT ORG 34KM-K** 34KM-K1** 34KM-K2** L 68(2.68) 96(3.78) 124(4.88) Specifications Model Step ngle Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass deg Ohms mnm mh g cm 2 mnm g 34KM-K6U UNI-POLR KM-K16U UNI-POLR KM-K26U UNI-POLR KM-K6B BI-POLR KM-K16B BI-POLR KM-K26B BI-POLR Torque/Speed Characteristics Model No: 34KM-K6U / 34KM-K6B Supply Voltage: 24. (Volt) Model No: 34KM-K16U / 34KM-K16B Supply Voltage: 24. (Volt) Model No: 34KM-K26U Supply Voltage: 24. (Volt) 3. K6U K16U K26U-4.8 K6B-3.4 K16B TORQUE (Nm) 1.5 TORQUE (Nm) TORQUE (Nm) PULL OUT 21

24 Hybrid Stepping Motor Standard Type Lineup *VSVW 99VS99V99W Standard Type -degree/step *VS, V, W : Single shaft 99VS, 99V, 99W : Double shaft Rated Permissible Permissible Motor Size Step ngle Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass Model Current Radial Load Thrust Load mm deg (Ohms) mnm mh gcm 2 mnm g N 17PM-K53-VS/99VS PM-K845-VS/99VS PM-K858-VS/99VS PM-K444-VS/99VS PM-K455-VS/99VS KM-K267-V/99V KM-K251-V/99V KM-K244-V/99V KM-K66-V/99V KM-K49-V/99V KM-K44-V/99V KM-K762-V/99V , ,5 23KM-K748-V/99V , ,5 23KM-K743-V/99V , ,5 34KM-K23-W/99W , ,2 13 1,8 34KM-K12-W/99W , ,2 13 1,8 34KM-K6-W/99W , ,2 13 1,8 34KM-K122-W/99W , ,4 24 2,9 34KM-K112-W/99W , ,4 24 2,9 34KM-K16-W/99W ,8 3. 2,4 24 2,9 34KM-K221-W/99W , ,7 34 4, 34KM-K26-W/99W , ,7 34 4, **Drive SequenceUnipolar **Drive SequenceUnipolar **Drive SequenceUnipolar **Leadwires will be supplied with the motor The permissible thrust load shall be no greater than the motor mass. * *Permissible radial load is at the end of shaft High-resolution Type.9-degree/step *VS 99VS *VS : Single shaft 99VS : Double shaft Rated Permissible Permissible Motor Size Step ngle Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass Model Current Radial Load Thrust Load mm deg (Ohms) mnm mh gcm 2 mnm g N 17PY-Z53-VS/99VS PY-Z845-VS/99VS PY-Z858-VS/99VS PY-Z444-VS/99VS PY-Z455-VS/99VS * *Permissible radial load is at the end of shaft * *Permissible radial load is at the end of shaft The permissible thrust load shall be no greater than the motor mass. 71Standard Type -degree/step *V 99V *V : Single shaft 99V : Double shaft Rated Permissible Permissible Motor Size Step ngle Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass Model Current Radial Load Thrust Load mm deg (Ohms) mnm mh gcm 2 mnm g N 29SM-K55-V/99V SM-K25-V/99V SM-K379-V/99V SM-K35-V/99V SM-K138-V/99V , ,18 29SM-K711-V/99V , ,39 54 The permissible thrust load shall be no greater than the motor mass. General Specifications Step ccuracy 5 Temperature Rise 8 MX mbient Temperature Range 15 Insulation Resistance 1M MIN. DC 5V Dielectric Strength C 5V 1min Radial Play 2m MX.at4.4N45gfLoad End Play 8m MX.at4.4N45gfLoad 22

25 Torque/Speed Characteristics Outline Model Length UNIT : mm Model Length UNIT : mm 17PX XXX 34 23KM K2XX 42 LED WIRE SIDE 17PX X8XX 4 LED WIRE SIDE -HSGPHR-6 23KM KXX 54 -HSGXHP-6 17PX X4XX 48 -PIN SPH-2T-P.5S 23KM K7XX 76 -PIN SXH-1T-P.6 JST S6B-PH-K-S-2.2 JST S6B-XH--1 Model Length UNIT : mm 29SM K5XX 29SM K2XX LED WIRE SIDE -HSGPHDR-8VS -PIN SPHD-1T-P.5 29SM K3XX SM KXX SM K1XX SM K7XX 77.5 Model Length UNIT : mm 34KM KXX 68 34KM K1XX 96 34KM K2XX 124 UNI POLR Wiring Connection Diagram BI POLR Wiring Connection Diagram * COMB COM * No need to connect COM and B COM. Please insulate individually. *7% * pply 7% of Unipolar rated current. 23

26 Hybrid Stepping Motor with Gearbox Low Backlash Type (GT series) 56 Lineup Model Rated Current Resistance Step ngle Gear Ratio Permissible Torque Permissible Speed Range Backlash (Ohms) (deg) 1 : X (Nm (kgfcm)) (r/min) (min(deg)) g GT36-23M : (12.7) 5 35 (.584) 82 GT72-23M : (25.5) (.25) 82 GT1-23M : 1 3. (3.6) (.25) 82 GT2-23M : (35.7) 9 1 (.167) 85 GT3-23M : 3 4. (4.8) 6 1 (.167) 85 * *Drive SequenceUnipolar * * Leadwires will be supplied with the motor * * Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2 and 1:1. It is the opposite for 1:2 and 1:3 gear ratio. Mass Outline Ø7 ±.5 3MIN UL17 WG#22 Ø23.21 Ø ±.15 1 ±.5 2 ±.25 Ø ± ±.15 6 ±.5 (49.5) DETIL 4-M4 x.7 DEPTH 8MIN (49.5) 6 ± ±1 3.5 UP STMP NME PLTE 87MX 21 ±1 17 NME PLTE (MOTOR) PIN NO. vs. PHSE PHSE) COM B B COM B PIN NO.)

27 Torque Characteristics Supply Voltage: 24.V Current:.9/Phase Step ngle.5 /step GT36 23M Supply Voltage: 24.V Current:.9/Phase Step ngle.25 /step GT72 23M TORQUE (k f cm) TORQUE (Nm) Nm Permissible Torque 1.25Nm TORQUE (k f cm) TORQUE (Nm) Nm Permissible Torque 2.5Nm Supply Voltage: 24.V Current:.9/Phase Step ngle.18 /step GT1 23M Supply Voltage: 24.V Current:.9/Phase Step ngle.9 /step GT2 23M TORQUE (k f cm) TORQUE (Nm) Nm Permissible Torque 3.Nm TORQUE (k f cm) TORQUE (Nm) Nm Permissible Torque 3.5Nm Supply Voltage: 24.V Current:.9/Phase Step ngle.6 /step GT3 23M21 TORQUE (k f cm) TORQUE (Nm) Nm Permissible Torque 4.Nm General Specifications 1mm Temperature Rise 8 MX mbient Temperature Range 1 5 Insulation Resistance 1M MIN. DC 5V Dielectric Strength C 5V 1min Permissible Radial Load (at 1mm from shaft end) 98.1N (1kgf) Permissible Thrust Load 29.4N (3kgf) UNI POLR Wiring Connection Diagram BI POLR Wiring Connection Diagram * COMB COM * No need to connect COM and B COM. Please insulate individually. * 7% * pply 7% of Unipolar rated current. 25

28 Hybrid Stepping Motor with Gearbox Low Backlash Type (GT series) 42 Lineup Model Rated Current Resistance Step ngle Gear Ratio Permissible Torque Permissible Speed Range Backlash (Ohms) (deg) 1 : X (Nm (kgfcm)) (r/min) (min(deg)) g GT36-17M.5 1 : (3.6) 5 45 (.75) 34 GT72-17M.25 1 : (7.1) (.417) 34 GT1-17M : 1 1 (1.2) (.417) 34 GT2-17M.9 1 : (15.3) 9 15 (.25) 34 GT3-17M.6 1 : (15.3) 6 15 (.25) 34 * * Drive SequenceUnipolar * * Leadwires will be supplied with the motor. * 1:3.6, 1:7.2, 1:1, 1:2, 1:3 * Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2 and 1:1. It is the opposite for 1:2 and 1:3 gear ratio. Mass Outline 17. UL17 WG#24 JST B6B-PSK 14. PIN NO (31 ±.2 ) 42 3MIN 7.1 Ø17.18 Ø ±.15 C.3 Ø M4 x.7 DEPTH 8MIN (31 ±.2 ) 42 R5 MIN UP STMP 3.5 ± NME PLTE 2 ±1 65MX PIN NO. vs. PHSE PHSE) COM B B COM B PIN NO.)

29 Torque Characteristics Supply Voltage: 24.V Current: 1./Phase Step ngle.5 /step GT36-17M 2.4 GT72-17M Supply Voltage: 24.V Current: 1./Phase Step ngle.25 /step 2. TORQUE (k f cm) TORQUE (Nm) Nm Permissible Torque.35Nm TORQUE (k f cm) TORQUE (Nm) Nm Permissible Torque.7Nm GT1-17M Supply Voltage: 24.V Current: 1./Phase Step ngle.18 /step GT2-17M Supply Voltage: 24.V Current: 1./Phase Step ngle.9 /step 2. TORQUE (k f cm) TORQUE (Nm) Nm Permissible Torque 1.Nm TORQUE (k f cm) TORQUE (Nm) Nm Permissible Torque 1.5Nm GT3-17M Supply Voltage: 24.V Current: 1./Phase Step ngle.6 /step TORQUE (k f cm) TORQUE (Nm) Nm Permissible Torque 1.5Nm General Specifications 1mm Temperature Rise 8 MX mbient Temperature Range 1 5 Insulation Resistance 1M MIN. DC 5V Dielectric Strength C 5V 1min Permissible Radial Load (at 1mm from shaft end) 19.6N (2kgf) Permissible Thrust Load 14.7N (1.5kgf) UNI POLR Wiring Connection Diagram BI POLR Wiring Connection Diagram * COMB COM * No need to connect COM and B COM. Please insulate individually. * 7% * pply 7% of Unipolar rated current. 27

30 Hybrid Stepping Motor with Gearbox (GS series) 42 Lineup Model Rated Current Resistance Step ngle Gear Ratio Permissible Torque Permissible Speed Range Backlash (Ohms) (deg) 1 : X (Nm (kgfcm)) (r/min) (min(deg)) g GS36-17M1.5 1 : (2.4) 5 31 GS72-17M : (4.8) GS9-17M1.2 1 : 9.5 (5.1) 2 31 GS1-17M : 1.56 (5.71) GS18-17M1.1 1 : degree and under 32 GS36-17M1.5 1 : (8.16) GS5-17M : GS1-17M : * * Drive SequenceUnipolar * * Leadwires will be supplied with the motor. * * Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2, 1:9, 1:1, 1:5, 1:1. It is the opposite for 1:18 and 1:36 gear ratio. Mass Outline 17. UL17 WG#24 JST B6B-PSK 14. PIN NO MIN 12.7 C.5 8 (31 ±.2 ) ±.15 Ø M3 x.5 DEPTH 7MIN Ø43.8 (31 ±.2 ) 42 Ø18.12 Ø UP 3 STMP 26 NME PLTE 15 ±.25 (D-CUT) 2 ±1 6MX 15 ±1 75 PIN NO. vs. PHSE PHSE) COM B B COM B PIN NO.) UNI POLR Wiring Connection Diagram BI POLR Wiring Connection Diagram * COMB COM * No need to connect COM and B COM. Please insulate individually. * 7% * pply 7% of Unipolar rated current. 28

31 Torque Characteristics Supply Voltage: 24.V Current:.85/Phase Step ngle.5 /step GS36-17M1 1.2 GS72-17M1 Supply Voltage: 24.V Current:.85/Phase Step ngle.25 /step 1. TORQUE (k f cm) TORQUE (Nm) Nm Permissible Torque.2Nm TORQUE (k f cm) TORQUE (Nm) Nm Permissible Torque.4Nm GS9-17M1 Supply Voltage: 24.V Current:.85/Phase Step ngle.2 /step GS1-17M1 Supply Voltage: 24.V Current:.85/Phase Step ngle.18 /step 1. TORQUE (k f cm) TORQUE (Nm) Nm Permissible Torque.5Nm TORQUE (k f cm) TORQUE (Nm) Nm Permissible Torque.56Nm TORQUE (k f cm) TORQUE (Nm) GS18-17M1 Supply Voltage: 24.V Current:.85/Phase Step ngle.1 /step 1..8Nm Permissible Torque.8Nm TORQUE (k f cm) TORQUE (Nm) GS36-17M1 Supply Voltage: 24.V Current:.85/Phase Step ngle.5 /step 1..8Nm Permissible Torque.8Nm TORQUE (k f cm) TORQUE (Nm) GS5-17M1 Supply Voltage: 24.V Current:.85/Phase Step ngle.36 /step 1..8Nm Permissible Torque.8Nm TORQUE (k f cm) TORQUE (Nm) GS1-17M1 Supply Voltage: 24.V Current:.85/Phase Step ngle.18 /step 1..8Nm Permissible Torque.8Nm General Specifications 1mm Temperature Rise 8 MX mbient Temperature Range 1 5 Insulation Resistance 1M MIN. DC 5V Dielectric Strength C 5V 1min Permissible Radial Load (at 1mm from shaft end) 2N (2kgf) Permissible Thrust Load 15N (1.5kgf) 29

32 Hybrid Stepping Motor with Hollow Shaft Lineup Motor Frame Size 25 mm Model Motor Frame Size 35 mm Motor Frame Size 42 mm Motor Size Step ngle Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Mass (mm) deg (Ohms ) mnm (mh) gcm 2 g H1PMK22BSTDCN BI-POLR H1PMK13BSTDCN BI-POLR H1PMK71BSTDCN BI-POLR Model Motor Size Step ngle Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Mass (mm) deg (Ohms ) mnm (mh) gcm 2 g H14PMM247USTDCN UNI-POLR H14PMM47USTDCN UNI-POLR H14PMM144USTDCN UNI-POLR H14PMM444USTDCN UNI-POLR H14PMM247BSTDCN BI-POLR H14PMM47BSTDCN BI-POLR H14PMM144BSTDCN BI-POLR H14PMM444BSTDCN BI-POLR Model Motor Size Step ngle Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Mass (mm) deg (Ohms ) mnm (mh) gcm 2 g H17PMK342USTDCN UNI-POLR H17PMK442USTDCN UNI-POLR H17PMK342BSTDCN BI-POLR H17PMK442BSTDCN BI-POLR Torque/Speed Characteristics Model No. H1PMK13, K22, K71BSTDCN Supply Voltage: 24. (Volt) 6 H1PMK13BSTDCN-.21 Model No. H14PMM47,M144,M247,M444USTDCN Supply Voltage: 24. (Volt) 2 H14PMM47USTDCN-.8 Model No. H14PMM47,M144,M247,M444BSTDCN Supply Voltage: 24. (Volt) 3 H14PMM47BSTDCN-.6 H1PMK22BSTDCN-.7 H14PMM144USTDCN-1. H14PMM144BSTDCN H1PMK71BSTDCN-.63 H14PMM247USTDCN-.8 H14PMM444USTDCN H14PMM247BSTDCN-.6 H14PMM444BSTDCN Model No. H17PMK342, K442USTDCN Supply Voltage: 24. (Volt) 5 45 H17PMK342USTDCN-1.4 H17PMK442USTDCN-1.4 Model No. H17PMK342, K442BSTDCN Supply Voltage: 24. (Volt) 5 45 H17PMK342BSTDCN-.9 H17PMK442BSTDCN

33 Outline Model Length UNIT : mm H1PMK2XX 23.5 H1PMKXX 27.5 H1PMK7XX 33 MOLEX PIN NO. 1 6 Ø MIN UL161 WG# ±.2 Ø5 Ø Ø M2.5 x.45 DEPTH 3MIN 2 ± NME PLTE 25 7 ±.5 L MX 7.5 ±1 Model Length UNIT : mm H14PMM2XX 22 H14PMMXX 26 H14PMM1XX 38 H14PMM4XX 53 MOLEX PIN NO Ø MIN UL161 WG# ±.2 Ø7 Ø22.5 Ø M3 x.5 DEPTH 3MIN 26 ±.2 2 NME PLTE 35 7 ±.5 L MX 7.5 ±1 Model Length UNIT : mm H17PMK3XX 38 H17PMK4XX 48 LED WIRE SIDE -HSG:PP-6V-S -PIN:SPHD-1T-P.5 JST B6B-PSK Ø.5 3MIN UL17 WG# ±.2 Ø Ø12.13 Ø1 ±.1 4-M3 x.5 DEPTH 4MIN 31 ± NME PLTE L MX 8 ±1 UNI POLR Wiring Connection Diagram BI POLR Wiring Connection Diagram General Specifications * COMB COM * No need to connect COM and B COM. Please insulate individually. * 7% * pply 7% of Unipolar rated current. Step ccuracy 5 Temperature Rise 8 MX mbient Temperature Range 15 Insulation Resistance 1M MIN. DC 5V Dielectric Strength C 5V 1min Radial Play 2m MX.at4.4N45gfLoad End Play 8m MX.at4.4N45gfLoad 31

34 Hybrid Stepping Motor Long-Life Type Lineup Model Motor Size Step ngle Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass mm deg (Ohms) mnm mh gcm 2 mnm g F17PMK49USTDCN 34 UNI-POLR F17PMK342USTDCN 38 UNI-POLR F17PMK442USTDCN 48 UNI-POLR F17PMK39USTDCN 6 UNI-POLR F17PMK49BSTDCN 34 BI-POLR F17PMK342BSTDCN 38 BI-POLR F17PMK442BSTDCN 48 BI-POLR F17PMK39BSTDCN 6 BI-POLR Torque/Speed Characteristics 32

35 Outline Model "L"(mm) F17PMK49x 34 F17PMK342x 38 F17PMK442x 48 F17PMK39x 6 UNIT : mm JST B6B-PSK 17. (.67) 14. (.55) Ø (1.65) 7.5 ± ±.2 (1.22 ±.8 ) (Ø ) 7.1 (.29).13 Ø8 (Ø ) ±.6 (.295 ) 2 ±.25 ±.1 (.79 ) 3MIN (1MIN) 12.7 (.5) 31 ±.2 (1.22 ±.8 ) 42 (1.65) 4-M3 x.5 DEPTH 4MIN (DEPTH.157 MIN) 24 ±1 ±.4 (.95 ) 2 (.8) NME PLTE L MX UNI POLR Wiring Connection Diagram BI POLR Wiring Connection Diagram * COMB COM * No need to connect COM and B COM. Please insulate individually. * 7% * pply 7% of Unipolar rated current. General Specifications Step ccuracy 5 Temperature Rise 8 MX mbient Temperature Range 15 Insulation Resistance 1M MIN. DC 5V Dielectric Strength C 5V 1min Radial Play 2m MX.at4.4N45gfLoad End Play 8m MX.at4.4N45gfLoad 33

36 Hybrid Stepping Motor with Hall Sensor Lineup Model Motor Size Step ngle Drive Sequence Rated Current Resistance Holding Torque Inductance Rotor Inertia Detent Torque Mass mm deg (Ohms) mnm mh gcm 2 mnm g S17PMK49USTDCN UNI-POLR S17PMK442USTDCN UNI-POLR S17PMK49BSTDCN BI-POLR S17PMK442BSTDCN BI-POLR S23KMK249USTDC UNI-POLR S23KMK44USTDC UNI-POLR S23KMK249BSTDC BI-POLR S23KMK44BSTDC BI-POLR Torque/Speed Characteristics Model No: S17PMK49USTDCN / BSTDCN Supply Voltage: 24. (volt) 3 Model No: S17PMK442USTDCN / BSTDCN Supply Voltage: 24. (volt) 6 S17PMK49USTDCN-1. S17PMK442USTDCN-1.4 S17PMK49BSTDCN-.7 S17PMK442BSTDCN Model No: S23KMK249USTDC / BSTDC Supply Voltage: 24. (volt) 8 Model No: S23KMK44USTDC / BSTDC Supply Voltage: 24. (volt) 12 S23KMK249USTDC-2. S23KMK44USTDC-3. 7 S23KMK249BSTDC-1.4 S23KMK44BSTDC General Specifications Step ccuracy 5 Temperature Rise 8 MX mbient Temperature Range 15 Insulation Resistance 1M MIN. DC 5V Dielectric Strength C 5V 1min Radial Play 2m MX.at4.4N45gfLoad End Play 8m MX.at4.4N45gfLoad 34

37 Outline "L" Model (mm) S17PMK49x 34 S17PMK442x ± Ø22.5 Ø5.13 Ø.5 ± ±.25 3MIN UL17 WG# MIN (33.5) For Hall Sensor PIN NO. SENSOR TERMINL NO. SIGNL L/W COLOR 1 2 GND BLK 2 3 OUT YEL 3 1 Vcc RED 4-M3 x.5 DEPTH 4MIN 31 ± ±.5 L 2 NME PLTE (7.8) (36) "L" Model (mm) S23KMK249x 42 S23KMK44x Ø Ø MIN UL17 WG# UL17 WG# MIN For Hall Sensor PIN NO. SENSOR TERMINL NO. SIGNL L/W COLOR 1 2 GND BLK 2 3 OUT YEL 3 1 Vcc RED ±.2 Ø38.1 ±.5 15 ± ±.15 (33.5) Ø4.5 THROUGH ± ±.5 L NME PLTE (7.8) (36) Hall Sensor Specification Circuit configuration 1.Vcc Resistance 4.7Ω Motor 3.OUT 2.GND Ta=25Maximum rating (Ta=25 ) Item Symbol Rating Unit Supply Voltage Vcc 18 V V(off) Vcc V Output H Voltage Output L Current Isink 15 m Operating ambient temperature Topr Storage temperature Tstg pulse output signal V out 3.V V GND V 1 REVOLUTION Ta=25Electrical specifications Item Symbol Measuring condition Min. Typ. Max. Unit Operating voltage range Vcc V H L Output H > L Magnetic flux density Bop Vcc = 12V 2 mt L H Output L > H Magnetic flux density Brp Vcc = 12V 5 mt Hysteresis error Bh Vcc = 12V 1.5 mt Saturated output voltage Vsat Vcc = 12V, OUT "L", Isink = 1m.4 V Output leakage current Ileak Vcc = 12V, OUT "H", Vout = 12V 1 Power current Icc Vcc = 12V, OUT "H" 8 m 1 [mt] = 1 [Gauss] UNI POLR Wiring Connection Diagram BI POLR Wiring Connection Diagram * COMB COM * No need to connect COM and B COM. Please insulate individually. * 7% * pply 7% of Unipolar rated current. 35

38 このカタログに掲載している製品の性能及び仕様は 改良の為予告なく変更することがありますのでご了承ください Specifications are subject to change without notice. 36

39 Guide for Stepping Motor Selection 37

40 Glossary for Technical Terms 38

41 Moment of inertia calculations R R R R R R Load Torque Calculations R R R R Torque Calculation 39

42 Conversion factors Moment of inertia conversion factors B kgm 2 kgcm 2 gcm 2 kgm s 2 kgcm s 2 gcm s 2 oz in 2 oz in s 2 lb in 2 lb in s 2 lb ft 2 lb ft 2 (slug ft 2 ) kgm kgcm gcm kgm s kgcm s gcm s oz in oz in s lb in lb in s lb ft lb ft s 2 (slug ft 2 ) Torque conversion factors B Nm Ncm kgm kgcm gcm oz-in ft-lb in-lb Nm Ncm kgm kgcm gcm oz-in ft-lb in-lb

43 Sample Request Sheet 41

44 42

45 43

46 44

47 45

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